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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
3 | // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
4 | // + Nur für den privaten Gebrauch |
4 | // + Nur für den privaten Gebrauch |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
6 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Verkauf von Luftbildaufnahmen, usw. |
13 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + eindeutig als Ursprung verlinkt werden |
20 | // + eindeutig als Ursprung verlinkt werden |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Benutzung auf eigene Gefahr |
23 | // + Benutzung auf eigene Gefahr |
24 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + mit unserer Zustimmung zulässig |
27 | // + mit unserer Zustimmung zulässig |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + this list of conditions and the following disclaimer. |
32 | // + this list of conditions and the following disclaimer. |
33 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + from this software without specific prior written permission. |
34 | // + from this software without specific prior written permission. |
35 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + for non-commercial use (directly or indirectly) |
36 | // + for non-commercial use (directly or indirectly) |
37 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + with our written permission |
38 | // + with our written permission |
39 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + clearly linked as origin |
40 | // + clearly linked as origin |
41 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
51 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // + POSSIBILITY OF SUCH DAMAGE. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include "capacity.h" |
53 | #include "capacity.h" |
54 | #include "twimaster.h" |
54 | #include "twimaster.h" |
55 | #include "main.h" |
55 | #include "main.h" |
56 | #include "timer0.h" |
56 | #include "timer0.h" |
57 | #include "analog.h" |
57 | #include "analog.h" |
58 | 58 | ||
59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
62 | - | ||
63 | 62 | ||
64 | // global varialbles |
63 | // global varialbles |
65 | unsigned short update_timer = 0; |
64 | unsigned short update_timer = 0; |
66 | Capacity_t Capacity; |
65 | Capacity_t Capacity; |
67 | 66 | ||
68 | // initialize capacity calculation |
67 | // initialize capacity calculation |
69 | void Capacity_Init(void) |
68 | void Capacity_Init(void) |
70 | { |
69 | { |
71 | Capacity.ActualCurrent = 0; |
70 | Capacity.ActualCurrent = 0; |
72 | Capacity.UsedCapacity = 0; |
71 | Capacity.UsedCapacity = 0; |
73 | Capacity.ActualPower = 0; |
72 | Capacity.ActualPower = 0; |
74 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
73 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
75 | } |
74 | } |
76 | 75 | ||
77 | 76 | ||
78 | // called in main loop at a regular interval |
77 | // called in main loop at a regular interval |
79 | void Capacity_Update(void) |
78 | void Capacity_Update(void) |
80 | { |
79 | { |
81 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
80 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
82 | static unsigned short SubCounter = 0; |
81 | static unsigned short SubCounter = 0; |
83 | static unsigned short CurrentOffset = 0; |
82 | static unsigned short CurrentOffset = 0; |
84 | static unsigned long SumCurrentOffset = 0; |
83 | static unsigned long SumCurrentOffset = 0; |
85 | unsigned char i, NumOfMotors; |
84 | unsigned char i, NumOfMotors; |
86 | 85 | ||
87 | if(CheckDelay(update_timer)) |
86 | if(CheckDelay(update_timer)) |
88 | { |
87 | { |
89 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
88 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
90 | // determine sum of all present BL currents and setpoints |
89 | // determine sum of all present BL currents and setpoints |
91 | Current = 0; |
90 | Current = 0; |
92 | SetSum = 0; |
91 | SetSum = 0; |
93 | NumOfMotors = 0; |
92 | NumOfMotors = 0; |
94 | for(i = 0; i < MAX_MOTORS; i++) |
93 | for(i = 0; i < MAX_MOTORS; i++) |
95 | { |
94 | { |
96 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
95 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
97 | { |
96 | { |
98 | NumOfMotors++; |
97 | NumOfMotors++; |
99 | Current += (unsigned int)(Motor[i].Current); |
98 | Current += (unsigned int)(Motor[i].Current); |
100 | SetSum += (unsigned int)(Motor[i].SetPoint); |
99 | SetSum += (unsigned int)(Motor[i].SetPoint); |
101 | } |
100 | } |
102 | } |
101 | } |
103 | if(SetSum == 0) // if all setpoints are 0 |
102 | if(SetSum == 0) // if all setpoints are 0 |
104 | { // determine offsets of motor currents |
103 | { // determine offsets of motor currents |
105 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
104 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
106 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
105 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
107 | SumCurrentOffset -= CurrentOffset; |
106 | SumCurrentOffset -= CurrentOffset; |
108 | SumCurrentOffset += Current; |
107 | SumCurrentOffset += Current; |
109 | // after averaging set current to static offset |
108 | // after averaging set current to static offset |
110 | Current = FC_OFFSET_CURRENT; |
109 | Current = FC_OFFSET_CURRENT; |
111 | } |
110 | } |
112 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
111 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
113 | { // subtract offset |
112 | { // subtract offset |
114 | if(Current > CurrentOffset) Current -= CurrentOffset; |
113 | if(Current > CurrentOffset) Current -= CurrentOffset; |
115 | else Current = 0; |
114 | else Current = 0; |
116 | // add the FC and BL Offsets |
115 | // add the FC and BL Offsets |
117 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
116 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
118 | } |
117 | } |
119 | 118 | ||
120 | // update actual Current |
119 | // update actual Current |
121 | Capacity.ActualCurrent = Current; |
120 | Capacity.ActualCurrent = Current; |
122 | // update actual Power |
121 | // update actual Power |
123 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
122 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
124 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
123 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
125 | 124 | ||
126 | // update used capacity |
125 | // update used capacity |
127 | SubCounter += Current; |
126 | SubCounter += Current; |
128 | 127 | ||
129 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
128 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
130 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
129 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
131 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
130 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
132 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
131 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
133 | if(SubCounter > SUB_COUNTER_LIMIT) |
132 | if(SubCounter > SUB_COUNTER_LIMIT) |
134 | { |
133 | { |
135 | Capacity.UsedCapacity++; // we have one mAh more |
134 | Capacity.UsedCapacity++; // we have one mAh more |
136 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
135 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
137 | } |
136 | } |
138 | } // EOF check delay update timer |
137 | } // EOF check delay update timer |
139 | } |
138 | } |
140 | 139 |