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| Rev 1638 | Rev 1672 | ||
|---|---|---|---|
| Line 68... | Line 68... | ||
| 68 | void Capacity_Init(void) |
68 | void Capacity_Init(void) |
| 69 | { |
69 | { |
| 70 | Capacity.ActualCurrent = 0; |
70 | Capacity.ActualCurrent = 0; |
| 71 | Capacity.UsedCapacity = 0; |
71 | Capacity.UsedCapacity = 0; |
| 72 | Capacity.ActualPower = 0; |
72 | Capacity.ActualPower = 0; |
| - | 73 | Capacity.MinOfMaxPWM = 0; |
|
| 73 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
74 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| 74 | } |
75 | } |
| Line 75... | Line 76... | ||
| 75 | 76 | ||
| Line 79... | Line 80... | ||
| 79 | { |
80 | { |
| 80 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
81 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| 81 | static unsigned short SubCounter = 0; |
82 | static unsigned short SubCounter = 0; |
| 82 | static unsigned short CurrentOffset = 0; |
83 | static unsigned short CurrentOffset = 0; |
| 83 | static unsigned long SumCurrentOffset = 0; |
84 | static unsigned long SumCurrentOffset = 0; |
| 84 | unsigned char i, NumOfMotors; |
85 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
| Line 85... | Line 86... | ||
| 85 | 86 | ||
| 86 | if(CheckDelay(update_timer)) |
87 | if(CheckDelay(update_timer)) |
| 87 | { |
88 | { |
| 88 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
89 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| 89 | // determine sum of all present BL currents and setpoints |
90 | // determine sum of all present BL currents and setpoints |
| 90 | Current = 0; |
91 | Current = 0; |
| 91 | SetSum = 0; |
92 | SetSum = 0; |
| - | 93 | NumOfMotors = 0; |
|
| 92 | NumOfMotors = 0; |
94 | MinOfMaxPWM = 255; |
| 93 | for(i = 0; i < MAX_MOTORS; i++) |
95 | for(i = 0; i < MAX_MOTORS; i++) |
| 94 | { |
96 | { |
| 95 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
97 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 96 | { |
98 | { |
| 97 | NumOfMotors++; |
99 | NumOfMotors++; |
| 98 | Current += (unsigned int)(Motor[i].Current); |
100 | Current += (unsigned int)(Motor[i].Current); |
| - | 101 | SetSum += (unsigned int)(Motor[i].SetPoint); |
|
| 99 | SetSum += (unsigned int)(Motor[i].SetPoint); |
102 | if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| 100 | } |
103 | } |
| - | 104 | } |
|
| - | 105 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
|
| 101 | } |
106 | |
| 102 | if(SetSum == 0) // if all setpoints are 0 |
107 | if(SetSum == 0) // if all setpoints are 0 |
| 103 | { // determine offsets of motor currents |
108 | { // determine offsets of motor currents |
| 104 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
109 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| 105 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
110 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |