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#include "twimaster.h"
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#include "twimaster.h"
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#include "main.h"
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#include "main.h"
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#include "timer0.h"
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#include "timer0.h"
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#include "analog.h"
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#include "analog.h"
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//#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
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#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
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#define CAPACITY_UPDATE_INTERVAL 50 // 50 ms
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#define FC_OFFSET_CURRENT 5  // calculate with a current of 0.5A
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#define FC_OFFSET_CURRENT 5  // calculate with a current of 0.5A
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#define BL_OFFSET_CURRENT 2  // calculate with a current of 0.2A
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#define BL_OFFSET_CURRENT 2  // calculate with a current of 0.2A
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        Capacity.ActualPower = 0;
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        Capacity.ActualPower = 0;
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        Capacity.MinOfMaxPWM = 0;
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        Capacity.MinOfMaxPWM = 0;
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        update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL);
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        update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL);
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}
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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unsigned int BL3_Current(unsigned char who) // in 0,1A
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{
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 if(Motor[who].Current <= 200) return(Motor[who].Current);
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 else
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 {
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  if(Motor[who].Version & MOTOR_STATE_BL30) return(200 + 10 * ((unsigned int)Motor[who].Current-200));
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  else return(Motor[who].Current);
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 }
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}
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// called in main loop at a regular interval
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// called in main loop at a regular interval
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void Capacity_Update(void)
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void Capacity_Update(void)
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                for(i = 0; i < MAX_MOTORS; i++)
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                for(i = 0; i < MAX_MOTORS; i++)
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                {
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                {
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                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
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                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
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                        {
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                        {
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                                NumOfMotors++;
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                                NumOfMotors++;
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                                if(Motor[i].Current > 200)
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                                 {
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                                  Current += BL3_Current(i); // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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                                 }
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                                Current += (unsigned int)(Motor[i].Current);
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                                 else Current += (unsigned int)(Motor[i].Current);
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                                SetSum +=  (unsigned int)(Motor[i].SetPoint);
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                                SetSum +=  (unsigned int)(Motor[i].SetPoint);
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                                if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM;
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                                if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM;
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                        }
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                        }
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                }
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                }
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                Capacity.MinOfMaxPWM = MinOfMaxPWM;
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                Capacity.MinOfMaxPWM = MinOfMaxPWM;