Subversion Repositories FlightCtrl

Rev

Rev 1501 | Rev 1510 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1501 Rev 1506
Line 54... Line 54...
54 
#include "twimaster.h"
 54 
#include "twimaster.h"
55 
#include "main.h"
 55 
#include "main.h"
56 
#include "timer0.h"
 56 
#include "timer0.h"
Line 57... Line 57...
57 
 
 57 
 
58 
#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
 58 
#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
- 
 
 59 
unsigned char OwnConsumptionCurrent;  // always calculate with a Current of 0,xA
Line 59... Line 60...
59 
#define OFFSET_CURRENT 4  // always calculate with a Current of 0,4A
 60 
 
60 
 
 61 
 
61 
// global varialbles
 62 
// global varialbles
Line 73... Line 74...
73 
 
 74 
 
74 
 
 75 
 
75 
// called in main loop at a regular interval
 76 
// called in main loop at a regular interval
76 
void Capacity_Update(void)
 77 
void Capacity_Update(void)
77 
{
 78 
{
78 
        unsigned short Current, SetSum; // max value will be 255 * 12 = 3060
 79 
        unsigned short Current; // max value will be 255 * 12 = 3060
79 
        static unsigned short SubCounter = 0;
 80 
        static unsigned short SubCounter = 0;
80 
        static unsigned short CurrentOffset = 0;
 81 
        static unsigned short CurrentOffset = 0;
Line 81... Line 82...
81 
        static unsigned long SumCurrentOffset = 0;
 82 
        static unsigned long SumCurrentOffset = 0;
82 
        unsigned char i;
 83 
        unsigned char i;
83 
 
 84 
 
84 
        if(CheckDelay(update_timer))
 - 
 
85 
        {
 85 
        if(CheckDelay(update_timer))
86 
                update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks
 86 
        {
87 
 
 - 
 
88 
                // determine sum of all present BL currents and setpoints
 87 
                update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks
89 
                Current = 0;
 88 
                // determine sum of all present BL currents and setpoints
90 
                SetSum = 0;
 89 
                Current = 0;
91 
                for(i = 0; i < MAX_MOTORS; i++)
 90 
                for(i = 0; i < MAX_MOTORS; i++)
92 
                {
 91 
                {
93 
                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
 - 
 
94 
                        {
 92 
                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
95 
                                Current += (int16_t)(Motor[i].Current);
 93 
                        {
96 
                                SetSum += (int16_t)(Motor[i].SetPoint);
 - 
 
97 
                        }
 94 
                                Current += (int16_t)(Motor[i].Current);
98 
                }
 95 
                        }
99 
 
 96 
                }
100 
                if(SetSum != 0) // if one of the present motors has a setpoint > 0
 97 
                if(MotorenEin) // if one of the present motors has a setpoint > 0
101 
                {
 98 
                {
102 
                        if(Current > CurrentOffset) Capacity.ActualCurrent = Current - CurrentOffset;
 99 
                        if(Current > CurrentOffset) Capacity.ActualCurrent = Current - CurrentOffset;
103 
                        else Capacity.ActualCurrent = 0;
 - 
 
104 
                        // update used capacity
 - 
 
105 
                        SubCounter += Capacity.ActualCurrent;
 - 
 
106 
 
 - 
 
107 
/*     
 - 
 
108 
                        // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL
 - 
 
109 
                        // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL)
 - 
 
110 
                        // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL)
 - 
 
111 
                        #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL)
 - 
 
112 
                        if(SubCounter > SUB_COUNTER_LIMIT)
 - 
 
113 
                        {
 - 
 
114 
                                Capacity.UsedCapacity++;                        // we have one mAh more
 - 
 
115 
                                SubCounter -= SUB_COUNTER_LIMIT;        // keep the remaining sub part
 100 
                        else Capacity.ActualCurrent = 0;
116 
                        }
 101 
                        Capacity.ActualCurrent += OwnConsumptionCurrent;
117 
*/
 102 
//                      SubCounter += Capacity.ActualCurrent;
118 
                }
 103 
                }
119 
                else // motors are stopped
 104 
                else // motors are stopped
120 
                { // determine offsets of motor currents
 105 
                { // determine offsets of motor currents
121 
                        Capacity.ActualCurrent = 0;
 106 
                        Capacity.ActualCurrent = STATIC_CURRENT;
122 
                        #define CURRENT_AVERAGE 256L  // 256 * 10 ms = 2.56s average time
 107 
                        #define CURRENT_AVERAGE 256L  // 256 * 10 ms = 2.56s average time
123 
                        CurrentOffset = (unsigned short)(SumCurrentOffset/CURRENT_AVERAGE);
 108 
                        CurrentOffset = (unsigned short)(SumCurrentOffset/CURRENT_AVERAGE);
- 
 
 109 
                        SumCurrentOffset -= CurrentOffset;
124 
                        SumCurrentOffset -= CurrentOffset;
 110 
                        SumCurrentOffset += Current;
125 
                        SumCurrentOffset += Current;
 111 
                }
126 
                }
 112 
                        // update used capacity
127 
                SubCounter += OFFSET_CURRENT;
 113 
                SubCounter += Capacity.ActualCurrent;
128 
                // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL
 114 
                // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL
129 
                // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL)
 115 
                // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL)