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Rev 2418 Rev 2443
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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 CAPACITY_UPDATE_INTERVAL 50 // 50 ms  = 20Hz
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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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                                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; else RedundanceBlOperation = 0;
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                                if(Motor[i].MaxPWM <= MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; else RedundanceBlOperation = 0;
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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;
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                if(SetSum == 0) // if all setpoints are 0
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                if(SetSum == 0) // if all setpoints are 0
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                { // determine offsets of motor currents
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                { // determine offsets of motor currents
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                        #define CURRENT_AVERAGE 8  // 8bit = 256 * 10 ms = 2.56s average time
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                        #define CURRENT_AVERAGE 8  // 8bit = 256 * 10 ms = 2.56s average time
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                        CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE);
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                        CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE);
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                        SumCurrentOffset -= CurrentOffset;
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                        SumCurrentOffset -= CurrentOffset;