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LibrePilot/flight/Modules/Battery/battery.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup BatteryModule Battery Module
* @brief Measures battery voltage and current
* Updates the FlightBatteryState object
* @{
*
* @file battery.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Output object: FlightBatteryState
*
* This module will periodically generate information on the battery state.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "flightbatterystate.h"
#include "flightbatterysettings.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 500
// Private types
// Private variables
// Private functions
static void onTimer(UAVObjEvent* ev);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t BatteryInitialize(void)
{
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FlightBatteryStateInitialize();
FlightBatterySettingsInitialize();
static UAVObjEvent ev;
memset(&ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
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MODULE_INITCALL(BatteryInitialize, 0)
static void onTimer(UAVObjEvent* ev)
{
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
static float dT = SAMPLE_PERIOD_MS / 1000;
float energyRemaining;
FlightBatterySettingsGet(&batterySettings);
//calculate the battery parameters
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(0)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
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flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0 * dT / 3600.0) ;//in mAh
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
flightBatteryData.AvgCurrent=(flightBatteryData.AvgCurrent*0.8)+(flightBatteryData.Current*0.2); //in Amps
//sanity checks
if (flightBatteryData.AvgCurrent<0)flightBatteryData.AvgCurrent=0.0;
if (flightBatteryData.PeakCurrent<0)flightBatteryData.PeakCurrent=0.0;
if (flightBatteryData.ConsumedEnergy<0)flightBatteryData.ConsumedEnergy=0.0;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0))*3600.0);//in Sec
//generate alarms where needed...
if ((flightBatteryData.Voltage<=0)&&(flightBatteryData.Current<=0))
{
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
}
else
{
if (flightBatteryData.EstimatedFlightTime < 30) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 60) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
FlightBatteryStateSet(&flightBatteryData);
}
/**
* @}
*/
/**
* @}
*/