From 39ce3cea17343497c5df9aac26926dda236d1ce7 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 15 May 2012 03:08:18 -0500 Subject: [PATCH] Clean up the battery module --- flight/Modules/Battery/battery.c | 30 ++---------------------------- 1 file changed, 2 insertions(+), 28 deletions(-) diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index 303e4aa47..78fa8f807 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -92,42 +92,17 @@ MODULE_INITCALL(BatteryInitialize, 0) static void onTimer(UAVObjEvent* ev) { - static portTickType lastSysTime; - static bool firstRun = true; - static FlightBatteryStateData flightBatteryData; - if (firstRun) { - #ifdef ENABLE_DEBUG_MSG - PIOS_COM_ChangeBaud(DEBUG_PORT, 57600); - #endif - lastSysTime = xTaskGetTickCount(); - //FlightBatteryStateGet(&flightBatteryData); - - firstRun = false; - } - - - AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR); - - - portTickType thisSysTime; FlightBatterySettingsData batterySettings; static float dT = SAMPLE_PERIOD_MS / 1000; float energyRemaining; - - // Check how long since last update - thisSysTime = xTaskGetTickCount(); - if(thisSysTime > lastSysTime) // reuse dt in case of wraparound - dT = (float)(thisSysTime - lastSysTime) / (float)(portTICK_RATE_MS * 1000.0f); - //lastSysTime = thisSysTime; - FlightBatterySettingsGet(&batterySettings); //calculate the battery parameters - flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(2)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts - flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps + flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts + flightBatteryData.Current = ((float)PIOS_ADC_PinGet(0)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0 * dT / 3600.0) ;//in mAh @@ -161,7 +136,6 @@ static void onTimer(UAVObjEvent* ev) AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING); else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY); } - lastSysTime = thisSysTime; FlightBatteryStateSet(&flightBatteryData); }