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First version of battery module

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@882 ebee16cc-31ac-478f-84a7-5cbb03baadba
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FredericG 2010-06-24 11:10:43 +00:00 committed by FredericG
parent c498611c60
commit 6ef11148b5
2 changed files with 152 additions and 0 deletions
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118
flight/OpenPilot/Modules/Battery/battery.c Normal file
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/**
******************************************************************************
*
* @file attitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the attitude solution from the AHRS on a periodic basis.
*
* @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"
//
// Configuration
//
#define DEBUG_PORT PIOS_COM_TELEM_RF
#define STACK_SIZE 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
#define SAMPLE_PERIOD_MS 500
//#define ENABLE_DEBUG_MSG
#ifdef ENABLE_DEBUG_MSG
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
#endif
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void task(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t BatteryInitialize(void)
{
// Start main task
xTaskCreate(task, (signed char*)"Battery", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void task(void* parameters)
{
uint cnt = 0;
uint32_t mAs = 0;
portTickType lastSysTime;
FlightBatteryStateData flightBatteryData;
PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
DEBUG_MSG("Battery Started\n");
lastSysTime = xTaskGetTickCount();
while(1)
{
// TODO: Compare with floating point calculations
uint32_t mV, mA;
mV = PIOS_ADC_PinGet(2)*1257/100;
mA = (PIOS_ADC_PinGet(1)-28)*4871/100;
mAs += mA * SAMPLE_PERIOD_MS / 1000; // FIXME: Use real time between samples
DEBUG_MSG("%03d %06d => %06dmV %06d => %06dmA %06dmAh\n", cnt, PIOS_ADC_PinGet(2), mV, PIOS_ADC_PinGet(1), mA, mAs/3600);
cnt++;
flightBatteryData.Voltage = mV;
flightBatteryData.Current = mA;
flightBatteryData.ConsumedEnergy = mAs / 3600;
FlightBatteryStateSet(&flightBatteryData);
vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
}
}

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flight/OpenPilot/Modules/Battery/inc/battery.h Normal file
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/**
******************************************************************************
*
* @file attitude.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the attitude solution from the AHRS on a periodic basis.
*
* @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
*/
#ifndef BATTERY_H
#define BATTERY_H
#include "openpilot.h"
int32_t BatteryInitialize(void);
#endif // BATTERY_H