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Code Issues Releases Activity

Created ADC routing UAVO. This allows to direct ADC inputs to various modules.

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Tested and works on FlightBattery, currently the only module using the ADC.
This commit is contained in:
Laura Sebesta 2012-07-08 13:16:05 +02:00
parent ef599edd51
commit a98991d8a1
2 changed files with 63 additions and 20 deletions
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82
flight/Modules/Battery/battery.c
View File

@ -61,6 +61,13 @@
// Private variables
static bool batteryEnabled = false;
//THESE COULD BE BETTER AS SOME KIND OF UNION OR STRUCT, BY WHICH 4 BITS ARE USED FOR EACH
//PIN VARIABLE, ONE OF WHICH INDICATES SIGN, AND THE OTHER 3 BITS INDICATE POSITION. THIS WILL
//WORK FOR QUITE SOMETIME, UNTIL MORE THAN 8 ADC ARE AVAILABLE. EVEN AT THIS POINT, THE STRUCTURE
//CAN SIMPLY BE MODIFIED TO SUPPORT 15 ADC PINS, BY USING ALL AVAILABLE BITS.
static int8_t voltageADCPin=-1; //ADC pin for voltage
static int8_t currentADCPin=-1; //ADC pin for current
// Private functions
static void onTimer(UAVObjEvent* ev);
@ -76,10 +83,22 @@ int32_t BatteryInitialize(void)
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
HwSettingsADCRoutingGet(adcRouting);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED)
//Determine if the
for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_VOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_CURRENT) {
currentADCPin = i;
}
}
if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED) && (voltageADCPin >=0 || currentADCPin >=0))
batteryEnabled = true;
else
batteryEnabled = false;
@ -105,45 +124,68 @@ static void onTimer(UAVObjEvent* ev)
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
static float dT = SAMPLE_PERIOD_MS / 1000.0;
static float dT = SAMPLE_PERIOD_MS / 1000.0f;
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
if (voltageADCPin >=0) {
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(voltageADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
}
if (currentADCPin >=0) {
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)
flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
}
else { //If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
flightBatteryData.Current=-0.1234f; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f) ;//in mAh
//Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f-dT/(dT+2.0f);
flightBatteryData.AvgCurrent=alpha*flightBatteryData.AvgCurrent+(1-alpha)*flightBatteryData.Current; //in Amps
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0f * dT / 3600.0f) ;//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;
/*The motor could regenerate power. Or we could have solar cells.
In short, is there any likelihood of measuring negative current? If it's a bad current reading we want to check, then
it makes sense to saturate at max and min values, because a misreading could as easily be very large, as negative. The simple
sign check doesn't catch this.*/
// //sanity checks
// if (flightBatteryData.AvgCurrent<0) flightBatteryData.AvgCurrent=0.0f;
// if (flightBatteryData.PeakCurrent<0) flightBatteryData.PeakCurrent=0.0f;
// if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0))*3600.0);//in Sec
flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0f))*3600.0f);//in Sec
//generate alarms where needed...
if ((flightBatteryData.Voltage<=0)&&(flightBatteryData.Current<=0))
{
if ((flightBatteryData.Voltage<=0) && (flightBatteryData.Current<=0))
{
//FIXME: There's no guarantee that a floating ADC will give 0. So this
// check might fail, even when there's nothing attached.
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 timer alarms user configurable
if (flightBatteryData.EstimatedFlightTime < 30)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 120)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
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);
else
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
FlightBatteryStateSet(&flightBatteryData);

1
shared/uavobjectdefinition/hwsettings.xml
View File

@ -19,6 +19,7 @@
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="ADCRouting" units="" type="enum" elementnames="ADC0,ADC1,ADC2,ADC3" options="Disabled,Voltage,Current,Airspeed,Generic" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>