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Code Issues Releases Activity

OP-84

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Battery module for Power Sensor version 2
This is the first checkin of code for the new sensor board.
This has been tested for Voltage calibration bit not Current yet.
This will set and clear system alarms appropriately.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2323 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2011-01-03 01:23:04 +00:00 committed by andrew
parent 82f092f115
commit af77839747
1 changed files with 58 additions and 6 deletions
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64
flight/OpenPilot/Modules/Battery/battery.c
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@ -1,11 +1,11 @@
/**
******************************************************************************
* @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.
@ -48,6 +48,7 @@
#include "openpilot.h"
#include "flightbatterystate.h"
#include "batterysettings.h"
//
// Configuration
@ -92,8 +93,6 @@ int32_t BatteryInitialize(void)
*/
static void task(void *parameters)
{
uint cnt = 0;
uint32_t mAs = 0;
portTickType lastSysTime;
FlightBatteryStateData flightBatteryData;
@ -101,11 +100,15 @@ static void task(void *parameters)
DEBUG_MSG("Battery Started\n");
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
lastSysTime = xTaskGetTickCount();
while (1) {
#if (POWER_SENSOR_VERSION == 1)
// TODO: Compare with floating point calculations
uint cnt = 0;
uint32_t mAs = 0;
uint32_t mV, mA;
mV = PIOS_ADC_PinGet(2) * 1257 / 100;
@ -120,11 +123,60 @@ static void task(void *parameters)
flightBatteryData.ConsumedEnergy = mAs / 3600;
FlightBatteryStateSet(&flightBatteryData);
vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
#endif
#if (POWER_SENSOR_VERSION == 2)
portTickType thisSysTime;
BatterySettingsData batterySettings;
float dT = SAMPLE_PERIOD_MS / 1000;
float Bob;
float energyRemaining;
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / (portTICK_RATE_MS / 1000.0f);
lastSysTime = thisSysTime;
BatterySettingsGet(&batterySettings);
//calculate the battery parameters
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(2)) * 0.008065 * batterySettings.Calibrations[BATTERYSETTINGS_CALIBRATIONS_VOLTAGE]; //in Volts
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * 0.016113 * batterySettings.Calibrations[BATTERYSETTINGS_CALIBRATIONS_CURRENT]; //in Amps
Bob =dT; // FIXME: something funky happens if I don't do this... Andrew
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.BatteryCapacity - 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.BatteryVoltage * 0.75)||(flightBatteryData.Current > batterySettings.BatteryCapacity * 0.85))AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
else if ((flightBatteryData.Voltage < batterySettings.BatteryVoltage * 0.85)||(flightBatteryData.Current > batterySettings.BatteryCapacity * 0.95))AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
FlightBatteryStateSet(&flightBatteryData);
#endif
vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
}
}