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Code Issues Releases Activity

RM: Enabled optional modules and got the battery module working again.

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Changed the hardcoded (ick) battery lines for RM.  Also removed the reference
to PIOS_ADC_GetPin(4) as that pin is no longer available.  Finally
changed the default FlightBatterySettings to work out of the box
for the standard recommended sensors.
This commit is contained in:
James Cotton 2012-09-01 10:58:06 -05:00
parent a33f415866
commit f3327e3993
5 changed files with 12 additions and 56 deletions
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44
flight/Modules/Battery/battery.c
View File

@ -55,9 +55,6 @@
// Configuration
//
#define SAMPLE_PERIOD_MS 500
#define BATTERY_BOARD_VOLTAGE_WARNING 4.5
#define BATTERY_BOARD_VOLTAGE_CRITICAL 3.5
#define BATTERY_BOARD_VOLTAGE_ERROR 1.0
// Private types
// Private variables
@ -104,9 +101,6 @@ MODULE_INITCALL(BatteryInitialize, 0)
static void onTimer(UAVObjEvent* ev)
{
static FlightBatteryStateData flightBatteryData;
static bool BoardPowerWarning= false;
// prevent that the initial ramp up of the power supply rail is identified as a power failure.
static bool BoardPowerOk = false;
FlightBatterySettingsData batterySettings;
FlightBatterySettingsGet(&batterySettings);
@ -114,17 +108,11 @@ static void onTimer(UAVObjEvent* ev)
static float dT = SAMPLE_PERIOD_MS / 1000.0;
float energyRemaining;
if(HAS_SENSOR(FLIGHTBATTERYSETTINGS_SENSORTYPE_BOARDVOLTAGE) )
flightBatteryData.BoardSupplyVoltage=((float)PIOS_ADC_PinGet(4)) * PIOS_ADC_VOLTAGE_SCALE * 6.1;
else
flightBatteryData.BoardSupplyVoltage = -1;
//calculate the battery parameters
if(HAS_SENSOR(FLIGHTBATTERYSETTINGS_SENSORTYPE_BATTERYVOLTAGE) )
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(0)) * PIOS_ADC_VOLTAGE_SCALE * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
else
flightBatteryData.Voltage = -1;
if(HAS_SENSOR(FLIGHTBATTERYSETTINGS_SENSORTYPE_BATTERYCURRENT))
{
@ -188,38 +176,6 @@ static void onTimer(UAVObjEvent* ev)
}
}
if(HAS_SENSOR(FLIGHTBATTERYSETTINGS_SENSORTYPE_BOARDVOLTAGE) )
{
// power ia disconnected from the board (it is powered by usb)
if(flightBatteryData.BoardSupplyVoltage!= -1 && flightBatteryData.BoardSupplyVoltage < BATTERY_BOARD_VOLTAGE_ERROR)
{
AlarmsSet(SYSTEMALARMS_ALARM_POWER, SYSTEMALARMS_ALARM_ERROR);
BoardPowerWarning=false;
BoardPowerOk = false;
}
else
{
if(BoardPowerOk && flightBatteryData.BoardSupplyVoltage < BATTERY_BOARD_VOLTAGE_CRITICAL)
{
AlarmsSet(SYSTEMALARMS_ALARM_POWER, SYSTEMALARMS_ALARM_CRITICAL);
BoardPowerWarning=true;
}
else if (BoardPowerOk && flightBatteryData.BoardSupplyVoltage < BATTERY_BOARD_VOLTAGE_WARNING)
{
AlarmsSet(SYSTEMALARMS_ALARM_POWER, SYSTEMALARMS_ALARM_WARNING);
BoardPowerWarning=true;
}
else
{
// if there was any previous warning/critical condition, notify the problem leaving the warning
if(BoardPowerWarning)
AlarmsSet(SYSTEMALARMS_ALARM_POWER, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_POWER);
BoardPowerOk |= flightBatteryData.BoardSupplyVoltage > BATTERY_BOARD_VOLTAGE_WARNING;
}
}
}
FlightBatteryStateSet(&flightBatteryData);
}

12
flight/PiOS/Boards/STM32F4xx_RevoMini.h
View File

@ -259,12 +259,12 @@ extern uint32_t pios_packet_handler;
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
//-------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{GPIOC, GPIO_Pin_0, ADC_Channel_10}, \
{GPIOC, GPIO_Pin_1, ADC_Channel_11}, \
{NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */ \
{NULL, 0, ADC_Channel_TempSensor}, /* Temperature sensor */ \
#define PIOS_DMA_PIN_CONFIG \
{ \
{GPIOC, GPIO_Pin_1, ADC_Channel_11}, \
{GPIOC, GPIO_Pin_2, ADC_Channel_12}, \
{NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */ \
{NULL, 0, ADC_Channel_TempSensor}, /* Temperature sensor */ \
{GPIOC, GPIO_Pin_2, ADC_Channel_12} \
}

6
flight/RevoMini/Makefile
View File

@ -52,12 +52,12 @@ FLASH_TOOL = OPENOCD
MODULES = Sensors
MODULES += Attitude/revolution
MODULES += ManualControl Stabilization Actuator
#MODULES += Battery
MODULES += Battery
MODULES += Altitude/revolution
MODULES += GPS FirmwareIAP
#MODULES += Airspeed/revolution
#MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
#MODULES += CameraStab
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += Radio
MODULES += Telemetry
PYMODULES =

2
flight/RevoMini/System/inc/pios_config.h
View File

@ -39,7 +39,7 @@
#define PIOS_INCLUDE_BL_HELPER
/* Enable/Disable PiOS Modules */
//#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ

4
shared/uavobjectdefinition/flightbatterysettings.xml
View File

@ -8,8 +8,8 @@
<field name="VoltageThresholds" units="V" type="float" elementnames="Warning, Alarm" defaultvalue="9.8, 9.2"/>
<field name="SensorType" units="" type="enum" elementnames="BatteryCurrent,BatteryVoltage,BoardVoltage" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor" defaultvalue="1.0, 1.0"/>
<field name="SensorType" units="" type="enum" elementnames="BatteryCurrent,BatteryVoltage" options="Disabled,Enabled" defaultvalue="Enabled,Enabled"/>
<field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor" defaultvalue="1.0, 1.0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>