/** ****************************************************************************** * @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. * @brief Module to read the battery Voltage and Current periodically and set alarms appropriately. * * @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" #include "flightbatterysettings.h" // // Configuration // #define SAMPLE_PERIOD_MS 500 //#define ENABLE_DEBUG_MSG #ifdef ENABLE_DEBUG_MSG #define DEBUG_PORT PIOS_COM_GPS #define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__) #else #define DEBUG_MSG(format, ...) #endif // Private types // Private variables // Private functions static void onTimer(UAVObjEvent* ev); /** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ module_initcall(BatteryInitialize, 0); int32_t BatteryInitialize(void) { static UAVObjEvent ev; memset(&ev,0,sizeof(UAVObjEvent)); EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS); return 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 Bob; 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 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.Capacity - 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.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); } lastSysTime = thisSysTime; FlightBatteryStateSet(&flightBatteryData); } /** * @} */ /** * @} */