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find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f |
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba
130 lines
3.5 KiB
C
130 lines
3.5 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup BatteryModule Battery Module
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* @brief Measures battery voltage and current
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* Updates the FlightBatteryState object
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* @{
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*
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* @file battery.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to read the battery sensor periodically
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Output object: FlightBatteryState
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*
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* This module will periodically generate information on the battery state.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "openpilot.h"
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#include "flightbatterystate.h"
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//
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// Configuration
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//
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#define DEBUG_PORT PIOS_COM_TELEM_RF
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#define STACK_SIZE 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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#define SAMPLE_PERIOD_MS 500
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//#define ENABLE_DEBUG_MSG
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#ifdef ENABLE_DEBUG_MSG
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#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
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#else
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#define DEBUG_MSG(format, ...)
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#endif
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void task(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t BatteryInitialize(void)
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{
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// Start main task
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xTaskCreate(task, (signed char *)"Battery", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* Module thread, should not return.
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*/
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static void task(void *parameters)
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{
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uint cnt = 0;
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uint32_t mAs = 0;
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portTickType lastSysTime;
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FlightBatteryStateData flightBatteryData;
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PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
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DEBUG_MSG("Battery Started\n");
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lastSysTime = xTaskGetTickCount();
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while (1) {
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// TODO: Compare with floating point calculations
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uint32_t mV, mA;
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mV = PIOS_ADC_PinGet(2) * 1257 / 100;
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mA = (PIOS_ADC_PinGet(1) - 28) * 4871 / 100;
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mAs += mA * SAMPLE_PERIOD_MS / 1000; // FIXME: Use real time between samples
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DEBUG_MSG("%03d %06d => %06dmV %06d => %06dmA %06dmAh\n", cnt, PIOS_ADC_PinGet(2), mV, PIOS_ADC_PinGet(1), mA, mAs / 3600);
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cnt++;
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flightBatteryData.Voltage = (float)mV / 1000;
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flightBatteryData.Current = (float)mA / 1000;
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flightBatteryData.ConsumedEnergy = mAs / 3600;
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FlightBatteryStateSet(&flightBatteryData);
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vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
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}
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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