mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-30 15:52:12 +01:00
af8d65616e
were consuming lots of memory. Probably should make a simple adc version that just queries the line when needed since we are only using this data at 500 ms. However, the accumulator scheme in place is quite good for averaging over time.
141 lines
4.9 KiB
C
141 lines
4.9 KiB
C
/**
|
|
******************************************************************************
|
|
* @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
|
|
|
|
// 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
|
|
*/
|
|
int32_t BatteryInitialize(void)
|
|
{
|
|
FlightBatteryStateInitialize();
|
|
FlightBatterySettingsInitialize();
|
|
|
|
static UAVObjEvent ev;
|
|
|
|
memset(&ev,0,sizeof(UAVObjEvent));
|
|
EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
|
|
|
|
return 0;
|
|
}
|
|
|
|
MODULE_INITCALL(BatteryInitialize, 0)
|
|
|
|
static void onTimer(UAVObjEvent* ev)
|
|
{
|
|
static FlightBatteryStateData flightBatteryData;
|
|
|
|
FlightBatterySettingsData batterySettings;
|
|
static float dT = SAMPLE_PERIOD_MS / 1000;
|
|
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
|
|
|
|
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);
|
|
}
|
|
|
|
FlightBatteryStateSet(&flightBatteryData);
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|