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140 lines
4.9 KiB
C
140 lines
4.9 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 Voltage and Current periodically and set alarms appropriately.
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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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#include "flightbatterysettings.h"
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//
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// Configuration
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//
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#define SAMPLE_PERIOD_MS 500
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// Private types
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// Private variables
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// Private functions
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static void onTimer(UAVObjEvent* ev);
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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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FlightBatteryStateInitialize();
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FlightBatterySettingsInitialize();
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static UAVObjEvent ev;
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memset(&ev,0,sizeof(UAVObjEvent));
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EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
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return 0;
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}
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MODULE_INITCALL(BatteryInitialize, 0)
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static void onTimer(UAVObjEvent* ev)
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{
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static FlightBatteryStateData flightBatteryData;
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FlightBatterySettingsData batterySettings;
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static float dT = SAMPLE_PERIOD_MS / 1000.0;
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float energyRemaining;
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FlightBatterySettingsGet(&batterySettings);
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//calculate the battery parameters
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flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(0)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
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flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
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flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0f * dT / 3600.0f) ;//in mAh
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if (flightBatteryData.Current > flightBatteryData.PeakCurrent)flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
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flightBatteryData.AvgCurrent=(flightBatteryData.AvgCurrent*0.8)+(flightBatteryData.Current*0.2); //in Amps
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//sanity checks
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if (flightBatteryData.AvgCurrent<0)flightBatteryData.AvgCurrent=0.0;
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if (flightBatteryData.PeakCurrent<0)flightBatteryData.PeakCurrent=0.0;
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if (flightBatteryData.ConsumedEnergy<0)flightBatteryData.ConsumedEnergy=0.0;
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energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
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flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0))*3600.0);//in Sec
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//generate alarms where needed...
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if ((flightBatteryData.Voltage<=0)&&(flightBatteryData.Current<=0))
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{
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
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AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
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}
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else
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{
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if (flightBatteryData.EstimatedFlightTime < 30) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
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else if (flightBatteryData.EstimatedFlightTime < 60) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
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else AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
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// FIXME: should make the battery voltage detection dependent on battery type.
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if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM])
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
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else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING])
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
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else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
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}
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FlightBatteryStateSet(&flightBatteryData);
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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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