1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-11 19:24:10 +01:00
LibrePilot/flight/Modules/Battery/battery.c
Oleg Semyonov 7e4596ff35 Makefile: fix some MODULE_Name_BUILTIN checks and Makefile
These names are automatically generated by make using the list
of mandatory (always started) modules. Wrong names mean they can
be disabled, fixed now.

Conflicts:
	flight/Modules/Radio/radio.c
2013-03-24 13:04:06 +02:00

213 lines
7.8 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"
#include "hwsettings.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 500
// Private types
// Private variables
static bool batteryEnabled = false;
//THESE COULD BE BETTER AS SOME KIND OF UNION OR STRUCT, BY WHICH 4 BITS ARE USED FOR EACH
//PIN VARIABLE, ONE OF WHICH INDICATES SIGN, AND THE OTHER 3 BITS INDICATE POSITION. THIS WILL
//WORK FOR QUITE SOMETIME, UNTIL MORE THAN 8 ADC ARE AVAILABLE. EVEN AT THIS POINT, THE STRUCTURE
//CAN SIMPLY BE MODIFIED TO SUPPORT 15 ADC PINS, BY USING ALL AVAILABLE BITS.
static int8_t voltageADCPin=-1; //ADC pin for voltage
static int8_t currentADCPin=-1; //ADC pin for current
// 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)
{
#ifdef MODULE_Battery_BUILTIN
batteryEnabled = true;
#else
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED))
batteryEnabled = true;
else
batteryEnabled = false;
#endif
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingGet(adcRouting);
//Determine if the battery sensors are routed to ADC pins
for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
currentADCPin = i;
}
}
//Don't enable module if no ADC pins are routed to the sensors
if (voltageADCPin <0 && currentADCPin <0)
batteryEnabled = false;
//Start module
if (batteryEnabled) {
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)
#define HAS_SENSOR(x) batterySettings.SensorType[x]==FLIGHTBATTERYSETTINGS_SENSORTYPE_ENABLED
static void onTimer(UAVObjEvent* ev)
{
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
FlightBatterySettingsGet(&batterySettings);
static float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
//calculate the battery parameters
if (voltageADCPin >=0) {
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(voltageADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
}
else {
flightBatteryData.Voltage=1234; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
if (currentADCPin >=0) {
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)
flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
}
else { //If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
flightBatteryData.Current=-0.1234f; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f) ;//in mAh
//Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f-dT/(dT+2.0f);
flightBatteryData.AvgCurrent=alpha*flightBatteryData.AvgCurrent+(1-alpha)*flightBatteryData.Current; //in Amps
/*The motor could regenerate power. Or we could have solar cells.
In short, is there any likelihood of measuring negative current? If it's a bad current reading we want to check, then
it makes sense to saturate at max and min values, because a misreading could as easily be very large, as negative. The simple
sign check doesn't catch this.*/
// //sanity checks
// if (flightBatteryData.AvgCurrent<0) flightBatteryData.AvgCurrent=0.0f;
// if (flightBatteryData.PeakCurrent<0) flightBatteryData.PeakCurrent=0.0f;
// if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
if (flightBatteryData.AvgCurrent > 0)
flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent*1000.0f))*3600.0f;//in Sec
else
flightBatteryData.EstimatedFlightTime = 9999;
//generate alarms where needed...
if ((flightBatteryData.Voltage<=0) && (flightBatteryData.Current<=0))
{
//FIXME: There's no guarantee that a floating ADC will give 0. So this
// check might fail, even when there's nothing attached.
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
}
else
{
// FIXME: should make the timer alarms user configurable
if (flightBatteryData.EstimatedFlightTime < 30)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 120)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
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);
}
/**
* @}
*/
/**
* @}
*/