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284 lines
11 KiB
C
284 lines
11 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 "flightstatus.h"
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#include "flightbatterystate.h"
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#include "flightbatterysettings.h"
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#include "hwsettings.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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static bool batteryEnabled = false;
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// THESE COULD BE BETTER AS SOME KIND OF UNION OR STRUCT, BY WHICH 4 BITS ARE USED FOR EACH
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// PIN VARIABLE, ONE OF WHICH INDICATES SIGN, AND THE OTHER 3 BITS INDICATE POSITION. THIS WILL
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// WORK FOR QUITE SOMETIME, UNTIL MORE THAN 8 ADC ARE AVAILABLE. EVEN AT THIS POINT, THE STRUCTURE
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// CAN SIMPLY BE MODIFIED TO SUPPORT 15 ADC PINS, BY USING ALL AVAILABLE BITS.
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static int8_t voltageADCPin = -1; // ADC pin for voltage
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static int8_t currentADCPin = -1; // ADC pin for current
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// Private functions
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static void onTimer(UAVObjEvent *ev);
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static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData);
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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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#ifdef MODULE_BATTERY_BUILTIN
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batteryEnabled = true;
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#else
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED)) {
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batteryEnabled = true;
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} else {
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batteryEnabled = false;
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}
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#endif
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uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
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HwSettingsADCRoutingArrayGet(adcRouting);
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// Determine if the battery sensors are routed to ADC pins
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for (int i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
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if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
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voltageADCPin = i;
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}
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if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
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currentADCPin = i;
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}
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}
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// Don't enable module if no ADC pins are routed to the sensors
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if (voltageADCPin < 0 && currentADCPin < 0) {
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batteryEnabled = false;
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}
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// Start module
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if (batteryEnabled) {
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FlightBatteryStateInitialize();
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FlightBatterySettingsInitialize();
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// FlightBatterySettingsConnectCallback(FlightBatterySettingsUpdatedCb);
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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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}
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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(__attribute__((unused)) UAVObjEvent *ev)
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{
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static FlightBatterySettingsData batterySettings;
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static FlightBatteryStateData flightBatteryData;
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FlightBatterySettingsGet(&batterySettings);
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FlightBatteryStateGet(&flightBatteryData);
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const float dT = SAMPLE_PERIOD_MS / 1000.0f;
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float energyRemaining;
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// calculate the battery parameters
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if (voltageADCPin >= 0) {
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flightBatteryData.Voltage = (PIOS_ADC_PinGetVolt(voltageADCPin) - batterySettings.SensorCalibrations.VoltageZero) * batterySettings.SensorCalibrations.VoltageFactor; // in Volts
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} else {
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flightBatteryData.Voltage = 0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
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}
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// voltage available: get the number of cells if possible, desired and not armed
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GetNbCells(&batterySettings, &flightBatteryData);
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// ad a plausibility check: zero voltage => zero current
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if (currentADCPin >= 0 && flightBatteryData.Voltage > 0.f) {
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flightBatteryData.Current = (PIOS_ADC_PinGetVolt(currentADCPin) - batterySettings.SensorCalibrations.CurrentZero) * batterySettings.SensorCalibrations.CurrentFactor; // in Amps
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if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
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flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
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}
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} else { // If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
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flightBatteryData.Current = -0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
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}
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// For safety reasons consider only positive currents in energy comsumption, i.e. no charging up.
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// necesary when sensor are not perfectly calibrated
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if (flightBatteryData.Current > 0) {
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flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
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}
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// Apply a 2 second rise time low-pass filter to average the current
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float alpha = 1.0f - dT / (dT + 2.0f);
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flightBatteryData.AvgCurrent = alpha * flightBatteryData.AvgCurrent + (1 - alpha) * flightBatteryData.Current; // in Amps
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/*The motor could regenerate power. Or we could have solar cells.
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In short, is there any likelihood of measuring negative current? If it's a bad current reading we want to check, then
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it makes sense to saturate at max and min values, because a misreading could as easily be very large, as negative. The simple
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sign check doesn't catch this.*/
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energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
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if (batterySettings.Capacity > 0 && flightBatteryData.AvgCurrent > 0) {
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flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent * 1000.0f)) * 3600.0f; // in Sec
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} else {
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flightBatteryData.EstimatedFlightTime = 0;
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}
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// generate alarms where needed...
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if ((flightBatteryData.Voltage <= 0) && (flightBatteryData.Current <= 0)) {
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// FIXME: There's no guarantee that a floating ADC will give 0. So this
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// check might fail, even when there's nothing attached.
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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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} else {
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// FIXME: should make the timer alarms user configurable
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if (batterySettings.Capacity > 0 && flightBatteryData.EstimatedFlightTime < 30) {
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AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (batterySettings.Capacity > 0 && flightBatteryData.EstimatedFlightTime < 120) {
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AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
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}
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// FIXME: should make the battery voltage detection dependent on battery type.
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/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
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if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * flightBatteryData.NbCells) {
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * flightBatteryData.NbCells) {
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
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}
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}
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FlightBatteryStateSet(&flightBatteryData);
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}
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static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData)
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{
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// get flight status to check for armed
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uint8_t armed = 0;
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FlightStatusArmedGet(&armed);
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// check only if not armed
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if (armed == FLIGHTSTATUS_ARMED_ARMED) {
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return -2;
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}
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// prescribed number of cells?
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if (batterySettings->NbCells != 0) {
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flightBatteryData->NbCells = batterySettings->NbCells;
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flightBatteryData->NbCellsAutodetected = 0;
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return -3;
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}
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// plausibility check
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if (flightBatteryData->Voltage <= 0.5f) {
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// cannot detect number of cells
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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float voltageMin = 0.f, voltageMax = 0.f;
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// Cell type specific values
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// TODO: could be implemented as constant arrays indexed by cellType
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// or could be part of the UAVObject definition
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switch (batterySettings->Type) {
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case FLIGHTBATTERYSETTINGS_TYPE_LIPO:
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case FLIGHTBATTERYSETTINGS_TYPE_LICO:
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voltageMin = 3.6f;
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voltageMax = 4.2f;
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break;
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case FLIGHTBATTERYSETTINGS_TYPE_A123:
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voltageMin = 2.01f;
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voltageMax = 3.59f;
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break;
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case FLIGHTBATTERYSETTINGS_TYPE_LIFESO4:
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default:
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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// uniquely measurable under any condition iff n * voltageMax < (n+1) * voltageMin
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// or n < voltageMin / (voltageMax-voltageMin)
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// weaken condition by setting n <= voltageMin / (voltageMax-voltageMin) and
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// checking for v <= voltageMin * voltageMax / (voltageMax-voltageMin)
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if (flightBatteryData->Voltage > voltageMin * voltageMax / (voltageMax - voltageMin)) {
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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flightBatteryData->NbCells = (int8_t)(flightBatteryData->Voltage / voltageMin);
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flightBatteryData->NbCellsAutodetected = 1;
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return flightBatteryData->NbCells;
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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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