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electrical.c
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electrical.c
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/*
* Copyright (C) 2010-2013 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file subsystems/electrical.c
*
* Implemnetation for electrical status: supply voltage, current, battery status, etc.
*/
#include "subsystems/electrical.h"
#include "mcu_periph/adc.h"
#include "subsystems/commands.h"
#include "generated/airframe.h"
#include BOARD_CONFIG
#ifdef MILLIAMP_PER_PERCENT
#warning "deprecated MILLIAMP_PER_PERCENT --> Please use MILLIAMP_AT_FULL_THROTTLE"
#endif
#if defined BATTERY_SENS || defined BATTERY_OFFSET
#warning "BATTERY_SENS and BATTERY_OFFSET are deprecated, please remove them --> if you want to change the default use VoltageOfAdc"
#endif
#if defined COMMAND_THROTTLE
#define COMMAND_CURRENT_ESTIMATION COMMAND_THROTTLE
#elif defined COMMAND_THRUST
#define COMMAND_CURRENT_ESTIMATION COMMAND_THRUST
#endif
#ifndef BAT_CHECKER_DELAY
#define BAT_CHECKER_DELAY 5
#endif
#define ELECTRICAL_PERIODIC_FREQ 10
#ifndef MIN_BAT_LEVEL
#define MIN_BAT_LEVEL 3
#endif
PRINT_CONFIG_VAR(LOW_BAT_LEVEL)
PRINT_CONFIG_VAR(CRITIC_BAT_LEVEL)
PRINT_CONFIG_VAR(MIN_BAT_LEVEL)
struct Electrical electrical;
#if defined ADC_CHANNEL_VSUPPLY || defined ADC_CHANNEL_CURRENT || defined MILLIAMP_AT_FULL_THROTTLE
static struct {
#ifdef ADC_CHANNEL_VSUPPLY
struct adc_buf vsupply_adc_buf;
#endif
#ifdef ADC_CHANNEL_CURRENT
struct adc_buf current_adc_buf;
#endif
#ifdef MILLIAMP_AT_FULL_THROTTLE
float nonlin_factor;
#endif
} electrical_priv;
#endif
#ifndef VoltageOfAdc
#define VoltageOfAdc(adc) DefaultVoltageOfAdc(adc)
#endif
#ifndef MilliAmpereOfAdc
#define MilliAmpereOfAdc(adc) DefaultMilliAmpereOfAdc(adc)
#endif
#ifndef CURRENT_ESTIMATION_NONLINEARITY
#define CURRENT_ESTIMATION_NONLINEARITY 1.2
#endif
void electrical_init(void) {
electrical.vsupply = 0;
electrical.current = 0;
electrical.energy = 0;
electrical.bat_low = FALSE;
electrical.bat_critical = FALSE;
#if defined ADC_CHANNEL_VSUPPLY
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &electrical_priv.vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
#endif
/* measure current if available, otherwise estimate it */
#if defined ADC_CHANNEL_CURRENT && !defined SITL
adc_buf_channel(ADC_CHANNEL_CURRENT, &electrical_priv.current_adc_buf, DEFAULT_AV_NB_SAMPLE);
#elif defined MILLIAMP_AT_FULL_THROTTLE
PRINT_CONFIG_VAR(CURRENT_ESTIMATION_NONLINEARITY)
electrical_priv.nonlin_factor = CURRENT_ESTIMATION_NONLINEARITY;
#endif
}
void electrical_periodic(void) {
static uint8_t bat_low_counter = 0;
static uint8_t bat_critical_counter = 0;
static bool_t vsupply_check_started = FALSE;
#if defined(ADC_CHANNEL_VSUPPLY) && !defined(SITL)
electrical.vsupply = 10 * VoltageOfAdc((electrical_priv.vsupply_adc_buf.sum/electrical_priv.vsupply_adc_buf.av_nb_sample));
#endif
#ifdef ADC_CHANNEL_CURRENT
#ifndef SITL
electrical.current = MilliAmpereOfAdc((electrical_priv.current_adc_buf.sum/electrical_priv.current_adc_buf.av_nb_sample));
/* Prevent an overflow on high current spikes when using the motor brake */
BoundAbs(electrical.current, 65000);
#endif
#elif defined MILLIAMP_AT_FULL_THROTTLE && defined COMMAND_CURRENT_ESTIMATION
/*
* Superellipse: abs(x/a)^n + abs(y/b)^n = 1
* with a = 1
* b = mA at full throttle
* n = 1.2 This defines nonlinearity (1 = linear)
* x = throttle
* y = current
*
* define CURRENT_ESTIMATION_NONLINEARITY in your airframe file to change the default nonlinearity factor of 1.2
*/
float b = (float)MILLIAMP_AT_FULL_THROTTLE;
float x = ((float)commands[COMMAND_CURRENT_ESTIMATION]) / ((float)MAX_PPRZ);
/* electrical.current y = ( b^n - (b* x/a)^n )^1/n
* a=1, n = electrical_priv.nonlin_factor
*/
electrical.current = b - pow((pow(b,electrical_priv.nonlin_factor)-pow((b*x),electrical_priv.nonlin_factor)), (1./electrical_priv.nonlin_factor));
#endif /* ADC_CHANNEL_CURRENT */
// mAh = mA * dt (10Hz -> hours)
electrical.energy += ((float)electrical.current) / 3600.0f / ELECTRICAL_PERIODIC_FREQ;
/*if valid voltage is seen then start checking. Set min level to 0 to always start*/
if (electrical.vsupply >= MIN_BAT_LEVEL * 10) {
vsupply_check_started = TRUE;
}
if (vsupply_check_started) {
if (electrical.vsupply < LOW_BAT_LEVEL * 10) {
if (bat_low_counter > 0)
bat_low_counter--;
if (bat_low_counter == 0)
electrical.bat_low = TRUE;
}
else {
// reset battery low status and counter
bat_low_counter = BAT_CHECKER_DELAY * ELECTRICAL_PERIODIC_FREQ;
electrical.bat_low = FALSE;
}
if (electrical.vsupply < CRITIC_BAT_LEVEL * 10) {
if (bat_critical_counter > 0)
bat_critical_counter--;
if (bat_critical_counter == 0)
electrical.bat_critical = TRUE;
}
else {
// reset battery critical status and counter
bat_critical_counter = BAT_CHECKER_DELAY * ELECTRICAL_PERIODIC_FREQ;
electrical.bat_critical = FALSE;
}
}
}