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Merge pull request #394 from ledvinap/feature-blackbox-amperage

Browse source 
blackbox - add amperageLatest logging
This commit is contained in:
Dominic Clifton 2015-01-22 09:44:12 +01:00
commit 12a1cc5ffe
5 changed files with 29 additions and 7 deletions
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24
src/main/blackbox/blackbox.c
View file

@ -182,6 +182,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
{"rcCommand[3]", UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"vbatLatest", UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
{"amperageLatest",UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
#ifdef MAG
{"magADC[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
{"magADC[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
@ -633,6 +634,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
return feature(FEATURE_VBAT);
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE:
return feature(FEATURE_CURRENT_METER);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return masterConfig.blackbox_rate_num < masterConfig.blackbox_rate_denom;
@ -726,6 +730,11 @@ static void writeIntraframe(void)
writeUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE)) {
// 12bit value directly from ADC
writeUnsignedVB(blackboxCurrent->amperageLatest);
}
#ifdef MAG
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
for (x = 0; x < XYZ_AXIS_COUNT; x++)
@ -811,13 +820,17 @@ static void writeInterframe(void)
writeTag8_4S16(deltas);
//Check for sensors that are updated periodically (so deltas are normally zero) VBAT, MAG, BARO
//Check for sensors that are updated periodically (so deltas are normally zero) VBAT, Amperage, MAG, BARO
int optionalFieldCount = 0;
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE)) {
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->amperageLatest - blackboxLast->amperageLatest;
}
#ifdef MAG
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
for (x = 0; x < XYZ_AXIS_COUNT; x++)
@ -936,7 +949,7 @@ void startBlackbox(void)
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatest;
vbatReference = vbatLatestADC;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
@ -1038,7 +1051,8 @@ static void loadBlackboxState(void)
for (i = 0; i < motorCount; i++)
blackboxCurrent->motor[i] = motor[i];
blackboxCurrent->vbatLatest = vbatLatest;
blackboxCurrent->vbatLatest = vbatLatestADC;
blackboxCurrent->amperageLatest = amperageLatestADC;
#ifdef MAG
for (i = 0; i < XYZ_AXIS_COUNT; i++)
@ -1225,6 +1239,10 @@ static bool blackboxWriteSysinfo()
xmitState.u.serialBudget -= strlen("H vbatref:%u\n");
break;
case 13:
blackboxPrintf("H currentMeter:%i,%i\n", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
xmitState.u.serialBudget -= strlen("H currentMeter:%i,%i\n");
default:
return true;
}

1
src/main/blackbox/blackbox.h
View file

@ -35,6 +35,7 @@ typedef struct blackboxValues_t {
int16_t servo[MAX_SUPPORTED_SERVOS];
uint16_t vbatLatest;
uint16_t amperageLatest;
#ifdef BARO
int32_t BaroAlt;

1
src/main/blackbox/blackbox_fielddefs.h
View file

@ -32,6 +32,7 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_MAG,
FLIGHT_LOG_FIELD_CONDITION_BARO,
FLIGHT_LOG_FIELD_CONDITION_VBAT,
FLIGHT_LOG_FIELD_CONDITION_AMPERAGE,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,

7
src/main/sensors/battery.c
View file

@ -31,7 +31,8 @@ uint16_t batteryWarningVoltage;
uint16_t batteryCriticalVoltage;
uint8_t vbat = 0; // battery voltage in 0.1V steps
uint16_t vbatLatest = 0; // most recent unsmoothed raw reading from vbat adc
uint16_t vbatLatestADC = 0; // most recent unsmoothed raw reading from vbat ADC
uint16_t amperageLatestADC = 0; // most recent raw reading from current ADC
int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
@ -55,7 +56,7 @@ void updateBatteryVoltage(void)
uint16_t vbatSampleTotal = 0;
// store the battery voltage with some other recent battery voltage readings
vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = vbatLatest = adcGetChannel(ADC_BATTERY);
vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = vbatLatestADC = adcGetChannel(ADC_BATTERY);
// calculate vbat based on the average of recent readings
for (index = 0; index < BATTERY_SAMPLE_COUNT; index++) {
@ -114,7 +115,7 @@ void updateCurrentMeter(int32_t lastUpdateAt)
static int64_t mAhdrawnRaw = 0;
amperageRaw -= amperageRaw / 8;
amperageRaw += adcGetChannel(ADC_CURRENT);
amperageRaw += (amperageLatestADC = adcGetChannel(ADC_CURRENT));
amperage = currentSensorToCentiamps(amperageRaw / 8);
mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;

3
src/main/sensors/battery.h
View file

@ -42,9 +42,10 @@ typedef enum {
} batteryState_e;
extern uint8_t vbat;
extern uint16_t vbatLatest;
extern uint16_t vbatLatestADC;
extern uint8_t batteryCellCount;
extern uint16_t batteryWarningVoltage;
extern uint16_t amperageLatestADC;
extern int32_t amperage;
extern int32_t mAhDrawn;