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Battery auto-detect and LPF for battery monitoring

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DarkVegetableMatter 2015-05-26 10:59:02 +01:00 • committed by Dominic Clifton
parent 26ac6115e7
commit 942c89237e
10 changed files with 268 additions and 69 deletions
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43
src/main/mw.c
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@ -88,8 +88,10 @@ enum {
ALIGN_MAG = 2
};
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
uint32_t currentTime = 0;
uint32_t previousTime = 0;
@ -174,10 +176,9 @@ void annexCode(void)
int32_t tmp, tmp2;
int32_t axis, prop1 = 0, prop2;
static batteryState_e batteryState = BATTERY_OK;
static uint8_t vbatTimer = 0;
static int32_t vbatCycleTime = 0;
static uint32_t vbatLastServiced = 0;
static uint32_t ibatLastServiced = 0;
uint32_t ibatTimeSinceLastServiced;
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop2 = 100;
@ -247,24 +248,20 @@ void annexCode(void)
rcCommand[PITCH] = rcCommand_PITCH;
}
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER)) {
vbatCycleTime += cycleTime;
if (!(++vbatTimer % VBATFREQ)) {
if (feature(FEATURE_VBAT)) {
/* currentTime will rollover @ 70 minutes */
if ((currentTime - vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
if (feature(FEATURE_VBAT)) {
updateBatteryVoltage();
batteryState = calculateBatteryState();
//handle beepers for battery levels
if (batteryState == BATTERY_CRITICAL)
beeper(BEEPER_BAT_CRIT_LOW); //critically low battery
else if (batteryState == BATTERY_WARNING)
beeper(BEEPER_BAT_LOW); //low battery
}
if (feature(FEATURE_CURRENT_METER)) {
updateCurrentMeter(vbatCycleTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
vbatCycleTime = 0;
if (feature(FEATURE_CURRENT_METER)) {
/* currentTime will rollover @ 70 minutes */
ibatTimeSinceLastServiced = (currentTime - ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
updateCurrentMeter((ibatTimeSinceLastServiced / 1000), &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}