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atbetaflight
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current sensor support added 

also optimized the vbat code a bit

Conflicts:
	src/config.c
	src/drv_adc.c
	src/drv_adc.h
	src/mw.c
	src/mw.h
	src/sensors.c
	src/serial_cli.c
This commit is contained in:
luggi 2014-05-29 02:57:01 +02:00 committed by Dominic Clifton
parent 4e3ab221ac
commit e6fdfd3c32
11 changed files with 111 additions and 31 deletions
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28
src/battery.c
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@ -10,7 +10,10 @@
uint8_t batteryCellCount = 3; // cell count
uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
uint8_t vbat; // battery voltage in 0.1V steps
uint8_t vbat = 0; // battery voltage in 0.1V steps
int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
uint32_t mAhdrawn = 0; // milliampere hours drawn from the battery since start
static batteryConfig_t *batteryConfig;
@ -68,3 +71,26 @@ void batteryInit(batteryConfig_t *initialBatteryConfig)
batteryWarningVoltage = i * batteryConfig->vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
}
#define ADCVREF 33L
int32_t currentSensorToCentiamps(uint16_t src)
{
int32_t millivolts;
millivolts = ((uint32_t)src * ADCVREF * 100) / 4095;
millivolts -= batteryConfig->currentMeterOffset;
return (millivolts * 1000) / (int32_t)batteryConfig->currentMeterScale; // current in 0.01A steps
}
void updateCurrentMeter(uint32_t lastUpdateAt)
{
static int32_t amperageRaw = 0;
static uint32_t mAhdrawnRaw = 0;
amperageRaw -= amperageRaw / 8;
amperageRaw += adcGetChannel(ADC_CURRENT);
amperage = currentSensorToCentiamps(amperageRaw / 8);
mAhdrawnRaw += (amperage * lastUpdateAt) / 1000; // will overflow at ~11000mAh
mAhdrawn = mAhdrawnRaw / (3600 * 100);
}

10
src/battery.h
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@ -4,14 +4,24 @@ typedef struct batteryConfig_s {
uint8_t vbatscale; // adjust this to match battery voltage to reported value
uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
uint16_t currentMeterScale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
uint16_t currentMeterOffset; // offset of the current sensor in millivolt steps
// FIXME this doesn't belong in here since it's a concern of MSP, not of the battery code.
uint8_t multiwiiCurrentMeterOutput; // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp
} batteryConfig_t;
extern uint8_t vbat;
extern uint8_t batteryCellCount;
extern uint16_t batteryWarningVoltage;
extern int32_t amperage;
extern uint32_t mAhdrawn;
uint16_t batteryAdcToVoltage(uint16_t src);
bool shouldSoundBatteryAlarm(void);
void updateBatteryVoltage(void);
void batteryInit(batteryConfig_t *initialBatteryConfig);
void updateCurrentMeter(uint32_t lastUpdateAt);
int32_t currentMeterToCentiamps(uint16_t src);

6
src/config.c
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@ -206,9 +206,12 @@ static void resetConf(void)
masterConfig.max_angle_inclination = 500; // 50 degrees
masterConfig.yaw_control_direction = 1;
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
masterConfig.batteryConfig.vbatscale = 110;
masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
masterConfig.batteryConfig.vbatmincellvoltage = 33;
masterConfig.batteryConfig.currentMeterOffset = 0;
masterConfig.batteryConfig.currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
resetTelemetryConfig(&masterConfig.telemetryConfig);
@ -373,6 +376,9 @@ void validateAndFixConfig(void)
if (feature(FEATURE_RSSI_ADC)) {
featureClear(FEATURE_RSSI_ADC);
}
if (feature(FEATURE_CURRENT_METER)) {
featureClear(FEATURE_CURRENT_METER);
}
}
if (feature(FEATURE_RX_MSP)) {

4
src/config.h
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@ -13,12 +13,12 @@ typedef enum {
FEATURE_FAILSAFE = 1 << 9,
FEATURE_SONAR = 1 << 10,
FEATURE_TELEMETRY = 1 << 11,
FEATURE_POWERMETER = 1 << 12,
FEATURE_CURRENT_METER = 1 << 12,
FEATURE_VARIO = 1 << 13,
FEATURE_3D = 1 << 14,
FEATURE_RX_PARALLEL_PWM = 1 << 15,
FEATURE_RX_MSP = 1 << 16,
FEATURE_RSSI_ADC = 1 << 17,
FEATURE_RSSI_ADC = 1 << 17
} AvailableFeatures;
bool feature(uint32_t mask);

4
src/drivers/adc_common.h
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@ -3,7 +3,8 @@
typedef enum {
ADC_BATTERY = 0,
ADC_RSSI = 1,
ADC_EXTERNAL1 = 2,
ADC_CURRENT = 2,
ADC_EXTERNAL1 = 3,
ADC_CHANNEL_MAX = ADC_EXTERNAL1
} AdcChannel;
@ -18,6 +19,7 @@ typedef struct adc_config_t {
typedef struct drv_adc_config_t {
bool enableRSSI;
bool enableCurrentMeter;
} drv_adc_config_t;
void adcInit(drv_adc_config_t *init);

20
src/drivers/adc_stm32f10x.c
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@ -12,11 +12,12 @@
#include "adc_common.h"
// Driver for STM32F103CB onboard ADC
// VBAT is connected to PA4 (ADC1_IN4) with 10k:1k divider
// rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
//
// RSSI ADC uses PA1
// An additional ADC source is available on CH8 (PB1, ADC1_IN9)
// Battery Voltage (VBAT) is connected to PA4 (ADC1_IN4) with 10k:1k divider
// RSSI ADC uses CH2 (PA1, ADC1_IN1)
// Current ADC uses CH8 (PB1, ADC1_IN9)
//
// NAZE rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
extern adc_config_t adcConfig[ADC_CHANNEL_COUNT];
extern volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
@ -30,6 +31,13 @@ void adcInit(drv_adc_config_t *init)
uint8_t configuredAdcChannels = 0;
memset(&adcConfig, 0, sizeof(adcConfig));
if (init->enableRSSI) {
adcConfig[ADC_RSSI].adcChannel = ADC_Channel_1;
adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
adcConfig[ADC_RSSI].enabled = true;
adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_239Cycles5;
}
// configure always-present battery index (ADC4)
adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_4;
adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
@ -44,8 +52,8 @@ void adcInit(drv_adc_config_t *init)
adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_239Cycles5;
}
if (init->enableRSSI > 0) {
adcConfig[ADC_RSSI].adcChannel = ADC_Channel_1;
if (init->enableCurrentMeter) {
adcConfig[ADC_RSSI].adcChannel = ADC_Channel_9;
adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
adcConfig[ADC_RSSI].enabled = true;
adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_239Cycles5;

22
src/drivers/adc_stm32f30x.c
View File

@ -27,17 +27,24 @@ void adcInit(drv_adc_config_t *init)
adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_6;
adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_601Cycles5;
adcConfig[ADC_BATTERY].enabled = true;
adcChannelCount++;
adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_7;
adcConfig[ADC_EXTERNAL1].dmaIndex = adcChannelCount;
adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_601Cycles5;
if (init->enableCurrentMeter) {
adcConfig[ADC_CURRENT].adcChannel = ADC_Channel_7;
adcConfig[ADC_CURRENT].dmaIndex = adcChannelCount;
adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_601Cycles5;
adcConfig[ADC_CURRENT].enabled = true;
adcChannelCount++;
}
if (init->enableRSSI) {
adcConfig[ADC_RSSI].adcChannel = ADC_Channel_8;
adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_601Cycles5;
adcConfig[ADC_RSSI].enabled = true;
adcChannelCount++;
}
DMA_DeInit(DMA1_Channel1);
@ -98,8 +105,13 @@ void adcInit(drv_adc_config_t *init)
ADC_Init(ADC1, &ADC_InitStructure);
for (i = 0; i < adcChannelCount; i++)
ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, i + 1, adcConfig[i].sampleTime);
uint8_t rank = 1;
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
if (!adcConfig[i].enabled) {
continue;
}
ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, rank++, adcConfig[i].sampleTime);
}
ADC_Cmd(ADC1, ENABLE);

1
src/main.c
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@ -105,6 +105,7 @@ void init(void)
systemInit(masterConfig.emf_avoidance);
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adcInit(&adc_params);

12
src/mw.c
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@ -159,8 +159,8 @@ void annexCode(void)
int32_t axis, prop1, prop2;
static uint8_t batteryWarningEnabled = false;
static uint8_t vbatTimer = 0;
static uint32_t vbatCycleTime = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < currentProfile.tpa_breakpoint) {
@ -222,9 +222,17 @@ void annexCode(void)
rcCommand[PITCH] = rcCommand_PITCH;
}
if (feature(FEATURE_VBAT)) {
if (feature(FEATURE_VBAT || feature(FEATURE_CURRENT_METER))) {
vbatCycleTime += cycleTime;
if (!(++vbatTimer % VBATFREQ)) {
if (feature(FEATURE_VBAT)) {
updateBatteryVoltage();
}
if (feature(FEATURE_CURRENT_METER)) {
updateCurrentMeter(vbatCycleTime);
}
batteryWarningEnabled = shouldSoundBatteryAlarm();
}

12
src/serial_cli.c
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@ -85,7 +85,7 @@ static const char * const mixerNames[] = {
static const char * const featureNames[] = {
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "LED_RING", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D", "RX_PARALLEL_PWM",
"SONAR", "TELEMETRY", "CURRENT_METER", "VARIO", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", NULL
};
@ -188,9 +188,13 @@ const clivalue_t valueTable[] = {
{ "telemetry_switch", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_switch, 0, 1 },
{ "frsky_inversion", VAR_UINT8, &masterConfig.telemetryConfig.frsky_inversion, 0, 1 },
{ "vbatscale", VAR_UINT8, &masterConfig.batteryConfig.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "vbat_scale", VAR_UINT8, &masterConfig.batteryConfig.vbatscale, 10, 200 },
{ "vbat_max_cell_voltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbat_min_cell_voltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "current_meter_scale", VAR_UINT16, &masterConfig.batteryConfig.currentMeterScale, 1, 10000 },
{ "current_meter_offset", VAR_UINT16, &masterConfig.batteryConfig.currentMeterOffset, 0, 1650 },
{ "multiwii_current_meter_output", VAR_UINT8, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },
{ "align_gyro", VAR_UINT8, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 },
{ "align_acc", VAR_UINT8, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 },

9
src/serial_msp.c
View File

@ -618,10 +618,13 @@ static void evaluateCommand(void)
break;
case MSP_ANALOG:
headSerialReply(7);
serialize8(vbat);
serialize16(0); // power meter trash
serialize8((uint8_t)constrain(vbat, 0, 255));
serialize16(mAhdrawn); // milliamphours drawn from battery
serialize16(rssi);
serialize16(0); // amperage
if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
serialize16((uint16_t)constrain((abs(amperage)*10), 0, 0xFFFF)); // send amperage in 0.001 A steps
} else
serialize16((uint16_t)abs(amperage)); // send amperage in 0.01 A steps
break;
case MSP_RC_TUNING:
headSerialReply(7);