Diff: analog.c

Revision:

0:62a1c91a859a

Child:

1:1e3318a30ddd

diff -r 000000000000 -r 62a1c91a859a analog.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/analog.c	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,117 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm 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 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm 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 this program.
+//    If not, see http://www.gnu.org/licenses//
+
+#include "UAVXArm.h"
+
+void GetBattery(void);
+void BatteryTest(void);
+void InitBattery(void);
+
+real32 BatteryVolts, BatteryCurrentADCEstimated, BatteryChargeUsedAH;
+real32 BatteryCharge, BatteryCurrent;
+real32 BatteryVoltsScale;
+
+void GetBattery(void) {
+    //  AttoPilot Voltage and Current Sense Breakout SparkFun Part: SEN-09028
+
+    const real32 BatteryCurrentScale = 90.15296;    // Amps FS
+
+    if ( F.HaveBatterySensor ) {
+        BatteryCurrent = BatteryCurrentADC.read() * BatteryCurrentScale;
+        BatteryChargeUsedAH  += BatteryCurrent * (real32)(mSClock() - mS[LastBattery]) * 2.777777e-7;
+        mS[LastBattery] = mSClock();
+    } else
+        BatteryCurrent =  BatteryChargeUsedAH = 0;
+
+    BatteryVolts = BatteryVoltsADC.read() *  BatteryVoltsScale;
+    F.LowBatt = BatteryVolts < K[LowVoltThres];
+
+} // GetBattery
+
+void BatteryTest(void) {
+
+    TxString("\r\nBattery test\r\n");
+
+    GetBattery();
+
+    // Battery
+    TxString("Volts  :\t");
+    TxVal32(BatteryVolts * 10.0, 1, 'V');
+    TxString(" Limit > ");
+    TxVal32( K[LowVoltThres] * 10.0, 1, 'V');
+
+    if ( F.HaveBatterySensor ) {
+        TxString("\r\nCurrent:\t");
+        TxVal32(BatteryCurrent * 10.0, 1, 'A');
+        TxString(" ( ");
+        TxVal32(BatteryChargeUsedAH * 1000.0, 0, 0 );
+        TxString(" mAH )\r\n");
+    } else
+        TxString("\r\nCurrent:\tnot available - no battery sensor\r\n");
+
+} // BatteryTest
+
+void InitBattery() {
+
+    F.HaveBatterySensor = true;
+    GetBattery();
+    F.HaveBatterySensor =  BatteryCurrent < 2.0;
+    if ( F.HaveBatterySensor )
+        BatteryVoltsScale = 51.8144;       // Volts FS
+    else
+        BatteryVoltsScale = BATTERY_VOLTS_SCALE;
+
+} // InitBattery
+
+//_____________________________________________________________________
+
+void GetRangefinderAltitude(void);
+void InitRangefinder(void);
+
+real32 RangefinderAltitude;
+
+const real32 RangefinderScale = 10.24; // Metres FS
+
+void GetRangefinderAltitude(void) {
+
+    if ( F.RangefinderAltitudeValid ) {
+        RangefinderAltitude = RangefinderADC.read() * RangefinderScale;
+        if ( F.RFInInches )
+            RangefinderAltitude *= 2.54;
+
+        if (( RangefinderAltitude < ALT_RF_ENABLE_M ) && !F.UsingRangefinderAlt)
+            F.UsingRangefinderAlt = true;
+        else
+            if (( RangefinderAltitude > ALT_RF_DISABLE_M ) && F.UsingRangefinderAlt)
+                F.UsingRangefinderAlt = false;
+    } else {
+        RangefinderAltitude = 0.0;
+        F.UsingRangefinderAlt = false;
+    }
+} // GetRangefinderAltitude
+
+void InitRangefinder(void) {
+
+    F.RangefinderAltitudeValid = true;
+    GetRangefinderAltitude();
+    F.RangefinderAltitudeValid = RangefinderAltitude < 1.0; // => supply not RF
+    GetRangefinderAltitude();
+
+} // InitRangefinder