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Fix compiler bug, MSP2_INAV_ANALOG and convert amperage from int32_t to int16_t #3469

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Jun 28, 2018
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Fix compiler bug, MSP2_INAV_ANALOG and convert amperage from int32_t to int16_t #3469

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cd3793c
Fix MSP2_INAV_ANALOG and convert amperage from int32_t to int16_t
shellixyz Jun 27, 2018
af36025
Compiler bug workaround for mAh and mWh calculations
shellixyz Jun 28, 2018
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14 changes: 7 additions & 7 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -541,16 +541,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;

case MSP2_INAV_ANALOG:
// Bit 1: battery full, Bit 2: use capacity threshold, Bit 3-4: battery state, Bit 5-8: battery cell count
sbufWriteU8(dst, batteryWasFullWhenPluggedIn() | (batteryUsesCapacityThresholds() << 1) | (getBatteryState() << 2) | (getBatteryCellCount() << 4));
sbufWriteU16(dst, getBatteryVoltage());
sbufWriteU8(dst, getBatteryCellCount());
sbufWriteU16(dst, getAmperage()); // send amperage in 0.01 A steps
sbufWriteU32(dst, getPower()); // power draw
sbufWriteU32(dst, getMAhDrawn()); // milliamp hours drawn from battery
sbufWriteU32(dst, getMWhDrawn()); // milliWatt hours drawn from battery
sbufWriteU32(dst, getBatteryRemainingCapacity());
sbufWriteU8(dst, calculateBatteryPercentage());
sbufWriteU16(dst, constrain(getPower(), 0, 0x7FFFFFFF)); // power draw
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, (uint16_t)constrain(getMWhDrawn(), 0, 0xFFFF)); // milliWatt hours drawn from battery
sbufWriteU16(dst, getRSSI());
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
sbufWriteU8(dst, batteryWasFullWhenPluggedIn() | (batteryUsesCapacityThresholds() << 1) | (getBatteryState() << 2));
sbufWriteU32(dst, getBatteryRemainingCapacity());
break;

case MSP_ARMING_CONFIG:
Expand Down
27 changes: 17 additions & 10 deletions src/main/sensors/battery.c
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ static uint16_t powerSupplyImpedance = 0; // calculated impedance in milliohm
static uint16_t sagCompensatedVBat = 0; // calculated no load vbat
static bool powerSupplyImpedanceIsValid = false;

static int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
static int16_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
static int32_t power = 0; // power draw in cW (0.01W resolution)
static int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
static int32_t mWhDrawn = 0; // energy (milliWatt hours) drawn from the battery since start
Expand Down Expand Up @@ -144,7 +144,7 @@ uint16_t batteryAdcToVoltage(uint16_t src)
return((uint64_t)src * batteryMetersConfig()->voltage_scale * ADCVREF / (0xFFF * 1000));
}

int32_t currentSensorToCentiamps(uint16_t src)
int16_t currentSensorToCentiamps(uint16_t src)
{
int32_t microvolts = ((uint32_t)src * ADCVREF * 100) / 0xFFF * 10 - (int32_t)batteryMetersConfig()->current.offset * 100;
return microvolts / batteryMetersConfig()->current.scale; // current in 0.01A steps
Expand Down Expand Up @@ -410,12 +410,12 @@ bool isAmperageConfigured(void)
return feature(FEATURE_CURRENT_METER) && batteryMetersConfig()->current.type != CURRENT_SENSOR_NONE;
}

int32_t getAmperage(void)
int16_t getAmperage(void)
{
return amperage;
}

int32_t getAmperageLatestADC(void)
int16_t getAmperageLatestADC(void)
{
return amperageLatestADC;
}
Expand Down Expand Up @@ -461,16 +461,23 @@ void currentMeterUpdate(timeUs_t timeDelta)
break;
}

mAhdrawnRaw += (amperage * timeDelta) / 1000;
// Work around int64 math compiler bug, don't change it unless the bug has been fixed !
// should be: mAhdrawnRaw += (int64_t)amperage * timeDelta / 1000;
mAhdrawnRaw += (int64_t)((int32_t)amperage * timeDelta) / 1000;

mAhDrawn = mAhdrawnRaw / (3600 * 100);
}

void powerMeterUpdate(timeUs_t timeDelta)
{
static int64_t mWhDrawnRaw = 0;
power = amperage * vbat / 100; // power unit is cW (0.01W resolution)
int32_t heatLossesCompensatedPower_mW = amperage * vbat / 10 + sq((int64_t)amperage) * powerSupplyImpedance / 10000;
mWhDrawnRaw += (int64_t)heatLossesCompensatedPower_mW * timeDelta / 10000;
power = (int32_t)amperage * vbat / 100; // power unit is cW (0.01W resolution)
int32_t heatLossesCompensatedPower_mW = (int32_t)amperage * vbat / 10 + sq((int64_t)amperage) * powerSupplyImpedance / 10000;

// Work around int64 math compiler bug, don't change it unless the bug has been fixed !
// should be: mWhDrawnRaw += (int64_t)heatLossesCompensatedPower_mW * timeDelta / 10000;
mWhDrawnRaw += (int64_t)((int64_t)heatLossesCompensatedPower_mW * timeDelta) / 10000;

mWhDrawn = mWhDrawnRaw / (3600 * 100);
}

Expand All @@ -485,7 +492,7 @@ int32_t heatLossesCompensatedPower(int32_t power)
void sagCompensatedVBatUpdate(timeUs_t currentTime, timeUs_t timeDelta)
{
static timeUs_t recordTimestamp = 0;
static int32_t amperageRecord;
static int16_t amperageRecord;
static uint16_t vbatRecord;
static uint8_t impedanceSampleCount = 0;
static pt1Filter_t impedanceFilterState;
Expand Down Expand Up @@ -536,7 +543,7 @@ void sagCompensatedVBatUpdate(timeUs_t currentTime, timeUs_t timeDelta)

}

uint16_t sagCompensatedVBatSample = MIN(batteryFullVoltage, vbat + powerSupplyImpedance * amperage / 1000);
uint16_t sagCompensatedVBatSample = MIN(batteryFullVoltage, vbat + (int32_t)powerSupplyImpedance * amperage / 1000);
sagCompVBatFilterState.RC = sagCompensatedVBatSample < sagCompVBatFilterState.state ? 40 : 500;
sagCompensatedVBat = lrintf(pt1FilterApply3(&sagCompVBatFilterState, sagCompensatedVBatSample, timeDelta * 1e-6f));
}
Expand Down
4 changes: 2 additions & 2 deletions src/main/sensors/battery.h
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Expand Up @@ -135,8 +135,8 @@ uint32_t getBatteryRemainingCapacity(void);
uint16_t getPowerSupplyImpedance(void);

bool isAmperageConfigured(void);
int32_t getAmperage(void);
int32_t getAmperageLatestADC(void);
int16_t getAmperage(void);
int16_t getAmperageLatestADC(void);
int32_t getPower(void);
int32_t getMAhDrawn(void);
int32_t getMWhDrawn(void);
Expand Down