Revision 766
added I term to current control, had weird issues with battery #4 where the current reading dops down to 26 for some reason. After this happens, unloaded voltage on bat (through multimeter) reads >6, even though it seemed discharged before. I am doubting it was fully discharged, maybe the 5 minutes actually forced too much current in?
| Charging.c | ||
|---|---|---|
| 84 | 84 |
//same for DV |
| 85 | 85 |
volatile uint8_t last_DV = 0; |
| 86 | 86 |
|
| 87 |
uint16_t tot_err; |
|
| 88 |
uint8_t last_neg=0; |
|
| 89 |
|
|
| 87 | 90 |
#define FAST_CHARGE 1 |
| 88 | 91 |
#define TRICKLE_CHARGE 2 |
| 89 | 92 |
|
| ... | ... | |
| 310 | 313 |
|
| 311 | 314 |
|
| 312 | 315 |
//cool control law stuff |
| 316 |
|
|
| 317 |
//P: |
|
| 313 | 318 |
diff=i-curr; |
| 314 | 319 |
|
| 315 | 320 |
//OCR1B = diff/4 + curr/4; //K*Ierr + Kguess |
| 316 | 321 |
newcurr += diff/4; |
| 317 | 322 |
|
| 318 |
if(newcurr>255){
|
|
| 323 |
|
|
| 324 |
//I: |
|
| 325 |
tot_err += diff; |
|
| 326 |
|
|
| 327 |
newcurr += tot_err/2; |
|
| 328 |
|
|
| 329 |
//sum: |
|
| 330 |
|
|
| 331 |
if(newcurr>255){
|
|
| 319 | 332 |
OCR1B = 255; |
| 333 |
last_neg=0; |
|
| 320 | 334 |
}else if(newcurr>0){
|
| 321 | 335 |
OCR1B = newcurr; |
| 336 |
last_neg=0; |
|
| 322 | 337 |
}else { //negative
|
| 323 |
OCR1B = 1; |
|
| 338 |
if((++last_neg)==3) |
|
| 339 |
OCR1B = 1; |
|
| 340 |
//else, no change to OCR |
|
| 341 |
|
|
| 324 | 342 |
} |
| 325 | 343 |
|
| 326 | 344 |
|
| ... | ... | |
| 411 | 429 |
else |
| 412 | 430 |
PORTA &= ~_BV(PA7); |
| 413 | 431 |
} |
| 414 |
|
|
| 415 | 432 |
|
| 433 |
|
|
| 434 |
|
|
| 416 | 435 |
void test_board(void) |
| 417 | 436 |
{
|
| 418 | 437 |
setup(); |
| ... | ... | |
| 472 | 491 |
curr=6666; |
| 473 | 492 |
|
| 474 | 493 |
mod=abs_time%4; |
| 475 |
//while(abs_time%4==mod)
|
|
| 476 |
{
|
|
| 494 |
while(abs_time%4==mod);
|
|
| 495 |
//{
|
|
| 477 | 496 |
volt = get_avg_voltage(); |
| 478 |
} |
|
| 497 |
//}
|
|
| 479 | 498 |
|
| 480 | 499 |
tempData[0] = 'V'; |
| 481 | 500 |
tempData[1] = volt>>8; |
| ... | ... | |
| 485 | 504 |
volt=6666; |
| 486 | 505 |
|
| 487 | 506 |
mod=abs_time%4; |
| 488 |
//while(abs_time%4==mod)
|
|
| 489 |
{
|
|
| 507 |
while(abs_time%4==mod);
|
|
| 508 |
//{
|
|
| 490 | 509 |
temp = get_avg_temperature(); |
| 491 | 510 |
|
| 492 |
} |
|
| 511 |
//}
|
|
| 493 | 512 |
|
| 494 | 513 |
tempData[0] = 'T'; |
| 495 | 514 |
tempData[1] = temp>>8; |
| ... | ... | |
| 562 | 581 |
|
| 563 | 582 |
int main(void) |
| 564 | 583 |
{
|
| 584 |
tot_err=0; |
|
| 565 | 585 |
test_board(); |
| 566 | 586 |
new_second=0; |
| 567 | 587 |
char tempData[5]; //For i2c communication |
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