power_uavcan.c File Reference

Power sensors on the uavcan bus. More...

#include "power_uavcan.h"
#include "uavcan/uavcan.h"
#include "modules/energy/electrical.h"
#include "math/pprz_random.h"
#include "modules/datalink/telemetry.h"

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Go to the source code of this file.

Data Structures
struct	uavcan_equipment_power_BatteryInfo
struct	uavcan_equipment_power_CircuitStatus
struct	uavcan_circuit_battery_t

Macros
#define	UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID   1092
#define	UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE   (0x249C26548A711966ULL)
#define	UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE   55
#define	UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID   1091
#define	UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE   (0x8313D33D0DDDA115ULL)
#define	UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_MAX_SIZE   7
#define	POWER_UAVCAN_BATTERIES_MAX   3
#define	POWER_UAVCAN_CIRCUITS_MAX   15
#define	POWER_UAVCAN_BATTERY_CIRCUITS   {}

Functions
static void	power_uavcan_send_power_device (struct transport_tx *trans, struct link_device *dev)
static void	power_uavcan_battery_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
static void	power_uavcan_circuit_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
void	power_uavcan_init (void)

Variables
static uavcan_event	power_uavcan_ev
static uavcan_event	circuit_uavcan_ev
static struct uavcan_equipment_power_BatteryInfo	batteries [POWER_UAVCAN_BATTERIES_MAX] = {0}
static struct uavcan_equipment_power_CircuitStatus	circuits [POWER_UAVCAN_CIRCUITS_MAX] = {0}
static struct uavcan_circuit_battery_t	battery_circuits [] = POWER_UAVCAN_BATTERY_CIRCUITS

Detailed Description

Power sensors on the uavcan bus.

Definition in file power_uavcan.c.

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Data Structure Documentation

uavcan_equipment_power_BatteryInfo

struct uavcan_equipment_power_BatteryInfo

Definition at line 61 of file power_uavcan.c.

Data Fields
float	average_power_10sec
uint8_t	battery_id
float	current
float	full_charge_capacity_wh
float	hours_to_full_charge
uint32_t	model_instance_id
uint8_t	node_id
float	remaining_capacity_wh
bool	set
uint8_t	state_of_charge_pct
uint8_t	state_of_charge_pct_stdev
uint8_t	state_of_health_pct
uint16_t	status_flags
float	temperature
float	voltage

uavcan_equipment_power_CircuitStatus

struct uavcan_equipment_power_CircuitStatus

Definition at line 83 of file power_uavcan.c.

Data Fields
uint16_t	circuit_id
float	current
uint8_t	error_flags
bool	is_battery
uint8_t	node_id
bool	set
float	voltage

uavcan_circuit_battery_t

struct uavcan_circuit_battery_t

Definition at line 96 of file power_uavcan.c.

Data Fields
uint16_t	circuit_id
uint8_t	node_id

Macro Definition Documentation

POWER_UAVCAN_BATTERIES_MAX

#define POWER_UAVCAN_BATTERIES_MAX   3

Definition at line 43 of file power_uavcan.c.

POWER_UAVCAN_BATTERY_CIRCUITS

#define POWER_UAVCAN_BATTERY_CIRCUITS   {}

Definition at line 53 of file power_uavcan.c.

POWER_UAVCAN_CIRCUITS_MAX

#define POWER_UAVCAN_CIRCUITS_MAX   15

Definition at line 48 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID

#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID   1092

Definition at line 32 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE

#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE   55

Definition at line 34 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE

#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE   (0x249C26548A711966ULL)

Definition at line 33 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID

#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID   1091

Definition at line 37 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_MAX_SIZE

#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_MAX_SIZE   7

Definition at line 39 of file power_uavcan.c.

UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE

#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE   (0x8313D33D0DDDA115ULL)

Definition at line 38 of file power_uavcan.c.

Function Documentation

power_uavcan_battery_cb()

static void power_uavcan_battery_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Definition at line 125 of file power_uavcan.c.

References uavcan_equipment_power_BatteryInfo::average_power_10sec, batteries, uavcan_equipment_power_BatteryInfo::battery_id, Electrical::current, uavcan_equipment_power_BatteryInfo::current, electrical, uavcan_equipment_power_BatteryInfo::full_charge_capacity_wh, uavcan_equipment_power_BatteryInfo::hours_to_full_charge, uavcan_equipment_power_BatteryInfo::model_instance_id, uavcan_equipment_power_BatteryInfo::node_id, uavcan_circuit_battery_t::node_id, POWER_UAVCAN_BATTERIES_MAX, uavcan_equipment_power_BatteryInfo::remaining_capacity_wh, uavcan_equipment_power_BatteryInfo::set, uavcan_equipment_power_BatteryInfo::state_of_charge_pct, uavcan_equipment_power_BatteryInfo::state_of_charge_pct_stdev, uavcan_equipment_power_BatteryInfo::state_of_health_pct, uavcan_equipment_power_BatteryInfo::status_flags, uavcan_equipment_power_BatteryInfo::temperature, transfer(), uavcan_equipment_power_BatteryInfo::voltage, and Electrical::vsupply.

Referenced by power_uavcan_init().

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power_uavcan_circuit_cb()

static void power_uavcan_circuit_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Definition at line 206 of file power_uavcan.c.

References uavcan_equipment_power_CircuitStatus::circuit_id, uavcan_circuit_battery_t::circuit_id, circuits, Electrical::current, uavcan_equipment_power_CircuitStatus::current, electrical, uavcan_equipment_power_CircuitStatus::error_flags, uavcan_equipment_power_CircuitStatus::node_id, uavcan_circuit_battery_t::node_id, POWER_UAVCAN_CIRCUITS_MAX, uavcan_equipment_power_CircuitStatus::set, transfer(), uavcan_equipment_power_CircuitStatus::voltage, and Electrical::vsupply.

Referenced by power_uavcan_init().

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power_uavcan_init()

void power_uavcan_init

(

void

)

Definition at line 259 of file power_uavcan.c.

References battery_circuits, uavcan_equipment_power_CircuitStatus::circuit_id, uavcan_circuit_battery_t::circuit_id, circuit_uavcan_ev, circuits, DefaultPeriodic, init_random(), uavcan_equipment_power_CircuitStatus::is_battery, uavcan_equipment_power_CircuitStatus::node_id, uavcan_circuit_battery_t::node_id, power_uavcan_battery_cb(), power_uavcan_circuit_cb(), power_uavcan_ev, power_uavcan_send_power_device(), register_periodic_telemetry(), uavcan_equipment_power_CircuitStatus::set, uavcan_bind(), UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID, UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE, UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID, and UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE.

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power_uavcan_send_power_device()

static void power_uavcan_send_power_device ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 105 of file power_uavcan.c.

References uavcan_equipment_power_CircuitStatus::circuit_id, circuits, dev, idx, uavcan_circuit_battery_t::node_id, POWER_UAVCAN_CIRCUITS_MAX, and rand_uniform().

Referenced by power_uavcan_init().

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Variable Documentation

batteries

struct uavcan_equipment_power_BatteryInfo batteries[POWER_UAVCAN_BATTERIES_MAX] = {0}

static

Definition at line 58 of file power_uavcan.c.

Referenced by power_uavcan_battery_cb().

battery_circuits

struct uavcan_circuit_battery_t battery_circuits[] = POWER_UAVCAN_BATTERY_CIRCUITS

static

Definition at line 58 of file power_uavcan.c.

Referenced by power_uavcan_init().

circuit_uavcan_ev

uavcan_event circuit_uavcan_ev

static

Definition at line 58 of file power_uavcan.c.

Referenced by power_uavcan_init().

circuits

struct uavcan_equipment_power_CircuitStatus circuits[POWER_UAVCAN_CIRCUITS_MAX] = {0}

static

Definition at line 58 of file power_uavcan.c.

Referenced by power_uavcan_circuit_cb(), power_uavcan_init(), and power_uavcan_send_power_device().

power_uavcan_ev

uavcan_event power_uavcan_ev

static

Definition at line 57 of file power_uavcan.c.

Referenced by power_uavcan_init().