can_fuelcell.c

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/*
 * Copyright (C) 2024 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "modules/energy/can_fuelcell.h"
#include "modules/datalink/telemetry.h"
#include "uavcan/uavcan.h"
 
 
/* uavcan EQUIPMENT_ESC_STATUS message definition */
#define UAVCAN_EQUIPMENT_FUELCELL_STATUS_MAX_SIZE 11
#define UAVCAN_EQUIPMENT_FUELCELL_STATUS_SIGNATURE (0x475459FF3AA36FE5ULL)
#define UAVCAN_EQUIPMENT_FUELCELL_STATUS_ID 1141
 
 
/* Fuel-Cell */
struct uavcan_equipment_fuelcell {
  int timeout;
 
  uint8_t pressure;
  float press_reg;
  float volt_bat;
  float power_out;
  float power_cell;
  float power_batt;
  uint8_t state;
  uint8_t error;
  uint8_t suberror;
};
static struct uavcan_equipment_fuelcell can_fuelcell_data = { 0, 67, 0.78, 45.9, 1457.0, 1234.0, -223.0, 2, 12, 7};
 
#if !(USE_NPS)
 
/* CAN feedback */
static uavcan_event fuelcell_uavcan_ev;
 
static void fuelcell_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
{
 
  uint32_t bit_ofs = 0;
  canardDecodeScalar(transfer, bit_ofs, 7, false, &can_fuelcell_data.pressure);
  bit_ofs += 7;
  uint16_t temp = 0;
  canardDecodeScalar(transfer, bit_ofs, 8, false, &temp);
  can_fuelcell_data.press_reg = ((float) temp) / 100.0f;
  bit_ofs += 8;
  temp = 0;
  canardDecodeScalar(transfer, bit_ofs, 10, false, &temp);
  can_fuelcell_data.volt_bat = ((float) temp) / 10.0f;
  bit_ofs += 10;
  temp = 0;
  canardDecodeScalar(transfer, bit_ofs, 14, false, &temp);
  can_fuelcell_data.power_out = ((float) temp);
  bit_ofs += 14;
  temp = 0;
  canardDecodeScalar(transfer, bit_ofs, 13, false, &temp);
  can_fuelcell_data.power_cell = ((float) temp);
  bit_ofs += 13;
  int16_t temp2 = 0;
  canardDecodeScalar(transfer, bit_ofs, 16, true, &temp2);
  can_fuelcell_data.power_batt = ((float) temp2);
  bit_ofs += 16;
  canardDecodeScalar(transfer, bit_ofs, 4, false, &can_fuelcell_data.state);
  bit_ofs += 4;
  canardDecodeScalar(transfer, bit_ofs, 8, false, &can_fuelcell_data.error);
  bit_ofs += 8;
  canardDecodeScalar(transfer, bit_ofs, 8, false, &can_fuelcell_data.suberror);
  bit_ofs += 8;
 
  can_fuelcell_data.timeout = 10;
 
}
#endif
 
 
extern void can_fuelcell_periodic(void)
{
#if USE_NPS
    // Simulate data
    can_fuelcell_data.timeout = 10;
#endif
  if (can_fuelcell_data.timeout > 0) {
    can_fuelcell_data.timeout--;
  }
}
 
 
 
#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
 
static void can_fuelcell_send_telemetry(struct transport_tx *trans, struct link_device *dev)
{
  if (can_fuelcell_data.timeout > 0) {
    // Forward
    pprz_msg_send_FUELCELL(trans, dev, AC_ID, &can_fuelcell_data.pressure, &can_fuelcell_data.press_reg,
      &can_fuelcell_data.volt_bat, &can_fuelcell_data.power_out, &can_fuelcell_data.power_cell,
      &can_fuelcell_data.power_batt, &can_fuelcell_data.state, &can_fuelcell_data.error, &can_fuelcell_data.suberror);
  }
}
#endif /* PERIODIC_TELEMETRY */
 
 
 
void can_fuelcell_init(void)
{
#if !(USE_NPS)
 
    // Bind uavcan BATTERYINFO message from EQUIPMENT.POWER
  uavcan_bind(UAVCAN_EQUIPMENT_FUELCELL_STATUS_ID, UAVCAN_EQUIPMENT_FUELCELL_STATUS_SIGNATURE, &fuelcell_uavcan_ev,
              &fuelcell_uavcan_cb);
#endif
 
 
  // Configure telemetry
#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FUELCELL, can_fuelcell_send_telemetry);
#endif
 
 
}