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AP_Periph: populate more fields in batteryinfo

This commit is contained in:
Tom Pittenger 2020-12-08 23:39:48 -08:00 committed by Tom Pittenger
parent 449b0fb145
commit 0c5cc16d7b
1 changed files with 14 additions and 0 deletions
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14
Tools/AP_Periph/can.cpp
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@ -82,6 +82,10 @@ static uint8_t transfer_id;
#define CAN_APP_NODE_NAME "org.ardupilot.ap_periph"
#endif
#ifndef AP_PERIPH_BATTERY_MODEL_NAME
#define AP_PERIPH_BATTERY_MODEL_NAME CAN_APP_NODE_NAME
#endif
#ifndef CAN_PROBE_CONTINUOUS
#define CAN_PROBE_CONTINUOUS 0
#endif
@ -1297,6 +1301,16 @@ void AP_Periph_FW::can_battery_update(void)
fix_float16(pkt.current);
fix_float16(pkt.temperature);
pkt.state_of_health_pct = UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN;
pkt.state_of_charge_pct = battery.lib.capacity_remaining_pct(i);
pkt.model_instance_id = i+1;
// example model_name: "org.ardupilot.ap_periph SN 123"
char text[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MODEL_NAME_MAX_LENGTH+1] {};
hal.util->snprintf(text, sizeof(text), "%s %d", AP_PERIPH_BATTERY_MODEL_NAME, serial_number);
pkt.model_name.len = strlen(text);
pkt.model_name.data = (uint8_t *)text;
uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE] {};
const uint16_t total_size = uavcan_equipment_power_BatteryInfo_encode(&pkt, buffer);