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AP_BattMonitor: use a reference for AP::battery()

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saves a small amount of flash
This commit is contained in:
Andrew Tridgell 2023-10-25 08:11:22 +11:00
parent 60a38a0ab1
commit 7ce9febf9f
2 changed files with 20 additions and 12 deletions
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27
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
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@ -61,28 +61,39 @@ void AP_BattMonitor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
} }
} }
/*
match a battery ID to driver serial number
when serial number is negative, all batteries are accepted, otherwise it must match
*/
bool AP_BattMonitor_DroneCAN::match_battery_id(uint8_t instance, uint8_t battery_id)
{
const auto serial_num = AP::battery().get_serial_number(instance);
return serial_num < 0 || serial_num == (int32_t)battery_id;
}
AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id) AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id)
{ {
if (ap_dronecan == nullptr) { if (ap_dronecan == nullptr) {
return nullptr; return nullptr;
} }
for (uint8_t i = 0; i < AP::battery()._num_instances; i++) { const auto &batt = AP::battery();
if (AP::battery().drivers[i] == nullptr || for (uint8_t i = 0; i < batt._num_instances; i++) {
AP::battery().get_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) { if (batt.drivers[i] == nullptr ||
batt.get_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) {
continue; continue;
} }
AP_BattMonitor_DroneCAN* driver = (AP_BattMonitor_DroneCAN*)AP::battery().drivers[i]; AP_BattMonitor_DroneCAN* driver = (AP_BattMonitor_DroneCAN*)batt.drivers[i];
if (driver->_ap_dronecan == ap_dronecan && driver->_node_id == node_id && match_battery_id(i, battery_id)) { if (driver->_ap_dronecan == ap_dronecan && driver->_node_id == node_id && match_battery_id(i, battery_id)) {
return driver; return driver;
} }
} }
// find empty uavcan driver // find empty uavcan driver
for (uint8_t i = 0; i < AP::battery()._num_instances; i++) { for (uint8_t i = 0; i < batt._num_instances; i++) {
if (AP::battery().drivers[i] != nullptr && if (batt.drivers[i] != nullptr &&
AP::battery().get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo && batt.get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo &&
match_battery_id(i, battery_id)) { match_battery_id(i, battery_id)) {
AP_BattMonitor_DroneCAN* batmon = (AP_BattMonitor_DroneCAN*)AP::battery().drivers[i]; AP_BattMonitor_DroneCAN* batmon = (AP_BattMonitor_DroneCAN*)batt.drivers[i];
if(batmon->_ap_dronecan != nullptr || batmon->_node_id != 0) { if(batmon->_ap_dronecan != nullptr || batmon->_node_id != 0) {
continue; continue;
} }

5
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
View File

@ -63,10 +63,7 @@ private:
void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg); void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg);
void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc); void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
static bool match_battery_id(uint8_t instance, uint8_t battery_id) { static bool match_battery_id(uint8_t instance, uint8_t battery_id);
// when serial number is negative, all batteries are accepted. Else, it must match
return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
}
// MPPT related enums and methods // MPPT related enums and methods
enum class MPPT_FaultFlags : uint8_t { enum class MPPT_FaultFlags : uint8_t {