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AP_BattMonitor: prepare MPPT driver for AP_Periph

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This commit is contained in:
Tom Pittenger 2021-04-27 14:04:08 -07:00 committed by Tom Pittenger
parent a7f81c838f
commit b62ab14791
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_BattMonitor/AP_BattMonitor_MPPT_PacketDigital.cpp
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@ -34,6 +34,7 @@ void AP_BattMonitor_MPPT_PacketDigital::read()
void AP_BattMonitor_MPPT_PacketDigital::perform_logging() const
{
#ifndef HAL_BUILD_AP_PERIPH
if (device_count == 0) {
// nothing to log
return;
@ -77,6 +78,7 @@ void AP_BattMonitor_MPPT_PacketDigital::perform_logging() const
(double)MPPT_devices[i].output.current,
(double)MPPT_devices[i].output.power);
}
#endif
}
// parse inbound frames
@ -102,7 +104,7 @@ void AP_BattMonitor_MPPT_PacketDigital::handle_frame(AP_HAL::CANFrame &frame)
device_count++;
MPPT_devices[index].serialnumber = serialnumber;
MPPT_devices[index].sequence = frame.data[0];
gcs().send_text(MAV_SEVERITY_DEBUG, "PDCAN: %u New device", serialnumber);
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "PDCAN: %u New device", serialnumber);
send_command(PacketType::VOLTAGE_GET, serialnumber);
send_command(PacketType::ALGORITHM_GET, serialnumber);
@ -138,7 +140,7 @@ void AP_BattMonitor_MPPT_PacketDigital::handle_frame(AP_HAL::CANFrame &frame)
const uint8_t prev_faults = (uint8_t)MPPT_devices[index].faults;
const uint8_t new_single_fault = (~prev_faults & all_current_faults);
if (new_single_fault != 0) {
gcs().send_text(MAV_SEVERITY_DEBUG, "PDCAN: %u New Fault! %d: %s", serialnumber, (int)new_single_fault, get_fault_code_string((FaultFlags)new_single_fault));
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "PDCAN: %u New Fault! %d: %s", serialnumber, (int)new_single_fault, get_fault_code_string((FaultFlags)new_single_fault));
}
MPPT_devices[index].faults = (FaultFlags)frame.data[2];
}
@ -147,7 +149,7 @@ void AP_BattMonitor_MPPT_PacketDigital::handle_frame(AP_HAL::CANFrame &frame)
case PacketType::ACK:
break;
case PacketType::NACK:
//gcs().send_text(MAV_SEVERITY_INFO, "PDCAN: %u NACK 0x%2X", serialnumber, (unsigned)packet_sent_prev);
//GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PDCAN: %u NACK 0x%2X", serialnumber, (unsigned)packet_sent_prev);
break;
case PacketType::ALGORITHM_SET: