Battery.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Battery.hpp
*
* Defines basic functionality of UAVCAN v1 Battery subscription
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
// DS-15 Specification Messages
#include <reg/drone/service/battery/Parameters_0_1.h>
#include <reg/drone/service/battery/Status_0_1.h>
#include "DynamicPortSubscriber.hpp"
class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
{
public:
UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanDynamicPortSubscriber(ins, pmgr, "bms", instance) { };
void subscribe() override
{
// Subscribe to messages reg.drone.service.battery.Status.0.1
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
_port_id,
reg_drone_service_battery_Status_0_1_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_canard_sub);
};
void callback(const CanardTransfer &receive) override
{
PX4_INFO("BmsCallback");
reg_drone_service_battery_Status_0_1 bat {};
size_t bat_size_in_bytes = receive.payload_size;
reg_drone_service_battery_Status_0_1_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bytes);
uavcan_si_unit_voltage_Scalar_1_0 V_Min = bat.cell_voltage_min_max[0];
uavcan_si_unit_voltage_Scalar_1_0 V_Max = bat.cell_voltage_min_max[1];
double vmin = static_cast<double>(V_Min.volt);
double vmax = static_cast<double>(V_Max.volt);
PX4_INFO("Min voltage: %f, Max Voltage: %f", vmin, vmax);
/// do something with the data
};
};