[can fuelcell] use DSDL definition (#3505)

Co-authored-by: Fabien-B <Fabien-B@github.com>

conf/modules/can_fuelcell.xml

@@ -12,5 +12,9 @@
   <makefile>
     <!-- Sources -->
     <file name="can_fuelcell.c"/>
+
+      <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="pprz.equipment.fuelcell.Status.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
   </makefile>
 </module>

sw/airborne/modules/energy/can_fuelcell.c

@@ -27,13 +27,7 @@
 #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
-
+#include "pprz.equipment.fuelcell.Status.h"
 
 /* Fuel-Cell */
 struct uavcan_equipment_fuelcell {
@@ -59,35 +53,20 @@ 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;
+  struct pprz_equipment_fuelcell_Status msg;
+  if(pprz_equipment_fuelcell_Status_decode(transfer, &msg)) {
+    return;   // decode error
+  }
+  
+  can_fuelcell_data.pressure = msg.tank_pressure;
+  can_fuelcell_data.press_reg = msg.regulated_pressure / 100.0f;
+  can_fuelcell_data.volt_bat = msg.battery_voltage / 10.0f;
+  can_fuelcell_data.power_out = msg.output_power;
+  can_fuelcell_data.power_cell = msg.spm_power;
+  can_fuelcell_data.power_batt = msg.battery_power;
+  can_fuelcell_data.state = msg.psu_state;
+  can_fuelcell_data.error = msg.error_code;
+  can_fuelcell_data.suberror = msg.sub_code;
 
   can_fuelcell_data.timeout = 10;
 
@@ -129,7 +108,7 @@ 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,
+  uavcan_bind(PPRZ_EQUIPMENT_FUELCELL_STATUS_ID, PPRZ_EQUIPMENT_FUELCELL_STATUS_SIGNATURE, &fuelcell_uavcan_ev,
               &fuelcell_uavcan_cb);
 #endif
 

sw/ext/dronecan/Makefile

@@ -27,6 +27,7 @@ Q=@
 PAPARAZZI_SRC=../../..
 DRONECAN_DIR=$(PAPARAZZI_SRC)/sw/ext/dronecan
 DSDL_DIR := $(DRONECAN_DIR)/DSDL
+CUSTOM_DSDL=$(DRONECAN_DIR)/custom_DSDL/pprz
 
 all: libcanard DSDL pydronecan dronecan_dsdlc
 
@@ -43,6 +44,7 @@ pydronecan : pydronecan.sync pydronecan.update
 dronecan_dsdlc.build:
 	$(eval DSDL_ROOTS_PART := $(sort $(dir $(wildcard $(DSDL_DIR)/*/))))
 	$(eval DSDL_ROOTS := $(filter-out $(DRONECAN_DIR)/DSDL/tests/ $(DRONECAN_DIR)/DSDL/,$(DSDL_ROOTS_PART)))
+	$(eval DSDL_ROOTS := $(DSDL_ROOTS) $(CUSTOM_DSDL))
 	@echo Generating dsdl code from $(DSDL_ROOTS) to $(PAPARAZZI_SRC)/var/include/DSDLcode
 	$(Q) python $(DRONECAN_DIR)/dronecan_dsdlc/dronecan_dsdlc.py -O $(PAPARAZZI_SRC)/var/include/DSDLcode $(DSDL_ROOTS)
 	@echo Done

sw/ext/dronecan/custom_DSDL/pprz/equipment/fuelcell/20141.Status.uavcan

@@ -0,0 +1,15 @@
+#
+# Fuelcell Status
+#
+
+uint7 tank_pressure        # percentage
+uint8 regulated_pressure   # *100
+
+uint10 battery_voltage     # decivolt *10
+uint14 output_power
+uint13 spm_power
+int16 battery_power
+uint4 psu_state
+uint8 error_code
+uint8 sub_code
+