Fuel-Cell Monitoring over CAN (#3359)

* Fuel-Cell Monitoring over CAN

use in airframe

correct messages

* Missing telemetry

sw/airborne/modules/energy/can_fuelcell.c

@@ -0,0 +1,143 @@
+/*
+ * Copyright (C) 2024 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/energy/can_fuelcell.c"
+ * @author F. van Tienen
+ * Fuel-cell data through CAN bus
+ */
+
+#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
+
+
+/* Fuel-Cell */
+struct uavcan_equipment_fuelcell {
+  int timeout;
+
+  uint8_t pressure;
+  float press_reg;
+  float volt_bat;
+  float power_out;
+  float power_cell;
+  float power_batt;
+  uint8_t state;
+  uint8_t error;
+  uint8_t suberror;
+};
+static struct uavcan_equipment_fuelcell can_fuelcell_data = { 0, 67, 0.78, 45.9, 1457.0, 1234.0, -223.0, 2, 12, 7};
+
+#if !(USE_NPS)
+
+/* CAN feedback */
+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;
+
+  can_fuelcell_data.timeout = 10;
+
+}
+#endif
+
+
+extern void can_fuelcell_periodic(void)
+{
+#if USE_NPS
+    // Simulate data
+    can_fuelcell_data.timeout = 10;
+#endif
+  if (can_fuelcell_data.timeout > 0) {
+    can_fuelcell_data.timeout--;
+  }
+}
+
+
+
+#if PERIODIC_TELEMETRY
+#include "modules/datalink/telemetry.h"
+
+static void can_fuelcell_send_telemetry(struct transport_tx *trans, struct link_device *dev)
+{
+  if (can_fuelcell_data.timeout > 0) {
+    // Forward
+    pprz_msg_send_FUELCELL(trans, dev, AC_ID, &can_fuelcell_data.pressure, &can_fuelcell_data.press_reg,
+      &can_fuelcell_data.volt_bat, &can_fuelcell_data.power_out, &can_fuelcell_data.power_cell,
+      &can_fuelcell_data.power_batt, &can_fuelcell_data.state, &can_fuelcell_data.error, &can_fuelcell_data.suberror);
+  }
+}
+#endif /* PERIODIC_TELEMETRY */
+
+
+
+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,
+              &fuelcell_uavcan_cb);
+#endif
+
+
+  // Configure telemetry
+#if PERIODIC_TELEMETRY
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FUELCELL, can_fuelcell_send_telemetry);
+#endif
+
+
+}

sw/airborne/modules/energy/can_fuelcell.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2024 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/energy/can_fuelcell.c"
+ * @author F. van Tienen
+ * Fuel-cell data through CAN bus
+ */
+
+#ifndef CAN_FUELCELL_H
+#define CAN_FUELCELL_H
+
+#include "std.h"
+
+extern void can_fuelcell_init(void);
+extern void can_fuelcell_periodic(void); // for simulation
+
+#endif