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✨feat: bmu/ccm state

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This commit is contained in:
matt
2020-10-06 23:13:01 +08:00
parent e638f7a252
commit 54c7286a2c
5 changed files with 1210 additions and 3 deletions
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ardupilotmega/testsuite.h
+135
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@@ -4447,6 +4447,139 @@ static void mavlink_test_turbinestate(uint16_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_bmustate(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_BMUState >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_bmustate_t packet_in = {
963497464,17443,17547,17651,17755,17859,{ 17963, 17964, 17965, 17966, 17967, 17968, 17969 },18691,18795,18899,19003,19107,19211,19315,{ 19419, 19420, 19421, 19422, 19423, 19424, 19425, 19426, 19427, 19428, 19429, 19430, 19431, 19432 },20875,20979,99,166,233,44,111
};
mavlink_bmustate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.BAT1_group_voltage_mv = packet_in.BAT1_group_voltage_mv;
packet1.BAT1_group_current_dA = packet_in.BAT1_group_current_dA;
packet1.BAT1_remain_perc = packet_in.BAT1_remain_perc;
packet1.BAT1_low_temp_degC = packet_in.BAT1_low_temp_degC;
packet1.BAT1_hi_temp_degC = packet_in.BAT1_hi_temp_degC;
packet1.BAT1_hi_voltage_mv = packet_in.BAT1_hi_voltage_mv;
packet1.BAT1_low_voltage_mv = packet_in.BAT1_low_voltage_mv;
packet1.BAT2_group_voltage_mv = packet_in.BAT2_group_voltage_mv;
packet1.BAT2_group_current_dA = packet_in.BAT2_group_current_dA;
packet1.BAT2_remain_perc = packet_in.BAT2_remain_perc;
packet1.BAT2_low_temp_degC = packet_in.BAT2_low_temp_degC;
packet1.BAT2_hi_temp_degC = packet_in.BAT2_hi_temp_degC;
packet1.BAT2_hi_voltage_mv = packet_in.BAT2_hi_voltage_mv;
packet1.BAT2_low_voltage_mv = packet_in.BAT2_low_voltage_mv;
packet1.BAT1_STA1 = packet_in.BAT1_STA1;
packet1.BAT1_STA2 = packet_in.BAT1_STA2;
packet1.BAT2_STA1 = packet_in.BAT2_STA1;
packet1.BAT2_STA2 = packet_in.BAT2_STA2;
packet1.p500w_enabled = packet_in.p500w_enabled;
mav_array_memcpy(packet1.BAT1_voltages_mv, packet_in.BAT1_voltages_mv, sizeof(uint16_t)*7);
mav_array_memcpy(packet1.BAT2_voltages_mv, packet_in.BAT2_voltages_mv, sizeof(uint16_t)*14);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_BMUState_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_BMUState_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_bmustate_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_bmustate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_bmustate_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.BAT1_group_voltage_mv , packet1.BAT1_group_current_dA , packet1.BAT1_remain_perc , packet1.BAT1_low_temp_degC , packet1.BAT1_hi_temp_degC , packet1.BAT1_voltages_mv , packet1.BAT1_hi_voltage_mv , packet1.BAT1_low_voltage_mv , packet1.BAT2_group_voltage_mv , packet1.BAT2_group_current_dA , packet1.BAT2_remain_perc , packet1.BAT2_low_temp_degC , packet1.BAT2_hi_temp_degC , packet1.BAT2_voltages_mv , packet1.BAT2_hi_voltage_mv , packet1.BAT2_low_voltage_mv , packet1.BAT1_STA1 , packet1.BAT1_STA2 , packet1.BAT2_STA1 , packet1.BAT2_STA2 , packet1.p500w_enabled );
mavlink_msg_bmustate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_bmustate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.BAT1_group_voltage_mv , packet1.BAT1_group_current_dA , packet1.BAT1_remain_perc , packet1.BAT1_low_temp_degC , packet1.BAT1_hi_temp_degC , packet1.BAT1_voltages_mv , packet1.BAT1_hi_voltage_mv , packet1.BAT1_low_voltage_mv , packet1.BAT2_group_voltage_mv , packet1.BAT2_group_current_dA , packet1.BAT2_remain_perc , packet1.BAT2_low_temp_degC , packet1.BAT2_hi_temp_degC , packet1.BAT2_voltages_mv , packet1.BAT2_hi_voltage_mv , packet1.BAT2_low_voltage_mv , packet1.BAT1_STA1 , packet1.BAT1_STA2 , packet1.BAT2_STA1 , packet1.BAT2_STA2 , packet1.p500w_enabled );
mavlink_msg_bmustate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_bmustate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_bmustate_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.BAT1_group_voltage_mv , packet1.BAT1_group_current_dA , packet1.BAT1_remain_perc , packet1.BAT1_low_temp_degC , packet1.BAT1_hi_temp_degC , packet1.BAT1_voltages_mv , packet1.BAT1_hi_voltage_mv , packet1.BAT1_low_voltage_mv , packet1.BAT2_group_voltage_mv , packet1.BAT2_group_current_dA , packet1.BAT2_remain_perc , packet1.BAT2_low_temp_degC , packet1.BAT2_hi_temp_degC , packet1.BAT2_voltages_mv , packet1.BAT2_hi_voltage_mv , packet1.BAT2_low_voltage_mv , packet1.BAT1_STA1 , packet1.BAT1_STA2 , packet1.BAT2_STA1 , packet1.BAT2_STA2 , packet1.p500w_enabled );
mavlink_msg_bmustate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ccmstate(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_CCMState >= 256) {
return;
}
#endif
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_ccmstate_t packet_in = {
963497464,963497672,{ 17651, 17652, 17653, 17654 },{ 18067, 18068, 18069, 18070 },77
};
mavlink_ccmstate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.fuel_level = packet_in.fuel_level;
packet1.echo_seq = packet_in.echo_seq;
mav_array_memcpy(packet1.temp, packet_in.temp, sizeof(int16_t)*4);
mav_array_memcpy(packet1.volts, packet_in.volts, sizeof(uint16_t)*4);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
// cope with extensions
memset(MAVLINK_MSG_ID_CCMState_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_CCMState_MIN_LEN);
}
#endif
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ccmstate_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_ccmstate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ccmstate_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.fuel_level , packet1.temp , packet1.volts , packet1.echo_seq );
mavlink_msg_ccmstate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ccmstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.fuel_level , packet1.temp , packet1.volts , packet1.echo_seq );
mavlink_msg_ccmstate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_ccmstate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ccmstate_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.fuel_level , packet1.temp , packet1.volts , packet1.echo_seq );
mavlink_msg_ccmstate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint16_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@@ -4522,6 +4655,8 @@ static void mavlink_test_ardupilotmega(uint16_t system_id, uint8_t component_id,
mavlink_test_enginestatus(system_id, component_id, last_msg);
mavlink_test_enginestate(system_id, component_id, last_msg);
mavlink_test_turbinestate(system_id, component_id, last_msg);
mavlink_test_bmustate(system_id, component_id, last_msg);
mavlink_test_ccmstate(system_id, component_id, last_msg);
}
#ifdef __cplusplus