Update status to uint32_t containing BMS and BAT status

robotology · Aug 1, 2023 · 7d2b6f7 · 7d2b6f7
1 parent 9aaf09e
commit 7d2b6f7
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Showing 2 changed files with 18 additions and 13 deletions.
diff --git a/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp b/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp
@@ -583,8 +583,7 @@ eOresult_t embot::app::eth::theBATservice::Impl::AcceptCANframe(
                   (static_cast<uint16_t>(cfd.frame->data[1]) << 8) +
                   static_cast<uint16_t>(cfd.frame->data[0])
         );
-    }
-    break;
+    } break;
 
     case canFrameDescriptor::Type::status_bms: 
     {
@@ -602,9 +601,10 @@ eOresult_t embot::app::eth::theBATservice::Impl::AcceptCANframe(
         If we have an alram, this will persist in the minute after the alarm generation
         even if the alarm re-enter
         **/
-        bat->status.timedvalue.status = cfd.frame->data[0]; 
-    break;
-    }
+        // using embot methods copy the 8bits of bms_status into the two least significant bytes of the general timedvalue.status
+        embot::core::binary::mask::clear(bat->status.timedvalue.status, static_cast<uint32_t>(0x0000ffff), 0);
+        embot::core::binary::mask::set(bat->status.timedvalue.status, static_cast<uint32_t>(cfd.frame->data[0]), 0);
+    } break;
 
     case canFrameDescriptor::Type::status_bat: 
     {
@@ -625,21 +625,26 @@ eOresult_t embot::app::eth::theBATservice::Impl::AcceptCANframe(
         If we have an alram, this will persist in the minute after the alarm generation
         even if the alarm re-enter
         **/
-        bat->status.timedvalue.status = (cfd.frame->data[1] << 8 ) | cfd.frame->data[0];
-    break;
-    }
+        // using embot methods copy the 16bits of bms_status into the two most significant bytes of the general timedvalue.status
+        uint16_t bat_status_temp16 = {0x0120};
+        embot::core::binary::mask::clear(bat->status.timedvalue.status, static_cast<uint32_t>(0xffff0000), 0);
+        bat_status_temp16 = static_cast<uint16_t>((cfd.frame->data[1] << 8 ) | cfd.frame->data[0]);
+        embot::core::binary::mask::set(bat->status.timedvalue.status, static_cast<uint32_t>(bat_status_temp16), 16);
+    } break;
 
     case canFrameDescriptor::Type::unspecified:
     {
         //unspecified type do nothing - for now return unsupported error - 
         //this case should never be set when this method is called
         return eores_NOK_unsupported;
-    }
-    break;
+    } break;
 
     default:
-    return eores_NOK_unsupported;
-    }
+    {
+        return eores_NOK_unsupported;
+    } break;
+
+  }
 
   return eores_OK;
 }

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.h
@@ -89,7 +89,7 @@ class theBATservice {
   static constexpr eOas_battery_status_t defaultBATstatus{
       .timedvalue = {.age = 0,
                      .temperature = 0,
-                     .status = 0,
+                     //.status = 0,
                      .voltage = 0,
                      .current = 0,
                      .charge = 0}};