From 35b7ae180bcafe90af77a8387861588e59be5926 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 22 Jul 2014 15:01:34 +0400
Subject: [PATCH] Power messages update

---
 .../equipment/power/711.CircuitStatus.uavcan  |  6 +++++
 .../equipment/power/BatteryStatus.uavcan      | 27 ++++++++++---------
 2 files changed, 21 insertions(+), 12 deletions(-)

diff --git a/dsdl/uavcan/equipment/power/711.CircuitStatus.uavcan b/dsdl/uavcan/equipment/power/711.CircuitStatus.uavcan
index 17d8a9a335..82f6d877f7 100644
--- a/dsdl/uavcan/equipment/power/711.CircuitStatus.uavcan
+++ b/dsdl/uavcan/equipment/power/711.CircuitStatus.uavcan
@@ -4,5 +4,11 @@
 
 uint8 circuit_id
 
+uint8 ERROR_MASK_OVERVOLTAGE  = 1
+uint8 ERROR_MASK_UNDERVOLTAGE = 2
+uint8 ERROR_MASK_OVERCURRENT  = 4
+uint8 ERROR_MASK_UNDERCURRENT = 8
+uint8 error_mask
+
 float16 voltage
 float16 current
diff --git a/dsdl/uavcan/equipment/power/BatteryStatus.uavcan b/dsdl/uavcan/equipment/power/BatteryStatus.uavcan
index 42ca83d2ee..6224cf7070 100644
--- a/dsdl/uavcan/equipment/power/BatteryStatus.uavcan
+++ b/dsdl/uavcan/equipment/power/BatteryStatus.uavcan
@@ -2,19 +2,22 @@
 # Nested type.
 # Energy and capacity are expressed in watt hours (Joules are infeasible because of range limitations).
 # Unknown values should be represented as NAN.
+# Typical publishing rate should be around 1 Hz.
 #
 
-uint8 battery_id
+uint8 STATUS_MASK_IN_USE     = 1
+uint8 STATUS_MASK_CHARGING   = 2
+uint8 STATUS_MASK_CHARGED    = 4   # Charging complete
+uint8 STATUS_MASK_TEMP_HOT   = 8   # Temperature above normal
+uint8 STATUS_MASK_TEMP_COLD  = 16  # Temperature below normal
+uint8 STATUS_MASK_OVERLOAD   = 32
+uint8 status_mask
 
-uint8 MASK_IN_USE   = 1
-uint8 MASK_CHARGING = 2
-uint8 MASK_CHARGED  = 4
-uint8 mask
+float16 temperature             # Celsius, required
+float16 voltage                 # Required
+float16 current                 # Required
+float16 average_power_10sec     # Average power consumption over the last 10 seconds, required
+float16 consumed_wh             # Required
+float16 capacity_wh             # NAN if unknown
 
-float16 voltage
-float16 power
-float16 consumed_wh
-float16 capacity_wh   # NAN if unknown
-
-uint7 CHARGE_PCT_UNKNOWN = 127
-uint7 charge_pct
+uint7 remaining_charge_pct      # Percent of the full charge [0, 100], required