mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.4 KiB
C++
96 lines
3.4 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_EFI_Serial_Lutan.h"
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#include <AP_HAL/utility/sparse-endian.h>
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#include <stdio.h>
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#if HAL_EFI_ENABLED
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#include <AP_SerialManager/AP_SerialManager.h>
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extern const AP_HAL::HAL &hal;
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AP_EFI_Serial_Lutan::AP_EFI_Serial_Lutan(AP_EFI &_frontend):
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AP_EFI_Backend(_frontend)
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{
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port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_EFI, 0);
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}
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void AP_EFI_Serial_Lutan::update()
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{
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if (port == nullptr) {
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return;
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}
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const uint32_t now = AP_HAL::millis();
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if (pkt_nbytes > 0 && now - last_recv_ms > 100) {
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pkt_nbytes = 0;
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}
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const uint32_t n = MIN(sizeof(pkt), port->available());
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if (n > 0) {
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last_recv_ms = now;
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}
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if (n + pkt_nbytes > sizeof(pkt)) {
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pkt_nbytes = 0;
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}
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const ssize_t nread = port->read(&pkt[pkt_nbytes], n);
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if (nread <= 0) {
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return;
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}
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pkt_nbytes += nread;
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if (pkt_nbytes > 2) {
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const uint16_t length = be16toh(data.length);
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if (length+6 == pkt_nbytes) {
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// got a pkt of right length
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const uint32_t crc = be32toh_ptr(&pkt[length+2]);
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const uint32_t crc2 = ~crc_crc32(~0U, &pkt[2], length);
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if (crc == crc2) {
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// valid data
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internal_state.last_updated_ms = now;
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internal_state.spark_dwell_time_ms = int16_t(be16toh(data.dwell))*0.1;
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internal_state.cylinder_status[0].injection_time_ms = be16toh(data.pulseWidth1)*0.00666;
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internal_state.engine_speed_rpm = be16toh(data.rpm);
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internal_state.atmospheric_pressure_kpa = int16_t(be16toh(data.barometer))*0.1;
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internal_state.intake_manifold_pressure_kpa = int16_t(be16toh(data.map))*0.1;
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internal_state.intake_manifold_temperature = degF_to_Kelvin(int16_t(be16toh(data.mat))*0.1);
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internal_state.coolant_temperature = degF_to_Kelvin(int16_t(be16toh(data.coolant))*0.1);
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// CHT is in coolant field
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internal_state.cylinder_status[0].cylinder_head_temperature = internal_state.coolant_temperature;
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internal_state.throttle_position_percent = int16_t(be16toh(data.tps))*0.1;
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copy_to_frontend();
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}
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pkt_nbytes = 0;
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}
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}
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if (n == 0 || now - last_request_ms > 200) {
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last_request_ms = now;
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port->discard_input();
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send_request();
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}
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}
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void AP_EFI_Serial_Lutan::send_request(void)
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{
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static const uint8_t d[] = { 0, 1, 0x41 };
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const uint32_t crc = ~crc_crc32(~0U, &d[2], sizeof(d)-2);
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const uint32_t crc2 = htobe32(crc);
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port->write(d, sizeof(d));
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port->write((const uint8_t *)&crc2, sizeof(crc2));
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}
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#endif // HAL_EFI_ENABLED
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