ardupilot/libraries/AP_EFI/AP_EFI_Serial_MS.h

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/*
This program 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 3 of the License, or
(at your option) any later version.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_EFI_config.h"
#if AP_EFI_SERIAL_MS_ENABLED
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#include "AP_EFI.h"
#include "AP_EFI_Backend.h"
// RPM Threshold for fuel consumption estimator
#define RPM_THRESHOLD 100
class AP_EFI_Serial_MS: public AP_EFI_Backend {
public:
// Constructor with initialization
AP_EFI_Serial_MS(AP_EFI &_frontend);
// Update the state structure
void update() override;
private:
AP_HAL::UARTDriver *port;
void parse_realtime_data();
bool read_incoming_realtime_data();
void send_request(uint8_t table, uint16_t first_offset, uint16_t last_offset);
uint8_t read_byte_CRC32();
uint32_t CRC32_compute_byte(uint32_t inCrc32, uint8_t data);
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// Serial Protocol Variables
uint32_t checksum;
uint8_t step;
uint8_t response_flag;
uint16_t message_counter;
uint32_t last_response_ms;
// confirmed that last command was ok
bool last_command_confirmed;
// Command Response Codes
enum response_codes {
RESPONSE_WRITE_OK =0x00,
RESPONSE_REALTIME_DATA,
RESPONSE_PAGE_DATA,
RESPONSE_CONFIG_ERROR,
RESPONSE_PAGE10_OK,
RESPONSE_CAN_DATA,
// Error Responses
ERR_UNDERRUN = 0X80,
ERR_OVERRUN,
ERR_CRC_FAILURE,
ERR_UNRECOGNIZED_COMMAND,
ERR_OUT_OF_RANGE,
ERR_SERIAL_BUSY,
ERR_FLASH_LOCKED,
ERR_SEQ_FAIL_1,
ERR_SEQ_FAIL_2,
ERR_CAN_QUEUE_FULL,
ERR_CAN_TIMEOUT,
ERR_CAN_FAILURE,
ERR_PARITY,
ERR_FRAMING,
ERR_SERIAL_NOISE,
ERR_TXMODE_RANGE,
ERR_UNKNOWN
};
// Realtime Data Table Locations
enum realtime_data {
PW1_MSB = 2,
PW1_LSB,
RPM_MSB = 6,
RPM_LSB,
ADVANCE_MSB,
ADVANCE_LSB,
ENGINE_BM = 11,
BAROMETER_MSB = 16,
BAROMETER_LSB,
MAP_MSB,
MAP_LSB,
MAT_MSB,
MAT_LSB,
CHT_MSB,
CHT_LSB,
TPS_MSB,
TPS_LSB,
AFR1_MSB = 28,
AFR1_LSB,
AFR2_MSB,
AFR2_LSB,
DWELL_MSB = 62,
DWELL_LSB,
LOAD = 66,
FUEL_PRESSURE_MSB = 128,
FUEL_PRESSURE_LSB,
// Helpers used when sending request
RT_FIRST_OFFSET = PW1_MSB,
RT_LAST_OFFSET = FUEL_PRESSURE_LSB
};
};
#endif // AP_EFI_SERIAL_MS_ENABLED