mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.6 KiB
C
108 lines
2.6 KiB
C
|
/*
|
||
|
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_Common/AP_Common.h>
|
||
|
#include <AP_Param/AP_Param.h>
|
||
|
#include <GCS_MAVLink/GCS.h>
|
||
|
|
||
|
#define EFI_ENABLED !HAL_MINIMIZE_FEATURES
|
||
|
|
||
|
#if EFI_ENABLED
|
||
|
#include "AP_EFI_Backend.h"
|
||
|
#include "AP_EFI_State.h"
|
||
|
|
||
|
|
||
|
/*
|
||
|
* This library aims to read data from Electronic Fuel Injection
|
||
|
* or Engine Control units. It is focused around the generic
|
||
|
* internal combustion engine state message provided by the
|
||
|
* UAVCAN protocol due to its comprehensiveness, but is extensible
|
||
|
* to use other forms of data transfer besides UAVCAN.
|
||
|
*
|
||
|
*
|
||
|
*
|
||
|
* Authors: Sriram Sami and David Ingraham
|
||
|
* With direction from Andrew Tridgell, Robert Lefebvre, Francisco Ferreira and
|
||
|
* Pavel Kirienko.
|
||
|
* Thanks to Yonah, SpektreWorks Inc, and HFE International.
|
||
|
*/
|
||
|
|
||
|
class AP_EFI {
|
||
|
public:
|
||
|
friend class AP_EFI_Backend;
|
||
|
|
||
|
// For parameter initialization
|
||
|
AP_EFI();
|
||
|
|
||
|
// Initializes backend
|
||
|
void init(void);
|
||
|
|
||
|
// Requests backend to update the frontend. Should be called at 10Hz.
|
||
|
void update();
|
||
|
|
||
|
// Returns the RPM
|
||
|
uint32_t get_rpm() const { return state.engine_speed_rpm; }
|
||
|
|
||
|
// returns enabled state of EFI
|
||
|
bool enabled() const { return type != EFI_COMMUNICATION_TYPE_NONE; }
|
||
|
|
||
|
bool is_healthy() const;
|
||
|
|
||
|
// Parameter info
|
||
|
static const struct AP_Param::GroupInfo var_info[];
|
||
|
|
||
|
// Backend driver types
|
||
|
enum EFI_Communication_Type {
|
||
|
EFI_COMMUNICATION_TYPE_NONE = 0,
|
||
|
EFI_COMMUNICATION_TYPE_SERIAL_MS = 1
|
||
|
};
|
||
|
|
||
|
static AP_EFI *get_singleton(void) {
|
||
|
return singleton;
|
||
|
}
|
||
|
|
||
|
// send EFI_STATUS
|
||
|
void send_mavlink_status(mavlink_channel_t chan);
|
||
|
|
||
|
protected:
|
||
|
|
||
|
// Back end Parameters
|
||
|
AP_Float coef1;
|
||
|
AP_Float coef2;
|
||
|
|
||
|
EFI_State state;
|
||
|
|
||
|
private:
|
||
|
// Front End Parameters
|
||
|
AP_Int8 type;
|
||
|
|
||
|
// Tracking backends
|
||
|
AP_EFI_Backend *backend;
|
||
|
static AP_EFI *singleton;
|
||
|
|
||
|
// write to log
|
||
|
void log_status();
|
||
|
};
|
||
|
|
||
|
namespace AP {
|
||
|
AP_EFI *EFI();
|
||
|
};
|
||
|
|
||
|
#endif // EFI_ENABLED
|