ardupilot/libraries/AP_EFI/AP_EFI.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
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#include "AP_EFI_config.h"
#if HAL_EFI_ENABLED
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#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#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
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bool enabled() const { return type != Type::NONE; }
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bool is_healthy() const;
// return timestamp of last update
uint32_t get_last_update_ms(void) const {
return state.last_updated_ms;
}
// get a copy of state structure
void get_state(EFI_State &state);
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// Parameter info
static const struct AP_Param::GroupInfo var_info[];
// Backend driver types
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enum class Type : uint8_t {
NONE = 0,
MegaSquirt = 1,
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NWPMU = 2,
Lutan = 3,
// LOWEHEISER = 4,
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DroneCAN = 5,
CurrawongECU = 6,
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SCRIPTING = 7,
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};
static AP_EFI *get_singleton(void) {
return singleton;
}
// send EFI_STATUS
void send_mavlink_status(mavlink_channel_t chan);
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#if AP_SCRIPTING_ENABLED
AP_EFI_Backend* get_backend(uint8_t idx) { return idx==0?backend:nullptr; }
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#endif
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protected:
// Back end Parameters
AP_Float coef1;
AP_Float coef2;
AP_Float ecu_fuel_density;
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EFI_State state;
private:
// Front End Parameters
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AP_Enum<Type> type;
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// Tracking backends
AP_EFI_Backend *backend;
static AP_EFI *singleton;
// Semaphore for access to shared frontend data
HAL_Semaphore sem;
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// write to log
void log_status();
};
namespace AP {
AP_EFI *EFI();
};
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#endif // HAL_EFI_ENABLED