mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.2 KiB
C
92 lines
2.2 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/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
simulate MegaSquirt EFI system
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <SITL/SITL.h>
|
||
|
|
#include <AP_HAL/utility/Socket.h>
|
||
|
|
|
||
|
|
namespace SITL {
|
||
|
|
|
||
|
|
class EFI_MegaSquirt {
|
||
|
|
public:
|
||
|
|
void update();
|
||
|
|
|
||
|
|
private:
|
||
|
|
void send_table();
|
||
|
|
SocketAPM sock{false};
|
||
|
|
|
||
|
|
uint32_t time_send_ms;
|
||
|
|
bool connected;
|
||
|
|
|
||
|
|
struct PACKED {
|
||
|
|
uint16_t size;
|
||
|
|
uint8_t command;
|
||
|
|
uint8_t CANid;
|
||
|
|
uint8_t table;
|
||
|
|
uint16_t table_offset;
|
||
|
|
uint16_t table_size;
|
||
|
|
uint32_t crc;
|
||
|
|
} r_command;
|
||
|
|
uint8_t *buf = (uint8_t *)&r_command;
|
||
|
|
uint8_t ofs;
|
||
|
|
|
||
|
|
struct PACKED {
|
||
|
|
uint16_t uptime_s;
|
||
|
|
uint16_t pulseWidth1_us;
|
||
|
|
uint16_t pulseWidth2_us;
|
||
|
|
uint16_t rpm;
|
||
|
|
int16_t advance_cdeg;
|
||
|
|
int8_t squirt;
|
||
|
|
int8_t engine_status;
|
||
|
|
uint8_t afr_target1;
|
||
|
|
uint8_t afr_target2;
|
||
|
|
uint8_t wbo2_en1;
|
||
|
|
uint8_t wbo2_en2;
|
||
|
|
int16_t baro_hPa;
|
||
|
|
int16_t map_hPa;
|
||
|
|
int16_t mat_cF;
|
||
|
|
int16_t ct_cF;
|
||
|
|
int16_t throttle_pos;
|
||
|
|
int16_t afr1;
|
||
|
|
int16_t afr2;
|
||
|
|
int16_t knock;
|
||
|
|
int16_t egocor1;
|
||
|
|
int16_t egocor2;
|
||
|
|
int16_t aircor;
|
||
|
|
int16_t warmcor;
|
||
|
|
int16_t accel_enrich;
|
||
|
|
int16_t tps_fuel_cut;
|
||
|
|
int16_t baroCorrection;
|
||
|
|
int16_t gammaEnrich;
|
||
|
|
int16_t ve1;
|
||
|
|
int16_t ve2;
|
||
|
|
int16_t iacstep;
|
||
|
|
int16_t cold_adv_deg;
|
||
|
|
int16_t TPSdot;
|
||
|
|
int16_t MAPdot;
|
||
|
|
int16_t dwell;
|
||
|
|
int16_t MAF;
|
||
|
|
uint8_t fuelload;
|
||
|
|
uint8_t pad[128-67];
|
||
|
|
uint16_t fuelPressure;
|
||
|
|
} table7;
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|