AP_PiccoloCAN: Add Currawong ECU message handling

libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp

@@ -33,6 +33,8 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
+#include <AP_EFI/AP_EFI_Currawong_ECU.h>
+
 #include <stdio.h>
 
 // Protocol files for the Velocity ESC
@@ -233,6 +235,13 @@ void AP_PiccoloCAN::loop()
                     break;
                 }
 
+                break;
+            case MessageGroup::ECU_OUT:
+            #if HAL_EFI_CURRAWONG_ECU_ENABLED
+                if (handle_ecu_message(rxFrame)) {
+                    // Returns true if the message was successfully decoded
+                }
+            #endif
                 break;
             default:
                 break;
@@ -736,6 +745,18 @@ bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
     return result;
 }
 
+#if HAL_EFI_CURRAWONG_ECU_ENABLED
+bool AP_PiccoloCAN::handle_ecu_message(AP_HAL::CANFrame &frame)
+{
+    // Get the ecu instance
+    AP_EFI_Currawong_ECU* ecu = AP_EFI_Currawong_ECU::get_instance();
+    if (ecu != nullptr) {
+        return ecu->handle_message(frame);
+    }
+    return false;
+}
+#endif
+
 /**
  * Check if a given servo channel is "active" (has been configured for Piccolo control output)
  */

libraries/AP_PiccoloCAN/AP_PiccoloCAN.h

@@ -28,6 +28,8 @@
 
 #include "piccolo_protocol/ServoPackets.h"
 
+#include <AP_EFI/AP_EFI_Currawong_ECU.h>
+
 // maximum number of ESC allowed on CAN bus simultaneously
 #define PICCOLO_CAN_MAX_NUM_ESC 16
 #define PICCOLO_CAN_MAX_GROUP_ESC (PICCOLO_CAN_MAX_NUM_ESC / 4)
@@ -131,6 +133,11 @@ private:
     // interpret a servo message received over CAN
     bool handle_servo_message(AP_HAL::CANFrame &frame);
     
+#if HAL_EFI_CURRAWONG_ECU_ENABLED
+    // interpret an ECU message received over CAN
+    bool handle_ecu_message(AP_HAL::CANFrame &frame);
+#endif
+
     bool _initialized;
     char _thread_name[16];
     uint8_t _driver_index;
@@ -207,6 +214,8 @@ private:
     AP_Int32 _srv_bm;       //! Servo selection bitmask
     AP_Int16 _srv_hz;       //! Servo update rate (Hz)
 
+    AP_Int8 _ecu_en;        //! ECU Enable
+
     HAL_Semaphore _telem_sem;
 };