/* 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 . */ /* control of internal combustion engines (starter, ignition and choke) */ #pragma once #include "AP_ICEngine_config.h" #if AP_ICENGINE_ENABLED #include #include #include #include #include #if AP_ICENGINE_TCA9554_STARTER_ENABLED #include "AP_ICEngine_TCA9554.h" #endif class AP_ICEngine { public: // constructor AP_ICEngine(); static const struct AP_Param::GroupInfo var_info[]; // One time init call void init(); // update engine state. Should be called at 10Hz or more void update(void); // check for throttle override bool throttle_override(float &percent, const float base_throttle); enum ICE_State { ICE_DISABLED = -1, ICE_OFF=0, ICE_START_HEIGHT_DELAY=1, ICE_START_DELAY=2, ICE_STARTING=3, ICE_RUNNING=4 }; // get current engine control state ICE_State get_state(void) const { return !enable?ICE_DISABLED:state; } // handle DO_ENGINE_CONTROL messages via MAVLink or mission bool engine_control(float start_control, float cold_start, float height_delay, uint32_t flags); // update min throttle for idle governor void update_idle_governor(int8_t &min_throttle); // do we have throttle while disarmed enabled? bool allow_throttle_while_disarmed(void) const; #if AP_RELAY_ENABLED // Needed for param conversion from relay numbers to functions bool get_legacy_ignition_relay_index(int8_t &num); #endif static AP_ICEngine *get_singleton() { return _singleton; } private: static AP_ICEngine *_singleton; void set_ignition(bool on); void set_starter(bool on); enum ICE_State state; #if AP_RPM_ENABLED // filter for RPM value LowPassFilterConstDtFloat _rpm_filter; float filtered_rpm_value; #endif // enable library AP_Int8 enable; // min pwm on start channel for engine stop AP_Int16 start_chan_min_pwm; #if AP_RPM_ENABLED // which RPM instance to use AP_Int8 rpm_instance; #endif // time to run starter for (seconds) AP_Float starter_time; // delay between start attempts (seconds) AP_Float starter_delay; // max crank retry AP_Int8 max_crank_retry; int8_t crank_retry_ct; #if AP_RPM_ENABLED // RPM above which engine is considered to be running AP_Int32 rpm_threshold; #endif // time when we started the starter uint32_t starter_start_time_ms; // time when we last ran the starter uint32_t starter_last_run_ms; // time when we last had an uncommanded engine stop uint32_t last_uncommanded_stop_ms; // throttle percentage for engine start AP_Int8 start_percent; // throttle percentage for engine idle AP_Int8 idle_percent; #if AP_RPM_ENABLED // Idle Controller RPM setpoint AP_Int16 idle_rpm; // Idle Controller RPM deadband AP_Int16 idle_db; // Idle Controller Slew Rate AP_Float idle_slew; #endif // height when we enter ICE_START_HEIGHT_DELAY float initial_height; // height change required to start engine float height_required; // we are waiting for valid height data bool height_pending:1; bool allow_single_start_while_disarmed; // idle governor float idle_governor_integrator; enum class Options : uint16_t { DISABLE_IGNITION_RC_FAILSAFE = (1U << 0), DISABLE_REDLINE_GOVERNOR = (1U << 1), THROTTLE_WHILE_DISARMED = (1U << 2), NO_RUNNING_WHILE_DISARMED = (1U << 3), CRANK_DIR_REVERSE = (1U << 4), }; AP_Int16 options; bool option_set(Options option) const { return (options & uint16_t(option)) != 0; } // start_chan debounce uint16_t start_chan_last_value = 1500; uint32_t start_chan_last_ms; #if AP_ICENGINE_TCA9554_STARTER_ENABLED AP_ICEngine_TCA9554 tca9554_starter; #endif #if AP_RPM_ENABLED // redline rpm AP_Int32 redline_rpm; struct { bool flag; float governor_integrator; float throttle_percentage; } redline; #endif // Param conversion function and flag void param_conversion(); AP_Int8 param_format_version; }; namespace AP { AP_ICEngine *ice(); }; #endif // AP_ICENGINE_ENABLED