/*
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;
#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;
// 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