mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.7 KiB
C++
146 lines
3.7 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/>.
|
|
*/
|
|
/*
|
|
Simulator for the RichenPower Hybrid generators
|
|
|
|
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:richenpower --speedup=1 --console
|
|
|
|
param set SERIAL5_PROTOCOL 30
|
|
param set SERIAL5_BAUD 9600
|
|
param set SIM_RICH_ENABLE 1
|
|
param set SERVO8_FUNCTION 42
|
|
param fetch
|
|
param set SIM_RICH_CTRL 8
|
|
param set RC9_OPTION 85
|
|
param set GEN_TYPE 3
|
|
|
|
reboot
|
|
|
|
graph SERVO_OUTPUT_RAW.servo8_raw
|
|
graph RC_CHANNELS.chan9_raw
|
|
module load generator
|
|
|
|
arm throttle (denied because generator not running)
|
|
|
|
./Tools/autotest/autotest.py --gdb --debug build.ArduCopter fly.ArduCopter.RichenPower
|
|
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <AP_Param/AP_Param.h>
|
|
|
|
#include "SITL_Input.h"
|
|
|
|
#include "SIM_SerialDevice.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
namespace SITL {
|
|
|
|
class RichenPower : public SerialDevice {
|
|
public:
|
|
|
|
RichenPower();
|
|
|
|
// update state
|
|
void update(const struct sitl_input &input);
|
|
|
|
static const AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
|
|
// this is what the generator supplies when running full-tilt but
|
|
// with no load
|
|
const float base_supply_voltage = 50.0f;
|
|
const float max_current = 50.0f;
|
|
const uint32_t original_seconds_until_maintenance = 20*60; // 20 minutes
|
|
|
|
// They have been... we know that the voltage drops to mid 46v
|
|
// typically if gennie stops
|
|
// So we set batt fs high 46s
|
|
// Gennie keeps batts charged to 49v + typically
|
|
|
|
class SITL *_sitl;
|
|
|
|
uint32_t last_sent_ms;
|
|
|
|
void update_control_pin(const struct sitl_input &input);
|
|
void update_send();
|
|
|
|
enum class State {
|
|
STOP = 21,
|
|
IDLE = 22,
|
|
RUN = 23,
|
|
STOPPING = 24, // idle cool-down period
|
|
};
|
|
State _state = State::STOP;
|
|
void set_run_state(State newstate) {
|
|
::fprintf(stderr, "Moving to state %u from %u\n", (unsigned)newstate, (unsigned)_state);
|
|
_state = newstate;
|
|
}
|
|
|
|
AP_Int8 _enabled; // enable richenpower sim
|
|
AP_Int8 _ctrl_pin;
|
|
|
|
float _current_rpm;
|
|
uint32_t _runtime_ms;
|
|
uint32_t _last_runtime_ms;
|
|
|
|
float _current_current;
|
|
|
|
uint32_t last_rpm_update_ms;
|
|
|
|
// packet to send:
|
|
struct PACKED RichenPacket {
|
|
uint8_t magic1;
|
|
uint8_t magic2;
|
|
uint8_t version_minor;
|
|
uint8_t version_major;
|
|
uint8_t runtime_minutes;
|
|
uint8_t runtime_seconds;
|
|
uint16_t runtime_hours;
|
|
uint32_t seconds_until_maintenance;
|
|
uint16_t errors;
|
|
uint16_t rpm;
|
|
uint16_t throttle;
|
|
uint16_t idle_throttle;
|
|
uint16_t output_voltage;
|
|
uint16_t output_current;
|
|
uint16_t dynamo_current;
|
|
uint8_t unknown1;
|
|
uint8_t mode;
|
|
uint8_t unknown6[38]; // "data"?!
|
|
uint16_t checksum;
|
|
uint8_t footermagic1;
|
|
uint8_t footermagic2;
|
|
};
|
|
assert_storage_size<RichenPacket, 70> _assert_storage_size_RichenPacket;
|
|
|
|
union RichenUnion {
|
|
uint8_t parse_buffer[70];
|
|
uint16_t checksum_buffer[35];
|
|
struct RichenPacket packet;
|
|
|
|
void update_checksum();
|
|
};
|
|
RichenUnion u;
|
|
|
|
// time we were asked to stop;
|
|
uint32_t stop_start_ms;
|
|
};
|
|
|
|
}
|