mirror of https://github.com/ArduPilot/ardupilot
212 lines
11 KiB
C
212 lines
11 KiB
C
// ECUProtocol.h was generated by ProtoGen version 3.2.a
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters / Currawong Engineering Pty Ltd
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*/
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#ifndef _ECUPROTOCOL_H
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#define _ECUPROTOCOL_H
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// Language target is C, C++ compilers: don't mangle us
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* \file
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* \mainpage ECU protocol stack
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*
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* ECU ICD
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*
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* The protocol API enumeration is incremented anytime the protocol is changed
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* in a way that affects compatibility with earlier versions of the protocol.
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* The protocol enumeration for this version is: 11
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*
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* The protocol version is 7.0
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*/
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#include <stdbool.h>
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#include <stdint.h>
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//! \return the protocol API enumeration
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#define getECUApi() 11
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//! \return the protocol version string
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#define getECUVersion() "7.0"
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// Translation provided externally. The macro takes a `const char *` and returns a `const char *`
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#ifndef translateECU
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#define translateECU(x) x
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#endif
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/*!
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* Enumeration defining RESET commands for ECU settings
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*/
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typedef enum
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{
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ECU_RESET_THROTTLE = 0x01,//!< Reset throttle settings to default values
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ECU_RESET_PUMP = 0x02, //!< Reset pump settings to default values
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ECU_RESET_GOVERNOR = 0x04,//!< Reset governor settings to default values
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ECU_RESET_TELEMETRY = 0x08,//!< Reset telemetry settings to default values
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ECU_RESET_ALL = 0xFF //!< Reset all ECU settings to default values
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} ECUResetCommands;
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typedef enum
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{
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ECU_DEBUG_RESET_STACK_OVERFLOW = 0x01,
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ECU_DEBUG_RESET_STACK_UNDERFLOW,
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ECU_DEBUG_RESET_DIVIDE_BY_ZERO,
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ECU_DEBUG_RESET_INFINITE_LOOP
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} ECUDebugResetTests;
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/*!
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* ECU throttle position signal source enumeration
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*/
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typedef enum
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{
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ECU_TPS_SRC_NONE = 0x00, //!< No throttle source
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ECU_TPS_SRC_RPM = 0x01, //!< Throttle is commanded by RPM governor
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ECU_TPS_SRC_PWM = 0x02, //!< Throttle is commanded from PWM input
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ECU_TPS_SRC_SERIAL = 0x04,//!< Throttle is commanded from serial command packet
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ECU_TPS_SRC_CAN = 0x08, //!< Throttle is commanded from CAN command packet
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ECU_TPS_SRC_ANALOG = 0x0F //!< Throttle is commanded from analog input
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} ECUThrottleSource;
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typedef enum
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{
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ECU_DUAL_PUMP_MODE_DISABLED = 0x00,//!< Both pumps disabled
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ECU_DUAL_PUMP_MODE_PRIMARY_CE, //!< Primary pump running
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ECU_DUAL_PUMP_MODE_SECONDARY_TSA,//!< Secondary pump running
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ECU_DUAL_PUMP_MODE_BOTH //!< Both pumps running
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} DualFuelPumpMode;
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typedef enum
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{
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ECU_DUAL_PUMP_STATE_RESET = 0x00,//!< Pump state machine is in the initial reset state
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ECU_DUAL_PUMP_STATE_CMD, //!< Pump was explicitly commanded to the current state
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ECU_DUAL_PUMP_STATE_TEST, //!< Pump is running in manual test mode
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ECU_DUAL_PUMP_STATE_FAILURE //!< Pump has switched over due to detected failure
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} DualFuelPumpState;
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typedef enum
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{
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ECU_DUAL_PUMP_CMD_SET_PUMP = 0x01,//!< Switch to a particular pump mode
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ECU_DUAL_PUMP_CMD_TEST_PUMP = 0x02 //!< Temporarily switch to a particular pump mode
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} DualFuelPumpCommands;
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/*!
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* ECU packet identifier (ID) definitions
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*/
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typedef enum
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{
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PKT_ECU_TELEMETRY_FAST = 0x00, //!< High priority telemetry data from the ECU
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PKT_ECU_TELEMETRY_SLOW_0, //!< First low priority telemetry packet from the ECU
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PKT_ECU_TELEMETRY_SLOW_1, //!< Second low priority telemetry packet from the ECU
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PKT_ECU_TELEMETRY_SLOW_2, //!< Third low priority telemetry packet from the ECU
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PKT_ECU_TELEMETRY_SLOW_3, //!< Fourth low priority telemetry packet from the ECU (reserved for future use)
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PKT_ECU_THROTTLE_CALIBRATION = 0x05, //!< Throttle calibration values
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PKT_ECU_THROTTLE, //!< ECU throttle command
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PKT_ECU_THROTTLE_COMBINED, //!< ECU Throttle command (position and pulse)
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PKT_ECU_RPM_COMMAND, //!< RPM setpoint command
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PKT_ECU_RPM_CALIBRATION, //!< RPM control loop calibration values
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PKT_ECU_HARDWARE_CONFIG, //!< Serial number information
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PKT_ECU_SOFTWARE_VERSION, //!< Firmware version information
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PKT_ECU_TPS_DELAY_CONFIG, //!< Throttle delay configuration
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PKT_ECU_TELEMETRY_SETTINGS, //!< Telemetry configuration
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PKT_ECU_PUMP_CONFIG, //!< ECU Pump configuration packet 1 of 2
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PKT_ECU_ERROR_MSG, //!< Error messages
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PKT_ECU_POWER_CYCLES = 0x10, //!< System information
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PKT_ECU_PUMP_2_CONFIG, //!< ECU Pump configuration packet 2 of 2
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PKT_ECU_PUMP_DEBUG, //!< Pump debug information
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PKT_ECU_TOTAL_ENGINE_TIME, //!< Total engine run-time
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PKT_ECU_SYS_CMD, //!< ECU System command
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PKT_ECU_USER_DATA, //!< User-configurable data bytes
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PKT_ECU_THROTTLE_CURVE_0, //!< Throttle curve data, packet 1 of 2
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PKT_ECU_THROTTLE_CURVE_1, //!< Throttle curve data, packet 2 of 2
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PKT_ECU_GPIO, //!< GPIO settings
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PKT_ECU_SETTINGS_DATA, //!< Non-volatile settings information
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PKT_ECU_AUTRONIC_MEMORY, //!< Read or write Autronic RAM
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PKT_ECU_CHT_LOOP, //!< Control loop settings for the CHT control loop
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PKT_ECU_CANAUTRONIC_RELAY = 0x1F //!< Relay Autronic data across CAN
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} ECUPackets;
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//! \return the label of a 'ECUPackets' enum entry, based on its value
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const char* ECUPackets_EnumLabel(int value);
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typedef enum
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{
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ECU_CE_CAL_TITLE_1 = 0xA0,
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ECU_CE_CAL_TITLE_2,
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ECU_CE_CAL_TITLE_3
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} ECUSpecialPackets;
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/*!
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* These system command identifiers are used with the [system
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* command](#PKT_ECU_SYS_CMD) packet.
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*/
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typedef enum
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{
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CMD_ECU_CALIBRATE_ANALOG_CLOSED = 0x01,//!< Save the current value of the analog throttle position input as the 'Closed' position. To calibrate the closed analog input position, set the desired analog input level, and send this command to the ECU.
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CMD_ECU_CALIBRATE_ANALOG_OPEN, //!< Save the current value of the analog throttle position input as the 'Open' position. To calibrate the open analog input position, set the desired analog input level, and send this command to the ECU.
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CMD_ECU_CALIBRATE_PULSE_CLOSED, //!< Save the current value of the throttle output pulse width to a temporary variable in the ECU. When the CALIBRATE_PULSE_WRITE command is sent to the ECU, this value will be saved as the 'Closed' pulse width.
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CMD_ECU_CALIBRATE_PULSE_OPEN, //!< Save the current value of the throttle output pulse width to a temporary variable in the ECU. When the CALIBRATE_PULSE_WRITE command is sent to the ECU, this value will be saved as the 'Open' pulse width.
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CMD_ECU_CALIBRATE_PULSE_WRITE, //!< Configure the throttle output positions. The CALIBRATE_PULSE_CLOSED and CALIBRATE_PULSE_OPEN commands should have already been sent to the ECU. The ECU then saves the temporary values as the 'Closed' and 'Open' throttle output values, respectively.
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CMD_ECU_SET_OUTPUT_DRIVER = 0x0A, //!< Set one of four high-current output drivers. Send two bytes after the command byte. Byte 1: Driver - Select driver number (1, 2, 3 or 4) Byte 2: Status - Set driver status (1 = ON, 0 = OFF)
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CMD_ECU_SET_THROTTLE_CURVE_ACTIVE, //!< Turn the throttle linearization curve either on or off. Byte 1: 1 = ON 0 = OFF
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CMD_ECU_SET_THROTTLE_CURVE_ELEMENT, //!< Set individual elements in the throttle linearization lookup table. Byte 1 = Element number (0 to 10, inclusive) Byte 2 = Value (0 to 200 inclusive) Each bit of the 'value' byte represents 0.5% throttle. So, 0 = 0% and 200 = 100%
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CMD_ECU_REQUEST_THROTTLE_CURVE_DATA, //!< Request the throttle curve lookup table data. If requested on CAN, the data will be returned on CAN. If requested on RS232, the data will be returned on RS232.
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CMD_ECU_RESET_FUEL_USED = 0x10, //!< Reset the FuelUsed value. This will set the FuelUsed data to zero.
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CMD_ECU_SET_FUEL_USED_DIVISOR, //!< Configure the FuelUsed divisor. This is an unsigned 16-bit value. The fuel used value is divided by this divisor before being transmitted by the auxiliary processor. Set this value to 1 to leave the fuel used data unaffected. If you use values greater than 100 the divisor is automatically interpreted as being in units of 0.01 (i.e. 100 times the resolution).
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CMD_ECU_FUEL_USED_RESET_ON_STARTUP, //!< Set or clear the Fuel Used reset flag. If this flag is set, the FuelUsed data will reset (to zero) when the ECU is power cycled. 1 = Reset Fuel Used data on powerup 0 = Do not reset Fuel Used data on power up
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CMD_ECU_SET_GOVERNOR_MODE = 0x20, //!< Manually set the RPM governor mode Byte1 = MODE 0 = Governor Off (Open loop throttle control) 1 = Governor based on throttle command 2 = Governor based on RPM command
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CMD_ECU_SET_SERVO_CAN_MODE = 0x28,
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CMD_ECU_RESET_INTO_BOOTLOADER = 0x30,//!< Reset the ECU into bootloader mode
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CMD_ECU_RESET_DEFAULT_SETTINGS, //!< Set ECU settings to their default values
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CMD_ECU_SET_SERIAL_MODE = 0x40, //!< Set the serial relay mode used for Autronic relay
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CMD_ECU_SET_NODE_ID = 0x50, //!< Set the address (CAN node ID) for the ECU
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CMD_ECU_SET_USER_DATA = 0x60, //!< Save a single byte of USER_DATA in EEPROM Byte1 = USER_DATA address (0 to 7) Byte2 = USER_DATA variable (0x00 to 0xFF)
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CMD_ECU_RESET_ENGINE_TIME = 0xA5, //!< Reset the engine time counter. If no further bytes are sent after the RESET_ENGINE_TIME command, this will set the engine time (in seconds) to zero. Note that the 'Total Engine Time' counter is not reset. To set the engine time to a specific value, send the engine time in seconds as a 3-byte (big endian) number after the RESET_ENGINE_TIME command.
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CMD_ECU_RESET_ECU = 0xD0 //!< Cause a system reset
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} ECUSystemCommands;
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//! \return the label of a 'ECUSystemCommands' enum entry, based on its value
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const char* ECUSystemCommands_EnumLabel(int value);
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// The prototypes below provide an interface to the packets.
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// They are not auto-generated functions, but must be hand-written
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//! \return the packet data pointer from the packet
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uint8_t* getECUPacketData(void* pkt);
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//! \return the packet data pointer from the packet, const
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const uint8_t* getECUPacketDataConst(const void* pkt);
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//! Complete a packet after the data have been encoded
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void finishECUPacket(void* pkt, int size, uint32_t packetID);
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//! \return the size of a packet from the packet header
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int getECUPacketSize(const void* pkt);
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//! \return the ID of a packet from the packet header
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uint32_t getECUPacketID(const void* pkt);
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#ifdef __cplusplus
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}
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#endif
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#endif // _ECUPROTOCOL_H
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