mirror of https://github.com/ArduPilot/ardupilot
107 lines
4.1 KiB
C++
107 lines
4.1 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/>.
|
|
*/
|
|
|
|
/*
|
|
* AP_EFI_Currawong_ECU.cpp
|
|
*
|
|
* Author: Reilly Callaway / Currawong Engineering Pty Ltd
|
|
*/
|
|
|
|
#include "AP_EFI_Currawong_ECU.h"
|
|
|
|
#if HAL_EFI_CURRAWONG_ECU_ENABLED
|
|
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
|
|
#include <AP_Math/definitions.h>
|
|
|
|
AP_EFI_Currawong_ECU* AP_EFI_Currawong_ECU::_singleton;
|
|
|
|
AP_EFI_Currawong_ECU::AP_EFI_Currawong_ECU(AP_EFI &_frontend) :
|
|
AP_EFI_Backend(_frontend)
|
|
{
|
|
_singleton = this;
|
|
// Indicate that temperature and fuel pressure are supported
|
|
internal_state.fuel_pressure_status = Fuel_Pressure_Status::OK;
|
|
internal_state.temperature_status = Temperature_Status::OK;
|
|
}
|
|
|
|
void AP_EFI_Currawong_ECU::update()
|
|
{
|
|
// copy the data to the front end
|
|
copy_to_frontend();
|
|
}
|
|
|
|
bool AP_EFI_Currawong_ECU::handle_message(AP_HAL::CANFrame &frame)
|
|
{
|
|
bool valid = true;
|
|
|
|
// There are differences between Ardupilot EFI_State and types/scaling of Piccolo packets.
|
|
// First decode to Piccolo structs, and then store the data we need in internal_state with any scaling required.
|
|
|
|
// Structs to decode Piccolo messages into
|
|
ECU_TelemetryFast_t telemetry_fast;
|
|
ECU_TelemetrySlow0_t telemetry_slow0;
|
|
ECU_TelemetrySlow1_t telemetry_slow1;
|
|
ECU_TelemetrySlow2_t telemetry_slow2;
|
|
|
|
// Throw the message at the decoding functions
|
|
if (decodeECU_TelemetryFastPacketStructure(&frame, &telemetry_fast)) {
|
|
internal_state.throttle_position_percent = static_cast<uint8_t>(telemetry_fast.throttle);
|
|
internal_state.engine_load_percent = static_cast<uint8_t>(telemetry_fast.throttle);
|
|
internal_state.engine_speed_rpm = static_cast<uint32_t>(telemetry_fast.rpm);
|
|
|
|
if (internal_state.engine_speed_rpm > 0) {
|
|
internal_state.engine_state = Engine_State::RUNNING;
|
|
} else {
|
|
internal_state.engine_state = Engine_State::STOPPED;
|
|
}
|
|
|
|
// Prevent div by zero
|
|
if (get_ecu_fuel_density() > 0.01) {
|
|
internal_state.estimated_consumed_fuel_volume_cm3 = static_cast<float>(telemetry_fast.fuelUsed) / KG_PER_M3_TO_G_PER_CM3(get_ecu_fuel_density());
|
|
} else {
|
|
// If no (reasonable) density is provided
|
|
internal_state.estimated_consumed_fuel_volume_cm3 = 0.;
|
|
}
|
|
|
|
internal_state.general_error = telemetry_fast.ecuStatusBits.errorIndicator;
|
|
if (!telemetry_fast.ecuStatusBits.enabled) {
|
|
internal_state.engine_state = Engine_State::STOPPED;
|
|
}
|
|
} else if (decodeECU_TelemetrySlow0PacketStructure(&frame, &telemetry_slow0)) {
|
|
internal_state.intake_manifold_pressure_kpa = telemetry_slow0.map;
|
|
internal_state.atmospheric_pressure_kpa = telemetry_slow0.baro;
|
|
internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(telemetry_slow0.cht);
|
|
} else if (decodeECU_TelemetrySlow1PacketStructure(&frame, &telemetry_slow1)) {
|
|
internal_state.intake_manifold_temperature = C_TO_KELVIN(telemetry_slow1.mat);
|
|
internal_state.fuel_pressure = telemetry_slow1.fuelPressure;
|
|
} else if (decodeECU_TelemetrySlow2PacketStructure(&frame, &telemetry_slow2)) {
|
|
internal_state.cylinder_status.ignition_timing_deg = telemetry_slow2.ignAngle1;
|
|
|
|
internal_state.fuel_consumption_rate_cm3pm = telemetry_slow2.flowRate / KG_PER_M3_TO_G_PER_CM3(get_ecu_fuel_density());
|
|
} else {
|
|
valid = false;
|
|
}
|
|
|
|
if (valid) {
|
|
internal_state.last_updated_ms = AP_HAL::millis();
|
|
}
|
|
|
|
return valid;
|
|
}
|
|
|
|
#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
|