ardupilot/libraries/AP_EFI/AP_EFI_State.h

207 lines
5.7 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/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
// Time in milliseconds before we declare the EFI to be "unhealthy"
#define HEALTHY_LAST_RECEIVED_MS 3000
/***************
*
* Status enums
*
***************/
enum class Engine_State : uint8_t {
STOPPED = 0,
STARTING = 1,
RUNNING = 2,
FAULT = 3
};
enum class Crankshaft_Sensor_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
ERROR = 2
};
enum class Temperature_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
BELOW_NOMINAL = 2,
ABOVE_NOMINAL = 3,
OVERHEATING = 4,
EGT_ABOVE_NOMINAL = 5
};
enum class Fuel_Pressure_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
BELOW_NOMINAL = 2,
ABOVE_NOMINAL = 3
};
enum class Oil_Pressure_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
BELOW_NOMINAL = 2,
ABOVE_NOMINAL = 3
};
enum class Detonation_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_OBSERVED = 1,
OBSERVED = 2
};
enum class Misfire_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_OBSERVED = 1,
OBSERVED = 2
};
enum class Debris_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_DETECTED = 1,
DETECTED = 2
};
enum class Spark_Plug_Usage : uint8_t {
SINGLE = 0,
FIRST_ACTIVE = 1,
SECOND_ACTIVE = 2,
BOTH_ACTIVE = 3
};
/***************
* Status structs.
* EFIs may not provide all data in the message, therefore, the following guidelines should be followed.
* All integer fields are required unless stated otherwise.
* All floating point fields are optional unless stated otherwise; unknown/unapplicable fields will be NaN.
***************/
// Per-cylinder status struct
struct Cylinder_Status {
// Cylinder ignition timing (angular degrees of the crankshaft)
float ignition_timing_deg;
// Fuel injection time (millisecond)
float injection_time_ms;
// Cylinder head temperature (CHT) (kelvin)
float cylinder_head_temperature;
// Exhaust gas temperature (EGT) (kelvin)
// If this cylinder is not equipped with an EGT sensor - will be NaN
// If there is a single shared EGT sensor, will be the same value for all cylinders
float exhaust_gas_temperature;
// Estimated lambda coefficient (dimensionless ratio)
// Useful for monitoring and tuning purposes.
float lambda_coefficient;
};
// Stores the current state read by the EFI system
// All backends are required to fill in this state structure
struct EFI_State {
// When this structure was last updated (milliseconds)
uint32_t last_updated_ms;
// Current overall engine state
Engine_State engine_state;
// If there is an error that does not fit other error types
bool general_error;
// Error/status fields
Crankshaft_Sensor_Status crankshaft_sensor_status;
Temperature_Status temperature_status;
Fuel_Pressure_Status fuel_pressure_status;
Oil_Pressure_Status oil_pressure_status;
Detonation_Status detonation_status;
Misfire_Status misfire_status;
Debris_Status debris_status;
// Engine load (percent)
uint8_t engine_load_percent;
// Engine speed (revolutions per minute)
uint32_t engine_speed_rpm;
// Spark dwell time (milliseconds)
float spark_dwell_time_ms;
// Atmospheric (barometric) pressure (kilopascal)
float atmospheric_pressure_kpa;
// Engine intake manifold pressure (kilopascal)
float intake_manifold_pressure_kpa;
// Engine intake manifold temperature (kelvin)
float intake_manifold_temperature;
// Engine coolant temperature (kelvin)
float coolant_temperature;
// Oil pressure (kilopascal)
float oil_pressure;
// Oil temperature (kelvin)
float oil_temperature;
// Fuel pressure (kilopascal)
float fuel_pressure;
// Instant fuel consumption estimate, which
// should be low-pass filtered in order to prevent aliasing effects.
// (centimeter^3)/minute.
float fuel_consumption_rate_cm3pm;
// Estimate of the consumed fuel since the start of the engine (centimeter^3)
// This variable is reset when the engine is stopped.
float estimated_consumed_fuel_volume_cm3;
// Throttle position (percent)
uint8_t throttle_position_percent;
// The index of the publishing ECU.
uint8_t ecu_index;
// Spark plug activity report.
// Can be used during pre-flight tests of the spark subsystem.
// Use case is that usually on double spark plug engines, the
// engine switch has the positions OFF-LEFT-RIGHT-BOTH-START.
// Gives pilots the possibility to test both spark plugs on
// ground before takeoff.
Spark_Plug_Usage spark_plug_usage;
// Status for each cylinder in the engine
Cylinder_Status cylinder_status;
// ignition voltage in Volts
float ignition_voltage = -1; // -1 is "unknown";
// throttle output percentage
float throttle_out;
// PT compensation
float pt_compensation;
};