mirror of https://github.com/ArduPilot/ardupilot
153 lines
3.6 KiB
C++
153 lines
3.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_EFI_config.h"
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#if HAL_EFI_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include "AP_EFI_ThrottleLinearisation.h"
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#include "AP_EFI_Backend.h"
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#include "AP_EFI_State.h"
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/*
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* This library aims to read data from Electronic Fuel Injection
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* or Engine Control units. It is focused around the generic
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* internal combustion engine state message provided by the
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* UAVCAN protocol due to its comprehensiveness, but is extensible
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* to use other forms of data transfer besides UAVCAN.
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*
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*
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*
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* Authors: Sriram Sami and David Ingraham
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* With direction from Andrew Tridgell, Robert Lefebvre, Francisco Ferreira and
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* Pavel Kirienko.
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* Thanks to Yonah, SpektreWorks Inc, and HFE International.
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*/
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class AP_EFI {
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public:
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friend class AP_EFI_Backend;
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// For parameter initialization
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AP_EFI();
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// Initializes backend
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void init(void);
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// Requests backend to update the frontend. Should be called at 10Hz.
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void update();
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// Returns the RPM
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uint32_t get_rpm() const { return state.engine_speed_rpm; }
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// returns enabled state of EFI
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bool enabled() const { return type != Type::NONE; }
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bool is_healthy() const;
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// return timestamp of last update
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uint32_t get_last_update_ms(void) const {
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return state.last_updated_ms;
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}
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// get a copy of state structure
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void get_state(EFI_State &state);
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// Parameter info
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static const struct AP_Param::GroupInfo var_info[];
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// Backend driver types
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enum class Type : uint8_t {
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NONE = 0,
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#if AP_EFI_SERIAL_MS_ENABLED
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MegaSquirt = 1,
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#endif
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#if AP_EFI_NWPWU_ENABLED
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NWPMU = 2,
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#endif
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#if AP_EFI_SERIAL_LUTAN_ENABLED
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Lutan = 3,
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#endif
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// LOWEHEISER = 4,
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#if AP_EFI_DRONECAN_ENABLED
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DroneCAN = 5,
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#endif
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#if AP_EFI_CURRAWONG_ECU_ENABLED
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CurrawongECU = 6,
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#endif
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#if AP_EFI_SCRIPTING_ENABLED
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SCRIPTING = 7,
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#endif
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#if AP_EFI_SERIAL_HIRTH_ENABLED
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Hirth = 8,
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#endif
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MAV = 9,
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};
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static AP_EFI *get_singleton(void) {
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return singleton;
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}
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// send EFI_STATUS
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void send_mavlink_status(mavlink_channel_t chan);
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#if AP_SCRIPTING_ENABLED
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AP_EFI_Backend* get_backend(uint8_t idx) { return idx==0?backend:nullptr; }
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#endif
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void handle_EFI_message(const mavlink_message_t &msg);
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protected:
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// Back end Parameters
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AP_Float coef1;
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AP_Float coef2;
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AP_Float ecu_fuel_density;
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EFI_State state;
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#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
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AP_EFI_ThrLin throttle_linearisation;
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#endif
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private:
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// Front End Parameters
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AP_Enum<Type> type;
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// Tracking backends
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AP_EFI_Backend *backend;
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static AP_EFI *singleton;
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// Semaphore for access to shared frontend data
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HAL_Semaphore sem;
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// write to log
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void log_status();
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};
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namespace AP {
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AP_EFI *EFI();
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};
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#endif // HAL_EFI_ENABLED
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