mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.2 KiB
C++
112 lines
4.2 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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/*
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* AP_EFI_Currawong_ECU.cpp
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*
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* Author: Reilly Callaway / Currawong Engineering Pty Ltd
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*/
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#include "AP_EFI_Currawong_ECU.h"
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#if AP_EFI_CURRAWONG_ECU_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
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#include <AP_Math/definitions.h>
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AP_EFI_Currawong_ECU* AP_EFI_Currawong_ECU::_singleton;
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AP_EFI_Currawong_ECU::AP_EFI_Currawong_ECU(AP_EFI &_frontend) :
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AP_EFI_Backend(_frontend)
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{
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_singleton = this;
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// Indicate that temperature and fuel pressure are supported
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internal_state.fuel_pressure_status = Fuel_Pressure_Status::OK;
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internal_state.temperature_status = Temperature_Status::OK;
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// Currawong ECU does not report EGT
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internal_state.cylinder_status.exhaust_gas_temperature = NAN;
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}
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void AP_EFI_Currawong_ECU::update()
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{
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// copy the data to the front end
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copy_to_frontend();
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}
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bool AP_EFI_Currawong_ECU::handle_message(AP_HAL::CANFrame &frame)
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{
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bool valid = true;
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// There are differences between Ardupilot EFI_State and types/scaling of Piccolo packets.
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// First decode to Piccolo structs, and then store the data we need in internal_state with any scaling required.
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// Structs to decode Piccolo messages into
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ECU_TelemetryFast_t telemetry_fast;
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ECU_TelemetrySlow0_t telemetry_slow0;
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ECU_TelemetrySlow1_t telemetry_slow1;
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ECU_TelemetrySlow2_t telemetry_slow2;
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// Throw the message at the decoding functions
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if (decodeECU_TelemetryFastPacketStructure(&frame, &telemetry_fast)) {
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internal_state.throttle_position_percent = static_cast<uint8_t>(telemetry_fast.throttle);
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internal_state.engine_load_percent = static_cast<uint8_t>(telemetry_fast.throttle);
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internal_state.engine_speed_rpm = static_cast<uint32_t>(telemetry_fast.rpm);
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if (internal_state.engine_speed_rpm > 0) {
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internal_state.engine_state = Engine_State::RUNNING;
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} else {
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internal_state.engine_state = Engine_State::STOPPED;
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}
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// Prevent div by zero
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if (get_ecu_fuel_density() > 0.01) {
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internal_state.estimated_consumed_fuel_volume_cm3 = static_cast<float>(telemetry_fast.fuelUsed) / KG_PER_M3_TO_G_PER_CM3(get_ecu_fuel_density());
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} else {
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// If no (reasonable) density is provided
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internal_state.estimated_consumed_fuel_volume_cm3 = 0.;
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}
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internal_state.general_error = telemetry_fast.ecuStatusBits.errorIndicator;
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if (!telemetry_fast.ecuStatusBits.enabled) {
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internal_state.engine_state = Engine_State::STOPPED;
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}
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} else if (decodeECU_TelemetrySlow0PacketStructure(&frame, &telemetry_slow0)) {
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internal_state.intake_manifold_pressure_kpa = telemetry_slow0.map;
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internal_state.atmospheric_pressure_kpa = telemetry_slow0.baro;
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internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(telemetry_slow0.cht);
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} else if (decodeECU_TelemetrySlow1PacketStructure(&frame, &telemetry_slow1)) {
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internal_state.intake_manifold_temperature = C_TO_KELVIN(telemetry_slow1.mat);
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internal_state.fuel_pressure = telemetry_slow1.fuelPressure;
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} else if (decodeECU_TelemetrySlow2PacketStructure(&frame, &telemetry_slow2)) {
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internal_state.cylinder_status.ignition_timing_deg = telemetry_slow2.ignAngle1;
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internal_state.fuel_consumption_rate_cm3pm = telemetry_slow2.flowRate / KG_PER_M3_TO_G_PER_CM3(get_ecu_fuel_density());
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} else {
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valid = false;
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}
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if (valid) {
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internal_state.last_updated_ms = AP_HAL::millis();
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}
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return valid;
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}
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#endif // AP_EFI_CURRAWONG_ECU_ENABLED
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