mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.0 KiB
C++
117 lines
3.0 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 AP_EFI_SERIAL_MS_ENABLED
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#include "AP_EFI.h"
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#include "AP_EFI_Backend.h"
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// RPM Threshold for fuel consumption estimator
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#define RPM_THRESHOLD 100
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class AP_EFI_Serial_MS: public AP_EFI_Backend {
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public:
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// Constructor with initialization
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AP_EFI_Serial_MS(AP_EFI &_frontend);
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// Update the state structure
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void update() override;
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private:
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AP_HAL::UARTDriver *port;
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void parse_realtime_data();
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bool read_incoming_realtime_data();
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void send_request(uint8_t table, uint16_t first_offset, uint16_t last_offset);
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uint8_t read_byte_CRC32();
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uint32_t CRC32_compute_byte(uint32_t inCrc32, uint8_t data);
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// Serial Protocol Variables
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uint32_t checksum;
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uint8_t step;
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uint8_t response_flag;
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uint16_t message_counter;
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uint32_t last_request_ms;
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// confirmed that last command was ok
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bool last_command_confirmed;
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// Command Response Codes
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enum response_codes {
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RESPONSE_WRITE_OK =0x00,
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RESPONSE_REALTIME_DATA,
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RESPONSE_PAGE_DATA,
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RESPONSE_CONFIG_ERROR,
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RESPONSE_PAGE10_OK,
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RESPONSE_CAN_DATA,
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// Error Responses
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ERR_UNDERRUN = 0X80,
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ERR_OVERRUN,
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ERR_CRC_FAILURE,
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ERR_UNRECOGNIZED_COMMAND,
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ERR_OUT_OF_RANGE,
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ERR_SERIAL_BUSY,
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ERR_FLASH_LOCKED,
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ERR_SEQ_FAIL_1,
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ERR_SEQ_FAIL_2,
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ERR_CAN_QUEUE_FULL,
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ERR_CAN_TIMEOUT,
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ERR_CAN_FAILURE,
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ERR_PARITY,
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ERR_FRAMING,
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ERR_SERIAL_NOISE,
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ERR_TXMODE_RANGE,
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ERR_UNKNOWN
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};
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// Realtime Data Table Locations
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enum realtime_data {
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PW1_MSB = 2,
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PW1_LSB,
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RPM_MSB = 6,
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RPM_LSB,
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ADVANCE_MSB,
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ADVANCE_LSB,
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ENGINE_BM = 11,
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BAROMETER_MSB = 16,
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BAROMETER_LSB,
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MAP_MSB,
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MAP_LSB,
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MAT_MSB,
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MAT_LSB,
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CHT_MSB,
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CHT_LSB,
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TPS_MSB,
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TPS_LSB,
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AFR1_MSB = 28,
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AFR1_LSB,
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AFR2_MSB,
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AFR2_LSB,
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DWELL_MSB = 62,
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DWELL_LSB,
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LOAD = 66,
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FUEL_PRESSURE_MSB = 128,
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FUEL_PRESSURE_LSB,
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// Helpers used when sending request
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RT_FIRST_OFFSET = PW1_MSB,
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RT_LAST_OFFSET = FUEL_PRESSURE_LSB
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};
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};
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#endif // AP_EFI_SERIAL_MS_ENABLED
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