mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.6 KiB
C++
109 lines
2.6 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_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS.h>
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#define EFI_ENABLED !HAL_MINIMIZE_FEATURES
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#if EFI_ENABLED
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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 != EFI_COMMUNICATION_TYPE_NONE; }
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bool is_healthy() const;
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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 EFI_Communication_Type {
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EFI_COMMUNICATION_TYPE_NONE = 0,
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EFI_COMMUNICATION_TYPE_SERIAL_MS = 1,
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EFI_COMMUNICATION_TYPE_NWPMU = 2,
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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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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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EFI_State state;
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private:
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// Front End Parameters
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AP_Int8 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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// 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 // EFI_ENABLED
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