mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.5 KiB
C++
143 lines
3.5 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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Simulator for the RichenPower Hybrid generators
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:richenpower --speedup=1 --console
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param set SERIAL5_PROTOCOL 30
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param set SERIAL5_BAUD 9600
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param set SIM_RICH_ENABLE 1
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param set SERVO8_FUNCTION 42
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param fetch
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param set SIM_RICH_CTRL 8
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param set RC9_OPTION 85
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param set GEN_TYPE 3
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reboot
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graph SERVO_OUTPUT_RAW.servo8_raw
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graph RC_CHANNELS.chan9_raw
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module load generator
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arm throttle (denied because generator not running)
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./Tools/autotest/autotest.py --gdb --debug build.ArduCopter fly.ArduCopter.RichenPower
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include "SITL_Input.h"
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#include "SIM_SerialDevice.h"
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#include "SIM_GeneratorEngine.h"
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namespace SITL {
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class RichenPower : public SerialDevice {
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public:
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RichenPower();
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// update state
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void update(const struct sitl_input &input);
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static const AP_Param::GroupInfo var_info[];
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private:
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// this is what the generator supplies when running full-tilt but
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// with no load
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const float base_supply_voltage = 50.0f;
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const float max_current = 50.0f;
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const uint32_t original_seconds_until_maintenance = 20*60; // 20 minutes
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// They have been... we know that the voltage drops to mid 46v
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// typically if gennie stops
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// So we set batt fs high 46s
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// Gennie keeps batts charged to 49v + typically
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uint32_t last_sent_ms;
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void update_control_pin(const struct sitl_input &input);
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void update_send();
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enum class State {
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STOP = 21,
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IDLE = 22,
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RUN = 23,
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STOPPING = 24, // idle cool-down period
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};
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State _state = State::STOP;
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void set_run_state(State newstate);
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AP_Int8 _enabled; // enable richenpower sim
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AP_Int8 _ctrl_pin;
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float _current_rpm;
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uint32_t _runtime_ms;
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uint32_t _last_runtime_ms;
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float _current_current;
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enum class Errors {
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MaintenanceRequired = 0,
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};
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// packet to send:
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struct PACKED RichenPacket {
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uint8_t magic1;
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uint8_t magic2;
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uint8_t version_minor;
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uint8_t version_major;
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uint8_t runtime_minutes;
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uint8_t runtime_seconds;
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uint16_t runtime_hours;
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uint32_t seconds_until_maintenance;
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uint16_t errors;
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uint16_t rpm;
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uint16_t throttle;
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uint16_t idle_throttle;
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uint16_t output_voltage;
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uint16_t output_current;
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uint16_t dynamo_current;
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uint8_t unknown1;
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uint8_t mode;
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uint8_t unknown6[38]; // "data"?!
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uint16_t checksum;
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uint8_t footermagic1;
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uint8_t footermagic2;
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};
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union RichenUnion {
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uint8_t parse_buffer[70];
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uint16_t checksum_buffer[35];
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struct RichenPacket packet;
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void update_checksum();
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};
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RichenUnion u;
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// time we were asked to stop;
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uint32_t stop_start_ms;
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SIM_GeneratorEngine generatorengine;
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};
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}
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