mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.1 KiB
C++
72 lines
2.1 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
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*/
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#include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
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#include <AP_Math/definitions.h>
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#if HAL_EFI_CURRAWONG_ECU_ENABLED
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extern const AP_HAL::HAL& hal;
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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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internal_state.oil_pressure_status = Oil_Pressure_Status::OIL_PRESSURE_STATUS_NOT_SUPPORTED;
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internal_state.debris_status = Debris_Status::NOT_SUPPORTED;
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internal_state.misfire_status = Misfire_Status::NOT_SUPPORTED;
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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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// So we first decode to Piccolo structs, and then store the data we need in EFI_State internal_state with any scaling required.
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// Structs to decode Piccolo messages into
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ECU_TelemetryFast_t telemetryFast;
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ECU_TelemetrySlow0_t telemetrySlow0;
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ECU_TelemetrySlow1_t telemetrySlow1;
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ECU_TelemetrySlow2_t telemetrySlow2;
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ECU_Errors_t errors;
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// Throw the message at the decoding functions
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if (valid)
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{
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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 // HAL_EFI_CURRAWONG_ECU_ENABLED
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