mirror of https://github.com/ArduPilot/ardupilot
170 lines
7.1 KiB
C++
170 lines
7.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_EFI_DroneCAN.h"
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#if HAL_EFI_DRONECAN_ENABLED
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <uavcan/equipment/ice/reciprocating/Status.hpp>
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extern const AP_HAL::HAL& hal;
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AP_EFI_DroneCAN *AP_EFI_DroneCAN::driver;
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// DroneCAN Frontend Registry Binder
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UC_REGISTRY_BINDER(EFIStatusCb, uavcan::equipment::ice::reciprocating::Status);
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// constructor
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AP_EFI_DroneCAN::AP_EFI_DroneCAN(AP_EFI &_frontend) :
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AP_EFI_Backend(_frontend)
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{
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driver = this;
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}
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// links the DroneCAN message to this backend
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void AP_EFI_DroneCAN::subscribe_msgs(AP_UAVCAN *ap_uavcan)
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{
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if (ap_uavcan == nullptr) {
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return;
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}
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auto* node = ap_uavcan->get_node();
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uavcan::Subscriber<uavcan::equipment::ice::reciprocating::Status, EFIStatusCb> *status_listener;
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status_listener = new uavcan::Subscriber<uavcan::equipment::ice::reciprocating::Status, EFIStatusCb>(*node);
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// Register method to handle incoming status
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const int status_listener_res = status_listener->start(EFIStatusCb(ap_uavcan, &trampoline_status));
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if (status_listener_res < 0) {
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AP_HAL::panic("DroneCAN EFI subscriber start problem\n\r");
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return;
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}
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}
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// Called from frontend to update with the readings received by handler
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void AP_EFI_DroneCAN::update()
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{
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}
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// EFI message handler
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void AP_EFI_DroneCAN::trampoline_status(AP_UAVCAN *ap_uavcan, uint8_t node_id, const EFIStatusCb &cb)
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{
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if (driver == nullptr) {
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return;
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}
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const uavcan::equipment::ice::reciprocating::Status &pkt = *cb.msg;
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driver->handle_status(pkt);
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}
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/*
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handle reciprocating ICE status message from DroneCAN
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*/
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void AP_EFI_DroneCAN::handle_status(const uavcan::equipment::ice::reciprocating::Status &pkt)
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{
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auto &istate = internal_state;
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// state maps 1:1 from Engine_State
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istate.engine_state = Engine_State(pkt.state);
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED)) {
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istate.crankshaft_sensor_status = Crankshaft_Sensor_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_CRANKSHAFT_SENSOR_ERROR) {
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istate.crankshaft_sensor_status = Crankshaft_Sensor_Status::ERROR;
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} else {
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istate.crankshaft_sensor_status = Crankshaft_Sensor_Status::OK;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_TEMPERATURE_SUPPORTED)) {
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istate.temperature_status = Temperature_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_TEMPERATURE_BELOW_NOMINAL) {
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istate.temperature_status = Temperature_Status::BELOW_NOMINAL;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_TEMPERATURE_ABOVE_NOMINAL) {
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istate.temperature_status = Temperature_Status::ABOVE_NOMINAL;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_TEMPERATURE_OVERHEATING) {
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istate.temperature_status = Temperature_Status::OVERHEATING;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL) {
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istate.temperature_status = Temperature_Status::EGT_ABOVE_NOMINAL;
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} else {
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istate.temperature_status = Temperature_Status::OK;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_FUEL_PRESSURE_SUPPORTED)) {
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istate.fuel_pressure_status = Fuel_Pressure_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_FUEL_PRESSURE_BELOW_NOMINAL) {
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istate.fuel_pressure_status = Fuel_Pressure_Status::BELOW_NOMINAL;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_FUEL_PRESSURE_ABOVE_NOMINAL) {
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istate.fuel_pressure_status = Fuel_Pressure_Status::ABOVE_NOMINAL;
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} else {
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istate.fuel_pressure_status = Fuel_Pressure_Status::OK;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_OIL_PRESSURE_SUPPORTED)) {
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istate.oil_pressure_status = Oil_Pressure_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_OIL_PRESSURE_BELOW_NOMINAL) {
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istate.oil_pressure_status = Oil_Pressure_Status::BELOW_NOMINAL;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_OIL_PRESSURE_ABOVE_NOMINAL) {
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istate.oil_pressure_status = Oil_Pressure_Status::ABOVE_NOMINAL;
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} else {
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istate.oil_pressure_status = Oil_Pressure_Status::OK;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_DETONATION_SUPPORTED)) {
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istate.detonation_status = Detonation_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_DETONATION_OBSERVED) {
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istate.detonation_status = Detonation_Status::OBSERVED;
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} else {
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istate.detonation_status = Detonation_Status::NOT_OBSERVED;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_MISFIRE_SUPPORTED)) {
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istate.misfire_status = Misfire_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_MISFIRE_OBSERVED) {
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istate.misfire_status = Misfire_Status::OBSERVED;
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} else {
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istate.misfire_status = Misfire_Status::NOT_OBSERVED;
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}
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if (!(pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_DEBRIS_SUPPORTED)) {
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istate.debris_status = Debris_Status::NOT_SUPPORTED;
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} else if (pkt.flags & uavcan::equipment::ice::reciprocating::Status::FLAG_DEBRIS_DETECTED) {
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istate.debris_status = Debris_Status::DETECTED;
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} else {
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istate.debris_status = Debris_Status::NOT_DETECTED;
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}
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istate.engine_load_percent = pkt.engine_load_percent;
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istate.engine_speed_rpm = pkt.engine_speed_rpm;
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istate.spark_dwell_time_ms = pkt.spark_dwell_time_ms;
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istate.atmospheric_pressure_kpa = pkt.atmospheric_pressure_kpa;
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istate.intake_manifold_pressure_kpa = pkt.intake_manifold_pressure_kpa;
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istate.intake_manifold_temperature = pkt.intake_manifold_temperature;
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istate.coolant_temperature = pkt.coolant_temperature;
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istate.oil_pressure = pkt.oil_pressure;
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istate.oil_temperature = pkt.oil_temperature;
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istate.fuel_pressure = pkt.fuel_pressure;
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istate.fuel_consumption_rate_cm3pm = pkt.fuel_consumption_rate_cm3pm;
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istate.estimated_consumed_fuel_volume_cm3 = pkt.estimated_consumed_fuel_volume_cm3;
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istate.throttle_position_percent = pkt.throttle_position_percent;
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istate.ecu_index = pkt.ecu_index;
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// 1:1 for spark plug usage
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istate.spark_plug_usage = Spark_Plug_Usage(pkt.spark_plug_usage);
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// assume max one cylinder status
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if (pkt.cylinder_status.size() > 0) {
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const auto &cs = pkt.cylinder_status[0];
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auto &c = istate.cylinder_status;
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c.ignition_timing_deg = cs.ignition_timing_deg;
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c.injection_time_ms = cs.injection_time_ms;
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c.cylinder_head_temperature = cs.cylinder_head_temperature;
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c.exhaust_gas_temperature = cs.exhaust_gas_temperature;
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c.lambda_coefficient = cs.lambda_coefficient;
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}
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copy_to_frontend();
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}
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#endif // HAL_EFI_DRONECAN_ENABLED
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