mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.5 KiB
C++
139 lines
3.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
simulate MegaSquirt EFI system
|
|
*/
|
|
|
|
#include "SIM_Aircraft.h"
|
|
#include <SITL/SITL.h>
|
|
#include <AP_HAL/utility/sparse-endian.h>
|
|
#include <stdio.h>
|
|
|
|
using namespace SITL;
|
|
|
|
static uint32_t CRC32_MS(const uint8_t *buf, uint32_t len)
|
|
{
|
|
uint32_t crc = 0;
|
|
while (len--) {
|
|
crc ^= ~0U;
|
|
crc = crc_crc32(crc, buf++, 1);
|
|
crc ^= ~0U;
|
|
}
|
|
return crc;
|
|
}
|
|
|
|
void EFI_MegaSquirt::update()
|
|
{
|
|
auto sitl = AP::sitl();
|
|
if (!sitl || sitl->efi_type == SIM::EFI_TYPE_NONE) {
|
|
return;
|
|
}
|
|
float rpm = sitl->state.rpm[0];
|
|
|
|
table7.rpm = rpm;
|
|
table7.fuelload = 20;
|
|
table7.dwell = 2.0;
|
|
table7.baro_hPa = 1000;
|
|
table7.map_hPa = 895;
|
|
table7.mat_cF = 3013;
|
|
table7.fuelPressure = 6280;
|
|
table7.throttle_pos = 580;
|
|
table7.ct_cF = 3940;
|
|
table7.afr_target1 = 148;
|
|
|
|
// receive command
|
|
while (ofs < sizeof(r_command)) {
|
|
if (read_from_autopilot((char*)&buf[ofs], 1) != 1) {
|
|
break;
|
|
}
|
|
switch (ofs) {
|
|
case 0:
|
|
if (buf[ofs] == 0) {
|
|
ofs++;
|
|
}
|
|
break;
|
|
case 1:
|
|
if (buf[ofs] != 7) {
|
|
ofs = 0;
|
|
} else {
|
|
ofs++;
|
|
}
|
|
break;
|
|
case 2:
|
|
if (buf[ofs] != 0x72) {
|
|
ofs = 0;
|
|
} else {
|
|
ofs++;
|
|
}
|
|
break;
|
|
case 3:
|
|
if (buf[ofs] != 0x00) {
|
|
ofs = 0;
|
|
} else {
|
|
ofs++;
|
|
}
|
|
break;
|
|
case 4:
|
|
if (buf[ofs] != 0x07) {
|
|
ofs = 0;
|
|
} else {
|
|
ofs++;
|
|
}
|
|
break;
|
|
case 5 ... 12:
|
|
ofs++;
|
|
break;
|
|
}
|
|
}
|
|
if (ofs >= sizeof(r_command)) {
|
|
// check CRC
|
|
uint32_t crc = CRC32_MS(&buf[2], sizeof(r_command)-6);
|
|
uint32_t crc2 = be32toh(r_command.crc);
|
|
if (crc == crc2) {
|
|
send_table();
|
|
} else {
|
|
printf("BAD EFI CRC: 0x%08x 0x%08x\n", crc, crc2);
|
|
}
|
|
ofs = 0;
|
|
}
|
|
}
|
|
|
|
/*
|
|
send table response
|
|
*/
|
|
void EFI_MegaSquirt::send_table(void)
|
|
{
|
|
uint16_t table_offset = be16toh(r_command.table_offset);
|
|
uint16_t table_size = be16toh(r_command.table_size);
|
|
|
|
if (table_offset >= sizeof(table7)) {
|
|
printf("EFI_MS: bad table_offset %u\n", table_offset);
|
|
return;
|
|
}
|
|
if (table_size+table_offset > sizeof(table7)) {
|
|
table_size = sizeof(table7) - table_offset;
|
|
}
|
|
|
|
uint16_t len = htobe16(table_size+1);
|
|
uint8_t outbuf[1+table_size];
|
|
outbuf[0] = 0;
|
|
swab(table_offset+(const uint8_t *)&table7, &outbuf[1], table_size);
|
|
|
|
write_to_autopilot((const char*)&len, sizeof(len));
|
|
write_to_autopilot((const char*)outbuf, sizeof(outbuf));
|
|
uint32_t crc = htobe32(CRC32_MS(outbuf, sizeof(outbuf)));
|
|
write_to_autopilot((const char *)&crc, sizeof(crc));
|
|
}
|