mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.5 KiB
C++
104 lines
2.5 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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simulate MegaSquirt EFI system
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:megasquirt --speedup=1
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param set SERIAL5_PROTOCOL 24
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param set SIM_EFI_TYPE 1
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param set EFI_TYPE 1
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reboot
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status EFI_STATUS
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./Tools/autotest/autotest.py --gdb --debug build.Plane test.Plane.MegaSquirt
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*/
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#pragma once
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#include <SITL/SITL.h>
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_SerialDevice.h"
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namespace SITL {
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class EFI_MegaSquirt : public SerialDevice {
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public:
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using SerialDevice::SerialDevice;
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void update();
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private:
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void send_table();
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uint32_t time_send_ms;
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struct PACKED {
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uint16_t size;
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uint8_t command;
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uint8_t CANid;
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uint8_t table;
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uint16_t table_offset;
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uint16_t table_size;
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uint32_t crc;
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} r_command;
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uint8_t *buf = (uint8_t *)&r_command;
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uint8_t ofs;
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struct PACKED {
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uint16_t uptime_s;
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uint16_t pulseWidth1_us;
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uint16_t pulseWidth2_us;
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uint16_t rpm;
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int16_t advance_cdeg;
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int8_t squirt;
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int8_t engine_status;
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uint8_t afr_target1;
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uint8_t afr_target2;
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uint8_t wbo2_en1;
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uint8_t wbo2_en2;
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int16_t baro_hPa;
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int16_t map_hPa;
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int16_t mat_cF;
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int16_t ct_cF;
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int16_t throttle_pos;
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int16_t afr1;
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int16_t afr2;
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int16_t knock;
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int16_t egocor1;
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int16_t egocor2;
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int16_t aircor;
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int16_t warmcor;
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int16_t accel_enrich;
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int16_t tps_fuel_cut;
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int16_t baroCorrection;
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int16_t gammaEnrich;
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int16_t ve1;
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int16_t ve2;
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int16_t iacstep;
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int16_t cold_adv_deg;
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int16_t TPSdot;
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int16_t MAPdot;
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int16_t dwell;
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int16_t MAF;
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uint8_t fuelload;
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uint8_t pad[128-67];
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uint16_t fuelPressure;
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} table7;
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};
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}
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