mirror of https://github.com/ArduPilot/ardupilot
213 lines
7.4 KiB
C++
213 lines
7.4 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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#pragma once
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#include "AP_EFI_config.h"
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#if AP_EFI_SERIAL_HIRTH_ENABLED
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#include "AP_EFI.h"
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#include "AP_EFI_Backend.h"
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/*!
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* class definition for Hirth 4103 ECU
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*/
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class AP_EFI_Serial_Hirth: public AP_EFI_Backend {
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public:
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AP_EFI_Serial_Hirth(AP_EFI &_frontend);
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void update() override;
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enum class Error_Excess_Temp_Bitfield : uint16_t {
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CHT_1_LOW = 1U<<0, // true if CHT1 is too low
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CHT_1_HIGH = 1U<<1, // true if CHT1 is too high
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CHT_1_ENRC_ACTIVE = 1U<<2, // true if CHT1 Enrichment is active
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CHT_2_LOW = 1U<<3, // true if CHT2 is too low
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CHT_2_HIGH = 1U<<4, // true if CHT2 is too high
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CHT_2_ENRC_ACTIVE = 1U<<5, // true if CHT2 Enrichment is active
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EGT_1_LOW = 1U<<6, // true if EGT1 is too low
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EGT_1_HIGH = 1U<<7, // true if EGT1 is too high
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EGT_1_ENRC_ACTIVE = 1U<<8, // true if EGT1 Enrichment is active
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EGT_2_LOW = 1U<<9, // true if EGT2 is too low
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EGT_2_HIGH = 1U<<10, // true if EGT2 is too high
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EGT_2_ENRC_ACTIVE = 1U<<11, // true if EGT2 Enrichment is active
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};
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enum class Sensor_Status_Bitfield : uint8_t {
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ENGINE_TEMP_SENSOR_OK = 1U<<0, // true if engine temperature sensor is OK
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AIR_TEMP_SENSOR_OK = 1U<<1, // true if air temperature sensor is OK
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AIR_PRESSURE_SENSOR_OK = 1U<<2, // true if intake air pressure sensor is OK
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THROTTLE_SENSOR_OK = 1U<<3, // true if throttle sensor is OK
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};
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private:
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// serial port instance
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AP_HAL::UARTDriver *port;
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// periodic refresh
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uint32_t last_request_ms;
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uint32_t last_packet_ms;
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uint32_t last_req_send_throttle_ms;
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// raw bytes - max size
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uint8_t raw_data[256];
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// request and response data
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uint8_t requested_code;
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// meta-data for a response
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struct {
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uint8_t quantity;
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uint8_t code;
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uint8_t checksum;
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} res_data;
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// TRUE - Request is sent; waiting for response
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// FALSE - Response is already received
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bool waiting_response;
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// Expected bytes from response
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uint8_t expected_bytes;
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// Throttle values
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uint16_t last_throttle;
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uint16_t throttle_to_hirth;
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uint32_t last_fuel_integration_ms;
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// custom status for Hirth
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uint16_t sensor_status;
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uint16_t error_excess_temperature;
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uint32_t crc_fail_cnt;
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uint32_t uptime;
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uint32_t ack_fail_cnt;
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struct PACKED Record1 {
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uint8_t reserved1[2];
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uint16_t save_in_flash; // "1 = data are saved in flash automatically"
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uint8_t reserved2[4];
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uint16_t engine_status;
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uint16_t rpm;
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uint8_t reserved3[12];
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uint16_t number_of_interfering_pulses;
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uint16_t reserved4[2];
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uint16_t number_of_speed_errors;
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uint16_t injection_time;
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uint16_t ignition_angle;
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uint16_t reserved5;
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uint16_t voltage_throttle;
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uint16_t reserved6;
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uint8_t reserved7[2];
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uint16_t voltage_engine_temperature;
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uint16_t voltage_air_temperature;
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uint8_t reserved8[2];
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uint16_t voltage_int_air_pressure;
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uint8_t reserved9[20];
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int16_t throttle;
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int16_t engine_temperature;
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int16_t battery_voltage;
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int16_t air_temperature;
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int16_t reserved10;
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uint16_t sensor_ok;
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};
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static_assert(sizeof(Record1) == 84, "incorrect Record1 length");
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struct PACKED Record2 {
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uint8_t reserved1[12];
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int16_t injection_rate_from_basic_graphic_map;
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int16_t reserved2;
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int16_t basic_injection_rate;
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int16_t injection_rate_from_air_correction;
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int16_t reserved3;
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int16_t injection_rate_from_warming_up_characteristic_curve;
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int16_t injection_rate_from_acceleration_enrichment;
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int16_t turn_on_time_of_intake_valves;
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int16_t injection_rate_from_race_switch;
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int16_t reserved4;
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int16_t injection_angle_from_ignition_graphic_map;
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int16_t injection_angle_from_air_temperature_characteristic_curve;
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int16_t injection_angle_from_air_pressure_characteristic_curve;
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int16_t ignition_angle_from_engine_temperature_characteristic_curve;
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int16_t ignition_angle_from_acceleration;
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int16_t ignition_angle_from_race_switch;
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uint32_t total_time_in_26ms;
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uint32_t total_number_of_rotations;
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uint16_t fuel_consumption;
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uint16_t number_of_errors_in_error_memory;
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int16_t voltage_input1_throttle_target;
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int16_t reserved5;
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int16_t position_throttle_target;
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int16_t throttle_percent_times_10; // percent * 0.1
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int16_t reserved6[3];
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uint16_t time_of_injector_opening_percent_times_10;
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uint8_t reserved7[10];
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uint32_t no_of_logged_data;
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uint8_t reserved8[12];
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};
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static_assert(sizeof(Record2) == 98, "incorrect Record2 length");
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struct PACKED Record3 {
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int16_t voltage_excess_temperature_1;
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int16_t voltage_excess_temperature_2;
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int16_t voltage_excess_temperature_3;
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int16_t voltage_excess_temperature_4;
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int16_t voltage_excess_temperature_5;
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uint8_t reserved1[6];
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int16_t excess_temperature_1; // cht1
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int16_t excess_temperature_2; // cht2
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int16_t excess_temperature_3; // egt1
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int16_t excess_temperature_4; // egt2
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int16_t excess_temperature_5;
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uint8_t reserved2[6];
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int16_t enrichment_excess_temperature_cylinder_1;
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int16_t enrichment_excess_temperature_cylinder_2;
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int16_t enrichment_excess_temperature_cylinder_3;
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int16_t enrichment_excess_temperature_cylinder_4;
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uint8_t reserved3[6];
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uint16_t error_excess_temperature_bitfield;
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uint16_t mixing_ratio_oil_pump1;
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uint16_t mixing_ratio_oil_pump2;
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uint16_t ouput_value_water_pump;
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uint16_t ouput_value_fuel_pump;
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uint16_t ouput_value_exhaust_valve;
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uint16_t ouput_value_air_vane;
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uint16_t ouput_value_e_throttle;
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uint16_t number_of_injections_oil_pump_1;
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uint32_t system_time_in_ms;
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int16_t number_of_injections_oil_pump_2;
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uint16_t target_rpm;
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uint16_t FPC;
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uint16_t xenrichment_excess_temperature_cylinder_1;
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uint16_t xenrichment_excess_temperature_cylinder_2;
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uint16_t xenrichment_excess_temperature_cylinder_3;
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uint16_t xenrichment_excess_temperature_cylinder_4;
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uint16_t voltage_input_temperature_crankshaft_housing;
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int16_t temperature_crankshaft_housing;
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uint8_t reserved4[14];
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};
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static_assert(sizeof(Record3) == 100, "incorrect Record3 length");
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void check_response();
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void send_request();
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void decode_data();
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bool send_request_status();
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bool send_target_values(uint16_t);
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void log_status();
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};
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#endif // AP_EFI_SERIAL_HIRTH_ENABLED
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