From 49b7efe4cb9c80454ea869f9630e955e37652f89 Mon Sep 17 00:00:00 2001
From: Reilly Callaway <reilly.callaway@gmail.com>
Date: Wed, 30 Mar 2022 14:16:37 +1100
Subject: [PATCH] AP_EFI: Add currawong ECU EFI backend

---
 libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp | 72 +++++++++++++++++++++++
 libraries/AP_EFI/AP_EFI_Currawong_ECU.h   | 55 +++++++++++++++++
 2 files changed, 127 insertions(+)
 create mode 100644 libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
 create mode 100644 libraries/AP_EFI/AP_EFI_Currawong_ECU.h

diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
new file mode 100644
index 0000000000..1cf2482b6f
--- /dev/null
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
@@ -0,0 +1,72 @@
+/*
+   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/>.
+ */
+
+/*
+ * AP_EFI_Currawong_ECU.cpp
+ *
+ *      Author: Reilly Callaway
+ */
+
+#include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
+#include <AP_Math/definitions.h>
+
+#if HAL_EFI_CURRAWONG_ECU_ENABLED
+
+extern const AP_HAL::HAL& hal;
+
+AP_EFI_Currawong_ECU* AP_EFI_Currawong_ECU::singleton;
+
+AP_EFI_Currawong_ECU::AP_EFI_Currawong_ECU(AP_EFI &_frontend) :
+    AP_EFI_Backend(_frontend)
+{
+    singleton = this;
+
+    internal_state.oil_pressure_status = Oil_Pressure_Status::OIL_PRESSURE_STATUS_NOT_SUPPORTED;
+    internal_state.debris_status = Debris_Status::NOT_SUPPORTED;
+    internal_state.misfire_status = Misfire_Status::NOT_SUPPORTED;
+}
+
+void AP_EFI_Currawong_ECU::update()
+{
+    // copy the data to the front end
+    copy_to_frontend();
+}
+
+bool AP_EFI_Currawong_ECU::handle_message(AP_HAL::CANFrame &frame)
+{
+    bool valid  = true;
+
+    // There are differences between Ardupilot EFI_State and types/scaling of Piccolo packets.
+    // So we first decode to Piccolo structs, and then store the data we need in EFI_State internal_state with any scaling required.
+
+    // Structs to decode Piccolo messages into
+    ECU_TelemetryFast_t telemetryFast;
+    ECU_TelemetrySlow0_t telemetrySlow0;
+    ECU_TelemetrySlow1_t telemetrySlow1;
+    ECU_TelemetrySlow2_t telemetrySlow2;
+    ECU_Errors_t errors;
+
+    // Throw the message at the decoding functions
+
+
+    if (valid)
+    {
+        internal_state.last_updated_ms = AP_HAL::millis();
+    }
+
+    return valid;
+}
+
+#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
\ No newline at end of file
diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.h b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
new file mode 100644
index 0000000000..8692c100c8
--- /dev/null
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
@@ -0,0 +1,55 @@
+/*
+   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/>.
+ */
+
+/*
+ * AP_EFI_Currawong_ECU.h
+ *
+ *      Author: Reilly Callaway
+ */
+ 
+#pragma once
+
+#include "AP_EFI.h"
+#include "AP_EFI_Backend.h"
+
+#ifndef HAL_EFI_CURRAWONG_ECU_ENABLED
+#define HAL_EFI_CURRAWONG_ECU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024
+#endif
+
+#if HAL_EFI_CURRAWONG_ECU_ENABLED
+
+
+
+class AP_EFI_Currawong_ECU : public AP_EFI_Backend {
+public:
+    AP_EFI_Currawong_ECU(AP_EFI &_frontend);
+    
+    void update() override;
+
+    static AP_EFI_Currawong_ECU* get_instance(void)
+    {
+        return singleton;
+    }
+
+private:
+    bool handle_message(AP_HAL::CANFrame &frame);
+
+    static AP_EFI_Currawong_ECU *singleton;
+
+    friend class AP_PiccoloCAN;
+};
+
+#endif // HAL_EFI_NWPWU_ENABLED
+