128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
#pragma once
|
|
|
|
#include "AP_Generator_Backend.h"
|
|
|
|
#if AP_GENERATOR_IE_ENABLED
|
|
|
|
#include <AP_Logger/AP_Logger_config.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
class AP_Generator_IE_FuelCell : public AP_Generator_Backend
|
|
{
|
|
|
|
public:
|
|
// Constructor
|
|
using AP_Generator_Backend::AP_Generator_Backend;
|
|
|
|
// Initialize the fuel cell driver
|
|
void init(void) override;
|
|
|
|
// Check if readings are healthy
|
|
bool healthy(void) const override { return _healthy; }
|
|
|
|
// Check for arming
|
|
bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const override;
|
|
|
|
// Update fuel cell, expected to be called at 20hz
|
|
void update(void) override;
|
|
|
|
protected:
|
|
|
|
// Pointer to serial uart
|
|
AP_HAL::UARTDriver *_uart = nullptr;
|
|
|
|
// IE fuel cell running states
|
|
enum class State {
|
|
STARTING = 0,
|
|
READY = 1,
|
|
RUNNING = 2,
|
|
FAULT = 3,
|
|
BATTERY_ONLY = 8,
|
|
};
|
|
|
|
// State enum to string lookup
|
|
struct Lookup_State {
|
|
State option;
|
|
const char *msg_txt;
|
|
};
|
|
|
|
static const Lookup_State lookup_state[];
|
|
|
|
uint32_t _err_code; // The error code from fuel cell
|
|
uint32_t _last_err_code; // The previous error code from fuel cell
|
|
uint32_t _sub_err_code; // The sub error code from fuel cell
|
|
uint32_t _last_sub_err_code; // The previous sub error code from fuel cell
|
|
State _state; // The PSU state
|
|
State _last_state; // The previous PSU state
|
|
uint32_t _last_time_ms; // Time we got a reading
|
|
bool _healthy; // Is the driver working
|
|
uint32_t _health_warn_last_ms; // Time to persist warning message without spamming
|
|
|
|
// Temporary state params
|
|
struct ParsedValue {
|
|
float tank_pct;
|
|
uint16_t tank_bar;
|
|
float battery_pct;
|
|
float battery_volt;
|
|
int16_t pwr_out;
|
|
uint16_t spm_pwr;
|
|
int16_t battery_pwr;
|
|
uint8_t state;
|
|
uint32_t err_code;
|
|
uint32_t sub_err_code;
|
|
} _parsed;
|
|
|
|
// Constants
|
|
static const uint8_t TERM_BUFFER = 33; // Max length of term we expect
|
|
static const uint16_t HEALTHY_TIMEOUT_MS = 5000; // Time for driver to be marked un-healthy
|
|
|
|
// Decoding vars
|
|
char _start_char; // inital sentence character giving sentence type
|
|
char _term[TERM_BUFFER]; // Term buffer
|
|
bool _sentence_valid; // Is current sentence valid
|
|
bool _data_valid; // Is data within expected limits
|
|
uint8_t _term_number; // Term index within the current sentence
|
|
uint8_t _term_offset; // Offset within the _term buffer where the next character should be placed
|
|
bool _in_string; // True if we should be decoding
|
|
uint8_t _checksum; // Basic checksum used by V2 protocol
|
|
|
|
// Assigns the unit specific measurements once a valid sentence is obtained
|
|
virtual void assign_measurements(const uint32_t now) = 0;
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
virtual void log_write(void) {}
|
|
#endif
|
|
|
|
// Add a single character to the buffer and attempt to decode.
|
|
// Returns true if a complete sentence was successfully decoded or if the buffer is full.
|
|
bool decode(char c);
|
|
|
|
// Unit specific decoding to process characters received and build sentence
|
|
virtual void decode_latest_term(void) = 0;
|
|
|
|
// Check if we should notify on any change of fuel cell state
|
|
void check_status(const uint32_t now);
|
|
|
|
// Check error codes and populate message with error code
|
|
virtual bool check_for_err_code(char* msg_txt, uint8_t msg_len) const = 0;
|
|
|
|
// Check if we have received an warning code and populate message with warning code
|
|
virtual bool check_for_warning_code(char* msg_txt, uint8_t msg_len) const { return false; }
|
|
|
|
// Only check the error code if it has changed since we last checked
|
|
void check_for_err_code_if_changed();
|
|
|
|
// Return true is fuel cell is in running state suitable for arming
|
|
virtual bool is_running() const;
|
|
|
|
// Print msg to user updating on state change
|
|
virtual void update_state_msg();
|
|
|
|
#if HAL_GCS_ENABLED
|
|
// Get the MAV_SEVERITY level of a given error code
|
|
virtual MAV_SEVERITY get_mav_severity(uint32_t err_code) const { return MAV_SEVERITY_ALERT; }
|
|
#endif
|
|
|
|
};
|
|
#endif // AP_GENERATOR_IE_ENABLED
|