Line data    Source code

       1             : /// @file   AC_Sprayer.h
       2             : /// @brief  Crop sprayer library
       3             : 
       4             : /**
       5             :     The crop spraying functionality can be enabled in ArduCopter by doing the following:
       6             :         - set RC7_OPTION or RC8_OPTION parameter to 15 to allow turning the sprayer on/off from one of these channels
       7             :         - set SERVO10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10
       8             :         - set SERVO11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11
       9             :         - ensure the RC10_MIN, RC10_MAX, RC11_MIN, RC11_MAX accurately hold the min and maximum servo values you could possibly output to the pump and spinner
      10             :         - set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
      11             :         - set the SPRAY_PUMP_RATE to the value the pump servo should move to when the vehicle is travelling at 1m/s. This is expressed as a percentage (i.e. 0 ~ 100) of the full servo range.  I.e. 0 = the pump will not operate, 100 = maximum speed at 1m/s.  50 = 1/2 speed at 1m/s, full speed at 2m/s
      12             :         - set the SPRAY_PUMP_MIN to the minimum value that the pump servo should move to while engaged expressed as a percentage (i.e. 0 ~ 100) of the full servo range
      13             :         - set the SPRAY_SPEED_MIN to the minimum speed (in cm/s) the vehicle should be moving at before the pump and sprayer are turned on.  0 will mean the pump and spinner will always be on when the system is enabled with ch7/ch8 switch
      14             : **/
      15             : #pragma once
      16             : 
      17             : #include "AC_Sprayer_config.h"
      18             : 
      19             : #if HAL_SPRAYER_ENABLED
      20             : 
      21             : #include <inttypes.h>
      22             : #include <AP_Common/AP_Common.h>
      23             : #include <AP_Param/AP_Param.h>
      24             : 
      25             : #define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   ///< default quantity of spray per meter travelled
      26             : #define AC_SPRAYER_DEFAULT_PUMP_MIN         0       ///< default minimum pump speed expressed as a percentage from 0 to 100
      27             : #define AC_SPRAYER_DEFAULT_SPINNER_PWM      1300    ///< default speed of spinner (higher means spray is throw further horizontally
      28             : #define AC_SPRAYER_DEFAULT_SPEED_MIN        100     ///< we must be travelling at least 1m/s to begin spraying
      29             : #define AC_SPRAYER_DEFAULT_TURN_ON_DELAY    100     ///< delay between when we reach the minimum speed and we begin spraying.  This reduces the likelihood of constantly turning on/off the pump
      30             : #define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY   1000    ///< shut-off delay in milli seconds.  This reduces the likelihood of constantly turning on/off the pump
      31             : 
      32             : /// @class  AC_Sprayer
      33             : /// @brief  Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
      34             : class AC_Sprayer {
      35             : public:
      36             :     AC_Sprayer();
      37             : 
      38             :     /* Do not allow copies */
      39             :     CLASS_NO_COPY(AC_Sprayer);
      40             : 
      41             :     static AC_Sprayer *get_singleton();
      42             :     static AC_Sprayer *_singleton;
      43             : 
      44             :     /// run - allow or disallow spraying to occur
      45             :     void run(bool true_false);
      46             : 
      47             :     /// running - returns true if spraying is currently permitted
      48         676 :     bool running() const { return _flags.running; }
      49             : 
      50             :     /// spraying - returns true if spraying is actually happening
      51             :     bool spraying() const { return _flags.spraying; }
      52             : 
      53             :     /// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
      54         566 :     void test_pump(bool true_false) { _flags.testing = true_false; }
      55             : 
      56             :     /// To-Do: add function to decode pilot input from channel 6 tuning knob
      57             : 
      58             :     /// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate
      59             :     void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); }
      60             : 
      61             :     /// update - adjusts servo positions based on speed and requested quantity
      62             :     void update();
      63             : 
      64             :     static const struct AP_Param::GroupInfo var_info[];
      65             : 
      66             : private:
      67             : 
      68             :     // parameters
      69             :     AP_Int8         _enabled;               ///< top level enable/disable control
      70             :     AP_Float        _pump_pct_1ms;          ///< desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
      71             :     AP_Int8         _pump_min_pct;          ///< minimum pump rate (expressed as a percentage from 0 to 100)
      72             :     AP_Int16        _spinner_pwm;           ///< pwm rate of spinner
      73             :     AP_Float        _speed_min;             ///< minimum speed in cm/s above which the sprayer will be started
      74             : 
      75             :     /// flag bitmask
      76             :     struct sprayer_flags_type {
      77             :         uint8_t spraying    : 1;            ///< 1 if we are currently spraying
      78             :         uint8_t testing     : 1;            ///< 1 if we are testing the sprayer and should output a minimum value
      79             :         uint8_t running     : 1;            ///< 1 if we are permitted to run sprayer
      80             :     } _flags;
      81             : 
      82             :     // internal variables
      83             :     uint32_t        _speed_over_min_time;   ///< time at which we reached speed minimum
      84             :     uint32_t        _speed_under_min_time;  ///< time at which we fell below speed minimum
      85             : 
      86             :     void stop_spraying();
      87             : };
      88             : 
      89             : namespace AP {
      90             :     AC_Sprayer *sprayer();
      91             : };
      92             : #endif // HAL_SPRAYER_ENABLED