Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #pragma once
      17             : 
      18             : #include "AP_EFI_config.h"
      19             : 
      20             : #if HAL_EFI_ENABLED
      21             : 
      22             : #include <AP_Common/AP_Common.h>
      23             : #include <AP_Param/AP_Param.h>
      24             : #include <GCS_MAVLink/GCS_MAVLink.h>
      25             : #include "AP_EFI_ThrottleLinearisation.h"
      26             : #include <AP_HAL/AP_HAL_Boards.h>
      27             : 
      28             : #ifndef AP_EFI_LOWEHEISER_ENABLED
      29             : #define AP_EFI_LOWEHEISER_ENABLED 0
      30             : #endif
      31             : 
      32             : #include "AP_EFI_Backend.h"
      33             : #include "AP_EFI_State.h"
      34             : 
      35             : 
      36             : /*
      37             :  * This library aims to read data from Electronic Fuel Injection 
      38             :  * or Engine Control units. It is focused around the generic
      39             :  * internal combustion engine state message provided by the 
      40             :  * UAVCAN protocol due to its comprehensiveness, but is extensible
      41             :  * to use other forms of data transfer besides UAVCAN. 
      42             :  * 
      43             :  *
      44             :  *
      45             :  * Authors: Sriram Sami and David Ingraham
      46             :  * With direction from Andrew Tridgell, Robert Lefebvre, Francisco Ferreira and
      47             :  * Pavel Kirienko.
      48             :  * Thanks to Yonah, SpektreWorks Inc, and HFE International.
      49             :  */
      50             : 
      51             : class AP_EFI {
      52             : public:
      53             :     friend class AP_EFI_Backend;
      54             : 
      55             :     // For parameter initialization
      56             :     AP_EFI();
      57             : 
      58             :     // Initializes backend
      59             :     void init(void);
      60             : 
      61             :     // Requests backend to update the frontend. Should be called at 10Hz.
      62             :     void update();
      63             :     
      64             :     // Returns the RPM
      65       24570 :     uint32_t get_rpm() const { return state.engine_speed_rpm; }
      66             : 
      67             :     // returns enabled state of EFI
      68             :     bool enabled() const { return type != Type::NONE; }
      69             : 
      70             :     bool is_healthy() const;
      71             : 
      72             :     // return timestamp of last update
      73           0 :     uint32_t get_last_update_ms(void) const {
      74           0 :         return state.last_updated_ms;
      75             :     }
      76             : 
      77             :     // get a copy of state structure
      78             :     void get_state(EFI_State &state);
      79             : 
      80             :     // Parameter info
      81             :     static const struct AP_Param::GroupInfo var_info[];
      82             : 
      83             :     // Backend driver types
      84             :     enum class Type : uint8_t {
      85             :         NONE       = 0,
      86             : #if AP_EFI_SERIAL_MS_ENABLED
      87             :         MegaSquirt = 1,
      88             : #endif
      89             : #if AP_EFI_NWPWU_ENABLED
      90             :         NWPMU      = 2,
      91             : #endif
      92             : #if AP_EFI_SERIAL_LUTAN_ENABLED
      93             :         Lutan      = 3,
      94             : #endif
      95             : #if AP_EFI_LOWEHEISER_ENABLED
      96             :         LOWEHEISER = 4,
      97             : #endif
      98             : #if AP_EFI_DRONECAN_ENABLED
      99             :         DroneCAN = 5,
     100             : #endif
     101             : #if AP_EFI_CURRAWONG_ECU_ENABLED
     102             :         CurrawongECU = 6,
     103             : #endif
     104             : #if AP_EFI_SCRIPTING_ENABLED
     105             :         SCRIPTING  = 7,
     106             : #endif
     107             : #if AP_EFI_SERIAL_HIRTH_ENABLED
     108             :         Hirth      = 8, 
     109             : #endif
     110             :                 MAV = 9,
     111             :     };
     112             : 
     113     1146774 :     static AP_EFI *get_singleton(void) {
     114     1146774 :         return singleton;
     115             :     }
     116             : 
     117             :     // send EFI_STATUS
     118             :     void send_mavlink_status(mavlink_channel_t chan);
     119             : 
     120             : #if AP_SCRIPTING_ENABLED
     121           0 :     AP_EFI_Backend* get_backend(uint8_t idx) { return idx==0?backend:nullptr; }
     122             : #endif
     123             : 
     124             :     void handle_EFI_message(const mavlink_message_t &msg);
     125             : 
     126             : protected:
     127             : 
     128             :     // Back end Parameters
     129             :     AP_Float coef1;
     130             :     AP_Float coef2;
     131             : 
     132             :     AP_Float ecu_fuel_density;
     133             : 
     134             :     EFI_State state;
     135             : 
     136             : #if AP_EFI_THROTTLE_LINEARISATION_ENABLED
     137             :     AP_EFI_ThrLin throttle_linearisation;
     138             : #endif
     139             : 
     140             : private:
     141             :     // Front End Parameters
     142             :     AP_Enum<Type> type;
     143             : 
     144             :     // Tracking backends
     145             :     AP_EFI_Backend *backend;
     146             :     static AP_EFI *singleton;
     147             : 
     148             :     // Semaphore for access to shared frontend data
     149             :     HAL_Semaphore sem;
     150             : 
     151             :     // write to log
     152             :     void log_status();
     153             : };
     154             : 
     155             : namespace AP {
     156             :     AP_EFI *EFI();
     157             : };
     158             : 
     159             : #endif // HAL_EFI_ENABLED