Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Author: Oliver Walters / Currawong Engineering Pty Ltd
      16             :  */
      17             : 
      18             : #pragma once
      19             : 
      20             : #include "AP_Generator_config.h"
      21             : 
      22             : #if AP_GENERATOR_CORTEX_ENABLED
      23             : 
      24             : #include "AP_Generator_Backend.h"
      25             : #include <AP_Common/AP_Common.h>
      26             : #include <AP_PiccoloCAN/AP_PiccoloCAN.h>
      27             : #include <AP_PiccoloCAN/AP_PiccoloCAN_Device.h>
      28             : #include <AP_PiccoloCAN/piccolo_protocol/CortexPackets.h>
      29             : 
      30             : 
      31             : /**
      32             :  * Class defining the Cortex generator from Currawong Engineering
      33             :  */
      34             : class AP_Generator_Cortex : public AP_Generator_Backend
      35             : {
      36             : public:
      37             :     using AP_Generator_Backend::AP_Generator_Backend;
      38             : 
      39             :     // init should be called at vehicle startup to get the generator library ready
      40             :     __INITFUNC__ void init(void) override;
      41             :     // update should be called regularly to update the generator state
      42             :     virtual void update(void) override;
      43             : 
      44             :     // methods to control the generator state:
      45             :     virtual bool stop(void) override;
      46             :     virtual bool idle(void) override;
      47             :     virtual bool run(void) override;
      48             : 
      49             :     // method to send a GENERATOR_STATUS mavlink message
      50             :     virtual void send_generator_status(const GCS_MAVLINK &channel) override;
      51             : 
      52             :     // prearm checks to ensure generator is good for arming.
      53             :     virtual bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const override;
      54             : 
      55             :     // Update front end with voltage, current, and rpm values
      56             :     void update_frontend_readings(void);
      57             : 
      58             :     bool is_connected(void) const;
      59             : 
      60           0 :     bool is_inhibited(void) const {
      61           0 :         return telemetry.status.status.inhibited;
      62             :     }
      63             : 
      64           0 :     bool is_ready(void) const {
      65           0 :         return is_connected() && telemetry.status.status.readyToRun;
      66             :     }
      67             : 
      68             :     // healthy returns true if the generator is not present, or it is
      69             :     // present, providing telemetry and not indicating an errors.
      70           0 :     bool healthy() const override {
      71           0 :         return is_connected();
      72             :     }
      73             : 
      74           0 :     static AP_Generator_Cortex* get_instance(void)
      75             :     {
      76           0 :         return _singleton;
      77             :     }
      78             : 
      79             :     bool handle_message(AP_HAL::CANFrame &frame, AP_PiccoloCAN &can_iface);
      80             : 
      81             : private:
      82             :     static AP_Generator_Cortex* _singleton;
      83             : 
      84             :     // Internal data structures for received telemetry
      85             :     struct CortexTelemetry_t {
      86             :         Cortex_TelemetryStatus_t status;
      87             :         Cortex_TelemetryGenerator_t generator;
      88             :         Cortex_TelemetryBattery_t battery;
      89             :         Cortex_TelemetryOutputRail_t rails;
      90             :         Cortex_TelemetryController_t controller;
      91             :     } telemetry;
      92             : 
      93           0 :     float batteryCurrent(void) const { return telemetry.battery.current; }
      94             :     float batteryVoltage(void) const { return telemetry.battery.voltage; }
      95             : 
      96           0 :     float generatorCurrent(void) const { return telemetry.generator.current; }
      97           0 :     float generatorVoltage(void) const { return telemetry.generator.voltage; }
      98           0 :     float generatorPower(void) const { return generatorCurrent() * generatorVoltage(); }
      99             : 
     100           0 :     float loadCurrent(void) const { return batteryCurrent() - generatorCurrent(); }
     101             : 
     102             :     int16_t rectifierTemperature(void) const;
     103             : 
     104             :     // Pointer to the CAN interface used to communicate with the generator
     105             :     AP_PiccoloCAN* _can_iface;
     106             : 
     107             :     // CAN device type
     108             :     uint16_t _can_device_type;
     109             :     uint8_t _can_device_id = 0xFF;
     110             : 
     111             :     // Last telemetry reading from the generator
     112             :     uint32_t last_reading_ms;
     113             : 
     114             :     // Connection state, used to detect changes
     115             :     bool connected;
     116             : 
     117             :     bool send_message(AP_HAL::CANFrame &frame);
     118             : };
     119             : 
     120             : #endif // AP_GENERATOR_CORTEX_ENABLED