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AP_EFI: fix casting without ensuring alignment

gps-1.3.1
bugobliterator 4 years ago committed by Andrew Tridgell
parent
0b505c491c
commit
0e7571c733
1 changed files with 28 additions and 23 deletions
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  1. 51
      libraries/AP_EFI/AP_EFI_NWPMU.cpp

51
libraries/AP_EFI/AP_EFI_NWPMU.cpp
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@ -40,53 +40,57 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame) @@ -40,53 +40,57 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame)
switch ((NWPMU_ID)id) {
case NWPMU_ID::ECU_1: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_1 *data = (struct ecu_1 *)frame.data;
internal_state.engine_speed_rpm = data->rpm;
internal_state.throttle_position_percent = data->tps * 0.1f;
internal_state.cylinder_status[0].ignition_timing_deg = data->ignition_angle * 0.1f;
struct ecu_1 data;
memcpy(&data, frame.data, sizeof(data));
internal_state.engine_speed_rpm = data.rpm;
internal_state.throttle_position_percent = data.tps * 0.1f;
internal_state.cylinder_status[0].ignition_timing_deg = data.ignition_angle * 0.1f;
break;
}
case NWPMU_ID::ECU_2: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_2 *data = (struct ecu_2 *)frame.data;
switch ((NWPMU_PRESSURE_TYPE)data->pressure_type) {
struct ecu_2 data;
memcpy(&data, frame.data, sizeof(data));
switch ((NWPMU_PRESSURE_TYPE)data.pressure_type) {
case NWPMU_PRESSURE_TYPE::kPa:
internal_state.atmospheric_pressure_kpa = data->baro * 0.01f;
internal_state.intake_manifold_pressure_kpa = data->baro * 0.01f;
internal_state.atmospheric_pressure_kpa = data.baro * 0.01f;
internal_state.intake_manifold_pressure_kpa = data.baro * 0.01f;
break;
case NWPMU_PRESSURE_TYPE::psi:
internal_state.atmospheric_pressure_kpa = data->baro * 0.0689476f;
internal_state.intake_manifold_pressure_kpa = data->baro * 0.0689476f;
internal_state.atmospheric_pressure_kpa = data.baro * 0.0689476f;
internal_state.intake_manifold_pressure_kpa = data.baro * 0.0689476f;
break;
default:
break;
}
internal_state.cylinder_status[0].lambda_coefficient = data->lambda * 0.01f;
internal_state.cylinder_status[0].lambda_coefficient = data.lambda * 0.01f;
break;
}
case NWPMU_ID::ECU_4: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_4 *data = (struct ecu_4 *)frame.data;
struct ecu_4 data;
memcpy(&data, frame.data, sizeof(data));
// remap the analog input for fuel pressure, 0.5 V == 0 PSI, 4.5V == 100 PSI
internal_state.fuel_pressure = linear_interpolate(0, 689.476,
data->analog_fuel_pres * 0.001,
data.analog_fuel_pres * 0.001,
0.5f,4.5f);
break;
}
case NWPMU_ID::ECU_5: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_5 *data = (struct ecu_5 *)frame.data;
switch((NWPMU_TEMPERATURE_TYPE)data->temp_type) {
struct ecu_5 data;
memcpy(&data, frame.data, sizeof(data));
switch((NWPMU_TEMPERATURE_TYPE)data.temp_type) {
case NWPMU_TEMPERATURE_TYPE::C:
internal_state.coolant_temperature = data->coolant_temp * 0.1f + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = data->coolant_temp * 0.1f + C_TO_KELVIN;
internal_state.coolant_temperature = data.coolant_temp * 0.1f + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = data.coolant_temp * 0.1f + C_TO_KELVIN;
break;
case NWPMU_TEMPERATURE_TYPE::F:
internal_state.coolant_temperature = ((data->coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = ((data->coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
internal_state.coolant_temperature = ((data.coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = ((data.coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
break;
default:
break;
@ -96,12 +100,13 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame) @@ -96,12 +100,13 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame)
case NWPMU_ID::ECU_6: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_6 *data = (struct ecu_6 *)frame.data;
struct ecu_6 data;
memcpy(&data, frame.data, sizeof(data));
if (!_emitted_version && (AP_HAL::millis() > 10000)) { // don't emit a version early in the boot process
gcs().send_text(MAV_SEVERITY_INFO, "NWPMU Version: %d.%d.%d",
data->firmware_major,
data->firmware_minor,
data->firmware_build);
data.firmware_major,
data.firmware_minor,
data.firmware_build);
_emitted_version = true;
}
break;

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