AP_EFI: allow EFI to be used in AP_Periph

libraries/AP_EFI/AP_EFI.cpp

@@ -86,7 +86,7 @@ void AP_EFI::init(void)
 #endif
         break;
     default:
-        gcs().send_text(MAV_SEVERITY_INFO, "Unknown EFI type");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unknown EFI type");
         break;
     }
 }
@@ -96,7 +96,9 @@ void AP_EFI::update()
 {
     if (backend) {
         backend->update();
+#if HAL_LOGGING_ENABLED
         log_status();
+#endif
     }
 }
 
@@ -105,6 +107,7 @@ bool AP_EFI::is_healthy(void) const
     return (backend && (AP_HAL::millis() - state.last_updated_ms) < HEALTHY_LAST_RECEIVED_MS);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   write status to log
  */
@@ -208,6 +211,7 @@ void AP_EFI::log_status(void)
                            state.ecu_index);
     }
 }
+#endif // LOGGING_ENABLED
 
 /*
   send EFI_STATUS
@@ -240,6 +244,13 @@ void AP_EFI::send_mavlink_status(mavlink_channel_t chan)
         );
 }
 
+// get a copy of state structure
+void AP_EFI::get_state(EFI_State &_state)
+{
+    WITH_SEMAPHORE(sem);
+    _state = state;
+}
+
 namespace AP {
 AP_EFI *EFI()
 {

libraries/AP_EFI/AP_EFI.h

@@ -64,6 +64,14 @@ public:
 
     bool is_healthy() const;
 
+    // return timestamp of last update
+    uint32_t get_last_update_ms(void) const {
+        return state.last_updated_ms;
+    }
+
+    // get a copy of state structure
+    void get_state(EFI_State &state);
+
     // Parameter info
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -99,6 +107,9 @@ private:
     AP_EFI_Backend *backend;
     static AP_EFI *singleton;
 
+    // Semaphore for access to shared frontend data
+    HAL_Semaphore sem;
+
     // write to log
     void log_status();
 };

libraries/AP_EFI/AP_EFI_Backend.cpp

@@ -28,7 +28,7 @@ AP_EFI_Backend::AP_EFI_Backend(AP_EFI &_frontend) :
 
 void AP_EFI_Backend::copy_to_frontend() 
 {
-    WITH_SEMAPHORE(sem);
+    WITH_SEMAPHORE(frontend.sem);
     frontend.state = internal_state;
 }
 

libraries/AP_EFI/AP_EFI_Backend.h

@@ -35,9 +35,6 @@ protected:
     // Copies internal state to the frontend state
     void copy_to_frontend();
 
-    // Semaphore for access to shared frontend data
-    HAL_Semaphore sem;
-
     // Internal state for this driver (before copying to frontend)
     EFI_State internal_state;
 

libraries/AP_EFI/AP_EFI_NWPMU.cpp

@@ -36,7 +36,7 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame)
 {
     const uint32_t id =  frame.id & AP_HAL::CANFrame::MaskExtID;
 
-    WITH_SEMAPHORE(sem);
+    WITH_SEMAPHORE(frontend.sem);
 
     switch ((NWPMU_ID)id) {
     case NWPMU_ID::ECU_1: {