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107 lines
2.6 KiB
107 lines
2.6 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <GCS_MAVLink/GCS.h> |
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#define EFI_ENABLED !HAL_MINIMIZE_FEATURES |
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#if EFI_ENABLED |
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#include "AP_EFI_Backend.h" |
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#include "AP_EFI_State.h" |
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/* |
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* This library aims to read data from Electronic Fuel Injection |
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* or Engine Control units. It is focused around the generic |
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* internal combustion engine state message provided by the |
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* UAVCAN protocol due to its comprehensiveness, but is extensible |
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* to use other forms of data transfer besides UAVCAN. |
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* |
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* |
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* |
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* Authors: Sriram Sami and David Ingraham |
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* With direction from Andrew Tridgell, Robert Lefebvre, Francisco Ferreira and |
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* Pavel Kirienko. |
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* Thanks to Yonah, SpektreWorks Inc, and HFE International. |
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*/ |
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class AP_EFI { |
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public: |
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friend class AP_EFI_Backend; |
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// For parameter initialization |
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AP_EFI(); |
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// Initializes backend |
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void init(void); |
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// Requests backend to update the frontend. Should be called at 10Hz. |
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void update(); |
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// Returns the RPM |
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uint32_t get_rpm() const { return state.engine_speed_rpm; } |
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// returns enabled state of EFI |
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bool enabled() const { return type != EFI_COMMUNICATION_TYPE_NONE; } |
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bool is_healthy() const; |
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// Parameter info |
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static const struct AP_Param::GroupInfo var_info[]; |
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// Backend driver types |
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enum EFI_Communication_Type { |
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EFI_COMMUNICATION_TYPE_NONE = 0, |
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EFI_COMMUNICATION_TYPE_SERIAL_MS = 1 |
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}; |
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static AP_EFI *get_singleton(void) { |
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return singleton; |
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} |
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// send EFI_STATUS |
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void send_mavlink_status(mavlink_channel_t chan); |
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protected: |
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// Back end Parameters |
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AP_Float coef1; |
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AP_Float coef2; |
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EFI_State state; |
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private: |
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// Front End Parameters |
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AP_Int8 type; |
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// Tracking backends |
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AP_EFI_Backend *backend; |
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static AP_EFI *singleton; |
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// write to log |
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void log_status(); |
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}; |
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namespace AP { |
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AP_EFI *EFI(); |
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}; |
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#endif // EFI_ENABLED
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