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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_EFI/AP_EFI_Serial_MS.h
Views: 1798
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/*

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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_EFI_config.h"

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#if AP_EFI_SERIAL_MS_ENABLED

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#include "AP_EFI.h"

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#include "AP_EFI_Backend.h"

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// RPM Threshold for fuel consumption estimator

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#define RPM_THRESHOLD                100

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class AP_EFI_Serial_MS: public AP_EFI_Backend {

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public:

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    // Constructor with initialization

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    AP_EFI_Serial_MS(AP_EFI &_frontend);

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    // Update the state structure

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    void update() override;

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private:

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    AP_HAL::UARTDriver *port;

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    void parse_realtime_data();

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    bool read_incoming_realtime_data();

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    void send_request(uint8_t table, uint16_t first_offset, uint16_t last_offset);

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    uint8_t read_byte_CRC32();

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    uint32_t CRC32_compute_byte(uint32_t inCrc32, uint8_t data);

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    // Serial Protocol Variables

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    uint32_t checksum;

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    uint8_t step;

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    uint8_t response_flag;

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    uint16_t message_counter;

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    uint32_t last_request_ms;

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    // confirmed that last command was ok

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    bool last_command_confirmed;

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    // Command Response Codes

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    enum response_codes {

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        RESPONSE_WRITE_OK =0x00,

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        RESPONSE_REALTIME_DATA,

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        RESPONSE_PAGE_DATA,

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        RESPONSE_CONFIG_ERROR,

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        RESPONSE_PAGE10_OK,

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        RESPONSE_CAN_DATA,

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        // Error Responses

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        ERR_UNDERRUN = 0X80,

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        ERR_OVERRUN,

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        ERR_CRC_FAILURE,

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        ERR_UNRECOGNIZED_COMMAND,

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        ERR_OUT_OF_RANGE,

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        ERR_SERIAL_BUSY,

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        ERR_FLASH_LOCKED,

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        ERR_SEQ_FAIL_1,

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        ERR_SEQ_FAIL_2,

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        ERR_CAN_QUEUE_FULL,

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        ERR_CAN_TIMEOUT,

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        ERR_CAN_FAILURE,

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        ERR_PARITY,

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        ERR_FRAMING,

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        ERR_SERIAL_NOISE,

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        ERR_TXMODE_RANGE,

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        ERR_UNKNOWN

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    };

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    // Realtime Data Table Locations

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    enum realtime_data {

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        PW1_MSB = 2,

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        PW1_LSB,

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        RPM_MSB = 6,

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        RPM_LSB,

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        ADVANCE_MSB,

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        ADVANCE_LSB,

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        ENGINE_BM = 11,

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        BAROMETER_MSB = 16,

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        BAROMETER_LSB,

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        MAP_MSB,

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        MAP_LSB,

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        MAT_MSB,

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        MAT_LSB,

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        CHT_MSB,

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        CHT_LSB,

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        TPS_MSB,

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        TPS_LSB,

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        AFR1_MSB = 28,

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        AFR1_LSB,

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        AFR2_MSB,

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        AFR2_LSB,

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        DWELL_MSB = 62,

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        DWELL_LSB,

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        LOAD = 66,

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        FUEL_PRESSURE_MSB = 128,

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        FUEL_PRESSURE_LSB, 

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        // Helpers used when sending request

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        RT_FIRST_OFFSET = PW1_MSB,

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        RT_LAST_OFFSET = FUEL_PRESSURE_LSB

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    };

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};

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#endif  // AP_EFI_SERIAL_MS_ENABLED

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