From 261307f87d8f03bbd158f812bad3f9e133bce6d7 Mon Sep 17 00:00:00 2001
From: Loki077 <loki077@gmail.com>
Date: Mon, 12 Aug 2024 11:17:51 +1000
Subject: [PATCH] AP_ICEngine: Direction control for cranking.

Added a parameter _DIR where 0 if forward and 1 or greater is reverse
direction for Engine Cranking. This is particular with Hirth Engine
where both options are available.
---
 libraries/AP_ICEngine/AP_ICEngine.cpp         |  5 ++++
 libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp | 25 ++++++++++++++++++-
 libraries/AP_ICEngine/AP_ICEngine_TCA9554.h   | 11 ++++++--
 3 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index 67051949ab051..238855ba51c9c 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -167,6 +167,11 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
 
     // 18 was IGNITION_RLY
 
+#if AP_ICENGINE_TCA9554_STARTER_ENABLED
+    // @Group: _TCA9554
+    // @Path: AP_ICENGINE_TCA9554.cpp
+    AP_SUBGROUPINFO(tca9554_starter, "_TCA", 19, AP_ICEngine, AP_ICEngine_TCA9554),
+#endif // AP_ICENGINE_TCA9554_STARTER_ENABLED
 
     AP_GROUPEND
 };
diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
index fddfa3363fc11..292614f5a95d0 100644
--- a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
@@ -6,6 +6,7 @@
 
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
 #include "AP_ICEngine.h"
+#include <AP_Param/AP_Param.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -27,6 +28,24 @@ extern const AP_HAL::HAL& hal;
 #define TCA9554_CONF         0x03  // Configuration Port register address [0 = Output]
 #define TCA9554_PINS         0xC2  // Set all used ports to outputs = 1100 0010
 
+const AP_Param::GroupInfo AP_ICEngine_TCA9554::var_info[] = {
+
+    // @Param: _DIR
+    // @DisplayName: Engine Cranking Direction for TCA9554
+    // @Description: This will define which direction the engine is cranking for the TCA9554 starter control
+    // @User: Standard
+    // @Values: 0:Forward,1:Reverse
+    AP_GROUPINFO("_DIR ", 1, AP_ICEngine_TCA9554, crank_direction, 0),
+
+    AP_GROUPEND
+};
+
+// constructor
+AP_ICEngine_TCA9554::AP_ICEngine_TCA9554()
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
 /*
   initialise TCA9554
  */
@@ -91,7 +110,11 @@ void AP_ICEngine_TCA9554::set_starter(bool on)
             return;
         }
     }
-    TCA9554_set(on? STARTER_ON : STARTER_OFF);
+    if (!crank_direction) {
+        TCA9554_set(on? STARTER_FORWARD : STARTER_OFF);
+    } else {
+        TCA9554_set(on? STARTER_REVERSE : STARTER_OFF);
+    }
 }
 
 #endif // AP_ICENGINE_TCA9554_STARTER_ENABLED
diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
index 005a5ece6cfdf..97c58894cab72 100644
--- a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
+++ b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
@@ -9,14 +9,19 @@
 
 class AP_ICEngine_TCA9554 {
 public:
+    AP_ICEngine_TCA9554();
+
+    static const struct AP_Param::GroupInfo var_info[];
+
     void set_starter(bool on);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_TCA9554;
 
     enum TCA9554_state_t {
-        STARTER_OFF = 0x30,	// output register - 0011 0000
-        STARTER_ON  = 0x11, // output register - 0001 0001 - Forward direction
+        STARTER_OFF = 0x30, // output register - 0011 0000
+        STARTER_FORWARD = 0x11, // output register - 0001 0001 - Forward direction
+        STARTER_REVERSE = 0x01, // output register - 0000 0001 - Reverse direction
     };
     TCA9554_state_t last_state;
 
@@ -25,6 +30,8 @@ class AP_ICEngine_TCA9554 {
     bool TCA9554_init();
     void TCA9554_set(TCA9554_state_t value);
     uint32_t last_reg_check_ms;
+    // crank engine direction
+    AP_Int8 crank_direction;
 };
 
 #endif // AP_ICENGINE_TCA9554_STARTER_ENABLED