AP_ICEngine: Add Option to Control the direction of Cranking.

Added the 5th bit to the ICE_OPTION parameter to enable CRANK_DIR_REVERSE control, specifically for managing Hirth engine direction using AP_ICEngine_TCA9554.
ArduPilot · Aug 19, 2024 · 94059ed · 94059ed
1 parent 8e77f85
commit 94059ed
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Showing 4 changed files with 13 additions and 7 deletions.
diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -145,7 +145,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: ICE options
     // @Description: Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.
-    // @Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle while disarmed,3:Disable while disarmed
+    // @Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle while disarmed,3:Disable while disarmed,4:Crank direction Reverse
     AP_GROUPINFO("OPTIONS", 15, AP_ICEngine, options, 0),
 
     // @Param: STARTCHN_MIN
@@ -627,7 +627,7 @@ void AP_ICEngine::set_starter(bool on)
     SRV_Channels::set_output_pwm(SRV_Channel::k_starter, on? pwm_starter_on : pwm_starter_off);
 
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
-    tca9554_starter.set_starter(on);
+    tca9554_starter.set_starter(on, option_set(Options::CRANK_DIR_REVERSE));
 #endif
 
 #if AP_RELAY_ENABLED

diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -160,6 +160,7 @@ class AP_ICEngine {
         DISABLE_REDLINE_GOVERNOR     = (1U << 1),
         THROTTLE_WHILE_DISARMED      = (1U << 2),
         NO_RUNNING_WHILE_DISARMED    = (1U << 3),
+        CRANK_DIR_REVERSE            = (1U << 4),
     };
     AP_Int16 options;
 

diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
@@ -82,7 +82,7 @@ void AP_ICEngine_TCA9554::TCA9554_set(TCA9554_state_t value)
     }
 }
 
-void AP_ICEngine_TCA9554::set_starter(bool on)
+void AP_ICEngine_TCA9554::set_starter(bool on, bool crank_dir_reverse)
 {
     if (!initialised) {
         initialised = TCA9554_init();
@@ -91,7 +91,11 @@ void AP_ICEngine_TCA9554::set_starter(bool on)
             return;
         }
     }
-    TCA9554_set(on? STARTER_ON : STARTER_OFF);
+    if (!crank_dir_reverse) {
+        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
@@ -9,14 +9,15 @@
 
 class AP_ICEngine_TCA9554 {
 public:
-    void set_starter(bool on);
+    void set_starter(bool on, bool crank_dir_reverse);
 
 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;