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AP_ICEngine: Add CRANK_DIR for direction control of TCA9554 Engine #27076

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merged 1 commit into from
Aug 19, 2024
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AP_ICEngine: Add CRANK_DIR for direction control of TCA9554 Engine #27076

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4 changes: 2 additions & 2 deletions libraries/AP_ICEngine/AP_ICEngine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_ICEngine/AP_ICEngine.h
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Expand Up @@ -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;

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8 changes: 6 additions & 2 deletions libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
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Expand Up @@ -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();
Expand All @@ -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
7 changes: 4 additions & 3 deletions libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
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Expand Up @@ -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;

Expand Down
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