From d4c24f2eb327335cd520e8754d501232289496ae Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Tue, 19 Mar 2024 16:56:27 -0700
Subject: [PATCH] AP_ICEngine: Add CRANK_DIR for direction control of TCA9554
 Engine

Added a parameter CRAN_DIR where 0 if forward and 1 or greater is reverse direction for Engine Cranking.

As all our Engine our forward direction that is our default state.

SW-111
---
 libraries/AP_ICEngine/AP_ICEngine.cpp         | 9 ++++++++-
 libraries/AP_ICEngine/AP_ICEngine.h           | 3 +++
 libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp | 8 ++++++--
 libraries/AP_ICEngine/AP_ICEngine_TCA9554.h   | 7 ++++---
 4 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index 110148d6da..59bd0bc314 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -163,6 +163,13 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Values: 0:None,1:Relay1,2:Relay2,3:Relay3,4:Relay4,5:Relay5,6:Relay6
     AP_GROUPINFO("IGNITION_RLY", 18, AP_ICEngine, ignition_relay, 0),
 
+    // @Param: CRANK_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("CRANK_DIR", 19, AP_ICEngine, crank_direction, 0),
+
     AP_GROUPEND
 };
 
@@ -583,7 +590,7 @@ 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, crank_direction);
 #endif
 }
 
diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
index d72bf083b8..f26a5d5b33 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.h
+++ b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -136,6 +136,9 @@ class AP_ICEngine {
     // relay number for ignition
     AP_Int8 ignition_relay;
 
+    // crank engine direction
+    AP_Int8 crank_direction;
+
     // height when we enter ICE_START_HEIGHT_DELAY
     float initial_height;
 
diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
index fddfa3363f..3d5a9d1b59 100644
--- 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, AP_Int8 crank_direction)
 {
     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_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 005a5ece6c..bb05257c7d 100644
--- 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, AP_Int8 crank_direction);
 
 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;