ardupilot/libraries/AP_Scripting/drivers/EFI_HFE.lua

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--[[
EFI Scripting backend driver for HFE based on HFEDCN0191 Rev E
--]]
-- luacheck: only 0
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-- Check Script uses a miniumum firmware version
local SCRIPT_AP_VERSION = 4.3
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local SCRIPT_NAME = "EFI: HFE CAN"
local VERSION = FWVersion:major() + (FWVersion:minor() * 0.1)
assert(VERSION >= SCRIPT_AP_VERSION, string.format('%s Requires: %s:%.1f. Found Version: %s', SCRIPT_NAME, FWVersion:type(), SCRIPT_AP_VERSION, VERSION))
local MAV_SEVERITY_ERROR = 3
PARAM_TABLE_KEY = 37
PARAM_TABLE_PREFIX = "EFI_HFE_"
K_THROTTLE = 70
K_IGNITION = 67
-- bind a parameter to a variable given
function bind_param(name)
local p = Parameter()
assert(p:init(name), string.format('could not find %s parameter', name))
return p
end
-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
return bind_param(PARAM_TABLE_PREFIX .. name)
end
function get_time_sec()
return millis():tofloat() * 0.001
end
-- Type conversion functions
function get_uint8(frame, ofs)
return frame:data(ofs)
end
function get_uint16(frame, ofs)
return frame:data(ofs+1) + (frame:data(ofs) << 8)
end
function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
if v > vmax then
v = vmax
end
return v
end
local efi_backend = nil
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-- Setup EFI Parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'could not add EFI_HFE param table')
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local EFI_HFE_ENABLE = bind_add_param('ENABLE', 1, 0)
local EFI_HFE_RATE_HZ = bind_add_param('RATE_HZ', 2, 200) -- Script update frequency in Hz
local EFI_HFE_ECU_IDX = bind_add_param('ECU_IDX', 3, 0) -- ECU index on CAN bus, 0 for automatic
local EFI_HFE_FUEL_DTY = bind_add_param('FUEL_DTY', 4, 740) -- fuel density, g/litre
local EFI_HFE_REL_IDX = bind_add_param('REL_IDX', 5, 0) -- relay number for engine enable
local EFI_HFE_CANDRV = bind_add_param('CANDRV', 6, 0) -- CAN driver number
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local ICE_PWM_IGN_ON = bind_param("ICE_PWM_IGN_ON")
if EFI_HFE_ENABLE:get() == 0 then
return
end
-- Register for the CAN drivers
local CAN_BUF_LEN = 25
if EFI_HFE_CANDRV:get() == 1 then
driver1 = CAN.get_device(CAN_BUF_LEN)
elseif EFI_HFE_CANDRV:get() == 2 then
driver1 = CAN.get_device2(CAN_BUF_LEN)
end
if not driver1 then
gcs:send_text(0, string.format("EFI_HFE: Failed to load driver"))
return
end
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local now_s = get_time_sec()
--[[
EFI Engine Object
--]]
local function engine_control(_driver)
local self = {}
-- Build up the EFI_State that is passed into the EFI Scripting backend
local efi_state = EFI_State()
local cylinder_state = Cylinder_Status()
-- private fields as locals
local rpm = 0
local air_pressure = 0
local map_ratio = 0.0
local driver = _driver
local last_rpm_t = get_time_sec()
local last_state_update_t = get_time_sec()
local throttle_pos = 0.0
local last_thr_t = get_time_sec()
local C_TO_KELVIN = 273.2
local fuel_flow_gph = 0.0
local fuel_total_g = 0.0
local fuel_press = 0.0
local last_fuel_s = 0.0
local ecu_voltage = 0.0
local injector_duty = 0.0
local ignition_angle = 0.0
-- Generator Data Structure
local gen = {}
gen.amps = 0.0
gen.rpm = 0.0
gen.batt_current = 0.0
-- Temperature Data Structure
local temps = {}
temps.egt = 0.0 -- Engine Gas Temperature
temps.iat = 0.0 -- inlet air temperature
temps.mat = 0.0 -- manifold air temperature
temps.cht = 0.0 -- cylinder head temperature
-- read telemetry packets
function self.update_telemetry()
local max_packets = 25
local count = 0
while count < max_packets do
frame = driver:read_frame()
count = count + 1
if not frame then
break
end
-- All Frame IDs for this EFI Engine are in the 29-bit extended address space
if frame:isExtended() then
self.handle_EFI_packet(frame)
end
end
if last_rpm_t > last_state_update_t then
-- update state if we have an updated RPM
last_state_update_t = last_rpm_t
self.set_EFI_State()
end
end
-- handle an EFI packet
function self.handle_EFI_packet(frame)
local id = frame:id_signed()
if id >> 24 ~= 0x08 then
-- not from ECU
return
end
local ecu = id & 0xff
if ecu ~= 0 and EFI_HFE_ECU_IDX:get() == 0 then
EFI_HFE_ECU_IDX:set(ecu)
gcs:send_text(0, string.format("EFI_HFE: found ECU %u", ecu))
end
if ecu ~= EFI_HFE_ECU_IDX:get() then
-- not from correct ECU
return
end
local cmd = (id >> 16) & 0xff
if cmd == 0x0 then
-- fast telemetry
throttle_pos = get_uint8(frame, 0)
rpm = get_uint16(frame, 1)
last_rpm_t = get_time_sec()
elseif cmd == 0x01 then
-- slow telem0
air_pressure = get_uint16(frame, 5) * 2
map_ratio = get_uint8(frame, 7) * 0.01
temps.cht = get_uint8(frame,3) - 10.0
elseif cmd == 0x02 then
-- slow telem1
temps.iat = get_uint8(frame, 0)
ecu_voltage = get_uint8(frame, 6) * 0.1
fuel_press = get_uint16(frame,1)*20.0
elseif cmd == 0x03 then
-- slow telem2
temps.mat = (1.5*get_uint8(frame, 1)) - 128
fuel_flow_gph = get_uint16(frame, 6)
if last_fuel_s > 0 then
local dt = now_s - last_fuel_s
local fuel_gps = fuel_flow_gph / 3600.0
fuel_total_g = fuel_total_g + fuel_gps * dt
end
injector_duty = get_uint16(frame,2)
last_fuel_s = now_s
ignition_angle = get_uint8(frame,4)*2.0
end
end
-- Build and set the EFI_State that is passed into the EFI Scripting backend
function self.set_EFI_State()
-- Cylinder_Status
cylinder_state:cylinder_head_temperature(temps.cht + C_TO_KELVIN)
cylinder_state:exhaust_gas_temperature(temps.mat)
cylinder_state:ignition_timing_deg(ignition_angle)
if rpm > 0 then
cylinder_state:injection_time_ms((60.0/rpm)*1000*injector_duty)
else
cylinder_state:injection_time_ms(0)
end
efi_state:engine_speed_rpm(uint32_t(rpm))
efi_state:atmospheric_pressure_kpa(air_pressure*0.001)
efi_state:intake_manifold_pressure_kpa(air_pressure*0.001*map_ratio)
efi_state:intake_manifold_temperature(temps.mat + C_TO_KELVIN)
efi_state:throttle_position_percent(math.floor((throttle_pos*100/255)+0.5))
efi_state:ignition_voltage(ecu_voltage)
efi_state:fuel_pressure(fuel_press*0.001)
local gram_to_cm3 = EFI_HFE_FUEL_DTY:get() * 0.001
efi_state:fuel_consumption_rate_cm3pm((fuel_flow_gph/60.0) * gram_to_cm3)
efi_state:estimated_consumed_fuel_volume_cm3(fuel_total_g * gram_to_cm3)
-- copy cylinder_state to efi_state
efi_state:cylinder_status(cylinder_state)
efi_state:last_updated_ms(millis())
-- Set the EFI_State into the EFI scripting driver
efi_backend:handle_scripting(efi_state)
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end
-- send throttle
function self.send_throttle()
if now_s - last_thr_t < 0.02 then
-- limit to 50Hz
return
end
last_thr_t = now_s
local thr = SRV_Channels:get_output_scaled(K_THROTTLE)
local msg = CANFrame()
msg:id(uint32_t(0x89060000 | EFI_HFE_ECU_IDX:get()))
msg:data(0,math.floor((thr*255/100)+0.5))
msg:dlc(2)
driver:write_frame(msg, 10000)
-- throttle calibration request, for debug
--msg = CANFrame()
--msg:id(uint32_t(0x89050000 | EFI_HFE_ECU_IDX:get()))
--msg:dlc(0)
--driver:write_frame(msg, 10000)
-- map K_IGNITION to relay for enable of engine
local relay_idx = EFI_HFE_REL_IDX:get()
if relay_idx > 0 then
local ignition_pwm = SRV_Channels:get_output_pwm(K_IGNITION)
if ignition_pwm == ICE_PWM_IGN_ON:get() then
relay:on(relay_idx-1)
else
relay:off(relay_idx-1)
end
end
end
-- return the instance
return self
end -- end function engine_control(_driver)
local engine1 = engine_control(driver1, 1)
function update()
now_s = get_time_sec()
if not efi_backend then
efi_backend = efi:get_backend(0)
if not efi_backend then
return
end
end
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-- Parse Driver Messages
engine1.update_telemetry()
engine1.send_throttle()
end
gcs:send_text(0, SCRIPT_NAME .. string.format(" loaded"))
-- wrapper around update(). This calls update() and if update faults
-- then an error is displayed, but the script is not stopped
function protected_wrapper()
local success, err = pcall(update)
if not success then
gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
-- when we fault we run the update function again after 1s, slowing it
-- down a bit so we don't flood the console with errors
return protected_wrapper, 1000
end
return protected_wrapper, 1000 / EFI_HFE_RATE_HZ:get()
end
-- start running update loop
return protected_wrapper()