mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: added INF_Inject EFI driver
This commit is contained in:
Andrew Tridgell
parent
e7ee287664
commit
020807a064
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@ -0,0 +1,247 @@
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--[[
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Driver for INF_Inject EFI system
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https://innoflighttechnology.com/efi/
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--]]
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local PARAM_TABLE_KEY = 43
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local PARAM_TABLE_PREFIX = "EFI_INF_"
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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-- bind a parameter to a variable given
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local function bind_param(name)
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local p = Parameter()
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assert(p:init(name), string.format('could not find %s parameter', name))
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return p
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end
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-- add a parameter and bind it to a variable
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local function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return bind_param(PARAM_TABLE_PREFIX .. name)
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end
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-- setup script specific parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 8), 'could not add param table')
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--[[
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// @Param: EFI_INF_ENABLE
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// @DisplayName: EFI INF-Inject enable
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// @Description: Enable EFI INF-Inject driver
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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--]]
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EFI_INF_ENABLE = bind_add_param("ENABLE", 1, 0)
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if EFI_INF_ENABLE:get() ~= 1 then
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return
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end
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local EFI_FUEL_DENS = bind_param("EFI_FUEL_DENS")
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local uart = serial:find_serial(0) -- first scripting serial
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if not uart then
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gcs:send_text(MAV_SEVERITY.ERROR, "EFI_INF: unable to find scripting serial")
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return
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end
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uart:begin(9600)
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local efi_backend = efi:get_backend(0)
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if not efi_backend then
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gcs:send_text(MAV_SEVERITY.ERROR, "EFI_INF: unable to find EFI backend")
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return
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end
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local state = {}
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state.last_read_us = uint32_t(0)
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state.chk0 = 0
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state.chk1 = 0
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state.total_fuel_g = 0.0
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local function read_bytes(n)
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local ret = ""
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for _ = 1, n do
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local b = uart:read()
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state.chk0 = state.chk0 ~ b
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state.chk1 = state.chk1 ~ state.chk0
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ret = ret .. string.char(b)
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end
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return ret
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end
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--[[
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discard pending bytes
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--]]
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local function discard_pending()
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local n = uart:available():toint()
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for _ = 1, n do
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uart:read()
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end
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end
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--[[
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convert grams of fuel to cm3
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--]]
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local function gram_to_cm3(g)
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local kg = g * 0.001
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local kg_per_m3 = EFI_FUEL_DENS:get()
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if kg_per_m3 <= 0 then
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kg_per_m3 = 742.9
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end
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local m3 = kg / kg_per_m3
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return m3 * 1.0e6
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end
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--[[
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check for input and parse data
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--]]
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local function check_input()
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local n_bytes = uart:available():toint()
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if n_bytes < 83 then
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return
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end
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if n_bytes > 83 then
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discard_pending()
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return
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end
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local tus = micros()
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state.chk0 = 0
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state.chk1 = 0
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-- look for basic data table 2
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header0, header1, source, target, dtype, num, id, ack = string.unpack("<BBBBBBIB", read_bytes(11))
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if header0 ~= 0xB5 or header1 ~= 0x62 then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("bad header 0x%02x 0x%0x2", header0, header1))
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discard_pending()
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return
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end
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if dtype ~= 0x02 then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("bad type3 0x%02x", dtype))
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discard_pending()
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return
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end
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if ack ~= 0x50 then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("bad ack 0x%02x", ack))
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discard_pending()
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return
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end
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if num < 83 then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("bad num %u n_bytes=%u", num, n_bytes))
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discard_pending()
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return
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end
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--gcs:send_text(MAV_SEVERITY.INFO, string.format("packet start"))
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state.mode, state.sta, state.sta1, state.bus_thr = string.unpack("<BBBB", read_bytes(4))
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state.bus_thr = state.bus_thr * 0.1
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state.svr_pwm, state.rpm_out, state.rpm1, state.rpm2 = string.unpack("<BHHH", read_bytes(7))
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state.svr_pwm = state.svr_pwm * 0.1
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state.tmp_env, state.tmp0, state.tmp1, state.tmp2, state.tmp3 = string.unpack("<hhhhh", read_bytes(10))
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state.vol_power, state.vol_svr, state.vol_pump, state.amp_pump = string.unpack("<HBBB", read_bytes(5))
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state.vol_power = state.vol_power * 0.1
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state.vol_svr = state.vol_svr * 0.1
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state.vol_pump = state.vol_pump * 0.1
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state.amp_pump = state.amp_pump * 0.1
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state.ADC1, state.ADC2, state.pre_gas, state.pre_alt = string.unpack("<BBfh", read_bytes(8))
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state.ADC1 = state.ADC1 * 0.1
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state.ADC2 = state.ADC2 * 0.1
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state.PWM_IN1, state.PWM_IN2, state.PWM_IN3 = string.unpack("<BBB", read_bytes(3))
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state.PWM_IN1 = state.PWM_IN1 * 10
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state.PWM_IN2 = state.PWM_IN2 * 10
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state.PWM_IN3 = state.PWM_IN3 * 10
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state.PWM_OUT1, state.PWM_OUT2, state.PWM_OUT3 = string.unpack("<BBB", read_bytes(3))
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state.pre_oil, state.inj1_ms, state.inj2_ms = string.unpack("<fhh", read_bytes(8))
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state.inj1_mg, state.inj2_mg = string.unpack("<hh", read_bytes(4))
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state.adc1_thr, state.adc2_thr = string.unpack("<BB", read_bytes(2))
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state.adc1_thr = state.adc1_thr * 10
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state.adc2_thr = state.adc2_thr * 10
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state.ecu_run_time, state.err_flg = string.unpack("<IH", read_bytes(6))
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state.oil1_thr, state.oil2_thr = string.unpack("<BB", read_bytes(2))
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state.oil1_thr = state.oil1_thr * 10
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state.oil2_thr = state.oil2_thr * 10
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state.reserve1, state.reserve2 = string.unpack("<BB", read_bytes(2))
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state.tmp4, state.tmp5 = string.unpack("<hh", read_bytes(4))
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local chk0 = state.chk0
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local chk1 = state.chk1
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state.check0, state.check1 = string.unpack("<BB", read_bytes(2))
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if chk0 ~= state.check0 or 0x00 ~= state.check1 then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("chksum wrong (0x%02x,0x%02x) (0x%02x,0x%02x)", chk0, chk1, state.check0, state.check1))
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--discard_pending()
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--return
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end
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state.end0, state.end1 = string.unpack("<BB", read_bytes(2))
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if state.end0 ~= 0x0d or state.end1 ~= 0x0a then
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gcs:send_text(MAV_SEVERITY.INFO, string.format("end wrong 0x%02x 0x%02x", state.end0, state.end1))
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discard_pending()
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return
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end
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local dt = (tus - state.last_read_us):tofloat()*1.0e-6
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local fuel_g_rev = (state.inj1_mg + state.inj2_mg)
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state.fuel_g_per_min = fuel_g_rev * state.rpm1
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state.total_fuel_g = state.total_fuel_g + (state.fuel_g_per_min * dt / 60.0)
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state.last_read_us = micros()
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-- discard the rest
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discard_pending()
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gcs:send_named_float('VOL_SRV', state.vol_svr)
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gcs:send_named_float('VOL_PUMP', state.vol_pump)
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gcs:send_named_float('INF_ETEMP', state.tmp_env)
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gcs:send_named_float('INF_TEMP1', state.tmp0)
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gcs:send_named_float('INF_TEMP2', state.tmp1)
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end
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--[[
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update EFI state
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--]]
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local function update_EFI()
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if state.last_read_us == uint32_t(0) then
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return
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end
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local cylinder_state = Cylinder_Status()
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local efi_state = EFI_State()
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cylinder_state:cylinder_head_temperature(state.tmp0)
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cylinder_state:exhaust_gas_temperature(state.tmp1)
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cylinder_state:injection_time_ms(state.inj1_ms)
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efi_state:engine_speed_rpm(state.rpm_out)
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efi_state:atmospheric_pressure_kpa(state.pre_gas*0.01)
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efi_state:intake_manifold_temperature(state.tmp2)
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efi_state:throttle_position_percent(math.floor(state.bus_thr*0.1))
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efi_state:ignition_voltage(state.vol_power)
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efi_state:cylinder_status(cylinder_state)
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efi_state:last_updated_ms(millis())
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efi_state:fuel_pressure(state.pre_oil)
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efi_state:fuel_consumption_rate_cm3pm(gram_to_cm3(state.fuel_g_per_min))
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efi_state:estimated_consumed_fuel_volume_cm3(gram_to_cm3(state.total_fuel_g))
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-- Set the EFI_State into the EFI scripting driver
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efi_backend:handle_scripting(efi_state)
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end
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--[[
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main update function
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--]]
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local function update()
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check_input()
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update_EFI()
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return update, 10
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end
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gcs:send_text(MAV_SEVERITY.INFO, "EFI_INF: loaded")
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return update()
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@ -0,0 +1,38 @@
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# INF Inject Driver
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This driver implements support for the INF Inject EFI engine
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control units.
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https://innoflighttechnology.com/efi/
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# Parameters
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The script used the following parameters:
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## EFI_INF_ENABLE
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this must be set to 1 to enable the driver
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# Operation
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This driver should be loaded by placing the lua script in the
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APM/SCRIPTS directory on the microSD card, which can be done either
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directly or via MAVFTP. The following key parameters should be set:
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- SCR_ENABLE should be set to 1
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- EFI_TYPE should be set to 7
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- EFI_INF_ENABLE should be set to 1
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- SERIALn_PROTOCOL should be set to 28 for the connected EFI serial
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- RPM_TYPE1 should be set to 3
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- ICE_ENABLE should be set to 1
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then the flight controller should rebooted and parameters should be
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refreshed.
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Once loaded the EFI_INF_ENABLE parameters will appear and should be set
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according to the parameter list above.
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The GCS will receive EFI_STATUS MAVLink messages which includes RPM,
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cylinder head temperature, exhaust gas temperature, injection timing,
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engine load, fuel consumption rate, throttle position atmospheric
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pressure and ignition voltage.
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