mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: added EFI HFE driver
This commit is contained in:
Andrew Tridgell
parent
7f7b8893e3
commit
1f42453bb4
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--[[
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EFI Scripting backend driver for HFE based on HFEDCN0191 Rev E
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--]]
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-- Check Script uses a miniumum firmware version
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local SCRIPT_AP_VERSION = 4.4
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local SCRIPT_NAME = "EFI: HFE CAN"
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local VERSION = FWVersion:major() + (FWVersion:minor() * 0.1)
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assert(VERSION >= SCRIPT_AP_VERSION, string.format('%s Requires: %s:%.1f. Found Version: %s', SCRIPT_NAME, FWVersion:type(), SCRIPT_AP_VERSION, VERSION))
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local MAV_SEVERITY_ERROR = 3
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PARAM_TABLE_KEY = 37
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PARAM_TABLE_PREFIX = "EFI_HFE_"
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K_THROTTLE = 70
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K_IGNITION = 67
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-- bind a parameter to a variable given
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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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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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function get_time_sec()
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return millis():tofloat() * 0.001
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end
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-- Type conversion functions
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function get_uint8(frame, ofs)
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return frame:data(ofs)
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end
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function get_uint16(frame, ofs)
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return frame:data(ofs+1) + (frame:data(ofs) << 8)
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end
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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-- Register for the CAN drivers
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local driver1 = CAN.get_device(25)
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if not driver1 then
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gcs:send_text(0, string.format("EFI CAN Telemetry: Failed to load driver"))
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return
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end
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-- Setup EFI Parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 5), 'could not add EFI_HFE param table')
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local EFI_HFE_ENABLE = bind_add_param('ENABLE', 1, 0)
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local EFI_HFE_RATE_HZ = bind_add_param('RATE_HZ', 2, 200) -- Script update frequency in Hz
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local EFI_HFE_ECU_IDX = bind_add_param('ECU_IDX', 3, 0) -- ECU index on CAN bus, 0 for automatic
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local EFI_HFE_FUEL_DTY = bind_add_param('FUEL_DTY', 4, 740) -- fuel density, g/litre
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local EFI_HFE_REL_IDX = bind_add_param('REL_IDX', 5, 0) -- relay number for engine enable
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local ICE_PWM_IGN_ON = bind_param("ICE_PWM_IGN_ON")
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if EFI_HFE_ENABLE:get() == 0 then
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return
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end
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local now_s = get_time_sec()
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--[[
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EFI Engine Object
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--]]
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local function engine_control(_driver)
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local self = {}
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-- Build up the EFI_State that is passed into the EFI Scripting backend
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local efi_state = EFI_State()
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local cylinder_state = Cylinder_Status()
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-- private fields as locals
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local rpm = 0
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local air_pressure = 0
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local map_ratio = 0.0
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local driver = _driver
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local last_rpm_t = get_time_sec()
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local last_state_update_t = get_time_sec()
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local throttle_pos = 0.0
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local last_thr_t = get_time_sec()
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local C_TO_KELVIN = 273.2
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local fuel_flow_gph = 0.0
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local fuel_total_g = 0.0
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local fuel_press = 0.0
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local last_fuel_s = 0.0
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local ecu_voltage = 0.0
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local injector_duty = 0.0
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local ignition_angle = 0.0
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-- Generator Data Structure
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local gen = {}
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gen.amps = 0.0
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gen.rpm = 0.0
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gen.batt_current = 0.0
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-- Temperature Data Structure
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local temps = {}
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temps.egt = 0.0 -- Engine Gas Temperature
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temps.iat = 0.0 -- inlet air temperature
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temps.mat = 0.0 -- manifold air temperature
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temps.cht = 0.0 -- cylinder head temperature
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-- read telemetry packets
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function self.update_telemetry()
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local max_packets = 25
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local count = 0
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while count < max_packets do
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frame = driver:read_frame()
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count = count + 1
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if not frame then
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break
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end
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-- All Frame IDs for this EFI Engine are in the 29-bit extended address space
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if frame:isExtended() then
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self.handle_EFI_packet(frame)
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end
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end
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if last_rpm_t > last_state_update_t then
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-- update state if we have an updated RPM
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last_state_update_t = last_rpm_t
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self.set_EFI_State()
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end
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end
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-- handle an EFI packet
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function self.handle_EFI_packet(frame)
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local id = frame:id_signed()
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if id >> 24 ~= 0x08 then
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-- not from ECU
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return
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end
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local ecu = id & 0xff
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if ecu ~= 0 and EFI_HFE_ECU_IDX:get() == 0 then
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EFI_HFE_ECU_IDX:set(ecu)
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gcs:send_text(0, string.format("EFI_HFE: found ECU %u", ecu))
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end
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if ecu ~= EFI_HFE_ECU_IDX:get() then
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-- not from correct ECU
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return
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end
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local cmd = (id >> 16) & 0xff
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if cmd == 0x0 then
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-- fast telemetry
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throttle_pos = get_uint8(frame, 0)
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rpm = get_uint16(frame, 1)
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last_rpm_t = get_time_sec()
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elseif cmd == 0x01 then
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-- slow telem0
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air_pressure = get_uint16(frame, 5) * 2
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map_ratio = get_uint8(frame, 7) * 0.01
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temps.cht = get_uint8(frame,3) - 10.0
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elseif cmd == 0x02 then
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-- slow telem1
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temps.iat = get_uint8(frame, 0)
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ecu_voltage = get_uint8(frame, 6) * 0.1
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fuel_press = get_uint16(frame,1)*20.0
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elseif cmd == 0x03 then
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-- slow telem2
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temps.mat = (1.5*get_uint8(frame, 1)) - 128
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fuel_flow_gph = get_uint16(frame, 6)
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if last_fuel_s > 0 then
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local dt = now_s - last_fuel_s
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local fuel_gps = fuel_flow_gph / 3600.0
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fuel_total_g = fuel_total_g + fuel_gps * dt
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end
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injector_duty = get_uint16(frame,2)
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last_fuel_s = now_s
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ignition_angle = get_uint8(frame,4)*2.0
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end
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end
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-- Build and set the EFI_State that is passed into the EFI Scripting backend
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function self.set_EFI_State()
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-- Cylinder_Status
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cylinder_state:cylinder_head_temperature(temps.cht + C_TO_KELVIN)
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cylinder_state:exhaust_gas_temperature(temps.mat)
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cylinder_state:ignition_timing_deg(ignition_angle)
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if rpm > 0 then
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cylinder_state:injection_time_ms((60.0/rpm)*1000*injector_duty)
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else
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cylinder_state:injection_time_ms(0)
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end
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efi_state:engine_speed_rpm(uint32_t(rpm))
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efi_state:atmospheric_pressure_kpa(air_pressure*0.001)
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efi_state:intake_manifold_pressure_kpa(air_pressure*0.001*map_ratio)
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efi_state:intake_manifold_temperature(temps.mat + C_TO_KELVIN)
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efi_state:throttle_position_percent(math.floor((throttle_pos*100/255)+0.5))
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efi_state:ignition_voltage(ecu_voltage)
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efi_state:fuel_pressure(fuel_press*0.001)
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local gram_to_cm3 = EFI_HFE_FUEL_DTY:get() * 0.001
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efi_state:fuel_consumption_rate_cm3pm((fuel_flow_gph/60.0) * gram_to_cm3)
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efi_state:estimated_consumed_fuel_volume_cm3(fuel_total_g * gram_to_cm3)
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-- copy cylinder_state to efi_state
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efi_state:cylinder_status(cylinder_state)
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efi_state:last_updated_ms(millis())
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-- Set the EFI_State into the EFI scripting driver
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efi:handle_scripting(efi_state)
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end
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-- send throttle
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function self.send_throttle()
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if now_s - last_thr_t < 0.02 then
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-- limit to 50Hz
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return
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end
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last_thr_t = now_s
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local thr = SRV_Channels:get_output_scaled(K_THROTTLE)
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local msg = CANFrame()
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msg:id(uint32_t(0x89060000 | EFI_HFE_ECU_IDX:get()))
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msg:data(0,math.floor((thr*255/100)+0.5))
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msg:dlc(2)
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driver:write_frame(msg, 10000)
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-- throttle calibration request, for debug
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--msg = CANFrame()
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--msg:id(uint32_t(0x89050000 | EFI_HFE_ECU_IDX:get()))
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--msg:dlc(0)
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--driver:write_frame(msg, 10000)
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-- map K_IGNITION to relay for enable of engine
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local relay_idx = EFI_HFE_REL_IDX:get()
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if relay_idx > 0 then
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local ignition_pwm = SRV_Channels:get_output_pwm(K_IGNITION)
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if ignition_pwm == ICE_PWM_IGN_ON:get() then
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relay:on(relay_idx-1)
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else
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relay:off(relay_idx-1)
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end
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end
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end
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-- return the instance
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return self
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end -- end function engine_control(_driver)
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local engine1 = engine_control(driver1, 1)
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function update()
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now_s = get_time_sec()
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-- Parse Driver Messages
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engine1.update_telemetry()
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engine1.send_throttle()
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end
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gcs:send_text(0, SCRIPT_NAME .. string.format(" loaded"))
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-- wrapper around update(). This calls update() and if update faults
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-- then an error is displayed, but the script is not stopped
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function protected_wrapper()
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local success, err = pcall(update)
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if not success then
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gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
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-- when we fault we run the update function again after 1s, slowing it
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-- down a bit so we don't flood the console with errors
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return protected_wrapper, 1000
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end
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return protected_wrapper, 1000 / EFI_HFE_RATE_HZ:get()
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end
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-- start running update loop
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return protected_wrapper()
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