From 41d6e6a05dcb35792e73fe40ff1ffca62a7d7cd0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 28 Sep 2022 15:58:17 +1000
Subject: [PATCH] AP_Scripting: added EFI testing script

---
 .../AP_Scripting/examples/EFI_tester.lua      | 184 ++++++++++++++++++
 1 file changed, 184 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/EFI_tester.lua

diff --git a/libraries/AP_Scripting/examples/EFI_tester.lua b/libraries/AP_Scripting/examples/EFI_tester.lua
new file mode 100644
index 0000000000..82fb56f0df
--- /dev/null
+++ b/libraries/AP_Scripting/examples/EFI_tester.lua
@@ -0,0 +1,184 @@
+--[[
+   simulator for CAN EFI
+   this can be used with a loopback cable between CAN1 and CAN2 to test CAN EFI Drivers
+--]]
+
+local driver2 = CAN.get_device2(25)
+if not driver2 then
+   gcs:send_text(0,string.format("EFISIM: Failed to load CAN driver"))
+   return
+end
+
+local PARAM_TABLE_KEY = 13
+local PARAM_TABLE_PREFIX = "EFISIM_"
+
+-- 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 Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 1), 'could not add param table')
+
+local EFISIM_TYPE  = bind_add_param('TYPE', 1, 0)
+
+function get_time_sec()
+   return millis():tofloat() * 0.001
+end
+
+local FRM_100 = uint32_t(0x100)
+local FRM_101 = uint32_t(0x101)
+local FRM_102 = uint32_t(0x102)
+local FRM_104 = uint32_t(0x104)
+local FRM_105 = uint32_t(0x105)
+local FRM_106 = uint32_t(0x106)
+local FRM_10A = uint32_t(0x10A)
+local FRM_10C = uint32_t(0x10C)
+local FRM_10D = uint32_t(0x10D)
+local FRM_10F = uint32_t(0x10F)
+local FRM_113 = uint32_t(0x113)
+local FRM_114 = uint32_t(0x114)
+local FRM_115 = uint32_t(0x115)
+
+function put_u8(msg, ofs, v)
+   msg:data(ofs,v&0xFF)
+end
+
+function put_u16(msg, ofs, v)
+   msg:data(ofs,v&0xFF)
+   msg:data(ofs+1,v>>8)
+end
+
+function put_u32(msg, ofs, v)
+   msg:data(ofs+0,v&0xFF)
+   msg:data(ofs+1,(v>>8)&0xFF)
+   msg:data(ofs+2,(v>>16)&0xFF)
+   msg:data(ofs+3,(v>>24)&0xFF)
+end
+
+local rev_counter = 0
+
+--[[
+   send SkyPower data. Called at 100Hz
+--]]
+function send_SkyPower(driver)
+
+   --local msg = CANFrame()
+   local t = get_time_sec()
+
+   local RPM = 1200 + math.floor(1000*math.sin(t))
+   rev_counter = rev_counter + (RPM/60.0)*0.01
+
+   -- 0x100
+   local msg = CANFrame()
+   msg:id(FRM_100)
+   put_u16(msg,0,RPM)
+   put_u16(msg,2,13*10) -- ignition angle
+   put_u16(msg,4,45*10) -- throttle angle
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x101
+   msg = CANFrame()
+   msg:id(FRM_101)
+   put_u16(msg,2,917) -- air pressure
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x102
+   msg = CANFrame()
+   msg:id(FRM_102)
+   put_u16(msg,0,7*10) -- ingition gap
+   put_u16(msg,2,270*10) -- injection angle
+   put_u16(msg,4,37000) -- injection time
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x104
+   msg = CANFrame()
+   msg:id(FRM_104)
+   put_u16(msg,0,math.floor(14.8*10)) -- supply voltage
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x105
+   msg = CANFrame()
+   msg:id(FRM_105)
+   put_u16(msg,0,172*10) -- engine temp head 1
+   put_u16(msg,2,65*10) -- air temp
+   put_u16(msg,4,320*10) -- exhaust temp
+   put_u16(msg,6,113*10) -- ecu temp
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x106
+   msg = CANFrame()
+   msg:id(FRM_106)
+   put_u32(msg,0,math.floor(rev_counter))
+   put_u8(msg,4,math.floor(t))
+   put_u8(msg,5,math.floor(t/60))
+   put_u16(msg,6,math.floor(t/3600))
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x10A
+   msg = CANFrame()
+   msg:id(FRM_10A)
+   put_u16(msg,6,72*10) -- target load
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x10C
+   msg = CANFrame()
+   msg:id(FRM_10C)
+   put_u16(msg,4,145*10) -- engine head temp 2
+   put_u16(msg,6,315*10) -- exhaust temp 2
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x10D
+   msg = CANFrame()
+   msg:id(FRM_10D)
+   put_u16(msg,4,72*10) -- current load
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x10F
+   msg = CANFrame()
+   msg:id(FRM_10F)
+   put_u16(msg,4,2*10) -- fuel consumption
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x113
+   msg = CANFrame()
+   msg:id(FRM_113)
+   put_u16(msg,2,1*10) -- gen amps
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x114
+   msg = CANFrame()
+   msg:id(FRM_114)
+   put_u16(msg,2,2400*10) -- gen RPM
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+
+   -- 0x115
+   msg = CANFrame()
+   msg:id(FRM_115)
+   put_u16(msg,4,30*100) -- gen current
+   msg:dlc(8)
+   driver:write_frame(msg, 10000)
+end
+
+function update()
+   if EFISIM_TYPE:get() == 1 then
+      send_SkyPower(driver2)
+   end
+   return update, 10
+end
+
+gcs:send_text(0,string.format("EFISIM: loaded"))
+
+return update()