AP_EFI: added support for Lutan EFI system

libraries/AP_EFI/AP_EFI.cpp

@@ -18,6 +18,7 @@
 #if HAL_EFI_ENABLED
 
 #include "AP_EFI_Serial_MS.h"
+#include "AP_EFI_Serial_Lutan.h"
 #include "AP_EFI_NWPMU.h"
 #include <AP_Logger/AP_Logger.h>
 
@@ -32,7 +33,7 @@ const AP_Param::GroupInfo AP_EFI::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: EFI communication type
     // @Description: What method of communication is used for EFI #1
-    // @Values: 0:None,1:Serial-MS,2:NWPMU
+    // @Values: 0:None,1:Serial-MS,2:NWPMU,3:Serial-Lutan
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_EFI, type, 0, AP_PARAM_FLAG_ENABLE),
@@ -76,6 +77,9 @@ void AP_EFI::init(void)
     case Type::MegaSquirt:
         backend = new AP_EFI_Serial_MS(*this);
         break;
+    case Type::Lutan:
+        backend = new AP_EFI_Serial_Lutan(*this);
+        break;
     case Type::NWPMU:
 #if HAL_EFI_NWPWU_ENABLED
         backend = new AP_EFI_NWPMU(*this);

libraries/AP_EFI/AP_EFI.h

@@ -74,6 +74,7 @@ public:
         NONE       = 0,
         MegaSquirt = 1,
         NWPMU     = 2,
+        Lutan     = 3,
     };
 
     static AP_EFI *get_singleton(void) {

libraries/AP_EFI/AP_EFI_Serial_Lutan.cpp

@@ -0,0 +1,95 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#include <AP_HAL/AP_HAL.h>
+#include "AP_EFI_Serial_Lutan.h"
+#include <AP_HAL/utility/sparse-endian.h>
+#include <stdio.h>
+
+#if HAL_EFI_ENABLED
+#include <AP_SerialManager/AP_SerialManager.h>
+
+extern const AP_HAL::HAL &hal;
+
+AP_EFI_Serial_Lutan::AP_EFI_Serial_Lutan(AP_EFI &_frontend):
+    AP_EFI_Backend(_frontend)
+{
+    port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_EFI, 0);
+}
+
+
+void AP_EFI_Serial_Lutan::update()
+{
+    if (port == nullptr) {
+        return;
+    }
+
+    const uint32_t now = AP_HAL::millis();
+    if (pkt_nbytes > 0 && now - last_recv_ms > 100) {
+        pkt_nbytes = 0;
+    }
+    const uint32_t n = MIN(sizeof(pkt), port->available());
+    if (n > 0) {
+        last_recv_ms = now;
+    }
+    if (n + pkt_nbytes > sizeof(pkt)) {
+        pkt_nbytes = 0;
+    }
+    const ssize_t nread = port->read(&pkt[pkt_nbytes], n);
+    if (nread <= 0) {
+        return;
+    }
+    pkt_nbytes += nread;
+    if (pkt_nbytes > 2) {
+        const uint16_t length = be16toh(data.length);
+        if (length+6 == pkt_nbytes) {
+            // got a pkt of right length
+            const uint32_t crc = be32toh_ptr(&pkt[length+2]);
+            const uint32_t crc2 = ~crc_crc32(~0U, &pkt[2], length);
+            if (crc == crc2) {
+                // valid data
+                internal_state.last_updated_ms = now;
+                internal_state.spark_dwell_time_ms = int16_t(be16toh(data.dwell))*0.1;
+                internal_state.cylinder_status[0].injection_time_ms = be16toh(data.pulseWidth1)*0.00666;
+                internal_state.engine_speed_rpm = be16toh(data.rpm);
+                internal_state.atmospheric_pressure_kpa = int16_t(be16toh(data.barometer))*0.1;
+                internal_state.intake_manifold_pressure_kpa = int16_t(be16toh(data.map))*0.1;
+                internal_state.intake_manifold_temperature = degF_to_Kelvin(int16_t(be16toh(data.mat))*0.1);
+                internal_state.coolant_temperature = degF_to_Kelvin(int16_t(be16toh(data.coolant))*0.1);
+                // CHT is in coolant field
+                internal_state.cylinder_status[0].cylinder_head_temperature = internal_state.coolant_temperature;
+                internal_state.throttle_position_percent = int16_t(be16toh(data.tps))*0.1;
+                copy_to_frontend();
+            }
+            pkt_nbytes = 0;
+        }
+    }
+    if (n == 0 || now - last_request_ms > 200) {
+        last_request_ms = now;
+        port->discard_input();
+        send_request();
+    }
+}
+
+void AP_EFI_Serial_Lutan::send_request(void)
+{
+    static const uint8_t d[] = { 0, 1, 0x41 };
+    const uint32_t crc = ~crc_crc32(~0U, &d[2], sizeof(d)-2);
+    const uint32_t crc2 = htobe32(crc);
+    port->write(d, sizeof(d));
+    port->write((const uint8_t *)&crc2, sizeof(crc2));
+}
+
+#endif // HAL_EFI_ENABLED

libraries/AP_EFI/AP_EFI_Serial_Lutan.h

@@ -0,0 +1,83 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  support for Lutan serial EFI
+ */
+#pragma once
+
+#include "AP_EFI.h"
+#include "AP_EFI_Backend.h"
+
+class AP_EFI_Serial_Lutan: public AP_EFI_Backend {
+    
+public:
+    // Constructor with initialization
+    AP_EFI_Serial_Lutan(AP_EFI &_frontend);
+
+    // Update the state structure
+    void update() override;
+
+private:
+    AP_HAL::UARTDriver *port;
+    void send_request(void);
+
+    union {
+        struct PACKED {
+            // fields from channels in LUTAN-MS2.ini
+            uint16_t length;
+            uint8_t flags;
+            uint16_t seconds;
+            uint16_t pulseWidth1; // ms, scale 0.000666
+            uint16_t pulseWidth2; // ms, scale 0.000666
+            uint16_t rpm;
+            int16_t advance;  // deg, scale 0.1
+            uint8_t squirt_flags;
+            uint8_t engine_flags;
+            uint8_t afrtgt1;
+            uint8_t afrtgt2;
+            uint8_t wbo2_en1;
+            uint8_t wbo2_en2;
+            int16_t barometer; // kPa, scale 0.1
+            int16_t map; // kPa, scale 0.1
+            int16_t mat; // degF, scale 0.1
+            int16_t coolant; // degF, scale 0.1
+            int16_t tps; // %, scale 0.1
+            int16_t batteryVoltage; // V, scale 0.1
+            int16_t afr1; // scale 0.1
+            int16_t afr2; // scale 0.1
+            uint16_t knock; // %, scale 0.1
+            int16_t egoCorrection1; // %, scale 0.1
+            int16_t egoCorrection2; // %, scale 0.1
+            int16_t airCorrection; // %, scale 0.1
+            int16_t warmupEnrich; // %, scale 0.1
+            int16_t accelEnrich; // ms, scale 0.1
+            int16_t tpsfuelcut; // %
+            int16_t baroCorrection; // %, scale 0.1
+            int16_t gammaEnrich; // %
+            int16_t veCurr1; // %, scale 0.1
+            int16_t veCurr2; // %, scale 0.1
+            int16_t iacstep;
+            int16_t idleDC; // scale 0.392
+            int16_t coldAdvDeg; // deg, scale 0.1
+            int16_t TPSdot; // %/s, scale 0.1
+            int16_t MAPdot; // kPa/s
+            int16_t dwell; // ms, scale 0.0666
+        } data;
+        uint8_t pkt[400];
+    };
+    uint16_t pkt_nbytes;
+    uint32_t last_request_ms;
+    uint32_t last_recv_ms;
+};

libraries/AP_EFI/AP_EFI_Serial_MS.cpp

@@ -25,7 +25,7 @@ AP_EFI_Serial_MS::AP_EFI_Serial_MS(AP_EFI &_frontend):
     AP_EFI_Backend(_frontend)
 {
     internal_state.estimated_consumed_fuel_volume_cm3 = 0; // Just to be sure
-    port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_EFI_MS, 0);
+    port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_EFI, 0);
 }