mirror of https://github.com/ArduPilot/ardupilot
AP_EFI: Adding EFIS log for Hirth
- Added EFIS log for Hirth engine - Added ThM to help understand the engine logs better - Updated the field names to keep the total length 64-characters long. - Added Bitfield for the EFIS log to log all errors.
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1fe21b6120
commit
54ec26a80a
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@ -205,6 +205,7 @@ void AP_EFI_Serial_Hirth::send_request()
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bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
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bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
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{
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{
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uint8_t computed_checksum = 0;
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uint8_t computed_checksum = 0;
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throttle_to_hirth = 0;
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// clear buffer
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// clear buffer
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memset(raw_data, 0, ARRAY_SIZE(raw_data));
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memset(raw_data, 0, ARRAY_SIZE(raw_data));
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@ -214,15 +215,15 @@ bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
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thr = linearise_throttle(thr);
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thr = linearise_throttle(thr);
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#endif
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#endif
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const uint16_t throttle = thr * THROTTLE_POSITION_FACTOR;
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throttle_to_hirth = thr * THROTTLE_POSITION_FACTOR;
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uint8_t idx = 0;
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uint8_t idx = 0;
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// set Quantity + Code + "20 bytes of records to set" + Checksum
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// set Quantity + Code + "20 bytes of records to set" + Checksum
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computed_checksum += raw_data[idx++] = QUANTITY_SET_VALUE;
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computed_checksum += raw_data[idx++] = QUANTITY_SET_VALUE;
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computed_checksum += raw_data[idx++] = requested_code = CODE_SET_VALUE;
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computed_checksum += raw_data[idx++] = requested_code = CODE_SET_VALUE;
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computed_checksum += raw_data[idx++] = throttle & 0xFF;
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computed_checksum += raw_data[idx++] = throttle_to_hirth & 0xFF;
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computed_checksum += raw_data[idx++] = (throttle >> 8) & 0xFF;
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computed_checksum += raw_data[idx++] = (throttle_to_hirth >> 8) & 0xFF;
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// checksum calculation
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// checksum calculation
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raw_data[QUANTITY_SET_VALUE - 1] = (256 - computed_checksum);
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raw_data[QUANTITY_SET_VALUE - 1] = (256 - computed_checksum);
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@ -309,10 +310,7 @@ void AP_EFI_Serial_Hirth::decode_data()
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// EFI3 log
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// EFI3 log
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internal_state.ignition_voltage = record1->battery_voltage * VOLTAGE_RESOLUTION;
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internal_state.ignition_voltage = record1->battery_voltage * VOLTAGE_RESOLUTION;
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engine_temperature_sensor_status = (record1->sensor_ok & 0x01) != 0;
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sensor_status = record1->sensor_ok;
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air_temperature_sensor_status = (record1->sensor_ok & 0x02) != 0;
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air_pressure_sensor_status = (record1->sensor_ok & 0x04) != 0;
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throttle_sensor_status = (record1->sensor_ok & 0x08) != 0;
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// resusing mavlink variables as required for Hirth
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// resusing mavlink variables as required for Hirth
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// add in ADC voltage of MAP sensor > convert to MAP in kPa
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// add in ADC voltage of MAP sensor > convert to MAP in kPa
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@ -344,10 +342,7 @@ void AP_EFI_Serial_Hirth::decode_data()
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struct Record3 *record3 = (Record3*)raw_data;
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struct Record3 *record3 = (Record3*)raw_data;
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// EFI3 Log
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// EFI3 Log
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CHT_1_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0007) != 0;
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error_excess_temperature = record3->error_excess_temperature_bitfield;
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CHT_2_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0038) != 0;
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EGT_1_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x01C0) != 0;
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EGT_2_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0E00) != 0;
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// ECYL log
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// ECYL log
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internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(record3->excess_temperature_1);
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internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(record3->excess_temperature_1);
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@ -369,36 +364,28 @@ void AP_EFI_Serial_Hirth::log_status(void)
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// @LoggerMessage: EFIS
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// @LoggerMessage: EFIS
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// @Description: Electronic Fuel Injection data - Hirth specific Status information
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// @Description: Electronic Fuel Injection data - Hirth specific Status information
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// @Field: TimeUS: Time since system startup
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// @Field: TimeUS: Time since system startup
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// @Field: ETS1: Status of EGT1 excess temperature error
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// @Field: EET: Error Excess Temperature Bitfield
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// @Field: ETS2: Status of EGT2 excess temperature error
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// @FieldBitmaskEnum: EET: AP_EFI_Serial_Hirth:::Error_Excess_Temp_Bitfield
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// @Field: CTS1: Status of CHT1 excess temperature error
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// @Field: FLAG: Sensor Status Bitfield
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// @Field: CTS2: Status of CHT2 excess temperature error
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// @FieldBitmaskEnum: FLAG: AP_EFI_Serial_Hirth:::Sensor_Status_Bitfield
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// @Field: ETSS: Status of Engine temperature sensor
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// @Field: CRF: CRC failure count
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// @Field: ATSS: Status of Air temperature sensor
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// @Field: AKF: ACK failure count
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// @Field: APSS: Status of Air pressure sensor
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// @Field: TSS: Status of Temperature sensor
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// @Field: CRCF: CRC failure count
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// @Field: AckF: ACK failure count
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// @Field: Up: Uptime between 2 messages
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// @Field: Up: Uptime between 2 messages
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// @Field: ThrO: Throttle output as received by the engine
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// @Field: ThO: Throttle output as received by the engine
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// @Field: ThM: Modified throttle_to_hirth output sent to the engine
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AP::logger().WriteStreaming("EFIS",
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AP::logger().WriteStreaming("EFIS",
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"TimeUS,ETS1,ETS2,CTS1,CTS2,ETSS,ATSS,APSS,TSS,CRCF,AckF,Up,ThrO",
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"TimeUS,EET,FLAG,CRF,AKF,Up,ThO,ThM",
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"s------------",
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"s-------",
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"F------------",
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"F-------",
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"QBBBBBBBBIIIf",
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"QHBIIIfH",
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AP_HAL::micros64(),
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AP_HAL::micros64(),
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uint8_t(EGT_1_error_excess_temperature_status),
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uint16_t(error_excess_temperature),
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uint8_t(EGT_2_error_excess_temperature_status),
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uint8_t(sensor_status),
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uint8_t(CHT_1_error_excess_temperature_status),
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uint8_t(CHT_2_error_excess_temperature_status),
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uint8_t(engine_temperature_sensor_status),
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uint8_t(air_temperature_sensor_status),
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uint8_t(air_pressure_sensor_status),
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uint8_t(throttle_sensor_status),
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uint32_t(crc_fail_cnt),
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uint32_t(crc_fail_cnt),
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uint32_t(ack_fail_cnt),
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uint32_t(ack_fail_cnt),
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uint32_t(uptime),
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uint32_t(uptime),
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float(internal_state.throttle_out));
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float(internal_state.throttle_out),
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uint16_t(throttle_to_hirth));
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}
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}
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#endif // HAL_LOGGING_ENABLED
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#endif // HAL_LOGGING_ENABLED
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@ -31,6 +31,28 @@ public:
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void update() override;
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void update() override;
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enum class Error_Excess_Temp_Bitfield : uint16_t {
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CHT_1_LOW = 1U<<0, // true if CHT1 is too low
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CHT_1_HIGH = 1U<<1, // true if CHT1 is too high
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CHT_1_ENRC_ACTIVE = 1U<<2, // true if CHT1 Enrichment is active
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CHT_2_LOW = 1U<<3, // true if CHT2 is too low
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CHT_2_HIGH = 1U<<4, // true if CHT2 is too high
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CHT_2_ENRC_ACTIVE = 1U<<5, // true if CHT2 Enrichment is active
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EGT_1_LOW = 1U<<6, // true if EGT1 is too low
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EGT_1_HIGH = 1U<<7, // true if EGT1 is too high
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EGT_1_ENRC_ACTIVE = 1U<<8, // true if EGT1 Enrichment is active
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EGT_2_LOW = 1U<<9, // true if EGT2 is too low
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EGT_2_HIGH = 1U<<10, // true if EGT2 is too high
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EGT_2_ENRC_ACTIVE = 1U<<11, // true if EGT2 Enrichment is active
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};
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enum class Sensor_Status_Bitfield : uint8_t {
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ENGINE_TEMP_SENSOR_OK = 1U<<0, // true if engine temperature sensor is OK
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AIR_TEMP_SENSOR_OK = 1U<<1, // true if air temperature sensor is OK
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AIR_PRESSURE_SENSOR_OK = 1U<<2, // true if intake air pressure sensor is OK
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THROTTLE_SENSOR_OK = 1U<<3, // true if throttle sensor is OK
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};
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private:
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private:
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// serial port instance
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// serial port instance
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AP_HAL::UARTDriver *port;
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AP_HAL::UARTDriver *port;
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@ -62,19 +84,14 @@ private:
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// Throttle values
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// Throttle values
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uint16_t last_throttle;
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uint16_t last_throttle;
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uint16_t throttle_to_hirth;
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uint32_t last_fuel_integration_ms;
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uint32_t last_fuel_integration_ms;
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// custom status for Hirth
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// custom status for Hirth
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bool engine_temperature_sensor_status;
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uint16_t sensor_status;
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bool air_temperature_sensor_status;
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bool air_pressure_sensor_status;
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bool throttle_sensor_status;
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bool CHT_1_error_excess_temperature_status;
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uint16_t error_excess_temperature;
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bool CHT_2_error_excess_temperature_status;
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bool EGT_1_error_excess_temperature_status;
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bool EGT_2_error_excess_temperature_status;
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uint32_t crc_fail_cnt;
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uint32_t crc_fail_cnt;
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uint32_t uptime;
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uint32_t uptime;
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uint32_t ack_fail_cnt;
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uint32_t ack_fail_cnt;
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