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AP_EFI: Add AP_EFI Library

This commit is contained in:
Sriram Sami 2018-03-28 16:37:58 -07:00 committed by Andrew Tridgell
parent 0751756e91
commit f8cf388236
7 changed files with 936 additions and 0 deletions
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186
libraries/AP_EFI/AP_EFI.cpp Normal file
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/*
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_EFI.h"
#if EFI_ENABLED
#include "AP_EFI_Serial_MS.h"
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
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
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_EFI, type, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _COEF1
// @DisplayName: EFI Calibration Coefficient 1
// @Description: Used to calibrate fuel flow for MS protocol (Slope)
// @Range: 0 1
// @User: Advanced
// @RebootRequired: False
AP_GROUPINFO("_COEF1", 2, AP_EFI, coef1, 0),
// @Param: _COEF2
// @DisplayName: EFI Calibration Coefficient 2
// @Description: Used to calibrate fuel flow for MS protocol (Offset)
// @Range: 0 10
// @User: Advanced
// @RebootRequired: False
AP_GROUPINFO("_COEF2", 3, AP_EFI, coef2, 0),
AP_GROUPEND
};
AP_EFI *AP_EFI::singleton;
// Initialize parameters
AP_EFI::AP_EFI()
{
singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
// Initialize backends based on existing params
void AP_EFI::init(void)
{
if (backend != nullptr) {
// Init called twice, perhaps
return;
}
// Check for MegaSquirt Serial EFI
if (type == EFI_COMMUNICATION_TYPE_SERIAL_MS) {
backend = new AP_EFI_Serial_MS(*this);
}
}
// Ask all backends to update the frontend
void AP_EFI::update()
{
if (backend) {
backend->update();
log_status();
}
}
bool AP_EFI::is_healthy(void) const
{
return (backend && (AP_HAL::millis() - state.last_updated_ms) < HEALTHY_LAST_RECEIVED_MS);
}
/*
write status to log
*/
void AP_EFI::log_status(void)
{
AP::logger().Write("EFI",
"TimeUS,LP,Rpm,SDT,ATM,IMP,IMT,ECT,OilP,OilT,FP,FCR,CFV,TPS,IDX",
"s%qsPPOOPOP--%-",
"F00C--00-0-0000",
"QBIffffffffffBB",
AP_HAL::micros64(),
uint8_t(state.engine_load_percent),
uint32_t(state.engine_speed_rpm),
float(state.spark_dwell_time_ms),
float(state.atmospheric_pressure_kpa),
float(state.intake_manifold_pressure_kpa),
float(state.intake_manifold_temperature),
float(state.coolant_temperature),
float(state.oil_pressure),
float(state.oil_temperature),
float(state.fuel_pressure),
float(state.fuel_consumption_rate_cm3pm),
float(state.estimated_consumed_fuel_volume_cm3),
uint8_t(state.throttle_position_percent),
uint8_t(state.ecu_index));
AP::logger().Write("EFI2",
"TimeUS,Healthy,ES,GE,CSE,TS,FPS,OPS,DS,MS,DS,SPU,IDX",
"s------------",
"F------------",
"QBBBBBBBBBBBB",
AP_HAL::micros64(),
uint8_t(is_healthy()),
uint8_t(state.engine_state),
uint8_t(state.general_error),
uint8_t(state.crankshaft_sensor_status),
uint8_t(state.temperature_status),
uint8_t(state.fuel_pressure_status),
uint8_t(state.oil_pressure_status),
uint8_t(state.detonation_status),
uint8_t(state.misfire_status),
uint8_t(state.debris_status),
uint8_t(state.spark_plug_usage),
uint8_t(state.ecu_index));
for (uint8_t i = 0; i < ENGINE_MAX_CYLINDERS; i++) {
AP::logger().Write("ECYL",
"TimeUS,Inst,IgnT,InjT,CHT,EGT,Lambda,IDX",
"s#dsOO--",
"F-0C0000",
"QBfffffB",
AP_HAL::micros64(),
i,
state.cylinder_status[i].ignition_timing_deg,
state.cylinder_status[i].injection_time_ms,
state.cylinder_status[i].cylinder_head_temperature,
state.cylinder_status[i].exhaust_gas_temperature,
state.cylinder_status[i].lambda_coefficient,
state.ecu_index);
}
}
/*
send EFI_STATUS
*/
void AP_EFI::send_mavlink_status(mavlink_channel_t chan)
{
if (!backend) {
return;
}
mavlink_msg_efi_status_send(
chan,
AP_EFI::is_healthy(),
state.ecu_index,
state.engine_speed_rpm,
state.estimated_consumed_fuel_volume_cm3,
state.fuel_consumption_rate_cm3pm,
state.engine_load_percent,
state.throttle_position_percent,
state.spark_dwell_time_ms,
state.atmospheric_pressure_kpa,
state.intake_manifold_pressure_kpa,
(state.intake_manifold_temperature - 273.0f),
(state.cylinder_status[0].cylinder_head_temperature - 273.0f),
state.cylinder_status[0].ignition_timing_deg,
state.cylinder_status[0].injection_time_ms);
}
namespace AP {
AP_EFI *EFI()
{
return AP_EFI::get_singleton();
}
}
#endif // EFI_ENABLED

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libraries/AP_EFI/AP_EFI.h Normal file
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/*
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/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#define EFI_ENABLED !HAL_MINIMIZE_FEATURES
#if EFI_ENABLED
#include "AP_EFI_Backend.h"
#include "AP_EFI_State.h"
/*
* This library aims to read data from Electronic Fuel Injection
* or Engine Control units. It is focused around the generic
* internal combustion engine state message provided by the
* UAVCAN protocol due to its comprehensiveness, but is extensible
* to use other forms of data transfer besides UAVCAN.
*
*
*
* Authors: Sriram Sami and David Ingraham
* With direction from Andrew Tridgell, Robert Lefebvre, Francisco Ferreira and
* Pavel Kirienko.
* Thanks to Yonah, SpektreWorks Inc, and HFE International.
*/
class AP_EFI {
public:
friend class AP_EFI_Backend;
// For parameter initialization
AP_EFI();
// Initializes backend
void init(void);
// Requests backend to update the frontend. Should be called at 10Hz.
void update();
// Returns the RPM
uint32_t get_rpm() const { return state.engine_speed_rpm; }
// returns enabled state of EFI
bool enabled() const { return type != EFI_COMMUNICATION_TYPE_NONE; }
bool is_healthy() const;
// Parameter info
static const struct AP_Param::GroupInfo var_info[];
// Backend driver types
enum EFI_Communication_Type {
EFI_COMMUNICATION_TYPE_NONE = 0,
EFI_COMMUNICATION_TYPE_SERIAL_MS = 1
};
static AP_EFI *get_singleton(void) {
return singleton;
}
// send EFI_STATUS
void send_mavlink_status(mavlink_channel_t chan);
protected:
// Back end Parameters
AP_Float coef1;
AP_Float coef2;
EFI_State state;
private:
// Front End Parameters
AP_Int8 type;
// Tracking backends
AP_EFI_Backend *backend;
static AP_EFI *singleton;
// write to log
void log_status();
};
namespace AP {
AP_EFI *EFI();
};
#endif // EFI_ENABLED

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libraries/AP_EFI/AP_EFI_Backend.cpp Normal file
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/*
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_EFI.h"
#if EFI_ENABLED
#include "AP_EFI_Backend.h"
extern const AP_HAL::HAL &hal;
AP_EFI_Backend::AP_EFI_Backend(AP_EFI &_frontend) :
frontend(_frontend)
{
}
void AP_EFI_Backend::copy_to_frontend()
{
WITH_SEMAPHORE(sem);
frontend.state = internal_state;
}
float AP_EFI_Backend::get_coef1(void) const
{
return frontend.coef1;
}
float AP_EFI_Backend::get_coef2(void) const
{
return frontend.coef2;
}
#endif // EFI_ENABLED

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/*
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/>.
*/
#pragma once
#include "AP_EFI.h"
#include "AP_EFI_State.h"
#include <AP_HAL/AP_HAL.h>
class AP_EFI; //forward declaration
class AP_EFI_Backend {
public:
// Constructor with initialization
AP_EFI_Backend(AP_EFI &_frontend);
// Virtual destructor that efi backends can override
virtual ~AP_EFI_Backend(void) {}
// Update the state structure
virtual void update() = 0;
protected:
// Copies internal state to the frontend state
void copy_to_frontend();
// Semaphore for access to shared frontend data
HAL_Semaphore sem;
// Internal state for this driver (before copying to frontend)
EFI_State internal_state;
int8_t get_uavcan_node_id(void) const;
float get_coef1(void) const;
float get_coef2(void) const;
private:
AP_EFI &frontend;
};

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libraries/AP_EFI/AP_EFI_Serial_MS.cpp Normal file
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/*
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_MS.h"
#if EFI_ENABLED
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL &hal;
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);
}
void AP_EFI_Serial_MS::update()
{
if (!port) {
return;
}
uint32_t now = AP_HAL::millis();
const uint32_t expected_bytes = 2 + (RT_LAST_OFFSET - RT_FIRST_OFFSET) + 4;
if (port->available() >= expected_bytes && read_incoming_realtime_data()) {
last_response_ms = now;
copy_to_frontend();
}
if (port->available() == 0 || now - last_response_ms > 200) {
// clear the input buffer
uint32_t buffered_data_size = port->available();
for (uint32_t i = 0; i < buffered_data_size; i++) {
port->read();
}
// Request an update from the realtime table (7).
// The data we need start at offset 6 and ends at 129
send_request(7, RT_FIRST_OFFSET, RT_LAST_OFFSET);
}
}
bool AP_EFI_Serial_MS::read_incoming_realtime_data()
{
// Data is parsed directly from the buffer, otherwise we would need to allocate
// several hundred bytes for the entire realtime data table or request every
// value individiually
uint16_t message_length = 0;
// reset checksum before reading new data
checksum = 0;
// Message length field begins the message (16 bits, excluded from CRC calculation)
// Message length value excludes the message length and CRC bytes
message_length = port->read() << 8;
message_length += port->read();
if (message_length >= 256) {
// don't process invalid messages
// hal.console->printf("message_length: %u\n", message_length);
return false;
}
// Response Flag (see "response_codes" enum)
response_flag = read_byte_CRC32();
if (response_flag != RESPONSE_WRITE_OK) {
// abort read if we did not receive the correct response code;
return false;
}
// Iterate over the payload bytes
for ( uint8_t offset=RT_FIRST_OFFSET; offset < (RT_FIRST_OFFSET + message_length - 1); offset++) {
uint8_t data = read_byte_CRC32();
float temp_float;
switch (offset) {
case PW1_MSB:
internal_state.cylinder_status[0].injection_time_ms = (float)((data << 8) + read_byte_CRC32())/1000.0f;
offset++; // increment the counter because we read a byte in the previous line
break;
case RPM_MSB:
// Read 16 bit RPM
internal_state.engine_speed_rpm = (data << 8) + read_byte_CRC32();
offset++;
break;
case ADVANCE_MSB:
internal_state.cylinder_status[0].ignition_timing_deg = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
break;
case ENGINE_BM:
break;
case BAROMETER_MSB:
internal_state.atmospheric_pressure_kpa = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
break;
case MAP_MSB:
internal_state.intake_manifold_pressure_kpa = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
break;
case MAT_MSB:
temp_float = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
internal_state.intake_manifold_temperature = f_to_k(temp_float);
break;
case CHT_MSB:
temp_float = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
internal_state.cylinder_status[0].cylinder_head_temperature = f_to_k(temp_float);
break;
case TPS_MSB:
temp_float = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
internal_state.throttle_position_percent = roundf(temp_float);
break;
case AFR1_MSB:
temp_float = (float)((data << 8) + read_byte_CRC32())/10.0f;
offset++;
internal_state.cylinder_status[0].lambda_coefficient = temp_float;
break;
case DWELL_MSB:
temp_float = (float)((data << 8) + read_byte_CRC32())/10.0f;
internal_state.spark_dwell_time_ms = temp_float;
offset++;
break;
case LOAD:
internal_state.engine_load_percent = data;
break;
case FUEL_PRESSURE_MSB:
// MS Fuel Pressure is unitless, store as KPA anyway
temp_float = (float)((data << 8) + read_byte_CRC32());
internal_state.fuel_pressure = temp_float;
offset++;
break;
}
}
// Read the four CRC bytes
uint32_t received_CRC;
received_CRC = port->read() << 24;
received_CRC += port->read() << 16;
received_CRC += port->read() << 8;
received_CRC += port->read();
if (received_CRC != checksum) {
// hal.console->printf("EFI CRC: 0x%08x 0x%08x\n", received_CRC, checksum);
return false;
}
// Calculate Fuel Consumption
// Duty Cycle (Percent, because that's how HFE gives us the calibration coefficients)
float duty_cycle = (internal_state.cylinder_status[0].injection_time_ms * internal_state.engine_speed_rpm)/600.0f;
uint32_t current_time = AP_HAL::millis();
// Super Simplified integration method - Error Analysis TBD
// This calcualtion gives erroneous results when the engine isn't running
if (internal_state.engine_speed_rpm > RPM_THRESHOLD) {
internal_state.fuel_consumption_rate_cm3pm = duty_cycle*get_coef1() - get_coef2();
internal_state.estimated_consumed_fuel_volume_cm3 += internal_state.fuel_consumption_rate_cm3pm * (current_time - internal_state.last_updated_ms)/60000.0f;
} else {
internal_state.fuel_consumption_rate_cm3pm = 0;
}
internal_state.last_updated_ms = current_time;
return true;
}
void AP_EFI_Serial_MS::send_request(uint8_t table, uint16_t first_offset, uint16_t last_offset)
{
uint16_t length = last_offset - first_offset + 1;
// Fixed message size (0x0007)
// Command 'r' (0x72)
// Null CANid (0x00)
const uint8_t data[9] = {
0x00,
0x07,
0x72,
0x00,
(uint8_t)table,
(uint8_t)(first_offset >> 8),
(uint8_t)(first_offset),
(uint8_t)(length >> 8),
(uint8_t)(length)
};
uint32_t crc = 0;
// Write the request and calc CRC
for (uint8_t i = 0; i != sizeof(data) ; i++) {
// Message size is excluded from CRC
if (i > 1) {
crc = CRC32_compute_byte(crc, data[i]);
}
port->write(data[i]);
}
// Write the CRC32
port->write((uint8_t)(crc >> 24));
port->write((uint8_t)(crc >> 16));
port->write((uint8_t)(crc >> 8));
port->write((uint8_t)crc);
}
uint8_t AP_EFI_Serial_MS::read_byte_CRC32()
{
// Read a byte and update the CRC
uint8_t data = port->read();
checksum = CRC32_compute_byte(checksum, data);
return data;
}
// CRC32 matching MegaSquirt
uint32_t AP_EFI_Serial_MS::CRC32_compute_byte(uint32_t crc, uint8_t data)
{
crc ^= ~0U;
crc = crc_crc32(crc, &data, 1);
crc ^= ~0U;
return crc;
}
#endif // EFI_ENABLED

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/*
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/>.
*/
#pragma once
#include "AP_EFI.h"
#include "AP_EFI_Backend.h"
// RPM Threshold for fuel consumption estimator
#define RPM_THRESHOLD 100
class AP_EFI_Serial_MS: public AP_EFI_Backend {
public:
// Constructor with initialization
AP_EFI_Serial_MS(AP_EFI &_frontend);
// Update the state structure
void update() override;
private:
AP_HAL::UARTDriver *port;
void parse_realtime_data();
bool read_incoming_realtime_data();
void send_request(uint8_t table, uint16_t first_offset, uint16_t last_offset);
uint8_t read_byte_CRC32();
uint32_t CRC32_compute_byte(uint32_t inCrc32, uint8_t data);
float f_to_k(float temp_f) { return (temp_f + 459.67f) * 0.55556f; };
// Serial Protocol Variables
uint32_t checksum;
uint8_t step;
uint8_t response_flag;
uint16_t message_counter;
uint32_t last_response_ms;
// confirmed that last command was ok
bool last_command_confirmed;
// Command Response Codes
enum response_codes {
RESPONSE_WRITE_OK =0x00,
RESPONSE_REALTIME_DATA,
RESPONSE_PAGE_DATA,
RESPONSE_CONFIG_ERROR,
RESPONSE_PAGE10_OK,
RESPONSE_CAN_DATA,
// Error Responses
ERR_UNDERRUN = 0X80,
ERR_OVERRUN,
ERR_CRC_FAILURE,
ERR_UNRECOGNIZED_COMMAND,
ERR_OUT_OF_RANGE,
ERR_SERIAL_BUSY,
ERR_FLASH_LOCKED,
ERR_SEQ_FAIL_1,
ERR_SEQ_FAIL_2,
ERR_CAN_QUEUE_FULL,
ERR_CAN_TIMEOUT,
ERR_CAN_FAILURE,
ERR_PARITY,
ERR_FRAMING,
ERR_SERIAL_NOISE,
ERR_TXMODE_RANGE,
ERR_UNKNOWN
};
// Realtime Data Table Locations
enum realtime_data {
PW1_MSB = 2,
PW1_LSB,
RPM_MSB = 6,
RPM_LSB,
ADVANCE_MSB,
ADVANCE_LSB,
ENGINE_BM = 11,
BAROMETER_MSB = 16,
BAROMETER_LSB,
MAP_MSB,
MAP_LSB,
MAT_MSB,
MAT_LSB,
CHT_MSB,
CHT_LSB,
TPS_MSB,
TPS_LSB,
AFR1_MSB = 28,
AFR1_LSB,
AFR2_MSB,
AFR2_LSB,
DWELL_MSB = 62,
DWELL_LSB,
LOAD = 66,
FUEL_PRESSURE_MSB = 128,
FUEL_PRESSURE_LSB,
// Helpers used when sending request
RT_FIRST_OFFSET = PW1_MSB,
RT_LAST_OFFSET = FUEL_PRESSURE_LSB
};
};

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/*
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/>.
*/
#pragma once
#define EFI_MAX_INSTANCES 2
#define EFI_MAX_BACKENDS 2
#define ENGINE_MAX_CYLINDERS 1
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
// Time in milliseconds before we declare the EFI to be "unhealthy"
#define HEALTHY_LAST_RECEIVED_MS 3000
/***************
*
* Status enums
*
***************/
enum class Engine_State : uint8_t {
STOPPED = 0,
STARTING = 1,
RUNNING = 2,
FAULT = 3
};
enum class Crankshaft_Sensor_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
ERROR = 2
};
enum class Temperature_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
BELOW_NOMINAL = 2,
ABOVE_NOMINAL = 3,
OVERHEATING = 4,
EGT_ABOVE_NOMINAL = 5
};
enum class Fuel_Pressure_Status : uint8_t {
NOT_SUPPORTED = 0,
OK = 1,
BELOW_NOMINAL = 2,
ABOVE_NOMINAL = 3
};
enum class Oil_Pressure_Status : uint8_t {
OIL_PRESSURE_STATUS_NOT_SUPPORTED = 0,
OIL_PRESSURE_OK = 1,
OIL_PRESSURE_BELOW_NOMINAL = 2,
OIL_PRESSURE_ABOVE_NOMINAL = 3
};
enum class Detonation_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_OBSERVED = 1,
OBSERVED = 2
};
enum class Misfire_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_OBSERVED = 1,
OBSERVED = 2
};
enum class Debris_Status : uint8_t {
NOT_SUPPORTED = 0,
NOT_DETECTED = 1,
DETECTED = 2
};
enum class Spark_Plug_Usage : uint8_t {
SINGLE = 0,
FIRST_ACTIVE = 1,
SECOND_ACTIVE = 2,
BOTH_ACTIVE = 3
};
/***************
* Status structs.
* EFIs may not provide all data in the message, therefore, the following guidelines should be followed.
* All integer fields are required unless stated otherwise.
* All floating point fields are optional unless stated otherwise; unknown/unapplicable fields will be NaN.
***************/
// Per-cylinder status struct
struct Cylinder_Status {
// Cylinder ignition timing (angular degrees of the crankshaft)
float ignition_timing_deg;
// Fuel injection time (millisecond)
float injection_time_ms;
// Cylinder head temperature (CHT) (kelvin)
float cylinder_head_temperature;
// Exhaust gas temperature (EGT) (kelvin)
// If this cylinder is not equipped with an EGT sensor - will be NaN
// If there is a single shared EGT sensor, will be the same value for all cylinders
float exhaust_gas_temperature;
// Estimated lambda coefficient (dimensionless ratio)
// Useful for monitoring and tuning purposes.
float lambda_coefficient;
};
// Stores the current state read by the EFI system
// All backends are required to fill in this state structure
struct EFI_State {
// When this structure was last updated (milliseconds)
uint32_t last_updated_ms;
// Current overall engine state
Engine_State engine_state;
// If there is an error that does not fit other error types
bool general_error;
// Error/status fields
Crankshaft_Sensor_Status crankshaft_sensor_status;
Temperature_Status temperature_status;
Fuel_Pressure_Status fuel_pressure_status;
Oil_Pressure_Status oil_pressure_status;
Detonation_Status detonation_status;
Misfire_Status misfire_status;
Debris_Status debris_status;
// Engine load (percent)
uint8_t engine_load_percent;
// Engine speed (revolutions per minute)
uint32_t engine_speed_rpm;
// Spark dwell time (milliseconds)
float spark_dwell_time_ms;
// Atmospheric (barometric) pressure (kilopascal)
float atmospheric_pressure_kpa;
// Engine intake manifold pressure (kilopascal)
float intake_manifold_pressure_kpa;
// Engine intake manifold temperature (kelvin)
float intake_manifold_temperature;
// Engine coolant temperature (kelvin)
float coolant_temperature;
// Oil pressure (kilopascal)
float oil_pressure;
// Oil temperature (kelvin)
float oil_temperature;
// Fuel pressure (kilopascal)
float fuel_pressure;
// Instant fuel consumption estimate, which
// should be low-pass filtered in order to prevent aliasing effects.
// (centimeter^3)/minute.
float fuel_consumption_rate_cm3pm;
// Estimate of the consumed fuel since the start of the engine (centimeter^3)
// This variable is reset when the engine is stopped.
float estimated_consumed_fuel_volume_cm3;
// Throttle position (percent)
uint8_t throttle_position_percent;
// The index of the publishing ECU.
uint8_t ecu_index;
// Spark plug activity report.
// Can be used during pre-flight tests of the spark subsystem.
// Use case is that usually on double spark plug engines, the
// engine switch has the positions OFF-LEFT-RIGHT-BOTH-START.
// Gives pilots the possibility to test both spark plugs on
// ground before takeoff.
Spark_Plug_Usage spark_plug_usage;
// Status for each cylinder in the engine
Cylinder_Status cylinder_status[ENGINE_MAX_CYLINDERS];
};