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ardupilot/libraries/AP_EFI/AP_EFI.cpp

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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 HAL_EFI_ENABLED
#include "AP_EFI_Serial_MS.h"
#include "AP_EFI_Serial_Lutan.h"
#include "AP_EFI_NWPMU.h"
#include "AP_EFI_DroneCAN.h"
#include "AP_EFI_Currawong_ECU.h"
#include "AP_EFI_Serial_Hirth.h"
#include "AP_EFI_Scripting.h"
#include "AP_EFI_MAV.h"
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Math/AP_Math.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#endif
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,2:NWPMU,3:Serial-Lutan,5:DroneCAN,6:Currawong-ECU,7:Scripting,8:Hirth,9:MAVLink
// @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). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle
// @Range: 0 1
// @User: Advanced
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). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO("_COEF2", 3, AP_EFI, coef2, 0),
// @Param: _FUEL_DENS
// @DisplayName: ECU Fuel Density
// @Description: Used to calculate fuel consumption
// @Units: kg/m/m/m
// @Range: 0 10000
// @User: Advanced
AP_GROUPINFO("_FUEL_DENS", 4, AP_EFI, ecu_fuel_density, 0),
#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
// @Group: _THRLIN
// @Path: AP_EFI_ThrottleLinearisation.cpp
AP_SUBGROUPINFO(throttle_linearisation, "_THRLIN", 5, AP_EFI, AP_EFI_ThrLin),
#endif
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;
}
switch ((Type)type.get()) {
case Type::NONE:
break;
#if AP_EFI_SERIAL_MS_ENABLED
case Type::MegaSquirt:
backend = NEW_NOTHROW AP_EFI_Serial_MS(*this);
break;
#endif
#if AP_EFI_SERIAL_LUTAN_ENABLED
case Type::Lutan:
backend = NEW_NOTHROW AP_EFI_Serial_Lutan(*this);
break;
#endif
#if AP_EFI_NWPWU_ENABLED
case Type::NWPMU:
backend = NEW_NOTHROW AP_EFI_NWPMU(*this);
break;
#endif
#if AP_EFI_DRONECAN_ENABLED
case Type::DroneCAN:
backend = NEW_NOTHROW AP_EFI_DroneCAN(*this);
break;
#endif
#if AP_EFI_CURRAWONG_ECU_ENABLED
case Type::CurrawongECU:
backend = NEW_NOTHROW AP_EFI_Currawong_ECU(*this);
break;
#endif
#if AP_EFI_SCRIPTING_ENABLED
case Type::SCRIPTING:
backend = NEW_NOTHROW AP_EFI_Scripting(*this);
break;
#endif
#if AP_EFI_SERIAL_HIRTH_ENABLED
case Type::Hirth:
backend = NEW_NOTHROW AP_EFI_Serial_Hirth(*this);
break;
#endif
#if AP_EFI_MAV_ENABLED
case Type::MAV:
backend = NEW_NOTHROW AP_EFI_MAV(*this);
break;
#endif
default:
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unknown EFI type");
break;
}
}
// Ask all backends to update the frontend
void AP_EFI::update()
{
if (backend) {
backend->update();
#if HAL_LOGGING_ENABLED
log_status();
#endif
}
}
bool AP_EFI::is_healthy(void) const
{
return (backend && (AP_HAL::millis() - state.last_updated_ms) < HEALTHY_LAST_RECEIVED_MS);
}
#if HAL_LOGGING_ENABLED
/*
write status to log
*/
void AP_EFI::log_status(void)
{
// @LoggerMessage: EFI
// @Description: Electronic Fuel Injection system data
// @Field: TimeUS: Time since system startup
// @Field: LP: Reported engine load
// @Field: Rpm: Reported engine RPM
// @Field: SDT: Spark Dwell Time
// @Field: ATM: Atmospheric pressure
// @Field: IMP: Intake manifold pressure
// @Field: IMT: Intake manifold temperature
// @Field: ECT: Engine Coolant Temperature
// @Field: OilP: Oil Pressure
// @Field: OilT: Oil temperature
// @Field: FP: Fuel Pressure
// @Field: FCR: Fuel Consumption Rate
// @Field: CFV: Consumed fueld volume
// @Field: TPS: Throttle Position
// @Field: IDX: Index of the publishing ECU
AP::logger().WriteStreaming("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));
// @LoggerMessage: EFI2
// @Description: Electronic Fuel Injection system data - redux
// @Field: TimeUS: Time since system startup
// @Field: Healthy: True if EFI is healthy
// @Field: ES: Engine state
// @Field: GE: General error
// @Field: CSE: Crankshaft sensor status
// @Field: TS: Temperature status
// @Field: FPS: Fuel pressure status
// @Field: OPS: Oil pressure status
// @Field: DS: Detonation status
// @Field: MS: Misfire status
// @Field: DebS: Debris status
// @Field: SPU: Spark plug usage
// @Field: IDX: Index of the publishing ECU
AP::logger().WriteStreaming("EFI2",
"TimeUS,Healthy,ES,GE,CSE,TS,FPS,OPS,DS,MS,DebS,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));
// @LoggerMessage: ECYL
// @Description: EFI per-cylinder information
// @Field: TimeUS: Time since system startup
// @Field: Inst: Cylinder this data belongs to
// @Field: IgnT: Ignition timing
// @Field: InjT: Injection time
// @Field: CHT: Cylinder head temperature
// @Field: EGT: Exhaust gas temperature
// @Field: Lambda: Estimated lambda coefficient (dimensionless ratio)
// @Field: CHT2: Cylinder2 head temperature
// @Field: EGT2: Cylinder2 Exhaust gas temperature
// @Field: IDX: Index of the publishing ECU
AP::logger().WriteStreaming("ECYL",
"TimeUS,Inst,IgnT,InjT,CHT,EGT,Lambda,CHT2,EGT2,IDX",
"s#dsOO-OO-",
"F-0C000000",
"QBffffffff",
AP_HAL::micros64(),
0,
state.cylinder_status.ignition_timing_deg,
state.cylinder_status.injection_time_ms,
KELVIN_TO_C(state.cylinder_status.cylinder_head_temperature),
KELVIN_TO_C(state.cylinder_status.exhaust_gas_temperature),
state.cylinder_status.lambda_coefficient,
KELVIN_TO_C(state.cylinder_status.cylinder_head_temperature2),
KELVIN_TO_C(state.cylinder_status.exhaust_gas_temperature2),
state.ecu_index);
}
#endif // LOGGING_ENABLED
/*
send EFI_STATUS
*/
void AP_EFI::send_mavlink_status(mavlink_channel_t chan)
{
if (!backend) {
return;
}
float ignition_voltage;
if (isnan(state.ignition_voltage) ||
is_equal(state.ignition_voltage, -1.0f)) {
// zero means "unknown" in mavlink, 0.0001 means 0 volts
ignition_voltage = 0;
} else if (is_zero(state.ignition_voltage)) {
// zero means "unknown" in mavlink, 0.0001 means 0 volts
ignition_voltage = 0.0001f;
} else {
ignition_voltage = state.ignition_voltage;
};
// If fuel pressure is supported, but is exactly zero, shift it to 0.0001
// to indicate that it is supported.
float fuel_pressure = state.fuel_pressure;
if (is_zero(fuel_pressure) && state.fuel_pressure_status != Fuel_Pressure_Status::NOT_SUPPORTED) {
fuel_pressure = 0.0001;
}
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,
KELVIN_TO_C(state.intake_manifold_temperature),
KELVIN_TO_C(state.cylinder_status.cylinder_head_temperature),
state.cylinder_status.ignition_timing_deg,
state.cylinder_status.injection_time_ms,
KELVIN_TO_C(state.cylinder_status.exhaust_gas_temperature),
state.throttle_out,
state.pt_compensation,
ignition_voltage,
fuel_pressure
);
}
// get a copy of state structure
void AP_EFI::get_state(EFI_State &_state)
{
WITH_SEMAPHORE(sem);
_state = state;
}
void AP_EFI::handle_EFI_message(const mavlink_message_t &msg) {
if (backend != nullptr) {
backend->handle_EFI_message(msg);
}
}
namespace AP {
AP_EFI *EFI()
{
return AP_EFI::get_singleton();
}
}
#endif // HAL_EFI_ENABLED
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