mirror of https://github.com/ArduPilot/ardupilot
263 lines
7.9 KiB
Lua
263 lines
7.9 KiB
Lua
--[[
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Name: EFI Scripting backend driver for SkyPower
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Authors: Andrew Tridgell & Josh Henderson
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The protocol has high CAN utilization due to CAN packets that are used
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internal to the enigne being published externally, as well as being
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limited to 500 kbit/s.
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CAN_D1_PROTOCOL 10 (Scripting Driver 1)
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CAN_P1_DRIVER 1 (First driver)
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CAN_D1_BITRATE 500000 (500 kbit/s)
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--]]
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-- Check Script uses a miniumum firmware version
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local SCRIPT_AP_VERSION = 4.4
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local SCRIPT_NAME = "EFI: Skypower CAN"
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local VERSION = FWVersion:major() + (FWVersion:minor() * 0.1)
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assert(VERSION >= SCRIPT_AP_VERSION, string.format('%s Requires: %s:%.1f. Found Version: %s', SCRIPT_NAME, FWVersion:type(), SCRIPT_AP_VERSION, VERSION))
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local MAV_SEVERITY_ERROR = 3
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PARAM_TABLE_KEY = 36
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PARAM_TABLE_PREFIX = "EFI_SP_"
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-- bind a parameter to a variable given
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function bind_param(name)
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local p = Parameter()
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assert(p:init(name), string.format('could not find %s parameter', name))
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return p
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end
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return bind_param(PARAM_TABLE_PREFIX .. name)
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end
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function get_time_sec()
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return millis():tofloat() * 0.001
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end
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-- Type conversion functions
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function get_uint16(frame, ofs)
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return frame:data(ofs) + (frame:data(ofs + 1) << 8)
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end
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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---- GLOBAL VARIABLES
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local GKWH_TO_LBS_HP_HR = 0.0016439868
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local LITRES_TO_LBS = 1.6095 -- 6.1 lbs of fuel per gallon -> 1.6095
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-- Register for the CAN drivers
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local driver1 = CAN.get_device(25)
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if not driver1 then
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gcs:send_text(0, string.format("EFI CAN Telemetry: Failed to load drivers"))
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return
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end
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local efi_backend = nil
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-- Setup EFI Parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 5), 'could not add EFI_SP param table')
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local EFI_SP_ENABLE = bind_add_param('ENABLE', 1, 0)
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local EFI_SP_UPDATE_HZ = bind_add_param('UPDATE_HZ', 2, 200) -- Script update frequency in Hz
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if EFI_SP_ENABLE:get() == 0 then
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return
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end
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local now_s = get_time_sec()
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--[[
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EFI Engine Object
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--]]
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local function engine_control(_driver, _idx)
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local self = {}
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-- Build up the EFI_State that is passed into the EFI Scripting backend
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local efi_state = EFI_State()
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local cylinder_state = Cylinder_Status()
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-- private fields as locals
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local rpm = 0
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local air_pressure = 0
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local inj_ang = 0
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local inj_time = 0
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local target_load = 0
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local current_load = 0
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local throttle_angle = 0
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local ignition_angle = 0
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local sfc = 0
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local sfc_icao = 0
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local last_sfc_t = 0
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local supply_voltage = 0
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local fuel_consumption_lph = 0
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local fuel_total_l = 0
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local last_fuel_s = 0
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local driver = _driver
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local idx = _idx
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local last_rpm_t = get_time_sec()
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local last_state_update_t = get_time_sec()
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-- Generator Data Structure
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local gen = {}
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gen.amps = 0.0
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gen.rpm = 0.0
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gen.batt_current = 0.0
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-- Temperature Data Structure
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local temps = {}
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temps.egt1 = 0.0 -- Engine Gas Temperature: Sensor 1
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temps.egt2 = 0.0 -- Engine Gas Temperature: Sensor 2
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temps.cht1 = 0.0 -- Cylinder Head Temperature: Sensor 1
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temps.cht2 = 0.0 -- Cylinder Head Temperature: Sensor 2
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-- read telemetry packets
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function self.update_telemetry()
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local max_packets = 25
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local count = 0
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while count < max_packets do
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frame = driver:read_frame()
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count = count + 1
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if not frame then
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break
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end
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-- All Frame IDs for this EFI Engine are in the 11-bit address space
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if not frame:isExtended() then
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self.handle_EFI_packet(frame, _idx)
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end
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end
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if last_rpm_t > last_state_update_t then
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-- update state if we have an updated RPM
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last_state_update_t = last_rpm_t
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self.set_EFI_State()
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end
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end
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-- handle an EFI packet
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function self.handle_EFI_packet(frame, idx)
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local id = frame:id_signed()
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if id == 0x100 then
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rpm = get_uint16(frame, 0)
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ignition_angle = get_uint16(frame, 2) * 0.1
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throttle_angle = get_uint16(frame, 4) * 0.1
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last_rpm_t = get_time_sec()
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elseif id == 0x101 then
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air_pressure = get_uint16(frame, 4)
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elseif id == 0x102 then
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inj_ang = get_uint16(frame, 2) * 0.1
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inj_time = get_uint16(frame, 4) * 0.1
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elseif id == 0x104 then
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supply_voltage = get_uint16(frame, 0) * 0.1
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elseif id == 0x105 then
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temps.cht1 = get_uint16(frame, 0) * 0.1
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temps.egt1 = get_uint16(frame, 4) * 0.1
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elseif id == 0x10A then
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target_load = get_uint16(frame, 6) * 0.1
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elseif id == 0x10C then
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temps.cht2 = get_uint16(frame, 4) * 0.1
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temps.egt2 = get_uint16(frame, 6) * 0.1
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elseif id == 0x10D then
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current_load = get_uint16(frame, 2) * 0.1
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elseif id == 0x10F then
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fuel_consumption_lph = get_uint16(frame,4)*0.1
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if last_fuel_s > 0 then
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local dt = now_s - last_fuel_s
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local fuel_lps = fuel_consumption_lph / 3600.0
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fuel_total_l = fuel_total_l + fuel_lps * dt
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end
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last_fuel_s = now_s
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elseif id == 0x113 then
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gen.amps = get_uint16(frame, 2) * 0.01
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elseif id == 0x114 then
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gen.rpm = get_uint16(frame, 0)
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elseif id == 0x115 then
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gen.batt_current = get_uint16(frame, 4) * 0.01
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end
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end
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-- Build and set the EFI_State that is passed into the EFI Scripting backend
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function self.set_EFI_State()
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-- Cylinder_Status
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cylinder_state:cylinder_head_temperature(0.5 * (temps.cht1 + temps.cht2))
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cylinder_state:exhaust_gas_temperature(0.5 * (temps.egt1 + temps.egt2))
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cylinder_state:ignition_timing_deg(ignition_angle)
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cylinder_state:injection_time_ms(inj_time*0.001)
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efi_state:engine_speed_rpm(uint32_t(rpm))
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efi_state:engine_load_percent(current_load)
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efi_state:fuel_consumption_rate_cm3pm(fuel_consumption_lph * 1000.0 / 60.0)
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efi_state:estimated_consumed_fuel_volume_cm3(fuel_total_l * 1000.0)
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efi_state:throttle_position_percent(math.floor(throttle_angle*100.0/90.0+0.5))
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efi_state:atmospheric_pressure_kpa(air_pressure*0.1)
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efi_state:ignition_voltage(supply_voltage)
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-- copy cylinder_state to efi_state
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efi_state:cylinder_status(cylinder_state)
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last_efi_state_time = millis()
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efi_state:last_updated_ms(last_efi_state_time)
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-- Set the EFI_State into the EFI scripting driver
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efi_backend:handle_scripting(efi_state)
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end
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-- return the instance
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return self
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end -- end function engine_control(_driver, _idx)
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local engine1 = engine_control(driver1, 1)
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local last_efi_state_time = 0.0
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function update()
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now_s = get_time_sec()
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if not efi_backend then
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efi_backend = efi:get_backend(0)
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if not efi_backend then
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return
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end
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end
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-- Parse Driver Messages
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engine1.update_telemetry()
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end
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gcs:send_text(0, SCRIPT_NAME .. string.format(" loaded"))
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-- wrapper around update(). This calls update() and if update faults
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-- then an error is displayed, but the script is not stopped
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function protected_wrapper()
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local success, err = pcall(update)
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if not success then
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gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
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-- when we fault we run the update function again after 1s, slowing it
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-- down a bit so we don't flood the console with errors
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return protected_wrapper, 1000
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end
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return protected_wrapper, 1000 / EFI_SP_UPDATE_HZ:get()
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end
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-- start running update loop
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return protected_wrapper()
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