mirror of https://github.com/ArduPilot/ardupilot
284 lines
6.5 KiB
Lua
284 lines
6.5 KiB
Lua
--[[
|
|
simulator for CAN EFI
|
|
this can be used with a loopback cable between CAN1 and CAN2 to test CAN EFI Drivers
|
|
--]]
|
|
|
|
---@diagnostic disable: param-type-mismatch
|
|
---@diagnostic disable: missing-parameter
|
|
|
|
|
|
local driver2 = CAN.get_device2(25)
|
|
if not driver2 then
|
|
gcs:send_text(0,string.format("EFISIM: Failed to load CAN driver"))
|
|
return
|
|
end
|
|
|
|
local PARAM_TABLE_KEY = 13
|
|
local PARAM_TABLE_PREFIX = "EFISIM_"
|
|
|
|
-- bind a parameter to a variable given
|
|
function bind_param(name)
|
|
local p = Parameter()
|
|
assert(p:init(name), string.format('could not find %s parameter', name))
|
|
return p
|
|
end
|
|
|
|
-- add a parameter and bind it to a variable
|
|
function bind_add_param(name, idx, default_value)
|
|
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
|
|
return bind_param(PARAM_TABLE_PREFIX .. name)
|
|
end
|
|
|
|
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 2), 'could not add param table')
|
|
|
|
local EFISIM_TYPE = bind_add_param('TYPE', 1, 0)
|
|
local EFISIM_RATE_HZ = bind_add_param('RATE_HZ', 2, 100)
|
|
|
|
function get_time_sec()
|
|
return millis():tofloat() * 0.001
|
|
end
|
|
|
|
local FRM_100 = uint32_t(0x80000100)
|
|
local FRM_101 = uint32_t(0x80000101)
|
|
local FRM_102 = uint32_t(0x80000102)
|
|
local FRM_104 = uint32_t(0x80000104)
|
|
local FRM_105 = uint32_t(0x80000105)
|
|
local FRM_106 = uint32_t(0x80000106)
|
|
local FRM_10A = uint32_t(0x8000010A)
|
|
local FRM_10C = uint32_t(0x8000010C)
|
|
local FRM_10D = uint32_t(0x8000010D)
|
|
local FRM_10F = uint32_t(0x8000010F)
|
|
local FRM_113 = uint32_t(0x80000113)
|
|
local FRM_114 = uint32_t(0x80000114)
|
|
local FRM_115 = uint32_t(0x80000115)
|
|
|
|
function put_u8(msg, ofs, v)
|
|
msg:data(ofs,v&0xFF)
|
|
end
|
|
|
|
function put_u16_LE(msg, ofs, v)
|
|
msg:data(ofs,v&0xFF)
|
|
msg:data(ofs+1,v>>8)
|
|
end
|
|
|
|
function put_u32_LE(msg, ofs, v)
|
|
msg:data(ofs+0,v&0xFF)
|
|
msg:data(ofs+1,(v>>8)&0xFF)
|
|
msg:data(ofs+2,(v>>16)&0xFF)
|
|
msg:data(ofs+3,(v>>24)&0xFF)
|
|
end
|
|
|
|
function put_u16_BE(msg, ofs, v)
|
|
msg:data(ofs+1,v&0xFF)
|
|
msg:data(ofs,v>>8)
|
|
end
|
|
|
|
function put_u32_BE(msg, ofs, v)
|
|
msg:data(ofs+3,v&0xFF)
|
|
msg:data(ofs+2,(v>>8)&0xFF)
|
|
msg:data(ofs+1,(v>>16)&0xFF)
|
|
msg:data(ofs+0,(v>>24)&0xFF)
|
|
end
|
|
|
|
local rev_counter = 0
|
|
|
|
--[[
|
|
send SkyPower data. Called at 100Hz
|
|
--]]
|
|
function send_SkyPower(driver)
|
|
|
|
--local msg = CANFrame()
|
|
local t = get_time_sec()
|
|
|
|
local RPM = 1200 + math.floor(1000*math.sin(t))
|
|
rev_counter = rev_counter + (RPM/60.0)*0.01
|
|
|
|
-- 0x100
|
|
local msg = CANFrame()
|
|
msg:id(FRM_100)
|
|
put_u16_LE(msg,0,RPM)
|
|
put_u16_LE(msg,2,13*10) -- ignition angle
|
|
put_u16_LE(msg,4,45*10) -- throttle angle
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x101
|
|
msg = CANFrame()
|
|
msg:id(FRM_101)
|
|
put_u16_LE(msg,2,917) -- air pressure
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x102
|
|
msg = CANFrame()
|
|
msg:id(FRM_102)
|
|
put_u16_LE(msg,0,7*10) -- ingition gap
|
|
put_u16_LE(msg,2,270*10) -- injection angle
|
|
put_u16_LE(msg,4,37000) -- injection time
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x104
|
|
msg = CANFrame()
|
|
msg:id(FRM_104)
|
|
put_u16_LE(msg,0,math.floor(14.8*10)) -- supply voltage
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x105
|
|
msg = CANFrame()
|
|
msg:id(FRM_105)
|
|
put_u16_LE(msg,0,172*10) -- engine temp head 1
|
|
put_u16_LE(msg,2,65*10) -- air temp
|
|
put_u16_LE(msg,4,320*10) -- exhaust temp
|
|
put_u16_LE(msg,6,113*10) -- ecu temp
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x106
|
|
msg = CANFrame()
|
|
msg:id(FRM_106)
|
|
put_u32_LE(msg,0,math.floor(rev_counter))
|
|
put_u8(msg,4,math.floor(t))
|
|
put_u8(msg,5,math.floor(t/60))
|
|
put_u16_LE(msg,6,math.floor(t/3600))
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x10A
|
|
msg = CANFrame()
|
|
msg:id(FRM_10A)
|
|
put_u16_LE(msg,6,72*10) -- target load
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x10C
|
|
msg = CANFrame()
|
|
msg:id(FRM_10C)
|
|
put_u16_LE(msg,4,145*10) -- engine head temp 2
|
|
put_u16_LE(msg,6,315*10) -- exhaust temp 2
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x10D
|
|
msg = CANFrame()
|
|
msg:id(FRM_10D)
|
|
put_u16_LE(msg,4,72*10) -- current load
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x10F
|
|
msg = CANFrame()
|
|
msg:id(FRM_10F)
|
|
put_u16_LE(msg,4,2*10) -- fuel consumption
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x113
|
|
msg = CANFrame()
|
|
msg:id(FRM_113)
|
|
put_u16_LE(msg,2,1*10) -- gen amps
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x114
|
|
msg = CANFrame()
|
|
msg:id(FRM_114)
|
|
put_u16_LE(msg,2,2400*10) -- gen RPM
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- 0x115
|
|
msg = CANFrame()
|
|
msg:id(FRM_115)
|
|
put_u16_LE(msg,4,30*100) -- gen current
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
end
|
|
|
|
--[[
|
|
send HFE data. Called at 100Hz
|
|
--]]
|
|
function send_HFE(driver)
|
|
|
|
--local msg = CANFrame()
|
|
local t = get_time_sec()
|
|
|
|
local RPM = 1200 + math.floor(1000*math.sin(t))
|
|
rev_counter = rev_counter + (RPM/60.0)*0.01
|
|
|
|
-- fast telem
|
|
local msg = CANFrame()
|
|
local base_id = uint32_t(0x88000005)
|
|
msg:id(base_id | 0x00000)
|
|
put_u16_BE(msg,1,RPM)
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- slow telem0
|
|
msg = CANFrame()
|
|
msg:id(base_id | 0x10000)
|
|
put_u16_BE(msg,5,101324/2) -- air pressure
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- slow telem1
|
|
msg = CANFrame()
|
|
msg:id(base_id | 0x20000)
|
|
put_u8(msg,0,35) -- inlet air temp, signed, deg C
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- slow telem2
|
|
msg = CANFrame()
|
|
msg:id(base_id | 0x30000)
|
|
put_u8(msg,1,math.floor((67+128)/1.5)) -- MAT
|
|
put_u16_BE(msg,6,173) -- fuel flow in grams/hr
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
|
|
end
|
|
|
|
--[[
|
|
send Halo6000 data. Called at 100Hz
|
|
--]]
|
|
function send_Halo6K(driver)
|
|
|
|
--local msg = CANFrame()
|
|
local t = get_time_sec()
|
|
|
|
local RPM = 1200 + math.floor(1000*math.sin(t))
|
|
rev_counter = rev_counter + (RPM/60.0)*0.01
|
|
|
|
-- fast telem1
|
|
local msg = CANFrame()
|
|
msg:id(0x1c1)
|
|
put_u16_LE(msg,0,RPM)
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
|
|
-- fast telem2
|
|
msg = CANFrame()
|
|
msg:id(0x1c2)
|
|
put_u16_LE(msg,0,math.floor(30.2*5))
|
|
put_u16_LE(msg,2,math.floor(3.2*5)+200)
|
|
msg:dlc(8)
|
|
driver:write_frame(msg, 10000)
|
|
end
|
|
|
|
function update()
|
|
if EFISIM_TYPE:get() == 1 then
|
|
send_SkyPower(driver2)
|
|
elseif EFISIM_TYPE:get() == 2 then
|
|
send_HFE(driver2)
|
|
elseif EFISIM_TYPE:get() == 3 then
|
|
send_Halo6K(driver2)
|
|
end
|
|
return update, math.floor(1000/EFISIM_RATE_HZ:get())
|
|
end
|
|
|
|
gcs:send_text(0,string.format("EFISIM: loaded"))
|
|
|
|
return update()
|