mirror of https://github.com/ArduPilot/ardupilot
230 lines
7.7 KiB
C++
230 lines
7.7 KiB
C++
/*
|
|
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)
|
|
{
|
|
// @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().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));
|
|
|
|
// @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().Write("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));
|
|
|
|
for (uint8_t i = 0; i < ENGINE_MAX_CYLINDERS; i++) {
|
|
// @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: IDX: Index of the publishing ECU
|
|
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,
|
|
0, 0, 0);
|
|
}
|
|
|
|
namespace AP {
|
|
AP_EFI *EFI()
|
|
{
|
|
return AP_EFI::get_singleton();
|
|
}
|
|
}
|
|
|
|
#endif // EFI_ENABLED
|
|
|