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ardupilot/libraries/AP_Scripting/drivers/EFI_SkyPower.lua

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--[[
Name: EFI Scripting backend driver for SkyPower
Authors: Andrew Tridgell & Josh Henderson
The protocol has high CAN utilization due to CAN packets that are used
internal to the enigne being published externally, as well as being
limited to 500 kbit/s.
CAN_D1_PROTOCOL 10 (Scripting Driver 1)
CAN_P1_DRIVER 1 (First driver)
CAN_D1_BITRATE 500000 (500 kbit/s)
--]]
---@diagnostic disable: param-type-mismatch
---@diagnostic disable: need-check-nil
---@diagnostic disable: undefined-field
---@diagnostic disable: missing-parameter
-- Check Script uses a miniumum firmware version
local SCRIPT_AP_VERSION = 4.3
local SCRIPT_NAME = "EFI: Skypower CAN"
local VERSION = FWVersion:major() + (FWVersion:minor() * 0.1)
assert(VERSION >= SCRIPT_AP_VERSION, string.format('%s Requires: %s:%.1f. Found Version: %s', SCRIPT_NAME, FWVersion:type(), SCRIPT_AP_VERSION, VERSION))
local MAV_SEVERITY_ERROR = 3
local K_THROTTLE = 70
local K_HELIRSC = 31
local MODEL_DEFAULT = 0
local MODEL_SP_275 = 1
PARAM_TABLE_KEY = 36
PARAM_TABLE_PREFIX = "EFI_SP_"
-- 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
function get_time_sec()
return millis():tofloat() * 0.001
end
-- Type conversion functions
function get_uint16(frame, ofs)
return frame:data(ofs) + (frame:data(ofs + 1) << 8)
end
function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
if v > vmax then
v = vmax
end
return v
end
local efi_backend = nil
-- Setup EFI Parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add EFI_SP param table')
--[[
// @Param: EFI_SP_ENABLE
// @DisplayName: Enable SkyPower EFI support
// @Description: Enable SkyPower EFI support
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local EFI_SP_ENABLE = bind_add_param('ENABLE', 1, 0)
--[[
// @Param: EFI_SP_CANDRV
// @DisplayName: Set SkyPower EFI CAN driver
// @Description: Set SkyPower EFI CAN driver
// @Values: 0:None,1:1stCANDriver,2:2ndCanDriver
// @User: Standard
--]]
local EFI_SP_CANDRV = bind_add_param('CANDRV', 2, 1) -- CAN driver to use
--[[
// @Param: EFI_SP_UPDATE_HZ
// @DisplayName: SkyPower EFI update rate
// @Description: SkyPower EFI update rate
// @Range: 10 200
// @Units: Hz
// @User: Advanced
--]]
local EFI_SP_UPDATE_HZ = bind_add_param('UPDATE_HZ', 3, 200) -- Script update frequency in Hz
--[[
// @Param: EFI_SP_THR_FN
// @DisplayName: SkyPower EFI throttle function
// @Description: SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control
// @Values: 0:Disabled,70:FixedWing,31:HeliRSC
// @User: Standard
--]]
local EFI_SP_THR_FN = bind_add_param('THR_FN', 4, 0) -- servo function for throttle
--[[
// @Param: EFI_SP_THR_RATE
// @DisplayName: SkyPower EFI throttle rate
// @Description: SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine
// @Range: 10 100
// @Units: Hz
// @User: Advanced
--]]
local EFI_SP_THR_RATE = bind_add_param('THR_RATE', 5, 50) -- throttle update rate
--[[
// @Param: EFI_SP_START_FN
// @DisplayName: SkyPower EFI start function
// @Description: SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start
// @Values: 0:Disabled,300:300,301:301,302:302,303:303,304:304,305:305,306:306,307:307
// @User: Standard
--]]
local EFI_SP_START_FN = bind_add_param('START_FN', 6, 0) -- start control function (RC option)
--[[
// @Param: EFI_SP_GEN_FN
// @DisplayName: SkyPower EFI generator control function
// @Description: SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop
// @Values: 0:Disabled,300:300,301:301,302:302,303:303,304:304,305:305,306:306,307:307
// @User: Standard
--]]
local EFI_SP_GEN_FN = bind_add_param('GEN_FN', 7, 0) -- generator control function (RC option)
--[[
// @Param: EFI_SP_MIN_RPM
// @DisplayName: SkyPower EFI minimum RPM
// @Description: SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped
// @Range: 1 1000
// @User: Advanced
--]]
local EFI_SP_MIN_RPM = bind_add_param('MIN_RPM', 8, 100) -- min RPM, for engine restart
--[[
// @Param: EFI_SP_TLM_RT
// @DisplayName: SkyPower EFI telemetry rate
// @Description: SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS
// @Range: 1 10
// @Units: Hz
// @User: Advanced
--]]
local EFI_SP_TLM_RT = bind_add_param('TLM_RT', 9, 0) -- rate for extra telemetry values
--[[
// @Param: EFI_SP_LOG_RT
// @DisplayName: SkyPower EFI log rate
// @Description: SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed
// @Range: 1 50
// @Units: Hz
// @User: Advanced
--]]
local EFI_SP_LOG_RT = bind_add_param('LOG_RT', 10, 10) -- rate for logging
--[[
// @Param: EFI_SP_ST_DISARM
// @DisplayName: SkyPower EFI allow start disarmed
// @Description: SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local EFI_SP_ST_DISARM = bind_add_param('ST_DISARM', 11, 0) -- allow start when disarmed
--[[
// @Param: EFI_SP_MODEL
// @DisplayName: SkyPower EFI ECU model
// @Description: SkyPower EFI ECU model
// @Values: 0:Default,1:SP_275
// @User: Standard
--]]
local EFI_SP_MODEL = bind_add_param('MODEL', 12, MODEL_DEFAULT)
--[[
// @Param: EFI_SP_GEN_CTRL
// @DisplayName: SkyPower EFI enable generator control
// @Description: SkyPower EFI enable generator control
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local EFI_SP_GEN_CTRL = bind_add_param('GEN_CRTL', 13, 1)
--[[
// @Param: EFI_SP_RST_TIME
// @DisplayName: SkyPower EFI restart time
// @Description: SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.
// @Range: 0 10
// @User: Standard
// @Units: s
--]]
local EFI_SP_RST_TIME = bind_add_param('RST_TIME', 14, 2)
if EFI_SP_ENABLE:get() == 0 then
gcs:send_text(0, string.format("EFISP: disabled"))
return
end
-- Register for the CAN drivers
local driver1
local CAN_BUF_LEN = 25
if EFI_SP_CANDRV:get() == 1 then
driver1 = CAN.get_device(CAN_BUF_LEN)
elseif EFI_SP_CANDRV:get() == 2 then
driver1 = CAN.get_device2(CAN_BUF_LEN)
end
if not driver1 then
gcs:send_text(0, string.format("EFISP: Failed to load driver"))
return
end
local now_s = get_time_sec()
function C_TO_KELVIN(temp)
return temp + 273.15
end
--[[
we allow the engine to run if either armed or the EFI_SP_ST_DISARM parameter is 1
--]]
function allow_run_engine()
return arming:is_armed() or EFI_SP_ST_DISARM:get() == 1
end
--[[
EFI Engine Object
--]]
local function engine_control(_driver)
local self = {}
-- Build up the EFI_State that is passed into the EFI Scripting backend
local efi_state = EFI_State()
local cylinder_state = Cylinder_Status()
-- private fields as locals
local rpm = 0
local air_pressure = 0
local inj_time = 0
local target_load = 0
local current_load = 0
local throttle_angle = 0
local ignition_angle = 0
local supply_voltage = 0
local fuel_consumption_lph = 0
local fuel_total_l = 0
local last_fuel_s = 0
local driver = _driver
local last_rpm_t = get_time_sec()
local last_state_update_t = get_time_sec()
local last_thr_update = get_time_sec()
local last_telem_update = get_time_sec()
local last_log_t = get_time_sec()
local last_stop_message_t = get_time_sec()
local engine_started = false
local generator_started = false
local engine_start_t = 0.0
local last_throttle = 0.0
local sensor_error_flags = 0
local thermal_limit_flags = 0
local starter_rpm = 0
-- frames for sending commands
local FRM_500 = uint32_t(0x500)
local FRM_505 = uint32_t(0x505)
local FRM_506 = uint32_t(0x506)
-- Generator Data Structure
local gen = {}
gen.amps = 0.0
gen.rpm = 0.0
gen.batt_current = 0.0
-- Temperature Data Structure
local temps = {}
temps.egt = 0.0 -- Exhaust Gas Temperature
temps.cht = 0.0 -- Cylinder Head Temperature
temps.imt = 0.0 -- intake manifold temperature
temps.oilt = 0.0 -- oil temperature
temps.cht2 = 0.0
temps.egt2 = 0.0
temps.imt2 = 0.0
temps.oil2 = 0.0
-- read telemetry packets
function self.update_telemetry()
local max_packets = 25
local count = 0
while count < max_packets do
frame = driver:read_frame()
count = count + 1
if not frame then
break
end
-- All Frame IDs for this EFI Engine are not extended
if not frame:isExtended() then
self.handle_EFI_packet(frame)
end
end
if last_rpm_t > last_state_update_t then
-- update state if we have an updated RPM
last_state_update_t = last_rpm_t
self.set_EFI_State()
end
end
-- handle an EFI packet
function self.handle_EFI_packet(frame)
local id = frame:id_signed()
if EFI_SP_MODEL:get() == MODEL_SP_275 then
-- updated telemetry for SP-275 ECU
if id == 0x100 then
rpm = get_uint16(frame, 0)
ignition_angle = get_uint16(frame, 2) * 0.1
throttle_angle = get_uint16(frame, 4) * 0.1
last_rpm_t = get_time_sec()
elseif id == 0x101 then
air_pressure = get_uint16(frame, 4)
elseif id == 0x102 then
inj_time = get_uint16(frame, 4)
-- inj_ang = get_uint16(frame, 2) * 0.1
elseif id == 0x104 then
supply_voltage = get_uint16(frame, 0) * 0.1
elseif id == 0x105 then
temps.cht = get_uint16(frame, 0) * 0.1
temps.imt = get_uint16(frame, 2) * 0.1
temps.egt = get_uint16(frame, 4) * 0.1
temps.oilt = get_uint16(frame, 6) * 0.1
elseif id == 0x107 then
sensor_error_flags = get_uint16(frame, 0)
thermal_limit_flags = get_uint16(frame, 2)
elseif id == 0x107 then
target_load = get_uint16(frame, 6) * 0.1
elseif id == 0x10C then
temps.cht2 = get_uint16(frame, 4) * 0.1
temps.egt2 = get_uint16(frame, 6) * 0.1
elseif id == 0x10D then
current_load = get_uint16(frame, 2) * 0.1
elseif id == 0x113 then
gen.amps = get_uint16(frame, 2)
elseif id == 0x2E0 then
starter_rpm = get_uint16(frame, 4)
elseif id == 0x10B then
fuel_consumption_lph = get_uint16(frame,6)*0.001
if last_fuel_s > 0 then
local dt = now_s - last_fuel_s
local fuel_lps = fuel_consumption_lph / 3600.0
fuel_total_l = fuel_total_l + fuel_lps * dt
end
last_fuel_s = now_s
end
else
-- original SkyPower driver
if id == 0x100 then
rpm = get_uint16(frame, 0)
ignition_angle = get_uint16(frame, 2) * 0.1
throttle_angle = get_uint16(frame, 4) * 0.1
last_rpm_t = get_time_sec()
elseif id == 0x101 then
current_load = get_uint16(frame, 0) * 0.1
target_load = get_uint16(frame, 2) * 0.1
inj_time = get_uint16(frame, 4)
-- inj_ang = get_uint16(frame, 6) * 0.1
elseif id == 0x104 then
supply_voltage = get_uint16(frame, 0) * 0.1
ecu_temp = get_uint16(frame, 2) * 0.1
air_pressure = get_uint16(frame, 4)
fuel_consumption_lph = get_uint16(frame,6)*0.001
if last_fuel_s > 0 then
local dt = now_s - last_fuel_s
local fuel_lps = fuel_consumption_lph / 3600.0
fuel_total_l = fuel_total_l + fuel_lps * dt
end
last_fuel_s = now_s
elseif id == 0x105 then
temps.cht = get_uint16(frame, 0) * 0.1
temps.imt = get_uint16(frame, 2) * 0.1
temps.egt = get_uint16(frame, 4) * 0.1
temps.oilt = get_uint16(frame, 6) * 0.1
end
end
end
-- Build and set the EFI_State that is passed into the EFI Scripting backend
function self.set_EFI_State()
-- Cylinder_Status
cylinder_state:cylinder_head_temperature(C_TO_KELVIN(temps.cht))
cylinder_state:exhaust_gas_temperature(C_TO_KELVIN(temps.egt))
cylinder_state:ignition_timing_deg(ignition_angle)
cylinder_state:injection_time_ms(inj_time*0.001)
efi_state:engine_speed_rpm(uint32_t(rpm))
efi_state:engine_load_percent(math.floor(current_load))
efi_state:fuel_consumption_rate_cm3pm(fuel_consumption_lph * 1000.0 / 60.0)
efi_state:estimated_consumed_fuel_volume_cm3(fuel_total_l * 1000.0)
efi_state:throttle_position_percent(math.floor(throttle_angle*100.0/90.0+0.5))
efi_state:atmospheric_pressure_kpa(air_pressure*0.1)
efi_state:ignition_voltage(supply_voltage)
efi_state:intake_manifold_temperature(C_TO_KELVIN(temps.imt))
efi_state:throttle_out(last_throttle * 100)
-- copy cylinder_state to efi_state
efi_state:cylinder_status(cylinder_state)
local last_efi_state_time = millis()
efi_state:last_updated_ms(last_efi_state_time)
-- Set the EFI_State into the EFI scripting driver
efi_backend:handle_scripting(efi_state)
end
--- send throttle command, thr is 0 to 1
function self.send_throttle(thr)
last_throttle = thr
local msg = CANFrame()
msg:id(FRM_500)
msg:data(0,1)
msg:data(1,0)
thr = math.floor(thr*1000)
msg:data(2,thr&0xFF)
msg:data(3,thr>>8)
msg:dlc(8)
driver:write_frame(msg, 10000)
end
-- send an engine start command
function self.send_engine_start()
if EFI_SP_MODEL:get() == MODEL_SP_275 then
-- the SP-275 needs a stop before a start will work
self.send_engine_stop()
end
local msg = CANFrame()
msg:id(FRM_505)
msg:data(0,10)
msg:dlc(8)
driver:write_frame(msg, 10000)
end
-- send an engine stop command
function self.send_engine_stop()
local msg = CANFrame()
msg:id(FRM_505)
msg:data(7,10)
msg:dlc(8)
driver:write_frame(msg, 10000)
local now = get_time_sec()
if now - last_stop_message_t > 0.5 then
last_stop_message_t = now
gcs:send_text(0, string.format("EFISP: stopping engine"))
end
end
-- start generator
function self.send_generator_start()
local msg = CANFrame()
msg:id(FRM_506)
msg:data(2,10)
msg:dlc(8)
driver:write_frame(msg, 10000)
end
-- stop generator
function self.send_generator_stop()
local msg = CANFrame()
msg:id(FRM_506)
msg:data(2,0)
msg:dlc(8)
driver:write_frame(msg, 10000)
end
-- update starter control
function self.update_starter()
local start_fn = EFI_SP_START_FN:get()
if start_fn == 0 then
return
end
local start_state = rc:get_aux_cached(start_fn)
if start_state == nil then
start_state = 0
end
local should_be_running = false
if start_state == 0 and engine_started then
engine_started = false
engine_start_t = 0
self.send_engine_stop()
end
if start_state == 2 and not engine_started and allow_run_engine() then
engine_started = true
gcs:send_text(0, string.format("EFISP: starting engine"))
engine_start_t = get_time_sec()
self.send_engine_start()
should_be_running = true
end
if start_state > 0 and engine_started and allow_run_engine() then
should_be_running = true
end
local min_rpm = EFI_SP_MIN_RPM:get()
if min_rpm > 0 and engine_started and rpm < min_rpm and allow_run_engine() then
local now = get_time_sec()
local dt = now - engine_start_t
if EFI_SP_RST_TIME:get() > 0 and dt > EFI_SP_RST_TIME:get() then
gcs:send_text(0, string.format("EFISP: re-starting engine"))
self.send_engine_start()
engine_start_t = get_time_sec()
end
end
--[[
cope with lost engine stop packets
--]]
if rpm > min_rpm and not should_be_running then
engine_started = false
engine_start_t = 0
self.send_engine_stop()
end
end
-- update generator control
function self.update_generator()
if EFI_SP_GEN_CTRL:get() == 0 then
return
end
local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
if gen_state == 0 and generator_started then
generator_started = false
gcs:send_text(0, string.format("EFISP: stopping generator"))
self.send_generator_stop()
end
if gen_state == 2 and not generator_started then
generator_started = true
gcs:send_text(0, string.format("EFISP: starting generator"))
self.send_generator_start()
end
end
-- update throttle output
function self.update_throttle()
local thr_func = EFI_SP_THR_FN:get()
local thr_rate = EFI_SP_THR_RATE:get()
if thr_func == 0 or thr_rate == 0 then
return
end
local now = get_time_sec()
if now - last_thr_update < 1.0 / thr_rate then
return
end
last_thr_update = now
local thr = 0.0
local scaled = SRV_Channels:get_output_scaled(thr_func)
if thr_func == K_THROTTLE then
thr = scaled * 0.01
elseif thr_func == K_HELIRSC then
thr = scaled * 0.001
end
self.send_throttle(thr)
end
-- update telemetry output for extra telemetry values
function self.update_telem_out()
local rate = EFI_SP_TLM_RT:get()
if rate <= 0 then
return
end
local now = get_time_sec()
if now - last_telem_update < 1.0 / rate then
return
end
last_telem_update = now
gcs:send_named_float('EFI_OILTMP', temps.oilt)
gcs:send_named_float('EFI_TRLOAD', target_load)
gcs:send_named_float('EFI_VOLTS', supply_voltage)
gcs:send_named_float('EFI_GEN_AMPS', gen.amps)
gcs:send_named_float('EFI_CHT2', temps.cht2)
gcs:send_named_float('EFI_STARTRPM', starter_rpm)
end
-- update custom logging
function self.update_logging()
local rate = EFI_SP_LOG_RT:get()
if rate <= 0 then
return
end
local now = get_time_sec()
if now - last_log_t < 1.0 / rate then
return
end
last_log_t = now
logger.write('EFSP','Thr,CLoad,TLoad,OilT,RPM,gRPM,gAmp,gCur,SErr,TLim,STRPM', 'ffffffffHHH',
last_throttle, current_load, target_load, temps.oilt, rpm,
gen.rpm, gen.amps, gen.batt_current,
sensor_error_flags, thermal_limit_flags,
starter_rpm)
end
-- return the instance
return self
end -- end function engine_control
local engine1 = engine_control(driver1)
function update()
now_s = get_time_sec()
if not efi_backend then
efi_backend = efi:get_backend(0)
if not efi_backend then
return
end
end
-- Parse Driver Messages
engine1.update_telemetry()
engine1.update_starter()
engine1.update_generator()
engine1.update_throttle()
engine1.update_telem_out()
engine1.update_logging()
end
gcs:send_text(0, SCRIPT_NAME .. string.format(" loaded"))
-- wrapper around update(). This calls update() and if update faults
-- then an error is displayed, but the script is not stopped
function protected_wrapper()
local success, err = pcall(update)
if not success then
gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
-- when we fault we run the update function again after 1s, slowing it
-- down a bit so we don't flood the console with errors
return protected_wrapper, 1000
end
return protected_wrapper, 1000 / EFI_SP_UPDATE_HZ:get()
end
-- start running update loop
return protected_wrapper()
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