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AP_Scripting: update HFE EFI driver script #28772

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AP_Scripting: update HFE EFI driver script #28772

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97 changes: 88 additions & 9 deletions libraries/AP_Scripting/drivers/EFI_HFE.lua
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
--[[
EFI Scripting backend driver for HFE based on HFEDCN0191 Rev E
EFI Scripting backend driver for HFE based on HFEDCN0191 Rev L
--]]
-- luacheck: only 0
---@diagnostic disable: param-type-mismatch
Expand Down Expand Up @@ -64,16 +64,78 @@ end
local efi_backend = nil

-- Setup EFI Parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'could not add EFI_HFE param table')
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add EFI_HFE param table')

--[[
// @Param: EFI_HFE_ENABLE
// @DisplayName: Enable HFE EFI driver
// @Description: Enable HFE EFI driver
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local EFI_HFE_ENABLE = bind_add_param('ENABLE', 1, 0)
local EFI_HFE_RATE_HZ = bind_add_param('RATE_HZ', 2, 200) -- Script update frequency in Hz
local EFI_HFE_ECU_IDX = bind_add_param('ECU_IDX', 3, 0) -- ECU index on CAN bus, 0 for automatic
local EFI_HFE_FUEL_DTY = bind_add_param('FUEL_DTY', 4, 740) -- fuel density, g/litre
local EFI_HFE_REL_IDX = bind_add_param('REL_IDX', 5, 0) -- relay number for engine enable
local EFI_HFE_CANDRV = bind_add_param('CANDRV', 6, 0) -- CAN driver number

local ICE_PWM_IGN_ON = bind_param("ICE_PWM_IGN_ON")
--[[
// @Param: EFI_HFE_RATE_HZ
// @DisplayName: HFI EFI Update rate
// @Description: HFI EFI Update rate
// @Range: 0 400
// @User: Standard
--]]
local EFI_HFE_RATE_HZ = bind_add_param('RATE_HZ', 2, 200)

--[[
// @Param: EFI_HFE_ECU_IDX
// @DisplayName: HFI EFI ECU index
// @Description: HFI EFI ECU index, 0 for automatic
// @Range: 0 10
// @User: Standard
--]]
local EFI_HFE_ECU_IDX = bind_add_param('ECU_IDX', 3, 0)

--[[
// @Param: EFI_HFE_FUEL_DTY
// @DisplayName: HFI EFI fuel density
// @Description: HFI EFI fuel density in gram per litre
// @Range: 0 2000
// @User: Standard
--]]
local EFI_HFE_FUEL_DTY = bind_add_param('FUEL_DTY', 4, 740)

--[[
// @Param: EFI_HFE_REL_IDX
// @DisplayName: HFI EFI relay index
// @Description: HFI EFI relay index
// @Range: 0 10
// @User: Standard
--]]
local EFI_HFE_REL_IDX = bind_add_param('REL_IDX', 5, 0)

--[[
// @Param: EFI_HFE_CANDRV
// @DisplayName: HFI EFI CAN driver
// @Description: HFI EFI CAN driver
// @Values: 0:None,1:1stCANDriver,2:2ndCanDriver
// @User: Standard
--]]
local EFI_HFE_CANDRV = bind_add_param('CANDRV', 6, 0)

--[[
// @Param: EFI_HFE_OPTIONS
// @DisplayName: HFI EFI options
// @Description: HFI EFI options
// @Bitmask: 1:EnableCANLogging
// @User: Standard
--]]
local EFI_HFE_OPTIONS = bind_add_param('OPTIONS', 7, 0)

local OPTION_LOGALLFRAMES = 0x01

-- on 4.6.x this will be nil and direct relay support in AP_ICEngine can be used
local ICE_PWM_IGN_ON = nil
if param:get("ICE_PWM_IGN_ON") then
ICE_PWM_IGN_ON = Parameter("ICE_PWM_IGN_ON")
end

if EFI_HFE_ENABLE:get() == 0 then
return
Expand All @@ -92,6 +154,20 @@ if not driver1 then
return
end

local frame_count = 0

--[[
frame logging - can be replayed with Tools/scripts/CAN/CAN_playback.py
--]]
local function log_can_frame(frame)
logger:write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB',
frame:id(),
frame:dlc(),
frame_count,
frame:data(0), frame:data(1), frame:data(2), frame:data(3),
frame:data(4), frame:data(5), frame:data(6), frame:data(7))
frame_count = frame_count + 1
end

local now_s = get_time_sec()

Expand Down Expand Up @@ -146,6 +222,9 @@ local function engine_control(_driver)
if not frame then
break
end
if EFI_HFE_OPTIONS:get() & OPTION_LOGALLFRAMES ~= 0 then
log_can_frame(frame)
end

-- All Frame IDs for this EFI Engine are in the 29-bit extended address space
if frame:isExtended() then
Expand Down Expand Up @@ -263,7 +342,7 @@ local function engine_control(_driver)

-- map K_IGNITION to relay for enable of engine
local relay_idx = EFI_HFE_REL_IDX:get()
if relay_idx > 0 then
if relay_idx > 0 and ICE_PWM_IGN_ON then
local ignition_pwm = SRV_Channels:get_output_pwm(K_IGNITION)
if ignition_pwm == ICE_PWM_IGN_ON:get() then
relay:on(relay_idx-1)
Expand Down
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