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AP_EFI: Add NWPMU CAN driver

zr-v5.1
Michael du Breuil 5 years ago committed by Andrew Tridgell
parent
fb84baf8a5
commit
60af6633cf
4 changed files with 261 additions and 4 deletions
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  1. 20
      libraries/AP_EFI/AP_EFI.cpp
  2. 3
      libraries/AP_EFI/AP_EFI.h
  3. 127
      libraries/AP_EFI/AP_EFI_NWPMU.cpp
  4. 115
      libraries/AP_EFI/AP_EFI_NWPMU.h

20
libraries/AP_EFI/AP_EFI.cpp
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@ -18,8 +18,13 @@ @@ -18,8 +18,13 @@
#if EFI_ENABLED
#include "AP_EFI_Serial_MS.h"
#include "AP_EFI_NWPMU.h"
#include <AP_Logger/AP_Logger.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#endif
extern const AP_HAL::HAL& hal;
// table of user settable parameters
@ -27,7 +32,7 @@ const AP_Param::GroupInfo AP_EFI::var_info[] = { @@ -27,7 +32,7 @@ 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
// @Values: 0:None,1:Serial-MS,2:NWPMU
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_EFI, type, 0, AP_PARAM_FLAG_ENABLE),
@ -68,8 +73,17 @@ void AP_EFI::init(void) @@ -68,8 +73,17 @@ void AP_EFI::init(void)
return;
}
// Check for MegaSquirt Serial EFI
if (type == EFI_COMMUNICATION_TYPE_SERIAL_MS) {
backend = new AP_EFI_Serial_MS(*this);
switch (type) {
case EFI_COMMUNICATION_TYPE_NONE:
break;
case EFI_COMMUNICATION_TYPE_SERIAL_MS:
backend = new AP_EFI_Serial_MS(*this);
break;
case EFI_COMMUNICATION_TYPE_NWPMU:
#if HAL_EFI_NWPWU_ENABLED
backend = new AP_EFI_NWPMU(*this);
#endif
break;
}
}

3
libraries/AP_EFI/AP_EFI.h
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@ -70,7 +70,8 @@ public: @@ -70,7 +70,8 @@ public:
// Backend driver types
enum EFI_Communication_Type {
EFI_COMMUNICATION_TYPE_NONE = 0,
EFI_COMMUNICATION_TYPE_SERIAL_MS = 1
EFI_COMMUNICATION_TYPE_SERIAL_MS = 1,
EFI_COMMUNICATION_TYPE_NWPMU = 2,
};
static AP_EFI *get_singleton(void) {

127
libraries/AP_EFI/AP_EFI_NWPMU.cpp
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@ -0,0 +1,127 @@ @@ -0,0 +1,127 @@
/*
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_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h>
#include "AP_EFI_NWPMU.h"
#if HAL_EFI_NWPWU_ENABLED
extern const AP_HAL::HAL& hal;
AP_EFI_NWPMU::AP_EFI_NWPMU(AP_EFI &_frontend) :
CANSensor("NWPMU", AP_CANManager::Driver_Type_EFI_NWPMU),
AP_EFI_Backend(_frontend)
{
}
void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame)
{
const uint32_t id = frame.id & AP_HAL::CANFrame::MaskExtID;
WITH_SEMAPHORE(sem);
switch ((NWPMU_ID)id) {
case NWPMU_ID::ECU_1: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_1 *data = (struct ecu_1 *)frame.data;
internal_state.engine_speed_rpm = data->rpm;
internal_state.throttle_position_percent = data->tps * 0.1f;
internal_state.cylinder_status[0].ignition_timing_deg = data->ignition_angle * 0.1f;
break;
}
case NWPMU_ID::ECU_2: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_2 *data = (struct ecu_2 *)frame.data;
switch ((NWPMU_PRESSURE_TYPE)data->pressure_type) {
case NWPMU_PRESSURE_TYPE::kPa:
internal_state.atmospheric_pressure_kpa = data->baro * 0.01f;
internal_state.intake_manifold_pressure_kpa = data->baro * 0.01f;
break;
case NWPMU_PRESSURE_TYPE::psi:
internal_state.atmospheric_pressure_kpa = data->baro * 0.0689476f;
internal_state.intake_manifold_pressure_kpa = data->baro * 0.0689476f;
break;
default:
break;
}
internal_state.cylinder_status[0].lambda_coefficient = data->lambda * 0.01f;
break;
}
case NWPMU_ID::ECU_4: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_4 *data = (struct ecu_4 *)frame.data;
// remap the analog input for fuel pressure, 0.5 V == 0 PSI, 4.5V == 100 PSI
internal_state.fuel_pressure = linear_interpolate(0, 689.476,
data->analog_fuel_pres * 0.001,
0.5f,4.5f);
break;
}
case NWPMU_ID::ECU_5: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_5 *data = (struct ecu_5 *)frame.data;
switch((NWPMU_TEMPERATURE_TYPE)data->temp_type) {
case NWPMU_TEMPERATURE_TYPE::C:
internal_state.coolant_temperature = data->coolant_temp * 0.1f + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = data->coolant_temp * 0.1f + C_TO_KELVIN;
break;
case NWPMU_TEMPERATURE_TYPE::F:
internal_state.coolant_temperature = ((data->coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
internal_state.cylinder_status[0].cylinder_head_temperature = ((data->coolant_temp * 0.1f) - 32 * 5/9) + C_TO_KELVIN;
break;
default:
break;
}
break;
}
case NWPMU_ID::ECU_6: {
internal_state.last_updated_ms = AP_HAL::millis();
struct ecu_6 *data = (struct ecu_6 *)frame.data;
if (!_emitted_version && (AP_HAL::millis() > 10000)) { // don't emit a version early in the boot process
gcs().send_text(MAV_SEVERITY_INFO, "NWPMU Version: %d.%d.%d",
data->firmware_major,
data->firmware_minor,
data->firmware_build);
_emitted_version = true;
}
break;
}
case NWPMU_ID::GCU:
case NWPMU_ID::ECU_3:
case NWPMU_ID::ECU_7:
case NWPMU_ID::ECU_8:
case NWPMU_ID::ECU_9:
case NWPMU_ID::ECU_10:
case NWPMU_ID::ECU_11:
case NWPMU_ID::ECU_12:
break;
}
}
void AP_EFI_NWPMU::update()
{
// copy the data to the front end
copy_to_frontend();
}
#endif // HAL_EFI_NWPWU_ENABLED

115
libraries/AP_EFI/AP_EFI_NWPMU.h
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@ -0,0 +1,115 @@ @@ -0,0 +1,115 @@
/*
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/>.
*/
/*
* AP_EFI_NWPMU.h
*
* Author: Michael Du Breuil
*/
#pragma once
#include "AP_EFI.h"
#include "AP_EFI_Backend.h"
#include <AP_CANManager/AP_CANSensor.h>
#ifndef HAL_EFI_NWPWU_ENABLED
#define HAL_EFI_NWPWU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024
#endif
#if HAL_EFI_NWPWU_ENABLED
class AP_EFI_NWPMU : public CANSensor, public AP_EFI_Backend {
public:
AP_EFI_NWPMU(AP_EFI &_frontend);
void update() override;
private:
void handle_frame(AP_HAL::CANFrame &frame) override;
bool _emitted_version;
enum class NWPMU_ID {
GCU = 0x0006C000, // output voltage and current consumption
ECU_1 = 0x0CFFF048, // rpm, tps, fuel open, ignition angle
ECU_2 = 0x0CFFF148, // baro, MAP, lambda, pressure type
ECU_3 = 0x0CFFF248, // analog input 1-4
ECU_4 = 0x0CFFF348, // analog input 5-8
ECU_5 = 0x0CFFF548, // battery voltage, air temp, coolant temp, temp type
ECU_6 = 0x0CFFF648, // analog input 5, 7, version
ECU_7 = 0x0CFFF848, // measured lambda 1-2, target lambda
ECU_8 = 0x0CFFF948, // PWM ACHT, Blank, Fuel
ECU_9 = 0x0CFFFB48, // ignition compensation, cut precent
ECU_10 = 0x0CFFFD48, // Fuel comp (accel, starting, air temp, coolant temp)
ECU_11 = 0x0CFFFE48, // Fuel comp (baro, MAP)
ECU_12 = 0x0CFFD048, // Ignition comp (air temp, cooland temp, MAP)
};
enum class NWPMU_PRESSURE_TYPE {
psi = 0,
kPa = 1,
};
enum class NWPMU_TEMPERATURE_TYPE {
F = 0,
C = 1,
};
struct ecu_1 {
uint16_t rpm;
uint16_t tps;
uint16_t fuel_open_time; // 0.01 per bit (ms)
uint16_t ignition_angle; // 0.01 per bit (deg)
};
struct ecu_2 {
uint16_t baro; // 0.01 per bit
uint16_t map; // 0.01 per bit
uint16_t lambda; // 0.01 per bit
uint8_t pressure_type; // bit 1 is set if kPa, otherwise is PSI
};
struct ecu_3 {
uint16_t analog_1; // 0.001 per bit (v)
uint16_t analog_2; // 0.001 per bit (v)
uint16_t analog_afr; // 0.001 per bit (v)
uint16_t analog_blank; // 0.001 per bit (v)
};
struct ecu_4 {
uint16_t analog_gen_temp; // 0.001 per bit
uint16_t analog_fuel_pres; // 0.001 per bit
uint16_t analog_fuel_level; // 0.001 per bit
uint16_t analog_baro_pres; // 0.001 per bit
};
struct ecu_5 {
uint16_t batt_volt; // 0.01 per bit (v)
uint16_t air_temp; // 0.1 per bit
uint16_t coolant_temp; // 0.1 per bit
uint8_t temp_type; // 0 F, 1 C
};
struct ecu_6 {
uint16_t analog_5; // 0.1 per bit
uint16_t analog_7; // 0.1 per bit
uint8_t firmware_major;
uint8_t firmware_minor;
uint8_t firmware_build;
};
};
#endif // HAL_EFI_NWPWU_ENABLED
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