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AP_Periph: added EFI support

apm_2208
Andrew Tridgell 3 years ago
parent
b7ddcdfb71
commit
f728894eec
6 changed files with 254 additions and 1 deletions
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  1. 11
      Tools/AP_Periph/AP_Periph.cpp
  2. 10
      Tools/AP_Periph/AP_Periph.h
  3. 33
      Tools/AP_Periph/Parameters.cpp
  4. 8
      Tools/AP_Periph/Parameters.h
  5. 190
      Tools/AP_Periph/can.cpp
  6. 3
      Tools/AP_Periph/wscript

11
Tools/AP_Periph/AP_Periph.cpp
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@ -185,6 +185,17 @@ void AP_Periph_FW::init() @@ -185,6 +185,17 @@ void AP_Periph_FW::init()
adsb_init();
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
if (efi.enabled() && g.efi_port >= 0) {
auto *uart = hal.serial(g.efi_port);
if (uart != nullptr) {
uart->begin(g.efi_baudrate);
serial_manager.set_protocol_and_baud(g.efi_port, AP_SerialManager::SerialProtocol_EFI, g.efi_baudrate);
efi.init();
}
}
#endif
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
if (airspeed.enabled()){
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

10
Tools/AP_Periph/AP_Periph.h
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@ -11,6 +11,7 @@ @@ -11,6 +11,7 @@
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_EFI/AP_EFI.h>
#include <AP_MSP/AP_MSP.h>
#include <AP_MSP/msp.h>
#include "../AP_Bootloader/app_comms.h"
@ -92,6 +93,10 @@ public: @@ -92,6 +93,10 @@ public:
void prepare_reboot();
bool canfdout() const { return (g.can_fdmode == 1); }
#ifdef HAL_PERIPH_ENABLE_EFI
void can_efi_update();
#endif
#ifdef HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT
void check_for_serial_reboot_cmd(const int8_t serial_index);
#endif
@ -195,6 +200,11 @@ public: @@ -195,6 +200,11 @@ public:
void hwesc_telem_update();
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
AP_EFI efi;
uint32_t efi_update_ms;
#endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT
#if HAL_WITH_ESC_TELEM
AP_ESC_Telem esc_telem;

33
Tools/AP_Periph/Parameters.cpp
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@ -39,6 +39,14 @@ extern const AP_HAL::HAL &hal; @@ -39,6 +39,14 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_BARO_ENABLE_DEFAULT 1
#endif
#ifndef AP_PERIPH_EFI_PORT_DEFAULT
#define AP_PERIPH_EFI_PORT_DEFAULT 3
#endif
#ifndef HAL_PERIPH_EFI_BAUDRATE_DEFAULT
#define HAL_PERIPH_EFI_BAUDRATE_DEFAULT 115200
#endif
#ifndef HAL_DEFAULT_MAV_SYSTEM_ID
#define MAV_SYSTEM_ID 3
#else
@ -418,6 +426,31 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { @@ -418,6 +426,31 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(node_stats, "STAT", AP_Stats),
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
// @Param: EFI_BAUDRATE
// @DisplayName: EFI serial baudrate
// @Description: EFI serial baudrate.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000
// @Increment: 1
// @User: Standard
// @RebootRequired: True
GSCALAR(efi_baudrate, "EFI_BAUDRATE", HAL_PERIPH_EFI_BAUDRATE_DEFAULT),
// @Param: EFI_PORT
// @DisplayName: EFI Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to EFI.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(efi_port, "EFI_PORT", AP_PERIPH_EFI_PORT_DEFAULT),
// EFI driver
// @Group: EFI
// @Path: ../libraries/AP_EFI/AP_EFI.cpp
GOBJECT(efi, "EFI", AP_EFI),
#endif
AP_VAREND
};

8
Tools/AP_Periph/Parameters.h
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@ -56,6 +56,9 @@ public: @@ -56,6 +56,9 @@ public:
k_param_can_fdbaudrate1,
k_param_node_stats,
k_param_rangefinder_max_rate,
k_param_efi,
k_param_efi_port,
k_param_efi_baudrate,
};
AP_Int16 format_version;
@ -129,6 +132,11 @@ public: @@ -129,6 +132,11 @@ public:
AP_Int16 sysid_this_mav;
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
AP_Int32 efi_baudrate;
AP_Int8 efi_port;
#endif
#if HAL_CANFD_SUPPORTED
AP_Int8 can_fdmode;
AP_Int8 can_fdbaudrate[HAL_NUM_CAN_IFACES];

190
Tools/AP_Periph/can.cpp
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@ -1682,6 +1682,9 @@ void AP_Periph_FW::can_update() @@ -1682,6 +1682,9 @@ void AP_Periph_FW::can_update()
#endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT
rcout_update();
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
can_efi_update();
#endif
const uint32_t now_us = AP_HAL::micros();
while ((AP_HAL::micros() - now_us) < 1000) {
@ -2363,6 +2366,193 @@ void AP_Periph_FW::can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg) @@ -2363,6 +2366,193 @@ void AP_Periph_FW::can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg)
}
#endif // HAL_PERIPH_ENABLE_ADSB
#ifdef HAL_PERIPH_ENABLE_EFI
/*
update CAN EFI
*/
void AP_Periph_FW::can_efi_update(void)
{
if (!efi.enabled()) {
return;
}
efi.update();
const uint32_t update_ms = efi.get_last_update_ms();
if (!efi.is_healthy() || efi_update_ms == update_ms) {
return;
}
efi_update_ms = update_ms;
EFI_State state;
efi.get_state(state);
{
/*
send status packet
*/
uavcan_equipment_ice_reciprocating_Status pkt {};
// state maps 1:1 from Engine_State
pkt.state = uint8_t(state.engine_state);
switch (state.crankshaft_sensor_status) {
case Crankshaft_Sensor_Status::NOT_SUPPORTED:
break;
case Crankshaft_Sensor_Status::OK:
pkt.flags |= UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED;
break;
case Crankshaft_Sensor_Status::ERROR:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_CRANKSHAFT_SENSOR_ERROR;
break;
}
switch (state.temperature_status) {
case Temperature_Status::NOT_SUPPORTED:
break;
case Temperature_Status::OK:
pkt.flags |= UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_SUPPORTED;
break;
case Temperature_Status::BELOW_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_BELOW_NOMINAL;
break;
case Temperature_Status::ABOVE_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_ABOVE_NOMINAL;
break;
case Temperature_Status::OVERHEATING:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_OVERHEATING;
break;
case Temperature_Status::EGT_ABOVE_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL;
break;
}
switch (state.fuel_pressure_status) {
case Fuel_Pressure_Status::NOT_SUPPORTED:
break;
case Fuel_Pressure_Status::OK:
pkt.flags |= UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_FUEL_PRESSURE_SUPPORTED;
break;
case Fuel_Pressure_Status::BELOW_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_FUEL_PRESSURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_FUEL_PRESSURE_BELOW_NOMINAL;
break;
case Fuel_Pressure_Status::ABOVE_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_FUEL_PRESSURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_FUEL_PRESSURE_ABOVE_NOMINAL;
break;
}
switch (state.oil_pressure_status) {
case Oil_Pressure_Status::NOT_SUPPORTED:
break;
case Oil_Pressure_Status::OK:
pkt.flags |= UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_OIL_PRESSURE_SUPPORTED;
break;
case Oil_Pressure_Status::BELOW_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_OIL_PRESSURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_OIL_PRESSURE_BELOW_NOMINAL;
break;
case Oil_Pressure_Status::ABOVE_NOMINAL:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_OIL_PRESSURE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_OIL_PRESSURE_ABOVE_NOMINAL;
break;
}
switch (state.detonation_status) {
case Detonation_Status::NOT_SUPPORTED:
break;
case Detonation_Status::NOT_OBSERVED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DETONATION_SUPPORTED;
break;
case Detonation_Status::OBSERVED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DETONATION_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DETONATION_OBSERVED;
break;
}
switch (state.misfire_status) {
case Misfire_Status::NOT_SUPPORTED:
break;
case Misfire_Status::NOT_OBSERVED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_MISFIRE_SUPPORTED;
break;
case Misfire_Status::OBSERVED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_MISFIRE_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_MISFIRE_OBSERVED;
break;
}
switch (state.debris_status) {
case Debris_Status::NOT_SUPPORTED:
break;
case Debris_Status::NOT_DETECTED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DEBRIS_SUPPORTED;
break;
case Debris_Status::DETECTED:
pkt.flags |=
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DEBRIS_SUPPORTED |
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_FLAG_DEBRIS_DETECTED;
break;
}
pkt.engine_load_percent = state.engine_load_percent;
pkt.engine_speed_rpm = state.engine_speed_rpm;
pkt.spark_dwell_time_ms = state.spark_dwell_time_ms;
pkt.atmospheric_pressure_kpa = state.atmospheric_pressure_kpa;
pkt.intake_manifold_pressure_kpa = state.intake_manifold_pressure_kpa;
pkt.intake_manifold_temperature = state.intake_manifold_temperature;
pkt.coolant_temperature = state.coolant_temperature;
pkt.oil_pressure = state.oil_pressure;
pkt.oil_temperature = state.oil_temperature;
pkt.fuel_pressure = state.fuel_pressure;
pkt.fuel_consumption_rate_cm3pm = state.fuel_consumption_rate_cm3pm;
pkt.estimated_consumed_fuel_volume_cm3 = state.estimated_consumed_fuel_volume_cm3;
pkt.throttle_position_percent = state.throttle_position_percent;
pkt.ecu_index = state.ecu_index;
pkt.spark_plug_usage = uint8_t(state.spark_plug_usage);
// assume single set of cylinder status
pkt.cylinder_status.len = 1;
auto &c = pkt.cylinder_status.data[0];
const auto &state_c = state.cylinder_status[0];
c.ignition_timing_deg = state_c.ignition_timing_deg;
c.injection_time_ms = state_c.injection_time_ms;
c.cylinder_head_temperature = state_c.cylinder_head_temperature;
c.exhaust_gas_temperature = state_c.exhaust_gas_temperature;
c.lambda_coefficient = state_c.lambda_coefficient;
uint8_t buffer[UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_MAX_SIZE] {};
const uint16_t total_size = uavcan_equipment_ice_reciprocating_Status_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_SIGNATURE,
UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_ID,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
}
#endif // HAL_PERIPH_ENABLE_EFI
// printf to CAN LogMessage for debugging
void can_printf(const char *fmt, ...)
{

3
Tools/AP_Periph/wscript
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@ -62,7 +62,8 @@ def build(bld): @@ -62,7 +62,8 @@ def build(bld):
'AC_PID',
'AP_BLHeli',
'AP_ESC_Telem',
'AP_Stats'
'AP_Stats',
'AP_EFI',
]
bld.ap_stlib(
name= 'AP_Periph_libs',

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