AP_EFI: Hirth Driver Addition

backport from 4.4
CarbonixUAV · Nov 15, 2023 · 9c2c08f · 9c2c08f
1 parent e1ea9e4
commit 9c2c08f
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Showing 12 changed files with 769 additions and 14 deletions.
diff --git a/libraries/AP_EFI/AP_EFI.cpp b/libraries/AP_EFI/AP_EFI.cpp
@@ -22,6 +22,7 @@
 #include "AP_EFI_NWPMU.h"
 #include "AP_EFI_DroneCAN.h"
 #include "AP_EFI_Currawong_ECU.h"
+#include "AP_EFI_Serial_Hirth.h"
 #include "AP_EFI_Scripting.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -37,7 +38,7 @@ 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,2:NWPMU,3:Serial-Lutan,5:DroneCAN,6:Currawong-ECU,7:Scripting
+    // @Values: 0:None,1:Serial-MS,2:NWPMU,3:Serial-Lutan,5:DroneCAN,6:Currawong-ECU,7:Scripting,8:Hirth
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_EFI, type, 0, AP_PARAM_FLAG_ENABLE),
@@ -64,6 +65,12 @@ const AP_Param::GroupInfo AP_EFI::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("_FUEL_DENS", 4, AP_EFI, ecu_fuel_density, 0),
 
+#if AP_EFI_THROTTLE_LINEARISATION_ENABLED   
+    // @Group: _THRLIN
+    // @Path: AP_EFI_ThrottleLinearisation.cpp
+    AP_SUBGROUPINFO(throttle_linearisation, "_THRLIN", 5, AP_EFI, AP_EFI_ThrLin),
+#endif
+
     AP_GROUPEND
 };
 
@@ -112,6 +119,11 @@ void AP_EFI::init(void)
         backend = new AP_EFI_Scripting(*this);
 #endif
         break;
+#if AP_EFI_SERIAL_HIRTH_ENABLED
+    case Type::Hirth:
+        backend = new AP_EFI_Serial_Hirth(*this);
+        break;
+#endif
     default:
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unknown EFI type");
         break;
@@ -221,19 +233,23 @@ void AP_EFI::log_status(void)
 // @Field: CHT: Cylinder head temperature
 // @Field: EGT: Exhaust gas temperature
 // @Field: Lambda: Estimated lambda coefficient (dimensionless ratio)
+// @Field: CHT2: Cylinder2 head temperature
+// @Field: EGT2: Cylinder2 Exhaust gas temperature
 // @Field: IDX: Index of the publishing ECU
     AP::logger().WriteStreaming("ECYL",
-                                "TimeUS,Inst,IgnT,InjT,CHT,EGT,Lambda,IDX",
-                                "s#dsOO--",
-                                "F-0C0000",
-                                "QBfffffB",
+                                "TimeUS,Inst,IgnT,InjT,CHT,EGT,Lambda,CHT2,EGT2,IDX",
+                                "s#dsOO-OO-",
+                                "F-0C000000",
+                                "QBfffffBff",
                                 AP_HAL::micros64(),
                                 0,
                                 state.cylinder_status.ignition_timing_deg,
                                 state.cylinder_status.injection_time_ms,
                                 state.cylinder_status.cylinder_head_temperature,
                                 state.cylinder_status.exhaust_gas_temperature,
                                 state.cylinder_status.lambda_coefficient,
+                                state.cylinder_status.cylinder_head_temperature2,
+                                state.cylinder_status.exhaust_gas_temperature2,
                                 state.ecu_index);
 }
 #endif // LOGGING_ENABLED

diff --git a/libraries/AP_EFI/AP_EFI.h b/libraries/AP_EFI/AP_EFI.h
@@ -22,6 +22,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include "AP_EFI_ThrottleLinearisation.h"
 
 #include "AP_EFI_Backend.h"
 #include "AP_EFI_State.h"
@@ -84,6 +85,9 @@ class AP_EFI {
         DroneCAN = 5,
         CurrawongECU = 6,
         SCRIPTING  = 7,
+#if AP_EFI_SERIAL_HIRTH_ENABLED
+        Hirth      = 8, 
+#endif
     };
 
     static AP_EFI *get_singleton(void) {
@@ -107,6 +111,10 @@ class AP_EFI {
 
     EFI_State state;
 
+#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
+    AP_EFI_ThrLin throttle_linearisation;
+#endif
+
 private:
     // Front End Parameters
     AP_Enum<Type> type;

diff --git a/libraries/AP_EFI/AP_EFI_Backend.cpp b/libraries/AP_EFI/AP_EFI_Backend.cpp
@@ -42,6 +42,11 @@ float AP_EFI_Backend::get_coef2(void) const
     return frontend.coef2;
 }
 
+void AP_EFI_Backend::set_default_coef1(float coef1)
+{
+    frontend.coef1.set_default(coef1);
+}
+
 HAL_Semaphore &AP_EFI_Backend::get_sem(void)
 {
     return frontend.sem;
@@ -51,4 +56,15 @@ float AP_EFI_Backend::get_ecu_fuel_density(void) const
 {
     return frontend.ecu_fuel_density;
 }
+
+#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
+/*
+  linearise throttle if enabled
+*/
+float AP_EFI_Backend::linearise_throttle(float throttle_percent)
+{
+    return frontend.throttle_linearisation.linearise_throttle(throttle_percent);
+}
+#endif // AP_EFI_THROTTLE_LINEARISATION_ENABLED
+
 #endif // HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Backend.h b/libraries/AP_EFI/AP_EFI_Backend.h
@@ -45,8 +45,16 @@ class AP_EFI_Backend {
     int8_t get_uavcan_node_id(void) const;
     float get_coef1(void) const;
     float get_coef2(void) const;
+
+    void set_default_coef1(float coef1);
+
     float get_ecu_fuel_density(void) const;
 
+    /*
+      linearise throttle if enabled
+     */
+    float linearise_throttle(float throttle_percent);
+
     HAL_Semaphore &get_sem(void);
 
 private:

diff --git a/libraries/AP_EFI/AP_EFI_Scripting.cpp b/libraries/AP_EFI/AP_EFI_Scripting.cpp
@@ -1,7 +1,10 @@
-#include "AP_EFI_Scripting.h"
+#include "AP_EFI_config.h"
 
 #if AP_EFI_SCRIPTING_ENABLED
 
+#include "AP_EFI_Scripting.h"
+
+
 // Called from frontend to update with the readings received by handler
 void AP_EFI_Scripting::update()
 {