mirror of https://github.com/FOME-Tech/wiki.git
document Lua interface
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Nathan Schulte
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@ -135,7 +135,7 @@ The first page to view should probably be [the FOME Overview page](Intro-Start-H
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- [Cylinder Angle Offset](Advanced-Features/Cylinder-Angle-Offset)
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- [Knock control](Advanced-Features/Knock-Control)
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- [Launch Control](Advanced-Features/Launch-Control)
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- [LUA Scripting](Advanced-Features/LUA-Scripting)
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- [Lua Scripting](Advanced-Features/Lua-Scripting)
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- [MAP sampling angle](Advanced-Features/MAP-Sampling-Angle)
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- [Multi-Dimensional Mapping](Advanced-Features/Multi-Dimensional-Mapping)
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- [Override Table Axis](Advanced-Features/Override-Table-Axis)
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@ -1,5 +0,0 @@
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# LUA Scripting
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For a basic introductions see [this wiki section](https://wiki.rusefi.com/Lua-Scripting/).
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For examples see [files in example directory](https://github.com/FOME-Tech/fome-fw/tree/master/firmware/controllers/lua/examples).
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# Lua Scripting
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## Introduction
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FOME allows to extend and customize firmware functionality and behavior by providing a [Lua script
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interpreter](https://www.lua.org/docs.html). Various sensors, signals, and state are provided for reading and
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manipulating , allowing to tailor a control strategy to fit the applications needs.
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This page documents the most up-to-date version of FOME's Lua scripting support: not all interfaces are supported in
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earlier versions.
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For examples see the files in the [firmware's `.../lua/examples/` directory](https://github.com/FOME-Tech/fome-fw/tree/master/firmware/controllers/lua/examples).
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For a basic introduction see [this wiki section](https://wiki.rusefi.com/Lua-Scripting/).
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## Lua Types
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### `Timer`
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A Lua type that keeps track of seconds. The timer does not initialize to a reset state; instead it initializes to a
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"foreverish" value.
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```lua
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timer = Timer.new()
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```
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#### `Timer.getElapsedSeconds()`
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Returns the number of seconds since the timer was last reset.
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#### `Timer.reset()`
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Resets the timer to begin counting from zero.
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### `Sensor`
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A Lua type that allows to control the value of sensors. The type is implemented as a "stored-value" sensor, that
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operates asynchronously and whose value is invalidated periodically upon a given timeout (initially: 100 milliseconds).
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```lua
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sensor = Sensor.new("OilPressure")
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```
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#### `Sensor.new(name)`
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|parameter|type|description|
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|-:|--|:-|
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|`name`|string|the name of the sensor to control; see [`sensor_type.h`](https://github.com/FOME-Tech/fome-fw/blob/master/firmware/controllers/sensors/sensor_type.h#L18)|
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#### `Sensor.set(value)`
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Sets the controlled sensor's value as provided.
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|parameter|type|description|
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|-:|--|:-|
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|`value`|float|the value to set the controlled sensor to|
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#### `Sensor.setRedundant(isRedundant)`
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Sets the redundancy-aspect of the controlled sensor.
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|parameter|type|description|
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|-:|--|:-|
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|`isRedundant`|boolean|whether or not the controlled sensor is redundant|
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#### `Sensor.setTimeout(timeoutMs)`
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Sets the timeout for the controlled sensor's stored-value.
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|parameter|type|description|
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|-:|--|:-|
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|`timeoutMs`|integer|how long the controlled sensors value is valid for, in milliseconds|
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#### `Sensor.invalidate()`
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Invalidates the controlled sensor's stored-value.
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### `Pid`
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A Lua type that implements a [PID (proportional-integral-derivative) controller](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller#Fundamental_operation).
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$$u(t) = K_\text{p} e(t) + K_\text{i} \int_0^t e(\tau) \,\mathrm{d}\tau + K_\text{d} \frac{\mathrm{d}e(t)}{\mathrm{d}t}$$
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```lua
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pid = Pid.new(1.5, 0.2, 0.1, -80, 80)
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```
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#### `Pid.new(kp, ki, kd, min, max)`
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|parameter|type|description|
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|-:|--|:-|
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|`kp`|float|$$K_\text{p}$$, the proportional factor of the PID control|
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|`ki`|float|$$K_\text{i}$$, the integral factor of the PID control|
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|`kd`|float|$$K_\text{d}$$, the derivative factor of the PID control|
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|`min`|float|the minimum output value of the PID control; output is limited above this value|
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|`max`|float|the maximum output value of the PID control; output is limited below this value|
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#### `Pid.get(target, input)`
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TODO: description
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|parameter|type|description|
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|-:|--|:-|
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|`target`|float|TODO: description|
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|`input`|float|TODO: description|
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#### `Pid.setOffset(offset)`
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TODO: description
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|parameter|type|description|
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|-:|--|:-|
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|`offset`|float|TODO: description|
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#### `Pid.reset()`
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Resets the PID controller.
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## Lua Functions/Hooks
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### Util
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These hooks are included in all builds of FOME.
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#### `print`
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#### `interpolate`
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#### `findCurveIndex`
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#### `findTableIndex`
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#### `findSetting`
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#### `getNowSeconds`
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currently not implemented
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### Util (STM32F4 and STM32F7 only)
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These hooks are included in all builds of FOME targetting an STM32F4 or STM32F7 board.
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#### `mcu_standby`
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### Core
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These hooks are included in all builds of FOME.
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#### `setTickRate(hertz)`
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#### `readPin`
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#### `vin`
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#### `getAuxAnalog`
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#### `getSensorByIndex`
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#### `getSensor`
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#### `getSensorRaw`
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#### `hasSensor`
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#### `table3d`
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#### `curve`
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#### `setLuaGauge(index, value)`
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Sets the given Lua gauge to the provided value. Currently two Lua guages are supported: `index = 1` and `index = 2`.
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This can also be accomplished by using the Lua `Sensor` interface, but is more convenient to use.
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|parameter|type|description|
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|-:|--|:-|
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|`index`|integer|index of the Lua gauge to set|
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|`value`|number|the value to set the Lua gauge identifed by `index` to|
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#### `enableCanTx`
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#### `restartEtb`
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#### `crc8_j1850`
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#### `setTimingAdd`
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#### `setTimingMult`
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#### `setFuelAdd`
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#### `setFuelMult`
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#### `setEtbAdd`
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#### `setEtbDisabled`
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#### `setIgnDisabled`
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#### `setClutchUpState`
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#### `setBrakePedalState`
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#### `setAcRequestState`
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#### `getCalibration`
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#### `getOutput`
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#### `setCalibration`
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#### `getGlobalConfigurationVersion`
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#### `setAcDisabled`
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#### `getTimeSinceAcToggleMs`
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#### `startPwm`
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#### `setPwmDuty`
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#### `setPwmFreq`
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#### `getFan`
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#### `getDigital`
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#### `getAuxDigital`
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#### `setDebug`
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#### `getAirmass`
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#### `setAirmass`
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#### `resetOdometer`
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### SENT (SAE J2716)
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These hooks are included in builds of FOME that incorporate [SAE J2716 SENT](https://en.wikipedia.org/wiki/SENT_(protocol)) support.
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#### `getSentValue`
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#### `getSentValues`
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### CAN
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These hooks are included in builds of FOME that incorporate [CAN](https://en.wikipedia.org/wiki/CAN_bus) support.
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#### `canRxAdd`
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#### `canRxAddMask`
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#### `txCan`
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### Launch Control
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#### `setSparkSkipRatio`
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### Crankshaft Position Input
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#### `selfStimulateRPM`
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#### `getEngineState`
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#### `getTimeSinceTriggerEventMs`
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### Boost Control
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#### `setBoostTargetAdd`
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#### `setBoostTargetMult`
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#### `setBoostDutyAdd`
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### Idle Control
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#### `setIdleAdd`
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### Vehicle Speed
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#### `getCurrentGear`
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#### `getRpmInGear`
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@ -122,7 +122,7 @@ const config: Config = {
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},
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{
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from: '/r/lua',
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to: '/Advanced-Features/LUA-Scripting/',
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to: '/Advanced-Features/Lua-Scripting/',
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},
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{
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from: '/r/vr',
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