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rusefi_documentation/Lua-Scripting.md

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Lua Scripting

Introduction

rusEFI strives to offer users as much flexibility as possible, to provide a completely user-defined control strategy for both primary and auxiliary actuators.

Basics

rusEFI provides a number of hooks to interface with the firmware and to manipulate its state and read/write the current configuration.

Some example uses are provided in Examples.

Conventions

  • The Lua interpreter will trigger an error if there is a mistake in the program, check the rusEFI console to see errors and script output.
  • Unless otherwise mentioned, all index parameters start with the first element at index at 0.

Writing Your Script

The entire Lua script is read at startup, then a script function called onTick is called periodically by rusEFI.

Here is a simple script you can run to illustrate this behavior:

print('Hello Lua startup!')

function onTick()
    print('Hello onTick()')
end

Controlling the Tick Rate

The function setTickRate(hz) can be used to configure how often rusEFI calls the onTick function. If your script does a lot of work in the onTick() function it may run slower than the desired rate. Since the Lua virtual machine runs at low priority compared to other functions of the ECU, it is impossible to swamp the ECU with too much Lua work, so set the tick rate to whatever is necessary. onCanRx runs at the same rate as onTick

n = 0
setTickRate(5) --set tick rate to 5hz
function onTick()
    print('Hello Lua: ' ..n)
    n = n + 1
end

Editing Scripts

To ease editing a LUA script an editor that supports Language Server Protocol (LSP) is highly recommended. For an option see LuaLS/lua-language-server

Hooks/Function Reference

User Settings

getOutput(name)

For example getOutput("clutchUpState") getOutput("brakePedalState")

See https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/generated/output_lookup_generated.cpp for output names.

setClutchUpState(value)

setBrakePedalState(value)

Use setBrakePedalState to tell rusEFI about CAN-based brake pedal.

setAcRequestState(value)

Use setAcRequestState to tell rusEFI about CAN-based A/C request.

setEtbDisabled(value)

setIgnDisabled(value)

'setIgnDisabled' function for all kinds of cranking safety systems

setAcDisabled(value)

Disable/suppress A/C functionality regardless of what and how enables it, an override kind of deal.

getTimeSinceAcToggleMs()

getCalibration(name)

Gets current calibration value for specified scalar setting name. For example getCalibration("cranking.rpm")

For complete list of possible calibration names (valid parameter values) and descriptions see https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/generated/value_lookup_generated.md.

setCalibration(name, value, needEvent)

Sets specified calibration setting to specified value. Fires calibration change event depending on needEvent parameter.

For example setCalibration("cranking.rpm", 900, false)

burnconfig

Schedule calibration write to flash once the engine is stopped.

findSetting(name, defaultValue)

Find User Setting with specified name and returns numeric value. Useful when script developer and script consumer are different people, also useful while Lua script editing is available only in TS.

  • Parameters
    • name: Variable name, as in corresponding 'name' field in configuration
    • defaultValue: value to use if specified setting not located by name

isFirmwareError

Returns true if ECU is in state of critical/fatal error.

Engine Control

startCrankingEngine()

Start cranking as if physical start button was tapped.

stopEngine()

isEngineStopRequested()

returns true if engine stop was requested by either Lua or start/stop button within the last five seconds

setSparkSkipRatio(ratio)

setSparkSkipRatio(0) to skip 0% of the ignition events, i.e. no skipping setSparkSkipRatio(0.5) would skip half of ignition events. We never skip two consecutive ignitions. #torque

setSparkHardSkipRatio(ratio)

setSparkHardSkipRatio(0) to skip 0% of the ignition events, i.e. no skipping setSparkHardSkipRatio(0.75) would skip 75% of ignition events. #torque

setIdleAdd(percent)

Percent to add to idle (incl. open loop).

setFuelAdd(amount)

Sorry not finished :(

Amount of fuel mass to add to injection, scaled by fuel multiplier (setFuelMult()); initially 0.

setFuelMult(coeff)

Sorry not finished :(

Amount to scale added fuel mass by; initially 1.0;

setBoostTargetAdd(amount)

Additive for closed loop target boost pressure.

setBoostTargetMult(coeff)

Multiplier for closed loop target boost pressure.

setBoostDutyAdd(amount)

Additive for open loop target boost pressure.

setTimingAdd(angle)

Use negative values to retard timing.

setTimingMult(coeff)

todo add details but ready to test! #torque

setEtbAdd(percent)

Amount of ETB to add, as a percent of the wide-open value: e.g. 10 for +10%. The value is a static amount to add to the determined value, e.g. TPS of 5% w/ 10 results in 15% ETB. #torque

Timer

yourTimer = Timer.new(); to have a new variable of Timer type

reset

yourTimer:reset(); to reset timer

getElapsedSeconds

yourTimer:getElapsedSeconds(); to get number of seconds since timer was reset

CAN bus

enableCanTx(isEnabled)

enabled by default

use enableCanTx(false) to suppress CAN TX

txCan(bus, ID, isExt, payload)

  • Parameters
    • bus: hardware CAN bus index, only '1' on most rusEFI boards, '1' or '2' on Proteus
    • isExt: 0 for 11 bit mode

canRxAdd(id)

canRxAdd(bus, id)

canRxAdd(id, callback)

canRxAdd(bus, id, callback)

canRxAddMask(id, mask)

canRxAddMask(bus, id, mask)

canRxAddMask(id, mask, callback)

canRxAddMask(bus, id, mask, callback)

  • Parameters
    • id: CAN ID to listen to.
    • mask: Apply a mask to the received ID before comparing to the id parameter. For example, passing an id of 3 and mask of 0xFF will match any frame whose last 8 bits match 3. If omitted, no masking is applied before comparison, so only a single CAN ID will be received. Use the mask to subscribe to multiple messages with similar IDs with a single call to canRxAddMask.
    • bus: Hardware CAN bus index, only '1' on most rusEFI boards, '1' or '2' on Proteus. If this parameter is omitted, messages will be received from any bus.
    • callback: A the callback function to call when the specified ID is received. If this parameter is not passed, the default function onCanRx will be used.

Your CAN RX callback should look like this:

function onCanRx(bus, id, dlc, data)
    -- Do things with CAN data!
end

SENT protocol

getSentValue(index)

TODO: document parameters, response

getSentValues(index)

TODO: document parameters, response

PID

deltaTime is measured automatically between current and previous "pid:get" invocation.

-- p, i, d, min, max
pid = Pid.new(2, 0, 0, -100, 100)
pid:setOffset(0.3)
pid:get(target, input)
pid:reset()

-- p, i, d, min, max
industrialPid = IndustrialPid.new(2, 0, 0, -100, 100)
industrialPid:setOffset(0.3)
industrialPid:setDerivativeFilterLoss(0.3)
industrialPid:setAntiwindupFreq(0.3)
industrialPid:get(target, input)
industrialPid:reset()

Utility

print(msg)

Print a line of text to the ECU's log.

  • Parameters
    • msg: The message to print. Pass a string or number and it will be printed to the log.
  • Returns
    • none

vin(index)

Return VIN setting character at specified index

  • Parameters
    • index: zero-based index

Usage example

Program:

n = 5.5
print('Hello Lua, number is: ' ..n)

Output: Hello Lua, number is 5.5

setTickRate(hz)

Sets the rate at which rusEFI calls your onTick and onCanRx functions, in hz. On reset default is 10hz.

  • Parameters
    • hz: Desired tick rate, in hz. Values passed will be clamped to a minimum of 1hz, and maximum of 200hz.
  • Returns
    • none

mcu_standby()

Stops MCU.

interpolate(x1, y1, x2, y2, x)

Interpolates x placing it on the line defined by (x1, y1) and (x2, y2)

findTableIndex(name)

Find table index by specified human-readable name.

table3d(tableIdx, x, y)

Looks up a value from the specified Script Table.

  • Parameters
    • tableIdx: Index of the table to use. Currently 4 tables are supported, so indices 1, 2, 3, and 4 are valid.
    • x: X-axis value to look up in the table (this is often RPM)
    • y: Y-axis value to look up in the table (this is often load)
  • Returns
    • A number representing the value looked up from the table.

findCurveIndex(name)

Finds curve index by specific curve name

curve(curveIdx, x)

Looks up a value from the specified Script Curve.

  • Parameters
    • tableIdx: Index of the script to use, starting from 1.
    • x: Axis value to look up in the table

setDebug(index, value)

Sets a debug channel to the specified value. Note: this only works when the ECU debug mode is set to Lua.

  • Parameters
    • index: the index of the debug channel to set, 1 thru 7 inclusive.
    • value: the value to set the channel to
  • Returns
    • none

mcu_standby

Puts MCU into standby low current consumption mode.

Input

getSensor(name)

Reads the specified sensor. For instance getSensor("AcceleratorPedal")

getSensorByIndex(index)

Reads the specified sensor.

getSensorRaw(index)

Reads the raw value from the specified sensor. For most sensors, this means the analog voltage on the relevant input pin.

  • Parameters
  • Returns
    • The raw value that yielded the sensor reading, or 0 if the sensor doesn't support raw readings, isn't configured, or has failed.

getAuxAnalog(index)

More or less like getSensorRaw but always voltage of aux analog input.

  • Parameters
    • index: Index of aux analog sensor to read. From 0 to 3
  • Returns
    • Voltage of sensor reading, or nil if sensor isn't configured.

hasSensor(index)

Checks whether a particular sensor is configured (whether it is currently valid or not).

getDigital(index)

Reads a digital input from the specified channel.

  • Parameters
    • index: The index of the digital channel to read. See table below for values.
  • Returns
    • A boolean value representing the state of the input pin. true = high voltage (above ~2 volts), false = low voltage (below ~3 volts)

Valid index parameter values:

Index Channel Name
0 Clutch down switch
1 Clutch up switch
2 Brake switch
3 AC switch

getAuxDigital(index)

Reads a digital input from the configurable list.

  • Parameters
    • index: The index of the digital pin to read. Valid values are 0 through 7, one for each of the 8 user-defined digital pins. See "Lua Digital Aux Inputs" table under "Advanced" settings tab.
  • Returns
    • A boolean value representing the state of the input pin. true = high voltage (above ~2 volts), false = low voltage (below ~3 volts)

readPin(pinName)

Reads physical value of arbitrary MCU pin

  • Parameters
    • pinName: string name of MCU pin, for examples "PD15"

Output

Not to be confused with internal logic 'Live View'/Log data points/gauges 'outputs'. Not to be confused with GPPWM feature.

selfStimulateRPM(rpm)

Positive value would start clicking injectors at specified RPM, zero value would stop self-stimulation.

startPwm(index, frequency, duty)

Initializes PWM on the specified index, starting at the specified frequency and duty cycle. The index selects which config field pin to use, see "Lua PWM Outputs" page in TunerStudio.

  • Parameters
    • index: The index of the PWM channel to start. Valid values are 0 through 7, one for each of the 8 channels.
    • frequency: Initial frequency of the output, in hertz (cycles per second). Valid values are between 1 and 1000hz.
    • duty: Initial duty cycle of the output. 0.0 = fully off, and 1.0 = fully on. 0.25 = on 25% of the time, off 75% of the time.
  • Returns
    • none

setPwmDuty(index, duty)

Set the duty cycle of the specified PWM channel.

  • Parameters
    • index: The index of the PWM channel to set. Valid values are 0 through 7, one for each of the 8 channels.
    • duty: Desired duty cycle of the output. 0.0 = fully off, and 1.0 = fully on. 0.25 = on 25% of the time, off 75% of the time.
  • Returns
    • none

setPwmFreq(index, frequency)

  • Parameters
    • index: The index of the PWM channel to set.
    • frequency: Initial frequency of the output, in hertz (cycles per second). Valid values are between 1 and 1000hz.
  • Returns
    • none

setLuaGauge(index, value)

In an ideal world one would be using Sensor.new("LuaGauge1") but looks like that's not the way at the moment :(

  • Parameters
    • index: The index of the Lua gauge to set. Valid indices are '1' and '2'.
    • value: Desired gauge value.
  • Returns
    • none

setDacVoltage(index, value)

Not enabled on most boards since most boards were not developer with DAC in mind! See https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/examples/dac.txt for more info.

Misc console commands

luamemory

luareset

Examples

Read VSS from CANbus for gear detection see honda-bcm.txt

timer

t = Timer.new();
timingAdd = 0;

function onTick()
   auxV = getAuxAnalog(0)
   tps = getSensor("TPS")
-- todo: check for NIL value which is a sign of analog input not assigned in TS
   if auxV > 2 then
     t:reset();
   end

   val = t:getElapsedSeconds();

   if t:getElapsedSeconds() < 3 then
     timingAdd = 10;
   else
     timingAdd = 0;
   end
   setTimingAdd(timingAdd)


   print('Hello analog ' .. auxV .. " " .. val)
end

PWM

-- index 0, 100Hz, zero duty initially
startPwm(0, 100, 0)

function onTick()
 enable_pump = getSensor("RPM") > 700  and getSensor("BatteryVoltage") > 13 and getSensor("VehicleSpeed") <60
 
 -- lua does not have ternary ? : operator, this here means "1 if enable_pump and 0 otherwise"
 setPwmDuty(0, enable_pump and 1 or 0)

end

CAN transmit

function onTick()
  tps = getSensor("CLT")
  print('TPS ' .. tps)
  voltage0 = getSensor("aux0")
 
  txPayload = {}
  // first byte: integer part, would be converted to int
  txPayload[1] = voltage0
  // second byte: fractional part, would be converted to int, overflow would be ignored
  txPayload[2] = voltage0 * 256;

  txCan(1, 0x600, 1, txPayload)

end

set sensor value

A list of sensor names can be found here.

-- make sure physical input is NOT configured to avoid 'one was already registered' conflict
vssSensor = Sensor.new("VehicleSpeed")
-- any value would be considered valid for three seconds
vssSensor:setTimeout(3000)
function onTick()
 injectedVssValue = 123.4;
 vssSensor : set(injectedVssValue)
 -- here we would read the value we have just injected into the sensor. 
 valFromSensor = getSensor("VehicleSpeed")
        -- we expect output to be "VSS 123.4"
 print ("VSS " .. valFromSensor)
end

CAN receive

canRxAdd(0x500)
canRxAdd(0x570)
function onCanRx(bus, id, dlc, data)
 print('got CAN id=' ..id ..' dlc=' ..dlc)
 if id == 0x500 then
  -- Check can state of BCM
  canState = data[1]
 end
 if id == 0x570 then
  mcu_standby()
 end
end

function decimalToHex(num)
 if num == 0 then
  return '0'
 end

 local hexstr = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, "A", "B", "C", "D", "E", "F" }
 local result = ""
 while num > 0 do
  local n = num % 16
  result = hexstr[n + 1] ..result
  num = math.floor(num / 16)
 end
 return result
end



function print_array(arr)
 local str = ""
 local index = 1
 while arr[index] ~= nil do
  str = str.." "..decimalToHex(arr[index])
  index = index + 1
 end
 return str
end

table

tableIndex = findTableIndex("duty")

TurbochargerSpeed = getSensor("TurbochargerSpeed")
tps = getSensor("Tps1")

dutyCycle = table3d(tableIndex, TurbochargerSpeed, tps)

sparkCutCurve = findCurveIndex("sparkcut")
sparkCutByTorque = curve(sparkCutCurve, torque)

See also

BMW iDrive

See https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/examples/bmw-idrive.txt

More examples at https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/examples/

See also a library for CAN data manipulation https://github.com/rusefi/rusefi/blob/master/firmware/controllers/lua/lua_lib.h

See also test driven development approach https://github.com/rusefi/rusefi/tree/master/unit_tests/tests/lua

Lua Ternary Operator