mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.5 KiB
Lua
51 lines
1.5 KiB
Lua
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--[[
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ArduPilot lua script to log debug messages from AM32 DroneCAN
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ESCs on the flight controller
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To install set SCR_ENABLE=1 and put this script in APM/SCRIPTS/ on
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the microSD of the flight controller then restart the flight
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controller
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--]]
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-- assume ESCs are nodes 30, 31, 32 and 33
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local ESC_BASE = 30
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local AM32_DEBUG = 100
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local last_tstamp = {}
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local ts_zero = uint32_t(0)
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local reported_version_error = false
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function log_AM32()
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for i = 0, 3 do
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local last_ts = last_tstamp[i] or ts_zero
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tstamp_us, msg = DroneCAN_get_FlexDebug(0, ESC_BASE+i, AM32_DEBUG, last_ts)
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if tstamp_us and msg then
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version, commutation_interval, num_commands, num_input, rx_errors, rxframe_error, rx_ecode, auto_advance_level = string.unpack("<BiHHHHiB", msg)
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if not version or version ~= 1 then
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if not reported_version_error then
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reported_version_error = true
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gcs:send_text(0, string.format("AM32 debug version error %u", version))
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end
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return
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end
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logger:write('AMD1','Node,CI,NC,NI,RXerr,FrE,RXec,AAL','BiHHHHiB','#-------','--------',i,commutation_interval, num_commands, num_input, rx_errors, rxframe_error, rx_ecode, auto_advance_level)
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if rx_ecode then
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gcs:send_named_float(string.format('AM32_EC_%u',i), rx_ecode)
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end
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last_tstamp[i] = tstamp_us
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end
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end
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end
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function update()
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log_AM32()
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return update, 5
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end
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gcs:send_text(0, "Loaded AM32_debug_log")
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return update, 5
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