mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.4 KiB
Lua
53 lines
1.4 KiB
Lua
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--[[
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This script captures raw packets to a log file for later playback using Tools/scripts/CAN/CAN_playback.py onto a CAN bus.
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Set CAN_D1_PROTOCOL to 10 for scripting.
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Also need LOG_DISARMED set to 1 if running this while disarmed.
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--]]
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local can_driver = CAN:get_device(25)
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if not can_driver then
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gcs:send_text(0,"No scripting CAN interface found")
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return
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end
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local last_print_ms = millis()
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local frame_count = 0
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local last_frame_count = 0
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function update()
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local more_frames = true
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for _ = 1, 25 do
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local frame = can_driver:read_frame()
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if not frame then
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more_frames = false
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break
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end
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local id = frame:id()
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logger.write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB',
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id,
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frame:dlc(),
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frame_count,
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frame:data(0), frame:data(1), frame:data(2), frame:data(3),
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frame:data(4), frame:data(5), frame:data(6), frame:data(7))
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frame_count = frame_count + 1
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end
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local now = millis()
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if now - last_print_ms >= 1000 then
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local dt = (now - last_print_ms):tofloat()*0.001
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gcs:send_text(0, string.format("CAN: %.2f fps", (frame_count-last_frame_count)/dt))
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last_print_ms = now
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last_frame_count = frame_count
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end
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if more_frames then
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-- sleep for min possible time to try not to lose frames
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return update, 0
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end
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return update, 2
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end
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return update()
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