From 96f5a1cb2b4b1a25f3e07c12f4cd0f191f418fc4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 1 Nov 2023 15:16:22 +1100
Subject: [PATCH] AP_Scripting: added bindings for telemetry data for ESCs

allows more complete ESC protocol implementation in scripting
---
 libraries/AP_Scripting/docs/docs.lua          | 35 ++++++++++++++++++-
 .../generator/description/bindings.desc       | 10 ++++++
 2 files changed, 44 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index e1560bbd8e..1fcf77384a 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1733,12 +1733,45 @@ function param:add_table(table_key, prefix, num_params) end
 ---@return boolean
 function param:add_param(table_key, param_num, name, default_value) end
 
+-- desc
+---@class ESCTelemetryData_ud
+local ESCTelemetryData_ud = {}
+
+---@return ESCTelemetryData_ud
+function ESCTelemetryData() end
+
+-- set motor temperature
+---@param value integer
+function ESCTelemetryData_ud:motor_temp_cdeg(value) end
+
+-- set consumption
+---@param value number
+function ESCTelemetryData_ud:consumption_mah(value) end
+
+-- set current
+---@param value number
+function ESCTelemetryData_ud:current(value) end
+
+-- set voltage
+---@param value number
+function ESCTelemetryData_ud:voltage(value) end
+
+-- set temperature
+---@param value integer
+function ESCTelemetryData_ud:temperature_cdeg(value) end
+
 -- desc
 ---@class esc_telem
 esc_telem = {}
 
+-- update telemetry data for an ESC instance
+---@param instance integer -- 0 is first motor
+---@param telemdata ESCTelemetryData_ud
+---@param data_mask integer -- bit mask of what fields are filled in
+function esc_telem:update_telem_data(instance, telemdata, data_mask) end
+
 -- desc
----@param instance integer
+---@param param1 integer
 ---@return uint32_t_ud|nil
 function esc_telem:get_usage_seconds(instance) end
 
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 038db48be8..b830b16b9d 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -382,6 +382,15 @@ singleton AP_OpticalFlow method healthy boolean
 singleton AP_OpticalFlow method quality uint8_t
 
 include AP_ESC_Telem/AP_ESC_Telem.h
+
+userdata AP_ESC_Telem_Backend::TelemetryData depends (HAL_WITH_ESC_TELEM == 1)
+userdata AP_ESC_Telem_Backend::TelemetryData rename ESCTelemetryData
+userdata AP_ESC_Telem_Backend::TelemetryData field temperature_cdeg int16_t'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field voltage float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field current float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field consumption_mah float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field motor_temp_cdeg int16_t'skip_check write
+
 singleton AP_ESC_Telem depends HAL_WITH_ESC_TELEM == 1
 singleton AP_ESC_Telem rename esc_telem
 singleton AP_ESC_Telem method get_rpm boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
@@ -392,6 +401,7 @@ singleton AP_ESC_Telem method get_voltage boolean uint8_t 0 NUM_SERVO_CHANNELS f
 singleton AP_ESC_Telem method get_consumption_mah boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
 singleton AP_ESC_Telem method get_usage_seconds boolean uint8_t 0 NUM_SERVO_CHANNELS uint32_t'Null
 singleton AP_ESC_Telem method update_rpm void uint8_t 0 NUM_SERVO_CHANNELS uint16_t'skip_check float'skip_check
+singleton AP_ESC_Telem method update_telem_data void uint8_t 0 NUM_SERVO_CHANNELS AP_ESC_Telem_Backend::TelemetryData uint16_t'skip_check
 singleton AP_ESC_Telem method set_rpm_scale void uint8_t 0 NUM_SERVO_CHANNELS float'skip_check
 
 include AP_Param/AP_Param.h