mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
Lua
43 lines
1.2 KiB
Lua
-- This script is an example of reading from the CAN bus
|
|
|
|
-- Load CAN driver1. The first will attach to a protocol of 10, the 2nd to a protocol of 12
|
|
-- this allows the script to distinguish packets on two CAN interfaces
|
|
local driver1 = CAN:get_device(5)
|
|
local driver2 = CAN:get_device2(5)
|
|
|
|
if not driver1 and not driver2 then
|
|
gcs:send_text(0,"No scripting CAN interfaces found")
|
|
return
|
|
end
|
|
|
|
-- Only accept DroneCAN node status msg on second driver
|
|
-- node status is message ID 341
|
|
-- Message ID is 16 bits left shifted by 8 in the CAN frame ID.
|
|
driver2:add_filter(uint32_t(0xFFFF) << 8, uint32_t(341) << 8)
|
|
|
|
function show_frame(dnum, frame)
|
|
gcs:send_text(0,string.format("CAN[%u] msg from " .. tostring(frame:id()) .. ": %i, %i, %i, %i, %i, %i, %i, %i", dnum, frame:data(0), frame:data(1), frame:data(2), frame:data(3), frame:data(4), frame:data(5), frame:data(6), frame:data(7)))
|
|
end
|
|
|
|
function update()
|
|
|
|
-- see if we got any frames
|
|
if driver1 then
|
|
frame = driver1:read_frame()
|
|
if frame then
|
|
show_frame(1, frame)
|
|
end
|
|
end
|
|
if driver2 then
|
|
frame = driver2:read_frame()
|
|
if frame then
|
|
show_frame(2, frame)
|
|
end
|
|
end
|
|
|
|
return update, 10
|
|
|
|
end
|
|
|
|
return update()
|