DroneCAN: added FlexDebug support #28450
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tpwrules
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Oct 24, 2024
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IamPete1
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Nov 5, 2024
| const uint8_t bus = get_uint8_t(L, 1); | ||
| const uint8_t node_id = get_uint8_t(L, 2); | ||
| const uint16_t msg_id = get_uint16_t(L, 3); | ||
| uint32_t tstamp_us = get_uint32(L, 4, 0, UINT32_MAX); |
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| uint32_t tstamp_us = get_uint32(L, 4, 0, UINT32_MAX); | |
| uint32_t tstamp_us = coerce_to_uint32_t(L, 4); |
Don't need the range check.
IamPete1
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Nov 5, 2024
allows lua to retrieve vendor specific data from CAN nodes
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tpwrules
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Nov 5, 2024
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Looks good, tested it with an AM32 ESC and it does what it says on the tin. We can keep the binding as it is now, with the understanding that we may change it in the future.
Happy the option bit has been added as a safety/abuse prevention.
Not thrilled with the lack of locking/atomics, but that is a general concern I have with ArduPilot and I think it's correct in an ideal world as it is. Flash cost is about 1K on CubeOrange which seems reasonable enough.
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This allows lua scripts to receive FlexDebug DroneCAN messages, allowing for flexible arbitrary debug data from peripheral nodes
This was developed for debugging AM32 ESCs, but any vendor can reserve ranges of IDs