From 81194259a3b6548c349d8790a34f6bd13892188e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 24 Oct 2024 17:03:44 +0900
Subject: [PATCH] AP_Scripting: added FlexDebug example

---
 libraries/AP_Scripting/examples/FlexDebug.lua | 50 +++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/FlexDebug.lua

diff --git a/libraries/AP_Scripting/examples/FlexDebug.lua b/libraries/AP_Scripting/examples/FlexDebug.lua
new file mode 100644
index 0000000000000..5b15906ae1d1d
--- /dev/null
+++ b/libraries/AP_Scripting/examples/FlexDebug.lua
@@ -0,0 +1,50 @@
+--[[
+   ArduPilot lua script to log debug messages from AM32 DroneCAN
+   ESCs on the flight controller
+
+   To install set SCR_ENABLE=1 and put this script in APM/SCRIPTS/ on
+   the microSD of the flight controller then restart the flight
+   controller
+--]]
+
+-- assume ESCs are nodes 30, 31, 32 and 33
+local ESC_BASE = 30
+
+local AM32_DEBUG = 100
+
+local last_tstamp = {}
+local ts_zero = uint32_t(0)
+local reported_version_error = false
+
+function log_AM32()
+   for i = 0, 3 do
+      local last_ts = last_tstamp[i] or ts_zero
+      tstamp_us, msg = DroneCAN_get_FlexDebug(0, ESC_BASE+i, AM32_DEBUG, last_ts)
+      if tstamp_us and msg then
+         version, commutation_interval, num_commands, num_input, rx_errors, rxframe_error, rx_ecode, auto_advance_level = string.unpack("<BiHHHHiB", msg)
+         if not version or version ~= 1 then
+            if not reported_version_error then
+               reported_version_error = true
+               gcs:send_text(0, string.format("AM32 debug version error %u", version))
+            end
+            return
+         end
+         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)
+         if rx_ecode then
+            gcs:send_named_float(string.format('AM32_EC_%u',i), rx_ecode)
+         end
+         last_tstamp[i] = tstamp_us
+      end
+   end
+end
+
+function update()
+   log_AM32()
+   return update, 5
+end
+
+gcs:send_text(0, "Loaded AM32_debug_log")
+
+return update, 5
+
+