From c783f632c148336df60c6754ef9a33fba905cfeb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 7 Jun 2024 06:25:44 +1000
Subject: [PATCH] AP_Scription: added CANF logging to Halo6000 EFI driver

allows for easier debugging
---
 .../AP_Scripting/drivers/EFI_Halo6000.lua     | 31 ++++++++++++++++++-
 .../AP_Scripting/drivers/EFI_Halo6000.md      | 10 ++++++
 2 files changed, 40 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
index b353ff2d5d206..c739449f2620e 100644
--- a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
+++ b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
@@ -55,7 +55,7 @@ end
 local efi_backend = nil
 
 -- Setup EFI Parameters
-assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'could not add EFI_H6K param table')
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add EFI_H6K param table')
 
 --[[
   // @Param: EFI_H6K_ENABLE
@@ -102,6 +102,17 @@ local EFI_H6K_TELEM_RT = bind_add_param('TELEM_RT', 4, 2)
 --]]
 local EFI_H6K_FUELTOT = bind_add_param('FUELTOT', 5, 20)
 
+--[[
+  // @Param: EFI_H6K_OPTIONS
+  // @DisplayName: Halo6000 options
+  // @Description: Halo6000 options
+  // @Bitmask: 0:LogAllCanPackets
+  // @User: Standard
+--]]
+local EFI_H6K_OPTIONS = bind_add_param('OPTIONS', 6, 0)
+
+local OPTION_LOGALLFRAMES = 0x01
+
 if EFI_H6K_ENABLE:get() == 0 then
    return
 end
@@ -121,6 +132,20 @@ if not driver1 then
     return
 end
 
+local frame_count = 0
+
+--[[
+   frame logging - can be replayed with Tools/scripts/CAN/CAN_playback.py
+--]]
+local function log_can_frame(frame)
+   logger.write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB',
+                frame:id(),
+                frame:dlc(),
+                frame_count,
+                frame:data(0), frame:data(1), frame:data(2), frame:data(3),
+                frame:data(4), frame:data(5), frame:data(6), frame:data(7))
+   frame_count = frame_count + 1
+end
 
 --[[
    EFI Engine Object
@@ -158,6 +183,10 @@ local function engine_control()
                 break
             end
 
+            if EFI_H6K_OPTIONS:get() & OPTION_LOGALLFRAMES ~= 0 then
+               log_can_frame(frame)
+            end
+
             -- All Frame IDs for this EFI Engine are in the 11-bit address space
             if not frame:isExtended() then
                 self.handle_packet(frame)
diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.md b/libraries/AP_Scripting/drivers/EFI_Halo6000.md
index d27d304c1592a..f31853d5d665e 100644
--- a/libraries/AP_Scripting/drivers/EFI_Halo6000.md
+++ b/libraries/AP_Scripting/drivers/EFI_Halo6000.md
@@ -31,6 +31,16 @@ control.
 This is the rate in Hz at which NAMED_VALUE_FLOAT messages are used to
 send additional telemetry data to the GCS for display to the operator.
 
+## EFI_H6K_FUELTOT
+
+This is the total fuel tank capacity in litres
+
+## EFI_H6K_OPTIONS
+
+This provides additional options. Currently just one option is
+available. If you set EFI_H6K_OPTIONS to 1 then all CAN frames will be
+logged in the message CANF.
+
 # Operation
 
 This driver should be loaded by placing the lua script in the