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modified:   radio/src/lua/api_general.cpp

changed crsfTelemetryPush to support direct commands
This commit is contained in:
JimB40
2024-02-11 15:01:47 +01:00
parent 454e70cedd
commit 175ab5ef96
1 changed files with 29 additions and 6 deletions
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radio/src/lua/api_general.cpp
+29 -6
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@@ -1194,15 +1194,38 @@ static int luaCrossfireTelemetryPush(lua_State * L)
uint8_t command = luaL_checkunsigned(L, 1);
luaL_checktype(L, 2, LUA_TTABLE);
uint8_t length = luaL_len(L, 2);
// 1st byte - DEVICE_ADDRESS (sender device address)
outputTelemetryBuffer.pushByte(MODULE_ADDRESS);
outputTelemetryBuffer.pushByte(2 + length); // 1(COMMAND) + data length + 1(CRC)
outputTelemetryBuffer.pushByte(command); // COMMAND
for (int i=0; i<length; i++) {
lua_rawgeti(L, 2, i+1);
// 2nd byte - FRAME_LENGTH (counted from COMMAND)
if (command == COMMAND_ID) {
outputTelemetryBuffer.pushByte(3 + length); // 1(COMMAND) + length(DATA) + 1(CRC_BA) + 1(CRC_D5)
} else {
outputTelemetryBuffer.pushByte(2 + length); // 1(COMMAND) + length(DATA) + 1(CRC_D5)
}
// 3rd byte COMMAND (CRSF frame type ID)
outputTelemetryBuffer.pushByte(command);
// x bytes DATA (Payload)
for (int i = 0; i < length; i++) {
lua_rawgeti(L, 2, i + 1);
outputTelemetryBuffer.pushByte(luaL_checkunsigned(L, -1));
}
outputTelemetryBuffer.pushByte(crc8(outputTelemetryBuffer.data + 2, 1 + length));
outputTelemetryBuffer.setDestination(internal ? 0 : TELEMETRY_ENDPOINT_SPORT);
// CRC
if (command == COMMAND_ID) {
// 1 byte CRC8_BA (counted from COMMAND byte)
outputTelemetryBuffer.pushByte(crc8_BA(outputTelemetryBuffer.data + 2, 1 + length));
// 1 byte CRC8_D5 (counted from COMMAND byte including CRC8_BA byte)
outputTelemetryBuffer.pushByte(crc8(outputTelemetryBuffer.data + 2, 2 + length));
} else {
// 1 byte CRC8_D5 (counted from COMMAND byte)
outputTelemetryBuffer.pushByte(crc8(outputTelemetryBuffer.data + 2, 1 + length));
}
outputTelemetryBuffer.setDestination(TELEMETRY_ENDPOINT_SPORT);
lua_pushboolean(L, true);
}
else {