Scripted CRSF Menus

Tools/scripts/build_options.py

@@ -73,6 +73,7 @@ def config_option(self):
 
     Feature('Telemetry', 'CRSF', 'HAL_CRSF_TELEM_ENABLED', 'Enable CRSF telemetry', 0, 'FrSky SPort PassThrough,FrSky,FrSky SPort,RC_CRSF'),  # noqa
     Feature('Telemetry', 'CRSFText', 'HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'Enable CRSF text param selection', 0, 'CRSF,OSD_PARAM,FrSky SPort PassThrough,FrSky,FrSky SPort'),  # NOQA: E501
+    Feature('Telemetry', 'CRSF Scripting', 'AP_CRSF_SCRIPTING_ENABLED', 'Enable CRSF Menu Scripting', 0, 'CRSFText,CRSF,OSD_PARAM,FrSky SPort PassThrough,FrSky,FrSky SPort'),  # noqa
     Feature('Telemetry', 'HOTT', 'HAL_HOTT_TELEM_ENABLED', 'Enable HOTT telemetry', 0, None),
     Feature('Telemetry', 'SPEKTRUM', 'HAL_SPEKTRUM_TELEM_ENABLED', 'Enable Spektrum telemetry', 0, None),
     Feature('Telemetry', 'LTM', 'AP_LTM_TELEM_ENABLED', 'Enable LTM telemetry', 0, None),

Tools/scripts/extract_features.py

@@ -121,6 +121,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('HAL_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
             ('AP_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
             ('HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'AP_CRSF_Telem::calc_text_selection',),
+            ('AP_CRSF_SCRIPTING_ENABLED', 'AP_CRSF_Telem::get_menu_event',),
             ('AP_LTM_TELEM_ENABLED', 'AP_LTM_Telem::init',),
             ('HAL_HIGH_LATENCY2_ENABLED', 'GCS_MAVLINK::handle_control_high_latency',),
 

libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp

@@ -85,7 +85,9 @@ extern const AP_HAL::HAL& hal;
 
 //#define CRSF_DEBUG
 //#define CRSF_DEBUG_CHARS
-#ifdef CRSF_DEBUG
+//#define CRSF_DEBUG_TELEM
+//#define CRSF_DEBUG_PARAMS
+#if defined(CRSF_DEBUG) || defined(CRSF_DEBUG_TELEM) || defined(CRSF_DEBUG_PARAMS)
 # define debug(fmt, args...)	hal.console->printf("CRSF: " fmt "\n", ##args)
 static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
 {
@@ -127,7 +129,7 @@ static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
     case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_LINK_STATISTICS_TX:
         return "LINK_STATSv3_TX";
     case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_WRITE:
-        return "UNKNOWN";
+        return "PARAM_WRITE";
     case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM_LEGACY:
     case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM:
         switch (subtype) {
@@ -397,22 +399,33 @@ void AP_RCProtocol_CRSF::write_frame(Frame* frame)
     uart->write((uint8_t*)frame, frame->length + 2);
     uart->flush();
 
-#ifdef CRSF_DEBUG
-    hal.console->printf("CRSF: writing %s:", get_frame_type(frame->type, frame->payload[0]));
-    for (uint8_t i = 0; i < frame->length + 2; i++) {
-        uint8_t val = ((uint8_t*)frame)[i];
+#if defined(CRSF_DEBUG) || defined(CRSF_DEBUG_PARAMS)
+#ifdef CRSF_DEBUG_PARAMS
+    switch (frame->type) {
+        case CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY:
+        case CRSF_FRAMETYPE_PARAMETER_READ:
+        case CRSF_FRAMETYPE_PARAMETER_WRITE:
+        case CRSF_FRAMETYPE_COMMAND:
+#endif
+
+        hal.console->printf("CRSF: writing %s:", get_frame_type(frame->type, frame->payload[0]));
+        for (uint8_t i = 0; i < frame->length + 2; i++) {
+            uint8_t val = ((uint8_t*)frame)[i];
 #ifdef CRSF_DEBUG_CHARS
-        if (val >= 32 && val <= 126) {
-            hal.console->printf(" 0x%x '%c'", val, (char)val);
-        } else {
+            if (val >= 32 && val <= 126) {
+                hal.console->printf(" 0x%x '%c'", val, (char)val);
+            } else {
 #endif
-            hal.console->printf(" 0x%x", val);
+                hal.console->printf(" 0x%x", val);
 #ifdef CRSF_DEBUG_CHARS
-        }
+            }
 #endif
+        }
+        hal.console->printf("\n");
+#ifdef CRSF_DEBUG_PARAMS
     }
-    hal.console->printf("\n");
 #endif
+#endif // defined(CRSF_DEBUG) || defined(CRSF_DEBUG_PARAMS)
 }
 
 bool AP_RCProtocol_CRSF::decode_crsf_packet()
@@ -461,7 +474,31 @@ bool AP_RCProtocol_CRSF::decode_crsf_packet()
             break;
     }
 #if HAL_CRSF_TELEM_ENABLED
-    if (AP_CRSF_Telem::process_frame(FrameType(_frame.type), (uint8_t*)&_frame.payload)) {
+    if (AP_CRSF_Telem::process_frame(FrameType(_frame.type), (uint8_t*)&_frame.payload, _frame.length - 2U)) {
+#if defined(CRSF_DEBUG_TELEM) || defined(CRSF_DEBUG_PARAMS)
+        switch (_frame.type) {
+            case CRSF_FRAMETYPE_RC_CHANNELS_PACKED:
+            case CRSF_FRAMETYPE_LINK_STATISTICS:
+            case CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED:
+            case CRSF_FRAMETYPE_LINK_STATISTICS_RX:
+            case CRSF_FRAMETYPE_LINK_STATISTICS_TX:
+                break;
+#ifdef CRSF_DEBUG_PARAMS
+            case CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY:
+            case CRSF_FRAMETYPE_PARAMETER_READ:
+            case CRSF_FRAMETYPE_PARAMETER_WRITE:
+            case CRSF_FRAMETYPE_COMMAND:
+#else
+            default:
+#endif
+                hal.console->printf("CRSF: received %s:", get_frame_type(_frame.type));
+                uint8_t* fptr = (uint8_t*)&_frame;
+                for (uint8_t i = 0; i < _frame.length + 2; i++) {
+                    hal.console->printf(" 0x%x", fptr[i]);
+                }
+                hal.console->printf("\n");
+        }
+#endif // defined(CRSF_DEBUG_TELEM) || defined(CRSF_DEBUG_PARAMS)
         process_telemetry();
     }
     // process any pending baudrate changes before reading another frame