Bsongis/crossfire refactoring (#3613)

* Crossfire refactoring

* Crossfire script now displaying fields

* Crossfire script now displaying text selection values

radio/sdcard/taranis/CROSSFIRE/Crossfire.lua

@@ -57,17 +57,19 @@ local function drawDevicePage(page)
   -- end
 
   for index = 1, 7, 1 do
-    field = page["fields"][pageOffset+index]
+    field = page.fields[pageOffset+index]
     if field == nil then
       break
     end
     
-    if field["name"] == nil then
+    if field.name == nil then
       lcd.drawText(0, 1+8*index, "...")
     else
       attr = current == (pageOffset+index) and ((edit == true and BLINK or 0) + INVERS) or 0
-
-      lcd.drawText(0, 1+8*index, field["name"])
+      lcd.drawText(0, 1+8*index, field.name)
+      if field.functions ~= nil then
+        field.functions.display(field, 1+8*index, attr)
+      end
 
       -- if field[4] == nil then
       --   lcd.drawText(COLUMN_2, 1+8*index, "---", attr)
@@ -88,19 +90,19 @@ local function createPage(id, name, fields_count)
   newpage = {
     id = id,
     name = name,
-    state = 0,
-    timeout = 0,
-    fields = {}
+    pagetimeout = 0,
+    fields = {},
+    fieldstimeout = 0,
   }
   for i=1, fields_count do
-    newpage["fields"][i] = { name=nil }
+    newpage.fields[i] = { name=nil }
   end
   return newpage
 end
 
 local function getPage(name)
   for i=1, #pages do
-    if pages[i]["name"] == name then
+    if pages[i].name == name then
       return pages[i]
     end
   end
@@ -118,21 +120,74 @@ local function parseDeviceInfoMessage(data)
   fields_count = data[i+13]
   pg = getPage(name)
   if pg == nil then
-    pg = createPage(id, name, fields_count)
+    pg = createPage(id, name, fields_count-1) -- TODO fields_count should be different
     pages[#pages + 1] = pg
   end
-  pg["timeout"] = time + 3000 -- 30s
+  pg.pagetimeout = time + 3000 -- 30s
 end
 
+function split(inputstr)
+  local t={}; i=1
+  for str in string.gmatch(inputstr, "([^;]+)") do
+    t[i] = str
+    i = i + 1
+  end
+  return t
+end
+
+local function fieldTextSelectionLoad(field, data, offset)
+  values = ""
+  while data[offset] ~= 0 do
+    values = values .. string.char(data[offset])
+    offset = offset + 1
+  end
+  field.values = split(values)
+  offset = offset + 1
+  field.value = data[offset]
+end
+
+local function fieldTextSelectionDisplay(field, y, attr)
+  lcd.drawText(COLUMN_2, y, field.values[field.value+1], attr)
+end
+
+local types_functions = {
+  nil,
+  nil,
+  nil,
+  nil,
+  nil,
+  nil,
+  nil,
+  nil,
+  nil,
+  { load=fieldTextSelectionLoad, display=fieldTextSelectionDisplay },
+  nil,
+  nil
+}
+
 local function parseParameterInfoMessage(data)
   index = data[3]
+  field = pages[page].fields[index]
+  field.parent = data[4]
+  field.type = data[5]
+  field.functions = types_functions[field.type+1]
+  parent = field.parent
   name = ""
+  while parent ~= 0 do
+    name = name .. " "
+    parent = pages[page].fields[parent].parent
+  end
   i = 6
   while data[i] ~= 0 do
     name = name .. string.char(data[i])
     i = i + 1
   end
-  pages[page]["fields"][index+1]["name"] = name
+  i = i + 1
+  field.name = name
+  if field.functions ~= nil then
+    field.functions.load(field, data, i)
+  end
+  pages[page].fieldstimeout = 0
 end
 
 local telemetryPopTimeout = 0
@@ -148,9 +203,14 @@ local function refreshNext()
         devicesRefreshTimeout = time + 1000 -- 10s
       end
       crossfireTelemetryPush(0x28, { 0x00, 0xEA })
-    elseif page <= #pages and pages[page]["state"] == 0 and time > pages[page]["timeout"] then
-      crossfireTelemetryPush(0x2A, { pages[page]["id"], 0xEA })
-      pages[page]["timeout"] = time + 100 -- 1s
+    elseif page <= #pages and time > pages[page].fieldstimeout then
+      for i=1, #pages[page].fields do
+        field = pages[page].fields[i]
+        if field.name == nil then
+          crossfireTelemetryPush(0x2C, { pages[page].id, 0xEA, i })
+          pages[page].fieldstimeout = time + 200 -- 2s
+        end
+      end
     end
   elseif command == 0x29 then
     parseDeviceInfoMessage(data)
@@ -260,7 +320,7 @@ end
 
 local function runDevicePage(index, event)
   lcd.clear()
-  lcd.drawScreenTitle(pages[index]["name"], index, #pages)
+  lcd.drawScreenTitle(pages[index].name, index, #pages)
   drawDevicePage(pages[index])
   return 0
 end

radio/src/fifo.h

@@ -73,6 +73,22 @@ class Fifo
       while (!isEmpty()) {};
     }
 
+    uint32_t size()
+    {
+      return (N + widx - ridx) & (N-1);
+    }
+
+    bool probe(T & element)
+    {
+      if (isEmpty()) {
+        return false;
+      }
+      else {
+        element = fifo[ridx];
+        return true;
+      }
+    }
+
   protected:
     T fifo[N];
     volatile uint32_t widx;

radio/src/lua/api_general.cpp

@@ -299,18 +299,21 @@ bool luaFindFieldByName(const char * name, LuaField & field, unsigned int flags)
 static int luaSportTelemetryPop(lua_State * L)
 {
   if (!luaInputTelemetryFifo) {
-    luaInputTelemetryFifo = new Fifo<LuaTelemetryPacket, LUA_TELEMETRY_FIFO_SIZE>();
+    luaInputTelemetryFifo = new Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE>();
     if (!luaInputTelemetryFifo) {
       return 0;
     }
   }
 
-  LuaTelemetryPacket packet;
-  if (luaInputTelemetryFifo->pop(packet)) {
-    lua_pushnumber(L, packet.sport.physicalId);
-    lua_pushnumber(L, packet.sport.primId);
-    lua_pushnumber(L, packet.sport.dataId);
-    lua_pushunsigned(L, packet.sport.value);
+  if (luaInputTelemetryFifo->size() >= sizeof(SportTelemetryPacket)) {
+    SportTelemetryPacket packet;
+    for (uint8_t i=0; i<sizeof(packet); i++) {
+      luaInputTelemetryFifo->pop(packet.raw[i]);
+    }
+    lua_pushnumber(L, packet.physicalId);
+    lua_pushnumber(L, packet.primId);
+    lua_pushnumber(L, packet.dataId);
+    lua_pushunsigned(L, packet.value);
     return 4;
   }
 
@@ -329,36 +332,41 @@ uint8_t getDataId(uint8_t physicalId)
 
 static int luaSportTelemetryPush(lua_State * L)
 {
-  if (luaOutputTelemetryPacket.sport.physicalId != 0x7E) {
-    lua_pushboolean(L, false);
-    return 1;
+  if (isSportOutputBufferAvailable()) {
+    SportTelemetryPacket packet;
+    packet.physicalId = getDataId(luaL_checkunsigned(L, 1));
+    packet.primId = luaL_checkunsigned(L, 2);
+    packet.dataId = luaL_checkunsigned(L, 3);
+    packet.value = luaL_checkunsigned(L, 4);
+    sportOutputPushPacket(packet);
+    lua_pushboolean(L, true);
+  }
+  else {
+    lua_pushboolean(L, false);
   }
-
-  luaOutputTelemetryPacket.sport.physicalId = getDataId(luaL_checkunsigned(L, 1));
-  luaOutputTelemetryPacket.sport.primId = luaL_checkunsigned(L, 2);
-  luaOutputTelemetryPacket.sport.dataId = luaL_checkunsigned(L, 3);
-  luaOutputTelemetryPacket.sport.value = luaL_checkunsigned(L, 4);
-
-  lua_pushboolean(L, true);
   return 1;
 }
 
 static int luaCrossfireTelemetryPop(lua_State * L)
 {
   if (!luaInputTelemetryFifo) {
-    luaInputTelemetryFifo = new Fifo<LuaTelemetryPacket, LUA_TELEMETRY_FIFO_SIZE>();
+    luaInputTelemetryFifo = new Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE>();
     if (!luaInputTelemetryFifo) {
       return 0;
     }
   }
 
-  LuaTelemetryPacket packet;
-  if (luaInputTelemetryFifo->pop(packet)) {
-    lua_pushnumber(L, packet.crossfire.command);
+  uint8_t length, data;
+  if (luaInputTelemetryFifo->probe(length) && luaInputTelemetryFifo->size() >= uint32_t(length)) {
+    // length value includes the length field
+    luaInputTelemetryFifo->pop(length);
+    luaInputTelemetryFifo->pop(data); // command
+    lua_pushnumber(L, data);
     lua_newtable(L);
-    for (int i=0; i<packet.crossfire.length; i++) {
-      lua_pushinteger(L, i+1);
-      lua_pushinteger(L, packet.crossfire.data[i]);
+    for (uint8_t i=1; i<length-1; i++) {
+      luaInputTelemetryFifo->pop(data);
+      lua_pushinteger(L, i);
+      lua_pushinteger(L, data);
       lua_settable(L, -3);
     }
     return 2;
@@ -369,20 +377,24 @@ static int luaCrossfireTelemetryPop(lua_State * L)
 
 static int luaCrossfireTelemetryPush(lua_State * L)
 {
-  if (luaOutputTelemetryPacket.crossfire.command != 0x00) {
+  if (isCrossfireOutputBufferAvailable()) {
+    uint8_t command = luaL_checkunsigned(L, 1);
+    luaL_checktype(L, 2, LUA_TTABLE);
+    uint8_t length = luaL_len(L, 2);
+    telemetryOutputPushByte(MODULE_ADDRESS);
+    telemetryOutputPushByte(2 + length); // 1(COMMAND) + data length + 1(CRC)
+    telemetryOutputPushByte(command); // COMMAND
+    for (int i=0; i<length; i++) {
+      lua_rawgeti(L, 2, i+1);
+      telemetryOutputPushByte(luaL_checkunsigned(L, -1));
+    }
+    telemetryOutputPushByte(crc8(outputTelemetryBuffer+2, 1 + length));
+    telemetryOutputSetTrigger(command);
+    lua_pushboolean(L, true);
+  }
+  else {
     lua_pushboolean(L, false);
-    return 1;
   }
-
-  luaL_checktype(L, 2, LUA_TTABLE);
-  luaOutputTelemetryPacket.crossfire.length = min<int>(sizeof(luaOutputTelemetryPacket.crossfire.data), luaL_len(L, 2));
-  for (int i=0; i<luaOutputTelemetryPacket.crossfire.length; i++) {
-    lua_rawgeti(L, 2, i+1);
-    luaOutputTelemetryPacket.crossfire.data[i] = luaL_checkunsigned(L, -1);
-  }
-  luaOutputTelemetryPacket.crossfire.command = luaL_checkunsigned(L, 1);
-
-  lua_pushboolean(L, true);
   return 1;
 }
 

radio/src/pulses/crossfire.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -46,19 +46,3 @@ uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses)
   *buf++ = crc8(crc_start, 23);
   return buf - frame;
 }
-
-#if defined(LUA)
-uint8_t createCrossfireRequestFrame(uint8_t * frame, LuaTelemetryPacket * telemetryPacket)
-{
-  uint8_t * buf = frame;
-  *buf++ = MODULE_ADDRESS;
-  *buf++ = 2 + telemetryPacket->crossfire.length; // 1(ID) + telemetryPacket->crossfire.length + 1(CRC)
-  uint8_t * crc_start = buf;
-  *buf++ = telemetryPacket->crossfire.command;
-  for (int i=0; i<telemetryPacket->crossfire.length; i++) {
-    *buf++ = telemetryPacket->crossfire.data[i];
-  }
-  *buf++ = crc8(crc_start, telemetryPacket->crossfire.length + 1);
-  return buf - frame;
-}
-#endif

radio/src/pulses/pulses_arm.cpp

@@ -32,10 +32,6 @@ TrainerPulsesData trainerPulsesData __DMA;
 uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses);
 #endif
 
-#if defined(CROSSFIRE) && defined(LUA)
-uint8_t createCrossfireRequestFrame(uint8_t * frame, LuaTelemetryPacket * telemetry);
-#endif
-
 uint8_t getRequiredProtocol(uint8_t port)
 {
   uint8_t required_protocol;
@@ -187,13 +183,11 @@ void setupPulses(uint8_t port)
         uint8_t * crossfire = modulePulsesData[port].crossfire.pulses;
         uint8_t len;
 #if defined(LUA)
-        if (luaOutputTelemetryPacket.crossfire.command) {
-          len = createCrossfireRequestFrame(crossfire, &luaOutputTelemetryPacket);
-          luaOutputTelemetryPacket.crossfire.clear();
-          LOG_TELEMETRY_WRITE_START();
-          for (uint32_t i=0; i<len; i++) {
-            LOG_TELEMETRY_WRITE_BYTE(crossfire[i]);
-          }
+        if (outputTelemetryBufferTrigger != 0x00 && outputTelemetryBufferSize > 0) {
+          memcpy(crossfire, outputTelemetryBuffer, outputTelemetryBufferSize);
+          len = outputTelemetryBufferSize;
+          outputTelemetryBufferTrigger = 0x00;
+          outputTelemetryBufferSize = 0;
         }
         else
 #endif

radio/src/targets/horus/hal.h

@@ -140,7 +140,7 @@
 #define LED_GPIO_PIN                    GPIO_Pin_5  // PI.05
 
 // Serial Port (DEBUG)
-#define SERIAL_RCC_AHB1Periph           RCC_AHB1Periph_GPIOB
+#define SERIAL_RCC_AHB1Periph           (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_DMA1)
 #define SERIAL_RCC_APB1Periph           RCC_APB1Periph_USART3
 #define SERIAL_GPIO                     GPIOB
 #define SERIAL_GPIO_PIN_TX              GPIO_Pin_10 // PB.10

radio/src/targets/taranis/board_taranis.h

@@ -405,7 +405,12 @@ void checkTrainerSettings(void);
 #include "fifo.h"
 #include "dmafifo.h"
 
+#if defined(CROSSFIRE)
+#define TELEMETRY_FIFO_SIZE 128
+#else
 #define TELEMETRY_FIFO_SIZE 64
+#endif
+
 extern Fifo<uint8_t, TELEMETRY_FIFO_SIZE> telemetryFifo;
 extern DMAFifo<32> serial2RxFifo;
 extern Fifo<uint8_t, 32> sbusFifo;

radio/src/targets/taranis/hal.h

@@ -396,7 +396,7 @@
 #define TRAINER_TIMER_FREQ              (PERI1_FREQUENCY * TIMER_MULT_APB1)
 
 // Serial Port
-#define SERIAL_RCC_AHB1Periph           RCC_AHB1Periph_GPIOB
+#define SERIAL_RCC_AHB1Periph           (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_DMA1)
 #define SERIAL_RCC_APB1Periph           RCC_APB1Periph_USART3
 #define SERIAL_GPIO                     GPIOB
 #define SERIAL_GPIO_PIN_TX              GPIO_Pin_10 // PB.10

radio/src/targets/taranis/telemetry_driver.cpp

@@ -118,6 +118,10 @@ extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
   if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
     DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
     TELEMETRY_USART->CR1 |= USART_CR1_TCIE;
+    if (telemetryProtocol == PROTOCOL_FRSKY_SPORT) {
+      outputTelemetryBufferSize = 0;
+      outputTelemetryBufferTrigger = 0x7E;
+    }
   }
 }
 
@@ -147,9 +151,8 @@ extern "C" void TELEMETRY_USART_IRQHandler(void)
 #if defined(LUA)
       if (telemetryProtocol == PROTOCOL_FRSKY_SPORT) {
         static uint8_t prevdata;
-        if (prevdata == 0x7E && data == luaOutputTelemetryPacket.sport.physicalId) {
-          sportSendLuaPacket(luaOutputTelemetryPacket);
-          luaOutputTelemetryPacket.sport.clear();
+        if (prevdata == 0x7E && outputTelemetryBufferSize > 0 && data == outputTelemetryBufferTrigger) {
+          sportSendBuffer(outputTelemetryBuffer, outputTelemetryBufferSize);
         }
         prevdata = data;
       }

radio/src/telemetry/crossfire.cpp

@@ -196,27 +196,30 @@ void processCrossfireTelemetryFrame()
 #if defined(LUA)
     default:
       if (luaInputTelemetryFifo) {
-        LuaTelemetryPacket luaPacket;
-        luaPacket.crossfire.command = id;
-        luaPacket.crossfire.length = telemetryRxBuffer[1]-2;
-        for (int i=0; i<min<int>(sizeof(luaPacket.crossfire.data), luaPacket.crossfire.length); i++) {
-          luaPacket.crossfire.data[i] = telemetryRxBuffer[3+i];
+        for (uint8_t i=1; i<telemetryRxBufferCount-1; i++) {
+          // destination address and CRC are skipped
+          luaInputTelemetryFifo->push(telemetryRxBuffer[i]);
         }
-        luaInputTelemetryFifo->push(luaPacket);
       }
       break;
 #endif
-
   }
 }
 
+bool isCrossfireOutputBufferAvailable()
+{
+  return outputTelemetryBufferSize == 0;
+}
+
 void processCrossfireTelemetryData(uint8_t data)
 {
-  if (telemetryRxBufferCount == 0 && data != 0x00) {
+  if (telemetryRxBufferCount == 0 && data != RADIO_ADDRESS) {
+    TRACE("processCrossfirePacket(): address 0x%02X error", data);
     return;
   }
 
   if (telemetryRxBufferCount == 1 && (data < 2 || data > TELEMETRY_RX_PACKET_SIZE-2)) {
+    TRACE("processCrossfirePacket(): length 0x%02X error", data);
     telemetryRxBufferCount = 0;
     return;
   }
@@ -225,8 +228,7 @@ void processCrossfireTelemetryData(uint8_t data)
     telemetryRxBuffer[telemetryRxBufferCount++] = data;
   }
   else {
-    TRACE("processCrossfirePacket(): length error ");
-    DUMP(telemetryRxBuffer, TELEMETRY_RX_PACKET_SIZE);
+    TRACE("processCrossfirePacket(): array size error, %d", telemetryRxBufferCount);
     telemetryRxBufferCount = 0;
   }
 

radio/src/telemetry/crossfire.h

@@ -23,6 +23,7 @@
 
 // Device address
 #define BROADCAST_ADDRESS              0x00
+#define RADIO_ADDRESS                  0xEA
 #define MODULE_ADDRESS                 0xEE
 
 // Frame id
@@ -38,5 +39,6 @@
 
 void processCrossfireTelemetryData(uint8_t data);
 void crossfireSetDefault(int index, uint8_t id, uint8_t subId);
+bool isCrossfireOutputBufferAvailable();
 
 #endif // _CROSSFIRE_H_

radio/src/telemetry/frsky.h

@@ -484,49 +484,18 @@ void frskyUpdateCells();
 
 void processFrskyTelemetryData(uint8_t data);
 
-#if defined(LUA)
-struct LuaTelemetryPacket
+PACK(union SportTelemetryPacket
 {
-  LuaTelemetryPacket()
-  {
-  }
-
-  union {
-    struct {
-      uint8_t physicalId;
-      union {
-        struct {
-          uint8_t primId;
-          uint16_t dataId;
-          uint32_t value;
-          uint8_t crc;
-        };
-        uint8_t raw[8];
-      };
-      void clear()
-      {
-        physicalId = 0x7E;
-      }
-    } sport;
-
-#if defined(CROSSFIRE)
-    struct {
-      uint8_t command;
-      uint8_t length;
-      uint8_t data[32];
-      void clear()
-      {
-        command = 0x00;
-      }
-    } crossfire;
-#endif
+  struct {
+    uint8_t physicalId;
+    uint8_t primId;
+    uint16_t dataId;
+    uint32_t value;
   };
-};
+  uint8_t raw[8];
+});
 
-#define LUA_TELEMETRY_FIFO_SIZE 8
-extern Fifo<LuaTelemetryPacket, LUA_TELEMETRY_FIFO_SIZE> * luaInputTelemetryFifo;
-extern LuaTelemetryPacket luaOutputTelemetryPacket;
-void sportSendLuaPacket(LuaTelemetryPacket & packet);
-#endif
+bool isSportOutputBufferAvailable();
+void sportOutputPushPacket(SportTelemetryPacket & packet);
 
 #endif // _FRSKY_H_

radio/src/telemetry/frsky_sport.cpp

@@ -189,33 +189,38 @@ void processSportPacket(uint16_t id, uint8_t subId, uint8_t instance, uint32_t d
   }
 }
 
-uint8_t sportUpdatePacket[16] __DMA;
-
-#if defined(LUA)
-// TODO merge it with S.PORT update function when finished
-void sportSendLuaPacket(LuaTelemetryPacket & packet)
+void sportOutputPushByte(uint8_t byte)
 {
-  uint8_t * ptr = sportUpdatePacket;
-  // *ptr++ = 0x7E;
-  // *ptr++ = 0x1A;
+  if (byte == 0x7E || byte == 0x7D) {
+    telemetryOutputPushByte(0x7D);
+    telemetryOutputPushByte(0x20 ^ byte);
+  }
+  else {
+    telemetryOutputPushByte(byte);
+  }
+}
 
+bool isSportOutputBufferAvailable()
+{
+  return (outputTelemetryBufferSize == 0 && outputTelemetryBufferTrigger == 0x7E);
+}
+
+// TODO merge it with S.PORT update function when finished
+void sportOutputPushPacket(SportTelemetryPacket & packet)
+{
   uint16_t crc = 0;
-  for (uint8_t i=0; i<7; i++) {
-    if (packet.sport.raw[i] == 0x7E || packet.sport.raw[i] == 0x7D) {
-      *ptr++ = 0x7D;
-      *ptr++ = 0x20 ^ packet.sport.raw[i];
-    }
-    else {
-      *ptr++ = packet.sport.raw[i];
-    }
-    crc += packet.sport.raw[i];         //0-1FF
-    crc += crc >> 8;   //0-100
+
+  for (uint8_t i=1; i<sizeof(packet); i++) {
+    uint8_t byte = packet.raw[i];
+    sportOutputPushByte(byte);
+    crc += byte; // 0-1FF
+    crc += crc >> 8; // 0-100
     crc &= 0x00ff;
   }
-  *ptr++ = 0xFF-crc;
-  sportSendBuffer(sportUpdatePacket, ptr-sportUpdatePacket);
+
+  telemetryOutputPushByte(0xFF-crc);
+  telemetryOutputSetTrigger(packet.raw[0]); // physicalId
 }
-#endif
 
 void processSportPacket(uint8_t * packet)
 {
@@ -313,12 +318,14 @@ void processSportPacket(uint8_t * packet)
         else if (id >= DIY_FIRST_ID && id <= DIY_LAST_ID) {
 #if defined(LUA)
           if (luaInputTelemetryFifo) {
-            LuaTelemetryPacket luaPacket;
-            luaPacket.sport.physicalId = physicalId;
-            luaPacket.sport.primId = primId;
-            luaPacket.sport.dataId = id;
-            luaPacket.sport.value = data;
-            luaInputTelemetryFifo->push(luaPacket);
+            SportTelemetryPacket luaPacket;
+            luaPacket.physicalId = physicalId;
+            luaPacket.primId = primId;
+            luaPacket.dataId = id;
+            luaPacket.value = data;
+            for (uint8_t i=0; i<sizeof(luaPacket); i++) {
+              luaInputTelemetryFifo->push(luaPacket.raw[i]);
+            }
           }
 #endif
         }
@@ -331,12 +338,14 @@ void processSportPacket(uint8_t * packet)
 #if defined(LUA)
   else if (primId == 0x32) {
     if (luaInputTelemetryFifo) {
-      LuaTelemetryPacket luaPacket;
-      luaPacket.sport.physicalId = physicalId;
-      luaPacket.sport.primId = primId;
-      luaPacket.sport.dataId = id;
-      luaPacket.sport.value = data;
-      luaInputTelemetryFifo->push(luaPacket);
+      SportTelemetryPacket luaPacket;
+      luaPacket.physicalId = physicalId;
+      luaPacket.primId = primId;
+      luaPacket.dataId = id;
+      luaPacket.value = data;
+      for (uint8_t i=0; i<sizeof(luaPacket); i++) {
+        luaInputTelemetryFifo->push(luaPacket.raw[i]);
+      }
     }
   }
 #endif
@@ -417,9 +426,10 @@ void blankPacket(uint8_t * packet)
   memset(packet+2, 0, 6);
 }
 
+// TODO merge this function
 void writePacket(uint8_t * packet)
 {
-  uint8_t * ptr = sportUpdatePacket;
+  uint8_t * ptr = outputTelemetryBuffer;
   *ptr++ = 0x7E;
   *ptr++ = 0xFF;
   packet[7] = crc16(packet, 7);
@@ -432,7 +442,7 @@ void writePacket(uint8_t * packet)
       *ptr++ = packet[i];
     }
   }
-  sportSendBuffer(sportUpdatePacket, ptr-sportUpdatePacket);
+  sportSendBuffer(outputTelemetryBuffer, ptr-outputTelemetryBuffer);
 }
 
 bool sportUpdatePowerOn(ModuleIndex module)

radio/src/telemetry/telemetry.cpp

@@ -410,7 +410,8 @@ void telemetryInit(uint8_t protocol)
   else if (protocol == PROTOCOL_PULSES_CROSSFIRE) {
     telemetryPortInit(CROSSFIRE_BAUDRATE);
 #if defined(LUA)
-    luaOutputTelemetryPacket.crossfire.clear();
+    outputTelemetryBufferSize = 0;
+    outputTelemetryBufferTrigger = 0;
 #endif
     telemetryPortSetDirectionOutput();
   }
@@ -422,7 +423,8 @@ void telemetryInit(uint8_t protocol)
   else {
     telemetryPortInit(FRSKY_SPORT_BAUDRATE);
 #if defined(LUA)
-    luaOutputTelemetryPacket.sport.clear();
+    outputTelemetryBufferSize = 0;
+    outputTelemetryBufferTrigger = 0x7E;
 #endif
   }
 
@@ -467,7 +469,10 @@ void logTelemetryWriteByte(uint8_t data)
 }
 #endif
 
+uint8_t outputTelemetryBuffer[TELEMETRY_OUTPUT_FIFO_SIZE] __DMA;
+uint8_t outputTelemetryBufferSize = 0;
+uint8_t outputTelemetryBufferTrigger = 0;
+
 #if defined(LUA)
-Fifo<LuaTelemetryPacket, LUA_TELEMETRY_FIFO_SIZE> * luaInputTelemetryFifo = NULL;
-LuaTelemetryPacket luaOutputTelemetryPacket;
+Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE> * luaInputTelemetryFifo = NULL;
 #endif

radio/src/telemetry/telemetry.h

@@ -62,7 +62,7 @@ extern uint8_t telemetryState;
 #define TELEMETRY_TIMEOUT10ms          100 // 1 second
 
 #if defined(CROSSFIRE)
-#define TELEMETRY_RX_PACKET_SIZE       40
+#define TELEMETRY_RX_PACKET_SIZE       64
 #else
 #define TELEMETRY_RX_PACKET_SIZE       19  // 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
 #endif
@@ -158,4 +158,24 @@ void logTelemetryWriteByte(uint8_t data);
 #define LOG_TELEMETRY_WRITE_BYTE(data)
 #endif
 
+#define TELEMETRY_OUTPUT_FIFO_SIZE 16
+extern uint8_t outputTelemetryBuffer[TELEMETRY_OUTPUT_FIFO_SIZE] __DMA;
+extern uint8_t outputTelemetryBufferSize;
+extern uint8_t outputTelemetryBufferTrigger;
+
+inline void telemetryOutputPushByte(uint8_t byte)
+{
+  outputTelemetryBuffer[outputTelemetryBufferSize++] = byte;
+}
+
+inline void telemetryOutputSetTrigger(uint8_t byte)
+{
+  outputTelemetryBufferTrigger = byte;
+}
+
+#if defined(LUA)
+#define LUA_TELEMETRY_INPUT_FIFO_SIZE  256
+extern Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE> * luaInputTelemetryFifo;
+#endif
+
 #endif // _TELEMETRY_H_

radio/util/crossfire-parse.py

@@ -10,6 +10,21 @@ import sys
 lineNumber = 0
 crossfireDataBuff = []
 
+crossfire_types = [
+    "UINT8",
+    "INT8",
+    "UINT16",
+    "INT16",
+    "UINT32",
+    "INT32",
+    "UINT64",
+    "INT64",
+    "FLOAT",
+    "TEXT_SELECTION",
+    "STRING",
+    "FOLDER"
+]
+
 def dump(data, maxLen=None):
     if maxLen and len(data) > maxLen:
         data = data[:maxLen]
@@ -43,10 +58,22 @@ def ParsePingDevices(_):
     return '[Ping Devices]'
 
 def ParseDevice(payload):
-    return '[Device] "%s" %d parameters' % ("".join([chr(c) for c in payload[2:-14]]), payload[-1])
+    return '[Device] 0x%02x "%s" %d parameters' % (payload[1], "".join([chr(c) for c in payload[2:-14]]), payload[-1])
 
 def ParseFieldsRequest(payload):
-    return '[Fields request] Device=0x%02x' % payload[0]
+    return '[Fields request]'
+
+def ParseFieldRequest(payload):
+    return '[Field request] device=0x%02x field=%d' % (payload[1], payload[2])
+
+def ParseField(payload):
+    name = ""
+    i = 5
+    while payload[i] != 0:
+        name += chr(payload[i])
+        i += 1
+    i += 1
+    return '[Field] %s device=0x%02x field=%d parent=%d type=%s' % (name, payload[1], payload[2], payload[3], crossfire_types[payload[4]])
 
 parsers = (
     (0x02, ParseGPS),
@@ -57,6 +84,8 @@ parsers = (
     (0x28, ParsePingDevices),
     (0x29, ParseDevice),
     (0x2a, ParseFieldsRequest),
+    (0x2b, ParseField),
+    (0x2c, ParseFieldRequest),
 )
 
 def ParsePacket(packet):