#113: Move commander_generic into CRTP port 7

This is to make it easier to keep backward compatibility.
The new commander generic packet is set to port 7 channel 0,
this was previously unused so it can be used by TX-only clients

src/modules/interface/crtp.h

@@ -37,14 +37,15 @@
 #define CRTP_IS_NULL_PACKET(P) ((P.header&0xF3)==0xF3)
 
 typedef enum {
-  CRTP_PORT_CONSOLE     = 0x00,
-  CRTP_PORT_PARAM       = 0x02,
-  CRTP_PORT_SETPOINT    = 0x03,
-  CRTP_PORT_MEM         = 0x04,
-  CRTP_PORT_LOG         = 0x05,
-  CRTP_PORT_POSITION    = 0x06,
-  CRTP_PORT_PLATFORM    = 0x0D,
-  CRTP_PORT_LINK        = 0x0F,
+  CRTP_PORT_CONSOLE          = 0x00,
+  CRTP_PORT_PARAM            = 0x02,
+  CRTP_PORT_SETPOINT         = 0x03,
+  CRTP_PORT_MEM              = 0x04,
+  CRTP_PORT_LOG              = 0x05,
+  CRTP_PORT_POSITION         = 0x06,
+  CRTP_PORT_SETPOINT_GENERIC = 0x07,
+  CRTP_PORT_PLATFORM         = 0x0D,
+  CRTP_PORT_LINK             = 0x0F,
 } CRTPPort;
 
 typedef struct _CRTPPacket

src/modules/interface/crtp_commander.h

@@ -30,9 +30,6 @@
 #include "stabilizer_types.h"
 #include "crtp.h"
 
-#define CRTP_CONTROLLER_RPYT_CH 0
-#define CRTP_CONTROLLER_GENERIC_CH   1
-
 void crtpCommanderInit(void);
 void crtpCommanderRpytDecodeSetpoint(setpoint_t *setpoint, CRTPPacket *pk);
 void crtpCommanderGenericDecodeSetpoint(setpoint_t *setpoint, CRTPPacket *pk);

src/modules/src/crtp_commander.c

@@ -43,7 +43,7 @@ void crtpCommanderInit(void)
 
   crtpInit();
   crtpRegisterPortCB(CRTP_PORT_SETPOINT, commanderCrtpCB);
-
+  crtpRegisterPortCB(CRTP_PORT_SETPOINT_GENERIC, commanderCrtpCB);
   isInit = true;
 }
 
@@ -52,10 +52,10 @@ static void commanderCrtpCB(CRTPPacket* pk)
 {
   static setpoint_t setpoint;
 
-  if(pk->channel == CRTP_CONTROLLER_RPYT_CH) {
+  if(pk->port == CRTP_PORT_SETPOINT && pk->channel == 0) {
     crtpCommanderRpytDecodeSetpoint(&setpoint, pk);
     commanderSetSetpoint(&setpoint, COMMANDER_PRIORITY_CRTP);
-  } else if (pk->channel == CRTP_CONTROLLER_GENERIC_CH) {
+  } else if (pk->port == CRTP_PORT_SETPOINT_GENERIC && pk->channel == 0) {
     crtpCommanderGenericDecodeSetpoint(&setpoint, pk);
     commanderSetSetpoint(&setpoint, COMMANDER_PRIORITY_CRTP);
   }