lua

Author: qqqlab

examples/00.HelloWorld/madflight_config.h

@@ -155,3 +155,6 @@ const char madflight_config[] = R""(
 
 // Uncomment to print additional debug information and reduce startup delay
 //#define MF_DEBUG
+
+// Uncomment to enable Lua Scripting
+//#define MF_LUA_ENABLE 1

examples/01.Quadcopter/madflight_config.h

@@ -155,3 +155,6 @@ const char madflight_config[] = R""(
 
 // Uncomment to print additional debug information and reduce startup delay
 //#define MF_DEBUG
+
+// Uncomment to enable Lua Scripting
+//#define MF_LUA_ENABLE 1

examples/02.QuadcopterAdvanced/madflight_config.h

@@ -155,3 +155,6 @@ const char madflight_config[] = R""(
 
 // Uncomment to print additional debug information and reduce startup delay
 //#define MF_DEBUG
+
+// Uncomment to enable Lua Scripting
+//#define MF_LUA_ENABLE 1

examples/03.Plane/madflight_config.h

@@ -155,3 +155,6 @@ const char madflight_config[] = R""(
 
 // Uncomment to print additional debug information and reduce startup delay
 //#define MF_DEBUG
+
+// Uncomment to enable Lua Scripting
+//#define MF_LUA_ENABLE 1

src/madflight.h

@@ -250,7 +250,7 @@ void madflight_setup() {
     #endif
   }
 
-  // LUA
+  // LUA - Start Lua script /madflight.lua from SDCARD (when #define MF_LUA_ENABLE 1)
   lua.begin();
 
   // CLI - Command Line Interface

src/madflight/hal/RP2040/Serial/uart_rx.pio

@@ -1,3 +1,27 @@
+/*==========================================================================================
+MIT License
+
+Copyright (c) 2025 https://github.com/qqqlab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+==========================================================================================*/
+
 .pio_version 0 // only requires PIO version 0
 
 .program uart_rx

src/madflight/lua/lua.h

@@ -6,33 +6,18 @@
 #include "../hal/hal.h" //xTaskCreate, vTaskDelete
 #include "../bbx/bbx.h"
 
-/*
-
-  const char * code = R""(
-
-while( true )
-do
-   print('Hello from lua',mf.millis())
-   mf.delay(1000);
-end
-
---result = result / 0 --ok
---for --LUA ERROR: [string "..."]:12: <name> expected near <eof>
-troela() --LUA ERROR: [string "..."]:12: attempt to call a nil value (global 'troela')
-)"";
-*/
-
-
 class LuaClass {
 private:
   TaskHandle_t xHandle;
-  static uint8_t* code; 
+  static uint8_t* code;
+
   static void lua_task(void *pvParameters) {
     (void)pvParameters;
     luawrap_run((const char*)LuaClass::code); //should not return
     free(LuaClass::code);
     vTaskDelete(NULL);
-  }  
+  }
+
 public:
   void begin() {
     int len = bbx.read("/madflight.lua", &LuaClass::code);

src/madflight/lua/luawrap.cpp

@@ -112,8 +112,7 @@ static void mf_register(lua_State *L) {
 
 static jmp_buf luawrap_panic_jump;
 
-bool luawrap_overtime = false;
-uint32_t luawrap_start_ts = 0;
+
 
 /* custom panic handler */
 static int luawrap_panic(lua_State *L)
@@ -123,11 +122,16 @@ static int luawrap_panic(lua_State *L)
   return 0;
 }
 
+/*
+//------------------------
+// lua CPU time watchdog
+//------------------------
+uint32_t luawrap_start_ts = 0;
+bool luawrap_overtime = false;
+
 //debug handler, called every time 1000 lines are executed
 static void luawrap_hook(lua_State *L, lua_Debug *ar) {
-    return;
-    
-    Serial.printf("luawrap_hookcnt dt=%u\n", micros() - luawrap_start_ts);
+    //Serial.printf("luawrap_hookcnt dt=%d\n", (int)(micros() - luawrap_start_ts));
     if(micros() - luawrap_start_ts < 1000000) return;
 
     luawrap_overtime = true;
@@ -139,7 +143,6 @@ static void luawrap_hook(lua_State *L, lua_Debug *ar) {
     luaL_error(L, "Exceeded CPU time");
 }
 
-/*
 static void luawrap_reset_loop_overtime(lua_State *L) {
     luawrap_overtime = false;
     // reset the hook to clear the counter
@@ -194,13 +197,16 @@ void luawrap_run(const char* code) {
   //register mf table and global lua functions
   mf_register(L);
 
-  //execute
-  //luawrap_reset_loop_overtime(L); //optional
+  //optional cpu time watchdog
+  //luawrap_reset_loop_overtime(L);
+
+  //execute lua script
   if (luaL_dostring(L, code) == LUA_OK) {
     lua_pop(L, lua_gettop(L)); // Pop the return value
   }else{
     const char *err = luaL_checkstring(L, -1);
     Serial.printf("LUA: ERROR: %s\n", err);
   }
+
   lua_close(L);
 }