Merge pull request #10166 from iNavFlight/mmosca-crsf-bind

bind_rx cli command now supports CRSF based receivers

src/main/fc/cli.c

@@ -104,6 +104,7 @@ bool cliMode = false;
 #include "rx/rx.h"
 #include "rx/spektrum.h"
 #include "rx/srxl2.h"
+#include "rx/crsf.h"
 
 #include "scheduler/scheduler.h"
 
@@ -3224,6 +3225,12 @@ void cliRxBind(char *cmdline){
             srxl2Bind();
             cliPrint("Binding SRXL2 receiver...");
             break;
+#endif
+#if defined(USE_SERIALRX_CRSF)
+        case SERIALRX_CRSF:
+            crsfBind();
+            cliPrint("Binding CRSF receiver...");
+            break;
 #endif
         }
     }

src/main/fc/fc_msp.c

@@ -110,6 +110,8 @@
 
 #include "rx/rx.h"
 #include "rx/msp.h"
+#include "rx/srxl2.h"
+#include "rx/crsf.h"
 
 #include "scheduler/scheduler.h"
 
@@ -1030,6 +1032,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_MIXER:
         sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
         break;
+
 
     case MSP_RX_CONFIG:
         sbufWriteU8(dst, rxConfig()->serialrx_provider);
@@ -2887,7 +2890,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-
+    
     case MSP_SET_FAILSAFE_CONFIG:
         if (dataSize == 20) {
             failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
@@ -3352,6 +3355,26 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
         break;
 
+    case MSP2_BETAFLIGHT_BIND:
+        if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
+            switch (rxConfig()->serialrx_provider) {
+            default:
+                return MSP_RESULT_ERROR;
+    #if defined(USE_SERIALRX_SRXL2)
+            case SERIALRX_SRXL2:
+                srxl2Bind();
+                break;
+    #endif
+    #if defined(USE_SERIALRX_CRSF)
+            case SERIALRX_CRSF:
+                crsfBind();
+                break;
+    #endif
+            }
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+        break;
 
     default:
         return MSP_RESULT_ERROR;

src/main/msp/msp_protocol_v2_common.h

@@ -33,3 +33,4 @@
 #define MSP2_COMMON_SET_RADAR_POS       0x100B //SET radar position information
 #define MSP2_COMMON_SET_RADAR_ITD       0x100C //SET radar information to display
 
+#define MSP2_BETAFLIGHT_BIND            0x3000

src/main/rx/crsf.c

@@ -331,4 +331,24 @@ bool crsfRxIsActive(void)
 {
     return serialPort != NULL;
 }
+
+
+void crsfBind(void)
+{
+    if (serialPort != NULL) {
+        uint8_t bindFrame[] = {
+            CRSF_SYNC_BYTE,
+            0x07,  // frame length
+            CRSF_FRAMETYPE_COMMAND,
+            CRSF_ADDRESS_CRSF_RECEIVER,
+            CRSF_ADDRESS_FLIGHT_CONTROLLER,
+            CRSF_COMMAND_SUBCMD_RX,
+            CRSF_COMMAND_SUBCMD_RX_BIND,
+            0x9E,  // Command CRC8
+            0xE8,  // Packet CRC8
+        };
+        serialWriteBuf(serialPort, bindFrame, 9);
+    }
+}
+
 #endif

src/main/rx/crsf.h

@@ -104,6 +104,15 @@ typedef enum {
     CRSF_FRAMETYPE_DISPLAYPORT_CMD = 0x7D, // displayport control command
 } crsfFrameType_e;
 
+enum {
+    CRSF_COMMAND_SUBCMD_RX = 0x10,    // receiver command
+    CRSF_COMMAND_SUBCMD_GENERAL = 0x0A,    // general command
+};
+
+enum {
+    CRSF_COMMAND_SUBCMD_RX_BIND = 0x01,    // bind command
+};
+
 typedef struct crsfFrameDef_s {
     uint8_t deviceAddress;
     uint8_t frameLength;
@@ -124,3 +133,5 @@ struct rxConfig_s;
 struct rxRuntimeConfig_s;
 bool crsfRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);
 bool crsfRxIsActive(void);
+
+void crsfBind(void);