add serial_rx msp

Conflicts:

	Makefile
	src/board.h
	src/main.c
	src/mw.h
	src/serial_cli.c

Makefile

@@ -110,6 +110,7 @@ COMMON_SRC	 = build_config.c \
 		   rc_controls.c \
 		   rc_curves.c \
 		   rx_common.c \
+		   rx_msp.c \
 		   rx_pwm.c \
 		   rx_sbus.c \
 		   rx_sumd.c \

src/rx_common.c

@@ -14,6 +14,7 @@
 #include "rx_sbus.h"
 #include "rx_spektrum.h"
 #include "rx_sumd.h"
+#include "rx_msp.h"
 
 #include "rx_common.h"
 
@@ -21,6 +22,7 @@ void pwmRxInit(rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *failsafe, rcReadR
 void sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback);
 void spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback);
 void sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback);
+void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback);
 
 const char rcChannelLetters[] = "AERT1234";
 
@@ -62,6 +64,9 @@ void serialRxInit(rxConfig_t *rxConfig, failsafe_t *failsafe)
         case SERIALRX_SUMD:
             sumdInit(rxConfig, &rxRuntimeConfig, failsafe, &rcReadRawFunc);
             break;
+        case SERIALRX_MSP:
+            rxMspInit(rxConfig, &rxRuntimeConfig, failsafe, &rcReadRawFunc);
+            break;
     }
 }
 
@@ -75,6 +80,8 @@ bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
             return sbusFrameComplete();
         case SERIALRX_SUMD:
             return sumdFrameComplete();
+        case SERIALRX_MSP:
+            return rxMspFrameComplete();
     }
     return false;
 }

src/rx_common.h

@@ -13,6 +13,8 @@ typedef enum {
     SERIALRX_SPEKTRUM2048 = 1,
     SERIALRX_SBUS = 2,
     SERIALRX_SUMD = 3,
+    SERIALRX_MSP = 4,
+    SERIALRX_PROVIDER_MAX = SERIALRX_MSP
 } SerialRXType;
 
 #define MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT 8

src/rx_msp.c

@@ -0,0 +1,46 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/system_common.h"
+
+#include "drivers/serial_common.h"
+#include "drivers/serial_uart_common.h"
+#include "serial_common.h"
+
+#include "failsafe.h"
+
+#include "rx_common.h"
+#include "rx_msp.h"
+
+failsafe_t *failsafe;
+
+static bool rxMspFrameDone = false;
+
+static uint16_t rxMspReadRawRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
+{
+    return rcData[chan];
+}
+
+void rxMspFrameRecieve(void)
+{
+    rxMspFrameDone = true;
+}
+
+bool rxMspFrameComplete(void)
+{
+    if (rxMspFrameDone) {
+        failsafe->vTable->reset();
+        rxMspFrameDone = false;
+        return true;
+    }
+    return false;
+}
+
+void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback)
+{
+    failsafe = initialFailsafe;
+    if (callback)
+        *callback = rxMspReadRawRC;
+}

src/rx_msp.h

@@ -0,0 +1,4 @@
+#pragma once
+
+bool rxMspFrameComplete(void);
+void rxMspFrameRecieve(void);

src/serial_cli.c

@@ -174,7 +174,7 @@ const clivalue_t valueTable[] = {
     { "gps_type", VAR_UINT8, &masterConfig.gps_type, 0, GPS_HARDWARE_MAX },
     { "gps_baudrate", VAR_INT8, &masterConfig.gps_baudrate, 0, GPS_BAUD_MAX },
 
-    { "serialrx_type", VAR_UINT8, &masterConfig.rxConfig.serialrx_type, 0, 3 },
+    { "serialrx_type", VAR_UINT8, &masterConfig.rxConfig.serialrx_type, 0, SERIALRX_PROVIDER_MAX },
 
     { "telemetry_provider", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
     { "telemetry_port", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_port, 0, TELEMETRY_PORT_MAX },

src/serial_msp.c

@@ -19,6 +19,7 @@
 #include "boardalignment.h"
 #include "gps_common.h"
 #include "rx_common.h"
+#include "rx_msp.h"
 #include "battery.h"
 #include "gimbal.h"
 #include "telemetry_common.h"
@@ -325,6 +326,7 @@ static void evaluateCommand(void)
         for (i = 0; i < 8; i++)
             rcData[i] = read16();
         headSerialReply(0);
+        rxMspFrameRecieve();
         break;
     case MSP_SET_ACC_TRIM:
         currentProfile.accelerometerTrims.trims.pitch = read16();