add serial_rx msp

Makefile

@@ -55,6 +55,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   sbus.c \
 		   sumd.c \
 		   spektrum.c \
+		   rxmsp.c \
 		   telemetry_common.c \
 		   telemetry_frsky.c \
 		   telemetry_hott.c \

src/board.h

@@ -82,6 +82,8 @@ typedef enum {
     SERIALRX_SPEKTRUM2048 = 1,
     SERIALRX_SBUS = 2,
     SERIALRX_SUMD = 3,
+    SERIALRX_MSP = 4,
+    SERIALRX_PROVIDER_MAX = SERIALRX_MSP,
 } SerialRXType;
 
 typedef enum {

src/cli.c

@@ -136,7 +136,7 @@ const clivalue_t valueTable[] = {
     { "softserial_2_inverted", VAR_UINT8, &mcfg.softserial_2_inverted, 0, 1 },
     { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, GPS_HARDWARE_MAX },
     { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, GPS_BAUD_MAX },
-    { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
+    { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, SERIALRX_PROVIDER_MAX },
     { "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
     { "telemetry_port", VAR_UINT8, &mcfg.telemetry_port, 0, TELEMETRY_PORT_MAX },
     { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },

src/main.c

@@ -112,6 +112,9 @@ int main(void)
             case SERIALRX_SUMD:
                 sumdInit(&rcReadRawFunc);
                 break;
+            case SERIALRX_MSP:
+                mspInit(&rcReadRawFunc);
+                break;
         }
     } else { // spektrum and GPS are mutually exclusive
         // Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.

src/mw.h

@@ -465,6 +465,11 @@ bool sbusFrameComplete(void);
 void sumdInit(rcReadRawDataPtr *callback);
 bool sumdFrameComplete(void);
 
+// rxmsp
+void mspInit(rcReadRawDataPtr *callback);
+bool mspFrameComplete(void);
+void mspFrameRecieve(void);
+
 // buzzer
 void buzzer(uint8_t warn_vbat);
 void systemBeep(bool onoff);

src/rxmsp.c

@@ -0,0 +1,31 @@
+#include "board.h"
+#include "mw.h"
+
+static bool rxMspFrameDone = false;
+
+static uint16_t mspReadRawRC(uint8_t chan);
+static uint16_t mspReadRawRC(uint8_t chan)
+{
+    return rcData[chan];
+}
+
+void mspFrameRecieve(void)
+{
+    rxMspFrameDone = true;
+}
+
+bool mspFrameComplete(void)
+{
+    if (rxMspFrameDone) {
+        failsafeCnt = 0; // clear FailSafe counter
+        rxMspFrameDone = false;
+        return true;
+    }
+    return false;
+}
+
+void mspInit(rcReadRawDataPtr *callback)
+{
+    if (callback)
+        *callback = mspReadRawRC;
+}

src/serial.c

@@ -286,6 +286,7 @@ static void evaluateCommand(void)
         for (i = 0; i < 8; i++)
             rcData[i] = read16();
         headSerialReply(0);
+        mspFrameRecieve();
         break;
     case MSP_SET_ACC_TRIM:
         cfg.angleTrim[PITCH] = read16();