crsf_rc: add bind command

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -37,11 +37,6 @@
 
 #include <fcntl.h>
 
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/sensor_gps.h>
-#include <uORB/topics/vehicle_status.h>
-
 using namespace time_literals;
 
 #define CRSF_BAUDRATE 420000
@@ -182,6 +177,40 @@ void CrsfRc::Run()
  const hrt_abstime time_now_us = hrt_absolute_time();
  perf_count_interval(_cycle_interval_perf, time_now_us);
 
+ if (_vehicle_status_sub.updated()) {
+ vehicle_status_s vehicle_status;
+
+ if (_vehicle_status_sub.copy(&vehicle_status)) {
+ _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+ }
+ }
+
+ /* vehicle command */
+ vehicle_command_s vcmd;
+
+ if (_vehicle_cmd_sub.update(&vcmd)) {
+ // Check for a pairing command
+ if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
+
+ uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
+
+ if (!_armed) {
+ BindCRSF();
+ cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
+ }
+
+ // publish acknowledgement
+ vehicle_command_ack_s command_ack{};
+ command_ack.command = vcmd.command;
+ command_ack.result = cmd_ret;
+ command_ack.target_system = vcmd.source_system;
+ command_ack.target_component = vcmd.source_component;
+ command_ack.timestamp = hrt_absolute_time();
+ uORB::Publication<vehicle_command_ack_s> vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
+ vehicle_command_ack_pub.publish(command_ack);
+ }
+ }
+
  // Read all available data from the serial RC input UART
  int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
 
@@ -480,6 +509,23 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
  return _uart->write((void *) buf, (size_t) offset);
 }
 
+bool CrsfRc::BindCRSF()
+{
+ uint8_t bindFrame[] = {
+ (uint8_t)crsf_sync_t::sync,
+ 0x07, // frame length
+ (uint8_t)crsf_frame_type_t::command,
+ (uint8_t)crsf_address_t::crsf_receiver,
+ (uint8_t)crsf_address_t::flight_controller,
+ (uint8_t)crsf_sub_command_t::subcmd_rx,
+ (uint8_t)crsf_sub_command_t::subcmd_rx_bind,
+ 0x9E, // Command CRC8
+ 0xE8, // Packet CRC8
+ };
+
+ return _uart->write((void *) bindFrame, 9);
+}
+
 int CrsfRc::print_status()
 {
  if (_device[0] != '\0') {
@@ -509,6 +555,17 @@ int CrsfRc::print_status()
 
 int CrsfRc::custom_command(int argc, char *argv[])
 {
+ const char *verb = argv[0];
+
+ if (!strcmp(verb, "bind")) {
+ uORB::Publication<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
+ vehicle_command_s vcmd{};
+ vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
+ vcmd.timestamp = hrt_absolute_time();
+ vehicle_command_pub.publish(vcmd);
+ return 0;
+ }
+
  return print_usage("unknown command");
 }
 
@@ -528,6 +585,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
  PRINT_MODULE_USAGE_NAME("crsf_rc", "driver");
  PRINT_MODULE_USAGE_COMMAND("start");
  PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
+ PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a bind command (not available on singlewire)");
 
  PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_command_ack.h>
 
 using namespace device;
 
@@ -90,10 +92,13 @@ class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::Sched
 
  bool SendTelemetryFlightMode(const char *flight_mode);
 
+ bool BindCRSF();
+
  Serial *_uart = nullptr; ///< UART interface to RC
 
  char _device[20] {}; ///< device / serial port path
  bool _is_singlewire{false};
+ bool _armed{false};
 
  static constexpr size_t RC_MAX_BUFFER_SIZE{64};
  uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
@@ -111,6 +116,7 @@ class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::Sched
  uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
  uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
  uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+ uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
 
  enum class crsf_frame_type_t : uint8_t {
  gps = 0x02,
@@ -137,6 +143,32 @@ class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::Sched
  attitude = 6,
  };
 
+ enum class crsf_sync_t : uint8_t {
+ sync = 0xC8
+ };
+
+ enum class crsf_sub_command_t : uint8_t {
+ subcmd_rx = 0x10,
+ subcmd_general = 0x0A,
+ subcmd_rx_bind = 0x01,
+ };
+
+ enum class crsf_address_t : uint8_t {
+ broadcast = 0x00,
+ usb = 0x10,
+ tbs_core_pnp_pro = 0x80,
+ reserved1 = 0x8A,
+ current_sensor = 0xC0,
+ gps = 0xC2,
+ tbs_blackbox = 0xC4,
+ flight_controller = 0xC8,
+ reserved2 = 0xCA,
+ race_tag = 0xCC,
+ radio_transmitter = 0xEA,
+ crsf_receiver = 0xEC,
+ crsf_transmitter = 0xEE
+ } ;
+
  void WriteFrameHeader(uint8_t *buf, int &offset, const crsf_frame_type_t type, const uint8_t payload_size);
  void WriteFrameCrc(uint8_t *buf, int &offset, const int buf_size);