MSP Bind Message, CLI Command

docs/Cli.md

@@ -71,6 +71,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `batch` | Start or end a batch of commands |
 | `battery_profile` | Change battery profile |
 | `beeper` | Show/set beeper (buzzer) [usage](Buzzer.md) |
+| `bind_msp_rx` | Initiate binding for MSP receivers (mLRS) |
 | `bind_rx` | Initiate binding for SRXL2 or CRSF receivers |
 | `blackbox` | Configure blackbox fields |
 | `bootlog` | Show init logs from [serial_printf_debugging](./development/serial_printf_debugging.md) |

docs/Rx.md

@@ -185,14 +185,20 @@ set rssi_channel = 0
 
 Setting these values differently may have an adverse effects on RSSI readings.
 
-#### CLI Bind Command
+#### CLI Bind Commands
 
 This command will put the receiver into bind mode without the need to reboot the FC as it was required with the older `spektrum_sat_bind` command.
 
 ```
 bind_rx
 ```
 
+This command will send a bind request to an MSP receiver on the specified port.
+
+```
+bind_msp_rx <port>
+```
+
 ## MultiWii serial protocol (MSP RX)
 
 Allows you to use MSP commands as the RC input. Up to 18 channels are supported.

docs/development/msp/msp_messages.json

@@ -10925,5 +10925,47 @@
         "reply": null,
         "notes": "Requires `rxConfig()->receiverType == RX_TYPE_SERIAL`. Requires `USE_SERIALRX_CRSF` or `USE_SERIALRX_SRXL2`. Calls `crsfBind()` or `srxl2Bind()` respectively. Returns error if receiver type or provider is not supported for binding.",
         "description": "Initiates the receiver binding procedure for supported serial protocols (CRSF, SRXL2)."
+    },
+    "MSP2_RX_BIND": {
+        "code": 12289,
+        "mspv": 2,
+        "request": {
+            "payload": [
+                {
+                    "name": "port_id",
+                    "ctype": "uint8_t",
+                    "desc": "Port ID",
+                    "units": ""
+                },
+                {
+                    "name": "reserved_for_custom_use",
+                    "ctype": "uint8_t",
+                    "desc": "Reserved for custom use",
+                    "units": "",
+                    "array": true,
+                    "array_size": 3
+                }
+            ]
+        },
+        "reply": {
+            "payload": [
+                {
+                    "name": "port_id",
+                    "ctype": "uint8_t",
+                    "desc": "Port ID",
+                    "units": ""
+                },
+                {
+                    "name": "reserved_for_custom_use",
+                    "ctype": "uint8_t",
+                    "desc": "Reserved for custom use",
+                    "units": "",
+                    "array": true,
+                    "array_size": 3
+                }
+            ]
+        },
+        "notes": "Requires a receiver using MSP as the protocol, sends MSP2_RX_BIND to the receiver.",
+        "description": "Initiates binding for MSP receivers (mLRS)."
     }
 }

docs/development/msp/msp_ref.md

@@ -413,7 +413,8 @@ For current generation code, see [documentation project](https://github.com/xznh
 [8723 - MSP2_INAV_SET_GEOZONE_VERTEX](#msp2_inav_set_geozone_vertex)  
 [8724 - MSP2_INAV_SET_GVAR](#msp2_inav_set_gvar)  
 [8736 - MSP2_INAV_FULL_LOCAL_POSE](#msp2_inav_full_local_pose)  
-[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)  
+[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)
+[12289 - MSP2_RX_BIND](#msp2_rx_bind)
 
 ## <a id="msp_api_version"></a>`MSP_API_VERSION (1 / 0x1)`
 **Description:** Provides the MSP protocol version and the INAV API version.  
@@ -4535,3 +4536,20 @@ For current generation code, see [documentation project](https://github.com/xznh
 
 **Notes:** Requires `rxConfig()->receiverType == RX_TYPE_SERIAL`. Requires `USE_SERIALRX_CRSF` or `USE_SERIALRX_SRXL2`. Calls `crsfBind()` or `srxl2Bind()` respectively. Returns error if receiver type or provider is not supported for binding.
 
+## <a id="msp2_rx_bind"></a>`MSP2_RX_BIND (12289 / 0x3001)`
+**Description:** Initiates binding for MSP receivers (mLRS).
+
+**Request Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `port_id` | `uint8_t` | 1 | Port ID |
+| `reserved_for_custom_use` | `uint8_t[3]` | 3 | Reserved for custom use |
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `port_id` | `uint8_t` | 1 | Port ID |
+| `reserved_for_custom_use` | `uint8_t[3]` | 3 | Reserved for custom use |
+
+**Notes:** Requires a receiver using MSP as the protocol, sends MSP2_RX_BIND to the receiver.
+

src/main/fc/cli.c

@@ -106,6 +106,9 @@ bool cliMode = false;
 #include "rx/srxl2.h"
 #include "rx/crsf.h"
 
+#include "msp/msp_serial.h"
+#include "msp/msp_protocol_v2_common.h"
+
 #include "scheduler/scheduler.h"
 
 #include "sensors/acceleration.h"
@@ -3600,6 +3603,41 @@ void cliRxBind(char *cmdline){
 }
 #endif
 
+static void cliBindMspRx(char *cmdline)
+{
+    if (isEmpty(cmdline)) {
+        cliShowParseError();
+        return;
+    }
+
+    int portIndex = fastA2I(cmdline);
+
+    if (portIndex < 0 || portIndex > 7) {
+        cliShowArgumentRangeError("port", 0, 7);
+        return;
+    }
+
+    serialPortUsage_t *portUsage = findSerialPortUsageByIdentifier(portIndex);
+    if (!portUsage || !portUsage->serialPort) {
+        cliPrintErrorLinef("Serial port %d is not open", portIndex);
+        return;
+    }
+
+    mspPort_t *mspPort = mspSerialPortFind(portUsage->serialPort);
+    if (!mspPort) {
+        cliPrintErrorLinef("Serial port %d is not configured for MSP", portIndex);
+        return;
+    }
+
+    uint8_t payload[4] = { portIndex, 0, 0, 0 };
+    int sent = mspSerialPushPort(MSP2_RX_BIND, payload, sizeof(payload), mspPort, MSP_V2_NATIVE); // this is sent as a response
+    if (sent > 0) {
+        cliPrintLinef("Sent MSP2_RX_BIND to serial port %d", portIndex);
+    } else {
+        cliPrintErrorLinef("Failed to send MSP2_RX_BIND to serial port %d", portIndex);
+    }
+}
+
 static void cliExit(char *cmdline)
 {
     UNUSED(cmdline);
@@ -4829,6 +4867,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
             "\t<+|->[name]", cliBeeper),
 #endif
+    CLI_COMMAND_DEF("bind_msp_rx", "initiate binding for MSP receivers (mLRS)", "<port>", cliBindMspRx),
 #if defined (USE_SERIALRX_SRXL2)
     CLI_COMMAND_DEF("bind_rx", "initiate binding for RX SPI or SRXL2", NULL, cliRxBind),
 #endif

src/main/msp/msp_protocol_v2_common.h

@@ -39,3 +39,4 @@
 #define MSP2_COMMON_GET_RADAR_GPS           0x100F //get radar position for other planes
 
 #define MSP2_BETAFLIGHT_BIND                0x3000
+#define MSP2_RX_BIND                        0x3001