Merge pull request #11472 from klutvott123/crsf-baud-negotiation

Make negotiated baud configurable for CRSF

src/main/cli/settings.c

@@ -783,6 +783,9 @@ const clivalue_t valueTable[] = {
 #endif
 #if defined(USE_SERIALRX_CRSF)
     { "crsf_use_rx_snr",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, crsf_use_rx_snr) },
+#if defined(USE_CRSF_V3)
+    { "crsf_use_negotiated_baud",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, crsf_use_negotiated_baud) },
+#endif
 #endif
     { "airmode_start_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },

src/main/pg/rx.c

@@ -71,6 +71,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .sbus_baud_fast = false,
         .crsf_use_rx_snr = false,
         .msp_override_channels_mask = 0,
+        .crsf_use_negotiated_baud = false,
     );
 
 #ifdef RX_CHANNELS_TAER

src/main/pg/rx.h

@@ -62,6 +62,7 @@ typedef struct rxConfig_s {
     uint8_t sbus_baud_fast;                    // Select SBus fast baud rate
     uint8_t crsf_use_rx_snr;                   // Use RX SNR (in dB) instead of RSSI dBm for CRSF
     uint32_t msp_override_channels_mask;       // Channels to override when the MSP override mode is enabled
+    uint8_t crsf_use_negotiated_baud;          // Use negotiated baud rate for CRSF V3
 } rxConfig_t;
 
 PG_DECLARE(rxConfig_t, rxConfig);

src/main/rx/crsf.c

@@ -656,6 +656,11 @@ void crsfRxUpdateBaudrate(uint32_t baudrate)
 {
     serialSetBaudRate(serialPort, baudrate);
 }
+
+bool crsfRxUseNegotiatedBaud(void)
+{
+    return rxConfig()->crsf_use_negotiated_baud;
+}
 #endif
 
 bool crsfRxIsActive(void)

src/main/rx/crsf.h

@@ -86,4 +86,5 @@ struct rxConfig_s;
 struct rxRuntimeState_s;
 bool crsfRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeState_s *rxRuntimeState);
 void crsfRxUpdateBaudrate(uint32_t baudrate);
+bool crsfRxUseNegotiatedBaud(void);
 bool crsfRxIsActive(void);

src/main/telemetry/crsf.c

@@ -431,7 +431,7 @@ void speedNegotiationProcess(uint32_t currentTime)
         crsfRxSendTelemetryData();
     } else {
         if (crsfSpeed.hasPendingReply) {
-            bool found = crsfSpeed.index < BAUD_COUNT ? true : false;
+            bool found = ((crsfSpeed.index < BAUD_COUNT) && crsfRxUseNegotiatedBaud()) ? true : false;
             sbuf_t crsfSpeedNegotiationBuf;
             sbuf_t *dst = &crsfSpeedNegotiationBuf;
             crsfInitializeFrame(dst);
@@ -440,7 +440,7 @@ void speedNegotiationProcess(uint32_t currentTime)
             crsfFinalize(dst);
             crsfRxSendTelemetryData();
             crsfSpeed.hasPendingReply = false;
-            crsfSpeed.isNewSpeedValid = true;
+            crsfSpeed.isNewSpeedValid = found;
             crsfSpeed.confirmationTime = currentTime;
             return;
         } else if (crsfSpeed.isNewSpeedValid) {