From 7adf049babb211a40e04542bc96bbb11b7a47b20 Mon Sep 17 00:00:00 2001
From: wimalopaan <wilhelm.wm.meier@googlemail.com>
Date: Fri, 25 Mar 2022 16:06:28 +0100
Subject: [PATCH] added CRSF trainer input SUMD is still only stub

---
 radio/src/CMakeLists.txt                      |   2 +
 radio/src/crc.cpp                             |  11 ++
 radio/src/crc.h                               |   8 +
 radio/src/crsf.cpp                            | 150 ++++++++++++++++++
 radio/src/crsf.h                              |  10 ++
 radio/src/dataconstants.h                     |   2 +
 radio/src/gui/gui_common.cpp                  |   7 +-
 radio/src/opentx.h                            |   2 +
 radio/src/serial.cpp                          |  23 ++-
 .../storage/yaml/yaml_datastructs_funcs.cpp   |   2 +
 radio/src/sumd.cpp                            |   1 +
 radio/src/sumd.h                              |   6 +
 radio/src/tasks.cpp                           |  22 +--
 radio/src/telemetry/crossfire.h               |   1 +
 radio/src/trainer.h                           |  21 ++-
 radio/src/translations/cn.h.txt               |   2 +-
 radio/src/translations/cz.h.txt               |   2 +-
 radio/src/translations/de.h.txt               |   2 +-
 radio/src/translations/en.h.txt               |   2 +-
 radio/src/translations/es.h.txt               |   2 +-
 radio/src/translations/fi.h.txt               |   2 +-
 radio/src/translations/fr.h.txt               |   2 +-
 radio/src/translations/it.h.txt               |   2 +-
 radio/src/translations/nl.h.txt               |   2 +-
 radio/src/translations/pl.h.txt               |   2 +-
 radio/src/translations/pt.h.txt               |   2 +-
 radio/src/translations/se.h.txt               |   2 +-
 27 files changed, 258 insertions(+), 34 deletions(-)
 create mode 100644 radio/src/crsf.cpp
 create mode 100644 radio/src/crsf.h
 create mode 100644 radio/src/sumd.cpp
 create mode 100644 radio/src/sumd.h

diff --git a/radio/src/CMakeLists.txt b/radio/src/CMakeLists.txt
index cab7265f46b..c2a07b38b20 100644
--- a/radio/src/CMakeLists.txt
+++ b/radio/src/CMakeLists.txt
@@ -477,6 +477,8 @@ set(SRC
   serial.cpp
   sbus.cpp
   ibus.cpp
+  crsf.cpp
+  sumd.cpp
   )
 
 if(GUI)
diff --git a/radio/src/crc.cpp b/radio/src/crc.cpp
index 485851b2d43..1b62c2a4bfa 100644
--- a/radio/src/crc.cpp
+++ b/radio/src/crc.cpp
@@ -81,6 +81,17 @@ uint8_t crc8(const uint8_t * ptr, uint32_t len)
   return crc;
 }
 
+void CRC8::reset() {
+    mSum = 0;
+}
+CRC8& CRC8::operator+=(const uint8_t b) {
+    mSum = crc8tab[mSum ^ b];
+    return *this;
+}
+CRC8::operator uint8_t() const {
+    return mSum;
+}
+
 // CRC8 implementation with polynom = 0xBA
 const unsigned char crc8tab_BA[256] = {
   0x00, 0xBA, 0xCE, 0x74, 0x26, 0x9C, 0xE8, 0x52,
diff --git a/radio/src/crc.h b/radio/src/crc.h
index f79a56ece6a..0ea85ec163b 100644
--- a/radio/src/crc.h
+++ b/radio/src/crc.h
@@ -104,4 +104,12 @@ static const unsigned short crc16tab_1189[256] = {
   0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
 };
 
+struct CRC8 final {
+    void reset();
+    CRC8& operator+=(const uint8_t b);
+    operator uint8_t() const;
+private:
+    uint8_t mSum = 0;
+};
+
 #endif
diff --git a/radio/src/crsf.cpp b/radio/src/crsf.cpp
new file mode 100644
index 00000000000..577ca5f046f
--- /dev/null
+++ b/radio/src/crsf.cpp
@@ -0,0 +1,150 @@
+#include "crsf.h"
+#include "opentx.h"
+#include "trainer.h"
+
+#include <algorithm>
+#include <limits>
+
+#ifdef __GNUC__
+# pragma GCC diagnostic push
+# pragma GCC diagnostic error "-Wswitch" // unfortunately the project uses -Wnoswitch
+#endif
+
+namespace CRSF {
+    struct Servo {
+        using Crsf = Trainer::Protocol::Crsf;
+        using MesgType = Crsf::MesgType;
+        
+        static constexpr uint8_t mPauseCount{2}; // 2ms
+        
+        enum class State : uint8_t {Undefined, GotFCAddress, GotLength, Channels, Data, AwaitCRC, AwaitCRCAndDecode};
+        
+        static inline int16_t convertCrsfToPuls(uint16_t const value) {
+            const int16_t centered = value - Crsf::CenterValue;
+            return Trainer::clamp((centered * 5) / 8);
+        }
+        
+        static inline void tick1ms() {
+            if (mPauseCounter > 0) {
+                --mPauseCounter;
+            }
+            else {
+                mState = State::Undefined;
+            }
+        }
+        
+        static inline void process(const uint8_t b, const std::function<void()> f) {
+            mPauseCounter = mPauseCount;
+            switch(mState) { // enum-switch -> no default (intentional)
+            case State::Undefined:
+                csum.reset();
+                if (b == Crsf::FcAddress) {
+                    mState = State::GotFCAddress;
+                }
+                break;
+            case State::GotFCAddress:
+                if ((b > 2) && (b <= mData.size())) {
+                    mLength = b - 2; // only payload (not including type and crc)
+                    mIndex = 0;
+                    mState = State::GotLength;
+                }
+                else {
+                    mState = State::Undefined;
+                }
+                break;
+            case State::GotLength:
+                csum += b;
+                if ((b == Crsf::FrametypeChannels) && (mLength == 22)) {
+                    mState = State::Channels;
+                }
+                else {
+                    mState = State::Data;
+                }
+                break;
+            case State::Data:
+                csum += b;
+                if (++mIndex == mLength) {
+                    mState = State::AwaitCRC;
+                }
+                break;
+            case State::Channels:
+                csum += b;
+                break;
+            case State::AwaitCRC:
+                if (csum == b) {
+                    mState = State::Undefined;
+                } 
+                else {
+                    mState = State::Undefined;
+                }
+                break;
+            case State::AwaitCRCAndDecode:
+                if (csum == b) {
+                    ++mPackages;
+                    f();
+                    mState = State::Undefined;
+                } 
+                else {
+                    mState = State::Undefined;
+                }
+                break;
+            }            
+        }        
+        static inline void convert(int16_t* const pulses) {
+            static_assert(MAX_TRAINER_CHANNELS == 16);
+            pulses[0]  = (uint16_t) (((mData[0]    | mData[1] << 8))                 & Crsf::ValueMask);
+            pulses[1]  = (uint16_t) ((mData[1]>>3  | mData[2] <<5)                   & Crsf::ValueMask);
+            pulses[2]  = (uint16_t) ((mData[2]>>6  | mData[3] <<2 | mData[4]<<10)  	 & Crsf::ValueMask);
+            pulses[3]  = (uint16_t) ((mData[4]>>1  | mData[5] <<7)                   & Crsf::ValueMask);
+            pulses[4]  = (uint16_t) ((mData[5]>>4  | mData[6] <<4)                   & Crsf::ValueMask);
+            pulses[5]  = (uint16_t) ((mData[6]>>7  | mData[7] <<1 | mData[8]<<9)   	 & Crsf::ValueMask);
+            pulses[6]  = (uint16_t) ((mData[8]>>2  | mData[9] <<6)                   & Crsf::ValueMask);
+            pulses[7]  = (uint16_t) ((mData[9]>>5  | mData[10]<<3)                   & Crsf::ValueMask);
+            pulses[8]  = (uint16_t) ((mData[11]    | mData[12]<<8)                   & Crsf::ValueMask);
+            pulses[9]  = (uint16_t) ((mData[12]>>3 | mData[13]<<5)                   & Crsf::ValueMask);
+            pulses[10] = (uint16_t) ((mData[13]>>6 | mData[14]<<2 | mData[15]<<10) 	 & Crsf::ValueMask);
+            pulses[11] = (uint16_t) ((mData[15]>>1 | mData[16]<<7)                   & Crsf::ValueMask);
+            pulses[12] = (uint16_t) ((mData[16]>>4 | mData[17]<<4)                   & Crsf::ValueMask);
+            pulses[13] = (uint16_t) ((mData[17]>>7 | mData[18]<<1 | mData[19]<<9)  	 & Crsf::ValueMask);
+            pulses[14] = (uint16_t) ((mData[19]>>2 | mData[20]<<6)                   & Crsf::ValueMask);
+            pulses[15] = (uint16_t) ((mData[20]>>5 | mData[21]<<3)                   & Crsf::ValueMask);
+            
+            for(size_t i = 0; i < MAX_TRAINER_CHANNELS; ++i) {
+                pulses[i] = convertCrsfToPuls(pulses[i]);
+            }
+        }
+    private:
+        static CRC8 csum;
+        static State mState;
+        static MesgType mData; 
+        static uint8_t mIndex;
+        static uint8_t mLength;
+        static uint16_t mPackages;
+        static uint8_t mPauseCounter;
+    };
+    
+    CRC8 Servo::csum;
+    Servo::State Servo::mState{Servo::State::Undefined};
+    Servo::MesgType Servo::mData; 
+    uint8_t Servo::mIndex{0};
+    uint8_t Servo::mLength{0};
+    uint16_t Servo::mPackages{0};
+    uint8_t Servo::mPauseCounter{Servo::mPauseCount}; // 2 ms
+}
+
+void processCrsfInput() {
+#if !defined(SIMU)
+  uint8_t rxchar;
+
+  while (sbusAuxGetByte(&rxchar)) {
+      CRSF::Servo::process(rxchar, [&](){
+          CRSF::Servo::convert(ppmInput);
+          ppmInputValidityTimer = PPM_IN_VALID_TIMEOUT;        
+      });
+  }
+#endif
+}
+
+#ifdef __GNUC__
+# pragma GCC diagnostic pop
+#endif
diff --git a/radio/src/crsf.h b/radio/src/crsf.h
new file mode 100644
index 00000000000..042ee61be62
--- /dev/null
+++ b/radio/src/crsf.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "dataconstants.h"
+#include "crc.h"
+#include "telemetry/crossfire.h"
+
+#define CRSF_BAUDRATE         400000
+
+void processCrsfInput();
+
diff --git a/radio/src/dataconstants.h b/radio/src/dataconstants.h
index 215c380cde5..88f15c1d6ee 100644
--- a/radio/src/dataconstants.h
+++ b/radio/src/dataconstants.h
@@ -231,6 +231,8 @@ enum UartModes {
   UART_MODE_TELEMETRY,
   UART_MODE_SBUS_TRAINER,
   UART_MODE_IBUS_TRAINER,
+  UART_MODE_CRSF_TRAINER,
+  UART_MODE_SUMD_TRAINER,
   UART_MODE_LUA,
   UART_MODE_CLI,
   UART_MODE_GPS,
diff --git a/radio/src/gui/gui_common.cpp b/radio/src/gui/gui_common.cpp
index 69f8da92a5e..a837598de3a 100644
--- a/radio/src/gui/gui_common.cpp
+++ b/radio/src/gui/gui_common.cpp
@@ -382,7 +382,7 @@ int hasSerialMode(int mode)
 
 bool isTrainerInputMode(const int mode) 
 {
-    return (mode == UART_MODE_IBUS_TRAINER) || (mode == UART_MODE_SBUS_TRAINER);
+    return (mode == UART_MODE_IBUS_TRAINER) || (mode == UART_MODE_SBUS_TRAINER) || (mode == UART_MODE_CRSF_TRAINER) || (mode == UART_MODE_SUMD_TRAINER);
 }
 
 int trainerInputActive() 
@@ -428,7 +428,7 @@ bool isSerialModeAvailable(const uint8_t port_nr, const int mode)
 #if defined(USB_SERIAL)
   // Telemetry input & SBUS trainer on VCP is not yet supported
   if (port_nr == SP_VCP &&
-      (mode == UART_MODE_TELEMETRY || mode == UART_MODE_SBUS_TRAINER || mode == UART_MODE_IBUS_TRAINER))
+      (mode == UART_MODE_TELEMETRY || mode == UART_MODE_SBUS_TRAINER || mode == UART_MODE_IBUS_TRAINER || mode == UART_MODE_CRSF_TRAINER || mode == UART_MODE_SUMD_TRAINER))
     return false;
 #endif
   
@@ -857,7 +857,8 @@ bool isTrainerModeAvailable(int mode)
 
   if (mode == TRAINER_MODE_MASTER_SERIAL) {
 #if defined(SBUS_TRAINER)
-    return (hasSerialMode(UART_MODE_SBUS_TRAINER) >= 0) || (hasSerialMode(UART_MODE_IBUS_TRAINER) >= 0);
+    return (hasSerialMode(UART_MODE_SBUS_TRAINER) >= 0) || (hasSerialMode(UART_MODE_IBUS_TRAINER) >= 0) 
+            || (hasSerialMode(UART_MODE_CRSF_TRAINER) >= 0) || (hasSerialMode(UART_MODE_SUMD_TRAINER) >= 0);
 #else
     return false;
 #endif
diff --git a/radio/src/opentx.h b/radio/src/opentx.h
index 741f79e8c2a..11f841a0451 100644
--- a/radio/src/opentx.h
+++ b/radio/src/opentx.h
@@ -610,6 +610,8 @@ static inline void GET_ADC_IF_MIXER_NOT_RUNNING()
 
 #include "sbus.h"
 #include "ibus.h"
+#include "crsf.h"
+#include "sumd.h"
 
 void resetBacklightTimeout();
 void checkBacklight();
diff --git a/radio/src/serial.cpp b/radio/src/serial.cpp
index 7339d1f7dd4..d5156aee6d9 100644
--- a/radio/src/serial.cpp
+++ b/radio/src/serial.cpp
@@ -158,11 +158,12 @@ static void serialSetCallBacks(int mode, void* ctx, const etx_serial_port_t* por
 
 #if defined(SBUS_TRAINER)
   case UART_MODE_SBUS_TRAINER:
+  case UART_MODE_IBUS_TRAINER:
+  case UART_MODE_CRSF_TRAINER:
+  case UART_MODE_SUMD_TRAINER:
     sbusSetAuxGetByte(ctx, getByte);
     // TODO: setRxCb (see MODE_LUA)
     break;
-  case UART_MODE_IBUS_TRAINER:
-    sbusSetAuxGetByte(ctx, getByte);
     break;
 #endif
 
@@ -241,7 +242,25 @@ static void serialSetupPort(int mode, etx_serial_init& params, bool& power_requi
     params.rx_enable = true;
     power_required = true;
     break;
+
+  case UART_MODE_CRSF_TRAINER:
+    params.baudrate = CRSF_BAUDRATE;
+    params.word_length = ETX_WordLength_8;
+    params.parity = ETX_Parity_None;
+    params.stop_bits = ETX_StopBits_One;
+    params.rx_enable = true;
+    power_required = true;
+    break;
     
+  case UART_MODE_SUMD_TRAINER:
+    params.baudrate = SUMD_BAUDRATE;
+    params.word_length = ETX_WordLength_8;
+    params.parity = ETX_Parity_None;
+    params.stop_bits = ETX_StopBits_One;
+    params.rx_enable = true;
+    power_required = true;
+    break;
+
 #if defined(LUA)
   case UART_MODE_LUA:
     params.baudrate = LUA_DEFAULT_BAUDRATE;
diff --git a/radio/src/storage/yaml/yaml_datastructs_funcs.cpp b/radio/src/storage/yaml/yaml_datastructs_funcs.cpp
index a1041b12c10..57a4841f5eb 100644
--- a/radio/src/storage/yaml/yaml_datastructs_funcs.cpp
+++ b/radio/src/storage/yaml/yaml_datastructs_funcs.cpp
@@ -1774,6 +1774,8 @@ static const struct YamlIdStr enum_UartModes[] = {
   {  UART_MODE_TELEMETRY, "TELEMETRY_IN"  },
   {  UART_MODE_SBUS_TRAINER, "SBUS_TRAINER"  },
   {  UART_MODE_IBUS_TRAINER, "IBUS_TRAINER"  },
+  {  UART_MODE_CRSF_TRAINER, "CRSF_TRAINER"  },
+  {  UART_MODE_SUMD_TRAINER, "SUMD_TRAINER"  },
   {  UART_MODE_LUA, "LUA"  },
   {  UART_MODE_CLI, "CLI"  },
   {  UART_MODE_GPS, "GPS"  },
diff --git a/radio/src/sumd.cpp b/radio/src/sumd.cpp
new file mode 100644
index 00000000000..f01beb07ae0
--- /dev/null
+++ b/radio/src/sumd.cpp
@@ -0,0 +1 @@
+#include "sumd.h"
diff --git a/radio/src/sumd.h b/radio/src/sumd.h
new file mode 100644
index 00000000000..4a17db6948c
--- /dev/null
+++ b/radio/src/sumd.h
@@ -0,0 +1,6 @@
+#pragma once
+
+#define SUMD_BAUDRATE         115200
+
+void processSumdInput();
+
diff --git a/radio/src/tasks.cpp b/radio/src/tasks.cpp
index 69bc03cca61..90e3cb266a6 100644
--- a/radio/src/tasks.cpp
+++ b/radio/src/tasks.cpp
@@ -127,23 +127,13 @@ void execMixerFrequentActions()
     else if (hasSerialMode(UART_MODE_IBUS_TRAINER) >= 0) {
         processIbusInput();
     }
+    else if (hasSerialMode(UART_MODE_CRSF_TRAINER) >= 0) {
+        processCrsfInput();
+    }
+    else if (hasSerialMode(UART_MODE_SUMD_TRAINER) >= 0) {
+//        processSumdInput();
+    }
 #endif
-//#if defined(SBUS_TRAINER) && (defined(AUX_SERIAL) || defined(AUX2_SERIAL))
-//    if ((g_eeGeneral.auxSerialMode == UART_MODE_SBUS_TRAINER) 
-//        #if defined(AUX2_SERIAL)
-//            || (g_eeGeneral.aux2SerialMode == UART_MODE_SBUS_TRAINER)
-//        #endif
-//            ) {
-//        processSbusInput();
-//    }
-//    else if ((g_eeGeneral.auxSerialMode == UART_MODE_IBUS_TRAINER)
-//         #if defined(AUX2_SERIAL)
-//             || (g_eeGeneral.aux2SerialMode == UART_MODE_IBUS_TRAINER)
-//         #endif
-//             ) {
-//        processIbusInput();
-//    }
-//#endif
 
 #if defined(GYRO)
   gyro.wakeup();
diff --git a/radio/src/telemetry/crossfire.h b/radio/src/telemetry/crossfire.h
index 9afd6e26463..5253f3443d7 100644
--- a/radio/src/telemetry/crossfire.h
+++ b/radio/src/telemetry/crossfire.h
@@ -27,6 +27,7 @@
 
 // Device address
 #define BROADCAST_ADDRESS              0x00
+#define FC_ADDRESS                     0xC8
 #define RADIO_ADDRESS                  0xEA
 #define MODULE_ADDRESS                 0xEE
 
diff --git a/radio/src/trainer.h b/radio/src/trainer.h
index d1b6648b841..845d9f2e2de 100644
--- a/radio/src/trainer.h
+++ b/radio/src/trainer.h
@@ -56,7 +56,26 @@ namespace Trainer {
             static constexpr uint16_t MaxValue = 988;            
             static constexpr uint16_t MinValue = 2011;            
             static constexpr uint16_t CenterValue = (MaxValue + MinValue) / 2;            
-        };        
+        };     
+        struct Crsf {
+//            Every frame has the structure:
+//            <Device address><Frame length><Type><Payload><CRC>            
+            using MesgType = std::array<uint8_t, 64>;
+
+            static constexpr uint8_t  ValueBits = 11;
+            static constexpr uint16_t ValueMask = ((1 << ValueBits) - 1);
+                
+            static constexpr uint8_t FcAddress = FC_ADDRESS;
+            static constexpr uint8_t FrametypeChannels = CHANNELS_ID;
+            static constexpr uint8_t FrametypeLink = LINK_ID;
+
+            static constexpr uint16_t CenterValue = 0x3e0;            
+            
+        };
+        struct SumDV3 {
+            using MesgType = std::array<uint8_t, 28>;
+            
+        };
     }    
 }
 
diff --git a/radio/src/translations/cn.h.txt b/radio/src/translations/cn.h.txt
index 1706adeeab0..a1d69bcbbaf 100644
--- a/radio/src/translations/cn.h.txt
+++ b/radio/src/translations/cn.h.txt
@@ -63,7 +63,7 @@
 #define TR_TRNCHN                      "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES           "\010"
-#define TR_AUX_SERIAL_MODES            "调试\0   " "回传镜像" "回传输入" "SBUS教练" "IBUS教练" "LUA脚本\0""CLI\0     ""GPS\0     ""Debug\0   "
+#define TR_AUX_SERIAL_MODES            "调试\0   " "回传镜像" "回传输入" "SBUS教练" "IBUS教练""CRSF教练""SUMD教练" "LUA脚本\0""CLI\0     ""GPS\0     ""Debug\0   "
 
 #define LEN_SWTYPES                    "\004"
 #define TR_SWTYPES                     "无\0 " "回弹" "2段\0""3段\0"
diff --git a/radio/src/translations/cz.h.txt b/radio/src/translations/cz.h.txt
index 77aba0b65d5..ec3288c0c8e 100644
--- a/radio/src/translations/cz.h.txt
+++ b/radio/src/translations/cz.h.txt
@@ -61,7 +61,7 @@
 #define TR_TRNCHN                      "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES           "\015"
-#define TR_AUX_SERIAL_MODES            "VYP\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trenér\0 ""IBUS Trenér\0 ""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES            "VYP\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trenér\0 ""IBUS Trenér\0 ""CRSF Trenér\0 ""SUMD Trenér\0 ""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES                    "\013"
 #define TR_SWTYPES                     "Žádný\0     ""Bez aretace""2-polohový\0""3-polohový\0"
diff --git a/radio/src/translations/de.h.txt b/radio/src/translations/de.h.txt
index c40d38e4837..d97754aebea 100644
--- a/radio/src/translations/de.h.txt
+++ b/radio/src/translations/de.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN                      "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES           "\015"
-#define TR_AUX_SERIAL_MODES    			"AUS\0         ""Telem Mirror\0""Telemetry In\0""SBUS Eingang\0""IBUS Eingang\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES    			"AUS\0         ""Telem Mirror\0""Telemetry In\0""SBUS Eingang\0""IBUS Eingang\0""CRSF Eingang\0""SUMD Eingang\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES            			"\006"
 #define TR_SWTYPES            			 "Kein\0 ""Taster""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/en.h.txt b/radio/src/translations/en.h.txt
index 78468b80a02..d29212233bd 100644
--- a/radio/src/translations/en.h.txt
+++ b/radio/src/translations/en.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN                      "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES           "\015"
-#define TR_AUX_SERIAL_MODES            "OFF\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""IBUS Trainer\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES            "OFF\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""IBUS Trainer\0""CRSF Trainer\0""SUMD Trainer\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES                    "\006"
 #define TR_SWTYPES                     "None\0 ""Toggle""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/es.h.txt b/radio/src/translations/es.h.txt
index e7d4ebb7c72..05fb5c88d10 100644
--- a/radio/src/translations/es.h.txt
+++ b/radio/src/translations/es.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES   "\015"
-#define TR_AUX_SERIAL_MODES    "OFF\0         ""Telem Mirror\0""Telemetría\0  ""Entrenador SBUS""Entrenador IBUS""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES    "OFF\0         ""Telem Mirror\0""Telemetría\0  ""Entrenador SBUS""Entrenador IBUS""Entrenador CRSF""Entrenador SUMD""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES            "\007"
 #define TR_SWTYPES             "Nada\0  ""Palanca""2POS\0  ""3POS\0  "
diff --git a/radio/src/translations/fi.h.txt b/radio/src/translations/fi.h.txt
index cc62ffe63a2..e3d6a4c4636 100644
--- a/radio/src/translations/fi.h.txt
+++ b/radio/src/translations/fi.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES   "\015"
-#define TR_AUX_SERIAL_MODES    "POIS\0        ""S-Port Pelik\0""Telemetry In\0""SBUS Trainer\0""IBUS Trainer\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES    "POIS\0        ""S-Port Pelik\0""Telemetry In\0""SBUS Trainer\0""IBUS Trainer\0""CRSF Trainer\0""SUMD Trainer\0""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES            "\006"
 #define TR_SWTYPES             "None\0 ""Toggle""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/fr.h.txt b/radio/src/translations/fr.h.txt
index 5aa1f84aa14..84d96bf2aa5 100644
--- a/radio/src/translations/fr.h.txt
+++ b/radio/src/translations/fr.h.txt
@@ -65,7 +65,7 @@
 #define TR_TRNCHN                      "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES           "\016"
-#define TR_AUX_SERIAL_MODES            "OFF\0          ""Recopie Telem\0""Télémétrie In\0""Ecolage SBUS\0 ""Ecolage IBUS\0 ""LUA\0          ""CLI\0          ""GPS\0          ""Debug\0        "
+#define TR_AUX_SERIAL_MODES            "OFF\0          ""Recopie Telem\0""Télémétrie In\0""Ecolage SBUS\0 ""Ecolage IBUS\0 ""Ecolage CRSF\0 ""Ecolage SUMD\0 ""LUA\0          ""CLI\0          ""GPS\0          ""Debug\0        "
 
 #define LEN_SWTYPES                    "\006"
 #define TR_SWTYPES                     "Rien\0 ""Levier""2-POS\0""3-POS\0"
diff --git a/radio/src/translations/it.h.txt b/radio/src/translations/it.h.txt
index 3e42a40a734..4e6bb110b81 100644
--- a/radio/src/translations/it.h.txt
+++ b/radio/src/translations/it.h.txt
@@ -63,7 +63,7 @@
 #define TR_TRNCHN              "ch1ch2ch3ch4"
 
 #define LEN_AUX_SERIAL_MODES   "\016"
-#define TR_AUX_SERIAL_MODES    "OFF\0          ""Replica S-Port""Telemetria\0   ""SBUS Trainer\0 ""IBUS Trainer\0 ""LUA\0          ""CLI\0          ""GPS\0          ""Debug\0        "
+#define TR_AUX_SERIAL_MODES    "OFF\0          ""Replica S-Port""Telemetria\0   ""SBUS Trainer\0 ""IBUS Trainer\0 ""CRSF Trainer\0 ""SUMD Trainer\0 ""LUA\0          ""CLI\0          ""GPS\0          ""Debug\0        "
 
 #define LEN_SWTYPES            "\006"
 #define TR_SWTYPES             "Dis.\0 ""Toggle""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/nl.h.txt b/radio/src/translations/nl.h.txt
index efd8a2f2c78..b7c00b1c278 100644
--- a/radio/src/translations/nl.h.txt
+++ b/radio/src/translations/nl.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES   "\015"
-#define TR_AUX_SERIAL_MODES    "UIT\0         ""Telem Mirror\0""Telemetry In\0""SBUS Leerling""IBUS Leerling""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES    "UIT\0         ""Telem Mirror\0""Telemetry In\0""SBUS Leerling""IBUS Leerling""CRSF Leerling""SUMD Leerling""LUA\0         ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES            "\006"
 #define TR_SWTYPES             "Geen\0 ""Wissel""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/pl.h.txt b/radio/src/translations/pl.h.txt
index c7f2cee8664..6a166fcb274 100644
--- a/radio/src/translations/pl.h.txt
+++ b/radio/src/translations/pl.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN              "KN1KN2KN3KN4"
 
 #define LEN_AUX_SERIAL_MODES   "\015"  /*13 decimal*/
-#define TR_AUX_SERIAL_MODES    "Wyłącz\0      ""S-Port Kopia ""Telemetria\0  ""Trener SBUS\0 ""Trener IBUS\0 ""LUA\0          ""CLI\0         ""GPS\0         ""Debug\0       "
+#define TR_AUX_SERIAL_MODES    "Wyłącz\0      ""S-Port Kopia ""Telemetria\0  ""Trener SBUS\0 ""Trener IBUS\0 ""Trener CRSF\0 ""Trener SUMD\0 ""LUA\0          ""CLI\0         ""GPS\0         ""Debug\0       "
 
 #define LEN_SWTYPES            "\006"
 #define TR_SWTYPES             "Brak\0 ""Chwil.""2POZ\0 ""3POZ\0"
diff --git a/radio/src/translations/pt.h.txt b/radio/src/translations/pt.h.txt
index e3b208895ac..60a5a9f0c42 100644
--- a/radio/src/translations/pt.h.txt
+++ b/radio/src/translations/pt.h.txt
@@ -62,7 +62,7 @@
 #define TR_TRNCHN        "CH1CH2CH3CH4"
 
 #define LEN_AUX_SERIAL_MODES   "\017"
-#define TR_AUX_SERIAL_MODES    "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""SBUS Trainer\0  ""IBUS Trainer\0  ""LUA\0           ""CLI\0           ""GPS\0           ""Debug\0         "
+#define TR_AUX_SERIAL_MODES    "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""SBUS Trainer\0  ""IBUS Trainer\0  ""CRSF Trainer\0  ""SUMD Trainer\0  ""LUA\0           ""CLI\0           ""GPS\0           ""Debug\0         "
 
 #define LEN_SWTYPES      "\006"
 #define TR_SWTYPES       "None\0 ""Toggle""2POS\0 ""3POS\0"
diff --git a/radio/src/translations/se.h.txt b/radio/src/translations/se.h.txt
index 39c86568df4..7ed587cee53 100644
--- a/radio/src/translations/se.h.txt
+++ b/radio/src/translations/se.h.txt
@@ -68,7 +68,7 @@
 #define TR_TRNCHN              "KN1KN2KN3KN4"
 
 #define LEN_AUX_SERIAL_MODES   "\022"
-#define TR_AUX_SERIAL_MODES    "Av\0               ""Spegling av S-Port""Telemetri\0        ""SBUS Trainer\0     ""IBUS Trainer\0     ""LUA\0              ""CLI\0              ""GPS\0              ""Debug\0            "
+#define TR_AUX_SERIAL_MODES    "Av\0               ""Spegling av S-Port""Telemetri\0        ""SBUS Trainer\0     ""IBUS Trainer\0     ""CRSF Trainer\0     ""SUMD Trainer\0     ""LUA\0              ""CLI\0              ""GPS\0              ""Debug\0            "
 
 #define LEN_SWTYPES            "\006"
 #define TR_SWTYPES             "Ingen\0""Flipp\0""2Pos\0 ""3Pos\0"