From 7382fc6316a61b2b713b33a69fbf4f0f2c17ff1d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 10 May 2019 11:56:11 +1000
Subject: [PATCH] HAL_ChibiOS: support DSM bind on IOMCU

---
 libraries/AP_HAL_ChibiOS/RCInput.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index 79be9b47bf..9bb2b4586e 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -168,6 +168,14 @@ void RCInput::_timer_tick(void)
  */
 bool RCInput::rc_bind(int dsmMode)
 {
+#if HAL_WITH_IO_MCU
+    rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
+    if (AP_BoardConfig::io_enabled()) {
+        iomcu.bind_dsm(dsmMode);
+    }
+    rcin_mutex.give();
+#endif
+
 #if HAL_USE_ICU == TRUE
     // ask AP_RCProtocol to start a bind
     rcin_prot.start_bind();