src/main/rx/crsf_protocol.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  * Crossfire constants provided by Team Black Sheep under terms of the 2-Clause BSD License
  23  */
  24
  25 #pragma once
  26
  27 #include <stdint.h>
  28 #include <stdbool.h>
  29
  30 #define CRSF_BAUDRATE           420000
  31
  32 enum { CRSF_SYNC_BYTE = 0xC8 };
  33
  34 enum { CRSF_FRAME_SIZE_MAX = 64 }; // 62 bytes frame plus 2 bytes frame header(<length><type>)
  35 enum { CRSF_PAYLOAD_SIZE_MAX = CRSF_FRAME_SIZE_MAX - 6 };
  36
  37 typedef enum {
  38     CRSF_FRAMETYPE_GPS = 0x02,
  39     CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
  40     CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
  41     CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
  42     CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED = 0x17,
  43     CRSF_FRAMETYPE_LINK_STATISTICS_RX = 0x1C,
  44     CRSF_FRAMETYPE_LINK_STATISTICS_TX = 0x1D,
  45     CRSF_FRAMETYPE_ATTITUDE = 0x1E,
  46     CRSF_FRAMETYPE_FLIGHT_MODE = 0x21,
  47     // Extended Header Frames, range: 0x28 to 0x96
  48     CRSF_FRAMETYPE_DEVICE_PING = 0x28,
  49     CRSF_FRAMETYPE_DEVICE_INFO = 0x29,
  50     CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
  51     CRSF_FRAMETYPE_PARAMETER_READ = 0x2C,
  52     CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D,
  53     CRSF_FRAMETYPE_COMMAND = 0x32,
  54     // MSP commands
  55     CRSF_FRAMETYPE_MSP_REQ = 0x7A,   // response request using msp sequence as command
  56     CRSF_FRAMETYPE_MSP_RESP = 0x7B,  // reply with 58 byte chunked binary
  57     CRSF_FRAMETYPE_MSP_WRITE = 0x7C,  // write with 8 byte chunked binary (OpenTX outbound telemetry buffer limit)
  58     CRSF_FRAMETYPE_DISPLAYPORT_CMD = 0x7D, // displayport control command
  59 } crsfFrameType_e;
  60
  61 enum {
  62     CRSF_COMMAND_SUBCMD_GENERAL = 0x0A,    // general command
  63 };
  64
  65 enum {
  66     CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_PROPOSAL = 0x70,    // proposed new CRSF port speed
  67     CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_RESPONSE = 0x71,    // response to the proposed CRSF port speed
  68 };
  69
  70 enum {
  71     CRSF_DISPLAYPORT_SUBCMD_UPDATE = 0x01, // transmit displayport buffer to remote
  72     CRSF_DISPLAYPORT_SUBCMD_CLEAR = 0X02, // clear client screen
  73     CRSF_DISPLAYPORT_SUBCMD_OPEN = 0x03,  // client request to open cms menu
  74     CRSF_DISPLAYPORT_SUBCMD_CLOSE = 0x04,  // client request to close cms menu
  75     CRSF_DISPLAYPORT_SUBCMD_POLL = 0x05,  // client request to poll/refresh cms menu
  76 };
  77
  78 enum {
  79     CRSF_DISPLAYPORT_OPEN_ROWS_OFFSET = 1,
  80     CRSF_DISPLAYPORT_OPEN_COLS_OFFSET = 2,
  81 };
  82
  83 enum {
  84     CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
  85     CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
  86     CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
  87     CRSF_FRAME_LINK_STATISTICS_TX_PAYLOAD_SIZE = 6,
  88     CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
  89     CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
  90 };
  91
  92 enum {
  93     CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field
  94     CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field
  95     CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field
  96     CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field
  97     CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined
  98     CRSF_FRAME_LENGTH_EXT_TYPE_CRC = 4, // length of Extended Dest/Origin, TYPE and CRC fields combined
  99     CRSF_FRAME_LENGTH_NON_PAYLOAD = 4, // combined length of all fields except payload
 100 };
 101
 102 enum {
 103     CRSF_FRAME_TX_MSP_FRAME_SIZE = 58,
 104     CRSF_FRAME_RX_MSP_FRAME_SIZE = 8,
 105     CRSF_FRAME_ORIGIN_DEST_SIZE = 2,
 106 };
 107
 108 // Clashes with CRSF_ADDRESS_FLIGHT_CONTROLLER
 109 #define CRSF_SYNC_BYTE 0XC8
 110
 111 typedef enum {
 112     CRSF_ADDRESS_BROADCAST = 0x00,
 113     CRSF_ADDRESS_USB = 0x10,
 114     CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80,
 115     CRSF_ADDRESS_RESERVED1 = 0x8A,
 116     CRSF_ADDRESS_CURRENT_SENSOR = 0xC0,
 117     CRSF_ADDRESS_GPS = 0xC2,
 118     CRSF_ADDRESS_TBS_BLACKBOX = 0xC4,
 119     CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8,
 120     CRSF_ADDRESS_RESERVED2 = 0xCA,
 121     CRSF_ADDRESS_RACE_TAG = 0xCC,
 122     CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA,
 123     CRSF_ADDRESS_CRSF_RECEIVER = 0xEC,
 124     CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE
 125 } crsfAddress_e;
 126