src/main/rx/crsf.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #define CRSF_BAUDRATE           420000
  21 #define CRSF_PORT_OPTIONS       (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
  22 #define CRSF_PORT_MODE          MODE_RXTX
  23
  24 #define CRSF_MAX_CHANNEL        17
  25
  26 enum { CRSF_SYNC_BYTE = 0xC8 };
  27
  28 enum { CRSF_FRAME_SIZE_MAX = 64 }; // 62 bytes frame plus 2 bytes frame header(<length><type>)
  29 enum { CRSF_PAYLOAD_SIZE_MAX = CRSF_FRAME_SIZE_MAX - 6 };
  30
  31 enum {
  32     CRSF_DISPLAYPORT_SUBCMD_UPDATE = 0x01, // transmit displayport buffer to remote
  33     CRSF_DISPLAYPORT_SUBCMD_CLEAR = 0X02, // clear client screen
  34     CRSF_DISPLAYPORT_SUBCMD_OPEN = 0x03,  // client request to open cms menu
  35     CRSF_DISPLAYPORT_SUBCMD_CLOSE = 0x04,  // client request to close cms menu
  36     CRSF_DISPLAYPORT_SUBCMD_POLL = 0x05,  // client request to poll/refresh cms menu
  37 };
  38
  39 enum {
  40     CRSF_DISPLAYPORT_OPEN_ROWS_OFFSET = 1,
  41     CRSF_DISPLAYPORT_OPEN_COLS_OFFSET = 2,
  42 };
  43
  44 enum {
  45     CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
  46     CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
  47     CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
  48     CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
  49     CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
  50     CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
  51     CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field
  52     CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field
  53     CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field
  54     CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field
  55     CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined
  56     CRSF_FRAME_LENGTH_EXT_TYPE_CRC = 4, // length of Extended Dest/Origin, TYPE and CRC fields combined
  57     CRSF_FRAME_LENGTH_NON_PAYLOAD = 4, // combined length of all fields except payload
  58 };
  59
  60 enum {
  61     CRSF_FRAME_TX_MSP_FRAME_SIZE = 58,
  62     CRSF_FRAME_RX_MSP_FRAME_SIZE = 8,
  63     CRSF_FRAME_ORIGIN_DEST_SIZE = 2,
  64 };
  65
  66 // Clashes with CRSF_ADDRESS_FLIGHT_CONTROLLER
  67 #define CRSF_TELEMETRY_SYNC_BYTE  0XC8
  68
  69 typedef enum {
  70     CRSF_ADDRESS_BROADCAST = 0x00,
  71     CRSF_ADDRESS_USB = 0x10,
  72     CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80,
  73     CRSF_ADDRESS_RESERVED1 = 0x8A,
  74     CRSF_ADDRESS_CURRENT_SENSOR = 0xC0,
  75     CRSF_ADDRESS_GPS = 0xC2,
  76     CRSF_ADDRESS_TBS_BLACKBOX = 0xC4,
  77     CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8,
  78     CRSF_ADDRESS_RESERVED2 = 0xCA,
  79     CRSF_ADDRESS_RACE_TAG = 0xCC,
  80     CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA,
  81     CRSF_ADDRESS_CRSF_RECEIVER = 0xEC,
  82     CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE
  83 } crsfAddress_e;
  84
  85 typedef enum {
  86     CRSF_FRAMETYPE_GPS = 0x02,
  87     CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
  88     CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
  89     CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
  90     CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
  91     CRSF_FRAMETYPE_ATTITUDE = 0x1E,
  92     CRSF_FRAMETYPE_FLIGHT_MODE = 0x21,
  93     // Extended Header Frames, range: 0x28 to 0x96
  94     CRSF_FRAMETYPE_DEVICE_PING = 0x28,
  95     CRSF_FRAMETYPE_DEVICE_INFO = 0x29,
  96     CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
  97     CRSF_FRAMETYPE_PARAMETER_READ = 0x2C,
  98     CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D,
  99     CRSF_FRAMETYPE_COMMAND = 0x32,
 100     // MSP commands
 101     CRSF_FRAMETYPE_MSP_REQ = 0x7A,   // response request using msp sequence as command
 102     CRSF_FRAMETYPE_MSP_RESP = 0x7B,  // reply with 58 byte chunked binary
 103     CRSF_FRAMETYPE_MSP_WRITE = 0x7C,  // write with 8 byte chunked binary (OpenTX outbound telemetry buffer limit)
 104     CRSF_FRAMETYPE_DISPLAYPORT_CMD = 0x7D, // displayport control command
 105 } crsfFrameType_e;
 106
 107 enum {
 108     CRSF_COMMAND_SUBCMD_RX = 0x10,    // receiver command
 109     CRSF_COMMAND_SUBCMD_GENERAL = 0x0A,    // general command
 110 };
 111
 112 enum {
 113     CRSF_COMMAND_SUBCMD_RX_BIND = 0x01,    // bind command
 114 };
 115
 116 typedef struct crsfFrameDef_s {
 117     uint8_t deviceAddress;
 118     uint8_t frameLength;
 119     uint8_t type;
 120     uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; // +1 for CRC at end of payload
 121 } crsfFrameDef_t;
 122
 123 typedef union crsfFrame_u {
 124     uint8_t bytes[CRSF_FRAME_SIZE_MAX];
 125     crsfFrameDef_t frame;
 126 } crsfFrame_t;
 127
 128
 129 void crsfRxWriteTelemetryData(const void *data, int len);
 130 void crsfRxSendTelemetryData(void);
 131
 132 struct rxConfig_s;
 133 struct rxRuntimeConfig_s;
 134 bool crsfRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);
 135 bool crsfRxIsActive(void);
 136
 137 void crsfBind(void);