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feat: adopt ELRS USB CRSF frame format, add skeleton modules

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Switch CRC from CCITT (0x07) to DVB-S2 (0xD5) to match ELRS.
Adopt ELRS USB frame format: [addr][length][type][payload][crc].
Update frame type constants to match current ELRS protocol values.

New skeleton modules (stub implementations with TODO comments):
  - crsf_telemetry.h/.c: telemetry decoders (GPS, battery, link..)
  - crsf_stream.h/.c: incremental streaming frame reader
  - crsf_param.h/.c: parameter protocol (read/write/set_power)

Retained old frame format as *_legacy functions for backward
compatibility with existing telemetry tool and tests.

Add cel_serial_find_elrs_port() and cel_serial_open_probe()
stubs to serial module for port auto-detection and baud probing.
This commit is contained in:
portersky
2026-06-14 20:47:56 +02:00
parent c42ec407da
commit df3d399610
16 changed files with 919 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/CMakeLists.txt
+2 -1
View File
@@ -1,4 +1,5 @@
add_executable(telemetry telemetry.c)
target_include_directories(telemetry PRIVATE "${CMAKE_SOURCE_DIR}")
target_compile_features(telemetry PRIVATE c_std_23)
target_link_libraries(telemetry PRIVATE celrs_crsf celrs_serial celrs_serial_platform celrs_logger celrs_log_write)
target_link_libraries(telemetry PRIVATE celrs_crsf celrs_serial
celrs_serial_platform celrs_logger celrs_log_write)
tools/telemetry.c
+10 -6
View File
@@ -106,12 +106,16 @@ int main(int argc, char const* argv[]) {
snprintf(msg, sizeof(msg), "Connected to %s (%d baud)", port_path, baud_rate);
cel_log_info(msg);
/* Send heartbeat to establish CRSF link */
/* TODO: update for new ELRS frame format.
* New format uses cel_crsf_build_rc_frame() and cel_crsf_stream_feed(). */
/* Send heartbeat to establish CRSF link (legacy format) */
uint8_t hb_payload[2] = {CEL_CRSF_ADDRESS_TBS_GROUND_STATION, 0x01};
uint8_t hb_frame[256];
size_t hb_len = cel_crsf_frame_build(hb_frame, CEL_CRSF_ADDRESS_FC_BROADCAST,
size_t hb_len = cel_crsf_frame_build_legacy(hb_frame,
CEL_CRSF_ADDRESS_FC_BROADCAST,
CEL_CRSF_ADDRESS_TBS_GROUND_STATION,
CEL_CRSF_FRAMETYPE_HEARTBEAT, hb_payload, 2);
0x03, hb_payload, 2);
cel_serial_write(port, hb_frame, hb_len);
printf("RX\tLINK\tSNR\tTXP\tRSSI_RC\n");
@@ -127,13 +131,13 @@ int main(int argc, char const* argv[]) {
continue;
}
cel_crsf_frame frame;
if (cel_crsf_frame_parse(&frame, buf, n) != 0) {
cel_crsf_frame_legacy frame;
if (cel_crsf_frame_parse_legacy(&frame, buf, n) != 0) {
errors++;
continue;
}
if (frame.type != CEL_CRSF_FRAMETYPE_PACKET_LINK_TELEMETRY) {
if (frame.type != 0x02) {
continue; /* skip non-telemetry frames */
}