portersky
dde27ab566
The old [0xC8][dest][src][type][size][payload][crc] format was never used with real hardware. Remove cel_crsf_frame_legacy, *_legacy() functions, and update tests/tools accordingly.
112 lines
4.0 KiB
C
112 lines
4.0 KiB
C
#pragma once
|
|
#include <stdint.h>
|
|
#include <stddef.h>
|
|
|
|
/* CRSF frame header byte */
|
|
#define CEL_CRSF_FRAME_HEADER 0xC8
|
|
|
|
/* CRSF device addresses */
|
|
#define CEL_CRSF_ADDRESS_FC_BROADCAST 0x00
|
|
#define CEL_CRSF_ADDRESS_FC 0x10
|
|
#define CEL_CRSF_ADDRESS_TBS_GROUND_STATION 0x80
|
|
#define CEL_CRSF_ADDRESS_CUSTOM_MODULE 0xEA
|
|
#define CEL_CRSF_ADDRESS_RC_DEVICE 0xDD
|
|
#define CEL_CRSF_ADDRESS_GPS 0xEC
|
|
#define CEL_CRSF_ADDRESS_FLIGHT_CONTROLLER 0xED
|
|
#define CEL_CRSF_ADDRESS_MODULE 0xEE
|
|
#define CEL_CRSF_ADDRESS_LUA 0xEF
|
|
|
|
/* CRSF frame types (ELRS) */
|
|
typedef enum {
|
|
CEL_CRSF_TYPE_RC_CHANNELS_PACKED = 0x01,
|
|
CEL_CRSF_TYPE_GPS = 0x02,
|
|
CEL_CRSF_TYPE_VARIO = 0x07,
|
|
CEL_CRSF_TYPE_BATTERY = 0x08,
|
|
CEL_CRSF_TYPE_BARO_ALT = 0x09,
|
|
CEL_CRSF_TYPE_AIRSPEED = 0x0A,
|
|
CEL_CRSF_TYPE_HEARTBEAT = 0x0B,
|
|
CEL_CRSF_TYPE_RPM = 0x0C,
|
|
CEL_CRSF_TYPE_TEMP = 0x0D,
|
|
CEL_CRSF_TYPE_VOLTAGES = 0x0E,
|
|
CEL_CRSF_TYPE_ESC_SENSOR = 0x10,
|
|
CEL_CRSF_TYPE_LINK_STATS = 0x14,
|
|
CEL_CRSF_TYPE_RC_CHANNELS = 0x16,
|
|
CEL_CRSF_TYPE_ATTITUDE = 0x1E,
|
|
CEL_CRSF_TYPE_FLIGHT_MODE = 0x21,
|
|
CEL_CRSF_TYPE_DEVICE_PING = 0x28,
|
|
CEL_CRSF_TYPE_DEVICE_INFO = 0x29,
|
|
CEL_CRSF_TYPE_PARAM_ENTRY = 0x2B,
|
|
CEL_CRSF_TYPE_PARAM_READ = 0x2C,
|
|
CEL_CRSF_TYPE_PARAM_WRITE = 0x2D,
|
|
CEL_CRSF_TYPE_ELRS_STATUS = 0x2E,
|
|
} cel_crsf_type;
|
|
|
|
/* ELRS parameter types */
|
|
typedef enum {
|
|
CEL_PARAM_UINT8 = 0,
|
|
CEL_PARAM_INT8 = 1,
|
|
CEL_PARAM_UINT16 = 2,
|
|
CEL_PARAM_INT16 = 3,
|
|
CEL_PARAM_UINT32 = 4,
|
|
CEL_PARAM_INT32 = 5,
|
|
CEL_PARAM_FLOAT = 8,
|
|
CEL_PARAM_TEXT_SELECT = 9,
|
|
CEL_PARAM_STRING = 10,
|
|
CEL_PARAM_FOLDER = 11,
|
|
CEL_PARAM_INFO = 12,
|
|
CEL_PARAM_COMMAND = 13,
|
|
} cel_param_type;
|
|
|
|
/* Channel value mapping (11-bit) */
|
|
#define CEL_CRSF_CH_MIN 172 /* 988 us */
|
|
#define CEL_CRSF_CH_MID 992 /* 1500 us */
|
|
#define CEL_CRSF_CH_MAX 1811 /* 2012 us */
|
|
|
|
/* Parsed CRSF frame (ELRS USB format: [addr][length][type][payload][crc]) */
|
|
typedef struct {
|
|
uint8_t addr;
|
|
uint8_t length;
|
|
uint8_t type;
|
|
uint8_t payload[255];
|
|
uint8_t payload_len;
|
|
uint8_t crc;
|
|
} cel_crsf_frame;
|
|
|
|
/* CRC8/DVB-S2 (poly 0xD5, init 0x00) */
|
|
uint8_t cel_crsf_crc(uint8_t const* data, size_t len);
|
|
|
|
/* Build an RC channels frame (16 channels, 11-bit each).
|
|
Returns total bytes written into dst (min 28 bytes needed). */
|
|
size_t cel_crsf_build_rc_frame(uint8_t* dst, int16_t const channels[16]);
|
|
|
|
/* Build a device ping frame. Returns bytes written (min 7 bytes needed). */
|
|
size_t cel_crsf_build_ping_frame(uint8_t* dst);
|
|
|
|
/* Build a parameter read frame. Returns bytes written (min 9 bytes needed). */
|
|
size_t cel_crsf_build_param_read_frame(uint8_t* dst, uint8_t index,
|
|
uint8_t chunk);
|
|
|
|
/* Build a parameter write frame. Returns bytes written (min 9 bytes needed). */
|
|
size_t cel_crsf_build_param_write_frame(uint8_t* dst, uint8_t index,
|
|
uint8_t value);
|
|
|
|
/* Parse a single CRSF frame from buf. Returns 0 on success, -1 on error.
|
|
buf should start with the address byte (0xC8, 0xEE, etc.). */
|
|
int cel_crsf_frame_parse(cel_crsf_frame* frame, uint8_t const* buf,
|
|
size_t len);
|
|
|
|
/* Channel helpers */
|
|
int16_t cel_crsf_channel_clamp(int16_t value);
|
|
int16_t cel_crsf_channel_us_to_val(uint16_t us);
|
|
uint16_t cel_crsf_channel_val_to_us(int16_t value);
|
|
void cel_crsf_channel_default(int16_t channels[16]);
|
|
|
|
/* Telemetry parsing — see crsf_telemetry.h */
|
|
#include "celrs/crsf_telemetry.h"
|
|
|
|
/* Streaming reader — see crsf_stream.h */
|
|
#include "celrs/crsf_stream.h"
|
|
|
|
/* Parameter protocol — see crsf_param.h */
|
|
#include "celrs/crsf_param.h"
|