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Merge pull request #4560 from martinbudden/bfa_crsf_interface

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Split CRSF protocol into interface directory
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Martin Budden 2017-11-13 06:59:17 +00:00 • committed by GitHub
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7 changed files with 100 additions and 70 deletions
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src/main/interface/crsf_protocol.h Normal file
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/*
* Crossfire constants provided by Team Black Sheep under terms of the 2-Clause BSD License
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#define CRSF_BAUDRATE 420000
enum { CRSF_SYNC_BYTE = 0xC8 };
enum { CRSF_FRAME_SIZE_MAX = 64 }; // 62 bytes frame plus 2 bytes frame header(<length><type>)
enum { CRSF_PAYLOAD_SIZE_MAX = CRSF_FRAME_SIZE_MAX - 6 };
typedef enum {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
CRSF_FRAMETYPE_FLIGHT_MODE = 0x21,
// Extended Header Frames, range: 0x28 to 0x96
CRSF_FRAMETYPE_DEVICE_PING = 0x28,
CRSF_FRAMETYPE_DEVICE_INFO = 0x29,
CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
CRSF_FRAMETYPE_PARAMETER_READ = 0x2C,
CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D,
CRSF_FRAMETYPE_COMMAND = 0x32,
// MSP commands
CRSF_FRAMETYPE_MSP_REQ = 0x7A, // response request using msp sequence as command
CRSF_FRAMETYPE_MSP_RESP = 0x7B, // reply with 58 byte chunked binary
CRSF_FRAMETYPE_MSP_WRITE = 0x7C // write with 8 byte chunked binary (OpenTX outbound telemetry buffer limit)
} crsfFrameType_e;
enum {
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
};
enum {
CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field
CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field
CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field
CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field
CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined
CRSF_FRAME_LENGTH_EXT_TYPE_CRC = 4, // length of Extended Dest/Origin, TYPE and CRC fields combined
CRSF_FRAME_LENGTH_NON_PAYLOAD = 4, // combined length of all fields except payload
};
enum {
CRSF_FRAME_TX_MSP_FRAME_SIZE = 58,
CRSF_FRAME_RX_MSP_FRAME_SIZE = 8,
CRSF_FRAME_ORIGIN_DEST_SIZE = 2,
};
typedef enum {
CRSF_ADDRESS_BROADCAST = 0x00,
CRSF_ADDRESS_USB = 0x10,
CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80,
CRSF_ADDRESS_RESERVED1 = 0x8A,
CRSF_ADDRESS_CURRENT_SENSOR = 0xC0,
CRSF_ADDRESS_GPS = 0xC2,
CRSF_ADDRESS_TBS_BLACKBOX = 0xC4,
CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8,
CRSF_ADDRESS_RESERVED2 = 0xCA,
CRSF_ADDRESS_RACE_TAG = 0xCC,
CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA,
CRSF_ADDRESS_CRSF_RECEIVER = 0xEC,
CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE
} crsfAddress_e;