/
crsf_protocol.h
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/
crsf_protocol.h
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
* 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_HEARTBEAT = 0x0B,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED = 0x17,
CRSF_FRAMETYPE_LINK_STATISTICS_RX = 0x1C,
CRSF_FRAMETYPE_LINK_STATISTICS_TX = 0x1D,
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)
CRSF_FRAMETYPE_DISPLAYPORT_CMD = 0x7D, // displayport control command
} crsfFrameType_e;
enum {
CRSF_COMMAND_SUBCMD_GENERAL = 0x0A, // general command
};
enum {
CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_PROPOSAL = 0x70, // proposed new CRSF port speed
CRSF_COMMAND_SUBCMD_GENERAL_CRSF_SPEED_RESPONSE = 0x71, // response to the proposed CRSF port speed
};
enum {
CRSF_DISPLAYPORT_SUBCMD_UPDATE = 0x01, // transmit displayport buffer to remote
CRSF_DISPLAYPORT_SUBCMD_CLEAR = 0X02, // clear client screen
CRSF_DISPLAYPORT_SUBCMD_OPEN = 0x03, // client request to open cms menu
CRSF_DISPLAYPORT_SUBCMD_CLOSE = 0x04, // client request to close cms menu
CRSF_DISPLAYPORT_SUBCMD_POLL = 0x05, // client request to poll/refresh cms menu
};
enum {
CRSF_DISPLAYPORT_OPEN_ROWS_OFFSET = 1,
CRSF_DISPLAYPORT_OPEN_COLS_OFFSET = 2,
};
enum {
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_HEARTBEAT_PAYLOAD_SIZE = 2,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_LINK_STATISTICS_TX_PAYLOAD_SIZE = 6,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
CRSF_FRAME_DEVICE_PING_PAYLOAD_SIZE = 2,
};
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,
};
// Clashes with CRSF_ADDRESS_FLIGHT_CONTROLLER
#define CRSF_SYNC_BYTE 0XC8
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;