/*
* This file is free software: you can redistribute it and/or modify it
* 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.
*
* This file is distributed in the hope that it 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 program. 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 "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
#include "SoftSerial.h"
#define CRSF_MAX_CHANNELS 16U // Maximum number of channels from crsf datastream
#define CRSF_FRAMELEN_MAX 64U // maximum possible framelength
#define CRSF_BAUDRATE 416666
class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_CRSF(AP_RCProtocol &_frontend);
virtual ~AP_RCProtocol_CRSF();
void process_byte(uint8_t byte, uint32_t baudrate) override;
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void update(void) override;
// get singleton instance
static AP_RCProtocol_CRSF* get_singleton() {
return _singleton;
}
enum FrameType {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_HEARTBEAT = 0x0B,
CRSF_FRAMETYPE_VTX = 0x0F,
CRSF_FRAMETYPE_VTX_TELEM = 0x10,
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_PARAM_DEVICE_PING = 0x28,
CRSF_FRAMETYPE_PARAM_DEVICE_INFO = 0x29,
CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
CRSF_FRAMETYPE_PARAMETER_READ = 0x2C,
CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D,
CRSF_FRAMETYPE_COMMAND = 0x32,
};
// Command IDs for CRSF_FRAMETYPE_COMMAND
enum CommandID {
CRSF_COMMAND_FC = 0x01,
CRSF_COMMAND_BLUETOOTH = 0x03,
CRSF_COMMAND_OSD = 0x05,
CRSF_COMMAND_VTX = 0x08,
CRSF_COMMAND_LED = 0x09,
CRSF_COMMAND_FW_UPDATE = 0x0A,
CRSF_COMMAND_RX = 0x10,
};
// Commands for CRSF_COMMAND_FC
enum CommandFC {
CRSF_COMMAND_FC_DISARM = 0x01,
CRSF_COMMAND_SCALE_CHANNEL = 0x02,
};
// Commands for CRSF_COMMAND_BLUETOOTH
enum CommandBluetooth {
CRSF_COMMAND_BLUETOOTH_RESET = 0x01,
CRSF_COMMAND_BLUETOOTH_ENABLE = 0x02,
CRSF_COMMAND_BLUETOOTH_ECHO = 0x64,
};
// Commands for CRSF_COMMAND_OSD
enum CommandOSD {
CRSF_COMMAND_OSD_SEND = 0x01,
};
// Commands for CRSF_COMMAND_VTX
enum CommandVTX {
CRSF_COMMAND_VTX_CHANNEL = 0x01,
CRSF_COMMAND_VTX_FREQ = 0x02,
CRSF_COMMAND_VTX_POWER = 0x03,
CRSF_COMMAND_VTX_PITMODE = 0x04,
CRSF_COMMAND_VTX_PITMODE_POWERUP = 0x05,
CRSF_COMMAND_VTX_POWER_DBM = 0x08,
};
// Commands for CRSF_COMMAND_LED
enum CommandLED {
CRSF_COMMAND_LED_SET_DEFAULT = 0x01,
CRSF_COMMAND_LED_COLOR = 0x02,
CRSF_COMMAND_LED_PULSE = 0x03,
CRSF_COMMAND_LED_BLINK = 0x04,
CRSF_COMMAND_LED_SHIFT = 0x05,
};
// Commands for CRSF_COMMAND_FW_UPDATE
enum CommandFirmwareUpdate {
CRSF_COMMAND_FIRMWARE_UPDATE_BOOTLOADER = 0x0A,
CRSF_COMMAND_FIRMWARE_UPDATE_ERASE = 0x0B,
};
// Commands for CRSF_COMMAND_RX
enum CommandRX {
CRSF_COMMAND_RX_BIND = 0x01,
};
enum DeviceAddress {
CRSF_ADDRESS_BROADCAST = 0x00,
CRSF_ADDRESS_USB = 0x10,
CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80,
CRSF_ADDRESS_RESERVED1 = 0x8A,
CRSF_ADDRESS_PNP_PRO_CURRENT_SENSOR = 0xC0,
CRSF_ADDRESS_PNP_PRO_GPS = 0xC2,
CRSF_ADDRESS_TBS_BLACKBOX = 0xC4,
CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8,
CRSF_ADDRESS_RESERVED2 = 0xCA,
CRSF_ADDRESS_RACE_TAG = 0xCC,
CRSF_ADDRESS_VTX = 0xCE,
CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA,
CRSF_ADDRESS_CRSF_RECEIVER = 0xEC,
CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE
};
enum ExtendedFrameOffset {
CRSF_EXTENDED_FRAME_LENGTH_OFFSET = 1,
CRSF_EXTENDED_FRAME_TYPE_OFFSET = 2,
CRSF_EXTENDED_FRAME_DESTINATION_OFFSET = 3,
CRSF_EXTENDED_FRAME_ORIGIN_OFFSET = 4,
CRSF_EXTENDED_FRAME_PAYLOAD_OFFSET = 5,
};
struct Frame {
uint8_t device_address;
uint8_t length;
uint8_t type;
uint8_t payload[CRSF_FRAMELEN_MAX - 3]; // +1 for crc
} PACKED;
struct LinkStatisticsFrame {
uint8_t uplink_rssi_ant1; // ( dBm * -1 )
uint8_t uplink_rssi_ant2; // ( dBm * -1 )
uint8_t uplink_status; // Package success rate / Link quality ( % )
int8_t uplink_snr; // ( db )
uint8_t active_antenna; // Diversity active antenna ( enum ant. 1 = 0, ant. 2 )
uint8_t rf_mode; // ( enum 4fps = 0 , 50fps, 150hz)
uint8_t uplink_tx_power; // ( enum 0mW = 0, 10mW, 25 mW, 100 mW, 500 mW, 1000 mW, 2000mW )
uint8_t downlink_rssi; // ( dBm * -1 )
uint8_t downlink_status; // Downlink package success rate / Link quality ( % )
int8_t downlink_dnr; // ( db )
} PACKED;
private:
struct Frame _frame;
struct Frame _telemetry_frame;
uint8_t _frame_ofs;
const uint8_t MAX_CHANNELS = MIN((uint8_t)CRSF_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
static AP_RCProtocol_CRSF* _singleton;
void _process_byte(uint32_t timestamp_us, uint8_t byte);
bool decode_csrf_packet();
bool process_telemetry(bool check_constraint = true);
void process_link_stats_frame(const void* data);
void write_frame(Frame* frame);
void start_uart();
AP_HAL::UARTDriver* get_current_UART() { return (_uart ? _uart : get_available_UART()); }
uint16_t _channels[CRSF_MAX_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */
void add_to_buffer(uint8_t index, uint8_t b) { ((uint8_t*)&_frame)[index] = b; }
uint32_t _last_frame_time_us;
uint32_t _last_uart_start_time_ms;
uint32_t _last_rx_time_us;
uint32_t _start_frame_time_us;
bool telem_available;
bool _fast_telem; // is 150Hz telemetry active
int16_t _current_rssi = -1;
AP_HAL::UARTDriver *_uart;
SoftSerial ss{CRSF_BAUDRATE, SoftSerial::SERIAL_CONFIG_8N1};
};
namespace AP {
AP_RCProtocol_CRSF* crsf();
};