input_crsf.h File Reference

Crossfire (CRSF) Protocol Definitions and Helpers. More...

#include <zephyr/types.h>

Go to the source code of this file.

Data Structures
struct	crsf_payload_gps
	GPS telemetry payload (Type 0x02). More...
struct	crsf_payload_battery
	Battery telemetry payload (Type 0x08). More...
struct	crsf_link_stats
	Link statistics payload (Type 0x14). More...
struct	crsf_payload_attitude
	Attitude telemetry payload (Type 0x1E). More...

Macros
RC Channel Conversion Helpers
Conversion between CRSF ticks and microseconds.
#define	CRSF_TICKS_TO_US(x)
	Convert CRSF channel ticks to microseconds.
#define	CRSF_US_TO_TICKS(x)
	Convert microseconds to CRSF channel ticks.

Enumerations
enum	crsf_packet_type {   CRSF_TYPE_GPS = 0x02 , CRSF_TYPE_BATTERY = 0x08 , CRSF_TYPE_LINK_TX_ID = 0x0A , CRSF_TYPE_LINK_STATS = 0x14 ,   CRSF_TYPE_RC_CHANNELS = 0x16 , CRSF_TYPE_ATTITUDE = 0x1E , CRSF_TYPE_FLIGHT_MODE = 0x21 , CRSF_TYPE_PING_DEVICES = 0x28 ,   CRSF_TYPE_DEVICE_INFO = 0x29 , CRSF_TYPE_PARAMETER_SETTINGS = 0x2B , CRSF_TYPE_COMMAND = 0x32 , CRSF_TYPE_RADIO_ID = 0x3A ,   CRSF_TYPE_AP_CUSTOM_TELEM = 0x80 }
	CRSF packet (frame) types. More...

Functions
int	input_crsf_send_telemetry (const struct device *dev, uint8_t type, uint8_t *payload, size_t payload_len)
	Send a generic CRSF telemetry frame.
struct crsf_link_stats	input_crsf_get_link_stats (const struct device *dev)
	Retrieve the latest CRSF link statistics.

Detailed Description

Crossfire (CRSF) Protocol Definitions and Helpers.

This module provides constants, packet type definitions, telemetry payload structures, and helper APIs for working with the CRSF (Crossfire) protocol used by RC transmitters and receivers.

It covers frame layout, telemetry payload formats, RC channel conversions, and link statistics access.

Macro Definition Documentation

CRSF_TICKS_TO_US

#define CRSF_TICKS_TO_US

(

x

)

Value:

(((x) - 992) * 5 / 8 + 1500)

Convert CRSF channel ticks to microseconds.

Parameters

x	CRSF channel value in ticks

Returns

Pulse width in microseconds

CRSF_US_TO_TICKS

#define CRSF_US_TO_TICKS

(

x

)

Value:

(((x) - 1500) * 8 / 5 + 992)

Convert microseconds to CRSF channel ticks.

Parameters

x	Pulse width in microseconds

Returns

CRSF channel value in ticks

Enumeration Type Documentation

crsf_packet_type

enum crsf_packet_type

CRSF packet (frame) types.

Enumerator
CRSF_TYPE_GPS	GPS telemetry data.
CRSF_TYPE_BATTERY	Battery telemetry data.
CRSF_TYPE_LINK_TX_ID	Transmitter link identifier.
CRSF_TYPE_LINK_STATS	Link statistics.
CRSF_TYPE_RC_CHANNELS	RC channel data.
CRSF_TYPE_ATTITUDE	Attitude telemetry.
CRSF_TYPE_FLIGHT_MODE	Flight mode string.
CRSF_TYPE_PING_DEVICES	Device discovery / ping.
CRSF_TYPE_DEVICE_INFO	Device information.
CRSF_TYPE_PARAMETER_SETTINGS	Parameter read/write.
CRSF_TYPE_COMMAND	Command frame.
CRSF_TYPE_RADIO_ID	Radio identifier.
CRSF_TYPE_AP_CUSTOM_TELEM	ArduPilot custom telemetry.

Function Documentation

input_crsf_get_link_stats()

struct crsf_link_stats input_crsf_get_link_stats

(

const struct device *

dev

)

Retrieve the latest CRSF link statistics.

Parameters

dev	Pointer to the CRSF input device

Returns

Current link statistics structure

input_crsf_send_telemetry()

int input_crsf_send_telemetry	(	const struct device *	dev,
		uint8_t	type,
		uint8_t *	payload,
		size_t	payload_len )

Send a generic CRSF telemetry frame.

Parameters

dev	Pointer to the CRSF input device
type	Packet type (see crsf_packet_type)
payload	Pointer to payload buffer
payload_len	Payload length in bytes

Returns

0 on success, negative errno on failure