PiOS TBS Crossfire receiver driver

Receives and decodes CRSF protocol receiver packets. More...

Data Structures
struct	crsf_payload_gps
struct	crsf_payload_battery
struct	crsf_payload_attitude
union	crsf_combo_payload
struct	crsf_frame_t

Macros
#define	PIOS_CROSSFIRE_CHANNELS   16
#define	CRSF_ADDRESS_LEN   1
#define	CRSF_LENGTH_LEN   1
#define	CRSF_CRC_LEN   1
#define	CRSF_TYPE_LEN   1
#define	CRSF_MAX_PAYLOAD   32
#define	CRSF_MAX_PAYLOAD   32
#define	CRSF_FRAME_GPS   0x02
#define	CRSF_FRAME_BATTERY   0x08
#define	CRSF_FRAME_RCCHANNELS   0x16
#define	CRSF_FRAME_ATTITUDE   0x1e
#define	CRSF_PAYLOAD_GPS   15
#define	CRSF_PAYLOAD_BATTERY   8
#define	CRSF_PAYLOAD_RCCHANNELS   22
#define	CRSF_PAYLOAD_ATTITUDE   6
#define	CRSF_TIMING_MAXFRAME   1000
#define	CRSF_TIMING_FRAMEDISTANCE   4000
#define	CRSF_MAX_FRAMELEN   sizeof(struct crsf_frame_t)
#define	CRSF_PAYLOAD_LEN(x)   (CRSF_TYPE_LEN+(x)+CRSF_CRC_LEN)

Functions
struct crsf_payload_gps	__attribute__ ((packed))
int	PIOS_Crossfire_Init (uintptr_t *crsf_id, const struct pios_com_driver *driver, uintptr_t uart_id)
	Initialises the TBS Crossfire Rx driver with a serial port. More...
int	PIOS_Crossfire_InitTelemetry (uintptr_t crsf_id)
int	PIOS_Crossfire_SendTelemetry (uintptr_t crsf_id, uint8_t *buf, uint8_t bytes)
bool	PIOS_Crossfire_IsFailsafed ()

Variables
union crsf_combo_payload	__attribute__
const struct pios_rcvr_driver	pios_crossfire_rcvr_driver

Detailed Description

Receives and decodes CRSF protocol receiver packets.

Macro Definition Documentation

#define CRSF_ADDRESS_LEN   1

Definition at line 43 of file pios_crossfire.h.

#define CRSF_CRC_LEN   1

Definition at line 45 of file pios_crossfire.h.

#define CRSF_FRAME_ATTITUDE   0x1e

Definition at line 56 of file pios_crossfire.h.

#define CRSF_FRAME_BATTERY   0x08

Definition at line 54 of file pios_crossfire.h.

#define CRSF_FRAME_GPS   0x02

Definition at line 53 of file pios_crossfire.h.

#define CRSF_FRAME_RCCHANNELS   0x16

Definition at line 55 of file pios_crossfire.h.

#define CRSF_LENGTH_LEN   1

Definition at line 44 of file pios_crossfire.h.

#define CRSF_MAX_FRAMELEN   sizeof(struct crsf_frame_t)

Definition at line 123 of file pios_crossfire.h.

#define CRSF_MAX_PAYLOAD   32

Definition at line 65 of file pios_crossfire.h.

#define CRSF_MAX_PAYLOAD   32

Definition at line 65 of file pios_crossfire.h.

#define CRSF_PAYLOAD_ATTITUDE   6

Definition at line 62 of file pios_crossfire.h.

#define CRSF_PAYLOAD_BATTERY   8

Definition at line 60 of file pios_crossfire.h.

#define CRSF_PAYLOAD_GPS   15

Definition at line 59 of file pios_crossfire.h.

#define CRSF_PAYLOAD_LEN

(

x

)

(CRSF_TYPE_LEN+(x)+CRSF_CRC_LEN)

Definition at line 126 of file pios_crossfire.h.

#define CRSF_PAYLOAD_RCCHANNELS   22

Definition at line 61 of file pios_crossfire.h.

#define CRSF_TIMING_FRAMEDISTANCE   4000

Definition at line 69 of file pios_crossfire.h.

#define CRSF_TIMING_MAXFRAME   1000

Definition at line 68 of file pios_crossfire.h.

#define CRSF_TYPE_LEN   1

Definition at line 46 of file pios_crossfire.h.

#define PIOS_CROSSFIRE_CHANNELS   16

Definition at line 40 of file pios_crossfire.h.

Function Documentation

struct crsf_payload_gps __attribute__

(

(packed)

)

Definition at line 38 of file serial_4way.h.

int PIOS_Crossfire_Init	(	uintptr_t *	crsf_id,
		const struct pios_com_driver *	driver,
		uintptr_t	uart_id
	)

Initialises the TBS Crossfire Rx driver with a serial port.

Parameters

[out]	crsf_id	Crossfire receiver device handle
[in]	driver	PiOS COM driver for the serial port
[in]	uart_id	UART port driver handle

Return values

0	on success, otherwise error

int PIOS_Crossfire_InitTelemetry

(

uintptr_t

crsf_id

)

bool PIOS_Crossfire_IsFailsafed

(

)

int PIOS_Crossfire_SendTelemetry	(	uintptr_t	crsf_id,
		uint8_t *	buf,
		uint8_t	bytes
	)

Variable Documentation

union crsf_combo_payload __attribute__

const struct pios_rcvr_driver pios_crossfire_rcvr_driver