## ## This file is part of the libsigrokdecode project. ## ## Copyright (C) 2023 James Cordell ## Copyright (C) 2023 ALIENTEK(正点原子) <39035605@qq.com> ## ## This program 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 2 of the License, or ## (at your option) any later version. ## ## This program 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 . ## # This implementation is incomplete. TODO items: # Link stats and channel packed has been implimented. More packet # types needs to be implimented. # Needs testing with different CRSF modes # Be nice to verify the CRC checksums and display if they are correct or not. import sigrokdecode as srd RX =0 TX =0 class Decoder(srd.Decoder): api_version = 3 id = 'crsf' name = "CRSF" longname = "Crossfire rc protocol" desc = 'A protocol for radio control systems.' license = 'gplv2+' inputs = ['uart'] outputs = [] tags = ['radio','control', 'RC'] annotations = ( ('text-verbose', 'Human-readable text (verbose)'), ('text-error', 'Human-readable Error text'), ) annotation_rows = ( ('normal', 'Normal', (0, 1)), ) sync_bytes = { 0xEE: ['To Transmitter Module', 'To TX Module'], 0xEA: ['To Handset', 'To HS'], 0xC8: ['To Flight Controller', 'To FC' ], 0xEC: ['To Receiver', 'To RX'] } packet_type = { 0x16: ['CRSF_FRAMETYPE_RC_CHANNELS_PACKED'], #16 channels of 11 bit each is 176 bits 0x28: ['CRSF_FRAMETYPE_DEVICE_PING'], 0x29: ['CRSF_FRAMETYPE_DEVICE_INFO'], 0x2B: ['CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY'], 0x2C: ['CRSF_FRAMETYPE_PARAMETER_READ'], 0x2D: ['CRSF_FRAMETYPE_PARAMETER_WRITE'], 0x32: ['CRSF_FRAMETYPE_COMMAND'], 0x02: ['GPS'], 0x07: ['Vario'], 0x08: ['Battery sensor'], 0x09: ['Baro altitude'], 0x10: ['OpenTX sync'], 0x14: ['LINK_STATISTICS'], 0x1E: ['Attitude'], 0x21: ['Flight mode'], 0x2A: ['Request settings'], 0x3A: ['Radio'], } sync_byte = 0 len_byte = 0 count = 0 payload = [] frame_type = '' def __init__(self): self.reset() self.sync_byte = 0 self.len_byte = 0 self.count = 0 # Used to count through the serial bytes. self.payload = [] # Holds channel data self.frame_type = '' def reset(self): self.sync_byte = 0 self.len_byte = 0 self.count = 0 self.payload = [] self.frame_type = '' def start(self): self.out_ann = self.register(srd.OUTPUT_ANN) def decode(self, ss, es, data): ptype, rxtx, pdata = data # For now, ignore all UART packets except the actual data packets. if ptype != 'DATA': return serial_byte = pdata[0] if self.sync_byte == 0: # Start of packet sync byte ann = self.sync_bytes.get(serial_byte,0) if ann: self.sync_byte = 1 self.put(ss, es, self.out_ann, [0,ann]) self.count = 1 return else: self.put(ss, es, self.out_ann, [0,['Unknown packet type' + str(serial_byte) ]]) return if self.count == 1: if serial_byte >= 2 and serial_byte <= 62: # Within range self.put(ss, es, self.out_ann, [0,['Num of bytes succeeding:' + str(serial_byte - 2)]]) # len of payload excludes first two bytes self.len_byte = serial_byte self.count = 2 return else: self.put(ss, es, self.out_ann, [0,['Unknown packet type' + str(serial_byte) ]]) self.reset() return if self.count == 2: #Third byte is type self.frame_type = self.packet_type.get(serial_byte,0) if self.frame_type: self.put(ss, es, self.out_ann, [0,self.frame_type]) self.count = 3 return else: self.put(ss, es, self.out_ann, [0,['Unknown packet type' + str(serial_byte) ]]) self.reset() return if self.frame_type[0] == 'CRSF_FRAMETYPE_RC_CHANNELS_PACKED': #Accumilate channel data bits self.payload = self.payload + pdata[1] self.count = self.count + 1 if self.count == self.len_byte + 2 : # +1 to collect complete payload. for chan in range(16): chan11bits = '' chan_ss = 0 chan_es = 0 for bit in range(11): if bit == 0: chan_ss = self.payload[bit + (chan * 11)][1] if bit == 10: chan_es = self.payload[bit + (chan * 11)][2] chan11bits += str(self.payload[bit + (chan * 11)][0]) value = int(chan11bits[::-1], 2) # little edian 'RC' value self.put(chan_ss, chan_es, self.out_ann, [0,['Chan:' + str(chan) + ' Value:' + str(value)]]) self.put(ss, es, self.out_ann, [0,['Checksum crc8 poly 0xD5.']]) self.reset() return elif self.frame_type[0] == 'LINK_STATISTICS': self.payload = self.payload + list(pdata) self.count = self.count + 1 if self.count == self.len_byte + 2 : # +1 to collect complete payload. self.put(self.payload[1][0][1], self.payload[1][7][2], self.out_ann, [0,['Uplink RSSI 1: -' + str(self.payload[0]) + 'dB']]) self.put(self.payload[3][0][1], self.payload[3][7][2], self.out_ann, [0,['Uplink RSSI 2: -' + str(self.payload[2]) + 'dB']]) self.put(self.payload[5][0][1], self.payload[5][7][2], self.out_ann, [0,['Uplink Link Quality: '+ str(self.payload[4]) ]]) self.put(self.payload[7][0][1], self.payload[7][7][2], self.out_ann, [0,['Uplink SNR: ' + str(self.payload[6]) + 'dB']]) self.put(self.payload[9][0][1], self.payload[9][7][2], self.out_ann, [0,['Active Antenna: '+ str(self.payload[8]) ]]) self.put(self.payload[11][0][1], self.payload[11][7][2], self.out_ann, [0,['RF Mode: '+ str(self.payload[10]) ]]) self.put(self.payload[13][0][1], self.payload[13][7][2], self.out_ann, [0,['Uplink TX Power: ' + str(self.payload[12]) + ' mW']]) self.put(self.payload[15][0][1], self.payload[15][7][2], self.out_ann, [0,['Downlink RSSI: -' + str(self.payload[14]) + 'dB']]) self.put(self.payload[17][0][1], self.payload[17][7][2], self.out_ann, [0,['Downlink Link Quality: ' + str(self.payload[16]) ]]) self.put(self.payload[19][0][1], self.payload[19][7][2], self.out_ann, [0,['Downlink SNR: ' + str(self.payload[18]) + 'dB']]) self.put(ss, es, self.out_ann, [0,['Checksum crc8 poly 0xD5.']]) self.reset() return else: self.put(ss, es, self.out_ann, [0,['Unknown packet type' + str(serial_byte) ]]) self.reset()