input_crsf.h

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/*
 * Copyright (c) 2026 CogniPilot Foundation
 * Copyright (c) 2026 NXP Semiconductors
 *
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_INPUT_INPUT_CRSF_H_
#define ZEPHYR_INCLUDE_INPUT_INPUT_CRSF_H_
 
#include <zephyr/device.h>
#include <zephyr/types.h>
 
#ifdef __cplusplus
extern "C" {
#endif

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
};

struct crsf_payload_gps {
        int32_t lat;

        int32_t lon;

        uint16_t speed;

        uint16_t heading;

        uint16_t altitude;

        uint8_t satellites;
} __packed;

struct crsf_payload_battery {
        uint16_t voltage_dV;

        uint16_t current_dA;

        uint8_t capacity_mah[3];

        uint8_t remaining_pct;
} __packed;

struct crsf_link_stats {
        uint8_t uplink_rssi_1;

        uint8_t uplink_rssi_2;

        uint8_t uplink_link_quality;

        int8_t uplink_snr;

        uint8_t active_antenna;

        uint8_t rf_mode;

        uint8_t tx_power;

        uint8_t downlink_rssi;

        uint8_t downlink_link_quality;

        int8_t downlink_snr;
} __packed;


#define CRSF_TICKS_TO_US(x) (((x) - 992) * 5 / 8 + 1500)

#define CRSF_US_TO_TICKS(x) (((x) - 1500) * 8 / 5 + 992)


struct crsf_payload_attitude {
        int16_t pitch_rad;

        int16_t roll_rad;

        int16_t yaw_rad;
} __packed;

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

struct crsf_link_stats input_crsf_get_link_stats(const struct device *dev);
 
#ifdef __cplusplus
}
#endif

 
#endif /* ZEPHYR_INCLUDE_INPUT_INPUT_CRSF_H_ */