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feat: implement CRSF 0x26 RC Extended Channels Packed Payload #6504

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feat: implement CRSF 0x26 RC Extended Channels Packed Payload #6504

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ea78554
Implements CRSF 0x26 RC Extended Channels Packed Payload (https://git…
rotorman Aug 9, 2025
88bd2c0
Merge branch 'EdgeTX:main' into crsf_ext_rc_channels
rotorman Aug 24, 2025
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30 changes: 30 additions & 0 deletions radio/src/pulses/crossfire.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,35 @@ uint8_t createCrossfireChannelsFrame(uint8_t moduleIdx, uint8_t * frame, int16_t
return buf - frame;
}

// Range for pulses (channels output) is [-1024:+1024]
uint8_t createCrossfireExtendedChannelsFrame(uint8_t moduleIdx, uint8_t * frame, int16_t * pulses)
{
//
// sends extended channel data
ModuleData *md = &g_model.moduleData[moduleIdx];

uint8_t * buf = frame;
*buf++ = MODULE_ADDRESS;
*buf++ = 24; // 1(ID) + 22(channel data) + 1(CRC)
uint8_t * crc_start = buf;
*buf++ = EXTENDED_CHANNELS_ID;
uint32_t bits = 0;
uint8_t bitsavailable = 0;
for (int i=0; i<CROSSFIRE_CHANNELS_COUNT; i++) {
uint32_t val = limit(0, CROSSFIRE_CENTER + (CROSSFIRE_CENTER_CH_OFFSET(i) * 4) / 5 + (pulses[i+16] * 4) / 5, 2 * CROSSFIRE_CENTER);
bits |= val << bitsavailable;
bitsavailable += CROSSFIRE_CH_BITS;
while (bitsavailable >= 8) {
*buf++ = bits;
bits >>= 8;
bitsavailable -= 8;
}
}

*buf++ = crc8(crc_start, 23);
return buf - frame;
}

static void setupPulsesCrossfire(uint8_t module, uint8_t*& p_buf,
uint8_t endpoint, int16_t* channels,
uint8_t nChannels)
Expand Down Expand Up @@ -185,6 +214,7 @@ static void setupPulsesCrossfire(uint8_t module, uint8_t*& p_buf,
} else {
/* TODO: nChannels */
p_buf += createCrossfireChannelsFrame(module, p_buf, channels);
p_buf += createCrossfireExtendedChannelsFrame(module, p_buf, channels);
}
}
}
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1 change: 1 addition & 0 deletions radio/src/telemetry/crossfire.h
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Expand Up @@ -46,6 +46,7 @@
#define LINK_TX_ID 0x1D
#define ATTITUDE_ID 0x1E
#define FLIGHT_MODE_ID 0x21
#define EXTENDED_CHANNELS_ID 0x26
#define PING_DEVICES_ID 0x28
#define DEVICE_INFO_ID 0x29
#define REQUEST_SETTINGS_ID 0x2A
Expand Down