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00c97bd902
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feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103)
## Summary
- config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms
- include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider)
battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection
- include/crsf.h + src/crsf.c: CRSF telemetry TX uplink
crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module
crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD
- src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls
crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed)
- test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame
layout/encoding, flight-mode frame, battery_estimate_pct SoC math
Existing (already complete from crsf-elrs branch):
CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt
Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition
Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS
CH5 arm switch with ARMING_HOLD_MS interlock + edge detection
RC override: mode_manager blends steer/speed per mode (CH6)
Closes #103
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 08:35:39 -05:00 |
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fbfde24aba
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feat: CRSF/ELRS RC integration — 16ch input with failsafe (#Phase2)
Protocol choice: implemented from spec (CRSFforArduino needs Arduino
framework; Betaflight extraction has deep scheduler dependencies).
Protocol verified against Betaflight src/main/rx/crsf.c + CRSF spec.
crsf.c:
- UART4 PA0=TX/PA1=RX (GPIO_AF8_UART4), 420000 baud 8N1, oversampling×8
APB1=54MHz → BRR=0x101 → 418604 baud (0.33% error, within spec)
- DMA1 Stream2 Channel4, circular 64-byte buffer, IDLE interrupt
DMA half/complete callbacks drain buffer; IDLE fires at frame boundary
- CRC8 DVB-S2 (polynomial 0xD5) validated on every frame
- Parser state machine: SYNC(0xC8)→LEN→DATA with length sanity check
- 11-bit channel unpack for all 16 channels from 22-byte payload
- RC channels frame (0x16): unpacks 16ch, updates last_rx_ms + armed
- Link stats frame (0x14): captures RSSI dBm, LQ%, SNR dB
crsf.h: added rssi_dbm, link_quality, snr fields to CRSFState
config.h: CRSF_ARM_THRESHOLD=1750, CRSF_STEER_MAX=400, CRSF_FAILSAFE_MS=300
main.c:
- crsf_init() called after motor_driver_init()
- RC failsafe: disarm if (now - last_rx_ms) > CRSF_FAILSAFE_MS, but only
after RC was first seen (last_rx_ms != 0) — USB-only mode unaffected
- RC arm: CH5 rising edge → safety_arm_start(); falling edge → disarm
Same ARMING_HOLD_MS interlock as USB arm command
- RC steer: CH1 → crsf_to_range() → ±CRSF_STEER_MAX → motor_driver steer
- RSSI/LQ: appended to JSON when safety_rc_alive() ("rssi","lq" fields)
ui/index.html: hidden RC RSSI row revealed on first packet with rssi/lq
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 21:54:58 -05:00 |
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