CRSF数据包格式.pdf

CRSF Protocol

14.08.2017 Rev 07

Table of content

Table of content

Features

Hardware

CRC

Routing

Frame Types

Broadcast frames

0x02 GPS

0x08 Battery sensor

0x0B Heartbeat

0x0F Video transmitter

0x14 Link statistics

0x16 RC channels packed

0x2C Parameter settings (read)

0x2D Parameter value (write)

Chunks

Parameter type definitions and hidden bit

Commands

0x32 Command frame

0x01 FC Commands:

0x03 Bluetooth Command

0x05 OSD Commands:

0x08 VTX Commands:

Rev 06

Rev 05

Rev 04

Rev 03

Rev 02

Features

● Low latency high update rate for RC signals between RC - XF and XF - FC

● Bidirectional communication

● System should be able to handle multiple of the same sensors using sensor ID’s

Hardware

Single wire half duplex UART

This configuration is usually used between RC and Crossfire TX. XF TX support both

inverted and non-inverted UART. The RC acts as master in this case and the XF TX can

only send telemetry if it’s synchronized to the RC frames sent by the RC. The RC frame

update rate should not be sent more often than every 4ms. The UART runs at 416kbaud

This configuration is usually used on the flying platform side. Two devices are connected by

regular UART connection. Only non-inverted ( regular ) UART is supported in this

configuration. The UART runs at 416kbaud 8N1 at 3.0 to 3.3V level.

Multimaster I2C (BST)

BST is a multimaster I2C bus. It runs at 3.3V level at 100kHz using 7 bit addresses. Device

addresses already contain the R/W bit. Which means the list is each device’s write address

and read address is Device addresses + 1.

Each device supporting BST should release SDA in any case to not block the bus. It’s

recommended to monitor the heartbeat message and reset the interface if there is a timeout