Add CRSF and telemetry support

drivers/sense/rc/CMakeLists.txt

@@ -11,4 +11,4 @@ zephyr_library_sources(
   main.c
   )
 
-add_dependencies(cerebri_sense_sbus synapse_pb)
+add_dependencies(cerebri_sense_sbus synapse_pb cerebri_core_common)

drivers/sense/rc/crsf_yaapu.h

@@ -0,0 +1,206 @@
+/*
+ * Copyright (c) 2026 CogniPilot Foundation
+ * Copyright (c) 2026 NXP Semiconductors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef CRSF_YAAPU_H_
+#define CRSF_YAAPU_H_
+
+#include <stdint.h>
+
+#define CRSF_YAAPU_MESSAGES_APPID   0x5000
+#define CRSF_YAAPU_AP_STATUS_APPID  0x5001
+#define CRSF_YAAPU_GPS_STATUS_APPID 0x5002
+#define CRSF_YAAPU_BATTERY_APPID    0x5003
+#define CRSF_YAAPU_HOME_APPID       0x5004
+#define CRSF_YAAPU_VELANDYAW_APPID  0x5005
+#define CRSF_YAAPU_ROLLPITCH_APPID  0x5006
+#define CRSF_YAAPU_PARAMS_APPID     0x5007
+#define CRSF_YAAPU_BATTERY2_APPID   0x5008
+#define CRSF_YAAPU_WAYPOINTS_APPID  0x5009
+#define CRSF_YAAPU_RPM_APPID        0x500A
+#define CRSF_YAAPU_TERRAIN_APPID    0x500B
+#define CRSF_YAAPU_VFR_APPID        0x50F2
+
+// 0x5006: ROLLPITCH
+typedef struct __packed {
+	uint32_t roll_bits: 11;      // [Deg] Range [-180, 180]. Encode: (deg / 0.2) + 900
+	uint32_t pitch_bits: 10;     // [Deg] Range [-90, 90]. Encode: (deg / 0.2) + 450
+	uint32_t range_exp: 1;       // Power of 10 for range
+	uint32_t range_mantissa: 10; // [cm] Rangefinder. Value = mantissa * 10^exp
+} CRSF_YAAPU_ROLLPITCH;
+
+// 0x5005: VELANDYAW
+typedef struct __packed {
+	uint32_t vspeed_exp: 1;       // Power of 10 for VSpeed
+	uint32_t vspeed_mantissa: 7;  // [m/s] Vertical Speed. Value = mantissa * 10^exp
+	uint32_t vspeed_sign: 1;      // 1 = negative VSpeed
+	uint32_t speed_exp: 1;        // Power of 10 for HSpeed/Airspeed
+	uint32_t speed_mantissa: 7;   // [dm/s] Ground/Air speed. Value = mantissa * 10^exp
+	uint32_t yaw_bits: 11;        // [Deg] Heading. Encode: deg / 0.2
+	uint32_t airspeed_enabled: 1; // 1 = Speed field is Airspeed, 0 = Groundspeed
+	uint32_t reserved: 3;         // Unused
+} CRSF_YAAPU_VELANDYAW;
+
+// 0x5001: AP STATUS
+typedef struct __packed {
+	uint32_t flight_mode: 5;    // ArduPilot Flight Mode ID
+	uint32_t simple_mode: 2;    // Simple/SuperSimple flags
+	uint32_t land_complete: 1;  // 1 = Landed
+	uint32_t armed: 1;          // 1 = Armed
+	uint32_t batt_failsafe: 1;  // 1 = Failsafe active
+	uint32_t ekf_failsafe: 2;   // EKF status flags
+	uint32_t failsafe: 1;       // General failsafe
+	uint32_t fence_present: 1;  // 1 = Geofence enabled
+	uint32_t fence_breached: 1; // 1 = Geofence breached
+	uint32_t reserved: 4;       // Unused
+	uint32_t throttle_val: 6;   // [%] Throttle. Encode: percent / 1.58
+	uint32_t throttle_sign: 1;  // 1 = negative throttle (reverse)
+	uint32_t imu_temp: 6;       // [°C] Temperature. Encode: temp_c - 19
+} CRSF_YAAPU_AP_STATUS;
+
+// 0x5002: GPS STATUS
+typedef struct __packed {
+	uint32_t num_sats: 4;      // Sat count
+	uint32_t gps_status_lo: 2; // Fix type low bits (0=No GPS, 2=2D, 3=3D+)
+	uint32_t hdop_exp: 1;      // Power of 10 for HDOP
+	uint32_t hdop_mantissa: 7; // [dm] HDOP. Value = mantissa * 10^exp
+	uint32_t gps_status_hi: 2; // Fix type high bits (DGPS/RTK flags)
+	uint32_t reserved: 6;      // Unused
+	uint32_t alt_exp: 2;       // Power of 10 for Altitude
+	uint32_t alt_mantissa: 7;  // [dm] GPS Altitude. Value = mantissa * 10^exp
+	uint32_t alt_sign: 1;      // 1 = Negative altitude
+} CRSF_YAAPU_GPS_STATUS;
+
+// 0x5003 & 0x5008: BATTERY
+typedef struct __packed {
+	uint32_t voltage: 9;          // [dV] Decivolts (0.1V). Range 0-51.1V
+	uint32_t current_exp: 1;      // Power of 10 for Current
+	uint32_t current_mantissa: 7; // [dA] Deciamps (0.1A). Value = mantissa * 10^exp
+	uint32_t mah: 15;             // [mAh] Consumed capacity
+} CRSF_YAAPU_BATTERY;
+
+// 0x5004: HOME
+typedef struct __packed {
+	uint32_t dist_exp: 2;       // Power of 10 for Distance
+	uint32_t dist_mantissa: 10; // [m] Dist to Home. Value = mantissa * 10^exp
+	uint32_t alt_exp: 2;        // Power of 10 for Altitude
+	uint32_t alt_mantissa: 10;  // [m] Alt relative to Home. Value = mantissa * 10^exp * 0.1
+	uint32_t alt_sign: 1;       // 1 = Negative altitude
+	uint32_t angle: 7;          // [Deg] Direction to home. Encode: deg / 3
+} CRSF_YAAPU_HOME;
+
+// 0x5000: MESSAGES
+typedef struct __packed {
+	uint32_t char_0: 7;    // ASCII char 1
+	uint32_t sev_bit_0: 1; // Severity bit 0 (LSB)
+	uint32_t char_1: 7;    // ASCII char 2
+	uint32_t sev_bit_1: 1; // Severity bit 1
+	uint32_t char_2: 7;    // ASCII char 3
+	uint32_t sev_bit_2: 1; // Severity bit 2 (MSB)
+	uint32_t char_3: 7;    // ASCII char 4
+	uint32_t reserved: 1;  // Unused
+} CRSF_YAAPU_MESSAGES;
+
+// 0x5007: PARAMS
+typedef struct __packed {
+	uint32_t param_value: 24; // Raw parameter value (int)
+	uint32_t param_id: 4;     // 1=FrameType, 4=Batt1Cap, 5=Batt2Cap
+	uint32_t reserved: 4;     // Unused
+} CRSF_YAAPU_PARAMS;
+
+// 0x5009: WAYPOINTS
+typedef struct __packed {
+	uint32_t wp_index: 10;        // Current Waypoint Index
+	uint32_t dist_exp: 2;         // Power of 10 for Distance
+	uint32_t dist_mantissa: 10;   // [m] Distance to WP. Value = mantissa * 10^exp
+	uint32_t xterror_exp: 1;      // Power of 10 for Crosstrack Error
+	uint32_t xterror_mantissa: 4; // [m] Crosstrack Error. Value = mantissa * 10^exp
+	uint32_t xterror_sign: 1;     // 1 = Negative Error
+	uint32_t reserved: 1;         // Unused
+	uint32_t bearing: 3;          // [Deg] Bearing to WP. Encode: deg / 45
+} CRSF_YAAPU_WAYPOINTS;
+
+// 0x500A: RPM
+typedef struct __packed {
+	int16_t rpm1; // [RPM] Sensor 1 (Raw int16)
+	int16_t rpm2; // [RPM] Sensor 2 (Raw int16)
+} CRSF_YAAPU_RPM;
+
+// 0x500B: TERRAIN
+typedef struct __packed {
+	uint32_t height_exp: 2;       // Power of 10 for Height
+	uint32_t height_mantissa: 10; // [m] Height above terrain. Value = mantissa * 10^exp * 0.1
+	uint32_t height_sign: 1;      // 1 = Negative height
+	uint32_t unhealthy_flag: 1;   // 1 = Terrain data unhealthy
+	uint32_t reserved: 18;        // Unused
+} CRSF_YAAPU_TERRAIN;
+
+// 0x50F2: VFR HUD
+typedef struct __packed {
+	uint32_t airspeed_exp: 1;      // Power of 10 for Airspeed
+	uint32_t airspeed_mantissa: 7; // [dm/s] Airspeed. Value = mantissa * 10^exp
+	uint32_t throttle: 7;          // [%] Throttle (0-100)
+	uint32_t baro_exp: 2;          // Power of 10 for Baro Alt
+	uint32_t baro_mantissa: 10;    // [m] Baro Altitude. Value = mantissa * 10^exp * 0.1
+	uint32_t baro_sign: 1;         // 1 = Negative Altitude
+	uint32_t reserved: 4;          // Unused
+} CRSF_YAAPU_VFR;
+
+typedef struct __packed {
+	uint16_t appid;
+	union {
+		uint32_t raw;
+		CRSF_YAAPU_ROLLPITCH roll_pitch;
+		CRSF_YAAPU_VELANDYAW vel_yaw;
+		CRSF_YAAPU_AP_STATUS ap_status;
+		CRSF_YAAPU_GPS_STATUS gps_status;
+		CRSF_YAAPU_BATTERY battery;
+		CRSF_YAAPU_HOME home;
+		CRSF_YAAPU_MESSAGES messages;
+		CRSF_YAAPU_PARAMS params;
+		CRSF_YAAPU_WAYPOINTS waypoints;
+		CRSF_YAAPU_RPM rpm;
+		CRSF_YAAPU_TERRAIN terrain;
+		CRSF_YAAPU_VFR vfr;
+	} data;
+} CRSF_YAAPU_PACKET;
+
+/* Type 0x50 - AP Custom telem */
+/* Subheader 1 byte (SubID) + 1 byte (Severity) = 2 bytes */
+#define CRSF_AP_CUSTOM_TELEM_SINGLE_PACKET_PASSTHROUGH 0xF0 // Sub-ID for Single Packet Passthrough
+#define CRSF_AP_CUSTOM_TELEM_STATUS_TEXT               0xF1 // Sub-ID for Status Text
+#define CRSF_AP_CUSTOM_TELEM_MULTI_PACKET_PASSTHROUGH  0xF2 // Sub-ID for Multi Packet Passthrough
+
+/* Severity */
+#define CRSF_AP_CUSTOM_SEVERITY_EMERGENCY 0 // System is unusable
+#define CRSF_AP_CUSTOM_SEVERITY_ALERT     1 // Action must be taken immediately
+#define CRSF_AP_CUSTOM_SEVERITY_CRITICAL  2 // System is in a critical condition
+#define CRSF_AP_CUSTOM_SEVERITY_ERROR     3 // Generic error condition
+#define CRSF_AP_CUSTOM_SEVERITY_WARNING   4 // Warning that should be noted
+#define CRSF_AP_CUSTOM_SEVERITY_NOTICE    5 // Normal but significant condition
+#define CRSF_AP_CUSTOM_SEVERITY_INFO      6 // Informational message
+#define CRSF_AP_CUSTOM_SEVERITY_DEBUG     7 // Debugging message
+
+#define CRSF_AP_CUSTOM_TEXT_MAX_LEN 50
+struct crsf_ap_custom_status_text {
+	uint8_t sub_id;   // Always set to CRSF_AP_CUSTOM_TELEM_STATUS_TEXT (0xF1)
+	uint8_t severity; // MAVLink Severity (0=Emergency, 6=Info, etc.)
+	char text[CRSF_AP_CUSTOM_TEXT_MAX_LEN]; // Null-terminated string
+} __packed;
+
+struct crsf_ap_custom_single_packet {
+	uint8_t sub_id;
+	CRSF_YAAPU_PACKET packet;
+} __packed;
+
+#define CRSF_AP_CUSTOM_MULTI_PACKET_FRAME_MAX_LEN 9
+struct crsf_ap_custom_multi_packet {
+	uint8_t sub_id;
+	uint8_t size;
+	CRSF_YAAPU_PACKET packets[CRSF_AP_CUSTOM_MULTI_PACKET_FRAME_MAX_LEN];
+} __packed;
+
+#endif /* CRSF_YAAPU_H_ */