LeonidChernichevskii / CRSFforArduino

An Arduino Library for communicating with ExpressLRS receivers.

CRSF for Arduino

Written & developed by

Cassandra "ZZ Cat" Robinson

Warnings

This is not yet ready for prime time release

CRSF for Arduino is undergoing active development & is not yet ready for prime time release. If you choose to use CRSF for Arduino in its current state, do so at your own risk. Some features may be broken, bugged, untested, missing, or the code as a whole may resemble a pigeon flying by swinging its head around in circles.

Fear not! I am working on this library (aside from flying my helicopters & helping out with other heli-related projects) & I have every intention of making that stubborn pigeon fly by using its wings. No matter how much the basterd wants to insist on swinging its head around in circles to fly. =^/.~=

If you have spotted any bugs, something isn't working the way it should, or you have any suggestions on what you want to see in CRSF for Arduino, don't hesitate to open an Issue. The Discussions tab is also open, so if you want to chat to me about my library, feel free to do so there.

Description

Traditional PWM RC receivers are becoming a thing of the past & (by extension) are getting harder & harder to come by. CRSF is the de-facto standard for RC nowadays, & it is time to bring it to the world of Arduino! This means that your development board is now compatible with any receiver that runs ExpressLRS firmware.

Why ExpressLRS?

For starters, it's an open source radio control link that offers incredibly low latency, long range (EG 100 kilometers on 2.4GHz without failsafe), & it's incredibly robust in rough RF environments.

An ExpressLRS receiver communicates to your development board through one of the board's Serial/UART ports. This provides you with up to 16 11-bit full resolution channels & telemetry without taking up unnecessary amounts of pin real estate.

Prerequisites - Arduino IDE

If you want to use CRSF for Arduino in the Arduino IDE, you need these:

• Arduino IDE
• Arduino SAMD Board Support Pack
• Adafruit SAMD Board Support Pack
• Adafruit_ZeroDMA

Prerequisites - Visual Studio Code & PlatformIO

If you want to use CRSF for Arduino with PlatoformIO & Visual Studio Code, you need these:

• Visual Studio Code with the following extensions:
  • C/C++ Extensions Pack, which includes:
    • C/C++
    • C/C++ Themes
    • CMake
    • CMake Tools
  • PlatformIO IDE

Pro tips: Up in the Arduino IDE prerequisites, I mention a list of third-party libraries & board support packages. If you are using PlatformIO, that list does not necessarily apply here. CRSF for Arduino comes with a platformio.ini file that already defines the necessary library dependencies & board support profiles. PlatformIO will automatically download all of the necessary files to setup your build environment.

When you run pio run this defaults to the Adafruit Metro M4 Express development board. The platformio.ini file contains a list of development boards that is compatible with CRSF for Arduino. If you are using a different development board, you can use pio run -e <board name> to build your sketch for your target development board & pio run -e <board name> -t upload to flash your sketch to your target development board. For example, if you are using an Adafruit Feather M0 Express, you would use pio run -e adafruit_feather_m0_express to build your sketch & pio run -e adafruit_feather_m0_express -t upload to flash your sketch to your development board.

Installation - Straight from the Main-Trunk

If you want bleeding edge features & want to help me out on developing CRSF for Arduino, this is how you go about it:

1. Click the green <> code button.
2. Click download zip & save it in a convenient location on your hard drive.
3. Extract the top level CRSFforArduino folder - For PlatformIO users, this is all you need to do. Arduino users, continue on from here.
4. Place the CRSFforArduino folder into your libraries directory.

Pro Tip: If you're like me & subscribe to the "Both! Both? Both. Both is good." (as quoted by Miguel & Tulio from The Road to El Dorado) philosophy, you can put the top level CRSFforArduino folder into your Arduino IDE's libraries directory as is. Leave everything there. If you also have Visual Studio Code and PlatformIO, you can go ahead & open up the top level CRSFforArduino folder in Visual Studio Code, & PlatformIO will automatically set you up & (by rights) you should be good to go. This gives you the ability to load up CRSF for Arduino in both the Arduino IDE & Visual Studio Code at the same time.

Installation - From the Releases Section

Currently, the only releases that are available right now are all pre-releases & are Major version 0.x.x. This means that each pre-release is a snapshot of the current developmental state of CRSF for Arduino. While every effort has gone into ensuring stability at the time that these releases are made, there may still be the odd gremlin or two that have stowed away somewhere & made it through my quality control.

With that being said, installation from the Releases tab is nearly identical to the installation steps above, save for how you acquire CRSF for Arduino, & that's by simply clicking on the Source Code (zip) link at the bottom of the release summary itself.

How to use CRSF for Arduino

The API

1. Add my library to your sketch with #include "CRSFforArduino.h"
2. Underneath that, you need to declare CRSFforArduino crsf = CRSFforArduino(). For now, you can leave the parentheses empty. There is ongoing work to allow you to specify what pins your receiver is connected to. For now, it defaults to pins 0 & 1 for Tx & Rx respectively.
3. In your setup(), do crsf.begin() to start communicating with your connected ExpressLRS receiver. In case something goes wrong, crsf.begin() returns a boolean value of true if initialisation is successful, & false if it is not.
4. In your loop(), you need to call crsf.update(). This handles all of the data processing (including receiving RC channels & sending telemetry) & should be called as often as possible. You no longer need to read back the return value of crsf.update(), as it no longer returns anything. Everything is handled internally now.
5. To read your RC channel values, use crsf.readRcChannel(n). Here, n refers to your channel number from 1 to 16.

If you want to read the raw RC value instead of microseconds from your RC channel, readRcChannel() can take an optional second argument of true to return the raw RC value instead of microseconds. For example, crsf.readRcChannel(1, true) will return the raw RC value from channel 1.

The example below demonstrates what your code should look like, using the instructions above:

/* Arduino is included here for shits & giggles. */
#include "Arduino.h"

/* 1. Add Cassie Robinson's CRSFforArduino.h library. */
#include "CRSFforArduino.h"

/* 2. Declare a CRSFforArduino object.
You can call it literally anything you want. */
CRSFforArduino crsf = CRSFforArduino();

void setup()
{
    Serial.begin(115200);
    while (!Serial)
    {
        ;
    }
    Serial.println("Channels Example");

    /* 3. Start communicating with a connected ELRS receiver. */
    if (!crsf.begin())
    {
        Serial.println("CRSF for Arduino initialization failed!");
        while (1)
        {
            ;
        }
    }

    /* Pro tip: Always show a little message in the Serial Monitor to let you know that your sketch is initialized successfully. */
    Serial.println("Ready");
    delay(1000);
}

void loop()
{
    /* 4. Update the main loop with new RC data. */
    crsf.update();

    /* 5. Here, you can do whatever you want with your RC channel values.
    In this example, your RC channel values are printed to the Serial Monitor every 100 milliseconds. */
    static unsigned long lastPrint = 0;
    if (millis() - lastPrint >= 100)
    {
        lastPrint = millis();

        Serial.print("RC Channels <A: ");
        Serial.print(crsf.readRcChannel(1));
        Serial.print(", E: ");
        Serial.print(crsf.readRcChannel(2));
        Serial.print(", T: ");
        Serial.print(crsf.readRcChannel(3));
        Serial.print(", R: ");
        Serial.print(crsf.readRcChannel(4));
        Serial.print(", Aux1: ");
        Serial.print(crsf.readRcChannel(5));
        Serial.print(", Aux2: ");
        Serial.print(crsf.readRcChannel(6));
        Serial.print(", Aux3: ");
        Serial.print(crsf.readRcChannel(7));
        Serial.print(", Aux4: ");
        Serial.print(crsf.readRcChannel(8));
        Serial.println(">");
    }
}

If you want to transmit data from your GPS module as telemetry, do crsf.telemetryWriteGPS(lat, lon, alt, spd, gCourse, numSats), where lat & lon are your GPS' location data in decimal degrees, alt is your GPS' height above sea level in centimetres (cm), gCourse is your GPS' course over ground (AKA "Compass/heading") in degrees, & numSats is your GPS' number of satellites that it is seeing. You can use this function in the same context as your calling code that polls your GPS module:

#include "Arduino.h"
#include "wiring_private.h"

/* 1. Add Cassie Robinson's CRSF for Arduino library. */
#include "CRSFforArduino.h"

/* 2. Add Mikal Hart's TinyGPS++ library.
Source: https://tinyurl.com/4v4y5s3t */
#include "TinyGPSPlus.h"

// Create a Uart object for your GPS module.
// For more information, see: https://tinyurl.com/2p9brewf
Uart gpsSerial(&sercom1, 11, 10, SERCOM_RX_PAD_0, UART_TX_PAD_2);

// Create a TinyGPSPlus object.
TinyGPSPlus gps;

// GPS data variables.
float lat, lon, alt, spd, gCourse;
int numSats;

/* 3. Declare a CRSFforArduino object. */
CRSFforArduino crsf = CRSFforArduino();

void setup()
{
    Serial.begin(115200);
    while (!Serial)
    {
        ;
    }

    /* 4. Initialize your GPS module. */
    gpsSerial.begin(9600);

    // We need to set pins 10 & 11 to be SERCOM pins.
    pinPeripheral(10, PIO_SERCOM);
    pinPeripheral(11, PIO_SERCOM);

    /* 5. Initialize CRSF for Arduino. */
    crsf.begin();

    /* Pro tip: Always show a little message in the Serial Monitor to let you know that your sketch is initialized successfully. */
    Serial.println("GPS Telemetry Example");
    delay(1000);
    Serial.println("Ready");
    delay(1000);
}

void loop()
{
    /* 6. Poll your GPS module for new data. */
    while (gpsSerial.available() > 0)
    {
        if (gps.encode(gpsSerial.read()))
        {
            /* 7. Get the GPS data. */
            lat = gps.location.lat();
            lon = gps.location.lng();
            alt = gps.altitude.meters();
            spd = gps.speed.kmph();
            gCourse = gps.course.deg();
            numSats = gps.satellites.value();

            /* 8. Send the GPS data as telemetry. */
            crsf.telemetryWriteGPS(lat, lon, alt, spd, gCourse, numSats);
        }
    }

    /* 9. Update the main loop with new RC data. */
    crsf.update();

    /* 10. Here, you can do whatever you want with your RC channel values.
    In this example, your RC channel values are printed to the Serial Monitor every 100 milliseconds. */
    static unsigned long lastPrint = 0;
    if (millis() - lastPrint >= 100)
    {
        lastPrint = millis();

        Serial.print("RC Channels <A: ");
        Serial.print(crsf.readRcChannel(1));
        Serial.print(", E: ");
        Serial.print(crsf.readRcChannel(2));
        Serial.print(", T: ");
        Serial.print(crsf.readRcChannel(3));
        Serial.print(", R: ");
        Serial.print(crsf.readRcChannel(4));
        Serial.print(", Aux1: ");
        Serial.print(crsf.readRcChannel(5));
        Serial.print(", Aux2: ");
        Serial.print(crsf.readRcChannel(6));
        Serial.print(", Aux3: ");
        Serial.print(crsf.readRcChannel(7));
        Serial.print(", Aux4: ");
        Serial.print(crsf.readRcChannel(8));
        Serial.println(">");
    }
}

// SAMD51 SERCOM1 IRQ handlers.
void SERCOM1_0_Handler()
{
    gpsSerial.IrqHandler();
}

void SERCOM1_1_Handler()
{
    gpsSerial.IrqHandler();
}

void SERCOM1_2_Handler()
{
    gpsSerial.IrqHandler();
}

void SERCOM1_3_Handler()
{
    gpsSerial.IrqHandler();
}

Example Sketches

In the examples folder, there are two sketches that I use to test this library:

• channels.ino This example demonstrates how to read RC channels data from your connected ExpressLRS receiver. It contains instructions on how to set your hardware up & how to connect your receiver to your development board. It also details binding procedures (if needed), & the channel ranges & channel order.
• gps_telemetry.ino This example demonstrates how to pass data from your GPS module to CRSF for Arduino & send it as telemetry back to your controller.

You can build these examples to see how CRSF for Arduino works.

Flashing - PlatformIO (VS Code)

Flashing is a lot simpler with PlatformIO when compared to the Arduino IDE.

1. Build your sketch ► pio run in your CLI or ctrl+alt+b on your keyboard.
2. Flash your sketch ► pio run -t upload in your CLI or ctrl+alt+u on your keyboard.

The above steps will default to the Adafruit Metro M0 development board. To build & flash your sketch to a different development board, use pio run -e <board name> to build your sketch & pio run -e <board name> -t upload to flash your sketch to your development board. For example, if you are using an Adafruit Metro M4 Express, you would use pio run -e adafruit_metro_m4 to build your sketch & pio run -e adafruit_metro_m4 -t upload to flash your sketch to your Metro M4 Express.

Flashing - Arduino IDE

1. Select your target development board ► Tools ► Board
2. Select the Serial Port that your board is connected to ► Tools ► Port
3. Verify your sketch ► Sketch ► Verify/Compile from the menu or ctrl+r on your keyboard.
4. Upload your sketch ► Sketch ► Upload from the menu or ctrl+uon your keyboard.

Viewing RC data

1. Open up the Serial Monitor.
   • PlatformIO: Click the Serial Monitor tab, configure the port, baud rate & click Start Monitoring.
   • PuTTY: In the configuration, select the Serial line, set the Connection type to Serial & set the Speed to your baud rate setting (default is 115200). Then, click Open.
   • Arduino IDE: Tools ► Serial Monitor from the menu or ctrl+shift+m on your keyboard.
2. Your RC channel values will be there, & they will change as you move the sticks on your RC handset.

Compatible development boards

CRSF for Arduino is designed to be compatible with modern hardware. While CRSF for Arduino is primarily developed on the Adafruit Metro M4 Express, here is a list of target development boards CRSF for Arduino is compatible with (Keep in mind that this list is not exhaustive, & actual compatibility with everything listed here may be untested):

• SAMD21 based boards:
  • Adafruit Feather M0 & all of its variants, including the Adafruit Feather M0 Express
  • Adafruit ItsyBitsy M0 Express
  • Adafruit Metro M0 Express
  • Adafruit QtPy M0
  • Adafruit Trinket M0
  • Arduino MKR series:
    • MKR 1000
    • MKR Fox 1200
    • MKR GSM 1400
    • MKR NB 1500
    • MKR VIDOR 4000
    • MKR WAN 1300 & MKR WAN 1310
    • MKR WIFI 1010
    • MKR Zero
  • Arduino Nano 33 IoT
  • Arduino Zero
  • Seeed Studio XIAO SAMD21
• SAMD51 based boards:
  • Adafruit Feather M4 Express
  • Adafruit Grand Central M4
  • Adafruit ItsyBitsy M4 Express
  • Adafruit Metro M4 Express
  • Adafruit Metro M4 Express AirLift Lite
• SAME51 based boards:
  • Adafruit Feather M4 CAN Express

Compatibility with other microcontroller boards may be added in future, if there is demand for it. Keep in mind that this will be subject to hardware limitations of the host microcontroller itself.

In order for CRSF for Arduino to run, the host microcontroller must meet these minimum requirements:

• Core Clock Speed: 48 MHz or higher.
• CPU: ARM Cortex M0+ or later.
• UART Baud Rate: 420 KB/s.

I am now aware that Arduino are making an R4 of their UNO & Adafruit are making a Metro M7. This is exciting news for me, because I would like to make these development boards fully compatible with CRSF for Arduino as & when their respective underlying code & toolchain support is added.

As for other development boards (& their host microcontrollers), if they meet the minimum requirements & you are still having compatibility issues, it is likely that I have not yet added your board to the Compatibility Table. Consider opening up an Issue & we can go from there.

Compatible receivers

Generally speaking, if your transmitter & receiver combo supports ExpressLRS or TBS Crossfire, it's automatically compatible. Keep in mind that CRSF for Arduino is tested almost exclusively on ExpressLRS hardware.

For wiring, here is how you do it:

• GND (on the receiver; can also be printed on the receiver as a minus sign '-') can go to any GND pin on your development board.
• 5V (on the receiver; can also be printed on the receiver as 'vcc' or simply a plus sign '+') goes to the 5V pin of your development board. This power will come directly off of USB power or 5V stepped down from your development board's main power connector.
• T (or Tx) on your receiver goes to ►Rx/Pin0 on your development board. This step can catch you out, if you're not careful.
• R (or Rx) on your reciever goes to ◄Tx/Pin1 on your development board. This step can catch you out, if you're not careful.

NB: Some development boards (especially smaller ones) may not route the primary UART port to the default 0 & 1 pins, as these pins may be used for other purposes or they simply are not physically available to you on the device. As a workaround, CRSF for Arduino automatically selects the closest available pins that has a suitable UART port. You must refer to your development board's documentation to determine where your default Tx & Rx pins are. These are the pins that CRSF for Arduino will use.

Telemetry

Currently, the only telemetry that is supported is GPS data. This is because I am still working on the telemetry side of things.

The following telemetry data is supported:

• GPS data:
  • Latitude (in decimal degrees)
  • Longitude (in decimal degrees)
  • Altitude (in centimetres)
  • Speed (in centimetres per second)
  • Course over ground (in degrees)
  • Number of satellites

Known issues & limitations

• CRSF for Arduino is not compatible with AVR based microcontrollers.
  • This is because the AVR microcontrollers are simply not powerful enough to meet the minimum requirements of the CRSF protocol.
• Certain instances of DMA can cause SAMD51 based development boards to crash.
  • A workaround is in place to prevent this from happening, but it is not a permanent solution.
  • This is currently being investigated.
• Software serial is not supported.
  • This is because software serial is not capable of running at the required baud rate of 420 KB/s.
  • This also means that CRSF for Arduino is restricted to using hardware serial only.
• CRSF for Arduino provides no sensor drivers. This is by design.
  • There are already plenty of libraries out there that provide sensor drivers for your development board.
  • You are free to use any sensor library that you want with CRSF for Arduino.

Software license

As always, I believe in freedom & I want to pass that freedom onto you. Which is why I am proud to license CRSF for Arduino to you under the GNU GPL v3.

Attributions

I give credit where credit is due. Because CRSF for Arduino isn't entirely my own idea, but built on the shoulders of giants. Here is a list of credits to those what helped to make this possible:

• Inspiration for this library
  • ExpressLRS
    • Development Team
    • License
    • Source Code
    • Website
  • Team BlackSheep FPV - The folks behind the CRSF protocol that both ExpressLRS & CRSF for Arduino uses.
  • This issue on FreedomTX's repository.
    • This gets a mention here, because I will benefit greatly from an officially documented public repository for the CRSF protocol. The evolution of the protocol itself will help shape CRSF for Arduino, & I will be able to refer to that in addition to my references here.
• References for CRSF for Arduino
  • BetaFlight
    • Development Team
    • License
    • Source Code
    • Website
  • RotorFlight
    • Development Team
    • License
    • Source Code
• Third Party libraries
  • Adafruit Industries
    • Adafruit_ZeroDMA
      • Author
      • License
    • Website