Crossfire Protocol

简介

The TBS CROSSFIRE is a long range R/C link based on the newest RF technology, capable of self-healing two-way communications, ultra-low latency and range beyond comprehension.

协议格式

Stream 0 1 2 3 leng-1 leng+1
DATA Device addre leng Frame id Data[0] Data[n] Crc

  • Stream[0]:Device address

    • BROADCAST ADDRESS: 0x00
    • RADIO ADDRESS: 0xEA
    • MODULE ADDRESS: 0xEE

  • Stream[1]: leng

    该长度为后面的Frame长度

  • Stream[2]: Frame id

    • GPS_ID: 0x02
    • CF_VARIO_ID: 0x07
    • BATTERY_ID: 0x08
    • LINK_ID: 0x14
    • CHANNELS_ID: 0x16
    • ATTITUDE_ID: 0x1E
    • FLIGHT_MODE_ID: 0x21
    • PING_DEVICES_ID: 0x28
    • DEVICE_INFO_ID: 0x29
    • REQUEST_SETTINGS_ID: 0x2A

  • Stream[3-(leng-1)]: 数据

  • Stream[leng+1]: Crc8校验

TBS外置高频头传送通道数据

以发射16个通道数据为列子，协议规定每个通道为11bit

leng = 11bit*16/8=24byte

Stream 0 1 2 3 24 25
DATA 0xEE 0x18 0x16 Data[0] Data[n] Crc