From a0b4053e82b9e716c2f57e24547b8e151ab73a11 Mon Sep 17 00:00:00 2001
From: Bertrand Songis <bsongis@gmail.com>
Date: Sat, 2 Apr 2016 21:05:22 +0200
Subject: [PATCH] [Crossfire] Now the pulses frame is encoded the same way than
 other Crossfire frames

---
 radio/src/pulses/crossfire.cpp  | 10 +++++-----
 radio/src/pulses/pulses_arm.h   |  2 +-
 radio/src/telemetry/crossfire.h |  5 ++++-
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/radio/src/pulses/crossfire.cpp b/radio/src/pulses/crossfire.cpp
index 3acce4a3c..a10763cf9 100644
--- a/radio/src/pulses/crossfire.cpp
+++ b/radio/src/pulses/crossfire.cpp
@@ -18,9 +18,8 @@
  * GNU General Public License for more details.
  */
 
-#include "../opentx.h"
+#include "opentx.h"
 
-#define CROSSFIRE_START_BYTE        0x0F
 #define CROSSFIRE_CH_CENTER         0x3E0
 #define CROSSFIRE_CH_BITS           11
 
@@ -28,7 +27,9 @@
 void createCrossfireFrame(uint8_t * frame, int16_t * pulses)
 {
   uint8_t * buf = frame;
-  *buf++ = CROSSFIRE_START_BYTE;
+  *buf++ = BROADCAST_ADDRESS;
+  *buf++ = 24; // 1(ID) + 22 + 1(CRC)
+  *buf++ = CHANNELS_ID;
 
   uint32_t bits = 0;
   uint8_t bitsavailable = 0;
@@ -41,6 +42,5 @@ void createCrossfireFrame(uint8_t * frame, int16_t * pulses)
       bitsavailable -= 8;
     }
   }
-  *buf++ = 0;
-  *buf++ = crc16(frame, 24);
+  *buf = crc8(&frame[2], 24);
 }
diff --git a/radio/src/pulses/pulses_arm.h b/radio/src/pulses/pulses_arm.h
index eb4f35289..969816142 100644
--- a/radio/src/pulses/pulses_arm.h
+++ b/radio/src/pulses/pulses_arm.h
@@ -69,7 +69,7 @@ PACK(struct Dsm2PulsesData {
 #endif
 
 #define CROSSFIRE_BAUDRATE             400000
-#define CROSSFIRE_FRAME_LEN            25
+#define CROSSFIRE_FRAME_LEN            (3+22+1)
 #define CROSSFIRE_CHANNELS_COUNT       16
 PACK(struct CrossfirePulsesData {
   uint8_t pulses[CROSSFIRE_FRAME_LEN];
diff --git a/radio/src/telemetry/crossfire.h b/radio/src/telemetry/crossfire.h
index 5fa88a513..37afb7e0b 100644
--- a/radio/src/telemetry/crossfire.h
+++ b/radio/src/telemetry/crossfire.h
@@ -21,7 +21,10 @@
 #ifndef _CROSSFIRE_H_
 #define _CROSSFIRE_H_
 
-#define LINK_STATS_ID  0x14
+#define BROADCAST_ADDRESS              0x00
+
+#define LINK_STATS_ID                  0x14
+#define CHANNELS_ID                    0x16
 
 void processCrossfireTelemetryData(uint8_t data);
 void crossfireSetDefault(int index, uint8_t id, uint8_t subId);