cu-crsf 0.11.0

A copper-rs bridge to communicate through CRSF. The initial motivation is for an easy control & telemetry over radio link with ELRS for your robot.
Documentation

cu-crsf

Serial bridge for TBS Crossfire / ExpressLRS receivers. It parses CRSF packets coming from a UART into Copper messages and can optionally forward RC or link statistics back out over the same link.

Channels

  • rc_rx (RcChannelsPayload): latest RC channel values from the receiver.
  • lq_rx (LinkStatisticsPayload): downlink link-quality metrics.
  • rc_tx / lq_tx: optional uplink of RC or link statistics toward the transmitter.

Configuration

std builds

Key Type Default Description
serial_path string — Path to the serial device (required).
baudrate u32 420000 UART baud rate.
timeout_ms u32 100 Read timeout in milliseconds.

no-std builds

Key Type Default Description
serial_port_index u32 0 Slot index pulled from cu_embedded_registry. Register the port before starting Copper.

Usage

std target example:

bridges: [
  (
    id: "crsf",
    type: "cu_crsf::CrsfBridge<cu_crsf::std_serial::StdSerial, std::io::Error>",
    config: { "serial_path": "/dev/ttyUSB0", "baudrate": 420000 },
    channels: [ Rx (id: "rc_rx"), Rx (id: "lq_rx") ],
  ),
],
cnx: [
  (src: "crsf/rc_rx", dst: "controller", msg: "cu_crsf::messages::RcChannelsPayload"),
]

Embedded target example (no-std):

use cu_crsf::CrsfBridge;
use embedded_io::{Read, Write};

// Register your UART once; the bridge will pull it by slot at startup.
let uart = /* your UART implementing Read+Write */;
<CrsfBridge<_, _> as cu_crsf::SerialFactory<_>>::register_serial(0, uart)?;

See examples/cu_elrs_bdshot_demo for a complete wiring that feeds CRSF RC channels into a BDShot bridge on the RP2350 reference board.