ExpressLRS · njdevi11 · Apr 14, 2025
diff --git a/hardware/targets.json b/hardware/targets.json
@@ -581,5 +581,34 @@
                 "platform": "esp32-s3"
             }
         }
+    },
+    "raw-crsf": {
+        "name": "Raw CRSF Backpack",
+        "aat": {
+            "esp82": {
+                "product_name": "Generic ESP8285 / ESP8266 Receiver",
+                "firmware": "Raw_CRSF_ESP8285_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp8285"
+            },
+            "esp32": {
+                "product_name": "Generic ESP32 Receiver",
+                "firmware": "Raw_CRSF_ESP32_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32"
+            },
+            "esp32c3": {
+                "product_name": "Generic ESP32C3 Receiver",
+                "firmware": "Raw_CRSF_ESP32C3_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32-c3"
+            },
+            "esp32s3": {
+                "product_name": "Generic ESP32S3 Receiver",
+                "firmware": "Raw_CRSF_ESP32S3_Backpack",
+                "upload_methods": ["uart", "wifi"],
+                "platform": "esp32-s3"
+            }
+        }
     }
 }
diff --git a/platformio.ini b/platformio.ini
@@ -16,3 +16,4 @@ extra_configs =
 	targets/rx5808.ini
 	targets/skyzone.ini
 	targets/mfd_crossbow.ini
+	targets/raw_crsf.ini
diff --git a/src/Vrx_main.cpp b/src/Vrx_main.cpp
@@ -43,6 +43,8 @@
   #include "module_aat.h"
 #elif defined(CROSSBOW_BACKPACK)
   #include "mfd_crossbow.h"
+#elif defined(RAW_CRSF_BACKPACK)
+  #include "raw_crsf.h"
 #endif
 
 /////////// DEFINES ///////////
@@ -124,6 +126,8 @@ VrxBackpackConfig config;
   AatModule vrxModule(Serial);
 #elif defined(CROSSBOW_BACKPACK)
   MFDCrossbow vrxModule(&Serial);
+#elif defined(RAW_CRSF_BACKPACK)
+  CRSFBackPack vrxModule(&Serial);
 #endif
 
 /////////// FUNCTION DEFS ///////////
@@ -259,6 +263,7 @@ void ProcessMSPPacket(mspPacket_t *packet)
       DBGLN("CRSF_TLM packet too short")
       break;
     }
+    vrxModule.SendRawTelemetry(packet->payload, packet->payloadSize);
     switch (packet->payload[2]) {
     case CRSF_FRAMETYPE_GPS:
       vrxModule.SendGpsTelemetry((crsf_packet_gps_t *)packet->payload);

diff --git a/src/module_base.cpp b/src/module_base.cpp
@@ -59,6 +59,11 @@ ModuleBase::SendBatteryTelemetry(uint8_t *rawCrsfPacket)
 {
 }
 
+void
+ModuleBase::SendRawTelemetry(uint8_t *rawCrsfPacket, uint16_t size)
+{
+}
+
 void
 ModuleBase::Loop(uint32_t now)
 {

diff --git a/src/module_base.h b/src/module_base.h
@@ -16,6 +16,7 @@ class ModuleBase
     void SendLinkTelemetry(uint8_t *rawCrsfPacket);
     void SendBatteryTelemetry(uint8_t *rawCrsfPacket);
     void SendGpsTelemetry(crsf_packet_gps_t *packet) {}
+    void SendRawTelemetry(uint8_t *rawCrsfPacket, uint16_t size);
     void Loop(uint32_t now);
 };
 

diff --git a/src/raw_crsf.cpp b/src/raw_crsf.cpp
@@ -0,0 +1,29 @@
+#include "raw_crsf.h"
+
+CRSFBackPack::CRSFBackPack(HardwareSerial *port) :
+    m_port(port),
+    lastSent(0),
+    lastUpdated(0)
+{
+}
+
+void
+CRSFBackPack::SendRawTelemetry(uint8_t *rawCrsfPacket, uint16_t size)
+{
+    lastUpdated = millis();
+    m_port->write(rawCrsfPacket, size);
+}
+
+void
+CRSFBackPack::Loop(uint32_t now)
+{
+    ModuleBase::Loop(now);
+
+    // If the GPS data is <= 10 seconds old, keep spamming it out at 10hz
+    bool gpsIsValid = (now < lastUpdated + 10000);
+
+    if (now > lastSent + 100 && gpsIsValid)
+    {
+        lastSent = now;
+    }
+}
diff --git a/src/raw_crsf.h b/src/raw_crsf.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "module_base.h"
+#include "msptypes.h"
+
+#define VRX_UART_BAUD           115200
+
+class CRSFBackPack : public ModuleBase
+{
+public:
+CRSFBackPack(HardwareSerial *port);
+    void SendRawTelemetry(uint8_t *rawCrsfPacket, uint16_t size);
+    void Loop(uint32_t now);
+
+private:
+    void SendHeartbeat();
+    void SendGpsRawInt();
+    void SendGlobalPositionInt();
+
+    HardwareSerial *m_port;
+    uint32_t lastSent;
+    uint32_t lastUpdated;
+};
diff --git a/targets/common.ini b/targets/common.ini
@@ -95,6 +95,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON RAPIDFIRE-BACKPACK DEFINITIONS -----------------
 [rapidfire_vrx_backpack_common]
@@ -115,6 +116,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON RX5808-BACKPACK DEFINITIONS -----------------
 [rx5808_vrx_backpack_common]
@@ -135,6 +137,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON STEADYVIEW-BACKPACK DEFINITIONS -----------------
 [steadyview_vrx_backpack_common]
@@ -155,6 +158,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON FUSION-BACKPACK DEFINITIONS -----------------
 [fusion_vrx_backpack_common]
@@ -175,6 +179,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON HDZERO-BACKPACK DEFINITIONS -----------------
 [hdzero_vrx_backpack_common]
@@ -195,6 +200,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON SKYZONE-MSP-BACKPACK DEFINITIONS -----------------
 [skyzone_msp_vrx_backpack_common]
@@ -215,6 +221,7 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON ORQA-BACKPACK DEFINITIONS -------------------
 [orqa_backpack_common]
@@ -235,6 +242,7 @@ build_src_filter =
 	; -<orqa.*>
 	-<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON TIMER-BACKPACK DEFINITIONS -----------------
 [timer_backpack_common]
@@ -254,6 +262,7 @@ build_src_filter =
 	-<orqa.*>
 	; -<Timer_main.cpp>
 	-<mfd_crossbow.*>
+	-<raw_crsf.*>
 
 # ------------------------- COMMON MFD-CROSSBOW-BACKPACK DEFINITIONS -----------------
 [mfd_crossbow_backpack_common]
@@ -274,6 +283,28 @@ build_src_filter =
 	-<orqa.*>
 	-<Timer_main.cpp>
 	; -<mfd_crossbow.*>
+	-<raw_crsf.*>
 lib_deps =
 	${env.lib_deps}
-	${common_env_data.mavlink_lib_dep}
+	${common_env_data.mavlink_lib_dep}
+
+# ------------------------- COMMON RAW-CRSF-BACKPACK DEFINITIONS -----------------
+[raw_crsf_backpack_common]
+build_flags =
+	${common_env_data.build_flags}
+	-D TARGET_VRX_BACKPACK
+	-D RAW_CRSF_BACKPACK
+build_src_filter =
+	${common_env_data.build_src_filter}
+	-<Tx_main.cpp>
+	; -<Vrx_main.cpp>
+	-<rapidfire.*>
+	-<rx5808.*>
+	-<steadyview.*>
+	-<fusion.*>
+	-<hdzero.*>
+	-<skyzone_msp.*>
+	-<orqa.*>
+	-<Timer_main.cpp>
+	-<mfd_crossbow.*>
+	; -<raw_crsf.*>
diff --git a/targets/raw_crsf.ini b/targets/raw_crsf.ini
@@ -0,0 +1,44 @@
+# ********************************
+# MFD Crossbow tracker backpack
+# ********************************
+
+[env:Raw_CRSF_ESP8285_Backpack_via_UART]
+extends = env_common_esp8285, raw_crsf_backpack_common
+build_flags =
+	${env_common_esp8285.build_flags}
+	${raw_crsf_backpack_common.build_flags}
+    -D PIN_BUTTON=0
+    -D PIN_LED=16
+
+[env:Raw_CRSF_ESP8285_Backpack_via_WIFI]
+extends = env:Raw_CRSF_ESP8285_Backpack_via_UART
+
+[env:Raw_CRSF_ESP32_Backpack_via_UART]
+extends = env_common_esp32, raw_crsf_backpack_common
+build_flags =
+	${env_common_esp32.build_flags}
+	${raw_crsf_backpack_common.build_flags}
+    -D PIN_BUTTON=0
+
+[env:Raw_CRSF_ESP32_Backpack_via_WIFI]
+extends = env:Raw_CRSF_ESP32_Backpack_via_UART
+
+[env:Raw_CRSF_ESP32C3_Backpack_via_UART]
+extends = env_common_esp32c3, raw_crsf_backpack_common
+build_flags =
+	${env_common_esp32c3.build_flags}
+	${raw_crsf_backpack_common.build_flags}
+    -D PIN_BUTTON=9
+
+[env:Raw_CRSF_ESP32C3_Backpack_via_WIFI]
+extends = env:Raw_CRSF_ESP32C3_Backpack_via_UART
+
+[env:Raw_CRSF_ESP32S3_Backpack_via_UART]
+extends = env_common_esp32s3, raw_crsf_backpack_common
+build_flags =
+	${env_common_esp32s3.build_flags}
+	${raw_crsf_backpack_common.build_flags}
+    -D PIN_BUTTON=0
+
+[env:Raw_CRSF_ESP32S3_Backpack_via_WIFI]
+extends = env:Raw_CRSF_ESP32S3_Backpack_via_UART
-Original file line number
+Diff line change
@@ Expand Up / @@ -59,6 +59,11 @@ ModuleBase::SendBatteryTelemetry(uint8_t *rawCrsfPacket) @@
     {
     }
+    void
+    ModuleBase::SendRawTelemetry(uint8_t *rawCrsfPacket, uint16_t size)
+    {
+    }
     void
     ModuleBase::Loop(uint32_t now)
     {
@@ Expand Down @@