moved leftshift function to base class

src/SerialIO.cpp

@@ -16,4 +16,9 @@ SerialIO::~SerialIO() {
 #else
 #warning "Unsupported hardware platform."
 #endif
+}
+
+void SerialIO::leftShift(uint8_t arr[], size_t size) {
+  memmove(arr, arr + 1, (size - 1));
+  arr[size - 1] = 0xFF;
 }

src/SerialIO.h

@@ -58,6 +58,7 @@ class SerialIO {
                   // not (false).
   int _rxPin;     // The RX pin number.
   int _txPin;     // The TX pin number.
+  void leftShift(uint8_t arr[], size_t size);
 };
 #include "crsf/crsf.h"
 #include "fport/fport.h"

src/crsf/crsf.cpp

@@ -20,32 +20,16 @@ void crsf::begin() {
 
 void crsf::processIncoming() {
   while (_rxPort->available()) {
-    _buffer = _rxPort->read();
-    if (_headerDetected) {
-      _rxData[_rxIndex] = _buffer;
-      _rxIndex++;
-      if (_rxIndex > _rxData[1] + 2)
-
-      {
-        _rxIndex = 0;
-        _headerDetected = false;
-      }
-    } else {
-      if (_buffer == CRSF_ADDRESS_FLIGHT_CONTROLLER ||
-          _buffer == CRSF_ADDRESS_CRSF_TRANSMITTER) {
-        _headerDetected = true;
-        _rxData[0] = _buffer;
-        _rxIndex = 1;
-      }
+    _rxData[CRSF_MAX_PACKET_SIZE - 1] = _rxPort->read();
+    if ((_rxData[0] == CRSF_ADDRESS_CRSF_TRANSMITTER ||
+         _rxData[0] == CRSF_ADDRESS_CRSF_TRANSMITTER) &&
+        (crc8(&_rxData[2], _rxData[1]) == 0)) {
+      memcpy(&channelData, &_rxData[3], sizeof(channelData));
     }
-
-    if (_rxIndex == sizeof(_rxData) / sizeof(_rxData[0])) {
-      _rxIndex = 0;
-      _headerDetected = false;
+    else{
+      leftShift(_rxData,sizeof(_rxData));
     }
   }
-  if (crc8(&_rxData[2], _rxData[1]) == 0)
-    memcpy(&channelData, &_rxData[3], sizeof(channelData));
 }
 
 void crsf::getChannel(void *channelData) {

src/fport/fport.cpp

@@ -36,9 +36,4 @@ void fport::processIncoming() {
   }
 }
 
-void fport::getChannel(void *channelData) {}
-
-void fport::leftShift(uint8_t arr[], size_t size) {
-  memmove(arr, arr + 1, (size - 1));
-  arr[size - 1] = 0xFF;
-}
+void fport::getChannel(void *channelData) {}

src/fport/fport.h

@@ -43,6 +43,5 @@ explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1,
   void begin() override;
   void processIncoming() override;
   void getChannel(void *channelData) override;
-  void leftShift(uint8_t arr[],size_t size);
 };
 #endif

src/ibus/ibus.cpp

@@ -69,9 +69,4 @@ bool ibus::checkSum() {
 
   // Check if the sum matches the expected CRC
   return (sum == 0xFFFF); // Assuming IBUS CRC is 0xFFFF when correct
-}
-
-void ibus::leftShift(uint8_t arr[], size_t size) {
-  memmove(arr, arr + 1, (size - 1));
-  arr[size - 1] = 0xFF;
-}
+}

src/ibus/ibus.h

@@ -70,7 +70,6 @@ class ibus : public SerialIO {
    * channel data will be stored.
    */
   void getChannel(void *channelData) override;
-  void leftShift(uint8_t arr[], size_t size);
 };
 
 #endif // IBUS_H

src/sbus/sbus.cpp

@@ -37,9 +37,4 @@ void sbus::processIncoming() {
 
 void sbus::getChannel(void *channelData) {
   *static_cast<decltype(_channelData) *>(channelData) = _channelData;
-}
-
-void sbus::leftShift(uint8_t arr[], size_t size) {
-  memmove(arr, arr + 1, (size - 1));
-  arr[size - 1] = 0xFF;
 }

src/sbus/sbus.h

@@ -76,8 +76,6 @@ class sbus : public SerialIO {
    * channel data will be stored.
    */
   void getChannel(void *channelData) override;
-
-  void leftShift(uint8_t arr[], size_t size);
 };
 
 #endif // SBUS_H