[Tested]: Fport Rc decoding supported

src/SerialIO.h

@@ -6,7 +6,6 @@
 #ifndef SerialIO_H
 #define SerialIO_H
 #include <Arduino.h>
-
 #define PACKED __attribute__((packed))
 
 typedef struct rc_channels_s {

src/crsf/crsf.cpp

@@ -1,4 +1,5 @@
 #include "crsf.h"
+#include <iostream>
 
 crsf::crsf(Stream *rxPort, int rxPin, int txPin, bool inverted)
     : SerialIO(rxPort, rxPin, txPin, inverted){};
@@ -19,12 +20,32 @@ void crsf::begin() {
 }
 
 void crsf::processIncoming() {
+  uint8_t size = CRSF_MAX_PACKET_SIZE;
   while (_rxPort->available()) {
     _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 (crc8(&_rxData[CRSF_MAX_PACKET_SIZE - size],
+             _rxData[CRSF_MAX_PACKET_SIZE - size - 1]) == 0) {
+      if ((_rxData[CRSF_MAX_PACKET_SIZE - size - 2] ==
+           CRSF_ADDRESS_FLIGHT_CONTROLLER) ||
+          (_rxData[CRSF_MAX_PACKET_SIZE - size - 2] ==
+           CRSF_ADDRESS_CRSF_TRANSMITTER)) {
+        if (_rxData[CRSF_MAX_PACKET_SIZE - size] ==
+            CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
+          memcpy(&_channelData, &_rxData[CRSF_MAX_PACKET_SIZE - size + 1],
+                 sizeof(_channelData));
+        }
+      }
+    }
+
+    if (_rxData[CRSF_MAX_PACKET_SIZE - 1] == CRSF_ADDRESS_CRSF_TRANSMITTER ||
+        _rxData[CRSF_MAX_PACKET_SIZE - 1] == CRSF_ADDRESS_FLIGHT_CONTROLLER) {
+      leftShift(_rxData, sizeof(_rxData));
+    } else if (_rxData[CRSF_MAX_PACKET_SIZE - 2] ==
+                   CRSF_ADDRESS_CRSF_TRANSMITTER ||
+               _rxData[CRSF_MAX_PACKET_SIZE - 2] ==
+                   CRSF_ADDRESS_FLIGHT_CONTROLLER) {
+      size = _rxData[CRSF_MAX_PACKET_SIZE - 1];
+      leftShift(_rxData, sizeof(_rxData));
     } else {
       leftShift(_rxData, sizeof(_rxData));
     }

src/crsf/crsf.h

@@ -19,7 +19,7 @@
 class crsf : public SerialIO {
 private:
   crsf_channels_t _channelData;
-  uint8_t _rxData[CRSF_MAX_PACKET_SIZE];
+  uint8_t _rxData[CRSF_MAX_PACKET_SIZE]={0};
   bool _headerDetected; // Flag indicating whether a header has been detected in
                         // the incoming data.
   uint8_t _rxIndex;     // Index for the receive_buffer.

src/fport/fport.cpp

@@ -5,6 +5,7 @@
  */
 
 #include "fport.h"
+#include <iostream>
 
 fport::fport(Stream *rxPort, int rxPin, int txPin, bool inverted)
     : SerialIO(rxPort, rxPin, txPin, inverted) {}
@@ -25,14 +26,31 @@ void fport::begin() {
 }
 
 void fport::processIncoming() {
+  uint8_t size = FPORT_MAX_PACKET_SIZE;
   while (_rxPort->available()) {
     _rxData[FPORT_MAX_PACKET_SIZE - 1] = _rxPort->read();
+    if (_rxData[FPORT_MAX_PACKET_SIZE - size - 4] == FPORT_END_BYTES &&
+        _rxData[FPORT_MAX_PACKET_SIZE - 1] == FPORT_END_BYTES) {
+      if (_rxData[FPORT_MAX_PACKET_SIZE - size - 2] ==
+          FPORT_FRAMETYPE_RC_CHANNELS_PACKED) {
+        memcpy(&_channelData, &_rxData[FPORT_MAX_PACKET_SIZE - size - 1],
+               sizeof(_channelData));
+      }
+    }
+
+    if (_rxData[FPORT_MAX_PACKET_SIZE - 1] == FPORT_END_BYTES) {
+      leftShift(_rxData, sizeof(_rxData));
+    } else if (_rxData[FPORT_MAX_PACKET_SIZE - 2] == 0x7E) {
+      size = _rxData[FPORT_MAX_PACKET_SIZE - 1];
+      leftShift(_rxData, sizeof(_rxData));
+    } else {
+      leftShift(_rxData, sizeof(_rxData));
+    }
   }
-  while (!(_rxData[0] == 0x7E && _rxData[FPORT_MAX_PACKET_SIZE - 1] == 0x7E)) {
-    leftShift(_rxData, sizeof(_rxData));
-  }
-  memcpy(&_channelData, &_rxData[4], sizeof(_channelData));
-  memset(_rxData, 0, sizeof(_rxData));
 }
 
-void fport::getChannel(rc_channels_t *channelData) {}
+void fport::getChannel(rc_channels_t *channelData) {
+  memcpy(channelData, &_channelData, sizeof(rc_channels_t));
+}
+
+void fport::crc() {}

src/fport/fport.h

@@ -9,39 +9,19 @@
 #define FPORT_H
 
 #include "../SerialIO.h"
-
-#define FPORT_BAUDRATE 115200    ///< F.Port baudrate
-#define FPORT_MAX_PACKET_SIZE 29 ///< F.Port maximum packet length
-
-typedef struct fport_channels_s {
-  unsigned channel1 : 11;
-  unsigned channel2 : 11;
-  unsigned channel3 : 11;
-  unsigned channel4 : 11;
-  unsigned channel5 : 11;
-  unsigned channel6 : 11;
-  unsigned channel7 : 11;
-  unsigned channel8 : 11;
-  unsigned channel9 : 11;
-  unsigned channel10 : 11;
-  unsigned channel11 : 11;
-  unsigned channel12 : 11;
-  unsigned channel13 : 11;
-  unsigned channel14 : 11;
-  unsigned channel15 : 11;
-  unsigned channel16 : 11;
-} PACKED fport_channels_t;
+#include "fport_protocol.h"
 
 class fport : public SerialIO {
 private:
-  uint8_t _rxData[FPORT_MAX_PACKET_SIZE];
+  uint8_t _rxData[FPORT_MAX_PACKET_SIZE] = {0};
   fport_channels_t _channelData;
 
 public:
-explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1,
-                bool inverted = true);
+  explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1,
+                 bool inverted = true);
   void begin() override;
   void processIncoming() override;
   void getChannel(rc_channels_t *channelData) override;
+  void crc();
 };
 #endif

src/fport/fport_protocol.h

@@ -0,0 +1,55 @@
+/*!
+ * @file fport_protocol.h
+ * @brief Header file for the F.Port protocol implementation.
+ */
+#pragma once
+
+#ifndef FPORT_PROTOCOL_H
+#define FPORT_PROTOCOL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#define PACKED __attribute__((packed))
+#define FPORT_BAUDRATE 115200 ///< F.Port baudrate
+#define FPORT_MAX_PACKET_SIZE 29 ///< F.Port maximum packet length
+#define FPORT_END_BYTES 0x7E
+
+typedef enum {
+  FPORT_FRAMETYPE_RC_CHANNELS_PACKED = 0x00,
+  FPORT_FRAMETYPE_DOWNLINK = 0x01,
+  FPORT_FRAMETYPE_UPLINK = 0x81,
+} fport_frame_type_e;
+
+typedef struct fport_channels_s {
+  unsigned channel1 : 11;
+  unsigned channel2 : 11;
+  unsigned channel3 : 11;
+  unsigned channel4 : 11;
+  unsigned channel5 : 11;
+  unsigned channel6 : 11;
+  unsigned channel7 : 11;
+  unsigned channel8 : 11;
+  unsigned channel9 : 11;
+  unsigned channel10 : 11;
+  unsigned channel11 : 11;
+  unsigned channel12 : 11;
+  unsigned channel13 : 11;
+  unsigned channel14 : 11;
+  unsigned channel15 : 11;
+  unsigned channel16 : 11;
+  unsigned dummy : 4;
+  unsigned failsafe : 1;
+  unsigned framelost : 1;
+  unsigned channel17 : 1;
+  unsigned channel18 : 1;
+} PACKED fport_channels_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/ibus/ibus.h

@@ -8,30 +8,7 @@
 #define IBUS_H
 
 #include "../SerialIO.h" // Include header file for the serial IO class
-
-#define IBUS_MAX_PACKET_SIZE 32 ///< Maximum packet size for the IBUS protocol
-#define IBUS_BAUDRATE 115200    ///< Baud rate for IBUS communication
-#define IBUS_HEADER1 0x20
-#define IBUS_HEADER2 0x40
-
-typedef struct ibus_channels_s {
-  unsigned header : 16;
-  unsigned channel1 : 16;
-  unsigned channel2 : 16;
-  unsigned channel3 : 16;
-  unsigned channel4 : 16;
-  unsigned channel5 : 16;
-  unsigned channel6 : 16;
-  unsigned channel7 : 16;
-  unsigned channel8 : 16;
-  unsigned channel9 : 16;
-  unsigned channel10 : 16;
-  unsigned channel11 : 16;
-  unsigned channel12 : 16;
-  unsigned channel13 : 16;
-  unsigned channel14 : 16;
-  unsigned checksum : 16;
-} PACKED ibus_channels_t;
+#include "ibus_protocol.h"
 
 /**
  * @brief A class for handling IBUS protocol communication.

src/ibus/ibus_protocol.h

@@ -0,0 +1,45 @@
+/*!
+ * @file ibus_protocol.h
+ * @brief Header file for the iBus protocol implementation.
+ */
+#pragma once
+
+#ifndef IBUS_PROTOCOL_H
+#define IBUS_PROTOCOL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#define PACKED __attribute__((packed))
+#define IBUS_MAX_PACKET_SIZE 32 ///< Maximum packet size for the IBUS protocol
+#define IBUS_BAUDRATE 115200 ///< Baud rate for IBUS communication
+#define IBUS_HEADER1 0x20
+#define IBUS_HEADER2 0x40
+
+typedef struct ibus_channels_s {
+  unsigned header : 16;
+  unsigned channel1 : 16;
+  unsigned channel2 : 16;
+  unsigned channel3 : 16;
+  unsigned channel4 : 16;
+  unsigned channel5 : 16;
+  unsigned channel6 : 16;
+  unsigned channel7 : 16;
+  unsigned channel8 : 16;
+  unsigned channel9 : 16;
+  unsigned channel10 : 16;
+  unsigned channel11 : 16;
+  unsigned channel12 : 16;
+  unsigned channel13 : 16;
+  unsigned channel14 : 16;
+  unsigned checksum : 16;
+} PACKED ibus_channels_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/sbus/sbus.h

@@ -8,37 +8,7 @@
 #define SBUS_H
 
 #include "../SerialIO.h" // Include header file for the serial IO class
-
-#define HEADER_SBUS 0x0F        ///< SBus Header Byte
-#define FOOTER_SBUS 0x00        ///< SBus Footer Byte
-#define SBUS_BAUDRATE 100000    ///< SBus baudrate
-#define SBUS_MAX_PACKET_SIZE 25 ///< SBus packet length
-
-typedef struct sbus_channels_s {
-  unsigned header : 8;
-  unsigned channel1 : 11;
-  unsigned channel2 : 11;
-  unsigned channel3 : 11;
-  unsigned channel4 : 11;
-  unsigned channel5 : 11;
-  unsigned channel6 : 11;
-  unsigned channel7 : 11;
-  unsigned channel8 : 11;
-  unsigned channel9 : 11;
-  unsigned channel10 : 11;
-  unsigned channel11 : 11;
-  unsigned channel12 : 11;
-  unsigned channel13 : 11;
-  unsigned channel14 : 11;
-  unsigned channel15 : 11;
-  unsigned channel16 : 11;
-  unsigned dummy : 4;
-  unsigned failsafe : 1;
-  unsigned framelost : 1;
-  unsigned channel17 : 1;
-  unsigned channel18 : 1;
-  unsigned footer : 8;
-} PACKED sbus_channels_t;
+#include "sbus_protocol.h"
 
 /**
  * @brief A class for handling SBUS protocol communication.

src/sbus/sbus_protocol.h

@@ -0,0 +1,51 @@
+/*!
+ * @file sbus_protocol.h
+ * @brief Header file for the SBus protocol implementation.
+ */
+#pragma once
+
+#ifndef SBUS_PROTOCOL_H
+#define SBUS_PROTOCOL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#define PACKED __attribute__((packed))
+#define HEADER_SBUS 0x0F ///< SBus Header Byte
+#define FOOTER_SBUS 0x00 ///< SBus Footer Byte
+#define SBUS_BAUDRATE 100000 ///< SBus baudrate
+#define SBUS_MAX_PACKET_SIZE 25 ///< SBus packet length
+
+typedef struct sbus_channels_s {
+  unsigned header : 8;
+  unsigned channel1 : 11;
+  unsigned channel2 : 11;
+  unsigned channel3 : 11;
+  unsigned channel4 : 11;
+  unsigned channel5 : 11;
+  unsigned channel6 : 11;
+  unsigned channel7 : 11;
+  unsigned channel8 : 11;
+  unsigned channel9 : 11;
+  unsigned channel10 : 11;
+  unsigned channel11 : 11;
+  unsigned channel12 : 11;
+  unsigned channel13 : 11;
+  unsigned channel14 : 11;
+  unsigned channel15 : 11;
+  unsigned channel16 : 11;
+  unsigned dummy : 4;
+  unsigned failsafe : 1;
+  unsigned framelost : 1;
+  unsigned channel17 : 1;
+  unsigned channel18 : 1;
+  unsigned footer : 8;
+} PACKED sbus_channels_t;
+#ifdef __cplusplus
+}
+#endif
+
+#endif