first commit

dev/crsf.cpp

@@ -0,0 +1,37 @@
+#include "crsf.hpp"
+#include <algorithm>
+
+#include "uart.h"
+#include "tick.h"
+
+uint32_t crsfLastUpdateTime;
+constexpr uint32_t crsfSignalLoseTimeout = 100;
+
+void CRSF_Init(void)
+{
+  UART2_Init(CRSF_BAUDRATE);
+  crsfLastUpdateTime = 0;
+}
+
+bool CRSF_Update(CRSF_Data& data, bool& off)
+{
+  uint8_t buf[CRSF_FRAME_SIZE_MAX + 1];
+  unsigned long size = UART2_Recv(buf, sizeof(buf));
+  if(size == 0)
+    return false;
+  
+  uint16_t num;
+  bool isUpdated = crsf_parse(buf, size, reinterpret_cast<uint16_t*>(&data), &num, 18);
+  
+  if(isUpdated)
+    crsfLastUpdateTime = TICK_GetCount();
+  else if(TICK_GetCount() - crsfLastUpdateTime > crsfSignalLoseTimeout)
+  {
+    off = true;
+    return true;
+  }
+  else
+    off = false;
+  
+  return isUpdated;
+}