fix(targets): Refine ESP32 compatibility (#99)

Author: ZZ-Cat

.gitignore

@@ -7,6 +7,9 @@
 # PlatformIO specific files
 test/README
 examples/platformio/cfa_code_test.cpp
+examples/platformio/hac_driver_test.cpp
+examples/platformio/hw_multi_mutex_test.cpp
+examples/platformio/hw_mutex_test.cpp
 
 # Template files for CRSF for Arduino
 templates/

src/CFA_Config.hpp

@@ -39,8 +39,8 @@ See https://semver.org/ for more information. */
 #define CRSFFORARDUINO_VERSION       "1.1.0"
 #define CRSFFORARDUINO_VERSION_DATE  "2024-3-8"
 #define CRSFFORARDUINO_VERSION_MAJOR 1
-#define CRSFFORARDUINO_VERSION_MINOR 0
-#define CRSFFORARDUINO_VERSION_PATCH 1
+#define CRSFFORARDUINO_VERSION_MINOR 1
+#define CRSFFORARDUINO_VERSION_PATCH 0
 
 /* Failsafe Options
 - CRSF_FAILSAFE_LQI_THRESHOLD: The minimum LQI value for the receiver to be considered connected.

src/CRSFforArduino.cpp

@@ -34,7 +34,16 @@ namespace sketchLayer
      * @brief Construct a new CRSFforArduino object.
      * 
      */
-    CRSFforArduino::CRSFforArduino()
+    CRSFforArduino::CRSFforArduino() : SerialReceiver()
+    {
+    }
+
+    /**
+     * @brief Construct a new CRSFforArduino object with the specified serial port.
+     * 
+     * @param serialPort 
+     */
+    CRSFforArduino::CRSFforArduino(HardwareSerial *serialPort) : SerialReceiver(serialPort)
     {
     }
 
@@ -44,7 +53,7 @@ namespace sketchLayer
      * @param rxPin 
      * @param txPin 
      */
-    CRSFforArduino::CRSFforArduino(HardwareSerial *serialPort)
+    CRSFforArduino::CRSFforArduino(HardwareSerial *serialPort, int rxPin, int txPin) : SerialReceiver(serialPort, rxPin, txPin)
     {
     }
 

src/CRSFforArduino.hpp

@@ -37,6 +37,7 @@ namespace sketchLayer
       public:
         CRSFforArduino();
         CRSFforArduino(HardwareSerial *serialPort);
+        CRSFforArduino(HardwareSerial *serialPort, int rxPin, int txPin);
         ~CRSFforArduino();
         bool begin();
         void end();

src/SerialReceiver/SerialReceiver.cpp

@@ -43,6 +43,20 @@ namespace serialReceiverLayer
 #elif defined(HAVE_HWSERIAL3)
         _uart = &Serial3;
 #endif
+#elif defined(ARDUINO_ARCH_ESP32)
+        _uart = &Serial1;
+
+#if defined(D0)
+        _rxPin = D0;
+#else
+        _rxPin = 0;
+#endif
+
+#if defined(D1)
+        _txPin = D1;
+#else
+        _txPin = 1;
+#endif
 #else
         _uart = &Serial1;
 #endif
@@ -62,6 +76,43 @@ namespace serialReceiverLayer
     {
         _uart = hwUartPort;
 
+#if defined(ARDUINO_ARCH_ESP32)
+        #if defined(D0)
+        _rxPin = D0;
+#else
+        _rxPin = 0;
+#endif
+
+#if defined(D1)
+        _txPin = D1;
+#else
+        _txPin = 1;
+#endif
+#endif
+
+#if CRSF_RC_ENABLED > 0
+        _rcChannels = new rcChannels_t;
+        _rcChannels->valid = false;
+        _rcChannels->failsafe = false;
+        memset(_rcChannels->value, 0, sizeof(_rcChannels->value));
+#if CRSF_FLIGHTMODES_ENABLED > 0
+        _flightModes = new flightMode_t[FLIGHT_MODE_COUNT];
+#endif
+#endif
+    }
+
+    SerialReceiver::SerialReceiver(HardwareSerial *hwUartPort, int8_t rxPin, int8_t txPin)
+    {
+        _uart = hwUartPort;
+
+#if defined(ARDUINO_ARCH_ESP32)
+        _rxPin = rxPin;
+        _txPin = txPin;
+#else
+        (void)rxPin;
+        (void)txPin;
+#endif
+
 #if CRSF_RC_ENABLED > 0
         _rcChannels = new rcChannels_t;
         _rcChannels->valid = false;
@@ -77,6 +128,9 @@ namespace serialReceiverLayer
     {
         _uart = nullptr;
 
+        _rxPin = -1;
+        _txPin = -1;
+
 #if CRSF_RC_ENABLED > 0
         delete _rcChannels;
         _rcChannels = nullptr;
@@ -155,7 +209,11 @@ namespace serialReceiverLayer
         crsf = new CRSF();
         crsf->begin();
         crsf->setFrameTime(BAUD_RATE, 10);
+#if defined(ARDUINO_ARCH_ESP32)
+        _uart->begin(BAUD_RATE, SERIAL_8N1, _rxPin, _txPin);
+#else
         _uart->begin(BAUD_RATE);
+#endif
 
 #if CRSF_TELEMETRY_ENABLED > 0
         telemetry = new Telemetry();

src/SerialReceiver/SerialReceiver.hpp

@@ -75,6 +75,7 @@ namespace serialReceiverLayer
       public:
         SerialReceiver();
         SerialReceiver(HardwareSerial *hwUartPort);
+        SerialReceiver(HardwareSerial *hwUartPort, int8_t rxPin, int8_t txPin);
         virtual ~SerialReceiver();
 
         bool begin();
@@ -116,6 +117,9 @@ namespace serialReceiverLayer
         CRSF *crsf;
         HardwareSerial *_uart;
 
+        int8_t _rxPin = -1;
+        int8_t _txPin = -1;
+
 #if CRSF_TELEMETRY_ENABLED > 0
         Telemetry *telemetry;
 #endif