попытки сделать crsf, не взлетела часть с пультом

lib/port/unix/uart.cpp

@@ -0,0 +1,60 @@
+#include "port/uart.h"
+
+#include <sys/ioctl.h>
+#include <asm/termbits.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+
+#include <iostream>
+#include <vector>
+#include <cstring>
+#include <atomic>
+#include <span>
+
+
+drivers::UartDriver::UartDriver(const std::string& path, int baud) {
+    fd = open(path.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (fd < 0) throw std::runtime_error(std::string("UartDriver open error ") + path + ": " + std::strerror(errno));
+
+    struct termios2 tio{};
+    if (ioctl(fd, TCGETS2, &tio) != 0) {
+        close(fd);
+        throw std::runtime_error(std::string("UartDriver setup error: ") + std::strerror(errno));
+    }
+    // 8bit
+    tio.c_cflag &= ~CSIZE;
+    tio.c_cflag |= CS8;
+    // baud rate
+    tio.c_ispeed = baud;
+    tio.c_ospeed = baud;
+    // other
+    tio.c_iflag |= (INPCK|IGNBRK|IGNCR|ISTRIP);
+    tio.c_cflag &= ~CBAUD;
+    tio.c_cflag |= (BOTHER|CREAD|CLOCAL);
+
+    if (ioctl(fd, TCSETS2, &tio) != 0) {
+        close(fd);
+        throw std::runtime_error(std::string("UartDriver setup error: ") + std::strerror(errno));
+    }
+
+    events = POLLIN;
+}
+bool drivers::UartDriver::writeData(std::span<const uint8_t> data) {
+    if (fd < 0) return false;
+    auto w = write(fd, data.data(), data.size());
+    return w == data.size();
+}
+size_t drivers::UartDriver::readChunk(std::vector<uint8_t>& out) {
+    if (fd < 0) return 0;
+    out.resize(1024);
+    auto r = read(fd, out.data(), out.size());
+    if (r <= 0) return 0;
+    out.resize(r);
+    return static_cast<size_t>(r);
+}
+drivers::UartDriver::~UartDriver() {
+    close(fd);
+}