add doc

mac/mac_code

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+import serial
+import time
+
+# 확인된 포트 경로 설정
+SERIAL_PORT = "/dev/cu.usbserial-0001"
+BAUD_RATE = 420000
+
+CRSF_SYNC = 0xC8
+CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16
+
+def parse_channels(payload):
+    if len(payload) < 22:
+        return []
+    
+    # 22바이트의 채널 데이터를 정수로 변환 후 11비트씩 언패킹
+    data = int.from_bytes(payload[:22], byteorder='little')
+    channels = []
+    for _ in range(16):
+        raw_val = data & 0x07FF  # 11-bit 마스크
+        # CRSF 원본 값(172~1811)을 RC 마이크로초(1000~2000µs) 단위로 변환
+        us_val = int((raw_val - 172) * (2000 - 1000) / (1811 - 172) + 1000)
+        channels.append(us_val)
+        data >>= 11
+    return channels
+
+def main():
+    try:
+        ser = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=0.1)
+        print(f"Connected to {SERIAL_PORT} at {BAUD_RATE} baud.")
+        print("스틱과 스위치를 움직여 채널 값을 확인하세요. (종료: Ctrl+C)\n")
+    except Exception as e:
+        print(f"포트 연결 오류: {e}")
+        return
+
+    buf = bytearray()
+    while True:
+        try:
+            if ser.in_waiting:
+                buf.extend(ser.read(ser.in_waiting))
+
+                while len(buf) > 3:
+                    if buf[0] != CRSF_SYNC:
+                        buf.pop(0)
+                        continue
+
+                    length = buf[1]
+                    total_packet_len = length + 2
+
+                    if len(buf) < total_packet_len:
+                        break  # 전체 패킷 대기
+
+                    packet = buf[:total_packet_len]
+                    buf = buf[total_packet_len:]
+
+                    frame_type = packet[2]
+                    if frame_type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED:
+                        payload = packet[3:-1]  # CRC 제외 payload
+                        channels = parse_channels(payload)
+                        
+                        # read_crsf.py 출력 부분 수정
+                        print(
+                            f"\rCH1: {channels[0]:4d} | CH2: {channels[1]:4d} | "
+                            f"CH3: {channels[2]:4d} | CH4: {channels[3]:4d} | "
+                            f"CH5(SA/SC): {channels[4]:4d} | CH6(SD): {channels[5]:4d} | "
+                            f"CH7: {channels[6]:4d} | CH8: {channels[7]:4d}", 
+                            end="", flush=True
+                            )
+
+        except KeyboardInterrupt:
+            print("\n모니터링 종료")
+            break
+        except Exception as e:
+            print(f"\n데이터 수신 오류: {e}")
+            break
+
+    ser.close()
+
+if __name__ == "__main__":
+    main()