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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sbus.h
*
* S.BUS / S.BUS2 protocol decoder / encoder
*/
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <drivers/drv_hrt.h>
__BEGIN_DECLS
#define SBUS_INTER_FRAME_TIMEOUT 3000 /**< 3000 us frame timeout */
#define SBUS_FRAME_SIZE 25
#define SBUS_BUFFER_SIZE (SBUS_FRAME_SIZE + SBUS_FRAME_SIZE / 2)
int sbus_init(const char *device);
bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t *serial_frame_drops, uint16_t max_channels);
bool sbus_parse(hrt_abstime now, uint8_t *frame, unsigned *partial_count, uint16_t *values,
uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t *serial_frame_drops, uint16_t max_channels);
void sbus1_output(uint16_t *values, uint16_t num_values);
void sbus2_output(uint16_t *values, uint16_t num_values);
__END_DECLS
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