sbus.h

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#ifndef RCBENCH_SBUS_H
#define RCBENCH_SBUS_H
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif

#define SBUS_FRAME_BYTES 25u   
#define SBUS_HEADER      0x0Fu 
#define SBUS_CHANNELS    16u   

#define SBUS_RAW_MIN 0u
#define SBUS_RAW_MAX 2047u

#define SBUS_RAW_1000US 172u  
#define SBUS_RAW_2000US 1811u 

#define SBUS_GAP_US 2000u

#define SBUS_FLAG_CH17       0x01u 
#define SBUS_FLAG_CH18       0x02u 
#define SBUS_FLAG_FRAME_LOST 0x04u 
#define SBUS_FLAG_FAILSAFE   0x08u 

typedef struct {
    uint16_t channel[SBUS_CHANNELS]; 
    bool     ch17;                   
    bool     ch18;                      
    bool     frame_lost;
    bool     failsafe;
} sbus_frame_t;

typedef struct {
    uint8_t  buf[SBUS_FRAME_BYTES]; 
    uint8_t  len;                   
    uint32_t last_byte_us;          
    bool     have_time;             
 
    /* Diagnostics, for the analyser view. */
    uint32_t frames;
    uint32_t resyncs;       
    uint32_t bad_footer;    
} sbus_decoder_t;

void sbus_decoder_reset(sbus_decoder_t *d);

bool sbus_decode_byte(sbus_decoder_t *d, uint8_t byte, uint32_t now_us,
                      sbus_frame_t *out);

uint16_t sbus_to_us(uint16_t raw);
 
#ifdef __cplusplus
}
#endif
 
#endif /* RCBENCH_SBUS_H */