sbus.h

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#pragma once

#include <stdint.h>
#include <stdbool.h>

__BEGIN_DECLS

#define SBUS_FRAME_SIZE         25
#define SBUS_BUFFER_SIZE        (SBUS_FRAME_SIZE + SBUS_FRAME_SIZE / 2)

typedef   uint8_t sbus_frame_t[SBUS_FRAME_SIZE + (SBUS_FRAME_SIZE / 2)];


__EXPORT int    sbus_init(const char *device, bool singlewire);

__EXPORT int    sbus_config(int sbus_fd, bool singlewire);
__EXPORT bool   sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe,
               bool *sbus_frame_drop,
               uint16_t max_channels);
__EXPORT bool   sbus_parse(uint64_t now, uint8_t *frame, unsigned len, uint16_t *values,
               uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, unsigned *frame_drops, uint16_t max_channels);
__EXPORT void   sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values);
__EXPORT void   sbus2_output(int sbus_fd, uint16_t *values, uint16_t num_values);
__EXPORT void   sbus1_set_output_rate_hz(uint16_t rate_hz);

__EXPORT unsigned   sbus_dropped_frames(void);

__END_DECLS