/**
 * @file sbus.h
 * @brief SBUS decoder for receiver telemetry input
 */
#pragma once

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

/* SBUS frame structure (25 bytes) */
typedef struct __attribute__((packed)) {
    uint8_t start_byte;         /* 0x0F */
    uint8_t channel_data[22];   /* 16 channels × 11 bit = 176 bit */
    uint8_t flags;              /* CH17, CH18, failsafe, lost frame */
    uint8_t end_byte;           /* 0x00 */
} sbus_frame_t;

/* SBUS flags */
#define SBUS_FLAG_CH17      (1 << 0)
#define SBUS_FLAG_CH18      (1 << 1)
#define SBUS_FLAG_LOST_FRAME (1 << 2)
#define SBUS_FLAG_FAILSAFE  (1 << 3)

/* Initialize SBUS decoder */
void sbus_init(void);

/* Decode SBUS frame into channel values */
void sbus_decode(const sbus_frame_t *frame, uint16_t *channels, uint8_t *flags);

#ifdef __cplusplus
}
#endif