/home/travis/build/lis-epfl/MAVRIC_Library/drivers/spektrum_satellite.hpp

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/*******************************************************************************
 * \file spektrum_satellite.hpp
 *
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 *
 * \brief Driver for spektrum satellite receiver
 *
 ******************************************************************************/


#ifndef SPEKTRUM_SATELLITE_HPP_
#define SPEKTRUM_SATELLITE_HPP_


#include "drivers/satellite.hpp"
#include "hal/common/serial.hpp"
#include "hal/common/gpio.hpp"
#include "util/buffer.hpp"

#include <cstdint>
#include <cstdbool>


typedef struct
{
    uint8_t min_nb_frames;      
    uint8_t proba_10bits;   
    uint8_t proba_11bits;   
} dsm2_protocol_proba_t;


class Spektrum_satellite : public Satellite
{
public:
    Spektrum_satellite(Serial& uart, Gpio& receiver_pin, Gpio& power_pin);


    bool init(void);


    void bind(radio_protocol_t protocol);


    int16_t channel(const uint8_t channel_number) const;


    uint32_t last_update(void) const;


    uint32_t dt(void) const;


    void handle_interrupt(void);


private:
    Serial&                 uart_;                  
    Gpio&                   receiver_pin_;          
    Gpio&                   power_pin_;             
    Buffer                  receiver_;              
    int16_t                 channels_[16];          
    uint32_t                last_interrupt_;        
    uint32_t                last_update_;           
    uint32_t                dt_;                    
    dsm2_protocol_proba_t   protocol_proba_;        
    radio_protocol_t        protocol_;              


    void switch_on(void);


    void switch_off(void);
};



#endif /* SPEKTRUM_SATELLITE_HPP_ */