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// (C) 2016 Joshua Allen, MIT/x11 License.
//
//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
#ifndef OOTX_DECODER_H
#define OOTX_DECODER_H
#include <stddef.h>
#include <stdint.h>
typedef struct {
uint16_t length;
uint8_t* data;
uint32_t crc32;
} ootx_packet;
typedef struct {
uint8_t* buffer;
uint16_t buf_offset;
uint8_t bits_written;
uint16_t* payload_size;
uint32_t preamble;
uint8_t bits_processed;
uint8_t found_preamble;
uint8_t bit_count[2];
} ootx_decoder_context;
typedef float float16;
typedef struct {
uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0)
uint32_t id; //Unique identifier of the base station
float16 fcal_0_phase; //"phase" for rotor 0
float16 fcal_1_phase; //"phase" for rotor 1
float16 fcal_0_tilt; //"tilt" for rotor 0
float16 fcal_1_tilt; //"tilt" for rotor 1
uint8_t sys_unlock_count; //Lowest 8 bits of the rotor desynchronization counter
uint8_t hw_version; //Hardware version
float16 fcal_0_curve; //"curve" for rotor 0
float16 fcal_1_curve; //"curve" for rotor 1
int8_t accel_dir_x; //"orientation vector"
int8_t accel_dir_y; //"orientation vector"
int8_t accel_dir_z; //"orientation vector"
float16 fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle)
float16 fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle)
float16 fcal_0_gibmag; //"gibbous magnitude" for rotor 0
float16 fcal_1_gibmag; //"gibbous magnitude" for rotor 1
uint8_t mode_current; //Currently selected mode (default: 0=A, 1=B, 2=C)
uint8_t sys_faults; //"fault detect flags" (should be 0)
} lighthouse_info_v6;
void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data);
void print_lighthouse_info_v6(lighthouse_info_v6* lhi);
//void ootx_init_buffer();
void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length);
void ootx_init_decoder_context(ootx_decoder_context *ctx);
int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta);
void ootx_accumulate_bit(ootx_decoder_context *ctx, uint8_t bit);
uint8_t ootx_pump_greatest_bit(ootx_decoder_context *ctx);
uint8_t ootx_decode_bit(uint32_t length);
extern void (*ootx_packet_clbk)(ootx_packet* packet);
#endif
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