Atm_mc_receiver.hpp

#pragma once

#include <Automaton.h>

#define CHANNELS 6
#define DISCONNECT_THRESHOLD 10

typedef struct {
    uint8_t pin;
    uint16_t value;
    uint16_t last_value;    
    uint16_t last_output;    
    uint32_t last_high;
    uint16_t min, max;  // Save 2x6 bytes by changing into int8_t offsets from 1000/2000
    uint8_t sticky;
    int logical;
} rc_struct;

#ifdef __AVR_ATmega328P__
typedef struct {
  byte reg;
  byte channel[8];
} int_struct;
#endif

class Atm_mc_receiver: public Machine {

 public:
  enum { IDLE, WAIT, PAUSE, RUN, CHANGED }; // STATES
  enum { EVT_CONNECT, EVT_DISCONNECT, EVT_TIMER,  EVT_START, EVT_STOP, EVT_TOGGLE, EVT_CHANGED, ELSE }; // EVENTS
  Atm_mc_receiver( void ) : Machine() {};
  Atm_mc_receiver& begin(  int p0, int p1 = -1, int p2 = -1, int p3 = -1, int p4 = -1, int p5 = -1  );
  Atm_mc_receiver& trace( Stream & stream );
  Atm_mc_receiver& trigger( int event );
  int state( void );
  void handleInterruptPWM( int pch );
  void handleInterruptPPM();
  int read( int lch, bool raw = 0 );
  Atm_mc_receiver& ppm( void );
  Atm_mc_receiver& pwm( void );
  Atm_mc_receiver& start( void );
  Atm_mc_receiver& stop( void );
  Atm_mc_receiver& toggle( void );
  Atm_mc_receiver& reset( int lch = -1 );
  Atm_mc_receiver& sticky( int lch, int value );
  Atm_mc_receiver& sticky( int value );
  int minimum( int lch );
  int maximum( int lch );  
  Atm_mc_receiver& calibrate( int min, int max );
  Atm_mc_receiver& calibrate( int idx, int min, int max );

  Atm_mc_receiver& onConnect( Machine& machine, int event = 0 );
  Atm_mc_receiver& onConnect( atm_cb_push_t callback, int idx = 0 );

  Atm_mc_receiver& onChange( Machine& machine, int event = 0 );
  Atm_mc_receiver& onChange( atm_cb_push_t callback, int idx = 0 );
  Atm_mc_receiver& onChange( int sub, Machine& machine, int event = 0 );
  Atm_mc_receiver& onChange( int sub, atm_cb_push_t callback, int idx = 0 );
  
  Atm_mc_receiver& mapping( int pch0 = -1, int pch1 = -1, int pch2 = -1, int pch3 = -1, int pch4 = -1, int pch5 = -1 );
  static Atm_mc_receiver * instance;
  void register_pin_change_pwm( byte int_no, byte int_mask, byte bits );
  
 private:
  enum { ENT_CHANGED, EXT_WAIT, ENT_WAIT }; // ACTIONS
  enum { ON_CONNECT, ON_CHANGE, CONN_MAX = CHANNELS + 1 }; // CONNECTORS
  atm_connector connectors[CONN_MAX];

  int event( int id ); 
  void action( int id );
  int translate( int idx ); 
  void set_channel( int ch, int pin );

  rc_struct volatile channel[CHANNELS];  
  uint8_t volatile ppm_pulse_counter;
  uint32_t volatile ppm_last_pulse;
  uint8_t max_used_channel;
  int physical[CHANNELS]; // make it a uint8_t??? ( 6 bytes saved! )
  atm_timer_millis timer; // Wait for RC to stabilize
  uint8_t connect_cnt, disconnect_countdown;
#ifdef __AVR_ATmega328P__
  int_struct volatile int_state[3];
#endif

};