/**
  ****************************(C) COPYRIGHT 2016 DJI****************************
  * @file       remote_control.c/h
  * @brief      ң����������ң������ͨ������SBUS��Э�鴫�䣬����DMA���䷽ʽ��ԼCPU
  *             ��Դ�����ô��ڿ����ж���������������ͬʱ�ṩһЩ��������DMA������
  *             �ķ�ʽ��֤�Ȳ�ε��ȶ��ԡ�
  * @note       
  * @history
  *  Version    Date            Author          Modification
  *  V1.0.0     Dec-26-2018     RM              1. ���
  *
  @verbatim
  ==============================================================================

  ==============================================================================
  @endverbatim
  ****************************(C) COPYRIGHT 2016 DJI****************************
  */
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H

#include <stdint.h>

#define SBUS_RX_BUF_NUM 50u
/*
  CAN总线上的设备
  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
*/
/* Includes ----------------------------------------------------------------- */
#include "motor_rm.h"
#include <stdbool.h>
#include <string.h>
#include "bsp/can.h"
#include "bsp/mm.h"
#include "bsp/time.h"
#include "component/user_math.h"


#define RC_FRAME_LENGTH 25u

#define RC_CH_VALUE_OFFSET  ((uint16_t)1024)

typedef  struct
{
	volatile int16_t ch[4];
  volatile int16_t sw[8]; 

}__attribute__((packed)) RC_ctrl_t;

extern RC_ctrl_t rc_ctrl;
extern void remote_control_init(void);
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
int map_rc(int x, int in_min, int in_max, int out_min, int out_max);		//ӳ�亯��
void USART3_IRQHandlerCallBack(void);



#endif