///*
//       DR16接收机

//*/

///* Includes ----------------------------------------------------------------- */
//#include "dr16.h"

//#include <string.h>

//#include "bsp_usart.h"
//#include "error_detect.h"
///* Private define ----------------------------------------------------------- */
//#define DR16_CH_VALUE_MIN (364u)
//#define DR16_CH_VALUE_MID (1024u)
//#define DR16_CH_VALUE_MAX (1684u)

///* Private macro ------------------------------------------------------------ */
///* Private typedef ---------------------------------------------------------- */
///* Private variables -------------------------------------------------------- */

//static osThreadId_t thread_alert;
//uint8_t cbuf[36]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
///* Private function  -------------------------------------------------------- */
//static void DR16_RxCpltCallback(void) {
//  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
////	detect_hook(DR16_TOE);
//}

//static bool DR16_DataCorrupted(const DR16_t *dr16) {
//  if (dr16 == NULL) return DEVICE_ERR_NULL;

//  if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
//      (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
//    return true;

//  if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
//      (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
//    return true;

//  if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
//      (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
//    return true;

//  if ((dr16->data.ch_l_y < 1000u) ||
//      (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
//    return true;

//  if (dr16->data.sw_l == 0) return true;

//  if (dr16->data.sw_r == 0) return true;

//  return false;
//}
///* Exported functions ------------------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16) {
//  if (dr16 == NULL) return DEVICE_ERR_NULL;
//  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;

//  BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
//                            DR16_RxCpltCallback);
//  return DEVICE_OK;
//}

//int8_t DR16_Restart(void) {
//  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
//  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
//  return DEVICE_OK;
//}

//int8_t DR16_StartDmaRecv(DR16_t *dr16) {
//  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE),
//                           (uint8_t *)cbuf,
//                           sizeof(cbuf)) == HAL_OK)
//    return DEVICE_OK;
//  return DEVICE_ERR;
//}

//bool DR16_WaitDmaCplt(uint32_t timeout) {
//  return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
//          SIGNAL_DR16_RAW_REDY);
//}

//int8_t DR16_ParseRaw(DR16_t *dr16)
//{
//	if(dr16 ==NULL) return DEVICE_ERR_NULL;
//	 dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
//	 dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
//	 dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
//	 dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
//	 dr16->data.sw_r = ((cbuf[5] >>4));
//   dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;             
//	
//	return 1;
//}
//int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
//  if (dr16 == NULL) return DEVICE_ERR_NULL;
// 
//  if (DR16_DataCorrupted(dr16)) {
//		return DEVICE_ERR;
//  } else {
//    memset(rc, 0, sizeof(*rc));
//  }

//  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);

//  rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
//  rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
//  rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
//  rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range;

//  rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
//  rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;

//  rc->key = dr16->data.key;

////  rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
//  return DEVICE_OK;
//}

//int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
//  if (dr16 == NULL) return DEVICE_ERR_NULL;
//  if (rc == NULL) return DEVICE_ERR_NULL;

//  (void)dr16;
//  memset(rc, 0, sizeof(*rc));
//  return 0;
//}