#ifndef RC_h
#define RC_h

/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "bsp_usart.h"
#include "cmd.h"
#include "user_math.h"
#include "device.h"

/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef  __packed struct  
{
  uint16_t ch_r_x : 11;
  uint16_t ch_r_y : 11;
  uint16_t ch_l_x : 11;
  uint16_t ch_l_y : 11;
  uint8_t sw_r : 2;
  uint8_t sw_l : 2;
  int16_t x;
  int16_t y;
  int16_t z;
  uint8_t press_l;
  uint8_t press_r;
  uint16_t key;
  uint16_t res;
} DR16_Data_t;

typedef struct {
  DR16_Data_t data;
} DR16_t;

/*原始数据*/
typedef __packed struct
{
	     fp32 map_ch[4];
       int16_t ch[4];
       int16_t sw[8]; 

} LD_raw_t;


typedef  __packed struct  
{
  fp32 ch_r_x ;
  fp32 ch_r_y ;
  fp32 ch_l_x ;
  fp32 ch_l_y ;
  int16_t key_A ;
//  int16_t key_B ;//无
  int16_t key_C ;
//  int16_t key_D ;//无
  int16_t key_E ;
  int16_t key_F;
  int16_t key_G ;
  int16_t key_H ;
	
	int16_t knob_left;//左旋钮
	int16_t knob_right;//右旋钮

} LD_Data_t;







int8_t RC_SBUS_Init(void );
static void RC_SBUS_RxCpltCallback(void) ;
int8_t RC_SBUS_Restart(void) ;
int8_t RC_SBUS_StartDmaRecv(void) ;
bool RC_SBUS_WaitDmaCplt(uint32_t timeout) ;
int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD);
static bool DR16_DataCorrupted(const DR16_t *dr16) ;
int8_t DR16_ParseRaw(DR16_t *dr16);
int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) ;
int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) ;
int8_t LD_HandleOffline(const LD_Data_t *LD, CMD_RC_t *rc) ;

#endif