/*
乐迪r12ds遥控器。
需要根据实际的遥控器通道修改解析的函数 该遥控器采用sbus 用的uart3
*/
///* Includes ----------------------------------------------------------------- */
//#include "r12ds.h"
//#include "main.h"
//#include "error_detect.h"
//#include <string.h>
//extern UART_HandleTypeDef huart3;
//extern DMA_HandleTypeDef hdma_usart3_rx;
//osThreadId_t thread_alert;
//int buf0ready =0;
//int buf1ready =0;
///* Private function -------------------------------------------------------- */
//static void R12DS_IdleCallback(void) {
// static uint16_t this_time_rx_len = 0;
// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
// {
// //current memory buffer used is memory0
//
// //disable dma to change dma register
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
//
// //get received data length, length = set_data_length - remain_length
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
// //reset set_data_length
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//
// //change memory0 to memory1
// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
//
// //enable dma
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
//
// //1 frame length is correct data
// if(this_time_rx_len == RC_FRAME_LENGTH)
// {
//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF0_REDY);
// buf0ready = 1;
// detect_hook(R12DS_TOE);
// }
// }
// else
// {
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
//
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//
// //change memory1 to memory0
// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
//
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
//
// if(this_time_rx_len == RC_FRAME_LENGTH)
// {
//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF1_REDY);
// buf1ready = 1;
// detect_hook(R12DS_TOE);
// }
// }
//}
///* Exported functions ------------------------------------------------------- */
//int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
//{
// if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
// //enable the dma transfer for the receiver request
// SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
//
// //enable idle interrupt
// __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
//
// //disable dma, to change the dma register
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
//
// //disable dma again but why?
// //what's the condition?
// while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
// {
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
// }
//
// //??
// hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
//
// //memory buffer 1
// hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
//
// //momory buffer 2
// hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
//
// //data length
// hdma_usart3_rx.Instance->NDTR = dma_buf_num;
//
// //enable double memory buffer
// SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
//
//
// //enable dma
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
//
// BSP_UART_RegisterCallback(BSP_UART_R12DS, BSP_UART_IDLE_LINE_CB,
// R12DS_IdleCallback);
// return 1;
//}
//int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳʤگ˽
//{
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
//}
//int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
//{
// if (sbus_buf == NULL || rc_ctrl == NULL)
// {
// return 0;
// }
//
// rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 x
// rc_ctrl->mul= ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 mul
// rc_ctrl->ch_y= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 y
// (sbus_buf[5] << 10)) &0x07ff;
// rc_ctrl->ch_w = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4 w
//
// rc_ctrl->key[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
// rc_ctrl->key[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
// rc_ctrl->key[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
// rc_ctrl->key[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
// rc_ctrl->key[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
// rc_ctrl->key[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
// rc_ctrl->key[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
// rc_ctrl->key[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
// rc_ctrl->ch_y -= RC_CH_VALUE_OFFSET;
// rc_ctrl->ch_x -= RC_CH_VALUE_OFFSET;
// rc_ctrl->mul -= RC_CH_VALUE_OFFSET;
// rc_ctrl->ch_w -= RC_CH_VALUE_OFFSET;
//
// rc_ctrl->ch_y -= 4; //y(-694,693)
// rc_ctrl->ch_x += 3; //x(-693,694)
// rc_ctrl->mul = rc_ctrl->mul; //m(-518,843)
// rc_ctrl->ch_w += 4; //w(-694,693)
//
// rc_ctrl->key[2] = map(rc_ctrl->key[2],306,1694,1694,306);
// rc_ctrl->key[3] = map(rc_ctrl->key[3],306,1694,1694,306);
// rc_ctrl->ch_x = map(rc_ctrl->ch_x,700,-800,-700,700); //x
// rc_ctrl->ch_y = map(rc_ctrl->ch_y,-900,796,700,-700); //y
// rc_ctrl->mul = map(rc_ctrl->mul,-632,901,25,0); //m
// rc_ctrl->ch_w = map(rc_ctrl->ch_w,-820,780,-700,700);
// rc_ctrl->ch_w = 0.5f*(rc_ctrl->ch_w);
// rc_ctrl->ch_x = -0.5f*(rc_ctrl->ch_x);
// rc_ctrl->ch_y = -0.5f*(rc_ctrl->ch_y);
////
////̀死区(-5,5)
// if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;
// if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;
// if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;
// if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
// return 0;
//}
//bool_t R12Buf0_WaitDmaCplt(int32_t timeout) {
//
// if(buf0ready == 1)
// {
// buf0ready =0;
// return 1;
// }
// else
// return 0;
//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF0_REDY, osFlagsWaitAll,timeout) ==
//// SIGNAL_R12DS_BUF0_REDY);
//}
//bool_t R12Buf1_WaitDmaCplt(int32_t timeout) {
// if(buf1ready == 1)
// {
// buf1ready =0;
// return 1;
// }
// else
// return 0;
//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF1_REDY, osFlagsWaitAll,timeout) ==
//// SIGNAL_R12DS_BUF1_REDY);
//
//}
//void R12ds_HandleOffline(void) {
// CMD_RC_t *rc;
// rc = R12ds_DataGet();
// memset(rc, 0, sizeof(*rc));
// rc->key[3] = 2000;//用作遥控器断电后急停使用
//}