/*
  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
//}

