#include "remote_control.h"
#include "main.h"
#include "calc_lib.h"
#include "CAN_receive.h"


extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;

/**
  * @brief          remote control protocol resolution
  * @param[in]      sbus_buf: raw data point
  * @param[out]     rc_ctrl: remote control data struct point
  * @retval         none
  */

static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);

//remote control data 

RC_ctrl_t rc_ctrl;

//receive data, 18 bytes one frame, but set 36 bytes 

static uint8_t sbus_rx_buf[25];

/**
  * @brief          remote control init
  * @param[in]      none
  * @retval         none
  */

void remote_control_init(void)
{
    RC_Init(sbus_rx_buf, SBUS_RX_BUF_NUM);
}
/**
  * @brief          get remote control data point
  * @param[in]      none
  * @retval         remote control data point
  */

const RC_ctrl_t *get_remote_control_point(void)
{
    return &rc_ctrl;
}


void USART3_IRQHandler1(void)
{
  if(USART3->SR &(1<<5)) 		
	{
		USART3->SR |= (0<<5);			
	}

}


/**
  * @brief          remote control protocol resolution
  * @param[in]      sbus_buf: raw data point
  * @param[out]     rc_ctrl: remote control data struct point
  * @retval         none
  */



static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
{
    if (sbus_buf == NULL || rc_ctrl == NULL)
    {
        return;
    }
		
		rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff;        //!< Channel 0
    rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
    rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) |          //!< Channel 2
                         (sbus_buf[5] << 10)) &0x07ff;
    rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
    
		rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF;                  //!< Switch left
    rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF;                       //!< Switch right
    rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;;                    //!< Mouse X axis
    rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF;                    //!< Mouse Y axis
    rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF;                  //!< Mouse Z axis
    rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF;                                  //!< Mouse Left Is Press ?
    rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF;                                  //!< Mouse Right Is Press ?
    rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF;                    //!< KeyBoard value

		rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
    rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
    rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
    rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
   
		rc_ctrl->ch[0] += 24;	//y(-694,693)
		rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24;	//x(-693,694)
		rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764;		//m(95,1482)
		rc_ctrl->ch[3] += 24;	//w(-694,693)
		
		rc_ctrl->ch[1] = map(rc_ctrl->ch[1],-693,694,-700,700);		//x(-700,700)
		rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700);		//y(-700,700)
		rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);		//w
		
		//(-30,30)
		if(rc_ctrl->ch[0]>-30&&rc_ctrl->ch[0]<30) rc_ctrl->ch[0]=0;
		if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<30) rc_ctrl->ch[1]=0;
		if(rc_ctrl->ch[2]>-30&&rc_ctrl->ch[2]<30) rc_ctrl->ch[2]=0;
		if(rc_ctrl->ch[3]>-30&&rc_ctrl->ch[3]<30) rc_ctrl->ch[3]=0;
}


void DMA1_Stream1_IRQHandler1(void)
{
  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
  if(DMA1->LISR &(0x800))  
	{
		if(sbus_rx_buf[0]!=0x0F)	
		{
			RC_restart(SBUS_RX_BUF_NUM);	
		}
		else
		{
			sbus_to_rc(sbus_rx_buf,&rc_ctrl);			
		}	
		DMA1->LIFCR |= 1<<11;		
	}
}