// /* Includes ----------------------------------------------------------------- */
// #include "AT9S_Pro.h"

// #include <string.h>
// #include "bsp/uart.h"
// #include "device/device.h"

// /* Private define ----------------------------------------------------------- */

// /* Private variables -------------------------------------------------------- */
// static osThreadId_t thread_alert;
// static bool inited = false;

// /* Private function --------------------------------------------------------- */
// static void DEVICE_AT9S_RxCpltCallback(void)
// {
//     osThreadFlagsSet(thread_alert, SIGNAL_AT9S_RAW_REDY);
// }

// /* Exported functions ------------------------------------------------------- */
// int8_t DEVICE_AT9S_Init(DEVICE_AT9S_t *at9s)
// {
//     if (at9s == NULL) return DEVICE_ERR_NULL;
//     if (inited) return DEVICE_ERR_INITED;
//     if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;

//     BSP_UART_RegisterCallback(BSP_UART_AT9S_PRO, BSP_UART_RX_CPLT_CB,
//                               DEVICE_AT9S_RxCpltCallback);

//     inited = true;
//     return DEVICE_OK;
// }

// int8_t DEVICE_AT9S_Restart(void)
// {
//     __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
//     __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
//     return DEVICE_OK;
// }

// int8_t DEVICE_AT9S_StartDmaRecv(uint8_t *cmd_buffer)
// {
//     if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AT9S_PRO),
//                              cmd_buffer,
//                              DEVICE_AT9S_FRAME_LEN) == HAL_OK)
//         return DEVICE_OK;
//     return DEVICE_ERR;
// }

// bool DEVICE_AT9S_WaitDmaCplt(uint32_t timeout)
// {
//     return (osThreadFlagsWait(SIGNAL_AT9S_RAW_REDY,
//                               osFlagsWaitAll, timeout) == SIGNAL_AT9S_RAW_REDY);
// }
// DEVICE_AT9S_Raw_t r;
// /* 解析 25 字节原始帧并填充结构体 */
// void DEVICE_AT9S_ParseRaw(const uint8_t raw[DEVICE_AT9S_FRAME_LEN], DEVICE_AT9S_t *out)
// {
// //    DEVICE_AT9S_Raw_t r;

//     /* 摇杆 */
// 	r.ch[0] = ((raw[1]      | raw[2]  << 8)                 & 0x07FF);
//     r.ch[1] = ((raw[2] >> 3 | raw[3]  << 5)                 & 0x07FF);
//     r.ch[2] = ((raw[3] >> 6 | raw[4] << 2 | raw[5] << 10)   & 0x07FF);
//     r.ch[3] = ((raw[5] >> 1 | raw[6] << 7)                 & 0x07FF);

//     /* 开关/旋钮 */ 
//     r.sw[0] = ((raw[6] >> 4 | raw[7] << 4)                  & 0x07FF);
//     r.sw[1] = ((raw[7] >> 7 | raw[8] << 1 | raw[9] << 9)    & 0x07FF);
//     r.sw[2] = ((raw[9] >> 2 | raw[10]<< 6)                  & 0x07FF);
//     r.sw[3] = ((raw[10]>> 5 | raw[11]<< 3)                  & 0x07FF);
//     r.sw[4] = ((raw[12]     | raw[13]<< 8)                  & 0x07FF);
//     r.sw[5] = ((raw[13]>> 3 | raw[14]<< 5)                  & 0x07FF);
//     r.sw[6] = ((raw[14]>> 6 | raw[15]<< 2 | raw[16]<< 10)   & 0x07FF);
//     r.sw[7] = ((raw[16]>> 1 | raw[17]<< 7)                  & 0x07FF);

//     /* 开关映射 */
//     #define MAP_SWITCH(v) \
//         ((v) > 300 && (v) < 500) ? AT9S_CMD_SW_DOWN : \
//         ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
//         ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_UP : AT9S_CMD_SW_ERR
	
// 	#define MAP_SWITCH_2(v) \
//         ((v) > 300 && (v) < 500) ? AT9S_CMD_SW_UP : \
//         ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
//         ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_DOWN : AT9S_CMD_SW_ERR
	
// 	out->data.ch_r_x 		= r.ch[0];
// 	out->data.ch_r_y 		= r.ch[1];
// 	out->data.ch_l_y		= r.ch[2];
// 	out->data.ch_l_x 		= r.ch[3];
	
//     out->data.key_A      = MAP_SWITCH_2(r.sw[0]);
//     out->data.key_B      = MAP_SWITCH_2(r.sw[1]);
//     out->data.key_C      = MAP_SWITCH_2(r.sw[2]);
//     out->data.key_D      = MAP_SWITCH(r.sw[3]);
//     out->data.key_E      = MAP_SWITCH(r.sw[4]);
//     out->data.key_F      = MAP_SWITCH(r.sw[5]);
// 	out->data.key_G      = MAP_SWITCH_2(r.sw[6]);
// 	out->data.key_H      = MAP_SWITCH(r.sw[7]);
// //    out->knob_left  = MAP_SWITCH(r.sw[6]);
// //    out->knob_right = MAP_SWITCH(r.sw[7]);

//     #undef MAP_SWITCH
// 	//check online.
// 	out->online = (r.sw[7] != 300&&r.ch[0] != 1000);
// }