///*
//    DR16接收机
//    Example：

//  DR16_Init(&dr16);
//  
//  while (1) {
//    DR16_StartDmaRecv(&dr16);
//    if (DR16_WaitDmaCplt(20)) {
//      DR16_ParseData(&dr16);
//    } else {
//      DR16_Offline(&dr16);
//    }
//}
//*/

///* Includes ----------------------------------------------------------------- */
//#include "dr16.h"
//#include "bsp/uart.h"
//#include "bsp/time.h"
//#include "device.h"

//#include <string.h>
//#include <stdbool.h>

///* USER INCLUDE BEGIN */

///* USER INCLUDE END */
///* Private define ----------------------------------------------------------- */
//#define DR16_CH_VALUE_MIN (364u)
//#define DR16_CH_VALUE_MID (1024u)
//#define DR16_CH_VALUE_MAX (1684u)

///* USER DEFINE BEGIN */

///* USER DEFINE END */

///* Private macro ------------------------------------------------------------ */
///* Private typedef ---------------------------------------------------------- */
///* Private variables -------------------------------------------------------- */

//static osThreadId_t thread_alert;
//static bool inited = false;

///* Private function  -------------------------------------------------------- */
//static void DR16_RxCpltCallback(void) {
//  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
//}

//static bool DR16_DataCorrupted(const DR16_t *dr16) {
//  if (dr16 == NULL) return DEVICE_ERR_NULL;

//  if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
//      (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
//    return DEVICE_ERR;

//  if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
//      (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
//    return DEVICE_ERR;

//  if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
//      (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
//    return DEVICE_ERR;

//  if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
//      (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
//    return DEVICE_ERR;

//  if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;

//  if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;

//  return DEVICE_OK;
//}

///* Exported functions ------------------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16) {
//  if (dr16 == 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_DR16, BSP_UART_RX_CPLT_CB,
//                            DR16_RxCpltCallback);

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

//int8_t DR16_Restart(void) {
//  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
//  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
//  return DEVICE_OK;
//}

//int8_t DR16_StartDmaRecv(DR16_t *dr16) {
//  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
//                           (uint8_t *)&(dr16->raw_data),
//                           sizeof(dr16->raw_data)) == HAL_OK)
//    return DEVICE_OK;
//  return DEVICE_ERR;
//}

//bool DR16_WaitDmaCplt(uint32_t timeout) {
//  return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
//          SIGNAL_DR16_RAW_REDY);
//}

//int8_t DR16_ParseData(DR16_t *dr16){
//  if (dr16 == NULL) return DEVICE_ERR_NULL;

//  if (DR16_DataCorrupted(dr16)) {
//    return DEVICE_ERR;
//  }

//  dr16->header.online = true;
//  dr16->header.last_online_time = BSP_TIME_Get_us();
//  
//  memset(&(dr16->data), 0, sizeof(dr16->data));

//  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);

//  // 解析摇杆数据
//  dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
//  dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
//  dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
//  dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;

//  // 解析拨杆位置
//  dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
//  dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;

//  // 解析鼠标数据
//  dr16->data.mouse.x = dr16->raw_data.x;
//  dr16->data.mouse.y = dr16->raw_data.y;
//  dr16->data.mouse.z = dr16->raw_data.z;

//  dr16->data.mouse.l_click = dr16->raw_data.press_l;
//  dr16->data.mouse.r_click = dr16->raw_data.press_r;

//  // 解析键盘按键 - 使用union简化代码
//  uint16_t key_value = dr16->raw_data.key;
//  
//  // 解析键盘位映射（W-B键，位0-15）
//  for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
//    dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
//  }

//  // 解析鼠标点击
//  dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
//  dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;

//  // 解析第五通道
//  dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
//  
//  return DEVICE_OK;
//}

//int8_t DR16_Offline(DR16_t *dr16){
//  if (dr16 == NULL) return DEVICE_ERR_NULL;

//  dr16->header.online = false;
//  memset(&(dr16->data), 0, sizeof(dr16->data));

//  return DEVICE_OK;
//}

///* USER FUNCTION BEGIN */

///* USER FUNCTION END */