/**
  ****************************(C) COPYRIGHT 2016 DJI****************************
  * @file       remote_control.c/h
  * @brief      遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
  *             资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
  *             的方式保证热插拔的稳定性。
  * @note       
  * @history
  *  Version    Date            Author          Modification
  *  V1.0.0     Dec-26-2018     RM              1. 完成
  *
  @verbatim
  ==============================================================================

  ==============================================================================
  @endverbatim
  ****************************(C) COPYRIGHT 2016 DJI****************************
  */
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H
#include "struct_typedef.h"
#include "bsp_rc.h"
#include <stdbool.h>
#define SBUS_RX_BUF_NUM 25u

#define RC_FRAME_LENGTH 18u

#define RC_CH_VALUE_MIN         ((uint16_t)364)
#define RC_CH_VALUE_OFFSET      ((uint16_t)1024)
#define RC_CH_VALUE_MAX         ((uint16_t)1684)

/* ----------------------- RC Switch Definition----------------------------- */
#define RC_SW_UP                ((uint16_t)1)
#define RC_SW_MID               ((uint16_t)3)
#define RC_SW_DOWN              ((uint16_t)2)
#define switch_is_down(s)       (s == RC_SW_DOWN)
#define switch_is_mid(s)        (s == RC_SW_MID)
#define switch_is_up(s)         (s == RC_SW_UP)
/* ----------------------- PC Key Definition-------------------------------- */
#define KEY_PRESSED_OFFSET_W            ((uint16_t)1 << 0)
#define KEY_PRESSED_OFFSET_S            ((uint16_t)1 << 1)
#define KEY_PRESSED_OFFSET_A            ((uint16_t)1 << 2)
#define KEY_PRESSED_OFFSET_D            ((uint16_t)1 << 3)
#define KEY_PRESSED_OFFSET_SHIFT        ((uint16_t)1 << 4)
#define KEY_PRESSED_OFFSET_CTRL         ((uint16_t)1 << 5)
#define KEY_PRESSED_OFFSET_Q            ((uint16_t)1 << 6)
#define KEY_PRESSED_OFFSET_E            ((uint16_t)1 << 7)
#define KEY_PRESSED_OFFSET_R            ((uint16_t)1 << 8)
#define KEY_PRESSED_OFFSET_F            ((uint16_t)1 << 9)
#define KEY_PRESSED_OFFSET_G            ((uint16_t)1 << 10)
#define KEY_PRESSED_OFFSET_Z            ((uint16_t)1 << 11)
#define KEY_PRESSED_OFFSET_X            ((uint16_t)1 << 12)
#define KEY_PRESSED_OFFSET_C            ((uint16_t)1 << 13)
#define KEY_PRESSED_OFFSET_V            ((uint16_t)1 << 14)
#define KEY_PRESSED_OFFSET_B            ((uint16_t)1 << 15)
/* ----------------------- Data Struct ------------------------------------- */

#define OFF 1694
#define ON 306
#define MID 1000

#define MAX 306
#define MID 1000
#define MIN 1694

#define ADD 1694
#define MINUS 1694

typedef __packed struct
{
       int16_t ch[4];
       int16_t sw[8]; 

} RC_ctrl_t;
typedef struct
{
	bool online;
	
	int8_t mode;
	
	bool ai;
	
    float ch_l_x;   /* 锟斤拷摇锟斤拷 X */
    float ch_l_y;   /* 锟斤拷摇锟斤拷 Y锟斤拷锟斤拷锟脚ｏ拷 */
    float ch_r_x;   /* 锟斤拷摇锟斤拷 X */
    float ch_r_y;   /* 锟斤拷摇锟斤拷 Y */
	
	struct{
	    float x;
		float y;
	}chassis_ctrl_vec;
	
	struct{
		float w;
	}gimbal_yaw_ctrl_vec;
	
  struct{
		float w;
	}gimbal_pit_ctrl_vec;


	struct{
		bool ready;
		bool firecmd;
	}shoot;
} COMP_AT9S_CMD_t;
/* ----------------------- Internal Data ----------------------------------- */

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

extern void remote_control_init(void);
/**
  * @brief          get remote control data point
  * @param[in]      none
  * @retval         remote control data point
  */
void USART3_IRQHandler1(void);
void DMA1_Stream1_IRQHandler1(void);
extern const RC_ctrl_t *get_remote_control_point(void);


#endif