#ifndef __SOFT_RC_INPUT_H
#define __SOFT_RC_INPUT_H

#include "common.h"
#include "stdbool.h"


// S.BUS的通道数
#define SBUS_CH 18

// const unsigned char CH1=0,CH2=1,CH3=2,CH4=3,CH5=4,CH6=5,CH7=6;
#define RC_INPUT_CH_NUM 16

#define RC_CH1 0
#define RC_CH2 1
#define RC_CH3 2
#define RC_CH4 3
#define RC_CH5 4
#define RC_CH6 5
#define RC_CH7 6
#define RC_CH8 7
#define RC_CH9 8
#define RC_CH10 9
#define RC_CH11 10
#define RC_CH12 11
#define RC_CH13 12
#define RC_CH14 13
#define RC_CH15 14
#define RC_CH16 15

#define RC_ROLL RC_CH1
#define RC_PITCH RC_CH2
#define RC_THR RC_CH3
#define RC_YAW RC_CH4

typedef enum
{
    // 信号正常
    RC_SIGNAL_HEALTH = 0,

    RC_SIGNAL_FAIL = 1,
    // 信号超允许范围
    RC_SIGNAL_BAD = 2
} RcSignalHealthType;
extern RcSignalHealthType rc_signal_health;

// 遥控器是否有效
extern comp_status comp_rc_status;

//===================失控保护的油门量========================
#define RC_FS_MIN 800
#define RC_FS_MAX 980

#define RC_IN_MIN 980
#define RC_IN_MAX 2020

#define RC_DEAD_ZONE 50

#define ROCK_DEAD_ZONE 100

#define MIN_S 1000
#define MIN_E 1333

#define MID_S 1334
#define MID_E 1666

#define MAX_S 1667
#define MAX_E 2000

typedef enum
{
    RC_CALIB_NO = 0,
    RC_CALIB_START = 1,
    RC_CALIB_END = 2
} RCCalibStatusType;
extern RCCalibStatusType rc_cal_flag;

//需要校准的通道
#define RC_CALIB_CH_NUM 4

extern short rc_in[RC_INPUT_CH_NUM];
extern short raw_rc_in[RC_INPUT_CH_NUM];
extern short tmp_rc_in[RC_INPUT_CH_NUM];

extern short rc_cal_offset[RC_CALIB_CH_NUM];
extern short rc_cal_factor_up[RC_CALIB_CH_NUM];
extern short rc_cal_factor_down[RC_CALIB_CH_NUM];

extern bool rc_offset_capture_flag;

void rc_input_initial(void);
void get_rc_value(void);
void check_sbus_link_status(float dt_s);

extern unsigned int rc_cal_time;

void rc_input_calib_start(void);
void rc_input_calib_end(void);

void rc_input_calibration(void);
void calc_rcfactor_calibration(void);

#define KEY_UP 1
#define KEY_DOWN 0
extern short rock_in[4];
extern char rock_key;

#endif