#ifndef _user_H_
#define _user_H_


#define SAMPLE_INTERVAL      50    // 50ms��������
#define BLINK_TIMEOUT        (1000 / SAMPLE_INTERVAL)  // 1���ȶ�ȷ��
#define BLINK_WINDOW         (1000 / SAMPLE_INTERVAL)  // 1����˸��ⴰ��
#define STABLE_CONFIRM_TIME  (1000 / SAMPLE_INTERVAL)  // 1����˸��ⴰ��
#define MIN_BLINKS           2

#define MATCH_TIME           (2000 / SAMPLE_INTERVAL)//��Ƶʱ��
#define MATCH_WAIT_TIME      (1000 / SAMPLE_INTERVAL)//��Ƶ�꣬�ȴ�ʱ��

#define CHANGE_TIME          (200 / SAMPLE_INTERVAL)//��Ƶʱ��

#define MATCH_CMD           0xDB//��Ƶ����
#define CHANGE_CMD          0xBD//�����


#define   uint32_t   ulong
#define   uint16_t   uword
#define   uint8_t    ubyte
				  
#define   int16_t    signed int
				  
				  
#define   DF_SwTx           6
#define   DF_SwRx           7
#define   DF_SwRxPwm        8
#define   DF_SwTx1          10


#define   dfCmd_01   UnInfCan_1.BitData.D21      //KGF1  
#define   dfCmd_02   UnInfCan_1.BitData.D22      //KGF2	
#define   dfCmd_03   UnInfCan_1.BitData.D23      //KGF3  
#define   dfCmd_04   UnInfCan_1.BitData.D24      //KGF4  
#define   dfCmd_05   UnInfCan_1.BitData.D25      //KGF5  
#define   dfCmd_06   UnInfCan_1.BitData.D26      //KGF6  
#define   dfCmd_07   UnInfCan_1.BitData.D27      //KGF7  
#define   dfCmd_08   UnInfCan_1.BitData.D28      //KGF8  
#define   dfCmd_09   UnInfCan_1.BitData.D29      //KGF9  
#define   dfCmd_10   UnInfCan_1.BitData.D30      //KGF10 
#define   dfCmd_11   UnInfCan_1.BitData.D31      //KGF11 
#define   dfCmd_12   UnInfCan_1.BitData.D32      //KGF12 
#define   dfCmd_13   UnInfCan_1.BitData.D33      //KGF13 
#define   dfCmd_14   UnInfCan_1.BitData.D34      //KGF14 
#define   dfCmd_15   UnInfCan_1.BitData.D35      //KGF15 
#define   dfCmd_16   UnInfCan_1.BitData.D36      //KGF16 

#define   dfOut_01   SwOut09                     //KGF1  
#define   dfOut_02   SwOut10                     //KGF2	
#define   dfOut_03   SwOut04                     //KGF3  
#define   dfOut_04   SwOut03                     //KGF4  
#define   dfOut_05   SwOut06                     //KGF5  
#define   dfOut_06   SwOut05                     //KGF6  
#define   dfOut_07   SwOut15                     //KGF7  
#define   dfOut_08   SwOut16                     //KGF8  
#define   dfOut_09   SwOut13                     //KGF9  
#define   dfOut_10   SwOut14                     //KGF10 
#define   dfOut_11   SwOut08                     //KGF11 
#define   dfOut_12   SwOut07                     //KGF12 
#define   dfOut_13   SwOut02                     //KGF13 
#define   dfOut_14   SwOut01                     //KGF14 
#define   dfOut_15   SwOut11                     //KGF15 
#define   dfOut_16   SwOut12                     //KGF16 

#define   dfPwmH		 10	 //PWM��???��???����??��?10��?10ms����������???��?D����a2a��?20181227






#define  DF_ZeroValue        1000//?��?Y����???�¡�???0������y?Y?a1022

#define  DF_Speed            UnRemoteControlOutput_1.bit_data.speed//?��?��
#define  DF_Curvature        UnRemoteControlOutput_1.bit_data.curvature//��a��?
#define  DF_Reserve          UnRemoteControlOutput_1.bit_data.reserve1//���ꨢ?
#define  DF_SwA              UnRemoteControlOutput_1.bit_data.switch_a//DF_SwA
#define  DF_SwB              UnRemoteControlOutput_1.bit_data.switch_b//DF_SwB
#define  DF_SwC              UnRemoteControlOutput_1.bit_data.switch_c//DF_SwC
#define  DF_SwD              UnRemoteControlOutput_1.bit_data.switch_d//DF_SwD
#define  DF_RCHSta           UnRemoteControlOutput_1.bit_data.enable//��?������1?�����䨬?

//#define  DF_RCHEmSwSta       UnRCH_1.BitData.RCHBit07//?������?a1?���䨬?��1?�����䨬?















// ?����?2��3?��??�� SBus ?a???��11��?
typedef struct {
    uint16_t channels[16];  // ��?���16??�����̨���??a???��1?
    uint8_t flags;          // ����??��??��
} SBusData;






// ?����?����???�¨�?��?
typedef struct _StrRemoteControlOutput
{
	//-----����?����y?Y0x12000023----------------------------------------------
	  signed   int speed      : 16;  // ?��?��
    signed   int curvature  : 16;  // ?��?��
	
	
    unsigned int reserve1   : 16;  // ����???��

    unsigned int switch_a   : 1;   // SwA
    unsigned int switch_b   : 2;   // SwB  ?������?a1? 1������?  0/2��??������
    unsigned int switch_c   : 2;   // SwC  ?�꨺??a1? 1��??��  0/2��?��??��
    unsigned int switch_d   : 1;   // SwD  ��?��??a1? ?��?�����?��3����
    unsigned int reserve2   : 1;   // ���ꨢ?
    unsigned int reserve3   : 1;   // ���ꨢ?
                            
    unsigned int enable     : 8;   // ��1?��
} StrRemoteControlInput;

typedef union _UnRemoteControlInput
{
    StrRemoteControlInput bit_data;             // ��1��??����?��??��11��?��?��???
    uint8_t arr[sizeof(StrRemoteControlInput)]; // ����1y?��11��?����D������?���䨮D?
} UnRemoteControlOutput;







//---��a2?��a��1��?��?��?����?��---------------------------------------------------------------------
extern  UnSwOut	 UnSwOut_1;
extern  UnInfCan UnInfCan_1;
extern  uword    CntCan_1;
extern  bit      FlgCan_1;

extern  ubyte    rxbuf[25];
extern  ubyte    uart2RxFlag;
extern  ubyte    can_error_cnt;
extern  ubyte    RestartDataFlg1;
extern  ubyte    RestartDataFlg2;

void CanRXTX(void);
void SwSample(void);
void LedDr(void);
void RTCProcess(void);
void CanErrorProcess(void);
void CanTransmit(ubyte index,ubyte *buf);
SBusData* parseSBusData(const uint8_t *input_data);
void sbusCanDecode(void);

#endif