/*
 * msp_T_F4.h
 *
 *  Created on: Jun 18, 2025
 *      Author: akeguo
 */

#ifndef BASE_INC_MSP_MSP_T_F4_H_
#define BASE_INC_MSP_MSP_T_F4_H_
#include "stdint.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"

extern void T_F4_Remote_Controller_intialize(struct UARTHandler *Handler);
typedef union
{
	struct
	{
		int16_t left_reserved_1 :1;					//first byte
		int16_t swing_left :1;
		int16_t reserved_A :1;
		int16_t reserved_B :1;
		int16_t reserved_C :1;
		int16_t reserved_D :1;
		int16_t reserved_1 :1;
		int16_t reserved_2 :1; //8 bit

		int16_t reserved_3 :1;					//first byte
		int16_t reserved_4 :1;
		int16_t swing_home :1;					//机械臂零位
		int16_t swing_right :1;
		int16_t sand_blast :1;
		int16_t polish :1;					//打磨
		int16_t spray :1;
		int16_t reserved_null :1; //8 bit
	} type00;                   // 解释方式A
	int16_t rawValue;         // 原始字节访问方式 (8位)
} _00Union;

typedef union
{
	struct
	{
		int16_t reserved_open :1;					//first byte
		int16_t reserved_close :1;
		int16_t auto_forward :1;
		int16_t auto_backward :1;
		int16_t left_lane_change :1;
		int16_t right_lane_change :1;
		int16_t bit6 :1;
		int16_t bit7 :1; //8 bit

		int16_t heart_beat :1;					//first byte
		int16_t bit9 :1;
		int16_t bit10 :1;
		int16_t bit11 :1;
		int16_t bit12 :1;
		int16_t bit13 :1;
		int16_t bit14 :1;
		int16_t emergency_stop :1; //8 bit
	} type00;                   // 解释方式A
	int16_t rawValue;         // 原始字节访问方式 (8位)
} _01Union;

typedef union
{
	struct
	{
		uint16_t bit0_to_7 :8;					//first byte
		uint16_t bit8_to_15 :8;
	} type00;                   // 解释方式A
	int16_t rawValue;         // 原始字节访问方式 (8位)
} _01_Reverse_Union;

typedef struct
{

	//byte 0 8-15
	uint16_t Work_Horizonal :1;					//first byte
	uint16_t Work_Vertical :1;
	uint16_t ChgLeft_Hor :1;
	uint16_t ChgRight_Hor :1;
	uint16_t AutoForWard :1;
	uint16_t AutoBackWard :1;
	uint16_t ChgUp_Ver :1;
	uint16_t ChgDown_Ver :1; //8 bit

	//byte 0 0-7
	uint16_t FA :1;					//first byte
	uint16_t FB :1;
	uint16_t F1 :1;
	uint16_t F2 :1;
	uint16_t F3 :1;
	uint16_t F4 :1;
	uint16_t F5 :1;
	uint16_t F6 :1; //8 bit


	//byte 1 8-15
	uint16_t heart_beat :1;					//first byte
	uint16_t _1_bit9 :1;
	uint16_t _1_bit10 :1;
	uint16_t _1_bit11 :1;
	uint16_t _1_bit12 :1;
	uint16_t _1_bit13 :1;
	uint16_t _1_bit14 :1;
	uint16_t emergency_stop :1; //8 bit

	//byte 1  0-7
	uint16_t Lift_Up :1;					//first byte
	uint16_t Lift_Down :1;
	uint16_t Spray_On :1;
	uint16_t Spray_Off :1;
	uint16_t Test_On :1;
	uint16_t Test_Off :1;
	uint16_t _1_bit6 :1;
	uint16_t _1_bit7 :1; //8 bit

	//byte 2  8-12
	uint16_t Speed_Level_9:1;
	uint16_t Speed_Level_10:1;
	uint16_t RES_1:1;
	uint16_t RES_2:1;
	uint16_t RES_3:1;
	uint16_t RES_4:1;
	uint16_t RES_5:1;
	uint16_t RES_6:1;
	//byte 2  0-7
	uint16_t Speed_Level_1:1;
	uint16_t Speed_Level_2:1;
	uint16_t Speed_Level_3:1;
	uint16_t Speed_Level_4:1;
	uint16_t Speed_Level_5:1;
	uint16_t Speed_Level_6:1;
	uint16_t Speed_Level_7:1;
	uint16_t Speed_Level_8:1;

	uint16_t robot_left_right_turn_speed :8;
	uint16_t robot_forward_backward_speed :8;
	uint16_t robot_Compensation_Right :8;
	uint16_t robot_Compensation_Left :8;




} T_F4_Value;
extern T_F4_Value Current_T_F4_Value;
typedef struct
{
	_00Union _00;
	_01Union _01;
	_01_Reverse_Union _02;
	_01_Reverse_Union _03;
	_01_Reverse_Union _04;
	_01_Reverse_Union _05;
} T_F4_Value_2;

#endif /* BASE_INC_MSP_MSP_T_F4_H_ */