/*
 * msp_DH_Remote_Controller.h
 *
 *  Created on: Jul 31, 2024
 *      Author: akeguo
 */

#ifndef INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_
#define INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_

#include "BHBF_ROBOT.h"
#include "bsp_include.h"
//小端存储，和大段存储完全反过来了
struct DeChiMoveState
{
	uint16_t Emergency_Stop :1;
	uint16_t Wireless_State :1;
	uint16_t Forwards :1;
	uint16_t Backwards :1;
	uint16_t Left_Turn :1;
	uint16_t Right_Turn :1;
	uint16_t Vehicle_Speed1 :1;
	uint16_t Vehicle_Speed2 :1;
	uint16_t Vehicle_Speed3 :1;
	uint16_t Vehicle_Speed4 :1;
	uint16_t Vehicle_Speed5 :1;
	uint16_t Vehicle_Speed6 :1;
	uint16_t Vehicle_Speed7 :1;
	uint16_t Vehicle_Speed8 :1;
	uint16_t Vehicle_Speed9 :1;
	uint16_t Vehicle_Speed10 :1;

};
struct DeChiFunctionState
{
	uint16_t Task_Start :1; //作业开启
	uint16_t Task_Stop :1; //作业关闭
	uint16_t Vertical_Upwards_Change :1; //竖直上换道
	uint16_t Vertical_Downwards_Change :1; //竖直下换道

	uint16_t Test_Start :1; //测试开始
	uint16_t Test_Stop :1; //测试停止
	uint16_t Open :1; //开启
	uint16_t Close :1; //关闭
	uint16_t Vehicle_speed10 :8; //没有用，只是为了占一个字节、8个位
};

extern struct DeChiMoveState *DeChiMoveCurrentState;
extern struct DeChiFunctionState *DeChiFunctionCurrentState;

extern uint16_t De_Chi_For_Back_Wards_Speed;
extern uint16_t De_Chi_Left_Rigth_Wards_Speed;
void  read_DeChi_Data(void);
void decode_DeChi(uint8_t *buffer, uint16_t length);
void set_DeChi_Display(uint16_t Angle, uint16_t Speed);

#endif /* INC_MSP_MSP_DH_REMOTE_CONTROLLER_H_ */