#include "remote_controller.h"
#include "params.h"
#include "rc_rock.h"
#include "rc_sbus.h"
#include "stddef.h"

RC_SBUS_Data rc_sbus;
RC_Rock_Data rc_rock;

RC_Data_Type *remote_controller = &(rc_sbus.rc);

void RemoteController_SetCalibParams(RC_Data_Type *rc, uint8_t ch,
                                     uint16_t offset, uint16_t factor_up,
                                     uint16_t factor_down)
{
    rc->calib_offset[ch] = offset;
    rc->calib_offset[ch] = factor_up;
    rc->calib_offset[ch] = factor_down;
}

/**
 * @brief 遥控控制器初始化
 *  包括硬件初始化，遥控器对象初始化
 *
 */
void RemoteController_Init(void)
{
    /* 硬件初始化 */

    /* 遥控器对象初始化 */
    RcSbus_StructInit(&rc_sbus);
    for (uint8_t i = 0; i < RC_CALIB_CH_NUM; ++i)
    {
        RemoteController_SetCalibParams(
            &(rc_sbus.rc), i, pidinf._rc_cal_offset[i],
            pidinf._rc_cal_factor_up[i], pidinf._rc_cal_factor_down[i]);
    }

    /* 摇杆对象初始化 */
    RcRock_Struct_Init(&rc_rock);
}