/*
  DR16接收机通信任务
*/

/* Includes ----------------------------------------------------------------- */
#include <string.h>

#include "rc.h"
#include "user_task.h"

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
#ifdef DEBUG
DR16_t dr16;
CMD_RC_t cmd_rc;
LD_raw_t LD_raw;
LD_Data_t  LD;
#else
static DR16_t dr16;
static CMD_RC_t cmd_rc;
 static RC_ctrl_t cc;

#endif

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief dr16接收机
 *
 * \param argument 未使用
 */
void Task_rc(void *argument) {
  (void)argument; /* 未使用，消除警告 */

  RC_SBUS_Init(); /* 初始化 */

  while (1) {
#ifdef DEBUG
    /*  */
    task_runtime.stack_water_mark.rc = osThreadGetStackSpace(osThreadGetId());
#endif
    /* 开启DMA */
    RC_SBUS_StartDmaRecv();

    if (RC_SBUS_WaitDmaCplt(30)) {
      			
      RC_ParseRC(&dr16,&LD_raw,&LD, &cmd_rc);
    } else {
      /* 处理dr16遥控器离线 ,乐迪不可用*/
      DR16_HandleOffline(&dr16, &cmd_rc);
			LD_HandleOffline(&LD,&cmd_rc);
    }
    osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
    osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
  }
}