/*
    rc Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/remote_control.h"
#include "module/chassis.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DR16_t dr16;
LD_raw_t ld;
CMD_RC_t cmd_rc;
int a=0;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_rc(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

  
  /* 计算任务运行到指定频率需要等待的tick数 */
  const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ;

  osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
// DR16_Init(&dr16);
	REMOTE_Init();
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    // DR16_StartDmaRecv(&dr16);
    // if (DR16_WaitDmaCplt(20)) {
    //   DR16_ParseData(&dr16);
    // } else {
    //   DR16_Offline(&dr16);
    // }

    REMOTE_StartDmaRecv();
    if (REMOTE_WaitDmaCplt(20)) {
      REMOTE_ParseRC(&dr16, &cmd_rc, &ld);
    } else {
      DR16_HandleOffline(&dr16, &cmd_rc);
      LD_HandleOffline(&ld, &cmd_rc);
    }
    osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
    if(osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0)==osOK)
	{
		a=1;
	}

    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}