/*
    ps2 Task
*/

/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"
#include "bsp/delay.h"
#include "bsp/pwm.h"
#include "device/ps2.h"

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
PS2_TypeDef rc_to_send;
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
//float motor_speeds[4];
/**
 * \brief ps2 Task
 *
 * \param argument 未使用
 */
void Task_ps2(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() / TASK_FREQ_PS2;

 // osDelay(TASK_INIT_DELAY_TASK_1); /* 延时一段时间再开启任务	*/

	BSP_Delay_Init();
	
  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    
    /*User code begin*/
	PS2_Read_Data();
	rc_to_send = PS2_Data;
	
	rc_to_send.Rocker_LX = StickToThrottle_Optimized(PS2_Data.Rocker_LX);
	rc_to_send.Rocker_LY = StickToThrottle_Optimized(PS2_Data.Rocker_LY);
	rc_to_send.Rocker_RX = StickToThrottle_Optimized(PS2_Data.Rocker_RX);
	rc_to_send.Rocker_RY = StickToThrottle_Optimized(PS2_Data.Rocker_RY);
	  
	osMessageQueuePut(task_runtime.msgq.rc, &rc_to_send, 0, 0);

    /*User code end*/

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