/*
    cmd Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/at9s_pro.h"
#include "module/at9s_pro_cmd.h"
#include "module/xm_quadctrl.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
 uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
 DEVICE_AT9S_t at9s;
 COMP_AT9S_CMD_t rc_cmd;
 Quad_CMD_t cmd_for_quad;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_cmd(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() / CMD_FREQ;

  osDelay(CMD_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 */
  DEVICE_AT9S_Init(&at9s);
  DEVICE_AT9S_StartDmaRecv(cmd_buffer);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
	if (DEVICE_AT9S_WaitDmaCplt(10)) {
        DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
		COMP_AT9S_CMD_ParseRc(&at9s, &rc_cmd);
        DEVICE_AT9S_StartDmaRecv(cmd_buffer);
    }
	
	cmd_for_quad.online=rc_cmd.online;
	cmd_for_quad.start=rc_cmd.start;
	cmd_for_quad.throttle=rc_cmd.ch_l_y;
	cmd_for_quad.yaw=rc_cmd.ch_l_x;
	cmd_for_quad.pit=rc_cmd.ch_r_y;
	cmd_for_quad.rol=rc_cmd.ch_r_x;
	cmd_for_quad.stop=rc_cmd.stop;
	cmd_for_quad.lockoutput=rc_cmd.lockoutput;
	
	osMessageQueuePut(task_runtime.msgq.quad.cmd, &cmd_for_quad, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}