/*
    atti_esti Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "cmsis_os2.h"
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/mm.h"
#include "bsp/pwm.h"
#include "bsp/gpio.h"
#include "bsp/flash.h"
#include "component/ahrs.h"
#include "component/pid.h"
#include "device/bmi088.h"
#include "task/user_task.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* 使用Sector 11末尾存储校准数据 */
#define FLASH_CALI_ADDR (ADDR_FLASH_SECTOR_11 + 0x1F000) /* Sector 11末尾 */
#define FLASH_CALI_MAGIC 0x42494D38  /* "BMI8" 魔数，用于验证数据有效性 */
#define CALIB_SAMPLES 10000  /* 校准采样数量 */

/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
BMI088_t bmi088;

/* 校准请求标识位 */
volatile bool request_calibration = false;

AHRS_t gimbal_ahrs;
AHRS_Magn_t magn;
AHRS_Eulr_t eulr_to_send;

KPID_t imu_temp_ctrl_pid;
BMI088_Cali_t cali_bmi088 = {
  .gyro_offset = {0.0f, 0.0f, 0.0f},  /* 默认值，将从Flash加载 */
};

/* Flash存储结构 */
typedef struct {
  uint32_t magic;  /* 魔数，用于验证数据有效性 */
  BMI088_Cali_t cali_data;
} Flash_Cali_t;

static const KPID_Params_t imu_temp_ctrl_pid_param = {
    .k = 0.3f,
    .p = 1.0f,
    .i = 0.01f,
    .d = 0.0f,
    .i_limit = 1.0f,
    .out_limit = 1.0f,
};

/* 校准相关变量 */
typedef enum {
  CALIB_IDLE,     // 空闲状态
  CALIB_RUNNING,  // 正在校准
  CALIB_DONE      // 校准完成
} CalibState_t;

static CalibState_t calib_state = CALIB_IDLE;
static uint16_t calib_count = 0;
static struct {
  float x_sum;
  float y_sum; 
  float z_sum;
} gyro_sum= {0.0f,0.0f,0.0f};
/* 按钮回调函数：设置校准请求标识位 */
static void request_gyro_calibration(void) {
  request_calibration = true;
}

/* 从Flash加载校准数据 */
static bool load_calibration_from_flash(void) {
  Flash_Cali_t flash_data;
  BSP_Flash_ReadBytes(FLASH_CALI_ADDR, &flash_data, sizeof(Flash_Cali_t));
  
  /* 验证魔数 */
  if (flash_data.magic == FLASH_CALI_MAGIC) {
    cali_bmi088 = flash_data.cali_data;
    return true;
  }
  return false;
}

/* 保存校准数据到Flash */
static void save_calibration_to_flash(void) {
  Flash_Cali_t flash_data;
  flash_data.magic = FLASH_CALI_MAGIC;
  flash_data.cali_data = cali_bmi088;
  
  /* 擦除扇区（注意：这会擦除整个Sector 11，如果有其他数据需要保留请修改） */
  BSP_Flash_EraseSector(FLASH_SECTOR_11);
  
  /* 写入数据 */
  BSP_Flash_WriteBytes(FLASH_CALI_ADDR, (uint8_t*)&flash_data, sizeof(Flash_Cali_t));
}

/* USER STRUCT END */

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

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
  /* 尝试从Flash加载校准数据 */
  if (!load_calibration_from_flash()) {
    /* Flash中无有效校准数据，使用默认值 */
    cali_bmi088.gyro_offset.x = 0.0f;
    cali_bmi088.gyro_offset.y = 0.0f;
    cali_bmi088.gyro_offset.z = 0.0f;
  }
  
  BMI088_Init(&bmi088, &cali_bmi088);
  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
  BSP_PWM_Start(BSP_PWM_IMU_HEAT_PWM);
  
  /* 注册按钮回调函数并启用中断 */
  BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, request_gyro_calibration);
  BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
  /* USER CODE INIT END */
  
  while (1) {
    /* USER CODE BEGIN */
    BMI088_WaitNew();
    BMI088_AcclStartDmaRecv();
    BMI088_AcclWaitDmaCplt();

    BMI088_GyroStartDmaRecv();
    BMI088_GyroWaitDmaCplt();

    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
    osKernelLock();
    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
    BMI088_ParseAccl(&bmi088);
    BMI088_ParseGyro(&bmi088);
    // IST8310_Parse(&ist8310);

    /* 检查校准请求标识位 */
    if (request_calibration && calib_state == CALIB_IDLE) {
      calib_state = CALIB_RUNNING;
      calib_count = 0;
      gyro_sum.x_sum = 0.0f;
      gyro_sum.y_sum = 0.0f;
      gyro_sum.z_sum = 0.0f;
      request_calibration = false;  /* 清除标识位 */
    }

    /* 陀螺仪校准处理 */
    if (calib_state == CALIB_RUNNING) {
      /* 累加陀螺仪数据用于计算零偏 */
      gyro_sum.x_sum += bmi088.gyro.x;
      gyro_sum.y_sum += bmi088.gyro.y;
      gyro_sum.z_sum += bmi088.gyro.z;
      calib_count++;

      /* 达到采样数量后计算平均值并更新零偏 */
      if (calib_count >= CALIB_SAMPLES) {
        /* 计算平均值作为零偏 */
        cali_bmi088.gyro_offset.x = gyro_sum.x_sum / CALIB_SAMPLES;
        cali_bmi088.gyro_offset.y = gyro_sum.y_sum / CALIB_SAMPLES;
        cali_bmi088.gyro_offset.z = gyro_sum.z_sum / CALIB_SAMPLES;
        
        /* 保存校准数据到Flash */
        save_calibration_to_flash();
        
        /* 校准完成，重置为空闲状态以便下次校准 */
        calib_state = CALIB_IDLE;
        
        /* 重新初始化BMI088以应用新的校准数据 */
        BMI088_Init(&bmi088, &cali_bmi088);
        AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
      }
    }

    /* 只有在非校准状态下才进行正常的姿态解析 */
    if (calib_state != CALIB_RUNNING) {
      /* 根据设备接收到的数据进行姿态解析 */
      AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);

      /* 根据解析出来的四元数计算欧拉角 */
      AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
    }
    
    osKernelUnlock();

    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));

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