/*
    ForceSensor Task
    力传感器
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/ADS1115.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
int16_t adcDataTemp[4] = {0};
float SensorData[4] = {0};  // 定义传感器数据数组
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ForceSensor(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() / FORCESENSOR_FREQ;

  osDelay(FORCESENSOR_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 */
	
	//单次
	ADS1115_UserConfig_Single(); 
	ADS1115_ScanChannel(0);// 让通道0开始第一次转换，内部会设置 OS=Start 并写入
	
	//连续
  //ADS1115_UserConfig_Continue();
	
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
		static uint8_t chan = 0;
		if(ADS1115_ReadRawData(&adcDataTemp[chan]) != 0) {
				SensorData[chan] = ADS1115_RawDataToVoltage(adcDataTemp[chan]);
		}
			chan++;if(chan >= 2)chan=0;
		ADS1115_ScanChannel(chan);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}