/*
    Oid_Encoder_ctrl Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/encoder_oid.h"
#include "bsp/can.h"
#include <stdio.h>
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
 ECD_OID_Param_t encoder_param = {
        .can = BSP_CAN_1,
        .id = 0x01
    };
 ECD_OID_t* encoder;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_Oid_Encoder_ctrl(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() / OID_ENCODER_CTRL_FREQ;

  osDelay(OID_ENCODER_CTRL_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 */
	BSP_CAN_Init();
	ECD_OID_Register(&encoder_param);
	encoder = ECD_OID_GetEncoder(&encoder_param);
	Encoder_Set_Mode(&encoder_param,ECD_OID_MODE_QUERY);//询问模式
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
		Encoder_Read_AngularVelocity(&encoder_param);
		ECD_OID_Update(&encoder_param);
		Encoder_Read_Value(&encoder_param);
		ECD_OID_Update(&encoder_param);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}