/*
    atti_esti Task
    陀螺仪接收解算任务
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
#include "bsp/pwm.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 ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
BMI088_t bmi088;
BMI088_Cali_t bmi088_cali = {
  .gyro_offset = {0.0f, 0.0f, 0.0f},
}; /* BMI088校准数据 */
AHRS_Magn_t mage = {0.0f, 0.0f, 0.0f}; /* 磁力计数据，未使用 */
AHRS_t gimbal_ahrs;
AHRS_Eulr_t eulr_to_send;

KPID_t imu_temp_ctrl_pid;

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

/* USER STRUCT END*/

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

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

  /* USER CODE INIT BEGIN*/
  BMI088_Init(&bmi088, &bmi088_cali); /* 初始化BMI088传感器 */
  AHRS_Init(&gimbal_ahrs, &mage, BMI088_GetUpdateFreq(&bmi088)); /* 初始化姿态解算算法 */
    /* 初始化IMU温度控制PID，防止温漂 */
  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);
  /* USER CODE INIT END*/

  while (1) {
    /* USER CODE BEGIN */
    /* 等待IMU新数据 */
    BMI088_WaitNew();

    /* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口，
     * 一次只能开启一个DMA
     */
    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);

    /* 根据设备接收到的数据进行姿态解析 */
    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &mage);

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

    /* PID控制IMU温度，PWM输出 */
    // BSP_PWM_Set(BSP_PWM_IMU_HEAT,
    //             PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.01f));
    /* USER CODE END */
  }
  
}