/*
    test Task
    测试任务
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
#include "bsp/uart.h"
#include "gom_protocol.h"
/* USER INCLUDE END*/

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
MotorCmd_t mcmd = {0};
MotorData_t data = {0};


/* USER STRUCT END*/

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_test(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() / TEST_FREQ;

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

  /* USER CODE INIT BEGIN*/
  mcmd.id = 0;
  mcmd.mode = 1;
  mcmd.K_P = 0;
  mcmd.K_W = 0;
  mcmd.Pos = 0;
  mcmd.W = 0;
  mcmd.T = 0;
  /* USER CODE INIT END*/

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */

    // modify_data(&mcmd);

    // HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), (uint8_t *)&mcmd.motor_send_data, sizeof(mcmd.motor_send_data), 1);
    
    // HAL_UART_Receive(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), (uint8_t *)&data.motor_recv_data, sizeof(data.motor_recv_data), 1);
    
    // extract_data(&data);


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