/*
    atti_esit Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
BMI088_t bmi088;
DEVICE_IMU_t imu_device;
#ifndef USE_QEKF
AHRS_t gimbal_ahrs;
AHRS_Magn_t magn;
#endif
AHRS_Eulr_t eulr_to_send;
Chassis_IMU_t imu_for_chassis;
KPID_t imu_temp_ctrl_pid;

/*默认校准参数*/
BMI088_Cali_t cali_bmi088 = {
    .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f},
};

static const KPID_Params_t imu_temp_ctrl_pid_param = {
    .k = 0.1f,
    .p = 0.15f,
    .i = 0.01f,
    .d = 0.02f,
    .i_limit = 1.0f,
    .out_limit = 1.0f,
};

/* USER STRUCT END */

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

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

  /* USER CODE INIT BEGIN */
  BMI088_Init(&bmi088, &cali_bmi088);
#ifdef USE_QEKF
  QEKF_Init(10.0f, 0.001f, 1000000.0f, 0.9996f, 0.0f);
#else
  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
#endif
  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);
  
  /* 注册 IMU 设备到 MRobot（使用通用打印函数） */
  MRobot_RegisterIMU("bmi088", &imu_device);
  /* 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);

    /* 根据设备接收到的数据进行姿态解析 */
#ifdef USE_QEKF
    QEKF_Update(bmi088.gyro.x, bmi088.gyro.y, bmi088.gyro.z,
                bmi088.accl.x, bmi088.accl.y, bmi088.accl.z,
                1.0f / BMI088_GetUpdateFreq(&bmi088));
    /* 从EKF获取欧拉角 */
    eulr_to_send.rol = QEKF_INS.roll;
    eulr_to_send.pit = QEKF_INS.pitch;
    eulr_to_send.yaw = QEKF_INS.yaw;
#else
    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);
#endif
    /* 加速度计数据绕z轴旋转270度: (x,y,z) -> (y,-x,z) */
    imu_for_chassis.accl.x = bmi088.accl.y;
    imu_for_chassis.accl.y = -bmi088.accl.x;
    imu_for_chassis.accl.z = bmi088.accl.z;
    /* 陀螺仪数据绕z轴旋转270度: (x,y,z) -> (y,-x,z) */
    imu_for_chassis.gyro.x = bmi088.gyro.y;
    imu_for_chassis.gyro.y = -bmi088.gyro.x;
    imu_for_chassis.gyro.z = bmi088.gyro.z;
    /* 欧拉角绕z轴旋转270度 */
    imu_for_chassis.euler.rol = eulr_to_send.pit;
    imu_for_chassis.euler.pit = -eulr_to_send.rol;
    imu_for_chassis.euler.yaw = eulr_to_send.yaw - 1.57079632679f; // -90度
    osMessageQueueReset(
        task_runtime.msgq.chassis.imu); // 重置消息队列，防止阻塞
    osMessageQueuePut(task_runtime.msgq.chassis.imu, &imu_for_chassis, 0,
                      0); // 非阻塞发送底盘IMU数据
    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
                                               bmi088.temp, 0.0f, 0.0f));
    /* 直接赋值 AHRS 结构体 - 完美兼容 */
    imu_device.accl = bmi088.accl;
    imu_device.gyro = bmi088.gyro;
    imu_device.euler = eulr_to_send;
#ifdef USE_QEKF
    imu_device.quat.q0 = QEKF_INS.q[0];
    imu_device.quat.q1 = QEKF_INS.q[1];
    imu_device.quat.q2 = QEKF_INS.q[2];
    imu_device.quat.q3 = QEKF_INS.q[3];
#else
    imu_device.quat = gimbal_ahrs.quat;
#endif
    imu_device.temp = bmi088.temp;
    imu_device.header = bmi088.header;
    osKernelUnlock();

    /* USER CODE END */
  }
  
}