/*
    ctrl_chassis Task
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/motor.h"
#include "device/motor_lk.h"
#include "device/motor_lz.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
MOTOR_LK_Param_t chassis_motor_params[4] = {
    {BSP_CAN_1, 0x201, MOTOR_LK_MF9025, false},
    {BSP_CAN_1, 0x202, MOTOR_LK_MF9025, false},
    {BSP_CAN_1, 0x203, MOTOR_LK_MF9025, false},
    {BSP_CAN_1, 0x204, MOTOR_LK_MF9025, false}
};
MOTOR_LK_t *chassis_motors[4] = {NULL, NULL, NULL, NULL};

/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_chassis(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() / CTRL_CHASSIS_FREQ;

  osDelay(CTRL_CHASSIS_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();
  
  // 注册所有底盘电机
  for (int i = 0; i < 4; i++) {
    MOTOR_LK_Register(&chassis_motor_params[i]);
  }
  
  // 延时等待电机稳定
  osDelay(100);
  
  // 开启所有电机
  for (int i = 0; i < 4; i++) {
    MOTOR_LK_MotorOn(&chassis_motor_params[i]);
  }
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    // 更新所有电机数据
    for (int i = 0; i < 4; i++) {
      MOTOR_LK_Update(&chassis_motor_params[i]);
    }
    
    // 设置电机输出
    MOTOR_LK_SetOutput(&chassis_motor_params[0], 0.5f);
    MOTOR_LK_SetOutput(&chassis_motor_params[1], 0.5f);
    MOTOR_LK_SetOutput(&chassis_motor_params[2], 0.5f);
    MOTOR_LK_SetOutput(&chassis_motor_params[3], 0.5f);

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