/*
    imu Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/dm_imu.h"
#include "module/config.h"
#include <string.h>
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DM_IMU_t dm_imu;
int i= 0;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_imu(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() / IMU_FREQ;

  osDelay(IMU_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();
  DM_IMU_Init(&dm_imu, &Config_GetRobotParam()->imu_param);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    i++;

    /* USER CODE BEGIN */
    if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
    }
    if (i>1){
        i=0;
// 发送加速度计数据 (ID: 0x66) - 三轴压缩到一帧，每轴2字节，精度0.01g
      BSP_CAN_StdDataFrame_t accl_frame = {
        .id = 150,
        .dlc = 8,
        .data = {0}
      };
      
      // 转换为16位整数发送 (精度0.01g，范围±327.67g)
      int16_t accl_x_int = (int16_t)(dm_imu.data.accl.x * 100.0f);
      int16_t accl_y_int = (int16_t)(dm_imu.data.accl.y * 100.0f);
      int16_t accl_z_int = (int16_t)(dm_imu.data.accl.z * 100.0f);
      
      // 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
      memcpy(&accl_frame.data[0], &accl_x_int, 2);
      memcpy(&accl_frame.data[2], &accl_y_int, 2);
      memcpy(&accl_frame.data[4], &accl_z_int, 2);
      
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
      
      // 发送陀螺仪数据 (ID: 0x67) - 三轴压缩到一帧，每轴2字节，精度0.01°/s
      BSP_CAN_StdDataFrame_t gyro_frame = {
        .id = 151,
        .dlc = 8,
        .data = {0}
      };
      
      // 转换为16位整数发送 (精度0.01°/s，范围±327.67°/s)
      int16_t gyro_x_int = (int16_t)(dm_imu.data.gyro.x * 57.2958f * 100.0f);  // 弧度/s转角度/s*100
      int16_t gyro_y_int = (int16_t)(dm_imu.data.gyro.y * 57.2958f * 100.0f);
      int16_t gyro_z_int = (int16_t)(dm_imu.data.gyro.z * 57.2958f * 100.0f);
      
      // 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
      memcpy(&gyro_frame.data[0], &gyro_x_int, 2);
      memcpy(&gyro_frame.data[2], &gyro_y_int, 2);
      memcpy(&gyro_frame.data[4], &gyro_z_int, 2);
      
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
      
      // 发送欧拉角数据 (ID: 0x68) - 三轴压缩到一帧，每轴2字节，精度0.01度
      BSP_CAN_StdDataFrame_t euler_frame = {
        .id = 152,
        .dlc = 8,
        .data = {0}
      };
      
      // 转换为16位整数发送 (精度0.01度，范围±327.67度)
      int16_t yaw_int = (int16_t)(dm_imu.data.euler.yaw * 57.2958f * 100.0f);   // 弧度转角度*100
      int16_t pit_int = (int16_t)(dm_imu.data.euler.pit * 57.2958f * 100.0f);   // 弧度转角度*100  
      int16_t rol_int = (int16_t)(dm_imu.data.euler.rol * 57.2958f * 100.0f);   // 弧度转角度*100
      
      // 打包数据：yaw(2字节) + pitch(2字节) + roll(2字节) + 2字节保留
      memcpy(&euler_frame.data[0], &yaw_int, 2);
      memcpy(&euler_frame.data[2], &pit_int, 2);
      memcpy(&euler_frame.data[4], &rol_int, 2);
      
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &euler_frame);
      
      // 发送四元数数据 (ID: 0x69) - 四分量压缩到一帧，每分量2字节，精度0.0001
      BSP_CAN_StdDataFrame_t quat_frame = {
        .id = 153,
        .dlc = 8,
        .data = {0}
      };
      
      // 转换为16位整数发送 (精度0.0001，范围±3.2767)
      int16_t q0_int = (int16_t)(dm_imu.data.quat.q0 * 10000.0f);
      int16_t q1_int = (int16_t)(dm_imu.data.quat.q1 * 10000.0f);
      int16_t q2_int = (int16_t)(dm_imu.data.quat.q2 * 10000.0f);
      int16_t q3_int = (int16_t)(dm_imu.data.quat.q3 * 10000.0f);
      
      // 打包数据：q0(2字节) + q1(2字节) + q2(2字节) + q3(2字节)
      memcpy(&quat_frame.data[0], &q0_int, 2);
      memcpy(&quat_frame.data[2], &q1_int, 2);
      memcpy(&quat_frame.data[4], &q2_int, 2);
      memcpy(&quat_frame.data[6], &q3_int, 2);
      
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);        
    }
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}