/*
    imu Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "bsp/time.h"
#include "component/ahrs.h"
#include <string.h>
#include <stdint.h>
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* AHRS数据CAN ID定义 */
#define CAN_ID_AHRS_ACCL    0x301  /* 加速度计数据 */
#define CAN_ID_AHRS_GYRO    0x302  /* 陀螺仪数据 */
#define CAN_ID_AHRS_EULR    0x303  /* 欧拉角数据 */
#define CAN_ID_AHRS_QUAT    0x304  /* 四元数数据 */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
AHRS_Accl_t accl;
AHRS_Gyro_t gyro;
AHRS_Eulr_t eulr;
AHRS_Quaternion_t quat;
/* 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();
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    /* 获取加速度计数据并通过CAN发送 - 压缩为16位整数 */
    if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) {
        BSP_CAN_StdDataFrame_t accl_frame;
        accl_frame.id = CAN_ID_AHRS_ACCL;
        accl_frame.dlc = 6;  /* 3个int16_t，每个2字节，共6字节 */
        
        /* 将float转换为int16_t (乘以100，加速度一般在±20g范围内) */
        int16_t x_int = (int16_t)(accl.x * 100);
        int16_t y_int = (int16_t)(accl.y * 100);
        int16_t z_int = (int16_t)(accl.z * 100);
        
        memcpy(&accl_frame.data[0], &x_int, sizeof(int16_t));
        memcpy(&accl_frame.data[2], &y_int, sizeof(int16_t));
        memcpy(&accl_frame.data[4], &z_int, sizeof(int16_t));
        
        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
    }
    
    /* 获取陀螺仪数据并通过CAN发送 - 压缩为16位整数 */
    if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) {
        BSP_CAN_StdDataFrame_t gyro_frame;
        gyro_frame.id = CAN_ID_AHRS_GYRO;
        gyro_frame.dlc = 6;  /* 3个int16_t，每个2字节，共6字节 */
        
        /* 将float转换为int16_t (乘以10，陀螺仪一般在±2000°/s范围内) */
        int16_t x_int = (int16_t)(gyro.x * 10);
        int16_t y_int = (int16_t)(gyro.y * 10);
        int16_t z_int = (int16_t)(gyro.z * 10);
        
        memcpy(&gyro_frame.data[0], &x_int, sizeof(int16_t));
        memcpy(&gyro_frame.data[2], &y_int, sizeof(int16_t));
        memcpy(&gyro_frame.data[4], &z_int, sizeof(int16_t));
        
        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
    }
    
    /* 获取欧拉角数据并通过CAN发送 - 压缩为16位整数 */
    if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) {
        BSP_CAN_StdDataFrame_t eulr_frame;
        eulr_frame.id = CAN_ID_AHRS_EULR;
        eulr_frame.dlc = 6;  /* 3个int16_t，每个2字节，共6字节 */
        
        /* 将角度转换为int16_t (乘以100，角度范围-180~180°，精度0.01°) */
        int16_t yaw_int = (int16_t)(eulr.yaw * 100);
        int16_t pit_int = (int16_t)(eulr.pit * 100);
        int16_t rol_int = (int16_t)(eulr.rol * 100);
        
        memcpy(&eulr_frame.data[0], &yaw_int, sizeof(int16_t));
        memcpy(&eulr_frame.data[2], &pit_int, sizeof(int16_t));
        memcpy(&eulr_frame.data[4], &rol_int, sizeof(int16_t));
        
        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame);
    }
    
    /* 获取四元数数据并通过CAN发送 - 压缩为16位整数 */
    if (osMessageQueueGet(task_runtime.msgq.imu.quat, &quat, NULL, 0) == osOK) {
        BSP_CAN_StdDataFrame_t quat_frame;
        quat_frame.id = CAN_ID_AHRS_QUAT;
        quat_frame.dlc = 8;  /* 4个int16_t，每个2字节，共8字节 */
        
        /* 将四元数转换为int16_t (乘以32000，四元数范围-1~1，充分利用int16_t范围) */
        int16_t q0_int = (int16_t)(quat.q0 * 32000);
        int16_t q1_int = (int16_t)(quat.q1 * 32000);
        int16_t q2_int = (int16_t)(quat.q2 * 32000);
        int16_t q3_int = (int16_t)(quat.q3 * 32000);
        
        memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t));
        memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));
        memcpy(&quat_frame.data[4], &q2_int, sizeof(int16_t));
        memcpy(&quat_frame.data[6], &q3_int, sizeof(int16_t));
        
        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
    }

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