/*
    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;
/* 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 */
    /* USER CODE BEGIN */
    if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
      // 发送加速度计数据 (ID: 0x66) - 前8字节 (x, y)
      BSP_CAN_StdDataFrame_t accl_frame = {
        .id = 0x66,
        .dlc = 8,
        .data = {0}
      };
      memcpy(accl_frame.data, &dm_imu.data.accl, 8);
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
      
      // 发送陀螺仪数据 (ID: 0x67) - 前8字节 (x, y)
      BSP_CAN_StdDataFrame_t gyro_frame = {
        .id = 0x67,
        .dlc = 8,
        .data = {0}
      };
      memcpy(gyro_frame.data, &dm_imu.data.gyro, 8);
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
      
      // 发送欧拉角数据 (ID: 0x68) - 前8字节 (yaw, pit)
      BSP_CAN_StdDataFrame_t euler_frame = {
        .id = 0x68,
        .dlc = 8,
        .data = {0}
      };
      memcpy(euler_frame.data, &dm_imu.data.euler, 8);
      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &euler_frame);
      
      // // 发送四元数数据 (ID: 0x69) - 前8字节 (q0, q1)
      // BSP_CAN_StdDataFrame_t quat_frame = {
      //   .id = 0x69,
      //   .dlc = 8,
      //   .data = {0}
      // };
      // memcpy(quat_frame.data, &dm_imu.data.quat, 8);
      // BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
    }
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}