/*
    chassis_control Task
    一个底盘测试任务
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "cmsis_os2.h"
#include "module/chassis.h"
#include "bsp/time.h"
//#include "component\cmd.h"
#include "device/dr16.h"
#include "component\ahrs.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
static Chassis_t chassis;            // 底盘控制对象
static ChassisCmd_t chassis_cmd;     // 底盘控制指令
static Chassis_CAN_t chassis_can;    // 底盘 CAN 通信对象
static AHRS_Eulr_t mech_zero;        // 底盘初始机械零点

DR16_t dr16;
#define DR16_CH_VALUE_MID (1024u)
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_chassis_control(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() / CHASSIS_CONTROL_FREQ;

  osDelay(CHASSIS_CONTROL_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 */
    DR16_Init(&dr16);
    //DR16_StartDmaRecv(&dr16);
//		const Chassis_Params_t chassis_param;
//		Chassis_Init(&chassis, &chassis_param, &mech_zero, (float)CHASSIS_CONTROL_FREQ);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
		DR16_StartDmaRecv(&dr16);
	  if (DR16_WaitDmaCplt(20))   // timeout = 20ms
    {
        Chassis_UpdateFeedback(&chassis, &chassis_can);
        // 构造底盘指令 
        chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
        // 左摇杆控制前后、左右
        chassis_cmd.ctrl_vec.vx = (dr16.data.ch_l_y - DR16_CH_VALUE_MID) * 0.002f;  // 前后
        chassis_cmd.ctrl_vec.vy = (dr16.data.ch_l_x - DR16_CH_VALUE_MID) * 0.002f;  // 左右
        // 右摇杆控制旋转
        chassis_cmd.ctrl_vec.wz = (dr16.data.ch_r_x - DR16_CH_VALUE_MID) * 0.001f;  // 旋转
        // 控制计算
        Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
        // 输出电流到电机   
        Chassis_DumpOutput(&chassis, &chassis_can);
    }
		 else {
     DR16_Offline(&dr16);
    }
//    DR16_StartDmaRecv(&dr16);
//    if (DR16_WaitDmaCplt(20)) {
//      DR16_ParseData(&dr16);
//    } else {
//      DR16_Offline(&dr16);
//    }
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}