/*
    Task_atti_esti Task
*/

/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"

#include "device\bmi088.h"
#include "component\ahrs.h"
#include "device\ist8310.h"
#include "component/pid.h"
#include "bsp/pwm.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

BMI088_t bmi088;
IST8310_t ist8310;

AHRS_t gimbal_ahrs;
AHRS_Eulr_t eulr_to_send;

KPID_t imu_temp_ctrl_pid;

uint16_t N=0;
float sum_x = 0, sum_y = 0, sum_z = 0;

static const KPID_Params_t imu_temp_ctrl_pid_param = {
    .k = 0.5f,
    .p = 1.0f,
    .i = 0.0f,
    .d = 0.0f,
    .i_limit = 1.0f,
    .out_limit = 1.0f,
};

BMI088_Cali_t bmi_cali={0.00176034111f,0.000634364958f,0.000980574405f};//////暂时使用,学习flash后更改添加初始化代码
IST8310_Cali_t ist_cali = {
    .magn_offset = {0,0,0}, // 零偏，初始设为0
    .magn_scale  = {0,0,0}  // 比例因子，初始设为1
};
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief Task_atti_esti Task
 *
 * \param argument 未使用
 */
void Task_atti_esti(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */
	BMI088_Init(&bmi088, &bmi_cali/*(task_runtime.cfg.cali.bmi088)*/);//校准数据，学习flash或直接传入
//	IST8310_Init(&ist8310, &ist_cali/*(task_runtime.cfg.cali.ist8310)*/);
	AHRS_Init(&gimbal_ahrs, &ist8310.magn, BMI088_GetUpdateFreq(&bmi088));
	PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
	BSP_PWM_Start(BSP_PWM_IMU_HEAT);
	
  /* 计算任务运行到指定频率需要等待的tick数 */
  const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ATTI_ESTI;

  osDelay(TASK_INIT_DELAY_ATTI_ESTI); /* 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 */
	
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    
    /*User code begin*/

    /* 记录任务所使用的的栈空间 */
    task_runtime.stack_water_mark.atti_esti =
        osThreadGetStackSpace(osThreadGetId());

	/* 等待IMU新数据 */
    BMI088_WaitNew();

    /* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口，
     * 一次只能开启一个DMA
     */
	BMI088_AcclStartDmaRecv();
    BMI088_AcclWaitDmaCplt();

    BMI088_GyroStartDmaRecv();
    BMI088_GyroWaitDmaCplt();
	  
//	IST8310_WaitNew(999);  

//	IST8310_StartDmaRecv();
//	IST8310_WaitDmaCplt();
	/* 锁住RTOS内核防止数据解析过程中断，造成错误 */
    osKernelLock();
    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
    BMI088_ParseAccl(&bmi088);
    BMI088_ParseGyro(&bmi088);
//    IST8310_Parse(&ist8310);


//	if(N<1000){
//	
//    sum_x += bmi088.gyro.x;
//	sum_y += bmi088.gyro.y;
//	sum_z += bmi088.gyro.z;
//		
//	N++;
//	}else{
//    bmi_cali.gyro_offset.x = sum_x / 1000;
//    bmi_cali.gyro_offset.y = sum_y / 1000;
//    bmi_cali.gyro_offset.z = sum_z / 1000;
//	}

    /* 根据设备接收到的数据进行姿态解析 */
    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &ist8310.magn);

    /* 根据解析出来的四元数计算欧拉角 */
    AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
    osKernelUnlock();
	
	osMessageQueueReset(task_runtime.msgq.accl);
    osMessageQueuePut(task_runtime.msgq.accl, &bmi088.accl, 0, 0);
	osMessageQueuePut(task_runtime.msgq.accl, &bmi088.accl, 0, 0);
	osMessageQueueReset(task_runtime.msgq.gyro);
    osMessageQueuePut(task_runtime.msgq.gyro, &bmi088.gyro, 0, 0);
	osMessageQueuePut(task_runtime.msgq.gyro, &bmi088.gyro, 0, 0);
	osMessageQueueReset(task_runtime.msgq.eulr_imu);
    osMessageQueuePut(task_runtime.msgq.eulr_imu, &eulr_to_send, 0, 0);

	BSP_PWM_Set(BSP_PWM_IMU_HEAT,
                PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));  
    /*User code end*/

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