/*
    ctrl_chassis Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include <can.h>
#include "module/chassis.h"
#include "component/at9s_pro_cmd.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
chassis_ctrl_eulr_t chassis_ctrl_eulr;
COMP_AT9S_CMD_t chassis_ctrl_cmd_rc;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_chassis(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() / CTRL_CHASSIS_FREQ;

  osDelay(CTRL_CHASSIS_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 */
Motor_Init(CTRL_CHASSIS_FREQ);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_ctrl_cmd_rc, NULL, 0); 
	  osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis_ctrl_eulr.chassis_encoder_yaw, NULL, 0); 

	  chassis_ctrl_eulr.chassis_mech_zero_yaw=4.13f;
////	  chassis_ctrl_eulr.chassis_encoder_yaw=motor_gimbal_yaw.total_angle;
	  chassis_control (chassis_ctrl_eulr,chassis_ctrl_cmd_rc);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}