/*
    blink Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */

#include "bsp/bsp.h"
#include "bsp/fdcan.h"
// #include "bsp/pwm.h"
#include <math.h>
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
  BSP_FDCAN_Message_t msg1={0};
    BSP_FDCAN_Message_t msg2={0};
      BSP_FDCAN_Message_t msg3={0};
/* USER STRUCT END */
float rxlevel=0;
/* Private function --------------------------------------------------------- */

/* Exported functions ------------------------------------------------------- */
void Task_blink(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() / BLINK_FREQ;

  osDelay(BLINK_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_PWM_Stop(BSP_PWM_LED_R);
  // BSP_PWM_Stop(BSP_PWM_LED_B);
  // BSP_PWM_SetComp(BSP_PWM_LED_G, 0.0f);
  // BSP_PWM_Start(BSP_PWM_LED_G);

  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
 HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);

  BSP_FDCAN_Init();
  // 注册要接收的 CAN ID（示例）
  BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
  BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
  BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);

  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    // 呼吸灯 - 基于tick的正弦波
    // float duty = (sinf(tick * 0.003f) + 1.0f) * 0.5f; // 0到1之间的正弦波，加快频率
    // BSP_PWM_SetComp(BSP_PWM_LED_G, duty);

    // 测试：向三路 CAN 周期性发送电机控制帧（示例数据），并轮询接收
    {
      uint8_t data1[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
      uint8_t data2[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
      uint8_t data3[32] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08,
                           0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x10,
                           0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18,
                           0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20};

      // 简单 CRC/校验（可选）
      data1[7] = data1[0] ^ data1[1] ^ data1[2];
      data2[7] = data2[0] ^ data2[1] ^ data2[2];
      // data3[7] = data3[0] ^ data3[1] ^ data3[2];

      // 使用 BSP 封装的发送接口（非阻塞，若硬件 FIFO 满则内部入队）
      // BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8);
      // BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8);
      BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 13);

      if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
      }
      if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
      }
      if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
      }
      rxlevel=HAL_FDCAN_GetRxFifoFillLevel(BSP_FDCAN_GetHandle(BSP_FDCAN_2), FDCAN_RX_FIFO1); 
    } 
//	osDelay(10);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}