/*
    monitor Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
static uint8_t servo_direction = 0; // 0: 向90度移动, 1: 向45度移动
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_monitor(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() / MONITOR_FREQ;

  osDelay(MONITOR_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 */
  // 初始化舵机PWM
  // 舵机频率为50Hz
  BSP_PWM_SetFreq(BSP_PWM_TIM1_CH2, 50.0f);
  BSP_PWM_Start(BSP_PWM_TIM1_CH2);
  
  // 设置初始位置为45度
  // 45度对应约1.25ms脉宽，占空比 = 1.25/20 = 0.0625
  BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.0625f);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    // 舵机角度控制
    // 45度: 1.25ms脉宽, 占空比 = 1.25/20 = 0.0625
    // 90度: 1.5ms脉宽, 占空比 = 1.5/20 = 0.075
    
    if (servo_direction == 0) {
      // 移动到90度
      BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.075f);
      servo_direction = 1;
    } else {
      // 移动到45度
      BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.0625f);
      servo_direction = 0;
    }
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}