/**
 ****************************************************************************************************
 * @file        bsp_delay.c
 * @author      
 * @version     V1.0
 * @date        2024-02-10
 * @brief       main
 ****************************************************************************************************
 */

/*app*********************************************************************************************/
//#include "app_demo.h"


/*kit*********************************************************************************************/
#include "kit_debug.h"

/*bsp*********************************************************************************************/
#include "bsp_delay.h"
#include "bsp_led.h"
#include "bsp_task.h"
#include "bsp_iic.h"
#include "bsp_can.h"
#include "bsp_spi.h"
#include "bsp_flash.h"

/*drv*********************************************************************************************/
#include "drv_sys.h"
#include "drv_usart.h"
#include "drv_gpio.h"
/*uC/OS-III*********************************************************************************************/
#include "os.h"


OS_TCB    StartTask1_TCB;                  /* 任务控制块 */

void poll_start_task1_init(void)
{
	HAL_Init();                         /* 初始化HAL库 */
    sys_stm32_clock_init(336, 8, 2, 7); /* 设置时钟,168Mhz */
    delay_init(168);                    /* 延时初始化 */
    //led_init();                         /* 初始化LED */
	InitGPIOs(); 						/* 初始化GPIO */
	uint32_t userBaudRate = 115200;  // 这里可以设置用户需要的波特率
    InitUARTs(userBaudRate);  // 使用用户指定的波特率初始化UART
	can_init(CAN_SJW_1TQ, CAN_BS2_6TQ, CAN_BS1_7TQ, 6, CAN_MODE_LOOPBACK);  /* CAN初始化, 正常模式, 波特率500Kbps */
	iic_init();
}

void poll_start_task1_handler(uint32_t baseTime)
{
	uint8_t canbuf[8];
	uint8_t rxlen = 0;
	uint8_t res;
	 //task1(baseTime);
	while(1)
	{
		//CAN1 test:
		for (uint8_t i = 0; i < 8; i++)
		{
			canbuf[i] = 1 + i; /* 填充发送缓冲区 */
		}
		res = can_send_msg(0X66, canbuf, 8); /* ID = 0X66, 发送8个字节 */
		if(res)
		{
			//发送成功
		}
		rxlen = can_receive_msg(0X66, canbuf); /* CAN ID = 0X66, 接收数据查询 */
		if(rxlen)
		{
			//接收成功
		}
	}
}

void poll_start_task2_handler(uint32_t baseTime)
{
	 //task2(baseTime);
	while(1)
	{
		
	}
}


// name,id,_prio,_period,_,_timeout,init_call,_ask_call,stack_size
TASK_STATIC_INIT_CCM(poll_start_task1, 1, 2, 500, 2000,  poll_start_task1_init, poll_start_task1_handler, 400);
TASK_STATIC_INIT_CCM(poll_start_task2, 2, 5, 1000, 2000,  NULL, poll_start_task2_handler, 400);

int main(void)
{

	
	
    OS_ERR err;
//		KIT_DEBUG_PRINTF("12323 \r\n");
    /* 关闭所有中断 */
	  CPU_IntDis();
	
    KIT_DEBUG_PRINTF("BMS start \r\n");

    /* 初始化uC/OS-III */
    OSInit(&err);
	
	bsp_task_creat(&poll_start_task1,(uint8_t *)"poll_start_task1");
	bsp_task_creat(&poll_start_task2,(uint8_t *)"poll_start_task2");

    /* 开始任务调度 */
    OSStart(&err);
}