//
// Created by ZK on 24-5-10.
//

#include "APP_Task.h"
#include "APP_Main.h"
#include "Angle.h"
#include "InteriorADC.h"
#include "Controller/Controller.h"


float CurrA, CurrB, CurrC;
float Current_Temp, V_Temp;
//float32_t NowAngle;

float Current_Temp1, ii = 0.0f, iii = 0.0f;

#define PWM_FREQUENCY          24000
#define CURRENT_MEASURE_HZ     PWM_FREQUENCY
#define CURRENT_MEASURE_PERIOD (float) (1.0f / (float) CURRENT_MEASURE_HZ)

#define TIMER0_CLK_MHz         168
#define PWM_PERIOD_CYCLES      (uint16_t)((TIMER0_CLK_MHz * (uint32_t) 1000000u / ((uint32_t) (PWM_FREQUENCY))) & 0xFFFE)
#define HALF_PWM_PERIOD_CYCLES (uint16_t)(PWM_PERIOD_CYCLES / 2U)


void High_Frequency_Task() {

    ii += 0.000001f;
//    if (ii == 0.1f) { ii = 0.1f-0.00001f; }
    iii += 0.1f;
    if (iii >= 360.0f) { iii = 0.0f; }

    Generate(0, 0.02f, iii);
//    SendCurrent_Vofa(FOC.dtc_a, iii, (uint16_t) (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES));
    TIM1->CCR1 = (uint16_t) (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES);
    TIM1->CCR2 = (uint16_t) (FOC.dtc_b * (float) HALF_PWM_PERIOD_CYCLES);
    TIM1->CCR3 = (uint16_t) (FOC.dtc_c * (float) HALF_PWM_PERIOD_CYCLES);

//    SendCurrent_Vofa((ADC1->JDR1)/4096.0f*3.3f/0.005f/7.33333f, 0, 0);
}