#include "app/app.h"
#include "bsp/bsp.h"
#include "os/os_task.h"
#include "libs/logger.h"
#include "libs/utils.h"
#include "foc/motor/motor.h"
#include "foc/samples.h"
#include "prot/can_foc_msg.h"
#include "prot/can_message.h"
#include "libs/time_measure.h"
#include "app/nv_storage.h"

static u32 _app_low_task(void *args);
extern void PMSM_FOC_LogDebug(void);
extern measure_time_t g_meas_hall;
extern measure_time_t g_meas_foc;
extern measure_time_t g_meas_timeup;
static void mc_exec_log(void) {
	sys_debug("intval = %d, exec = %d, err = %d, %d, %d, count = %d\n", g_meas_foc.intval_time, g_meas_foc.exec_time, g_meas_foc.intval_time_error, g_meas_foc.intval_low_err, g_meas_foc.intval_hi_err, g_meas_foc.exec_count);
	sys_debug("timeup intval = %d, err = %d\n\n", g_meas_timeup.intval_time, g_meas_timeup.intval_time_error);
	PMSM_FOC_LogDebug();
}

void app_start(void){
	set_log_level(MOD_SYSTEM, L_debug);
	can_message_init();
	restore_config();
	mc_init();
	shark_task_create(_app_low_task, NULL);

	sys_debug("mc start\n");
	shark_task_run();
}

static void _can_report_info(void) {
	//can_report_speed(0x45, PMSM_FOC_GetSpeed());
}


static u32 _app_low_task(void *args) {
	wdog_reload();
	_can_report_info();
	mc_exec_log();
	return 1000;
}