#ifndef __USRATX_H
#define __USRATX_H 

#include "stdio.h"
#include "sys.h"
#include "system.h"

#define DATA_STK_SIZE   512 
#define DATA_TASK_PRIO  4

#define FRAME_HEADER      0X7B //Frame_header //֡ͷ
#define FRAME_TAIL        0X7D //Frame_tail   //֡β
//Frame grew 24 -> 44: appended session_id(4) + two 64-bit sample
//timestamps(8+8) before the checksum/tail. Bytes 0..21 keep the legacy
//layout so old parsers stay compatible; new fields live in the tail.
//֡�� 24 -> 44����У��/֡βǰ׷���� session_id(4) �������� 64λ����ʱ���(8+8)��
//�ֽ� 0..21 ���ֽ�ϲ��֣��¾ֽ���β����
#define SEND_DATA_SIZE    44
#define RECEIVE_DATA_SIZE 11

/*****A structure for storing triaxial data of a gyroscope accelerometer*****/
/*****���ڴ�������Ǽ��ٶȼ��������ݵĽṹ��*********************************/
typedef struct __Mpu6050_Data_ 
{
	short X_data; //2 bytes //2���ֽ�
	short Y_data; //2 bytes //2���ֽ�
	short Z_data; //2 bytes //2���ֽ�
}Mpu6050_Data;

/*******The structure of the serial port sending data************/
/*******���ڷ������ݵĽṹ��*************************************/
typedef struct _SEND_DATA_  
{
	unsigned char buffer[SEND_DATA_SIZE];
	struct _Sensor_Str_
	{
		unsigned char Frame_Header; //1���ֽ�
		short X_speed;	            //2 bytes //2���ֽ�
		short Y_speed;              //2 bytes //2���ֽ�
		short Z_speed;              //2 bytes //2���ֽ�
		short Power_Voltage;        //2 bytes //2���ֽ�
		Mpu6050_Data Accelerometer; //6 bytes //6���ֽ�
		Mpu6050_Data Gyroscope;     //6 bytes //6���ֽ�
		unsigned int  Session_Id;         //4 bytes: MCU boot session ID //��MCU�����ỰID
		unsigned long long Speed_Time_us; //8 bytes: encoder sample time //�������������ʱ��
		unsigned long long Imu_Time_us;   //8 bytes: IMU sample time //IMU����ʱ��
		unsigned char Frame_Tail;   //1 bytes //1���ֽ�
	}Sensor_Str;
}SEND_DATA;

typedef struct _RECEIVE_DATA_  
{
	unsigned char buffer[RECEIVE_DATA_SIZE];
	struct _Control_Str_
	{
		unsigned char Frame_Header; //1 bytes //1���ֽ�
		float X_speed;	            //4 bytes //4���ֽ�
		float Y_speed;              //4 bytes //4���ֽ�
		float Z_speed;              //4 bytes //4���ֽ�
		unsigned char Frame_Tail;   //1 bytes //1���ֽ�
	}Control_Str;
}RECEIVE_DATA;

//Sample timestamps captured at acquisition time by their owning tasks, and
//the per-boot session ID. Read by data_transition() when packing the frame.
//�ɸ��Բɼ��������ڲ���˲�����¼������ʱ���������ϵͳ���лỰID��
//�� data_transition() ���֡ʱ��ȡ��
extern volatile unsigned long long g_speed_sample_time_us;
extern volatile unsigned long long g_imu_sample_time_us;
extern volatile unsigned int g_session_id;

void data_task(void *pvParameters);
void data_transition(void);
void USART1_SEND(void);
void USART3_SEND(void);
void USART5_SEND(void);

void CAN_SEND(void);
void uart1_init(u32 bound);
void uart2_init(u32 bound);
void uart3_init(u32 bound);
void uart3_dma_tx_init(void);
void uart5_init(u32 bound);

int USART1_IRQHandler(void);
int USART2_IRQHandler(void);
int USART3_IRQHandler(void);
int UART5_IRQHandler(void);

float Vz_to_Akm_Angle(float Vx, float Vz);
float XYZ_Target_Speed_transition(u8 High,u8 Low);
void usart1_send(u8 data);
void usart2_send(u8 data);
void usart3_send(u8 data);
void usart5_send(u8 data);

u8 Check_Sum(unsigned char Count_Number,unsigned char Mode);


#endif