#include "gd32e23x.h"
#include <stdio.h>
#include "gpio.h"
#include "adc.h"
#include "pwm.h"
#include "uart.h"
#include "clock.h"
#include "motor.h"
#include "bldc_ctrl.h"
#include "bsp_pid.h"
#include "os_task.h"
#include "RttTask.h"
#include "SEGGER_RTT_Conf.h"
#include "SEGGER_RTT.h"

static void Comm_Task(void *p)
{
	// static uint16_t test_cnt = 0;
	// ++test_cnt;
	// if (test_cnt == 15)
	// {
	// 	timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
	// 	timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
	// }
	// else if (test_cnt > 30)
	// {
	// 	test_cnt = 0;
	// 	timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
	// }
}

int main()
{

	OS_TASK_MSG task_queue[8] = {0};
	InitOSTaskQueue(task_queue, 8);

	Clock_Config();
	GPIO_Init();
	TimerInit();

	UartInit();
	ADC_Init();
	Motor_Init();
	bldcm_init();
	PID_param_init();
	RTT_TaskInit();
	Ostick_config();

	OSTaskCreate(&Comm_Task, 10, 7, NULL);
	OSTaskCreate(&RTT_Task10ms, 1000, 7, NULL);
	OSSchedule(&OS_GetTick);
	while (1)
		;
	return 0;
}