/*
 * sense.hpp
 *
 *  Created on: Jun 17, 2024
 *      Author: carlos
 */

#ifndef INC_TASKS_SENSE_HPP_
#define INC_TASKS_SENSE_HPP_

#include <sta/tacos.hpp>
#include <sta/devices/stm32/adc.hpp>
#include <sta/devices/stm32/bus/spi.hpp>

namespace tasks
{
	class SenseTask : public sta::tacos::TacosThread
	{
	public:
		SenseTask(ADC_HandleTypeDef *handle);

		void init() override;

		void func() override;

	private:
		sta::STM32ADC adc_;
		uint16_t dmaBuffer_[6];
		size_t bufferSize_ = 6;
		uint16_t result_[6];

		CanSysMsg msg_;
		uint16_t result_counter_ = 0;
	};
} // namespace tasks

#endif /* INC_TASKS_SENSE_HPP_ */