/*
 * BHBF_ROBOT.c
 *
 *  Created on: Oct 26, 2023
 *      Author: shiya
 */
#include "fsm.h"
#include "BHBF_ROBOT.h"
#include <string.h>
#include "bsp_FDCAN.h"

int32_t SystemTimeMiliCount;  //2ms加一

//初始化定时器
Sys_timer_handler timer_handler_1;
Sys_timer_handler timer_handler_2;
Sys_timer_handler timer_handler_3;
Sys_timer_handler timer_handler_4;

//7 motors
MotorParameters *Motor[3];
//Motor Error
int32_t *Motor_ID_Errors[3] =
{ 0 };
//ComError

int32_t* SystemErrorCode;
ErrorData* SystemErrorData;
TT_MotorParameters* TT_Motor[4];

//Declare a CV and initialize CV
CV_struct_define CV =
{ 0 };
//Declare a GV and initialize      CV
GV_struct_define GV =
{ 0 };
//Declare a PV and initialize CV

//PV_struct_define PV ={ 0 };


IV_struct_define IV ={ 0 };

void GF_MainLoop_Jump(int32_t Next_Index_U, int32_t Next_Index_N);


void SET_BIT_1(int32_t* num,int32_t k)
{
	*num=((*num) | (1 << (k)));
}
void SET_BIT_0(int32_t* num,int32_t k)
{
	*num=((*num) & ~(1 << (k)));
}
int32_t Get_BIT(int32_t* num,int32_t k)
{
  // return (*num >> (k -1)) & 1;
   return (*num >> (k)) & 1;
}

//100ms执行一次
void GF_WatchDog_Loop()
{
//硬件看门狗复位
	//HAL_GPIO_TogglePin(RST_WDI_GPIO_Port, RST_WDI_Pin); //Hardware Watchdog,kicking the dog

	//硬件看门狗复位

}

//比较计数值
bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
{
	if(timer_handler->start_timer==1)
	{
		timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount;
		timer_handler->start_timer=0;
	}
	if(timer_handler->sys_current_timer_count<=SystemTimeMiliCount)
	{
		return true;
	}else
	{
		return false;
	}

}
//定时数数
void GF_Timer_Count()
{
	SystemTimeMiliCount++;
}
//将数数写入定时器
void SystemTimer_Intialize()
{
	SystemTimeMiliCount=0;
	GF_BSP_Interrupt_Add_CallBack(
			DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count);
}