/*
 * BHBF_ROBOT.h
 *
 *  Created on: Oct 26, 2023
 *      Author: shiya
 */

#ifndef INC_BHBF_ROBOT_H_
#define INC_BHBF_ROBOT_H_




#include "left_right_compensation_control.h"
#include "../../BASE/Inc/BSP/bsp_include.h"

#include "bsp_PV.pb.h"

#include "../../BASE/Inc/MSP/msp_TI5MOTOR.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>

#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
#include "../../BASE/Inc/BSP/bsp_mqtt.h"

#include "../../BASE/Inc/BSP/pb.h"
#include "../../BASE/Inc/MSP/msp_CMCU.h"
#include "../../BASE/Inc/MSP/msp_Dynamometer_Sensor.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/bsp_MB_host.h"



#include "../../BASE/Inc/MSP/msp_TL720D.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "../../BASE/Inc/BSP/DLT/DLTuc.h"

#include "../../BASE/Inc/MSP/msp_U7.h"


#include "../../BASE/Inc/BSP/bsp_mqtt.h"

#include "../../BASE/Inc/BSP/pb.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/bsp_MB_host.h"



#include "../../BASE/Inc/BSP/bsp_DLT_Log.h"
#include "../../BASE/Inc/BSP/bsp_UDP.h"

#include "../../BASE/Inc/BSP/bsp_cpu_flash.h"
#include "../../BASE/Inc/BSP/bsp_qspi_w25q128.h"
#include "../../BASE/Inc/BSP/bsp_UpperComputer_Handler.h"
#include "../../BASE/Inc/MSP/msp_TTMotor_ZQ.h"
#include "../../BASE/Inc/BSP/bsp_Error_Detect.h"
#include "bsp_IV.pb.h"
#include "bsp_PV.pb.h"



typedef struct  sys_timer_handler
{
	int start_timer;
	int sys_current_timer_count;
	int sys_timer_flag;

}Sys_timer_handler;

extern Sys_timer_handler timer_handler_1;
extern Sys_timer_handler timer_handler_2;
extern Sys_timer_handler timer_handler_3;
extern Sys_timer_handler timer_handler_4;

//first start Timer, then WaitTimer
extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
extern void SystemTimer_Intialize();
extern void GF_Timer_Count();




#define DLTViewer 1



extern GV_struct_define GV;
extern IV_struct_define IV;
extern  CV_struct_define CV;
extern PV_struct_define decoded_PV;
extern PV_struct_define _decoded_PV_temp;

void GF_Robot_Init(void);
void GF_Robot_MainLoop(void);
void GF_WatchDog_Loop(void);
void CV_GV_Init();

 extern void SET_BIT_1(int32_t* num,int32_t k);

 extern void SET_BIT_0(int32_t* num,int32_t k);
 extern int32_t Get_BIT(int32_t* num,int32_t k);

//A &= ~(1 << bit)



extern MotorParameters *Motor[3];
extern int32_t *Motor_ID_Errors[3];
extern int32_t* SystemErrorCode;
extern ErrorData* SystemErrorData;




typedef enum _Upper_TakeControl_State
{
	Not_Taken_Over = 0, Taken_Over = 1,
} Upper_TakeControl_State;
typedef enum _Button_Reset_State
{
	Has_Reset = 0, Has_Not_Reset = 1,
} Button_Reset_State;
typedef enum _HardWare_Disconnected_State
{
	CONNECTED = 0, DISCONNECTED = 1,
} HardWare_Disconnected_State;
typedef enum _HardWare_ErrorExisted_State
{
	NOT_ErrorExisted = 0, ErrorExisted = 1,
} HardWare_ErrorExisted_State;




extern TT_MotorParameters* TT_Motor[4];




extern int32_t SystemTimeMiliCount;  //2ms加一

#endif /* INC_BHBF_ROBOT_H_ */