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


#include "bsp_FDCAN.h"




//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

}