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

#ifndef INC_BHBF_ROBOT_H_
#define INC_BHBF_ROBOT_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_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_CMCU.h"
#include "../../BASE/Inc/MSP/msp_T_F4.h"
#include "../../BASE/Inc/MSP/msp_PaintThickness.h"
#include "../../BASE/Inc/MSP/msp_Ultrasonic_Sensor.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"
//#include "msp_pressure_sensor.h"
//#include "robot_state.h"
//FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
//#define VECT_TAB_OFFSET         0x00020000U

//关键全局变量定义：GV、CV、PV
//其他变量定义：X1_X2_X3_X4
//X1：变量类型
//X2：所属层级 GL、MSP、BSP
//X3：所属模块
//X4：名称

//全局变量定义 X1=V
//宏定义 X1=DF
//结构体类型声明 X1=SP
//结构体定义 X1=ST
//指针类型定义 X1=P
//全局函数定义 X1=GF
//内部函数定义 X1为空，不要下划线，X2开头
//函数参数定义、函数局部变量定义  X1为空，下划线开头


#define DLTViewer 1







extern GV_struct_define GV;
//extern  PV_struct_define PV;
extern IV_struct_define IV;
extern  CV_struct_define CV;


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;
//Error Bit Define

#define AngleEncoderErrorBitFlag 		0
#define DAM_Relay_ErrorBitFlag 			1
#define DH_CAN_Remote_Controller_1E4 	2
#define DH_CAN_Remote_Controller_2E4	3
#define DH_Remote						4
#define force_sensor					5
#define LeiSai_ISV2CAN					6
#define mk32_sbus 						7
#define steering_engine					8
#define Weld_seam_Tracking				9

#define Ti5_1							11
#define Ti5_2							12
#define Ti5_3							13
#define Ti5_4							14
#define Ti5_5							15
#define Ti5_6							16

#define TL720D 							17


#define ZQ_CAN_ID1_LeftMotor			18
#define ZQ_CAN_ID2_RightMotor			19
#define ZQ_CAN_ID3_SwingMotor			20
#define wire_sensor						21

#define  DHRougheningController			22
#define DAM040D_Relay_ErrorBitFlag 		23

#define DMAKE_1 		24
#define DMAKE_2 		25
#define DMAKE_3 		26
#define pressure_sensor					27
#define u7_sbus 						28




extern TT_MotorParameters* TT_Motor[4];




#endif /* INC_BHBF_ROBOT_H_ */