#include "system.h"

//Robot software fails to flag bits
//机器人软件失能标志位
u8 Flag_Stop=1;   

//The ADC value is variable in segments, depending on the number of car models. Currently there are 6 car models
//ADC值分段变量，取决于小车型号数量，目前有6种小车型号
int Divisor_Mode;

// Robot type variable
//机器人型号变量
//0=Mec_Car，1=Omni_Car，2=Akm_Car，3=Diff_Car，4=FourWheel_Car，5=Tank_Car
u8 Car_Mode=4; 

//Servo control PWM value, Ackerman car special
//舵机控制PWM值，阿克曼小车专用
int Servo = SERVO_INIT;

//Default speed of remote control car, unit: mm/s
//遥控小车的默认速度，单位：mm/s
float RC_Velocity=500; 

//Vehicle three-axis target moving speed, unit: m/s
//小车三轴目标运动速度，单位：m/s
float Move_X, Move_Y, Move_Z;   

//PID parameters of Speed control
//速度控制PID参数
float Velocity_KP=300,Velocity_KI=800; 

//Smooth control of intermediate variables, dedicated to omni-directional moving cars
//平滑控制中间变量，全向移动小车专用
Smooth_Control smooth_control;  

//The parameter structure of the motor
//电机的参数结构体
Motor_parameter MOTOR_A,MOTOR_B,MOTOR_C,MOTOR_D;  

/************ 小车型号相关变量 **************************/
/************ Variables related to car model ************/
//Encoder accuracy
//编码器精度
float Encoder_precision; 
//Wheel circumference, unit: m
//轮子周长，单位：m
float Wheel_perimeter; 
//Drive wheel base, unit: m
//主动轮轮距，单位：m
float Wheel_spacing; 
//The wheelbase of the front and rear axles of the trolley, unit: m
//小车前后轴的轴距，单位：m
float Axle_spacing; 
//All-directional wheel turning radius, unit: m
//全向轮转弯半径，单位：m
float Omni_turn_radiaus; 
/************ 小车型号相关变量 **************************/
/************ Variables related to car model ************/

//PS2 controller, Bluetooth APP, aircraft model controller, CAN communication, serial port 1, serial port 5 communication control flag bit.
//These 6 flag bits are all 0 by default, representing the serial port 3 control mode
//PS2手柄、蓝牙APP、航模手柄、CAN通信、串口1、串口5通信控制标志位。这6个标志位默认都为0，代表串口3控制模式
u8 PS2_ON_Flag=0, APP_ON_Flag=0, Remote_ON_Flag=0, CAN_ON_Flag=0, Usart1_ON_Flag, Usart5_ON_Flag; 

//Bluetooth remote control associated flag bits
//蓝牙遥控相关的标志位
u8 Flag_Left, Flag_Right, Flag_Direction=0, Turn_Flag; 

//Sends the parameter's flag bit to the Bluetooth APP
//向蓝牙APP发送参数的标志位
u8 PID_Send; 

//The PS2 gamepad controls related variables
//PS2手柄控制相关变量
float PS2_LX,PS2_LY,PS2_RX,PS2_RY,PS2_KEY; 

//Self-check the relevant flag variables
//自检相关标志变量
int Check=0, Checking=0, Checked=0, CheckCount=0, CheckPhrase1=0, CheckPhrase2=0; 

//Check the result code
//自检结果代码
long int ErrorCode=0; 

void systemInit(void)
{       
	
//	//Interrupt priority group setti  ng
//	//中断优先级分组设置
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
//	
//	//Delay function initialization
//	//延时函数初始化
	delay_init(168);	
	
	//Initialize the hardware interface connected to the LED lamp
	//初始化与LED灯连接的硬件接口
	LED_Init();                     
	    
  //Initialize the hardware interface connected to the buzzer	
  //初始化与蜂鸣器连接的硬件接口
	Buzzer_Init();  
	
	//Initialize the hardware interface connected to the enable switch
	//初始化与使能开关连接的硬件接口
	Enable_Pin();

  //Initialize the hardware interface connected to the OLED display
  //初始化与OLED显示屏连接的硬件接口	
	OLED_Init();     
	
	//Initialize the hardware interface connected to the user's key
	//初始化与用户按键连接的硬件接口
	KEY_Init();	
	
	//Serial port 1 initialization, communication baud rate 115200, 
	//can be used to communicate with ROS terminal
	//串口1初始化，通信波特率115200，可用于与ROS端通信
	uart1_init(115200);	  
	
	//Serial port 2 initialization, communication baud rate 9600, 
	//used to communicate with Bluetooth APP terminal
	//串口2初始化，通信波特率9600，用于与蓝牙APP端通信
	uart2_init(9600);  
	
	//Serial port 3 is initialized and the baud rate is 115200. 
	//Serial port 3 is the default port used to communicate with ROS terminal
	//串口3初始化，通信波特率115200，串口3为默认用于与ROS端通信的串口
	uart3_init(115200);
	
	//Serial port 5 initialization, communication baud rate 115200, 
	//can be used to communicate with ROS terminal
	//串口5初始化，通信波特率115200，可用于与ROS端通信
	uart5_init(115200);

	//ADC pin initialization, used to read the battery voltage and potentiometer gear, 
	//potentiometer gear determines the car after the boot of the car model
	//ADC引脚初始化，用于读取电池电压与电位器档位，电位器档位决定小车开机后的小车适配型号
 	Adc_Init();  
	Adc_POWER_Init();
	
	//Initialize the CAN communication interface
  //CAN通信接口初始化
	CAN1_Mode_Init(1,7,6,3,0); 
	
  //According to the tap position of the potentiometer, determine which type of car needs to be matched, 
  //and then initialize the corresponding parameters	
  //根据电位器的档位判断需要适配的是哪一种型号的小车，然后进行对应的参数初始化	
	Robot_Select();                 
	
	 //Encoder A is initialized to read the real time speed of motor C  
  //编码器A初始化，用于读取电机C的实时速度	
	 Encoder_Init_TIM2();
	//Encoder B is initialized to read the real time speed of motor D
  //编码器B初始化，用于读取电机D的实时速度	
	  Encoder_Init_TIM3();   
	//Encoder C is initialized to read the real time speed of motor B
  //编码器C初始化，用于读取电机B的实时速度	
	  Encoder_Init_TIM4(); 
	//Encoder D is initialized to read the real time speed of motor A
	//编码器D初始化，用于读取电机A的实时速度
		Encoder_Init_TIM5(); 
	
	//定时器12用作舵机的PWM接口
		TIM12_SERVO_Init(9999,84-1);  //APB1的时钟频率为84M , 频率=84M/((9999+1)*(83+1))=100Hz
		
		//普通小车默认定时器8用作航模接口
   // TIM8_SERVO_Init(9999,168-1);//APB2的时钟频率为168M , 频率=168M/((9999+1)*(167+1))=100Hz
	 //Initialize the model remote control interface		
	 //初始化航模遥控接口
	 TIM8_Cap_Init(9999,168-1);  //高级定时器TIM8的时钟频率为168M    

  //Initialize motor speed control and, for controlling motor speed, PWM frequency 10kHz
  //初始化电机速度控制以及，用于控制电机速度，PWM频率10KHZ
  //APB2时钟频率为168M，满PWM为16799，频率=168M/((16799+1)*(0+1))=10k
		TIM1_PWM_Init(16799,0);
		TIM9_PWM_Init(16799,0);
		TIM10_PWM_Init(16799,0);
		TIM11_PWM_Init(16799,0);
		
  //IIC initialization for MPU6050 
  //IIC初始化，用于MPU6050  
	I2C_GPIOInit();

  //MPU6050  is initialized to read the vehicle's three-axis attitude, 
	//three-axis angular velocity and three-axis acceleration information
  //MPU6050 初始化，用于读取小车三轴姿态、三轴角速度、三轴加速度信息
   MPU6050_initialize();        		
	
	//Initialize the hardware interface to the PS2 controller
	//初始化与PS2手柄连接的硬件接口
	PS2_Init();
	
	//PS2 gamepad configuration is initialized and configured in analog mode
  //PS2手柄配置初始化,配置为模拟量模式	
	PS2_SetInit();		 							
}