/**
 * @file system_init.c
 * @author 1722451300@qq.com
 * @brief 
 * @version 0.1
 * @date 2021-12-13
 * 
 * @copyright Copyright (c) 2021
 * 
 */
#include "system_init.h"
#include "basic_type.h"
#include "IO_Config.h"
#include "lcd.h"
#include "motor.h"
extern volatile int32_t lcd_issue_motor_speed;//lcd下发的速度单位dsp
extern volatile int32_t speed_dsp_now;//当前电机的速度单位dsp
extern volatile int32_t motor_jerk_state;
extern volatile char lcd_rxbuff[50];
extern volatile int32_t lcd_count;
extern volatile int16_t judge_now_foreward_or_reversal_state;
void ram_clear(void)
{
    /**
 * @brief 初始化内存
 * 
 */
    for (IAAH = 0; IAAH <= 0x03; IAAH++)
    {
        for (IAAL = 0; IAAL < 0xFF; IAAL++)
            IAD = 0x00;
        IAD = 0x00;
    }
}

void gpio_Init(void)
{
    /**
 * @brief gpio初始化
 * 注意PBT3初始化为输出状态
 */
    ANSL = 0xFF; //选择对应端口为数字IO功能
    ANSH = 0xFF; //选择对应端口为数字IO功能
    PAT = 0x00;
    PBT = 0x00; //控制输入输出模式 1为输入
    PCT = 0x00;
    PA = 0x00; //控制电平状态 0是低电平
    PB = 0x00;
    PC = 0x00;
}

void clear_global_variable(void)
{
/**
 * @brief 对全局变量进行清零操作
 * 
 */
    lcd_issue_motor_speed = 0;//lcd下发的速度单位dsp
    speed_dsp_now= 0;//当前电机的速度单位dsp
    motor_jerk_state= 0;
    lcd_rxbuff[50]= 0;
    lcd_count= 0;
    judge_now_foreward_or_reversal_state=0;
}

void set_gie(uint8_t state) {
  /**
   * @brief 参考:ES7P169C_Datasheet_C%20V1.3.pdf:7.5.1
   */
  while (GIE != state) {
    GIE = state;
  }
}

void sys_init(void)
{
    ram_clear();
    //clear_global_variable();
    gpio_Init();
    set_gie(1);
}