#include "control.h"
#include "stm32g4xx_hal.h"
#include "cmsis_os.h"
//#include "menu.h"
//#include "buzzer.h"
#include <stdio.h>

#define BEEP_TIME               1000

//SemaphoreHandle_t  semphEncoder;

bool encInit = false;
bool encDir = false;

TIM_HandleTypeDef htim2;


//
void init_encoder(void)
{
    TIM_Encoder_InitTypeDef sConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    __HAL_RCC_TIM2_CLK_ENABLE();
    
    init_gpio_encoder();

    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 0;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 65535;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim2.Init.RepetitionCounter = 0;
    htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    
    sConfig.EncoderMode = TIM_ENCODERMODE_TI1; //TIM_ENCODERMODE_TI12;
    
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 100;
    
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 100;
    
    HAL_TIM_Encoder_Init(&htim2, &sConfig);
    
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    
    HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
    
    HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(TIM2_IRQn);
        
    HAL_TIM_Encoder_Start_IT(&htim2, TIM_CHANNEL_1);  
    //HAL_TIM_Encoder_Start_IT(&htim2, TIM_CHANNEL_ALL);
}


//
void init_gpio_encoder(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
        
    GPIO_InitStruct.Pin = GPIO_PIN_0;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
    GPIO_InitStruct.Pin = GPIO_PIN_3;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
    
    // Кнопка энкодера
    GPIO_InitStruct.Pin = GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
    HAL_NVIC_SetPriority(EXTI4_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(EXTI4_IRQn);
    
}


extern "C" {
void TIM2_IRQHandler(void)
{
    HAL_TIM_IRQHandler(&htim2);
}

void EXTI4_IRQHandler(void)
{
    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
}
}