#include "stm32f10x.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_tim.h"
#include "stm32f10x_exti.h"
#include "delay.h"
#include "lcd16x2.h"
#include <stdio.h>

// LCD custom char
uint8_t bar[][8] =
{
	{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
	{ 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10 },
	{ 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18 },
	{ 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C },
	{ 0x1E, 0x1E, 0x1E, 0x1E, 0x1E, 0x1E, 0x1E, 0x1E },
	{ 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F }
};
/*
volatile uint8_t last_enc_val_a_B;		//broach
volatile uint8_t last_enc_val_b_B;		//broach
volatile uint8_t last_enc_val_a_M; 	 	//motor
volatile uint8_t last_enc_val_b_M;		//motor
volatile int enc_cnt_B;								//broach
volatile int enc_cnt_M;								//motor
char enc_cnt_buf_B[8];								//broach
char enc_cnt_buf_M[8];								//motor
*/
int CW = 0;
int CCW = 500;
volatile int valeur_moteur = 0;
int pitch_100 = 0;
int codeur = 0;
char codeur_buf[8];

void init_lcd(void);
void intro_LCD(void);
void lcd_update(void);
void init_motor(void);
void test_motor_CW(void);
void test_motor_CCW(void);
void init_timer(void);


int main(void)
{
	DelayInit();
	init_lcd();
	intro_LCD();
	init_motor();

	while (1)
	{
		lcd_update();

		for(CW; CW<500; CW++)
		{
			test_motor_CW();
		}
		DelayMs(500);
		for(CCW; CCW>0; CCW--)
		{
			test_motor_CCW();
		}
	}
}


void init_timer()
{

	// Step 1: Initialize GPIO as input for rotary encoder
	// PB6 (encoder pin A), PB5 (encoder pin B)
	GPIO_InitTypeDef GPIO_InitStruct;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_5;
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	GPIO_Init(GPIOB, &GPIO_InitStruct);

NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the TIM4 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* TIM4 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 500; // 1 MHz down to 1 KHz (1 ms)
TIM_TimeBaseStructure.TIM_Prescaler = 4000; // 24 MHz Clock down to 1 MHz (adjust per your clock)
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);	// TIM IT enable
TIM_Cmd(TIM4, ENABLE); // TIM4 enable counter
}

void TIM4_IRQHandler(void)
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
codeur++;
}
}
void test_motor_CW()
{
	GPIO_WriteBit(GPIOA, GPIO_Pin_3, 0);
	DelayUs(250);
	GPIO_WriteBit(GPIOA, GPIO_Pin_2, 1);
	DelayUs(250);
	GPIO_WriteBit(GPIOA, GPIO_Pin_2, 0);
	DelayUs(250);
}

void test_motor_CCW()
{
	GPIO_WriteBit(GPIOA, GPIO_Pin_3, 1);
	DelayUs(250);
	GPIO_WriteBit(GPIOA, GPIO_Pin_2, 1);
	DelayUs(250);
	GPIO_WriteBit(GPIOA, GPIO_Pin_2, 0);
	DelayUs(250);
}


void init_motor()
	{
	GPIO_InitTypeDef GPIO_InitStruct;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	GPIO_InitStruct.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_2;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Init(GPIOA, &GPIO_InitStruct);
	GPIO_WriteBit(GPIOA, GPIO_Pin_2, 0);
	GPIO_WriteBit(GPIOA, GPIO_Pin_3, 0);
	}

void init_lcd()
{
	uint8_t i;

	// Initialize LCD
	lcd16x2_init(LCD16X2_DISPLAY_ON_CURSOR_OFF_BLINK_OFF);

	// Fill custom char
	for (i = 0; i < 8; i++)
	{
		lcd16x2_create_custom_char(i, bar[i]);
	}
}


void lcd_update()
{
	lcd16x2_clrscr();
	lcd16x2_gotoxy(0, 0);
	lcd16x2_puts("test");
	lcd16x2_gotoxy(0, 1);
	sprintf(codeur_buf, "%i", codeur);
	lcd16x2_puts(codeur_buf);
	DelayMs(250);

}

void intro_LCD()
{
	lcd16x2_clrscr();
	lcd16x2_gotoxy(0, 0);
	lcd16x2_puts("xxx");
	lcd16x2_gotoxy(0, 1);
	lcd16x2_puts("x");
	lcd16x2_gotoxy(0, 2);
	lcd16x2_puts("Module filetage V0.1");
	DelayMs(1000);
}