#include "encoder.h"
#include "zboard.h"
#include <stdio.h>

static encoder_t m_uarts[] = {
    {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2},     // 相机编码器
    {&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
};

void encoder_all_start(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        HAL_TIM_Encoder_Start(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
    }
}

void encoder_all_stop(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        HAL_TIM_Encoder_Stop(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
    }
}

bool encoder_clear_counter(encoder_usage_t encoder)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        if (encoder == i)
        {
            __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0;
            return true;
        }
    }

    return false;
}

void encoder_all_clear_counter(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0; // 计数器值重新置位
    }
}

bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
{
    bool get_encoder_value_flag = false;
    switch (encoder)
    {
    case CAMERA_ENCODER:
        *encoder_value = __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
        get_encoder_value_flag = true;
        break;
    case DRIVEN_ENCODER_GEAR:
        *encoder_value = __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
        get_encoder_value_flag = true;
        break;

    default:
        break;
    }
    return get_encoder_value_flag;
}