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

static int Direction;
static int CaptureNumber;

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)
{
    /* 不开启会导致程序无法启动，原因未知 */
    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(TIM_HandleTypeDef *tim_handler)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        if (tim_handler == m_uarts[i].tim_handler)
        {
            __HAL_TIM_GET_COUNTER(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
    }
}

void encoder_read_printf(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(m_uarts[i].tim_handler);   // 读取电机转动方向
        CaptureNumber = (short)__HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler); // 读取编码器数据
        __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0;                    // 计数器值重新置位
        if (CaptureNumber != 0)
        {
            printf("Encoder number:%d,Direction is %d,CaptureNumber is %d\r\n", i, Direction, CaptureNumber);
        }
    }
}