#include "t21_t8.h"
#include "led.h"
volatile unsigned char timer_cnt;
extern volatile int motor_jerk_state;
int32_t wait_send_to_motor_time1s=0;
int32_t recv_motor_data_time=0;
int32_t recv_lcd_data_time=0;
int32_t inquire_error_time=0;
volatile uint32_t g_ticket100us = 0;//一直再记录过去的时间
/**
 * @brief 32M的情况下初始化时钟1作为ticket源
 *
 */
void init_timer1_as_ticketustimer_in32M() {
  // T11M
  /**
   * @brief
   *    设定时钟为1ms一次中断
   * T11CM = 0x0f 16分频 = 2MHZ
   * T11CH = 0 后分频0
   * T11PH T11PL = 200 //100us
   *    T11PH = 0x07
   *    T11PL = 0xD0
   */

  T11CL = 0x00;  //定时器模式
  T11CM = 0x0F;  //预分频1:16 //最大1:16
  T11CH = 0x00;  //后分频次数0+1
  static_assert(configTicketUs <= 10000 && configTicketUs >= 100);
  uint16_t count = 2000 / 1000 * configTicketUs;
  T11PH = count >> 8;    //周期值高8位
  T11PL = count & 0xFF;  // 200
  T11VIE = 1;            //打开T11溢出中断
  T11VIF = 0;            //清标志位
  T11EN = 1;             //使能T11
}


int32_t clear_time()
{
    if(wait_send_to_motor_time1s>=UINT32_MAX)
    {
        wait_send_to_motor_time1s=0;
    } 
    if(recv_motor_data_time>=UINT32_MAX)
    {
        recv_motor_data_time=0;
    }
    if(g_ticket100us>=UINT32_MAX)
    {
        g_ticket100us=0;
    }
    if(recv_lcd_data_time>=UINT32_MAX)
    {
        recv_lcd_data_time=0;
    }
    if(inquire_error_time>=UINT32_MAX)
    {
        inquire_error_time=0;
    }
}

uint32_t hal_has_passed_ticket(uint32_t lastticket) {
  uint32_t now = g_ticket100us;
  if (now >= lastticket) {
    return now - lastticket;
  } else {
    return UINT32_MAX - lastticket + now;
  }
}

uint32_t hal_has_passedms(uint32_t lastticket) {
  /**
   * 根据ticket的数值进行修改.
   */
  static_assert(configTicketUs == 1000);
  return hal_has_passed_ticket(lastticket);
}


int32_t hal_get_ticket()
{
    return g_ticket100us;
}

int32_t hal_get_irqticket()
{
    return g_ticket100us;
}

int32_t sleep_ms(int32_t time)
{
/**
 * @brief ms级的延时
 * 
 */
    int32_t tickstart = hal_get_ticket();
    int32_t wait =time;
    while(hal_get_ticket()-tickstart<wait)
    {
    }
}
void hal_ticket_inc() 
{ 
    g_ticket100us++;
    wait_send_to_motor_time1s++;
    recv_motor_data_time++;
    recv_lcd_data_time++;
    inquire_error_time++;
}


void system_module_process_interrupt() {
  /**
   * @brief 定时器中断11中断处理
   */
  if (T11VIE == 1 && T11VIF == 1)  //定时器溢出中断
  {
    hal_ticket_inc();
    T11VIF = 0;  //清标志位
  }
}