
#include "mbed.h"
#include "Encoder.h"
 
//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
#ifdef TARGET_STM32F3
#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__)            (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
#endif
 
TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
TIM_HandleTypeDef  timer1,  timer2,  timer3,  timer4;
 
int main()
{
    //examples
    
    //counting on A-input only, 2 ticks per cycle, rolls over at 100
    //EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
 
    //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
    EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
 
    //counting on B-input only, 2 ticks per cycle, full 16-bit count
    //EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
    
    //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
    //EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
    
    //TIM5 is used by mbed for systick
    //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
    
    printf("STM HAL encoder demo\n\r");
    int i = 0;
    while(1) {
        uint16_t count1=0, count3=0, count4=0;
        uint32_t count2=0;
        int8_t dir1, dir2, dir3, dir4;
 
        
        //OK 401 411 446 TICKER 030
        //count1=TIM1->CNT;
        //dir1=TIM1->CR1&TIM_CR1_DIR;
        //count1=__HAL_TIM_GET_COUNTER(&timer1);
        //dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
 
        //OK 401 411 446 NOK 030
        //count2=TIM2->CNT;
        //dir2=TIM2->CR1&TIM_CR1_DIR;
        count2=__HAL_TIM_GET_COUNTER(&timer2);
        dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
 
        //OK 401 411 446 030
        //count3=TIM3->CNT;
        //dir3=TIM3->CR1&TIM_CR1_DIR;
        //count3=__HAL_TIM_GET_COUNTER(&timer3);
        //dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
 
        //OK 401 411 446 N/A 030
        //count4=TIM4->CNT;
        //dir4=TIM4->CR1&TIM_CR1_DIR;
        //count4=__HAL_TIM_GET_COUNTER(&timer4);
        //dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4);
 
        //TICKER 401 411 446 N/A 030
//        count5=__HAL_TIM_GET_COUNTER(&timer5);
//        dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5);
        
        //printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-",
        //                                     count2, dir2==0 ? "+":"-",
        //                                     count3, dir3==0 ? "+":"-",
        //                                     count4, dir4==0 ? "+":"-" );
        float pulsesperrevolution = 1024*4;
        float fullrotations = (count2/pulsesperrevolution);
        printf("%f%s \r\n", fullrotations, dir2==0 ? "+":"-");
        //printf("%d: %f%s \r\n", i++, (count2/pulsesperrevolution), dir2==0 ? "+":"-");
        wait(0.1);
        
    }
}
 