#include "common.h"
#include "hardware.h"

#include "encoders.h"
#include "timer.h"
#include "vectors.h"
#include "flash.h"

extern void Main_Execution(void);

uint32_t Timer::clock;

void Timer::init(void) {
  // Set SysTick to free run
  SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
                  SysTick_CTRL_ENABLE_Msk;

  TIM14->CR1 = 0;
  __asm("nop\nnop\nnop\nnop");
  TIM14->PSC = MAIN_EXEC_PRESCALE - 1;
  TIM14->ARR = MAIN_EXEC_OVERFLOW - 1;  
  TIM14->DIER = TIM_DIER_UIE | TIM_DIER_CC1IE;
  TIM14->CR1 = TIM_CR1_CEN;
  TIM14->CCR1 = MAIN_EXEC_OVERFLOW - (12 * 40);     // 40uS lead

  NVIC_SetPriority(TIM14_IRQn, PRIORITY_MAIN_EXEC);  // Extremely low priority
  NVIC_EnableIRQ(TIM14_IRQn);
}

extern "C" void TIM14_IRQHandler(void) {
  if (TIM14->SR & TIM_SR_UIF) {
    Timer::clock++;
    Timer::getTime();

    Main_Execution();
  }

  if (TIM14->SR & TIM_SR_CC1IF) {
    Encoders::tick_start();
  }
  
  TIM14->SR = 0;
}