#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "esp_err.h"
#include "esp_timer.h"
#include "stdlib.h"
#include "config.h"
#include "utils.h"
#include "ads1220.h"
#include "fram.h"

#include "rotary_encoder.h"
#include "esp_log.h"
#include "esp_check.h"
#include "soc/rtc.h"
#include "driver/mcpwm.h"
// #include "driver/mcpwm_prelude.h"
// #include "bt_server.h"
// #include "../ble_gatts_server.h"

#include "esp_system.h"
#include "driver/uart.h"
#include "string.h"
#include "driver/gpio.h"

#include <string.h>
#include <stdio.h>

static const char *TAG = "depth";

typedef struct
{
	uint32_t capture_signal;
	mcpwm_capture_signal_t sel_cap_signal;
} capture;

typedef struct capture_event
{
	int ch;
	uint32_t val;
} capture_event_t;

// #define DEPTH_PIN_CLK GPIO_NUM_36 // 捕获GPIO端口
// #define GPIO_PCNT_PIN_1 36		  // Set GPIO 18 as phaseA/C1
// #define GPIO_PCNT_PIN_2 35		  // Set GPIO 19 as phaseB/C2
// #define DEPTH_PIN_PULSE    	36       //深度脉冲GPIO端口
// #define DEPTH_PIN_CTRL    	35       //深度控制GPIO端口

#define FLOW_SYNC_PIN 7 // 捕获GPIO端口 SPI2_nIRQ

#define DEPTH_PIN_PULSE 39 // 深度脉冲GPIO端口  TIM15_CH1
#define DEPTH_PIN_CTRL 38  // 深度控制GPIO端口	TIM15_CH2
#define DEPTH_PIN_ENC_A 42 // 深度脉冲GPIO端口	TIM3_CH1
#define DEPTH_PIN_ENC_B 41 // 深度控制GPIO端口	TIM3_CH2
#define SEND_DATA_TEST 0

#define PILE_STATE_STOP		0x0100
#define PILE_STATE_PAUSE 	0x0200
#define PILE_STATE_WORK 	0x0300

#define PILE_DIR_NONE		0x01
#define PILE_DIR_UP			0x02
#define PILE_DIR_DOWN		0x03


rotary_encoder_t *encoder_ = NULL; // 编码器测量深度参数



void pcnt_rotary_encoder_init_(void)
{
	// Rotary encoder underlying device is represented by a PCNT unit in this example
	uint32_t pcnt_unit = 0;
	int pulse_pin;
	int ctrl_pin;

		pulse_pin = DEPTH_PIN_ENC_A;
		ctrl_pin = DEPTH_PIN_ENC_B;
	
	// Create rotary encoder instance
	rotary_encoder_config_t config = ROTARY_ENCODER_DEFAULT_CONFIG((rotary_encoder_dev_t)pcnt_unit, pulse_pin, ctrl_pin);
	config.flags = 0;
	ESP_ERROR_CHECK(rotary_encoder_new_ec11(&config, &encoder_));
	// Filter out glitch (1us)
	ESP_ERROR_CHECK(encoder_->set_glitch_filter(encoder_, 10));
	// Start encoder
	ESP_ERROR_CHECK(encoder_->start(encoder_));
}