#include <stdio.h>
#include <stdint.h>

#include "motor_controller.h"

void BLDC_PWM_Init(Cont_Mot_PWMInterface_TypeDef* PWM_Interface) {

    //Start High-Side and Low-Side PWM Drivers
    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->U_Phase_TIM_Channel);
    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->U_Phase_TIM_Channel);
    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->V_Phase_TIM_Channel);
    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->V_Phase_TIM_Channel);
    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->W_Phase_TIM_Channel);
    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->W_Phase_TIM_Channel);
}

void BLDC_Loop() {
    static uint32_t int_count;
    
    int_count++;
    static uint32_t seconds;

    if (int_count/1000u > seconds) {
      seconds = int_count/1000u;

      uint8_t txMsg1[20] = "";
      snprintf(txMsg1, sizeof(txMsg1), "IRQ: %8lu\n\0", int_count);
      //HAL_UART_Transmit(&huart1, txMsg1, strlen(txMsg1), 100);
      //HAL_UART_Transmit_DMA(&huart1, txMsg1, strlen(txMsg1));

      uint8_t txMsg2[20] = "";
      //snprintf(txMsg2, sizeof(txMsg2), "CNT: %8lu\n\0", htim->Instance->CNT);
      //HAL_UART_Transmit(&huart1, txMsg2, strlen(txMsg2), 100);
      //HAL_UART_Transmit_DMA(&huart1, txMsg2, strlen(txMsg2));

    }

}