#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_timer.h"
#include "soc/timer_group_struct.h"

#define STEP 1
#define DIR 2
#define BUTTON 3

#define DEBOUNCE_TIME 1000

uint8_t step = 0;
uint64_t last_int = 0;

void right_step() {
  gpio_set_level(DIR, 1);
  gpio_set_level(STEP, 1);
  vTaskDelay(10 / portTICK_PERIOD_MS);
  gpio_set_level(STEP, 0);
}

void left_step() {
  gpio_set_level(DIR, 0);
  gpio_set_level(STEP, 1);
  vTaskDelay(10 / portTICK_PERIOD_MS);
  gpio_set_level(STEP, 0);
}

static void IRAM_ATTR gpio_isr_handler(void* arg)
{
  uint32_t pin = (uint32_t)arg;
  int64_t now = esp_timer_get_time();
  if (now - last_int > DEBOUNCE_TIME) 
  {
    last_int = now;
    if (pin == BUTTON) 
    {
      step = 1;
    }  
  }                    
}


void setup_() {
  gpio_config_t gpio_output;
  gpio_output.pin_bit_mask = (1 << STEP | 1 << DIR);
  gpio_output.pull_down_en = GPIO_PULLDOWN_DISABLE;
  gpio_output.pull_up_en = GPIO_PULLUP_DISABLE;
  gpio_output.mode = GPIO_MODE_OUTPUT;
  gpio_output.intr_type = GPIO_INTR_DISABLE;
  gpio_config(&gpio_output);

  gpio_config_t gpio_input_interrupt;
  gpio_input_interrupt.pin_bit_mask = (1 << BUTTON);
  gpio_input_interrupt.pull_down_en = GPIO_PULLDOWN_ENABLE;
  gpio_input_interrupt.pull_up_en = GPIO_PULLUP_DISABLE;
  gpio_input_interrupt.mode = GPIO_MODE_INPUT;
  gpio_input_interrupt.intr_type = GPIO_INTR_POSEDGE;
  gpio_config(&gpio_input_interrupt);
  gpio_install_isr_service(0);
  gpio_isr_handler_add(BUTTON, gpio_isr_handler, (void *)BUTTON);
}

void app_main() {
  setup_();
  while (true) {
    if (step == 1) 
    {
      right_step();
      step = 0;
    }
    else if (step == 2) 
    {
      left_step();
      step = 0;
    }
  }
}