/**
 ******************************************************************************
 * @file           : main.c
 * @author         : Fernando Hermosillo Reynoso
 * @brief          : Main program body
 ******************************************************************************
 */

#include <stdint.h>
#include "stm32f103_hal.h"

/* Defines -----------------------------------------------------*/


/* Private Variables ------------------------------ */

/* Private constants -------------------------------*/


/* Prototype Function ------------------------------*/


/* User code -----------------------------------------------------*/
void delay_ms(uint16_t ms) {
	volatile unsigned long t = 0;
	for(uint16_t i = 0; i < ms; i++)
	{
		for(t = 0; t < 800; t++);
	}
}

void delay_us(uint16_t us)
{
	for (volatile unsigned int cycles = 0; cycles < us; cycles++);
}

volatile uint32_t nd = 0;
volatile uint32_t contd = 0;
volatile int interrupciones = 0;
volatile int contintr = 0;
volatile uint32_t delta_t=0;
void exti0_init(void);
void exti1_init(void);
void exti2_init(void);

int main(void)
{
	rcc_clock_enable(RCC_GPIOA);
	rcc_clock_enable(RCC_GPIOB);
	rcc_clock_enable(RCC_GPIOC);
	rcc_clock_enable(RCC_TIM2);
	rcc_clock_enable(RCC_TIM3);
	rcc_clock_enable(RCC_TIM4);
	
	/* Configurar I/Os */
	gpio_set_output(GPIOC,GPIO_PIN_13,GPIO_OUTPUT_PP,GPIO_SPEED_2MHZ);
	gpio_set_output(GPIOB,GPIO_PIN_6,GPIO_OUTPUT_PP,GPIO_SPEED_2MHZ);
	gpio_set_input(GPIOA,GPIO_PIN_0,GPIO_INPUT_FLOAT);
	gpio_set_input(GPIOA,GPIO_PIN_1,GPIO_INPUT_FLOAT);
	gpio_set_input(GPIOA,GPIO_PIN_2,GPIO_INPUT_FLOAT);
	gpio_set_input(GPIOA, GPIO_PIN_3, GPIO_INPUT_ANALOG);

	adc_init(ADC1, ADC_MODE_SINGLE, ADC_TRIG_SOFTWARE, ADC_ALIGN_RIGHT);
	adc_set_channel(ADC1, ADC_CHANNEL_3, ADC_SMP_28_5);

	timer_init(TIM2,TIMER_MODE_UP,9999,799);
  timer_set_interrupt(TIM2,TIMER_IRQ_UPDATE, IRQ_ENABLE);
  NVIC->ISER[0] = 1 << 28;
	timer_start(TIM2, TIMER_CONTINUOUS);

	timer_init(TIM3,TIMER_MODE_UP,0,7999);
  timer_set_interrupt(TIM3,TIMER_IRQ_UPDATE, IRQ_ENABLE);
  NVIC->ISER[0] = 1 << 29;

	timer_init(TIM4, TIMER_MODE_UP, 9, 7);	// ARR=9, PSC=7
	timer_set_oc_channel(
								TIM4, 					// TIMER4
								TIMER_CHANNEL_1,		// T4C1 (PB6)
								TIMER_OC_PWM2,			// OC Mode: PWM1
								TIMER_OC_POLARITY_HIGH,	// Polarity: Active high
								2,					// CCR1=500 (CCR1 <= ARR)
								true);	

	exti0_init();
	exti1_init();
	exti2_init();

	float constante=0;
	int rpm=0;
	uint32_t Tmotor=0;
	int temperatura=0;
	while (1)
	{
		uint16_t adc_value=adc_read(ADC1);
		// Vo = VREF*(ADC_VALUE)/ADC_MAX_VALUE
		// Vo = 3.3*(ADC_VALUE)/4095
		// El sensor tiene una conversion de temperatur de 10mV/grado celcius
		// temperatura=Vo*(1C/0.01V)=3.3*(ADC_VALUE)*100/4095=33*(ADC_VALUE)*2/819
		temperatura=(33*(adc_value)*2)/819;
		constante=60/nd;
		rpm=interrupciones*constante;
		Tmotor=60*(1000000/rpm);
		delta_t=(Tmotor/4)*(1+(200*(85-temperatura)));
		if (delta_t<(Tmotor/4)){
			delta_t=(Tmotor/4);
		}
		if (delta_t>(Tmotor/2)){
			delta_t=(Tmotor/2);
		}
		
		
	}


}

void exti0_init(void)
{
	// Enable EXTI clock
	RCC->APB2ENR |= 1 << 0;
	AFIO->EXTICR[0] &= ~(0x0F << 0);

	// Enable the 'rising edge' trigger.
	EXTI->RTSR |= (1 << 0);
	// Disable the 'falling edge' trigger.
	EXTI->FTSR &=  ~(1<< 0);

	// Setup EXTI0 line as an interrupt.
	EXTI->IMR  |=  1 << 0;
	NVIC->IP[6] = (uint8_t)(0x03 << 4);
	NVIC->ISER[0] = 1 << 6;
}
void EXTI0_IRQHandler(void)
{
	// Check EXTI0 pending flag
	if (EXTI->PR & (1 << 0))
	{
		// Clear the EXTI pending flag
		EXTI->PR = (1 << 0);

		// User code
		nd=contd;
		contd=0;
	}
}


void exti1_init(void)
{
	// Enable EXTI clock
	AFIO->EXTICR[0] &= ~(0x0F << 4);

	// Enable the 'rising edge' trigger.
	EXTI->RTSR |= (1 << 1);
	// Disable the 'falling edge' trigger.
	EXTI->FTSR &=  ~(1<< 1);

	// Setup EXTI1 line as an interrupt.
	EXTI->IMR  |=  1 << 1;
	NVIC->ISER[0] = 1 << 7;
}
void EXTI1_IRQHandler(void)
{
	// Check EXTI1 pending flag
	if (EXTI->PR & (1 << 1))
	{
		// Clear the EXTI pending flag
		EXTI->PR = (1 << 1);

		// User code
		contd=contd+1;
		contintr=contintr+1;
	}
}


void exti2_init(void)
{
	// Enable EXTI clock
	AFIO->EXTICR[0] &= ~(0x0F << 8);

	// Enable the 'rising edge' trigger.
	EXTI->RTSR |= (1 << 2);
	// Disable the 'falling edge' trigger.
	EXTI->FTSR &=  ~(1<< 2);

	// Setup EXTI1 line as an interrupt.
	EXTI->IMR  |=  1 << 2;
	NVIC->ISER[0] = 1 << 8;
}
void EXTI2_IRQHandler(void)
{
	// Check EXTI1 pending flag
	if (EXTI->PR & (1 << 2))
	{
		// Clear the EXTI pending flag
		EXTI->PR = (1 << 2);

		// User code
		TIM3->ARR=((delta_t/1000)-1);
		timer_start(TIM3, TIMER_ONESHOT);
	}
}

void TIM2_IRQHandler(void){
	TIM2->SR &= ~TIM_SR_UIF;

	interrupciones=contintr;
	contintr=0;	
}

void TIM3_IRQHandler(void){
	TIM3->SR &= ~TIM_SR_UIF;
	GPIOC->ODR ^= (1<<13);				
	timer_start(TIM4, TIMER_ONESHOT);		
}