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#include <stdio.h>
#include "pico/stdlib.h"
#define PinA 27
#define PinB 26
#define PinSW 22
uint64_t time = 0;
int32_t count = 0;
int32_t num = 0;

void blinkA()
{
    if ((time_us_64() - time) > 3000)
    {
        if (gpio_get(PinB))
        {
            count++;
        }
        else
        {
            count--;
        }
    }

    time = time_us_64();
}

void init()
{
    gpio_init(PinA);
    gpio_init(PinB);
    gpio_init(PinSW);
    gpio_set_irq_enabled_with_callback(PinA, GPIO_IRQ_LEVEL_LOW, true, &blinkA);
    gpio_set_dir(PinA, 0);
    gpio_set_dir(PinB, 0);
    gpio_set_dir(PinSW, 0);
}
int main()
{
    stdio_init_all();
    init();
    time = time_us_64();
    int i=0;
    while (1)
    {
        if (num != count)
        {
            i = 1;
            num = count;
            printf("%ld\r\n", num);
        }
        if((!gpio_get(PinSW)) && 1 == i)
        {
            i = 0;          
            count = 0;        
            while(!gpio_get(PinSW));
        }
    }

    return 0;
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file           : main.c
* @brief          : Main program body
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
*                        opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t turn_flag;
int32_t count;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#include "stdio.h"

#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart2 , (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
/* USER CODE END 0 */

/**
* @brief  The application entry point.
* @retval int
*/
int main(void)
{
    /* USER CODE BEGIN 1 */
    
    /* USER CODE END 1 */
    
    /* MCU Configuration--------------------------------------------------------*/
    
    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();
    
    /* USER CODE BEGIN Init */
    
    /* USER CODE END Init */
    
    /* Configure the system clock */
    SystemClock_Config();
    
    /* USER CODE BEGIN SysInit */
    
    /* USER CODE END SysInit */
    
    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_USART2_UART_Init();
    /* USER CODE BEGIN 2 */
    
    /* USER CODE END 2 */
    
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {	
        if(turn_flag == 1)
        {
            if(HAL_GPIO_ReadPin(SIB_GPIO_Port, SIB_Pin ) == GPIO_PIN_RESET )
            {
                count --;
                printf("Turn left!\r\n");
                while(HAL_GPIO_ReadPin(SIA_GPIO_Port, SIA_Pin ) == GPIO_PIN_RESET);
                
            }			
            else 
            {
                count ++;
                printf("Turn right!\r\n");
                while(HAL_GPIO_ReadPin(SIA_GPIO_Port, SIA_Pin ) == GPIO_PIN_SET);
            }
            
            
            printf("count = %d \r\n",count);
            turn_flag = 0;
        }
        
        if(HAL_GPIO_ReadPin(SW_GPIO_Port, SW_Pin ) == GPIO_PIN_RESET )
        {
            HAL_Delay(10);
            if(HAL_GPIO_ReadPin(SW_GPIO_Port, SW_Pin ) == GPIO_PIN_RESET )
            {
                turn_flag = 0;
                count = 0;
                printf("Turn down!\r\n");
                printf("count = %d \r\n",count);
                while(HAL_GPIO_ReadPin(SW_GPIO_Port, SW_Pin ) == GPIO_PIN_RESET);
            }
        }
        
        /* USER CODE END WHILE */
        
        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }
    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
        |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

/**
* @brief EXTI line detection callbacks
* @param GPIO_Pin: Specifies the pins connected EXTI line
* @retval None
*/
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if((GPIO_Pin == SIA_Pin) && (turn_flag == 0))
    {
        turn_flag = 1;
    }
}

/* USER CODE END 4 */

/**
* @brief  This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
* @brief  Reports the name of the source file and the source line number
*         where the assert_param error has occurred.
* @param  file: pointer to the source file name
* @param  line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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int cnt = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:

  Serial.println(cnt);
  Serial.println("Hello World\r\n");
//  digitalWrite(3, HIGH); 
//  delay(1000);
//  digitalWrite(3, LOW); 
//  delay(1000);  
//  digitalWrite(4, HIGH); 
//  delay(1000);
//  digitalWrite(4, LOW); 
//  delay(1000);
  digitalWrite(5, HIGH); 
  delay(1000);
  digitalWrite(5, LOW); 
  delay(1000);
  cnt++;   
}