///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//In this file the timers for reading the receiver pulses and for creating the output ESC pulses are set.
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//More information can be found in these two videos:
//STM32 for Arduino - Connecting an RC receiver via input capture mode: https://youtu.be/JFSFbSg0l2M
//STM32 for Arduino - Electronic Speed Controller (ESC) - STM32F103C8T6: https://youtu.be/Nju9rvZOjVQ
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void timer_setup(void) {
  // for pulse measuring - probably for PPM reciever.
  /*Timer2.attachCompare1Interrupt(handler_channel_1);
  TIMER2_BASE->CR1 = TIMER_CR1_CEN;
  TIMER2_BASE->CR2 = 0;
  TIMER2_BASE->SMCR = 0;
  TIMER2_BASE->DIER = TIMER_DIER_CC1IE;
  TIMER2_BASE->EGR = 0;
  TIMER2_BASE->CCMR1 = TIMER_CCMR1_CC1S_INPUT_TI1;
  TIMER2_BASE->CCMR2 = 0;
  TIMER2_BASE->CCER = TIMER_CCER_CC1E;

  //TIMER2_BASE->CCER |= TIMER_CCER_CC1P;    //Detect falling edge.
  TIMER2_BASE->CCER &= ~TIMER_CCER_CC1P; //Detect rising edge.
  TIMER2_BASE->PSC = 71;
  TIMER2_BASE->ARR = 0xFFFF;
  TIMER2_BASE->DCR = 0;*/
  pinMode(ppmRf, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(ppmRf), handler_channel_1, RISING); //FALLING
  delay(100);

  

  // Software serial timer.
  /*Timer3.attachCompare1Interrupt(Serial_input_handler);
  TIMER3_BASE->CR1 = TIMER_CR1_CEN;
  TIMER3_BASE->CR2 = 0;
  TIMER3_BASE->SMCR = 0;
  TIMER3_BASE->DIER = TIMER_DIER_CC1IE;
  TIMER3_BASE->EGR = 0;
  TIMER3_BASE->CCMR1 = TIMER_CCMR1_CC1S_INPUT_TI1; //A6 is serial input.
  TIMER3_BASE->CCMR2 = 0;
  TIMER3_BASE->CCER = TIMER_CCER_CC1E;
  TIMER3_BASE->CCER |= TIMER_CCER_CC1P; //Detect the faling edge.
  TIMER3_BASE->PSC = 71;
  TIMER3_BASE->ARR = 0xFFFF;
  TIMER3_BASE->DCR = 0;*/

  /*TIMER4_BASE->CR1 = TIMER_CR1_CEN | TIMER_CR1_ARPE;
  TIMER4_BASE->CR2 = 0;
  TIMER4_BASE->SMCR = 0;
  TIMER4_BASE->DIER = 0;
  TIMER4_BASE->EGR = 0;
  TIMER4_BASE->CCMR1 = (0b110 << 4) | TIMER_CCMR1_OC1PE | (0b110 << 12) | TIMER_CCMR1_OC2PE;
  TIMER4_BASE->CCMR2 = (0b110 << 4) | TIMER_CCMR2_OC3PE | (0b110 << 12) | TIMER_CCMR2_OC4PE;
  TIMER4_BASE->CCER = TIMER_CCER_CC1E | TIMER_CCER_CC2E | TIMER_CCER_CC3E | TIMER_CCER_CC4E;
  TIMER4_BASE->PSC = 71;
  TIMER4_BASE->ARR = 5000;
  TIMER4_BASE->DCR = 0;
  TIMER4_BASE->CCR1 = 1000;

  TIMER4_BASE->CCR1 = 1000;
  TIMER4_BASE->CCR2 = 1000;
  TIMER4_BASE->CCR3 = 1000;
  TIMER4_BASE->CCR4 = 1000;
  pinMode(PB6, PWM);
  pinMode(PB7, PWM);
  pinMode(PB8, PWM);
  pinMode(PB9, PWM);*/

  esc1.attach(m1);
  esc2.attach(m2);
  esc3.attach(m3);
  esc4.attach(m4);
  //esc1.writeMicroseconds(channel_3);
  //esc2.writeMicroseconds(channel_3);
  //esc3.writeMicroseconds(channel_3);
  //esc4.writeMicroseconds(channel_3);
  //delay(3000); // allow ESC arming
  esc1.writeMicroseconds(1000);
  esc2.writeMicroseconds(1000);
  esc3.writeMicroseconds(1000);
  esc4.writeMicroseconds(1000);
  //delay(3000); // allow ESC arming
}