#include "time.h"
#include "includes.h"
#include "encoder.h"

uint32_t Tickcount_us;

uint32_t Get_Time(void)
{
	return Tickcount_us*20;//10
}


//初始化定时器
//定时10us
void tim4_init(void){
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	//使能TIM3
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //时钟使能
 
	//TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断

	//中断优先级NVIC设置
	NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;  //TIM3中断
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;  //先占优先级0级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  //从优先级3级
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
	NVIC_Init(&NVIC_InitStructure);  //初始化NVIC寄存器
	
	//定时器TIM3初始化
	TIM_TimeBaseStructure.TIM_Period = 19; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	
	TIM_TimeBaseStructure.TIM_Prescaler =71; //设置用来作为TIMx时钟频率除数的预分频值(1s10000次，也就是1次0.1ms)
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位

	TIM_Cmd(TIM4, ENABLE);  //使能TIMx
	TIM_ClearITPendingBit(TIM4, TIM_IT_Update  );  //清除TIMx更新中断标志
	TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE ); //使能指定的TIM2中断,允许更新中断
}

//定时器4中断服务程序
void TIM4_IRQHandler(void)   //TIM4中断
{
	if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET){
		Tickcount_us++;
		pulse_irq_delay_handle();
		TIM_ClearITPendingBit(TIM4, TIM_IT_Update  );  //清除TIMx更新中断标志	
	}
}