#include "drv_tick.h"

//===============time====================

#define MAIN_PERIOD_MS (20)

uint32_t tick_ms = 0;
uint32_t tick_us = 0;
volatile uint32_t tick_count_200Hz = 0;



void tick_init(void)
{
	HAL_TIM_Base_Start_IT(&HTIMER_HANDLE);
}

void tick_count(void)
{
	tick_ms += 1;
    tick_us += 1000;
	
	if(!(tick_ms % MAIN_PERIOD_MS))
	{
		tick_count_200Hz += 1;
	}
}

uint32_t get_msec(void)
{
    return tick_ms;
}

uint32_t get_usec(void)
{
    return tick_us + HTIMER_HANDLE.Instance->CNT;
}


void delay_usec(uint32_t ticks_usec)
{
    uint32_t tick0;
    uint32_t tick1;
    uint32_t dtick;

    tick0 = get_usec();
    do
    {
        tick1 = get_usec();
        if (tick1 >= tick0)
        {
            dtick = tick1 - tick0;
        }
        else
        {
            dtick = (0xFFFFFFFF - tick0) + tick1;
        }
    } while (dtick < ticks_usec);
}