#pragma once

#include <stm32h7xx_hal.h>
#include "DshotProtocol.h"

extern "C" {
    extern TIM_HandleTypeDef htim2;
}

class EscController {
public:
    void sendThrottle(std::uint16_t value) {
        value += 48;
        _dshotDmaBuffer.fill(Driver::Esc::DShot::encodePacket(value, false));

        _dmaRunning = true;
        if(HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, _dshotDmaBuffer.data(), _dshotDmaBuffer.size()) != HAL_OK){
            lfDebug() << "Failed to start timer DMA";
        }else{
            //Wait DMA complete
            while(_dmaRunning){
                asm("nop");
            }
        }
    }
    void onTimPwmPulseFinished(TIM_HandleTypeDef* htim) {
            __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1);
            (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]);
            _dmaRunning = false;
    }

private:
    bool _dmaRunning = 0;
    Driver::Esc::DShot::DmaBuffer<std::uint32_t> _dshotDmaBuffer;
};