#include <stdint.h>
#include <pru_cfg.h>
#include "resource_table_empty.h"

// Define Base Addresses for eHRPWM Modules (AM335x)
#define EHRPWM1_BASE 0x48302200
#define EHRPWM2_BASE 0x48304200

// eHRPWM Register Offsets
#define TBCTL   0x00
#define TBPRD   0x0A
#define CMPA    0x12
#define AQCTLA  0x16
#define TBPHS   0x04
#define TBCNT   0x08

// Function to initialize PWM module
void pwm_init(uint32_t base, uint16_t period) {
    // 1. Disable PWM
    *(uint16_t *)(base + TBCTL) = 0x0003; // Freeze and reset counter

    // 2. Set Period (Speed)
    *(uint16_t *)(base + TBPRD) = period - 1;

    // 3. Set Action Qualifiers (Set high on match, low on zero)
    *(uint16_t *)(base + AQCTLA) = 0x0012; 

    // 4. Clear Counter and Phase
    *(uint16_t *)(base + TBCNT) = 0x0000;
    *(uint16_t *)(base + TBPHS) = 0x0000;

    // 5. Enable Clock and Unfreeze
    *(uint16_t *)(base + TBCTL) = 0x0000; // Count Up, Prescaler 1
    *(uint16_t *)(base + TBCTL) |= (1 << 15); // TBCLKSYNC = 1
}

void main(void) {
    // Initialize PRU configuration
    CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;

    // Initialize eHRPWM1 and 2
    // Period value depends on frequency needed
    pwm_init(EHRPWM1_BASE, 1000); 
    pwm_init(EHRPWM2_BASE, 1000);

    // Set 50% duty cycle for initial step signal
    *(uint16_t *)(EHRPWM1_BASE + CMPA) = 500;
    *(uint16_t *)(EHRPWM2_BASE + CMPA) = 500;

    while (1) {
        // Main loop: Update TBPRD/CMPA based on rpmsg inputs
        // for speed/direction changes.
    }
}