#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]

use defmt::Format;
use defmt_rtt as _;
use panic_probe as _;

use embassy_executor::Spawner;
use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::time::Hertz;
use embassy_stm32::Config;
use embassy_time::{Duration, Timer};
use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_util::channel::mpmc::Channel;

mod display;
use display::display_task;

mod usb;
use usb::{usb_task, Gs232Cmd};

mod movement;
use movement::movement_task;

#[derive(PartialEq, Format, Copy, Clone)]
pub struct AzElPair {
    az: u16,
    el: u16,
}

#[derive(PartialEq, Format, Copy, Clone)]
pub struct RotorState {
    actual_pos: AzElPair,
    setpoint_pos: AzElPair,
    stopped: bool,
}

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    static CMD_CHAN: Channel<ThreadModeRawMutex, Gs232Cmd, 1> = Channel::new();
    static POS_CHAN: Channel<ThreadModeRawMutex, AzElPair, 1> = Channel::new();
    static STATE_CHAN: Channel<ThreadModeRawMutex, RotorState, 1> = Channel::new();

    let mut config = Config::default();
    config.rcc.hse = Some(Hertz(8_000_000));
    config.rcc.sys_ck = Some(Hertz(48_000_000));
    config.rcc.pclk1 = Some(Hertz(24_000_000));
    let mut p = embassy_stm32::init(config);

    defmt::info!("Startup");

    {
        // BluePill board has a pull-up resistor on the D+ line.
        // Pull the D+ pin down to send a RESET condition to the USB bus.
        // This forced reset is needed only for development, without it host
        // will not reset your device when you upload new firmware.
        let _dp = Output::new(&mut p.PA12, Level::Low, Speed::Low);
        Timer::after(Duration::from_millis(10)).await;
    }

    spawner
        .spawn(usb_task(
            p.USB,
            p.PA12,
            p.PA11,
            CMD_CHAN.sender(),
            POS_CHAN.receiver(),
        ))
        .unwrap();

    spawner
        .spawn(movement_task(
            p.ADC1,
            p.PA0,
            p.PA1,
            p.PA2,
            p.PA3,
            p.PA4,
            p.PA5,
            CMD_CHAN.receiver(),
            POS_CHAN.sender(),
            STATE_CHAN.sender(),
        ))
        .unwrap();
    spawner
        .spawn(display_task(p.I2C1, p.PB6, p.PB7, STATE_CHAN.receiver()))
        .unwrap();
}