#![no_main]
#![no_std]
use defmt_rtt as _; // global logger

use panic_probe as _;
use stm32f1xx_hal as _;

// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
    cortex_m::asm::udf()
}

use rtic::app;

mod si5153;

#[app(device = stm32f1xx_hal::pac)]
mod app {
    use stm32f1xx_hal::{
        delay::Delay,
        gpio::{gpiob, gpioc, Alternate, Floating, Input, OpenDrain, Output, PushPull},
        i2c,
        i2c::BlockingI2c,
        pac::I2C1,
        pac::{self, Interrupt},
        prelude::*,
        prelude::*,
        serial::{Config, Serial},
        stm32,
        timer::{Event, Timer},
    };

    use nmea0183::{datetime::Time, ParseResult, Parser};

    use crate::si5153::Si5153;

    type AppI2C1 = BlockingI2c<
        I2C1,
        (
            gpiob::PB6<Alternate<OpenDrain>>,
            gpiob::PB7<Alternate<OpenDrain>>,
        ),
    >;

    #[shared]
    struct Shared {
        i2c: AppI2C1,
        time: Time,
    }

    #[local]
    struct Local {
        gps_parser: Parser,
        usart: Serial<
            stm32::USART3,
            (
                gpiob::PB10<Alternate<PushPull>>,
                gpiob::PB11<Input<Floating>>,
            ),
        >,
        board_led: gpioc::PC13<Output<PushPull>>,
        pll: Si5153<AppI2C1>,
    }

    #[init]
    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
        // Get access to the core peripherals from the cortex-m crate
        let cp = cortex_m::Peripherals::take().unwrap();
        // Get access to the device specific peripherals from the peripheral access crate
        let dp = pac::Peripherals::take().unwrap();

        // Take ownership over the raw flash and rcc devices and convert them into the corresponding
        // HAL structs
        let mut flash = dp.FLASH.constrain();

        let mut rcc = dp.RCC.constrain();

        // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
        // `clocks`
        let clocks = rcc
            .cfgr
            .use_hse(8.mhz())
            .sysclk(72.mhz())
            .pclk1(36.mhz())
            .freeze(&mut flash.acr);

        defmt::info!("Clock Setup done");

        let mut timer = Timer::tim2(dp.TIM2, &clocks, &mut rcc.apb1).start_count_down(1.khz());
        // Generate an interrupt when the timer expires
        timer.listen(Event::Update);

        // Acquire the GPIOC peripheral
        let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
        let mut gpioc = dp.GPIOC.split(&mut rcc.apb2);

        let mut afio = dp.AFIO.constrain(&mut rcc.apb2);

        let board_led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);

        // USART3
        // Configure pb10 as a push_pull output, this will be the tx pin
        let tx = gpiob.pb10.into_alternate_push_pull(&mut gpiob.crh);
        // Take ownership over pb11
        let rx = gpiob.pb11;

        // Set up the usart device. Taks ownership over the USART register and tx/rx pins. The rest of
        // the registers are used to enable and configure the device.
        let usart = Serial::usart3(
            dp.USART3,
            (tx, rx),
            &mut afio.mapr,
            Config::default().baudrate(9600.bps()),
            clocks,
            &mut rcc.apb1,
        );

        let gps_parser = Parser::new();

        let scl = gpiob.pb6.into_alternate_open_drain(&mut gpiob.crl);
        let sda = gpiob.pb7.into_alternate_open_drain(&mut gpiob.crl);
        let i2c = i2c::BlockingI2c::i2c1(
            dp.I2C1,
            (scl, sda),
            &mut afio.mapr,
            i2c::Mode::Standard {
                frequency: 400_000.hz(),
            },
            clocks,
            &mut rcc.apb1,
            5,
            1,
            5,
            5,
        );

        let pll = Si5153::new(&i2c);

        let time = Time {
            hours: 0,
            minutes: 0,
            seconds: 0.0,
        };

        (
            Shared { i2c, time },
            Local {
                gps_parser,
                usart,
                board_led,
                pll,
            },
            init::Monotonics(),
        )
    }

    #[task(binds = USART3, local=[usart, board_led, gps_parser], shared=[time])]
    fn usart3(mut ctx: usart3::Context) {
        match ctx.local.usart.read() {
            Ok(byte) => {
                ctx.local.board_led.toggle().unwrap();
                if let Some(result) = ctx.local.gps_parser.parse_from_byte(byte) {
                    match result {
                        Ok(ParseResult::GGA(Some(gga))) => {
                            ctx.shared.time.lock(|time| {
                                time.hours = gga.time.hours;
                                time.minutes = gga.time.minutes;
                                time.seconds = gga.time.seconds;
                            });
                            /*
                            self.locator = loc::locator_from_coordinates(
                                gga.latitude.as_f64(),
                                gga.longitude.as_f64(),
                            );
                            defmt::info!("Got GGA. New locator: {}", self.locator.as_str());
                            */
                        }
                        Ok(_) => {}  // Some other sentences..
                        Err(_) => {} // Got parse error
                    }
                }
            }
            Err(nb::Error::WouldBlock) => {}
            Err(nb::Error::Other(_)) => {}
        }
    }

    #[task(binds = TIM2, shared=[time])]
    fn tim2(mut ctx: tim2::Context) {
        ctx.shared.time.lock(|time| {
            time.seconds += 0.001;

            if time.seconds >= 60.0 {
                time.seconds -= 60.0;
                time.minutes += 1;
            }
            if time.minutes == 60 {
                time.minutes = 0;
                time.hours += 1;
            }
            if time.hours == 24 {
                time.hours = 0;
            }
        });
    }
}