/// PWM3389 gaming mouse sensor driver
// // #![deny(unsafe_code)]
// // // #![deny(warnings)]
// // #![no_main]
// #![no_std]
// use cortex_m::{iprintln, peripheral::DWT};
use embedded_hal::spi::MODE_3;
// use cortex_m_semihosting::hprintln;
// use panic_halt as _;
use rtic::cyccnt::{Instant, U32Ext as _};
use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};

//use crate::hal::gpio::{gpioa::PA0, Edge, Input, PullDown};
//use hal::spi::{Mode, Phase, Polarity};

use crate::DwtDelay;

// use cortex_m::{iprint, iprintln};
use embedded_hal::blocking::spi::{Transfer, Write};
use embedded_hal::digital::v2::OutputPin;
use stm32f4xx_hal::prelude::*;
// use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};

use rtt_target::{rprint, rprintln};

#[allow(dead_code)]
#[derive(Clone, Copy)]
pub enum Register {
    ProductId = 0x00,
    RevisionId = 0x01,
    Motion = 0x02,
    DeltaXL = 0x03,
    DeltaXH = 0x04,
    DeltaYL = 0x05,
    DeltaYH = 0x06,
    SQUAL = 0x07,
    RawDataSum = 0x08,
    MaximumRawdata = 0x09,
    MinimumRawdata = 0x0A,
    ShutterLower = 0x0B,
    ShutterUpper = 0x0C,
    RippleControl = 0x0D,
    ResolutionL = 0x0E,
    ResolutionH = 0x0F,
    Config2 = 0x10,
    AngleTune = 0x11,
    FrameCapture = 0x12,
    SROMEnable = 0x13,
    RunDownshift = 0x14,
    Rest1RateLower = 0x15,
    Rest1RateUpper = 0x16,
    Rest1Downshift = 0x17,
    Rest2RateLower = 0x18,
    Rest2RateUpper = 0x19,
    Rest2Downshift = 0x1A,
    Rest3RateLower = 0x1B,
    Rest3RateUpper = 0x1C,
    Observation = 0x24,
    DataOutLower = 0x25,
    DataOutUpper = 0x26,
    RawDataDump = 0x29,
    SROMId = 0x2A,
    MinSQRun = 0x2B,
    RawDataThreshold = 0x2C,
    Control2 = 0x2D,
    Config5L = 0x2E,
    Config5H = 0x2F,
    PowerUpReset = 0x3A,
    Shutdown = 0x3B,
    InverseProductID = 0x3F,
    LiftCutoffTune3 = 0x41,
    AngleSnap = 0x42,
    LiftCutoffTune1 = 0x4A,
    MotionBurst = 0x50,
    LiftCutoffTune1Timeout = 0x58,
    LiftCutoffTune1MinLength = 0x5A,
    SROMLoadBurst = 0x62,
    LiftConfig = 0x63,
    RawDataBurst = 0x64,
    LiftCutoffTune2 = 0x65,
    LiftCutoffTune2Timeout = 0x71,
    LiftCutoffTune2MinLength = 0x72,
    PWMPeriodCnt = 0x73,
    PWMWidthCnt = 0x74,
}

impl Register {
    fn addr(self) -> u8 {
        self as u8
    }
}

pub struct Pmw3389<SPI, CS> {
    spi: SPI,
    cs: CS,
    delay: DwtDelay,
}

impl<SPI, CS, E> Pmw3389<SPI, CS>
where
    SPI: Transfer<u8, Error = E> + Write<u8, Error = E>,
    CS: OutputPin,
{
    fn com_begin(&mut self) {
        self.cs.set_low().ok();
    }

    fn com_end(&mut self) {
        self.cs.set_high().ok();
    }

    /// Creates a new driver from a SPI peripheral and a NCS pin
    pub fn new(spi: SPI, cs: CS, delay: DwtDelay) -> Result<Self, E> {
        let mut pmw3389 = Pmw3389 { spi, cs, delay };

        rprintln!("pmw3389 - new");

        // ensure SPI is reset
        pmw3389.com_end();
        pmw3389.delay.delay_us(40);
        pmw3389.com_begin();
        pmw3389.delay.delay_us(40);
        pmw3389.com_end();

        // read product id
        let id = pmw3389.product_id()?;
        rprintln!("product_id 0x{:x}", id);

        let srom_id = pmw3389.read_register(Register::SROMId)?;
        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);

        rprintln!("reset");

        // shutdown

        // adns_write_reg(Shutdown, 0xb6); // Shutdown first
        // delay(300);

        // adns_com_begin(); // drop and raise ncs to reset spi port
        // delayMicroseconds(40);
        // adns_com_end();
        // delayMicroseconds(40);

        // pmw3389.write_register(Register::Shutdown, 0xb6)?;
        // pmw3389.delay.delay_ms(300);
        // pmw3389.com_begin();
        // pmw3389.delay.delay_us(40);
        // pmw3389.com_end();
        // pmw3389.delay.delay_us(40);

        // force reset
        pmw3389.write_register(Register::PowerUpReset, 0x5a)?;

        // wait for reboot
        pmw3389.delay.delay_ms(50);

        // read product id
        let id = pmw3389.product_id()?;
        rprintln!("product_id 0x{:x}", id);

        let srom_id = pmw3389.read_register(Register::SROMId)?;
        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);

        // read registers 0x02 to 0x06 (and discard the data)
        pmw3389.read_register(Register::Motion)?;
        pmw3389.read_register(Register::DeltaXL)?;
        pmw3389.read_register(Register::DeltaXH)?;
        pmw3389.read_register(Register::DeltaYL)?;
        pmw3389.read_register(Register::DeltaYH)?;

        pmw3389.upload_firmware()?;

        pmw3389.delay.delay_ms(1000);

        rprintln!("Optical Chip Initialized");

        // read product id
        let id = pmw3389.product_id()?;
        rprintln!("product_id 0x{:x}", id);

        let srom_id = pmw3389.read_register(Register::SROMId)?;
        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);

        // loop {
        //     pmw3389.write_register(Register::Motion, 0x01)?;

        //     let motion = pmw3389.read_register(Register::Motion)?;
        //     let xl = pmw3389.read_register(Register::DeltaXL)?;
        //     let xh = pmw3389.read_register(Register::DeltaXH)?;
        //     let yl = pmw3389.read_register(Register::DeltaYL)?;
        //     let yh = pmw3389.read_register(Register::DeltaYH)?;

        //     let x = (xl as u16 + (xh as u16) << 8) as i16;
        //     let y = (yl as u16 + (yh as u16) << 8) as i16;

        //     let surface = motion & 0x08;
        //     let motion_detect = motion & 0x80;

        //     rprintln!(
        //         "motion {}, surface {}, (x, y) {:?}",
        //         motion_detect,
        //         surface,
        //         (x, y),
        //     );
        //     pmw3389.delay.delay_ms(200);
        // }

        // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
        // self.delay.delay_ms(35); // waits for tSRAD

        // loop {
        //     pmw3389.read_status(itm)?;
        //     pmw3389.delay.delay_ms(10);
        // }

        Ok(pmw3389)
    }

    pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
        self.com_begin();

        let mut buffer = [reg.addr() & 0x7f];
        self.spi.transfer(&mut buffer)?;

        // tSRAD
        self.delay.delay_us(100);
        self.delay.delay_us(120);

        let mut buffer = [0];
        self.spi.transfer(&mut buffer)?;

        // tSCLK-NCS for read operation is 120ns
        self.delay.delay_us(1);

        self.com_end();

        // tSRW/tSRR (=20us) minus tSCLK-NCS
        self.delay.delay_us(19);
        self.delay.delay_us(120);

        Ok(buffer[0])
    }

    pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
        self.com_begin();

        let mut buffer = [reg.addr() | 0x80];
        self.spi.transfer(&mut buffer)?;

        // send
        let mut buffer = [byte];
        self.spi.transfer(&mut buffer)?;

        // tSCLK-NCS for write operation
        self.delay.delay_us(20);

        self.com_end();
        // tSWW/tSWR (=120us) minus tSCLK-NCS.
        // Could be shortened, but is looks like a safe lower bound

        self.delay.delay_us(100);

        Ok(())
    }

    /// Reads the ProductId register; should return `0x47`
    pub fn product_id(&mut self) -> Result<u8, E> {
        self.read_register(Register::ProductId)
    }

    /// Read status
    pub fn read_status(&mut self) -> Result<(), E> {
        self.com_begin();

        // self.write_register(Register::Motion, 0x01)?;

        self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
        // self.write_register(Register::MotionBurst, 0x00);

        self.delay.delay_us(35); // waits for tSRAD

        // read burst buffer
        let mut buf = [0u8; 12];
        self.spi.transfer(&mut buf)?;

        // tSCLK-NCS for read operation is 120ns
        self.delay.delay_us(120);

        self.com_end();

        rprint!("burst [");
        for j in buf.iter() {
            rprint!("0x{:02x}, ", j);
        }
        rprintln!("]");

        //     SPI.endTransaction(); // Per:Not sure what it does
        //     /*
        //     BYTE[00] = Motion    = if the 7th bit is 1, a motion is detected.
        //            ==> 7 bit: MOT (1 when motion is detected)
        //            ==> 3 bit: 0 when chip is on surface / 1 when off surface
        //            ] = Observation
        //     BYTE[02] = Delta_X_L = dx (LSB)
        //     BYTE[03] = Delta_X_H = dx (MSB)
        //     BYTE[04] = Delta_Y_L = dy (LSB)
        //     BYTE[05] = Delta_Y_H = dy (MSB)
        //     BYTE[06] = SQUAL     = Surface Quality register, max 0x80
        //                          - Number of features on the surface = SQUAL * 8
        //     BYTE[07] = Raw_Data_Sum   = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
        //                                * Avg value = Raw_Data_Sum * 1024 / 1296
        //     BYTE[08] = Maximum_Raw_Data  = Max raw data value in current frame, max=127
        //     BYTE[09] = Minimum_Raw_Data  = Min raw data value in current frame, max=127
        //     BYTE[10] = Shutter_Upper     = Shutter LSB
        //     BYTE[11] = Shutter_Lower     = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
        //     */
        //     int motion = (burstBuffer[0] & 0x80) > 0;
        let motion = buf[0] & 0x80;
        let surface = buf[0] & 0x08;
        // 0 if on surface / 1 if off surface

        let x = buf[2] as u16 + (buf[3] as u16) << 8;
        let y = buf[4] as u16 + (buf[5] as u16) << 8;

        let squal = buf[6];

        rprintln!(
            "motion {}, surface {}, (x, y) {:?}, squal {}",
            motion,
            surface,
            (x, y),
            squal
        );

        Ok(())
    }

    // Upload the firmware
    pub fn upload_firmware(&mut self) -> Result<(), E> {
        // send the firmware to the chip, cf p.18 of the datasheet
        // Serial.println("Uploading firmware...");
        rprintln!("Uploading firmware...");

        //Write 0 to Rest_En bit of Config2 register to disable Rest mode.
        // adns_write_reg(Config2, 0x20);
        // is this correct?
        self.write_register(Register::Config2, 0x00)?;

        // write 0x1d in SROM_enable reg for initializing
        // adns_write_reg(SROM_Enable, 0x1d);
        self.write_register(Register::SROMEnable, 0x1d)?;

        // wait for more than one frame period
        // delay(10);
        // assume that the frame rate is as low as 100fps...
        // even if it should never be that low
        self.delay.delay_ms(10);

        // write 0x18 to SROM_enable to start SROM download
        // adns_write_reg(SROM_Enable, 0x18);
        self.write_register(Register::SROMEnable, 0x18)?;

        rprintln!("Begin transfer...");

        // write the SROM file (=firmware data)
        // adns_com_begin();
        self.com_begin();

        // write burst destination address
        // SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
        // delayMicroseconds(15);

        self.spi
            .transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;

        self.delay.delay_us(15);

        // send all bytes of the firmware
        // unsigned char c;
        // for(int i = 0; i < firmware_length; i++){
        //   c = (unsigned char)pgm_read_byte(firmware_data + i);
        //   SPI.transfer(c);
        //   delayMicroseconds(15);
        // }

        for i in Self::FIRMWARE.iter() {
            let mut buff = [*i];
            // iprintln!(stim, "0x{:x}", buff[0]);
            self.spi.transfer(&mut buff)?;
            self.delay.delay_us(15); // 15
        }

        // // Per: added this, seems adequate
        self.delay.delay_us(105);

        self.com_end();

        //Read the SROM_ID register to verify the ID before any other register reads or writes.
        // adns_read_reg(SROM_ID);

        let srom_id = self.read_register(Register::SROMId)?;
        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);

        // //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
        // // adns_write_reg(Config2, 0x00);
        self.write_register(Register::Config2, 0x20)?;

        // // set initial CPI resolution
        // // adns_write_reg(Config1, 0x15);

        //            self.write_register(Register::ResolutionL, 0x15)?;
        self.write_register(Register::ResolutionL, 0x5)?;
        // self.write_register(Register::ResolutionH, 0x15)?;
        self.write_register(Register::ResolutionH, 0x00)?;

        // adns_com_end(); // why the CS is already high
        self.com_end();
        Ok(())
    }

    // const unsigned char firmware_data[] PROGMEM
    pub const FIRMWARE: [u8; 4094] = [
        0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
        0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
        0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
        0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e,
        0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58,
        0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02,
        0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16,
        0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8,
        0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c,
        0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1,
        0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9,
        0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30,
        0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18,
        0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45,
        0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f,
        0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e,
        0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c,
        0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28,
        0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62,
        0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda,
        0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2,
        0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a,
        0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d,
        0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04,
        0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65,
        0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff,
        0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5,
        0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a,
        0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e,
        0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b,
        0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9,
        0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c,
        0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e,
        0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee,
        0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d,
        0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac,
        0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd,
        0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf,
        0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec,
        0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7,
        0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8,
        0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2,
        0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 0x68, 0x66, 0x6d,
        0x2c, 0x92, 0x1f, 0xcc, 0x5b, 0xa7, 0x8f, 0x5d, 0xbb, 0xc9, 0xdb, 0xe8, 0x3b, 0x9d, 0x61,
        0x74, 0x8b, 0x05, 0xa1, 0x58, 0x52, 0x68, 0xee, 0x3d, 0x39, 0x79, 0xa0, 0x9b, 0xdd, 0xe1,
        0x55, 0xc9, 0x60, 0xeb, 0xad, 0xb8, 0x5b, 0xc2, 0x5a, 0xb5, 0x2c, 0x18, 0x55, 0xa9, 0x50,
        0xc3, 0xf6, 0x72, 0x5f, 0xcc, 0xe2, 0xf4, 0x55, 0xb5, 0xd6, 0xb5, 0x4a, 0x99, 0xa5, 0x28,
        0x74, 0x97, 0x18, 0xe8, 0xc0, 0x84, 0x89, 0x50, 0x03, 0x86, 0x4d, 0x1a, 0xb7, 0x09, 0x90,
        0xa2, 0x01, 0x04, 0xbb, 0x73, 0x62, 0xcb, 0x97, 0x22, 0x70, 0x5d, 0x52, 0x41, 0x8e, 0xd9,
        0x90, 0x15, 0xaa, 0xab, 0x0a, 0x31, 0x65, 0xb4, 0xda, 0xd0, 0xee, 0x24, 0xc9, 0x41, 0x91,
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}