#![no_std]

extern crate cortex_m;
extern crate embedded_hal;
extern crate itsybitsy_m0 as hal;
extern crate panic_halt;

pub use cortex_m::asm::delay;
pub use hal::entry;

use atsamd21g18a::{
    Peripherals
};
use core::u8;
use core::fmt::Debug;
pub use embedded_hal::digital::v2::OutputPin;
use hal::{
    clock::GenericClockController,
};
use lights::{
    HardwareRgb,
    Lights
};

pub fn boot() -> NeopixelLights<impl OutputPin<Error = ()>, impl OutputPin<Error = ()>, impl OutputPin<Error = ()>> {
    let mut peripherals = Peripherals::take().unwrap();
    let _clock = GenericClockController::with_internal_32kosc(
        peripherals.GCLK,
        &mut peripherals.PM,
        &mut peripherals.SYSCTRL,
        &mut peripherals.NVMCTRL
    );

    let mut pins = hal::Pins::new(peripherals.PORT);

    NeopixelLights {
        out: pins.d7.into_push_pull_output(&mut pins.port),
        high_out: pins.d5.into_push_pull_output(&mut pins.port),
        red_led: pins.d13.into_open_drain_output(&mut pins.port),
        debug_light: false,
    }
}

// WS2815 lighting times
// approx. 20ns per clock cycle;
// const ZERO_HIGH_CYCLES: u32 = 11; // about 220ns
// const ONE_HIGH_CYCLES: u32 = 29; // about 580ns
// const ZERO_LOW_CYCLES: u32 = 29; // about 580ns
// const ONE_LOW_CYCLES: u32 = 11; // about 220ns

// experimentally, there is some unknown overhead
// but these timings appear to work for me:
const ZERO_HIGH_CYCLES: u32 = 11-8;
const ONE_HIGH_CYCLES: u32 = 29-8;
const ZERO_LOW_CYCLES: u32 = 29-8;
const ONE_LOW_CYCLES: u32 = 11-8;
const LATCH_CYCLES: u32 = 15000; // about 300us

pub struct NeopixelLights<T: OutputPin, U: OutputPin, V: OutputPin> {
    pub out: T,
    pub high_out: U,
    pub red_led: V,
    pub debug_light: bool
}

impl<T: OutputPin, U: OutputPin, V: OutputPin> NeopixelLights<T, U, V>
where
    T::Error: Debug,
    U::Error: Debug,
    V::Error: Debug,
{
    #[inline]
    pub fn write(&mut self, bit: bool) {
        self.high_out.set_high().unwrap();
        delay(if bit { ONE_HIGH_CYCLES } else { ZERO_HIGH_CYCLES });
        self.high_out.set_low().unwrap();
        delay(if bit { ONE_LOW_CYCLES } else { ZERO_LOW_CYCLES });
    }

    #[inline]
    pub fn byte(&mut self, byte: u8) {
        self.write(byte & 0x80 != 0);
        self.write(byte & 0x40 != 0);
        self.write(byte & 0x20 != 0);
        self.write(byte & 0x10 != 0);
        self.write(byte & 0x08 != 0);
        self.write(byte & 0x04 != 0);
        self.write(byte & 0x02 != 0);
        self.write(byte & 0x01 != 0);
    }

    /// Blink light, probably to indicate a loop is still running
    pub fn heartbeat(&mut self) {
        if self.debug_light {
            self.red_led.set_low().unwrap();
        } else {
            self.red_led.set_high().unwrap();
        }
        self.debug_light = !self.debug_light;
    }
}

impl<T: OutputPin, U: OutputPin, V: OutputPin> Lights for NeopixelLights<T, U, V>
where
    T::Error: Debug,
    U::Error: Debug,
    V::Error: Debug,
{
    type Pixel = HardwareRgb;

    #[inline]
    fn render(&mut self, rgb: &HardwareRgb) {
        // GRB pixel order
        self.byte(rgb.1);
        self.byte(rgb.0);
        self.byte(rgb.2);
    }
    #[inline]
    fn latch(&mut self) {
        delay(LATCH_CYCLES);
    }
}