use core::marker::PhantomData;
use core::u16;

use crate::thermostat::ad5680;

use fugit::KilohertzU32;
use stm32f4xx_hal::{
    adc::{
        config::{self, AdcConfig},
        Adc,
    },
    gpio::{gpioa::*, gpiob::*, gpioc::*, Alternate, Analog, Output, PushPull},
    hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
    pac::{ADC1, SPI1, TIM4},
    rcc::Clocks,
    spi::{NoMiso, Spi, TransferModeNormal},
    timer::pwm::{PwmChannel, PwmExt},
};

use uom::si::{
    electric_current::ampere,
    electric_potential::{millivolt, volt},
    electrical_resistance::ohm,
    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance},
    ratio::ratio,
};

pub const PWM_FREQ_KHZ: KilohertzU32 = KilohertzU32::from_raw(20);
pub const R_SENSE: ElectricalResistance = ElectricalResistance {
    dimension: PhantomData,
    units: PhantomData,
    value: 0.05,
};

// Rev 0_2: DAC Chip connects 3V3 reference voltage and thus provide 0-3.3V output range
// TODO: Rev 0_3: DAC Chip connects 3V3 reference voltage,
//      which is then passed through a resistor divider to provide 0-3V output range
pub const DAC_OUT_V_MAX: f64 = 3.3;
const TEC_VSEC_BIAS_V: ElectricPotential = ElectricPotential {
    dimension: PhantomData,
    units: PhantomData,
    value: 1.65,
};

// Kirdy Design Specs:
// MaxV = 5.0V
// MAX Current = +- 1.0A
const MAX_V_DUTY_TO_CURRENT_RATE: ElectricPotential = ElectricPotential {
    dimension: PhantomData,
    units: PhantomData,
    value: 4.0 * 3.3,
};
pub const MAX_V_MAX: ElectricPotential = ElectricPotential {
    dimension: PhantomData,
    units: PhantomData,
    value: 5.0,
};
const MAX_V_DUTY_MAX: f64 = MAX_V_MAX.value / MAX_V_DUTY_TO_CURRENT_RATE.value;
const MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
    dimension: PhantomData,
    units: PhantomData,
    value: 1.0 / (10.0 * R_SENSE.value / 3.3),
};
pub const MAX_I_POS_CURRENT: ElectricCurrent = ElectricCurrent {
    dimension: PhantomData,
    units: PhantomData,
    value: 1.0,
};
pub const MAX_I_NEG_CURRENT: ElectricCurrent = ElectricCurrent {
    dimension: PhantomData,
    units: PhantomData,
    value: 1.0,
};
// .get::<ratio>() is not implemented for const
const MAX_I_POS_DUTY_MAX: f64 = MAX_I_POS_CURRENT.value / MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;
const MAX_I_NEG_DUTY_MAX: f64 = MAX_I_NEG_CURRENT.value / MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;

pub trait ChannelPins {
    type DacSpi: Transfer<u8>;
    type DacSync: OutputPin;
    type ShdnPin: OutputPin;
    type VRefPin;
    type ItecPin;
    type DacFeedbackPin;
    type VTecPin;
    type MaxVPin;
    type MaxIPosPin;
    type MAXINegPin;
}

pub struct Channel0;

impl ChannelPins for Channel0 {
    type DacSpi = DacSpi;
    type DacSync = DacSync;
    type ShdnPin = PA5<Output<PushPull>>;
    type VRefPin = PA6<Analog>;
    type ItecPin = PB1<Analog>;
    // Fixme: Flywire is added to Rev0_2 prototype. In Rev0_3, it is connected to PC0
    //type DacFeedbackPin = PC0<Analog>;
    type DacFeedbackPin = PC3<Analog>;
    type VTecPin = PB0<Analog>;
    type MaxVPin = PwmChannel<TIM4, 1>;
    type MaxIPosPin = PwmChannel<TIM4, 2>;
    type MAXINegPin = PwmChannel<TIM4, 0>;
}

pub struct MAX1968Phy<C: ChannelPins> {
    // state
    pub center_pt: ElectricPotential,
    pub dac: ad5680::Dac<C::DacSpi, C::DacSync>,
    pub shdn: C::ShdnPin,
    pub vref_pin: C::VRefPin,
    pub itec_pin: C::ItecPin,
    pub dac_feedback_pin: C::DacFeedbackPin,
    pub vtec_pin: C::VTecPin,
    pub max_v: C::MaxVPin,
    pub max_i_pos: C::MaxIPosPin,
    pub max_i_neg: C::MAXINegPin,
}

pub struct MAX1968PinSet<C: ChannelPins> {
    pub dac: ad5680::Dac<C::DacSpi, C::DacSync>,
    pub shdn: C::ShdnPin,
    pub vref_pin: C::VRefPin,
    pub itec_pin: C::ItecPin,
    pub dac_feedback_pin: C::DacFeedbackPin,
    pub vtec_pin: C::VTecPin,
    pub max_v: C::MaxVPin,
    pub max_i_pos: C::MaxIPosPin,
    pub max_i_neg: C::MAXINegPin,
}

type DacSpi = Spi<SPI1, (PB3<Alternate<5>>, NoMiso, PB5<Alternate<5>>), TransferModeNormal>;
type DacSync = PB4<Output<PushPull>>;
pub struct MaxAdcPins {
    pub dac_vfb: PC0<Analog>,
    pub vref: PA6<Analog>,
    pub itec: PB1<Analog>,
    pub vtec: PB0<Analog>,
}

pub struct MAX1968 {
    // settings
    pub phy: MAX1968Phy<Channel0>,
    pub pins_adc: Adc<ADC1>,
}

pub struct PwmPins {
    pub max_v0: PwmChannel<TIM4, 1>,
    pub max_i_pos0: PwmChannel<TIM4, 2>,
    pub max_i_neg0: PwmChannel<TIM4, 0>,
}
enum PwmPinsEnum {
    MaxV,
    MaxPosI,
    MaxNegI,
}

pub enum AdcReadTarget {
    VREF,
    DacVfb,
    ITec,
    VTec,
}

impl PwmPins {
    fn setup(clocks: Clocks, tim4: TIM4, max_v0: PB7, max_i_pos0: PB8, max_i_neg0: PB6) -> PwmPins {
        fn init_pwm_pin<P: hal::PwmPin<Duty = u16>>(pin: &mut P) {
            pin.set_duty(0);
            pin.enable();
        }

        let channels = (
            max_i_neg0.into_alternate::<2>(),
            max_v0.into_alternate::<2>(),
            max_i_pos0.into_alternate::<2>(),
        );

        let (mut max_i_neg0, mut max_v0, mut max_i_pos0) =
            tim4.pwm_hz(channels, PWM_FREQ_KHZ.convert(), &clocks).split();

        init_pwm_pin(&mut max_v0);
        init_pwm_pin(&mut max_i_neg0);
        init_pwm_pin(&mut max_i_pos0);

        PwmPins {
            max_v0,
            max_i_pos0,
            max_i_neg0,
        }
    }
}

impl<C: ChannelPins> MAX1968Phy<C> {
    pub fn new(pins: MAX1968PinSet<C>) -> Self {
        MAX1968Phy {
            center_pt: ElectricPotential::new::<volt>(1.5),
            dac: pins.dac,
            shdn: pins.shdn,
            vref_pin: pins.vref_pin,
            itec_pin: pins.itec_pin,
            dac_feedback_pin: pins.dac_feedback_pin,
            vtec_pin: pins.vtec_pin,
            max_v: pins.max_v,
            max_i_pos: pins.max_i_pos,
            max_i_neg: pins.max_i_neg,
        }
    }
}

impl MAX1968 {
    pub fn new(phy_ch0: MAX1968Phy<Channel0>, adc1: ADC1) -> Self {
        let config = AdcConfig::default()
            .clock(config::Clock::Pclk2_div_2)
            .default_sample_time(config::SampleTime::Cycles_480);

        let pins_adc = Adc::adc1(adc1, true, config);

        MAX1968 {
            phy: phy_ch0,
            pins_adc: pins_adc,
        }
    }

    pub fn setup(&mut self) {
        self.power_down();

        let vref = self.adc_read(AdcReadTarget::VREF, 2048);
        self.set_center_point(vref);

        // Todo: Add Calibration here
        self.set_max_v(ElectricPotential::new::<volt>(5.0));
        self.set_max_i_pos(ElectricCurrent::new::<ampere>(1.0));
        self.set_max_i_neg(ElectricCurrent::new::<ampere>(1.0));

        self.set_i(ElectricCurrent::new::<ampere>(0.0));
    }

    pub fn power_down(&mut self) {
        let _ = self.phy.shdn.set_low();
    }

    pub fn power_up(&mut self) {
        let _ = self.phy.shdn.set_high();
    }

    pub fn set_center_point(&mut self, value: ElectricPotential) {
        self.phy.center_pt = value;
    }

    fn set_dac(&mut self, voltage: ElectricPotential) -> ElectricPotential {
        let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>()
            * (ad5680::MAX_VALUE as f64)) as u32;
        self.phy.dac.set(value).unwrap();
        // TODO: Store the set-ed DAC Voltage Value
        voltage
    }

    pub fn set_i(&mut self, i_tec: ElectricCurrent) -> ElectricCurrent {
        let voltage = i_tec * 10.0 * R_SENSE + self.phy.center_pt;
        let voltage = self.set_dac(voltage);
        let i_tec = (voltage - self.phy.center_pt) / (10.0 * R_SENSE);
        i_tec
    }

    // AN4073: ADC Reading Dispersion can be reduced through Averaging
    // Upon test, 16 Point Averaging = +-3 LSB Dispersion
    pub fn adc_read(&mut self, adc_read_target: AdcReadTarget, avg_pt: u16) -> ElectricPotential {
        let mut sample: u32 = 0;
        sample = match adc_read_target {
            AdcReadTarget::VREF => {
                for _ in (0..avg_pt).rev() {
                    sample += self.pins_adc.convert(
                        &self.phy.vref_pin,
                        stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
                    ) as u32;
                }
                sample / avg_pt as u32
            }
            AdcReadTarget::DacVfb => {
                for _ in (0..avg_pt).rev() {
                    sample += self.pins_adc.convert(
                        &self.phy.dac_feedback_pin,
                        stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
                    ) as u32;
                }
                sample / avg_pt as u32
            }
            AdcReadTarget::ITec => {
                for _ in (0..avg_pt).rev() {
                    sample += self.pins_adc.convert(
                        &self.phy.itec_pin,
                        stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
                    ) as u32;
                }
                sample / avg_pt as u32
            }
            AdcReadTarget::VTec => {
                for _ in (0..avg_pt).rev() {
                    sample += self.pins_adc.convert(
                        &self.phy.vtec_pin,
                        stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
                    ) as u32;
                }
                sample / avg_pt as u32
            }
        };
        let mv = self.pins_adc.sample_to_millivolts(sample as u16);
        ElectricPotential::new::<millivolt>(mv as f64)
    }

    pub fn get_vref(&mut self) -> ElectricPotential {
        self.adc_read(AdcReadTarget::VREF, 16)
    }

    pub fn get_dac_vfb(&mut self) -> ElectricPotential {
        self.adc_read(AdcReadTarget:: DacVfb, 16)
    }

    pub fn get_tec_i(&mut self) -> ElectricCurrent {
        (self.adc_read(AdcReadTarget::ITec, 1) - self.phy.center_pt)
            / ElectricalResistance::new::<ohm>(0.4)
    }

    pub fn get_tec_v(&mut self) -> ElectricPotential {
        // Fixme: Rev0_2 has Analog Input Polarity Reversed
        //  Remove the -ve sign for Rev0_3
        -(self.adc_read(AdcReadTarget::VTec, 1) - TEC_VSEC_BIAS_V) * 4.0
    }

    fn set_pwm(&mut self, pwm_pin: PwmPinsEnum, duty: f64, max_duty: f64) -> f64 {
        fn set<P: hal::PwmPin<Duty = u16>>(pin: &mut P, duty: f64) -> f64 {
            let max = pin.get_max_duty();
            let value = ((duty * (max as f64)) as u16).min(max);
            pin.set_duty(value);
            pin.enable();
            value as f64 / (max as f64)
        }

        let duty = duty.min(max_duty);

        match pwm_pin {
            PwmPinsEnum::MaxV => set(&mut self.phy.max_v, duty),
            PwmPinsEnum::MaxPosI => set(&mut self.phy.max_i_pos, duty),
            PwmPinsEnum::MaxNegI => set(&mut self.phy.max_i_neg, duty),
        }
    }

    pub fn set_max_v(&mut self, max_v: ElectricPotential) -> ElectricPotential {
        let duty = (max_v / MAX_V_DUTY_TO_CURRENT_RATE).get::<ratio>();
        let duty = self.set_pwm(PwmPinsEnum::MaxV, duty, MAX_V_DUTY_MAX);
        duty * MAX_V_DUTY_TO_CURRENT_RATE
    }

    pub fn set_max_i_pos(&mut self, max_i_pos: ElectricCurrent) -> ElectricCurrent {
        let duty = (max_i_pos / MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
        let duty = self.set_pwm(PwmPinsEnum::MaxPosI, duty, MAX_I_POS_DUTY_MAX);
        duty * MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE
    }

    pub fn set_max_i_neg(&mut self, max_i_neg: ElectricCurrent) -> ElectricCurrent {
        let duty = (max_i_neg / MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
        let duty = self.set_pwm(PwmPinsEnum::MaxNegI, duty, MAX_I_NEG_DUTY_MAX);
        duty * MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE
    }
}