pub use embedded_hal;
///! Module for all hardware-specific setup of Stabilizer
pub use stm32h7xx_hal as hal;

pub mod adc;
pub mod afe;
pub mod cycle_counter;
pub mod dac;
pub mod design_parameters;
pub mod input_stamper;
pub mod pounder;
pub mod setup;
pub mod signal_generator;
pub mod system_timer;

mod eeprom;
mod timers;

// Type alias for the analog front-end (AFE) for ADC0.
pub type AFE0 = afe::ProgrammableGainAmplifier<
    hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
    hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>,
>;

// Type alias for the analog front-end (AFE) for ADC1.
pub type AFE1 = afe::ProgrammableGainAmplifier<
    hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
    hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
>;

// Type alias for digital input 0 (DI0).
pub type DigitalInput0 =
    hal::gpio::gpiog::PG9<hal::gpio::Input<hal::gpio::Floating>>;

// Type alias for digital input 1 (DI1).
pub type DigitalInput1 =
    hal::gpio::gpioc::PC15<hal::gpio::Input<hal::gpio::Floating>>;

pub type NetworkStack = smoltcp_nal::NetworkStack<
    'static,
    'static,
    hal::ethernet::EthernetDMA<'static>,
>;

pub type EthernetPhy = hal::ethernet::phy::LAN8742A<hal::ethernet::EthernetMAC>;

#[inline(never)]
#[panic_handler]
fn panic(info: &core::panic::PanicInfo) -> ! {
    use core::{
        fmt::Write,
        sync::atomic::{AtomicBool, Ordering},
    };
    use cortex_m::asm;
    use rtt_target::{ChannelMode, UpChannel};

    cortex_m::interrupt::disable();

    // Recursion protection
    static PANICKED: AtomicBool = AtomicBool::new(false);
    while PANICKED.load(Ordering::Relaxed) {
        asm::bkpt();
    }
    PANICKED.store(true, Ordering::Relaxed);

    // Turn on both red LEDs, FP_LED_1, FP_LED_3
    let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());

    // Analogous to panic-rtt-target
    if let Some(mut channel) = unsafe { UpChannel::conjure(0) } {
        channel.set_mode(ChannelMode::BlockIfFull);
        writeln!(channel, "{}", info).ok();
    }

    // Abort
    asm::udf();
    // Halt
    // loop { core::sync::atomic::compiler_fence(Ordering::SeqCst); }
}

#[cortex_m_rt::exception]
unsafe fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
    panic!("HardFault at {:#?}", ef);
}

#[cortex_m_rt::exception]
unsafe fn DefaultHandler(irqn: i16) {
    panic!("Unhandled exception (IRQn = {})", irqn);
}