//! Simple PWM example
#![no_main]
#![no_std]

use cortex_m_rt::entry;
use embedded_hal::PwmPin;
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::{
    gpio::PinsA,
    pac::{self, interrupt},
    prelude::*,
    pwm::{self, get_duty_from_percent, ReducedPwmPin, PWMA, PWMB},
    timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
};

#[entry]
fn main() -> ! {
    rtt_init_print!();
    rprintln!("-- VA108xx PWM example application--");
    let mut dp = pac::Peripherals::take().unwrap();
    let pinsa = PinsA::new(&mut dp.SYSCONFIG, None, dp.PORTA);
    let mut pwm = pwm::PwmPin::new(
        (pinsa.pa3.into_funsel_1(), dp.TIM3),
        50.mhz(),
        &mut dp.SYSCONFIG,
        10.hz(),
    );
    let timer = set_up_ms_timer(
        &mut dp.SYSCONFIG,
        &mut dp.IRQSEL,
        50.mhz().into(),
        dp.TIM0,
        pac::Interrupt::OC0,
    );
    let mut delay = Delay::new(timer);
    unsafe {
        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
    }
    let mut current_duty_cycle = 0.0;
    PwmPin::set_duty(&mut pwm, get_duty_from_percent(current_duty_cycle));
    PwmPin::enable(&mut pwm);

    // Delete type information, increased code readibility for the rest of the code
    let mut reduced_pin = ReducedPwmPin::from(pwm);
    loop {
        // Increase duty cycle continuously
        while current_duty_cycle < 1.0 {
            delay.delay_ms(200);
            current_duty_cycle += 0.02;
            PwmPin::set_duty(&mut reduced_pin, get_duty_from_percent(current_duty_cycle));
        }

        // Switch to PWMB and decrease the window with a high signal from 100 % to 0 %
        // continously
        current_duty_cycle = 0.0;
        let mut upper_limit = 1.0;
        let mut lower_limit = 0.0;
        let mut pwmb: ReducedPwmPin<PWMB> = ReducedPwmPin::from(reduced_pin);
        pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
        pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
        while lower_limit < 0.5 {
            delay.delay_ms(200);
            lower_limit += 0.01;
            upper_limit -= 0.01;
            pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
            pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
            rprintln!("Lower limit: {}", pwmb.pwmb_lower_limit());
            rprintln!("Upper limit: {}", pwmb.pwmb_upper_limit());
        }
        reduced_pin = ReducedPwmPin::<PWMA>::from(pwmb);
    }
}

#[interrupt]
fn OC0() {
    default_ms_irq_handler()
}