#![no_std]
#![no_main]
#![deny(
    clippy::mem_forget,
    reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
    holding buffers for the duration of a data transfer."
)]

use esp_hal::clock::CpuClock;
use esp_hal::mcpwm::operator::PwmPinConfig;
use esp_hal::mcpwm::timer::PwmWorkingMode;
use esp_hal::time::Rate;
use esp_hal::timer::timg::TimerGroup;
use esp_hal::main;
use esp_hal::time::{Duration, Instant};
use esp_hal::delay::Delay;
use rtt_target::rprintln;
#[panic_handler]
fn panic(_: &core::panic::PanicInfo) -> ! {
    loop {}
}

extern crate alloc;

// This creates a default app-descriptor required by the esp-idf bootloader.
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
esp_bootloader_esp_idf::esp_app_desc!();

#[main]
fn main() -> ! {
    // generator version: 1.0.1

    rtt_target::rtt_init_print!();

    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
    let peripherals = esp_hal::init(config);
    let system = peripherals.SYSTEM;
    let mut delay = Delay::new();

    esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
    let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
    let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
    mcpwm.operator0.set_timer(&mcpwm.timer0);
    let pin = peripherals.GPIO18;

    let mut pwm_pin = mcpwm.operator0.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
        let timer_clock_cfg = clock_config
        .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
        .unwrap();
    mcpwm.timer0.start(timer_clock_cfg);

    pwm_pin.set_timestamp(1000);
    delay.delay_millis(3000); 
    rprintln!("WUT?");
    pwm_pin.set_timestamp(1121);
    delay.delay_millis(1000);    
    
    pwm_pin.set_timestamp(1055);
    delay.delay_millis(3000);    
        
    // Example: Ramp from 0% to 50% throttle
        //the afro esc starts turning at roughly setup gets a PWM at 
    //loop{
    //     for pulse in 1120..1500 {
    //         rprintln!("pulse:{}",pulse);
    //         pwm_pin.set_timestamp(pulse);
    //         Timer::after_millis(3000).await;
    //     }
        
    //     Timer::after_millis(1000).await;
        
    //     // Return to idle
    //     pwm_pin.set_timestamp(1000);
    //     Timer::after_millis(1000).await;
    // }

    loop {
        rprintln!("Hello world!");
    delay.delay_millis(3000);    

    }

    // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin
}