//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.

use platform_stm32f7::{
    F7Board, F722Hardware, F722ImmutableConfig as ImmutableConfig, Icm42688, ImuMount, Mavlink,
    Pa13ActiveHigh, Pb0Pb1Pb4Pb5Low, Pc3, Severity, VerticalSensor,
};

/// User-writable MAVLink endpoint policy.
#[derive(Clone, kaptan_config::Config)]
struct MavlinkConfig {
    #[config(
        id = 101,
        key = "mavlink.system_id",
        unit = "id",
        range(min = 1, max = 255)
    )]
    system_id: u8,
    #[config(
        id = 102,
        key = "mavlink.component_id",
        unit = "id",
        range(min = 1, max = 255)
    )]
    component_id: u8,
    #[config(id = 108, key = "mavlink.logging.enabled", unit = "bool")]
    logging_enabled: bool,
    #[config(
        enum,
        id = 105,
        key = "mavlink.logging.maximum_severity",
        unit = "mav_severity"
    )]
    maximum_log_severity: Severity,
}

/// User-writable telemetry publication policy.
#[derive(Clone, kaptan_config::Config)]
struct TelemetryConfig {
    #[config(
        id = 103,
        key = "telemetry.raw_imu_hz",
        unit = "Hz",
        range(min = 1, max = 100)
    )]
    raw_imu_hz: u8,
    #[config(
        id = 104,
        key = "telemetry.heartbeat_hz",
        unit = "Hz",
        range(min = 1, max = 10)
    )]
    heartbeat_hz: u8,
}

/// Complete user-writable configuration advertised by this board.
#[derive(Clone, kaptan_config::Config)]
pub struct UserConfig {
    mavlink: MavlinkConfig,
    telemetry: TelemetryConfig,
}

/// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
pub struct GeprcF722V2;

impl F7Board for GeprcF722V2 {
    type UserConfig = UserConfig;
    type ImmutableConfig = ImmutableConfig;

    const FACTORY_USER_CONFIG: UserConfig = UserConfig {
        mavlink: MavlinkConfig {
            system_id: 1,
            component_id: 1,
            logging_enabled: true,
            maximum_log_severity: Severity::Info,
        },
        telemetry: TelemetryConfig {
            raw_imu_hz: 20,
            heartbeat_hz: 2,
        },
    };
    const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {
        name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
        service_hz: 100,
        hardware: F722Hardware::new()
            .output_inhibit(Pb0Pb1Pb4Pb5Low)
            .imu(Icm42688::on_spi3().with_drdy(Pc3).mounted(ImuMount::Yaw180))
            .mavlink(Mavlink::on_usart2().baud(115_200))
            .vertical_sensor(VerticalSensor::none())
            .status_led(Pa13ActiveHigh)
            .telemetry_only(),
    };
}