//! STM32F722 initialization and RTIC runtime.

mod board;
mod clock;
mod config;
mod data_channel;
mod firmware;
mod interrupts;
mod motor_inhibit;
mod notification;
mod peripherals;
pub mod ports;
mod routes;
mod sensors;
mod serial;
mod usb;

#[cfg(test)]
#[path = "../../../../boards/geprc-f722-v2/src/board.rs"]
mod geprc;
#[cfg(test)]
#[path = "../../../../boards/kakute-f7-mini-v3/src/board.rs"]
mod kakute;

#[cfg(test)]
#[path = "../../tests/support/config_active_state.rs"]
mod config_active_state;
#[cfg(test)]
#[path = "../../tests/support/config_files.rs"]
mod config_files;
#[cfg(test)]
#[path = "../../tests/support/route_variants.rs"]
mod route_variants;

use kaptan_config::Config;

use crate::{BoardError, F7ImmutableConfig};

pub use kaptan_spi::SpiCompletion as F722ImuTransferCompletion;

pub use board::{
    F722InitResources, F722LidarState, F722MavlinkState, F722ServiceTimer, process_imu,
};
pub use config::F722UserConfig;
pub use interrupts::F722Interrupts;
pub use notification::EventNotification;
pub use routes::F722Route;
pub use sensors::{Icm42688Imu, ImuEvent, ImuService, Mpu6000Imu};

/// Inhibits motor outputs, validates configuration, then initializes hardware.
/// Called after RTIC takes the PAC peripherals.
pub fn initialize<C, I, const N: usize, const MAX_PAYLOAD_BYTES: usize>(
    core: cortex_m::Peripherals,
    device: stm32f7::stm32f722::Peripherals,
    factory: C,
    immutable: I,
) -> Result<F722InitResources<C, I, N, MAX_PAYLOAD_BYTES>, BoardError>
where
    C: Clone + Config,
    I: F7ImmutableConfig,
{
    let hardware = immutable.f722().hardware;
    motor_inhibit::inhibit(&device.RCC, &device.GPIOB, hardware.motors);
    board::validate_board_config::<C, I, N>(&factory, &immutable)?;
    board::initialize::<C, I, N, MAX_PAYLOAD_BYTES>(core, device, factory, immutable, hardware)
}