#pragma once
#include <stdint.h>
#include <climits>
#include "pico/stdlib.h"

#define PIMORONI_I2C_DEFAULT_INSTANCE i2c0
#define PIMORONI_SPI_DEFAULT_INSTANCE spi0

// Macro to return a value clamped between a minimum and maximum
#ifndef CLAMP
#define CLAMP(a, mn, mx) ((a)<(mx)?((a)>(mn)?(a):(mn)):(mx))
#endif


namespace pimoroni {
    static const unsigned int PIN_UNUSED = INT_MAX; // Intentionally INT_MAX to avoid overflowing MicroPython's int type

    // I2C
    static const unsigned int I2C_DEFAULT_BAUDRATE = 400000;
    static const unsigned int I2C_DEFAULT_SDA = 20;
    static const unsigned int I2C_DEFAULT_SCL = 21;
    static const unsigned int I2C_DEFAULT_INT = 22;

    static const unsigned int I2C_BG_SDA = 4;
    static const unsigned int I2C_BG_SCL = 5;
    static const unsigned int I2C_BG_INT = 3;

    static const unsigned int I2C_HEADER_SDA = 20;
    static const unsigned int I2C_HEADER_SCL = 21;
    static const unsigned int I2C_HEADER_INT = 19;

    // SPI
    static const unsigned int SPI_DEFAULT_MOSI = 19;
    static const unsigned int SPI_DEFAULT_MISO = 16;
    static const unsigned int SPI_DEFAULT_DC = 16;
    static const unsigned int SPI_DEFAULT_SCK = 18;

    static const unsigned int SPI_BG_FRONT_PWM = 20;
    static const unsigned int SPI_BG_FRONT_CS = 17;

    static const unsigned int SPI_BG_BACK_PWM = 21;
    static const unsigned int SPI_BG_BACK_CS = 22;

    enum BG_SPI_SLOT {
      BG_SPI_FRONT,
      BG_SPI_BACK,
      PICO_EXPLORER_ONBOARD
    };

    enum BOARD {
      BREAKOUT_GARDEN,
      PICO_EXPLORER,
      PLASMA_2040,
      INTERSTATE_75,
      SERVO_2040
    };
  
    enum Rotation {
      ROTATE_0 = 0,
      ROTATE_90 = 90,
      ROTATE_180 = 180,
      ROTATE_270 = 270
    };

    enum Polarity {
      ACTIVE_LOW = 0,
      ACTIVE_HIGH = 1
    };

    enum Direction {
      NORMAL_DIR    = 0,
      REVERSED_DIR  = 1,
    };

    inline uint32_t millis() {
      return to_ms_since_boot(get_absolute_time());
    }

    constexpr uint8_t GAMMA[256] = {
      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
      0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2,
      2, 2, 2, 3, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5,
      6, 6, 6, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 11, 11,
      11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16, 17, 17, 18, 18,
      19, 19, 20, 21, 21, 22, 22, 23, 23, 24, 25, 25, 26, 27, 27, 28,
      29, 29, 30, 31, 31, 32, 33, 34, 34, 35, 36, 37, 37, 38, 39, 40,
      40, 41, 42, 43, 44, 45, 46, 46, 47, 48, 49, 50, 51, 52, 53, 54,
      55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70,
      71, 72, 73, 74, 76, 77, 78, 79, 80, 81, 83, 84, 85, 86, 88, 89,
      90, 91, 93, 94, 95, 96, 98, 99, 100, 102, 103, 104, 106, 107, 109, 110,
      111, 113, 114, 116, 117, 119, 120, 121, 123, 124, 126, 128, 129, 131, 132, 134,
      135, 137, 138, 140, 142, 143, 145, 146, 148, 150, 151, 153, 155, 157, 158, 160,
      162, 163, 165, 167, 169, 170, 172, 174, 176, 178, 179, 181, 183, 185, 187, 189,
      191, 193, 194, 196, 198, 200, 202, 204, 206, 208, 210, 212, 214, 216, 218, 220,
      222, 224, 227, 229, 231, 233, 235, 237, 239, 241, 244, 246, 248, 250, 252, 255};

  struct pin_pair {
    union {
      uint8_t first;
      uint8_t a;
      uint8_t positive;
      uint8_t phase;
    };
    union {
      uint8_t second;
      uint8_t b;
      uint8_t negative;
      uint8_t enable;
    };

    constexpr pin_pair() : first(0), second(0) {}
    constexpr pin_pair(uint8_t first, uint8_t second) : first(first), second(second) {}
  };

  struct bool_pair {
    union {
      bool first;
      bool a;
    };
    union {
      bool second;
      bool b;
    };

    bool_pair() : first(false), second(false) {}
    bool_pair(bool first, bool second) : first(first), second(second) {}
  };
}