"""
NOVA_G1

Micropython	library for the NOVA_G1(PWM*6, IO*2, ADC*1)
=======================================================

#Preliminary composition				20240222

@dahanzimin From the Mixly Team
"""
from micropython import const
from mixgo_nova import onboard_i2c

_NOVA_G1_ADDRESS	= const(0x25)
_NOVA_G1_ID			= const(0x00)
_NOVA_G1_ADC		= const(0x01)
_NOVA_G1_IO			= const(0x03)
_NOVA_G1_PWM		= const(0x04)

class NOVA_G1:
    def __init__(self, i2c_bus, addr=_NOVA_G1_ADDRESS):
        self._i2c = i2c_bus
        self._addr = addr
        if self._rreg(_NOVA_G1_ID) != 0x25:
            raise AttributeError("Cannot find a NOVA_G1")
        self.reset()

    def _wreg(self, reg, val):
        '''Write memory address'''
        try:
            self._i2c.writeto_mem(self._addr, reg, val.to_bytes(1, 'little'))
        except:
            return 0

    def _rreg(self, reg, nbytes=1):
        '''Read memory address'''
        try:
            self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
            return self._i2c.readfrom(self._addr, nbytes)[0] if nbytes <= 1 else self._i2c.readfrom(self._addr, nbytes)[0:nbytes]
        except:
            return 0

    def reset(self):
        """Reset all registers to default state"""
        for reg in range(_NOVA_G1_PWM, _NOVA_G1_PWM + 6):
            self._wreg(reg, 0x00)

    def varistor(self, ratio=100/1023):
        '''Read battery power'''
        _adc = self._rreg(_NOVA_G1_ADC) << 2 | self._rreg(_NOVA_G1_ADC+1) >> 6
        return round(_adc * ratio)

    def pwm(self, index, duty=None):
        """Motor*2*2 & USB*2 PWM duty cycle data register"""
        if duty is None:
            return self._rreg(_NOVA_G1_PWM + index)
        else:
            duty = min(255, max(0, duty))
            self._wreg(_NOVA_G1_PWM + index, duty)

    def motor(self, index, action, speed=0):
        if not 0 <= index <= 1:
            raise ValueError("Motor port must be a number in the range: 0~1")
        speed = min(100, max(speed, -100))
        if action == "N":
            self.pwm(index * 2, 0)
            self.pwm(index * 2 + 1, 0)
        elif action == "P":
            self.pwm(index * 2, 255)
            self.pwm(index * 2 + 1, 255)
        elif action == "CW":
            if speed >= 0:
                self.pwm(index * 2, 0)
                self.pwm(index * 2 + 1, speed * 255 // 100)
            else:
                self.pwm(index * 2, 0)
                self.pwm(index * 2 + 1, - speed * 255 // 100)
        elif action == "CCW":
            if speed >= 0:
                self.pwm(index * 2, speed * 255 // 100)
                self.pwm(index * 2 + 1, 0)
            else:
                self.pwm(index * 2, - speed * 255 // 100)
                self.pwm(index * 2 + 1, 0)
        elif action == "NC":
            return round(self.pwm(index * 2) * 100 / 255), round(self.pwm(index * 2 + 1) * 100 / 255)
        else:
            raise ValueError('Invalid input, valid are "N","P","CW","CCW"')

    def usb_pwm(self, index, duty=None):
        if not 0 <= index <= 1:
            raise ValueError("USB-2.0 port must be a number in the range: 0~1")
        if duty is None:
            return round((self.pwm(index + 4) * 100 / 255))
        else:
            self.pwm(index + 4, duty * 255 // 100)

    def spk_en(self, onoff=True):
        if onoff:
            self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) | 0x02)
        else:
            self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) & 0xFD)

    def ldo_en(self, onoff=True):
        if onoff:
            self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) | 0x01)
        else:
            self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) & 0xFE)


# Constructor
ext_g1 = NOVA_G1(onboard_i2c)