#include "switch_pro_driver.h"

#include <algorithm>
#include <cstring>
#include <map>
#include <stdio.h>
#include "pico/rand.h"
#include "pico/time.h"
#include "tusb.h"

#ifdef SWITCH_PICO_LOG
#define LOG_PRINTF(...) printf(__VA_ARGS__)
#else
#define LOG_PRINTF(...) ((void)0)
#endif

// force a report to be sent every X ms
#define SWITCH_PRO_KEEPALIVE_TIMER 5

static SwitchInputState g_input_state{
    false, false, false, false,
    false, false, false, false, false, false, false, false,
    false, false, false, false, false, false,
    SWITCH_PRO_JOYSTICK_MID, SWITCH_PRO_JOYSTICK_MID,
    SWITCH_PRO_JOYSTICK_MID, SWITCH_PRO_JOYSTICK_MID};

static uint8_t report_buffer[SWITCH_PRO_ENDPOINT_SIZE] = {};
static uint8_t last_report[SWITCH_PRO_ENDPOINT_SIZE] = {};
static SwitchProReport switch_report{};
static uint8_t last_report_counter = 0;
static uint32_t last_report_timer = 0;
static uint32_t last_host_activity_ms = 0;
static bool is_ready = false;
static bool is_initialized = false;
static bool is_report_queued = false;
static bool report_sent = false;
static uint8_t queued_report_id = 0;
static bool forced_ready = false;
static uint8_t handshake_counter = 0;

static SwitchDeviceInfo device_info{};
static uint8_t player_id = 0;
static uint8_t input_mode = 0x30;
static bool is_imu_enabled = false;
static bool is_vibration_enabled = false;

// Optional compile-time colour override (body/buttons/grips).
#if __has_include("controller_color_config.h")
#include "controller_color_config.h"
#endif
#ifndef SWITCH_COLOR_BODY_R
#define SWITCH_COLOR_BODY_R 0x1B
#define SWITCH_COLOR_BODY_G 0x1B
#define SWITCH_COLOR_BODY_B 0x1D
#endif
#ifndef SWITCH_COLOR_BUTTON_R
#define SWITCH_COLOR_BUTTON_R 0xFF
#define SWITCH_COLOR_BUTTON_G 0xFF
#define SWITCH_COLOR_BUTTON_B 0xFF
#endif
#ifndef SWITCH_COLOR_LEFT_GRIP_R
#define SWITCH_COLOR_LEFT_GRIP_R 0xEC
#define SWITCH_COLOR_LEFT_GRIP_G 0x00
#define SWITCH_COLOR_LEFT_GRIP_B 0x8C
#endif
#ifndef SWITCH_COLOR_RIGHT_GRIP_R
#define SWITCH_COLOR_RIGHT_GRIP_R 0xEC
#define SWITCH_COLOR_RIGHT_GRIP_G 0x00
#define SWITCH_COLOR_RIGHT_GRIP_B 0x8C
#endif

static uint16_t leftMinX, leftMinY;
static uint16_t leftCenX, leftCenY;
static uint16_t leftMaxX, leftMaxY;
static uint16_t rightMinX, rightMinY;
static uint16_t rightCenX, rightCenY;
static uint16_t rightMaxX, rightMaxY;
static SwitchRumbleCallback rumble_callback = nullptr;

static const uint8_t factory_config_data[0xEFF] = {
    // serial number
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,

    0xFF, 0xFF,

    // device type
    SWITCH_TYPE_PRO_CONTROLLER,

    // unknown
    0xA0,

    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,

    // color options
    0x02,

    0xFF, 0xFF, 0xFF, 0xFF,

    // config & calibration 1 (6-axis IMU, SPI 0x6020-0x6037)
    // Accel origin (0,0,0): bridge pre-corrects for bias, so Switch must not
    // apply a second origin offset. Real controllers have hardware DC offsets
    // here, but our emulated sensor sends bias-corrected values.
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    // Accel sensitivity coeff: 0x4000 = 16384 → 4096 LSB/G (matches bridge)
    0x00, 0x40, 0x00, 0x40, 0x00, 0x40,
    // Gyro origin (0,0,0): bridge removes hardware bias before sending.
    // Original values (9, -22, -95) caused phantom 6.7 dps yaw when still.
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    // Gyro sensitivity coeff: 0x343B = 13371 → 818.5 LSB/rad_s (matches bridge)
    0x3B, 0x34, 0x3B, 0x34, 0x3B, 0x34,

    0xFF, 0xFF, 0xFF, 0xFF, 0xFF,

    // config & calibration 2
    // left stick
    0xa4, 0x46, 0x6a, 0x00, 0x08, 0x80, 0xa4, 0x46,
    0x6a,

    // right stick
    0x00, 0x08, 0x80, 0xa4, 0x46, 0x6a, 0xa4, 0x46,
    0x6a,

    0xFF,

    // body color
    SWITCH_COLOR_BODY_R, SWITCH_COLOR_BODY_G, SWITCH_COLOR_BODY_B,

    // button color
    SWITCH_COLOR_BUTTON_R, SWITCH_COLOR_BUTTON_G, SWITCH_COLOR_BUTTON_B,

    // left grip color
    SWITCH_COLOR_LEFT_GRIP_R, SWITCH_COLOR_LEFT_GRIP_G, SWITCH_COLOR_LEFT_GRIP_B,

    // right grip color
    SWITCH_COLOR_RIGHT_GRIP_R, SWITCH_COLOR_RIGHT_GRIP_G, SWITCH_COLOR_RIGHT_GRIP_B,

    0x01,

    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF,

    // Six-Axis horizontal offsets (SPI 0x6080): expected accel when held in
    // gaming position. Must match the bridge's actual output for a still
    // controller. Old values (-688,0,4038) were for a real Pro Controller's
    // physical IMU; our bridge sends (~0,~0,~4096). The 388-count mismatch
    // on X caused the Switch's sensor fusion to fight the gyro → camera swing.
    0x00, 0x00, 0x00, 0x00, 0x00, 0x10,  // (0, 0, 4096) = 1G on Z
    0x0F, 0x30, 0x61, 0xAE, 0x90, 0xD9, 0xD4, 0x14,
    0x54, 0x41, 0x15, 0x54, 0xC7, 0x79, 0x9C, 0x33,
    0x36, 0x63,

    0x0F, 0x30, 0x61, 0xAE, 0x90, 0xD9, 0xD4, 0x14,
    0x54, 0x41, 0x15, 0x54,

    0xC7,

    0x79,

    0x9C,

    0x33,

    0x36,

    0x63, 0xFF, 0xFF, 0xFF,
    0xFF, 0xFF, 0xFF
};

static const uint8_t user_calibration_data[0x3F] = {
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,

    // Left Stick
    0xB2, 0xA1, 0xa4, 0x46, 0x6a, 0x00, 0x08, 0x80,
    0xa4, 0x46, 0x6a,

    // Right Stick
    0xB2, 0xA1, 0x00, 0x08, 0x80, 0xa4, 0x46, 0x6a,
    0xa4, 0x46, 0x6a,

    // Motion
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};

static const SwitchFactoryConfig* factory_config = reinterpret_cast<const SwitchFactoryConfig*>(factory_config_data);
static const SwitchUserCalibration* user_calibration [[maybe_unused]] = reinterpret_cast<const SwitchUserCalibration*>(user_calibration_data);

static std::map<uint32_t, const uint8_t*> spi_flash_data = {
    {0x6000, factory_config_data},
    {0x8000, user_calibration_data}
};

static inline uint16_t scale16To12(uint16_t pos) { return pos >> 4; }

// Default "at rest" IMU sample: zero gyro, ~1G on accel Z (face-up).
// Written to imuData at boot and whenever no fresh UART data is available,
// so the Switch never sees all-zero IMU (which it interprets as free-fall).
static const uint8_t DEFAULT_IMU_SAMPLE[12] = {
    0x00, 0x00,  // accel_x = 0
    0x00, 0x00,  // accel_y = 0
    0x00, 0x10,  // accel_z = 0x1000 = 4096 = 1G
    0x00, 0x00,  // gyro_x = 0
    0x00, 0x00,  // gyro_y = 0
    0x00, 0x00,  // gyro_z = 0
};

static void fill_imu_report_data(const SwitchInputState& state) {
    if (state.imu_sample_count == 0) {
        // No new IMU data — fill with default "at rest" sample.
        // This prevents the Switch from seeing all-zero accel (free-fall)
        // during startup or when the bridge hasn't sent IMU yet.
        for (int i = 0; i < 3; ++i) {
            memcpy(switch_report.imuData + i * 12, DEFAULT_IMU_SAMPLE, 12);
        }
        return;
    }
    uint8_t sample_count = state.imu_sample_count > 3 ? 3 : state.imu_sample_count;
    // If fewer than 3 samples, duplicate the last one to fill all 3 slots
    uint8_t* dst = switch_report.imuData;
    for (uint8_t i = 0; i < 3; ++i) {
        const SwitchImuSample& s = (i < sample_count) ? state.imu_samples[i] : state.imu_samples[sample_count - 1];
        dst[0]  = static_cast<uint8_t>(s.accel_x & 0xFF);
        dst[1]  = static_cast<uint8_t>((s.accel_x >> 8) & 0xFF);
        dst[2]  = static_cast<uint8_t>(s.accel_y & 0xFF);
        dst[3]  = static_cast<uint8_t>((s.accel_y >> 8) & 0xFF);
        dst[4]  = static_cast<uint8_t>(s.accel_z & 0xFF);
        dst[5]  = static_cast<uint8_t>((s.accel_z >> 8) & 0xFF);
        dst[6]  = static_cast<uint8_t>(s.gyro_x & 0xFF);
        dst[7]  = static_cast<uint8_t>((s.gyro_x >> 8) & 0xFF);
        dst[8]  = static_cast<uint8_t>(s.gyro_y & 0xFF);
        dst[9]  = static_cast<uint8_t>((s.gyro_y >> 8) & 0xFF);
        dst[10] = static_cast<uint8_t>(s.gyro_z & 0xFF);
        dst[11] = static_cast<uint8_t>((s.gyro_z >> 8) & 0xFF);
        dst += 12;
    }
}

static SwitchInputState make_neutral_state() {
    SwitchInputState s{};
    s.lx = SWITCH_PRO_JOYSTICK_MID;
    s.ly = SWITCH_PRO_JOYSTICK_MID;
    s.rx = SWITCH_PRO_JOYSTICK_MID;
    s.ry = SWITCH_PRO_JOYSTICK_MID;
    s.imu_sample_count = 0;
    return s;
}

static void send_identify() {
    memset(report_buffer, 0x00, sizeof(report_buffer));
    report_buffer[0] = REPORT_USB_INPUT_81;
    report_buffer[1] = IDENTIFY;
    report_buffer[2] = 0x00;
    report_buffer[3] = device_info.controllerType;
    for (uint8_t i = 0; i < 6; i++) {
        report_buffer[4 + i] = device_info.macAddress[5 - i];
    }
}

static bool send_report(uint8_t reportID, const void* reportData, uint16_t reportLength) {
    bool result = tud_hid_report(reportID, reportData, reportLength);
    if (last_report_counter < 255) {
        last_report_counter++;
    } else {
        last_report_counter = 0;
    }
    if (!result) {
        LOG_PRINTF("[HID] send_report failed id=%u len=%u\n", reportID, reportLength);
    }
    return result;
}

static void read_spi_flash(uint8_t* dest, uint32_t address, uint8_t size) {
    uint32_t addressBank = address & 0xFFFFFF00;
    uint32_t addressOffset = address & 0x000000FF;
    auto it = spi_flash_data.find(addressBank);

    if (it != spi_flash_data.end()) {
        const uint8_t* data = it->second;
        memcpy(dest, data + addressOffset, size);
    } else {
        memset(dest, 0xFF, size);
    }
}

static void forward_rumble_to_host(const uint8_t* report, uint16_t length) {
    // Output reports 0x10/0x21 include 8 rumble bytes starting at offset 2.
    if (!rumble_callback || length < 10) {
        return;
    }
    uint8_t rumble[8];
    memcpy(rumble, report + 2, sizeof(rumble));
    rumble_callback(rumble);
}

static void handle_config_report(uint8_t switchReportID, uint8_t switchReportSubID, const uint8_t *reportData, uint16_t reportLength) {
    bool canSend = false;
    last_host_activity_ms = to_ms_since_boot(get_absolute_time());

    switch (switchReportSubID) {
        case IDENTIFY:
            send_identify();
            canSend = true;
            LOG_PRINTF("[HID] CONFIG IDENTIFY\n");
            break;
        case HANDSHAKE:
            report_buffer[0] = REPORT_USB_INPUT_81;
            report_buffer[1] = HANDSHAKE;
            canSend = true;
            LOG_PRINTF("[HID] CONFIG HANDSHAKE\n");
            break;
        case BAUD_RATE:
            report_buffer[0] = REPORT_USB_INPUT_81;
            report_buffer[1] = BAUD_RATE;
            canSend = true;
            LOG_PRINTF("[HID] CONFIG BAUD_RATE\n");
            break;
        case DISABLE_USB_TIMEOUT:
            report_buffer[0] = REPORT_OUTPUT_30;
            report_buffer[1] = switchReportSubID;
            //if (handshakeCounter < 4) {
            //    handshakeCounter++;
            //} else {
                is_ready = true;
            //}
            canSend = true;
            LOG_PRINTF("[HID] CONFIG DISABLE_USB_TIMEOUT -> ready\n");
            break;
        case ENABLE_USB_TIMEOUT:
            report_buffer[0] = REPORT_OUTPUT_30;
            report_buffer[1] = switchReportSubID;
            canSend = true;
            LOG_PRINTF("[HID] CONFIG ENABLE_USB_TIMEOUT\n");
            break;
        default:
            report_buffer[0] = REPORT_OUTPUT_30;
            report_buffer[1] = switchReportSubID;
            canSend = true;
            LOG_PRINTF("[HID] CONFIG unknown subid=0x%02x\n", switchReportSubID);
            break;
    }

    if (canSend) is_report_queued = true;
}

static void handle_feature_report(uint8_t switchReportID, uint8_t switchReportSubID, const uint8_t *reportData, uint16_t reportLength) {
    uint8_t commandID = reportData[10];
    uint32_t spiReadAddress = 0;
    uint8_t spiReadSize = 0;
    bool canSend = false;
    last_host_activity_ms = to_ms_since_boot(get_absolute_time());
    LOG_PRINTF("[HID] handle_feature rid=0x%02x cmd=0x%02x imu_enabled=%d\n",
               switchReportID, commandID, is_imu_enabled);

    report_buffer[0] = REPORT_OUTPUT_21;
    report_buffer[1] = last_report_counter;
    memcpy(report_buffer + 2, &switch_report.inputs, sizeof(SwitchInputReport));

    switch (commandID) {
        case GET_CONTROLLER_STATE:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x03;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE GET_CONTROLLER_STATE\n");
            break;
        case BLUETOOTH_PAIR_REQUEST:
            report_buffer[13] = 0x81;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x03;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE BLUETOOTH_PAIR_REQUEST\n");
            break;
        case REQUEST_DEVICE_INFO:
            report_buffer[13] = 0x82;
            report_buffer[14] = 0x02;
            memcpy(&report_buffer[15], &device_info, sizeof(device_info));
            canSend = true;
            LOG_PRINTF("[HID] FEATURE REQUEST_DEVICE_INFO\n");
            break;
        case SET_MODE:
            input_mode = reportData[11];
            report_buffer[13] = 0x80;
            report_buffer[14] = 0x03;
            report_buffer[15] = input_mode;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_MODE 0x%02x\n", input_mode);
            break;
        case TRIGGER_BUTTONS:
            report_buffer[13] = 0x83;
            report_buffer[14] = 0x04;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE TRIGGER_BUTTONS\n");
            break;
        case SET_SHIPMENT:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_SHIPMENT\n");
            break;
        case SPI_READ:
            spiReadAddress = (reportData[14] << 24) | (reportData[13] << 16) | (reportData[12] << 8) | (reportData[11]);
            spiReadSize = reportData[15];
            report_buffer[13] = 0x90;
            report_buffer[14] = reportData[10];
            report_buffer[15] = reportData[11];
            report_buffer[16] = reportData[12];
            report_buffer[17] = reportData[13];
            report_buffer[18] = reportData[14];
            report_buffer[19] = reportData[15];
            read_spi_flash(&report_buffer[20], spiReadAddress, spiReadSize);
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SPI_READ addr=0x%08lx size=%u\n", (unsigned long)spiReadAddress, spiReadSize);
            break;
        case SET_NFC_IR_CONFIG:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_NFC_IR_CONFIG\n");
            break;
        case SET_NFC_IR_STATE:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_NFC_IR_STATE\n");
            break;
        case SET_PLAYER_LIGHTS:
            player_id = reportData[11];
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_PLAYER_LIGHTS player=%u\n", player_id);
            break;
        case GET_PLAYER_LIGHTS:
            player_id = reportData[11];
            report_buffer[13] = 0xB0;
            report_buffer[14] = commandID;
            report_buffer[15] = player_id;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE GET_PLAYER_LIGHTS player=%u\n", player_id);
            break;
        case COMMAND_UNKNOWN_33:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x03;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE COMMAND_UNKNOWN_33\n");
            break;
        case SET_HOME_LIGHT:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x00;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE SET_HOME_LIGHT\n");
            break;
        case TOGGLE_IMU:
            is_imu_enabled = reportData[11];
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x00;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE TOGGLE_IMU %u\n", is_imu_enabled);
            break;
        case IMU_SENSITIVITY:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE IMU_SENSITIVITY\n");
            break;
        case ENABLE_VIBRATION:
            is_vibration_enabled = reportData[11];
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x00;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE ENABLE_VIBRATION %u\n", is_vibration_enabled);
            break;
        case READ_IMU:
            report_buffer[13] = 0xC0;
            report_buffer[14] = commandID;
            report_buffer[15] = reportData[11];
            report_buffer[16] = reportData[12];
            canSend = true;
            LOG_PRINTF("[HID] FEATURE READ_IMU addr=%u size=%u\n", reportData[11], reportData[12]);
            break;
        case GET_VOLTAGE:
            report_buffer[13] = 0xD0;
            report_buffer[14] = 0x50;
            report_buffer[15] = 0x83;
            report_buffer[16] = 0x06;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE GET_VOLTAGE\n");
            break;
        default:
            report_buffer[13] = 0x80;
            report_buffer[14] = commandID;
            report_buffer[15] = 0x03;
            canSend = true;
            LOG_PRINTF("[HID] FEATURE unknown cmd=0x%02x\n", commandID);
            break;
    }

    if (canSend) is_report_queued = true;
}

static void update_switch_report_from_state() {
    switch_report.inputs.dpadUp =    g_input_state.dpad_up;
    switch_report.inputs.dpadDown =  g_input_state.dpad_down;
    switch_report.inputs.dpadLeft =  g_input_state.dpad_left;
    switch_report.inputs.dpadRight = g_input_state.dpad_right;

    switch_report.inputs.chargingGrip = 1;

    switch_report.inputs.buttonY = g_input_state.button_y;
    switch_report.inputs.buttonX = g_input_state.button_x;
    switch_report.inputs.buttonB = g_input_state.button_b;
    switch_report.inputs.buttonA = g_input_state.button_a;
    switch_report.inputs.buttonRightSR = 0;
    switch_report.inputs.buttonRightSL = 0;
    switch_report.inputs.buttonR = g_input_state.button_r;
    switch_report.inputs.buttonZR = g_input_state.button_zr;
    switch_report.inputs.buttonMinus = g_input_state.button_minus;
    switch_report.inputs.buttonPlus = g_input_state.button_plus;
    switch_report.inputs.buttonThumbR = g_input_state.button_r3;
    switch_report.inputs.buttonThumbL = g_input_state.button_l3;
    switch_report.inputs.buttonHome = g_input_state.button_home;
    switch_report.inputs.buttonCapture = g_input_state.button_capture;
    switch_report.inputs.buttonLeftSR = 0;
    switch_report.inputs.buttonLeftSL = 0;
    switch_report.inputs.buttonL = g_input_state.button_l;
    switch_report.inputs.buttonZL = g_input_state.button_zl;

    uint16_t scaleLeftStickX = scale16To12(g_input_state.lx);
    uint16_t scaleLeftStickY = scale16To12(g_input_state.ly);
    uint16_t scaleRightStickX = scale16To12(g_input_state.rx);
    uint16_t scaleRightStickY = scale16To12(g_input_state.ry);

    switch_report.inputs.leftStick.setX(std::min(std::max(scaleLeftStickX,leftMinX), leftMaxX));
    switch_report.inputs.leftStick.setY(-std::min(std::max(scaleLeftStickY,leftMinY), leftMaxY));
    switch_report.inputs.rightStick.setX(std::min(std::max(scaleRightStickX,rightMinX), rightMaxX));
    switch_report.inputs.rightStick.setY(-std::min(std::max(scaleRightStickY,rightMinY), rightMaxY));

    fill_imu_report_data(g_input_state);
    switch_report.rumbleReport = 0x09;
}

void switch_pro_init() {
    player_id = 0;
    last_report_counter = 0;
    handshake_counter = 0;
    is_ready = false;
    is_initialized = false;
    is_report_queued = false;
    report_sent = false;
    forced_ready = false;
    forced_ready = true;
    is_ready = true;
    is_initialized = true;
    last_report_timer = 0;

    device_info = {
        .majorVersion = 0x04,
        .minorVersion = 0x91,
        .controllerType = SWITCH_TYPE_PRO_CONTROLLER,
        .unknown00 = 0x02,
        .macAddress = {0x7c, 0xbb, 0x8a, static_cast<uint8_t>(get_rand_32() % 0xff), static_cast<uint8_t>(get_rand_32() % 0xff), static_cast<uint8_t>(get_rand_32() % 0xff)},
        .unknown01 = 0x01,
        .storedColors = 0x02,
    };

    switch_report = {
        .reportID = 0x30,
        .timestamp = 0,

        .inputs {
            .connectionInfo = 0x08, // wired connection
            .batteryLevel = 0x0F,   // full battery

            .buttonY = 0,
            .buttonX = 0,
            .buttonB = 0,
            .buttonA = 0,
            .buttonRightSR = 0,
            .buttonRightSL = 0,
            .buttonR = 0,
            .buttonZR = 0,

            .buttonMinus = 0,
            .buttonPlus = 0,
            .buttonThumbR = 0,
            .buttonThumbL = 0,
            .buttonHome = 0,
            .buttonCapture = 0,
            .dummy = 0,
            .chargingGrip = 0,

            .dpadDown = 0,
            .dpadUp = 0,
            .dpadRight = 0,
            .dpadLeft = 0,
            .buttonLeftSL = 0,
            .buttonLeftSR = 0,
            .buttonL = 0,
            .buttonZL = 0,
            .leftStick = {0xFF, 0xF7, 0x7F},
            .rightStick = {0xFF, 0xF7, 0x7F},
        },
        .rumbleReport = 0,
        .imuData = {0x00},
        .padding = {0x00}
    };

    last_report_timer = to_ms_since_boot(get_absolute_time());
    last_host_activity_ms = last_report_timer;

    factory_config->leftStickCalibration.getRealMin(leftMinX, leftMinY);
    factory_config->leftStickCalibration.getCenter(leftCenX, leftCenY);
    factory_config->leftStickCalibration.getRealMax(leftMaxX, leftMaxY);
    factory_config->rightStickCalibration.getRealMin(rightMinX, rightMinY);
    factory_config->rightStickCalibration.getCenter(rightCenX, rightCenY);
    factory_config->rightStickCalibration.getRealMax(rightMaxX, rightMaxY);
}

void switch_pro_set_input(const SwitchInputState& state) {
    g_input_state = state;
}

void switch_pro_task() {
    uint32_t now = to_ms_since_boot(get_absolute_time());
    report_sent = false;

    update_switch_report_from_state();

    if (tud_suspended()) {
        tud_remote_wakeup();
    }

    if (is_report_queued) {
        if ((now - last_report_timer) > SWITCH_PRO_KEEPALIVE_TIMER) {
            if (tud_hid_ready() && send_report(queued_report_id, report_buffer, 64) == true ) {
                is_report_queued = false;
                last_report_timer = now;
            }
        }
        report_sent = true;
    }

    if (is_ready && !report_sent) {
        if ((now - last_report_timer) > SWITCH_PRO_KEEPALIVE_TIMER) {
            switch_report.timestamp = last_report_counter;
            void * inputReport = &switch_report;
            uint16_t report_size = sizeof(switch_report);
            if (tud_hid_ready() && send_report(0, inputReport, report_size) == true ) {
                memcpy(last_report, inputReport, report_size);
                // Log IMU data being sent (throttled to ~4Hz to avoid flooding UART0)
                static uint32_t last_imu_log = 0;
                if (now - last_imu_log > 250) {
                    last_imu_log = now;
                    int16_t ax = (int16_t)(switch_report.imuData[0] | (switch_report.imuData[1] << 8));
                    int16_t ay = (int16_t)(switch_report.imuData[2] | (switch_report.imuData[3] << 8));
                    int16_t az = (int16_t)(switch_report.imuData[4] | (switch_report.imuData[5] << 8));
                    int16_t gx = (int16_t)(switch_report.imuData[6] | (switch_report.imuData[7] << 8));
                    int16_t gy = (int16_t)(switch_report.imuData[8] | (switch_report.imuData[9] << 8));
                    int16_t gz = (int16_t)(switch_report.imuData[10] | (switch_report.imuData[11] << 8));
                    LOG_PRINTF("[IMU_OUT] a=(%d,%d,%d) g=(%d,%d,%d) cnt=%d\n",
                               ax, ay, az, gx, gy, gz, g_input_state.imu_sample_count);
                }
                g_input_state.imu_sample_count = 0;
                report_sent = true;
            }

            last_report_timer = now;
        }
    } else {
        if (!is_initialized) {
            send_identify();
            if (tud_hid_ready() && tud_hid_report(0, report_buffer, 64) == true) {
                is_initialized = true;
                report_sent = true;
            }

            last_report_timer = now;
        }
    }
}

bool switch_pro_apply_uart_packet(const uint8_t* packet, uint8_t length, SwitchInputState* out_state) {
    // v2 format: 0xAA + 0x02 + payload_len + payload... + checksum
    if (length < 12) {
        return false;
    }
    if (packet[0] != 0xAA) {
        return false;
    }
    if (packet[1] != 0x02) {
        return false;
    }

    uint8_t payload_len = packet[2];
    if ((uint16_t)payload_len + 4u != length) {
        return false;
    }

    uint16_t sum = 0;
    for (uint16_t i = 0; i < (uint16_t)(3u + payload_len); ++i) {
        sum += packet[i];
    }
    if ((sum & 0xFF) != packet[length - 1]) {
        return false;
    }

    // payload: buttons(2 LE), hat, lx, ly, rx, ry, imu_count, [imu_samples...]
    if (payload_len < 8) {
        return false;
    }

    SwitchProOutReport out{};
    out.buttons = static_cast<uint16_t>(packet[3]) | (static_cast<uint16_t>(packet[4]) << 8);
    out.hat = packet[5];
    out.lx = packet[6];
    out.ly = packet[7];
    out.rx = packet[8];
    out.ry = packet[9];
    uint8_t imu_count = packet[10];
    if (imu_count > 3) {
        imu_count = 3;
    }

    uint16_t required_payload_len = static_cast<uint16_t>(8u + static_cast<uint16_t>(imu_count) * 12u);
    if (payload_len < required_payload_len) {
        return false;
    }

    auto expand_axis = [](uint8_t v) -> uint16_t {
        return static_cast<uint16_t>(v) << 8 | v;
    };

    SwitchInputState state = make_neutral_state();
    state.imu_sample_count = imu_count;

    auto read_int16 = [](const uint8_t* src) -> int16_t {
        return static_cast<int16_t>(static_cast<uint16_t>(src[0]) | (static_cast<uint16_t>(src[1]) << 8));
    };
    for (uint8_t i = 0; i < imu_count; ++i) {
        const uint8_t* base = &packet[11 + i * 12];
        state.imu_samples[i].accel_x = read_int16(base + 0);
        state.imu_samples[i].accel_y = read_int16(base + 2);
        state.imu_samples[i].accel_z = read_int16(base + 4);
        state.imu_samples[i].gyro_x = read_int16(base + 6);
        state.imu_samples[i].gyro_y = read_int16(base + 8);
        state.imu_samples[i].gyro_z = read_int16(base + 10);
    }

    switch (out.hat) {
        case SWITCH_PRO_HAT_UP: state.dpad_up = true; break;
        case SWITCH_PRO_HAT_UPRIGHT: state.dpad_up = true; state.dpad_right = true; break;
        case SWITCH_PRO_HAT_RIGHT: state.dpad_right = true; break;
        case SWITCH_PRO_HAT_DOWNRIGHT: state.dpad_down = true; state.dpad_right = true; break;
        case SWITCH_PRO_HAT_DOWN: state.dpad_down = true; break;
        case SWITCH_PRO_HAT_DOWNLEFT: state.dpad_down = true; state.dpad_left = true; break;
        case SWITCH_PRO_HAT_LEFT: state.dpad_left = true; break;
        case SWITCH_PRO_HAT_UPLEFT: state.dpad_up = true; state.dpad_left = true; break;
        default: break;
    }

    state.button_y = out.buttons & SWITCH_PRO_MASK_Y;
    state.button_x = out.buttons & SWITCH_PRO_MASK_X;
    state.button_b = out.buttons & SWITCH_PRO_MASK_B;
    state.button_a = out.buttons & SWITCH_PRO_MASK_A;
    state.button_r = out.buttons & SWITCH_PRO_MASK_R;
    state.button_zr = out.buttons & SWITCH_PRO_MASK_ZR;
    state.button_plus = out.buttons & SWITCH_PRO_MASK_PLUS;
    state.button_minus = out.buttons & SWITCH_PRO_MASK_MINUS;
    state.button_r3 = out.buttons & SWITCH_PRO_MASK_R3;
    state.button_l3 = out.buttons & SWITCH_PRO_MASK_L3;
    state.button_home = out.buttons & SWITCH_PRO_MASK_HOME;
    state.button_capture = out.buttons & SWITCH_PRO_MASK_CAPTURE;
    state.button_zl = out.buttons & SWITCH_PRO_MASK_ZL;
    state.button_l = out.buttons & SWITCH_PRO_MASK_L;

    state.lx = expand_axis(out.lx);
    state.ly = expand_axis(out.ly);
    state.rx = expand_axis(out.rx);
    state.ry = expand_axis(out.ry);

    if (!out_state) {
        return false;
    }
    *out_state = state;
    return true;
}

void switch_pro_set_rumble_callback(SwitchRumbleCallback cb) {
    rumble_callback = cb;
}

bool switch_pro_is_ready() {
    return is_ready;
}

// HID callbacks
uint16_t tud_hid_get_report_cb(uint8_t instance, uint8_t report_id, hid_report_type_t report_type, uint8_t *buffer, uint16_t reqlen) {
    (void)instance;
    LOG_PRINTF("[HID] get_report id=%u type=%u len=%u\n", report_id, report_type, reqlen);
    if (!buffer) return 0;

    // Serve the current input report for any GET_REPORT request.
    uint16_t report_size = sizeof(switch_report);
    if (reqlen < report_size) report_size = reqlen;
    memcpy(buffer, &switch_report, report_size);
    return report_size;
}

void tud_hid_set_report_cb(uint8_t instance, uint8_t report_id, hid_report_type_t report_type, uint8_t const *buffer, uint16_t bufsize) {
    (void)instance;
    if (report_type != HID_REPORT_TYPE_OUTPUT) return;

    memset(report_buffer, 0x00, bufsize);

    uint8_t switchReportID = buffer[0];
    uint8_t switchReportSubID = buffer[1];
    LOG_PRINTF("[HID] set_report type=%d id=%u switchRID=0x%02x sub=0x%02x len=%u\n",
               report_type, report_id, switchReportID, switchReportSubID, bufsize);
    if (switchReportID == REPORT_OUTPUT_10 || switchReportID == REPORT_OUTPUT_21) {
        forward_rumble_to_host(buffer, bufsize);
    }
    if (switchReportID == REPORT_OUTPUT_00) {
        // No-op, just acknowledge to clear any stalls.
        return;
    } else if (switchReportID == REPORT_FEATURE) {
        queued_report_id = report_id;
        handle_feature_report(switchReportID, switchReportSubID, buffer, bufsize);
    } else if (switchReportID == REPORT_CONFIGURATION) {
        queued_report_id = report_id;
        handle_config_report(switchReportID, switchReportSubID, buffer, bufsize);
    }
}

void tud_hid_report_received_cb(uint8_t instance, uint8_t report_id, uint8_t const* buffer, uint16_t bufsize) {
    (void)instance;
    // Host sent data on interrupt OUT; mirror the control path handling.
    memset(report_buffer, 0x00, bufsize);
    uint8_t switchReportID = buffer[0];
    uint8_t switchReportSubID = buffer[1];
    LOG_PRINTF("[HID] report_received id=%u switchRID=0x%02x sub=0x%02x len=%u\n",
               report_id, switchReportID, switchReportSubID, bufsize);
    if (switchReportID == REPORT_OUTPUT_10 || switchReportID == REPORT_OUTPUT_21) {
        forward_rumble_to_host(buffer, bufsize);
    }
    if (switchReportID == REPORT_OUTPUT_00) {
        return;
    } else if (switchReportID == REPORT_FEATURE) {
        queued_report_id = report_id;
        handle_feature_report(switchReportID, switchReportSubID, buffer, bufsize);
    } else if (switchReportID == REPORT_CONFIGURATION) {
        queued_report_id = report_id;
        handle_config_report(switchReportID, switchReportSubID, buffer, bufsize);
    }
}

uint8_t const * tud_hid_descriptor_report_cb(uint8_t itf) {
    (void)itf;
    return switch_pro_report_descriptor;
}

uint8_t const * tud_descriptor_device_cb(void) {
    return switch_pro_device_descriptor;
}

uint8_t const * tud_descriptor_configuration_cb(uint8_t index) {
    (void)index;
    return switch_pro_configuration_descriptor;
}

bool tud_control_request_cb(uint8_t rhport, tusb_control_request_t const * request) {
    (void)rhport;
    LOG_PRINTF("[CTRL] bmReq=0x%02x bReq=0x%02x wValue=0x%04x wIndex=0x%04x wLen=%u\n",
               request->bmRequestType, request->bRequest, request->wValue, request->wIndex, request->wLength);
    return false; // let TinyUSB handle it normally
}

void tud_mount_cb(void) {
    LOG_PRINTF("[USB] mount_cb\n");
    last_host_activity_ms = to_ms_since_boot(get_absolute_time());
    forced_ready = false;
    is_ready = false;
    is_initialized = false;
}

void tud_umount_cb(void) {
    LOG_PRINTF("[USB] umount_cb\n");
    forced_ready = false;
    is_ready = false;
    is_initialized = false;
}

static uint16_t desc_str[32];

uint16_t const * tud_descriptor_string_cb(uint8_t index, uint16_t langid) {
    (void)langid;

    uint8_t chr_count;

    if ( index == 0 ) {
        memcpy(&desc_str[1], switch_pro_string_language, 2);
        chr_count = 1;
    } else {
        if ( index >= sizeof(switch_pro_string_descriptors)/sizeof(switch_pro_string_descriptors[0]) ) return nullptr;

        const uint8_t *str = switch_pro_string_descriptors[index];

        chr_count = 0;
        while ( str[chr_count] ) chr_count++;
        if ( chr_count > 31 ) chr_count = 31;

        for(uint8_t i=0; i<chr_count; i++) {
            desc_str[1+i] = str[i];
        }
    }

    desc_str[0] = (uint16_t) ((0x03 << 8 ) | (2*chr_count + 2));
    return desc_str;
}