//! LP5562 4-channel RGBW LED driver (I2C) — TI SNVS820B
//!
//! Complete `no_std` driver covering all LP5562 features:
//! direct PWM control, current setting, engine programming,
//! LED mapping, power-save, and clock configuration.
//!
//! Generic over `embedded_hal::i2c::I2c` (1.0).

use embedded_hal::i2c::I2c;

// ---------------------------------------------------------------------------
// I2C address constants (7-bit)
// ---------------------------------------------------------------------------

/// I2C address when ADDR_SEL1:0 = 00 (both pins low).
pub const ADDR_SEL_00: u8 = 0x30;
/// I2C address when ADDR_SEL1:0 = 01.
pub const ADDR_SEL_01: u8 = 0x31;
/// I2C address when ADDR_SEL1:0 = 10.
pub const ADDR_SEL_10: u8 = 0x32;
/// I2C address when ADDR_SEL1:0 = 11 (both pins high).
pub const ADDR_SEL_11: u8 = 0x33;
/// Default address (ADDR_SEL pins both low).
pub const DEFAULT_ADDRESS: u8 = ADDR_SEL_00;

// ---------------------------------------------------------------------------
// Register addresses
// ---------------------------------------------------------------------------

/// LP5562 register addresses (Table 26, datasheet page 30).
pub mod reg {
    pub const ENABLE: u8 = 0x00;
    pub const OP_MODE: u8 = 0x01;
    pub const B_PWM: u8 = 0x02;
    pub const G_PWM: u8 = 0x03;
    pub const R_PWM: u8 = 0x04;
    pub const B_CURRENT: u8 = 0x05;
    pub const G_CURRENT: u8 = 0x06;
    pub const R_CURRENT: u8 = 0x07;
    pub const CONFIG: u8 = 0x08;
    pub const ENG1_PC: u8 = 0x09;
    pub const ENG2_PC: u8 = 0x0A;
    pub const ENG3_PC: u8 = 0x0B;
    pub const STATUS: u8 = 0x0C;
    pub const RESET: u8 = 0x0D;
    pub const W_PWM: u8 = 0x0E;
    pub const W_CURRENT: u8 = 0x0F;
    pub const LED_MAP: u8 = 0x70;
    pub const ENG1_PROG_START: u8 = 0x10;
    pub const ENG2_PROG_START: u8 = 0x30;
    pub const ENG3_PROG_START: u8 = 0x50;
}

// ---------------------------------------------------------------------------
// Bit-field constants
// ---------------------------------------------------------------------------

// ENABLE register (0x00)
const ENABLE_LOG_EN: u8 = 1 << 7;
const ENABLE_CHIP_EN: u8 = 1 << 6;
const ENABLE_ENG1_EXEC_SHIFT: u8 = 4;
const ENABLE_ENG2_EXEC_SHIFT: u8 = 2;
const ENABLE_ENG3_EXEC_SHIFT: u8 = 0;

// OP_MODE register (0x01)
const OP_MODE_ENG1_SHIFT: u8 = 4;
const OP_MODE_ENG2_SHIFT: u8 = 2;
const OP_MODE_ENG3_SHIFT: u8 = 0;

// CONFIG register (0x08)
const CONFIG_PWM_HF: u8 = 1 << 6;
const CONFIG_PS_EN: u8 = 1 << 5;

// STATUS register (0x0C)
const STATUS_EXT_CLK_USED: u8 = 1 << 3;
const STATUS_ENG1_INT: u8 = 1 << 2;
const STATUS_ENG2_INT: u8 = 1 << 1;
const STATUS_ENG3_INT: u8 = 1 << 0;

// LED_MAP register (0x70)
const LED_MAP_W_SHIFT: u8 = 6;
const LED_MAP_R_SHIFT: u8 = 4;
const LED_MAP_G_SHIFT: u8 = 2;
const LED_MAP_B_SHIFT: u8 = 0;

const RESET_MAGIC: u8 = 0xFF;

// ---------------------------------------------------------------------------
// Enumerations
// ---------------------------------------------------------------------------

/// LED channel identifier.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub enum Channel {
    Blue,
    Green,
    Red,
    White,
}

impl Channel {
    const fn pwm_reg(self) -> u8 {
        match self {
            Channel::Blue => reg::B_PWM,
            Channel::Green => reg::G_PWM,
            Channel::Red => reg::R_PWM,
            Channel::White => reg::W_PWM,
        }
    }

    const fn current_reg(self) -> u8 {
        match self {
            Channel::Blue => reg::B_CURRENT,
            Channel::Green => reg::G_CURRENT,
            Channel::Red => reg::R_CURRENT,
            Channel::White => reg::W_CURRENT,
        }
    }

    const fn led_map_shift(self) -> u8 {
        match self {
            Channel::White => LED_MAP_W_SHIFT,
            Channel::Red => LED_MAP_R_SHIFT,
            Channel::Green => LED_MAP_G_SHIFT,
            Channel::Blue => LED_MAP_B_SHIFT,
        }
    }
}

/// Execution engine identifier.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub enum EngineId {
    Engine1,
    Engine2,
    Engine3,
}

impl EngineId {
    const fn exec_shift(self) -> u8 {
        match self {
            EngineId::Engine1 => ENABLE_ENG1_EXEC_SHIFT,
            EngineId::Engine2 => ENABLE_ENG2_EXEC_SHIFT,
            EngineId::Engine3 => ENABLE_ENG3_EXEC_SHIFT,
        }
    }

    const fn mode_shift(self) -> u8 {
        match self {
            EngineId::Engine1 => OP_MODE_ENG1_SHIFT,
            EngineId::Engine2 => OP_MODE_ENG2_SHIFT,
            EngineId::Engine3 => OP_MODE_ENG3_SHIFT,
        }
    }

    const fn pc_reg(self) -> u8 {
        match self {
            EngineId::Engine1 => reg::ENG1_PC,
            EngineId::Engine2 => reg::ENG2_PC,
            EngineId::Engine3 => reg::ENG3_PC,
        }
    }

    const fn prog_start(self) -> u8 {
        match self {
            EngineId::Engine1 => reg::ENG1_PROG_START,
            EngineId::Engine2 => reg::ENG2_PROG_START,
            EngineId::Engine3 => reg::ENG3_PROG_START,
        }
    }
}

/// Engine execution state (ENABLE register, 2-bit field per engine).
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[repr(u8)]
pub enum EngineExec {
    /// Hold: finish current command then stop. PC is R/W in this state.
    Hold = 0b00,
    /// Step: execute one instruction, increment PC, return to Hold.
    Step = 0b01,
    /// Run: execute from current PC continuously.
    Run = 0b10,
    /// Execute current instruction once, then return to Hold.
    ExecuteOnce = 0b11,
}

/// Engine operation mode (OP_MODE register, 2-bit field per engine).
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[repr(u8)]
pub enum EngineMode {
    /// Disabled: resets PC, mapped LED output = 0.
    Disabled = 0b00,
    /// Load: SRAM writable, all engines held.
    Load = 0b01,
    /// Run: execution controlled by EXEC bits in ENABLE.
    Run = 0b10,
    /// Direct: engine PWM from corresponding I2C PWM register.
    Direct = 0b11,
}

/// LED-to-engine mapping (LED_MAP register, 2-bit field per channel).
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[repr(u8)]
pub enum LedMapping {
    /// Controlled via I2C PWM register.
    I2c = 0b00,
    /// Controlled by Engine 1.
    Engine1 = 0b01,
    /// Controlled by Engine 2.
    Engine2 = 0b10,
    /// Controlled by Engine 3.
    Engine3 = 0b11,
}

/// Clock source (CONFIG register bits 1:0).
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[repr(u8)]
pub enum ClockSource {
    /// External 32 kHz clock on CLK_32K pin.
    External = 0b00,
    /// Internal oscillator.
    Internal = 0b01,
    /// Automatic detection.
    Auto = 0b10,
}

/// PWM output frequency.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub enum PwmFrequency {
    /// 256 Hz.
    Hz256,
    /// 558 Hz.
    Hz558,
}

/// Prescaler for ramp/wait engine commands.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[repr(u8)]
pub enum Prescale {
    /// Divide by 16: 0.49 ms per step.
    Fast = 0,
    /// Divide by 512: 15.6 ms per step.
    Slow = 1,
}

/// Ramp direction.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub enum RampDirection {
    Up,
    Down,
}

// ---------------------------------------------------------------------------
// Status
// ---------------------------------------------------------------------------

/// Decoded STATUS register (0x0C, read-only). Reading clears interrupt bits.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub struct Status {
    pub ext_clk_used: bool,
    pub engine1_int: bool,
    pub engine2_int: bool,
    pub engine3_int: bool,
}

impl Status {
    fn from_reg(val: u8) -> Self {
        Self {
            ext_clk_used: val & STATUS_EXT_CLK_USED != 0,
            engine1_int: val & STATUS_ENG1_INT != 0,
            engine2_int: val & STATUS_ENG2_INT != 0,
            engine3_int: val & STATUS_ENG3_INT != 0,
        }
    }
}

// ---------------------------------------------------------------------------
// Engine command builder
// ---------------------------------------------------------------------------

/// Builder for 16-bit engine program commands.
pub struct EngineCommand;

impl EngineCommand {
    /// Ramp/Wait command.
    ///
    /// - `prescale`: Fast (0.49ms/step) or Slow (15.6ms/step)
    /// - `step_time`: 1..=63 (number of prescaled periods per step)
    /// - `direction`: Up or Down
    /// - `increment`: 0 = wait only, 1..=127 = number of PWM steps
    pub const fn ramp_wait(
        prescale: Prescale,
        step_time: u8,
        direction: RampDirection,
        increment: u8,
    ) -> u16 {
        let ps = (prescale as u16) << 14;
        let st = ((step_time & 0x3F) as u16) << 8;
        let sign = match direction {
            RampDirection::Down => 1u16 << 7,
            RampDirection::Up => 0,
        };
        let inc = (increment & 0x7F) as u16;
        ps | st | sign | inc
    }

    /// Pure wait (ramp with increment = 0).
    pub const fn wait(prescale: Prescale, step_time: u8) -> u16 {
        Self::ramp_wait(prescale, step_time, RampDirection::Up, 0)
    }

    /// Set PWM to an absolute value (0-255).
    pub const fn set_pwm(value: u8) -> u16 {
        0x4000 | (value as u16)
    }

    /// Go to Start: reset PC to 0.
    pub const fn go_to_start() -> u16 {
        0x0000
    }

    /// Branch to `step_number` with `loop_count` (0 = infinite).
    pub const fn branch(loop_count: u8, step_number: u8) -> u16 {
        let base: u16 = 0b101 << 13;
        let lc = ((loop_count & 0x3F) as u16) << 7;
        let sn = (step_number & 0x0F) as u16;
        base | lc | sn
    }

    /// End program. Optionally fire interrupt and/or reset PWM to 0.
    pub const fn end(interrupt: bool, reset_pwm: bool) -> u16 {
        let base: u16 = 0b110 << 13;
        let int_bit = if interrupt { 1u16 << 12 } else { 0 };
        let rst_bit = if reset_pwm { 1u16 << 11 } else { 0 };
        base | int_bit | rst_bit
    }

    /// Trigger for engine synchronization.
    ///
    /// Bitmask: bit0 = Engine1, bit1 = Engine2, bit2 = Engine3.
    pub const fn trigger(wait_engines: u8, send_engines: u8) -> u16 {
        let base: u16 = 0b111 << 13;
        let wait = ((wait_engines & 0x07) as u16) << 8;
        let send = ((send_engines & 0x07) as u16) << 1;
        base | wait | send
    }
}

// ---------------------------------------------------------------------------
// Engine program container
// ---------------------------------------------------------------------------

/// Maximum commands per engine.
pub const MAX_PROGRAM_LEN: usize = 16;

/// A program to load into engine SRAM (up to 16 commands).
#[derive(Clone, Debug)]
pub struct EngineProgram {
    commands: [u16; MAX_PROGRAM_LEN],
    len: usize,
}

impl EngineProgram {
    pub const fn new() -> Self {
        Self {
            commands: [0u16; MAX_PROGRAM_LEN],
            len: 0,
        }
    }

    /// Create from a command slice. Panics if > 16 commands.
    pub fn from_commands(cmds: &[u16]) -> Self {
        assert!(cmds.len() <= MAX_PROGRAM_LEN);
        let mut prog = Self::new();
        let mut i = 0;
        while i < cmds.len() {
            prog.commands[i] = cmds[i];
            i += 1;
        }
        prog.len = cmds.len();
        prog
    }

    pub fn push(&mut self, cmd: u16) -> Result<(), ()> {
        if self.len >= MAX_PROGRAM_LEN {
            return Err(());
        }
        self.commands[self.len] = cmd;
        self.len += 1;
        Ok(())
    }

    pub const fn len(&self) -> usize {
        self.len
    }

    pub const fn is_empty(&self) -> bool {
        self.len == 0
    }

    /// Full 32-byte SRAM image (big-endian, unused slots = 0x0000).
    pub fn as_bytes(&self) -> [u8; 32] {
        let mut buf = [0u8; 32];
        let mut i = 0;
        while i < MAX_PROGRAM_LEN {
            buf[i * 2] = (self.commands[i] >> 8) as u8;
            buf[i * 2 + 1] = self.commands[i] as u8;
            i += 1;
        }
        buf
    }
}

// ---------------------------------------------------------------------------
// Error type
// ---------------------------------------------------------------------------

#[derive(Debug)]
pub enum Error<E> {
    I2c(E),
    ProgramTooLong,
}

impl<E> From<E> for Error<E> {
    fn from(e: E) -> Self {
        Error::I2c(e)
    }
}

// ---------------------------------------------------------------------------
// Driver struct
// ---------------------------------------------------------------------------

/// LP5562 four-channel RGBW LED driver.
pub struct Lp5562<I2C> {
    i2c: I2C,
    addr: u8,
}

impl<I2C, E> Lp5562<I2C>
where
    I2C: I2c<Error = E>,
{
    // ---- Construction ----

    pub fn new(i2c: I2C, addr: u8) -> Self {
        Self { i2c, addr }
    }

    pub fn new_default(i2c: I2C) -> Self {
        Self::new(i2c, DEFAULT_ADDRESS)
    }

    /// Consume the driver and return the I2C bus.
    pub fn release(self) -> I2C {
        self.i2c
    }

    // ---- Low-level register access ----

    pub fn write_register(&mut self, register: u8, value: u8) -> Result<(), E> {
        self.i2c.write(self.addr, &[register, value])
    }

    pub fn read_register(&mut self, register: u8) -> Result<u8, E> {
        let mut buf = [0u8];
        self.i2c.write_read(self.addr, &[register], &mut buf)?;
        Ok(buf[0])
    }

    fn modify_register<F>(&mut self, register: u8, f: F) -> Result<(), E>
    where
        F: FnOnce(u8) -> u8,
    {
        let val = self.read_register(register)?;
        self.write_register(register, f(val))
    }

    // ---- Chip enable / disable / reset ----

    /// Enable the chip (CHIP_EN = 1).
    ///
    /// Caller MUST wait >= 500 us after this before issuing further commands.
    pub fn enable(&mut self) -> Result<(), E> {
        self.modify_register(reg::ENABLE, |v| v | ENABLE_CHIP_EN)
    }

    pub fn disable(&mut self) -> Result<(), E> {
        self.modify_register(reg::ENABLE, |v| v & !ENABLE_CHIP_EN)
    }

    pub fn is_enabled(&mut self) -> Result<bool, E> {
        let val = self.read_register(reg::ENABLE)?;
        Ok(val & ENABLE_CHIP_EN != 0)
    }

    /// Software reset (write 0xFF to RESET register).
    pub fn reset(&mut self) -> Result<(), E> {
        self.write_register(reg::RESET, RESET_MAGIC)
    }

    // ---- PWM control ----

    /// Set PWM duty cycle for a channel (0 = off, 255 = full).
    pub fn set_pwm(&mut self, channel: Channel, value: u8) -> Result<(), E> {
        self.write_register(channel.pwm_reg(), value)
    }

    pub fn get_pwm(&mut self, channel: Channel) -> Result<u8, E> {
        self.read_register(channel.pwm_reg())
    }

    /// Set PWM for all channels. B/G/R use auto-increment, W separate.
    pub fn set_all_pwm(&mut self, blue: u8, green: u8, red: u8, white: u8) -> Result<(), E> {
        self.i2c.write(self.addr, &[reg::B_PWM, blue, green, red])?;
        self.write_register(reg::W_PWM, white)
    }

    pub fn set_rgb(&mut self, red: u8, green: u8, blue: u8) -> Result<(), E> {
        self.i2c.write(self.addr, &[reg::B_PWM, blue, green, red])
    }

    pub fn set_rgbw(&mut self, red: u8, green: u8, blue: u8, white: u8) -> Result<(), E> {
        self.set_all_pwm(blue, green, red, white)
    }

    pub fn all_off(&mut self) -> Result<(), E> {
        self.set_all_pwm(0, 0, 0, 0)
    }

    // ---- Current control ----

    /// Set LED driver current (0-255 = 0.0-25.5 mA in 0.1 mA steps).
    /// Default after reset: 0xAF = 17.5 mA.
    pub fn set_current(&mut self, channel: Channel, value: u8) -> Result<(), E> {
        self.write_register(channel.current_reg(), value)
    }

    pub fn get_current(&mut self, channel: Channel) -> Result<u8, E> {
        self.read_register(channel.current_reg())
    }

    pub fn set_all_current(&mut self, blue: u8, green: u8, red: u8, white: u8) -> Result<(), E> {
        self.i2c.write(self.addr, &[reg::B_CURRENT, blue, green, red])?;
        self.write_register(reg::W_CURRENT, white)
    }

    // ---- Configuration ----

    pub fn set_clock_source(&mut self, source: ClockSource) -> Result<(), E> {
        self.modify_register(reg::CONFIG, |v| (v & !0x03) | (source as u8))
    }

    pub fn set_pwm_frequency(&mut self, freq: PwmFrequency) -> Result<(), E> {
        self.modify_register(reg::CONFIG, |v| match freq {
            PwmFrequency::Hz256 => v & !CONFIG_PWM_HF,
            PwmFrequency::Hz558 => v | CONFIG_PWM_HF,
        })
    }

    pub fn set_power_save(&mut self, enabled: bool) -> Result<(), E> {
        self.modify_register(reg::CONFIG, |v| {
            if enabled { v | CONFIG_PS_EN } else { v & !CONFIG_PS_EN }
        })
    }

    pub fn set_log_mode(&mut self, enabled: bool) -> Result<(), E> {
        self.modify_register(reg::ENABLE, |v| {
            if enabled { v | ENABLE_LOG_EN } else { v & !ENABLE_LOG_EN }
        })
    }

    /// Write the entire CONFIG register at once.
    pub fn write_config(
        &mut self,
        clock: ClockSource,
        pwm_hf: bool,
        power_save: bool,
    ) -> Result<(), E> {
        let mut val = clock as u8;
        if pwm_hf { val |= CONFIG_PWM_HF; }
        if power_save { val |= CONFIG_PS_EN; }
        self.write_register(reg::CONFIG, val)
    }

    // ---- LED mapping ----

    pub fn set_led_mapping(&mut self, channel: Channel, mapping: LedMapping) -> Result<(), E> {
        let shift = channel.led_map_shift();
        self.modify_register(reg::LED_MAP, |v| {
            (v & !(0x03 << shift)) | ((mapping as u8) << shift)
        })
    }

    pub fn set_all_led_mappings(
        &mut self,
        blue: LedMapping,
        green: LedMapping,
        red: LedMapping,
        white: LedMapping,
    ) -> Result<(), E> {
        let val = ((white as u8) << LED_MAP_W_SHIFT)
            | ((red as u8) << LED_MAP_R_SHIFT)
            | ((green as u8) << LED_MAP_G_SHIFT)
            | ((blue as u8) << LED_MAP_B_SHIFT);
        self.write_register(reg::LED_MAP, val)
    }

    /// Set all channels to direct I2C control.
    pub fn set_all_i2c_controlled(&mut self) -> Result<(), E> {
        self.write_register(reg::LED_MAP, 0x00)
    }

    // ---- Engine execution state ----

    /// Set execution state for one engine.
    ///
    /// Wait >= 488 us between consecutive ENABLE register writes.
    pub fn set_engine_exec(&mut self, engine: EngineId, exec: EngineExec) -> Result<(), E> {
        let shift = engine.exec_shift();
        self.modify_register(reg::ENABLE, |v| {
            (v & !(0x03 << shift)) | ((exec as u8) << shift)
        })
    }

    pub fn set_all_engine_exec(
        &mut self,
        eng1: EngineExec,
        eng2: EngineExec,
        eng3: EngineExec,
    ) -> Result<(), E> {
        self.modify_register(reg::ENABLE, |v| {
            (v & 0xC0)
                | ((eng1 as u8) << ENABLE_ENG1_EXEC_SHIFT)
                | ((eng2 as u8) << ENABLE_ENG2_EXEC_SHIFT)
                | ((eng3 as u8) << ENABLE_ENG3_EXEC_SHIFT)
        })
    }

    // ---- Engine operation mode ----

    /// Set operation mode for one engine.
    ///
    /// Wait >= 153 us between consecutive OP_MODE register writes.
    /// When transitioning from Run, first set exec to Hold.
    pub fn set_engine_mode(&mut self, engine: EngineId, mode: EngineMode) -> Result<(), E> {
        let shift = engine.mode_shift();
        self.modify_register(reg::OP_MODE, |v| {
            (v & !(0x03 << shift)) | ((mode as u8) << shift)
        })
    }

    pub fn set_all_engine_modes(
        &mut self,
        eng1: EngineMode,
        eng2: EngineMode,
        eng3: EngineMode,
    ) -> Result<(), E> {
        let val = ((eng1 as u8) << OP_MODE_ENG1_SHIFT)
            | ((eng2 as u8) << OP_MODE_ENG2_SHIFT)
            | ((eng3 as u8) << OP_MODE_ENG3_SHIFT);
        self.write_register(reg::OP_MODE, val)
    }

    // ---- Engine program counter ----

    /// Set PC (0-15). Engine exec must be Hold.
    pub fn set_engine_pc(&mut self, engine: EngineId, pc: u8) -> Result<(), E> {
        self.write_register(engine.pc_reg(), pc & 0x0F)
    }

    pub fn get_engine_pc(&mut self, engine: EngineId) -> Result<u8, E> {
        let val = self.read_register(engine.pc_reg())?;
        Ok(val & 0x0F)
    }

    // ---- Engine program loading ----

    /// Load a program into engine SRAM.
    ///
    /// Sets engine to Load mode internally. Caller must have set exec
    /// to Hold first and must wait >= 153 us before the next OP_MODE write.
    pub fn load_engine_program(
        &mut self,
        engine: EngineId,
        program: &EngineProgram,
    ) -> Result<(), Error<E>> {
        self.set_engine_mode(engine, EngineMode::Load)
            .map_err(Error::I2c)?;

        let prog_bytes = program.as_bytes();
        let start = engine.prog_start();
        let mut buf = [0u8; 33];
        buf[0] = start;
        buf[1..33].copy_from_slice(&prog_bytes);
        self.i2c.write(self.addr, &buf).map_err(Error::I2c)?;
        Ok(())
    }

    /// Load raw u16 commands into engine SRAM.
    pub fn load_engine_commands(
        &mut self,
        engine: EngineId,
        commands: &[u16],
    ) -> Result<(), Error<E>> {
        if commands.len() > MAX_PROGRAM_LEN {
            return Err(Error::ProgramTooLong);
        }
        let prog = EngineProgram::from_commands(commands);
        self.load_engine_program(engine, &prog)
    }

    // ---- Status ----

    /// Read and decode STATUS register. Reading clears interrupt flags.
    pub fn read_status(&mut self) -> Result<Status, E> {
        let val = self.read_register(reg::STATUS)?;
        Ok(Status::from_reg(val))
    }

    pub fn read_status_raw(&mut self) -> Result<u8, E> {
        self.read_register(reg::STATUS)
    }

    // ---- High-level convenience ----

    /// Initialize for direct I2C PWM control.
    ///
    /// Call `enable()` first, then wait >= 500 us, then call this.
    pub fn init_direct_control(&mut self, clock: ClockSource) -> Result<(), E> {
        self.write_config(clock, false, false)?;
        self.set_all_i2c_controlled()
    }

    /// Load a program, set engine to Run mode and Run exec state.
    ///
    /// Engine exec must be Hold before calling. Caller is responsible
    /// for timing delays between register writes in production code.
    pub fn run_engine(
        &mut self,
        engine: EngineId,
        program: &EngineProgram,
    ) -> Result<(), Error<E>> {
        self.load_engine_program(engine, program)?;
        self.set_engine_mode(engine, EngineMode::Run)
            .map_err(Error::I2c)?;
        self.set_engine_exec(engine, EngineExec::Run)
            .map_err(Error::I2c)?;
        Ok(())
    }

    /// Stop an engine: set exec to Hold, then mode to Disabled.
    pub fn stop_engine(&mut self, engine: EngineId) -> Result<(), E> {
        self.set_engine_exec(engine, EngineExec::Hold)?;
        self.set_engine_mode(engine, EngineMode::Disabled)
    }
}