//! RS485 temperature and humidity node: RP2040 + SHT31.
//!
//! # Concurrency structure
//!
//! Three priority levels, chosen so the bus is never the thing that waits:
//!
//! | Prio | Task          | Kind     | Job                                        |
//! |------|---------------|----------|--------------------------------------------|
//! | 3    | `uart0_irq`   | hardware | Empty the 32-byte RX FIFO, timestamp bytes |
//! | 2    | `frame_gap`   | async    | Detect the frame gap, answer the request   |
//! | 1    | `sensor_task` | async    | Poll the SHT31 once a second               |
//! | 1    | `usb_irq`     | hardware | Service the USB CDC diagnostic port        |
//! | 1    | `usb_report`  | async    | Emit a diagnostic line once a second       |
//! | 1    | `status_led`  | async    | Repaint the WS2812B indicator              |
//!
//! The USB port is a diagnostic aid, not part of the protocol: it lets the node
//! be verified over a plain USB cable with no SWD probe and no RS485 adapter. It
//! sits at the lowest priority so it can never delay a bus reply.
//!
//! The key design decision is that **a request is answered entirely from a
//! cached reading**. An SHT31 high-repeatability conversion takes up to 15 ms,
//! which is far longer than the turnaround a master expects, so the sensor is
//! polled on its own schedule at the lowest priority and `frame_gap` never
//! touches I2C. RTIC's priority ceilings then guarantee that a conversion in
//! progress cannot delay a reply, and the compiler checks the resulting resource
//! sharing rather than us reasoning about it.

#![no_std]
#![no_main]

mod board;
mod rs485;
mod sensor;
mod status_led;

use defmt_rtt as _;
use panic_probe as _;
use rtic_monotonics::rp2040::prelude::*;

// A 1 MHz, 64-bit monotonic on the RP2040 TIMER peripheral. This claims
// TIMER_IRQ_0, which is why the RTIC dispatchers below use the software-only
// vectors instead.
rp2040_timer_monotonic!(Mono);

/// Second-stage bootloader.
///
/// The boot ROM copies these 256 bytes into RAM and runs them to configure XIP
/// for the attached QSPI flash before any of our code executes. `W25Q080` covers
/// the parts fitted to the Pico and most RP2040 modules; change it if the board
/// carries something else.
#[link_section = ".boot2"]
#[no_mangle]
#[used]
pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;

#[rtic::app(device = rp2040_hal::pac, peripherals = true, dispatchers = [SW0_IRQ, SW1_IRQ])]
mod app {
    use super::*;

    use core::fmt::Write as _;

    use fugit::RateExtU32;
    use heapless::String;
    use rp2040_hal as hal;
    use rp2040_hal::usb::UsbBus;
    use rp2040_hal::Clock;
    use rtic::Mutex;
    use usb_device::{
        bus::UsbBusAllocator,
        device::{StringDescriptors, UsbDevice, UsbDeviceBuilder, UsbVidPid},
    };
    use usbd_serial::SerialPort;
    use wiredsensor_core::{
        frame::{ParseError, MAX_FRAME},
        proto::{self, flag, Info, Measurement, Outcome, Snapshot, Status},
        sht3x,
    };

    use crate::board::{self, Instant};
    use crate::rs485::{self, Rs485, RxBuffer, FIFO_DEPTH};
    use crate::sensor::Sht31;
    use crate::status_led::{Rgb, StatusLed};

    /// A cached sensor reading and when it was taken.
    ///
    /// `pub` because RTIC's generated resource proxies name it in their public
    /// signatures.
    pub struct Reading {
        temp_milli_c: i32,
        rh_milli_pct: i32,
        taken_at: Instant,
    }

    /// Everything behind the diagnostic and identity registers that is
    /// discovered at runtime rather than fixed at build time.
    #[derive(Default)]
    pub struct DeviceState {
        /// Factory serial read from the sensor at start-up, 0 if unavailable.
        sensor_serial: u32,
        /// Raw SHT31 status register from the most recent successful read.
        sensor_status: u16,
        i2c_errors: u16,
        sensor_crc_errors: u16,
        frame_errors: u16,
        crc_errors: u16,
        consecutive_failures: u32,
        sensor_ok: bool,
        ever_measured: bool,
        uart_error: bool,
        sensor_reset_seen: bool,
    }

    #[shared]
    struct Shared {
        /// The PL011 and the transceiver direction pin.
        bus: Rs485,
        /// Bytes received since the last inter-frame gap.
        rx: RxBuffer,
        /// Latest reading, `None` until the first successful poll.
        reading: Option<Reading>,
        /// Counters and health bits.
        state: DeviceState,
        /// USB CDC diagnostics. Independent of the RS485 protocol — these exist
        /// so the node can be verified over a plain USB cable with no SWD probe.
        usb_dev: UsbDevice<'static, UsbBus>,
        serial: SerialPort<'static, UsbBus>,
    }

    #[local]
    struct Local {
        sensor: Sht31<board::SensorI2c>,
        led: StatusLed,
    }

    // The USB bus allocator must outlive the device and class that borrow from
    // it. An init-local resource gives us that `'static` without a `static mut`.
    #[init(local = [usb_bus: Option<UsbBusAllocator<UsbBus>> = None])]
    fn init(mut cx: init::Context) -> (Shared, Local) {
        let mut watchdog = hal::watchdog::Watchdog::new(cx.device.WATCHDOG);
        let clocks = hal::clocks::init_clocks_and_plls(
            board::XTAL_FREQ_HZ,
            cx.device.XOSC,
            cx.device.CLOCKS,
            cx.device.PLL_SYS,
            cx.device.PLL_USB,
            &mut cx.device.RESETS,
            &mut watchdog,
        )
        .expect("clock init failed — check XTAL_FREQ_HZ against the fitted crystal");

        Mono::start(cx.device.TIMER, &cx.device.RESETS);

        let sio = hal::Sio::new(cx.device.SIO);
        let pins = hal::gpio::Pins::new(
            cx.device.IO_BANK0,
            cx.device.PADS_BANK0,
            sio.gpio_bank0,
            &mut cx.device.RESETS,
        );

        // ---- RS485 on UART0 ------------------------------------------------
        // Let the HAL do the baud-divisor and line-control setup, which is
        // fiddly and easy to get subtly wrong, then reclaim the raw peripheral:
        // the runtime path needs RTIM and BUSY, which the HAL does not expose.
        let uart_pins: board::Rs485Pins = (pins.gpio0.reconfigure(), pins.gpio1.reconfigure());
        let uart =
            hal::uart::UartPeripheral::new(cx.device.UART0, uart_pins, &mut cx.device.RESETS)
                .enable(
                    hal::uart::UartConfig::new(
                        board::BAUD_RATE.Hz(),
                        hal::uart::DataBits::Eight,
                        None,
                        hal::uart::StopBits::One,
                    ),
                    clocks.peripheral_clock.freq(),
                )
                .expect("uart baud rate not achievable from the peripheral clock");
        let (uart0, uart_pins) = uart.free();
        let bus = Rs485::new(uart0, uart_pins, pins.gpio2.reconfigure());

        // ---- SHT31 on I2C1 --------------------------------------------------
        let i2c = hal::i2c::I2C::new_controller(
            cx.device.I2C1,
            pins.gpio14.reconfigure(),
            pins.gpio15.reconfigure(),
            board::I2C_FREQ_HZ.Hz(),
            &mut cx.device.RESETS,
            clocks.system_clock.freq(),
        );
        let sensor = Sht31::new(i2c, board::SENSOR_I2C_ADDR);

        // ---- WS2812B status indicator on PIO0 --------------------------------
        let led = StatusLed::new(
            cx.device.PIO0,
            pins.gpio16.reconfigure(),
            &mut cx.device.RESETS,
            clocks.system_clock.freq(),
        );

        // ---- USB CDC diagnostics --------------------------------------------
        // `force_vbus_detect_bit` is true because the Pico ties VBUS to the chip;
        // on a board with no VBUS sense this makes the block enumerate whenever
        // it is powered, which is harmless but not free.
        let usb_bus: &'static UsbBusAllocator<UsbBus> =
            cx.local.usb_bus.insert(UsbBusAllocator::new(UsbBus::new(
                cx.device.USBCTRL_REGS,
                cx.device.USBCTRL_DPRAM,
                clocks.usb_clock,
                true,
                &mut cx.device.RESETS,
            )));
        let serial = SerialPort::new(usb_bus);
        let usb_dev = UsbDeviceBuilder::new(usb_bus, UsbVidPid(board::USB_VID, board::USB_PID))
            .strings(&[StringDescriptors::default()
                .manufacturer("wiredsensor")
                .product("wiredsensor RS485 node")
                .serial_number("0001")])
            .expect("USB string descriptors")
            .device_class(usbd_serial::USB_CLASS_CDC)
            .build();

        defmt::info!(
            "wiredsensor v{}.{}.{} up: unit {:#04x}, {} baud, gap {} us",
            board::FW_MAJOR,
            board::FW_MINOR,
            board::FW_PATCH,
            board::UNIT_ADDRESS,
            board::BAUD_RATE,
            board::INTER_FRAME_GAP_US,
        );

        sensor_task::spawn().ok();
        status_led::spawn().ok();
        usb_report::spawn().ok();

        (
            Shared {
                bus,
                rx: RxBuffer::new(),
                reading: None,
                state: DeviceState::default(),
                usb_dev,
                serial,
            },
            Local { sensor, led },
        )
    }

    /// Highest-priority work in the system: get bytes out of the FIFO before it
    /// overruns and record when the last one arrived.
    ///
    /// Deliberately does no parsing. At 19200 baud a character arrives every
    /// ~520 µs — around 65,000 core cycles — so there is plenty of slack, but
    /// keeping the ISR to a FIFO drain is what bounds the jitter that everything
    /// else in the system sees.
    #[task(binds = UART0_IRQ, priority = 3, shared = [bus, rx])]
    fn uart0_irq(mut cx: uart0_irq::Context) {
        let now = Mono::now();

        let start_gap_timer = cx.shared.bus.lock(|bus| {
            cx.shared.rx.lock(|rx| {
                bus.drain_into(rx, now);

                // One gap-detection task per frame. It re-reads `last_byte_at`
                // itself, so bytes arriving later need no further spawn.
                if rx.len > 0 && !rx.gap_pending {
                    rx.gap_pending = true;
                    true
                } else {
                    false
                }
            })
        });

        if start_gap_timer {
            frame_gap::spawn().ok();
        }
    }

    /// Wait out the inter-frame gap, then answer the frame.
    ///
    /// Runs above the sensor so a conversion in progress can never delay a reply,
    /// and below the UART ISR so incoming bytes are never dropped while we work.
    #[task(priority = 2, shared = [bus, rx, reading, state])]
    async fn frame_gap(mut cx: frame_gap::Context) {
        let gap = board::Duration::micros(board::INTER_FRAME_GAP_US as u64);

        // Bytes may still be arriving. Rather than cancelling and respawning a
        // timer on every byte, drain whatever has landed, re-read the last
        // arrival time, and sleep again.
        //
        // Draining here as well as in the ISR is load-bearing, not belt and
        // braces. The watermark interrupt fires mid-frame once 16 bytes are in
        // the FIFO; the rest of the frame then sits *below* the watermark and
        // raises no interrupt at all until the PL011's receive timeout
        // eventually fires. Measuring the gap from the ISR's mid-frame
        // timestamp would therefore declare the frame complete while its tail
        // was still arriving, truncating every frame longer than the watermark.
        // Draining before each decision means a byte that arrived can always
        // push the deadline back.
        //
        // The cost is that the gap is measured from when we observed the byte
        // rather than when it landed, so the reply is up to one gap period
        // later than strictly necessary. Correctness is worth 1.8 ms.
        loop {
            let last_byte_at = cx.shared.bus.lock(|bus| {
                cx.shared.rx.lock(|rx| {
                    bus.drain_into(rx, Mono::now());
                    rx.last_byte_at
                })
            });
            let deadline = last_byte_at + gap;
            if Mono::now() >= deadline {
                break;
            }
            Mono::delay_until(deadline).await;
        }

        // Take the frame out of the shared buffer so the ISR can begin the next.
        let mut req = [0u8; MAX_FRAME];
        let (len, overflow, line_error) = cx.shared.rx.lock(|rx| {
            let len = rx.len.min(MAX_FRAME);
            req[..len].copy_from_slice(&rx.buf[..len]);
            let taken = (len, rx.overflow, rx.line_error);
            rx.reset();
            taken
        });

        // A frame that outgrew the buffer or arrived with line errors is not
        // trustworthy. Count it and stay off the wire: answering a frame whose
        // address byte we cannot trust risks colliding with the node that was
        // actually addressed.
        if overflow || line_error {
            cx.shared.state.lock(|s| {
                s.uart_error |= line_error;
                s.frame_errors = s.frame_errors.saturating_add(1);
            });
            defmt::warn!(
                "discarded frame: {} bytes, overflow={}, line_error={}",
                len,
                overflow,
                line_error
            );
            cx.shared.rx.lock(|rx| rx.gap_pending = false);
            return;
        }

        let snapshot = snapshot(&mut cx);

        let mut out = [0u8; MAX_FRAME];
        let reply_len = match proto::dispatch(board::UNIT_ADDRESS, &req[..len], &snapshot, &mut out)
        {
            Outcome::Reply(reply) => Some(reply.len()),
            Outcome::Silent => None,
            Outcome::Malformed(e) => {
                cx.shared.state.lock(|s| match e {
                    ParseError::BadCrc => s.crc_errors = s.crc_errors.saturating_add(1),
                    _ => s.frame_errors = s.frame_errors.saturating_add(1),
                });
                defmt::debug!("rejected frame of {} bytes: {}", len, e);
                None
            }
        };

        if let Some(n) = reply_len {
            transmit(&mut cx, &out[..n]).await;
        }

        cx.shared.rx.lock(|rx| rx.gap_pending = false);
    }

    /// Assemble the device state `dispatch` is allowed to see.
    ///
    /// Locks are taken one resource at a time: a reading and the counters need
    /// not be mutually consistent, and holding both at once would raise the
    /// ceiling for no benefit.
    fn snapshot(cx: &mut frame_gap::Context<'_>) -> Snapshot {
        let now = Mono::now();

        let measurement = cx.shared.reading.lock(|slot| {
            slot.as_ref().map(|r| {
                let age_ms = now
                    .checked_duration_since(r.taken_at)
                    .map(|d| d.to_millis())
                    .unwrap_or(0);
                Measurement {
                    temp_milli_c: r.temp_milli_c,
                    rh_milli_pct: r.rh_milli_pct,
                    // Saturating at ~65 s is fine: anything that old is already
                    // far past the staleness threshold.
                    age_ms: age_ms.min(u16::MAX as u64) as u16,
                }
            })
        });

        let stale = measurement
            .map(|m| u32::from(m.age_ms) >= board::STALE_AFTER_MS)
            .unwrap_or(true);

        let (info, status) = cx.shared.state.lock(|s| {
            let mut flags = 0u16;
            if s.sensor_ok {
                flags |= flag::SENSOR_OK;
            }
            if stale {
                flags |= flag::DATA_STALE;
            }
            if s.consecutive_failures >= board::SENSOR_FAULT_THRESHOLD {
                flags |= flag::SENSOR_FAULT;
            }
            if s.uart_error {
                flags |= flag::UART_ERROR;
            }
            if s.ever_measured {
                flags |= flag::EVER_MEASURED;
            }
            if s.sensor_reset_seen {
                flags |= flag::SENSOR_RESET_SEEN;
            }
            if s.sensor_status & sht3x::status::HEATER_ON != 0 {
                flags |= flag::HEATER_ON;
            }

            let info = Info {
                fw_major: board::FW_MAJOR,
                fw_minor: board::FW_MINOR,
                fw_patch: board::FW_PATCH,
                proto_version: proto::PROTOCOL_VERSION,
                device_serial: board::DEVICE_SERIAL,
                sensor_serial: s.sensor_serial,
                uptime_s: (now.ticks() / 1_000_000).min(u64::from(u32::MAX)) as u32,
            };

            let status = Status {
                flags,
                sensor_status: s.sensor_status,
                i2c_errors: s.i2c_errors,
                sensor_crc_errors: s.sensor_crc_errors,
                frame_errors: s.frame_errors,
                crc_errors: s.crc_errors,
            };

            (info, status)
        });

        Snapshot {
            measurement,
            info,
            status,
        }
    }

    /// Put `reply` on the wire, holding DE for exactly as long as it takes.
    ///
    /// Between FIFO refills this yields rather than spinning, so the sensor task
    /// still gets to run. That is safe because DE stays asserted throughout: we
    /// own the bus for the whole call, and nothing else in the system is allowed
    /// to touch the transceiver.
    async fn transmit(cx: &mut frame_gap::Context<'_>, reply: &[u8]) {
        cx.shared.bus.lock(|bus| bus.tx_enable());

        let mut remaining = reply;
        while !remaining.is_empty() {
            remaining = cx.shared.bus.lock(|bus| bus.push(remaining));
            if !remaining.is_empty() {
                // FIFO full — wait for roughly half of it to drain before
                // topping up.
                Mono::delay(board::Duration::micros(
                    rs485::tx_time_us(FIFO_DEPTH / 2) as u64
                ))
                .await;
            }
        }

        // Everything is queued; at most a full FIFO is still to go. Sleep through
        // the bulk of it, then confirm with BUSY, which is the only signal that
        // the final stop bit has actually left the shift register.
        let queued = reply.len().min(FIFO_DEPTH);
        Mono::delay(board::Duration::micros(rs485::tx_time_us(queued) as u64)).await;

        while !cx.shared.bus.lock(|bus| bus.tx_complete()) {
            Mono::delay(board::Duration::micros(board::CHAR_TIME_US as u64)).await;
        }

        cx.shared.bus.lock(|bus| bus.tx_disable());
    }

    /// Sensor bring-up followed by periodic polling.
    ///
    /// Lowest priority on purpose: nothing here is time-critical, and the bus
    /// must always be able to preempt it.
    #[task(priority = 1, shared = [reading, state], local = [sensor])]
    async fn sensor_task(mut cx: sensor_task::Context) {
        let sensor = cx.local.sensor;

        Mono::delay(board::Duration::millis(u64::from(sht3x::POWER_UP_MAX_MS))).await;

        // Bring-up. Every command is followed by quiet time, because the sensor
        // NACKs anything arriving while it is still busy with the previous one.
        // Without the settle after `clear_status` the first measurement below
        // failed on every boot, leaving a permanent i2c_errors=1 that a master
        // polling the error counters could not distinguish from a real fault.
        //
        // Failures here are logged but deliberately not counted: the counters
        // describe operational health, and an unreadable serial already shows up
        // as a zero in the sensor-serial registers.
        let settle = board::Duration::millis(u64::from(sht3x::COMMAND_SETTLE_MS));

        // Clear whatever state a warm reset left behind, so the sensor's
        // configuration is known regardless of how we got here.
        let _ = sensor.soft_reset();
        Mono::delay(board::Duration::millis(u64::from(sht3x::SOFT_RESET_MAX_MS))).await;

        match sensor.read_serial() {
            Ok(serial) => {
                defmt::info!("SHT31 serial {=u32:#010x}", serial);
                cx.shared.state.lock(|s| s.sensor_serial = serial);
            }
            Err(e) => defmt::warn!("SHT31 serial read failed: {}", e),
        }
        Mono::delay(settle).await;

        let _ = sensor.clear_status();
        Mono::delay(settle).await;

        let period = board::Duration::millis(u64::from(board::SENSOR_PERIOD_MS));
        let mut next = Mono::now();

        loop {
            next += period;

            match measure(sensor).await {
                Ok(raw) => {
                    let taken_at = Mono::now();
                    let temp_milli_c = sht3x::temp_milli_c(raw.temp_ticks);
                    let rh_milli_pct = sht3x::rh_milli_pct(raw.rh_ticks);

                    defmt::debug!("{} m°C, {} m%RH", temp_milli_c, rh_milli_pct);

                    cx.shared.reading.lock(|slot| {
                        *slot = Some(Reading {
                            temp_milli_c,
                            rh_milli_pct,
                            taken_at,
                        })
                    });
                    cx.shared.state.lock(|s| {
                        s.sensor_ok = true;
                        s.ever_measured = true;
                        s.consecutive_failures = 0;
                    });
                }
                Err(e) => {
                    defmt::warn!("sensor poll failed: {}", e);

                    let failures = cx.shared.state.lock(|s| {
                        s.sensor_ok = false;
                        s.consecutive_failures = s.consecutive_failures.saturating_add(1);
                        match e {
                            crate::sensor::Error::I2c => {
                                s.i2c_errors = s.i2c_errors.saturating_add(1)
                            }
                            crate::sensor::Error::Crc => {
                                s.sensor_crc_errors = s.sensor_crc_errors.saturating_add(1)
                            }
                        }
                        s.consecutive_failures
                    });

                    // Try to shake a wedged sensor loose rather than reporting a
                    // fault forever. The reading itself stays cached and ages,
                    // so a master watching `age_ms` sees the problem either way.
                    if failures >= board::SENSOR_FAULT_THRESHOLD {
                        defmt::warn!("{} consecutive failures, resetting sensor", failures);
                        let _ = sensor.soft_reset();
                        Mono::delay(board::Duration::millis(u64::from(sht3x::SOFT_RESET_MAX_MS)))
                            .await;
                        let _ = sensor.clear_status();
                    }
                }
            }

            // Read the status register so an unexpected sensor reset shows up on
            // the bus instead of silently reverting the configuration.
            //
            // Failures are counted rather than discarded. Swallowing them made a
            // persistently unreadable status indistinguishable from a genuinely
            // clean one, since both leave `sensor_status` at zero. They are kept
            // out of the consecutive-failure count so only the measurement path
            // drives the fault and reset logic.
            match sensor.read_status() {
                Ok(status) => {
                    let saw_reset = status & sht3x::status::SYSTEM_RESET_DETECTED != 0;
                    cx.shared.state.lock(|s| {
                        s.sensor_status = status;
                        s.sensor_reset_seen |= saw_reset;
                    });
                    if saw_reset {
                        defmt::warn!("SHT31 reported a reset (status {=u16:#06x})", status);
                        let _ = sensor.clear_status();
                    }
                }
                Err(e) => {
                    defmt::warn!("SHT31 status read failed: {}", e);
                    cx.shared.state.lock(|s| match e {
                        crate::sensor::Error::I2c => s.i2c_errors = s.i2c_errors.saturating_add(1),
                        crate::sensor::Error::Crc => {
                            s.sensor_crc_errors = s.sensor_crc_errors.saturating_add(1)
                        }
                    });
                }
            }

            Mono::delay_until(next).await;
        }
    }

    /// Start a conversion, wait out the data-sheet worst case, read it back.
    async fn measure<I: embedded_hal::i2c::I2c>(
        sensor: &mut Sht31<I>,
    ) -> Result<sht3x::Raw, crate::sensor::Error> {
        sensor.start_measurement()?;
        // Clock stretching is disabled, so the sensor NACKs a read until the
        // conversion finishes. Waiting the worst case beats retry-until-ACK: it
        // keeps the I2C bus idle and the timing predictable.
        Mono::delay(board::Duration::millis(u64::from(
            sht3x::MEASURE_HIGH_MAX_MS,
        )))
        .await;
        sensor.read_measurement()
    }

    /// Repaint the WS2812B status indicator.
    ///
    /// Green for running, blue for a measurement, red for a sensor error, with
    /// the most urgent condition winning: red over blue, blue over green. Read at
    /// a glance, a healthy node is dim green with a blue pip once a second, so a
    /// stalled or failing node is obvious without a serial port.
    ///
    /// Derived entirely from existing shared state — the reading's own timestamp
    /// already says when the last measurement landed, so nothing extra is
    /// published just to drive an LED.
    #[task(priority = 1, shared = [reading, state], local = [led])]
    async fn status_led(mut cx: status_led::Context) {
        let tick = board::Duration::millis(u64::from(board::LED_TICK_MS));
        let flash = board::Duration::millis(u64::from(board::LED_MEASURING_MS));

        loop {
            let now = Mono::now();

            let measured_recently = cx
                .shared
                .reading
                .lock(|slot| slot.as_ref().map(|r| r.taken_at))
                .and_then(|taken_at| now.checked_duration_since(taken_at))
                .is_some_and(|age| age < flash);

            let (sensor_ok, failures) = cx
                .shared
                .state
                .lock(|s| (s.sensor_ok, s.consecutive_failures));

            let colour = if failures > 0 || !sensor_ok {
                // Any failed poll shows red, not just a latched hard fault: a
                // sensor dropping the occasional reading is worth seeing.
                Rgb::ERROR
            } else if measured_recently {
                Rgb::MEASURING
            } else {
                Rgb::RUNNING
            };

            cx.local.led.set(colour);
            Mono::delay(tick).await;
        }
    }

    /// Service the USB stack.
    ///
    /// Lowest priority: the RS485 bus must always win, and the host tolerates the
    /// resulting jitter. This is safe even during a long reply because `transmit`
    /// yields between FIFO refills rather than spinning.
    #[task(binds = USBCTRL_IRQ, priority = 1, shared = [usb_dev, serial])]
    fn usb_irq(mut cx: usb_irq::Context) {
        cx.shared.usb_dev.lock(|dev| {
            cx.shared.serial.lock(|serial| {
                if dev.poll(&mut [serial]) {
                    // Output-only diagnostic, but the RX buffer still has to be
                    // drained or the host's writes would eventually stall it.
                    let mut discard = [0u8; 64];
                    let _ = serial.read(&mut discard);
                }
            })
        });
    }

    /// Emit a diagnostic line on the USB serial port once a second.
    ///
    /// Deliberately reports raw internal state rather than the protocol's flag
    /// encoding: this exists to answer "is the sensor working and what does it
    /// read", which is a different question from what a bus master asks.
    #[task(priority = 1, shared = [reading, state, serial])]
    async fn usb_report(mut cx: usb_report::Context) {
        let mut line: String<256> = String::new();

        line.clear();
        let _ = write!(
            line,
            "\r\n=== wiredsensor v{}.{}.{} ===\r\n\
             unit={:#04x} baud={} gap={}us\r\n\
             SHT31 on I2C1 SDA=GP14 SCL=GP15 addr={:#04x} {}Hz\r\n",
            board::FW_MAJOR,
            board::FW_MINOR,
            board::FW_PATCH,
            board::UNIT_ADDRESS,
            board::BAUD_RATE,
            board::INTER_FRAME_GAP_US,
            board::SENSOR_I2C_ADDR,
            board::I2C_FREQ_HZ,
        );
        cx.shared
            .serial
            .lock(|serial| usb_write(serial, line.as_bytes()));

        loop {
            Mono::delay(board::Duration::millis(u64::from(board::USB_REPORT_MS))).await;

            let now = Mono::now();
            let reading = cx.shared.reading.lock(|slot| {
                slot.as_ref().map(|r| {
                    let age = now
                        .checked_duration_since(r.taken_at)
                        .map(|d| d.to_millis())
                        .unwrap_or(0);
                    (r.temp_milli_c, r.rh_milli_pct, age)
                })
            });

            let s = cx.shared.state.lock(|s| {
                (
                    s.sensor_ok,
                    s.consecutive_failures,
                    s.sensor_status,
                    s.sensor_serial,
                    s.i2c_errors,
                    s.sensor_crc_errors,
                    s.frame_errors,
                    s.crc_errors,
                )
            });
            let (ok, fails, sht_status, sht_serial, i2c_err, sht_crc_err, frame_err, bus_crc_err) =
                s;

            line.clear();
            let _ = write!(line, "[{:>6}s] ", now.ticks() / 1_000_000);

            match reading {
                Some((temp, rh, age)) => {
                    let _ = write!(line, "t=");
                    write_milli(&mut line, temp);
                    let _ = write!(line, " C  rh=");
                    write_milli(&mut line, rh);
                    let _ = write!(line, " %  age={}ms", age);
                }
                None if fails > 0 => {
                    let _ = write!(line, "NO READING - sensor not responding");
                }
                None => {
                    let _ = write!(line, "waiting for first measurement");
                }
            }

            let _ = write!(
                line,
                "  | {} fails={} sht_serial={:#010x} sht_status={:#06x} \
                 err[i2c={} sht_crc={} frame={} bus_crc={}]\r\n",
                if ok { "OK " } else { "ERR" },
                fails,
                sht_serial,
                sht_status,
                i2c_err,
                sht_crc_err,
                frame_err,
                bus_crc_err,
            );

            cx.shared
                .serial
                .lock(|serial| usb_write(serial, line.as_bytes()));
        }
    }

    /// Write `bytes` to the host, discarding whatever does not fit.
    ///
    /// A diagnostic that stalls the firmware when nobody is draining the port
    /// would be worse than no diagnostic at all, so a full buffer just drops the
    /// rest of the line.
    fn usb_write(serial: &mut SerialPort<'static, UsbBus>, mut bytes: &[u8]) {
        while !bytes.is_empty() {
            match serial.write(bytes) {
                Ok(0) | Err(_) => break,
                Ok(n) => bytes = &bytes[n..],
            }
        }
    }

    /// Render milli-units as a signed fixed-point decimal: `-1234` → `-1.234`.
    fn write_milli<const N: usize>(out: &mut String<N>, milli: i32) {
        let magnitude = milli.unsigned_abs();
        let _ = write!(
            out,
            "{}{}.{:03}",
            if milli < 0 { '-' } else { '+' },
            magnitude / 1000,
            magnitude % 1000
        );
    }
}