/* Taken directly from Betaflight: usbd_conf_stm32f7xx.c */
#include "stm32f7xx_hal.h"
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_cdc.h"
#include "usbd_conf.h"

/*
 * Mark USB TX/RX buffers non-cacheable via MPU Region 0.
 * Cortex-M7 TEX=1, C=0, B=0 → Normal Non-cacheable.
 * Called before HAL_PCD_Init() so the region is active before the USB
 * hardware ever touches the buffers.
 */
extern void * const usb_nc_buf_base;  /* defined in usbd_cdc_if.c */

static void USB_NC_MPU_Config(void)
{
    MPU_Region_InitTypeDef r = {0};
    HAL_MPU_Disable();
    r.Enable           = MPU_REGION_ENABLE;
    r.Number           = MPU_REGION_NUMBER0;
    r.BaseAddress      = (uint32_t)usb_nc_buf_base;
    r.Size             = MPU_REGION_SIZE_512B;
    r.SubRegionDisable = 0x00;
    r.TypeExtField     = MPU_TEX_LEVEL1;   /* TEX=1 */
    r.AccessPermission = MPU_REGION_FULL_ACCESS;
    r.DisableExec      = MPU_INSTRUCTION_ACCESS_DISABLE;
    r.IsShareable      = MPU_ACCESS_NOT_SHAREABLE;
    r.IsCacheable      = MPU_ACCESS_NOT_CACHEABLE;  /* C=0 */
    r.IsBufferable     = MPU_ACCESS_NOT_BUFFERABLE;  /* B=0 */
    HAL_MPU_ConfigRegion(&r);
    HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}

PCD_HandleTypeDef hpcd;

void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    if (hpcd->Instance == USB_OTG_FS) {
        __HAL_RCC_GPIOA_CLK_ENABLE();

        GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

        __HAL_RCC_USB_OTG_FS_CLK_ENABLE();

        HAL_NVIC_SetPriority(OTG_FS_IRQn, 6, 0);
        HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
    }
}

void HAL_PCD_MspDeInit(PCD_HandleTypeDef *hpcd)
{
    if (hpcd->Instance == USB_OTG_FS) {
        __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
        __HAL_RCC_SYSCFG_CLK_DISABLE();
    }
}

void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_SetupStage(hpcd->pData, (uint8_t *)hpcd->Setup); }
void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_DataOutStage(hpcd->pData, epnum, hpcd->OUT_ep[epnum].xfer_buff); }
void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_DataInStage(hpcd->pData, epnum, hpcd->IN_ep[epnum].xfer_buff); }
void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_SOF(hpcd->pData); }
void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd) {
    USBD_LL_Reset(hpcd->pData);
    USBD_LL_SetSpeed(hpcd->pData, USBD_SPEED_FULL);
}
void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_Suspend(hpcd->pData); }
void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_Resume(hpcd->pData); }
void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_IsoOUTIncomplete(hpcd->pData, epnum); }
void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_IsoINIncomplete(hpcd->pData, epnum); }
void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_DevConnected(hpcd->pData); }
void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_DevDisconnected(hpcd->pData); }

USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
{
    hpcd.Instance = USB_OTG_FS;
    hpcd.Init.dev_endpoints = 4;
    hpcd.Init.use_dedicated_ep1 = 0;
    hpcd.Init.ep0_mps = 0x40;
    hpcd.Init.dma_enable = 0;
    hpcd.Init.low_power_enable = 0;
    hpcd.Init.phy_itface = PCD_PHY_EMBEDDED;
    hpcd.Init.Sof_enable = 0;
    hpcd.Init.speed = PCD_SPEED_FULL;
    hpcd.Init.vbus_sensing_enable = 0;
    hpcd.Init.lpm_enable = 0;

    hpcd.pData = pdev;
    pdev->pData = &hpcd;

    USB_NC_MPU_Config();  /* Mark USB buffers non-cacheable before USB hardware init */
    HAL_PCD_Init(&hpcd);

    HAL_PCDEx_SetRxFiFo(&hpcd, 0x80);
    HAL_PCDEx_SetTxFiFo(&hpcd, 0, 0x40);
    HAL_PCDEx_SetTxFiFo(&hpcd, 1, 0x80);

    return USBD_OK;
}

USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev) { HAL_PCD_DeInit(pdev->pData); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev) { HAL_PCD_Start(pdev->pData); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev) { HAL_PCD_Stop(pdev->pData); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t ep_type, uint16_t ep_mps) { HAL_PCD_EP_Open(pdev->pData, ep_addr, ep_mps, ep_type); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_Close(pdev->pData, ep_addr); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_Flush(pdev->pData, ep_addr); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_SetStall(pdev->pData, ep_addr); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_ClrStall(pdev->pData, ep_addr); return USBD_OK; }
uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) {
    PCD_HandleTypeDef *hpcd = pdev->pData;
    if ((ep_addr & 0x80) == 0x80) return hpcd->IN_ep[ep_addr & 0x7F].is_stall;
    else return hpcd->OUT_ep[ep_addr & 0x7F].is_stall;
}
USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr) { HAL_PCD_SetAddress(pdev->pData, dev_addr); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size) { HAL_PCD_EP_Transmit(pdev->pData, ep_addr, pbuf, size); return USBD_OK; }
USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size) { HAL_PCD_EP_Receive(pdev->pData, ep_addr, pbuf, size); return USBD_OK; }
uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { return HAL_PCD_EP_GetRxCount(pdev->pData, ep_addr); }
void USBD_LL_Delay(uint32_t Delay) { HAL_Delay(Delay); }