#include <sw7203.h>
#include "driver/gpio.h"
#include "driver/i2c_master.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

static const char *SW7203_TAG = "SW7203";

void sw7203_register_change_bitmask_nonpoint(uint8_t reg_addr, uint8_t data, uint8_t bitmask)
{
    uint8_t original_reg;
    if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
    {
        while (*SW7203_Mutex != 0)
        {
            vTaskDelay(50 / portTICK_PERIOD_MS);
        }
        *SW7203_Mutex = 1;
        ESP_ERROR_CHECK(i2c_master_transmit_receive(SW7203_I2C_handle, &reg_addr, 1, &original_reg, 1, -1));
        *SW7203_Mutex = 0;
    }
    else
        ESP_ERROR_CHECK(i2c_master_transmit_receive(SW7203_I2C_handle, &reg_addr, 1, &original_reg, 1, -1));
    uint8_t diff = (original_reg ^ (data)) & (bitmask);
    if (diff)
    {
        uint16_t write_data = (reg_addr) << 8 | (diff ^ original_reg);
        if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
        {
            while (SW7203_Mutex != 0)
            {
                vTaskDelay(50 / portTICK_PERIOD_MS);
            }
            SW7203_Mutex = 1;
            ESP_ERROR_CHECK(i2c_master_transmit(SW7203_I2C_handle, &write_data, 2, -1));
            *SW7203_Mutex = 0;
        }
        else
            ESP_ERROR_CHECK(i2c_master_transmit(SW7203_I2C_handle, &write_data, 2, -1));
    }
}

uint8_t sw7203_I2C_address_find(i2c_master_bus_handle_t I2C_bus_handle)
{
    esp_err_t errcode;
    errcode = i2c_master_probe(I2C_bus_handle, sw7203_I2c_0x3C, -1);
    if (errcode == ESP_OK)
    {
        return 0x3C;
    }
    errcode = i2c_master_probe(I2C_bus_handle, sw7203_I2c_0x1C, -1);
    if (errcode == ESP_OK)
    {
        return 0x1C;
    }
    errcode = i2c_master_probe(I2C_bus_handle, sw7203_I2c_0x18, -1);
    if (errcode == ESP_OK)
    {
        return 0x18;
    }
    errcode = i2c_master_probe(I2C_bus_handle, sw7203_I2c_0x38, -1);
    if (errcode == ESP_OK)
    {
        return 0x38;
    }
    return -1;
}

void sw7203_register_change_bitmask(uint8_t *reg_addr, uint8_t *data, uint8_t *bitmask)
{
    uint8_t original_reg;
    if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
    {
        while (*SW7203_Mutex != 0)
        {
            vTaskDelay(50 / portTICK_PERIOD_MS);
        }
        *SW7203_Mutex = 1;
        ESP_ERROR_CHECK(i2c_master_transmit_receive(SW7203_I2C_handle, reg_addr, 1, &original_reg, 1, -1));
        *SW7203_Mutex = 0;
    }
    else
        ESP_ERROR_CHECK(i2c_master_transmit_receive(SW7203_I2C_handle, reg_addr, 1, &original_reg, 1, -1));
    uint8_t diff = (original_reg ^ (*data)) & (*bitmask);
    if (diff)
    {
        uint16_t write_data = (*reg_addr) << 8 | (diff ^ original_reg);
        if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
        {
            while (SW7203_Mutex != 0)
            {
                vTaskDelay(50 / portTICK_PERIOD_MS);
            }
            SW7203_Mutex = 1;
            ESP_ERROR_CHECK(i2c_master_transmit(SW7203_I2C_handle, &write_data, 2, -1));
            *SW7203_Mutex = 0;
        }
        else
            ESP_ERROR_CHECK(i2c_master_transmit(SW7203_I2C_handle, &write_data, 2, -1));
    }
}
esp_err_t sw7203_reg_read(uint8_t reg_addr, uint8_t *data)
{
    esp_err_t errcode;
    if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
    {
        while (SW7203_Mutex != 0)
        {
            vTaskDelay(50 / portTICK_PERIOD_MS);
        }
        SW7203_Mutex = 1;
        errcode = i2c_master_transmit_receive(SW7203_I2C_handle, reg_addr, 1, data, 1, -1);
        *SW7203_Mutex = 0;
    }
    else
        errcode = i2c_master_transmit_receive(SW7203_I2C_handle, reg_addr, 1, data, 1, -1);
    return errcode;
}
esp_err_t sw7203_reg_write(uint8_t reg_addr, uint8_t *data)
{
    uint8_t tran_data[2];
    tran_data[0] = reg_addr;
    tran_data[1] = *data;
    esp_err_t errcode;
    if (__sw7203_driver_config__.I2CBusBusyEnable == 1)
    {
        while (SW7203_Mutex != 0)
        {
            vTaskDelay(50 / portTICK_PERIOD_MS);
        }
        SW7203_Mutex = 1;
        errcode = i2c_master_transmit(SW7203_I2C_handle, tran_data, 2, -1);
        *SW7203_Mutex = 0;
    }
    else
        errcode = i2c_master_transmit(SW7203_I2C_handle, tran_data, 2, -1);
    return errcode;
}

void sw7203_int()
{
    if (__sw7203_driver_config__.INTGPIOEnable == 1)
    {
        while (1)
        {
            vTaskDelay(50 / portTICK_PERIOD_MS);
            SW7203IntCallBack();
        }
    }
    else
    {
        while (1)
        {
            if (gpio_get_level(sw7203_INT_gpio_num) == 0)
            {
                SW7203IntCallBack();
            }
            vTaskDelay(50 / portTICK_PERIOD_MS);
        }
    }
}

esp_err_t sw7203_driver_install(sw7203_config_t *sw7203_config, i2c_master_bus_handle_t I2C_bus_handle, uint8_t I2C_address)
{
    if (I2C_address != 0x18 && I2C_address != 0x1C && I2C_address != 0x38 && I2C_address != 0x3C)
    {
        return ESP_ERR_NOT_ALLOWED;
    }
    if (sw7203_config->SW7203_control_mode.mode == 1 && (sw7203_config->connectDetect.config.a1PortDetectEnable == 1 || sw7203_config->connectDetect.config.a2PortDetectEnable == 1))
    {
        return ESP_ERR_INVALID_RESPONSE;
    }
    if ((__sw7203_driver_config__.INTGPIOEnable = sw7203_config->SW7203_control_mode.INTGPIOEnable) == 0)
    {
        sw7203_INT_gpio_num = sw7203_config->INT_gpio_num;
        if (sw7203_config->SW7203_control_mode.gpioInitMode == 0)
        {
            gpio_config_t sw7203_int_gpio_config = {
                .pin_bit_mask = 1ull << sw7203_INT_gpio_num,
                .mode = GPIO_MODE_INPUT,
                .pull_down_en = gpio_pulldown_dis,
                .pull_up_en = gpio_pullup_en,
            };
            gpio_config(&sw7203_int_gpio_config);
        }
    }
    __sw7203_driver_config__.mode = sw7203_config->SW7203_control_mode.mode;
    __sw7203_driver_config__.I2CBusBusyEnable = sw7203_config->SW7203_control_mode.I2CBusBusyEnable;
    __sw7203_driver_config__.voltageConflictSwitch = sw7203_config->SW7203_control_mode.voltageConflictSwitch;
    __sw7203_driver_config__.porta1enable = sw7203_config->connectDetect.config.a1PortDetectEnable;
    __sw7203_driver_config__.porta2enable = sw7203_config->connectDetect.config.a2PortDetectEnable;
    esp_err_t errcode;
    i2c_device_config_t sw7203_i2c_dev_config = {
        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
        .device_address = I2C_address,
        .scl_speed_hz = 100000};
    ESP_ERROR_CHECK(errcode = i2c_master_bus_add_device(I2C_bus_handle, &sw7203_i2c_dev_config, &SW7203_I2C_handle));
    SW7203_Mutex = sw7203_config->Mutex;
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[0][0], &sw7203_config->connectDetect.hex, &SW7203RegAddress_bitmask[0][1]); // {0x18, 0b00010011}, 0
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[1][0], &sw7203_config->i2cAddress, &SW7203RegAddress_bitmask[1][1]);        // {0x1A, 0b00000011}, 1
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[2][0], &sw7203_config->funcConfig1.hex, &SW7203RegAddress_bitmask[2][1]);   // {0x20, 0b11100111}, 2
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[3][0], &sw7203_config->funcConfig2.hex, &SW7203RegAddress_bitmask[3][1]);   // {0x21, 0b11111111}, 3
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[4][0], &sw7203_config->funcConfig3.hex, &SW7203RegAddress_bitmask[4][1]);   // {0x22, 0b11110000}, 4
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[5][0], &sw7203_config->funcConfig4.hex, &SW7203RegAddress_bitmask[5][1]);   // {0x30, 0b11001111}, 5
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[6][0], &sw7203_config->funcConfig5.hex, &SW7203RegAddress_bitmask[6][1]);   // {0x31, 0b00001111}, 6
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[7][0], &sw7203_config->funcConfig6.hex, &SW7203RegAddress_bitmask[7][1]);   // {0x32, 0b11011111}, 7
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[8][0], &sw7203_config->funcConfig7.hex, &SW7203RegAddress_bitmask[8][1]);   // {0x33, 0b11111111}, 8
    uint8_t data_up, data_lb;
    int tmp;
    data_up = 0b01111100 & (sw7203_config->connectDetect.config.a1PortDetectEnable) & ((sw7203_config->connectDetect.config.a1PortDetectEnable) ? 2 : 0);
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[26][0], &data_up, &SW7203RegAddress_bitmask[26][1]); // {0x02, 0b01111111} 26
    data_up = 0b10111111 & ((sw7203_config->funcConfig1.config.NTCProtectEnable) ? 0 : 64);
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[27][0], &data_up, &SW7203RegAddress_bitmask[27][1]); // {0x28, 0b00011111} 27
    if (sw7203_config->chargeVoltage_mV < 3000)
    {
        data_up = 0;
        data_lb = 0;
    }
    else if (sw7203_config->chargeVoltage_mV > 19200)
    {
        data_up = 0b11001010;
        data_lb = 0b00000100;
    }
    else
    {
        tmp = ((sw7203_config->chargeVoltage_mV - 3000) / 10);
        data_up = (uint8_t)(tmp >> 3) & 0xff;
        data_lb = (tmp) & 0b0000000000000111;
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[9][0], &data_up, &SW7203RegAddress_bitmask[9][1]);   // {0x34, 0b11111111}, 9
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[10][0], &data_lb, &SW7203RegAddress_bitmask[10][1]); // {0x35, 0b00000111}, 10
    if (sw7203_config->trickleVoltage_mV < 2500)
    {
        data_up = 0;
    }
    else if (sw7203_config->trickleVoltage_mV > 13200)
    {
        data_up = 107;
    }
    else
    {
        data_up = ((sw7203_config->trickleVoltage_mV - 2500) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[11][0], &data_up, &SW7203RegAddress_bitmask[11][1]);                          // {0x36, 0b01111111}, 11
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[12][0], &sw7203_config->trickleConfig.hex, &SW7203RegAddress_bitmask[12][1]); // {0x37, 0b00001111}, 12
    if (sw7203_config->chargeVBUSVoltageLimit_mV < 4000)
    {
        data_up = 0;
    }
    else if (sw7203_config->chargeVBUSVoltageLimit_mV > 20000)
    {
        data_up = 160;
    }
    else
    {
        data_up = ((sw7203_config->chargeVBUSVoltageLimit_mV - 4000) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[13][0], &data_up, &SW7203RegAddress_bitmask[13][1]); // {0x38, 0b11111111}, 13
    if (sw7203_config->chargeVBUSCurrentLimit_mA < 500)
    {
        data_up = 0;
    }
    else if (sw7203_config->chargeVBUSCurrentLimit_mA > 6850)
    {
        data_up = 127;
    }
    else
    {
        data_up = ((sw7203_config->chargeVBUSCurrentLimit_mA - 500) / 50);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[14][0], &data_up, &SW7203RegAddress_bitmask[14][1]); // {0x39, 0b01111111}, 14
    if (sw7203_config->chargeVBATCurrentLimit_mA < 100)
    {
        data_up = 0;
    }
    else if (sw7203_config->chargeVBATCurrentLimit_mA > 12000)
    {
        data_up = 119;
    }
    else
    {
        data_up = ((sw7203_config->chargeVBATCurrentLimit_mA - 100) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[15][0], &data_up, &SW7203RegAddress_bitmask[15][1]);                        // {0x3A, 0b01111111}, 15
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[16][0], &sw7203_config->NVDCConfig1.hex, &SW7203RegAddress_bitmask[16][1]); // {0x40, 0b01000011}, 16
    if (sw7203_config->chargeLDOCurrentLimit_mA < 100)
    {
        data_up = 0;
    }
    else if (sw7203_config->chargeLDOCurrentLimit_mA > 2000)
    {
        data_up = 19;
    }
    else
    {
        data_up = ((sw7203_config->chargeLDOCurrentLimit_mA - 100) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[17][0], &data_up, &SW7203RegAddress_bitmask[17][1]); // {0x41, 0b00011111}, 17
    if (sw7203_config->VSYSMinVoltage_mV < 3000)
    {
        data_up = 0;
    }
    else if (sw7203_config->VSYSMinVoltage_mV > 16600)
    {
        data_up = 68;
    }
    else
    {
        data_up = ((sw7203_config->VSYSMinVoltage_mV - 3000) / 200);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[18][0], &data_up, &SW7203RegAddress_bitmask[18][1]);                      // {0x42, 0b01111111}, 18
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[19][0], &sw7203_config->NTCConfig.hex, &SW7203RegAddress_bitmask[19][1]); // {0x43, 0b11111111}, 19

    if (sw7203_config->SW7203_control_mode.intMode == 0)
    {
        xTaskCreate(sw7203_int, "sw7203 int driver func", 1024, NULL, 5, &__sw7203_int_rtos_handle__);
    }
    return ESP_OK;
}

void sw7203SwitchOutput(sw7203_Vout_config_t *config)
{
    uint8_t data_up, data_lb;
    int tmp;
    if ((__sw7203_current_output_voltage__ = config->VBUSVoltage_mV) < 3000)
    {
        data_up = 0;
        data_lb = 0;
    }
    else if (config->VBUSVoltage_mV > 22000)
    {
        data_up = 0b11101101;
        data_lb = 0b00000100;
    }
    else
    {
        tmp = ((config->VBUSVoltage_mV - 3000) / 10);
        data_up = (uint8_t)(tmp >> 3) & 0xff;
        data_lb = (tmp) & 0b0000000000000111;
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[20][0], &data_up, &SW7203RegAddress_bitmask[20][1]); // {0x23, 0b11111111} 20
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[21][0], &data_lb, &SW7203RegAddress_bitmask[21][1]); // {0x24, 0b00000111} 21
    if (config->VBUSCurrentLimit_mA < 500)
    {
        data_up = 0;
    }
    else if (config->VBUSCurrentLimit_mA > 6850)
    {
        data_up = 127;
    }
    else
    {
        data_up = (uint8_t)((config->VBUSCurrentLimit_mA - 500) / 50);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[22][0], &data_up, &SW7203RegAddress_bitmask[22][1]); // {0x25, 0b01111111} 22
    if (config->VBATCurrentLimit_mA < 100)
    {
        data_up = 0;
    }
    else if (config->VBATCurrentLimit_mA > 12000)
    {
        data_up = 119;
    }
    else
    {
        data_up = (uint8_t)((config->VBUSCurrentLimit_mA - 100) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[23][0], &data_up, &SW7203RegAddress_bitmask[23][1]); // {0x26, 0b01111111} 23
    if (config->VBATVoltageLimit_mV < 2700)
    {
        data_up = 0;
    }
    else if (config->VBATVoltageLimit_mV > 13200)
    {
        data_up = 105;
    }
    else
    {
        data_up = (uint8_t)((config->VBATVoltageLimit_mV - 2700) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[24][0], &data_up, &SW7203RegAddress_bitmask[24][1]); // {0x27, 0b01111111} 24
    if (config->VBATVoltageLimitHysteresis_mV < 400)
    {
        data_up = 0;
    }
    else if (config->VBATVoltageLimitHysteresis_mV > 2000)
    {
        data_up = 16;
    }
    else
    {
        data_up = (uint8_t)((config->VBATVoltageLimitHysteresis_mV - 400) / 100);
    }
    sw7203_register_change_bitmask(&SW7203RegAddress_bitmask[25][0], &data_up, &SW7203RegAddress_bitmask[25][1]); // {0x28, 0b00011111} 25
}

esp_err_t sw7203_driver_uninstall(i2c_master_bus_handle_t I2C_bus_handle)
{
    if (__sw7203_int_rtos_handle__ != NULL)
        vTaskDelete(__sw7203_int_rtos_handle__);
    return i2c_master_bus_rm_device(SW7203_I2C_handle);
}

void SW7203IntCallBack()
{
    uint8_t buffer;
    sw7203_reg_read(0x04, buffer);
    if (buffer & 0x40)
    {
        ESP_LOGW(SW7203_TAG, "VSYS Over Voltage!");
    }
    if (buffer & 0x20)
    {
        ESP_LOGW(SW7203_TAG, "Charge Time Out!");
    }
    if (buffer & 0x10)
    {
        ESP_LOGI(SW7203_TAG, "Charge Full!");
    }
    if (buffer & 0x08)
    {
        ESP_LOGI(SW7203_TAG, "Port B pluged in!");
        sw7203OutputDisable();
        sw7203_register_change_bitmask_nonpoint(0x19, 0b00000100, 0b00000100);
        sw7203_register_change_bitmask_nonpoint(0x0d, 0b00010000, 0b00010000);
    }
    if (buffer & 0x04)
    {
        ESP_LOGI(SW7203_TAG, "Port B removed!");
        sw7203_register_change_bitmask_nonpoint(0x19, 0, 0b00000100);
        if (__sw7203_driver_config__.porta1enable == 1)
        {
            sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000010, 0b00000010);
            vTaskDelay(300 / portTICK_PERIOD_MS);
            sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000000, 0b00000010);
        }
        if (__sw7203_driver_config__.porta2enable == 1)
        {
            sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000001, 0b00000001);
            vTaskDelay(300 / portTICK_PERIOD_MS);
            sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000000, 0b00000001);
        }
    }
    if (__sw7203_driver_config__.porta2enable == 1 && buffer & 0x02)
    {
        ESP_LOGI(SW7203_TAG, "A2 pluged in!");
        if (__sw7203_driver_config__.mode == 0)
        {
            sw7203_Vout_config_t *tmp = (*__SW7203CallBack_)(sw7203_port_A2);
            if (tmp->VBUSVoltage_mV != __sw7203_current_output_voltage__)
            {
                sw7203SwitchOutput(tmp);
            }
            sw7203_register_change_bitmask_nonpoint(0x19, 0b00000001, 0b00000001);
        }
    }
    if (__sw7203_driver_config__.porta1enable == 1 && buffer & 0x01)
    {
        ESP_LOGI(SW7203_TAG, "A1 pluged in!");
        if (__sw7203_driver_config__.mode == 0)
        {
            sw7203_Vout_config_t *tmp = (*__SW7203CallBack_)(sw7203_port_A1);
            if (tmp->VBUSVoltage_mV != __sw7203_current_output_voltage__)
            {
                sw7203SwitchOutput(tmp);
            }
            sw7203_register_change_bitmask_nonpoint(0x19, 0b00000010, 0b00000010);
        }
    }
    buffer = 0x7f;
    sw7203_reg_write(0x04, &buffer);
    sw7203_reg_read(0x05, buffer);
    if (buffer & 0x80)
    {
        ESP_LOGW(SW7203_TAG, "Chip Over Temperature!");
    }
    if (buffer & 0x40)
    {
        ESP_LOGW(SW7203_TAG, "NTC Over Temperature!");
    }
    if (buffer & 0x20)
    {
        ESP_LOGW(SW7203_TAG, "VBUS Over Voltage!");
    }
    if (buffer & 0x10)
    {
        ESP_LOGW(SW7203_TAG, "VBAT Over Voltage!");
    }
    if (buffer & 0x08)
    {
        ESP_LOGW(SW7203_TAG, "VBAT Under Voltage!");
    }
    if (buffer & 0x04)
    {
        ESP_LOGW(SW7203_TAG, "VBUS Short-Cutted!");
    }
    if (buffer & 0x02)
    {
        ESP_LOGW(SW7203_TAG, "VBUS Over Power!");
    }
    if (buffer & 0x01)
    {
        ESP_LOGW(SW7203_TAG, "VSYS Over Power!");
    }
    buffer = 0xff;
    sw7203_reg_write(0x05, &buffer);
}

void sw7203OutputEnable()
{
    sw7203_register_change_bitmask_nonpoint(0x0d, 0b00000001, 0b00000001);
}

void sw7203OutputDisable()
{
    sw7203_register_change_bitmask_nonpoint(0x0d, 0, 0b00000001);
    if (__sw7203_driver_config__.porta1enable == 1)
    {
        sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000010, 0b00000010);
        vTaskDelay(300 / portTICK_PERIOD_MS);
        sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000000, 0b00000010);
    }
    if (__sw7203_driver_config__.porta2enable == 1)
    {
        sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000001, 0b00000001);
        vTaskDelay(300 / portTICK_PERIOD_MS);
        sw7203_register_change_bitmask_nonpoint(0x0c, 0b00000000, 0b00000001);
    }
}

void sw7203A1PortOpen()
{
    sw7203_register_change_bitmask_nonpoint(0x19, 0b00000010, 0b00000010);
}

void sw7203A2PortOpen()
{
    sw7203_register_change_bitmask_nonpoint(0x19, 0b00000001, 0b00000001);
}

void sw7203A1PortClose()
{
    sw7203_register_change_bitmask_nonpoint(0x19, 0, 0b00000010);
}

void sw7203A2PortClose()
{
    sw7203_register_change_bitmask_nonpoint(0x19, 0, 0b00000001);
}