/*
 * @file accelerometer.cpp
 *
 * stm32f4discovery has MEMS LIS302DL
 * www.st.com/resource/en/datasheet/lis302dl.pdf
 *
 * SPI1
 * LIS302DL_SPI_SCK PA5
 * LIS302DL_SPI_MISO PA6
 * LIS302DL_SPI_MOSI PA7
 * LIS302DL_SPI_CS_PIN PE3
 *
 *
 *
 * @date May 19, 2016
 * @author Andrey Belomutskiy, (c) 2012-2020
 */

#include "pch.h"

#include "accelerometer.h"
#include "hardware.h"

#if EFI_ONBOARD_MEMS
#include "mpu_util.h"
#include "lis302dl.h"
#include "periodic_thread_controller.h"

#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
#include "lis2dw12.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
#include "lsm303agr.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
#include "lis302dl.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
#include "lis3dsh.h"
#endif

/*
 * SPI1 configuration structure.
 * Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first.
 */
static SPIConfig accelerometerSpiCfg = {
#if SPI_SUPPORTS_CIRCULAR == TRUE
	.circular = FALSE,
#endif
	.end_cb = NULL,
	/* HW dependent part.*/
	.ssport = NULL,
	.sspad = 0,
	.cr1 = SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA |
		SPI_CR1_8BIT_MODE,
	.cr2 = SPI_CR2_8BIT_MODE
};

OutputPin accelerometerChipSelect;

#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)

static LIS2DW12Config lis2dw12cfg = {
#if LIS2DW12_USE_SPI
	.spip = NULL,
	.spicfg = &accelerometerSpiCfg,
#endif
#ifdef LIS2DW12_USE_I2C
	/* TODO: */
#endif
	.accsensitivity = NULL,
	.accbias = NULL,
	.accoutputdatarate = LIS2DW12_ACC_ODR_25HZ,
	.accoutputresolution = LIS2DW12_ACC_OR_HP,
	.acclowpowermode = LIS2DW12_ACC_LP_MODE2,
	.accbadwidthselect = LIS2DW12_ACC_BW_ODR4,
	.accfullscale = LIS2DW12_ACC_FS_4G,
};

/* LIS302DL Driver: This object represent an LIS302DL instance */
static LIS2DW12Driver LIS2DW12;

#endif //EFI_ONBOARD_MEMS_LIS2DW12 == TRUE

#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)

static LSM303AGRConfig lis2dh12cfg = {
#if LSM303AGR_USE_SPI
	.spip = NULL,
	.spicfg = &accelerometerSpiCfg,
#endif
	.accsensitivity = NULL,
	.accbias = NULL,
	.accfullscale = LSM303AGR_ACC_FS_4G,
	.accoutdatarate = LSM303AGR_ACC_ODR_50Hz,
#if LSM303AGR_USE_ADVANCED
	.accmode = LSM303AGR_ACC_MODE_HRES,
	.accblockdataupdate = LSM303AGR_ACC_BDU_CONT,
	.accendianess = LSM303AGR_ACC_END_LITTLE,
#endif
	/* LIS2DW12 is Accelerometer only, ignore following */
	.compsensitivity = NULL,
	.compbias = NULL,
	.compoutputdatarate = LSM303AGR_COMP_ODR_50HZ,
#if LSM303AGR_USE_ADVANCED
	.compmode = LSM303AGR_COMP_MODE_NORM,
	.complp = LSM303AGR_COMP_LPOW_EN
#endif
};

/* LSM303AGR Driver: This object represent an LIS2DH12 instance */
static LSM303AGRDriver LIS2DH12;

#endif //EFI_ONBOARD_MEMS_LIS2DH12 == TRUE

#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
static LIS302DLConfig lis302dlcfg ={
#if LIS302DL_USE_SPI
	.spip = NULL,
	.spicfg = &accelerometerSpiCfg,
#endif
#if LIS302DL_USE_I2C
	/* TODO: */
#endif
	.accsensitivity = NULL,
	.accbias = NULL,
	.accfullscale = LIS302DL_ACC_FS_8G,
	.accoutputdatarate = LIS302DL_ACC_ODR_100HZ,
#if LIS302DL_USE_ADVANCED
	.acchighpass = LIS302DL_ACC_HP_0,
#endif
};

static LIS302DLDriver LIS302DL;

#endif //EFI_ONBOARD_MEMS_LIS302DL == TRUE

#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)

static LIS3DSHConfig lis3dshcfg ={
#if LIS3DSH_USE_SPI
	.spip = NULL,
	.spicfg = &accelerometerSpiCfg,
#endif
	.accsensitivity = NULL,
	.accbias = NULL,
	.accfullscale = LIS3DSH_ACC_FS_4G,
	.accoutputdatarate = LIS3DSH_ACC_ODR_50HZ,
#if LIS3DSH_USE_ADVANCED
	.accantialiasing = LIS3DSH_ACC_BW_50HZ,
	.accblockdataupdate = LIS3DSH_ACC_BDU_CONTINUOUS,
#endif
};

static LIS3DSHDriver LIS3DSH;

#endif //EFI_ONBOARD_MEMS_LIS3DSH == TRUE

enum AccelType_t {
	ACCEL_UNK = 0,
	ACCEL_LIS2DW12,
	ACCEL_LIS2DH12,	// Same as LSM303
	ACCEL_LIS302DL, // STM32F4DISCOVERY (old?)
	ACCEL_LIS3DSH,	// STM32F4DISCOVERY
};

static AccelType_t AccelType = ACCEL_UNK;

class AccelController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
public:
	AccelController() : PeriodicController("Acc SPI") { }
private:
	void PeriodicTask(efitick_t nowNt) override	{
		msg_t ret = MSG_RESET;
		float acccooked[3];

		#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
		if (AccelType == ACCEL_LIS2DW12) {
			ret = lis2dw12AccelerometerReadCooked(&LIS2DW12, acccooked);
		}
		#endif
		#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
		if (AccelType == ACCEL_LIS2DH12) {
			ret = lsm303agrAccelerometerReadCooked(&LIS2DH12, acccooked);
		}
		#endif
		#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
		if (AccelType == ACCEL_LIS302DL) {
			ret = lis302dlAccelerometerReadCooked(&LIS302DL, acccooked);
		}
		#endif
		#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
		if (AccelType == ACCEL_LIS3DSH) {
			ret = lis3dshAccelerometerReadCooked(&LIS3DSH, acccooked);
		}
		#endif

		if ((engineConfiguration->useSpiImu) && (ret == MSG_OK)) {
			/* milli-G to G */
			engine->sensors.accelerometer.lat  = acccooked[0] / 1000.0;
			engine->sensors.accelerometer.lon  = acccooked[1] / 1000.0;
			engine->sensors.accelerometer.vert = acccooked[2] / 1000.0;
		}
	}
};

static AccelController instance;

void initAccelerometer() {
#if HAL_USE_SPI
	static SPIDriver *bus;
	msg_t ret = MSG_RESET;

	if (!isBrainPinValid(engineConfiguration->accelerometerCsPin))
		return; // not used

	bus = getSpiDevice(engineConfiguration->accelerometerSpiDevice);
	if (bus == nullptr) {
		// error already reported
		return;
	}

	/* so far only Hellen boards share SPI device for SD card and accelerometer
	 * thus need to make sure CS pin is in a well known proper state */
  if (!accelerometerChipSelect.isInitialized()) {
		accelerometerChipSelect.initPin("SPI Acc", engineConfiguration->accelerometerCsPin);
	}
	accelerometerSpiCfg.ssport = getHwPort("SPI Acc", engineConfiguration->accelerometerCsPin);
	accelerometerSpiCfg.sspad = getHwPin("SPI Acc", engineConfiguration->accelerometerCsPin);

	/* Try to detect any of enabled accels */
	/* Hope all device drivers know how to detect correct chip */
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
	if (ret != MSG_OK) {
		lis2dw12cfg.spip = bus;

		/* LIS2DW12 Object Initialization.*/
		lis2dw12ObjectInit(&LIS2DW12);

		/* Activates the LIS2DW12 driver.*/
		ret = lis2dw12Start(&LIS2DW12, &lis2dw12cfg);
		if (ret == MSG_OK) {
			AccelType = ACCEL_LIS2DW12;
		}
	}
#endif //EFI_ONBOARD_MEMS_LIS2DW12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
	if (ret != MSG_OK) {
		lis2dh12cfg.spip = bus;

		/* LIS2DH12 Object Initialization.*/
		lsm303agrObjectInit(&LIS2DH12);

		/* Activates the LIS2DH12 driver.*/
		ret = lsm303agrStart(&LIS2DH12, &lis2dh12cfg);
		if (ret == MSG_OK) {
			AccelType = ACCEL_LIS2DH12;
		}
	}
#endif //EFI_ONBOARD_MEMS_LIS2DH12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
	if (ret != MSG_OK) {
		lis302dlcfg.spip = bus;

		/* LIS302DL Object Initialization.*/
		lis302dlObjectInit(&LIS302DL);

		/* Activates the LIS302DL driver.*/
		ret = lis302dlStart(&LIS302DL, &lis302dlcfg);
		if (ret == MSG_OK) {
			AccelType = ACCEL_LIS302DL;
		}
	}
#endif //EFI_ONBOARD_MEMS_LIS302DL == TRUE
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
	if (ret != MSG_OK) {
		lis3dshcfg.spip = bus;

		/* LIS3DSH Object Initialization.*/
		lis3dshObjectInit(&LIS3DSH);

		/* Activates the LIS3DSH driver.*/
		ret = lis3dshStart(&LIS3DSH, &lis3dshcfg);
		if (ret == MSG_OK) {
			AccelType = ACCEL_LIS3DSH;
		}
	}
#endif //EFI_ONBOARD_MEMS_LIS3DSH == TRUE

	if (ret == MSG_OK) {
		/* 50 Hz */
		instance.setPeriod(20 /*ms*/);
		instance.start();
		efiPrintf("accelerometer init OK");
	} else {
		efiPrintf("accelerometer init failed %d", (int)ret);
	}
#endif /* HAL_USE_SPI */
}

#endif /* EFI_ONBOARD_MEMS */