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/**
 * @file mpu9250_spi.cpp
 *
 * Driver for the Invensense MPU9250 connected via SPI.
 *
 * @author Andrew Tridgell
 * @author Pat Hickey
 * @author David sidrane
 */

#include <px4_config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>

#include <arch/board/board.h>

#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>

#include "mpu9250.h"
#include <board_config.h>

#define DIR_READ			0x80
#define DIR_WRITE			0x00


#if PX4_SPIDEV_MPU
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
#define EXTERNAL_BUS 0
#endif


/*
 * The MPU9250 can only handle high SPI bus speeds of 20Mhz on the sensor and
 * interrupt status registers. All other registers have a maximum 1MHz
 * SPI speed
 *
 * The Actual Value will be rounded down by the spi driver.
 * for a 168Mhz CPU this will be 10.5 Mhz and for a 180 Mhz CPU
 * it will be 11.250 Mhz
 */
#define MPU9250_LOW_SPI_BUS_SPEED	1000*1000
#define MPU9250_HIGH_SPI_BUS_SPEED	20*1000*1000


device::Device *MPU9250_SPI_interface(int bus, bool external_bus);


class MPU9250_SPI : public device::SPI
{
public:
	MPU9250_SPI(int bus, uint32_t device);
	virtual ~MPU9250_SPI();

	virtual int	init();
	virtual int	read(unsigned address, void *data, unsigned count);
	virtual int	write(unsigned address, void *data, unsigned count);

	virtual int	ioctl(unsigned operation, unsigned &arg);
protected:
	virtual int probe();

private:

	/* Helper to set the desired speed and isolate the register on return */

	void set_bus_frequency(unsigned &reg_speed_reg_out);
};

device::Device *
MPU9250_SPI_interface(int bus, bool external_bus)
{
	uint32_t cs = SPIDEV_NONE(0);
	device::Device *interface = nullptr;

	if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
		cs =  PX4_SPIDEV_EXT_MPU;
#else
		errx(0, "External SPI not available");
#endif

	} else {
		cs =  PX4_SPIDEV_MPU;
	}

	if (cs != SPIDEV_NONE(0)) {

		interface = new MPU9250_SPI(bus, cs);
	}

	return interface;
}

MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
	SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
{
	_device_id.devid_s.devtype =  DRV_ACC_DEVTYPE_MPU9250;
}

MPU9250_SPI::~MPU9250_SPI()
{
}

int
MPU9250_SPI::init()
{
	int ret;

	ret = SPI::init();

	if (ret != OK) {
		DEVICE_DEBUG("SPI init failed");
		return -EIO;
	}

	return OK;
}

int
MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
{
	int ret;

	switch (operation) {

	case ACCELIOCGEXTERNAL:
		external();

	/* FALLTHROUGH */

	case DEVIOCGDEVICEID:
		return CDev::ioctl(nullptr, operation, arg);

	case MPUIOCGIS_I2C:
		return 0;

	default: {
			ret = -EINVAL;
		}
	}

	return ret;
}

void
MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
{
	/* Set the desired speed */

	set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);

	/* Isoolate the register on return */

	reg_speed = MPU9250_REG(reg_speed);
}


int
MPU9250_SPI::write(unsigned reg_speed, void *data, unsigned count)
{
	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];

	if (sizeof(cmd) < (count + 1)) {
		return -EIO;
	}

	/* Set the desired speed and isolate the register */

	set_bus_frequency(reg_speed);

	cmd[0] = reg_speed | DIR_WRITE;
	cmd[1] = *(uint8_t *)data;

	return transfer(&cmd[0], &cmd[0], count + 1);
}

int
MPU9250_SPI::read(unsigned reg_speed, void *data, unsigned count)
{
	/* We want to avoid copying the data of MPUReport: So if the caller
	 * supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
	 * and we need to provied the buffer large enough for the callers data
	 * and our command.
	 */
	uint8_t cmd[3] = {0, 0, 0};

	uint8_t *pbuff  =  count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;


	if (count < sizeof(MPUReport))  {

		/* add command */

		count++;
	}

	set_bus_frequency(reg_speed);

	/* Set command */

	pbuff[0] = reg_speed | DIR_READ ;

	/* Transfer the command and get the data */

	int ret = transfer(pbuff, pbuff, count);

	if (ret == OK && pbuff == &cmd[0]) {

		/* Adjust the count back */

		count--;

		/* Return the data */

		memcpy(data, &cmd[1], count);

	}

	return ret;
}

int
MPU9250_SPI::probe()
{
	uint8_t whoami = 0;

	int ret = read(MPUREG_WHOAMI, &whoami, 1);

	if (ret != OK) {
		return -EIO;
	}

	switch (whoami) {
	case MPU_WHOAMI_9250:
	case MPU_WHOAMI_6500:
		ret = 0;
		break;

	default:
		PX4_WARN("probe failed! %u", whoami);
		ret = -EIO;
	}

	return ret;
}

#endif // PX4_SPIDEV_MPU
