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/**
 * @file mpu6000_spi.cpp
 *
 * Driver for the Invensense MPU6000 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 "mpu6000.h"
#include <board_config.h>

#define DIR_READ			0x80
#define DIR_WRITE			0x00

#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602) || defined(PX4_SPIDEV_ICM_20689)
#  ifdef PX4_SPI_BUS_EXT
#    define EXTERNAL_BUS PX4_SPI_BUS_EXT
#  else
#    define EXTERNAL_BUS 0
#  endif

/* The MPU6000 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 ICM parts are not rated as high.
*
* The Actual Value will be rounded down by the spi driver.
*          168 Mhz CPU         180 Mhz CPU
* Selected ------------actual---------------
* 20 Mhz   10.5     Mhz         11.250   Mhz
* 10 Mhz   5.250    Mhz         5.625    Mhz
* 8  Mhz   5.250    Mhz         5.625    Mhz
* 1  Mhz   0.703125 Mhz         0.65625  Mhz
*
*/
#define MPU6000_LOW_SPI_BUS_SPEED    1000*1000
#define MPU6000_HIGH_SPI_BUS_SPEED   20*1000*1000
#define ICM20608_HIGH_SPI_BUS_SPEED  8*1000*1000
#define ICM20689_HIGH_SPI_BUS_SPEED  8*1000*1000
#define ICM20602_HIGH_SPI_BUS_SPEED 10*1000*1000
#define UNKNOWN_HIGH_SPI_BUS_SPEED   8*1000*1000 // Use the minimum


device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);


class MPU6000_SPI : public device::SPI
{
public:
	MPU6000_SPI(int bus, uint32_t device, int device_type);
	virtual ~MPU6000_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:

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

	int _max_frequency;
	void set_bus_frequency(unsigned &reg_speed_reg_out);
};

device::Device *
MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
{
	int cs = SPIDEV_NONE(0);
	device::Device *interface = nullptr;

	if (external_bus) {

#if defined(PX4_SPI_BUS_EXT) || defined(PX4_SPI_BUS_EXTERNAL)

		switch (device_type) {

		case 6000:
#  if defined(PX4_SPIDEV_EXT_MPU)
			cs  = PX4_SPIDEV_EXT_MPU;
# endif
			break;

		case 20602:
#  if defined(PX4_SPIDEV_ICM_20602_EXT)
			cs = PX4_SPIDEV_ICM_20602_EXT;
#  endif
			break;

		case 20608:
#  if defined(PX4_SPIDEV_EXT_ICM)
			cs = PX4_SPIDEV_EXT_ICM;
#  elif defined(PX4_SPIDEV_ICM_20608_EXT)
			cs = PX4_SPIDEV_ICM_20608_EXT;
#  endif
			break;

		case 20689:
#  if defined(PX4_SPIDEV_ICM_20689_EXT)
			cs = PX4_SPIDEV_ICM_20689_EXT;
#  endif
			break;

		default:
			break;
		}

#endif

	} else {

		switch (device_type) {

		case 6000:
#if defined(PX4_SPIDEV_MPU)
			cs = PX4_SPIDEV_MPU;
#endif
			break;

		case 20602:
#if defined(PX4_SPIDEV_ICM_20602)
			cs = PX4_SPIDEV_ICM_20602;
#endif
			break;

		case 20608:
#if defined(PX4_SPIDEV_ICM)
			cs = PX4_SPIDEV_ICM;
#elif defined(PX4_SPIDEV_ICM_20608)
			cs = PX4_SPIDEV_ICM_20608;
#endif
			break;

		case 20689:
#  if defined(PX4_SPIDEV_ICM_20689)
			cs = PX4_SPIDEV_ICM_20689;
#  endif

		default:
			break;
		}
	}

	if (cs != SPIDEV_NONE(0)) {

		interface = new MPU6000_SPI(bus,  cs, device_type);
	}

	return interface;
}

MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type) :
	SPI("MPU6000", nullptr, bus, device, SPIDEV_MODE3, MPU6000_LOW_SPI_BUS_SPEED),
	_device_type(device_type)
{
	_device_id.devid_s.devtype =  DRV_ACC_DEVTYPE_MPU6000;
}

MPU6000_SPI::~MPU6000_SPI()
{
}

int
MPU6000_SPI::init()
{
	int ret;

	ret = SPI::init();

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

	return OK;
}

int
MPU6000_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
MPU6000_SPI::set_bus_frequency(unsigned &reg_speed)
{
	/* Set the desired speed */

	set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? _max_frequency : MPU6000_LOW_SPI_BUS_SPEED);

	/* Isolate the register on return */

	reg_speed = MPU6000_REG(reg_speed);
}


int
MPU6000_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
MPU6000_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 == OK ? count : ret;
}

int
MPU6000_SPI::probe()
{
	uint8_t whoami = 0;
	uint8_t expected = MPU_WHOAMI_6000;
	_max_frequency = UNKNOWN_HIGH_SPI_BUS_SPEED;

	switch (_device_type) {

	default:
	case 6000:
		_max_frequency = MPU6000_HIGH_SPI_BUS_SPEED;
		break;

	case 20602:
		expected = ICM_WHOAMI_20602;
		_max_frequency = ICM20602_HIGH_SPI_BUS_SPEED;
		break;

	case 20608:
		expected = ICM_WHOAMI_20608;
		_max_frequency = ICM20608_HIGH_SPI_BUS_SPEED;
		break;

	case 20689:
		expected = ICM_WHOAMI_20689;
		_max_frequency = ICM20689_HIGH_SPI_BUS_SPEED;
		break;
	}

	return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
}

#endif // PX4_SPIDEV_MPU
