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/**
 * @file meas_airspeed.cpp
 * @author Lorenz Meier
 * @author Sarthak Kaingade
 * @author Simon Wilks
 * @author Thomas Gubler
 *
 * Driver for the MEAS Spec series connected via I2C.
 *
 * Supported sensors:
 *
 *    - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
 *
 * Interface application notes:
 *
 *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
 */

#include <px4_config.h>

#include <drivers/device/i2c.h>

#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>

#include <mathlib/math/filter/LowPassFilter2p.hpp>

#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>

#include <drivers/airspeed/airspeed.h>

/* I2C bus address is 1010001x */
#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
#define PATH_MS4525		"/dev/ms4525"

/* Register address */
#define ADDR_READ_MR			0x00	/* write to this address to start conversion */

/* Measurement rate is 100Hz */
#define MEAS_RATE 100
#define MEAS_DRIVER_FILTER_FREQ 1.2f
#define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */

class MEASAirspeed : public Airspeed
{
public:
	MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);

protected:

	/**
	* Perform a poll cycle; collect from the previous measurement
	* and start a new one.
	*/
	virtual void	cycle();
	virtual int	measure();
	virtual int	collect();

	math::LowPassFilter2p	_filter;

	/**
	 * Correct for 5V rail voltage variations
	 */
	void voltage_correction(float &diff_pres_pa, float &temperature);

	int _t_system_power;
	struct system_power_s system_power;
};

/*
 * Driver 'main' command.
 */
extern "C" __EXPORT int ms4525_airspeed_main(int argc, char *argv[]);

MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
			CONVERSION_INTERVAL, path),
	_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
	_t_system_power(-1),
	system_power{}
{
	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
}

int
MEASAirspeed::measure()
{
	int ret;

	/*
	 * Send the command to begin a measurement.
	 */
	uint8_t cmd = 0;
	ret = transfer(&cmd, 1, nullptr, 0);

	if (OK != ret) {
		perf_count(_comms_errors);
	}

	return ret;
}

int
MEASAirspeed::collect()
{
	int	ret = -EIO;

	/* read from the sensor */
	uint8_t val[4] = {0, 0, 0, 0};


	perf_begin(_sample_perf);

	ret = transfer(nullptr, 0, &val[0], 4);

	if (ret < 0) {
		perf_count(_comms_errors);
		perf_end(_sample_perf);
		return ret;
	}

	uint8_t status = (val[0] & 0xC0) >> 6;

	switch (status) {
	case 0:
		// Normal Operation. Good Data Packet
		break;

	case 1:
		// Reserved
		return -EAGAIN;

	case 2:
		// Stale Data. Data has been fetched since last measurement cycle.
		return -EAGAIN;

	case 3:
		// Fault Detected
		perf_count(_comms_errors);
		perf_end(_sample_perf);
		return -EAGAIN;
	}

	int16_t dp_raw = 0, dT_raw = 0;
	dp_raw = (val[0] << 8) + val[1];
	/* mask the used bits */
	dp_raw = 0x3FFF & dp_raw;
	dT_raw = (val[2] << 8) + val[3];
	dT_raw = (0xFFE0 & dT_raw) >> 5;

	// dT max is almost certainly an invalid reading
	if (dT_raw == 2047) {
		perf_count(_comms_errors);
		return -EAGAIN;
	}

	float temperature = ((200.0f * dT_raw) / 2047) - 50;

	// Calculate differential pressure. As its centered around 8000
	// and can go positive or negative
	const float P_min = -1.0f;
	const float P_max = 1.0f;
	const float PSI_to_Pa = 6894.757f;
	/*
	  this equation is an inversion of the equation in the
	  pressure transfer function figure on page 4 of the datasheet

	  We negate the result so that positive differential pressures
	  are generated when the bottom port is used as the static
	  port on the pitot and top port is used as the dynamic port
	 */
	float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
	float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;

	// correct for 5V rail voltage if possible
	voltage_correction(diff_press_pa_raw, temperature);

	/*
	  With the above calculation the MS4525 sensor will produce a
	  positive number when the top port is used as a dynamic port
	  and bottom port is used as the static port
	 */

	struct differential_pressure_s report;

	report.timestamp = hrt_absolute_time();
	report.error_count = perf_event_count(_comms_errors);
	report.temperature = temperature;
	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
	report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
	report.device_id = _device_id.devid;

	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
		/* publish it */
		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
	}

	ret = OK;

	perf_end(_sample_perf);

	return ret;
}

void
MEASAirspeed::cycle()
{
	int ret;

	/* collection phase? */
	if (_collect_phase) {

		/* perform collection */
		ret = collect();

		if (OK != ret) {
			/* restart the measurement state machine */
			start();
			_sensor_ok = false;
			return;
		}

		/* next phase is measurement */
		_collect_phase = false;

		/*
		 * Is there a collect->measure gap?
		 */
		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {

			/* schedule a fresh cycle call when we are ready to measure again */
			work_queue(HPWORK,
				   &_work,
				   (worker_t)&Airspeed::cycle_trampoline,
				   this,
				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));

			return;
		}
	}

	/* measurement phase */
	ret = measure();

	if (OK != ret) {
		DEVICE_DEBUG("measure error");
	}

	_sensor_ok = (ret == OK);

	/* next phase is collection */
	_collect_phase = true;

	/* schedule a fresh cycle call when the measurement is done */
	work_queue(HPWORK,
		   &_work,
		   (worker_t)&Airspeed::cycle_trampoline,
		   this,
		   USEC2TICK(CONVERSION_INTERVAL));
}

/**
   correct for 5V rail voltage if the system_power ORB topic is
   available

   See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
   offset versus voltage for 3 sensors
 */
void
MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
{
#if defined(ADC_SCALED_V5_SENSE)

	if (_t_system_power == -1) {
		_t_system_power = orb_subscribe(ORB_ID(system_power));
	}

	if (_t_system_power == -1) {
		// not available
		return;
	}

	bool updated = false;
	orb_check(_t_system_power, &updated);

	if (updated) {
		orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
	}

	if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
		// not valid, skip correction
		return;
	}

	const float slope = 65.0f;
	/*
	  apply a piecewise linear correction, flattening at 0.5V from 5V
	 */
	float voltage_diff = system_power.voltage5V_v - 5.0f;

	if (voltage_diff > 0.5f) {
		voltage_diff = 0.5f;
	}

	if (voltage_diff < -0.5f) {
		voltage_diff = -0.5f;
	}

	diff_press_pa -= voltage_diff * slope;

	/*
	  the temperature masurement varies as well
	 */
	const float temp_slope = 0.887f;
	voltage_diff = system_power.voltage5V_v - 5.0f;

	if (voltage_diff > 0.5f) {
		voltage_diff = 0.5f;
	}

	if (voltage_diff < -1.0f) {
		voltage_diff = -1.0f;
	}

	temperature -= voltage_diff * temp_slope;
#endif // defined(ADC_SCALED_V5_SENSE)
}

/**
 * Local functions in support of the shell command.
 */
namespace meas_airspeed
{

MEASAirspeed	*g_dev = nullptr;

int start(int i2c_bus);
int stop();
int reset();

/**
 * Start the driver.
 *
 * This function call only returns once the driver is up and running
 * or failed to detect the sensor.
 */
int
start(int i2c_bus)
{
	int fd;

	if (g_dev != nullptr) {
		PX4_ERR("already started");
		return PX4_ERROR;
	}

	/* create the driver, try the MS4525DO first */
	g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);

	/* check if the MS4525DO was instantiated */
	if (g_dev == nullptr) {
		goto fail;
	}

	if (OK != g_dev->init()) {
		goto fail;
	}

	/* set the poll rate to default, starts automatic data collection */
	fd = px4_open(PATH_MS4525, O_RDONLY);

	if (fd < 0) {
		goto fail;
	}

	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		goto fail;
	}

	return PX4_OK;

fail:

	if (g_dev != nullptr) {
		delete g_dev;
		g_dev = nullptr;
	}

	PX4_WARN("not started on bus %d", i2c_bus);

	return PX4_ERROR;
}

/**
 * Stop the driver
 */
int
stop()
{
	if (g_dev != nullptr) {
		delete g_dev;
		g_dev = nullptr;

	} else {
		PX4_ERR("driver not running");
		return PX4_ERROR;
	}

	return PX4_OK;
}

/**
 * Reset the driver.
 */
int
reset()
{
	int fd = px4_open(PATH_MS4525, O_RDONLY);

	if (fd < 0) {
		PX4_ERR("failed");
		return PX4_ERROR;
	}

	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
		PX4_ERR("driver reset failed");
		return PX4_ERROR;
	}

	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		PX4_ERR("driver poll restart failed");
		return PX4_ERROR;
	}

	return PX4_OK;
}

} // namespace


static void
meas_airspeed_usage()
{
	PX4_INFO("usage: meas_airspeed command [options]");
	PX4_INFO("options:");
	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
	PX4_INFO("command:");
	PX4_INFO("\tstart|stop|reset");
}

int
ms4525_airspeed_main(int argc, char *argv[])
{
	int i2c_bus = PX4_I2C_BUS_DEFAULT;

	int i;

	for (i = 1; i < argc; i++) {
		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
			if (argc > i + 1) {
				i2c_bus = atoi(argv[i + 1]);
			}
		}
	}

	/*
	 * Start/load the driver.
	 */
	if (!strcmp(argv[1], "start")) {
		return meas_airspeed::start(i2c_bus);
	}

	/*
	 * Stop the driver
	 */
	if (!strcmp(argv[1], "stop")) {
		return meas_airspeed::stop();
	}

	/*
	 * Reset the driver.
	 */
	if (!strcmp(argv[1], "reset")) {
		return meas_airspeed::reset();
	}

	meas_airspeed_usage();

	return PX4_OK;
}
