/*
 * ________________________________________________________________________________________________________
 * Copyright (c) 2017 InvenSense Inc. All rights reserved.
 *
 * This software, related documentation and any modifications thereto (collectively “Software”) is subject
 * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
 * and other intellectual property rights laws.
 *
 * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
 * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
 * from InvenSense is strictly prohibited.
 *
 * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
 * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
 * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
 * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
 * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
 * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
 * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
 * OF THE SOFTWARE.
 * ________________________________________________________________________________________________________
 */

#include "example-raw-ag.h"

/* InvenSense utils */
#include "Invn/EmbUtils/Message.h"
#include "Invn/EmbUtils/ErrorHelper.h"
#include "Invn/EmbUtils/RingBuffer.h"

/* board driver */
#include "common.h"
#include "uart_mngr.h"
#include "delay.h"
#include "gpio.h"
#include "timer.h"
#include "rtc_timer.h"

#include "system-interface.h"

/* std */
#include <stdio.h>

/* --------------------------------------------------------------------------------------
 *  Example configuration
 * -------------------------------------------------------------------------------------- */

/*
 * Select UART port on which INV_MSG() will be printed.
 */
#define LOG_UART_ID INV_UART_SENSOR_CTRL

/* 
 * Set of timers used throughout standalone applications 
 */
#define TIMEBASE_TIMER INV_TIMER1
#define DELAY_TIMER    INV_TIMER2

/* 
 * Select communication link between SmartMotion and ICM426xx 
 */
#define SERIF_TYPE ICM426XX_UI_SPI4
//#define SERIF_TYPE ICM426XX_UI_I2C

/* 
 * Define msg level 
 */
#define MSG_LEVEL INV_MSG_LEVEL_DEBUG

/*
 * Set power mode flag
 * Set this flag to run example in low-noise mode.
 * Reset this flag to run example in low-power mode.
 * Note : low-noise mode is not available with sensor data frequencies less than 12.5Hz.
 */
#define IS_LOW_NOISE_MODE 1

/* 
 * Set this to 0 if you want to test timestamping mechanism without CLKIN 32k capability.
 * Please set a hardware bridge between PA17 (from MCU) and CLKIN pins (to ICM).
 * Warning: This option is not available for all ICM426XX. Please check the datasheet.
 */
#define USE_CLK_IN 0

/*
 * Select Fifo resolution Mode (default is low resolution mode)
 * Low resolution mode : 16 bits data format
 * High resolution mode : 20 bits data format
 * Warning: Enabling High Res mode will force FSR to 16g and 2000dps
 */
#define IS_HIGH_RES_MODE 0

/* --------------------------------------------------------------------------------------
 *  Global variables
 * -------------------------------------------------------------------------------------- */

/* 
 * Buffer to keep track of the timestamp when icm426xx data ready interrupt fires.
 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
 */
RINGBUFFER(timestamp_buffer, 64, uint64_t);

/* --------------------------------------------------------------------------------------
 *  Static variables
 * -------------------------------------------------------------------------------------- */

/* Flag set from icm426xx device irq handler */
static volatile int irq_from_device;

/* --------------------------------------------------------------------------------------
 *  Forward declaration
 * -------------------------------------------------------------------------------------- */
static void SetupMCUHardware(struct inv_icm426xx_serif *icm_serif);
static void ext_interrupt_cb(void *context, unsigned int int_num);
static void check_rc(int rc, const char *msg_context);
void        msg_printer(int level, const char *str, va_list ap);

/* --------------------------------------------------------------------------------------
 *  Main
 * -------------------------------------------------------------------------------------- */

int main(void)
{
	int                       rc = 0;
	struct inv_icm426xx_serif icm426xx_serif;

	/* Initialize MCU hardware */
	SetupMCUHardware(&icm426xx_serif);

	/* Initialize Icm426xx */
	rc = SetupInvDevice(&icm426xx_serif);
	check_rc(rc, "error while setting up INV device");

	/* Configure Icm426xx */
	rc = ConfigureInvDevice((uint8_t)IS_LOW_NOISE_MODE, (uint8_t)IS_HIGH_RES_MODE,
	                        ICM426XX_ACCEL_CONFIG0_FS_SEL_4g, ICM426XX_GYRO_CONFIG0_FS_SEL_2000dps,
	                        ICM426XX_ACCEL_CONFIG0_ODR_1_KHZ, ICM426XX_GYRO_CONFIG0_ODR_1_KHZ,
	                        (uint8_t)USE_CLK_IN);

	check_rc(rc, "error while configuring INV device");

	do {
		/* Poll device for data */
		if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
			rc = GetDataFromInvDevice();
			check_rc(rc, "error while processing FIFO");

			inv_disable_irq();
			irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
			inv_enable_irq();
		}

	} while (1);
}

/* --------------------------------------------------------------------------------------
 *  Functions definitions
 * -------------------------------------------------------------------------------------- */

/*
 * This function initializes MCU on which this software is running.
 * It configures:
 *   - a UART link used to print some messages
 *   - interrupt priority group and GPIO so that MCU can receive interrupts from ICM426xx
 *   - a microsecond timer requested by Icm426xx driver to compute some delay
 *   - a microsecond timer used to get some timestamps
 *   - a serial link to communicate from MCU to Icm426xx
 */
static void SetupMCUHardware(struct inv_icm426xx_serif *icm_serif)
{
	inv_io_hal_board_init();

	/* configure UART */
	config_uart(LOG_UART_ID);

	/* Setup message facility to see internal traces from FW */
	INV_MSG_SETUP(MSG_LEVEL, msg_printer);

	INV_MSG(INV_MSG_LEVEL_INFO, "######################");
	INV_MSG(INV_MSG_LEVEL_INFO, "#   Example Raw AG   #");
	INV_MSG(INV_MSG_LEVEL_INFO, "######################");

	/*
	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
	 * enabled on INT1 from the device.
	 * A callback function is also passed that will be executed each time an interrupt
	 * fires.
	*/
	inv_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);

	/* Init timer peripheral for delay */
	inv_delay_init(DELAY_TIMER);

	/*
	 * Configure the timer for the timebase
	 */
	inv_timer_configure_timebase(1000000);
	inv_timer_enable(TIMEBASE_TIMER);

#if USE_CLK_IN
	rtc_timer_init(NULL);
	/* Output 32kHz SLCK to PA17, it is up to user to connect it or not at board level to have CLKIN capability */
	inv_gpio_output_clk_on_pin(INV_GPIO_CLKIN);
#endif

	/* Initialize serial inteface between MCU and Icm426xx */
	icm_serif->context    = 0; /* no need */
	icm_serif->read_reg   = inv_io_hal_read_reg;
	icm_serif->write_reg  = inv_io_hal_write_reg;
	icm_serif->max_read   = 1024 * 32; /* maximum number of bytes allowed per serial read */
	icm_serif->max_write  = 1024 * 32; /* maximum number of bytes allowed per serial write */
	icm_serif->serif_type = SERIF_TYPE;
	inv_io_hal_init(icm_serif);
}

/*
 * Icm426xx interrupt handler.
 * Function is executed when an Icm426xx interrupt rises on MCU.
 * This function get a timestamp and store it in the timestamp buffer.
 * Note that this function is executed in an interrupt handler and thus no protection
 * are implemented for shared variable timestamp_buffer.
 */
static void ext_interrupt_cb(void *context, unsigned int int_num)
{
	(void)context;

#if USE_CLK_IN
	/* 
	 * Read timestamp from the RTC derived from SLCK, clocking CLKIN
	 */
	uint64_t timestamp = rtc_timer_get_time_us();
#else
	/* 
	 * Read timestamp from the timer dedicated to timestamping 
	 */
	uint64_t timestamp = inv_timer_get_counter(TIMEBASE_TIMER);
#endif

	if (int_num == INV_GPIO_INT1 && !RINGBUFFER_FULL(&timestamp_buffer)) {
		RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
	}

	irq_from_device |= TO_MASK(int_num);
}

/*
 * Helper function to check RC value and block programm exectution
 */
static void check_rc(int rc, const char *msg_context)
{
	if (rc < 0) {
		INV_MSG(INV_MSG_LEVEL_ERROR, "%s: error %d (%s)\r\n", msg_context, rc, inv_error_str(rc));
		while (1)
			;
	}
}

/*
 * Printer function for message facility
 */
void msg_printer(int level, const char *str, va_list ap)
{
	static char out_str[256]; /* static to limit stack usage */
	unsigned    idx                  = 0;
	const char *s[INV_MSG_LEVEL_MAX] = {
		"", // INV_MSG_LEVEL_OFF
		"[E] ", // INV_MSG_LEVEL_ERROR
		"[W] ", // INV_MSG_LEVEL_WARNING
		"[I] ", // INV_MSG_LEVEL_INFO
		"[V] ", // INV_MSG_LEVEL_VERBOSE
		"[D] ", // INV_MSG_LEVEL_DEBUG
	};
	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
	if (idx >= (sizeof(out_str)))
		return;
	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
	if (idx >= (sizeof(out_str)))
		return;
	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
	if (idx >= (sizeof(out_str)))
		return;

	inv_uart_mngr_puts(LOG_UART_ID, out_str, (unsigned short)idx);
}

/* --------------------------------------------------------------------------------------
 *  Extern functions definition
 * -------------------------------------------------------------------------------------- */

/*
 * Icm426xx driver needs to get time in us. Let's give its implementation here.
 */
uint64_t inv_icm426xx_get_time_us(void)
{
#if USE_CLK_IN
	return rtc_timer_get_time_us();
#else
	return inv_timer_get_counter(TIMEBASE_TIMER);
#endif
}

/*
 * Clock calibration module needs to disable IRQ. Thus inv_helper_disable_irq is
 * defined as extern symbol in clock calibration module. Let's give its implementation
 * here.
 */
void inv_helper_disable_irq(void)
{
	inv_disable_irq();
}

/*
 * Clock calibration module needs to enable IRQ. Thus inv_helper_enable_irq is
 * defined as extern symbol in clock calibration module. Let's give its implementation
 * here.
 */
void inv_helper_enable_irq(void)
{
	inv_enable_irq();
}

/*
 * Icm426xx driver needs a sleep feature from external device. Thus inv_icm426xx_sleep_us
 * is defined as extern symbol in driver. Let's give its implementation here.
 */
void inv_icm426xx_sleep_us(uint32_t us)
{
	inv_delay_us(us);
}
