/****************************************************************************
 *
 *   Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file init.c
 *
 * NXP fmuk66-e specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
 * subsystems and perform board-specific initialization.
 */

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <px4_platform_common/px4_config.h>
#include <px4_platform/gpio.h>

#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <syslog.h>

#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>

#include <kinetis.h>
#include <kinetis_uart.h>
#include <kinetis_lpuart.h>
#include "board_config.h"

#include "arm_internal.h"
#include <arch/board/board.h>

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

#include <systemlib/px4_macros.h>

#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/board_dma_alloc.h>

/****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/

/*
 * Ideally we'd be able to get these from arm_internal.h,
 * but since we want to be able to disable the NuttX use
 * of leds for system indication at will and there is no
 * separate switch, we need to build independent of the
 * CONFIG_ARCH_LEDS configuration switch.
 */
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS

/****************************************************************************
 * Protected Functions
 ****************************************************************************/
/****************************************************************************
 * Public Functions
 ****************************************************************************/
/************************************************************************************
 * Name: board_on_reset
 *
 * Description:
 * Optionally provided function called on entry to board_system_reset
 * It should perform any house keeping prior to the rest.
 *
 * status - 1 if resetting to boot loader
 *          0 if just resetting
 *
 ************************************************************************************/

void board_on_reset(int status)
{
	for (int i = 0; i < 6; ++i) {
		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
	}

	/*
	 * On resets invoked from system (not boot) ensure we establish a low
	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
	 * spinning up the motors.
	 */
	if (status >= 0) {
		up_mdelay(100);
	}
}

/************************************************************************************
 * Name: board_read_VBUS_state
 *
 * Description:
 *   All boards must provide a way to read the state of VBUS, this my be simple
 *   digital input on a GPIO. Or something more complicated like a Analong input
 *   or reading a bit from a USB controller register.
 *
 * Returns -  0 if connected.
 *
 ************************************************************************************/

int board_read_VBUS_state(void)
{
	return BOARD_ADC_USB_CONNECTED ? 0 : 1;
}

/************************************************************************************
 * Name: board_peripheral_reset
 *
 * Description:
 *
 ************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
	/* set the peripheral rails off */

	/* wait for the peripheral rail to reach GND */
	usleep(ms * 1000);
	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);

	/* re-enable power */

	/* switch the peripheral rail back on */
}

/************************************************************************************
 * Name: kinetis_boardinitialize
 *
 * Description:
 *   All Kinetis architectures must provide the following entry point.  This entry point
 *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/

__EXPORT void
kinetis_boardinitialize(void)
{
	board_on_reset(-1); /* Reset PWM first thing */

	/* configure LEDs */
	board_autoled_initialize();

	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
	px4_gpio_init(gpio, arraySize(gpio));

	fmuk66_timer_initialize();

	/* Power on Spektrum */

	VDD_3V3_SPEKTRUM_POWER_EN(true);
}
/****************************************************************************
 * Name: kinetis_serial_dma_poll_all
 *
 * Description:
 *   Checks receive DMA buffers for received bytes that have not accumulated
 *   to the point where the DMA half/full interrupt has triggered.
 *
 *   This function should be called from a timer or other periodic context.
 *
 ****************************************************************************/

void kinetis_lpserial_dma_poll_all(void)
{
#if defined(LPSERIAL_HAVE_DMA)
	kinetis_lpserial_dma_poll();
#endif
#if defined(SERIAL_HAVE_DMA)
	kinetis_serial_dma_poll();
#endif
}

/****************************************************************************
 * Name: board_app_initialize
 *
 * Description:
 *   Perform application specific initialization.  This function is never
 *   called directly from application code, but only indirectly via the
 *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
 *
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
 *         meaning to NuttX; the meaning of the argument is a contract
 *         between the board-specific initalization logic and the the
 *         matching application logic.  The value cold be such things as a
 *         mode enumeration value, a set of DIP switch switch settings, a
 *         pointer to configuration data read from a file or serial FLASH,
 *         or whatever you would like to do with it.  Every implementation
 *         should accept zero/NULL as a default configuration.
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/

__EXPORT int board_app_initialize(uintptr_t arg)
{

	VDD_3V3_SD_CARD_EN(true);
	VDD_3V3_SENSORS_EN(true);

	/* configure SPI interfaces */

	fmuk66_spidev_initialize();

	VDD_ETH_EN(true);

	px4_platform_init();

	/* configure the DMA allocator */

	if (board_dma_alloc_init() < 0) {
		syslog(LOG_ERR, "DMA alloc FAILED\n");
	}

#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
	static struct hrt_call serial_dma_call;
	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)kinetis_lpserial_dma_poll_all, NULL);
#endif /* SERIAL_HAVE_DMA || LPSERIAL_HAVE_DMA */

	/* initial LED state */
	drv_led_start();
	led_off(LED_RED);
	led_off(LED_GREEN);
	led_off(LED_BLUE);

	int ret = fmuk66_sdhc_initialize();

	if (ret != OK) {
		board_autoled_on(LED_RED);
	}

#ifdef HAVE_AUTOMOUNTER
	/* Initialize the auto-mounter */

	fmuk66_automount_initialize();
#endif

	/* Configure SPI-based devices */

#ifdef CONFIG_SPI
	ret = fmuk66_spi_bus_initialize();

	if (ret != OK) {
		board_autoled_on(LED_RED);
	}

#endif

#ifdef CONFIG_NETDEV_LATEINIT

# ifdef CONFIG_KINETIS_ENET
	kinetis_netinitialize(0);
# endif

# ifdef CONFIG_KINETIS_FLEXCAN0
	kinetis_caninitialize(0);
# endif

# ifdef CONFIG_KINETIS_FLEXCAN1
	kinetis_caninitialize(1);
# endif

#endif

	/* Configure the HW based on the manifest */

	px4_platform_configure();

	return OK;
}