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 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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/**
 * @file LSM303D.cpp
 * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
 */

#include "LSM303D.hpp"

/*
  list of registers that will be checked in check_registers(). Note
  that ADDR_WHO_AM_I must be first in the list.
 */
static constexpr uint8_t _checked_registers[] = {
	ADDR_WHO_AM_I,
	ADDR_CTRL_REG1,
	ADDR_CTRL_REG2,
	ADDR_CTRL_REG3,
	ADDR_CTRL_REG4,
	ADDR_CTRL_REG5,
	ADDR_CTRL_REG6,
	ADDR_CTRL_REG7
};

LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
		 spi_mode_e spi_mode) :
	SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
	_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
	_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
	_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),
	_bad_values(perf_alloc(PC_COUNT, "lsm303d: bad_val")),
	_accel_duplicates(perf_alloc(PC_COUNT, "lsm303d: acc_dupe"))
{
	_px4_mag.set_external(external());
}

LSM303D::~LSM303D()
{
	// delete the perf counter
	perf_free(_accel_sample_perf);
	perf_free(_mag_sample_perf);
	perf_free(_bad_registers);
	perf_free(_bad_values);
	perf_free(_accel_duplicates);
}

int
LSM303D::init()
{
	/* do SPI init (and probe) first */
	int ret = SPI::init();

	if (ret != OK) {
		DEVICE_DEBUG("SPI init failed (%i)", ret);
		return ret;
	}

	reset();

	start();

	return ret;
}

void
LSM303D::disable_i2c(void)
{
	uint8_t a = read_reg(0x02);
	write_reg(0x02, (0x10 | a));
	a = read_reg(0x02);
	write_reg(0x02, (0xF7 & a));
	a = read_reg(0x15);
	write_reg(0x15, (0x80 | a));
	a = read_reg(0x02);
	write_reg(0x02, (0xE7 & a));
}

void
LSM303D::reset()
{
	// ensure the chip doesn't interpret any other bus traffic as I2C
	disable_i2c();

	// enable accel
	write_checked_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE |
			  REG1_RATE_800HZ_A);

	// enable mag
	write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
	write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
	write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
	write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2

	accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
	accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);

	// we setup the anti-alias on-chip filter as 50Hz. We believe
	// this operates in the analog domain, and is critical for
	// anti-aliasing. The 2 pole software filter is designed to
	// operate in conjunction with this on-chip filter
	accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);

	mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
	mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
}

int
LSM303D::probe()
{
	// read dummy value to void to clear SPI statemachine on sensor
	read_reg(ADDR_WHO_AM_I);

	// verify that the device is attached and functioning
	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
		_checked_values[0] = WHO_I_AM;
		return OK;
	}

	return -EIO;
}

uint8_t
LSM303D::read_reg(unsigned reg)
{
	uint8_t cmd[2] {};
	cmd[0] = reg | DIR_READ;

	transfer(cmd, cmd, sizeof(cmd));

	return cmd[1];
}

int
LSM303D::write_reg(unsigned reg, uint8_t value)
{
	uint8_t	cmd[2] {};

	cmd[0] = reg | DIR_WRITE;
	cmd[1] = value;

	return transfer(cmd, nullptr, sizeof(cmd));
}

void
LSM303D::write_checked_reg(unsigned reg, uint8_t value)
{
	write_reg(reg, value);

	for (uint8_t i = 0; i < LSM303D_NUM_CHECKED_REGISTERS; i++) {
		if (reg == _checked_registers[i]) {
			_checked_values[i] = value;
		}
	}
}

void
LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
	uint8_t	val = read_reg(reg);
	val &= ~clearbits;
	val |= setbits;
	write_checked_reg(reg, val);
}

int
LSM303D::accel_set_range(unsigned max_g)
{
	uint8_t setbits = 0;
	uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
	float new_scale_g_digit = 0.0f;

	if (max_g == 0) {
		max_g = 16;
	}

	if (max_g <= 2) {
		// accel_range_m_s2 = 2.0f * CONSTANTS_ONE_G;
		setbits |= REG2_FULL_SCALE_2G_A;
		new_scale_g_digit = 0.061e-3f;

	} else if (max_g <= 4) {
		// accel_range_m_s2 = 4.0f * CONSTANTS_ONE_G;
		setbits |= REG2_FULL_SCALE_4G_A;
		new_scale_g_digit = 0.122e-3f;

	} else if (max_g <= 6) {
		// accel_range_m_s2 = 6.0f * CONSTANTS_ONE_G;
		setbits |= REG2_FULL_SCALE_6G_A;
		new_scale_g_digit = 0.183e-3f;

	} else if (max_g <= 8) {
		// accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
		setbits |= REG2_FULL_SCALE_8G_A;
		new_scale_g_digit = 0.244e-3f;

	} else if (max_g <= 16) {
		// accel_range_m_s2 = 16.0f * CONSTANTS_ONE_G;
		setbits |= REG2_FULL_SCALE_16G_A;
		new_scale_g_digit = 0.732e-3f;

	} else {
		return -EINVAL;
	}

	float accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;

	_px4_accel.set_scale(accel_range_scale);

	modify_reg(ADDR_CTRL_REG2, clearbits, setbits);

	return OK;
}

int
LSM303D::mag_set_range(unsigned max_ga)
{
	uint8_t setbits = 0;
	uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
	float new_scale_ga_digit = 0.0f;

	if (max_ga == 0) {
		max_ga = 12;
	}

	if (max_ga <= 2) {
		// mag_range_ga = 2;
		setbits |= REG6_FULL_SCALE_2GA_M;
		new_scale_ga_digit = 0.080e-3f;

	} else if (max_ga <= 4) {
		// mag_range_ga = 4;
		setbits |= REG6_FULL_SCALE_4GA_M;
		new_scale_ga_digit = 0.160e-3f;

	} else if (max_ga <= 8) {
		// mag_range_ga = 8;
		setbits |= REG6_FULL_SCALE_8GA_M;
		new_scale_ga_digit = 0.320e-3f;

	} else if (max_ga <= 12) {
		// mag_range_ga = 12;
		setbits |= REG6_FULL_SCALE_12GA_M;
		new_scale_ga_digit = 0.479e-3f;

	} else {
		return -EINVAL;
	}

	_px4_mag.set_scale(new_scale_ga_digit);

	modify_reg(ADDR_CTRL_REG6, clearbits, setbits);

	return OK;
}

int
LSM303D::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
{
	uint8_t setbits = 0;
	uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;

	if (bandwidth == 0) {
		bandwidth = 773;
	}

	if (bandwidth <= 50) {
		// accel_onchip_filter_bandwith = 50;
		setbits |= REG2_AA_FILTER_BW_50HZ_A;

	} else if (bandwidth <= 194) {
		// accel_onchip_filter_bandwith = 194;
		setbits |= REG2_AA_FILTER_BW_194HZ_A;

	} else if (bandwidth <= 362) {
		// accel_onchip_filter_bandwith = 362;
		setbits |= REG2_AA_FILTER_BW_362HZ_A;

	} else if (bandwidth <= 773) {
		// accel_onchip_filter_bandwith = 773;
		setbits |= REG2_AA_FILTER_BW_773HZ_A;

	} else {
		return -EINVAL;
	}

	modify_reg(ADDR_CTRL_REG2, clearbits, setbits);

	return OK;
}

int
LSM303D::accel_set_samplerate(unsigned frequency)
{
	uint8_t setbits = 0;
	uint8_t clearbits = REG1_RATE_BITS_A;

	if (frequency == 0) {
		frequency = 1600;
	}

	int accel_samplerate = 100;

	if (frequency <= 100) {
		setbits |= REG1_RATE_100HZ_A;
		accel_samplerate = 100;

	} else if (frequency <= 200) {
		setbits |= REG1_RATE_200HZ_A;
		accel_samplerate = 200;

	} else if (frequency <= 400) {
		setbits |= REG1_RATE_400HZ_A;
		accel_samplerate = 400;

	} else if (frequency <= 800) {
		setbits |= REG1_RATE_800HZ_A;
		accel_samplerate = 800;

	} else if (frequency <= 1600) {
		setbits |= REG1_RATE_1600HZ_A;
		accel_samplerate = 1600;

	} else {
		return -EINVAL;
	}

	_call_accel_interval = 1000000 / accel_samplerate;

	modify_reg(ADDR_CTRL_REG1, clearbits, setbits);

	return OK;
}

int
LSM303D::mag_set_samplerate(unsigned frequency)
{
	uint8_t setbits = 0;
	uint8_t clearbits = REG5_RATE_BITS_M;

	if (frequency == 0) {
		frequency = 100;
	}

	int mag_samplerate = 100;

	if (frequency <= 25) {
		setbits |= REG5_RATE_25HZ_M;
		mag_samplerate = 25;

	} else if (frequency <= 50) {
		setbits |= REG5_RATE_50HZ_M;
		mag_samplerate = 50;

	} else if (frequency <= 100) {
		setbits |= REG5_RATE_100HZ_M;
		mag_samplerate = 100;

	} else {
		return -EINVAL;
	}

	_call_mag_interval = 1000000 / mag_samplerate;

	modify_reg(ADDR_CTRL_REG5, clearbits, setbits);

	return OK;
}

void
LSM303D::start()
{
	// start polling at the specified rate
	ScheduleOnInterval(_call_accel_interval - LSM303D_TIMER_REDUCTION);
}

void
LSM303D::RunImpl()
{
	// make another accel measurement
	measureAccelerometer();

	if (hrt_elapsed_time(&_mag_last_measure) >= _call_mag_interval) {
		measureMagnetometer();
	}
}

void
LSM303D::check_registers(void)
{
	uint8_t v = 0;

	if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
		/*
		  if we get the wrong value then we know the SPI bus
		  or sensor is very sick. We set _register_wait to 20
		  and wait until we have seen 20 good values in a row
		  before we consider the sensor to be OK again.
		 */
		perf_count(_bad_registers);

		/*
		  try to fix the bad register value. We only try to
		  fix one per loop to prevent a bad sensor hogging the
		  bus. We skip zero as that is the WHO_AM_I, which
		  is not writeable
		 */
		if (_checked_next != 0) {
			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
		}

		_register_wait = 20;
	}

	_checked_next = (_checked_next + 1) % LSM303D_NUM_CHECKED_REGISTERS;
}

void
LSM303D::measureAccelerometer()
{
	perf_begin(_accel_sample_perf);

	// status register and data as read back from the device
#pragma pack(push, 1)
	struct {
		uint8_t		cmd;
		uint8_t		status;
		int16_t		x;
		int16_t		y;
		int16_t		z;
	} raw_accel_report{};
#pragma pack(pop)

	check_registers();

	if (_register_wait != 0) {
		// we are waiting for some good transfers before using
		// the sensor again.
		_register_wait--;
		perf_end(_accel_sample_perf);
		return;
	}

	/* fetch data from the sensor */
	const hrt_abstime timestamp_sample = hrt_absolute_time();
	raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
	transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report));

	if (!(raw_accel_report.status & REG_STATUS_A_NEW_ZYXADA)) {
		perf_end(_accel_sample_perf);
		perf_count(_accel_duplicates);
		return;
	}

	/*
	  we have logs where the accelerometers get stuck at a fixed
	  large value. We want to detect this and mark the sensor as
	  being faulty
	 */
	if (((_last_accel[0] - raw_accel_report.x) == 0) &&
	    ((_last_accel[1] - raw_accel_report.y) == 0) &&
	    ((_last_accel[2] - raw_accel_report.z) == 0)) {

		_constant_accel_count++;

	} else {
		_constant_accel_count = 0;
	}

	if (_constant_accel_count > 100) {
		// we've had 100 constant accel readings with large
		// values. The sensor is almost certainly dead. We
		// will raise the error_count so that the top level
		// flight code will know to avoid this sensor, but
		// we'll still give the data so that it can be logged
		// and viewed
		perf_count(_bad_values);

		_constant_accel_count = 0;

		perf_end(_accel_sample_perf);
		return;
	}

	// report the error count as the sum of the number of bad
	// register reads and bad values. This allows the higher level
	// code to decide if it should use this sensor based on
	// whether it has had failures
	_px4_accel.set_error_count(perf_event_count(_bad_registers) + perf_event_count(_bad_values));
	_px4_accel.update(timestamp_sample, raw_accel_report.x, raw_accel_report.y, raw_accel_report.z);

	_last_accel[0] = raw_accel_report.x;
	_last_accel[1] = raw_accel_report.y;
	_last_accel[2] = raw_accel_report.z;

	perf_end(_accel_sample_perf);
}

void
LSM303D::measureMagnetometer()
{
	perf_begin(_mag_sample_perf);

	// status register and data as read back from the device
#pragma pack(push, 1)
	struct {
		uint8_t		cmd;
		int16_t		temperature;
		uint8_t		status;
		int16_t		x;
		int16_t		y;
		int16_t		z;
	} raw_mag_report{};
#pragma pack(pop)

	// fetch data from the sensor
	const hrt_abstime timestamp_sample = hrt_absolute_time();
	raw_mag_report.cmd = ADDR_OUT_TEMP_L | DIR_READ | ADDR_INCREMENT;
	transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report));

	/* remember the temperature. The datasheet isn't clear, but it
	 * seems to be a signed offset from 25 degrees C in units of 0.125C
	 */
	_last_temperature = 25.0f + (raw_mag_report.temperature * 0.125f);
	_px4_accel.set_temperature(_last_temperature);
	_px4_mag.set_temperature(_last_temperature);

	_px4_mag.set_error_count(perf_event_count(_bad_registers) + perf_event_count(_bad_values));
	_px4_mag.set_external(external());
	_px4_mag.update(timestamp_sample, raw_mag_report.x, raw_mag_report.y, raw_mag_report.z);

	_mag_last_measure = timestamp_sample;

	perf_end(_mag_sample_perf);
}

void
LSM303D::print_status()
{
	I2CSPIDriverBase::print_status();
	perf_print_counter(_accel_sample_perf);
	perf_print_counter(_mag_sample_perf);
	perf_print_counter(_bad_registers);
	perf_print_counter(_bad_values);
	perf_print_counter(_accel_duplicates);

	::printf("checked_next: %u\n", _checked_next);

	for (uint8_t i = 0; i < LSM303D_NUM_CHECKED_REGISTERS; i++) {
		uint8_t v = read_reg(_checked_registers[i]);

		if (v != _checked_values[i]) {
			::printf("reg %02x:%02x should be %02x\n",
				 (unsigned)_checked_registers[i],
				 (unsigned)v,
				 (unsigned)_checked_values[i]);
		}
	}
}