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#include "BMI088_Gyroscope.hpp"

#include <px4_platform/board_dma_alloc.h>

using namespace time_literals;

namespace Bosch::BMI088::Gyroscope
{

BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
	BMI088(config),
	_px4_gyro(get_device_id(), config.rotation)
{
	if (config.drdy_gpio != 0) {
		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
	}

	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}

BMI088_Gyroscope::~BMI088_Gyroscope()
{
	perf_free(_bad_register_perf);
	perf_free(_bad_transfer_perf);
	perf_free(_fifo_empty_perf);
	perf_free(_fifo_overflow_perf);
	perf_free(_fifo_reset_perf);
	perf_free(_drdy_missed_perf);
}

void BMI088_Gyroscope::exit_and_cleanup()
{
	DataReadyInterruptDisable();
	I2CSPIDriverBase::exit_and_cleanup();
}

void BMI088_Gyroscope::print_status()
{
	I2CSPIDriverBase::print_status();

	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);

	perf_print_counter(_bad_register_perf);
	perf_print_counter(_bad_transfer_perf);
	perf_print_counter(_fifo_empty_perf);
	perf_print_counter(_fifo_overflow_perf);
	perf_print_counter(_fifo_reset_perf);
	perf_print_counter(_drdy_missed_perf);
}

int BMI088_Gyroscope::probe()
{
	const uint8_t chipid = RegisterRead(Register::GYRO_CHIP_ID);

	if (chipid != ID) {
		DEVICE_DEBUG("unexpected GYRO_CHIP_ID 0x%02x", chipid);
		return PX4_ERROR;
	}

	return PX4_OK;
}

void BMI088_Gyroscope::RunImpl()
{
	const hrt_abstime now = hrt_absolute_time();

	switch (_state) {
	case STATE::RESET:
		// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
		// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
		RegisterWrite(Register::GYRO_SOFTRESET, 0xB6);
		_reset_timestamp = now;
		_failure_count = 0;
		_state = STATE::WAIT_FOR_RESET;
		ScheduleDelayed(30_ms);
		break;

	case STATE::WAIT_FOR_RESET:
		if ((RegisterRead(Register::GYRO_CHIP_ID) == ID)) {
			// if reset succeeded then configure
			_state = STATE::CONFIGURE;
			ScheduleDelayed(1_ms);

		} else {
			// RESET not complete
			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
				PX4_DEBUG("Reset failed, retrying");
				_state = STATE::RESET;
				ScheduleDelayed(100_ms);

			} else {
				PX4_DEBUG("Reset not complete, check again in 10 ms");
				ScheduleDelayed(10_ms);
			}
		}

		break;

	case STATE::CONFIGURE:
		if (Configure()) {
			// if configure succeeded then start reading from FIFO
			_state = STATE::FIFO_READ;

			if (DataReadyInterruptConfigure()) {
				_data_ready_interrupt_enabled = true;

				// backup schedule as a watchdog timeout
				ScheduleDelayed(100_ms);

			} else {
				_data_ready_interrupt_enabled = false;
				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
			}

			FIFOReset();

		} else {
			// CONFIGURE not complete
			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
				PX4_DEBUG("Configure failed, resetting");
				_state = STATE::RESET;

			} else {
				PX4_DEBUG("Configure failed, retrying");
			}

			ScheduleDelayed(100_ms);
		}

		break;

	case STATE::FIFO_READ: {
			hrt_abstime timestamp_sample = 0;

			if (_data_ready_interrupt_enabled) {
				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);

				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
					timestamp_sample = drdy_timestamp_sample;

				} else {
					perf_count(_drdy_missed_perf);
				}

				// push backup schedule back
				ScheduleDelayed(_fifo_empty_interval_us * 2);
			}

			// always check current FIFO status/count
			bool success = false;
			const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);

			if (FIFO_STATUS & FIFO_STATUS_BIT::Fifo_overrun) {
				FIFOReset();
				perf_count(_fifo_overflow_perf);

			} else {
				const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::Fifo_frame_counter;

				if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
					// not technically an overflow, but more samples than we expected or can publish
					FIFOReset();
					perf_count(_fifo_overflow_perf);

				} else if (fifo_frame_counter == 0) {
					perf_count(_fifo_empty_perf);

				} else if (fifo_frame_counter >= 1) {

					uint8_t samples = fifo_frame_counter;

					// tolerate minor jitter, leave sample to next iteration if behind by only 1
					if (samples == _fifo_samples + 1) {
						// sample timestamp set from data ready already corresponds to _fifo_samples
						if (timestamp_sample == 0) {
							timestamp_sample = now - FIFO_SAMPLE_DT;
						}

						samples--;
					}

					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
						success = true;

						if (_failure_count > 0) {
							_failure_count--;
						}
					}
				}
			}

			if (!success) {
				_failure_count++;

				// full reset if things are failing consistently
				if (_failure_count > 10) {
					Reset();
					return;
				}
			}

			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
				// check configuration registers periodically or immediately following any failure
				if (RegisterCheck(_register_cfg[_checked_register])) {
					_last_config_check_timestamp = now;
					_checked_register = (_checked_register + 1) % size_register_cfg;

				} else {
					// register check failed, force reset
					perf_count(_bad_register_perf);
					Reset();
				}
			}
		}

		break;
	}
}

void BMI088_Gyroscope::ConfigureGyro()
{
	const uint8_t GYRO_RANGE = RegisterRead(Register::GYRO_RANGE) & (Bit3 | Bit2 | Bit1 | Bit0);

	switch (GYRO_RANGE) {
	case gyro_range_2000_dps:
		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
		_px4_gyro.set_range(math::radians(2000.f));
		break;

	case gyro_range_1000_dps:
		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
		_px4_gyro.set_range(math::radians(1000.f));
		break;

	case gyro_range_500_dps:
		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
		_px4_gyro.set_range(math::radians(500.f));
		break;

	case gyro_range_250_dps:
		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
		_px4_gyro.set_range(math::radians(250.f));
		break;

	case gyro_range_125_dps:
		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
		_px4_gyro.set_range(math::radians(125.f));
		break;
	}
}

void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
{
	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
	const float min_interval = FIFO_SAMPLE_DT;
	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

	_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);

	// recompute FIFO empty interval (us) with actual sample limit
	_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);

	ConfigureFIFOWatermark(_fifo_samples);
}

void BMI088_Gyroscope::ConfigureFIFOWatermark(uint8_t samples)
{
	// FIFO watermark threshold
	for (auto &r : _register_cfg) {
		if (r.reg == Register::FIFO_CONFIG_0) {
			r.set_bits = samples;
			r.clear_bits = ~r.set_bits;
		}
	}
}

bool BMI088_Gyroscope::Configure()
{
	// first set and clear all configured register bits
	for (const auto &reg_cfg : _register_cfg) {
		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
	}

	// now check that all are configured
	bool success = true;

	for (const auto &reg_cfg : _register_cfg) {
		if (!RegisterCheck(reg_cfg)) {
			success = false;
		}
	}

	ConfigureGyro();

	return success;
}

int BMI088_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *arg)
{
	static_cast<BMI088_Gyroscope *>(arg)->DataReady();
	return 0;
}

void BMI088_Gyroscope::DataReady()
{
	_drdy_timestamp_sample.store(hrt_absolute_time());
	ScheduleNow();
}

bool BMI088_Gyroscope::DataReadyInterruptConfigure()
{
	if (_drdy_gpio == 0) {
		return false;
	}

	// Setup data ready on falling edge
	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
}

bool BMI088_Gyroscope::DataReadyInterruptDisable()
{
	if (_drdy_gpio == 0) {
		return false;
	}

	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
}

bool BMI088_Gyroscope::RegisterCheck(const register_config_t &reg_cfg)
{
	bool success = true;

	const uint8_t reg_value = RegisterRead(reg_cfg.reg);

	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
		success = false;
	}

	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
		success = false;
	}

	return success;
}

uint8_t BMI088_Gyroscope::RegisterRead(Register reg)
{
	uint8_t cmd[2] {};
	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
	transfer(cmd, cmd, sizeof(cmd));
	return cmd[1];
}

void BMI088_Gyroscope::RegisterWrite(Register reg, uint8_t value)
{
	uint8_t cmd[2] { (uint8_t)reg, value };
	transfer(cmd, cmd, sizeof(cmd));
}

void BMI088_Gyroscope::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
{
	const uint8_t orig_val = RegisterRead(reg);

	uint8_t val = (orig_val & ~clearbits) | setbits;

	if (orig_val != val) {
		RegisterWrite(reg, val);
	}
}

bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
	FIFOTransferBuffer buffer{};
	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);

	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
		perf_count(_bad_transfer_perf);
		return false;
	}

	sensor_gyro_fifo_s gyro{};
	gyro.timestamp_sample = timestamp_sample;
	gyro.samples = samples;
	gyro.dt = FIFO_SAMPLE_DT;

	for (int i = 0; i < samples; i++) {
		const FIFO::DATA &fifo_sample = buffer.f[i];

		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);

		// sensor's frame is +x forward, +y left, +z up
		//  flip y & z to publish right handed with z down (x forward, y right, z down)
		gyro.x[i] = gyro_x;
		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
	}

	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));

	_px4_gyro.updateFIFO(gyro);

	return true;
}

void BMI088_Gyroscope::FIFOReset()
{
	perf_count(_fifo_reset_perf);

	// FIFO_CONFIG_0: Writing to water mark level trigger in register 0x3D (FIFO_CONFIG_0) clears the FIFO buffer.
	RegisterWrite(Register::FIFO_CONFIG_0, 0);

	// FIFO_CONFIG_1: FIFO overrun condition can only be cleared by writing to the FIFO configuration register FIFO_CONFIG_1
	RegisterWrite(Register::FIFO_CONFIG_1, 0);

	// reset while FIFO is disabled
	_drdy_timestamp_sample.store(0);

	// FIFO_CONFIG_0: restore FIFO watermark
	// FIFO_CONFIG_1: re-enable FIFO
	for (const auto &r : _register_cfg) {
		if ((r.reg == Register::FIFO_CONFIG_0) || (r.reg == Register::FIFO_CONFIG_1)) {
			RegisterSetAndClearBits(r.reg, r.set_bits, r.clear_bits);
		}
	}
}

} // namespace Bosch::BMI088::Gyroscope