/****************************************************************************
 *
 *   Copyright (C) 2019 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
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 * 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 spi.c
 *
 * Board-specific SPI functions.
 */

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

#include <board_config.h>

#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>

#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>

#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"

/* Define CS GPIO array */
#ifdef CONFIG_STM32F7_SPI1
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSORS1_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI2
static constexpr uint32_t spi2selects_gpio[] = PX4_SENSORS2_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI3
static constexpr uint32_t spi3selects_gpio[] = 0; // Not used
#endif
#ifdef CONFIG_STM32F7_SPI4
static constexpr uint32_t spi4selects_gpio[] = 0; // Not used
#endif
#ifdef CONFIG_STM32F7_SPI5
static constexpr uint32_t spi5selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI6
static constexpr uint32_t spi6selects_gpio[] = PX4_SENSORS3_BUS_CS_GPIO;
#endif

/************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
 *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ************************************************************************************/

__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1

	for (auto gpio : spi1selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI1

#if defined(CONFIG_STM32F7_SPI2)

	for (auto gpio : spi2selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI2

#if defined(CONFIG_STM32F7_SPI3)

	for (auto gpio : spi3selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI3


#ifdef CONFIG_STM32F7_SPI4

	for (auto gpio : spi4selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI4


#ifdef CONFIG_STM32F7_SPI5

	for (auto gpio : spi5selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI5


#ifdef CONFIG_STM32F7_SPI6

	for (auto gpio : spi6selects_gpio) {
		px4_arch_configgpio(gpio);
	}

#endif // CONFIG_STM32F7_SPI6
}

/************************************************************************************
 * Name: stm32_spi1select and stm32_spi1status
 *
 * Description:
 *   Called by stm32 spi driver on bus 1.
 *
 ************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS1);

	// Making sure the other peripherals are not selected
	for (auto cs : spi1selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1

/************************************************************************************
 * Name: stm32_spi2select and stm32_spi2status
 *
 * Description:
 *   Called by stm32 spi driver on bus 2.
 *
 ************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{

	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS2);

	// Making sure the other peripherals are not selected
	for (auto cs : spi2selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2

/************************************************************************************
 * Name: stm32_spi3select and stm32_spi3status
 *
 * Description:
 *   Called by stm32 spi driver on bus 3.
 *
 ************************************************************************************/
#if defined(CONFIG_STM32F7_SPI3)
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{

	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);

	// Making sure the other peripherals are not selected
	for (auto cs : spi3selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi3selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI3

/************************************************************************************
 * Name: stm32_spi4select and stm32_spi4status
 *
 * Description:
 *   Called by stm32 spi driver on bus 4.
 *
 ************************************************************************************/
#ifdef CONFIG_STM32F7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);

	// Making sure the other peripherals are not selected
	for (auto cs : spi4selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI4

/************************************************************************************
 * Name: stm32_spi5select and stm32_spi5status
 *
 * Description:
 *   Called by stm32 spi driver on bus 5.
 *
 ************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
	if (devid == SPIDEV_FLASH(0)) {
		devid = PX4_SPIDEV_MEMORY;
	}

	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);

	// Making sure the other peripherals are not selected
	for (auto cs : spi5selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI5

/************************************************************************************
 * Name: stm32_spi6select and stm32_spi6status
 *
 * Description:
 *   Called by stm32 spi driver on bus 6.
 *
 ************************************************************************************/
#ifdef CONFIG_STM32F7_SPI6
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);

	// Making sure the other peripherals are not selected
	for (auto cs : spi6selects_gpio) {
		stm32_gpiowrite(cs, 1);
	}

	// SPI select is active low, so write !selected to select the device
	stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}

__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
	return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI6

/************************************************************************************
 * Name: board_spi_reset
 *
 * Description:
 * TODO:Add 4 bit MASK active LOW for Bus 1-4
 *
 ************************************************************************************/

__EXPORT void board_spi_reset(int mask_ms)
{
	int ms =  mask_ms & 0x00ffffff;
	int mask = ((mask_ms & 0xff000000) >> 24) ^ 0xff;

	// disable SPI bus

#ifdef CONFIG_STM32F7_SPI1

	if (mask & 1) {
		for (auto cs : spi1selects_gpio) {
			stm32_configgpio(_PIN_OFF(cs));
		}

		stm32_configgpio(GPIO_SPI1_SCK_OFF);
		stm32_configgpio(GPIO_SPI1_MISO_OFF);
		stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602);
#endif

		/* set the sensor rail off */

		// NA, not controlling rails in ModalAI FC-v1

	}

#endif

#ifdef CONFIG_STM32F7_SPI2

	if (mask & 2) {
		for (auto cs : spi2selects_gpio) {
			stm32_configgpio(_PIN_OFF(cs));
		}

		stm32_configgpio(GPIO_SPI2_SCK_OFF);
		stm32_configgpio(GPIO_SPI2_MISO_OFF);
		stm32_configgpio(GPIO_SPI2_MOSI_OFF);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_DRDY_OFF_SPI2_DRDY1_ISM330);
#endif
		/* set the sensor rail off */

		// NA, not controlling rails in ModalAI FC-v1
	}

#endif

#ifdef CONFIG_STM32F7_SPI3

	if (mask & 4) {
		for (auto cs : spi3selects_gpio) {
			stm32_configgpio(_PIN_OFF(cs));
		}

		stm32_configgpio(GPIO_SPI3_SCK_OFF);
		stm32_configgpio(GPIO_SPI3_MISO_OFF);
		stm32_configgpio(GPIO_SPI3_MOSI_OFF);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY1_BMI088);
		stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY2_BMI088);
#endif
		/* set the sensor rail off */

		// NA, not controlling rails in ModalAI FC-v1
	}

#endif

#ifdef CONFIG_STM32F7_SPI4

	if (mask & 8) {
		for (auto cs : spi4selects_gpio) {
			stm32_configgpio(_PIN_OFF(cs));
		}

		stm32_configgpio(GPIO_SPI4_SCK_OFF);
		stm32_configgpio(GPIO_SPI4_MISO_OFF);
		stm32_configgpio(GPIO_SPI4_MOSI_OFF);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_DRDY_OFF_SPI4_DRDY1_BMM150);
#endif
		/* set the sensor rail off */

		// NA, not controlling rails in ModalAI FC-v1
	}

#endif

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

	/* re-enable power */

	// NA, not controlling rails in ModalAI FC-v1

	/* wait a bit before starting SPI, different times didn't influence results */
	usleep(100);

#ifdef CONFIG_STM32F7_SPI1

	if (mask & 1) {
		/* reconfigure the SPI pins */
		for (auto cs : spi1selects_gpio) {
			stm32_configgpio(cs);
		}

		stm32_configgpio(GPIO_SPI1_SCK);
		stm32_configgpio(GPIO_SPI1_MISO);
		stm32_configgpio(GPIO_SPI1_MOSI);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
#endif

	}

#endif

#ifdef CONFIG_STM32F7_SPI2

	if (mask & 2) {
		/* reconfigure the SPI pins */
		for (auto cs : spi2selects_gpio) {
			stm32_configgpio(cs);
		}

		stm32_configgpio(GPIO_SPI2_SCK);
		stm32_configgpio(GPIO_SPI2_MISO);
		stm32_configgpio(GPIO_SPI2_MOSI);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_SPI2_DRDY1_ISM330);
#endif
	}

#endif

#ifdef CONFIG_STM32F7_SPI3

	if (mask & 4) {
		/* reconfigure the SPI pins */
		for (auto cs : spi3selects_gpio) {
			stm32_configgpio(cs);
		}

		stm32_configgpio(GPIO_SPI3_SCK);
		stm32_configgpio(GPIO_SPI3_MISO);
		stm32_configgpio(GPIO_SPI3_MOSI);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_SPI3_DRDY1_BMI088);
		stm32_configgpio(GPIO_SPI3_DRDY2_BMI088);
#endif
	}

#endif

#ifdef CONFIG_STM32F7_SPI4

	if (mask & 8) {
		/* reconfigure the SPI pins */
		for (auto cs : spi4selects_gpio) {
			stm32_configgpio(cs);
		}


		stm32_configgpio(GPIO_SPI4_SCK);
		stm32_configgpio(GPIO_SPI4_MISO);
		stm32_configgpio(GPIO_SPI4_MOSI);
#if BOARD_USE_DRDY
		stm32_configgpio(GPIO_SPI4_DRDY1_BMM150);
#endif
	}

#endif
}