/*
 * Copyright © 2012 Keith Packard <keithp@keithp.com>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 */

#include <ao.h>
#include <ao_mma655x.h>

#if HAS_MMA655X

#define DEBUG		0
#define DEBUG_LOW	1
#define DEBUG_HIGH	2
#if 1
#define PRINTD(l, ...) do { if (DEBUG & (l)) { printf ("\r%5lu %s: ", (unsigned long) ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0)
#else
#define PRINTD(l,...) 
#endif

#define AO_MMA655X_SPI_SPEED	ao_spi_speed(AO_MMA655X_SPI_INDEX, 8333333)	/* 120ns clock period */

static void
ao_mma655x_start(void) {
	ao_spi_get_bit(AO_MMA655X_CS_PORT,
		       AO_MMA655X_CS_PIN,
		       AO_MMA655X_SPI_INDEX,
		       AO_MMA655X_SPI_SPEED);
}

static void
ao_mma655x_stop(void) {
	ao_spi_put_bit(AO_MMA655X_CS_PORT,
		       AO_MMA655X_CS_PIN,
		       AO_MMA655X_SPI_INDEX);
}

static void
ao_mma655x_restart(void) {
	uint8_t	i;
	ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, 1);

	/* Emperical testing on STM32L151 at 32MHz for this delay amount */
	for (i = 0; i < 10; i++)
		ao_arch_nop();
	ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, 0);
}

static uint8_t
ao_parity(uint8_t v)
{
	uint8_t	p;
	/* down to four bits */
	p = (v ^ (v >> 4)) & 0xf;

	/* Cute lookup hack -- 0x6996 encodes the sixteen
	 * even parity values in order.
	 */
	p = (~0x6996 >> p) & 1;
	return p;
}

#if 0
static void
ao_mma655x_cmd(uint8_t d[2])
{
	ao_mma655x_start();
	PRINTD(DEBUG_LOW, "\tSEND %02x %02x\n", d[0], d[1]);
	ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
	PRINTD(DEBUG_LOW, "\t\tRECV %02x %02x\n", d[0], d[1]);
	ao_mma655x_stop();
}
#endif

static uint8_t
ao_mma655x_reg_read(uint8_t addr)
{
	uint8_t	d[2];
	ao_mma655x_start();
	d[0] = (uint8_t) (addr | (ao_parity(addr) << 7));
	d[1] = 0;
	ao_spi_send(&d, 2, AO_MMA655X_SPI_INDEX);
	ao_mma655x_restart();

	/* Send a dummy read of 00 to clock out the SPI data */
	d[0] = 0x80;
	d[1] = 0x00;
	ao_spi_duplex(&d, &d, 2, AO_MMA655X_SPI_INDEX);
	ao_mma655x_stop();
	PRINTD(DEBUG_LOW, "read %x = %x %x\n", addr, d[0], d[1]);
	return d[1];
}

static void
ao_mma655x_reg_write(uint8_t addr, uint8_t value)
{
	uint8_t	d[2];

	PRINTD(DEBUG_LOW, "write %x %x\n", addr, value);
	addr |= (1 << 6);	/* write mode */
	d[0] = (uint8_t) (addr | (ao_parity(addr^value) << 7));
	d[1] = value;
	ao_mma655x_start();
	ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
	ao_mma655x_stop();
}

static uint16_t
ao_mma655x_value(void)
{
	uint8_t		d[2];
	uint16_t	v;

	d[0] = ((0 << 6) |	/* Axis selection (X) */
		(1 << 5) |	/* Acceleration operation */
		(1 << 4));	/* Raw data */
	d[1] = ((1 << 3) |	/* must be one */
		(1 << 2) |	/* Unsigned data */
		(0 << 1) |	/* Arm disabled */
		(1 << 0));	/* Odd parity */
	ao_mma655x_start();
	PRINTD(DEBUG_LOW, "value SEND %02x %02x\n", d[0], d[1]);
	ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
	ao_mma655x_restart();
	d[0] = 0x80;
	d[1] = 0x00;
	ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
	ao_mma655x_stop();
	PRINTD(DEBUG_LOW, "value RECV %02x %02x\n", d[0], d[1]);

	v = (uint16_t) d[1] << 2;
	v = (uint16_t) (v | (d[0] >> 6));
	v = (uint16_t) (v | ((d[0] & 3) << 10));
	return v;
}

static void
ao_mma655x_reset(void) {
	PRINTD(DEBUG_HIGH, "reset\n");
	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
			     (0 << AO_MMA655X_DEVCTL_RES_1) |
			     (0 << AO_MMA655X_DEVCTL_RES_0));
	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
			     (1 << AO_MMA655X_DEVCTL_RES_1) |
			     (1 << AO_MMA655X_DEVCTL_RES_0));
	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
			     (0 << AO_MMA655X_DEVCTL_RES_1) |
			     (1 << AO_MMA655X_DEVCTL_RES_0));
}

#define DEVCFG_VALUE	(\
	(1 << AO_MMA655X_DEVCFG_OC) |		/* Disable offset cancelation */ \
	(1 << AO_MMA655X_DEVCFG_SD) |		/* Receive unsigned data */ \
	(0 << AO_MMA655X_DEVCFG_OFMON) |	/* Disable offset monitor */ \
	(AO_MMA655X_DEVCFG_A_CFG_DISABLE << AO_MMA655X_DEVCFG_A_CFG))

#define AXISCFG_VALUE	(\
		(0 << AO_MMA655X_AXISCFG_LPF))	/* 100Hz 4-pole filter */


#define AO_ST_TRIES	10
#define AO_ST_DELAY	AO_MS_TO_TICKS(100)

static void
ao_mma655x_setup(void)
{
	uint16_t	a, a_st;
	int16_t		st_change;
	int		tries;
	uint8_t		devstat;
#if 0
	uint8_t	s0, s1, s2, s3;
	uint32_t	lot;
#endif

	for (tries = 0; tries < AO_ST_TRIES; tries++) {
		ao_delay(AO_MS_TO_TICKS(10));
		ao_mma655x_reset();
		ao_delay(AO_MS_TO_TICKS(10));

		devstat = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
		PRINTD(DEBUG_HIGH, "devstat %x\n", devstat);

		if (!(devstat & (1 << AO_MMA655X_DEVSTAT_DEVRES)))
			continue;

		/* Configure R/W register values.
		 * Most of them relate to the arming feature, which
		 * we don't use, so the only registers we need to
		 * write are DEVCFG and AXISCFG
		 */

		ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
				     DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT));

		/* Test X axis
		 */
	
		ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
				     AXISCFG_VALUE |
				     (1 << AO_MMA655X_AXISCFG_ST));
		ao_delay(AO_MS_TO_TICKS(10));

		a_st = ao_mma655x_value();

		ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
				     AXISCFG_VALUE |
				     (0 << AO_MMA655X_AXISCFG_ST));

		ao_delay(AO_MS_TO_TICKS(10));

		a = ao_mma655x_value();

		st_change = (int16_t) (a_st - a);

		PRINTD(DEBUG_HIGH, "self test %d normal %d change %d\n", a_st, a, st_change);

		if (AO_ST_MIN <= st_change && st_change <= AO_ST_MAX)
			break;
		ao_delay(AO_ST_DELAY);
	}
	if (tries == AO_ST_TRIES)
		AO_SENSOR_ERROR(AO_DATA_MMA655X);

	ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
			     DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));
#if 0
	s0 = ao_mma655x_reg_read(AO_MMA655X_SN0);
	s1 = ao_mma655x_reg_read(AO_MMA655X_SN1);
	s2 = ao_mma655x_reg_read(AO_MMA655X_SN2);
	s3 = ao_mma655x_reg_read(AO_MMA655X_SN3);
	lot = ((uint32_t) s3 << 24) | ((uint32_t) s2 << 16) |
		((uint32_t) s1 << 8) | ((uint32_t) s0);
	serial = lot & 0x1fff;
	lot >>= 12;
	pn = ao_mma655x_reg_read(AO_MMA655X_PN);
#endif
}

uint16_t	ao_mma655x_current;

static void
ao_mma655x_dump(void)
{
	printf ("MMA655X value %d\n", ao_mma655x_current);
}

const struct ao_cmds ao_mma655x_cmds[] = {
	{ ao_mma655x_dump,	"A\0Display MMA655X data" },
	{ 0, NULL },
};

static void
ao_mma655x(void)
{
	ao_mma655x_setup();
	for (;;) {
		ao_mma655x_current = ao_mma655x_value();
		ao_arch_critical(
			AO_DATA_PRESENT(AO_DATA_MMA655X);
			AO_DATA_WAIT();
			);
	}
}

static struct ao_task ao_mma655x_task;

void
ao_mma655x_init(void)
{
	ao_cmd_register(&ao_mma655x_cmds[0]);
	ao_spi_init_cs(AO_MMA655X_CS_PORT, (1 << AO_MMA655X_CS_PIN));

	ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
}

#endif
