/*
   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 3 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, see <http://www.gnu.org/licenses/>.
 */
/*
 *   AP_BoardConfig - driver loading and setup
 */


#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal.h>
#endif
#include "AP_BoardConfig.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_Math/crc.h>
#include <stdio.h>

extern const AP_HAL::HAL& hal;

/*
  init safety state
 */
void AP_BoardConfig::board_init_safety()
{
    bool force_safety_off = (state.safety_enable.get() == 0);
    if (!force_safety_off && hal.util->was_watchdog_safety_off()) {
        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Forcing safety off for watchdog\n");
        force_safety_off = true;
    }
    if (force_safety_off) {
        hal.rcout->force_safety_off();
        // wait until safety has been turned off
        uint8_t count = 20;
        while (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED && count--) {
            hal.scheduler->delay(20);
        }
    }
}

/*
  init debug pins. We set debug pins as input if BRD_OPTIONS bit for debug enable is not set
  this prevents possible ESD issues on the debug pins
 */
void AP_BoardConfig::board_init_debug()
{
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_DEBUG_BUILD)
    if ((_options & BOARD_OPTION_DEBUG_ENABLE) == 0) {
#ifdef HAL_GPIO_PIN_JTCK_SWCLK
        palSetLineMode(HAL_GPIO_PIN_JTCK_SWCLK, PAL_MODE_INPUT);
#endif
#ifdef HAL_GPIO_PIN_JTMS_SWDIO
        palSetLineMode(HAL_GPIO_PIN_JTMS_SWDIO, PAL_MODE_INPUT);
#endif
    }
#endif // HAL_BUILD_AP_PERIPH && HAL_DEBUG_BUILD
}


#if AP_FEATURE_BOARD_DETECT

AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;

void AP_BoardConfig::board_setup_drivers(void)
{
    if (state.board_type == PX4_BOARD_OLDDRIVERS) {
        printf("Old drivers no longer supported\n");
        state.board_type.set(PX4_BOARD_AUTO);
    }

    // run board auto-detection
    board_autodetect();

    px4_configured_board = (enum px4_board_type)state.board_type.get();

    switch (px4_configured_board) {
    case PX4_BOARD_PX4V1:
    case PX4_BOARD_PIXHAWK:
    case PX4_BOARD_PIXHAWK2:
    case PX4_BOARD_FMUV5:
    case PX4_BOARD_FMUV6:
    case PX4_BOARD_SP01:
    case PX4_BOARD_PIXRACER:
    case PX4_BOARD_PHMINI:
    case PX4_BOARD_AUAV21:
    case PX4_BOARD_PH2SLIM:
    case VRX_BOARD_BRAIN51:
    case VRX_BOARD_BRAIN52:
    case VRX_BOARD_BRAIN52E:
    case VRX_BOARD_UBRAIN51:
    case VRX_BOARD_UBRAIN52:
    case VRX_BOARD_CORE10:
    case VRX_BOARD_BRAIN54:
    case PX4_BOARD_AEROFC:
    case PX4_BOARD_PIXHAWK_PRO:
    case PX4_BOARD_PCNC1:
    case PX4_BOARD_MINDPXV2:
    case FMUV6_BOARD_HOLYBRO_6X:
    case FMUV6_BOARD_HOLYBRO_6X_REV6:
    case FMUV6_BOARD_CUAV_6X:
        break;
    default:
        config_error("Unknown board type");
        break;
    }
}

#define SPI_PROBE_DEBUG 0

/*
  check a SPI device for a register value
 */
bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
{
    auto dev = hal.spi->get_device(devname);
    if (!dev) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: no device\n", devname);
#endif
        return false;
    }
    dev->set_read_flag(read_flag);
    WITH_SEMAPHORE(dev->get_semaphore());
    dev->set_speed(AP_HAL::Device::SPEED_LOW);
    uint8_t v;
    if (!dev->read_registers(regnum, &v, 1)) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
#endif
        return false;
    }
#if SPI_PROBE_DEBUG
    hal.console->printf("%s: reg %02x expected:%02x got:%02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
#endif
    return v == value;
}


#define INV2REG_BANK_SEL 0x7F
/*
  check a SPI device for a register value
 */
bool AP_BoardConfig::spi_check_register_inv2(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
{
    auto dev = hal.spi->get_device(devname);
    if (!dev) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: no device\n", devname);
#endif
        return false;
    }
    dev->set_read_flag(read_flag);
    WITH_SEMAPHORE(dev->get_semaphore());
    dev->set_speed(AP_HAL::Device::SPEED_LOW);
    uint8_t v;
    // select bank 0 for who am i
    dev->write_register(INV2REG_BANK_SEL, 0, false);
    if (!dev->read_registers(regnum, &v, 1)) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
#endif
        return false;
    }
#if SPI_PROBE_DEBUG
    hal.console->printf("%s: reg %02x expected:%02x got:%02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
#endif
    return v == value;
}

#if defined(HAL_VALIDATE_BOARD)
bool AP_BoardConfig::check_ms5611(const char* devname) {
    auto dev = hal.spi->get_device(devname);
    if (!dev) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: no device\n", devname);
#endif
        return false;
    }

    AP_HAL::Semaphore *dev_sem = dev->get_semaphore();

    if (!dev_sem) {
        return false;
    }
    WITH_SEMAPHORE(dev_sem);

    static const uint8_t CMD_MS56XX_RESET = 0x1E;
    static const uint8_t CMD_MS56XX_PROM = 0xA0;

    dev->transfer(&CMD_MS56XX_RESET, 1, nullptr, 0);
    hal.scheduler->delay(4);

    uint16_t prom[8];
    bool all_zero = true;
    for (uint8_t i = 0; i < 8; i++) {
        const uint8_t reg = CMD_MS56XX_PROM + (i << 1);
        uint8_t val[2];
        if (!dev->transfer(&reg, 1, val, sizeof(val))) {
#if SPI_PROBE_DEBUG
            hal.console->printf("%s: transfer fail\n", devname);
#endif
            return false;
        }
        prom[i] = (val[0] << 8) | val[1];

        if (prom[i] != 0) {
            all_zero = false;
        }
    }

    uint16_t crc_read = prom[7]&0xf;
    prom[7] &= 0xff00;

    if (crc_read != crc_crc4(prom) || all_zero) {
#if SPI_PROBE_DEBUG
        hal.console->printf("%s: crc fail\n", devname);
#endif
        return false;
    }

#if SPI_PROBE_DEBUG
    hal.console->printf("%s: found successfully\n", devname);
#endif

    return true;
}
#endif // HAL_VALIDATE_BOARD

#define MPUREG_WHOAMI 0x75
#define MPU_WHOAMI_MPU60X0  0x68
#define MPU_WHOAMI_MPU9250  0x71
#define MPU_WHOAMI_ICM20608 0xaf
#define MPU_WHOAMI_ICM20602 0x12

#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
#define LSM_WHOAMI_L3GD20 0xd4

#define INV2REG_WHOAMI 0x00

#define INV2_WHOAMI_ICM20948 0xEA
#define INV2_WHOAMI_ICM20649 0xE1

#define INV3REG_WHOAMI        0x75
#define INV3REG_456_WHOAMI    0x72

#define INV3_WHOAMI_ICM42688  0x47
#define INV3_WHOAMI_ICM42670  0x67
#define INV3_WHOAMI_ICM45686  0xE9
#define INV3_WHOAMI_IIM42652  0x6f

/*
  validation of the board type
 */
void AP_BoardConfig::validate_board_type(void)
{
    /* some boards can be damaged by the user setting the wrong board
       type.  The key one is the cube which has a heater which can
       cook the IMUs if the user uses an old paramater file. We
       override the board type for that specific case
     */
#if defined(HAL_CHIBIOS_ARCH_FMUV3)
    if (state.board_type == PX4_BOARD_PIXHAWK &&
        (spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
         spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
         spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
         spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
        (spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
         spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948))) {
        // Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
        // detect those, then force PIXHAWK2, even if the user has
        // configured for PIXHAWK1
#if !defined(HAL_CHIBIOS_ARCH_FMUV3)
        // force user to load the right firmware
        config_error("Pixhawk2 requires FMUv3 firmware");        
#endif
        state.board_type.set(PX4_BOARD_PIXHAWK2);
        DEV_PRINTF("Forced PIXHAWK2\n");
    }
#endif
}

/*
  auto-detect board type
 */
void AP_BoardConfig::board_autodetect(void)
{
#if defined(HAL_VALIDATE_BOARD)
    if((_options & SKIP_BOARD_VALIDATION) == 0) {
        const char* errored_check = HAL_VALIDATE_BOARD;
        if (errored_check == nullptr) {
            return;
        } else {
            config_error("Board Validation %s Failed", errored_check);
            return;
        }
    }
#endif

    if (state.board_type != PX4_BOARD_AUTO) {
        validate_board_type();
        // user has chosen a board type
        return;
    }

#if defined(HAL_CHIBIOS_ARCH_FMUV3)
    if ((spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
         spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
         spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
         spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
        (spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
         spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948))) {
        // Pixhawk2 has LSM303D and MPUxxxx on external bus
        state.board_type.set(PX4_BOARD_PIXHAWK2);
        DEV_PRINTF("Detected PIXHAWK2\n");
    } else if ((spi_check_register("icm20608-am", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
                spi_check_register("icm20608-am", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
               spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
        // PHMINI has an ICM20608 and MPU9250 on sensor bus
        state.board_type.set(PX4_BOARD_PHMINI);
        DEV_PRINTF("Detected PixhawkMini\n");
    } else if (spi_check_register("lsm9ds0_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
               (spi_check_register("mpu6000", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
                spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
                spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
                spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {

        // classic or upgraded Pixhawk1
        state.board_type.set(PX4_BOARD_PIXHAWK);
        DEV_PRINTF("Detected Pixhawk\n");
    } else {
        config_error("Unable to detect board type");
    }
#elif defined(HAL_CHIBIOS_ARCH_FMUV4)
    // only one choice
    state.board_type.set_and_notify(PX4_BOARD_PIXRACER);
    DEV_PRINTF("Detected Pixracer\n");
#elif defined(HAL_CHIBIOS_ARCH_MINDPXV2)
    // only one choice
    state.board_type.set_and_notify(PX4_BOARD_MINDPXV2);
    DEV_PRINTF("Detected MindPX-V2\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
    // only one choice
    state.board_type.set_and_notify(PX4_BOARD_PIXHAWK_PRO);
    DEV_PRINTF("Detected Pixhawk Pro\n");	
#elif defined(HAL_CHIBIOS_ARCH_FMUV5)
    state.board_type.set_and_notify(PX4_BOARD_FMUV5);
    DEV_PRINTF("Detected FMUv5\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
    detect_fmuv6_variant();
#elif defined(HAL_CHIBIOS_ARCH_BRAINV51)
    state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
    DEV_PRINTF("Detected VR Brain 5.1\n");
#elif defined(HAL_CHIBIOS_ARCH_BRAINV52)
    state.board_type.set_and_notify(VRX_BOARD_BRAIN52);
    DEV_PRINTF("Detected VR Brain 5.2\n");
#elif defined(HAL_CHIBIOS_ARCH_UBRAINV51)
    state.board_type.set_and_notify(VRX_BOARD_UBRAIN51);
    DEV_PRINTF("Detected VR Micro Brain 5.1\n");
#elif defined(HAL_CHIBIOS_ARCH_COREV10)
    state.board_type.set_and_notify(VRX_BOARD_CORE10);
    DEV_PRINTF("Detected VR Core 1.0\n");
#elif defined(HAL_CHIBIOS_ARCH_BRAINV54)
    state.board_type.set_and_notify(VRX_BOARD_BRAIN54);
    DEV_PRINTF("Detected VR Brain 5.4\n");
#endif

}

#endif // AP_FEATURE_BOARD_DETECT

/*
  setup flow control on UARTs
 */
void AP_BoardConfig::board_setup_uart()
{
#if AP_FEATURE_RTSCTS
#ifdef HAL_HAVE_RTSCTS_SERIAL1
    if (hal.serial(1) != nullptr) {
        hal.serial(1)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[1].get());
    }
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL2
    if (hal.serial(2) != nullptr) {
        hal.serial(2)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[2].get());
    }
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL3
    if (hal.serial(3) != nullptr) {
        hal.serial(3)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[3].get());
    }
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL4
    if (hal.serial(4) != nullptr) {
        hal.serial(4)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[4].get());
    }
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL5
    if (hal.serial(5) != nullptr) {
        hal.serial(5)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[5].get());
    }
#endif
#endif
}

/*
  setup SBUS
 */
void AP_BoardConfig::board_setup_sbus(void)
{
#if AP_FEATURE_SBUS_OUT
    if (state.sbus_out_rate.get() >= 1) {
        static const struct {
            uint8_t value;
            uint16_t rate;
        } rates[] = {
            { 1, 50 },
            { 2, 75 },
            { 3, 100 },
            { 4, 150 },
            { 5, 200 },
            { 6, 250 },
            { 7, 300 }
        };
        uint16_t rate = 300;
        for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
            if (rates[i].value == state.sbus_out_rate) {
                rate = rates[i].rate;
            }
        }
        if (!hal.rcout->enable_px4io_sbus_out(rate)) {
            hal.console->printf("Failed to enable SBUS out\n");
        }
    }
#endif
}


/*
  setup peripherals and drivers
 */
void AP_BoardConfig::board_setup()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
    // init needs to be done after boardconfig is read so parameters are set
    hal.gpio->init();
    hal.rcin->init();
    hal.rcout->init();
#endif

#ifdef HAL_GPIO_PWM_VOLT_PIN
    if (_pwm_volt_sel == 0) {
        hal.gpio->write(HAL_GPIO_PWM_VOLT_PIN, HAL_GPIO_PWM_VOLT_3v3); //set pin for 3.3V PWM Output
    } else if (_pwm_volt_sel == 1) {
        hal.gpio->write(HAL_GPIO_PWM_VOLT_PIN, !HAL_GPIO_PWM_VOLT_3v3); //set pin for 5V PWM Output
    }
#endif
    board_setup_uart();
    board_setup_sbus();
#if AP_FEATURE_BOARD_DETECT
    board_setup_drivers();
#endif
}


#ifdef HAL_CHIBIOS_ARCH_FMUV6

#define BMI088REG_CHIPID 0x00
#define CHIPID_BMI088_G 0x0F

/*
  detect which FMUV6 variant we are running on
 */
void AP_BoardConfig::detect_fmuv6_variant()
{
    if (((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) ||
          spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G)) && // alternative config
         spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
         spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
        state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
        DEV_PRINTF("Detected Holybro 6X\n");
    } else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
                spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
                spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
        state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
        DEV_PRINTF("Detected CUAV 6X\n");
        AP_Param::load_defaults_file("@ROMFS/param/CUAV_V6X_defaults.parm", false);
    } else if (spi_check_register("iim42652", INV3REG_WHOAMI, INV3_WHOAMI_IIM42652) &&
               spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
        state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_REV6);
        DEV_PRINTF("Detected Holybro 6X_Rev6\n");
    }
}
#endif