/*
 * This file 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 file 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/>.
 *
 * Driver by Lokesh Ramina, Jan 2022
 */
#include "AP_Compass_QMC5883P.h"

#include <stdio.h>

#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>

#if AP_COMPASS_QMC5883P_ENABLED

//Register Address
#define QMC5883P_REG_ID                 0x00
#define QMC5883P_REG_DATA_OUTPUT_X      0x01
#define QMC5883P_REG_DATA_OUTPUT_Z_MSB  0x06
#define QMC5883P_REG_STATUS             0x09
#define QMC5883P_REG_CONF1              0x0A
#define QMC5883P_REG_CONF2              0x0B

#define QMC5883P_ID_VAL 0x80

//Register values
// Sensor operation modes
#define QMC5883P_MODE_SUSPEND    0x00
#define QMC5883P_MODE_NORMAL     0x01
#define QMC5883P_MODE_SINGLE     0x02
#define QMC5883P_MODE_CONTINUOUS 0x03

// ODR data output rates for 5883L
#define QMC5883P_ODR_10HZ  (0x00 << 2)
#define QMC5883P_ODR_50HZ  (0x01 << 2)
#define QMC5883P_ODR_100HZ (0x02 << 2)
#define QMC5883P_ODR_200HZ (0x03 << 2)

// Over sampling Ratio OSR1
#define QMC5883P_OSR1_8 (0x00 << 4)
#define QMC5883P_OSR1_4 (0x01 << 4)
#define QMC5883P_OSR1_2	(0x02 << 4)
#define QMC5883P_OSR1_1	(0x03 << 4)

// Down sampling Rate OSR2
#define QMC5883P_OSR2_8	0x08

//RNG
#define QMC5883P_RNG_30G (0x00 << 2)
#define QMC5883P_RNG_12G (0x01 << 2)
#define QMC5883P_RNG_8G  (0x10 << 2)
#define QMC5883P_RNG_2G  (0x11 << 2)

#define QMC5883P_SET_XYZ_SIGN 0x29

//Reset
#define QMC5883P_RST 0x80

//Status Val
#define QMC5883P_STATUS_DATA_READY 0x01

#ifndef DEBUG
#define DEBUG 0
#endif

extern const AP_HAL::HAL &hal;

AP_Compass_Backend *AP_Compass_QMC5883P::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
        bool force_external,
        enum Rotation rotation)
{
    if (!dev) {
        return nullptr;
    }
    AP_Compass_QMC5883P *sensor = new AP_Compass_QMC5883P(std::move(dev),force_external,rotation);
    if (!sensor || !sensor->init()) {
        delete sensor;
        return nullptr;
    }
    return sensor;
}

AP_Compass_QMC5883P::AP_Compass_QMC5883P(AP_HAL::OwnPtr<AP_HAL::Device> dev,
        bool force_external,
        enum Rotation rotation)
    : _dev(std::move(dev))
    , _rotation(rotation)
    , _force_external(force_external)
{
}

bool AP_Compass_QMC5883P::init()
{
    _dev->get_semaphore()->take_blocking();

    _dev->set_retries(10);
#if DEBUG
    _dump_registers();
#endif
    if (!_check_whoami()) {
        goto fail;
    }
    //As mentioned in the Datasheet 7.2 to do continues mode 0x29 will set sign for X,Y,Z
    if (!_dev->write_register(QMC5883P_REG_DATA_OUTPUT_Z_MSB, QMC5883P_SET_XYZ_SIGN)||
        !_dev->write_register(QMC5883P_REG_CONF1,
                              QMC5883P_MODE_CONTINUOUS|
                              QMC5883P_ODR_100HZ|
                              QMC5883P_OSR1_8|
                              QMC5883P_OSR2_8)||
        !_dev->write_register(QMC5883P_REG_CONF2,QMC5883P_OSR2_8)) {
        goto fail;
    }

    // lower retries for run
    _dev->set_retries(3);

    _dev->get_semaphore()->give();

    //register compass instance
    _dev->set_device_type(DEVTYPE_QMC5883P);
    if (!register_compass(_dev->get_bus_id(), _instance)) {
        return false;
    }
    set_dev_id(_instance, _dev->get_bus_id());

    printf("%s found on bus %u id %u address 0x%02x\n", name,
           _dev->bus_num(), _dev->get_bus_id(), _dev->get_bus_address());

    set_rotation(_instance, _rotation);

    if (_force_external) {
        set_external(_instance, true);
    }

    //Enable 100HZ
    _dev->register_periodic_callback(10000,
                                     FUNCTOR_BIND_MEMBER(&AP_Compass_QMC5883P::timer, void));

    return true;

fail:
    _dev->get_semaphore()->give();
    return false;
}
bool AP_Compass_QMC5883P::_check_whoami()
{
    uint8_t whoami;
    if (!_dev->read_registers(QMC5883P_REG_ID, &whoami,1)||
        whoami != QMC5883P_ID_VAL) {
        return false;
    }
    return true;
}

void AP_Compass_QMC5883P::timer()
{
    struct PACKED {
        int16_t rx;
        int16_t ry;
        int16_t rz;
    } buffer;

    const float range_scale = 1000.0f / 3000.0f;

    uint8_t status;
    if (!_dev->read_registers(QMC5883P_REG_STATUS,&status,1)) {
        return;
    }
    //new data is ready
    if (!(status & QMC5883P_STATUS_DATA_READY)) {
        return;
    }

    if (!_dev->read_registers(QMC5883P_REG_DATA_OUTPUT_X, (uint8_t *) &buffer, sizeof(buffer))) {
        return ;
    }

    auto x = buffer.rx;
    auto y = buffer.ry;
    auto z = buffer.rz;

#if DEBUG
    printf("mag.x:%d\n",x);
    printf("mag.y:%d\n",y);
    printf("mag.z:%d\n",z);
#endif

    Vector3f field = Vector3f{x * range_scale, y * range_scale, z * range_scale };

    accumulate_sample(field, _instance, 20);
}

void AP_Compass_QMC5883P::read()
{
    drain_accumulated_samples(_instance);
}

void AP_Compass_QMC5883P::_dump_registers()
{
    printf("QMC5883P registers dump\n");
    for (uint8_t reg = QMC5883P_REG_DATA_OUTPUT_X; reg <= 0x30; reg++) {
        uint8_t v;
        _dev->read_registers(reg,&v,1);
        printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
        if ((reg - ( QMC5883P_REG_DATA_OUTPUT_X-1)) % 16 == 0) {
            printf("\n");
        }
    }
}

#endif //AP_COMPASS_QMC5883P_ENABLED