/*
   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 - px4 driver loading and setup
 */

#include <AP_HAL/AP_HAL.h>
#include "AP_BoardConfig.h"

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <nuttx/arch.h>
#include <spawn.h>

#if HAL_WITH_UAVCAN
#include <AP_HAL_PX4/CAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif

extern const AP_HAL::HAL& hal;

AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;

/* 
   declare driver main entry points
 */
extern "C" {
#if HAL_WITH_UAVCAN
    int uavcan_main(int, char **);
#endif
    int fmu_main(int, char **);
    int px4io_main(int, char **);
    int adc_main(int, char **);
    int tone_alarm_main(int, char **);
};

/*
  setup PWM pins
 */
void AP_BoardConfig::px4_setup_pwm()
{
    /* configure the FMU driver for the right number of PWMs */
    static const struct {
        uint8_t mode_parm;
        uint8_t mode_value;
        uint8_t num_gpios;
    } mode_table[] = {
        /* table mapping BRD_PWM_COUNT to ioctl arguments */
        { 0, PWM_SERVO_MODE_NONE, 6 },
        { 2, PWM_SERVO_MODE_2PWM, 4 },
        { 4, PWM_SERVO_MODE_4PWM, 2 },
        { 6, PWM_SERVO_MODE_6PWM, 0 },
        { 7, PWM_SERVO_MODE_3PWM1CAP, 2 },
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
        { 8, PWM_SERVO_MODE_12PWM, 0 },
#endif
    };
    uint8_t mode_parm = (uint8_t)px4.pwm_count.get();
    uint8_t i;
    for (i=0; i<ARRAY_SIZE(mode_table); i++) {
        if (mode_table[i].mode_parm == mode_parm) {
            break;
        }
    }
    if (i == ARRAY_SIZE(mode_table)) {
        hal.console->printf("RCOutput: invalid BRD_PWM_COUNT %u\n", mode_parm);
    } else {
        int fd = open("/dev/px4fmu", 0);
        if (fd == -1) {
            AP_HAL::panic("Unable to open /dev/px4fmu");
        }
        if (ioctl(fd, PWM_SERVO_SET_MODE, mode_table[i].mode_value) != 0) {
            hal.console->printf("RCOutput: unable to setup AUX PWM with BRD_PWM_COUNT %u\n", mode_parm);
        }
        close(fd);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
        if (mode_table[i].num_gpios < 2) {
            // reduce change of config mistake where relay and PWM interfere
            AP_Param::set_default_by_name("RELAY_PIN", -1);
            AP_Param::set_default_by_name("RELAY_PIN2", -1);
        }
#endif
    }
}

/*
  setup flow control on UARTs
 */
void AP_BoardConfig::px4_setup_uart()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser1_rtscts.get());
    if (hal.uartD != nullptr) {
        hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser2_rtscts.get());
    }
#endif
}

/*
  setup safety switch
 */
void AP_BoardConfig::px4_setup_safety_mask()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    // setup channels to ignore the armed state
    int px4io_fd = open("/dev/px4io", 0);
    if (px4io_fd != -1) {
        if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)px4.ignore_safety_channels) != 0) {
            hal.console->printf("IGNORE_SAFETY failed\n");
        }
    }
    int px4fmu_fd = open("/dev/px4fmu", 0);
    if (px4fmu_fd != -1) {
        uint16_t mask = px4.ignore_safety_channels;
        if (px4io_fd != -1) {
            mask >>= 8;
        }
        if (ioctl(px4fmu_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)mask) != 0) {
            hal.console->printf("IGNORE_SAFETY failed\n");
        }
        close(px4fmu_fd);
    }
    if (px4io_fd != -1) {
        close(px4io_fd);
    }
#endif
}

/*
  init safety state
 */
void AP_BoardConfig::px4_init_safety()
{
    if (px4.safety_enable.get() == 0) {
        hal.rcout->force_safety_off();
        hal.rcout->force_safety_no_wait();
        // 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);
        }
    }
}

/*
  setup SBUS
 */
void AP_BoardConfig::px4_setup_sbus(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    if (px4.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 == px4.sbus_out_rate) {
                rate = rates[i].rate;
            }
        }
        if (!hal.rcout->enable_sbus_out(rate)) {
            hal.console->printf("Failed to enable SBUS out\n");
        }
    }
#endif
}

/*
  setup CANBUS drivers
 */
void AP_BoardConfig::px4_setup_canbus(void)
{
#if HAL_WITH_UAVCAN
    if (_var_info_can._can_enable >= 1) {
        if(hal.can_mgr == nullptr)
        {
            const_cast <AP_HAL::HAL&> (hal).can_mgr = new PX4::PX4CANManager;
        }

        if(hal.can_mgr != nullptr)
        {
            if(_var_info_can._uavcan_enable > 0)
            {
                _var_info_can._uavcan = new AP_UAVCAN;
                if(_var_info_can._uavcan != nullptr)
                {
                    AP_Param::load_object_from_eeprom(_var_info_can._uavcan, AP_UAVCAN::var_info);

                    hal.can_mgr->set_UAVCAN(_var_info_can._uavcan);

                    bool initret = hal.can_mgr->begin(_var_info_can._can_bitrate, _var_info_can._can_enable);
                    if (!initret) {
                        hal.console->printf("Failed to initialize can_mgr\n\r");
                    } else {
                        hal.console->printf("can_mgr initialized well\n\r");

                        // start UAVCAN working thread
                        hal.scheduler->create_uavcan_thread();
                    }
                } else
                {
                    _var_info_can._uavcan_enable.set(0);
                    hal.console->printf("AP_UAVCAN failed to allocate\n\r");
                }
            }
        }
    }
#endif
}

extern "C" int waitpid(pid_t, int *, int);

/*
  start one px4 driver
 */
bool AP_BoardConfig::px4_start_driver(main_fn_t main_function, const char *name, const char *arguments)
{
    char *s = strdup(arguments);
    char *args[10];
    uint8_t nargs = 0;
    char *saveptr = nullptr;

    // parse into separate arguments
    for (char *tok=strtok_r(s, " ", &saveptr); tok; tok=strtok_r(nullptr, " ", &saveptr)) {
        args[nargs++] = tok;
        if (nargs == ARRAY_SIZE(args)-1) {
            break;
        }
    }
    args[nargs++] = nullptr;

    printf("Starting driver %s %s\n", name, arguments);
    pid_t pid;

    if (task_spawn(&pid, name, main_function, nullptr, nullptr,
                   args, nullptr) != 0) {
        free(s);
        printf("Failed to spawn %s\n", name);
        return false;
    }

    // wait for task to exit and gather status
    int status = -1;
    if (waitpid(pid, &status, 0) != pid) {
        printf("waitpid failed for %s\n", name);
        free(s);
        return false;
    }
    free(s);
    return (status >> 8) == 0;
}

void AP_BoardConfig::px4_setup_drivers(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
    /*
      this works around an issue with some FMUv4 hardware (eg. copies
      of the Pixracer) which have incorrect components leading to
      sensor brownout on boot
     */
    if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
        printf("FMUv4 sensor reset complete\n");
    }
#endif

    if (px4.board_type == PX4_BOARD_OLDDRIVERS) {
        printf("Old drivers no longer supported\n");
        px4.board_type = PX4_BOARD_AUTO;
    }

    // run board auto-detection
    px4_autodetect();

    if (px4.board_type == PX4_BOARD_PH2SLIM ||
        px4.board_type == PX4_BOARD_PIXHAWK2) {
        _imu_target_temperature.set_default(45);
        if (_imu_target_temperature.get() < 0) {
            // don't allow a value of -1 on the cube, or it could cook
            // the IMU
            _imu_target_temperature.set(45);
        }
    }

    px4_configured_board = (enum px4_board_type)px4.board_type.get();

    switch (px4_configured_board) {
    case PX4_BOARD_PX4V1:
    case PX4_BOARD_PIXHAWK:
    case PX4_BOARD_PIXHAWK2:
    case PX4_BOARD_PIXRACER:
    case PX4_BOARD_PHMINI:
    case PX4_BOARD_AUAV21:
    case PX4_BOARD_PH2SLIM:
    case PX4_BOARD_AEROFC:
        break;
    default:
        sensor_config_error("Unknown board type");
        break;
    }
}

/*
  play a tune
 */
void AP_BoardConfig::px4_tone_alarm(const char *tone_string)
{
    px4_start_driver(tone_alarm_main, "tone_alarm", tone_string);
}

/*
  setup px4io, possibly updating firmware
 */
void AP_BoardConfig::px4_setup_px4io(void)
{
    if (px4_start_driver(px4io_main, "px4io", "start norc")) {
        printf("px4io started OK\n");
    } else {
        // might be in bootloader mode if user held down safety switch
        // at power on
        printf("Loading /etc/px4io/px4io.bin\n");
        px4_tone_alarm("MBABGP");
        if (px4_start_driver(px4io_main, "px4io", "update /etc/px4io/px4io.bin")) {
            printf("upgraded PX4IO firmware OK\n");
            px4_tone_alarm("MSPAA");
        } else {
            printf("Failed to upgrade PX4IO firmware\n");
            px4_tone_alarm("MNGGG");
        }
        hal.scheduler->delay(1000);
        if (px4_start_driver(px4io_main, "px4io", "start norc")) {
            printf("px4io started OK\n");
        } else {
            sensor_config_error("px4io start failed");
        }
    }

    /*
      see if we need to update px4io firmware
     */
    if (px4_start_driver(px4io_main, "px4io", "checkcrc /etc/px4io/px4io.bin")) {
        printf("PX4IO CRC OK\n");
    } else {
        printf("PX4IO CRC failure\n");
        px4_tone_alarm("MBABGP");
        if (px4_start_driver(px4io_main, "px4io", "safety_on")) {
            printf("PX4IO disarm OK\n");
        } else {
            printf("PX4IO disarm failed\n");
        }
        hal.scheduler->delay(1000);

        if (px4_start_driver(px4io_main, "px4io", "forceupdate 14662 /etc/px4io/px4io.bin")) {
            hal.scheduler->delay(1000);
            if (px4_start_driver(px4io_main, "px4io", "start norc")) {
                printf("px4io restart OK\n");
                px4_tone_alarm("MSPAA");
            } else {
                px4_tone_alarm("MNGGG");
                sensor_config_error("PX4IO restart failed");
            }
        } else {
            printf("PX4IO update failed\n");
            px4_tone_alarm("MNGGG");
        }
    }
}

/*
  setup required peripherals like adc, rcinput and rcoutput
 */
void AP_BoardConfig::px4_setup_peripherals(void)
{
    // always start adc
    if (px4_start_driver(adc_main, "adc", "start")) {
        hal.analogin->init();
        printf("ADC started OK\n");
    } else {
        sensor_config_error("no ADC found");
    }

#if HAL_PX4_HAVE_PX4IO
    if (px4.io_enable.get() != 0) {
        px4_setup_px4io();
    }
#endif

#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
    const char *fmu_mode = "mode_serial";
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
    const char *fmu_mode = "mode_rcin";
#else
    const char *fmu_mode = "mode_pwm4";
#endif
    if (px4_start_driver(fmu_main, "fmu", fmu_mode)) {
        printf("fmu %s started OK\n", fmu_mode);
    } else {
        sensor_config_error("fmu start failed");
    }

    hal.gpio->init();
    hal.rcin->init();
    hal.rcout->init();
}

/*
  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) {
        printf("%s: no device\n", devname);
        return false;
    }
    dev->set_read_flag(read_flag);
    uint8_t v;
    if (!dev->read_registers(regnum, &v, 1)) {
        printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
        return false;
    }
    printf("%s: reg %02x %02x %02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
    return v == value;
}

#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

/*
  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(CONFIG_ARCH_BOARD_PX4FMU_V2)
    if (px4.board_type == PX4_BOARD_PIXHAWK &&
        (spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
        spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
        // 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(CONFIG_ARCH_BOARD_PX4FMU_V3)
        // force user to load the right firmware
        sensor_config_error("Pixhawk2 requires FMUv3 firmware");        
#endif
        px4.board_type.set(PX4_BOARD_PIXHAWK2);
        hal.console->printf("Forced PIXHAWK2\n");
    }
#endif
}

/*
  auto-detect board type
 */
void AP_BoardConfig::px4_autodetect(void)
{
    if (px4.board_type != PX4_BOARD_AUTO) {
        validate_board_type();
        // user has chosen a board type
        return;
    }

#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
    // only one choice
    px4.board_type.set(PX4_BOARD_PX4V1);
    hal.console->printf("Detected PX4v1\n");

#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
    if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
         spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
        spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
        // Pixhawk2 has LSM303D and MPUxxxx on external bus
        px4.board_type.set(PX4_BOARD_PIXHAWK2);
        hal.console->printf("Detected PIXHAWK2\n");
    } else if ((spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
                spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
               spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
        // PHMINI has an ICM20608 and MPU9250 on sensor bus
        px4.board_type.set(PX4_BOARD_PHMINI);
        hal.console->printf("Detected PixhawkMini\n");
    } else if (spi_check_register(HAL_INS_LSM9DS0_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
               (spi_check_register(HAL_INS_MPU60x0_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
                spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
                spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
                spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {

        // classic or upgraded Pixhawk1
        px4.board_type.set(PX4_BOARD_PIXHAWK);
        hal.console->printf("Detected Pixhawk\n");
    } else {
        sensor_config_error("Unable to detect board type");
    }
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
    // only one choice
    px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
    hal.console->printf("Detected Pixracer\n");
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
    px4.board_type.set_and_notify(PX4_BOARD_AEROFC);
    hal.console->printf("Detected Aero FC\n");
#endif

}

/*
  setup px4 peripherals and drivers
 */
void AP_BoardConfig::px4_setup()
{
    px4_setup_peripherals();
    px4_setup_pwm();
    px4_setup_safety_mask();
    px4_setup_uart();
    px4_setup_sbus();
    px4_setup_drivers();
    px4_setup_canbus();
}

#endif // HAL_BOARD_PX4