/*
 * angle.c
 *
 * Communicates with TAD2141 via SPI.
 *
 *  Created on: 2023/09/14
 *      Author: BestTechnology
 */

#include "hal_data.h"

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

#include "angle.h"

#include "trace.h"


#define RESET_VALUE             (0x00)

static volatile spi_event_t spi_master_event;    // Master Transfer Event completion flag

void sci_spi_callback (spi_callback_args_t *p_args) {
    if (SPI_EVENT_TRANSFER_COMPLETE == p_args->event) {
        spi_master_event = SPI_EVENT_TRANSFER_COMPLETE;
    } else {
        /* Updating the flag here to capture and handle all other error events */
        spi_master_event = SPI_EVENT_TRANSFER_ABORTED;
    }
}

static volatile int32_t g_wait_count = INT32_MAX;

static void sci_spi_event_check (void) {
    while (SPI_EVENT_TRANSFER_COMPLETE != spi_master_event) {
        g_wait_count--;
        if (RESET_VALUE >= g_wait_count) {
//            sci_spi_deinit();
        }
        /* All other error events are handled here */
        else if (SPI_EVENT_TRANSFER_ABORTED == spi_master_event) {
//            sci_spi_deinit();
        } else {
            /* Do nothing */
        }
    }
    g_wait_count = INT32_MAX;
}

// Peripheral CRCs are used to store data flash, so we'll do the math straight up here.
// Polynomial 0x1d, Ini Value 0xff, Final xor Value 0xff
static uint8_t GetCRC8 (const void *buf, size_t size) {
    const uint8_t CRC8_SAE_J1850[256] = {
      0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB,
      0xCD, 0xD0, 0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76,
      0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE, 0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C,
      0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19, 0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1,
      0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40, 0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8,
      0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65,
      0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F,
      0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2,
      0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D,
      0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8, 0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50,
      0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A,
      0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7,
      0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E,
      0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB, 0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43,
      0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09,
      0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C, 0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4,
    };
    uint8_t *data = (uint8_t *)buf;
    uint8_t crc8 = 0xFF;

    while (size-- != 0) crc8 = CRC8_SAE_J1850[crc8^ * data++];
    return crc8 ^ 0xff;
}

#define CS_PIN          BSP_IO_PORT_01_PIN_10
#define CS_ASSERT       R_IOPORT_PinWrite(&g_ioport_ctrl, CS_PIN, BSP_IO_LEVEL_LOW);
#define CS_DE_ASSERT    R_IOPORT_PinWrite(&g_ioport_ctrl, CS_PIN, BSP_IO_LEVEL_HIGH);

static bool SPI_WriteRead (const uint8_t *tx, uint8_t *rx, uint32_t len) {
    spi_master_event = RESET_VALUE;
    CS_ASSERT;
    R_SCI_SPI_WriteRead (&g_spi2_ctrl, tx, rx, len, SPI_BIT_WIDTH_8_BITS);
    sci_spi_event_check ();
    CS_DE_ASSERT;
    return true;
}

// Read agnle by streaming
bool tad2141_readstream (uint16_t *ang, uint8_t *stat) {
    uint8_t r[5];

    if (SPI_WriteRead ((const uint8_t[5]){0x05, 0x55, 0x55, 0x55, 0x55}, r, 5)) {
        if (GetCRC8 (&r[1], 3) == r[4]) {
            uint16_t *p = (uint16_t *)(void *)&r[1];
            if (ang != NULL) *ang = 65535UL - __builtin_bswap16 (*p);
            if (stat != NULL) *stat = r[3];
            return true;
        }
    }
    return false;
}

bool tad2141_init (uint16_t *ang, uint8_t *stat) {
    if (R_SCI_SPI_Open (&g_spi2_ctrl, &g_spi2_cfg) == FSP_SUCCESS) {
        CS_DE_ASSERT;
        tad2141_power (false);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
        tad2141_power (true);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);

        return tad2141_readstream (ang, stat);
    }
    return false;
}

void tad2141_power (bool on) {
    __disable_irq ();
    if (on) {
        // power switch on
        R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_02, BSP_IO_LEVEL_HIGH);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
        // SPI
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_10, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_HIGH));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_11, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_01, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_02, ((uint32_t) IOPORT_CFG_PERIPHERAL_PIN | (uint32_t) IOPORT_PERIPHERAL_SCI0_2_4_6_8));
    } else {
        // power switch off
        R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_02, BSP_IO_LEVEL_LOW);
        // Set everything LOW so that the current from the SPI terminal does not feed the power supply.
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_10, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_01_PIN_11, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_01, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
        R_IOPORT_PinCfg(&g_ioport_ctrl, BSP_IO_PORT_03_PIN_02, ((uint32_t) IOPORT_CFG_PORT_DIRECTION_OUTPUT | (uint32_t) IOPORT_CFG_PORT_OUTPUT_LOW));
    }
    __enable_irq ();
}

static inline void set_motor_dir (bool cw) {
    R_IOPORT_PinWrite (&g_ioport_ctrl, BSP_IO_PORT_01_PIN_02, cw ? BSP_IO_LEVEL_HIGH : BSP_IO_LEVEL_LOW);
}

static inline void set_motor_enable (bool en) {
    R_IOPORT_PinWrite (&g_ioport_ctrl, BSP_IO_PORT_01_PIN_03, en ? BSP_IO_LEVEL_LOW : BSP_IO_LEVEL_HIGH);
}

static bool ReadData (uint8_t addr, uint16_t *val) {
  if (addr > 127) return false;
  uint8_t r[10];
  if (!SPI_WriteRead ((uint8_t[7]){0x02, addr, 0x55, 0x55, 0x55, 0x55, 0x55}, r, 7)) return false;
  DBG ("%02x %02x %02x %02x %02x %02x %02x\n", r[0], r[1], r[2], r[3], r[4], r[5], r[6]);
  for (int i = 0; i < 2; i++) if (r[2 + i] != 0x7e) return false;
  if (r[4] != 0x81) return false;
  for (int i = 0; i < 1; i++) {
    uint16_t *p = (uint16_t *)(void *)&r[3 + 2];
    val[i] = __builtin_bswap16 (*p);
  }
  return true;
}

static bool WriteData (uint8_t addr, uint16_t val) {
  if (addr > 127) return false;
  uint8_t r[10];
  if (!SPI_WriteRead ((uint8_t[4]){0x03, addr, (uint8_t)(val >> 8), (uint8_t)(val & 0xff)}, r, 4)) return false;
  return true;
}

static void SPSub1_Program (void) {
    // Setup 'VRR=VRR0'
    WriteData (0x13, 0x000f);
    // Setup Write Data
    WriteData (0x16, 0);

    WriteData (0x15, (0 << 12) | (0 << 11) | (0 << 0));
}

#define Rec_Number  0
void tad2141_EOL_Programming (void) {
    sci_spi_div_setting_t clk_div;

    R_SCI_SPI_CalculateBitrate (1000000, &clk_div, true);

    // Auto-Calibration Procedure
    //  Motor speed:80~4000rpm
    //  Motor speed fluctuation (turn-to-turn):<0.1%/turn
    //  Acceleration from turn-to-turn will lead to higher angular error
    //  # turns during calibration: > 13
    //  The calibration is activated by an SPI write command to register ‘0x1d’. The format of the payload is displayed below
    //    15~14:0 13~11:rpm range 0:2k~4krpm 1:1k~2krpm, 2:500~1000rpm 3:250~500rpm 4:125~250rpm 5:80~125rpm
    //    10~1:address 0:enable
    // Write header of New Rec (by soak procedure)

    R_AGT_Disable (&g_timer0_ctrl);

    // ---Power-On & send valid SPI signature
    tad2141_power (false);
    R_BSP_SoftwareDelay (500, BSP_DELAY_UNITS_MILLISECONDS);
    tad2141_power (true);

    // CMD_WRITE_REG
    // spi signature
    // Address = 8'h23
    // Data = 16'hf862
    WriteData (0x23, 0xf862);

    // ---Start constant speed rotation of magnetic field
    set_motor_dir (0);
    R_GPT_DutyCycleSet (&g_timer5_ctrl, 900, GPT_IO_PIN_GTIOCB);
    set_motor_enable (true);
    R_BSP_SoftwareDelay (1000, BSP_DELAY_UNITS_MILLISECONDS);

    // ---When motor @ constant speed, start “Auto Calibration Mode”
    // SPI CMD_WRITE_REG@dsp_calibrationAddress = 8'h1dData = {5'b00000, Start OTPaddress[10:1], 1'b1}
    DBG ("start auto cal mode\n");
    uint16_t rg = (5 << 11) | ((993 - 67 * Rec_Number) << 1) | 1;
    WriteData (0x1d, rg);


    // ASIC performs“Dynamic compensation”And “Static Compensation”
    // ASIC stores Dynamic and Static compensation parameters in OTP

    // ---Calibration mode finished ?
    for (int i = 0; i < 150; i++) {
        uint16_t r16;
        if (ReadData (0x10, &r16)) DBG ("(%d/%d)r=%d\n",i,150,r16);
        R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);
    }

    // Auto-Calib soak




    // End
    R_SCI_SPI_CalculateBitrate (10000000, &clk_div, true);

    R_GPT_DutyCycleSet (&g_timer5_ctrl, 0, GPT_IO_PIN_GTIOCB);
    set_motor_enable (false);
    tad2141_power (false);

    R_AGT_Enable (&g_timer0_ctrl);
}
