/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011,2012 Giovanni Di Sirio.

    This file is part of ChibiOS/RT.

    ChibiOS/RT 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.

    ChibiOS/RT 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/>.
*/

#include "ch.h"
#include "hal.h"
#include "test.h"

#include "chprintf.h"
#include "shell.h"
#include "lis302dl.h"

#include "usbcfg.h"

/* Virtual serial port over USB.*/
static SerialUSBDriver SDU1;

/*===========================================================================*/
/* Command line related.                                                     */
/*===========================================================================*/

#define SHELL_WA_SIZE   THD_WA_SIZE(2048)
#define TEST_WA_SIZE    THD_WA_SIZE(256)

static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
  size_t n, size;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: mem\r\n");
    return;
  }
  n = chHeapStatus(NULL, &size);
  chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
  chprintf(chp, "heap fragments   : %u\r\n", n);
  chprintf(chp, "heap free total  : %u bytes\r\n", size);
}

static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
  static const char *states[] = {THD_STATE_NAMES};
  Thread *tp;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: threads\r\n");
    return;
  }
  chprintf(chp, "    addr    stack prio refs     state time\r\n");
  tp = chRegFirstThread();
  do {
    chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
            (uint32_t)tp, (uint32_t)tp->p_ctx.r13,
            (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
            states[tp->p_state], (uint32_t)tp->p_time);
    tp = chRegNextThread(tp);
  } while (tp != NULL);
}

static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
  Thread *tp;

  (void)argv;
  if (argc > 0) {
    chprintf(chp, "Usage: test\r\n");
    return;
  }
  tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
                           TestThread, chp);
  if (tp == NULL) {
    chprintf(chp, "out of memory\r\n");
    return;
  }
  chThdWait(tp);
}

static const ShellCommand commands[] = {
  {"mem", cmd_mem},
  {"threads", cmd_threads},
  {"test", cmd_test},
  {NULL, NULL}
};

static const ShellConfig shell_cfg1 = {
  (BaseSequentialStream *)&SDU1,
  commands
};

/*===========================================================================*/
/* Accelerometer related.                                                    */
/*===========================================================================*/

/*
 * PWM configuration structure.
 * Cyclic callback enabled, channels 1 and 4 enabled without callbacks,
 * the active state is a logic one.
 */
static const PWMConfig pwmcfg = {
  100000,                                   /* 100kHz PWM clock frequency.  */
  128,                                      /* PWM period is 128 cycles.    */
  NULL,
  {
   {PWM_OUTPUT_ACTIVE_HIGH, NULL},
   {PWM_OUTPUT_ACTIVE_HIGH, NULL},
   {PWM_OUTPUT_ACTIVE_HIGH, NULL},
   {PWM_OUTPUT_ACTIVE_HIGH, NULL}
  },
  /* HW dependent part.*/
  0
};

/*
 * SPI1 configuration structure.
 * Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first.
 * The slave select line is the pin GPIOE_CS_SPI on the port GPIOE.
 */
static const SPIConfig spi1cfg = {
  NULL,
  /* HW dependent part.*/
  GPIOE,
  GPIOE_CS_SPI,
  SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA
};

/*
 * SPI2 configuration structure.
 * Speed 21MHz, CPHA=0, CPOL=0, 8bits frames, MSb transmitted first.
 * The slave select line is the pin 12 on the port GPIOA.
 */
static const SPIConfig spi2cfg = {
  NULL,
  /* HW dependent part.*/
  GPIOB,
  12,
  0
};

/*
 * This is a periodic thread that reads accelerometer and outputs
 * result to SPI2 and PWM.
 */
static WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) {
  static int8_t xbuf[4], ybuf[4];   /* Last accelerometer data.*/
  systime_t time;                   /* Next deadline.*/

  (void)arg;
  chRegSetThreadName("reader");

  /* LIS302DL initialization.*/
  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG1, 0x43);
  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG2, 0x00);
  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);

  /* Reader thread loop.*/
  time = chTimeNow();
  while (TRUE) {
    int32_t x, y;
    unsigned i;

    /* Keeping an history of the latest four accelerometer readings.*/
    for (i = 3; i > 0; i--) {
      xbuf[i] = xbuf[i - 1];
      ybuf[i] = ybuf[i - 1];
    }

    /* Reading MEMS accelerometer X and Y registers.*/
    xbuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTX);
    ybuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTY);

    /* Transmitting accelerometer the data over SPI2.*/
    spiSelect(&SPID2);
    spiSend(&SPID2, 4, xbuf);
    spiSend(&SPID2, 4, ybuf);
    spiUnselect(&SPID2);

    /* Calculating average of the latest four accelerometer readings.*/
    x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] +
         (int32_t)xbuf[2] + (int32_t)xbuf[3]) / 4;
    y = ((int32_t)ybuf[0] + (int32_t)ybuf[1] +
         (int32_t)ybuf[2] + (int32_t)ybuf[3]) / 4;

    /* Reprogramming the four PWM channels using the accelerometer data.*/
    if (y < 0) {
      pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)-y);
      pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)0);
    }
    else {
      pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)y);
      pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)0);
    }
    if (x < 0) {
      pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)-x);
      pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)0);
    }
    else {
      pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)x);
      pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)0);
    }

    /* Waiting until the next 250 milliseconds time interval.*/
    chThdSleepUntil(time += MS2ST(100));
  }
}

/*===========================================================================*/
/* Initialization and main thread.                                           */
/*===========================================================================*/

/*
 * Application entry point.
 */
int main(void) {
  Thread *shelltp = NULL;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Shell manager initialization.
   */
  shellInit();

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1000);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Activates the serial driver 2 using the driver default configuration.
   * PA2(TX) and PA3(RX) are routed to USART2.
   */
  sdStart(&SD2, NULL);
  palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
  palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));

  /*
   * Initializes the SPI driver 1 in order to access the MEMS. The signals
   * are already initialized in the board file.
   */
  spiStart(&SPID1, &spi1cfg);

  /*
   * Initializes the SPI driver 2. The SPI2 signals are routed as follow:
   * PB12 - NSS.
   * PB13 - SCK.
   * PB14 - MISO.
   * PB15 - MOSI.
   */
  spiStart(&SPID2, &spi2cfg);
  palSetPad(GPIOB, 12);
  palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |
                           PAL_STM32_OSPEED_HIGHEST);           /* NSS.     */
  palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |
                           PAL_STM32_OSPEED_HIGHEST);           /* SCK.     */
  palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5));              /* MISO.    */
  palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) |
                           PAL_STM32_OSPEED_HIGHEST);           /* MOSI.    */

  /*
   * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
   */
  pwmStart(&PWMD4, &pwmcfg);
  palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2));      /* Green.   */
  palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2));      /* Orange.  */
  palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2));      /* Red.     */
  palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2));      /* Blue.    */

  /*
   * Creates the example thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1),
                    NORMALPRIO + 10, Thread1, NULL);

  /*
   * Normal main() thread activity, in this demo it just performs
   * a shell respawn upon its termination.
   */
  while (TRUE) {
    if (!shelltp) {
      if (SDU1.config->usbp->state == USB_ACTIVE) {
        /* Spawns a new shell.*/
        shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
      }
    }
    else {
      /* If the previous shell exited.*/
      if (chThdTerminated(shelltp)) {
        /* Recovers memory of the previous shell.*/
        chThdRelease(shelltp);
        shelltp = NULL;
      }
    }
    chThdSleepMilliseconds(500);
  }
}