/****************************************************************************
 *
 *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 ****************************************************************************/

#pragma once

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/time.h>
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include "hmc5883.h"

/*
 * HMC5883 internal constants and data structures.
 */

/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
#define HMC5883_CONVERSION_INTERVAL	(1000000 / 150)	/* microseconds */

#define ADDR_CONF_A			0x00
#define ADDR_CONF_B			0x01
#define ADDR_MODE			0x02
#define ADDR_DATA_OUT_X_MSB		0x03
#define ADDR_DATA_OUT_X_LSB		0x04
#define ADDR_DATA_OUT_Z_MSB		0x05
#define ADDR_DATA_OUT_Z_LSB		0x06
#define ADDR_DATA_OUT_Y_MSB		0x07
#define ADDR_DATA_OUT_Y_LSB		0x08
#define ADDR_STATUS			0x09

/* temperature on hmc5983 only */
#define ADDR_TEMP_OUT_MSB		0x31
#define ADDR_TEMP_OUT_LSB		0x32

/* modes not changeable outside of driver */
#define HMC5883L_MODE_NORMAL		(0 << 0)  /* default */
#define HMC5883L_MODE_POSITIVE_BIAS	(1 << 0)  /* positive bias */
#define HMC5883L_MODE_NEGATIVE_BIAS	(1 << 1)  /* negative bias */

#define HMC5883L_AVERAGING_1		(0 << 5) /* conf a register */
#define HMC5883L_AVERAGING_2		(1 << 5)
#define HMC5883L_AVERAGING_4		(2 << 5)
#define HMC5883L_AVERAGING_8		(3 << 5)

#define MODE_REG_CONTINOUS_MODE		(0 << 0)
#define MODE_REG_SINGLE_MODE		(1 << 0) /* default */

#define STATUS_REG_DATA_OUT_LOCK	(1 << 1) /* page 16: set if data is only partially read, read device to reset */
#define STATUS_REG_DATA_READY		(1 << 0) /* page 16: set if all axes have valid measurements */

#define HMC5983_TEMP_SENSOR_ENABLE	(1 << 7)

class HMC5883 : public I2CSPIDriver<HMC5883>
{
public:
	HMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
	virtual ~HMC5883();

	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
					     int runtime_instance);
	static void print_usage();

	void			RunImpl();

	int		init();

protected:
	void print_status() override;

private:
	PX4Magnetometer		_px4_mag;
	device::Device		*_interface;
	unsigned		_measure_interval{0};

	float 			_range_ga;
	bool			_collect_phase;

	perf_counter_t		_sample_perf;
	perf_counter_t		_comms_errors;
	perf_counter_t		_range_errors;
	perf_counter_t		_conf_errors;

	uint8_t			_range_bits;
	uint8_t			_conf_reg;
	uint8_t			_temperature_counter;
	uint8_t			_temperature_error_count;

	/**
	 * Initialise the automatic measurement state machine and start it.
	 *
	 * @note This function is called at open and error time.  It might make sense
	 *       to make it more aggressive about resetting the bus in case of errors.
	 */
	void			start();

	/**
	 * Reset the device
	 */
	int			reset();

	/**
	 * enable hmc5983 temperature compensation
	 */
	int			set_temperature_compensation(unsigned enable);

	/**
	 * Set the sensor range.
	 *
	 * Sets the internal range to handle at least the argument in Gauss.
	 */
	int 			set_range(unsigned range);

	/**
	 * check the sensor range.
	 *
	 * checks that the range of the sensor is correctly set, to
	 * cope with communication errors causing the range to change
	 */
	void 			check_range();

	/**
	 * check the sensor configuration.
	 *
	 * checks that the config of the sensor is correctly set, to
	 * cope with communication errors causing the configuration to
	 * change
	 */
	void 			check_conf();

	/**
	 * Write a register.
	 *
	 * @param reg		The register to write.
	 * @param val		The value to write.
	 * @return		OK on write success.
	 */
	int			write_reg(uint8_t reg, uint8_t val);

	/**
	 * Read a register.
	 *
	 * @param reg		The register to read.
	 * @param val		The value read.
	 * @return		OK on read success.
	 */
	int			read_reg(uint8_t reg, uint8_t &val);

	/**
	 * Issue a measurement command.
	 *
	 * @return		OK if the measurement command was successful.
	 */
	int			measure();

	/**
	 * Collect the result of the most recent measurement.
	 */
	int			collect();
};