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 * 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.
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#include "BMI088_Accelerometer.hpp"

#include <ecl/geo/geo.h> // CONSTANTS_ONE_G

using namespace time_literals;

namespace Bosch::BMI088::Accelerometer
{

BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
	BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
	_px4_accel(get_device_id(), rotation)
{
	if (drdy_gpio != 0) {
		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
	}

	ConfigureSampleRate(_px4_accel.get_max_rate_hz());
}

BMI088_Accelerometer::~BMI088_Accelerometer()
{
	perf_free(_bad_register_perf);
	perf_free(_bad_transfer_perf);
	perf_free(_fifo_empty_perf);
	perf_free(_fifo_overflow_perf);
	perf_free(_fifo_reset_perf);
	perf_free(_drdy_missed_perf);
}

void BMI088_Accelerometer::exit_and_cleanup()
{
	DataReadyInterruptDisable();
	I2CSPIDriverBase::exit_and_cleanup();
}

void BMI088_Accelerometer::print_status()
{
	I2CSPIDriverBase::print_status();

	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);

	perf_print_counter(_bad_register_perf);
	perf_print_counter(_bad_transfer_perf);
	perf_print_counter(_fifo_empty_perf);
	perf_print_counter(_fifo_overflow_perf);
	perf_print_counter(_fifo_reset_perf);
	perf_print_counter(_drdy_missed_perf);
}

int BMI088_Accelerometer::probe()
{
	/* 6.1 Serial Peripheral Interface (SPI)
	 * ... the accelerometer part starts always in I2C mode
	 * (regardless of the level of the PS pin) and needs to be changed to SPI
	 *  mode actively by sending a rising edge on the CSB1 pin
	 *  (chip select of the accelerometer), on which the accelerometer part
	 *  switches to SPI mode and stays in this mode until the next power-up-reset.
	 *
	 *  To change the sensor to SPI mode in the initialization phase, the user
	 *  could perfom a dummy SPI read operation, e.g. of register ACC_CHIP_ID
	 *  (the obtained value will be invalid).In case of read operations,
	 */
	RegisterRead(Register::ACC_CHIP_ID);

	const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);

	if (ACC_CHIP_ID == ID_088) {
		DEVICE_DEBUG("BMI088 Accel");

	} else if (ACC_CHIP_ID == ID_090L) {
		DEVICE_DEBUG("BMI090L Accel");

	} else {
		DEVICE_DEBUG("unexpected ACC_CHIP_ID 0x%02x", ACC_CHIP_ID);
		return PX4_ERROR;
	}

	return PX4_OK;
}

void BMI088_Accelerometer::RunImpl()
{
	const hrt_abstime now = hrt_absolute_time();

	switch (_state) {
	case STATE::RESET:
		// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
		RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
		_reset_timestamp = now;
		_failure_count = 0;
		_state = STATE::WAIT_FOR_RESET;
		ScheduleDelayed(1_ms); // Following a delay of 1 ms, all configuration settings are overwritten with their reset value.
		break;

	case STATE::WAIT_FOR_RESET:
		if ((RegisterRead(Register::ACC_CHIP_ID) == ID_088) || (RegisterRead(Register::ACC_CHIP_ID) == ID_090L)) {
			// ACC_PWR_CONF: Power on sensor
			RegisterWrite(Register::ACC_PWR_CONF, 0);

			// if reset succeeded then configure
			_state = STATE::CONFIGURE;
			ScheduleDelayed(10_ms);

		} else {
			// RESET not complete
			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
				PX4_DEBUG("Reset failed, retrying");
				_state = STATE::RESET;
				ScheduleDelayed(100_ms);

			} else {
				PX4_DEBUG("Reset not complete, check again in 10 ms");
				ScheduleDelayed(10_ms);
			}
		}

		break;

	case STATE::CONFIGURE:
		if (Configure()) {
			// if configure succeeded then start reading from FIFO
			_state = STATE::FIFO_READ;

			if (DataReadyInterruptConfigure()) {
				_data_ready_interrupt_enabled = true;

				// backup schedule as a watchdog timeout
				ScheduleDelayed(100_ms);

			} else {
				_data_ready_interrupt_enabled = false;
				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
			}

			FIFOReset();

		} else {
			// CONFIGURE not complete
			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
				PX4_DEBUG("Configure failed, resetting");
				_state = STATE::RESET;

			} else {
				PX4_DEBUG("Configure failed, retrying");
			}

			ScheduleDelayed(100_ms);
		}

		break;

	case STATE::FIFO_READ: {
			uint32_t samples = 0;

			if (_data_ready_interrupt_enabled) {
				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
					perf_count(_drdy_missed_perf);

				} else {
					samples = _fifo_samples;
				}

				// push backup schedule back
				ScheduleDelayed(_fifo_empty_interval_us * 2);
			}

			if (samples == 0) {
				// check current FIFO count
				const uint16_t fifo_byte_counter = FIFOReadCount();

				if (fifo_byte_counter >= FIFO::SIZE) {
					FIFOReset();
					perf_count(_fifo_overflow_perf);

				} else if ((fifo_byte_counter == 0) || (fifo_byte_counter == 0x8000)) {
					// An empty FIFO corresponds to 0x8000
					perf_count(_fifo_empty_perf);

				} else {
					samples = fifo_byte_counter / sizeof(FIFO::DATA);

					if (samples > FIFO_MAX_SAMPLES) {
						// not technically an overflow, but more samples than we expected or can publish
						FIFOReset();
						perf_count(_fifo_overflow_perf);
						samples = 0;
					}
				}
			}

			bool success = false;

			if (samples >= 1) {
				if (FIFORead(now, samples)) {
					success = true;

					if (_failure_count > 0) {
						_failure_count--;
					}
				}
			}

			if (!success) {
				_failure_count++;

				// full reset if things are failing consistently
				if (_failure_count > 10) {
					Reset();
					return;
				}
			}

			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
				// check configuration registers periodically or immediately following any failure
				if (RegisterCheck(_register_cfg[_checked_register])) {
					_last_config_check_timestamp = now;
					_checked_register = (_checked_register + 1) % size_register_cfg;

				} else {
					// register check failed, force reset
					perf_count(_bad_register_perf);
					Reset();
				}

			} else {
				// periodically update temperature (~1 Hz)
				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
					UpdateTemperature();
					_temperature_update_timestamp = now;
				}
			}
		}

		break;
	}
}

void BMI088_Accelerometer::ConfigureAccel()
{
	const uint8_t ACC_RANGE = RegisterRead(Register::ACC_RANGE) & (Bit1 | Bit0);

	switch (ACC_RANGE) {
	case acc_range_3g:
		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
		_px4_accel.set_range(3.f * CONSTANTS_ONE_G);
		break;

	case acc_range_6g:
		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
		_px4_accel.set_range(6.f * CONSTANTS_ONE_G);
		break;

	case acc_range_12g:
		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
		_px4_accel.set_range(12.f * CONSTANTS_ONE_G);
		break;

	case acc_range_24g:
		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
		_px4_accel.set_range(24.f * CONSTANTS_ONE_G);
		break;
	}
}

void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
{
	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
	const float min_interval = FIFO_SAMPLE_DT;
	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

	_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);

	// recompute FIFO empty interval (us) with actual sample limit
	_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);

	ConfigureFIFOWatermark(_fifo_samples);
}

void BMI088_Accelerometer::ConfigureFIFOWatermark(uint8_t samples)
{
	// FIFO_WTM: 13 bit FIFO watermark level value
	// unit of the fifo watermark is one byte
	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);

	for (auto &r : _register_cfg) {
		if (r.reg == Register::FIFO_WTM_0) {
			// fifo_water_mark[7:0]
			r.set_bits = fifo_watermark_threshold & 0x00FF;
			r.clear_bits = ~r.set_bits;

		} else if (r.reg == Register::FIFO_WTM_1) {
			// fifo_water_mark[12:8]
			r.set_bits = (fifo_watermark_threshold & 0x0700) >> 8;
			r.clear_bits = ~r.set_bits;
		}
	}
}

bool BMI088_Accelerometer::Configure()
{
	// first set and clear all configured register bits
	for (const auto &reg_cfg : _register_cfg) {
		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
	}

	// now check that all are configured
	bool success = true;

	for (const auto &reg_cfg : _register_cfg) {
		if (!RegisterCheck(reg_cfg)) {
			success = false;
		}
	}

	ConfigureAccel();

	return success;
}

int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, void *arg)
{
	static_cast<BMI088_Accelerometer *>(arg)->DataReady();
	return 0;
}

void BMI088_Accelerometer::DataReady()
{
	uint32_t expected = 0;

	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
		ScheduleNow();
	}
}

bool BMI088_Accelerometer::DataReadyInterruptConfigure()
{
	if (_drdy_gpio == 0) {
		return false;
	}

	// Setup data ready on falling edge
	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
}

bool BMI088_Accelerometer::DataReadyInterruptDisable()
{
	if (_drdy_gpio == 0) {
		return false;
	}

	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
}

bool BMI088_Accelerometer::RegisterCheck(const register_config_t &reg_cfg)
{
	bool success = true;

	const uint8_t reg_value = RegisterRead(reg_cfg.reg);

	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
		success = false;
	}

	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
		success = false;
	}

	return success;
}

uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
{
	// 6.1.2 SPI interface of accelerometer part
	//
	// In case of read operations of the accelerometer part, the requested data
	// is not sent immediately, but instead first a dummy byte is sent, and
	// after this dummy byte the actual requested register content is transmitted.
	uint8_t cmd[3] {};
	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
	// cmd[1] dummy byte
	transfer(cmd, cmd, sizeof(cmd));
	return cmd[2];
}

void BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
{
	uint8_t cmd[2] { (uint8_t)reg, value };
	transfer(cmd, cmd, sizeof(cmd));
}

void BMI088_Accelerometer::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
{
	const uint8_t orig_val = RegisterRead(reg);

	uint8_t val = (orig_val & ~clearbits) | setbits;

	if (orig_val != val) {
		RegisterWrite(reg, val);
	}
}

uint16_t BMI088_Accelerometer::FIFOReadCount()
{
	// FIFO length registers FIFO_LENGTH_1 and FIFO_LENGTH_0 contain the 14 bit FIFO byte
	uint8_t fifo_len_buf[4] {};
	fifo_len_buf[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ;
	// fifo_len_buf[1] dummy byte

	if (transfer(&fifo_len_buf[0], &fifo_len_buf[0], sizeof(fifo_len_buf)) != PX4_OK) {
		perf_count(_bad_transfer_perf);
		return 0;
	}

	const uint8_t FIFO_LENGTH_0 = fifo_len_buf[2];        // fifo_byte_counter[7:0]
	const uint8_t FIFO_LENGTH_1 = fifo_len_buf[3] & 0x3F; // fifo_byte_counter[13:8]

	return combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
}

bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
	FIFOTransferBuffer buffer{};
	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);

	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
		perf_count(_bad_transfer_perf);
		return false;
	}

	const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);

	// An empty FIFO corresponds to 0x8000
	if (fifo_byte_counter == 0x8000) {
		perf_count(_fifo_empty_perf);
		return false;

	} else if (fifo_byte_counter >= FIFO::SIZE) {
		perf_count(_fifo_overflow_perf);
		return false;
	}

	sensor_accel_fifo_s accel{};
	accel.timestamp_sample = timestamp_sample;
	accel.samples = 0;
	accel.dt = FIFO_SAMPLE_DT;

	// first find all sensor data frames in the buffer
	uint8_t *data_buffer = (uint8_t *)&buffer.f[0];
	unsigned fifo_buffer_index = 0; // start of buffer

	while (fifo_buffer_index < math::min(fifo_byte_counter, transfer_size - 4)) {
		// look for header signature (first 6 bits) followed by two bits indicating the status of INT1 and INT2
		switch (data_buffer[fifo_buffer_index] & 0xFC) {
		case FIFO::header::sensor_data_frame: {
				// Acceleration sensor data frame
				// Frame length: 7 bytes (1 byte header + 6 bytes payload)

				FIFO::DATA *fifo_sample = (FIFO::DATA *)&data_buffer[fifo_buffer_index];
				const int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
				const int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
				const int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);

				// sensor's frame is +x forward, +y left, +z up
				//  flip y & z to publish right handed with z down (x forward, y right, z down)
				accel.x[accel.samples] = accel_x;
				accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
				accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
				accel.samples++;

				fifo_buffer_index += 7; // move forward to next record
			}
			break;

		case FIFO::header::skip_frame:
			// Skip Frame
			// Frame length: 2 bytes (1 byte header + 1 byte payload)
			PX4_DEBUG("Skip Frame");
			fifo_buffer_index += 2;
			break;

		case FIFO::header::sensor_time_frame:
			// Sensortime Frame
			// Frame length: 4 bytes (1 byte header + 3 bytes payload)
			PX4_DEBUG("Sensortime Frame");
			fifo_buffer_index += 4;
			break;

		case FIFO::header::FIFO_input_config_frame:
			// FIFO input config Frame
			// Frame length: 2 bytes (1 byte header + 1 byte payload)
			PX4_DEBUG("FIFO input config Frame");
			fifo_buffer_index += 2;
			break;

		case FIFO::header::sample_drop_frame:
			// Sample drop Frame
			// Frame length: 2 bytes (1 byte header + 1 byte payload)
			PX4_DEBUG("Sample drop Frame");
			fifo_buffer_index += 2;
			break;

		default:
			fifo_buffer_index++;
			break;
		}
	}

	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));

	if (accel.samples > 0) {
		_px4_accel.updateFIFO(accel);
		return true;
	}

	return false;
}

void BMI088_Accelerometer::FIFOReset()
{
	perf_count(_fifo_reset_perf);

	// ACC_SOFTRESET: trigger a FIFO reset by writing 0xB0 to ACC_SOFTRESET (register 0x7E).
	RegisterWrite(Register::ACC_SOFTRESET, 0xB0);

	// reset while FIFO is disabled
	_drdy_fifo_read_samples.store(0);
}

void BMI088_Accelerometer::UpdateTemperature()
{
	// stored in an 11-bit value in 2’s complement format
	uint8_t temperature_buf[4] {};
	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_MSB) | DIR_READ;
	// temperature_buf[1] dummy byte

	if (transfer(&temperature_buf[0], &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
		perf_count(_bad_transfer_perf);
		return;
	}

	const uint8_t TEMP_MSB = temperature_buf[2];
	const uint8_t TEMP_LSB = temperature_buf[3];

	// Datasheet 5.3.7: Register 0x22 – 0x23: Temperature sensor data
	uint16_t Temp_uint11 = (TEMP_MSB * 8) + (TEMP_LSB / 32);
	int16_t Temp_int11 = 0;

	if (Temp_uint11 > 1023) {
		Temp_int11 = Temp_uint11 - 2048;

	} else {
		Temp_int11 = Temp_uint11;
	}

	float temperature = (Temp_int11 * 0.125f) + 23.f; // Temp_int11 * 0.125°C/LSB + 23°C

	if (PX4_ISFINITE(temperature)) {
		_px4_accel.set_temperature(temperature);

	} else {
		perf_count(_bad_transfer_perf);
	}
}

} // namespace Bosch::BMI088::Accelerometer