/****************************************************************************
 *
 *   Copyright (c) 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
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file board_config.h
 *
 * ModalAI FC-v1 internal definitions
 */

#pragma once

/****************************************************************************************************
 * Included Files
 ****************************************************************************************************/

#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>

#include <stm32_gpio.h>

/****************************************************************************************************
 * Definitions
 ****************************************************************************************************/

/* Configuration ************************************************************************************/

// NA on ModalAI FC-v1

/* PX4FMU GPIOs ***********************************************************************************/

#undef TRACE_PINS

/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */

#if !defined(TRACE_PINS)
#  define GPIO_nLED_RED        /* PB0 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#  define GPIO_nLED_GREEN      /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#  define GPIO_nLED_BLUE       /* PA7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN7)

#  define GPIO_nLED_2_RED      /* PI0 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
#  define GPIO_nLED_2_GREEN    /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11)
#  define GPIO_nLED_2_BLUE     /* PA2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)

#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
#  define BOARD_OVERLOAD_LED     LED_RED
#  define BOARD_ARMED_STATE_LED  LED_BLUE
#endif

/* SPI */
#define GPIO_FYSNC_INT_ICM42688     /* PA0  */   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_FYSNC_INT_ICM20602     /* PH10 */   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)

/* I2C busses */

/* Devices on the onboard bus.
 *
 * Note that these are unshifted addresses.
 */
#define PX4_I2C_OBDEV_A71CH         0x49

#define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
#define GPIO_A71CH_nRST             /* PH3  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3)

/*
 * ADC channels
 *
 * These are the channel numbers of the ADCs of the microcontroller that
 * can be used by the Px4 Firmware in the adc driver
 */

/* ADC defines to be used in sensors.cpp to read from a particular channel */

#define ADC1_CH(n)                  (n)
#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
#define ADC3_CH(n)                  (n)
#define ADC3_GPIO(n)                GPIO_ADC3_IN##n

/* Define GPIO pins used as ADC N.B. Channel numbers must match below */

#define PX4_ADC_GPIO  \
	/* PC0 */  ADC1_GPIO(10), \
	/* PC1 */  ADC1_GPIO(11), \
	/* PF4 */  ADC3_GPIO(14), \
	/* PF5 */  ADC3_GPIO(15)

/* Define Channel numbers must match above GPIO pin IN(n)*/

#define ADC_SCALED_V5_CHANNEL                   /* PC0 */  ADC1_CH(10)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL      /* PC1 */  ADC1_CH(11)
#define ADC_HW_VER_SENSE_CHANNEL                /* PF4 */  ADC3_CH(14)
#define ADC_HW_REV_SENSE_CHANNEL                /* PF5 */  ADC3_CH(15)

#define ADC_CHANNELS \
	((1 << ADC_SCALED_V5_CHANNEL) | \
	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
	 (1 << ADC_HW_VER_SENSE_CHANNEL) | \
	 (1 << ADC_HW_REV_SENSE_CHANNEL))

/* HW has to large of R termination on ADC todo:change when HW value is chosen */

#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE

#define SYSTEM_ADC_BASE STM32_ADC1_BASE

#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

/* HW Version and Revision drive signals Default to 1 to detect */

#define BOARD_HAS_HW_VERSIONING

#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
#define HW_INFO_INIT           {'V','1','x', 'x',0}
#define HW_INFO_INIT_VER       2 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV       3 /* Offset in above string of the REV */

/* PWM
 */

#define DIRECT_PWM_OUTPUT_CHANNELS  8
#define DIRECT_INPUT_TIMER_CHANNELS  8

#define GPIO_CAN1_SILENT                /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11)

#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

/* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */

#define GPIO_VOXL_STATUS_OUT            /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VOXL_STATUS_IN             /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)

/* Define True logic Power Control in arch agnostic form */

#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))

/* USB OTG FS
 *
 * PA9  OTG_FS_VBUS VBUS sensing
 */
#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)

/* High-resolution timer */
#define HRT_TIMER               8  /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

/* RC Serial port */

#define RC_SERIAL_PORT                     "/dev/ttyS5"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

/* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
#define GPIO_SAFETY_SWITCH_IN              /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */

/* Power switch controls ******************************************************/

#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)

/*
 * ModalAI FC-v1 has a separate RC_IN
 *
 * GPIO PPM_IN on PI5 T8CH1
 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
 *   Inversion is possible in the UART and can drive  GPIO PPM_IN as an output
 */

#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)

#define SPEKTRUM_RX_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(SPEKTRUM_RX_AS_OUT)
#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_true))

#define SDIO_SLOTNO                    0  /* Only one slot */
#define SDIO_MINOR                     0

/* SD card bringup does not work if performed on the IDLE thread because it
 * will cause waiting.  Use either:
 *
 *  CONFIG_LIB_BOARDCTL=y, OR
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
#  warning SDIO initialization cannot be perfomed on the IDLE thread
#endif

/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
 * this board support the ADC system_power interface, and therefore
 * provides the true logic GPIO BOARD_ADC_xxxx macros.
 */
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))

/* ModalAI FC-v1 never powers off the Servo rail */

#define BOARD_ADC_SERVO_VALID     (1)
#define BOARD_ADC_BRICK_VALID     (1)


#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120

/* This board provides the board_on_reset interface */

#define BOARD_HAS_ON_RESET 1

#define PX4_GPIO_INIT_LIST { \
		PX4_ADC_GPIO,                     \
		GPIO_HW_VER_REV_DRIVE,            \
		GPIO_CAN1_TX,                     \
		GPIO_CAN1_RX,                     \
		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
		GPIO_VDD_3V3_SD_CARD_EN,          \
		GPIO_A71CH_nRST,                  \
		GPIO_VOXL_STATUS_OUT,             \
		GPIO_VOXL_STATUS_IN,              \
		GPIO_SAFETY_SWITCH_IN,            \
		GPIO_FYSNC_INT_ICM42688,          \
		GPIO_FYSNC_INT_ICM20602           \
	}

#define BOARD_ENABLE_CONSOLE_BUFFER

#define BOARD_NUM_IO_TIMERS 5

#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};

__BEGIN_DECLS

/****************************************************************************************************
 * Public Types
 ****************************************************************************************************/

/****************************************************************************************************
 * Public data
 ****************************************************************************************************/

#ifndef __ASSEMBLY__

/****************************************************************************************************
 * Public Functions
 ****************************************************************************************************/

/****************************************************************************
 * Name: stm32_sdio_initialize
 *
 * Description:
 *   Initialize SDIO-based MMC/SD card support
 *
 ****************************************************************************/

int stm32_sdio_initialize(void);

/****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
 *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ****************************************************************************************************/

extern void stm32_spiinitialize(void);

extern void stm32_usbinitialize(void);

extern void board_peripheral_reset(int ms);

#include <px4_platform_common/board_common.h>

#endif /* __ASSEMBLY__ */

__END_DECLS