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/*

Copyright 2007, Niklas Nold

This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.

Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>

#include "mm3.h"
#include "main.h"
#include "mymath.h"
#include "fc.h"
#include "timer0.h"
#include "rc.h"
#include "eeprom.h"

#define MAX_AXIS_VALUE          500


typedef struct
{
        uint8_t STATE;
        uint16_t DRDY;
        uint8_t AXIS;
        int16_t x_axis;
        int16_t y_axis;
        int16_t z_axis;
} MM3_working_t;


// MM3 State Machine
#define MM3_STATE_RESET                         0
#define MM3_STATE_START_TRANSFER        1
#define MM3_STATE_WAIT_DRDY                     2
#define MM3_STATE_DRDY                          3
#define MM3_STATE_BYTE2                         4

#define MM3_X_AXIS              0x01
#define MM3_Y_AXIS              0x02
#define MM3_Z_AXIS              0x03


#define MM3_PERIOD_32   0x00
#define MM3_PERIOD_64   0x10
#define MM3_PERIOD_128  0x20
#define MM3_PERIOD_256  0x30
#define MM3_PERIOD_512  0x40
#define MM3_PERIOD_1024 0x50
#define MM3_PERIOD_2048 0x60
#define MM3_PERIOD_4096 0x70

MM3_calib_t MM3_calib;
volatile MM3_working_t MM3;



/*********************************************/
/*  Initialize Interface to MM3 Compass      */
/*********************************************/
void MM3_Init(void)
{
        uint8_t sreg = SREG;

        cli();

        // Configure Pins for SPI
        // set SCK (PB7), MOSI (PB5) as output
        DDRB |= (1<<DDB7)|(1<<DDB5);
        // set MISO (PB6) as input
        DDRB &= ~(1<<DDB6);

        // Output Pins PC4->MM3_SS ,PC5->MM3_RESET
        DDRC |= (1<<DDC4)|(1<<DDC5);
        // set pins permanent to low
        PORTC &= ~((1<<PORTC4)|(1<<PORTC5));

        // Initialize SPI-Interface
        // Enable interrupt (SPIE=1)
        // Enable SPI bus (SPE=1)
        // MSB transmitted first (DORD = 0)
        // Master SPI Mode (MSTR=1)
        // Clock polarity low whn idle (CPOL=0)
        // clock phase sample at leading edge (CPHA=0)
        // clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz
        SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0);
        SPSR &= ~(1<<SPI2X);

    // Init Statemachine
        MM3.AXIS = MM3_X_AXIS;
        MM3.STATE = MM3_STATE_RESET;

        // Read calibration from EEprom
        MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF);
        MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF);
        MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF);
        MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE);
        MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE);
        MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE);

        SREG = sreg;
}


/*********************************************/
/*  Get Data from MM3                        */
/*********************************************/
void MM3_Update() // called every 102.4 ms by timer 0 ISR
{
        switch (MM3.STATE)
        {
        case MM3_STATE_RESET:
                PORTC &= ~(1<<PORTC4); // select slave
                PORTC |= (1<<PORTC5);   // PC5 to High, MM3 Reset
                MM3.STATE = MM3_STATE_START_TRANSFER;
                return;

        case MM3_STATE_START_TRANSFER:
                PORTC &= ~(1<<PORTC5);  // PC4 auf Low (was 102.4 µs at high level)

                // write to SPDR triggers automatically the transfer MOSI MISO
                // MM3 Period, + AXIS code
                if (MM3.AXIS == MM3_X_AXIS) SPDR = MM3_PERIOD_256 + MM3_X_AXIS;
                else if (MM3.AXIS == MM3_Y_AXIS) SPDR = MM3_PERIOD_256 + MM3_Y_AXIS;
                else SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; // MM3_Z_AXIS

                // DRDY line is not connected, therefore
                // wait before reading data back
                MM3.DRDY = SetDelay(8); // wait 8ms for data ready
                MM3.STATE = MM3_STATE_WAIT_DRDY;
                return;

        case MM3_STATE_WAIT_DRDY:
                if (CheckDelay(MM3.DRDY))
                {
                        // write something into SPDR to trigger data reading
                        SPDR = 0x00;
                        MM3.STATE = MM3_STATE_DRDY;
                }
                return;
        }
}


/*********************************************/
/*  Interrupt SPI transfer complete          */
/*********************************************/
ISR(SPI_STC_vect)
{
        static int8_t tmp;
        int16_t value;

        switch (MM3.STATE)
        {
        // 1st byte received
        case MM3_STATE_DRDY:
                tmp = SPDR;     // store 1st byte
                SPDR = 0x00;    // trigger transfer of 2nd byte
                MM3.STATE = MM3_STATE_BYTE2;
                return;

        case MM3_STATE_BYTE2:           // 2nd byte received
                value = (int16_t)tmp;   // combine the 1st and 2nd byte to a word
                value <<= 8;            // shift 1st byte to MSB-Position
                value |= (int16_t)SPDR; // add 2nd byte

                if(abs(value) < MAX_AXIS_VALUE)         // ignore spikes
                {
                        switch (MM3.AXIS)
                        {
                        case MM3_X_AXIS:
                                MM3.x_axis = value;
                                MM3.AXIS = MM3_Y_AXIS;
                                break;
                        case MM3_Y_AXIS:
                                MM3.y_axis = value;
                                MM3.AXIS = MM3_Z_AXIS;
                                break;
                        case MM3_Z_AXIS:
                                MM3.z_axis = value;
                                MM3.AXIS = MM3_X_AXIS;
                                break;
                        default:
                                MM3.AXIS = MM3_X_AXIS;
                                break;
                        }
                }
                PORTC |= (1<<PORTC4); // deselect slave
                MM3.STATE = MM3_STATE_RESET;
        }
}



/*********************************************/
/*  Calibrate Compass                        */
/*********************************************/
void MM3_Calibrate(void)
{
        int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0;
        uint8_t measurement = 50, beeper = 0;
        uint16_t timer;

        GRN_ON;
        ROT_OFF;

        // get maximum and minimum reading of all axis
        while (measurement)
        {
                if (MM3.x_axis > x_max) x_max = MM3.x_axis;
                else if (MM3.x_axis < x_min) x_min = MM3.x_axis;

                if (MM3.y_axis > y_max) y_max = MM3.y_axis;
                else if (MM3.y_axis < y_min) y_min = MM3.y_axis;

                if (MM3.z_axis > z_max) z_max = MM3.z_axis;
                else if (MM3.z_axis < z_min) z_min = MM3.z_axis;

                if (!beeper)
                {
                        ROT_FLASH;
                        GRN_FLASH;
                        BeepTime = 50;
                        beeper = 50;
                }
                beeper--;

                // loop with period of 10 ms / 100 Hz
                timer = SetDelay(10);
                while(!CheckDelay(timer));

                // If thrust is less than 100, stop calibration with a delay of 0.5 seconds
                if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--;
        }

        // Rage of all axis
        MM3_calib.X_range = (x_max - x_min);
        MM3_calib.Y_range = (y_max - y_min);
        MM3_calib.Z_range = (z_max - z_min);

        // Offset of all axis
        MM3_calib.X_off = (x_max + x_min) / 2;
        MM3_calib.Y_off = (y_max + y_min) / 2;
        MM3_calib.Z_off = (z_max + z_min) / 2;

        // save to EEProm
        SetParamByte(PID_MM3_X_OFF,   (uint8_t)MM3_calib.X_off);
        SetParamByte(PID_MM3_Y_OFF,   (uint8_t)MM3_calib.Y_off);
        SetParamByte(PID_MM3_Z_OFF,   (uint8_t)MM3_calib.Z_off);
        SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range);
        SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range);
        SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range);
}


/*********************************************/
/*  Calculate north direction (heading)      */
/*********************************************/
int16_t MM3_Heading(void)
{
        int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw;
        int32_t  Hx, Hy, Hz, Hx_corr, Hy_corr;
        int16_t angle;
        uint16_t div_factor;
        int16_t heading;

        // calibration factor for transforming Gyro Integrals to angular degrees
        div_factor = (uint16_t)ParamSet.UserParam3 * 8;

        // Offset correction and normalization (values of H are +/- 512)
        Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range;
        Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range;
        Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range;

        // Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation
    // assuming the MM3 board is mounted parallel to the frame.
    // User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading
    // in a top view counter clockwise direction.
    // North is in opposite direction of the small arrow on the MM3 board.
    // Therefore 180 deg must be added to that angle.
        angle = ((int16_t)ParamSet.UserParam4 + 180);
        // wrap angle to interval of 0°- 359°
        angle += 360;
        angle %= 360;
        sin_yaw = (int32_t)(c_sin_8192(angle));
        cos_yaw = (int32_t)(c_cos_8192(angle));

        Hx_corr = Hx;
        Hy_corr = Hy;

        // rotate
        Hx = (Hx_corr * cos_yaw - Hy_corr  * sin_yaw) / 8192;
        Hy = (Hx_corr * sin_yaw + Hy_corr  * cos_yaw) / 8192;


    // tilt compensation

        // calibration factor for transforming Gyro Integrals to angular degrees
        div_factor = (uint16_t)ParamSet.UserParam3 * 8;

        // calculate sinus cosinus of pitch and tilt angle
        angle = (IntegralPitch/div_factor);
        sin_pitch = (int32_t)(c_sin_8192(angle));
        cos_pitch = (int32_t)(c_cos_8192(angle));

        angle = (IntegralRoll/div_factor);
        sin_roll = (int32_t)(c_sin_8192(angle));
        cos_roll = (int32_t)(c_cos_8192(angle));

        Hx_corr = Hx * cos_pitch;
        Hx_corr -= Hz * sin_pitch;
        Hx_corr /= 8192;

        Hy_corr = Hy * cos_roll;
        Hy_corr += Hz * sin_roll;
        Hy_corr /= 8192;

        // calculate Heading
        heading = c_atan2(Hy_corr, Hx_corr);

    // atan returns angular range from -180 deg to 180 deg in counter clockwise notation
    // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
        if (heading < 0) heading = -heading;
        else heading = 360 - heading;

return heading;
}