/**
 ******************************************************************************
 *
 * @file       pios_bmp085.c  
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      IRQ Enable/Disable routines
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   PIOS_BMP085 BMP085 Functions
 * @{
 * 
 *****************************************************************************/
/* 
 * This program 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.
 * 
 * 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 General Public License 
 * for more details.
 * 
 * You should have received a copy of the GNU General Public License along 
 * with this program; if not, write to the Free Software Foundation, Inc., 
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
/*
Example of how to use this module:
	PIOS_BMP085_Init();
	
	PIOS_BMP085_StartADC(Temperature);
		(Interrupt reads the ADC)
	
	Somewhere in between these 2 calls we need to wait for the first one to finish
	
	PIOS_BMP085_StartADC(Pressure);
		(Interrupt reads the ADC)
	
	PIOS_BMP085_GetValues(&Pressure, &Altitude, &Temperature);
*/

/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_BMP085)


/* Glocal Variables */
ConversionTypeTypeDef CurrentRead;
xSemaphoreHandle PIOS_BMP085_EOC;

/* Local Variables */
static BMP085CalibDataTypeDef CalibData;
static portBASE_TYPE xHigherPriorityTaskWoken;
/* Straight from the datasheet */
static int32_t X1, X2, X3, B3, B5, B6, P;
static uint32_t B4, B7;
static volatile uint16_t RawTemperature;
static volatile uint32_t RawPressure;
static volatile uint32_t Pressure;
static volatile uint16_t Temperature;


/**
* Initialise the BMP085 sensor
*/
void PIOS_BMP085_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	EXTI_InitTypeDef EXTI_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	/* Enable EOC GPIO clock */
	RCC_APB2PeriphClockCmd(PIOS_BMP085_EOC_CLK | RCC_APB2Periph_AFIO, ENABLE);

	/* Configure EOC pin as input floating */
	GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_EOC_GPIO_PIN;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(PIOS_BMP085_EOC_GPIO_PORT, &GPIO_InitStructure);
	
	/* Configure the End Of Conversion (EOC) interrupt */
	GPIO_EXTILineConfig(PIOS_BMP085_EOC_PORT_SOURCE, PIOS_BMP085_EOC_PIN_SOURCE);
	EXTI_InitStructure.EXTI_Line = PIOS_BMP085_EOC_EXTI_LINE;
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	EXTI_Init(&EXTI_InitStructure);
	
	/* Enable and set EOC EXTI Interrupt to the lowest priority */
	NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_BMP085_EOC_PRIO;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	
	/* Read all 22 bytes of calibration data in one transfer, this is a very optimised way of doing things */
	uint8_t Data[BMP085_CALIB_LEN];
	PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN);
	
	/* Parameters AC1-AC6 */
	CalibData.AC1 = (Data[0] << 8) | Data[1];
	CalibData.AC2 = (Data[2] << 8) | Data[3];
	CalibData.AC3 = (Data[4] << 8) | Data[5];
	CalibData.AC4 = (Data[6] << 8) | Data[7];
	CalibData.AC5 = (Data[8] << 8) | Data[9];
	CalibData.AC6 = (Data[10] << 8) | Data[11];

	/* Parameters B1, B2 */
	CalibData.B1 =  (Data[12] << 8) | Data[13];
	CalibData.B2 =  (Data[14] << 8) | Data[15];

	/* Parameters MB, MC, MD */
	CalibData.MB =  (Data[16] << 8) | Data[17];
	CalibData.MC =  (Data[18] << 8) | Data[19];
	CalibData.MD =  (Data[20] << 8) | Data[21];

	vSemaphoreCreateBinary(PIOS_BMP085_EOC);
}


/**
* Start the ADC conversion
* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
* \return Raw ADC value
*/
void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
{
	/* Start the conversion */
	if(Type == TemperatureConv) {
		PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR);
	} else if(Type == PressureConv) {
		PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR);
	}
	
	CurrentRead = Type;
}


/**
* Read the ADC conversion value (once ADC conversion has completed)
* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
* \return Raw ADC value
*/
void PIOS_BMP085_ReadADC(void)
{
	uint8_t Data[3];
	Data[0] = 0;
	Data[1] = 0;
	Data[2] = 0;
	
	/* Read and store the 16bit result */
	if(CurrentRead == TemperatureConv) {
		/* Read the temperature conversion */
		PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2);
		RawTemperature = ((Data[0] << 8) | Data[1]);

		X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
		X2 = ((int32_t)CalibData.MC << 11) / (X1 + CalibData.MD);
		B5 = X1 + X2;
		Temperature = (B5 + 8) >> 4;
	} else {
		/* Read the pressure conversion */
		PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
		RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);

		B6 = B5 - 4000;
		X1 = (CalibData.B2 * (B6 * B6 >> 12)) >> 11;
		X2 = CalibData.AC2 * B6 >> 11;
		X3 = X1 + X2;
		B3 = ((((int32_t) CalibData.AC1 * 4 + X3) << BMP085_OVERSAMPLING) + 2) >> 2;
		X1 = CalibData.AC3 * B6 >> 13;
		X2 = (CalibData.B1 * (B6 * B6 >> 12)) >> 16;
		X3 = ((X1 + X2) + 2) >> 2;
		B4 = (CalibData.AC4 * (uint32_t) (X3 + 32768)) >> 15;
		B7 = ((uint32_t) RawPressure - B3) * (50000 >> BMP085_OVERSAMPLING);
		P = B7 < 0x80000000 ? (B7 * 2) / B4 : (B7 / B4) * 2;

		X1 = (P >> 8) * (P >> 8);
		X1 = (X1 * 3038) >> 16;
		X2 = (-7357 * P) >> 16;
		Pressure = P + ((X1 + X2 + 3791) >> 4);
	}
}

int16_t PIOS_BMP085_GetTemperature(void)
{
	return Temperature;
}

int32_t PIOS_BMP085_GetPressure(void)
{
	return Pressure;
}

/**
* Reads one or more bytes into a buffer
* \param[in] address BMP085 register address (depends on size)
* \param[out] buffer destination buffer
* \param[in] len number of bytes which should be read
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
* \return -2 if BMP085 blocked by another task (retry it!)
* \return -4 if invalid length
*/
int32_t PIOS_BMP085_Read(uint8_t address, uint8_t *buffer, uint8_t len)
{
	/* Try to get the I2C peripheral */
	if(PIOS_I2C_LockDevice(I2C_Non_Blocking) < 0) {
		/* Request a retry */
		return -2;
	}

	/* Send I2C address and EEPROM address */
	/* To avoid issues copy address into temporary buffer */
	uint8_t addr_buffer[1] = {(uint8_t)address};
	int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, BMP085_I2C_ADDR, addr_buffer, 1);
	if(!error) {
		error = PIOS_I2C_TransferWait();
	}

	/* Now receive byte(s) */
	if(!error) {
		error = PIOS_I2C_Transfer(I2C_Read, BMP085_I2C_ADDR, buffer, len);
	}
	if(!error) {
		error = PIOS_I2C_TransferWait();
	}

	/* Release I2C peripheral */
	PIOS_I2C_UnlockDevice();
	
	/* Return error status */
	return error < 0 ? -1 : 0;
}


/**
* Writes one or more bytes to the BMP085
* \param[in] address Register address
* \param[in] buffer source buffer
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
* \return -2 if BMP085 blocked by another task (retry it!)
*/
int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
{
	/* Try to get the IIC peripheral */
	if(PIOS_I2C_LockDevice(I2C_Non_Blocking) < 0) {
		/* Request a retry */
		return -2;
	}

	/* Send I2C address and data */
	uint8_t WriteBuffer[2];
	WriteBuffer[0] = address;
	WriteBuffer[1] = buffer;
	
	int32_t error = PIOS_I2C_Transfer(I2C_Write, BMP085_I2C_ADDR, WriteBuffer, 2);
	
	if(!error) {
		error = PIOS_I2C_TransferWait();
	}

	/* Release I2C peripheral */
	PIOS_I2C_UnlockDevice();
	
	/* Return error status */
	return error < 0 ? -1 : 0;
}


/**
* This function handles External lines 15 to 10 interrupt request
*/
void EXTI15_10_IRQHandler(void)
{
	if(EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) {
		/* Read the ADC Value */
		//PIOS_BMP085_ReadADC();
		xSemaphoreGiveFromISR(PIOS_BMP085_EOC, &xHigherPriorityTaskWoken);
		
		/* Clear the EOC EXTI line pending bit */
		EXTI_ClearITPendingBit(PIOS_BMP085_EOC_EXTI_LINE);
	}
}

#endif