/**  
 * @file platform_specific_impl.c  
 * @brief Source file for platform-specific implementations of the ADIS16505 driver.  
 *  
 * This source file contains the implementations of functions and types declared in  
 * platform_specific_impl.h. It includes platform-specific code such as SPI communication,  
 * delay functions, and any other hardware-dependent operations required by the ADIS16505 driver.  
 *  
 * @note When porting the driver to a new platform, ensure to provide the appropriate  
 *       platform-specific implementations in this file.  
 *  
 * @author Neo
 * @date March, 2024
 * @version V1.0
 *  
 * @see platform_specific_impl.h for function declarations and type definitions.  
 */  

#include "platform_specific_impl.h"

#ifdef PLATFORM_STM32_USE_HAL

#define SPI_ADIS16505_TIMEOUT 0x00FF // flexible

extern SPI_HandleTypeDef SPI_ADIS16505_HANDLE; // hspi2
extern TIM_HandleTypeDef DLY_US_TIM_HANDLE;    // htim11

/*** delay functions ***/
// no precision requirements
void delay_ms(uint32_t nms)
{
    HAL_Delay(nms-1);
}
void delay_us(uint16_t nus)
{
    __HAL_TIM_SET_COUNTER(&DLY_US_TIM_HANDLE, 0);
    __HAL_TIM_ENABLE(&DLY_US_TIM_HANDLE);
    while (__HAL_TIM_GET_COUNTER(&DLY_US_TIM_HANDLE) < nus)
    {
    }
    __HAL_TIM_DISABLE(&DLY_US_TIM_HANDLE);
}

/*** basic spi operation ***/
/*
 * @brief   write word (16bits) through SPI and read reply
 * @param   word: word to write
 * @param   pRxData: pointer to reception data buffer
 * @return  0 for success, 1 for fail
 * */
uint8_t SPI_ADIS16505_WR_Word(const uint16_t word, uint16_t* pRxData)
{
    SPI_HandleTypeDef *hspi = &SPI_ADIS16505_HANDLE;

    // wait SPI serial free
    while (HAL_SPI_GetState(hspi) == HAL_SPI_STATE_BUSY_TX_RX)
        ;

#ifndef SPI_ADIS16505_DATASIZE_8BIT // SPI_ADIS16505_DATASIZE_16BIT as default
    if (HAL_SPI_TransmitReceive(hspi, (uint8_t*)&word, (uint8_t*)pRxData, 1, SPI_ADIS16505_TIMEOUT) != HAL_OK)
        return 1;
#else
    uint8_t txBuf[2] = {word >> 8, word & 0xFF};
    uint8_t rxBuf[2] = {0, };
    if (HAL_SPI_TransmitReceive(hspi, txBuf, rxBuf, 2, SPI_ADIS16505_TIMEOUT) != HAL_OK)
        return 1;
    
    pRxData[0] = (rxBuf[0] << 8) | rxBuf[1];
#endif /* SPI_ADIS16505_DATASIZE_8BIT */

    return 0;
}
/*
 * @brief   write word (16bits) through SPI and read reply
 * @param   pTxData: pointer to words to be written
 * @param   pRxData: pointer to reception data buffer
 * @param   num: amount of data to be sent and received
 * @return  0 for success, 1 for fail
 * */
uint8_t SPI_ADIS16505_WR_Words(const uint16_t* pTxData, uint16_t* pRxData, uint16_t num)
{
    SPI_HandleTypeDef *hspi = &SPI_ADIS16505_HANDLE;

    // wait SPI serial free
    while (HAL_SPI_GetState(hspi) == HAL_SPI_STATE_BUSY_TX_RX)
        ;

#ifndef SPI_ADIS16505_DATASIZE_8BIT // SPI_ADIS16505_DATASIZE_16BIT as default
    if (HAL_SPI_TransmitReceive(hspi, (uint8_t*)pTxData, (uint8_t*)pRxData, num, SPI_ADIS16505_TIMEOUT) != HAL_OK)
        return 1;
#else
    uint8_t* txBuf = (uint8_t *)malloc(num * sizeof(uint16_t));
    uint8_t* rxBuf = (uint8_t *)malloc(num * sizeof(uint16_t));
    if (txBuf == NULL || rxBuf == NULL)
        return 1; // memory allocation failed
    
    for(uint8_t i = 0; i < num; i++)
    {
        txBuf[2*i] = pTxData[i] >> 8;
        txBuf[2*i+1] = pTxData[i] & 0xFF;
    }

    if (HAL_SPI_TransmitReceive(hspi, txBuf, rxBuf, 2*num, SPI_ADIS16505_TIMEOUT) != HAL_OK)
        return 1;
    
    for(uint8_t i = 0; i < num; i++)
    {
        pRxData[i] = (rxBuf[2*i] << 8) | rxBuf[2*i+1];
    }

    free(txBuf);
    free(rxBuf);
#endif /* SPI_ADIS16505_DATASIZE_8BIT */

    return 0;
}
#ifdef ADIS16505_USE_HARDWARE_RST
/**
 * @brief Performs a hardware reset on the ADIS16505 sensor.
 *
 * This function triggers a hardware reset sequence for the ADIS16505 sensor,
 * ensuring that the sensor is reinitialized and returns to its default state.
 * It is typically used to recover from error conditions or to reinitialize
 * the sensor during startup.
 */
void ADIS16505_HardwareReset()
{
    HAL_GPIO_WritePin(RSTn_ADIS16505_GPIO_PORT, RSTn_ADIS16505_PIN, GPIO_PIN_RESET);
    delay_us(20); // be in a low stage for at least 10us to ensure a proper reset initiation and recovery
    HAL_GPIO_WritePin(RSTn_ADIS16505_GPIO_PORT, RSTn_ADIS16505_PIN, GPIO_PIN_SET);
    delay_ms(300); // reset revocery time: 255ms
}
#endif /* RSTn_ADIS16505_GPIO_PORT && RSTn_ADIS16505_PIN */
#elif defined PLATFORM_LINUX_USE_MRAA

#include <signal.h>
#include <stdlib.h>
#include <unistd.h>
/* mraa header */
#include "mraa/spi.h"
#include "mraa/gpio.h"

extern mraa_spi_context SPI_ADIS16505;

/*** delay functions ***/
// no precision requirements
void delay_ms(uint32_t nms)
{
    for(int i=0; i < 1000; i++)
    {
        usleep(nms);
    }
}
void delay_us(uint16_t nus)
{
    usleep(nus);
}

/*** basic spi operation ***/
/*
 * @brief   write word (16bits) through SPI and read reply
 * @param   word: word to write
 * @param   pRxData: pointer to reception data buffer
 * @return  0 for success, 1 for fail
 * */
uint8_t SPI_ADIS16505_WR_Word(const uint16_t word, uint16_t* pRxData)
{
#ifndef SPI_ADIS16505_DATASIZE_8BIT // SPI_ADIS16505_DATASIZE_16BIT as default
    if (mraa_spi_transfer_buf_word(SPI_ADIS16505, &word, pRxData, 2) != MRAA_SUCCESS)
        return 1;
#else
    uint8_t txBuf[2] = {word >> 8, word & 0xFF};
    uint8_t rxBuf[2] = {0, };
    if (mraa_spi_transfer_buf(SPI_ADIS16505, txBuf, rxBuf, 2) != MRAA_SUCCESS)
        return 1;
    
    pRxData[0] = (rxBuf[0] << 8) | rxBuf[1];
#endif /* SPI_ADIS16505_DATASIZE_8BIT */

    return 0;
}
/*
 * @brief   write word (16bits) through SPI and read reply
 * @param   pTxData: pointer to words to be written
 * @param   pRxData: pointer to reception data buffer
 * @param   num: amount of data to be sent and received
 * @return  0 for success, 1 for fail
 * */
uint8_t SPI_ADIS16505_WR_Words(const uint16_t* pTxData, uint16_t* pRxData, uint16_t num)
{
#ifndef SPI_ADIS16505_DATASIZE_8BIT // SPI_ADIS16505_DATASIZE_16BIT as default
    if (mraa_spi_transfer_buf_word(SPI_ADIS16505, pTxData, pRxData, 2*num) != MRAA_SUCCESS)
        return 1;
#else
    uint8_t* txBuf = (uint8_t *)malloc(num * sizeof(uint16_t));
    uint8_t* rxBuf = (uint8_t *)malloc(num * sizeof(uint16_t));
    if (txBuf == NULL || rxBuf == NULL)
        return 1; // memory allocation failed
    
    for(uint8_t i = 0; i < num; i++)
    {
        txBuf[2*i] = pTxData[i] >> 8;
        txBuf[2*i+1] = pTxData[i] & 0xFF;
    }

    if (mraa_spi_transfer_buf(SPI_ADIS16505, txBuf, rxBuf, 2*num) != MRAA_SUCCESS)
        return 1;
    
    for(uint8_t i = 0; i < num; i++)
    {
        pRxData[i] = (rxBuf[2*i] << 8) | rxBuf[2*i+1];
    }

    free(txBuf);
    free(rxBuf);
#endif /* SPI_ADIS16505_DATASIZE_8BIT */

    return 0;
}
#ifdef ADIS16505_USE_HARDWARE_RST
/**
 * @brief Performs a hardware reset on the ADIS16505 sensor.
 *
 * This function triggers a hardware reset sequence for the ADIS16505 sensor,
 * ensuring that the sensor is reinitialized and returns to its default state.
 * It is typically used to recover from error conditions or to reinitialize
 * the sensor during startup.
 */
void ADIS16505_HardwareReset()
{
    mraa_gpio_write(RSTn_ADIS16505, 0);
    delay_us(20); // be in a low stage for at least 10us to ensure a proper reset initiation and recovery
    mraa_gpio_write(RSTn_ADIS16505, 1);
    delay_ms(300); // reset revocery time: 255ms
}
#endif /* RSTn_ADIS16505 */

#endif /* PLATFORM MACRO */