#include <string.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <math.h>
#include "stm32f4xx_hal.h"
#include "common_porting.h"
#include "main.h"

extern UART_HandleTypeDef huart2;
extern I2C_HandleTypeDef hi2c1;
extern SPI_HandleTypeDef hspi1;

uint8_t GTXBuffer[512], GRXBuffer[2048];

volatile uint8_t int1_flag = 0;
volatile uint8_t int2_flag = 0;
volatile uint8_t drdy_bmm150_flag = 0;

void Enable_MCU_INT1_Pin(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	__HAL_RCC_GPIOA_CLK_ENABLE();
	
	/*Configure GPIO pin : INT1_Pin */
	GPIO_InitStruct.Pin = INT1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(INT1_GPIO_Port, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
	HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}

void Disable_MCU_INT1_Pin(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	__HAL_RCC_GPIOA_CLK_ENABLE();
	
	/*Configure GPIO pin : INT1_Pin */
	GPIO_InitStruct.Pin = INT1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(INT1_GPIO_Port, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
	HAL_NVIC_DisableIRQ(EXTI15_10_IRQn);
}

void Enable_MCU_INT2_Pin(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	__HAL_RCC_GPIOA_CLK_ENABLE();
	
	/*Configure GPIO pin : INT2_Pin */
	GPIO_InitStruct.Pin = INT2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(INT2_GPIO_Port, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
  	HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}

void Disable_MCU_INT2_Pin(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	__HAL_RCC_GPIOA_CLK_ENABLE();
	
	/*Configure GPIO pin : INT2_Pin */
	GPIO_InitStruct.Pin = INT2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(INT2_GPIO_Port, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
  	HAL_NVIC_DisableIRQ(EXTI3_IRQn);

}

#if defined(FIFO_WM_INT)
extern volatile uint16_t fifo_read_ready;
extern volatile uint16_t bma425_fifo_ready;
extern volatile uint16_t bma400fifo_ready;
extern volatile uint16_t bmi160_fifo_ready;
#endif

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if(GPIO_Pin == GPIO_PIN_10)//INT1
	{
		PDEBUG("INT1 Triggered\r\n");
		//int1_flag = 1;
	#if defined(FIFO_WM_INT)
		#if defined(USE_BMI160)
		bmi160_fifo_ready = 1;
		#endif
	#endif
	}
	else if(GPIO_Pin == GPIO_PIN_3)//INT2
	{
		PDEBUG("INT2 Triggered\r\n");
		int2_flag = 1;
	#if defined(FIFO_WM_INT)
		#if defined(USE_BMA400)
		bma400fifo_ready = 1;
		#elif defined(USE_BMA425)
		bma425_fifo_ready = 1;
		#elif defined(USE_BMI160)
		//bmi160_fifo_ready = 1;
		#elif defined(USE_BMI270)
		fifo_read_ready = 1;
		#endif
	#endif
	}
	else if(GPIO_Pin == GPIO_PIN_5)//DRDY_BMM150
	{
		PDEBUG("DRDY_BMM150 Triggered\r\n");
            drdy_bmm150_flag = 1;
	}
}


void DelayUs(uint32_t Delay)
{
	uint32_t i;

	while(Delay--)
	{
		for(i = 0; i < 84; i++)
		{
			;
		}
	}
}

void UART_Printf(uint8_t* buff, uint16_t size)
{
    //HAL_UART_Transmit_DMA(&huart2, buff, size);
    HAL_UART_Transmit(&UART_HANDLE, buff, size, BUS_TIMEOUT);
}

char chBuffer[512];

void PDEBUG(char *format, ...)
{
#if defined(DEBUG_EN)
    va_list ap;
    //char timestamp[16];
    va_start(ap, format);
    vsnprintf(chBuffer, sizeof(chBuffer), format, ap);
    //sprintf(timestamp, "[%d]", xTaskGetTickCount()); //xTaskGetTickCountFromISR()
    //Printf((uint8_t *)timestamp, strlen(timestamp));
    UART_Printf((uint8_t *)chBuffer,strlen(chBuffer));
    va_end(ap);
#endif
}

#if defined(USE_BOSCH_SENSOR_API)
/*******************************************************************************
* Function Name  : I2C_Read
* Description    : Write data into slave device.
* Input          : I2C1 or I2C2, slave_address7, subaddress, Write Number
* Output         : None
* Return         : number of bytes transmitted
*******************************************************************************/
int8_t SensorAPI_I2Cx_Read(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t ReadNumbr)
{
    uint16_t DevAddress = slave_address7 << 1;

    // send register address
    HAL_I2C_Master_Transmit(&I2C_HANDLE, DevAddress, &subaddress, 1, BUS_TIMEOUT);
    HAL_I2C_Master_Receive(&I2C_HANDLE, DevAddress, pBuffer, ReadNumbr, BUS_TIMEOUT);
    return 0;
}

int8_t SensorAPI_I2Cx_Write(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t WriteNumbr)
{
    uint16_t DevAddress = slave_address7 << 1;

    GTXBuffer[0] = subaddress;
    memcpy(&GTXBuffer[1], pBuffer, WriteNumbr);

    // send register address
    HAL_I2C_Master_Transmit(&I2C_HANDLE, DevAddress, GTXBuffer, WriteNumbr+1, BUS_TIMEOUT);
    return 0;
}

/*******************************************************************************
* Function Name  : SPI_Read
* Description    : Write data into slave device.
* Input          : I2C1 or I2C2, slave_address7, subaddress, Write Number
* Output         : None
* Return         : number of bytes transmitted
*******************************************************************************/
int8_t SensorAPI_SPIx_Read(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t ReadNumbr)
{
    slave_address7 = slave_address7;
    GTXBuffer[0] = subaddress | 0x80;

    HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET); // NSS low

    //HAL_SPI_TransmitReceive(&hspi2, pTxData, pRxData, ReadNumbr+1, BUS_TIMEOUT); // timeout 1000msec;
    HAL_SPI_TransmitReceive(&SPI_HANDLE, GTXBuffer, GRXBuffer, ReadNumbr+1, BUS_TIMEOUT); // timeout 1000msec;
    while(SPI_HANDLE.State == HAL_SPI_STATE_BUSY);  // wait for xmission complete

    HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET); // NSS high
    memcpy(pBuffer, GRXBuffer+1, ReadNumbr);

    return 0;
}

int8_t SensorAPI_SPIx_Write(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t WriteNumbr)
{
    slave_address7 = slave_address7;
    GTXBuffer[0] = subaddress & 0x7F;
    memcpy(&GTXBuffer[1], pBuffer, WriteNumbr);

    HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET); // NSS low

    //HAL_SPI_TransmitReceive(&hspi2, pTxData, pRxData, WriteNumbr+1, BUS_TIMEOUT); // send register address + write data
    HAL_SPI_Transmit(&SPI_HANDLE, GTXBuffer, WriteNumbr+1, BUS_TIMEOUT); // send register address + write data
    while(SPI_HANDLE.State == HAL_SPI_STATE_BUSY);  // wait for xmission complete

    HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET); // NSS high

    return 0;
}

#endif