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/** A sample code for PCA9629A
 *
 *  @author  Akifumi (Tedd) OKANO, NXP Semiconductors
 *  @version 1.1
 *  @date    12-Sep-2012
 *
 *  revision history (PCA9629A)
 *      version 0.1 (05-Jun-2013) : PCA9629"A" initial version
 *      version 0.2 (05-Jun-2013) : register name fix, register description added
 *      version 1.0 (23-Apr-2014) : unnecessary parameter for constructor has been removed
 *      version 1.1 (12-Sep-2014) : constructor variation added. ramp parameter API added
 *
 *  Released under the Apache 2 license License
 *
 *  An operation sample of PCU9629A stepper motor controller.
 *  The mbed accesses the PCU9629A registers through I2C.
 *
 *  About PCA9629A:
 *    http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629APW.html
 */

#include    "mbed.h"
#include    "PCA9629A.h"

#define     STEP_RESOLUTION     333333      //  1/(3e-6) = 333333

char *reg_name[] = {
    "MODE", "WDTOI", "WDCNTL", "IO_CFG",
    "INTMODE", "MSK", "INTSTAT", "IP", "INT_MTR_ACT", "EXTRASTEPS0", "EXTRASTEPS1",
    "OP_CFG",  "OP_STAT_PHS",
    "RUCNTL", "RDCNTL",
    "PMA", "LOOPDLY_CW", "LOOPDLY_CCW",
    "CWSCOUNTL", "CWSCOUNTH", "CCWSCOUNTL", "CCWSCOUNTH",
    "CWPWL", "CWPWH", "CCWPWL", "CCWPWH",
    "MCNTL",
    "SUBADR1", "SUBADR2", "SUBADR3", "ALLCALLADR",
    "STEPCOUNT0", "STEPCOUNT1", "STEPCOUNT2", "STEPCOUNT3"
};

PCA9629A::PCA9629A(
    PinName I2C_sda,
    PinName I2C_scl,
    char    I2C_address
) : i2c_p( new I2C( I2C_sda, I2C_scl ) ), i2c( *i2c_p ), i2c_addr( I2C_address )
{
    i2c.frequency( I2C_SCL_FREQUENCY );
    init_registers();
}

PCA9629A::PCA9629A(
    I2C     &i2c_,
    char    I2C_address
) : i2c_p( NULL ), i2c( i2c_ ), i2c_addr( I2C_address )
{
    init_registers();
}

PCA9629A::~PCA9629A()
{
    if ( NULL != i2c_p )
        delete  i2c_p;
}

void PCA9629A::software_reset( void )
{
    char    v   = 0x06;

    i2c.write( 0x00, &v, 1 );
    wait_ms( 1 );
}

void PCA9629A::init_registers( void )
{
    char    init_array[] = { 0x80,                                           //  register access start address (0x00) with incremental access flag (MSB)
                             0x20, 0x0A, 0x00, 0x03, 0x13, 0x1C,             //  for registers MODE - MSK (0x00 - 0x07
                             0x00, 0x00, 0x68, 0x00, 0x00,                   //  for registers INTSTAT - EXTRASTEPS1 (0x06, 0xA)
                             0x10, 0x80,                                     //  for registers OP_CFG_PHS and OP_STAT_TO (0x0B - 0xC)
                             0x09, 0x09, 0x01, 0x7D, 0x7D,                   //  for registers RUCNTL - LOOPDLY_CCW (0xD- 0x10)
                             0xFF, 0x01, 0xFF, 0x01, 0x05, 0x0D, 0x05, 0x0D, //  for registers CWSCOUNTL - MCNTL (0x12 - 0x1A)
                             0x20,                                           //  for register MCNTL (0x1A)
                             0xE2, 0xE4, 0xE6, 0xE0                          //  for registers SUBADR1 - ALLCALLADR (0x1B - 0x1E)
                           };

    set_all_registers( init_array, sizeof( init_array ) );
}

void PCA9629A::set_all_registers( char *a, char size )
{
    int     error_code;

    error_code  = i2c.write( i2c_addr, a, size );

    if ( error_code )
        error( "error @ initializing PCA9629A" );
}

void PCA9629A::write( RegisterName register_name, char value )
{
    int     error_code;
    char    cmd[ 2 ];

    cmd[ 0 ]    = register_name;
    cmd[ 1 ]    = value;

    error_code  = i2c.write( i2c_addr, cmd, 2 );

    if ( error_code )
        error( "PCA9629A writing failed\r\n" );
}

void PCA9629A::write( RegisterNameFor16bitAccess register_name, short value )
{
    int     error_code;
    char    cmd[ 3 ];

    cmd[ 0 ]    = register_name;
    cmd[ 1 ]    = value & 0xFF;
    cmd[ 2 ]    = value >> 8;

    error_code  = i2c.write( i2c_addr, cmd, 3 );

    if ( error_code )
        error( "PCA9629A writing failed\r\n" );
}

char PCA9629A::read( RegisterName register_name )
{
    int     error_code;
    char    cmd;
    char    data;

    cmd = register_name;

    error_code  = i2c.write( i2c_addr, &cmd, 1, false );

    if ( error_code )
        error( "PCA9629A reading (command phase) failed\r\n" );

    error_code  = i2c.read( i2c_addr, &data, 1 );

    if ( error_code )
        error( "PCA9629A reading (data phase) failed\r\n" );

    return ( data );
}

short PCA9629A::read( RegisterNameFor16bitAccess register_name )
{
    int     error_code;
    char    cmd;
    char    data[ 2 ];

    cmd = register_name;

    error_code  = i2c.write( i2c_addr, &cmd, 1, false );

    if ( error_code )
        error( "PCA9629A reading (command phase) failed\r\n" );

    error_code  = i2c.read( i2c_addr, data, 2 );

    if ( error_code )
        error( "PCA9629A reading (data phase) failed\r\n" );

    return ( data[ 1 ] << 8 | data[ 0 ] );
}

long PCA9629A::read( RegisterNameFor32bitAccess register_name )
{
    int     error_code;
    char    cmd;
    char    data[ 4 ];

    cmd = register_name | 0x80;

    error_code  = i2c.write( i2c_addr, &cmd, 1, false );

    if ( error_code )
        error( "PCA9629A reading (command phase) failed\r\n" );

    error_code  = i2c.read( i2c_addr, data, 4 );

    if ( error_code )
        error( "PCA9629A reading (data phase) failed\r\n" );

    printf( "0x %02X %02X %02X %02X\r\n", data[3], data[2], data[1], data[0] );

    return ( data[ 3 ] << 24 | data[ 2 ] << 16 | data[ 1 ] << 8 | data[ 0 ] );
}

void PCA9629A::start( Direction dir )
{
    write( MCNTL, 0xC0 | dir );
}

void PCA9629A::stop( void )
{
    write( MCNTL, 0xA0 );
}


short PCA9629A::pps( Direction dir, PrescalerRange prescaler, int pps )
{
    int     step_pulse_width;

    step_pulse_width    = STEP_RESOLUTION / ((1 << prescaler) * pps);

    if ( step_pulse_width & 0xE000 ) {  //error( "pps setting: out of range" );
        step_pulse_width    = 0x1FFF;
        printf( "the pps forced in to the range that user specified.. %fpps\r\n", (float)STEP_RESOLUTION / ((float)0x1FFF * (float)(1 << prescaler)) );
    }
    if ( !step_pulse_width ) {  //error( "pps setting: out of range" );
        step_pulse_width    = 0x1;
        printf( "the pps forced in to the range that user specified.. %fpps\r\n", (float)STEP_RESOLUTION / (float)(1 << prescaler) );
    }

    step_pulse_width    |= (prescaler << 13);

    write( (dir == CW) ? CW__STEP_WIDTH : CCW_STEP_WIDTH, step_pulse_width );

    return ( step_pulse_width );
}

short PCA9629A::pps( Direction dir, float pulse_per_second )
{
    char    p       = 0;
    char    ratio;

    ratio   = (char)(40.6901 / pulse_per_second);

    p   = (ratio & 0x01) ? 1 : p;
    p   = (ratio & 0x02) ? 2 : p;
    p   = (ratio & 0x04) ? 3 : p;
    p   = (ratio & 0x08) ? 4 : p;
    p   = (ratio & 0x10) ? 5 : p;
    p   = (ratio & 0x20) ? 6 : p;
    p   = (ratio & 0x40) ? 7 : p;

    return ( pps( dir, (PrescalerRange)p, (int)pulse_per_second ) );
}

void PCA9629A::steps( Direction dir, int step_count )
{
    write( (dir == CW) ? CW__STEP_COUNT : CCW_STEP_COUNT, step_count );
}

void PCA9629A::ramp_up( char rate )
{
    write( RUCNTL, rate ? (0x30 | (rate -1)) : 0x00 );
}

void PCA9629A::ramp_down( char rate )
{
    write( RDCNTL, rate ? (0x30 | (rate -1)) : 0x00 );
}

void PCA9629A::register_dump( void )
{
    char    data[ 0x23 ];
    char    cmd = 0x80;
    int     i;
    int     j;

    i2c.write( i2c_addr, &cmd, 1 );
    i2c.read( i2c_addr, data, sizeof( data ) );

    printf( "PCA9629A register dump\r\n" );

    for ( i = 0, j = 0x14; i <= 0x12; i++, j++ )
        printf( "  %-13s (0x%02X): 0x%02X    %-13s (0x%02X): 0x%02X\r\n", reg_name[ i ], i, data[ i ], reg_name[ j ], j, data[ j ] );

    printf( "  %-13s (0x%02X): 0x%02X\r\n", reg_name[ 0x13 ], 0x13, data[ 0x13 ] );
}


void PCA9629A::speed_change( unsigned short pw )
{
#ifdef MBED_PCA9629
    //  this is for PCA9629(non-A version)
    char    cmd0[]   = { PCA9629A::MCNTL, 0x00};                         //  data for stop the motor
    char    cmd1[]   = { PCA9629A::CW__STEP_WIDTH, pw & 0xFF, pw >> 8 }; //  data for rewrite pulse width
    char    cmd2[]   = { PCA9629A::MCNTL, 0xB4};   //  start             //  data for start again
    wait_us(10);

    i2c.write( i2c_addr, cmd0, sizeof( cmd0 ), true );  //  stop the motor
    wait_us(50);
    i2c.write( i2c_addr, cmd1, sizeof( cmd1 ), true );  //  rewrite pulse width
    i2c.write( i2c_addr, cmd2, sizeof( cmd2 ), false ); //  start again
#else
    char    cmd1[]   = { PCA9629A::CW__STEP_WIDTH, pw & 0xFF, pw >> 8 }; //  data for rewrite pulse width

    i2c.write( i2c_addr, cmd1, sizeof( cmd1 ), true );  //  rewrite pulse width
#endif
}