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/*
 * Project: S.Ha.R.K.
 *
 * Coordinators:
 *   Giorgio Buttazzo    <giorgio@sssup.it>
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *
 * Authors     :
 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
 *   (see the web pages for full authors list)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */

/*
 * Copyright (C) 2002 Paolo Gai
 *
 * 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 2 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
 *
 */

#include <ll/sys/ll/ll-instr.h>
#include "kernel/kern.h"
#include "servo.h"

#define THR 0
#define RBR 0
#define IER 1
#define FCR 2
#define IIR 2
#define LCR 3
#define MCR 4
#define LSR 5
#define MSR 6
#define SPad 7

/* Parity value */
#define NONE    0
#define ODD     1
#define EVEN    3

#define barrier() __asm__ __volatile__("" ::: "memory");

//#define SERVO_DEBUG

#define SERVO_TIMEOUT 200000 /* us */

#define SERVO_SPEED 38400
#define SERVO_PARITY NONE
#define SERVO_LEN 8
#define SERVO_STOP 1

#define SERVO_CLOCK 20000000 /* 20MHz */

#define TICK_LEN 1600 /* ns */
#define TICK_LEN_PERIOD 51200 /* ns */

struct servo_data {
  int min_angle_sec;
  int max_angle_sec;
  int delta_tick;
  int zero_tick;
};

struct servo_data servo_table[] = {
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600},
  {-324000, 324000, 1200, 1600}};

int timer_expired = 0;
int timeout_event;

const unsigned com_base[] = {0x03F8,0x02F8,0x03E8,0x02E8};

const int BaudTable[] = {
        1200,
        2400,
        4800,
        9600,
        14400,
        19200,
        38400,
        57600,
        115200,
        -1};

void set_timer_expired(void *arg)
{
  timeout_event = NIL;
  timer_expired = 1;
}
                                                                                                           
unsigned com_read(unsigned port,unsigned reg)
{
    unsigned b;
    if (port > 3 || reg > 7) return(0);
    b = ll_in(com_base[port]+reg);
    return(b);
}
                                                                                                                             
void com_write(unsigned port,unsigned reg,unsigned value)
{
    if (port > 3 || reg > 7) return;
    ll_out(com_base[port]+reg,value);
}
                                                                                                                             
int com_send(unsigned port,BYTE b)
{
    while ((com_read(port,LSR) & 32) == 0 && !timer_expired)
      barrier();
    if (!timer_expired) {
      #ifdef SERVO_DEBUG
        kern_printf("(SERVO WRITE p = %d b = %02x)",port,b);
      #endif
      com_write(port,THR,b);
      return 0;
    } else {
      #ifdef SERVO_DEBUG
        kern_printf("(WRITE TIMEOUT)");
      #endif
      return -1;
    }
}

int com_receive(unsigned port)
{
    int b;

    while ((com_read(port,LSR) & 1) == 0 && !timer_expired)
      barrier();
    if (!timer_expired) {
      b = (int)(com_read(port,RBR));
      #ifdef SERVO_DEBUG
        kern_printf("(SERVO READ p = %d b = %02x)",port,b);
      #endif
      return b;
    } else {
      #ifdef SERVO_DEBUG
        kern_printf("(READ TIMEOUT)");
      #endif
      return -1;
    }
}

int com_open(unsigned port,DWORD speed,BYTE parity,BYTE len,BYTE stop)
{
    unsigned long div,b_mask;
       
    /* Now set up the serial link */
    b_mask = (parity & 3) * 8 + (stop & 1) * 4 + ((len - 5) & 3);
    div = 115200L / speed;
    /* Clear serial interrupt enable register */
    com_write(port,IER,0);
    /* Empty input buffer */
    com_read(port,RBR);
    /* Activate DLAB bit for speed setting */
    com_write(port,LCR,0x80);
    /* Load baud divisor */
    com_write(port,0,div & 0x00FF);
    div >>= 8;
    com_write(port,1,div & 0x00FF);
    /* Load control word (parity,stop bit,bit len) */
    com_write(port,LCR,b_mask);
    /* Attiva OUT1 & OUT2 */
    com_write(port,MCR,0x0C);

    return 0;

}

int com_close(unsigned port)
{

  com_write(port,IER,0);
  com_read(port,IIR);
  com_read(port,RBR);

  return 0;

}

int servo_open(int port,int speed)
{
  int err;

  err = com_open((unsigned)(port), (DWORD)speed, SERVO_PARITY, SERVO_LEN, SERVO_STOP);

  return err;

}

int servo_close(int port)
{
  int err;

  err = com_close((unsigned)(port));

  return err;

}

/* 1000.011w:bbbb.bbbb */
int servo_set_RS232_baudrate(int port, int baud)
{
  struct timespec current_time;
  unsigned char b;
  int err, spbrg_temp, i;
  unsigned char spbrg, w;
  int servo_port = (unsigned)(port);

  i = 0;
  while(BaudTable[i] != baud && BaudTable[i] != -1) i++;
  if (BaudTable[i] == -1) {
    kern_printf("SERVO:Error wrong baud rate\n");
    return -1;
  }

  w = 1;
  spbrg_temp = (SERVO_CLOCK / (16*baud)) - 1;
  if (spbrg_temp>255) {
    w = 0;
    spbrg = (SERVO_CLOCK / (64*baud)) - 1;
  } else {
    spbrg = spbrg_temp;
  }

  #ifdef SERVO_DEBUG
    kern_printf("(SERVO:SBPRG %d W %d)",spbrg,w);
  #endif

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x86 | (w & 0x01);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = spbrg;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  /*com_close(servo_port);
  com_open(servo_port, baud, SERVO_PARITY, SERVO_LEN, SERVO_STOP);*/

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0101 */
int servo_get_RS232_baudrate(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err, res, res_w, res_b;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x85;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  res_w = com_receive(servo_port); /* bit W */
  res_b = com_receive(servo_port); /* byte SPBRG */
  if (res_w)
    res = SERVO_CLOCK / ( 16 * (res_b + 1) );
  else
    res = SERVO_CLOCK / ( 64 * (res_b + 1) );

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return res;
  else
    return -1;

}

/* 1000.0100 */
int servo_store_RS232_baudrate(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x84;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.1010:llll.llll */
int servo_set_period(int port, int period)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x8A;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = (period*1000)/TICK_LEN_PERIOD/8 & 0xFF;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.1001 */
int servo_get_period(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err,res;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x89;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  res = com_receive(servo_port);

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return (((unsigned char)(res))*TICK_LEN_PERIOD/1000*8);
  else
    return -1;

}

/* 1000.1000 */
int servo_store_period(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x88;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.1100 */
int servo_get_setup_switch(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err,res;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x8C;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  res = com_receive(servo_port);

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return res;
  else
    return -1;

}

/* 1000.111s */
int servo_set_RC5_switch(int port, int data)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x8E | (data & 0x01);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0000.Mmmm */
int servo_turn_off(int port, int servo)
{

  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  if (servo > 15) return -1;
  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x00 | (servo & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0001.Mmmm */
int servo_turn_on(int port, int servo)
{

  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  if (servo > 15) return -1;

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x10 | (servo & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0010.0000 */
int servo_turn_off_all(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x20;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0010.0001 */
int servo_turn_on_all(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x21;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0101.000M:mmmm.mmmm */
int servo_set_levels(int port, int bank,int mask)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x50 | (0x01 & bank);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = (unsigned char)(mask & 0xFF);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 1000.0000:0100.000M */
int servo_get_levels(int port, int bank)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x40 | (0x01 & bank);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  err = com_receive(servo_port);

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return err;
  else
    return -1;

}

/* 1000.0000:1000.0000 */
int servo_store_levels(int port)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x80;
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

int servo_set_max_angle(int port, int servo, int angle_sec)
{

  servo_table[servo].max_angle_sec = angle_sec;
  return 0;

}

int servo_set_min_angle(int servo, int angle_sec)
{

  servo_table[servo].min_angle_sec = angle_sec;
  return 0;

}

/* 0000.Pppp:0000.vvvv:vvvv.vvvv */
int servo_set_angle_sec(int port, int servo, int angle_sec)
{
  struct timespec current_time;
  unsigned char b;
  int err, angle_tick;
  int servo_port = (unsigned)(port);

  if (servo > 15) return -1;

  if (angle_sec > servo_table[servo].max_angle_sec ||
      angle_sec < servo_table[servo].min_angle_sec) return -1;

  angle_tick = (servo_table[servo].zero_tick + angle_sec * servo_table[servo].delta_tick /
              (servo_table[servo].max_angle_sec - servo_table[servo].min_angle_sec)) * 1000 / TICK_LEN;

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x00 | (servo & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x00 | ((angle_tick >> 8) & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  b = 0x00 | (angle_tick & 0xFF);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 0010.Pppp */
int servo_store_default_position(int port, int servo)
{
  struct timespec current_time;
  unsigned char b;
  int err;
  int servo_port = (unsigned)(port);

  if (servo > 15) return -1;

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x20 | (servo & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return 0;
  else
    return -1;

}

/* 0001.Pppp */
int servo_get_angle_sec(int port, int servo)
{
  struct timespec current_time;
  unsigned char b;
  int err,res,data;
  int servo_port = (unsigned)(port);

  if (servo > 15) return -1;

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x10 | (servo & 0x0F);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  res = com_receive(servo_port) << 8;
  res |= com_receive(servo_port);

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  data = ((res*TICK_LEN/1000) - servo_table[servo].zero_tick) *
          (servo_table[servo].max_angle_sec - servo_table[servo].min_angle_sec) /
           servo_table[servo].delta_tick;

  if (!timer_expired)
    return data;
  else
    return -1;

}

/* 0100:0aaa */
int servo_get_analog(int port, int adport)
{

  struct timespec current_time;
  unsigned char b;
  int err,res;
  int servo_port = (unsigned)(port);

  if (port > 7) return -1;

  timer_expired = 0;
  kern_gettime(&current_time);
  ADDUSEC2TIMESPEC(SERVO_TIMEOUT,&current_time);
  timeout_event = kern_event_post(&current_time, set_timer_expired, NULL);

  b = 0x40 | (adport & 0x07);
  err = com_send(servo_port, b);
  err = com_receive(servo_port);
  if (err != (int)(b)) timer_expired = 1;
  res = com_receive(servo_port) << 8;
  res |= com_receive(servo_port);

  if (timeout_event != NIL) kern_event_delete(timeout_event);

  if (!timer_expired)
    return res;
  else
    return -1;

}