/*
 $License:
    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
    See included License.txt for License information.
 $
 */

/**
 *   @defgroup  HAL_Outputs hal_outputs
 *   @brief     Motion Library - HAL Outputs
 *              Sets up common outputs for HAL
 *
 *   @{
 *       @file  hal_outputs.c
 *       @brief HAL Outputs.
 */

#include <string.h>

#include "hal_outputs.h"
#include "log.h"
#include "ml_math_func.h"
#include "mlmath.h"
#include "start_manager.h"
#include "data_builder.h"
#include "results_holder.h"

struct hal_output_t {
    int accuracy_mag;    /**< Compass accuracy */
//    int accuracy_gyro;   /**< Gyro Accuracy */
//    int accuracy_accel;  /**< Accel Accuracy */
    int accuracy_quat;   /**< quat Accuracy */

    inv_time_t nav_timestamp;
    inv_time_t gam_timestamp;
//    inv_time_t accel_timestamp;
    inv_time_t mag_timestamp;
    long nav_quat[4];
    int gyro_status;
    int accel_status;
    int compass_status;
    int nine_axis_status;
    inv_biquad_filter_t lp_filter[3];
    float compass_float[3];
    long linear_acceleration_sample_rate_us;
    long gravity_sample_rate_us;
};

static struct hal_output_t hal_out;

void inv_set_linear_acceleration_sample_rate(long sample_rate_us)
{
    hal_out.linear_acceleration_sample_rate_us = sample_rate_us;
}

void inv_set_gravity_sample_rate(long sample_rate_us)
{
    hal_out.gravity_sample_rate_us = sample_rate_us;
}

/** Acceleration (m/s^2) in body frame.
* @param[out] values Acceleration in m/s^2 includes gravity. So while not in motion, it
*             should return a vector of magnitude near 9.81 m/s^2
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
*             inv_build_accel().
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_accelerometer(float *values, int8_t *accuracy,
                                       inv_time_t * timestamp)
{
    int status;
    /* Converts fixed point to m/s^2. Fixed point has 1g = 2^16.
     * So this 9.80665 / 2^16 */
#define ACCEL_CONVERSION 0.000149637603759766f
    long accel[3];
    inv_get_accel_set(accel, accuracy, timestamp);
    values[0] = accel[0] * ACCEL_CONVERSION;
    values[1] = accel[1] * ACCEL_CONVERSION;
    values[2] = accel[2] * ACCEL_CONVERSION;
    if (hal_out.accel_status & INV_NEW_DATA)
        status = 1;
    else
        status = 0;
    return status;
}

/** Linear Acceleration (m/s^2) in Body Frame.
* @param[out] values Linear Acceleration in body frame, length 3, (m/s^2). May show
*             accel biases while at rest.
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
*             inv_build_accel().
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy,
        inv_time_t * timestamp)
{
    long gravity[3], accel[3];
    inv_time_t timestamp1;

    inv_get_accel_set(accel, accuracy, &timestamp1);
    inv_get_gravity(gravity);
    accel[0] -= gravity[0] >> 14;
    accel[1] -= gravity[1] >> 14;
    accel[2] -= gravity[2] >> 14;
    values[0] = accel[0] * ACCEL_CONVERSION;
    values[1] = accel[1] * ACCEL_CONVERSION;
    values[2] = accel[2] * ACCEL_CONVERSION;

    return inv_get_6_axis_gyro_accel_timestamp(hal_out.linear_acceleration_sample_rate_us, timestamp);
}

/** Gravity vector (m/s^2) in Body Frame.
* @param[out] values Gravity vector in body frame, length 3, (m/s^2)
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
*             inv_build_accel().
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_gravity(float *values, int8_t *accuracy,
                                 inv_time_t * timestamp)
{
    long gravity[3];

    *accuracy = (int8_t) hal_out.accuracy_quat;
    inv_get_gravity(gravity);
    values[0] = (gravity[0] >> 14) * ACCEL_CONVERSION;
    values[1] = (gravity[1] >> 14) * ACCEL_CONVERSION;
    values[2] = (gravity[2] >> 14) * ACCEL_CONVERSION;
    return inv_get_6_axis_gyro_accel_timestamp(hal_out.gravity_sample_rate_us, timestamp);
}

/* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16.
 * So this is: pi / 2^16 / 180 */
#define GYRO_CONVERSION 2.66316109007924e-007f

/** Gyroscope calibrated data (rad/s) in body frame.
* @param[out] values Rotation Rate in rad/sec.
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
*             inv_build_gyro().
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_gyroscope(float *values, int8_t *accuracy,
                                   inv_time_t * timestamp)
{
    long gyro[3];
    int status;

    inv_get_gyro_set(gyro, accuracy, timestamp);
    values[0] = gyro[0] * GYRO_CONVERSION;
    values[1] = gyro[1] * GYRO_CONVERSION;
    values[2] = gyro[2] * GYRO_CONVERSION;
    if (hal_out.gyro_status & INV_NEW_DATA)
        status = 1;
    else
        status = 0;
    return status;
}

/** Gyroscope raw data (rad/s) in body frame.
* @param[out] values Rotation Rate in rad/sec.
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
*             inv_build_gyro().
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_gyroscope_raw(float *values, int8_t *accuracy,
                                   inv_time_t * timestamp)
{
    long gyro[3];
    int status;

    inv_get_gyro_set_raw(gyro, accuracy, timestamp);
    values[0] = gyro[0] * GYRO_CONVERSION;
    values[1] = gyro[1] * GYRO_CONVERSION;
    values[2] = gyro[2] * GYRO_CONVERSION;
    if (hal_out.gyro_status & INV_NEW_DATA)
        status = 1;
    else
        status = 0;
    return status;
}

/**
* This corresponds to Sensor.TYPE_ROTATION_VECTOR.
* The rotation vector represents the orientation of the device as a combination
* of an angle and an axis, in which the device has rotated through an angle @f$\theta@f$
* around an axis {x, y, z}. <br>
* The three elements of the rotation vector are
* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)}, such that the magnitude of the rotation
* vector is equal to sin(@f$\theta@f$/2), and the direction of the rotation vector is
* equal to the direction of the axis of rotation.
*
* The three elements of the rotation vector are equal to the last three components of a unit quaternion
* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)>. The 4th element is cos(@f$\theta@f$/2).
*
* Elements of the rotation vector are unitless. The x,y and z axis are defined in the same way as the acceleration sensor.
* The reference coordinate system is defined as a direct orthonormal basis, where:

    -X is defined as the vector product Y.Z (It is tangential to the ground at the device's current location and roughly points East).
    -Y is tangential to the ground at the device's current location and points towards the magnetic North Pole.
    -Z points towards the sky and is perpendicular to the ground.
* @param[out] values Length 4.
* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
* @param[out] timestamp Timestamp. In (ns) for Android.
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_rotation_vector(float *values, int8_t *accuracy,
        inv_time_t * timestamp)
{
    *accuracy = (int8_t) hal_out.accuracy_quat;
    *timestamp = hal_out.nav_timestamp;

    if (hal_out.nav_quat[0] >= 0) {
        values[0] = hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
        values[1] = hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
        values[2] = hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
        values[3] = hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
    } else {
        values[0] = -hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
        values[1] = -hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
        values[2] = -hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
        values[3] = -hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
    }
    values[4] = inv_get_heading_confidence_interval();

    return hal_out.nine_axis_status;
}


/** Compass data (uT) in body frame.
* @param[out] values Compass data in (uT), length 3. May be calibrated by having
*             biases removed and sensitivity adjusted
* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
* @param[out] timestamp Timestamp. In (ns) for Android.
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_magnetic_field(float *values, int8_t *accuracy,
                                        inv_time_t * timestamp)
{
    int status;
    /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
     * So this is: 1 / 2^16*/
//#define COMPASS_CONVERSION 1.52587890625e-005f
    int i;

    *timestamp = hal_out.mag_timestamp;
    *accuracy = (int8_t) hal_out.accuracy_mag;

    for (i=0; i<3; i++)  {
        values[i] = hal_out.compass_float[i];
    }
    if (hal_out.compass_status & INV_NEW_DATA)
        status = 1;
    else
        status = 0;
    return status;
}

static void inv_get_rotation(float r[3][3])
{
    long rot[9];
    float conv = 1.f / (1L<<30);

    inv_quaternion_to_rotation(hal_out.nav_quat, rot);
    r[0][0] = rot[0]*conv;
    r[0][1] = rot[1]*conv;
    r[0][2] = rot[2]*conv;
    r[1][0] = rot[3]*conv;
    r[1][1] = rot[4]*conv;
    r[1][2] = rot[5]*conv;
    r[2][0] = rot[6]*conv;
    r[2][1] = rot[7]*conv;
    r[2][2] = rot[8]*conv;
}

static void google_orientation(float *g)
{
    float rad2deg = (float)(180.0 / M_PI);
    float R[3][3];

    inv_get_rotation(R);

    g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
    g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
    g[2] = asinf ( R[2][0])          * rad2deg;
    if (g[0] < 0)
        g[0] += 360;
}


/** This corresponds to Sensor.TYPE_ORIENTATION. All values are angles in degrees.
* @param[out] values Length 3, Degrees.<br>
*        - values[0]: Azimuth, angle between the magnetic north direction
*         and the y-axis, around the z-axis (0 to 359). 0=North, 90=East, 180=South, 270=West<br>
*        - values[1]: Pitch, rotation around x-axis (-180 to 180), with positive values
*         when the z-axis moves toward the y-axis.<br>
*        - values[2]: Roll, rotation around y-axis (-90 to 90), with positive
*          values when the x-axis moves toward the z-axis.<br>
*
* @note  This definition is different from yaw, pitch and roll used in aviation
*        where the X axis is along the long side of the plane (tail to nose).
*        Note: This sensor type exists for legacy reasons, please use getRotationMatrix()
*        in conjunction with remapCoordinateSystem() and getOrientation() to compute
*        these values instead.
*        Important note: For historical reasons the roll angle is positive in the
*        clockwise direction (mathematically speaking, it should be positive in
*        the counter-clockwise direction).
* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
* @param[out] timestamp The timestamp for this sensor.
* @return     Returns 1 if the data was updated or 0 if it was not updated.
*/
int inv_get_sensor_type_orientation(float *values, int8_t *accuracy,
                                     inv_time_t * timestamp)
{
    *accuracy = (int8_t) hal_out.accuracy_quat;
    *timestamp = hal_out.nav_timestamp;

    google_orientation(values);

    return hal_out.nine_axis_status;
}

/** Main callback to generate HAL outputs. Typically not called by library users.
* @param[in] sensor_cal Input variable to take sensor data whenever there is new
* sensor data.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_generate_hal_outputs(struct inv_sensor_cal_t *sensor_cal)
{
    int use_sensor = 0;
    long sr = 1000;
    long compass[3];
    int8_t accuracy;
    int i;
    (void) sensor_cal;

    inv_get_quaternion_set(hal_out.nav_quat, &hal_out.accuracy_quat,
                           &hal_out.nav_timestamp);
    hal_out.gyro_status = sensor_cal->gyro.status;
    hal_out.accel_status = sensor_cal->accel.status;
    hal_out.compass_status = sensor_cal->compass.status;

    // Find the highest sample rate and tie generating 9-axis to that one.
    if (sensor_cal->gyro.status & INV_SENSOR_ON) {
        sr = sensor_cal->gyro.sample_rate_ms;
        use_sensor = 0;
    }
    if ((sensor_cal->accel.status & INV_SENSOR_ON) && (sr > sensor_cal->accel.sample_rate_ms)) {
        sr = sensor_cal->accel.sample_rate_ms;
        use_sensor = 1;
    }
    if ((sensor_cal->compass.status & INV_SENSOR_ON) && (sr > sensor_cal->compass.sample_rate_ms)) {
        sr = sensor_cal->compass.sample_rate_ms;
        use_sensor = 2;
    }
    if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) {
        sr = sensor_cal->quat.sample_rate_ms;
        use_sensor = 3;
    }

    // Only output 9-axis if all 9 sensors are on.
    if (sensor_cal->quat.status & INV_SENSOR_ON) {
        // If quaternion sensor is on, gyros are not required as quaternion already has that part
        if ((sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
            use_sensor = -1;
        }
    } else {
        if ((sensor_cal->gyro.status & sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
            use_sensor = -1;
        }
    }

    switch (use_sensor) {
    case 0:
        hal_out.nine_axis_status = (sensor_cal->gyro.status & INV_NEW_DATA) ? 1 : 0;
        hal_out.nav_timestamp = sensor_cal->gyro.timestamp;
        break;
    case 1:
        hal_out.nine_axis_status = (sensor_cal->accel.status & INV_NEW_DATA) ? 1 : 0;
        hal_out.nav_timestamp = sensor_cal->accel.timestamp;
        break;
    case 2:
        hal_out.nine_axis_status = (sensor_cal->compass.status & INV_NEW_DATA) ? 1 : 0;
        hal_out.nav_timestamp = sensor_cal->compass.timestamp;
        break;
    case 3:
        hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
        hal_out.nav_timestamp = sensor_cal->quat.timestamp;
        break;
    default:
        hal_out.nine_axis_status = 0; // Don't output quaternion related info
        break;
    }

    /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
     * So this is: 1 / 2^16*/
    #define COMPASS_CONVERSION 1.52587890625e-005f

    inv_get_compass_set(compass, &accuracy, &(hal_out.mag_timestamp) );
    hal_out.accuracy_mag = (int ) accuracy;

    for (i=0; i<3; i++) {
        if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_CONTIGUOUS)) ==
                                                             INV_NEW_DATA )  {
            // set the state variables to match output with input
            inv_calc_state_to_match_output(&hal_out.lp_filter[i], (float ) compass[i]);
        }

        if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_RAW_DATA)) ==
                                         (INV_NEW_DATA | INV_RAW_DATA)   )  {

            hal_out.compass_float[i] = inv_biquad_filter_process(&hal_out.lp_filter[i],
                                           (float ) compass[i]) * COMPASS_CONVERSION;

        } else if ((sensor_cal->compass.status & INV_NEW_DATA) == INV_NEW_DATA )  {
            hal_out.compass_float[i] = (float ) compass[i] * COMPASS_CONVERSION;
        }

    }
    return INV_SUCCESS;
}

/** Turns off generation of HAL outputs.
* @return Returns INV_SUCCESS if successful or an error code if not.
 */
inv_error_t inv_stop_hal_outputs(void)
{
    inv_error_t result;
    result = inv_unregister_data_cb(inv_generate_hal_outputs);
    return result;
}

/** Turns on generation of HAL outputs. This should be called after inv_stop_hal_outputs()
* to turn generation of HAL outputs back on. It is automatically called by inv_enable_hal_outputs().
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_start_hal_outputs(void)
{
    inv_error_t result;
    result =
        inv_register_data_cb(inv_generate_hal_outputs,
                             INV_PRIORITY_HAL_OUTPUTS,
                             INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);
    return result;
}
/* file name: lowPassFilterCoeff_1_6.c */
float compass_low_pass_filter_coeff[5] =
{+2.000000000000f, +1.000000000000f, -1.279632424998f, +0.477592250073f, +0.049489956269f};

/** Initializes hal outputs class. This is called automatically by the
* enable function. It may be called any time the feature is enabled, but
* is typically not needed to be called by outside callers.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_init_hal_outputs(void)
{
    int i;
    memset(&hal_out, 0, sizeof(hal_out));
    for (i=0; i<3; i++)  {
        inv_init_biquad_filter(&hal_out.lp_filter[i], compass_low_pass_filter_coeff);
    }

    return INV_SUCCESS;
}

/** Turns on creation and storage of HAL type results.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_enable_hal_outputs(void)
{
    inv_error_t result;

	// don't need to check the result for inv_init_hal_outputs
	// since it's always INV_SUCCESS
	inv_init_hal_outputs();

    result = inv_register_mpl_start_notification(inv_start_hal_outputs);
    return result;
}

/** Turns off creation and storage of HAL type results.
*/
inv_error_t inv_disable_hal_outputs(void)
{
    inv_error_t result;

    inv_stop_hal_outputs(); // Ignore error if we have already stopped this
    result = inv_unregister_mpl_start_notification(inv_start_hal_outputs);
    return result;
}

/**
 * @}
 */