/*
 * ALS31313.c
 *
 *  Created on: 8 Apr 2021
 *      Author: angoosh
 *
 *  Datasheet: https://www.allegromicro.com/~/media/Files/Datasheets/ALS31313-Datasheet.ashx
 */

#include "ALS31313.h"

void Enable_Setting_Modification();
uint32_t Modify_Hall_EEPROM_Settings(int, uint32_t, ACCESS);
uint32_t Modify_Hall_Register_Settings(int, uint32_t, ACCESS);
int readHallData(int*, float*);
double readDegrees(AXIS_PAIR);

void Enable_Setting_Modification(){
	uint8_t address = 0x35;
	int value = 0x2C413534;
	uint8_t registerData[4];

	registerData[0] = 0x2C;
	registerData[1] = 0x41;
	registerData[2] = 0x35;
	registerData[3] = 0x34;

	sendI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);
}

/* @brief Settings 0-19
 * 			0: 3bit - BW select
 * 			1: 2bit - Hall mode
 * 			2: 1bit - I2C CRC Rnable
 * 			3: 1bit - Disable Slave ADC
 * 			4: 7bit - Slave Address
 * 			5: 1bit - I2C Threshold
 * 			6: 3bit - Axes Channel Enable
 * 			7: 1bit - INT Latch Enable
 * 			8: 1bit - Signed INT Enable
 * 			9: 1bit - INT Mode
 * 			10: 1bit - INT EEPROM Status
 * 			11: 1bit - INT EEPROM Enable
 * 			12: 3bit - Axes INT Enable
 * 			13: 6bit - Z INT Threshold
 * 			14: 6bit - Y INT Threshold
 * 			15: 6bit - X INT Threshold
 * 			16: 5bit - 0x02 Customer EEPROM
 * 			17: 26bit - 0x0D Customer EEPROM
 * 			18: 26bit - 0x0E Customer EEPROM
 * 			19: 26bit - 0x0F Customer EEPROM
 * @param setting number
 * @param value to write, if reading it doesn't matter
 * @param READ/WRITE
 * @retval read desired value of memory block, 1 if write successful or 0 if error
 */

uint32_t Modify_Hall_EEPROM_Settings(int setting, uint32_t value, ACCESS rw){
	int address, returnVal;
	uint8_t registerData[4];

	if((setting < 8) || (setting == 16)){
		address = 0x02;
	}
	else if(setting < 16){
		address = 0x03;
	}
	else if((setting > 16)&&(setting < 20)){
		address = 0x0D + (setting - 17);
	}

	if(rw == READ){
		//read 32bit data (eeprom cell)
		SendReadI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		if(setting == 0){
			returnVal = registerData[1];
			returnVal &= 0xE0;
			return returnVal >> 5;
		}
		else if(setting == 1){
			returnVal = registerData[1];
			returnVal &= 0x18;
			return returnVal >> 3;
		}
		else if(setting == 2){
			returnVal = registerData[1];
			returnVal &= 0x04;
			return returnVal >> 2;
		}
		else if(setting == 3){
			returnVal = registerData[1];
			returnVal &= 0x02;
			return returnVal >> 1;
		}
		else if(setting == 4){
			uint8_t returnVal_MSB = registerData[1];
			uint8_t returnVal_LSB = registerData[2];
			returnVal_MSB &= 0x01;
			returnVal_LSB &= 0xFC;
			returnVal = returnVal_MSB << 6;
			returnVal += returnVal_LSB >> 2;
			return returnVal;
		}
		else if(setting == 5){
			returnVal = registerData[2];
			returnVal &= 0x02;
			return returnVal >> 1;
		}
		else if(setting == 6){
			uint8_t returnVal_MSB = registerData[2];
			uint8_t returnVal_LSB = registerData[3];
			returnVal_MSB &= 0x01;
			returnVal_LSB &= 0xC0;
			returnVal = returnVal_MSB << 2;
			returnVal += returnVal_LSB >> 6;
			return returnVal;
		}
		else if(setting == 7){
			returnVal = registerData[3];
			returnVal &= 0x10;
			return returnVal >> 4;
		}
		else if(setting == 16){
			returnVal = registerData[3];
			returnVal &= 0x0F;
			return returnVal;
		}
		else if(setting == 8){
			returnVal = registerData[0];
			returnVal &= 0x01;
			return returnVal;
		}
		else if(setting == 9){
			returnVal = registerData[1];
			returnVal &= 0x80;
			return returnVal >> 7;
		}
		else if(setting == 10){
			returnVal = registerData[1];
			returnVal &= 0x40;
			return returnVal >> 6;
		}
		else if(setting == 11){
			returnVal = registerData[1];
			returnVal &= 0x20;
			return returnVal >> 5;
		}
		else if(setting == 12){
			returnVal = registerData[1];
			returnVal &= 0x1C;
			return returnVal >> 2;
		}
		else if(setting == 13){
			uint8_t returnVal_MSB = registerData[1];
			uint8_t returnVal_LSB = registerData[2];
			returnVal_MSB &= 0x03;
			returnVal_LSB &= 0xF0;
			returnVal = returnVal_MSB << 4;
			returnVal += returnVal_LSB >> 4;
			return returnVal;
		}
		else if(setting == 14){
			uint8_t returnVal_MSB = registerData[2];
			uint8_t returnVal_LSB = registerData[3];
			returnVal_MSB &= 0x0F;
			returnVal_LSB &= 0xC0;
			returnVal = returnVal_MSB << 2;
			returnVal += returnVal_LSB >> 6;
			return returnVal;
		}
		else if(setting == 15){
			returnVal = registerData[3];
			returnVal &= 0x3F;
			return returnVal;
		}
		else if(setting >= 17){
			uint8_t returnVal_MSB = registerData[0];
			uint8_t returnVal_LMSB = registerData[1];
			uint8_t returnVal_MLSB = registerData[2];
			uint8_t returnVal_LSB = registerData[3];
			returnVal_MSB &= 0x01;
			returnVal = returnVal_MSB << 24;
			returnVal += returnVal_LMSB << 16;
			returnVal += returnVal_MLSB << 8;
			returnVal += returnVal_LSB;

			return returnVal;
		}
	}
	else{
		//read 32bit data (eeprom cell)
		SendReadI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		if(setting == 0){
			registerData[1] = ((registerData[1] & ~0xE0) | (value << 5));
		}
		else if(setting == 1){
			registerData[1] = ((registerData[1] & ~0x18) | (value << 3));
		}
		else if(setting == 2){
			registerData[1] = ((registerData[1] & ~0x04) | (value << 2));
		}
		else if(setting == 3){
			registerData[1] = ((registerData[1] & ~0x02) | (value << 1));
		}
		else if(setting == 4){
			uint8_t returnVal_MSB = (value >> 6);
			uint8_t returnVal_LSB = (value << 2);
			registerData[1] = ((registerData[1] & ~0x01) | (returnVal_MSB << 0));
			registerData[2] = ((registerData[2] & ~0xFC) | (returnVal_LSB << 0));
		}
		else if(setting == 5){
			registerData[2] = ((registerData[2] & ~0x02) | (value << 1));
		}
		else if(setting == 6){
			uint8_t returnVal_MSB = (value >> 2);
			uint8_t returnVal_LSB = (value << 6);
			registerData[2] = ((registerData[2] & ~0x01) | (returnVal_MSB << 0));
			registerData[3] = ((registerData[3] & ~0xC0) | (returnVal_LSB << 0));
		}
		else if(setting == 7){
			registerData[3] = ((registerData[3] & ~0x10) | (value << 4));
		}
		else if(setting == 16){
			registerData[3] = ((registerData[3] & ~0x0F) | (value << 0));
		}
		else if(setting == 8){
			registerData[0] = ((registerData[0] & ~0x01) | (value << 0));
		}
		else if(setting == 9){
			registerData[1] = ((registerData[1] & ~0x80) | (value << 7));
		}
		else if(setting == 10){
			registerData[1] = ((registerData[1] & ~0x40) | (value << 6));
		}
		else if(setting == 11){
			registerData[1] = ((registerData[1] & ~0x20) | (value << 5));
		}
		else if(setting == 12){
			registerData[1] = ((registerData[1] & ~0x1C) | (value << 2));
		}
		else if(setting == 13){
			uint8_t returnVal_MSB = (value >> 4);
			uint8_t returnVal_LSB = (value << 4);
			registerData[1] = ((registerData[1] & ~0x03) | (returnVal_MSB << 0));
			registerData[2] = ((registerData[2] & ~0xF0) | (returnVal_LSB << 0));
		}
		else if(setting == 14){
			uint8_t returnVal_MSB = (value >> 2);
			uint8_t returnVal_LSB = (value << 6);
			registerData[2] = ((registerData[2] & ~0x0F) | (returnVal_MSB << 0));
			registerData[3] = ((registerData[3] & ~0xC0) | (returnVal_LSB << 0));
		}
		else if(setting == 15){
			registerData[3] = ((registerData[3] & ~0x3F) | (value << 0));
		}
		else if(setting >= 17){
			uint8_t returnVal_MSB = (value >> 24) & 0x01;
			uint8_t returnVal_LMSB = (value >> 16) & 0xFF;
			uint8_t returnVal_MLSB = (value >> 8) & 0xFF;
			uint8_t returnVal_LSB = (value & 0xFF);
			registerData[0] = ((registerData[0] & ~0xFF) | (returnVal_MSB << 0));
			registerData[1] = ((registerData[1] & ~0xFF) | (returnVal_LMSB << 0));
			registerData[2] = ((registerData[2] & ~0xFF) | (returnVal_MLSB << 0));
			registerData[3] = ((registerData[3] & ~0xFF) | (returnVal_LSB << 0));
		}

		//write modified data to eeprom
		sendI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		return 1;
	}

	return 0;
}

/* @brief Settings 0-2
 * 			0: 3bit - Low-Power Mode - Count Max
 * 			1: 2bit - I2C Loop-Mode
 * 			2: 2bit - Sleep
 * @param setting number
 * @param value to write, if reading it doesn't matter
 * @param READ/WRITE
 * @retval read desired value of memory block, 1 if write successful or 0 if error
 */
uint32_t Modify_Hall_Register_Settings(int setting, uint32_t value, ACCESS rw){
	int address, returnVal;
	uint8_t registerData[4];

	address = 0x27;

	if(rw == READ){
		//read 32bit data (eeprom cell)
		SendReadI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		if(setting == 0){
			returnVal = registerData[3];
			returnVal &= 0x70;
			return returnVal >> 4;
		}
		else if(setting == 1){
			returnVal = registerData[3];
			returnVal &= 0x0C;
			return returnVal >> 2;
		}
		else if(setting == 2){
			returnVal = registerData[3];
			returnVal &= 0x03;
			return returnVal;
		}
	}
	else{
		//read 32bit data (eeprom cell)
		SendReadI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		if(setting == 0){
			registerData[3] = ((registerData[3] & ~0x70) | (value << 4));
		}
		else if(setting == 1){
			registerData[3] = ((registerData[3] & ~0x0C) | (value << 2));
		}
		else if(setting == 2){
			registerData[3] = ((registerData[3] & ~0x03) | (value << 0));
		}
		//write modified data to eeprom
		sendI2CMaster(HALL_I2C_ADDR, address, registerData, 4, false);

		return 1;
	}

	return 0;
}

/**
 * @brief Read sensoric data from ALS31313
 * @param int array of min size 3, stores x, y, z gauss value in this order
 * @param float array of min size 1, temperature of the sensor in C
 * @retval Hall Mode Status - 0 = Single-Ended, 1 = Differential, 2 = Common
 */
int readHallData(int *xyz, float *temp){
	uint8_t registerData[8];
	int16_t x, y, z;
	int x_raw, y_raw, z_raw, temp_raw;
	int x_g, y_g, z_g;
	float tempr;

	//read registers 0x28 and 0x29 respectively
	SendReadI2CMaster(HALL_I2C_ADDR, 0x28, registerData, 8, false);

	x_raw = registerData[0] << 4;
	y_raw = registerData[1] << 4;
	z_raw = registerData[2] << 4;
	temp_raw = (registerData[3] & 0x3F) << 6;

	x_raw += (registerData[5] & 0x0F);
	y_raw += (registerData[6] & 0xF0) >> 4;
	z_raw += (registerData[6] & 0x0F);
	temp_raw += (registerData[7] & 0x3F);

	x = (x_raw & 0x0800) ? (x_raw | 0xf800) : x_raw;
	y = (y_raw & 0x0800) ? (y_raw | 0xf800) : y_raw;
	z = (z_raw & 0x0800) ? (z_raw | 0xf800) : z_raw;

	//convert raw data to gauss and temperature
	x_g = x / LSB_GAUSS;
	y_g = y / LSB_GAUSS;
	z_g = z / LSB_GAUSS;
	tempr = (((float)302*((float)temp_raw-(float)1708))/(float)4096);
	temp[0] = tempr;

	xyz[0] = x_g;
	xyz[1] = y_g;
	xyz[2] = z_g;

	return ((registerData[7] & 0xC0) >> 6);
}

/**
 * @brief Read degrees from ALS31313
 * @param what axes to read: XY, XZ, YZ
 * @retval degrees
 */
double readDegrees(AXIS_PAIR pair){
	float temp;
	int xyz[3];
	readHallData(xyz, &temp);

	if(pair == XY){
		return ((atan2(xyz[1],xyz[0])*(180/3.14159))+180);
	}
	else if(pair == XZ){
		return ((atan2(xyz[2],xyz[0])*(180/3.14159))+180);
	}
	else{
		return ((atan2(xyz[1],xyz[2])*(180/3.14159))+180);
	}
}