#include <fsfw_hal/stm32h7/dmaInterrupts.h>
#include "mspInit.h"
#include "spiConf.h"
#include "spiCore.h"
#include "spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_def.h"

#include <stdio.h>

/**
 * @brief SPI MSP Initialization
 *        This function configures the hardware resources used in this example:
 *           - Peripheral's clock enable
 *           - Peripheral's GPIO Configuration
 *           - DMA configuration for transmission request by peripheral
 *           - NVIC configuration for DMA interrupt request enable
 * @param hspi: SPI handle pointer
 * @retval None
 */
void spi::halMspInitDma(void *spi_handle) {
    SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
    if(hspi == NULL) {
        return;
    }
    if(hspi == NULL) {
        printf("HAL_SPI_MspInit: Invalid SPI handle!\n");
        return;
    }
    setSpiHandle(hspi);

    DMA_HandleTypeDef* hdma_tx = NULL;
    DMA_HandleTypeDef* hdma_rx = NULL;
    spi::getDmaHandles(&hdma_tx, &hdma_rx);
    if(hdma_tx == NULL || hdma_rx == NULL) {
        printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
        return;
    }

    spi::halMspInitPolling(spi_handle);
    if (hspi->Instance == SPI1) {
        // DMA setup
        DMAx_CLK_ENABLE();

        // Configure the DMA
        /* Configure the DMA handler for Transmission process */
        hdma_tx->Instance                 = SPIx_TX_DMA_STREAM;
        hdma_tx->Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
        hdma_tx->Init.FIFOThreshold       = DMA_FIFO_THRESHOLD_FULL;
        hdma_tx->Init.MemBurst            = DMA_MBURST_INC4;
        hdma_tx->Init.PeriphBurst         = DMA_PBURST_INC4;
        hdma_tx->Init.Request             = SPIx_TX_DMA_REQUEST;
        hdma_tx->Init.Direction           = DMA_MEMORY_TO_PERIPH;
        hdma_tx->Init.PeriphInc           = DMA_PINC_DISABLE;
        hdma_tx->Init.MemInc              = DMA_MINC_ENABLE;
        hdma_tx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
        hdma_tx->Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
        hdma_tx->Init.Mode                = DMA_NORMAL;
        hdma_tx->Init.Priority            = DMA_PRIORITY_LOW;

        HAL_DMA_Init(hdma_tx);

        /* Associate the initialized DMA handle to the the SPI handle */
        __HAL_LINKDMA(hspi, hdmatx, *hdma_tx);

        /* Configure the DMA handler for Transmission process */
        hdma_rx->Instance                 = SPIx_RX_DMA_STREAM;

        hdma_rx->Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
        hdma_rx->Init.FIFOThreshold       = DMA_FIFO_THRESHOLD_FULL;
        hdma_rx->Init.MemBurst            = DMA_MBURST_INC4;
        hdma_rx->Init.PeriphBurst         = DMA_PBURST_INC4;
        hdma_rx->Init.Request             = SPIx_RX_DMA_REQUEST;
        hdma_rx->Init.Direction           = DMA_PERIPH_TO_MEMORY;
        hdma_rx->Init.PeriphInc           = DMA_PINC_DISABLE;
        hdma_rx->Init.MemInc              = DMA_MINC_ENABLE;
        hdma_rx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
        hdma_rx->Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
        hdma_rx->Init.Mode                = DMA_NORMAL;
        hdma_rx->Init.Priority            = DMA_PRIORITY_HIGH;

        HAL_DMA_Init(hdma_rx);

        /* Associate the initialized DMA handle to the the SPI handle */
        __HAL_LINKDMA(hspi, hdmarx, *hdma_rx);

        /*##-4- Configure the NVIC for DMA #########################################*/
        /* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
        // Assign the interrupt handler
        dma::assignDmaUserHandler(dma::DMAIndexes::DMA_2, dma::DMAStreams::STREAM_2,
                &spi::dmaRxIrqHandler, hdma_rx);
        HAL_NVIC_SetPriority(SPIx_DMA_RX_IRQn, 1, 0);
        HAL_NVIC_EnableIRQ(SPIx_DMA_RX_IRQn);

        /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
        // Assign the interrupt handler
        dma::assignDmaUserHandler(dma::DMAIndexes::DMA_2, dma::DMAStreams::STREAM_3,
                &spi::dmaTxIrqHandler, hdma_tx);
        HAL_NVIC_SetPriority(SPIx_DMA_TX_IRQn, 1, 1);
        HAL_NVIC_EnableIRQ(SPIx_DMA_TX_IRQn);

        /*##-5- Configure the NVIC for SPI #########################################*/
        /* NVIC configuration for SPI transfer complete interrupt (SPI1) */
        // Assign the interrupt handler
        spi::assignSpiUserHandler(spi::SPI_1, &spi::spi1IrqHandler, hspi);
        HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
        HAL_NVIC_EnableIRQ(SPIx_IRQn);
    }
}

/**
 * @brief SPI MSP De-Initialization
 *        This function frees the hardware resources used in this example:
 *          - Disable the Peripheral's clock
 *          - Revert GPIO, DMA and NVIC configuration to their default state
 * @param hspi: SPI handle pointer
 * @retval None
 */
void spi::halMspDeinitDma(void *spi_handle)
{
    SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
    if(hspi == NULL) {
        return;
    }
    spi::halMspDeinitPolling(spi_handle);
    if(hspi->Instance == SPIx) {
        DMA_HandleTypeDef* hdma_tx = NULL;
        DMA_HandleTypeDef* hdma_rx = NULL;
        spi::getDmaHandles(&hdma_tx, &hdma_rx);
        if(hdma_tx == NULL || hdma_rx == NULL) {
            printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
        }
        else {
            /*##-3- Disable the DMA ####################################################*/
            /* De-Initialize the DMA associated to transmission process */
            HAL_DMA_DeInit(hdma_tx);
            /* De-Initialize the DMA associated to reception process */
            HAL_DMA_DeInit(hdma_rx);
        }

        /*##-4- Disable the NVIC for DMA ###########################################*/
        HAL_NVIC_DisableIRQ(SPIx_DMA_TX_IRQn);
        HAL_NVIC_DisableIRQ(SPIx_DMA_RX_IRQn);

        /*##-5- Disable the NVIC for SPI ###########################################*/
        HAL_NVIC_EnableIRQ(SPIx_IRQn);
    }
}

void spi::halMspInitPolling(void *hspi) {
    GPIO_InitTypeDef GPIO_InitStruct = {};
    /*##-1- Enable peripherals and GPIO Clocks #################################*/
    /* Enable GPIO TX/RX clock */
    SPIx_SCK_GPIO_CLK_ENABLE();
    SPIx_MISO_GPIO_CLK_ENABLE();
    SPIx_MOSI_GPIO_CLK_ENABLE();
    /* Enable SPI clock */
    SPIx_CLK_ENABLE();

    /*##-2- Configure peripheral GPIO ##########################################*/
    /* SPI SCK GPIO pin configuration  */
    GPIO_InitStruct.Pin       = SPIx_SCK_PIN;
    GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull      = GPIO_PULLDOWN;
    GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = SPIx_SCK_AF;
    HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);

    /* SPI MISO GPIO pin configuration  */
    GPIO_InitStruct.Pin = SPIx_MISO_PIN;
    GPIO_InitStruct.Alternate = SPIx_MISO_AF;
    HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);

    /* SPI MOSI GPIO pin configuration  */
    GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
    GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
    HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);
}

void spi::halMspDeinitPolling(void *hspi) {
    /*##-1- Reset peripherals ##################################################*/
    SPIx_FORCE_RESET();
    SPIx_RELEASE_RESET();

    /*##-2- Disable peripherals and GPIO Clocks ################################*/
    /* Configure SPI SCK as alternate function  */
    HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
    /* Configure SPI MISO as alternate function  */
    HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
    /* Configure SPI MOSI as alternate function  */
    HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
}

void spi::halMspInitInterrupt(void *hspi) {
    spi::halMspInitPolling(hspi);
    // Configure the NVIC for SPI
    spi::assignSpiUserHandler(spi::SPI_1, &spi::spi1IrqHandler, hspi);
    HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
    HAL_NVIC_EnableIRQ(SPIx_IRQn);
}

void spi::halMspDeinitInterrupt(void *hspi) {
    spi::halMspDeinitPolling(hspi);
    // Disable the NVIC for SPI
    HAL_NVIC_DisableIRQ(SPIx_IRQn);
}