/*
 * This file is part of Cleanflight.
 *
 * Cleanflight 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 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

// Inertial Measurement Unit (IMU)

#include <stdbool.h>
#include <stdint.h>
#include <math.h>

#include "platform.h"

#include "build/build_config.h"
#include "build/debug.h"

#include "common/axis.h"

#include "pg/pg.h"
#include "pg/pg_ids.h"

#include "drivers/time.h"

#include "fc/runtime_config.h"

#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"

#include "io/gps.h"

#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"

#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
#include <stdio.h>
#include <pthread.h>

static pthread_mutex_t imuUpdateLock;

#if defined(SIMULATOR_IMU_SYNC)
static uint32_t imuDeltaT = 0;
static bool imuUpdated = false;
#endif

#define IMU_LOCK pthread_mutex_unlock(&imuUpdateLock)
#define IMU_UNLOCK pthread_mutex_unlock(&imuUpdateLock)

#else

#define IMU_LOCK
#define IMU_UNLOCK

#endif

// the limit (in degrees/second) beyond which we stop integrating
// omega_I. At larger spin rates the DCM PI controller can get 'dizzy'
// which results in false gyro drift. See
// http://gentlenav.googlecode.com/files/fastRotations.pdf

#define SPIN_RATE_LIMIT 20

int32_t accSum[XYZ_AXIS_COUNT];

uint32_t accTimeSum = 0;        // keep track for integration of acc
int accSumCount = 0;
float accVelScale;

static float throttleAngleScale;
static float fc_acc;
static float smallAngleCosZ = 0;

static imuRuntimeConfig_t imuRuntimeConfig;

STATIC_UNIT_TESTED float rMat[3][3];

// quaternion of sensor frame relative to earth frame
STATIC_UNIT_TESTED quaternion q = QUATERNION_INITIALIZE;
STATIC_UNIT_TESTED quaternionProducts qP = QUATERNION_PRODUCTS_INITIALIZE;
// headfree quaternions
quaternion headfree = QUATERNION_INITIALIZE;
quaternion offset = QUATERNION_INITIALIZE;

// absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
attitudeEulerAngles_t attitude = EULER_INITIALIZE;

PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);

PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
    .dcm_kp = 2500,                // 1.0 * 10000
    .dcm_ki = 0,                   // 0.003 * 10000
    .small_angle = 25,
    .accDeadband = {.xy = 40, .z= 40},
    .acc_unarmedcal = 1
);

STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){
    imuQuaternionComputeProducts(&q, &qP);

    rMat[0][0] = 1.0f - 2.0f * qP.yy - 2.0f * qP.zz;
    rMat[0][1] = 2.0f * (qP.xy + -qP.wz);
    rMat[0][2] = 2.0f * (qP.xz - -qP.wy);

    rMat[1][0] = 2.0f * (qP.xy - -qP.wz);
    rMat[1][1] = 1.0f - 2.0f * qP.xx - 2.0f * qP.zz;
    rMat[1][2] = 2.0f * (qP.yz + -qP.wx);

    rMat[2][0] = 2.0f * (qP.xz + -qP.wy);
    rMat[2][1] = 2.0f * (qP.yz - -qP.wx);
    rMat[2][2] = 1.0f - 2.0f * qP.xx - 2.0f * qP.yy;

#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC) && !defined(SET_IMU_FROM_EULER)
    rMat[1][0] = -2.0f * (qP.xy - -qP.wz);
    rMat[2][0] = -2.0f * (qP.xz + -qP.wy);
#endif
}

/*
* Calculate RC time constant used in the accZ lpf.
*/
static float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff)
{
    return 0.5f / (M_PIf * accz_lpf_cutoff);
}

static float calculateThrottleAngleScale(uint16_t throttle_correction_angle)
{
    return (1800.0f / M_PIf) * (900.0f / throttle_correction_angle);
}

void imuConfigure(uint16_t throttle_correction_angle)
{
    imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
    imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
    imuRuntimeConfig.acc_unarmedcal = imuConfig()->acc_unarmedcal;
    imuRuntimeConfig.small_angle = imuConfig()->small_angle;

    fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value
    throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
}

void imuInit(void)
{
    smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig.small_angle));
    accVelScale = 9.80665f / acc.dev.acc_1G / 10000.0f;

    imuComputeRotationMatrix();

#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
    if (pthread_mutex_init(&imuUpdateLock, NULL) != 0) {
        printf("Create imuUpdateLock error!\n");
    }
#endif
}

void imuResetAccelerationSum(void)
{
    accSum[0] = 0;
    accSum[1] = 0;
    accSum[2] = 0;
    accSumCount = 0;
    accTimeSum = 0;
}

#if defined(USE_ALT_HOLD)
static void imuTransformVectorBodyToEarth(t_fp_vector * v)
{
    /* From body frame to earth frame */
    const float x = rMat[0][0] * v->V.X + rMat[0][1] * v->V.Y + rMat[0][2] * v->V.Z;
    const float y = rMat[1][0] * v->V.X + rMat[1][1] * v->V.Y + rMat[1][2] * v->V.Z;
    const float z = rMat[2][0] * v->V.X + rMat[2][1] * v->V.Y + rMat[2][2] * v->V.Z;

    v->V.X = x;
    v->V.Y = -y;
    v->V.Z = z;
}

// rotate acc into Earth frame and calculate acceleration in it
static void imuCalculateAcceleration(uint32_t deltaT)
{
    static int32_t accZoffset = 0;
    static float accz_smooth = 0;

    // deltaT is measured in us ticks
    const float dT = (float)deltaT * 1e-6f;

    t_fp_vector accel_ned;
    accel_ned.V.X = acc.accADC[X];
    accel_ned.V.Y = acc.accADC[Y];
    accel_ned.V.Z = acc.accADC[Z];

    imuTransformVectorBodyToEarth(&accel_ned);

    if (imuRuntimeConfig.acc_unarmedcal == 1) {
        if (!ARMING_FLAG(ARMED)) {
            accZoffset -= accZoffset / 64;
            accZoffset += accel_ned.V.Z;
        }
        accel_ned.V.Z -= accZoffset / 64;  // compensate for gravitation on z-axis
    } else {
        accel_ned.V.Z -= acc.dev.acc_1G;
    }

    accz_smooth = accz_smooth + (dT / (fc_acc + dT)) * (accel_ned.V.Z - accz_smooth); // low pass filter

    // apply Deadband to reduce integration drift and vibration influence
    accSum[X] += applyDeadband(lrintf(accel_ned.V.X), imuRuntimeConfig.accDeadband.xy);
    accSum[Y] += applyDeadband(lrintf(accel_ned.V.Y), imuRuntimeConfig.accDeadband.xy);
    accSum[Z] += applyDeadband(lrintf(accz_smooth), imuRuntimeConfig.accDeadband.z);

    // sum up Values for later integration to get velocity and distance
    accTimeSum += deltaT;
    accSumCount++;
}
#endif // USE_ALT_HOLD

static float invSqrt(float x)
{
    return 1.0f / sqrtf(x);
}

static bool imuUseFastGains(void)
{
    return !ARMING_FLAG(ARMED) && millis() < 20000;
}

static float imuGetPGainScaleFactor(void)
{
    if (imuUseFastGains()) {
        return 10.0f;
    }
    else {
        return 1.0f;
    }
}

static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
                                bool useAcc, float ax, float ay, float az,
                                bool useMag, float mx, float my, float mz,
                                bool useYaw, float yawError)
{
    static float integralFBx = 0.0f,  integralFBy = 0.0f, integralFBz = 0.0f;    // integral error terms scaled by Ki

    // Calculate general spin rate (rad/s)
    const float spin_rate = sqrtf(sq(gx) + sq(gy) + sq(gz));

    // Use raw heading error (from GPS or whatever else)
    float ez = 0;
    if (useYaw) {
        while (yawError >  M_PIf) yawError -= (2.0f * M_PIf);
        while (yawError < -M_PIf) yawError += (2.0f * M_PIf);

        ez += sin_approx(yawError / 2.0f);
    }

    // Use measured magnetic field vector
    float ex = 0, ey = 0;
    float recipNorm = sq(mx) + sq(my) + sq(mz);
    if (useMag && recipNorm > 0.01f) {
        // Normalise magnetometer measurement
        recipNorm = invSqrt(recipNorm);
        mx *= recipNorm;
        my *= recipNorm;
        mz *= recipNorm;

        // For magnetometer correction we make an assumption that magnetic field is perpendicular to gravity (ignore Z-component in EF).
        // This way magnetic field will only affect heading and wont mess roll/pitch angles

        // (hx; hy; 0) - measured mag field vector in EF (assuming Z-component is zero)
        // (bx; 0; 0) - reference mag field vector heading due North in EF (assuming Z-component is zero)
        const float hx = rMat[0][0] * mx + rMat[0][1] * my + rMat[0][2] * mz;
        const float hy = rMat[1][0] * mx + rMat[1][1] * my + rMat[1][2] * mz;
        const float bx = sqrtf(hx * hx + hy * hy);

        // magnetometer error is cross product between estimated magnetic north and measured magnetic north (calculated in EF)
        const float ez_ef = -(hy * bx);

        // Rotate mag error vector back to BF and accumulate
        ex += rMat[2][0] * ez_ef;
        ey += rMat[2][1] * ez_ef;
        ez += rMat[2][2] * ez_ef;
    }

    // Use measured acceleration vector
    recipNorm = sq(ax) + sq(ay) + sq(az);
    if (useAcc && recipNorm > 0.01f) {
        // Normalise accelerometer measurement
        recipNorm = invSqrt(recipNorm);
        ax *= recipNorm;
        ay *= recipNorm;
        az *= recipNorm;

        // Error is sum of cross product between estimated direction and measured direction of gravity
        ex += (ay * rMat[2][2] - az * rMat[2][1]);
        ey += (az * rMat[2][0] - ax * rMat[2][2]);
        ez += (ax * rMat[2][1] - ay * rMat[2][0]);
    }

    // Compute and apply integral feedback if enabled
    if (imuRuntimeConfig.dcm_ki > 0.0f) {
        // Stop integrating if spinning beyond the certain limit
        if (spin_rate < DEGREES_TO_RADIANS(SPIN_RATE_LIMIT)) {
            const float dcmKiGain = imuRuntimeConfig.dcm_ki;
            integralFBx += dcmKiGain * ex * dt;    // integral error scaled by Ki
            integralFBy += dcmKiGain * ey * dt;
            integralFBz += dcmKiGain * ez * dt;
        }
    }
    else {
        integralFBx = 0.0f;    // prevent integral windup
        integralFBy = 0.0f;
        integralFBz = 0.0f;
    }

    // Calculate kP gain. If we are acquiring initial attitude (not armed and within 20 sec from powerup) scale the kP to converge faster
    const float dcmKpGain = imuRuntimeConfig.dcm_kp * imuGetPGainScaleFactor();

    // Apply proportional and integral feedback
    gx += dcmKpGain * ex + integralFBx;
    gy += dcmKpGain * ey + integralFBy;
    gz += dcmKpGain * ez + integralFBz;

    // Integrate rate of change of quaternion
    gx *= (0.5f * dt);
    gy *= (0.5f * dt);
    gz *= (0.5f * dt);

    quaternion buffer;
    buffer.w = q.w;
    buffer.x = q.x;
    buffer.y = q.y;
    buffer.z = q.z;

    q.w += (-buffer.x * gx - buffer.y * gy - buffer.z * gz);
    q.x += (+buffer.w * gx + buffer.y * gz - buffer.z * gy);
    q.y += (+buffer.w * gy - buffer.x * gz + buffer.z * gx);
    q.z += (+buffer.w * gz + buffer.x * gy - buffer.y * gx);

    // Normalise quaternion
    recipNorm = invSqrt(sq(q.w) + sq(q.x) + sq(q.y) + sq(q.z));
    q.w *= recipNorm;
    q.x *= recipNorm;
    q.y *= recipNorm;
    q.z *= recipNorm;

    // Pre-compute rotation matrix from quaternion
    imuComputeRotationMatrix();
}

STATIC_UNIT_TESTED void imuUpdateEulerAngles(void){
    quaternionProducts buffer;

    if (FLIGHT_MODE(HEADFREE_MODE)) {
       imuQuaternionComputeProducts(&headfree, &buffer);

       attitude.values.roll = lrintf(atan2_approx((+2.0f * (buffer.wx + buffer.yz)), (+1.0f - 2.0f * (buffer.xx + buffer.yy))) * (1800.0f / M_PIf));
       attitude.values.pitch = lrintf(((0.5f * M_PIf) - acos_approx(+2.0f * (buffer.wy - buffer.xz))) * (1800.0f / M_PIf));
       attitude.values.yaw = lrintf((-atan2_approx((+2.0f * (buffer.wz + buffer.xy)), (+1.0f - 2.0f * (buffer.yy + buffer.zz))) * (1800.0f / M_PIf)));
    } else {
       attitude.values.roll = lrintf(atan2_approx(rMat[2][1], rMat[2][2]) * (1800.0f / M_PIf));
       attitude.values.pitch = lrintf(((0.5f * M_PIf) - acos_approx(-rMat[2][0])) * (1800.0f / M_PIf));
       attitude.values.yaw = lrintf((-atan2_approx(rMat[1][0], rMat[0][0]) * (1800.0f / M_PIf)));
    }

    if (attitude.values.yaw < 0)
        attitude.values.yaw += 3600;

    /* Update small angle state */
    if (rMat[2][2] > smallAngleCosZ) {
        ENABLE_STATE(SMALL_ANGLE);
    } else {
        DISABLE_STATE(SMALL_ANGLE);
    }
}

static bool imuIsAccelerometerHealthy(void)
{
    float accMagnitude = 0;
    for (int axis = 0; axis < 3; axis++) {
        const float a = acc.accADC[axis];
        accMagnitude += a * a;
    }

    accMagnitude = accMagnitude * 100 / (sq((int32_t)acc.dev.acc_1G));

    // Accept accel readings only in range 0.90g - 1.10g
    return (81 < accMagnitude) && (accMagnitude < 121);
}

static bool isMagnetometerHealthy(void)
{
    return (mag.magADC[X] != 0) && (mag.magADC[Y] != 0) && (mag.magADC[Z] != 0);
}

static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
{
    static uint32_t previousIMUUpdateTime;
    float rawYawError = 0;
    bool useAcc = false;
    bool useMag = false;
    bool useYaw = false;

    uint32_t deltaT = currentTimeUs - previousIMUUpdateTime;
    previousIMUUpdateTime = currentTimeUs;

    if (imuIsAccelerometerHealthy()) {
        useAcc = true;
    }

    if (sensors(SENSOR_MAG) && isMagnetometerHealthy()) {
        useMag = true;
    }
#if defined(USE_GPS)
    else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= 300) {
        // In case of a fixed-wing aircraft we can use GPS course over ground to correct heading
        rawYawError = DECIDEGREES_TO_RADIANS(attitude.values.yaw - gpsSol.groundCourse);
        useYaw = true;
    }
#endif

#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC)
    UNUSED(imuMahonyAHRSupdate);
    UNUSED(useAcc);
    UNUSED(useMag);
    UNUSED(useYaw);
    UNUSED(rawYawError);
#else

#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC)
//  printf("[imu]deltaT = %u, imuDeltaT = %u, currentTimeUs = %u, micros64_real = %lu\n", deltaT, imuDeltaT, currentTimeUs, micros64_real());
    deltaT = imuDeltaT;
#endif
    float gyroAverage[XYZ_AXIS_COUNT];
    gyroGetAccumulationAverage(gyroAverage);
    float accAverage[XYZ_AXIS_COUNT];
    if (!accGetAccumulationAverage(accAverage)) {
        useAcc = false;
    }
    imuMahonyAHRSupdate(deltaT * 1e-6f,
                        DEGREES_TO_RADIANS(gyroAverage[X]), DEGREES_TO_RADIANS(gyroAverage[Y]), DEGREES_TO_RADIANS(gyroAverage[Z]),
                        useAcc, accAverage[X], accAverage[Y], accAverage[Z],
                        useMag, mag.magADC[X], mag.magADC[Y], mag.magADC[Z],
                        useYaw, rawYawError);

    imuUpdateEulerAngles();
#endif
#if defined(USE_ALT_HOLD)
    imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
#endif
}

void imuUpdateAttitude(timeUs_t currentTimeUs)
{
    if (sensors(SENSOR_ACC) && acc.isAccelUpdatedAtLeastOnce) {
        IMU_LOCK;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC)
        if (imuUpdated == false) {
            IMU_UNLOCK;
            return;
        }
        imuUpdated = false;
#endif
        imuCalculateEstimatedAttitude(currentTimeUs);
        IMU_UNLOCK;
    } else {
        acc.accADC[X] = 0;
        acc.accADC[Y] = 0;
        acc.accADC[Z] = 0;
    }
}

float getCosTiltAngle(void)
{
    return rMat[2][2];
}

int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
{
    /*
    * Use 0 as the throttle angle correction if we are inverted, vertical or with a
    * small angle < 0.86 deg
    * TODO: Define this small angle in config.
    */
    if (rMat[2][2] <= 0.015f) {
        return 0;
    }
    int angle = lrintf(acos_approx(rMat[2][2]) * throttleAngleScale);
    if (angle > 900)
        angle = 900;
    return lrintf(throttle_correction_value * sin_approx(angle / (900.0f * M_PIf / 2.0f)));
}

#ifdef SIMULATOR_BUILD
void imuSetAttitudeRPY(float roll, float pitch, float yaw)
{
    IMU_LOCK;

    attitude.values.roll = roll * 10;
    attitude.values.pitch = pitch * 10;
    attitude.values.yaw = yaw * 10;

    IMU_UNLOCK;
}
void imuSetAttitudeQuat(float w, float x, float y, float z)
{
    IMU_LOCK;

    q.w = w;
    q.x = x;
    q.y = y;
    q.z = z;

    imuComputeRotationMatrix();
    imuUpdateEulerAngles();

    IMU_UNLOCK;
}
#endif
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC)
void imuSetHasNewData(uint32_t dt)
{
    IMU_LOCK;

    imuUpdated = true;
    imuDeltaT = dt;

    IMU_UNLOCK;
}
#endif

void imuQuaternionComputeProducts(quaternion *quat, quaternionProducts *quatProd) {
    quatProd->ww = quat->w * quat->w;
    quatProd->wx = quat->w * quat->x;
    quatProd->wy = quat->w * quat->y;
    quatProd->wz = quat->w * quat->z;
    quatProd->xx = quat->x * quat->x;
    quatProd->xy = quat->x * quat->y;
    quatProd->xz = quat->x * quat->z;
    quatProd->yy = quat->y * quat->y;
    quatProd->yz = quat->y * quat->z;
    quatProd->zz = quat->z * quat->z;
}

bool imuQuaternionHeadfreeOffsetSet(void) {
    if ((ABS(attitude.values.roll) < 450)  && (ABS(attitude.values.pitch) < 450)) {
        const float yaw = -atan2_approx((+2.0f * (qP.wz + qP.xy)), (+1.0f - 2.0f * (qP.yy + qP.zz)));

        offset.w = cos_approx(yaw/2);
        offset.x = 0;
        offset.y = 0;
        offset.z = sin_approx(yaw/2);

        return(true);
    } else {
        return(false);
    }
}

void imuQuaternionMultiplication(quaternion *q1, quaternion *q2, quaternion *result) {
    const float A = (q1->w + q1->x) * (q2->w + q2->x);
    const float B = (q1->z - q1->y) * (q2->y - q2->z);
    const float C = (q1->w - q1->x) * (q2->y + q2->z);
    const float D = (q1->y + q1->z) * (q2->w - q2->x);
    const float E = (q1->x + q1->z) * (q2->x + q2->y);
    const float F = (q1->x - q1->z) * (q2->x - q2->y);
    const float G = (q1->w + q1->y) * (q2->w - q2->z);
    const float H = (q1->w - q1->y) * (q2->w + q2->z);

    result->w = B + (- E - F + G + H) / 2.0f;
    result->x = A - (+ E + F + G + H) / 2.0f;
    result->y = C + (+ E - F + G - H) / 2.0f;
    result->z = D + (+ E - F - G + H) / 2.0f;
}

void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def *v) {
    quaternionProducts buffer;

    imuQuaternionMultiplication(&offset, &q, &headfree);
    imuQuaternionComputeProducts(&headfree, &buffer);

    const float x = (buffer.ww + buffer.xx - buffer.yy - buffer.zz) * v->X + 2.0f * (buffer.xy + buffer.wz) * v->Y + 2.0f * (buffer.xz - buffer.wy) * v->Z;
    const float y = 2.0f * (buffer.xy - buffer.wz) * v->X + (buffer.ww - buffer.xx + buffer.yy - buffer.zz) * v->Y + 2.0f * (buffer.yz + buffer.wx) * v->Z;
    const float z = 2.0f * (buffer.xz + buffer.wy) * v->X + 2.0f * (buffer.yz - buffer.wx) * v->Y + (buffer.ww - buffer.xx - buffer.yy + buffer.zz) * v->Z;

    v->X = x;
    v->Y = y;
    v->Z = z;
}