#ifndef AT91TWI_H_
#define AT91TWI_H_

#include <stdint.h>

/* TWI slave addresses */
#define TWI_ADDR_BL1		0x21
#define TWI_ADDR_BL2		0x22
#define TWI_ADDR_BL3		0x23
#define TWI_ADDR_BL4		0x24
#define TWI_ADDR_EEPROM		0x50

/* TWIBOOT commands */
#define CMD_WAIT		0x00
#define CMD_GET_INFO		0x10
#define CMD_GET_SIGNATURE	0x11
#define CMD_WRITE_FLASH		0x12
#define CMD_READ_FLASH		0x13
#define CMD_WRITE_EEPROM	0x14
#define CMD_READ_EEPROM		0x15
#define CMD_BOOT_APPLICATION	0x1F

/* blctrl commands */
//#define CMD_WAIT		0x00
//#define CMD_GET_INFO		0x10
#define CMD_SET_PWM		0x21
#define CMD_GET_STATUS		0x22
#define CMD_SET_PARAM		0x23
#define CMD_GET_PARAM		0x24
#define CMD_BOOT_LOADER		0x2F

struct blmc_status {
	uint8_t pwm_ist;
	uint8_t pwm_soll;

	uint16_t rpm;
	uint16_t current;
	uint16_t voltage;
} __attribute__ ((packed));

struct blmc_param {
	uint16_t spinup_ticks;

	uint8_t spinup_tick;
	uint8_t spinup_step;

	uint8_t spinup_wait;
	uint8_t spinup_pwm;

	uint8_t pwm_min;
	uint8_t pwm_max;

	uint16_t current_limit;
	uint16_t current_max;

	uint16_t voltage_min;

	uint16_t crc16;
} __attribute__ ((packed));


#define EE_PARAMETER_SET_START		0x0000

/* remote control calibration data */
#define EE_RC_CAL_DATA			(EE_PARAMETER_SET_START)
#define EE_RC_CAL_DATA_SIZE		48

/* ACC calibration data */
#define EE_ACC_CAL_DATA			(EE_RC_CAL_DATA + EE_RC_CAL_DATA_SIZE)
#define EE_ACC_CAL_DATA_SIZE		6

#define EE_PARAMETER_SET_END		(EE_ACC_CAL_DATA + EE_ACC_CAL_DATA_SIZE)

struct twi_cmd {
	uint32_t cmd;		/* cmd byte(s) */
	uint8_t mode;		/* read/write, cmdlen (1-3 bytes) */
	uint16_t size;		/* data size */
	uint8_t *data;		/* read/write data */
};

/* same bits as TWI_MMR[8..15] */
#define TWI_MODE_READ		0x10
#define TWI_MODE_WRITE		0x00
#define TWI_MODE_0_ARG		0x01
#define TWI_MODE_1_ARG		0x02
#define TWI_MODE_2_ARG		0x03

uint32_t twi_read_eeprom(uint32_t addr, uint8_t *buf, uint32_t size);
uint32_t twi_write_eeprom(uint32_t addr, uint8_t *buf, uint32_t size);

uint32_t twi_setpwm(uint8_t *values);

uint32_t twi_cmd(uint8_t addr, struct twi_cmd *cmd);

void at91_twi_init(void);
void at91_twi_test(void);

#endif /*AT91TWI_H_*/