component pnp "pnp";

description "Does stuff";

pin out float happy_output_pin;
pin in float happy_input_pin;

option extra_setup yes;
//option count_function yes;

variable unsigned *_step_drive_rx;
variable unsigned *_step_drive_tx;
variable unsigned *_analog_rx;
variable unsigned *_analog_tx;

license "GPLv2";

include <hostmot2-serial.h>;
;;

static int
read(void* subdata) {
    struct __comp_state* __comp_inst = subdata;

    if (*_step_drive_rx != 0) rtapi_print("step_drive: %08x\n", *_step_drive_rx);
    if (*_analog_rx != 0) rtapi_print("analog: %08x\r\n", *_analog_rx);

    *_step_drive_tx = 0x0123456;

    return 0;
}

static int
write(void* subdata) {
    struct __comp_state* __comp_inst = subdata;
    *_step_drive_tx = 0xdeadbeef;
    return 0;
}

EXTRA_SETUP() {
    int i, r;
    char* name = "hm2_7i92.0.bspi.0"; // Exact channel name needed to work here, but it should be done with [extra_arg] like the 7i65 comp//

    //hm2_bspi_setup_chan(name, chan, cs, bits, mhz, delay(ns), cpol, cpha, /clear, /echo, samplelate)
    // CS0 loopback Echo, CS0, ~ 4 MHz, CPOL, 32 bits
    r = hm2_bspi_setup_chan(name, 0, 0, 32, 4, 0, 1, 0, 1, 0, 0);
    r = hm2_bspi_setup_chan(name, 1, 1, 32, 4, 0, 1, 0, 1, 0, 0);
    if (r < 0) {
        rtapi_print_msg(
            RTAPI_MSG_ERR,
            "There have been %i errors during channel setup, "
            "quitting\n",
            -r);
        return -EINVAL;
    }

    // Clear BSPI Rx & Tx FIFOs.
    // This discards the received data from the ADC setup writes above,
    // and any other old stale data.
    r = hm2_bspi_clear_fifo(name);
    if (r < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "failed to clear BSPI fifos on %s\n", name); }

    // Add BSPI Frames
    r = hm2_tram_add_bspi_frame(name, 0, &_step_drive_tx, &_step_drive_rx);
    r = hm2_tram_add_bspi_frame(name, 1, &_analog_tx, &_analog_rx);

    // This is required, or nothing happens.
    r += hm2_allocate_bspi_tram(name);

    // Tell the bspi driver which function to call
    r += hm2_bspi_set_read_function(name, &read, __comp_inst);

    // no separate write function in this example, but it would be:
    r += hm2_bspi_set_write_function(name, &write, __comp_inst);

    if (r < 0) {
        rtapi_print_msg(
            RTAPI_MSG_ERR,
            "There have been %i errors during TRAM allocation setup, "
            "quitting\n",
            -r);
        return -EINVAL;
    }
    return 0;
}