#!/usr/bin/env python3
#
# Copyright (c) 2015, Freescale Semiconductor, Inc.
# Copyright 2016-2021 NXP
# Copyright 2022 Kristian Sloth Lauszus
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
#
# Python port of the "FLEXCAN_CalculateImprovedTimingValues" function from the NXP SDK

import sys


def FLEXCAN_GetSegments(bitRate, tqNum):
    IDEAL_SP_LOW = 750
    IDEAL_SP_MID = 800
    IDEAL_SP_HIGH = 875

    IDEAL_SP_FACTOR = 1000

    MIN_TIME_SEGMENT1 = 2
    MIN_TIME_SEGMENT2 = 2

    # TODO: These should ideally not be hardcoded, as they are MCU dependent
    seg1Max = (0x380000 >> 19) + 1  # MAX_PSEG1
    proSegMax = 7 + 1  # MAX_PROPSEG
    sjwMAX = (0xC00000 >> 22) + 1  # MAX_RJW

    if bitRate == 1000000:
        ideal_sp = IDEAL_SP_LOW
    elif bitRate >= 800000:
        ideal_sp = IDEAL_SP_MID
    else:
        ideal_sp = IDEAL_SP_HIGH

    # Calculates phaseSeg2
    phaseSeg2 = tqNum - (tqNum * ideal_sp) // IDEAL_SP_FACTOR
    if phaseSeg2 < MIN_TIME_SEGMENT2:
        phaseSeg2 = MIN_TIME_SEGMENT2
    elif phaseSeg2 > seg1Max:
        phaseSeg2 = seg1Max

    # Calculates phaseSeg1 and propSeg
    seg1Temp = tqNum - phaseSeg2 - 1
    if seg1Temp > (seg1Max + proSegMax):
        phaseSeg2 += seg1Temp - seg1Max - proSegMax
        propSeg = proSegMax
        phaseSeg1 = seg1Max
    elif seg1Temp > proSegMax:
        propSeg   = proSegMax
        phaseSeg1 = seg1Temp - proSegMax
    else:
        propSeg   = seg1Temp - 1
        phaseSeg1 = 1

    # Try to make phaseSeg1 equal to phaseSeg2
    if phaseSeg1 < phaseSeg2:
        seg1Temp = proSegMax - propSeg if (phaseSeg2 - phaseSeg1) > (proSegMax - propSeg) else phaseSeg2 - phaseSeg1
        propSeg -= seg1Temp
        phaseSeg1 += seg1Temp
    else:
        seg1Temp = proSegMax - propSeg if (phaseSeg1 - phaseSeg2) > (proSegMax - propSeg) else phaseSeg1 - phaseSeg2
        propSeg += seg1Temp
        phaseSeg1 -= seg1Temp

    # rJumpwidth (SJW) is the minimum value of phaseSeg1 and phaseSeg2
    rJumpwidth = phaseSeg2 if phaseSeg1 > phaseSeg2 else phaseSeg1
    if rJumpwidth > sjwMAX:
        rJumpwidth = sjwMAX

    phaseSeg1 -= 1
    phaseSeg2 -= 1
    propSeg -= 1
    rJumpwidth -= 1

    return propSeg, phaseSeg1, phaseSeg2, rJumpwidth


def print_timing(bitRate, sourceClock_Hz, propSeg, phaseSeg1, phaseSeg2, rJumpwidth, preDivider):
    tq = (preDivider + 1) / sourceClock_Hz * 1e9
    quantum = 1 + (propSeg + 1) + (phaseSeg1 + 1) + (phaseSeg2 + 1)
    sample_point_percent = (1 + (propSeg + 1) + (phaseSeg1 + 1)) / quantum * 100.
    print('Bit-rate: {} kbit/s, clock source: {} MHz, TQ: {:.1f} ns, quantum: {}, Prs: {}, PhS1: {}, PhS2: {}, SJW: {}, BRP: {}, sample point: {:.1f} %'.format(bitRate // 1000, sourceClock_Hz * 1e-6, tq, quantum, propSeg + 1, phaseSeg1 + 1, phaseSeg2 + 1, rJumpwidth + 1, preDivider + 1, sample_point_percent))


def FLEXCAN_CalculateImprovedTimingValues(bitRate, sourceClock_Hz):
    spTemp = 1000
    pdivMAX = 255

    tqMin = 8  # CTRL1_MIN_TIME_QUANTA
    tqNum = 25  # CTRL1_MAX_TIME_QUANTA

    fgRet = False
    while tqNum >= tqMin:
        clk = bitRate * tqNum
        if clk > sourceClock_Hz:
            tqNum -= 1
            continue

        if (sourceClock_Hz // clk * clk) != sourceClock_Hz:
            tqNum -= 1
            continue

        preDividerTemp = (sourceClock_Hz // clk) - 1
        if preDividerTemp > pdivMAX:
            print('The frequency of source clock is too large or the bit rate is too small, the pre-divider could not handle it')
            break

        propSegTemp, phaseSeg1Temp, phaseSeg2Temp, rJumpwidthTemp = FLEXCAN_GetSegments(bitRate, tqNum)

        # Determine whether the calculated timing configuration can get the optimal sampling point
        if (((phaseSeg2Temp + 1) * 1000) // tqNum) < spTemp:
            spTemp = ((phaseSeg2Temp + 1) * 1000) // tqNum
            fgRet = True

            preDivider, propSeg, phaseSeg1, phaseSeg2, rJumpwidth = preDividerTemp, propSegTemp, phaseSeg1Temp, phaseSeg2Temp, rJumpwidthTemp
            # print_timing(bitRate, sourceClock_Hz, propSeg, phaseSeg1, phaseSeg2, rJumpwidth, preDivider)

        tqNum -= 1

    if fgRet:
        print_timing(bitRate, sourceClock_Hz, propSeg, phaseSeg1, phaseSeg2, rJumpwidth, preDivider)
        return propSeg, phaseSeg1, phaseSeg2, rJumpwidth, preDivider
    else:
        print('Failed to find bit timing for bit-rate: {} kbit/s, clock source: {} MHz'.format(bitRate // 1000, sourceClock_Hz * 1e-6))
        assert False


if __name__ == '__main__':
    # Adjust these to match your setup or give them as command line arguments
    if len(sys.argv) > 1:
        bitRate = int(sys.argv[1])
        sourceClock_Hz = int(sys.argv[2])
    else:
        bitRate = 500_000  # 500 kbit/s
        sourceClock_Hz = 60_000_000  # 60 MHz

    FLEXCAN_CalculateImprovedTimingValues(bitRate, sourceClock_Hz)