/* Bosch BMI08X inertial measurement unit driver, trigger implementation
 *
 * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/pm/device.h>
#include <zephyr/kernel.h>

#define DT_DRV_COMPAT bosch_bmi08x_accel
#include "bmi08x.h"

#include <zephyr/logging/log.h>
LOG_MODULE_DECLARE(BMI08X_ACCEL, CONFIG_SENSOR_LOG_LEVEL);

static void bmi08x_handle_drdy_acc(const struct device *dev)
{
	struct bmi08x_accel_data *data = dev->data;

#ifdef CONFIG_PM_DEVICE
	enum pm_device_state state;

	(void)pm_device_state_get(dev, &state);
	if (state != PM_DEVICE_STATE_ACTIVE) {
		return;
	}
#endif

	if (data->handler_drdy_acc) {
		data->handler_drdy_acc(dev, data->drdy_trig_acc);
	}
}

static void bmi08x_handle_interrupts_acc(void *arg)
{
	const struct device *dev = (const struct device *)arg;

	bmi08x_handle_drdy_acc(dev);
}

#ifdef CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD
static void bmi08x_acc_thread_main(void *arg1, void *unused1, void *unused2)
{
	k_thread_name_set(NULL, "bmi08x_acc_trig");

	ARG_UNUSED(unused1);
	ARG_UNUSED(unused2);

	const struct device *dev = (const struct device *)arg1;
	struct bmi08x_accel_data *data = dev->data;

	while (1) {
		k_sem_take(&data->sem, K_FOREVER);
		bmi08x_handle_interrupts_acc((void *)dev);
	}
}
#endif

#ifdef CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
static void bmi08x_acc_work_handler(struct k_work *work)
{
	struct bmi08x_accel_data *data = CONTAINER_OF(work, struct bmi08x_accel_data, work);

	bmi08x_handle_interrupts_acc((void *)data->dev);
}
#endif

static void bmi08x_acc_gpio_callback(const struct device *port, struct gpio_callback *cb,
				     uint32_t pin)
{
	struct bmi08x_accel_data *data = CONTAINER_OF(cb, struct bmi08x_accel_data, gpio_cb);

	ARG_UNUSED(port);
	ARG_UNUSED(pin);

#if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD)
	k_sem_give(&data->sem);
#elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&data->work);
#endif
}

int bmi08x_trigger_set_acc(const struct device *dev, const struct sensor_trigger *trig,
			   sensor_trigger_handler_t handler)
{
	struct bmi08x_accel_data *data = dev->data;

	if ((trig->chan == SENSOR_CHAN_ACCEL_XYZ) && (trig->type == SENSOR_TRIG_DATA_READY)) {
		data->handler_drdy_acc = handler;
		data->drdy_trig_acc = trig;
		return 0;
	}

	return -ENOTSUP;
}

int bmi08x_acc_trigger_mode_init(const struct device *dev)
{
	struct bmi08x_accel_data *data = dev->data;
	const struct bmi08x_accel_config *cfg = dev->config;
	int ret = 0;

	if (!gpio_is_ready_dt(&cfg->int_gpio)) {
		LOG_ERR("GPIO device not ready");
		return -ENODEV;
	}

#if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD)
	k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);

	k_thread_create(&data->thread, data->thread_stack,
			CONFIG_BMI08X_ACCEL_THREAD_STACK_SIZE, bmi08x_acc_thread_main, (void *)dev,
			NULL, NULL, K_PRIO_COOP(CONFIG_BMI08X_ACCEL_THREAD_PRIORITY), 0, K_NO_WAIT);
#elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD)
	data->work.handler = bmi08x_acc_work_handler;
	data->dev = dev;
#endif

#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
	if (config->data_sync != 0) {
		/* set accel ints */
		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_MAP, cfg->int1_map);
		if (ret < 0) {
			LOG_ERR("Failed to map interrupts.");
			return ret;
		}
		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT2_MAP, cfg->int2_map);
		if (ret < 0) {
			LOG_ERR("Failed to map interrupts.");
			return ret;
		}
	} else
#endif
	{
		uint8_t map_data = ((cfg->int2_map << BMI08X_ACCEL_INT2_DRDY_POS) |
				    (cfg->int1_map << BMI08X_ACCEL_INT1_DRDY_POS));
		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_INT2_MAP_DATA, map_data);
		if (ret < 0) {
			LOG_ERR("Failed to map interrupts.");
			return ret;
		}
	}

	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_IO_CONF, cfg->int1_conf_io);
	if (ret < 0) {
		LOG_ERR("Failed to map interrupts.");
		return ret;
	}
	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT2_IO_CONF, cfg->int2_conf_io);
	if (ret < 0) {
		LOG_ERR("Failed to map interrupts.");
		return ret;
	}

	gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT);

	gpio_init_callback(&data->gpio_cb, bmi08x_acc_gpio_callback, BIT(cfg->int_gpio.pin));

	ret = gpio_add_callback(cfg->int_gpio.port, &data->gpio_cb);

	if (ret < 0) {
		LOG_ERR("Failed to set gpio callback.");
		return ret;
	}
	gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);

	return ret;
}