/*
 * Copyright (c) 2016 Intel Corporation
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#define DT_DRV_COMPAT bosch_bma280

#include <zephyr/device.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/sys/util.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>

#include "bma280.h"

#include <zephyr/logging/log.h>
LOG_MODULE_DECLARE(BMA280, CONFIG_SENSOR_LOG_LEVEL);

static inline void setup_int1(const struct device *dev,
			      bool enable)
{
	const struct bma280_config *config = dev->config;

	gpio_pin_interrupt_configure_dt(&config->int1_gpio,
					(enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE));
}

int bma280_attr_set(const struct device *dev,
		    enum sensor_channel chan,
		    enum sensor_attribute attr,
		    const struct sensor_value *val)
{
	const struct bma280_config *config = dev->config;
	uint64_t slope_th;

	if (!config->int1_gpio.port) {
		return -ENOTSUP;
	}

	if (chan != SENSOR_CHAN_ACCEL_XYZ) {
		return -ENOTSUP;
	}

	if (attr == SENSOR_ATTR_SLOPE_TH) {
		/* slope_th = (val * 10^6 * 2^10) / BMA280_PMU_FULL_RAGE */
		slope_th = (uint64_t)val->val1 * 1000000U + (uint64_t)val->val2;
		slope_th = (slope_th * (1 << 10)) / BMA280_PMU_FULL_RANGE;
		if (i2c_reg_write_byte_dt(&config->i2c,
					  BMA280_REG_SLOPE_TH, (uint8_t)slope_th)
					  < 0) {
			LOG_DBG("Could not set slope threshold");
			return -EIO;
		}
	} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
		if (i2c_reg_update_byte_dt(&config->i2c,
					   BMA280_REG_INT_5,
					   BMA280_SLOPE_DUR_MASK,
					   val->val1 << BMA280_SLOPE_DUR_SHIFT)
					   < 0) {
			LOG_DBG("Could not set slope duration");
			return -EIO;
		}
	} else {
		return -ENOTSUP;
	}

	return 0;
}

static void bma280_gpio_callback(const struct device *dev,
				 struct gpio_callback *cb, uint32_t pins)
{
	struct bma280_data *drv_data =
		CONTAINER_OF(cb, struct bma280_data, gpio_cb);

	ARG_UNUSED(pins);

	setup_int1(drv_data->dev, false);

#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
	k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&drv_data->work);
#endif
}

static void bma280_thread_cb(const struct device *dev)
{
	struct bma280_data *drv_data = dev->data;
	const struct bma280_config *config = dev->config;
	uint8_t status = 0U;
	int err = 0;

	/* check for data ready */
	err = i2c_reg_read_byte_dt(&config->i2c,
				   BMA280_REG_INT_STATUS_1, &status);
	if (status & BMA280_BIT_DATA_INT_STATUS &&
	    drv_data->data_ready_handler != NULL &&
	    err == 0) {
		drv_data->data_ready_handler(dev,
					     &drv_data->data_ready_trigger);
	}

	/* check for any motion */
	err = i2c_reg_read_byte_dt(&config->i2c,
				   BMA280_REG_INT_STATUS_0, &status);
	if (status & BMA280_BIT_SLOPE_INT_STATUS &&
	    drv_data->any_motion_handler != NULL &&
	    err == 0) {
		drv_data->any_motion_handler(dev,
					     &drv_data->data_ready_trigger);

		/* clear latched interrupt */
		err = i2c_reg_update_byte_dt(&config->i2c,
					     BMA280_REG_INT_RST_LATCH,
					     BMA280_BIT_INT_LATCH_RESET,
					     BMA280_BIT_INT_LATCH_RESET);

		if (err < 0) {
			LOG_DBG("Could not update clear the interrupt");
			return;
		}
	}

	setup_int1(dev, true);
}

#ifdef CONFIG_BMA280_TRIGGER_OWN_THREAD
static void bma280_thread(struct bma280_data *drv_data)
{
	while (1) {
		k_sem_take(&drv_data->gpio_sem, K_FOREVER);
		bma280_thread_cb(drv_data->dev);
	}
}
#endif

#ifdef CONFIG_BMA280_TRIGGER_GLOBAL_THREAD
static void bma280_work_cb(struct k_work *work)
{
	struct bma280_data *drv_data =
		CONTAINER_OF(work, struct bma280_data, work);

	bma280_thread_cb(drv_data->dev);
}
#endif

int bma280_trigger_set(const struct device *dev,
		       const struct sensor_trigger *trig,
		       sensor_trigger_handler_t handler)
{
	struct bma280_data *drv_data = dev->data;
	const struct bma280_config *config = dev->config;

	if (!config->int1_gpio.port) {
		return -ENOTSUP;
	}

	if (trig->type == SENSOR_TRIG_DATA_READY) {
		/* disable data ready interrupt while changing trigger params */
		if (i2c_reg_update_byte_dt(&config->i2c,
					   BMA280_REG_INT_EN_1,
					   BMA280_BIT_DATA_EN, 0) < 0) {
			LOG_DBG("Could not disable data ready interrupt");
			return -EIO;
		}

		drv_data->data_ready_handler = handler;
		if (handler == NULL) {
			return 0;
		}
		drv_data->data_ready_trigger = *trig;

		/* enable data ready interrupt */
		if (i2c_reg_update_byte_dt(&config->i2c,
					   BMA280_REG_INT_EN_1,
					   BMA280_BIT_DATA_EN,
					   BMA280_BIT_DATA_EN) < 0) {
			LOG_DBG("Could not enable data ready interrupt");
			return -EIO;
		}
	} else if (trig->type == SENSOR_TRIG_DELTA) {
		/* disable any-motion interrupt while changing trigger params */
		if (i2c_reg_update_byte_dt(&config->i2c,
					   BMA280_REG_INT_EN_0,
					   BMA280_SLOPE_EN_XYZ, 0) < 0) {
			LOG_DBG("Could not disable data ready interrupt");
			return -EIO;
		}

		drv_data->any_motion_handler = handler;
		if (handler == NULL) {
			return 0;
		}
		drv_data->any_motion_trigger = *trig;

		/* enable any-motion interrupt */
		if (i2c_reg_update_byte_dt(&config->i2c,
					   BMA280_REG_INT_EN_0,
					   BMA280_SLOPE_EN_XYZ,
					   BMA280_SLOPE_EN_XYZ) < 0) {
			LOG_DBG("Could not enable data ready interrupt");
			return -EIO;
		}
	} else {
		return -ENOTSUP;
	}

	return 0;
}

int bma280_init_interrupt(const struct device *dev)
{
	struct bma280_data *drv_data = dev->data;
	const struct bma280_config *config = dev->config;

	/* set latched interrupts */
	if (i2c_reg_write_byte_dt(&config->i2c,
				  BMA280_REG_INT_RST_LATCH,
				  BMA280_BIT_INT_LATCH_RESET |
				  BMA280_INT_MODE_LATCH) < 0) {
		LOG_DBG("Could not set latched interrupts");
		return -EIO;
	}

	/* setup data ready gpio interrupt */
	if (!device_is_ready(config->int1_gpio.port)) {
		LOG_ERR("GPIO device not ready");
		return -ENODEV;
	}

	gpio_pin_configure_dt(&config->int1_gpio, GPIO_INPUT);

	gpio_init_callback(&drv_data->gpio_cb,
			   bma280_gpio_callback,
			   BIT(config->int1_gpio.pin));

	if (gpio_add_callback(config->int1_gpio.port, &drv_data->gpio_cb) < 0) {
		LOG_DBG("Could not set gpio callback");
		return -EIO;
	}

	/* map data ready interrupt to INT1 */
	if (i2c_reg_update_byte_dt(&config->i2c,
				   BMA280_REG_INT_MAP_1,
				   BMA280_INT_MAP_1_BIT_DATA,
				   BMA280_INT_MAP_1_BIT_DATA) < 0) {
		LOG_DBG("Could not map data ready interrupt pin");
		return -EIO;
	}

	/* map any-motion interrupt to INT1 */
	if (i2c_reg_update_byte_dt(&config->i2c,
				   BMA280_REG_INT_MAP_0,
				   BMA280_INT_MAP_0_BIT_SLOPE,
				   BMA280_INT_MAP_0_BIT_SLOPE) < 0) {
		LOG_DBG("Could not map any-motion interrupt pin");
		return -EIO;
	}

	if (i2c_reg_update_byte_dt(&config->i2c,
				   BMA280_REG_INT_EN_1,
				   BMA280_BIT_DATA_EN, 0) < 0) {
		LOG_DBG("Could not disable data ready interrupt");
		return -EIO;
	}

	/* disable any-motion interrupt */
	if (i2c_reg_update_byte_dt(&config->i2c,
				   BMA280_REG_INT_EN_0,
				   BMA280_SLOPE_EN_XYZ, 0) < 0) {
		LOG_DBG("Could not disable data ready interrupt");
		return -EIO;
	}

	drv_data->dev = dev;

#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
	k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);

	k_thread_create(&drv_data->thread, drv_data->thread_stack,
			CONFIG_BMA280_THREAD_STACK_SIZE,
			(k_thread_entry_t)bma280_thread, drv_data,
			NULL, NULL, K_PRIO_COOP(CONFIG_BMA280_THREAD_PRIORITY),
			0, K_NO_WAIT);
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
	drv_data->work.handler = bma280_work_cb;
#endif

	setup_int1(dev, true);

	return 0;
}