/* ST Microelectronics IIS2MDC 3-axis magnetometer sensor
 *
 * Copyright (c) 2020 STMicroelectronics
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Datasheet:
 * https://www.st.com/resource/en/datasheet/iis2mdc.pdf
 */

#define DT_DRV_COMPAT st_iis2mdc

#include <init.h>
#include <sys/__assert.h>
#include <sys/byteorder.h>
#include <drivers/sensor.h>
#include <string.h>
#include <logging/log.h>
#include "iis2mdc.h"

struct iis2mdc_data iis2mdc_data;

LOG_MODULE_REGISTER(IIS2MDC, CONFIG_SENSOR_LOG_LEVEL);

#ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
static int iis2mdc_set_odr(const struct device *dev,
			   const struct sensor_value *val)
{
	struct iis2mdc_data *iis2mdc = dev->data;
	iis2mdc_odr_t odr;

	switch (val->val1) {
	case 10:
		odr = IIS2MDC_ODR_10Hz;
		break;
	case 20:
		odr = IIS2MDC_ODR_20Hz;
		break;
	case 50:
		odr = IIS2MDC_ODR_50Hz;
		break;
	case 100:
		odr = IIS2MDC_ODR_100Hz;
		break;
	default:
		return -EINVAL;
	}

	if (iis2mdc_data_rate_set(iis2mdc->ctx, odr)) {
		return -EIO;
	}

	return 0;
}
#endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */

static int iis2mdc_set_hard_iron(const struct device *dev,
				   enum sensor_channel chan,
				   const struct sensor_value *val)
{
	struct iis2mdc_data *iis2mdc = dev->data;
	uint8_t i;
	int16_t offset[3];

	for (i = 0U; i < 3; i++) {
		offset[i] = sys_cpu_to_le16(val->val1);
		val++;
	}

	return iis2mdc_mag_user_offset_set(iis2mdc->ctx, offset);
}

static void iis2mdc_channel_get_mag(const struct device *dev,
				      enum sensor_channel chan,
				      struct sensor_value *val)
{
	int32_t cval;
	int i;
	uint8_t ofs_start, ofs_stop;
	struct iis2mdc_data *iis2mdc = dev->data;
	struct sensor_value *pval = val;

	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
		ofs_start = ofs_stop = 0U;
		break;
	case SENSOR_CHAN_MAGN_Y:
		ofs_start = ofs_stop = 1U;
		break;
	case SENSOR_CHAN_MAGN_Z:
		ofs_start = ofs_stop = 2U;
		break;
	default:
		ofs_start = 0U; ofs_stop = 2U;
		break;
	}

	for (i = ofs_start; i <= ofs_stop; i++) {
		cval = iis2mdc->mag[i] * 1500;
		pval->val1 = cval / 1000000;
		pval->val2 = cval % 1000000;
		pval++;
	}
}

/* read internal temperature */
static void iis2mdc_channel_get_temp(const struct device *dev,
				       struct sensor_value *val)
{
	struct iis2mdc_data *drv_data = dev->data;

	val->val1 = drv_data->temp_sample / 100;
	val->val2 = (drv_data->temp_sample % 100) * 10000;
}

static int iis2mdc_channel_get(const struct device *dev,
				 enum sensor_channel chan,
				 struct sensor_value *val)
{
	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
		iis2mdc_channel_get_mag(dev, chan, val);
		break;
	case SENSOR_CHAN_DIE_TEMP:
		iis2mdc_channel_get_temp(dev, val);
		break;
	default:
		LOG_DBG("Channel not supported");
		return -ENOTSUP;
	}

	return 0;
}

static int iis2mdc_config(const struct device *dev, enum sensor_channel chan,
			    enum sensor_attribute attr,
			    const struct sensor_value *val)
{
	switch (attr) {
#ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
		return iis2mdc_set_odr(dev, val);
#endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */
	case SENSOR_ATTR_OFFSET:
		return iis2mdc_set_hard_iron(dev, chan, val);
	default:
		LOG_DBG("Mag attribute not supported");
		return -ENOTSUP;
	}

	return 0;
}

static int iis2mdc_attr_set(const struct device *dev,
			      enum sensor_channel chan,
			      enum sensor_attribute attr,
			      const struct sensor_value *val)
{
	switch (chan) {
	case SENSOR_CHAN_ALL:
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
		return iis2mdc_config(dev, chan, attr, val);
	default:
		LOG_DBG("attr_set() not supported on %d channel", chan);
		return -ENOTSUP;
	}

	return 0;
}

static int iis2mdc_sample_fetch_mag(const struct device *dev)
{
	struct iis2mdc_data *iis2mdc = dev->data;
	int16_t raw_mag[3];

	/* fetch raw data sample */
	if (iis2mdc_magnetic_raw_get(iis2mdc->ctx, raw_mag) < 0) {
		LOG_DBG("Failed to read sample");
		return -EIO;
	}

	iis2mdc->mag[0] = sys_le16_to_cpu(raw_mag[0]);
	iis2mdc->mag[1] = sys_le16_to_cpu(raw_mag[1]);
	iis2mdc->mag[2] = sys_le16_to_cpu(raw_mag[2]);

	return 0;
}

static int iis2mdc_sample_fetch_temp(const struct device *dev)
{
	struct iis2mdc_data *iis2mdc = dev->data;
	int16_t raw_temp;
	int32_t temp;

	/* fetch raw temperature sample */
	if (iis2mdc_temperature_raw_get(iis2mdc->ctx, &raw_temp) < 0) {
		LOG_DBG("Failed to read sample");
		return -EIO;
	}

	/* formula is temp = 25 + (temp / 8) C */
	temp = sys_le16_to_cpu(raw_temp);
	iis2mdc->temp_sample = 2500 + (temp * 100) / 8;

	return 0;
}

static int iis2mdc_sample_fetch(const struct device *dev,
				enum sensor_channel chan)
{
	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
		iis2mdc_sample_fetch_mag(dev);
		break;
	case SENSOR_CHAN_DIE_TEMP:
		iis2mdc_sample_fetch_temp(dev);
		break;
	case SENSOR_CHAN_ALL:
		iis2mdc_sample_fetch_mag(dev);
		iis2mdc_sample_fetch_temp(dev);
		break;
	default:
		return -ENOTSUP;
	}

	return 0;
}

static const struct sensor_driver_api iis2mdc_driver_api = {
	.attr_set = iis2mdc_attr_set,
#if CONFIG_IIS2MDC_TRIGGER
	.trigger_set = iis2mdc_trigger_set,
#endif
	.sample_fetch = iis2mdc_sample_fetch,
	.channel_get = iis2mdc_channel_get,
};

static int iis2mdc_init(const struct device *dev)
{
	const struct iis2mdc_dev_config *const cfg = dev->config;
	struct iis2mdc_data *iis2mdc = dev->data;
	uint8_t wai;

	iis2mdc->dev = dev;

	if (!device_is_ready(cfg->bus)) {
		LOG_ERR("Cannot get pointer to bus device");
		return -ENODEV;
	}

	if (cfg->bus_init(dev) < 0) {
		return -EINVAL;
	}

	/* check chip ID */
	if (iis2mdc_device_id_get(iis2mdc->ctx, &wai) < 0) {
		return -EIO;
	}

	if (wai != IIS2MDC_ID) {
		LOG_DBG("Invalid chip ID: %02x\n", wai);
		return -EINVAL;
	}

	/* reset sensor configuration */
	if (iis2mdc_reset_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
		LOG_DBG("s/w reset failed\n");
		return -EIO;
	}

	k_busy_wait(100);

	/* enable BDU */
	if (iis2mdc_block_data_update_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
		LOG_DBG("setting bdu failed\n");
		return -EIO;
	}

	/* Set Output Data Rate */
	if (iis2mdc_data_rate_set(iis2mdc->ctx, IIS2MDC_ODR_10Hz)) {
		LOG_DBG("set odr failed\n");
		return -EIO;
	}

	/* Set / Reset sensor mode */
	if (iis2mdc_set_rst_mode_set(iis2mdc->ctx,
				     IIS2MDC_SENS_OFF_CANC_EVERY_ODR)) {
		LOG_DBG("reset sensor mode failed\n");
		return -EIO;
	}

	/* Enable temperature compensation */
	if (iis2mdc_offset_temp_comp_set(iis2mdc->ctx, PROPERTY_ENABLE)) {
		LOG_DBG("enable temp compensation failed\n");
		return -EIO;
	}

	/* Set device in continuous mode */
	if (iis2mdc_operating_mode_set(iis2mdc->ctx, IIS2MDC_CONTINUOUS_MODE)) {
		LOG_DBG("set continuous mode failed\n");
		return -EIO;
	}

#ifdef CONFIG_IIS2MDC_TRIGGER
	if (iis2mdc_init_interrupt(dev) < 0) {
		LOG_DBG("Failed to initialize interrupts");
		return -EIO;
	}
#endif

	return 0;
}

#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
#warning "IIS2MDC driver enabled without any devices"
#endif

/*
 * Device creation macro, shared by IIS2MDC_DEFINE_SPI() and
 * IIS2MDC_DEFINE_I2C().
 */

#define IIS2MDC_DEVICE_INIT(inst)					\
	DEVICE_DT_INST_DEFINE(inst,					\
			    iis2mdc_init,				\
			    NULL,					\
			    &iis2mdc_data_##inst,			\
			    &iis2mdc_config_##inst,			\
			    POST_KERNEL,				\
			    CONFIG_SENSOR_INIT_PRIORITY,		\
			    &iis2mdc_driver_api);

/*
 * Instantiation macros used when a device is on a SPI bus.
 */

#ifdef CONFIG_IIS2MDC_TRIGGER
#define IIS2MDC_CFG_IRQ(inst) \
	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),
#else
#define IIS2MDC_CFG_IRQ(inst)
#endif /* CONFIG_IIS2MDC_TRIGGER */

#define IIS2MDC_SPI_OP  (SPI_WORD_SET(8) |				\
			 SPI_OP_MODE_MASTER |				\
			 SPI_MODE_CPOL |				\
			 SPI_MODE_CPHA)					\

#define IIS2MDC_CONFIG_SPI(inst)					\
	{								\
		.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),		\
		.bus_init = iis2mdc_spi_init,				\
		.bus_cfg.spi_cfg =					\
			SPI_CONFIG_DT_INST(inst,			\
					   IIS2MDC_SPI_OP,		\
					   0),				\
		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
			(IIS2MDC_CFG_IRQ(inst)), ())			\
	}

/*
 * Instantiation macros used when a device is on an I2C bus.
 */

#define IIS2MDC_CONFIG_I2C(inst)					\
	{								\
		.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),		\
		.bus_init = iis2mdc_i2c_init,				\
		.bus_cfg.i2c_slv_addr = DT_INST_REG_ADDR(inst),		\
		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
			(IIS2MDC_CFG_IRQ(inst)), ())			\
	}

/*
 * Main instantiation macro. Use of COND_CODE_1() selects the right
 * bus-specific macro at preprocessor time.
 */

#define IIS2MDC_DEFINE(inst)						\
	static struct iis2mdc_data iis2mdc_data_##inst;			\
	static const struct iis2mdc_dev_config iis2mdc_config_##inst =	\
		COND_CODE_1(DT_INST_ON_BUS(inst, spi),			\
			(IIS2MDC_CONFIG_SPI(inst)),			\
			(IIS2MDC_CONFIG_I2C(inst)));			\
	IIS2MDC_DEVICE_INIT(inst)

DT_INST_FOREACH_STATUS_OKAY(IIS2MDC_DEFINE)