/* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
 *
 * Copyright (c) 2018-2019 STMicroelectronics
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Datasheet:
 * https://www.st.com/resource/en/datasheet/lis2mdl.pdf
 */

#define DT_DRV_COMPAT st_lis2mdl

#include <init.h>
#include <sys/__assert.h>
#include <sys/byteorder.h>
#include <drivers/sensor.h>
#include <string.h>
#include <logging/log.h>
#include "lis2mdl.h"

/* Based on the data sheet, the maximum turn-on time is ("9.4 ms + 1/ODR") when
 * offset cancellation is on. But in the single mode the ODR is not dependent on
 * the configured value in Reg A. It is dependent on the frequency of the I2C
 * signal. The slowest value we could measure by I2C frequency of 100000HZ was
 * 13 ms. So we chose 20 ms.
 */
#define SAMPLE_FETCH_TIMEOUT_MS 20

struct lis2mdl_data lis2mdl_data;

LOG_MODULE_REGISTER(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);

#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
static int lis2mdl_set_odr(const struct device *dev,
			   const struct sensor_value *val)
{
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	lis2mdl_odr_t odr;

	switch (val->val1) {
	case 10:
		odr = LIS2MDL_ODR_10Hz;
		break;
	case 20:
		odr = LIS2MDL_ODR_20Hz;
		break;
	case 50:
		odr = LIS2MDL_ODR_50Hz;
		break;
	case 100:
		odr = LIS2MDL_ODR_100Hz;
		break;
	default:
		return -EINVAL;
	}

	if (lis2mdl_data_rate_set(ctx, odr)) {
		return -EIO;
	}

	return 0;
}
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */

static int lis2mdl_set_hard_iron(const struct device *dev,
				   enum sensor_channel chan,
				   const struct sensor_value *val)
{
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	uint8_t i;
	int16_t offset[3];

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

	return lis2mdl_mag_user_offset_set(ctx, offset);
}

static void lis2mdl_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 lis2mdl_data *lis2mdl = 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 = lis2mdl->mag[i] * 1500;
		pval->val1 = cval / 1000000;
		pval->val2 = cval % 1000000;
		pval++;
	}
}

/* read internal temperature */
static void lis2mdl_channel_get_temp(const struct device *dev,
				       struct sensor_value *val)
{
	struct lis2mdl_data *drv_data = dev->data;

	/* formula is temp = 25 + (temp / 8) C */
	val->val1 = 25  + drv_data->temp_sample / 8;
	val->val2 = (drv_data->temp_sample % 8) * 1000000 / 8;
}

static int lis2mdl_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:
		lis2mdl_channel_get_mag(dev, chan, val);
		break;
	case SENSOR_CHAN_DIE_TEMP:
		lis2mdl_channel_get_temp(dev, val);
		break;
	default:
		LOG_ERR("Channel not supported");
		return -ENOTSUP;
	}

	return 0;
}

static int lis2mdl_config(const struct device *dev, enum sensor_channel chan,
			    enum sensor_attribute attr,
			    const struct sensor_value *val)
{
	switch (attr) {
#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
		return lis2mdl_set_odr(dev, val);
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
	case SENSOR_ATTR_OFFSET:
		return lis2mdl_set_hard_iron(dev, chan, val);
	default:
		LOG_ERR("Mag attribute not supported");
		return -ENOTSUP;
	}

	return 0;
}

static int lis2mdl_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 lis2mdl_config(dev, chan, attr, val);
	default:
		LOG_ERR("attr_set() not supported on %d channel", chan);
		return -ENOTSUP;
	}

	return 0;
}

static int get_single_mode_raw_data(const struct device *dev,
				    int16_t *raw_mag)
{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	int rc = 0;

	rc = lis2mdl_operating_mode_set(ctx, LIS2MDL_SINGLE_TRIGGER);
	if (rc) {
		LOG_ERR("set single mode failed");
		return rc;
	}

	if (k_sem_take(&lis2mdl->fetch_sem, K_MSEC(SAMPLE_FETCH_TIMEOUT_MS))) {
		LOG_ERR("Magnetometer data not ready within %d ms",
			SAMPLE_FETCH_TIMEOUT_MS);
		return -EIO;
	}

	/* fetch raw data sample */
	rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
	if (rc) {
		LOG_ERR("Failed to read sample");
		return rc;
	}
	return 0;
}

static int lis2mdl_sample_fetch_mag(const struct device *dev)
{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	int16_t raw_mag[3];
	int rc = 0;

	if (cfg->single_mode) {
		rc = get_single_mode_raw_data(dev, raw_mag);
		if (rc) {
			LOG_ERR("Failed to read raw data");
			return rc;
		}
		lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
		lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
		lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);

		if (cfg->cancel_offset) {
			/* The second measurement is needed when offset
			 * cancellation is enabled in the single mode. Then the
			 * average of the first measurement done above and this
			 * one would be the final value. This process is not
			 * needed in continuous mode since it has beed taken
			 * care by lis2mdl itself automatically. Please refer
			 * to the application note for more details.
			 */
			rc = get_single_mode_raw_data(dev, raw_mag);
			if (rc) {
				LOG_ERR("Failed to read raw data");
				return rc;
			}
			lis2mdl->mag[0] += sys_le16_to_cpu(raw_mag[0]);
			lis2mdl->mag[1] += sys_le16_to_cpu(raw_mag[1]);
			lis2mdl->mag[2] += sys_le16_to_cpu(raw_mag[2]);
			lis2mdl->mag[0] /= 2;
			lis2mdl->mag[1] /= 2;
			lis2mdl->mag[2] /= 2;
		}

	} else {
		/* fetch raw data sample */
		rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
		if (rc) {
			LOG_ERR("Failed to read sample");
			return rc;
		}
		lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
		lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
		lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);
	}
	return 0;
}

static int lis2mdl_sample_fetch_temp(const struct device *dev)
{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	int16_t raw_temp;

	/* fetch raw temperature sample */
	if (lis2mdl_temperature_raw_get(ctx, &raw_temp) < 0) {
		LOG_ERR("Failed to read sample");
		return -EIO;
	}

	lis2mdl->temp_sample = (sys_le16_to_cpu(raw_temp));

	return 0;
}

static int lis2mdl_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:
		lis2mdl_sample_fetch_mag(dev);
		break;
	case SENSOR_CHAN_DIE_TEMP:
		lis2mdl_sample_fetch_temp(dev);
		break;
	case SENSOR_CHAN_ALL:
		lis2mdl_sample_fetch_mag(dev);
		lis2mdl_sample_fetch_temp(dev);
		break;
	default:
		return -ENOTSUP;
	}

	return 0;
}

static const struct sensor_driver_api lis2mdl_driver_api = {
	.attr_set = lis2mdl_attr_set,
#if CONFIG_LIS2MDL_TRIGGER
	.trigger_set = lis2mdl_trigger_set,
#endif
	.sample_fetch = lis2mdl_sample_fetch,
	.channel_get = lis2mdl_channel_get,
};

static int lis2mdl_init(const struct device *dev)
{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	uint8_t wai;
	int rc = 0;

	lis2mdl->dev = dev;

	if (cfg->spi_4wires) {
		/* Set SPI 4wires if it's the case */
		if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
			return -EIO;
		}
	}

	/* check chip ID */
	if (lis2mdl_device_id_get(ctx, &wai) < 0) {
		return -EIO;
	}

	if (wai != LIS2MDL_ID) {
		LOG_ERR("Invalid chip ID: %02x", wai);
		return -EINVAL;
	}

	/* reset sensor configuration */
	if (lis2mdl_reset_set(ctx, PROPERTY_ENABLE) < 0) {
		LOG_ERR("s/w reset failed");
		return -EIO;
	}

	k_busy_wait(100);

	if (cfg->spi_4wires) {
		/* After s/w reset set SPI 4wires again if the case */
		if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
			return -EIO;
		}
	}

	/* enable BDU */
	if (lis2mdl_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
		LOG_ERR("setting bdu failed");
		return -EIO;
	}

	/* Set Output Data Rate */
	if (lis2mdl_data_rate_set(ctx, LIS2MDL_ODR_10Hz)) {
		LOG_ERR("set odr failed");
		return -EIO;
	}

	if (cfg->cancel_offset) {
		/* Set offset cancellation, common for both single and
		 * and continuous mode.
		 */
		if (lis2mdl_set_rst_mode_set(ctx,
					LIS2MDL_SENS_OFF_CANC_EVERY_ODR)) {
			LOG_ERR("reset sensor mode failed");
			return -EIO;
		}
	}

	/* Enable temperature compensation */
	if (lis2mdl_offset_temp_comp_set(ctx, PROPERTY_ENABLE)) {
		LOG_ERR("enable temp compensation failed");
		return -EIO;
	}

	if (cfg->cancel_offset && cfg->single_mode) {
		/* Set OFF_CANC_ONE_SHOT bit. This setting is only needed in
		 * the single-mode when offset cancellation is enabled.
		 */
		rc = lis2mdl_set_rst_sensor_single_set(ctx,
							PROPERTY_ENABLE);
		if (rc) {
			LOG_ERR("Set offset cancelaltion failed");
			return rc;
		}
	}

	if (cfg->single_mode) {
		/* Set drdy on pin 7 */
		rc = lis2mdl_drdy_on_pin_set(ctx, 1);
		if (rc) {
			LOG_ERR("set drdy on pin failed!");
			return rc;
		}

		/* Reboot sensor after setting the configuration registers */
		rc = lis2mdl_boot_set(ctx, 1);
		if (rc) {
			LOG_ERR("Reboot failed.");
			return rc;
		}

		k_sem_init(&lis2mdl->fetch_sem, 0, 1);

	} else {
		/* Set device in continuous mode */
		rc = lis2mdl_operating_mode_set(ctx,
						LIS2MDL_CONTINUOUS_MODE);
		if (rc) {
			LOG_ERR("set continuos mode failed");
			return rc;
		}
	}

#ifdef CONFIG_LIS2MDL_TRIGGER
	if (cfg->trig_enabled) {
		if (lis2mdl_init_interrupt(dev) < 0) {
			LOG_ERR("Failed to initialize interrupts");
			return -EIO;
		}
	}
#endif

	return 0;
}

#ifdef CONFIG_PM_DEVICE
static int lis2mdl_pm_control(const struct device *dev,
			      enum pm_device_action action)
{
	const struct lis2mdl_config *config = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&config->ctx;
	int status = 0;

	switch (action) {
	case PM_DEVICE_ACTION_RESUME:
		if (config->single_mode) {
			status = lis2mdl_operating_mode_set(ctx,
						LIS2MDL_SINGLE_TRIGGER);
		} else {
			status = lis2mdl_operating_mode_set(ctx,
						LIS2MDL_CONTINUOUS_MODE);
		}
		if (status) {
			LOG_ERR("Power up failed");
		}
		LOG_DBG("State changed to active");
		break;
	case PM_DEVICE_ACTION_SUSPEND:
		status = lis2mdl_operating_mode_set(ctx, LIS2MDL_POWER_DOWN);
		if (status) {
			LOG_ERR("Power down failed");
		}
		LOG_DBG("State changed to inactive");
		break;
	default:
		return -ENOTSUP;
	}

	return status;
}
#endif /* CONFIG_PM_DEVICE */

#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
#warning "LIS2MDL driver enabled without any devices"
#endif

/*
 * Device creation macro, shared by LIS2MDL_DEFINE_SPI() and
 * LIS2MDL_DEFINE_I2C().
 */

#define LIS2MDL_DEVICE_INIT(inst)					\
	DEVICE_DT_INST_DEFINE(inst,					\
			    lis2mdl_init,				\
			    lis2mdl_pm_control,				\
			    &lis2mdl_data_##inst,			\
			    &lis2mdl_config_##inst,			\
			    POST_KERNEL,				\
			    CONFIG_SENSOR_INIT_PRIORITY,		\
			    &lis2mdl_driver_api);

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

#ifdef CONFIG_LIS2MDL_TRIGGER
#define LIS2MDL_CFG_IRQ(inst) \
	.trig_enabled = true,						\
	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, irq_gpios)
#else
#define LIS2MDL_CFG_IRQ(inst)
#endif /* CONFIG_LIS2MDL_TRIGGER */

#define LIS2MDL_SPI_OPERATION (SPI_WORD_SET(8) |			\
				SPI_OP_MODE_MASTER |			\
				SPI_LINES_SINGLE |			\
				SPI_MODE_CPOL |				\
				SPI_MODE_CPHA)				\

#define LIS2MDL_CONFIG_SPI(inst)					\
	{								\
		.ctx = {						\
			.read_reg =					\
			   (stmdev_read_ptr) stmemsc_spi_read,		\
			.write_reg =					\
			   (stmdev_write_ptr) stmemsc_spi_write,	\
			.handle =					\
			   (void *)&lis2mdl_config_##inst.stmemsc_cfg,	\
		},							\
		.stmemsc_cfg.spi = {					\
			.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),	\
			.spi_cfg = SPI_CONFIG_DT_INST(inst,		\
					   LIS2MDL_SPI_OPERATION,	\
					   0),				\
		},							\
		.cancel_offset = DT_INST_PROP(inst, cancel_offset),	\
		.single_mode = DT_INST_PROP(inst, single_mode),		\
		.spi_4wires = DT_INST_PROP(inst, spi_full_duplex),	\
		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
			(LIS2MDL_CFG_IRQ(inst)), ())			\
	}

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

#define LIS2MDL_CONFIG_I2C(inst)					\
	{								\
		.ctx = {						\
			.read_reg =					\
			   (stmdev_read_ptr) stmemsc_i2c_read,		\
			.write_reg =					\
			   (stmdev_write_ptr) stmemsc_i2c_write,	\
			.handle =					\
			   (void *)&lis2mdl_config_##inst.stmemsc_cfg,	\
		},							\
		.stmemsc_cfg.i2c = {					\
			.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),	\
			.i2c_slv_addr = DT_INST_REG_ADDR(inst),		\
		},							\
		.cancel_offset = DT_INST_PROP(inst, cancel_offset),	\
		.single_mode = DT_INST_PROP(inst, single_mode),		\
		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
			(LIS2MDL_CFG_IRQ(inst)), ())			\
	}

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

#define LIS2MDL_DEFINE(inst)						\
	static struct lis2mdl_data lis2mdl_data_##inst;		\
	static const struct lis2mdl_config lis2mdl_config_##inst =	\
	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
		    (LIS2MDL_CONFIG_SPI(inst)),			\
		    (LIS2MDL_CONFIG_I2C(inst)));			\
	LIS2MDL_DEVICE_INIT(inst)

DT_INST_FOREACH_STATUS_OKAY(LIS2MDL_DEFINE)