/*
 * Copyright (c) 2020 TDK Invensense
 *
 * SPDX-License-Identifier: Apache-2.0
 */

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

static const char *now_str(void)
{
	static char buf[16]; /* ...HH:MM:SS.MMM */
	uint32_t now = k_uptime_get_32();
	unsigned int ms = now % MSEC_PER_SEC;
	unsigned int s;
	unsigned int min;
	unsigned int h;

	now /= MSEC_PER_SEC;
	s = now % 60U;
	now /= 60U;
	min = now % 60U;
	now /= 60U;
	h = now;

	snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",
		 h, min, s, ms);
	return buf;
}

static int process_icm42605(const struct device *dev)
{
	struct sensor_value temperature;
	struct sensor_value accel[3];
	struct sensor_value gyro[3];
	int rc = sensor_sample_fetch(dev);

	if (rc == 0) {
		rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
					accel);
	}
	if (rc == 0) {
		rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
					gyro);
	}
	if (rc == 0) {
		rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,
					&temperature);
	}
	if (rc == 0) {
		printf("[%s]:% g Cel\n"
		       "  accel % f % f % f m/s/s\n"
		       "  gyro  % f % f % f rad/s\n",
		       now_str(),
		       sensor_value_to_double(&temperature),
		       sensor_value_to_double(&accel[0]),
		       sensor_value_to_double(&accel[1]),
		       sensor_value_to_double(&accel[2]),
		       sensor_value_to_double(&gyro[0]),
		       sensor_value_to_double(&gyro[1]),
		       sensor_value_to_double(&gyro[2]));
	} else {
		printf("sample fetch/get failed: %d\n", rc);
	}

	return rc;
}

static struct sensor_trigger data_trigger;
static struct sensor_trigger tap_trigger;
static struct sensor_trigger double_tap_trigger;

static void handle_icm42605_drdy(const struct device *dev,
				 const struct sensor_trigger *trig)
{
	int rc = process_icm42605(dev);

	if (rc != 0) {
		printf("cancelling trigger due to failure: %d\n", rc);
		(void)sensor_trigger_set(dev, trig, NULL);
		return;
	}
}

static void handle_icm42605_tap(const struct device *dev,
				const struct sensor_trigger *trig)
{
	printf("Tap Detected!\n");
}

static void handle_icm42605_double_tap(const struct device *dev,
				       const struct sensor_trigger *trig)
{
	printf("Double Tap detected!\n");
}

int main(void)
{
	const struct device *const icm42605 = DEVICE_DT_GET_ONE(invensense_icm42605);

	if (!device_is_ready(icm42605)) {
		printk("sensor: device not ready.\n");
		return 0;
	}

	tap_trigger = (struct sensor_trigger) {
		.type = SENSOR_TRIG_TAP,
		.chan = SENSOR_CHAN_ALL,
	};

	if (sensor_trigger_set(icm42605, &tap_trigger,
			       handle_icm42605_tap) < 0) {
		printf("Cannot configure tap trigger!!!\n");
		return 0;
	}

	double_tap_trigger = (struct sensor_trigger) {
		.type = SENSOR_TRIG_DOUBLE_TAP,
		.chan = SENSOR_CHAN_ALL,
	};

	if (sensor_trigger_set(icm42605, &double_tap_trigger,
			       handle_icm42605_double_tap) < 0) {
		printf("Cannot configure double tap trigger!!!\n");
		return 0;
	}

	data_trigger = (struct sensor_trigger) {
		.type = SENSOR_TRIG_DATA_READY,
		.chan = SENSOR_CHAN_ALL,
	};

	if (sensor_trigger_set(icm42605, &data_trigger,
			       handle_icm42605_drdy) < 0) {
		printf("Cannot configure data trigger!!!\n");
		return 0;
	}

	printf("Configured for triggered sampling.\n");
	return 0;
}