/*
 * Copyright (c) 2020-2021 Vestas Wind Systems A/S
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr.h>
#include <drivers/pwm.h>
#include <ztest.h>

#include "test_pwm_loopback.h"

#define TEST_PWM_PERIOD_NSEC 100000000
#define TEST_PWM_PULSE_NSEC   15000000
#define TEST_PWM_PERIOD_USEC    100000
#define TEST_PWM_PULSE_USEC      75000

enum test_pwm_unit {
	TEST_PWM_UNIT_NSEC,
	TEST_PWM_UNIT_USEC,
};

void get_test_pwms(struct test_pwm *out, struct test_pwm *in)
{
	/* PWM generator device */
	out->dev = DEVICE_DT_GET(PWM_LOOPBACK_OUT_CTLR);
	out->pwm = PWM_LOOPBACK_OUT_CHANNEL;
	out->flags = PWM_LOOPBACK_OUT_FLAGS;
	zassert_true(device_is_ready(out->dev), "pwm loopback output device is not ready");

	/* PWM capture device */
	in->dev = DEVICE_DT_GET(PWM_LOOPBACK_IN_CTLR);
	in->pwm = PWM_LOOPBACK_IN_CHANNEL;
	in->flags = PWM_LOOPBACK_IN_FLAGS;
	zassert_true(device_is_ready(in->dev), "pwm loopback input device is not ready");
}

void test_capture(uint32_t period, uint32_t pulse, enum test_pwm_unit unit,
		  pwm_flags_t flags)
{
	struct test_pwm in;
	struct test_pwm out;
	uint64_t period_capture = 0;
	uint64_t pulse_capture = 0;
	int err = 0;

	get_test_pwms(&out, &in);

	switch (unit) {
	case TEST_PWM_UNIT_NSEC:
		TC_PRINT("Testing PWM capture @ %u/%u nsec\n",
			 pulse, period);
		err = pwm_pin_set_nsec(out.dev, out.pwm, period,
				       pulse, out.flags);
		break;

	case TEST_PWM_UNIT_USEC:
		TC_PRINT("Testing PWM capture @ %u/%u usec\n",
			 pulse, period);
		err = pwm_pin_set_usec(out.dev, out.pwm, period,
				       pulse, out.flags);
		break;

	default:
		TC_PRINT("Unsupported test unit");
		ztest_test_fail();
	}

	zassert_equal(err, 0, "failed to set pwm output (err %d)", err);

	switch (unit) {
	case TEST_PWM_UNIT_NSEC:
		err = pwm_pin_capture_nsec(in.dev, in.pwm, flags,
					   &period_capture, &pulse_capture,
					   K_NSEC(period * 10));
		break;

	case TEST_PWM_UNIT_USEC:
		err = pwm_pin_capture_usec(in.dev, in.pwm, flags,
					   &period_capture, &pulse_capture,
					   K_USEC(period * 10));
		break;

	default:
		TC_PRINT("Unsupported test unit");
		ztest_test_fail();
	}

	if (err == -ENOTSUP) {
		TC_PRINT("capture type not supported\n");
		ztest_test_skip();
	}

	zassert_equal(err, 0, "failed to capture pwm (err %d)", err);

	if (flags & PWM_CAPTURE_TYPE_PERIOD) {
		zassert_within(period_capture, period, period / 100,
			       "period capture off by more than 1%");
	}

	if (flags & PWM_CAPTURE_TYPE_PULSE) {
		if (flags & PWM_POLARITY_INVERTED) {
			zassert_within(pulse_capture, period - pulse,
				       (period - pulse) / 100,
				       "pulse capture off by more than 1%");
		} else {
			zassert_within(pulse_capture, pulse, pulse / 100,
				       "pulse capture off by more than 1%");
		}
	}
}

void test_pulse_capture(void)
{
	test_capture(TEST_PWM_PERIOD_NSEC, TEST_PWM_PULSE_NSEC,
		     TEST_PWM_UNIT_NSEC,
		     PWM_CAPTURE_TYPE_PULSE | PWM_POLARITY_NORMAL);
	test_capture(TEST_PWM_PERIOD_USEC, TEST_PWM_PULSE_USEC,
		     TEST_PWM_UNIT_USEC,
		     PWM_CAPTURE_TYPE_PULSE | PWM_POLARITY_NORMAL);
}

void test_pulse_capture_inverted(void)
{
	test_capture(TEST_PWM_PERIOD_NSEC, TEST_PWM_PULSE_NSEC,
		     TEST_PWM_UNIT_NSEC,
		     PWM_CAPTURE_TYPE_PULSE | PWM_POLARITY_INVERTED);
	test_capture(TEST_PWM_PERIOD_USEC, TEST_PWM_PULSE_USEC,
		     TEST_PWM_UNIT_USEC,
		     PWM_CAPTURE_TYPE_PULSE | PWM_POLARITY_INVERTED);
}

void test_period_capture(void)
{
	test_capture(TEST_PWM_PERIOD_NSEC, TEST_PWM_PULSE_NSEC,
		     TEST_PWM_UNIT_NSEC,
		     PWM_CAPTURE_TYPE_PERIOD | PWM_POLARITY_NORMAL);
	test_capture(TEST_PWM_PERIOD_USEC, TEST_PWM_PULSE_USEC,
		     TEST_PWM_UNIT_USEC,
		     PWM_CAPTURE_TYPE_PERIOD | PWM_POLARITY_NORMAL);
}

void test_period_capture_inverted(void)
{
	test_capture(TEST_PWM_PERIOD_NSEC, TEST_PWM_PULSE_NSEC,
		     TEST_PWM_UNIT_NSEC,
		     PWM_CAPTURE_TYPE_PERIOD | PWM_POLARITY_INVERTED);
	test_capture(TEST_PWM_PERIOD_USEC, TEST_PWM_PULSE_USEC,
		     TEST_PWM_UNIT_USEC,
		     PWM_CAPTURE_TYPE_PERIOD | PWM_POLARITY_INVERTED);
}

void test_pulse_and_period_capture(void)
{
	test_capture(TEST_PWM_PERIOD_NSEC, TEST_PWM_PULSE_NSEC,
		     TEST_PWM_UNIT_NSEC,
		     PWM_CAPTURE_TYPE_BOTH | PWM_POLARITY_NORMAL);
	test_capture(TEST_PWM_PERIOD_USEC, TEST_PWM_PULSE_USEC,
		     TEST_PWM_UNIT_USEC,
		     PWM_CAPTURE_TYPE_BOTH | PWM_POLARITY_NORMAL);
}

void test_capture_timeout(void)
{
	struct test_pwm in;
	struct test_pwm out;
	uint32_t period;
	uint32_t pulse;
	int err;

	get_test_pwms(&out, &in);

	err = pwm_pin_set_cycles(out.dev, out.pwm, 100, 0, out.flags);
	zassert_equal(err, 0, "failed to set pwm output (err %d)", err);

	err = pwm_pin_capture_cycles(in.dev, in.pwm,
				     PWM_CAPTURE_TYPE_PULSE,
				     &period, &pulse, K_MSEC(1000));
	if (err == -ENOTSUP) {
		TC_PRINT("Pulse capture not supported, "
			 "trying period capture\n");
		err = pwm_pin_capture_cycles(in.dev, in.pwm,
					     PWM_CAPTURE_TYPE_PERIOD,
					     &period, &pulse, K_MSEC(1000));
	}

	zassert_equal(err, -EAGAIN, "pwm capture did not timeout (err %d)",
		      err);
}

static void continuous_capture_callback(const struct device *dev,
					uint32_t pwm,
					uint32_t period_cycles,
					uint32_t pulse_cycles,
					int status,
					void *user_data)
{
	struct test_pwm_callback_data *data = user_data;

	if (data->count > data->buffer_len) {
		/* Safe guard in case capture is not disabled */
		return;
	}

	if (status != 0) {
		/* Error occurred */
		data->status = status;
		k_sem_give(&data->sem);
	}

	if (data->pulse_capture) {
		data->buffer[data->count++] = pulse_cycles;
	} else {
		data->buffer[data->count++] = period_cycles;
	}

	if (data->count > data->buffer_len) {
		data->status = 0;
		k_sem_give(&data->sem);
	}
}

void test_continuous_capture(void)
{
	static const uint32_t period_usec = 10000;
	static const uint32_t pulse_usec = 7500;
	struct test_pwm in;
	struct test_pwm out;
	uint32_t buffer[10];
	struct test_pwm_callback_data data = {
		.buffer = buffer,
		.buffer_len = ARRAY_SIZE(buffer),
		.count = 0,
		.pulse_capture = true,
	};
	uint64_t usec = 0;
	int err;
	int i;

	get_test_pwms(&out, &in);

	memset(buffer, 0, sizeof(buffer));
	k_sem_init(&data.sem, 0, 1);

	err = pwm_pin_set_usec(out.dev, out.pwm, period_usec, pulse_usec,
			       out.flags);
	zassert_equal(err, 0, "failed to set pwm output (err %d)", err);

	err = pwm_pin_configure_capture(in.dev, in.pwm,
					in.flags |
					PWM_CAPTURE_MODE_CONTINUOUS |
					PWM_CAPTURE_TYPE_PULSE,
					continuous_capture_callback,
					&data);
	if (err == -ENOTSUP) {
		TC_PRINT("Pulse capture not supported, "
			 "trying period capture\n");
		err = pwm_pin_configure_capture(in.dev, in.pwm,
						in.flags |
						PWM_CAPTURE_MODE_CONTINUOUS |
						PWM_CAPTURE_TYPE_PERIOD,
						continuous_capture_callback,
						&data);
		zassert_equal(err, 0, "failed to configure pwm input (err %d)",
			      err);
		data.pulse_capture = false;
	}

	err = pwm_pin_enable_capture(in.dev, in.pwm);
	zassert_equal(err, 0, "failed to enable pwm capture (err %d)", err);

	err = k_sem_take(&data.sem, K_USEC(period_usec * data.buffer_len * 10));
	zassert_equal(err, 0, "pwm capture timed out (err %d)", err);
	zassert_equal(data.status, 0, "pwm capture failed (err %d)", err);

	err = pwm_pin_disable_capture(in.dev, in.pwm);
	zassert_equal(err, 0, "failed to disable pwm capture (err %d)", err);

	for (i = 0; i < data.buffer_len; i++) {
		err = pwm_pin_cycles_to_usec(in.dev, in.pwm, buffer[i], &usec);
		zassert_equal(err, 0, "failed to calculate usec (err %d)", err);

		if (data.pulse_capture) {
			zassert_within(usec, pulse_usec, pulse_usec / 100,
				       "pulse capture off by more than 1%");
		} else {
			zassert_within(usec, period_usec, period_usec / 100,
				       "period capture off by more than 1%");
		}
	}
}

void test_capture_busy(void)
{
	struct test_pwm in;
	struct test_pwm out;
	uint32_t buffer[10];
	struct test_pwm_callback_data data = {
		.buffer = buffer,
		.buffer_len = ARRAY_SIZE(buffer),
		.count = 0,
		.pulse_capture = true,
	};
	pwm_flags_t flags = PWM_CAPTURE_MODE_SINGLE |
		PWM_CAPTURE_TYPE_PULSE;
	int err;

	get_test_pwms(&out, &in);

	memset(buffer, 0, sizeof(buffer));
	k_sem_init(&data.sem, 0, 1);

	err = pwm_pin_set_cycles(out.dev, out.pwm, 100, 0, out.flags);
	zassert_equal(err, 0, "failed to set pwm output (err %d)", err);

	err = pwm_pin_configure_capture(in.dev, in.pwm,
					in.flags | flags,
					continuous_capture_callback,
					&data);
	if (err == -ENOTSUP) {
		TC_PRINT("Pulse capture not supported, "
			 "trying period capture\n");
		flags = PWM_CAPTURE_MODE_SINGLE | PWM_CAPTURE_TYPE_PERIOD;
		err = pwm_pin_configure_capture(in.dev, in.pwm,
						in.flags | flags,
						continuous_capture_callback,
						&data);
		zassert_equal(err, 0, "failed to configure pwm input (err %d)",
			      err);
		data.pulse_capture = false;
	}

	err = pwm_pin_enable_capture(in.dev, in.pwm);
	zassert_equal(err, 0, "failed to enable pwm capture (err %d)", err);

	err = pwm_pin_configure_capture(in.dev, in.pwm,
					in.flags | flags,
					continuous_capture_callback,
					&data);
	zassert_equal(err, -EBUSY, "pwm capture not busy (err %d)", err);

	err = pwm_pin_disable_capture(in.dev, in.pwm);
	zassert_equal(err, 0, "failed to disable pwm capture (err %d)", err);
}