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/**
 * @file LSM9DS1.hpp
 *
 * Driver for the ST LSM9DS1 connected via SPI.
 *
 */

#pragma once

#include "ST_LSM9DS1_Registers.hpp"

#include <drivers/drv_hrt.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>

using namespace ST_LSM9DS1;

class LSM9DS1 : public device::SPI, public I2CSPIDriver<LSM9DS1>
{
public:
	LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
		spi_mode_e spi_mode);
	~LSM9DS1() override;

	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
					     int runtime_instance);
	static void print_usage();

	void RunImpl();

	int init() override;
	void print_status() override;

private:
	void exit_and_cleanup() override;

	// Sensor Configuration
	static constexpr float FIFO_SAMPLE_DT{1e6f / ST_LSM9DS1::G_ODR};
	static constexpr float GYRO_RATE{ST_LSM9DS1::G_ODR};   // 952 Hz gyro
	static constexpr float ACCEL_RATE{ST_LSM9DS1::LA_ODR}; // 952 Hz accel

	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / 12, sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};

	struct register_config_t {
		Register reg;
		uint8_t set_bits{0};
		uint8_t clear_bits{0};
	};

	int probe() override;

	bool Reset();

	bool Configure();
	void ConfigureSampleRate(int sample_rate);

	bool RegisterCheck(const register_config_t &reg_cfg);

	uint8_t RegisterRead(Register reg);
	void RegisterWrite(Register reg, uint8_t value);
	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);

	uint16_t FIFOReadCount();
	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
	void FIFOReset();

	void UpdateTemperature();

	PX4Accelerometer _px4_accel;
	PX4Gyroscope _px4_gyro;

	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};

	hrt_abstime _reset_timestamp{0};
	hrt_abstime _last_config_check_timestamp{0};
	hrt_abstime _temperature_update_timestamp{0};
	int _failure_count{0};

	enum class STATE : uint8_t {
		RESET,
		WAIT_FOR_RESET,
		CONFIGURE,
		FIFO_READ,
	} _state{STATE::RESET};

	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};

	uint8_t _checked_register{0};
	static constexpr uint8_t size_register_cfg{6};
	register_config_t _register_cfg[size_register_cfg] {
		// Register               | Set bits, Clear bits
		{ Register::CTRL_REG1_G,  CTRL_REG1_G_BIT::ODR_G_952HZ | CTRL_REG1_G_BIT::FS_G_2000DPS | CTRL_REG1_G_BIT::BW_G_100Hz, 0 },
		{ Register::CTRL_REG6_XL, CTRL_REG6_XL_BIT::ODR_XL_952HZ | CTRL_REG6_XL_BIT::FS_XL_16, 0 },
		{ Register::CTRL_REG7_XL, CTRL_REG7_XL_BIT::HR, CTRL_REG7_XL_BIT::FDS },
		{ Register::CTRL_REG8,    CTRL_REG8_BIT::BDU | CTRL_REG8_BIT::IF_ADD_INC, CTRL_REG8_BIT::SW_RESET },
		{ Register::CTRL_REG9,    CTRL_REG9_BIT::FIFO_EN | CTRL_REG9_BIT::I2C_DISABLE, 0 },
		{ Register::FIFO_CTRL,    FIFO_CTRL_BIT::FMODE_CONTINUOUS, 0 },
	};
};
