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/**
 * @file ADIS16448.hpp
 *
 * Driver for the Analog Devices ADIS16448 connected via SPI.
 *
 */

#pragma once

#include "Analog_Devices_ADIS16448_registers.hpp"

#include <drivers/drv_hrt.h>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/i2c_spi_buses.h>

using namespace Analog_Devices_ADIS16448;

class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
{
public:
	ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
		  spi_drdy_gpio_t drdy_gpio);
	~ADIS16448() 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;

	struct register_config_t {
		Register reg;
		uint16_t set_bits{0};
		uint16_t clear_bits{0};
	};

	int probe() override;

	bool Reset();

	bool Configure();

	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
	void DataReady();
	bool DataReadyInterruptConfigure();
	bool DataReadyInterruptDisable();

	bool RegisterCheck(const register_config_t &reg_cfg);

	uint16_t RegisterRead(Register reg);
	void RegisterWrite(Register reg, uint16_t value);
	void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);

	const spi_drdy_gpio_t _drdy_gpio;

	PX4Accelerometer _px4_accel;
	PX4Barometer _px4_baro;
	PX4Gyroscope _px4_gyro;
	PX4Magnetometer _px4_mag;

	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
	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 _perf_crc_bad{nullptr};

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

	bool _check_crc{false}; // CRC-16 not supported on earlier models (eg ADIS16448AMLZ)
	bool _data_ready_interrupt_enabled{false};

	bool _self_test_passed{false};

	int16_t _accel_prev[3] {};
	int16_t _gyro_prev[3] {};

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

	uint8_t _checked_register{0};
	static constexpr uint8_t size_register_cfg{3};
	register_config_t _register_cfg[size_register_cfg] {
		// Register               | Set bits, Clear bits
		{ Register::MSC_CTRL,     MSC_CTRL_BIT::CRC16_for_burst, 0 },
		{ Register::SMPL_PRD,     SMPL_PRD_BIT::internal_sampling_clock, SMPL_PRD_BIT::decimation_rate },
		{ Register::SENS_AVG,     SENS_AVG_BIT::Measurement_range_1000_set | SENS_AVG_BIT::Filter_Size_Variable_B_set, SENS_AVG_BIT::Measurement_range_1000_clear | SENS_AVG_BIT::Filter_Size_Variable_B_clear },
	};
};
