/*==========================================================================================
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===========================================================================================*/

//Driver for ICM-45686 gyroscope/accelometer

#pragma once

#include <SPI.h>
#include "../common/SensorDevice.h"

class ICM45686 {
public:
  int sampleRateActual = 0;
  volatile float gyr[3] = {};
  volatile float acc[3] = {};
  const float tmp_scale = 1.0 / 128.0;
  const float acc_scale = 32.0 / 524288.0; //Accel scale +/-32g, 20bit, 16384 LSB/g (actual resolution 19bit, i.e. 8192 LSB/g)
  const float gyr_scale = 4000.0 / 524288.0; //Gyro scale +/-4000dps, 20bit

  static bool detect(SensorDevice* dev) {
    return (dev->readReg(0x72) == 0xE9);
  }
  int begin(SensorDevice* dev, int sample_rate, bool use_clkin); //returns negative error code, positive warning code, or 0 on success
  int read(); //returns number of samples, or -1 on error

private:
  SensorDevice* dev = nullptr;
  int error_code = -2; //default to "not initalized error"

  //packet to read from address ICM45686_REG_FIFO_COUNTH
  struct __packed ICM45686_FIFOData {
      uint8_t tx_reg;   // transmit buffer starts here, preserves this byte between calls thus saves a couple nanoseconds
      uint8_t rx_start; // receive buffer starts here, first byte is dummy byte returned when sending reg address
      uint16_t n_samples;
      uint8_t header;
      uint8_t acc[6];
      uint8_t gyr[6];
      int16_t temperature;
      uint16_t timestamp;
      uint8_t gx : 4, ax : 4;
      uint8_t gy : 4, ay : 4;
      uint8_t gz : 4, az : 4;
  };

  ICM45686_FIFOData fifobuf;

  bool write_reg(uint16_t reg, uint8_t mask, uint8_t value);
  uint8_t read_bank(uint16_t addr);
  void write_bank(uint16_t addr, uint8_t val);
};
