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 *
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once

#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

#define DIR_READ                0x80
#define DIR_WRITE               0x00

//Soft-reset command Value
#define BMI088_SOFT_RESET       0xB6

#define BMI088_BUS_SPEED				10*1000*1000

#define BMI088_TIMER_REDUCTION				200

class BMI088 : public device::SPI
{

protected:

	uint8_t         _whoami;    /** whoami result */

	uint8_t         _register_wait;
	uint64_t        _reset_wait;

	enum Rotation       _rotation;

	uint8_t         _checked_next;

	/**
	* Read a register from the BMI088
	*
	* @param       The register to read.
	* @return      The value that was read.
	*/
	virtual uint8_t         read_reg(unsigned reg); // This needs to be declared as virtual, because the
	virtual uint16_t        read_reg16(unsigned reg);

	/**
	* Write a register in the BMI088
	*
	* @param reg       The register to write.
	* @param value     The new value to write.
	*/
	void            write_reg(unsigned reg, uint8_t value);

	/* do not allow to copy this class due to pointer data members */
	BMI088(const BMI088 &);
	BMI088 operator=(const BMI088 &);

public:

	BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency,
	       enum Rotation rotation);

	virtual ~BMI088() = default;


};
