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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/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

using ST_LSM9DS1::Register;

class LSM9DS1 : public device::SPI, public px4::ScheduledWorkItem
{
public:
	LSM9DS1(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
	~LSM9DS1() override;

	bool     Init();
	void     Start();
	void     Stop();
	bool     Reset();
	void     PrintInfo();

private:
	int      probe() override;
	void     Run() override;

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

	void     ResetFIFO();

	PX4Accelerometer _px4_accel;
	PX4Gyroscope     _px4_gyro;

	static constexpr uint32_t _fifo_interval{1000000 / ST_LSM9DS1::LA_ODR};

	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": 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 _time_last_temperature_update{0};
};
