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#include "BMI088.hpp"

#include "BMI088_Accelerometer.hpp"
#include "BMI088_Gyroscope.hpp"

I2CSPIDriverBase *BMI088::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
	BMI088 *instance = nullptr;

	if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI088) {
		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(config);

	} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI088) {
		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(config);
	}

	if (!instance) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

	if (OK != instance->init()) {
		delete instance;
		return nullptr;
	}

	return instance;
}

BMI088::BMI088(const I2CSPIDriverConfig &config) :
	I2C(config),
	I2CSPIDriver(config),
	_drdy_gpio(config.drdy_gpio)
{
}

int BMI088::init()
{
	int ret = I2C::init();

	if (ret != PX4_OK) {
		DEVICE_DEBUG("I2C::init failed (%i)", ret);
		return ret;
	}

	int res = Reset() ? 0 : -1;
	_state = STATE::SELFTEST;

	return res;
}

bool BMI088::Reset()
{
	_state = STATE::RESET;
	ScheduleClear();
	ScheduleNow();
	return true;
}
