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/**
 * @file rm3100.h
 *
 * Shared defines for the RM3100 driver.
 */

#pragma once

#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>

/**
 * RM3100 internal constants and data structures.
 */

/* At 146 Hz we encounter errors, 100 Hz is safer */
#define RM3100_CONVERSION_INTERVAL	10000	// Microseconds, corresponds to 100 Hz (cycle count 200 on 3 axis)
#define UTESLA_TO_GAUSS			100.0f
#define RM3100_SENSITIVITY		75.0f

#define ADDR_POLL		0x00
#define ADDR_CMM		0x01
#define ADDR_CCX		0x04
#define ADDR_CCY		0x06
#define ADDR_CCZ		0x08
#define ADDR_TMRC		0x0B
#define ADDR_MX			0x24
#define ADDR_MY			0x27
#define ADDR_MZ			0x2A
#define ADDR_BIST		0x33
#define ADDR_STATUS		0x34
#define ADDR_HSHAKE		0x35
#define ADDR_REVID		0x36

#define CCX_DEFAULT_MSB		0x00
#define CCX_DEFAULT_LSB		0xC8
#define CCY_DEFAULT_MSB		CCX_DEFAULT_MSB
#define CCY_DEFAULT_LSB		CCX_DEFAULT_LSB
#define CCZ_DEFAULT_MSB		CCX_DEFAULT_MSB
#define CCZ_DEFAULT_LSB		CCX_DEFAULT_LSB
#define CMM_DEFAULT		0x70	// No continuous mode
#define CONTINUOUS_MODE		(1 << 0)
#define POLLING_MODE		(0 << 0)
#define TMRC_DEFAULT		0x94
#define BIST_SELFTEST		0x8F
#define BIST_DEFAULT		0x00
#define BIST_XYZ_OK		((1 << 4) | (1 << 5) | (1 << 6))
#define STATUS_DRDY		(1 << 7)
#define POLL_XYZ		0x70
#define RM3100_REVID		0x22

#define NUM_BUS_OPTIONS		(sizeof(bus_options)/sizeof(bus_options[0]))

/* interface factories */
extern device::Device *RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *RM3100_I2C_interface(int bus, int bus_frequency);

enum OPERATING_MODE {
	CONTINUOUS = 0,
	SINGLE
};

class RM3100 : public I2CSPIDriver<RM3100>
{
public:
	RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
	virtual ~RM3100();

	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
					     int runtime_instance);
	static void print_usage();

	void custom_method(const BusCLIArguments &cli) override;

	int init();

	void print_status() override;

	/**
	 * Configures the device with default register values.
	 */
	int set_default_register_values();

	void RunImpl();

private:
	PX4Magnetometer _px4_mag;

	device::Device *_interface;

	perf_counter_t _comms_errors;
	perf_counter_t _conf_errors;
	perf_counter_t _range_errors;
	perf_counter_t _sample_perf;

	/* status reporting */
	bool _continuous_mode_set;

	enum OPERATING_MODE _mode;

	unsigned int _measure_interval;

	uint8_t _check_state_cnt;

	/**
	 * Collect the result of the most recent measurement.
	 */
	int collect();

	/**
	 * Run sensor self-test
	 *
	 * @return 0 if self-test is ok, 1 else
	 */
	int self_test();

	/**
	 * Check whether new data is available or not
	 *
	 * @return 0 if new data is available, 1 else
	 */
	int check_measurement();

	/**
	* Converts int24_t stored in 32-bit container to int32_t
	*/
	void convert_signed(int32_t *n);

	/**
	 * Issue a measurement command.
	 *
	 * @return              OK if the measurement command was successful.
	 */
	int measure();

	/**
	 * @brief Resets the device
	 */
	int reset();

	/**
	 * @brief Initialises the automatic measurement state machine and start it.
	 *
	 * @note This function is called at open and error time.  It might make sense
	 *       to make it more aggressive about resetting the bus in case of errors.
	 */
	void start();

}; // class RM3100