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/**
 * @file lis3mdl.h
 *
 * Shared defines for the LIS3MDL driver.
 */

#pragma once

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

/**
 * LIS3MDL internal constants and data structures.
 */

/* Max measurement rate is 80Hz */
#define LIS3MDL_CONVERSION_INTERVAL     (1000000 / 80)  /* 12,500 microseconds */

#define NUM_BUS_OPTIONS                 (sizeof(lis3mdl::bus_options)/sizeof(lis3mdl::bus_options[0]))

#define ADDR_WHO_AM_I                   0x0f
#define ID_WHO_AM_I                     0x3d

#define ADDR_CTRL_REG1                  0x20
#define ADDR_CTRL_REG2                  0x21
#define ADDR_CTRL_REG3                  0x22
#define ADDR_CTRL_REG4                  0x23
#define ADDR_CTRL_REG5                  0x24

#define ADDR_STATUS_REG                 0x27
#define ADDR_OUT_X_L                    0x28
#define ADDR_OUT_X_H                    0x29
#define ADDR_OUT_Y_L                    0x2a
#define ADDR_OUT_Y_H                    0x2b
#define ADDR_OUT_Z_L                    0x2c
#define ADDR_OUT_Z_H                    0x2d
#define ADDR_OUT_T_L                    0x2e
#define ADDR_OUT_T_H                    0x2f

#define MODE_REG_CONTINOUS_MODE         (0 << 0)
#define MODE_REG_SINGLE_MODE            (1 << 0) /* default */

#define CNTL_REG1_DEFAULT 0xFC
#define CNTL_REG2_DEFAULT 0x00
#define CNTL_REG3_DEFAULT 0x00
#define CNTL_REG4_DEFAULT 0x0C
#define CNTL_REG5_DEFAULT 0x00

/* interface factories */
extern device::Device *LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *LIS3MDL_I2C_interface(int bus, int bus_frequency);

enum OPERATING_MODE {
	CONTINUOUS = 0,
	SINGLE
};

class LIS3MDL : public I2CSPIDriver<LIS3MDL>
{
public:
	LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
	virtual ~LIS3MDL();

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

	void custom_method(const BusCLIArguments &cli) override;

	virtual 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;

	float _range_ga;

	uint8_t _check_state_cnt;
	uint8_t _cntl_reg1;
	uint8_t _cntl_reg2;
	uint8_t _cntl_reg3;
	uint8_t _cntl_reg4;
	uint8_t _cntl_reg5;
	uint8_t _range_bits;
	uint8_t _temperature_counter;
	uint8_t _temperature_error_count;

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

	/**
	 * 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();

	/**
	 * @brief Sets the sensor internal range to handle at least the argument in Gauss.
	 *
	 * @param range The sensor range value to be set.
	 */
	int set_range(unsigned range);

	/**
	 * @brief Reads a register.
	 *
	 * @param reg           The register to read.
	 * @param val           The value read.
	 * @return              OK on read success.
	 */
	int read_reg(uint8_t reg, uint8_t &val);

	/**
	 * @brief  Writes a register.
	 *
	 * @param reg           The register to write.
	 * @param val           The value to write.
	 * @return              OK on write success.
	 */
	int write_reg(uint8_t reg, uint8_t val);

}; // class LIS3MDL