#ifndef __INERTIALSENSOR_ADIS1647x_H__
#define __INERTIALSENSOR_ADIS1647x_H__

#include "SPIDevice.h"
#include "GPIO_EXTI.h"
#include <stdint.h>
#include <stdbool.h>

typedef struct
{
  const char *name;
  bool success;
  int crc_err;
  int seq_err;
  int comm_err;
  int good_cnt;
  int crc_pps;
  int seq_pps;
  int comm_pps;
  int good_pps;

  SPI_DEV_t *dev;
  GPIO_EXIT_t *drdy;

  uint16_t last_counter;
  bool done_first_read;
  float temp_sum;
  uint8_t temp_count;

  float accel_scale;
  float gyro_scale;
  float _clip_limit;

  float accel[3];
  float gyro[3];
  float temp;
  uint8_t seq;
} InertialSensor_ADIS1647x_t;

bool InertialSensor_ADIS1647x_init(InertialSensor_ADIS1647x_t *imu,
                                   const char *name,
                                   SPI_DEV_t *dev,
                                   GPIO_EXIT_t *drdy);

void InertialSensor_ADIS1647x_loop(InertialSensor_ADIS1647x_t *imu);

void InertialSensor_ADIS1647x_update(InertialSensor_ADIS1647x_t *imu);

void InertialSensor_ADIS1647x_monitor(InertialSensor_ADIS1647x_t *imu);

#endif /* __INERTIALSENSOR_ADIS1647x_H__ */