#ifndef __INERTIALSENSOR_INVENSENSE2_H__
#define __INERTIALSENSOR_INVENSENSE2_H__

#include "SPIDevice.h"

#include <stdint.h>

enum Invensensev2_Type {
        Invensensev2_ICM20948 = 0,
        Invensensev2_ICM20648,
        Invensensev2_ICM20649
};

typedef struct {
        float accel[3];
        float gyro[3];
        uint8_t accel_count;
        uint8_t gyro_count;
} ACCUM2_t;

typedef struct {
    int16_t _raw_temp;

    float temp_sensitivity; // degC/LSB
    float temp_zero; // degC
    
    float _temp_filtered;
    float _accel_scale;
    float _fifo_accel_scale;
    float _fifo_gyro_scale;

    GPIO_TypeDef* _drdy;
    uint16_t _drdy_Pin;
    SPI_DEV_t* _dev;
    const char* name;
    bool success;

    // which sensor type this is
    enum Invensensev2_Type _inv2_type;

    // are we doing more than 1kHz sampling?
    bool _fast_sampling;

    // what downsampling rate are we using from the FIFO for gyros?
    uint8_t _gyro_fifo_downsample_rate;

    // what downsampling rate are we using from the FIFO for accels?
    uint8_t _accel_fifo_downsample_rate;

    // what rate are we generating samples into the backend for gyros?
    uint16_t _gyro_backend_rate_hz;

    // what rate are we generating samples into the backend for accels?
    uint16_t _accel_backend_rate_hz;

    // Last status from register user control
    uint8_t _last_stat_user_ctrl;    

    // buffer for fifo read
    uint8_t *_fifo_buffer;

    uint8_t _current_bank;
    float _clip_limit;

    /*
      accumulators for sensor_rate sampling
      See description in _accumulate_sensor_rate_sampling()
    */
    ACCUM2_t _accum;
} InertialSensor_Invensensev2_t;

bool InertialSensor_Invensensev2_init(InertialSensor_Invensensev2_t *imu, const char *name, SPI_DEV_t* dev, GPIO_TypeDef* drdy, uint16_t drdy_Pin);

void InertialSensor_Invensensev2_update(InertialSensor_Invensensev2_t *imu);

#endif /* __INERTIALSENSOR_INVENSENSE2_H__ */