#ifndef IMU_SENSOR_H
#define IMU_SENSOR_H

#include <stdbool.h>
#include <stdint.h>

#include "fusion_measurement.h"
#include "fusion_imu_quality.h"
#include "imu_calibration.h"

typedef enum {
	IMU_SENSOR_NONE = 0,
	IMU_SENSOR_TDK_ICM42688,
	IMU_SENSOR_ST_LSM6DSOX,
	IMU_SENSOR_BACKEND_COUNT
} imu_sensor_backend_t;

typedef struct {
	/* Zero selects the active backend's safe default. */
	uint32_t odr_hz;
	unsigned int accel_full_scale_g;
	unsigned int gyro_full_scale_dps;
	/* Auto-detected devices must never share board-specific calibration. */
	imu_calibration_t calibration_by_backend[IMU_SENSOR_BACKEND_COUNT];
} imu_sensor_config_t;

typedef struct {
	uint64_t irq_count;
	uint64_t sample_count;
	uint64_t invalid_sample_count;
	uint64_t spurious_irq_count;
	uint64_t queue_overflow_count;
	uint64_t estimated_missed_sample_count;
	uint64_t last_timestamp_ticks;
	uint32_t configured_odr_hz;
	uint8_t who_am_i;
	imu_sensor_backend_t backend;
	bool initialized;
	bool running;
	bool foreground_polling;
} imu_sensor_diagnostics_t;

void imu_sensor_default_config(imu_sensor_config_t* config);
bool imu_sensor_init(const imu_sensor_config_t* config);
bool imu_sensor_start(void);
void imu_sensor_stop(void);

/* Interrupt backend hook. Safe no-op for a foreground-polled backend. */
void imu_sensor_irq_handler(void);

/* Foreground acquisition hook. Safe no-op for an interrupt backend. */
void imu_sensor_service(void);
bool imu_sensor_requires_foreground_service(void);

bool imu_sensor_take_measurement(fusion_imu_measurement_t* measurement_out);
void imu_sensor_get_diagnostics(imu_sensor_diagnostics_t* diagnostics_out);
imu_sensor_backend_t imu_sensor_active_backend(void);
const char* imu_sensor_backend_name(imu_sensor_backend_t backend);
bool imu_sensor_quality_profile_for_backend(
	imu_sensor_backend_t backend,
	fusion_imu_quality_profile_t* profile_out);
bool imu_sensor_active_quality_profile(
	fusion_imu_quality_profile_t* profile_out);

#endif