#ifndef LSM6DSOX_H
#define LSM6DSOX_H

#include <stdint.h>

#define LSM6DSOX_WHO_AM_I_VALUE 0x6cu

typedef struct {
  uint64_t timestamp_ticks;
  int16_t accel[3];
  int16_t gyro[3];
  int16_t temperature;
} lsm6dsox_sample_t;

typedef struct {
  uint32_t odr_hz;
  uint32_t accel_ug_per_lsb;
  uint32_t gyro_udps_per_lsb;
  uint32_t temperature_lsb_per_c;
  int32_t temperature_offset_millic;
} lsm6dsox_scale_t;

/* Initialize the PMOD SPI peripheral, identify and configure the IMU. */
int lsm6dsox_init(uint32_t odr_hz);

/* Read-only helpers used by the smoke-test diagnostics. */
uint8_t lsm6dsox_read_who_am_i(void);
uint8_t lsm6dsox_read_register(uint8_t reg);

/* Return 1 for a new coherent gyro+accelerometer sample, 0 if not ready. */
int lsm6dsox_poll_sample(lsm6dsox_sample_t *sample);

/* Route accel data-ready to sensor INT1 in latched, active-high mode. The ISR
 * clears that source first, then waits briefly for the same-ODR gyro block. */
int lsm6dsox_enable_data_ready_interrupt(void);
void lsm6dsox_disable_data_ready_interrupt(void);

/* Read one coherent sample for a timestamp captured at ISR entry. */
int lsm6dsox_read_interrupt_sample(lsm6dsox_sample_t *sample,
                                   uint64_t interrupt_timestamp_ticks);

void lsm6dsox_power_down(void);
const lsm6dsox_scale_t *lsm6dsox_scale(void);

#endif