#ifndef ST_LSM6DSOX_H
#define ST_LSM6DSOX_H

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

#include "imu/imu_sample.h"

#ifndef ST_IMU_RAW_QUEUE_CAPACITY
#define ST_IMU_RAW_QUEUE_CAPACITY 256u
#endif

typedef struct {
	uint32_t odr_hz;
	unsigned int accel_full_scale_g;
	unsigned int gyro_full_scale_dps;
} st_lsm6dsox_config_t;

typedef struct {
	uint64_t timestamp_ticks;
	int16_t temperature_raw;
	int16_t accel_raw[3];
	int16_t gyro_raw[3];
	uint32_t sequence;
} st_lsm6dsox_raw_sample_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;
	uint8_t who_am_i;
	bool initialized;
	bool running;
} st_lsm6dsox_diagnostics_t;

void st_lsm6dsox_default_config(st_lsm6dsox_config_t* config);
bool st_lsm6dsox_init(const st_lsm6dsox_config_t* config);
bool st_lsm6dsox_start(void);
void st_lsm6dsox_stop(void);
/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
void st_lsm6dsox_irq_handler(void);
/* Retained as a no-op so every backend has the same service interface. */
void st_lsm6dsox_service(void);
bool st_lsm6dsox_take_measurement(
	imu_sample_t* measurement_out);
void st_lsm6dsox_get_diagnostics(
	st_lsm6dsox_diagnostics_t* diagnostics_out);

#endif