#ifndef TDK_ICM42688_H
#define TDK_ICM42688_H

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

#include "fusion_measurement.h"

#ifndef TDK_IMU_RAW_QUEUE_CAPACITY
#define TDK_IMU_RAW_QUEUE_CAPACITY 256u
#endif

#ifndef TDK_IMU_ODR_HZ
#define TDK_IMU_ODR_HZ 500u
#endif

typedef enum {
	TDK_ACCEL_FS_2G = 2,
	TDK_ACCEL_FS_4G = 4,
	TDK_ACCEL_FS_8G = 8,
	TDK_ACCEL_FS_16G = 16
} tdk_accel_full_scale_t;

typedef enum {
	TDK_GYRO_FS_15D625 = 15625,
	TDK_GYRO_FS_31D25 = 31250,
	TDK_GYRO_FS_62D5 = 62500,
	TDK_GYRO_FS_125 = 125000,
	TDK_GYRO_FS_250 = 250000,
	TDK_GYRO_FS_500 = 500000,
	TDK_GYRO_FS_1000 = 1000000,
	TDK_GYRO_FS_2000 = 2000000
} tdk_gyro_full_scale_mdps_t;

typedef struct {
	uint32_t odr_hz;
	tdk_accel_full_scale_t accel_full_scale_g;
	tdk_gyro_full_scale_mdps_t gyro_full_scale_mdps;
	uint8_t ui_filter_config;
} tdk_icm42688_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;
} tdk_icm42688_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;
} tdk_icm42688_diagnostics_t;

void tdk_icm42688_default_config(tdk_icm42688_config_t* config);
bool tdk_icm42688_init(const tdk_icm42688_config_t* config);
bool tdk_icm42688_start(void);
void tdk_icm42688_stop(void);

/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
void tdk_icm42688_irq_handler(void);

/* Foreground conversion; no floating-point work is performed in the ISR. */
bool tdk_icm42688_take_measurement(fusion_imu_measurement_t* measurement_out);
void tdk_icm42688_get_diagnostics(tdk_icm42688_diagnostics_t* diagnostics_out);

#endif