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/**
 * @file gyro.cpp
 *
 * Driver for the Invensense mpu9250 connected via SPI.
 *
 * @author Andrew Tridgell
 *
 * based on the mpu6000 driver
 */

#include <px4_config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>

#include <systemlib/perf_counter.h>

#include <board_config.h>
#include <drivers/drv_hrt.h>

#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>

#include "mag.h"
#include "gyro.h"
#include "mpu9250.h"

MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
	CDev("MPU9250_gyro", path),
	_parent(parent),
	_gyro_topic(nullptr),
	_gyro_orb_class_instance(-1),
	_gyro_class_instance(-1)
{
}

MPU9250_gyro::~MPU9250_gyro()
{
	if (_gyro_class_instance != -1) {
		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
	}
}

int
MPU9250_gyro::init()
{
	int ret;

	// do base class init
	ret = CDev::init();

	/* if probe/setup failed, bail now */
	if (ret != OK) {
		DEVICE_DEBUG("gyro init failed");
		return ret;
	}

	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);

	return ret;
}

void
MPU9250_gyro::parent_poll_notify()
{
	poll_notify(POLLIN);
}

ssize_t
MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
{
	return _parent->gyro_read(filp, buffer, buflen);
}

int
MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
{

	switch (cmd) {
	case DEVIOCGDEVICEID:
		return (int)CDev::ioctl(filp, cmd, arg);
		break;

	default:
		return _parent->gyro_ioctl(filp, cmd, arg);
	}
}