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#pragma once

#include "drivers/device/ringbuffer.h"	// ringbuffer::RingBuffer
#include "drivers/drv_mag.h"		// mag_calibration_s
#include "systemlib/perf_counter.h"	// perf_counter_t

/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */

#define MPU9250_MAG_RANGE_GA        1.5e-3f;

/* we are using the continuous fixed sampling rate of 100Hz */

#define MPU9250_AK8963_SAMPLE_RATE 100

/* ak8963 register address and bit definitions */

#define AK8963_I2C_ADDR         0x0C
#define AK8963_DEVICE_ID        0x48

#define AK8963REG_WIA           0x00
#define AK8963REG_ST1           0x02
#define AK8963REG_HXL           0x03
#define AK8963REG_ASAX          0x10
#define AK8963REG_CNTL1         0x0A
#define AK8963REG_CNTL2         0x0B

#define AK8963_SINGLE_MEAS_MODE 0x01
#define AK8963_CONTINUOUS_MODE1 0x02
#define AK8963_CONTINUOUS_MODE2 0x06
#define AK8963_POWERDOWN_MODE   0x00
#define AK8963_SELFTEST_MODE    0x08
#define AK8963_FUZE_MODE        0x0F
#define AK8963_16BIT_ADC        0x10
#define AK8963_14BIT_ADC        0x00
#define AK8963_RESET            0x01



class MPU9250;

#pragma pack(push, 1)
struct ak8963_regs {
	uint8_t st1;
	int16_t x;
	int16_t y;
	int16_t z;
	uint8_t st2;
};
#pragma pack(pop)

extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);

typedef device::Device *(*MPU9250_mag_constructor)(int, bool);


/**
 * Helper class implementing the magnetometer driver node.
 */
class MPU9250_mag : public device::CDev
{
public:
	MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path);
	~MPU9250_mag();

	virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
	virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
	virtual int init();

	void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = NULL);
	void passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size);
	void passthrough_write(uint8_t reg, uint8_t val);
	void read_block(uint8_t reg, uint8_t *val, uint8_t count);

	void ak8963_reset(void);
	bool ak8963_setup(void);
	bool ak8963_check_id(void);
	bool ak8963_read_adjustments(void);

protected:
	Device			*_interface;

	friend class MPU9250;

	/* Directly measure from the _interface if possible */
	void measure();

	/* Update the state with prefetched data (internally called by the regular measure() )*/
	void _measure(struct ak8963_regs data);


	uint8_t read_reg(unsigned reg);
	void write_reg(unsigned reg, uint8_t value);


	bool is_passthrough() { return _interface == nullptr; }


	int self_test(void);

private:
	MPU9250 *_parent;
	orb_advert_t _mag_topic;
	int _mag_orb_class_instance;
	int _mag_class_instance;
	bool _mag_reading_data;
	ringbuffer::RingBuffer *_mag_reports;
	struct mag_calibration_s _mag_scale;
	float _mag_range_scale;
	perf_counter_t _mag_reads;
	perf_counter_t _mag_errors;
	perf_counter_t _mag_overruns;
	perf_counter_t _mag_overflows;
	perf_counter_t _mag_duplicates;
	float _mag_asa_x;
	float _mag_asa_y;
	float _mag_asa_z;

	bool check_duplicate(uint8_t *mag_data);

	// keep last mag reading for duplicate detection
	uint8_t			_last_mag_data[6];

	/* do not allow to copy this class due to pointer data members */
	MPU9250_mag(const MPU9250_mag &);
	MPU9250_mag operator=(const MPU9250_mag &);
};