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  /**
   * @file ICM20948.hpp
   *
   * Driver for the Invensense ICM20948 connected via SPI.
   *
   */
  
  #pragma once
  
  #include "InvenSense_ICM20948_registers.hpp"
  
  #include <drivers/drv_hrt.h>
  #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
  #include <lib/drivers/device/spi.h>
  #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
  #include <lib/ecl/geo/geo.h>
  #include <lib/perf/perf_counter.h>
  #include <px4_platform_common/atomic.h>
  #include <px4_platform_common/i2c_spi_buses.h>
  
  #include "ICM20948_AK09916.hpp"
  
  using namespace InvenSense_ICM20948;
  
  class ICM20948 : public device::SPI, public I2CSPIDriver<ICM20948>
  {
  public:
  	ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
  		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer = false);
  	~ICM20948() override;
  
  	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
  					     int runtime_instance);
  	static void print_usage();
  
  	void RunImpl();
  
  	int init() override;
  	void print_status() override;
  
  private:
  	void exit_and_cleanup() override;
  
  	// Sensor Configuration
  	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
  	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
  	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 9000 Hz gyro
  	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
  
  	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
  	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
  
  	// Transfer data
  	struct FIFOTransferBuffer {
  		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
  		uint8_t FIFO_COUNTH{0};
  		uint8_t FIFO_COUNTL{0};
  		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
  	};
  	// ensure no struct padding
  	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
  
  	struct register_bank0_config_t {
  		Register::BANK_0 reg;
  		uint8_t set_bits{0};
  		uint8_t clear_bits{0};
  	};
  
  	struct register_bank2_config_t {
  		Register::BANK_2 reg;
  		uint8_t set_bits{0};
  		uint8_t clear_bits{0};
  	};
  
  	struct register_bank3_config_t {
  		Register::BANK_3 reg;
  		uint8_t set_bits{0};
  		uint8_t clear_bits{0};
  	};
  
  	int probe() override;
  
  	bool Reset();
  
  	bool Configure();
  	void ConfigureAccel();
  	void ConfigureGyro();
  	void ConfigureSampleRate(int sample_rate);
  
  	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank);
  	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
  	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
  	void SelectRegisterBank(Register::BANK_3 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_3); }
  
  	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
  	void DataReady();
  	bool DataReadyInterruptConfigure();
  	bool DataReadyInterruptDisable();
  
  	template <typename T> bool RegisterCheck(const T &reg_cfg);
  	template <typename T> uint8_t RegisterRead(T reg);
  	template <typename T> void RegisterWrite(T reg, uint8_t value);
  	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
  	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
  	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
  
  	uint16_t FIFOReadCount();
  	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
  	void FIFOReset();
  
  	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
  	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
  	void UpdateTemperature();
  
  	const spi_drdy_gpio_t _drdy_gpio;
  
  	// I2C AUX interface (slave 1 - 4)
  	AKM_AK09916::ICM20948_AK09916 *_slave_ak09916_magnetometer{nullptr};
  	friend class AKM_AK09916::ICM20948_AK09916;
  
  	void I2CSlaveRegisterWrite(uint8_t slave_i2c_addr, uint8_t reg, uint8_t val);
  	void I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size);
  	bool I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length);
  
  	PX4Accelerometer _px4_accel;
  	PX4Gyroscope _px4_gyro;
  
  	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
  	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
  	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
  	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
  	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
  	perf_counter_t _drdy_missed_perf{nullptr};
  
  	hrt_abstime _reset_timestamp{0};
  	hrt_abstime _last_config_check_timestamp{0};
  	hrt_abstime _temperature_update_timestamp{0};
  	int _failure_count{0};
  
  	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
  
  	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
  	px4::atomic<uint32_t> _drdy_count{0};
  	bool _data_ready_interrupt_enabled{false};
  
  	enum class STATE : uint8_t {
  		RESET,
  		WAIT_FOR_RESET,
  		CONFIGURE,
  		FIFO_READ,
  	};
  
  	STATE _state{STATE::RESET};
  
  	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
  	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
  
  	uint8_t _checked_register_bank0{0};
  	static constexpr uint8_t size_register_bank0_cfg{6};
  	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
  		// Register                             | Set bits, Clear bits
  		{ Register::BANK_0::USER_CTRL,          USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_MST_EN | USER_CTRL_BIT::I2C_IF_DIS, USER_CTRL_BIT::DMP_EN },
  		{ Register::BANK_0::PWR_MGMT_1,         PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
  		{ Register::BANK_0::INT_PIN_CFG,        INT_PIN_CFG_BIT::INT1_ACTL, 0 },
  		{ Register::BANK_0::INT_ENABLE_1,       INT_ENABLE_1_BIT::RAW_DATA_0_RDY_EN, 0 },
  		{ Register::BANK_0::FIFO_EN_2,          FIFO_EN_2_BIT::ACCEL_FIFO_EN | FIFO_EN_2_BIT::GYRO_Z_FIFO_EN | FIFO_EN_2_BIT::GYRO_Y_FIFO_EN | FIFO_EN_2_BIT::GYRO_X_FIFO_EN, FIFO_EN_2_BIT::TEMP_FIFO_EN },
  		{ Register::BANK_0::FIFO_MODE,          FIFO_MODE_BIT::Snapshot, 0 },
  	};
  
  	uint8_t _checked_register_bank2{0};
  	static constexpr uint8_t size_register_bank2_cfg{2};
  	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
  		// Register                             | Set bits, Clear bits
  		{ Register::BANK_2::GYRO_CONFIG_1,      GYRO_CONFIG_1_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_1_BIT::GYRO_FCHOICE },
  		{ Register::BANK_2::ACCEL_CONFIG,       ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, ACCEL_CONFIG_BIT::ACCEL_FCHOICE },
  	};
  
  	uint8_t _checked_register_bank3{0};
  	static constexpr uint8_t size_register_bank3_cfg{3};
  	register_bank3_config_t _register_bank3_cfg[size_register_bank3_cfg] {
  		// Register                             | Set bits, Clear bits
  		{ Register::BANK_3::I2C_MST_CTRL,       0, 0 },
  		{ Register::BANK_3::I2C_MST_DELAY_CTRL, 0, 0 },
  		{ Register::BANK_3::I2C_SLV4_CTRL,      0, 0 },
  	};
  };
  