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  /**
   * @file lps33hw.hpp
   *
   * Driver for the Infineon LPS33HW barometer connected via I2C or SPI.
   */
  
  #pragma once
  
  #include <drivers/device/Device.hpp>
  #include <lib/drivers/barometer/PX4Barometer.hpp>
  #include <lib/perf/perf_counter.h>
  #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
  #include <px4_platform_common/i2c_spi_buses.h>
  
  #include "lps33hw_registers.hpp"
  
  namespace lps33hw
  {
  
  using ST_LPS33HW::Register;
  
  class LPS33HW : public I2CSPIDriver<LPS33HW>
  {
  public:
  	LPS33HW(I2CSPIBusOption bus_option, int bus, device::Device *interface, bool keep_retrying);
  	virtual ~LPS33HW();
  
  	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
  					     int runtime_instance);
  	static void print_usage();
  
  	int			init();
  
  	void			print_status();
  	void			RunImpl();
  
  private:
  
  	enum class State {
  		Detect = 0,
  		Reset,
  		WaitForReset,
  		Running
  	};
  
  	int			reset();
  
  	int			RegisterRead(Register reg, uint8_t &val);
  	int			RegisterWrite(Register reg, uint8_t val);
  
  	static constexpr uint32_t SAMPLE_RATE{75};
  
  	PX4Barometer		_px4_barometer;
  
  	device::Device		*_interface;
  
  	perf_counter_t		_sample_perf;
  	perf_counter_t		_comms_errors;
  	const bool		_keep_retrying;
  	State			_state{State::Detect};
  };
  
  } // namespace lps33hw
  