text: /****************************************************************************
   *
   *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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  /**
   * @file ISM330DLC.hpp
   *
   * Driver for the ST ISM330DLC connected via SPI.
   *
   */
  
  #pragma once
  
  #include "ST_ISM330DLC_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/px4_work_queue/ScheduledWorkItem.hpp>
  
  using ST_ISM330DLC::Register;
  
  class ISM330DLC : public device::SPI, public px4::ScheduledWorkItem
  {
  public:
  	ISM330DLC(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
  	~ISM330DLC() override;
  
  	bool Init();
  	void Start();
  	void Stop();
  	bool Reset();
  	void PrintInfo();
  
  private:
  	int probe() override;
  
  	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
  	void DataReady();
  
  	void Run() override;
  
  	uint8_t RegisterRead(Register reg);
  	void RegisterWrite(Register reg, uint8_t value);
  	void RegisterSetBits(Register reg, uint8_t setbits);
  	void RegisterClearBits(Register reg, uint8_t clearbits);
  
  	void ResetFIFO();
  
  	uint8_t *_dma_data_buffer{nullptr};
  
  	PX4Accelerometer _px4_accel;
  	PX4Gyroscope _px4_gyro;
  
  	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
  	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": 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_count_perf{perf_alloc(PC_COUNT, MODULE_NAME": drdy count")};
  	perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
  
  	hrt_abstime _time_data_ready{0};
  	hrt_abstime _time_last_temperature_update{0};
  };
  