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  #pragma once
  
  #include "BMI088.hpp"
  
  #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
  
  #include "Bosch_BMI088_Accelerometer_Registers.hpp"
  
  namespace Bosch::BMI088::Accelerometer
  {
  
  class BMI088_Accelerometer : public BMI088
  {
  public:
  	BMI088_Accelerometer(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);
  	~BMI088_Accelerometer() override;
  
  	void RunImpl() override;
  	void print_status() override;
  
  private:
  	void exit_and_cleanup() override;
  
  	// Sensor Configuration
  	static constexpr uint32_t ACCEL_RATE{1600}; // 1600 Hz accel
  	static constexpr float FIFO_SAMPLE_DT{1e6f / ACCEL_RATE};
  
  	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
  
  	// Transfer data
  	struct FIFOTransferBuffer {
  		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ};
  		uint8_t dummy{0};
  		uint8_t FIFO_LENGTH_0{0};
  		uint8_t FIFO_LENGTH_1{0};
  		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
  	};
  	// ensure no struct padding
  	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
  
  	struct register_config_t {
  		Register reg;
  		uint8_t set_bits{0};
  		uint8_t clear_bits{0};
  	};
  
  	int probe() override;
  
  	bool Configure();
  	void ConfigureAccel();
  	void ConfigureSampleRate(int sample_rate = 0);
  	void ConfigureFIFOWatermark(uint8_t samples);
  
  	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
  	void DataReady();
  	bool DataReadyInterruptConfigure();
  	bool DataReadyInterruptDisable();
  
  	bool RegisterCheck(const register_config_t &reg_cfg);
  
  	uint8_t RegisterRead(Register reg);
  	void RegisterWrite(Register reg, uint8_t value);
  	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
  
  	uint16_t FIFOReadCount();
  	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
  	void FIFOReset();
  
  	void UpdateTemperature();
  
  	PX4Accelerometer _px4_accel;
  
  	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
  	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
  	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
  	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
  	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO overflow")};
  	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO reset")};
  	perf_counter_t _drdy_interval_perf{nullptr};
  
  	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
  
  	uint8_t _checked_register{0};
  	static constexpr uint8_t size_register_cfg{10};
  	register_config_t _register_cfg[size_register_cfg] {
  		// Register                        | Set bits, Clear bits
  		{ Register::ACC_PWR_CONF,          0, ACC_PWR_CONF_BIT::acc_pwr_save },
  		{ Register::ACC_PWR_CTRL,          ACC_PWR_CTRL_BIT::acc_enable, 0 },
  		{ Register::ACC_CONF,              ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
  		{ Register::ACC_RANGE,             ACC_RANGE_BIT::acc_range_24g, 0 },
  		{ Register::FIFO_WTM_0,            0, 0 },
  		{ Register::FIFO_WTM_1,            0, 0 },
  		{ Register::FIFO_CONFIG_0,         FIFO_CONFIG_0_BIT::BIT1_ALWAYS | FIFO_CONFIG_0_BIT::FIFO_mode, 0 },
  		{ Register::FIFO_CONFIG_1,         FIFO_CONFIG_1_BIT::BIT4_ALWAYS | FIFO_CONFIG_1_BIT::Acc_en, 0 },
  		{ Register::INT1_IO_CONF,          INT1_IO_CONF_BIT::int1_out, 0 },
  		{ Register::INT1_INT2_MAP_DATA,    INT1_INT2_MAP_DATA_BIT::int1_fwm, 0},
  	};
  };
  
  } // namespace Bosch::BMI088::Accelerometer
  