/*
 * Author: Jake Goodwin
 * Date: 2023
 * Description: A Generic driver for gy521 IMU modules
 */

#ifndef GY521_DRIVER_H
#define GY521_DRIVER_H
#include "gy521_interface.h"
#include <stdlib.h>

/*
 * ############################
 * Defines
 * ############################
 */

/*
 * ############################
 * Types/Structures 
 * ############################
 */

typedef struct gyro_values{
    uint16_t x;
    uint16_t y;
    uint16_t z;
}gyro_values_struct;

typedef struct accel_values{
    uint16_t x;
    uint16_t y;
    uint16_t z;
}accel_values_struct;

/*
 * ############################
 * REGISTER MAP 
 * ############################
 */ 

/*This thing is fairly huge, but it's got pretty much all the registers
 * on it.*/

enum gy521_map {
    self_test_x = 0x0D,
    self_test_y,
    self_test_z,
    self_test_a,
    smplrt_div = 0x19,
    config,
    gyro_config,
    accel_config,
    fifo_en = 0x23,
    i2c_mst_ctrl,
    i2c_slv0_addr,
    i2c_slv0_reg,
    i2c_slv0_ctrl,
    i2c_slv1_addr,
    i2c_slv1_reg,
    i2c_slv1_ctrl,
    i2c_slv2_addr,
    i2c_slv2_reg,
    i2c_slv2_ctrl,
    i2c_slv3_addr,
    i2c_slv3_reg,
    i2c_slv3_ctrl,
    i2c_slv4_addr,
    i2c_slv4_reg,
    i2c_slv4_do,
    i2c_slv4_ctrl,
    i2c_slv4_di,
    i2c_mst_status,
    int_pin_cfg,
    int_enable,
    int_status,
    accel_xouth = 0x3B,
    accel_xoutl,
    accel_youth,
    accel_youtl,
    accel_zouth,
    accel_zoutl,
    temp_outh,
    temp_outl,
    gyro_xouth,
    gyro_xoutl,
    gyro_youth,
    gyro_youtl,
    gyro_zouth,
    gyro_zoutl,
	ext_sens_data_00,
	ext_sens_data_01,
	ext_sens_data_02,
	ext_sens_data_03,
	ext_sens_data_04,
	ext_sens_data_05,
	ext_sens_data_06,
	ext_sens_data_07,
	ext_sens_data_08,
	ext_sens_data_09,
	ext_sens_data_10,
	ext_sens_data_11,
	ext_sens_data_12,
	ext_sens_data_13,
	ext_sens_data_14,
	ext_sens_data_15,
	ext_sens_data_16,
	ext_sens_data_17,
	ext_sens_data_18,
	ext_sens_data_19,
	ext_sens_data_20,
	ext_sens_data_21,
	ext_sens_data_22,
	ext_sens_data_23,
	i2c_slv0_do,
	i2c_slv1_do,
	i2c_slv2_do,
	i2c_slv3_do,
    i2c_mst_delay_ctrl,
    signal_path_reset,
    user_ctrl,
    pwr_mgmt_1,
    pwr_mgmt_2,
    fifo_couth = 0x72,
    fifo_contl,
    fifo_r_w,
    who_am_i,
};



/*
 * ############################
 * Function Prototypes
 * ############################
 */ 

gy521_module* gy521_new(void);

void disable_self_test_gyro(struct gy521_module* m);
void enable_self_test_gyro(struct gy521_module* m);
struct ft_vals self_test_ft_calculation(struct gy521_module* m);
self_test_results gy521_self_test(struct gy521_module* m);

uint8_t read_register(gy521_module *m, enum gy521_map reg);
void write_register(gy521_module *m, enum gy521_map reg, uint8_t data);


/*These are used instead of direct access; assuming interrupt driven*/
/*updates to the gy521 then it protects the user from using volatile values*/
struct accel_values gy521_get_accel(struct gy521_module* m);
struct gyro_values gy521_get_gyro(struct gy521_module* m);



#endif /* GY521_DRIVER_H */