#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_

#include <cstddef>

#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"

namespace adis1650x {

enum class BurstModes {
  BURST_16_BURST_SEL_0,
  BURST_16_BURST_SEL_1,
  BURST_32_BURST_SEL_0,
  BURST_32_BURST_SEL_1
};

size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
double rangMdlToSensitivity(uint16_t rangMdl);

enum class Type : uint8_t { ADIS16505, ADIS16507 };

static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
static constexpr uint8_t WRITE_MASK = 0b1000'0000;

// Ranges in deg / s
static constexpr double RANGE_UNSET = 0.0;
static constexpr double RANGE_1BMLZ = 125.0;
static constexpr double RANGE_2BMLZ = 500.0;
static constexpr double RANGE_3BMLZ = 2000.0;
// Sensitivities in deg/s/LSB
static constexpr double SENSITIVITY_UNSET = 0.0;
static constexpr double SENSITIVITY_1BMLZ = 0.00625;
static constexpr double SENSITIVITY_2BMLZ = 0.025;
static constexpr double SENSITIVITY_3BMLZ = 0.1;

enum RangMdlBitfield {
  RANGE_125_1BMLZ = 0b00,
  RANGE_500_2BMLZ = 0b01,
  RESERVED = 0b10,
  RANGE_2000_3BMLZ = 0b11
};

static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;

static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;

static constexpr uint16_t PROD_ID_16507 = 16507;
static constexpr uint16_t PROD_ID_16505 = 16505;

static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};

static constexpr dur_millis_t START_UP_TIME = 310;
static constexpr dur_millis_t SW_RESET_BREAK = 255;
static constexpr dur_millis_t FACTORY_CALIBRATION_BREAK = 136;
static constexpr dur_millis_t FLASH_MEMORY_UPDATE_BREAK = 70;
static constexpr dur_millis_t FLASH_MEMORY_TEST_BREAK = 30;
static constexpr dur_millis_t SELF_TEST_BREAK = 24;

static constexpr uint8_t DIAG_STAT_REG = 0x02;
static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
static constexpr uint8_t RANG_MDL_REG = 0x5e;
static constexpr uint8_t MSC_CTRL_REG = 0x60;
static constexpr uint8_t DEC_RATE_REG = 0x64;
static constexpr uint8_t GLOB_CMD = 0x68;
static constexpr uint8_t PROD_ID_REG = 0x72;

static constexpr DeviceCommandId_t READ_SENSOR_DATA = 0;
static constexpr DeviceCommandId_t READ_OUT_CONFIG = 1;
static constexpr DeviceCommandId_t SELF_TEST_SENSORS = 2;
static constexpr DeviceCommandId_t SELF_TEST_MEMORY = 3;
static constexpr DeviceCommandId_t UPDATE_NV_CONFIGURATION = 4;
static constexpr DeviceCommandId_t SELECT_BURST_READ_MODE = 5;

static constexpr DeviceCommandId_t RESET_SENSOR_CONFIGURATION = 30;
static constexpr DeviceCommandId_t SW_RESET = 31;
static constexpr DeviceCommandId_t PRINT_CURRENT_CONFIGURATION = 32;

static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;

static constexpr uint16_t BURST_32_BIT = 1 << 9;
static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;

static constexpr size_t CONFIG_READOUT_SIZE = 12 + 2;
static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;

static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;

static constexpr uint16_t FILT_CTRL = 0x0000;
static constexpr uint16_t DEC_RATE = 0x0013;

enum GlobCmds : uint8_t {
  FACTORY_CALIBRATION = 0b0000'0010,
  SENSOR_SELF_TEST = 0b0000'0100,
  FLASH_MEMORY_UPDATE = 0b0000'1000,
  FLASH_MEMORY_TEST = 0b0001'0000,
  SOFTWARE_RESET = 0b1000'0000
};

enum PrimaryPoolIds : lp_id_t {
  ANG_VELOC_X,
  ANG_VELOC_Y,
  ANG_VELOC_Z,
  ACCELERATION_X,
  ACCELERATION_Y,
  ACCELERATION_Z,
  TEMPERATURE,
  DIAG_STAT_REGISTER,
  FILTER_SETTINGS,
  RANG_MDL,
  MSC_CTRL_REGISTER,
  DEC_RATE_REGISTER,
};

enum FilterSettings : uint8_t {
  NO_FILTER = 0,
  TWO_TAPS = 1,
  FOUR_TAPS = 2,
  EIGHT_TAPS = 3,
  SIXTEEN_TAPS = 4,
  THIRTYTWO_TAPS = 5,
  SIXTYFOUR_TAPS = 6
};

}  // namespace adis1650x

class AdisGyroPrimaryDataset : public StaticLocalDataSet<8> {
 public:
  /** Constructor  for data users like controllers */
  AdisGyroPrimaryDataset(object_id_t adisId)
      : StaticLocalDataSet(sid_t(adisId, adis1650x::ADIS_DATASET_ID)) {
    setAllVariablesReadOnly();
  }

  /* Angular velocities in degrees per second (DPS) */
  lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_X, this);
  lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Y, this);
  lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Z, this);
  lp_var_t<double> accelX = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_X, this);
  lp_var_t<double> accelY = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Y, this);
  lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Z, this);
  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, adis1650x::TEMPERATURE, this);

 private:
  friend class GyrAdis1650XHandler;
  friend class GyroAdisDummy;

  /** Constructor for the data creator */
  AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, adis1650x::ADIS_DATASET_ID) {}
};

class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
 public:
  /** Constructor  for data users like controllers */
  AdisGyroConfigDataset(object_id_t adisId)
      : StaticLocalDataSet(sid_t(adisId, adis1650x::ADIS_CFG_DATASET_ID)) {
    setAllVariablesReadOnly();
  }

  lp_var_t<uint16_t> diagStatReg =
      lp_var_t<uint16_t>(sid.objectId, adis1650x::DIAG_STAT_REGISTER, this);
  lp_var_t<uint8_t> filterSetting =
      lp_var_t<uint8_t>(sid.objectId, adis1650x::FILTER_SETTINGS, this);
  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, adis1650x::RANG_MDL, this);
  lp_var_t<uint16_t> mscCtrlReg =
      lp_var_t<uint16_t>(sid.objectId, adis1650x::MSC_CTRL_REGISTER, this);
  lp_var_t<uint16_t> decRateReg =
      lp_var_t<uint16_t>(sid.objectId, adis1650x::DEC_RATE_REGISTER, this);

 private:
  friend class GyrAdis1650XHandler;
  /** Constructor for the data creator */
  AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, adis1650x::ADIS_CFG_DATASET_ID) {}
};

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */