#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_

#include "gyroAdisHelpers.h"

namespace acs {

enum SimpleSensorMode { NORMAL = 0, OFF = 1 };

struct Adis1650XRequest {
  SimpleSensorMode mode;
  adis1650x::Type type;
};

struct Adis1650XConfig {
  uint16_t diagStat;
  uint16_t filterSetting;
  uint16_t rangMdl;
  uint16_t mscCtrlReg;
  uint16_t decRateReg;
  uint16_t prodId;
};

struct Adis1650XData {
  double sensitivity;
  // Angular velocities in all axes (X, Y and Z)
  int16_t angVelocities[3];
  double accelScaling;
  // Accelerations in all axes
  int16_t accelerations[3];
  int16_t temperatureRaw;
};

struct Adis1650XReply {
  bool cfgWasSet = false;
  Adis1650XConfig cfg;
  bool dataWasSet = false;
  Adis1650XData data;
};

struct GyroL3gRequest {
  SimpleSensorMode mode;
  uint8_t ctrlRegs[5];
};

struct GyroL3gReply {
  bool cfgWasSet;
  uint8_t statusReg;
  // Angular velocities in all axes (X, Y and Z)
  int16_t angVelocities[3];
  int8_t tempOffsetRaw;
  uint8_t ctrlRegs[5];
  float sensitivity;
};

}  // namespace acs

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_ */