#include "gyroAdisHelpers.h"

size_t adis1650x::prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf,
                                     size_t maxLen) {
  if (len * 2 + 2 > maxLen) {
    return 0;
  }
  for (size_t idx = 0; idx < len; idx++) {
    outBuf[idx * 2] = regList[idx];
    outBuf[idx * 2 + 1] = 0x00;
  }
  outBuf[len * 2] = 0x00;
  outBuf[len * 2 + 1] = 0x00;
  return len * 2 + 2;
}

adis1650x::BurstModes adis1650x::burstModeFromMscCtrl(uint16_t mscCtrl) {
  if ((mscCtrl & adis1650x::BURST_32_BIT) == adis1650x::BURST_32_BIT) {
    if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
      return BurstModes::BURST_32_BURST_SEL_1;
    } else {
      return BurstModes::BURST_32_BURST_SEL_0;
    }
  } else {
    if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
      return BurstModes::BURST_16_BURST_SEL_1;
    } else {
      return BurstModes::BURST_16_BURST_SEL_0;
    }
  }
}

double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
  adis1650x::RangMdlBitfield bitfield =
      static_cast<adis1650x::RangMdlBitfield>((rangMdl >> 2) & 0b11);
  switch (bitfield) {
    case (adis1650x::RangMdlBitfield::RANGE_125_1BMLZ): {
      return SENSITIVITY_1BMLZ;
    }
    case (adis1650x::RangMdlBitfield::RANGE_500_2BMLZ): {
      return SENSITIVITY_2BMLZ;
    }
    case (adis1650x::RangMdlBitfield::RANGE_2000_3BMLZ): {
      return SENSITIVITY_3BMLZ;
    }
    case (RangMdlBitfield::RESERVED):
    default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
#endif
      return 0.0;
    }
  }
}

void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
                                       size_t maxLen) {
  if (maxLen < 4) {
    return;
  }
  outBuf[0] = regStart | adis1650x::WRITE_MASK;
  outBuf[1] = val & 0xff;
  outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
  outBuf[3] = (val >> 8) & 0xff;
}