/**  
 * @file adis16505.h  
 * @brief Header file for the ADIS16505 inertial sensor driver.  
 *  
 * This header file contains the function declarations and type definitions  
 * necessary for interfacing with the ADIS16505 inertial sensor.  
 *  
 * @author Neo
 * @date March, 2024
 * @version V2.0
 *  
 * @note This driver assumes a specific hardware interface and communication protocol.  
 *       Please refer to the ADIS16505 datasheet for more details.  
 */

#ifndef __ADIS16505_H
#define __ADIS16505_H

#include "platform_specific_impl.h"

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

#define tSTALL 20 // Stall period between data (≥16) (unit: us)

/* SENSITIVITY */
// 32-bit data format (divide by 65536.0 (2^16) for 16-bit data format)
#define ACCL_SENSITIVITY 26756268.0 // LSB/(m/sec^2) ≈ 2.45e-3 m/sec^2/LSB
// ADIS16505-1BMLZ
#define GYRO_SENSITIVITY_1 10485760.0 // LSB/(°/sec) = 0.00625 °/sec/LSB
// ADIS16505-2BMLZ
#define GYRO_SENSITIVITY_2 2621440.0 // LSB/(°/sec) = 0.025 °/sec/LSB
// ADIS16505-3BMLZ
#define GYRO_SENSITIVITY_3 655360.0 // LSB/(°/sec) = 0.1 °/sec/LSB

/* TEMPERATURE SENSOR */
#define TEMP_SCALE_FACTOR 0.1 // 0.1°C/LSB

/* REGISTER MEMORY MAP */
#define FLASH_CNT    0x00  // Flash memory write count
#define DIAG_STAT    0x02  // Diagnostic and operational status
#define X_GYRO_LOW   0x04  // X-axis gyroscope output, lower word
#define X_GYRO_OUT   0x06  // X-axis gyroscope output, upper word
#define Y_GYRO_LOW   0x08  // Y-axis gyroscope output, lower word
#define Y_GYRO_OUT   0x0A  // Y-axis gyroscope output, upper word
#define Z_GYRO_LOW   0x0C  // Z-axis gyroscope output, lower word
#define Z_GYRO_OUT   0x0E  // Z-axis gyroscope output, upper word
#define X_ACCL_LOW   0x10  // X-axis accelerometer output, lower word
#define X_ACCL_OUT   0x12  // X-axis accelerometer output, upper word
#define Y_ACCL_LOW   0x14  // Y-axis accelerometer output, lower word
#define Y_ACCL_OUT   0x16  // Y-axis accelerometer output, upper word
#define Z_ACCL_LOW   0x18  // Z-axis accelerometer output, lower word
#define Z_ACCL_OUT   0x1A  // Z-axis accelerometer output, upper word
#define TEMP_OUT     0x1C  // Temperature output (internal, not calibrated)
#define TIME_STAMP   0x1E  // PPS mode time stamp
#define DATA_CNT     0x22
#define X_DELTANG_LOW 0x24  // X-axis delta angle output, lower word
#define X_DELTANG_OUT 0x26  // X-axis delta angle output, upper word
#define Y_DELTANG_LOW 0x28  // Y-axis delta angle output, lower word
#define Y_DELTANG_OUT 0x2A  // Y-axis delta angle output, upper word
#define Z_DELTANG_LOW 0x2C  // Z-axis delta angle output, lower word
#define Z_DELTANG_OUT 0x2E  // Z-axis delta angle output, upper word
#define X_DELTVEL_LOW 0x30  // X-axis delta velocity output, lower word
#define X_DELTVEL_OUT 0x32  // X-axis delta velocity output, upper word
#define Y_DELTVEL_LOW 0x34  // Y-axis delta velocity output, lower word
#define Y_DELTVEL_OUT 0x36  // Y-axis delta velocity output, upper word
#define Z_DELTVEL_LOW 0x38  // Z-axis delta velocity output, lower word
#define Z_DELTVEL_OUT 0x3A  // Z-axis delta velocity output, upper word
#define XG_BIAS_LOW  0x40   // X-axis gyroscope bias offset correction, lower word
#define XG_BIAS_HIGH 0x42   // X-axis gyroscope bias offset correction, upper word
#define YG_BIAS_LOW  0x44   // Y-axis gyroscope bias offset correction, lower word
#define YG_BIAS_HIGH 0x46   // Y-axis gyroscope bias offset correction, upper word
#define ZG_BIAS_LOW  0x48   // Z-axis gyroscope bias offset correction, lower word
#define ZG_BIAS_HIGH 0x4A   // Z-axis gyroscope bias offset correction, upper word
#define XA_BIAS_LOW  0x4C   // X-axis accelerometer bias offset correction, lower word
#define XA_BIAS_HIGH 0x4E   // X-axis accelerometer bias offset correction, upper word
#define YA_BIAS_LOW  0x50   // Y-axis accelerometer bias offset correction, lower word
#define YA_BIAS_HIGH 0x52   // Y-axis accelerometer bias offset correction, upper word
#define ZA_BIAS_LOW  0x54   // Z-axis accelerometer bias offset correction, lower word
#define ZA_BIAS_HIGH 0x56   // Z-axis accelerometer bias offset correction, upper word
#define FILT_CTRL    0x5C   // Filter control
#define RANG_MDL     0x5E   // Measurement range (model specific) identifier
#define MSC_CTRL     0x60   // Miscellaneous control
#define UP_SCALE     0x62   // Clock scale factor, PPS mode
#define DEC_RATE     0x64   // Decimation rate control (output data rate)
#define NULL_CNFG    0x66   // Auto-null configuration control
#define GLOB_CMD     0x68   // Global commands
#define FIRM_REV     0x6C   // Firmware revision
#define FIRM_DM      0x6E   // Firmware revision date, month and day
#define FIRM_Y       0x70   // Firmware revision date, year
#define PROD_ID      0x72   // Product identification
#define SERIAL_NUM   0x74   // Serial number (relative to assembly lot)
#define USER_SCR1    0x76   // User scratch register 1
#define USER_SCR2    0x78   // User scratch register 2
#define USER_SCR3    0x7A   // User scratch register 3
#define FLSHCNT_LOW  0x7C   // Flash update count, lower word
#define FLSHCNT_HIGH 0x7E   // Flash update count, upper word

#define BURST_CMD 0x6800 // burst read command

typedef struct __ADIS16505_PropTypDef {
    /* sensitivity */
	float Gyro_sens_32bit;
    float Gyro_sens_16bit;
    float Accel_sens_32bit;
    float Accel_sens_16bit;

    /* user calibration */
    int32_t Gyro_bias[3];
    int32_t Accel_bias[3];
	
} ADIS16505_PropTypeDef;

typedef struct __ADIS16505_DataTypeDef {
	// origin data from ADIS16505
	volatile int32_t Gyro_raw[3];
	volatile int32_t Accel_raw[3];
	// store real data in float
	float Gyro[3]; // deg/sec
	float Accel[3]; // m/sec^2
    float Temp; // °C
} ADIS16505_DataTypeDef;

typedef struct __ADIS16505 {
	ADIS16505_PropTypeDef prop;
	ADIS16505_DataTypeDef data;
} ADIS16505;

void ADIS16505_StructInit(ADIS16505 *pImu);
uint16_t ADIS16505_ReadID(ADIS16505 *imu);
uint8_t ADIS16505_Init(ADIS16505 *imu);
void ADIS16505_ReadGyro(ADIS16505 *imu);
void ADIS16505_ReadAccel(ADIS16505 *mpu);
void ADIS16505_ReadTemp(ADIS16505 *imu);
uint8_t ADIS16505_BurstRead(ADIS16505 *imu);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* __ADIS16505_H */