/*
 * em7180.h
 *
 *  Created on: Jan 18, 2021
 *      Author: Daniel Peter Chokola
 *
 *  Adapted From:
 *      EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly
 *      by: Kris Winer
 *      06/29/2017 Copyright Tlera Corporation
 *
 *  Library may be used freely and without limit with attribution.
 */

#ifndef EM7180_H_
#define EM7180_H_

/* Includes */
#include <stdint.h>
#include "i2c.h"
#include "lsm6dsm.h"
#include "lps22hb.h"
#include "lis2mdl.h"

/* Definitions */
/*
 * EM7180 SENtral register map
 * see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf
 */
#define EM7180_QX                 0x00  // this is a 32-bit normalized floating point number read from registers 0x00-03
#define EM7180_QY                 0x04  // this is a 32-bit normalized floating point number read from registers 0x04-07
#define EM7180_QZ                 0x08  // this is a 32-bit normalized floating point number read from registers 0x08-0B
#define EM7180_QW                 0x0C  // this is a 32-bit normalized floating point number read from registers 0x0C-0F
#define EM7180_QTIME              0x10  // this is a 16-bit unsigned integer read from registers 0x10-11
#define EM7180_MX                 0x12  // int16_t from registers 0x12-13
#define EM7180_MY                 0x14  // int16_t from registers 0x14-15
#define EM7180_MZ                 0x16  // int16_t from registers 0x16-17
#define EM7180_MTIME              0x18  // uint16_t from registers 0x18-19
#define EM7180_AX                 0x1A  // int16_t from registers 0x1A-1B
#define EM7180_AY                 0x1C  // int16_t from registers 0x1C-1D
#define EM7180_AZ                 0x1E  // int16_t from registers 0x1E-1F
#define EM7180_ATIME              0x20  // uint16_t from registers 0x20-21
#define EM7180_GX                 0x22  // int16_t from registers 0x22-23
#define EM7180_GY                 0x24  // int16_t from registers 0x24-25
#define EM7180_GZ                 0x26  // int16_t from registers 0x26-27
#define EM7180_GTIME              0x28  // uint16_t from registers 0x28-29
#define EM7180_Baro               0x2A  // start of two-byte MS5637 pressure data, 16-bit signed interger
#define EM7180_BaroTIME           0x2C  // start of two-byte MS5637 pressure timestamp, 16-bit unsigned
#define EM7180_Temp               0x2E  // start of two-byte MS5637 temperature data, 16-bit signed interger
#define EM7180_TempTIME           0x30  // start of two-byte MS5637 temperature timestamp, 16-bit unsigned
#define EM7180_QRateDivisor       0x32  // uint8_t
#define EM7180_EnableEvents       0x33
#define EM7180_HostControl        0x34
#define EM7180_EventStatus        0x35
#define EM7180_SensorStatus       0x36
#define EM7180_SentralStatus      0x37
#define EM7180_AlgorithmStatus    0x38
#define EM7180_FeatureFlags       0x39
#define EM7180_ParamAcknowledge   0x3A
#define EM7180_SavedParamByte0    0x3B
#define EM7180_SavedParamByte1    0x3C
#define EM7180_SavedParamByte2    0x3D
#define EM7180_SavedParamByte3    0x3E
#define EM7180_ActualMagRate      0x45
#define EM7180_ActualAccelRate    0x46
#define EM7180_ActualGyroRate     0x47
#define EM7180_ActualBaroRate     0x48
#define EM7180_ActualTempRate     0x49
#define EM7180_ErrorRegister      0x50
#define EM7180_AlgorithmControl   0x54
#define EM7180_MagRate            0x55
#define EM7180_AccelRate          0x56
#define EM7180_GyroRate           0x57
#define EM7180_BaroRate           0x58
#define EM7180_TempRate           0x59
#define EM7180_LoadParamByte0     0x60
#define EM7180_LoadParamByte1     0x61
#define EM7180_LoadParamByte2     0x62
#define EM7180_LoadParamByte3     0x63
#define EM7180_ParamRequest       0x64
#define EM7180_ROMVersion1        0x70
#define EM7180_ROMVersion2        0x71
#define EM7180_RAMVersion1        0x72
#define EM7180_RAMVersion2        0x73
#define EM7180_ProductID          0x90
#define EM7180_RevisionID         0x91
#define EM7180_RunStatus          0x92
#define EM7180_UploadAddress      0x94  // uint16_t registers 0x94 (MSB)-5(LSB)
#define EM7180_UploadData         0x96
#define EM7180_CRCHost            0x97  // uint32_t from registers 0x97-9A
#define EM7180_ResetRequest       0x9B
#define EM7180_PassThruStatus     0x9E
#define EM7180_PassThruControl    0xA0

#define EM7180_ADDRESS           0x28   // Address of the EM7180 SENtral sensor hub
#define M24512DFM_DATA_ADDRESS   0x50   // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page
#define M24512DFM_IDPAGE_ADDRESS 0x58   // Address of the single M24512DFM lockable EEPROM ID page

/* Data Structures */
typedef struct em7180_s
{
	I2C_HandleTypeDef *hi2c;
	lsm6dsm_t *lsm6dsm;
	lis2mdl_t *lis2mdl;
	lps22hb_t *lps22hb;
	uint16_t acc_fs;
	uint16_t gyro_fs;
	uint16_t mag_fs;
	uint8_t q_rate_div;
	uint8_t mag_rate;
	uint8_t acc_rate;
	uint8_t gyro_rate;
	uint8_t baro_rate;
} em7180_t;

/* Function Prototypes */
void em7180_init(em7180_t *em7180, I2C_HandleTypeDef *hi2c, lsm6dsm_t *lsm6dsm,
                 lis2mdl_t *lis2mdl, lps22hb_t *lps22hb, uint16_t acc_fs,
                 uint16_t gyro_fs, uint16_t mag_fs, uint8_t q_rate_div,
                 uint8_t mag_rate, uint8_t acc_rate, uint8_t gyro_rate,
                 uint8_t baro_rate);
void em7180_config(em7180_t *em7180);
void em7180_gyro_set_fs(em7180_t *em7180, uint16_t gyro_fs);
void em7180_mag_acc_set_fs(em7180_t *em7180, uint16_t mag_fs, uint16_t acc_fs);
void em7180_set_integer_param(em7180_t *em7180, uint8_t param,
                              uint32_t param_val);

#endif /* EM7180_H_ */