#ifndef MPU_H__
#define MPU_H__
#include "user_twim.h"
#include "mygyro.h"
#include "nrf_drv_gpiote.h"

#define MPU_CS_ENABLE																												nrf_gpio_pin_write(MPU_SS_PIN, 0);
#define MPU_CS_DISABLE																											nrf_gpio_pin_write(MPU_SS_PIN, 1);

#define DEFAULT_MPU_HZ  																										IMU_SF
#define ACCEL_ON        																										0x01
#define GYRO_ON         																										0x02

#define MOTION          																										0
#define NO_MOTION       																										1

struct rx_s {
    uint8_t header[3];
    uint8_t cmd;
};
struct hal_s {
    uint8_t sensors;
    uint8_t dmp_on;
    uint8_t wait_for_tap;
    volatile uint8_t new_gyro;
    uint16_t report;
    uint16_t dmp_features;
    uint8_t motion_int_mode;
    struct rx_s rx;
};

typedef void (*set_acc_gyro_act_func)(void);
typedef void (*set_sleep_act_func)(bool stat);
//typedef void (*set_lowpower_act_func)(bool stat);
typedef bool (*get_mpu_testing_act_func)(void);
typedef void (*mpu_check_finish_func)(void);

typedef enum{
	MPU_NULL=0,
	MPU_INIT,
	MPU_ORIGIN,
	MPU_OFFSET,
	MPU_GET_DATA,
	MPU_SLEEP_ACT,
	MPU_SLEEP,
	MPU_NO_REG_ACT,
	MPU_NO_REG,
	MPU_WAKEUP,
	MPU_LOWPOWER_ACT,
	MPU_LOWPOWER,
	MPU_DELAY,
	MPU_FAULT,
}MPU_WORK_STAT;

typedef enum{
	MPU_LOWPOWER_DELAY,
	MPU_LOWPOWER_OFFSET,
	MPU_LOWPOWER_OFFSET_DELAY,
	MPU_LOWPOWER_ACTION
}MPU_LOWPOWER_SEL;

typedef struct{
	set_acc_gyro_act_func	acc_gyro_func;
	set_sleep_act_func sleep_act_func;
//	set_lowpower_act_func lowpower_act_func;
	get_mpu_testing_act_func mpu_testing_act_func;
	mpu_check_finish_func check_finish_func ;
	MPU_WORK_STAT work_stat;
	int16_t acc[3];
	int16_t gyro[3];
	bool offset_stat;
	MPU_LOWPOWER_SEL lowpower_stat;
	int8_t *gyro_orientation;
	uint8_t sensor_stat;
	bool test_stop;
	uint32_t mpu_wakeup;
}mpu_work_s;

#define	MPU_WORK_DEFAULT_CONFIG												\
{																													\
	.sleep_act_func=NULL,																		\
	.acc_gyro_func=NULL,																		\
	.work_stat=MPU_INIT,																\
	.acc={0},																								\
	.gyro={0},																							\
	.offset_stat=false,																			\
	.lowpower_stat=MPU_LOWPOWER_DELAY,									\
	.gyro_orientation=NULL,																	\
	.sensor_stat=0,																			\
	.test_stop=false,																				\
	.mpu_wakeup=0,																					\
};

typedef enum
{
	MPU_QUEUE_TIME=0,
	MPU_QUEUE_INT=1,
	MPU_QUEUE_SLEEP=2,
}MPU_QUEUE_TYPE;

void Set_Mpu_Queue(MPU_QUEUE_TYPE type);
void mpu_dio_init(nrf_drv_gpiote_in_config_t *config,nrfx_gpiote_evt_handler_t evt_handler);

/**
  @brief Function for writing a mpu register contents over TWI.
  @param[in]  register_address Register address to start writing to
  @param[in] value Value to write to register
  @retval true Register write succeeded
  @retval false Register write failed
*/
static void mpu_register_write(uint8_t register_address, uint8_t value);

/**
  @brief Function for reading mpu register contents over TWI.
  Reads one or more consecutive registers.
  @param[in]  register_address Register address to start reading from
  @param[in]  number_of_bytes Number of bytes to read
  @param[out] destination Pointer to a data buffer where read data will be stored
  @retval true Register read succeeded
  @retval false Register read failed
*/
static void mpu_read_write(uint8_t register_address);

/**
  @brief Function for reading mpu register contents over TWI.
  Reads one or more consecutive registers.
  @param[in]  register_address Register address to start reading from
  @param[in]  number_of_bytes Number of bytes to read
  @param[out] destination Pointer to a data buffer where read data will be stored
  @retval true Register read succeeded
  @retval false Register read failed
*/
static void mpu_register_read(uint8_t * destination, uint8_t number_of_bytes);

void mpu_timers_init(void);
void mpu_Start(uint32_t time);
bool mpu_offset_start(void);
void Set_Mpu_Value(void);
void mpu_int_act(void);
void mpu_set_sleep(void);
void mpu_work_init(void);
void mpu_set_no_reg(void);
void set_mpu_sleep_act_func(set_sleep_act_func func);
//void set_mpu_lowpower_act_func(set_lowpower_act_func func);
void set_mpu_testing_act_func(get_mpu_testing_act_func func);
void set_mpu_check_finish_func(mpu_check_finish_func func);
void mpu_set_test_stop(void);
#ifdef MPU_SPI
void mpu_spi_ss_init(void);
int spi_write(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data);
int spi_read(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf);
#else
int i2c_write(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data);
int i2c_read(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf);
#endif
extern mpu_work_s mpu_work;
extern my_gyro_t gyro_s;

#endif  //MPU_H__