/**
 *
 * @license MIT License
 *
 * Copyright (c) 2022 lewis he
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @file      QMI8658_GetDataExample.ino
 * @author    Lewis He (lewishe@outlook.com)
 * @date      2022-10-16
 *
 */
#include <Arduino.h>
#include <Wire.h>
#include <SPI.h>
#include "SensorQMI8658.hpp"

#ifndef SENSOR_SDA
#define SENSOR_SDA  42
#endif

#ifndef SENSOR_SCL
#define SENSOR_SCL  41
#endif

#ifndef SENSOR_IRQ
#define SENSOR_IRQ  6
#endif




SensorQMI8658 qmi;

IMUdata acc;
IMUdata gyr;



void setup()
{
    Serial.begin(115200);
    while (!Serial);

#if IMU_INT > 0
    qmi.setPins(IMU_INT);
#endif

    //Using WIRE !!
    if (!qmi.begin(Wire, QMI8658_L_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) {
        Serial.println("Failed to find QMI8658 - check your wiring!");
        while (1) {
            delay(1000);
        }
    }


    /* Get chip id*/
    Serial.print("Device ID:");
    Serial.println(qmi.getChipID(), HEX);


    if (qmi.selfTestAccel()) {
        Serial.println("Accelerometer self-test successful");
    } else {
        Serial.println("Accelerometer self-test failed!");
    }

    if (qmi.selfTestGyro()) {
        Serial.println("Gyroscope self-test successful");
    } else {
        Serial.println("Gyroscope self-test failed!");
    }


    qmi.configAccelerometer(
        /*
         * ACC_RANGE_2G
         * ACC_RANGE_4G
         * ACC_RANGE_8G
         * ACC_RANGE_16G
         * */
        SensorQMI8658::ACC_RANGE_4G,
        /*
         * ACC_ODR_1000H
         * ACC_ODR_500Hz
         * ACC_ODR_250Hz
         * ACC_ODR_125Hz
         * ACC_ODR_62_5Hz
         * ACC_ODR_31_25Hz
         * ACC_ODR_LOWPOWER_128Hz
         * ACC_ODR_LOWPOWER_21Hz
         * ACC_ODR_LOWPOWER_11Hz
         * ACC_ODR_LOWPOWER_3H
        * */
        SensorQMI8658::ACC_ODR_1000Hz,
        /*
        *  LPF_MODE_0     //2.66% of ODR
        *  LPF_MODE_1     //3.63% of ODR
        *  LPF_MODE_2     //5.39% of ODR
        *  LPF_MODE_3     //13.37% of ODR
        *  LPF_OFF        // OFF Low-Pass Fitter
        * */
        SensorQMI8658::LPF_MODE_0);




    qmi.configGyroscope(
        /*
        * GYR_RANGE_16DPS
        * GYR_RANGE_32DPS
        * GYR_RANGE_64DPS
        * GYR_RANGE_128DPS
        * GYR_RANGE_256DPS
        * GYR_RANGE_512DPS
        * GYR_RANGE_1024DPS
        * */
        SensorQMI8658::GYR_RANGE_64DPS,
        /*
         * GYR_ODR_7174_4Hz
         * GYR_ODR_3587_2Hz
         * GYR_ODR_1793_6Hz
         * GYR_ODR_896_8Hz
         * GYR_ODR_448_4Hz
         * GYR_ODR_224_2Hz
         * GYR_ODR_112_1Hz
         * GYR_ODR_56_05Hz
         * GYR_ODR_28_025H
         * */
        SensorQMI8658::GYR_ODR_896_8Hz,
        /*
        *  LPF_MODE_0     //2.66% of ODR
        *  LPF_MODE_1     //3.63% of ODR
        *  LPF_MODE_2     //5.39% of ODR
        *  LPF_MODE_3     //13.37% of ODR
        *  LPF_OFF        // OFF Low-Pass Fitter
        * */
        SensorQMI8658::LPF_MODE_3);




    /*
    * If both the accelerometer and gyroscope sensors are turned on at the same time,
    * the output frequency will be based on the gyroscope output frequency.
    * The example configuration is 896.8HZ output frequency,
    * so the acceleration output frequency is also limited to 896.8HZ
    * */
    qmi.enableGyroscope();
    qmi.enableAccelerometer();

    // Print register configuration information
    qmi.dumpCtrlRegister();



#if IMU_INT > 0
    // If you want to enable interrupts, then turn on the interrupt enable
    qmi.enableINT(SensorQMI8658::INTERRUPT_PIN_1, true);
    qmi.enableINT(SensorQMI8658::INTERRUPT_PIN_2, false);
#endif

    Serial.println("Read data now...");

}


void loop()
{
    // When the interrupt pin is passed in through setPin,
    // the GPIO will be read to see if the data is ready.
    if (qmi.getDataReady()) {

        // Serial.print("Timestamp:");
        // Serial.print(qmi.getTimestamp());

        if (qmi.getAccelerometer(acc.x, acc.y, acc.z)) {

            // Print to serial plotter
            Serial.print("ACCEL.x:"); Serial.print(acc.x); Serial.print(",");
            Serial.print("ACCEL.y:"); Serial.print(acc.y); Serial.print(",");
            Serial.print("ACCEL.z:"); Serial.print(acc.z); Serial.println();

            /*
            m2/s to mg
            Serial.print(" ACCEL.x:"); Serial.print(acc.x * 1000); Serial.println(" mg");
            Serial.print(",ACCEL.y:"); Serial.print(acc.y * 1000); Serial.println(" mg");
            Serial.print(",ACCEL.z:"); Serial.print(acc.z * 1000); Serial.println(" mg");
            */

        }

        if (qmi.getGyroscope(gyr.x, gyr.y, gyr.z)) {


            // Print to serial plotter
            Serial.print("GYRO.x:"); Serial.print(gyr.x); Serial.print(",");
            Serial.print("GYRO.y:"); Serial.print(gyr.y); Serial.print(",");
            Serial.print("GYRO.z:"); Serial.print(gyr.z); Serial.println();


            // Serial.print(" GYRO.x:"); Serial.print(gyr.x); Serial.println(" degrees/sec");
            // Serial.print(",GYRO.y:"); Serial.print(gyr.y); Serial.println(" degrees/sec");
            // Serial.print(",GYRO.z:"); Serial.print(gyr.z); Serial.println(" degrees/sec");

        }

        // Serial.print("Temperature:");
        // Serial.print(qmi.getTemperature_C());
        // Serial.println(" degrees C");

    }
    delay(100);
}



