#pragma once

#include <vector>
#include <string>

#include "boards/pico_w.h"
#include "hardware/gpio.h"
#include "hardware/i2c.h"
#include "pico/stdlib.h"
#include "pico/time.h"
#include "pico/types.h"

#include <Eigen/Geometry>

//Register addresses and data structs copied from Adafruit implementation
/** BNO055 Address A **/
#define BNO055_ADDRESS_A (0x28)
/** BNO055 Address B **/
#define BNO055_ADDRESS_B (0x29)
/** BNO055 ID **/
#define BNO055_ID (0xA0)

/** Offsets registers **/
#define NUM_BNO055_OFFSET_REGISTERS (22)


/** A structure to represent offsets **/
typedef struct {
    int16_t accel_offset_x; /**< x acceleration offset */
    int16_t accel_offset_y; /**< y acceleration offset */
    int16_t accel_offset_z; /**< z acceleration offset */

    int16_t mag_offset_x; /**< x magnetometer offset */
    int16_t mag_offset_y; /**< y magnetometer offset */
    int16_t mag_offset_z; /**< z magnetometer offset */

    int16_t gyro_offset_x; /**< x gyroscrope offset */
    int16_t gyro_offset_y; /**< y gyroscrope offset */
    int16_t gyro_offset_z; /**< z gyroscrope offset */

    int16_t accel_radius; /**< acceleration radius */

    int16_t mag_radius; /**< magnetometer radius */
} bno055_offsets_t;

/** Operation mode settings **/
typedef enum {
    OPERATION_MODE_CONFIG = 0X00,
    OPERATION_MODE_ACCONLY = 0X01,
    OPERATION_MODE_MAGONLY = 0X02,
    OPERATION_MODE_GYRONLY = 0X03,
    OPERATION_MODE_ACCMAG = 0X04,
    OPERATION_MODE_ACCGYRO = 0X05,
    OPERATION_MODE_MAGGYRO = 0X06,
    OPERATION_MODE_AMG = 0X07,
    OPERATION_MODE_IMUPLUS = 0X08,
    OPERATION_MODE_COMPASS = 0X09,
    OPERATION_MODE_M4G = 0X0A,
    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
    OPERATION_MODE_NDOF = 0X0C
} bno055_opmode_t;

/** BNO055 Registers **/
typedef enum {
    /* Page id register definition */
    BNO055_PAGE_ID_ADDR = 0X07,

    /* PAGE0 REGISTER DEFINITION START*/
    BNO055_CHIP_ID_ADDR = 0x00,
    BNO055_ACCEL_REV_ID_ADDR = 0x01,
    BNO055_MAG_REV_ID_ADDR = 0x02,
    BNO055_GYRO_REV_ID_ADDR = 0x03,
    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
    BNO055_BL_REV_ID_ADDR = 0X06,

    /* Accel data register */
    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,

    /* Mag data register */
    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,

    /* Gyro data registers */
    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,

    /* Euler data registers */
    BNO055_EULER_H_LSB_ADDR = 0X1A,
    BNO055_EULER_H_MSB_ADDR = 0X1B,
    BNO055_EULER_R_LSB_ADDR = 0X1C,
    BNO055_EULER_R_MSB_ADDR = 0X1D,
    BNO055_EULER_P_LSB_ADDR = 0X1E,
    BNO055_EULER_P_MSB_ADDR = 0X1F,

    /* Quaternion data registers */
    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,

    /* Linear acceleration data registers */
    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,

    /* Gravity data registers */
    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,

    /* Temperature data register */
    BNO055_TEMP_ADDR = 0X34,

    /* Status registers */
    BNO055_CALIB_STAT_ADDR = 0X35,
    BNO055_SELFTEST_RESULT_ADDR = 0X36,
    BNO055_INTR_STAT_ADDR = 0X37,

    BNO055_SYS_CLK_STAT_ADDR = 0X38,
    BNO055_SYS_STAT_ADDR = 0X39,
    BNO055_SYS_ERR_ADDR = 0X3A,

    /* Unit selection register */
    BNO055_UNIT_SEL_ADDR = 0X3B,

    /* Mode registers */
    BNO055_OPR_MODE_ADDR = 0X3D,
    BNO055_PWR_MODE_ADDR = 0X3E,

    BNO055_SYS_TRIGGER_ADDR = 0X3F,
    BNO055_TEMP_SOURCE_ADDR = 0X40,

    /* Axis remap registers */
    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,

    /* SIC registers */
    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,

    /* Accelerometer Offset registers */
    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,

    /* Magnetometer Offset registers */
    MAG_OFFSET_X_LSB_ADDR = 0X5B,
    MAG_OFFSET_X_MSB_ADDR = 0X5C,
    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
    MAG_OFFSET_Z_MSB_ADDR = 0X60,

    /* Gyroscope Offset register s*/
    GYRO_OFFSET_X_LSB_ADDR = 0X61,
    GYRO_OFFSET_X_MSB_ADDR = 0X62,
    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
    GYRO_OFFSET_Z_MSB_ADDR = 0X66,

    /* Radius registers */
    ACCEL_RADIUS_LSB_ADDR = 0X67,
    ACCEL_RADIUS_MSB_ADDR = 0X68,
    MAG_RADIUS_LSB_ADDR = 0X69,
    MAG_RADIUS_MSB_ADDR = 0X6A,

    /* Interrupt registers*/
    RST_INT = 0x01,

    NO_MOTION_INT_ADDR = 0x00,
    SLOW_NO_MOTION_INT_ADDR = 0x01,
    THRESHOLD_INT_ADDR = 0x02,
} bno055_reg_t;

/** BNO055 power settings */
typedef enum {
    POWER_MODE_NORMAL = 0X00,
    POWER_MODE_LOWPOWER = 0X01,
    POWER_MODE_SUSPEND = 0X02
} bno055_powermode_t;

/** Vector Mappings **/
typedef enum {
    VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
    VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
    VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
    VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
    VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
    VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
} vector_type_t;

struct quarternion {
    float w;
    float x;
    float y;
    float z;
};

struct vector3f {
    float x;
    float y;
    float z;
};

struct CALIB_STATUS {
    uint8_t sys;
    uint8_t gyro;
    uint8_t accel;
    uint8_t mag;
};

extern volatile vector3f linear_acceleration;
extern volatile vector3f acceleration;
extern volatile quarternion abs_quaternion;
extern volatile CALIB_STATUS calib_status;

extern volatile vector3f euler_angles;
extern volatile vector3f abs_lin_accel;
extern volatile vector3f rot_y_vec;
extern volatile vector3f vel_at_angle;

extern volatile vector3f accel_gravity;

extern uint8_t accel[6];
extern uint8_t quat[8];

class BNO055 {
    public:
        BNO055();
        //Sanity check for factory device ID 
        void reset_bno055();
        void init();
        void read_lin_accel();
        void read_abs_quaternion();
        void read_euler_angles();
        void read_accel();
        void read_calib_status();
        void calculate_abs_linear_acceleration();
        void accel_to_gravity();
        void quaternion_to_euler(); 
        void get_rotation_vector();
        void clamp_close_zero(volatile float &val);
        
    private:
        unsigned char bno055_address;
        int32_t _sensorID;
        bno055_opmode_t default_mode;
};