#ifndef _BMA400_H__
#define _BMA400_H__

#include <Arduino.h>
#include <Wire.h>

#define BMA400_ADDRESS                  0x15

#define BMA400_CHIPID                   0x00
#define BMA400_ERR_REG                  0x02
#define BMA400_STATUS                   0x03

#define BMA400_ACC_X_LSB                0x04
#define BMA400_ACC_X_MSB                0x05
#define BMA400_ACC_Y_LSB                0x06
#define BMA400_ACC_Y_MSB                0x07
#define BMA400_ACC_Z_LSB                0x08
#define BMA400_ACC_Z_MSB                0x09

#define BMA400_SENSOR_TIME_0            0x0A
#define BMA400_SENSOR_TIME_1            0x0B
#define BMA400_SENSOR_TIME_2            0x0C

#define BMA400_EVENT                    0x0D

#define BMA400_INT_STAT0                0x0E
#define BMA400_INT_STAT1                0x0F
#define BMA400_INT_STAT2                0x10

#define BMA400_TEMP_DATA                0x11

#define BMA400_FIFO_LENGTH_0            0x12
#define BMA400_FIFO_LENGTH_1            0x13
#define BMA400_FIFO_DATA                0x14

#define BMA400_STEP_CNT_0               0x15
#define BMA400_STEP_CNT_1               0x16
#define BMA400_STEP_CNT_2               0x17
#define BMA400_STEP_STAT                0x18

#define BMA400_ACC_CONFIG_0             0x19
#define BMA400_ACC_CONFIG_1             0x1A
#define BMA400_ACC_CONFIG_2             0x1B

#define BMA400_INT_CONFIG_0             0x1F
#define BMA400_INT_CONFIG_1             0x20
#define BMA400_INT_1_MAP                0x21
#define BMA400_INT_2_MAP                0x22
#define BMA400_INT_1_2_MAP              0x23
#define BMA400_INT_1_2_CTRL             0x24

#define BMA400_FIFO_CONFIG_0            0x26
#define BMA400_FIFO_CONFIG_1            0x27
#define BMA400_FIFO_CONFIG_2            0x28
#define BMA400_FIFO_PWR_CONFIG          0x29

#define BMA400_AUTO_LOW_POW_0           0x2A
#define BMA400_AUTO_LOW_POW_1           0x2B
#define BMA400_AUTO_WAKE_UP_0           0x2C
#define BMA400_AUTO_WAKE_UP_1           0x2D
#define BMA400_WAKE_UP_INT_CONFIG_0     0x2F
#define BMA400_WAKE_UP_INT_CONFIG_1     0x30
#define BMA400_WAKE_UP_INT_CONFIG_2     0x31
#define BMA400_WAKE_UP_INT_CONFIG_3     0x32
#define BMA400_WAKE_UP_INT_CONFIG_4     0x33

#define BMA400_ORIENTCH_CONFIG_0        0x35
#define BMA400_ORIENTCH_CONFIG_1        0x36
#define BMA400_ORIENTCH_CONFIG_2        0x37
#define BMA400_ORIENTCH_CONFIG_3        0x38
#define BMA400_ORIENTCH_CONFIG_4        0x39
#define BMA400_ORIENTCH_CONFIG_5        0x3A
#define BMA400_ORIENTCH_CONFIG_6        0x3B
#define BMA400_ORIENTCH_CONFIG_7        0x3C
#define BMA400_ORIENTCH_CONFIG_8        0x3D
#define BMA400_ORIENTCH_CONFIG_9        0x3E

#define BMA400_GEN_1_INT_CONFIG_0       0x3F
#define BMA400_GEN_1_INT_CONFIG_1       0x40
#define BMA400_GEN_1_INT_CONFIG_2       0x41
#define BMA400_GEN_1_INT_CONFIG_3       0x42
#define BMA400_GEN_1_INT_CONFIG_3_1     0x43
#define BMA400_GEN_1_INT_CONFIG_4       0x44
#define BMA400_GEN_1_INT_CONFIG_5       0x45
#define BMA400_GEN_1_INT_CONFIG_6       0x46
#define BMA400_GEN_1_INT_CONFIG_7       0x47
#define BMA400_GEN_1_INT_CONFIG_8       0x48
#define BMA400_GEN_1_INT_CONFIG_9       0x49

#define BMA400_GEN_2_INT_CONFIG_0       0x4A
#define BMA400_GEN_2_INT_CONFIG_1       0x4B
#define BMA400_GEN_2_INT_CONFIG_2       0x4C
#define BMA400_GEN_2_INT_CONFIG_3       0x4D
#define BMA400_GEN_2_INT_CONFIG_3_1     0x4E
#define BMA400_GEN_2_INT_CONFIG_4       0x4F
#define BMA400_GEN_2_INT_CONFIG_5       0x50
#define BMA400_GEN_2_INT_CONFIG_6       0x51
#define BMA400_GEN_2_INT_CONFIG_7       0x52
#define BMA400_GEN_2_INT_CONFIG_8       0x53
#define BMA400_GEN_2_INT_CONFIG_9       0x54

#define BMA400_ACT_CH_CONFIG_0          0x55
#define BMA400_ACT_CH_CONFIG_1          0x56

#define BMA400_TAP_CONFIG_0             0x57
#define BMA400_TAP_CONFIG_1             0x58

#define BMA400_STEP_COUNTER_CONFIG_0    0x59
#define BMA400_STEP_COUNTER_CONFIG_1    0x5A
#define BMA400_STEP_COUNTER_CONFIG_2    0x5B
#define BMA400_STEP_COUNTER_CONFIG_3    0x5C
#define BMA400_STEP_COUNTER_CONFIG_4    0x5D
#define BMA400_STEP_COUNTER_CONFIG_5    0x5E
#define BMA400_STEP_COUNTER_CONFIG_6    0x5F
#define BMA400_STEP_COUNTER_CONFIG_7    0x60
#define BMA400_STEP_COUNTER_CONFIG_8    0x61
#define BMA400_STEP_COUNTER_CONFIG_9    0x62
#define BMA400_STEP_COUNTER_CONFIG_10   0x63
#define BMA400_STEP_COUNTER_CONFIG_11   0x64
#define BMA400_STEP_COUNTER_CONFIG_12   0x65
#define BMA400_STEP_COUNTER_CONFIG_13   0x66
#define BMA400_STEP_COUNTER_CONFIG_14   0x67
#define BMA400_STEP_COUNTER_CONFIG_15   0x68
#define BMA400_STEP_COUNTER_CONFIG_16   0x69
#define BMA400_STEP_COUNTER_CONFIG_17   0x6A
#define BMA400_STEP_COUNTER_CONFIG_18   0x6B
#define BMA400_STEP_COUNTER_CONFIG_19   0x6C
#define BMA400_STEP_COUNTER_CONFIG_20   0x6D
#define BMA400_STEP_COUNTER_CONFIG_21   0x6E
#define BMA400_STEP_COUNTER_CONFIG_22   0x6F
#define BMA400_STEP_COUNTER_CONFIG_23   0x70
#define BMA400_STEP_COUNTER_CONFIG_24   0x71

#define BMA400_IF_CONF                  0x7C
#define BMA400_SELF_TEST                0x7D
#define BMA400_CMD                      0x7E

enum power_type_t { // power mode
    SLEEP = 0x00, // Stop conversion, the lowest power mode
    LOW_POWER = 0x01, //
    NORMAL = 0x02, //
};

enum scale_type_t { // measurement rage
    RANGE_2G = 0x00, //
    RANGE_4G = 0x01, //
    RANGE_8G = 0x02, //
    RANGE_16G = 0x03, //
};

enum odr_type_t { // output data rate
    ODR_12 = 0x00, //
    ODR_25 = 0x06, //
    ODR_50 = 0x07, //
    ODR_100 = 0x08, //
    ODR_200 = 0x09, //
    ODR_400 = 0x0A, //
    ODR_800 = 0x0B, //
};

enum gen1_criterion_sel_type_t {
  inactivity = 0x00,
  activity = 0x01,
};

enum latched_interrupt_type_t {
  nolatch = 0x00,
  latched = 0x01,
};

enum gen1_act_refu_type_t {
  gen1manual = 0x00,
  gen1onetime = 0x01,
  gen1everytime = 0x02,
  gen1everytime_lp = 0x03,
};
enum gen1_comb_sel_type_t {
  OR = 0x00,
  AND = 0x01,
};

enum gen1_act_hyst_type_t {
  notactive = 0x00,
  mg24 = 0x01,
  mg48 = 0x02,
  mg96 = 0x03,
};

enum wakeup_interrupt_type_t {
  manual_wakeup = 0x00,
  onetime_wakeup = 0x01,
  eveytime_wakeup = 0x02,
};

enum data_src_type_t {
  filt1 = 0x00,
  filt2 = 0x01,
};

enum wkup_enable_type_t {
  XYZenable = 0x01,
  XYZdisable = 0x00,
};

enum data_auto_low_type_t {
  no_trigger = 0x00,
  gen1_int_trigger = 0x01,
};

class BMA400 {
  public:

    BMA400(void);

    bool isConnection(void);

    void initialize(power_type_t power, scale_type_t range, odr_type_t odr);

    void setPoweMode(power_type_t mode);
    void setFullScaleRange(scale_type_t range);
    void setOutputDataRate(odr_type_t odr);

    void getAcceleration(float* x, float* y, float* z);
    float getAccelerationX(void);
    float getAccelerationY(void);
    float getAccelerationZ(void);

    int16_t getTemperature(void);

    uint8_t getDeviceID(void);

    void reset(void);
    void gen1Setup(int enable, data_auto_low_type_t low_power_trigger, data_src_type_t filt, gen1_act_refu_type_t refu, gen1_act_hyst_type_t hyst, gen1_comb_sel_type_t comb, gen1_criterion_sel_type_t crit, uint8_t thresh, uint8_t intduration, latched_interrupt_type_t latch, uint8_t active_state);
    void XYZcontrol(void);
    void gen1interruptThreshold(uint8_t gen1thresh);
    void gen1interruptDuration(uint8_t intduration);
    void gen1interruptDuration2(uint8_t intduration);
    void gen1Enable(void);
    void gen1map(void);
    void wakeupmap(void);
    void gen1criterionsel(gen1_criterion_sel_type_t crit);
    void latchedInterrupt(latched_interrupt_type_t latch);
    void gen1RefUpdate(gen1_act_refu_type_t refu);
    void wakeupX(uint8_t wkup_x);
    void wakeupY(uint8_t wkup_y); 
    void wakeupZ(uint8_t wkup_z); 
    void gen1combsel(gen1_comb_sel_type_t comb);
    void gen1hysteresis(gen1_act_hyst_type_t hyst);
    void wakeupRefUpdate(wakeup_interrupt_type_t wkup_refu);
    void wakeupThreshold(uint8_t threshold_wakeup);
    void wakeupInterrupt(int enable, data_auto_low_type_t low_power_trigger, wkup_enable_type_t enableXYZ,wakeup_interrupt_type_t wkup_refu, uint8_t samples, uint8_t threshold_wakeup, uint8_t wkup_x,uint8_t wkup_y, uint8_t wkup_z);
    void sampleNumber(uint8_t samples);
    void gen1DataSource(data_src_type_t filt);
    void XYZwakeup(wkup_enable_type_t enableXYZWakeup);
    void autolowpower(data_auto_low_type_t low_power_trigger); 
    void autowakeup(data_auto_low_type_t low_power_trigger);
    void wakeupSamples(uint8_t samples);
    void activeState(uint8_t state);

    void write8(uint8_t reg, uint8_t val);
    uint8_t read8(uint8_t reg);
    uint16_t read16(uint8_t reg);
    uint32_t read24(uint8_t reg);
    void read(uint8_t reg, uint8_t* buf, uint16_t len);

    float accRange;
    uint8_t devAddr;

};

extern BMA400 bma400;

#endif