/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "common/axis.h"
#include "common/filter.h"
#include "common/time.h"

#include "drivers/bus.h"
#include "drivers/sensor.h"

#include "pg/pg.h"

typedef struct gyro_s {
    uint32_t targetLooptime;
    float gyroADCf[XYZ_AXIS_COUNT];
} gyro_t;

extern gyro_t gyro;

typedef enum {
    GYRO_OVERFLOW_CHECK_NONE = 0,
    GYRO_OVERFLOW_CHECK_YAW,
    GYRO_OVERFLOW_CHECK_ALL_AXES
} gyroOverflowCheck_e;

enum {
    DYN_NOTCH_RANGE_HIGH = 0,
    DYN_NOTCH_RANGE_MEDIUM,
    DYN_NOTCH_RANGE_LOW,
    DYN_NOTCH_RANGE_AUTO
} ;

#define DYN_NOTCH_RANGE_HZ_HIGH 2000
#define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
#define DYN_NOTCH_RANGE_HZ_LOW 1000

enum {
    DYN_LPF_NONE = 0,
    DYN_LPF_PT1,
    DYN_LPF_BIQUAD
};

#define GYRO_CONFIG_USE_GYRO_1      0
#define GYRO_CONFIG_USE_GYRO_2      1
#define GYRO_CONFIG_USE_GYRO_BOTH   2

typedef enum {
    FILTER_LOWPASS = 0,
    FILTER_LOWPASS2
} filterSlots;

typedef struct gyroConfig_s {
    uint8_t  gyro_align;                       // gyro alignment
    uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
    uint8_t  gyro_sync_denom;                  // Gyro sample divider
    uint8_t  gyro_hardware_lpf;                // gyro DLPF setting
    uint8_t  gyro_32khz_hardware_lpf;          // gyro 32khz DLPF setting

    uint8_t  gyro_high_fsr;
    uint8_t  gyro_use_32khz;
    uint8_t  gyro_to_use;

    uint16_t gyro_lowpass_hz;
    uint16_t gyro_lowpass2_hz;

    uint16_t gyro_soft_notch_hz_1;
    uint16_t gyro_soft_notch_cutoff_1;
    uint16_t gyro_soft_notch_hz_2;
    uint16_t gyro_soft_notch_cutoff_2;
    int16_t  gyro_offset_yaw;
    uint8_t  checkOverflow;

    // Lowpass primary/secondary
    uint8_t  gyro_lowpass_type;
    uint8_t  gyro_lowpass2_type;

    uint8_t  yaw_spin_recovery;
    int16_t  yaw_spin_threshold;

    uint16_t gyroCalibrationDuration;   // Gyro calibration duration in 1/100 second
    
    uint8_t dyn_notch_range;            // ignore any FFT bin below this threshold
    uint16_t dyn_lpf_gyro_max_hz;
    uint8_t dyn_notch_width_percent;
    uint16_t dyn_notch_q;
    uint16_t dyn_notch_min_hz;
} gyroConfig_t;

PG_DECLARE(gyroConfig_t, gyroConfig);

bool gyroInit(void);

void gyroInitFilters(void);
void gyroUpdate(timeUs_t currentTimeUs);
bool gyroGetAccumulationAverage(float *accumulation);
const busDevice_t *gyroSensorBus(void);
struct mpuDetectionResult_s;
const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
void gyroStartCalibration(bool isFirstArmingCalibration);
bool isFirstArmingGyroCalibrationRunning(void);
bool isGyroCalibrationComplete(void);
void gyroReadTemperature(void);
int16_t gyroGetTemperature(void);
int16_t gyroRateDps(int axis);
bool gyroOverflowDetected(void);
bool gyroYawSpinDetected(void);
uint16_t gyroAbsRateDps(int axis);
uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
#ifdef USE_DYN_LPF
float dynThrottle(float throttle);
void dynLpfGyroUpdate(float throttle);
#endif