#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include "lis3dh.h"
#include "interrupt.h"
#include "i2c.h"

#define GPIO_INTERRUPT_PIN_INT1 12
#define GPIO_INTERRUPT_PIN_INT2 16

/* calc magnitude of accel [x y z] vector */
static float mag(float x, float y, float z) {
    return sqrt( powf(x, 2) + powf(y, 2) + powf(z, 2) );
}

/* print message then exit */
static void quit(const char *msg, lis3dh_t *lis) {
    lis->dev.deinit();
    fprintf(stderr, "%s\n", msg);
    exit(1);
}

int main() {

    lis3dh_t lis;
    struct lis3dh_fifo_data fifo;
    int i, k;

    /* set fn ptrs to rw on bus (i2c or SPI) */
    lis.dev.init = i2c_init;
    lis.dev.read = i2c_read;
    lis.dev.write = i2c_write;
    lis.dev.sleep = usleep;
    lis.dev.deinit = i2c_deinit;

    /* initialise LIS3DH struct */
    if (lis3dh_init(&lis)) {
        quit("init()", &lis);
    }

    /* reset device because it sometimes corrupts itself */
    if (lis3dh_reset(&lis)) {
        quit("reset()", &lis);
    }

    /* register interrupt */
    if (int_register(GPIO_INTERRUPT_PIN_INT1)) {
        quit("int_register()", &lis);
    }

    /* set up config */
    lis.cfg.mode = LIS3DH_MODE_NORMAL;
    lis.cfg.range = LIS3DH_FS_2G;
    lis.cfg.rate = LIS3DH_ODR_100_HZ;
    lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
    lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT2;
    lis.cfg.pin1.wtm = 1;
    lis.cfg.pin1.latch = 1;
    lis.cfg.filter.mode = LIS3DH_FILTER_MODE_AUTORESET;
    lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8;

    lis.cfg.en_adc = 1;
    
    /* write device config */
    if (lis3dh_configure(&lis)) {
        quit("configure()", &lis);
    }
    
    for(i=0; i<50; i++) {
        /* wait for interrupt from LIS3DH */
        if (int_poll(GPIO_INTERRUPT_PIN_INT1)) {
            quit("int_poll()", &lis);
        }

        /* clear latched interrupt on INT1 */
        if (lis3dh_clear_int1(&lis)) {
            quit("clear_int1()", &lis);
        }

        /* read stored fifo data into `fifo' struct */
        if (lis3dh_read_fifo(&lis, &fifo)) {
            quit("read_fifo()", &lis);
        }

        /* read ADCs */
        if (lis3dh_read_adc(&lis)) {
            quit("read_adc()", &lis);
        }

        for(k=0; k<fifo.size; k++) {
            printf("x: %04.04f y: %04.04f z: %04.04f mag: %04.04f ADC1:%.1f, ADC2:%.1f, ADC3:%.1f\n",
                fifo.x[k], fifo.y[k], fifo.z[k],
                mag(fifo.x[k], fifo.y[k], fifo.z[k]),
                lis.adc.adc1, lis.adc.adc2, lis.adc.adc3);
        }

    }
    
    /* unregister interrupt */
    if (int_unregister(GPIO_INTERRUPT_PIN_INT1)) {
        quit("int_unregister()", &lis);
    }

    /* deinitalise struct */
    if (lis3dh_deinit(&lis)) {
        quit("deinit()", &lis);
    }

    return 0;
}