#pragma once

#include "AP_Baro_Backend.h"

#ifndef AP_BARO_DPS280_ENABLED
#define AP_BARO_DPS280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
#endif

#if AP_BARO_DPS280_ENABLED

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>

#ifndef HAL_BARO_DPS280_I2C_ADDR
 #define HAL_BARO_DPS280_I2C_ADDR  0x76
#endif
#ifndef HAL_BARO_DPS280_I2C_ADDR2
 #define HAL_BARO_DPS280_I2C_ADDR2 0x77
#endif

class AP_Baro_DPS280 : public AP_Baro_Backend {
public:
    AP_Baro_DPS280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

    /* AP_Baro public interface: */
    void update() override;

    static AP_Baro_Backend *probe_280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
        return probe(baro, std::move(dev), false);
    }

    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool _is_dps310=false);

protected:
    bool init(void);
    bool read_calibration(void);
    void timer(void);
    void calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature);

    void fix_config_bits16(int16_t &v, uint8_t bits) const;
    void fix_config_bits32(int32_t &v, uint8_t bits) const;
    void set_config_registers(void);
    void check_health();

    AP_HAL::OwnPtr<AP_HAL::Device> dev;

    uint8_t instance;

    uint32_t count;
    uint8_t err_count;
    float pressure_sum;
    float temperature_sum;
    float last_temperature;
    bool pending_reset;
    bool is_dps310;

    struct dps280_cal {
        int16_t C0;  // 12bit
        int16_t C1;  // 12bit
        int32_t C00; // 20bit
        int32_t C10; // 20bit
        int16_t C01; // 16bit
        int16_t C11; // 16bit
        int16_t C20; // 16bit
        int16_t C21; // 16bit
        int16_t C30; // 16bit
        uint8_t temp_source;
    } calibration;
};

class AP_Baro_DPS310 : public AP_Baro_DPS280 {
    // like DPS280 but workaround for temperature bug
public:
    using AP_Baro_DPS280::AP_Baro_DPS280;
    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
};


#endif  // AP_BARO_DPS280_ENABLED