#include "mgos.h"
#include "tests_autogen.h"
#include "mgos_imu.h"

uint32_t test_imu_period_ms = 100; // 10Hz
bool test_imu_enabled = true;

static struct mgos_imu *s_imu = NULL;

bool test_imu_create(void) {
  if (!(s_imu = mgos_imu_create())) {
    LOG(LL_ERROR, ("Cannot create IMU"));
    return false;
  }
  
  if (!mgos_imu_accelerometer_create_i2c(s_imu, mgos_i2c_get_global(), 0x1d, ACC_LSM303D)) {
    LOG(LL_ERROR, ("Cannot create accelerometer on IMU"));
  }
  if (!mgos_imu_gyroscope_create_i2c(s_imu, mgos_i2c_get_global(), 0x6b, GYRO_L3GD20)) {
    LOG(LL_ERROR, ("Cannot create gyroscope on IMU"));
  }
  if (!mgos_imu_magnetometer_create_i2c(s_imu, mgos_i2c_get_global(), 0x1d, MAG_LSM303D)) {
    LOG(LL_ERROR, ("Cannot create magnetometer on IMU"));
  }

  return true;
}

bool test_imu_run(void) {
  float ax, ay, az;
  float gx, gy, gz;
  float mx, my, mz;

  if (mgos_imu_accelerometer_get(s_imu, &ax, &ay, &az))
    LOG(LL_INFO, ("type=%-10s Accel X=%+.2f Y=%+.2f Z=%+.2f (m/s/s)",
                  mgos_imu_accelerometer_get_name(s_imu), ax, ay, az));
  if (mgos_imu_gyroscope_get(s_imu, &gx, &gy, &gz))
    LOG(LL_INFO, ("type=%-10s Gyro  X=%+.2f Y=%+.2f Z=%+.2f (Rad/sec)",
                  mgos_imu_gyroscope_get_name(s_imu), gx, gy, gz));
  if (mgos_imu_magnetometer_get(s_imu, &mx, &my, &mz))
    LOG(LL_INFO, ("type=%-10s Mag   X=%+.2f Y=%+.2f Z=%+.2f (uTesla)",
                  mgos_imu_magnetometer_get_name(s_imu), mx, my, mz));
  return true;
}

bool test_imu_destroy(void) {
  mgos_imu_destroy(&s_imu);
  return true;
}