#include <stdio.h>

#include "driver/gpio.h"
#include "driver/i2c.h"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "freertos/task.h"

#include "motors.h"
#include "bmi160.h"

#define BBOT_DRDY_INPUT_PIN GPIO_NUM_1

#define BBOT_I2C_PORT I2C_NUM_0
#define BBOT_I2C_SCL_IO GPIO_NUM_3
#define BBOT_I2C_SDA_IO GPIO_NUM_2
#define BBOT_I2C_FREQ_HZ 100000

static bmi160_t imu;
static QueueHandle_t imu_queue;

static esp_err_t init_i2c()
{
    const i2c_config_t i2c_conf = {
        .mode = I2C_MODE_MASTER,
        .sda_io_num = BBOT_I2C_SDA_IO,
        .scl_io_num = BBOT_I2C_SCL_IO,
        .sda_pullup_en = GPIO_PULLUP_ENABLE,
        .scl_pullup_en = GPIO_PULLUP_ENABLE,
        .master.clk_speed = BBOT_I2C_FREQ_HZ,
    };

    ESP_ERROR_CHECK(i2c_param_config(BBOT_I2C_PORT, &i2c_conf));
    ESP_ERROR_CHECK(i2c_driver_install(BBOT_I2C_PORT, i2c_conf.mode, 0, 0, 0));
    return ESP_OK;
}

void app_main(void)
{
    ESP_ERROR_CHECK(init_motors());
    ESP_ERROR_CHECK(init_i2c());
    ESP_ERROR_CHECK(imu_init(&imu, BBOT_I2C_PORT, BBOT_DRDY_INPUT_PIN, &imu_queue));

    while (1)
    {
        bmi160_value_t v;
        while (xQueueReceive(imu_queue, &v, pdMS_TO_TICKS(1000)) == pdTRUE)
        {
            ESP_LOGI("[<IMU>]", "%d %d %d %d %d %d %d", v.time, v.acc.x, v.acc.y, v.acc.z, v.gyr.x, v.gyr.y, v.gyr.z);
        }
    }
}