#pragma once
#include <Arduino.h>
#include <SPI.h>
#include "ADXL345Registers.h"
#include <Logger.h>

class ADXL345FreshSPI {
public:
  enum class Range { G2=0, G4=1, G8=2, G16=3 };
  enum class FIFOmode { BYPASS, FIFO, STREAM, TRIGGER };

  struct SampleI16 {
    int16_t x, y, z;
    uint32_t ts_us;
  };
  struct SampleSI {
    float ax_g, ay_g, az_g;
    float ax_ms2, ay_ms2, az_ms2;
    uint32_t ts_us;
  };

  ADXL345FreshSPI() = default;

  // --- Init (SPI only) ---
  // Uwaga: ADXL345 wymaga SPI MODE3, zegar ≤ ~5 MHz.
  bool begin(SPIClass *spi, uint8_t csPin, uint32_t clockHz = 5000000);

  // --- Konfiguracja ---
  bool setODR_Hz(float odr_hz);
  bool setRange(Range r, bool fullRes=true);
  bool enableFIFO(FIFOmode mode, uint8_t triggerLevel=16);
  bool enableDataReadyInterrupt(bool enable=true); // przy pollingu pozostaw false

  // --- Status ---
  bool ping();             // DEVID == 0xE5 ?
  bool available();        // DATA_READY z INT_SOURCE

  // --- Odczyty „świeże” (blokujące do timeout_ms) ---
  bool readFresh(SampleI16& out, uint32_t timeout_ms = 100);
  bool readFresh(SampleSI&  out, uint32_t timeout_ms = 100);

  // --- Zrzut FIFO (do n elementów) ---
  size_t readFIFOBurst(SampleI16* buf, size_t maxCount);
  size_t readFIFOBurst(SampleSI*  buf, size_t maxCount);

  // --- Parametry pomocnicze ---
  void  setGConstant(float g = 9.80665f) { g_ms2 = g; }
  
  float lsb_per_g() const { return 1.0f / scale_g_per_lsb; }
  //bool write8(uint8_t reg, uint8_t val);
  //bool read8(uint8_t reg, uint8_t& val);

  /*
  Zwraca tryb pracy akcelerometru
  */
  uint8_t getADXLRange();

  /* Zwraca czy jest FULL_RES w akcelerometrze */
  bool getADXLFullRes();
  
  void showRangeFull(String txt="");

  // niskopoziomowe
  bool write8(uint8_t reg, uint8_t val);
  bool read8(uint8_t reg, uint8_t& val);

  private:
  SPIClass* spi = nullptr;
  uint8_t cs = 255;
  uint32_t spiHz = 5000000;

  float scale_g_per_lsb = 0.0039f; // full-res ~3.9 mg/LSB
  float g_ms2 = 9.80665f;
  bool  fullRes = true;

  // niskopoziomowe
  //bool write8(uint8_t reg, uint8_t val);
  //bool read8(uint8_t reg, uint8_t& val);
  bool readMulti(uint8_t reg, uint8_t* dst, size_t n);

  void spiSelect();
  void spiDeselect();

  bool configurePowerMeasure();
  uint8_t odrCodeFromHz(float hz);
  void countsToSI(const SampleI16& in, SampleSI& out);
};