//! I2C driver for the SPL06-007 pressure and temperature sensor. This sensor
//! is available as a breakout board for the Arduino platform. This driver
//! may also work with the SPL06-001, but this has not been tested.
//!
//! This sensor operates on the I2c address 0x76 and is connected to the
//! I2C bus on the Arduino Uno. Instantiate the Barometer struct with a
//! reference to the I2C bus. The sensor will then be ready to read
//! temperature and pressure values.
//!
//! ```rust, ignore
//! use spl06_007::*;
//!
//! let mut barometer = Barometer::new(&mut i2c).expect("Failed to instantiate barometer");
//! let temp = barometer.get_temperature().unwrap();
//! let pressure = barometer.get_pressure().unwrap();
//! let altitude = barometer.altitude(1020.0).unwrap();
//! ```
//!
//! You can set the mode, sample rate, and oversampling values manually:
//!
//! ```rust, ignore
//! barometer.set_pressure_config(SampleRate::Single, SampleRate::Eight);
//! barometer.set_temperature_config(SampleRate::Single, SampleRate::Eight);
//! ```
//!
//! This is useful for more rapid updates, better precsion, or lower power draw. 
//! 
//! It is also possible to set the mode to `Mode::Standby` to reduce power consumption.: 
//! 
//! ```rust, ignore
//! barometer.set_mode(Mode::Standby);
//! ```

#![forbid(unsafe_code)]
#![warn(missing_docs)]
#![warn(missing_debug_implementations)]
#![cfg_attr(not(test), no_std)]

extern crate embedded_hal as hal;
extern crate libm;

use embedded_hal::blocking::i2c::{Read, Write, WriteRead};

const ADDR: u8 = 0x76;
const PRS: u8 = 0x00;
const TMP: u8 = 0x03;
const PRS_CFG: u8 = 0x06;
const TMP_CFG: u8 = 0x07;
const MEAS_CFG: u8 = 0x08;
const CFG_REG: u8 = 0x09;
// const INT_STS: u8 = 0x0A;
// const FIFO_STS: u8 = 0x0B;
const RESET: u8 = 0x0C;
const ID: u8 = 0x0D;
const COEF: u8 = 0x10;

/// Use [Barometer::set_mode] to set the mode.
///
/// In continuous mode, the sensor will take measurements at the rate set by
/// [Barometer::set_pressure_config] and [Barometer::set_temperature_config]. Note that pressure
/// readings are dependent on temperature readings, so it is not recommended to use continuous
/// mode for pressure readings because they will be calculated using out-of-date temperature
/// readings.
///
/// Temperature and Pressure modes will take a single measurement and then return to standby
/// mode. These are used internally by the [Barometer::get_temperature] and [Barometer::get_pressure]
/// methods and are not recommended for general use.
#[derive(Clone, Copy, PartialEq, Eq, Debug)]
pub enum Mode {
    /// The default mode. The sensor will not take any measurements. It is still possible to read
    /// the temperature and pressure, but the values will not be updated.
    Standby = 0b000,
    /// Take a single temperature reading and then return to standby mode.
    Pressure = 0b001,
    /// Take a single pressure reading and then return to standby mode.
    Temperature = 0b010,
    /// Take continuous pressure readings at the configured sample rate. Note that this mode is
    /// not recommended because pressure readings are dependent on temperature readings, so
    /// they will be calculated using out-of-date temperature readings.
    ContinuousPressure = 0b101,
    /// Take continuous temperature readings at the configured sample rate.
    ContinuousTemperature = 0b110,
    /// Take continuous pressure and temperature readings at the configured sample rate.
    ContinuousPressureTemperature = 0b111,
}

/// Setting for the sampling and oversampling rates.
///
/// Use [Barometer::set_pressure_config] and [Barometer::set_temperature_config] to set the
/// sampling and oversampling rates. The oversampling rate is the number of samples taken and
/// averaged to produce a single reading. The sampling rate is the number of times per second
/// that the sensor will record a new reading.
#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Debug)]
pub enum SampleRate {
    /// Take a single measurement per second or single oversample per measurement.
    One = 0b000,
    /// Two measurements per second or two oversamples per measurement. Labelled "Low Power" mode
    /// in the datasheet.
    Two = 0b001,
    /// Four measurements per second or four oversamples per measurement.
    Four = 0b010,
    /// Eight measurements per second or eight oversamples per measurement. This is the default
    /// value.
    Eight = 0b011,
    /// Sixteen measurements per second or sixteen oversamples per measurement. Labelled "Standard"
    ///  mode in the datasheet.
    Sixteen = 0b100,
    /// Thirty-two measurements per second or thirty-two oversamples per measurement.
    ThirtyTwo = 0b101,
    /// Sixty-four measurements per second or sixty-four oversamples per measurement. Labelled
    /// "High Precision" mode in the datasheet.
    SixtyFour = 0b110,
    /// One hundred twenty-eight measurements per second or one hundred twenty-eight oversamples
    /// per measurement.
    OneTwentyEight = 0b111,
}

// pub enum FifoStatus {
//     Empty = 0b01,
//     Partial = 0b00,
//     Full = 0b10,
// }

/// The SPL06-007 barometer.
///
/// This struct is generic over the I2C bus type. See method documentation for details.
#[derive(Debug)]
pub struct Barometer<'a, I2C>
where
    I2C: Read + Write + WriteRead,
{
    i2c: &'a mut I2C,
    calibration_data: CalibrationData,
    temperature_oversample: SampleRate,
    pressure_oversample: SampleRate,
    mode: Mode,
}

impl<'a, I2C, E> Barometer<'a, I2C>
where
    I2C: Read<Error = E> + Write<Error = E> + WriteRead<Error = E>,
{
    /// Create a new instance of the barometer.
    ///
    /// This method will initialise the sensor with the following default settings:
    /// - Pressure sample rate: 1
    /// - Pressure oversample rate: 8
    /// - Temperature oversample rate: 1
    /// - Temperature sample rate: 8
    /// - Mode: Continuous pressure and temperature
    /// - FIFO disabled
    /// - Interrupts disabled
    pub fn new(i2c: &'a mut I2C) -> Result<Self, E> {
        let mut barometer = Barometer {
            i2c,
            calibration_data: CalibrationData::default(),
            temperature_oversample: SampleRate::Eight,
            pressure_oversample: SampleRate::Eight,
            mode: Mode::Standby,
        };
        while (barometer.read8(MEAS_CFG)? >> 7) != 1 {}
        barometer.calibration_data = barometer.get_calibration_data()?;
        barometer.init()?;
        Ok(barometer)
    }

    fn init(&mut self) -> Result<(), E> {
        self.set_pressure_config(SampleRate::One, SampleRate::Eight)?;
        self.set_temperature_config(SampleRate::One, SampleRate::Eight)?;
        self.set_mode(Mode::ContinuousPressureTemperature)?;
        self.write(&[CFG_REG, 0x00])?; // disable FIFO
        Ok(())
    }

    /// First four bits: Product ID
    /// Last four bits: Revision ID
    pub fn sensor_id(&mut self) -> Result<u8, E> {
        self.read8(ID)
    }

    /// Read and calculate the temperature in degrees celsius.
    ///
    /// When the sensor is in standby mode or continuous pressure mode, this method will block
    /// until a new temperature reading is available. When the sensor is in continuous temperature
    /// mode, this method will return the latest temperature reading. In continuous mode you can
    /// check if a new temperature reading is available using [Barometer::new_data_is_available].
    pub fn get_temperature(&mut self) -> Result<f32, E> {
        if self.mode == Mode::Standby || self.mode == Mode::ContinuousPressure {
            while !self.new_data_is_available()?.0 {
                self.set_mode(Mode::Temperature)?
            }
        }
        let cal = self.calibration_data;
        Ok(cal.c0 as f32 / 2.0 + cal.c1 as f32 * self.traw_sc()?)
    }

    /// Read and calculate the pressure in millibars
    ///
    /// When the sensor is in standby mode or continuous temperature mode, this method will block
    /// until a new temperature reading is available. When the sensor is in continuous pressure
    /// mode, this method will return the latest pressure reading. In continuous mode you can
    /// check if a new temperature reading is available using [Barometer::new_data_is_available].
    pub fn get_pressure(&mut self) -> Result<f32, E> {
        if self.mode == Mode::Standby {
            self.get_temperature()?;
        }
        if self.mode == Mode::Standby || self.mode == Mode::ContinuousTemperature {
            while !self.new_data_is_available()?.1 {
                self.set_mode(Mode::Pressure)?
            }
        }

        let cal = self.calibration_data;
        let traw_sc = self.traw_sc()?;
        let praw_sc = self.praw_sc()?;

        let pcomp = cal.c00 as f32
            + praw_sc * (cal.c10 as f32 + praw_sc * (cal.c20 as f32 + praw_sc * cal.c30 as f32))
            + traw_sc * cal.c01 as f32
            + traw_sc * praw_sc * (cal.c11 as f32 + praw_sc * cal.c21 as f32);
        Ok(pcomp / 100.0)
    }

    /// Read and calculate the altitude in metres
    pub fn altitude(&mut self, sea_level_hpa: f32) -> Result<f32, E> {
        Ok(44330.0 * (1.0 - libm::powf(self.get_pressure()? / sea_level_hpa, 0.1903)))
    }

    fn traw_sc(&mut self) -> Result<f32, E> {
        let mut temp = self.read24(TMP)?;
        if self.temperature_oversample > SampleRate::Eight {
            temp <<= 1;
        }
        Ok(temp as f32 / self.temperature_oversample.scale_factor())
    }

    fn praw_sc(&mut self) -> Result<f32, E> {
        let mut pressure = self.read24(PRS)?;
        if self.pressure_oversample > SampleRate::Eight {
            pressure <<= 1;
        }
        Ok(pressure as f32 / self.pressure_oversample.scale_factor())
    }

    /// Sensor data might not be available after the sensor is powered on or settings changed.
    /// Note that you should use [Barometer::new_data_is_available] for checking if new data is available.
    pub fn sensor_data_is_ready(&mut self) -> Result<bool, E> {
        Ok(((self.read8(MEAS_CFG)? >> 6) & 0b1) == 1)
    }

    /// Returns a tuple of `(temperature, pressure)`. `true` if new data is available
    pub fn new_data_is_available(&mut self) -> Result<(bool, bool), E> {
        let byte = self.read8(MEAS_CFG)?;
        Ok((((byte >> 5) & 1) == 1, ((byte >> 4) & 1) == 1))
    }

    // pub fn fifo_is_enabled(&mut self) -> Result<bool, E> {
    //     let byte = self.read8(CFG_REG)? >> 1;
    //     Ok((byte & 1) == 1)
    // }

    // pub fn fifo_status(&mut self) -> Result<FifoStatus, E> {
    //     match self.read8(FIFO_STS)? & 0b11 {
    //         0b01 => Ok(FifoStatus::Empty),
    //         0b00 => Ok(FifoStatus::Partial),
    //         0b10 => Ok(FifoStatus::Full),
    //         _ => unreachable!("Not a valid FIFO status"),
    //     }
    // }

    // pub fn set_fifo(&mut self, value: bool) -> Result<(), E> {
    //     let mut reg = self.read8(CFG_REG)? & 0b11111101;
    //     reg |= (value as u8) << 1;
    //     self.write(&[CFG_REG, reg])
    // }

    // pub fn flush_fifo(&mut self) -> Result<(), E> {
    //     self.write(&[RESET, 0x80])
    // }

    fn set_pressure_shift(&mut self, value: bool) -> Result<(), E> {
        let mut reg = self.read8(CFG_REG)? & 0b11111011;
        reg |= (value as u8) << 2;
        self.write(&[CFG_REG, reg])
    }

    fn set_temp_shift(&mut self, value: bool) -> Result<(), E> {
        let mut reg = self.read8(CFG_REG)? & 0b11110111;
        reg |= (value as u8) << 3;
        self.write(&[CFG_REG, reg])
    }

    /// Reset the sensor. This will reset all configuration registers to their default values.
    pub fn soft_reset(&mut self) -> Result<(), E> {
        self.write(&[RESET, 0x09])?;
        self.init()
    }

    /// The sample rate is the number of measurements available per second.
    /// The oversample rate is the number of individual measurements used to calculate the final
    /// value for each final measurement. Higher oversample rates will give more accurate results.
    pub fn set_temperature_config(
        &mut self,
        sample: SampleRate,
        oversample: SampleRate,
    ) -> Result<(), E> {
        self.set_temp_shift(oversample > SampleRate::Eight)?;
        self.temperature_oversample = oversample;
        let byte = 0x80 | (sample as u8) << 4 | oversample as u8;
        self.write(&[TMP_CFG, byte])
    }

    /// The sample rate is the number of measurements available per second.
    /// The oversample rate is the number of individual measurements used to calculate the final
    /// value for each final measurement. Higher oversample rates will give more accurate results.
    ///
    /// Note that the pressure readings are dependent on temperature readings, so the temperature
    /// oversample rate should be equal or higher than the pressure oversample rate.
    pub fn set_pressure_config(
        &mut self,
        sample: SampleRate,
        oversample: SampleRate,
    ) -> Result<(), E> {
        self.set_pressure_shift(oversample > SampleRate::Eight)?;
        self.pressure_oversample = oversample;
        let byte = (sample as u8) << 4 | oversample as u8;
        self.write(&[PRS_CFG, byte])
    }

    /// Set the mode of the sensor. See the [Mode] enum for more details.
    pub fn set_mode(&mut self, mode: Mode) -> Result<(), E> {
        self.mode = match mode {
            Mode::Standby | Mode::Pressure | Mode::Temperature => Mode::Standby,
            _ => mode,
        };
        self.write(&[MEAS_CFG, mode as u8])
    }

    fn get_calibration_data(&mut self) -> Result<CalibrationData, E> {
        let mut data = [0; 2];

        self.read(COEF, &mut data)?;
        let mut c0 = ((data[0] as u16) << 4) | data[1] as u16 >> 4;
        if c0 & (1 << 11) != 0 {
            c0 |= 0xF000;
        }

        // c1
        self.read(COEF + 1, &mut data)?;
        let mut c1 = (((data[0] & 0xF) as u16) << 8) | data[1] as u16;
        if c1 & (1 << 11) != 0 {
            c1 |= 0xF000;
        }

        // c00
        let mut data = [0; 3];
        self.read(COEF + 3, &mut data)?;
        let c00 = if data[0] & 0x80 != 0 { 0xFFF00000 } else { 0 }
            | ((data[0] as u32) << 12)
            | ((data[1] as u32) << 4)
            | ((data[2] as u32) & 0xF0) >> 4;

        // c10
        self.read(COEF + 5, &mut data)?;
        let c10 = if data[0] & 0x8 != 0 { 0xFFF00000 } else { 0 }
            | ((data[0] as u32) & 0x0F) << 16
            | (data[1] as u32) << 8
            | data[2] as u32;

        Ok(CalibrationData {
            c0: c0 as i16,
            c1: c1 as i16,
            c00: c00 as i32,
            c10: c10 as i32,
            c01: self.read16(COEF + 8)? as i32,
            c11: self.read16(COEF + 10)? as i32,
            c20: self.read16(COEF + 12)? as i32,
            c21: self.read16(COEF + 14)? as i32,
            c30: self.read16(COEF + 16)? as i32,
        })
    }

    fn write(&mut self, data: &[u8]) -> Result<(), E> {
        self.i2c.write(ADDR, data)
    }

    fn read(&mut self, reg: u8, buffer: &mut [u8]) -> Result<(), E> {
        self.i2c.write_read(ADDR, &[reg], buffer)
    }

    fn read8(&mut self, reg: u8) -> Result<u8, E> {
        let mut buffer = [0u8];
        match self.read(reg, &mut buffer) {
            Ok(_) => Ok(buffer[0]),
            Err(res) => Err(res),
        }
    }

    fn read16(&mut self, reg: u8) -> Result<i16, E> {
        let mut buffer = [0u8; 2];
        match self.read(reg, &mut buffer) {
            Ok(_) => Ok((((buffer[0] as u16) << 8) | buffer[1] as u16) as i16),
            Err(res) => Err(res),
        }
    }

    fn read24(&mut self, reg: u8) -> Result<i32, E> {
        let mut buffer = [0; 3];
        self.read(reg, &mut buffer)?;
        let [msb, lsb, xlsb] = buffer.map(|x| x as u32);
        let res: u32 =
            if msb & 0x80 != 0 { 0xFF << 24 } else { 0x00 } | (msb << 16) | (lsb << 8) | xlsb;
        Ok(res as i32)
    }
}

#[derive(Debug, Clone, Copy, Default)]
struct CalibrationData {
    c0: i16,
    c1: i16,
    c00: i32,
    c10: i32,
    c01: i32,
    c11: i32,
    c20: i32,
    c21: i32,
    c30: i32,
}

impl SampleRate {
    fn scale_factor(&self) -> f32 {
        match self {
            Self::One => 524288.0,
            Self::Two => 1572864.0,
            Self::Four => 3670016.0,
            Self::Eight => 7864320.0,
            Self::Sixteen => 253952.0,
            Self::ThirtyTwo => 516096.0,
            Self::SixtyFour => 1040384.0,
            Self::OneTwentyEight => 2088960.0,
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use std::vec::Vec;

    use embedded_hal_mock::i2c::{Mock as I2cMock, Transaction as I2cTransaction};
    fn expectations(to_add: Vec<I2cTransaction>) -> Vec<I2cTransaction> {
        [
            // Barometer::new
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0x80]),
            I2cTransaction::write_read(ADDR, vec![COEF], vec![0xc, 0xbe]),
            I2cTransaction::write_read(ADDR, vec![COEF + 1], vec![0xbe, 0xfc]),
            I2cTransaction::write_read(ADDR, vec![COEF + 3], vec![0x13, 0xd9, 0xaf]),
            I2cTransaction::write_read(ADDR, vec![COEF + 5], vec![0xaf, 0x2b, 0x34]),
            I2cTransaction::write_read(ADDR, vec![COEF + 8], vec![0xf3, 0xf7]),
            I2cTransaction::write_read(ADDR, vec![COEF + 10], vec![0x4, 0xff]),
            I2cTransaction::write_read(ADDR, vec![COEF + 12], vec![0xda, 0x5a]),
            I2cTransaction::write_read(ADDR, vec![COEF + 14], vec![0x0, 0xa]),
            I2cTransaction::write_read(ADDR, vec![COEF + 16], vec![0xfb, 0x1b]),
            I2cTransaction::write_read(ADDR, vec![CFG_REG], vec![0]),
            I2cTransaction::write(ADDR, vec![CFG_REG, 0]),
            I2cTransaction::write(ADDR, vec![PRS_CFG, SampleRate::Eight as u8]),
            I2cTransaction::write_read(ADDR, vec![CFG_REG], vec![0]),
            I2cTransaction::write(ADDR, vec![CFG_REG, 0]),
            I2cTransaction::write(ADDR, vec![TMP_CFG, 0x80 | SampleRate::Eight as u8]),
            I2cTransaction::write(
                ADDR,
                vec![MEAS_CFG, Mode::ContinuousPressureTemperature as u8],
            ),
            I2cTransaction::write(ADDR, vec![CFG_REG, 0x00]),
        ]
        .to_vec()
        .into_iter()
        .chain(to_add)
        .collect::<std::vec::Vec<_>>()
    }

    #[test]
    fn test_barometer_new_init() {
        let expectations = expectations(vec![]);
        let mut i2c = I2cMock::new(&expectations);
        Barometer::new(&mut i2c).unwrap();
    }

    #[test]
    fn test_barometer_read() {
        let expectations = expectations(vec![
            I2cTransaction::write_read(ADDR, vec![0], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![0], vec![0]),
            I2cTransaction::write_read(ADDR, vec![0], vec![0, 1]),
            I2cTransaction::write_read(ADDR, vec![0], vec![0, 1, 2]),
        ]);
        let mut i2c = I2cMock::new(&expectations);
        let mut barometer = Barometer::new(&mut i2c).unwrap();

        let mut buffer = [0; 3];
        barometer.read(0, &mut buffer).unwrap();
        barometer.read8(0).unwrap();
        barometer.read16(0).unwrap();
        barometer.read24(0).unwrap();
        assert_eq!(buffer, [0, 1, 2]);
    }

    #[test]
    fn test_barometer_get_calibration_data() {
        let expectations = expectations(vec![]);
        let mut i2c = I2cMock::new(&expectations);
        let mut barometer = Barometer {
            i2c: &mut i2c,
            calibration_data: CalibrationData::default(),
            temperature_oversample: SampleRate::Eight,
            pressure_oversample: SampleRate::Eight,
            mode: Mode::Standby,
        };
        // remainder of new
        barometer.read8(MEAS_CFG).unwrap();
        let cal_data = barometer.get_calibration_data().unwrap();
        assert_eq!(cal_data.c0, 203, "c0");
        assert_eq!(cal_data.c1, -260, "c1");
        assert_eq!(cal_data.c00, 81306, "c00");
        assert_eq!(cal_data.c10, -54476, "c10");
        assert_eq!(cal_data.c01, -3081, "c01");
        assert_eq!(cal_data.c11, 1279, "c11");
        assert_eq!(cal_data.c20, -9638, "c20");
        assert_eq!(cal_data.c21, 10, "c21");
        assert_eq!(cal_data.c30, -1253, "c30");
    }

    #[test]
    fn test_barometer_get_temperature() {
        let expectations = expectations(vec![
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Temperature as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Temperature as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0b100000]),
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
        ]);
        let mut i2c = I2cMock::new(&expectations);
        let mut barometer = Barometer::new(&mut i2c).unwrap();
        barometer.mode = Mode::ContinuousPressureTemperature;
        barometer.get_temperature().unwrap(); // TODO: test value
        barometer.mode = Mode::Standby;
        barometer.get_temperature().unwrap(); // TODO: test value
    }

    #[test]
    fn test_barometer_get_pressure() {
        let expectations = expectations(vec![
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![PRS], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Temperature as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Temperature as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0b100000]),
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Pressure as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0b100000]),
            I2cTransaction::write(ADDR, vec![MEAS_CFG, Mode::Pressure as u8]),
            I2cTransaction::write_read(ADDR, vec![MEAS_CFG], vec![0b010000]),
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![PRS], vec![0, 1, 2]),
        ]);
        let mut i2c = I2cMock::new(&expectations);
        let mut barometer = Barometer::new(&mut i2c).unwrap();
        barometer.mode = Mode::ContinuousPressureTemperature;
        barometer.get_pressure().unwrap(); // TODO: test value
        barometer.mode = Mode::Standby;
        barometer.get_pressure().unwrap(); // TODO: test value
    }

    #[test]
    fn test_barometer_altitude() {
        let expectations = expectations(vec![
            I2cTransaction::write_read(ADDR, vec![TMP], vec![0, 1, 2]),
            I2cTransaction::write_read(ADDR, vec![PRS], vec![0, 1, 2]),
        ]);
        let mut i2c = I2cMock::new(&expectations);
        let mut barometer = Barometer::new(&mut i2c).unwrap();
        barometer.mode = Mode::ContinuousPressureTemperature;
        let altitude = barometer.altitude(1000.0).unwrap();
        assert_eq!(altitude, 1712.0905); // TODO: Use more realistic values
    }
}