/home/travis/build/lis-epfl/MAVRIC_Library/boards/mavrinux.hpp

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
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 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 ******************************************************************************/

/*******************************************************************************
 * \file    mavrinux.hpp
 *
 * \author  MAV'RIC Team
 *
 * \brief   Emulated board running on linux
 *
 ******************************************************************************/


#ifndef MAVRINUX_HPP_
#define MAVRINUX_HPP_


#include "sensing/imu.hpp"

#include "hal/dummy/gpio_dummy.hpp"
#include "hal/dummy/serial_dummy.hpp"
#include "hal/dummy/adc_dummy.hpp"
#include "hal/dummy/pwm_dummy.hpp"
#include "hal/dummy/led_dummy.hpp"
#include "hal/dummy/i2c_dummy.hpp"

#include "hal/linux/serial_linux_io.hpp"
#include "hal/linux/serial_udp.hpp"
#include "hal/linux/file_linux.hpp"

#include "drivers/spektrum_satellite.hpp"
#include "drivers/state_display_mavrinux.hpp"
#include "drivers/airspeed_analog.hpp"
#include "drivers/battery.hpp"
#include "drivers/servo.hpp"
#include "drivers/px4flow_i2c.hpp"

#include "simulation/simulation.hpp"
#include "simulation/dynamic_model_quad_diag.hpp"

extern "C"
{
#include "util/streams.h"
}


typedef struct
{
    imu_conf_t              imu_config;
    serial_udp_conf_t       serial_udp_config;
    std::string             flash_filename;
    dynamic_model_quad_diag_conf_t dynamic_model_config;
} mavrinux_conf_t;


static inline mavrinux_conf_t mavrinux_default_config();


class Mavrinux
{
public:
    Mavrinux(mavrinux_conf_t config = mavrinux_default_config());


    bool init(void);


    Pwm_dummy   pwm_0;
    Pwm_dummy   pwm_1;
    Pwm_dummy   pwm_2;
    Pwm_dummy   pwm_3;
    Pwm_dummy   pwm_4;
    Pwm_dummy   pwm_5;
    Pwm_dummy   pwm_6;
    Pwm_dummy   pwm_7;
    Servo       servo_0;
    Servo       servo_1;
    Servo       servo_2;
    Servo       servo_3;
    Servo       servo_4;
    Servo       servo_5;
    Servo       servo_6;
    Servo       servo_7;

    Dynamic_model_quad_diag   dynamic_model;
    Simulation                sim;
    Imu                       imu;

    I2c_dummy           i2c_dummy;
    PX4Flow_i2c         flow;

    Adc_dummy           adc_battery;
    Battery             battery;

    Adc_dummy           adc_airspeed;
    Airspeed_analog     airspeed_analog;

    Gpio_dummy          dsm_receiver_pin;
    Gpio_dummy          dsm_power_pin;
    Serial_dummy        dsm_serial;
    Spektrum_satellite  spektrum_satellite;
    Led_dummy           led;

    Serial_udp          mavlink_serial;
    Serial_linux_io     debug_serial;

    File_linux          file_flash;

    State_display_mavrinux  state_display_mavrinux_;

private:
    mavrinux_conf_t config_;        
    byte_stream_t   dbg_stream_;    
};


static inline mavrinux_conf_t mavrinux_default_config()
{
    mavrinux_conf_t conf = {};

    // -------------------------------------------------------------------------
    // Imu config
    // -------------------------------------------------------------------------
    conf.imu_config = imu_default_config();

    // -------------------------------------------------------------------------
    // UDP config
    // -------------------------------------------------------------------------
    conf.serial_udp_config  = serial_udp_default_config();

    // -------------------------------------------------------------------------
    // Flash config
    // -------------------------------------------------------------------------
    conf.flash_filename = "flash000.bin";

    // -------------------------------------------------------------------------
    // Simulation dynamic model config
    // -------------------------------------------------------------------------
    conf.dynamic_model_config = dynamic_model_quad_diag_default_config();

    return conf;
}


#endif /* MAVRINUX_HPP_ */