airbourne_board.h

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/*
 * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * 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.
 *
 * * 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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSFLIGHT_FIRMWARE_AIRBOURNE_BOARD_H
#define ROSFLIGHT_FIRMWARE_AIRBOURNE_BOARD_H

#include "M25P16.h"
#include "analog_digital_converter.h"
#include "analog_pin.h"
#include "backup_sram.h"
#include "battery_monitor.h"
#include "board.h"
#include "hmc5883l.h"
#include "i2c.h"
#include "led.h"
#include "mb1242.h"
#include "mpu6000.h"
#include "ms4525.h"
#include "ms5611.h"
#include "pwm.h"
#include "rc_base.h"
#include "rc_ppm.h"
#include "rc_sbus.h"
#include "serial.h"
#include "spi.h"
#include "system.h"
#include "uart.h"
#include "ublox.h"
#include "vcp.h"

#include <revo_f4.h>

#include <cstdbool>
#include <cstddef>
#include <cstdint>

namespace rosflight_firmware
{
class AirbourneBoard : public Board
{
private:
  VCP vcp_;
  UART uart1_;
  UART uart3_;
  Serial *current_serial_; // A pointer to the serial stream currently in use.
  I2C int_i2c_;
  I2C ext_i2c_;
  SPI spi1_;
  SPI spi3_;
  MPU6000 imu_;
  HMC5883L mag_;
  MS5611 baro_;
  MS4525 airspeed_;
  RC_PPM rc_ppm_;
  I2CSonar sonar_;
  RC_SBUS rc_sbus_;
  GPIO inv_pin_;
  PWM_OUT esc_out_[PWM_NUM_OUTPUTS];
  LED led2_;
  LED led1_;
  M25P16 flash_;
  AnalogDigitalConverter battery_adc_;
  BatteryMonitor battery_monitor_;
  UBLOX gnss_;

  enum SerialDevice : uint32_t
  {
    SERIAL_DEVICE_VCP = 0,
    SERIAL_DEVICE_UART3 = 3
  };
  SerialDevice secondary_serial_device_ = SERIAL_DEVICE_VCP;

  RC_BASE *rc_ = nullptr;

  std::function<void()> imu_callback_;

  int _board_revision = 2;

  float _accel_scale = 1.0;
  float _gyro_scale = 1.0;

  enum
  {
    SONAR_NONE,
    SONAR_I2C,
    SONAR_PWM
  };
  uint8_t sonar_type = SONAR_NONE;

  bool new_imu_data_;
  uint64_t imu_time_us_;

public:
  AirbourneBoard();

  // setup
  void init_board() override;
  void board_reset(bool bootloader) override;

  // clock
  uint32_t clock_millis() override;
  uint64_t clock_micros() override;
  void clock_delay(uint32_t milliseconds) override;

  // serial
  void serial_init(uint32_t baud_rate, uint32_t dev) override;
  void serial_write(const uint8_t *src, size_t len) override;
  uint16_t serial_bytes_available() override;
  uint8_t serial_read() override;
  void serial_flush() override;

  // sensors
  void sensors_init() override;
  uint16_t num_sensor_errors() override;

  bool new_imu_data() override;
  bool imu_read(float accel[3], float *temperature, float gyro[3], uint64_t *time_us) override;
  void imu_not_responding_error() override;

  bool mag_present() override;
  void mag_update() override;
  void mag_read(float mag[3]) override;

  bool baro_present() override;
  void baro_update() override;
  void baro_read(float *pressure, float *temperature) override;

  bool diff_pressure_present() override;
  void diff_pressure_update() override;
  void diff_pressure_read(float *diff_pressure, float *temperature) override;

  bool sonar_present() override;
  void sonar_update() override;
  float sonar_read() override;

  bool gnss_present() override;
  void gnss_update() override;

  bool battery_voltage_present() const override;
  float battery_voltage_read() const override;
  void battery_voltage_set_multiplier(double multiplier) override;

  bool battery_current_present() const override;
  float battery_current_read() const override;
  void battery_current_set_multiplier(double multiplier) override;

  // GNSS
  GNSSData gnss_read() override;
  bool gnss_has_new_data() override;
  GNSSFull gnss_full_read() override;
  // RC
  void rc_init(rc_type_t rc_type) override;
  bool rc_lost() override;
  float rc_read(uint8_t channel) override;

  // PWM
  void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) override;
  void pwm_disable() override;
  void pwm_write(uint8_t channel, float value) override;

  // non-volatile memory
  void memory_init() override;
  bool memory_read(void *dest, size_t len) override;
  bool memory_write(const void *src, size_t len) override;

  // LEDs
  void led0_on() override;
  void led0_off() override;
  void led0_toggle() override;

  void led1_on() override;
  void led1_off() override;
  void led1_toggle() override;

  // Backup Data
  void backup_memory_init() override;
  bool backup_memory_read(void *dest, size_t len) override;
  void backup_memory_write(const void *src, size_t len) override;
  void backup_memory_clear(size_t len) override;
};

} // namespace rosflight_firmware

#endif // ROSFLIGHT_FIRMWARE_AIRBOURNE_BOARD_H