// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

//
// Simple test for the AP_AHRS interface
//

#include <FastSerial.h>
#include <SPI.h>
#include <I2C.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_IMU.h>
#include <AP_GPS.h>
#include <AP_AHRS.h>
#include <AP_Math.h>
#include <AP_AnalogSource.h>
#include <AP_AnalogSource_Arduino.h>
#include <AP_Common.h>
#include <AP_Compass.h>
#include <AP_Airspeed.h>
#include <AP_Baro.h>
#include <AP_Semaphore.h>
#include <DataFlash.h>
#include <APM_RC.h>
#include <GCS_MAVLink.h>
#include <Filter.h>

// uncomment this for a APM2 board
#define APM2_HARDWARE

#define WITH_GPS 0

FastSerialPort0(Serial);
FastSerialPort1(Serial1);

Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;

#ifdef DESKTOP_BUILD
AP_Compass_HIL compass;
#else
AP_Compass_HMC5843 compass;
#endif

#ifdef APM2_HARDWARE
AP_InertialSensor_MPU6000 ins;
# else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
#endif

static GPS         *g_gps;

AP_GPS_Auto     g_gps_driver(&Serial1, &g_gps);

AP_IMU_INS imu(&ins);

// choose which AHRS system to use
AP_AHRS_DCM  ahrs(&imu, g_gps);
//AP_AHRS_Quaternion  ahrs(&imu, g_gps);
//AP_AHRS_MPU6000  ahrs(&imu, g_gps, &ins);		// only works with APM2

AP_Baro_BMP085_HIL barometer;


#ifdef APM2_HARDWARE
 # define A_LED_PIN        27
 # define C_LED_PIN        25
 # define LED_ON           LOW
 # define LED_OFF          HIGH
 # define MAG_ORIENTATION  AP_COMPASS_APM2_SHIELD
#else
 # define A_LED_PIN        37
 # define C_LED_PIN        35
 # define LED_ON           HIGH
 # define LED_OFF          LOW
 # define MAG_ORIENTATION  AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif


static void flash_leds(bool on)
{
    digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
    digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}

void setup(void)
{
    Serial.begin(115200);
    Serial.println("Starting up...");

#ifndef DESKTOP_BUILD
    I2c.begin();
    I2c.timeOut(5);
    I2c.setSpeed(true);
#endif

    SPI.begin();
    SPI.setClockDivider(SPI_CLOCK_DIV16);

#ifdef APM2_HARDWARE
    // we need to stop the barometer from holding the SPI bus
    pinMode(40, OUTPUT);
    digitalWrite(40, HIGH);
#endif

    isr_registry.init();
    scheduler.init(&isr_registry);

    imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
    imu.init_accel(delay, flash_leds);

    compass.set_orientation(MAG_ORIENTATION);
    ahrs.init();

    if( compass.init() ) {
        Serial.printf("Enabling compass\n");
        ahrs.set_compass(&compass);
    } else {
        Serial.printf("No compass detected\n");
    }
    g_gps = &g_gps_driver;
#if WITH_GPS
    g_gps->init();
#endif
}

void loop(void)
{
    static uint16_t counter;
    static uint32_t last_t, last_print, last_compass;
    uint32_t now = micros();
    float heading = 0;

    if (last_t == 0) {
        last_t = now;
        return;
    }
    last_t = now;

    if (now - last_compass > 100*1000UL &&
        compass.read()) {
        heading = compass.calculate_heading(ahrs.get_dcm_matrix());
        // read compass at 10Hz
        last_compass = now;
#if WITH_GPS
        g_gps->update();
#endif
    }

    ahrs.update();
    counter++;

    if (now - last_print >= 0.5e6) {
        Vector3f drift  = ahrs.get_gyro_drift();
        Serial.printf_P(PSTR("r:%4.1f  p:%4.1f y:%4.1f drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
                        ToDeg(ahrs.roll),
                        ToDeg(ahrs.pitch),
                        ToDeg(ahrs.yaw),
                        ToDeg(drift.x),
                        ToDeg(drift.y),
                        ToDeg(drift.z),
                        compass.use_for_yaw() ? ToDeg(heading) : 0.0,
                        (1.0e6*counter)/(now-last_print));
        last_print = now;
        counter = 0;
    }
}