#include <AP_HAL.h>

/* To save linker space, we need to make sure the HAL_AVR_APM2 class
 * is built iff we are building for HAL_BOARD_APM2. These defines must
 * wrap the whole HAL_AVR_APM2 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2

#include <AP_HAL_AVR.h>
#include "AP_HAL_AVR_private.h"
#include "HAL_AVR_APM2_Class.h"

using namespace AP_HAL;
using namespace AP_HAL_AVR;

AVRUARTDriverISRs(0);
AVRUARTDriverISRs(1);
AVRUARTDriverISRs(2);

AVRUARTDriverInstance(avrUart0Driver, 0);
AVRUARTDriverInstance(avrUart1Driver, 1);
AVRUARTDriverInstance(avrUart2Driver, 2);

static AVRI2CDriver     avrI2CDriver;
static APM2SPIDeviceManager apm2SPIDriver;
static AVRAnalogIn      avrAnalogIn;
static AVREEPROMStorage avrEEPROMStorage;
static AVRConsoleDriver consoleDriver;
static AVRGPIO          avrGPIO;
static APM2RCInput      apm2RCInput;
static APM2RCOutput     apm2RCOutput;
static AVRScheduler     avrScheduler;

static ISRRegistry isrRegistry;

HAL_AVR_APM2::HAL_AVR_APM2() :
    AP_HAL::HAL(
        &avrUart0Driver, /* phys UART0 -> uartA */
        &avrUart1Driver, /* phys UART1 -> uartB */
        &avrUart2Driver, /* phys UART2 -> uartC */
        &avrI2CDriver,
        &apm2SPIDriver,
        &avrAnalogIn,
        &avrEEPROMStorage,
        &consoleDriver,
        &avrGPIO,
        &apm2RCInput,
        &apm2RCOutput,
        &avrScheduler )
{}

void HAL_AVR_APM2::init(void* opts) const {

    scheduler->init((void*)&isrRegistry);
   
    /* uartA is the serial port used for the console, so lets make sure
     * it is initialized at boot */
    uartA->begin(115200);
    console->init((void*)uartA);
    /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
     * as the init argument */
    rcin->init((void*)&isrRegistry);
    rcout->init(NULL);
    spi->init(NULL);
    i2c->begin();
    i2c->setTimeout(100);
    analogin->init(NULL);
};

const HAL_AVR_APM2 AP_HAL_AVR_APM2;

#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2