ninja.h

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#pragma once

#include <stdio.h>

#include "sensors/instruments.h"
#include "flight/mixer.h"
#include "sensors/battery.h"
#include "system_calls.h"
#include "flight/anglerate.h"
#include "ninja_sched.h"
#include "blackbox/blackbox.h"
#include "io/rc_adjustments.h"
#include "flight/failsafe.h"
#include "io/ledstrip.h"
#include "io/beeper.h"
#include "io/serial_msp.h"
#include "msp.h"
#include "cli.h"
#include "sensors/gps.h"
#include "rx/rc.h"

#include "common/pt.h"

struct ninja;

typedef enum {
    NINJA_SENSOR_GYRO       = (1 << 0),
    NINJA_SENSOR_ACC        = (1 << 1),
    NINJA_SENSOR_MAG        = (1 << 2),
    NINJA_SENSOR_GPS        = (1 << 3),
    NINJA_SENSOR_BARO       = (1 << 4),
    NINJA_SENSOR_SONAR      = (1 << 5)
} sensor_mask_t;

struct ninja_rc_input {
    int16_t raw[8];
};

struct ninja_state;
struct ninja {
    struct instruments ins;
    struct mixer mixer;
    struct anglerate ctrl;
    struct battery bat;
    struct blackbox blackbox;
    struct rc rc;
    struct rc_event_listener rc_evl;
    struct rx rx;
    struct rc_adj rc_adj;
    struct failsafe failsafe;
    struct ledstrip ledstrip;
    struct beeper beeper;
    struct cli cli;
    struct gps gps;
    struct serial_msp serial_msp;
    struct msp msp;

    bool isRXDataNew;

    int16_t magHold;
    int16_t headFreeModeHold;

    uint8_t motorControlEnable;

    int16_t telemTemperature1;      // gyro sensor temperature
    uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero

    uint16_t filteredCycleTime;
    uint16_t cycleTime;

    struct ninja_rc_input rc_input;

    struct pt   state_ctrl;

    struct pt   state_arming;
    sys_millis_t arming_delay;
    sys_millis_t disarm_timeout;

    bool is_armed;
    uint32_t sensors;

    sys_micros_t loop_time;

    struct ninja_sched sched;

    uint16_t direct_outputs[MIXER_OUTPUT_COUNT];

    //uint8_t armingFlags;
    //uint8_t stateFlags;
    //uint16_t flightModeFlags;
    //uint32_t enabledSensors;

    const struct system_calls *system;

    struct config *config;
};

void ninja_init(struct ninja *self, const struct system_calls *syscalls, struct config *config);

void ninja_arm(struct ninja *self);
void ninja_disarm(struct ninja *self);

uint32_t ninja_has_sensors(struct ninja *self, sensor_mask_t sensor_mask);
bool ninja_is_armed(struct ninja *self);

void ninja_heartbeat(struct ninja *self);
void ninja_input_rc(struct ninja *self, const struct ninja_rc_input *rc);
void ninja_input_gyro(struct ninja *self, int32_t x, int32_t y, int32_t z);
void ninja_input_acc(struct ninja *self, int32_t x, int32_t y, int32_t z);

void ninja_run_pid_loop(struct ninja *self, uint32_t dt_us);