------ArduSlave.h-----
#pragma once

// Includes
#include "CModule.h"
#include "CPin.h"
#include "SysConfig.h"

class ArduSlave : public CModule
{
public:
_	void Initialize();_
_	void Update( CCommand& commandIn );_
};

-------ArduSlave.cpp------

#include "SysConfig.h"
#if(HASArduSlave)_
#include "NDataManager.h"
#include "CPin.h"
#include "ArduSlave.h"

#include "NConfigManager.h"

namespace {}

void ArduSlave::Initialize(){
/* Serial.begin(9600); */
_ }_

void ArduSlave::Update( CCommand& commandIn ){

Serial.print(F("ArduSlaveTEST:"));_
Serial.println(';');
}

_#endif _

-----OpenROV2x.ino-------
// Includes
#include

#include "NArduinoManager.h"
#include "NVehicleManager.h"
#include "NDataManager.h"
#include "NCommManager.h"
#include "NModuleManager.h"

void setup()
{
_	// Initialize main subsystems_
_	NArduinoManager::Initialize();_
_	NCommManager::Initialize();_
_	NVehicleManager::Initialize();_
_	NModuleManager::Initialize();_
_	NDataManager::Initialize();_

_ ArduSlave::Initialize();_
_ ArduSlave::Update( CCommand& commandIn );_
_	// Set timer 5 divisor to 8 for PWM frequency of 3921.16Hz (D44, D45, D46)_
_	TCCR5B = ( TCCR5B & B11111000 ) | B00000010;_

_	// Boot complete_
_	Serial.println( F( "boot:1;" ) );_
}

void loop()
{
_	// Reset the watchdog timer_
_	wdt_reset();_

_	// Attempt to read a current command off of the command line_
_	NCommManager::GetCurrentCommand();_

_	// Handle any config change requests_
_	NVehicleManager::HandleMessages( NCommManager::m_currentCommand );_

_	// Handle update loops for each module_
_	NModuleManager::HandleModuleUpdates( NCommManager::m_currentCommand );_

_	// Handle update loops that send data back to the beaglebone_
_	NDataManager::HandleOutputLoops();_
_	_
_	_
_	_
}

-------SysModules.h-----
#pragma once
#include "SysConfig.h"

#include "Plugins.h"
#include "PinDefinitions.h"

// ---------------------------------------
// Conditional module definitions
// -------------------------------
// Once these objects are instantiated, they will register themselves as modules in the module manager.
// They can also be accessed individually as namespace members.
// ---------------------------------------

#if( HASOROV_CONTROLLERBOARD_25 )_
#include "CControllerBoard.h"
CControllerBoard mcontrollerBoard;_
#endif

#if(HASSTD_LIGHTS)_
#include "CLights.h"
CLights mlights( PIN_STANDARD_LIGHTS );_
#endif

#if(HASEXT_LIGHTS )_
#include "CExternalLights.h"
CExternalLights melights( PIN_PWM_3 );_
#endif

#if(HASSTD_CALIBRATIONLASERS)_
#include "CCalibrationLaser.h"
CCalibrationLaser mcalibrationLaser( PIN_LASERS );_
#endif

#if(THRUSTERCONFIGURATION != THRUSTER_CONFIG_NONE )_
#include "CThrusters.h"
CThrusters mthrusters;_
#endif

#if(HASSTD_AUTOPILOT)_
#include "CAutopilot.h"
CAutopilot mautopilot;_
#endif

#if(HASCAMERASERVO)_
#include "CCameraServo.h"
CCameraServo mcameraServo;_
#endif

#if(HASALT_SERVO)_
#include "CAltServo.h"
CAltServo altservo1;
#endif

#if(DEADMANSWITCHON)_
#include "CDeadManSwitch.h"
CDeadManSwitch mdeadManSwitch;_
#endif

// IMU1
#if( HASMPU9150 )_
#include "CMPU9150.h"
CMPU9150 mmpu9150( mpu9150::EAddress::ADDRESS_B );_
#endif

#if(HASMS5803_14BA)_
#include "CMS580314BA.h"_
CMS580314BA m_ms5803( &I2C0, ms5803_14ba::EAddress::ADDRESS_A );_
#endif

// IMU2
#if(HASBNO055)_
#include "CBNO055.h"
CBNO055 mbno055( &I2C0, bno055::EAddress::ADDRESS_A );_
#endif

#if(HASMS5837_30BA)_
#include "CMS583730BA.h"_
CMS583730BA m_ms5837( &I2C0, ms5837_30ba::EAddress::ADDRESS_A );_
#endif

#if(HASArduSlave)_
#include "ArduSlave.h"
ArduSlave marduslave;_
#endif

-----SysConfig.h-----
#pragma once

#include "PinDefinitions.h"
#include "CompileOptions.h"

// TODO: The MCU ARCH and Board Type should eventually be passed in solely from the build script.

// ---------------------------------------------------------
// MCU Architecture Selection
// ---------------------------------------------------------

#ifndef ARDUINOARCH_AVR_
_	#error "This sketch is only supported on for ARDUINO_ARCH_AVR!"_
#endif

// Configuration
#define HASOROV_CONTROLLERBOARD_25 (1)_
#define HASSTD_LIGHTS (1)_
#define HASSTD_CALIBRATIONLASERS (1)_
#define HASCAMERASERVO (1)_
#define HASSTD_AUTOPILOT (1)_
#define DEADMANSWITCHON (0)_

// Thrusters configurations (These appear depricated and replaced by the THRUSTERCONFIGURATION below)_
#define THRUSTERCONFIG_NONE (0)_
#define THRUSTERCONFIG_2X1 (1)_
#define THRUSTERCONFIG_2Xv2 (2)_
#define THRUSTERCONFIG_v2X1Xv2 (3)_

// Selected Thruster Configuration
#define THRUSTERCONFIGURATION THRUSTER_CONFIG_2X1_
//#define THRUSTERCONFIGURATION THRUSTER_CONFIG_2Xv2_
//#define THRUSTERCONFIGURATION THRUSTER_CONFIG_v2X1Xv2_

// ---------------------------------------------------------
// After Market Modules
// ---------------------------------------------------------

// External Lights
#define HASEXT_LIGHTS (1)_

// AltServo
#define HASALT_SERVO (0)_

// MS580314BA Depth Sensor_
#define HASMS5803_14BA (1)_

// MS583730BA Depth Sensor_
#define HASMS5837_30BA (1)_

// MPU9150
#define HASMPU9150 (1)_

// BNO055 IMU
#define HASBNO055 (1)_

#define HASArduSlave (1)_