void mainBoardCommonAddDevices(RobotConfig* robotConfig) {
// SYSTEM & DEBUG
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getSerialDebugDeviceInterface(), getSerialDebugDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getI2cCommonDebugDeviceInterface(), getI2cCommonDebugDeviceDescriptor());
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
// COMMON DEVICES
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor(&servoList));
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature));
// addLocalDevice(getCurrentSensorDeviceInterface(), getCurrentSensorDeviceDescriptor(¤t));
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
// ACCELEROMETER
// addLocalDevice(getAccelerometerDeviceInterface(), getAccelerometerDeviceDescriptor(&accelerometer));
// ROBOT CONFIG
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(robotConfig));
}
/**
* @private
*/
void initMainBoardDevicesDescriptor() {
initDeviceList(&deviceListArray, MAIN_BOARD_DEVICE_LENGTH);
// SYSTEM & DEBUG
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getSerialDebugDeviceInterface(), getSerialDebugDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getTest2DeviceInterface(), getTest2DeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
// LOCAL
addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor());
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig));
initStartMatch(&startMatch, isMatchStarted32, mainBoardWaitForInstruction, &eeprom);
addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch));
addLocalDevice(getEndMatchDetectorDeviceInterface(), getEndMatchDetectorDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor());
addLocalDevice(getLedDeviceInterface(), getLedDeviceDescriptor());
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
/*
addLocalDevice(getSonarDeviceInterface(), getSonarDeviceDescriptor(&i2cBus));
addLocalDevice(getRobotSonarDetectorDeviceInterface(), getRobotSonarDetectorDeviceDescriptor(&i2cBus));
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&i2cBus));
*/
// Mechanical Board 2->I2C
// Device* armDevice = addI2cRemoteDevice(getArm2012DeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// Device* infraredDetectorDevice = addI2cRemoteDevice(getRobotInfraredDetectorDeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// addI2cRemoteDevice(getServoDeviceInterface(), MECHANICAL_BOARD_2_I2C_ADDRESS);
// addUartRemoteDevice(getRobotInfraredDetectorDeviceInterface(), SERIAL_PORT_MECA2);
// Motor Board->I2C
/*
addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_I2C_ADDRESS);
*/
// MOTOR BOARD -> UART
// addUartRemoteDevice(getTestDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getMotorDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getCodersDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getPIDDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getTrajectoryDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getMotionDeviceInterface(), SERIAL_PORT_MOTOR);
addUartRemoteDevice(getRobotKinematicsDeviceInterface(), SERIAL_PORT_MOTOR);
// Beacon Receiver Board->I2C
// addI2cRemoteDevice(getBeaconReceiverDeviceInterface(), BEACON_RECEIVER_I2C_ADDRESS);
// Strategy Board->I2C
// addI2cRemoteDevice(getStrategyDeviceInterface(), STRATEGY_BOARD_I2C_ADDRESS);
// Air Conditioning Board
addI2cRemoteDevice(getAirConditioningDeviceInterface(), AIR_CONDITIONING_BOARD_I2C_ADDRESS);
// Init the devices
initDevices();
// Manage the callback notification
// trajectoryDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// testDevice.deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// motionDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
// infraredDetectorDevice->deviceHandleCallbackRawData = &mainBoardCallbackRawData;
}