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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file serial.h
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 * @brief Contains declarations for serial input and output
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 *
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 * Contains definitions for serial input and output.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * Based on Tom Lauwer's Firefly Library
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 *
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 **/
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/*
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  serial.h - Contains definitions and function prototypes for the RS232 serial port
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  author(s): pkv
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  Directions:
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  Call the initialization function for the serial port you wish to use.  Then, use
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  either the provided functions or the stdio functions (fprintf, etc) to read and
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  write characters to the serial ports.
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  UART Mapping:
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  usb_*() -> UART0
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  xbee_*() -> UART1
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  Options: (Add the following defines to your code to configure this library)
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  #define USB_BAUD { 115200 | 9600 } <= pick ONE value from in here
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  #define XBEE_BAUD { 115200 | 9600 } <= pick ONE value from in here
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  #define USE_STDIO
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  Note: If you enable USE_STDIO, the first init function that is called will 
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  automatically be linked to stdin, stdout, and stderr.  To use the baud rate 
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  commands, add something like the following to your code:
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  #define FOO_BAUD 9600
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  **UNLESS YOU KNOW WHAT YOU ARE DOING, PLEASE DO NOT CHANGE THIS FILE**
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  Many, many other people use this file in their code.  If you change it, you will
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  probably break all of their nice code.  You should not need to change anything in
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  here, except to accomodate new hardware.
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*/
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#ifndef _SERIAL_H
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#define _SERIAL_H
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#include <inttypes.h>
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#include <avr/pgmspace.h>
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/**
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 * @defgroup usb USB Input / Output
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 * @brief Functions for USB input / output
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 *
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 * Low level functions for USB input and output.
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 *
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 * @{
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 **/
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// if no baud rate is defined for usb, default is set here
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#ifndef USB_BAUD
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/** @brief the USB baud rate **/
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#define USB_BAUD 115200
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#endif
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/** @brief Initialize the USB **/
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void usb_init(void);
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/** @brief Print a character to USB **/
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int usb_putc(char c);
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/** @brief Read a character from USB **/
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int usb_getc(void);
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/** @brief Read a character from USB without blocking **/
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int usb_getc_nb(char *c);
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/** @brief Print a string to USB **/
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int usb_puts(char *s);
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/** @brief Print a string from program space to USB **/
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void usb_puts_P (PGM_P s);
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/** @brief Print an integer to USB **/
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int usb_puti(int value);
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/** @brief Determine a hexadecimal digit **/
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uint8_t hex_digit (uint8_t value);
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/** @brief Print a fixed width hexadecimal representation to USB **/
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void usb_puth16 (uint16_t value);
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/** @brief Print a fixed width hexadecimal representation to USB **/
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void usb_puth8(uint8_t value);
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/** @brief Alias for usb_puth16 **/
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static inline void usb_puth (uint16_t value) { usb_puth16 (value); };
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/** @} **/ //end addtogroup
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/**
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 * @defgroup xbee XBee Input / Output
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 * @brief Functions for XBee input / output
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 *
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 * Low level functions for XBee input and output.
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 *
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 * @{
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 **/
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// if no baud rate is defined for usb, default is set here
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// if no baud rate is defined for xbee, default is set here
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#ifndef XBEE_BAUD
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/** @brief the XBee baud rate **/
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#define XBEE_BAUD 9600
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#endif
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/** @brief Initialize the XBee **/
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void xbee_init(void);
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/** @brief Print a character to the XBee **/
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int xbee_putc(char c);
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/** @brief Read a character from the XBee **/
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int xbee_getc(void);
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/** @brief Read a character from the XBee without blocking **/
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int xbee_getc_nb(char *c);
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/** @} **/ //end addtogroup
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#endif
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