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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 bom.h
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 * @brief Definitions for using the BOM
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 * 
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 * This file contains definitions for using the Bearing and 
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 * Orientation Module (BOM).
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 *
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 * @author Colony Project, CMU Robotics Club
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 *
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 **/
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#ifndef _BOM_H
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#define _BOM_H
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/**
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 * @addtogroup bom
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 * @{
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 **/
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/** @brief Include all elements in the 16-bit bitfield **/
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#define BOM_ALL 0xFFFF
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/** @brief Original BOM - No Range, No Individual LED control **/
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#define BOM10     0
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/** @brief BOM 1.5 - No Range, Individual LED control **/
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#define BOM15   1
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/** @brief RBOM - Range, Individual LED control **/
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#define RBOM    2
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/** @brief Struct for storing x and y component vector data. Used by bom_get_vector() functions **/
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typedef struct vector {
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        int x;
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        int y;
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} Vector;
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/** @brief Initialize the bom according to bom type **/
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void bom_init(char type);
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/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/
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void bom_refresh(int bit_field);
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/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/
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int bom_get(int which);
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/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
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int bom_get_max(void);
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/** @brief Computes the net resultant BOM IR vector. **/
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int bom_get_vector(Vector*, int*);
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/** @brief Computes the normalized net resultant BOM IR vector. **/
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int bom_get_norm_vector(Vector*, int*);
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/** @brief Print snapshot of BOM intensity histogram over USB connection **/
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int bom_print_usb(int*);
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/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/
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int bom_get_max10(int *dist);
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/** @brief Enables the selected bom leds on a BOM1.5 **/
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void bom_set_leds(int bit_field);
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/** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element since last refresh. **/
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int get_max_bom(void);
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/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/
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void bom_on(void);
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/** @brief Turns off all bom leds. **/
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void bom_off(void);
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/** @} **/
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#endif
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