Colony » Colony Scout

#ifndef _BOM_H

#define _BOM_H

extern "C" {

#include <stdint.h>

}

#include <messages/bom.h>

// constants for direction

#define BOM_FRONT (messages::bom::FRONT)

#define BOM_BACK  (messages::bom::BACK)

#define BOM_LEFT  (messages::bom::LEFT)

#define BOM_RIGHT (messages::bom::RIGHT)

// timing, in us, for read of valid bits

#define MIN_LOW_PW 600

#define MAX_LOW_PW 1400

#define MIN_HIGH_PW 1600

#define MAX_HIGH_PW 2400

// returned by bom_get if there is no new data since last call

#define BOM_NO_DATA -1

// i/o pins

// if these are changed, remember to change bom_init and/or ISRs

#define PIN_BOM_SIG PINB

#define P_BOM_SIG0 PB0

#define P_BOM_SIG1 PB1

#define P_BOM_SIG2 PB2

#define P_BOM_SIG3 PB3

#define PORT_BOM_EMIT PORTF

#define P_BOM_EMIT0 PF4

#define P_BOM_EMIT1 PF5

#define P_BOM_EMIT2 PF6

#define P_BOM_EMIT3 PF7

typedef uint8_t bom_msg_t;

inline char bom_msg_get_robot_id(bom_msg_t msg) {

    return msg >> 2;

}

inline char bom_msg_get_dir(bom_msg_t msg) {

    return msg & 3;

}

inline bom_msg_t bom_msg_make(char id, char dir) {

    return (id << 2) | (dir & 3);

}

void set_robot_id(char id);

char get_robot_id(void);

// NOTE: call range_init before bom_init to ensure timer 5 is set up!

void bom_init(void);

void bom_send(char dir);

int bom_get(char dir);

// toggles output - should be called at around 76 kHz

void bom_isr();

#endif