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#ifndef _BOM_H

#define _BOM_H

extern "C" {

#include <stdint.h>

}

// constants for direction

#define BOM_FRONT 0

#define BOM_BACK  1

#define BOM_LEFT  2

#define BOM_RIGHT 3

// 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 BOM_SIG PINB

#define BOM_SIG0 PB0

#define BOM_SIG1 PB1

#define BOM_SIG2 PB2

#define BOM_SIG3 PB3

#define BOM_EMIT PORTH

#define BOM_EMIT0 PH4

#define BOM_EMIT1 PH5

#define BOM_EMIT2 PH6

#define BOM_EMIT3 PH7

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 1 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