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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file analog.h

 * @brief Contains analog declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * analog.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Dev Gurjar

 **/

#ifndef _ANALOG_H_

#define _ANALOG_H_

#include "analog/query_analog.h"

//#include "analog/set_motors.h"

/** @brief Analog port 0 **/

#define AN0 0x00

/** @brief Analog port 1 **/

#define AN1 0x01

/** @brief Analog port 2 **/

#define AN2 0x02

/** @brief Analog port 3 **/

#define AN3 0x03

/** @brief Analog port 4 **/

#define AN4 0x04

/** @brief Analog port 5 **/

#define AN5 0x05

/** @brief Analog port 6 **/

#define AN6 0x06

/** @brief Analog port 7 **/

#define AN7 0x07

/** @brief Analog port 8 **/

#define AN8 0x08

/** @brief Analog port 9 **/

#define AN9 0x09

/** @brief Analog port 10 **/

#define AN10 0x0A

/** @brief Analog port 11 **/

#define AN11 0x0B

/** @brief Analog port 12 **/

#define AN12 0x0C

/** @brief Analog port 13 **/

#define AN13 0x0D

/** @brief Analog port 14 **/

#define AN14 0x0E

/** @brief Analog port 15 **/

#define AN15 0x0Fi

/** @brief Struct to hold the value of a particular analog port **/

typedef struct {

  uint8_t adc8;

  uint16_t adc10;

} adc_t;

/* The number of messages in the queue. If messages arrive faster than they are

 * handled, old ones are thrown out */

#define QUEUE_SIZE 4

/** @brief Initialize the analog module and driver. **/

int main(int argc, char **argv);

/** @brief given a port, returns the analog reading at that port **/

unsigned int get_sensor_data(int port);

/** @brief Responds to service to query analog input. **/

bool analog_query(analog::query_analog::Request &req,

                  analog::query_analog::Response &res);

#endif