ir_comms.h

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#ifndef IR_COMMS_H_
#define IR_COMMS_H_

/******** Defines ********/

#define IR_COMMS_MESSAGE_LENGTH_MAX         6
#define IR_COMMS_MESSAGE_BIT_LENGTH_MAX         (IR_COMMS_MESSAGE_LENGTH_MAX * 8)


#define IR_COMMS_NUM_OF_RECEIVERS           8
#define IR_COMMS_RECEIVER_FRONT_LEFT        0
#define IR_COMMS_RECEIVER_LEFT_FRONT        1
#define IR_COMMS_RECEIVER_LEFT_REAR         2
#define IR_COMMS_RECEIVER_REAR_LEFT         3
#define IR_COMMS_RECEIVER_REAR_RIGHT        4
#define IR_COMMS_RECEIVER_RIGHT_REAR        5
#define IR_COMMS_RECEIVER_RIGHT_FRONT       6
#define IR_COMMS_RECEIVER_FRONT_RIGHT       7

#define IR_COMMS_RECEIVER_FRONT_LEFT_BIT        (1 << IR_COMMS_RECEIVER_FRONT_LEFT)
#define IR_COMMS_RECEIVER_LEFT_FRONT_BIT        (1 << IR_COMMS_RECEIVER_LEFT_FRONT)
#define IR_COMMS_RECEIVER_LEFT_REAR_BIT         (1 << IR_COMMS_RECEIVER_LEFT_REAR)
#define IR_COMMS_RECEIVER_REAR_LEFT_BIT         (1 << IR_COMMS_RECEIVER_REAR_LEFT)
#define IR_COMMS_RECEIVER_REAR_RIGHT_BIT        (1 << IR_COMMS_RECEIVER_REAR_RIGHT)
#define IR_COMMS_RECEIVER_RIGHT_REAR_BIT        (1 << IR_COMMS_RECEIVER_RIGHT_REAR)
#define IR_COMMS_RECEIVER_RIGHT_FRONT_BIT       (1 << IR_COMMS_RECEIVER_RIGHT_FRONT)
#define IR_COMMS_RECEIVER_FRONT_RIGHT_BIT       (1 << IR_COMMS_RECEIVER_FRONT_RIGHT)

#define IR_COMMS_RECEIVER_0_ANGLE               0.3927
#define IR_COMMS_RECEIVER_1_ANGLE               1.1781
#define IR_COMMS_RECEIVER_2_ANGLE               1.9635
#define IR_COMMS_RECEIVER_3_ANGLE               2.7489
#define IR_COMMS_RECEIVER_4_ANGLE               3.5343
#define IR_COMMS_RECEIVER_5_ANGLE               4.3197
#define IR_COMMS_RECEIVER_6_ANGLE               5.1051
#define IR_COMMS_RECEIVER_7_ANGLE               5.8905

#define IR_COMMS_NUM_OF_TRANSMITTERS        8
#define IR_COMMS_POWER_MAX                                      256

/******** Structs ********/

typedef struct IRCommsMessage {
    uint8 data[IR_COMMS_MESSAGE_LENGTH_MAX];
    uint8 orientationBitMatrix[IR_COMMS_NUM_OF_RECEIVERS];
    uint8 rangeBits[IR_COMMS_NUM_OF_RECEIVERS];
    uint32 timeStamp;
} irCommsMessage;

/******** Functions ********/

void irCommsSetSize(uint8 size);

void irCommsSetXmitPower(uint16 power);


boolean irCommsSendMessage(irCommsMessage* irMessagePtr);


boolean irCommsGetMessage(irCommsMessage* irMessagePtr);

//void ir_comms_set_message_length(uint8 msg_length);


void irCommsOrientationBitMatrixPrint(uint8* orientationBitsMatrixPtr, uint8* rangeBitsMatrixPtr);


/*
 * @brief returns the number of bits received in a given ir message
 *
 * @param irMessagePtr the message received
 * @return number of bits received in message
 */
uint8 irCommsGetMessageReceiveBits(irCommsMessage* irMessagePtr);

void irCommsInit(void);


#endif /* IR_COMMS_H_ */