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/* getsamples.c */
/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
 *
 * Copyright (C) 2008 NĂ©lio Laranjeiro
 *
 * APBTeam:
 *        Web: http://apbteam.org/
 *      Email: team AT apbteam DOT org
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "getsamples.h"
#include "fsm.h"
#include "trap.h"	/* trap_* */

#include "io.h" /* _BV */

/**
 * 'Private' get samples data used internaly by the FSM.
 */
struct getsamples_data_t getsamples_data_;

/* Start the get samples FSM. */
void
getsamples_start (int16_t approach_angle, uint8_t sample_bitfield)
{
    /* Set parameters */
    getsamples_data_.approach_angle = approach_angle;
    getsamples_data_.sample_bitfield = sample_bitfield;

    /* Remove unhandled traps */
    getsamples_data_.sample_bitfield &= (_BV (trap_count) - 1) & ~_BV (garbage);

    /* Start the get samples FSM */
    fsm_init (&getsamples_fsm);
    fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_start);
}