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#ifndef sensor_rvb_h
#define sensor_rvb_h
// sensor_rvb.h
// es - Input/Output general purpose board. {{{
//
// Copyright (C) 2006 Dufour J�r�my
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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 "common.h"
#include "io.h"

/** Manage all the RVB sensors.
 * Connectors used :
 ENARVB7 	PORTC7
 ENARVB6 	PORTC6
 ENARVB5 	PORTC5
 ENARVB4 	PORTC4
 ENARVB3 	PORTC3
 ENARVB2 	PORTC2
 ENARVB1 	PORTC1
 ENANB1 	PORTD6
 ENANB2 	PORTC0
 OUTRVB 	PORTD7/PORTD4(IC1)
 S0RVB 		PORTF6
 S1RVB 		PORTF7

  Sensors actualy send us a frequency for a specific color. We have pins
  (ENA*) for selecting the sensor we want to use, some (S[01]RVB) for the
  color we want to watch and one (OUTRVB) for the output frequency.
  It uses the Input Capture and the Overflow interrupts.
*/

/** Maximum number of sensors we manage. */
#define RVB_MAX_SENSOR 9
/** Define the colors indexes. */
#define RVB_INDEX_RED   0
#define RVB_INDEX_BLUE  1
#define RVB_INDEX_CLEAR 2
#define RVB_INDEX_GREEN 3
/** Define the number of color the sensor can manages. */
#define RVB_MAX_INDEX 4
/** Is it an invalid value for sensor */
#define RVB_INVALID_CAPTURE 0xE000

/** Results table for 9 RVB sensors (RVCB) :
 * Values are in the folowing order : Red, Blue, Clear, Green. */
extern volatile uint16_t sensor_rvb_values[RVB_MAX_SENSOR][RVB_MAX_INDEX];

/** Initialisation of the RVB sensors module. */
void sensor_rvb_init (void);

/** Start a capture RVBC values for sensors if we are not already doing one. */
void sensor_rvb_start_capture (void);

/** Configure some internal variables.
 * - false_ic : maximum input capture to ignore before begining the real
 *   		capture.
 * - max_ov   : maximum overflow of the timer/counter 1 before setting the
 *   		sensor dead. uint8_t !
 */
void sensor_rvb_config (uint8_t false_ic, uint16_t max_ov);

/** Update pins connected to the asserv AVR with the colors seen by the
 * sensors. */
void sensor_rvb_update_asserv_pins (void);

/** Enable/disable capture for black & white sensors (the ones inside the
 * barillet).
 * - enable : 1 if you want this sensor to be captured, 0 otherwise.
 */
void sensor_rvb_upper_sensors (uint8_t enable);

#endif // sensor_rvb_h