/**
  * This file is part of the hoverboard-sideboard-hack project.
  *
  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
  *
  * 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 3 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, see <http://www.gnu.org/licenses/>.
*/

// Define to prevent recursive inclusion
#ifndef UTIL_H
#define UTIL_H

#include <stdint.h>


/* Rx Structures USART */
#ifdef SERIAL_CONTROL
typedef struct{
  uint16_t  start;
  int16_t   roll;
  int16_t   pitch;
  int16_t   yaw;
  uint16_t  sensors;
  uint16_t  checksum;
} SerialSideboard;
#endif
#ifdef SERIAL_FEEDBACK
typedef struct{
  uint16_t  start;
  int16_t   cmd1;
  int16_t   cmd2;
  int16_t   speedR_meas;
  int16_t   speedL_meas;
  int16_t   batVoltage;
  int16_t   boardTemp;
  uint16_t  cmdLed;
  uint16_t  checksum;
} SerialFeedback;
#endif

/* general functions */
void consoleLog(char *message);
void get_tick_count_ms(unsigned long *count);
void intro_demo_led(uint32_t tDelay);

/* input initialization function */
void input_init(void);

/* usart read functions */
void usart_rx_check(void);
#ifdef SERIAL_DEBUG
void usart_process_debug(uint8_t *userCommand, uint32_t len);
#endif
#ifdef SERIAL_FEEDBACK
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
#endif
void UART_EndRxTransfer(UART_HandleTypeDef *huart);

/* i2c write/read functions */
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
int8_t i2c_writeBit  (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t  data);
int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_readByte  (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
int8_t i2c_readBit   (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);


#endif