kilolib.h

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typedef enum {
    NORMAL = 0,
    GPS,
    BOOT = 0x80,
    BOOTPGM_PAGE,
    BOOTPGM_SIZE,
    RESET,
    SLEEP,
    WAKEUP,
    CHARGE,
    VOLTAGE,
    RUN,
    READUID,
    CALIB,
} message_type_t;

typedef struct {
    uint8_t data[9]; 
    uint8_t type;    
    uint16_t crc;    
} message_t;


typedef struct {
    int16_t low_gain;  
    int16_t high_gain; 
} distance_measurement_t;

typedef void (*message_rx_t)(message_t *, distance_measurement_t *d);
typedef message_t *(*message_tx_t)(void);
typedef void (*message_tx_success_t)(void);

extern volatile uint32_t kilo_ticks;
extern volatile uint16_t kilo_tx_period;
extern uint16_t kilo_uid;
extern uint8_t kilo_turn_left;
extern uint8_t kilo_turn_right;
extern uint8_t kilo_straight_left;
extern uint8_t kilo_straight_right;

extern message_rx_t kilo_message_rx;
extern message_tx_t kilo_message_tx;

extern message_tx_success_t kilo_message_tx_success;

extern "C" {

uint8_t estimate_distance(const distance_measurement_t *d);

void delay(uint16_t ms);

uint8_t rand_hard();

uint8_t rand_soft();

void rand_seed(uint8_t seed);

int16_t get_ambientlight();

int16_t get_voltage();

int16_t get_temperature();

void set_motors(uint8_t left, uint8_t right);

void spinup_motors();

void set_color(uint8_t color);

void kilo_init();

void kilo_start(void (*setup)(void), void (*loop)(void));

}



uint16_t message_crc(const message_t *msg);