#ifndef SONAR_H
#define SONAR_H

#include "common.h"

// Trigger
#define TRIG_DDR    DDRC
#define TRIG_PORT   PORTC
#define TRIG_PIN    PINC
#define TRIG_BIT    PC4

// Echo
#define ECHO_DDR    DDRC
#define ECHO_PORT   PORTC
#define ECHO_PIN    PINC
#define ECHO_BIT    PC5

#define SPEED_OF_SOUND      343 // (m/s)
#define US_PER_CM           58 // Time for sound to travel distance of 1cm
#define MAX_SONAR_RANGE     8 // Trigger + echo (m)
#define DELAY_BETWEEN_TESTS	500 // Timeout for return signal
#define TIMER_MAX           65535 // Depends on the timer used

#define CYCLES_PER_US   F_CPU / 1000000
#define SONAR_TIMEOUT 	(F_CPU * MAX_SONAR_RANGE) / SPEED_OF_SOUND

#define TRIG_ERROR      -1
#define ECHO_ERROR      -2

#define TRIG_INPUT_MODE()   CLR(TRIG_DDR, TRIG_BIT)
#define TRIG_OUTPUT_MODE() 	SET(TRIG_DDR, TRIG_BIT)
#define TRIG_LOW()          CLR(TRIG_PORT, TRIG_BIT)
#define TRIG_HIGH()         SET(TRIG_PORT, TRIG_BIT)

#define ECHO_INPUT_MODE()   CLR(ECHO_DDR, ECHO_BIT)
#define ECHO_OUTPUT_MODE()  SET(ECHO_DDR, ECHO_BIT)
#define ECHO_LOW()          CLR(ECHO_PORT, ECHO_BIT)
#define ECHO_HIGH()         SET(ECHO_PORT, ECHO_BIT)


void init_sonar(void);
void trigger_sonar(void);
unsigned int read_sonar(void);

#endif /* SONAR_H */