/**************************************************************************

SPI.h

ME 218B Lab 8 - SPI, mobile robot

February 3, 2010

The E128 queries the Command Generator over SPI for command instructions

E128 = master

Command Generator = slave

***************************************************************************/

/*---------------------------- Include Files ------------------------------*/

#ifndef SPI_h

#define SPI_h

#include "ME218_E128.h"

#include <stdio.h>

#include <termio.h>

#include <S12E128bits.h>

//#include "S12eVec.h"

#include <hidef.h> /* common defines and macros */

#include <mc9s12e128.h> /* derivative information */

#pragma LINK_INFO DERIVATIVE "SampleS12"

typedef enum { SPI_READY,

SPI_TARGET_STATUS_READY,

SPI_GAME_OVER,

SPI_DELAY,

SPI_ERROR

} SPI_Status_t;

/*-------------------------- Public Function Prototypes -----------------------------*/

//Initializes SPI. Sets Baud Rate to 24.41kHz (to be called only once at program start)

void SPI_Init(void); // to be called only once

//Returns SPI_READY, SPI_TARGET_STATUS_READY, SPI_GAME_OVER, SPI_DELAY, or SPI_ERROR

SPI_Status_t SPI_getStatus(void); //needs to be called continuously

//returns the current active target

char SPI_getCurTarget(void);

//Increment the curBeaconIndex in ActivatedBeacons array

void SPI_skipCurTarget(void);

void SPI_requestTargetStatus(void); //call once

char SPI_isCurTargetHit(void); //call when SPI_Status is TARGET_STATUS_READY

void debug_printActiveBeacons(void);

#endif