#ifndef IO_H_
#define IO_H_

// Input/output support functions for pingpong.

#include <stdbool.h>
#include <stdint.h>

// tick variable is set to true every sample time.
extern volatile bool tick;
// distance variable contains the measured distance in mm.
extern volatile int32_t distance;
// Kc variable can be set by typing a float value to the terminal (which is connected to the UART).
//extern volatile float Kc;

bool initUART(void);
bool initTimer(uint32_t sampleFrequency);
bool initPWM(void);
void initPort();

// setPWM sets dutyCycle in 1000 steps (min = 0, max = 1000)
bool setPWM(uint16_t dutyCycle);
// trigger creates a 10 usec trigger pulse for the ultrasonic sensor.
void trigger();

void sendStringUART(char *s);
void sendIntUART(int i);
void sendIntIntUART(int i1, int i2);
void sendFloatUART(float f);

#endif