Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file dragonfly_def.h

 * @brief Contains definitions for dragonfly library

 * 

 * Should be included in all dragonfly library source files.

 * Does not need to be included by user programs.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _DRAGONFLY_DEFS_H_

#define _DRAGONFLY_DEFS_H_

/**

 * @addtogroup dragonfly

 * @{

 **/

//return value definitions

/** @brief Error code for init failure **/

#define ERROR_INIT_FAILED 1

/** @brief Error code for duplicate init calls **/

#define ERROR_INIT_ALREADY_INITD 2

/** @brief Error code for not calling init **/

#define ERROR_LIBRARY_NOT_INITD 3

// Configuration definitions

/** @brief Initialize analog **/

#define ANALOG 0x01

/** @brief Initialize serial communications **/

#define SERIAL 0x02

/** @brief Initialize USB communications **/

#define USB    0x02

/** @brief Initialize communications **/

#define COMM   0x02

/** @brief Initialize the orb **/

#define ORB    0x04

/** @brief Initialize the motors **/

#define MOTORS 0x08

/** @brief Initialize I2C **/

#define I2C    0x20

/** @brief Initialize the buzzer **/

#define BUZZER 0x40

/** @brief Initialize the LCD screen **/

#define LCD    0x80

/** @brief Initialize the rangefinders **/

#define RANGE  0x0100

/** @brief Initialize the BOM **/

#define BOM  0x0200

/** @brief Initilize encoders **/

#define ENCODERS 0x400

/** @brief Initialize everything  **/

#define ALL_ON 0x07FF 

 /** @} **/ //end addtogroup

 /** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/

#define SYNC ATOMIC_BLOCK(ATOMIC_RESTORESTATE)

/** @brief atomically grab a lock if it is free, return otherwise **/

#define REQUIRE_LOCK_OR_RETURN(LOCK) do { SYNC { if (LOCK) return; LOCK=1; } } while (0)

/** @brief atomically release a lock **/

#define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0)

#ifdef DRAGONFLY_DEBUG

#define DRAGONFLY_DEBUG_PRINT(s) usb_puts(s)

#define DRAGONFLY_DEBUG_PRINTLN(s) usb_puts(__FILE__ ":" __LINE__ ">>" s "\r\n")

#define DRAGONFLY_DEBUG_PRINT_INT(i) usb_puti(i)

#else

#define DRAGONFLY_DEBUG_PRINT(s)

#define DRAGONFLY_DEBUG_PRINTLN(s)

#define DRAGONFLY_DEBUG_PRINT_INT(i)

#endif

#endif