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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file dragonfly_lib.h
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 * @brief Contains other include files
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 * 
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 * Include this file for all the functionality of libdragonfly.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#ifndef _DRAGONFLY_LIB_H_
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#define _DRAGONFLY_LIB_H_
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/**
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 * @addtogroup dragonfly
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 * @{
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 **/
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// Configuration definitions
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/** @brief Initialize analog **/
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#define ANALOG 0x01
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/** @brief Initialize serial communications **/
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#define SERIAL 0x02
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/** @brief Initialize USB communications **/
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#define USB    0x02
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/** @brief Initialize communications **/
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#define COMM   0x02
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/** @brief Initialize the orb **/
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#define ORB    0x04
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/** @brief Initialize the motors **/
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#define MOTORS 0x08
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/** @brief Initialize I2C **/
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#define I2C    0x20
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/** @brief Initialize the buzzer **/
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#define BUZZER 0x40
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/** @brief Initialize the LCD screen **/
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#define LCD    0x80
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/** @brief Initialize the rangefinders **/
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#define RANGE  0x0100
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/** @brief Initialize the BOM **/
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#define BOM  0x0200
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/** @brief Initialize everything  **/
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#define ALL_ON 0x03FF
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/** @brief Initialize the board **/
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void dragonfly_init(int config);
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/** @} **/ //end addtogroup
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#include <inttypes.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <util/twi.h>
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// This file is included from the libdragonfly directory because it seems to be
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// missing from the AVR libc distribution.
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#include "atomic.h"
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#include <analog.h>
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#include <dio.h>
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#include <time.h>
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#include <lcd.h>
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#include <lights.h>
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#include <motor.h>
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#include <serial.h>
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#include <buzzer.h>
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#include <rangefinder.h>
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#include <bom.h>
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#include <move.h>
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#include <reset.h>
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#include <math.h>
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#include <eeprom.h>
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#include <stdbool.h>
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/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/
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#define SYNC ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
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/** @brief atomically grab a lock if it is free, return otherwise **/
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#define REQUIRE_LOCK_OR_RETURN(LOCK) do { SYNC { if (LOCK) return; LOCK=1; } } while (0)
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/** @brief atomically release a lock **/
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#define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0)
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#endif
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