root / demos / hunter_prey / lib / src / libdragonfly / dragonfly_lib.c @ 1828
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1 | 1828 | emullini | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file dragonfly_lib.c
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29 | * @brief Dragonfly initialization
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30 | *
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31 | * Contains implementation of dragonfly_init.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | **/
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35 | |||
36 | #include "dragonfly_lib.h" |
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37 | |||
38 | /* init_dragonfly - Initializes functions based on configuration parameters
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39 | examples:
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40 | |||
41 | init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)
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42 | |||
43 | init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200);
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44 | Initialize ADC and set C0 and C1 as analog inputs. Initialize serial and set baud rate
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45 | to 115200 bps. Initialize the buzzer.
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46 | |||
47 | init_dragonfly (MOTORS | ORB, 0, 0);
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48 | Initialize motor driving and the color fading abilities of the ORB. */
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49 | |||
50 | /**
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51 | * @defgroup dragonfly Dragonfly
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52 | * @brief General Dragonfly Functions
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53 | * General functions for the dragonfly. Include
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54 | * dragonfly_lib.h to access these functions.
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55 | *
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56 | * @{
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57 | **/
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58 | |||
59 | /**
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60 | * Initializes the components specified by config.
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61 | *
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62 | * @see analog_init, usb_init, xbee_init, buzzer_init,
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63 | * bom_init, orb_init, motors_init, lcd_init, encoders_init
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64 | **/
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65 | |||
66 | void flash_red(void); |
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67 | |||
68 | void dragonfly_init(int config) |
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69 | { |
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70 | sei(); |
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71 | // Set directionality of various IO pins
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72 | DDRG &= ~(_BV(PING0)|_BV(PING1)); |
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73 | PORTG |= _BV(PING0)|_BV(PING1); |
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74 | |||
75 | if(config & ANALOG)
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76 | analog_init(ADC_START); |
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77 | |||
78 | if(config & COMM)
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79 | { |
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80 | //Defaults to 115200. Check serial.h for more information.
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81 | usb_init(); |
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82 | xbee_init(); |
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83 | } |
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84 | |||
85 | if(config & BUZZER)
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86 | { |
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87 | sei(); |
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88 | buzzer_init(); |
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89 | } |
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90 | |||
91 | if(config & ORB)
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92 | { |
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93 | sei(); |
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94 | orb_init(); |
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95 | } |
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96 | |||
97 | if(config & MOTORS)
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98 | motors_init(); |
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99 | |||
100 | if(config & LCD)
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101 | lcd_init(); |
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102 | |||
103 | if(config & RANGE)
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104 | range_init(); |
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105 | |||
106 | if(config & BOM)
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107 | { |
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108 | unsigned char bom_read = get_bom_type(); |
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109 | if(bom_read == 0xFF) |
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110 | //warn that bom initialization failed
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111 | flash_red(); |
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112 | else
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113 | bom_init(bom_read); |
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114 | } |
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115 | |||
116 | if (config & ENCODERS)
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117 | { |
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118 | encoders_init(); |
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119 | } |
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120 | |||
121 | // delay a bit for stability
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122 | _delay_ms(1);
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123 | } |
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124 | |||
125 | //flash lights red three times and restore ports
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126 | void flash_red(void) |
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127 | { |
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128 | cli(); |
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129 | char dd = DDRC;
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130 | char po = PORTC;
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131 | char i;
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132 | DDRC = 0x77;
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133 | for(i = 0; i<3; i++) |
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134 | { |
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135 | PORTC = 0x77;
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136 | delay_ms(300);
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137 | PORTC = 0x66;
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138 | delay_ms(300);
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139 | } |
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140 | |||
141 | DDRC = dd; |
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142 | PORTC = po; |
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143 | sei(); |
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144 | } |
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145 | /** @} **/ //end defgroup |