root / branches / encoders / code / lib / src / libdragonfly / dragonfly_lib.c @ 1345
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| 1 | 7 | bcoltin | #include <dragonfly_lib.h> |
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| 2 | |||
| 3 | /* init_dragonfly - Initializes functions based on configuration parameters
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| 4 | examples:
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| 5 | |||
| 6 | init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)
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| 7 | |||
| 8 | init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200);
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| 9 | Initialize ADC and set C0 and C1 as analog inputs. Initialize serial and set baud rate
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| 10 | to 115200 bps. Initialize the buzzer.
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| 11 | |||
| 12 | init_dragonfly (MOTORS | ORB, 0, 0);
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| 13 | Initialize motor driving and the color fading abilities of the ORB. */
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| 14 | |||
| 15 | /**
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| 16 | * @defgroup dragonfly Dragonfly
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| 17 | * @brief General Dragonfly Functions
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| 18 | * General functions for the dragonfly. Include
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| 19 | * dragonfly_lib.h to access these functions.
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| 20 | *
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| 21 | * @{
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| 22 | **/
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| 23 | |||
| 24 | /**
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| 25 | * Initializes the components specified by config.
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| 26 | *
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| 27 | * @see analog_init, usb_init, xbee_init, buzzer_init,
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| 28 | * bom_init, orb_init, motors_init, lcd_init
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| 29 | **/
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| 30 | void dragonfly_init(int config) |
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| 31 | {
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| 32 | // Set directionality of various IO pins
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| 33 | DDRG &= ~(_BV(PING0)|_BV(PING1)); |
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| 34 | PORTG |= _BV(PING0)|_BV(PING1); |
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| 35 | |||
| 36 | if(config & ANALOG) {
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| 37 | analog_init(); |
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| 38 | } |
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| 39 | |||
| 40 | if(config & COMM) {
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| 41 | //Defaults to 115200. Check serial.h for more information.
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| 42 | sei(); |
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| 43 | usb_init(); |
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| 44 | xbee_init(); |
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| 45 | } |
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| 46 | |||
| 47 | if(config & BUZZER) {
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| 48 | sei(); |
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| 49 | buzzer_init(); |
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| 50 | } |
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| 51 | |||
| 52 | if(config & ORB) {
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| 53 | sei(); |
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| 54 | orb_init(); |
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| 55 | } |
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| 56 | |||
| 57 | if(config & MOTORS) {
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| 58 | motors_init(); |
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| 59 | } |
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| 60 | |||
| 61 | if(config & SERVOS) {
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| 62 | sei(); |
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| 63 | //Servos not yet implemented
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| 64 | //servo_init();
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| 65 | } |
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| 66 | |||
| 67 | if(config & LCD) {
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| 68 | lcd_init(); |
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| 69 | } |
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| 70 | |||
| 71 | if(config & (SERVOS | ORB)) {
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| 72 | sei(); |
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| 73 | orb_init(); |
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| 74 | //Servos not yet implemented
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| 75 | } |
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| 76 | |||
| 77 | // delay a bit for stability
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| 78 | _delay_ms(1);
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| 79 | } |
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| 80 | |||
| 81 | |||
| 82 | /** @} **/ //end defgroup |