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Revision 1345

Added by Rich Hong almost 11 years ago

Final spline code for master/slave

updated outdated libdragonfly and libwireless

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dragonfly_lib.c
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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.c
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 * @brief Dragonfly initialization
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 *
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 * Contains implementation of dragonfly_init.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#include <dragonfly_lib.h>
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/* init_dragonfly - Initializes functions based on configuration parameters
......
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 * @see analog_init, usb_init, xbee_init, buzzer_init,
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 * bom_init, orb_init, motors_init, lcd_init
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 **/
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void flash_red(void);
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void dragonfly_init(int config) 
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{
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	// Set directionality of various IO pins
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	DDRG &= ~(_BV(PING0)|_BV(PING1));
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	PORTG |= _BV(PING0)|_BV(PING1);
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	if(config & ANALOG) {
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		analog_init();
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	}
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	if(config & COMM) {
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    //Defaults to 115200. Check serial.h for more information.
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    sei();
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    usb_init();
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    xbee_init();
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	}
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	if(config & BUZZER) {
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    sei();
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		buzzer_init();
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	}
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	if(config & ORB) {
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    sei();
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		orb_init();
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	}
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	if(config & MOTORS) {
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		motors_init();
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	}
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	if(config & SERVOS) {
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		sei();
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    //Servos not yet implemented
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    //servo_init();
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	}
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    // Set directionality of various IO pins
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    DDRG &= ~(_BV(PING0)|_BV(PING1));
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    PORTG |= _BV(PING0)|_BV(PING1);
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    if(config & ANALOG)
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        analog_init(ADC_START);
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    if(config & COMM)
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    {
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        //Defaults to 115200. Check serial.h for more information.
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        usb_init();
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        xbee_init();
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    }
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    if(config & BUZZER)
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    {
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        sei();
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        buzzer_init();
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    }
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    if(config & ORB)
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    {
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        sei();
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        orb_init();
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    }
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    if(config & MOTORS)
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        motors_init();
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	if(config & LCD) {
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		lcd_init();
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	}
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	if(config & (SERVOS | ORB)) {
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    if(config & LCD)
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        lcd_init();
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    if(config & RANGE)
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        range_init();
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    if(config & BOM)
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    {
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        unsigned char bom_read = get_bom_type();
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        if(bom_read == 0xFF)
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            //warn that bom initialization failed
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            flash_red();
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        else
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            bom_init(bom_read);
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    }
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    // delay a bit for stability
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    _delay_ms(1);
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}
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//flash lights red three times and restore ports
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void flash_red(void)
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{
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    cli();
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    char dd = DDRC;
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    char po = PORTC;
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    char i;
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    DDRC = 0x77;
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    for(i = 0; i<3; i++)
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    {
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        PORTC = 0x77;
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        delay_ms(300);
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        PORTC = 0x66;
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        delay_ms(300);
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    }
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    DDRC = dd;
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    PORTC = po;
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    sei();
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    orb_init();
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    //Servos not yet implemented
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	}
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	// delay a bit for stability
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	_delay_ms(1);
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}
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/** @} **/ //end defgroup
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