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_lib.h

 * @brief Contains other include files

 *

 * Include this file for all the functionality of libdragonfly.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _DRAGONFLY_LIB_H_

#define _DRAGONFLY_LIB_H_

/**

 * @addtogroup dragonfly

 * @{

 **/

// 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

/** @brief Initialize the board **/

void dragonfly_init(int config);

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

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include <util/twi.h>

// This file is included from the libdragonfly directory because it seems to be

// missing from the AVR libc distribution.

#include "atomic.h"

#include "analog.h"

#include "dio.h"

#include "time.h"

#include "lcd.h"

#include "lights.h"

#include "motor.h"

#include "serial.h"

#include "buzzer.h"

#include "rangefinder.h"

#include "bom.h"

#include "encoders.h"

#include "move.h"

#include "reset.h"

#include "math.h"

#include "eeprom.h"

#include <stddef.h>

#include <stdbool.h>

/** @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)

#endif