Revision 1543
Added a bunch of debug prints to the library
| dragonfly_lib.c | ||
|---|---|---|
| 69 | 69 |
{
|
| 70 | 70 |
int ret = 0; |
| 71 | 71 |
|
| 72 |
DRAGONFLY_DEBUG_PRINT("in dragonfly_init\r\n");
|
|
| 73 |
|
|
| 72 | 74 |
sei(); |
| 73 | 75 |
// Set directionality of various IO pins |
| 74 | 76 |
DDRG &= ~(_BV(PING0)|_BV(PING1)); |
| 75 | 77 |
PORTG |= _BV(PING0)|_BV(PING1); |
| 76 | 78 |
|
| 77 | 79 |
if(config & ANALOG) {
|
| 78 |
analog_init(ADC_START); |
|
| 80 |
if((ret = analog_init(ADC_START))) {
|
|
| 81 |
DRAGONFLY_DEBUG_PRINT("analog_init returned ");
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|
| 82 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 83 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
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|
| 84 |
} |
|
| 85 |
/*TODO: return error already init'd or maybe something else if |
|
| 86 |
one of these inits returns that? */ |
|
| 79 | 87 |
} |
| 80 | 88 |
|
| 81 | 89 |
if(config & COMM) |
| 82 | 90 |
{
|
| 83 | 91 |
//Defaults to 115200. Check serial.h for more information. |
| 84 |
usb_init(); |
|
| 85 |
xbee_init(); |
|
| 92 |
if((ret = usb_init())) {
|
|
| 93 |
DRAGONFLY_DEBUG_PRINT("usb_init returned ");
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|
| 94 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 95 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
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|
| 96 |
} |
|
| 97 |
if((ret = xbee_init())) {
|
|
| 98 |
DRAGONFLY_DEBUG_PRINT("xbee_init returned ");
|
|
| 99 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 100 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
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|
| 101 |
} |
|
| 86 | 102 |
} |
| 87 | 103 |
|
| 88 | 104 |
if(config & BUZZER) |
| 89 | 105 |
{
|
| 90 |
sei();
|
|
| 91 |
buzzer_init();
|
|
| 106 |
//sei(); This is already done above
|
|
| 107 |
buzzer_init(); |
|
| 92 | 108 |
} |
| 93 | 109 |
|
| 94 | 110 |
if(config & ORB) |
| 95 | 111 |
{
|
| 96 |
sei();
|
|
| 97 |
orb_init();
|
|
| 112 |
//sei(); This is already done above
|
|
| 113 |
orb_init(); |
|
| 98 | 114 |
} |
| 99 | 115 |
|
| 100 |
if(config & MOTORS) |
|
| 101 |
motors_init(); |
|
| 116 |
if(config & MOTORS) {
|
|
| 117 |
if((ret = motors_init())) {
|
|
| 118 |
DRAGONFLY_DEBUG_PRINT("motors_init returned ");
|
|
| 119 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 120 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
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|
| 121 |
} |
|
| 122 |
} |
|
| 102 | 123 |
|
| 103 |
if(config & LCD) |
|
| 104 |
lcd_init(); |
|
| 124 |
if(config & LCD) {
|
|
| 125 |
lcd_init(); |
|
| 126 |
} |
|
| 105 | 127 |
|
| 106 |
if(config & RANGE) |
|
| 107 |
range_init(); |
|
| 128 |
if(config & RANGE) {
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| 129 |
|
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| 130 |
if((ret = range_init())) {
|
|
| 131 |
DRAGONFLY_DEBUG_PRINT("range_init returned ");
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|
| 132 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 133 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
|
|
| 134 |
} |
|
| 135 |
} |
|
| 108 | 136 |
|
| 109 | 137 |
if(config & BOM) |
| 110 | 138 |
{
|
| 111 | 139 |
unsigned char bom_read = get_bom_type(); |
| 140 |
DRAGONFLY_DEBUG_PRINT("Got BOM type ");
|
|
| 141 |
DRAGONFLY_DEBUG_PRINT_INT(bom_read); |
|
| 142 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
|
|
| 143 |
|
|
| 112 | 144 |
if(bom_read == 0xFF) {
|
| 113 |
//warn that bom initialization failed |
|
| 114 |
flash_red(); |
|
| 115 |
return ERROR_INIT_FAILED; |
|
| 145 |
//warn that bom initialization failed |
|
| 146 |
DRAGONFLY_DEBUG_PRINT("WARNING: invalid BOM type!\r\n");
|
|
| 147 |
flash_red(); |
|
| 148 |
return ERROR_INIT_FAILED; |
|
| 116 | 149 |
} |
| 117 |
else |
|
| 118 |
if (bom_init(bom_read) != 0) |
|
| 150 |
else {
|
|
| 151 |
if ((ret = bom_init(bom_read))) {
|
|
| 152 |
DRAGONFLY_DEBUG_PRINT("bom_init returned ");
|
|
| 153 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 154 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
|
|
| 119 | 155 |
return ERROR_INIT_FAILED; |
| 156 |
} |
|
| 157 |
} |
|
| 120 | 158 |
} |
| 121 | 159 |
|
| 122 | 160 |
if (config & ENCODERS) |
| 123 | 161 |
{
|
| 124 |
encoders_init(); |
|
| 162 |
if((ret = encoders_init())) {
|
|
| 163 |
DRAGONFLY_DEBUG_PRINT("encoders_init returned ");
|
|
| 164 |
DRAGONFLY_DEBUG_PRINT_INT(ret); |
|
| 165 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
|
|
| 166 |
} |
|
| 167 |
|
|
| 125 | 168 |
} |
| 126 | 169 |
|
| 170 |
DRAGONFLY_DEBUG_PRINT("dragonfly_init complete\r\n");
|
|
| 171 |
|
|
| 127 | 172 |
// delay a bit for stability |
| 128 | 173 |
_delay_ms(1); |
| 129 | 174 |
|
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