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.c

 * @brief Dragonfly initialization

 *

 * Contains implementation of dragonfly_init.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "dragonfly_lib.h"

/* init_dragonfly - Initializes functions based on configuration parameters

   examples:

   init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)

   init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200); 

   Initialize ADC and set C0 and C1 as analog inputs.  Initialize serial and set baud rate

   to 115200 bps.  Initialize the buzzer.

   init_dragonfly (MOTORS | ORB, 0, 0);

   Initialize motor driving and the color fading abilities of the ORB. */

/**

 * @defgroup dragonfly Dragonfly

 * @brief General Dragonfly Functions

 * General functions for the dragonfly. Include

 * dragonfly_lib.h to access these functions.

 *

 * @{

 **/

/**

 * Initializes the components specified by config.

 * 

 * @see analog_init, usb_init, xbee_init, buzzer_init,

 * bom_init, orb_init, motors_init, lcd_init, encoders_init

 **/

void flash_red(void);

int dragonfly_init(int config) 

{

  int ret = 0;

  DRAGONFLY_DEBUG_PRINT("in dragonfly_init\r\n");

    sei();

    // Set directionality of various IO pins

    DDRG &= ~(_BV(PING0)|_BV(PING1));

    PORTG |= _BV(PING0)|_BV(PING1);

    if(config & ANALOG) {

      if((ret = analog_init(ADC_START))) {

        DRAGONFLY_DEBUG_PRINT("analog_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

      /*TODO: return error already init'd or maybe something else if

        one of these inits returns that? */

    }

    if(config & COMM)

    {

        //Defaults to 115200. Check serial.h for more information.

      if((ret =  usb_init())) {

        DRAGONFLY_DEBUG_PRINT("usb_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

      if((ret =  xbee_init())) {

        DRAGONFLY_DEBUG_PRINT("xbee_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

    }

    if(config & BUZZER)

    {

      //sei(); This is already done above

      buzzer_init();

    }

    if(config & ORB)

    {

      //sei(); This is already done above

      orb_init();

    }

    if(config & MOTORS) {

      if((ret =  motors_init())) {

        DRAGONFLY_DEBUG_PRINT("motors_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

    }

    if(config & LCD) {

      lcd_init();

    }

    if(config & RANGE) {

      if((ret =  range_init())) {

        DRAGONFLY_DEBUG_PRINT("range_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

    }

    if(config & BOM)

    {

        unsigned char bom_read = get_bom_type();

        DRAGONFLY_DEBUG_PRINT("Got BOM type ");

        DRAGONFLY_DEBUG_PRINT_INT(bom_read);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

        if(bom_read == 0xFF) {

          //warn that bom initialization failed

          DRAGONFLY_DEBUG_PRINT("WARNING: invalid BOM type!\r\n");

          flash_red();

          return ERROR_INIT_FAILED;

        }

        else {

          if ((ret = bom_init(bom_read))) {

            DRAGONFLY_DEBUG_PRINT("bom_init returned ");

            DRAGONFLY_DEBUG_PRINT_INT(ret);

            DRAGONFLY_DEBUG_PRINT_STR("\r\n");

            return ERROR_INIT_FAILED;

          }

        }

    }

    if (config & ENCODERS)

    {

      if((ret =  encoders_init())) {

        DRAGONFLY_DEBUG_PRINT("encoders_init returned ");

        DRAGONFLY_DEBUG_PRINT_INT(ret);

        DRAGONFLY_DEBUG_PRINT_STR("\r\n");

      }

    }

    DRAGONFLY_DEBUG_PRINT("dragonfly_init complete\r\n");

    // delay a bit for stability

    _delay_ms(1);

  return 0;

}

//flash lights red three times and restore ports

void flash_red(void)

{

    cli();

    char dd = DDRC;

    char po = PORTC;

    char i;

    DDRC = 0x77;

    for(i = 0; i<3; i++)

    {

        PORTC = 0x77;

        delay_ms(300);

        PORTC = 0x66;

        delay_ms(300);

    }

    DDRC = dd;

    PORTC = po;

    sei();

}

/** @} **/ //end defgroup