Revision 241
Updated libdragonfly documentation.
| 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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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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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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if(config & COMM) |
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{
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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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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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sei(); |
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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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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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if(config & LCD) {
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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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sei();
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orb_init();
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//Servos not yet implemented
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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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// delay a bit for stability |
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