root / trunk / code / lib / src / libdragonfly / dragonfly_lib.c @ 277
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| 1 | 276 | emarinel | /**
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| 2 | * Copyright (c) 2007 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 9 | * copies of the Software, and to permit persons to whom the
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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | **/
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| 25 | |||
| 26 | |||
| 27 | /**
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| 28 | * @file dragonfly_lib.c
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| 29 | * @brief Dragonfly initialization
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| 30 | *
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| 31 | * Contains implementation of dragonfly_init.
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| 32 | *
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| 33 | * @author Colony Project, CMU Robotics Club
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| 34 | **/
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| 35 | |||
| 36 | #include <dragonfly_lib.h> |
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| 37 | |||
| 38 | /* init_dragonfly - Initializes functions based on configuration parameters
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| 39 | 277 | emarinel | * examples:
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| 40 | *
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| 41 | * init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)
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| 42 | *
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| 43 | * init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200);
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| 44 | * Initialize ADC and set C0 and C1 as analog inputs. Initialize serial and set baud rate
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| 45 | * to 115200 bps. Initialize the buzzer.
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| 46 | *
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| 47 | * init_dragonfly (MOTORS | ORB, 0, 0);
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| 48 | * Initialize motor driving and the color fading abilities of the ORB.
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| 49 | */
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| 50 | 276 | emarinel | |
| 51 | /**
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| 52 | * @defgroup dragonfly Dragonfly
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| 53 | * @brief General Dragonfly Functions
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| 54 | * General functions for the dragonfly. Include
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| 55 | * dragonfly_lib.h to access these functions.
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| 56 | *
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| 57 | * @{
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| 58 | **/
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| 59 | |||
| 60 | /**
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| 61 | * Initializes the components specified by config.
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| 62 | *
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| 63 | * @see analog_init, usb_init, xbee_init, buzzer_init,
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| 64 | * bom_init, orb_init, motors_init, lcd_init
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| 65 | **/
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| 66 | void dragonfly_init(int config) |
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| 67 | {
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| 68 | 277 | emarinel | // Set directionality of various IO pins
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| 69 | DDRG &= ~(_BV(PING0)|_BV(PING1)); |
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| 70 | PORTG |= _BV(PING0)|_BV(PING1); |
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| 71 | 276 | emarinel | |
| 72 | 277 | emarinel | if (config & ANALOG) {
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| 73 | analog_init(); |
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| 74 | } |
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| 75 | 276 | emarinel | |
| 76 | 277 | emarinel | if (config & COMM) {
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| 77 | //Defaults to 115200. Check serial.h for more information.
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| 78 | sei(); |
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| 79 | usb_init(); |
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| 80 | xbee_init(); |
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| 81 | } |
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| 82 | 276 | emarinel | |
| 83 | 277 | emarinel | if (config & BUZZER) {
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| 84 | sei(); |
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| 85 | buzzer_init(); |
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| 86 | } |
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| 87 | 276 | emarinel | |
| 88 | 277 | emarinel | if (config & ORB) {
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| 89 | sei(); |
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| 90 | orb_init(); |
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| 91 | } |
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| 92 | 276 | emarinel | |
| 93 | 277 | emarinel | if (config & MOTORS) {
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| 94 | motors_init(); |
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| 95 | } |
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| 96 | 276 | emarinel | |
| 97 | 277 | emarinel | if (config & LCD) {
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| 98 | lcd_init(); |
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| 99 | } |
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| 100 | 276 | emarinel | |
| 101 | 277 | emarinel | // delay a bit for stability
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| 102 | _delay_ms(1);
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| 103 | 276 | emarinel | } |
| 104 | |||
| 105 | /** @} **/ //end defgroup |