Revision 437
Cleaned up analog.c code. Recompiled library. Mostly commenting and
documentation fixes. No changes made to actual code.
| dragonfly_lib.c | ||
|---|---|---|
| 62 | 62 |
* @see analog_init, usb_init, xbee_init, buzzer_init, |
| 63 | 63 |
* bom_init, orb_init, motors_init, lcd_init |
| 64 | 64 |
**/ |
| 65 |
void dragonfly_init(int config) |
|
| 66 |
{
|
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| 67 |
sei(); |
|
| 65 |
void dragonfly_init(int config) {
|
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| 66 |
sei(); |
|
| 68 | 67 |
|
| 69 |
// Set directionality of various IO pins
|
|
| 70 |
DDRG &= ~(_BV(PING0)|_BV(PING1));
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| 71 |
PORTG |= _BV(PING0)|_BV(PING1);
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| 68 |
// 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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| 72 | 71 |
|
| 73 |
if(config & ANALOG)
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| 74 |
analog_init(ADC_START);
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| 72 |
if(config & ANALOG)
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| 73 |
analog_init(ADC_START);
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| 75 | 74 |
|
| 76 |
if(config & COMM) |
|
| 77 |
{
|
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| 78 |
//Defaults to 115200. Check serial.h for more information. |
|
| 79 |
usb_init(); |
|
| 80 |
xbee_init(); |
|
| 81 |
} |
|
| 75 |
if(config & COMM) {
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| 76 |
//Defaults to 115200. Check serial.h for more information. |
|
| 77 |
usb_init(); |
|
| 78 |
xbee_init(); |
|
| 79 |
} |
|
| 82 | 80 |
|
| 83 |
if(config & BUZZER) |
|
| 84 |
{
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| 85 |
sei(); |
|
| 86 |
buzzer_init(); |
|
| 87 |
} |
|
| 81 |
if(config & BUZZER) {
|
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| 82 |
sei(); |
|
| 83 |
buzzer_init(); |
|
| 84 |
} |
|
| 88 | 85 |
|
| 89 |
if(config & ORB) |
|
| 90 |
{
|
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| 91 |
sei(); |
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| 92 |
orb_init(); |
|
| 93 |
} |
|
| 86 |
if(config & ORB) {
|
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| 87 |
sei(); |
|
| 88 |
orb_init(); |
|
| 89 |
} |
|
| 94 | 90 |
|
| 95 |
if(config & MOTORS)
|
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| 96 |
motors_init();
|
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| 91 |
if(config & MOTORS)
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| 92 |
motors_init();
|
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| 97 | 93 |
|
| 98 |
if(config & LCD)
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| 99 |
lcd_init();
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| 94 |
if(config & LCD)
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| 95 |
lcd_init();
|
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| 100 | 96 |
|
| 101 |
if(config & ORB) |
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| 102 |
{
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| 103 |
sei(); |
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| 104 |
orb_init(); |
|
| 105 |
} |
|
| 97 |
if(config & ORB) {
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| 98 |
sei(); |
|
| 99 |
orb_init(); |
|
| 100 |
} |
|
| 106 | 101 |
|
| 107 |
// delay a bit for stability
|
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| 108 |
_delay_ms(1);
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| 102 |
// delay a bit for stability
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| 103 |
_delay_ms(1);
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| 109 | 104 |
} |
| 110 | 105 |
|
| 111 | 106 |
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