root / branches / autonomous_recharging / code / projects / libbayboard / bayboard_lib.c @ 729
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1 | 647 | abuchan | /**
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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 bayboard_lib.c
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29 | * @brief Bayboard initialization
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30 | *
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31 | * Contains implementation of bayboard_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 <bayboard_lib.h> |
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37 | |||
38 | /* init_bayboard - Initializes functions based on configuration parameters
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39 | examples:*/
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40 | |||
41 | /**
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42 | * @defgroup bayboard Bayboard
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43 | * @brief General bayboard Functions
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44 | * General functions for the bayboard. Include
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45 | * bayboard_lib.h to access these functions.
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46 | *
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47 | * @{
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48 | **/
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49 | |||
50 | /**
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51 | * Initializes the components specified by config.
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52 | *
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53 | * @see usb_init, xbee_init,
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54 | * bom_init, orb_init
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55 | **/
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56 | void bayboard_init(int config) |
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57 | { |
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58 | if(config & COMM)
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59 | { |
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60 | //Defaults to 115200. Check serial.h for more information.
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61 | usb_init(); |
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62 | xbee_init(); |
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63 | } |
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64 | |||
65 | if(config & ORB)
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66 | { |
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67 | orb_init(); |
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68 | } |
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69 | |||
70 | sei(); |
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71 | // delay a bit for stability
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72 | _delay_ms(1);
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73 | } |
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74 | |||
75 | |||
76 | /** @} **/ //end defgroup |