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 (ALL_ON); - Turns on all basic subsystems. More complex ones that require

 *                 their own configuration parameters must still be called on their own.

 *

 * init_dragonfly (ANALOG | SERIAL | BUZZER); 

 * Initialize ADC, USB, XBee, and Buzzer

 * 

 * init_dragonfly (MOTORS | ORB);

 * Initialize the motors and 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. Will turn on interrupts

 *         automatically.

 *

 *         @param config The subsystems that you wish to turn on. Check dragonfly_lib.h for

 *                         valid values.

 * 

 * @see analog_init, usb_init, xbee_init, buzzer_init,

 * bom_init, orb_init, motors_init, lcd_init

 **/

void dragonfly_init(int config) {

  sei();

  //Enables the hardware buttons on the board as input pins

        //        with internal pullups enabled.

        //Pin G0 is button 1

        //Pin G1 is button 2

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

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

  if(config & ANALOG)

    analog_init(ADC_START);

  if(config & COMM) {

    //Both default to 115200. Check serial.h for more information.

    usb_init();

    xbee_init();

  }

  if(config & BUZZER) {

    buzzer_init();

  }

  if(config & ORB) {

    orb_init();

  }

  if(config & MOTORS)

    motors_init();

  if(config & LCD)

    lcd_init();

  // delay a bit for stability

  _delay_ms(1);

}

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