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 bayboard_lib.c

 * @brief Bayboard initialization

 *

 * Contains implementation of bayboard_init.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <bayboard_lib.h>

/* init_bayboard - Initializes functions based on configuration parameters

   examples:*/

/**

 * @defgroup bayboard Bayboard

 * @brief General bayboard Functions

 * General functions for the bayboard. Include

 * bayboard_lib.h to access these functions.

 *

 * @{

 **/

/**

 * Initializes the components specified by config.

 * 

 * @see usb_init, xbee_init, 

 * bom_init, orb_init

 **/

void bayboard_init(int config) 

{        

        if(config & COMM)

        {

                //Defaults to 115200. Check serial.h for more information.

                usb_init();

                xbee_init();

        }

        if(config & ORB)

        {

                orb_init();

        }

        if(config & IR)

        {

                IR_init();

        }

        sei();

        // delay a bit for stability

        _delay_ms(1);

}

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