void respondLeft() {
accelreverse();
int rearCase = 0;
for( unsigned int time = 35000; time > 0; time-- ) {
rearCase = determineRearCase();
switch(rearCase) {
case 0:
break;
case 1://left sensed activated
ledSetup(3);
rotateRight();
longDelay(3);
accelforward();
return;
case 2://right sensed
ledSetup(3);
pivotForwardAroundRight();
longDelay(3);
accelforward();
return;
}
}
rotateRight();
longDelay(7);
accelforward();
}
void sense() {
if( ~P7IN & BIT5 ) {
ledSetup(2);
respondLeft();
ledSetup(0);
} else if( ~P7IN & BIT6 ) {
ledSetup(2);
respondRight();
ledSetup(0);
}
}
int main( void )
{
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
//Initialize the movement parameters
P10OUT &= ~(BIT4+BIT5+BIT6+BIT7); // P10.0-3 low
P10SEL = 0x00; // All of port 10 set up for digital I/O
P10DIR |= BIT4+BIT5+BIT6+BIT7; // configure P10.0 as output
//set up LEDs
P1SEL &= ~(BIT1 + BIT0); // configure P1.0 & P1.1 for digital IO
P1DIR |= BIT0 + BIT1;
ledSetup(1);
P6OUT |= BIT7;
P6DIR &= ~BIT7;
P6REN |= BIT7;
P7OUT |= BIT4+BIT5+BIT6;
P7DIR &= ~BIT4+BIT5+BIT6;
P7REN |= BIT4+BIT5+BIT6;
//setup the button
P2OUT = BIT6;
P2DIR = ~BIT6;
P2REN = BIT6;
while( P2IN & BIT6 );
ledSetup(0);
accelforward();
while( P2IN & BIT6 ) {
sense();
}
stop();
return 0;
}
void setup(){
// NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 0 bits for preemption, 4 bits for subpriority
/* Set up interrupt controller: 2 bits for priority (0-3),
* 2 bits for sub-priority (0-3). Priorities control which
* interrupts are allowed to preempt one another.
*/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Increase SysTick priority to be higher than USB interrupt
* priority. USB code stalls inside interrupt and we can't let
* this throw off the SysTick timer.
*/
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, SYSTICK_PRIORITY, SYSTICK_SUBPRIORITY));
NVIC_SetPriority(DMA1_Stream3_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 0, 0));
NVIC_SetPriority(DMA1_Stream4_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 0, 0));
NVIC_SetPriority(SPI2_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 1, 0));
NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 2, 0));
ledSetup();
setLed(RED);
/* check if we need to DFU boot */
configureDigitalInput(SWITCH_B_PORT, SWITCH_B_PIN, GPIO_PuPd_UP);
if(isPushButtonPressed())
jump_to_bootloader();
adcSetup();
clockSetup();
setupSwitchA(footSwitchCallback);
setupSwitchB(pushButtonCallback);
settings.init();
midi.init(MIDI_CHANNEL);
patches.init();
#ifdef EXPRESSION_PEDAL
#ifndef OWLMODULAR
setupExpressionPedal();
#endif
#endif
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); // DEBUG
configureDigitalOutput(GPIOB, GPIO_Pin_1); // PB1, DEBUG LED
debugClear();
#ifdef DEBUG_AUDIO
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); // DEBUG
configureDigitalOutput(GPIOA, GPIO_Pin_7); // PA7 DEBUG
configureDigitalOutput(GPIOC, GPIO_Pin_5); // PC5 DEBUG
clearPin(GPIOC, GPIO_Pin_5); // DEBUG
clearPin(GPIOA, GPIO_Pin_7); // DEBUG
#endif /* DEBUG_AUDIO */
usb_init();
#if SERIAL_PORT == 1
setupSerialPort1(115200);
#elif SERIAL_PORT == 2
setupSerialPort2(115200); // expression pedal
#warning expression pedal jack configured as serial port
#ifdef EXPRESSION_PEDAL
#error invalid configuration
#endif
#endif
#ifdef OWLMODULAR
configureDigitalInput(GPIOB, GPIO_Pin_6, GPIO_PuPd_NOPULL); // PB6 OWL Modular digital input
configureDigitalOutput(GPIOB, GPIO_Pin_7); // PB7 OWL Modular digital output
setPin(GPIOB, GPIO_Pin_7); // PB7 OWL Modular digital output
#endif
codec.setup();
codec.init(settings);
printString("startup\n");
updateBypassMode();
codec.start();
}
void mainSetup() {
ledSetup();
buttonSetup();
}
