void DebugMain_Initialise(void)
{
#ifdef DEBUG_MODE
#ifdef FDC_DEBUG
FDC_Debug = Debug_Start("fdc-dbg.txt");
Debug_Enable(FDC_Debug,FALSE);
#endif
#ifdef CRTC_DEBUG
CRTC_Debug = Debug_Start("crtc-dbg.txt");
Debug_Enable(CRTC_Debug,FALSE);
#endif
#ifdef ASIC_DEBUGGING
ASIC_Debug = Debug_Start("asic-dbg.txt");
Debug_Enable(ASIC_Debug,FALSE);
#endif
#ifdef AUDIOEVENT_DEBUG
AudioEvent_Debug = Debug_Start("audio-dbg.txt");
Debug_Enable(AudioEvent_Debug,FALSE);
#endif
#endif
}
void DebugMain_Initialise(void)
{
#ifdef DEBUG_MODE
#ifdef FDC_DEBUG
FDC_Debug = Debug_Start("fdc-dbg.txt");
Debug_Enable(FDC_Debug,FALSE);
#endif
#ifdef CRTC_DEBUG
CRTC_Debug = Debug_Start("crtc-dbg.txt");
Debug_Enable(CRTC_Debug,FALSE);
#endif
#ifdef ASIC_DEBUGGING
ASIC_Debug = Debug_Start("asic-dbg.txt");
Debug_Enable(ASIC_Debug,FALSE);
#endif
#ifdef AUDIOEVENT_DEBUG
AudioEvent_Debug = Debug_Start("audio-dbg.txt");
Debug_Enable(AudioEvent_Debug,FALSE);
#endif
#ifdef TZX_DEBUG
TZX_Debug = Debug_Start("tzx-dbg.txt");
Debug_Enable(TZX_Debug,FALSE);
#endif
#ifdef KEY_DEBUG
Debug_Keyboard = Debug_Start("key-dbg.txt");
Debug_Enable(Debug_Keyboard, TRUE);
#endif
#endif
}
int main()
{
PS2Controller psData;
char str[20];
uint8 state = 0;
CYBIT circle_flag=0,cross_flag=0,previous_circle=0,previous_cross=0;
CyGlobalIntEnable; /* Enable global interrupts. */
PS2_Start();
Debug_Start();
initLin();
flag_StartEx(flag_isr);
while(1){
psData = PS2_Controller_get();
/*Machine Initialization*/
Automatic_State(0);
/*-----Automatic Control------*/
if((psData.SELECT == 1) && (psData.TRIANGLE == 1)){
sprintf(str,"automatic mode\n");
Debug_PutString(str);
while(1){
psData = PS2_Controller_get();
//mode reset
if((psData.SELECT == 1) &&(psData.START == 1)){
state = 0;
sprintf(str,"mode reset\n");
Debug_PutString(str);
break;
}
//State Increment
if(psData.CIRCLE != previous_circle){
previous_circle = psData.CIRCLE;
if(psData.CIRCLE == 1){
state = state + 1;
}
}
//State Decrement
if(psData.CROSS != previous_cross){
previous_cross = psData.CROSS;
if(psData.CROSS == 1){
if(state >= 1){
state = state - 1;
}
}
}
if(flag == 1){
Automatic_State(state);
flag = 0;
}
}
}
/*-----Manual Control------*/
if((psData.SELECT == 1) && (psData.CROSS == 1)){
sprintf(str,"manual mode\n");
Debug_PutString(str);
while(1){
psData = PS2_Controller_get();
//mode reset
if((psData.SELECT == 1) &&(psData.START == 1)){
sprintf(str,"mode reset\n");
Debug_PutString(str);
break;
}
/*Arm*/
Arm_Motion(psData.L1);
/*Base*/
Base_Motion(psData.UP,psData.RIGHT,psData.DOWN);
/*Air*/
Pantograph_Motion(psData.TRIANGLE);
PantographHand_Motion(psData.CIRCLE);
MainHand_Motion(psData.SQUARE);
SidesHands_Motion(psData.CROSS);
}
}
}
}
