int main(void)
{
BYTE stBtn1;
BYTE stBtn2;
DeviceInit();
AppInit();
while(stBtn1!=stPressed && stBtn2!=stPressed)
{
mT5IntEnable(fFalse);
stBtn1 = btnBtn1.stBtn;
stBtn2 = btnBtn2.stBtn;
mT5IntEnable(fTrue);
}
RightReverse;
LeftReverse;
SetLeftSpeed(dtcMtrMedium);
SetRightSpeed(dtcMtrMedium);
mCNIntEnable(fTrue); //Sensors will trigger
while(fTrue);
}
void setup_spi() {
// TODO move it out of here
INTDisableInterrupts();
mCNOpen(CN_ON | CN_IDLE_CON, CN1_ENABLE, CN1_PULLUP_ENABLE);
mPORTCRead();
mCNSetIntPriority(6); // same as below
mCNClearIntFlag();
mCNIntEnable(1);
INTEnableInterrupts();
}
void enableCNModule(int userIsWatchingTV)
{
if(userIsWatchingTV)
{
//do not enable PIR input during TV operation it is useless
mCNOpen(CN_ON | CN_IDLE_CON, CN16_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
}
else
{
mCNOpen(CN_ON | CN_IDLE_CON, CN16_ENABLE | CN4_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
}
mCNIntEnable(1);
}
/***************************************************************************************************
InitKeyboard
Initialise the keyboard and sound routines.
****************************************************************************************************/
void initKeyboard(void) {
// enable pullups on the clock and data lines.
// This stops them from floating and generating random chars when no keyboard is attached
CNCONbits.ON = 1; // turn on Change Notification module
P_PS2CLK_PULLUP = P_ON; // turn on the pullup for pin D6 also called CN15
P_PS2DAT_PULLUP = P_ON; // turn on the pullup for pin D7 also called CN16
// setup Change Notification interrupt
P_PS2CLK_INT = P_ON; // enable PS2CLK (CN15) as a change interrupt
mCNSetIntPriority(3); // set interrupt priority to 3
mCNClearIntFlag(); // clear the interrupt flag
mCNIntEnable(1); // enable interrupt
}
