📄 kbi.c
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/* INCLUDE */
#include <hidef.h> /* for EnableInterrupts macro */
#include <MC68HC908GZ60.h> /* include peripheral declarations */
#include "COMMON.h"
#include "KBI.h"
/* Global Variables */
/*****************************************************************************
* Function: Motor_Select()
*
* Description: none
*
* Returns: none
*
* Notes: This handler is the interrupt function of key-board
* interrupt.
*
*****************************************************************************/
void interrupt Motor_Select(void)
{
if(PTA_PTA4 == 0)
{
//MOTOR_MIX_EN =0;
MOTOR_CYCLE_EN =0;
MOTOR_MODE_EN =0;
MOTOR_CENTER_EN =0;
MOTOR_CYCLE =0;
MOTOR_MODE =0;
MOTOR_CENTER =0;
MOTOR_MIX =1;
}
else if(PTA_PTA5 == 0)
{
MOTOR_MIX_EN =0;
//MOTOR_CYCLE_EN =0;
MOTOR_MODE_EN =0;
MOTOR_CENTER_EN =0;
MOTOR_MODE =0;
MOTOR_CENTER =0;
MOTOR_MIX =0;
MOTOR_CYCLE =1;
}
else if(PTA_PTA6 == 0)
{
MOTOR_MIX_EN =0;
MOTOR_CYCLE_EN =0;
//MOTOR_MODE_EN =0;
MOTOR_CENTER_EN =0;
MOTOR_CENTER =0;
MOTOR_MIX =0;
MOTOR_CYCLE =0;
MOTOR_MODE =1;
}
else if(PTA_PTA7 == 0)
{
MOTOR_MIX_EN =0;
MOTOR_CYCLE_EN =0;
MOTOR_MODE_EN =0;
//MOTOR_CENTER_EN =0;
MOTOR_MIX =0;
MOTOR_CYCLE =0;
MOTOR_MODE =0;
MOTOR_CENTER =1;
}
INTKBSCR_ACKK =1; //Clear the flag
}
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