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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">

// PIC16F1825 Configuration Bit Settings

// CONFIG1

#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)

#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT software controlled)

#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)

#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is digital input)

#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)

#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)

#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)

#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)

#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)

#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)

// CONFIG2

#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)

#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)

#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)

#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)

#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)

// </editor-fold>

#include "defines.h"

#include "INTERRUPTS.h"

#include "IO.h"

#include "I2C1.h"

#include "I2C2.h"

#include "CPS.h"

#include "TLC59116.h"

#include "MCP23009.h"

persistent uint8_t op_state;

void Reset_Board(uint8_t next_state) {

    op_state = next_state;

    RESET();

}

uint8_t Get_Last_Reset(void) {

    uint8_t ret;

    if (PCONbits.nPOR == 0) {

        ret = RESET_POR;

    } else if (PCONbits.nBOR == 0) {

        ret = RESET_BOR;

    } else if (STATUSbits.nTO == 0) {

        ret = RESET_WDT;

    } else if (PCONbits.nRMCLR == 0) {

        ret = RESET_MCLR;

    } else if (PCONbits.STKOVF || PCONbits.STKUNF) {

        ret = RESET_STK;

    } else if (PCONbits.nRI == 0) {

        ret = RESET_RST;

    } else {

        ret = RESET_POR;

    }

    PCON = 0x0F;

    STATUSbits.nPD = 1;

    STATUSbits.nTO = 1;

    return ret;

}

uint8_t Read_Address(void) {

    uint8_t ret = I2C1_SLAVE_PREFIX;

    if (!I2C_ADDR_3_PORT)

        ret |= 0x08;

    if (!I2C_ADDR_2_PORT)

        ret |= 0x04;

    if (!I2C_ADDR_1_PORT)

        ret |= 0x02;

    if (!I2C_ADDR_0_PORT)

        ret |= 0x01;

    return ret;

}

BTN_STATUS btns;

LED_VALUES leds = {0x00};

int main(void) {

    uint8_t buffer[32];

    uint8_t result, length;

    uint8_t i2c_slave_addr;

//    uint8_t op_state;

    uint8_t i;

    // Set internal oscillator speed to 32MHz

    OSCCONbits.SPLLEN = 1;  // 4x PLL enable (overwritten by config bits)

    OSCCONbits.IRCF = 0xE;  // Base frequency @ 8MHz

    OSCCONbits.SCS = 0b00;  // System clock determined by config bits

    // Initialize I/O

    IO_Init();

    uint8_t last_reset = Get_Last_Reset();

    if (last_reset == RESET_POR || last_reset == RESET_BOR ||

            last_reset == RESET_MCLR || last_reset == RESET_WDT ||

            last_reset == RESET_STK) {

        op_state = OP_STATE_IDLE;

    }

//    if (last_reset == RESET_RST) {

//        op_state = OP_STATE_ACTIVE;

//    }

    i2c_slave_addr = Read_Address();

    // Delay a bit to allow I2C lines to stabilize

    __delay_ms(10);

    // Initialize I2C1 in slave mode

    I2C1_DATA i2c1_data;

    I2C1_Init(&i2c1_data);

    I2C1_Configure_Slave(i2c_slave_addr);

    // Initialize I2C2 in master mode

    I2C2_DATA i2c2_data;

    I2C2_Init(&i2c2_data);

    I2C2_Configure_Master(I2C_1MHZ);

    CPS_DATA cps_data;

    CPS_Init(&cps_data);

    // Initialize interrupts

    Interrupt_Init();

    Interrupt_Enable();

    MCP23009_Init(&btns);

    MCP23009_Query();

    TLC59116_Init();

//    TLC59116_Write_All(&leds);

    if (op_state == OP_STATE_IDLE) {

//        IO_IOC_Enable();

        Idle_Animation();

    } else if (op_state == OP_STATE_ACTIVE) {

        uint8_t button_R = 0, button_L = 0;

        uint8_t dir_state = DIR_S;

        leds.single.LED_S = DIR_BRIGHTNESS;

        TLC59116_Write_All(&leds);

        while (1) {

            // Check if an I2C message was received

            do {

                result = I2C1_Get_Status();

            } while (!result);

            length = I2C1_Read_Buffer(buffer);

            if (length == 1 && buffer[0] == CMD_RESET) {

                Reset_Board(OP_STATE_IDLE);

            } else if (length == 1 && buffer[0] == CMD_ACTIVE) {

                Reset_Board(OP_STATE_ACTIVE);

            } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {

                for (i = 0; i < 16; i++) {

                    leds.w[i] = buffer[i + 1];

                }

                // Reset the direction LEDs

                if (dir_state == DIR_S)

                    leds.single.LED_S = DIR_BRIGHTNESS;

                else if (dir_state == DIR_W)

                    leds.single.LED_W = DIR_BRIGHTNESS;

                else if (dir_state == DIR_N)

                    leds.single.LED_N = DIR_BRIGHTNESS;

                else if (dir_state == DIR_E)

                    leds.single.LED_E = DIR_BRIGHTNESS;

                TLC59116_Write_All(&leds);

            }

            // Check if either capacitive buttons were pressed

            if (cps_data.btn_pressed[0] && button_R == 0) {

                // Right button went from unpressed -> pressed

                dir_state = Direction_Rotate_CClockwise(dir_state);

                TLC59116_Write_All(&leds);

            }

            if (cps_data.btn_pressed[1] && button_L == 0) {

                // Left button went from unpressed -> pressed

                dir_state = Direction_Rotate_Clockwise(dir_state);

                TLC59116_Write_All(&leds);

            }

            // Save the previous button state

            button_R = cps_data.btn_pressed[0];

            button_L = cps_data.btn_pressed[1];

            // Poll the hardware buttons

            I2C2_Master_Restart(MCP23009_ADDR, MCP23009_GPIOA, 1);

            do {

                result = I2C2_Get_Status();

            } while (!result);

            length = I2C2_Read_Buffer(buffer);

            btns.w = buffer[0];

            // Change the direction according to the user's perspective

            if (dir_state == DIR_W) {

                uint8_t tmp = btns.BTN_R_S;

                btns.BTN_R_S = btns.BTN_R_W;

                btns.BTN_R_W = btns.BTN_R_N;

                btns.BTN_R_N = btns.BTN_R_E;

                btns.BTN_R_E = tmp;

            } else if (dir_state == DIR_E) {

                uint8_t tmp = btns.BTN_R_S;

                btns.BTN_R_S = btns.BTN_R_E;

                btns.BTN_R_E = btns.BTN_R_N;

                btns.BTN_R_N = btns.BTN_R_W;

                btns.BTN_R_W = tmp;

            } else if (dir_state == DIR_N) {

                uint8_t tmp = btns.BTN_R_S;

                btns.BTN_R_S = btns.BTN_R_N;

                btns.BTN_R_N = tmp;

                tmp = btns.BTN_R_E;

                btns.BTN_R_E = btns.BTN_R_W;

                btns.BTN_R_W = tmp;

            }

        }

    }

}

uint8_t Direction_Rotate_Clockwise(uint8_t dir_state) {

    uint8_t ret;

    switch (dir_state) {

        case DIR_S:

            leds.single.LED_S = 0x00;

            leds.single.LED_W = DIR_BRIGHTNESS;

            ret = DIR_W;

            break;

        case DIR_W:

            leds.single.LED_W = 0x00;

            leds.single.LED_N = DIR_BRIGHTNESS;

            ret = DIR_N;

            break;

        case DIR_N:

            leds.single.LED_N = 0x00;

            leds.single.LED_E = DIR_BRIGHTNESS;

            ret = DIR_E;

            break;

        case DIR_E:

            leds.single.LED_E = 0x00;

            leds.single.LED_S = DIR_BRIGHTNESS;

            ret = DIR_S;

            break;

    }

    return ret;

}

uint8_t Direction_Rotate_CClockwise(uint8_t dir_state) {

    uint8_t ret;

    switch (dir_state) {

        case DIR_S:

            leds.single.LED_S = 0x00;

            leds.single.LED_E = DIR_BRIGHTNESS;

            ret = DIR_E;

            break;

        case DIR_E:

            leds.single.LED_E = 0x00;

            leds.single.LED_N = DIR_BRIGHTNESS;

            ret = DIR_N;

            break;

        case DIR_N:

            leds.single.LED_N = 0x00;

            leds.single.LED_W = DIR_BRIGHTNESS;

            ret = DIR_W;

            break;

        case DIR_W:

            leds.single.LED_W = 0x00;

            leds.single.LED_S = DIR_BRIGHTNESS;

            ret = DIR_S;

            break;

    }

    return ret;

}

void Check_I2C_Idle(void) {

    uint8_t buffer[32];

    uint8_t result, length, i;

    // Check if an I2C message was received

    result = I2C1_Get_Status();

    if (result) {

        length = I2C1_Read_Buffer(buffer);

        if (length == 1 && buffer[0] == CMD_RESET) {

            Reset_Board(OP_STATE_IDLE);

        } else if (length == 1 && buffer[0] == CMD_ACTIVE) {

            Reset_Board(OP_STATE_ACTIVE);

        }

    }

}

void Idle_Animation(void) {

    LED_VALUES leds = {0};

    uint8_t led_direction_bar[8] = {1,0,0,0,0,0,0,0};

    uint8_t led_direction_dir[8] = {1,0,0,0};

    uint8_t led_direction_ind[8] = {1,0,0,0};

    uint8_t led_8_high_thres = 0x80;    // Max brightness of the middle section

    uint8_t led_8_next_thresh = 0x40;   // Threshold to start the next LED

    uint8_t led_4_high_thres = 0x80;    // Max brightness of the side sections

    uint8_t led_4_next_thresh = 0x74;   // Threshold to start the next LED

    uint8_t i, next_led;

    for (i = 0; i < 16; i++) leds.w[i] = 0x00;

    while (1) {

        // Check to see if a new message was received

        Check_I2C_Idle();

        // Update the LEDs in the middle section

        for (i = 0; i < 8; i++) {

            // Change the LED brightness depending on its direction

            if (led_direction_bar[i] == 1) {

                leds.w[i]++;

            } else if (led_direction_bar[i] == 2) {

                leds.w[i]--;

            }

            // Change direction if peak brightness is reached

            // When the brightness reaches a middle threshold, start

            //   increasing the brightness of the next LED

            if (led_direction_bar[i] == 1 && leds.w[i] == led_8_high_thres) {

                led_direction_bar[i] = 2;

            } else if (led_direction_bar[i] == 1 && leds.w[i] == led_8_next_thresh) {

                next_led = (i == 7) ? 0 : i + 1;

                led_direction_bar[next_led] = 1;

            } else if (led_direction_bar[i] == 2 && leds.w[i] == 0x00) {

                led_direction_bar[i] = 0;

            }

        }

        // Update the LEDs in the right section

        for (i = 0; i < 4; i++) {

            // Change the LED brightness depending on its direction

            if (led_direction_dir[i] == 1) {

                leds.w[i+8]++;

            } else if (led_direction_dir[i] == 2) {

                leds.w[i+8]--;

            }

            // Change direction if peak brightness is reached

            // When the brightness reaches a middle threshold, start

            //   increasing the brightness of the next LED

            if (led_direction_dir[i] == 1 && leds.w[i+8] == led_4_high_thres) {

                led_direction_dir[i] = 2;

            } else if (led_direction_dir[i] == 1 && leds.w[i+8] == led_4_next_thresh) {

                next_led = (i == 3) ? 0 : i + 1;

                led_direction_dir[next_led] = 1;

            } else if (led_direction_dir[i] == 2 && leds.w[i+8] == 0x00) {

                led_direction_dir[i] = 0;

            }

        }

        // Update the LEDs in the left section

        for (i = 0; i < 4; i++) {

            // Change the LED brightness depending on its direction

            if (led_direction_ind[i] == 1) {

                leds.w[i+12]++;

            } else if (led_direction_ind[i] == 2) {

                leds.w[i+12]--;

            }

            // Change direction if peak brightness is reached

            // When the brightness reaches a middle threshold, start

            //   increasing the brightness of the next LED

            if (led_direction_ind[i] == 1 && leds.w[i+12] == led_4_high_thres) {

                led_direction_ind[i] = 2;

            } else if (led_direction_ind[i] == 1 && leds.w[i+12] == led_4_next_thresh) {

                next_led = (i == 3) ? 0 : i + 1;

                led_direction_ind[next_led] = 1;

            } else if (led_direction_ind[i] == 2 && leds.w[i+12] == 0x00) {

                led_direction_ind[i] = 0;

            }

        }

        // Write the LED values to the controller

        TLC59116_Write_All(&leds);

        // Delay a bit to slow down the animation

        __delay_ms(1);

    }

}