Subversion Repositories Code-Repo

#include "defines.h"

#include "IO.h"

#include "MCP23009.h"

void IO_Init(void) {

    // Set all pins to digital I/O

    ANSELA = 0x0;

    ANSELB = 0x0;

    ANSELC = 0x0;

    // Enable weak pull-up if WPU bit is set

    OPTION_REGbits.nWPUEN = 0;

    // Initialize interrupt inputs

    LSM303_INT_TRIS = 1;

    L3GD20_INT_TRIS = 1;

    BTN_INT_TRIS = 1;

    // Initialize UART pins

    UART_RX_TRIS = 1;

    UART_TX_TRIS = 0;

    // Initialize I2C address pins

    I2C_ADDR_0_TRIS = 1;

    I2C_ADDR_1_TRIS = 1;

    I2C_ADDR_2_TRIS = 1;

    I2C_ADDR_3_TRIS = 1;

    // Enable the weak-pullup on the address pins

    I2C_ADDR_0_WPU = 1;

    I2C_ADDR_1_WPU = 1;

    I2C_ADDR_2_WPU = 1;

    I2C_ADDR_3_WPU = 1;

    // Initialize I2C pins (dont really need to as the I2C code does it)

    I2C_1_CLK_TRIS = 1;

    I2C_1_DAT_TRIS = 1;

    I2C_2_CLK_TRIS = 1;

    I2C_2_DAT_TRIS = 1;

    // Set the CPS pins

    CPS_L_TRIS = 1;

    CPS_R_TRIS = 1;

    CPS_L_ANSL = 1;

    CPS_R_ANSL = 1;

    CPS_R_WPU = 0;

    CPS_L_WPU = 0;

}

void IO_IOC_Enable(void) {

    // Clear all IOC flags

    IOCAF = 0x0;

    IOCBF = 0x0;

    // Trigger interrupt on BTN_INT on falling edge

    IOCANbits.IOCAN2 = 1;

    // Enable IOC interrupts

    INTCONbits.IOCIE = 1;

}

void IO_Interrupt(void) {

    Reset_Board(OP_STATE_ACTIVE);

}