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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 disabled)

#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 "I2C1.h"

#include "I2C2.h"

#include "TLC59116.h"

#include "MCP23009.h"

void Pins_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;

}

uint8_t Read_Address(void) {

    uint8_t ret = 0;

    ret |= I2C_ADDR_3_LAT << 3;

    ret |= I2C_ADDR_2_LAT << 2;

    ret |= I2C_ADDR_1_LAT << 1;

    ret |= I2C_ADDR_0_LAT;

    return ret;

}

int main(void) {

    uint8_t buffer[32];

    uint8_t result, length;

    uint8_t i2c_slave_addr;

    // 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

    // Set watchdog timer to reset device every 1s

    // CLRWDT is issued upon receiving data over I2C

//    WDTCON = 0x0A;

    // Initialize I/O

    Pins_Init();

    i2c_slave_addr = Read_Address();

    // 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_400KHZ);

    // Initialize interrupts

    Interrupt_Init();

    Interrupt_Enable();

    TLC59116_Init();

    MCP23009_Init();

    BTN_STATUS btns;

    LED_VALUES leds = {0x00, 0x00, 0x00, 0x00,

                       0x00, 0x00, 0x00, 0x00,

                       0x00, 0x00, 0x00, 0x00,

                       0x00, 0x00, 0x00, 0x00};

    TLC59116_Write_All(&leds);

    Idle_Animation();

    // Check for received data over I2C1

    while (1) {

        MCP23009_Query(&btns);

        uint8_t i;

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

            if ((btns.w >> i) & 0x1) {

                leds.w[i] = 0x00;

            } else {

                leds.w[i] = 0x20;

            }

        }

        TLC59116_Write_All(&leds);

    }

}

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) {

        // 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);

    }

}