| 0,0 → 1,63 |
|---|
| #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); |
| } |