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/PIC Stuff/Cerebot_32MX7_LED_Cube/CONTROLLERS.c
0,0 → 1,196
#include "defines.h"
#include "CONTROLLERS.h"
#include "I2C1.h"
 
static CONTROLLER_DATA *ctrl_data_p;
 
void Controller_Init(CONTROLLER_DATA *data,
void (*change_callback)(uint8_t controller, CTRL_BTN_STATUS values)) {
 
if (data != NULL)
ctrl_data_p = data;
ctrl_data_p->change_callback = change_callback;
 
// Variable initialization
int i, j;
for (i = 0; i < CONTROLLER_MAX_COUNT; i++) {
ctrl_data_p->connected_controllers[i] = 0x0;
ctrl_data_p->led_status[i].w[i] = 0x0;
ctrl_data_p->btn_prev[i].w = 0x0;
ctrl_data_p->btn_curr[i].w = 0x0;
for (j = 0; j < 16; j++) {
ctrl_data_p->led_status[i].w[j] = 0x0;
}
}
 
ctrl_data_p->connected_count = 0x0;
 
// Poll to see which controllers are connected
Controller_Poll_Connected();
}
 
void Controller_Poll_Connected(void) {
uint8_t buffer[2];
uint8_t result, i;
uint8_t address = CONTROLLER_PREFIX_ADDRESS + CONTROLLER_START_ADDRESS;
 
// Attempt to contact each controller to see if its connected
for (i = 0; i < CONTROLLER_MAX_COUNT; i++) {
I2C1_Master_Restart(address + i, CONTROLLER_CMD_READ, 1);
do {
result = I2C1_Get_Status();
} while (!result);
if (result == I2C1_RECV_OK) {
uint8_t length = I2C1_Read_Buffer(buffer);
// If a controller is connected, save its address
ctrl_data_p->connected_controllers[ctrl_data_p->connected_count] = address + i;
ctrl_data_p->connected_count++;
}
 
// A small delay is needed between polls
Delay_MS(1);
}
 
// Show the number of controllers connected
if (ctrl_data_p->connected_count & 0x1)
LED1_LAT = 1;
if (ctrl_data_p->connected_count & 0x2)
LED2_LAT = 1;
if (ctrl_data_p->connected_count & 0x4)
LED3_LAT = 1;
if (ctrl_data_p->connected_count & 0x8)
LED4_LAT = 1;
}
 
void Controller_Update(void) {
uint8_t buffer[2];
uint8_t result, length, i, j;
CTRL_BTN_STATUS btn_change;
for (i = 0; i < ctrl_data_p->connected_count; i++) {
// Store the last read values
ctrl_data_p->btn_prev[i] = ctrl_data_p->btn_curr[i];
 
// Read in the button values for each controller
I2C1_Master_Restart(ctrl_data_p->connected_controllers[i], CONTROLLER_CMD_READ, 1);
do {
result = I2C1_Get_Status();
} while (!result);
// Save the read values
length = I2C1_Read_Buffer(buffer);
ctrl_data_p->btn_curr[i].w = buffer[0];
 
// Determine if a change was made between the current and previous values
if (ctrl_data_p->btn_curr[i].w != ctrl_data_p->btn_prev[i].w) {
// Determine if a button was pressed (unpressed->pressed)
btn_change.w = ctrl_data_p->btn_prev[i].w ^ ctrl_data_p->btn_curr[i].w;
btn_change.w &= ctrl_data_p->btn_curr[i].w;
 
// If a button was pressed, call the saved callback
if (btn_change.w) {
if (ctrl_data_p->change_callback != NULL) {
ctrl_data_p->change_callback(i, btn_change);
}
}
}
}
}
 
void Controller_Set_Left_Leds(uint8_t controller, uint8_t value) {
uint8_t result, i;
uint8_t buffer[18];
 
for (i = 0; i < 4; i++) {
if (value & (0x01 << i))
ctrl_data_p->led_status[controller].w[i+12] = CONTROLLER_BRIGHTNESS_HIGH;
else
ctrl_data_p->led_status[controller].w[i+12] = 0x00;
}
 
// Write the LED value to the controller
buffer[0] = CONTROLLER_CMD_WRITE;
for (i = 0; i < 16; i++)
buffer[i+1] = ctrl_data_p->led_status[controller].w[i];
I2C1_Master_Send(ctrl_data_p->connected_controllers[controller], buffer, 17);
do {
result = I2C1_Get_Status();
} while (!result);
 
Delay_MS(1);
}
 
void Controller_Set_Middle_Leds(uint8_t controller, uint8_t value) {
uint8_t result, i;
uint8_t buffer[18];
 
for (i = 0; i < 8; i++) {
if (value & (0x01 << i))
ctrl_data_p->led_status[controller].w[i] = CONTROLLER_BRIGHTNESS_HIGH;
else
ctrl_data_p->led_status[controller].w[i] = 0x00;
}
 
// Write the LED value to the controller
buffer[0] = CONTROLLER_CMD_WRITE;
for (i = 0; i < 16; i++)
buffer[i+1] = ctrl_data_p->led_status[controller].w[i];
I2C1_Master_Send(ctrl_data_p->connected_controllers[controller], buffer, 17);
do {
result = I2C1_Get_Status();
} while (!result);
 
Delay_MS(1);
}
 
void Controller_Set_Right_Leds(uint8_t controller, uint8_t value) {
uint8_t result, i;
uint8_t buffer[18];
 
for (i = 0; i < 4; i++) {
if (value & (0x01 << i))
ctrl_data_p->led_status[controller].w[i+8] = CONTROLLER_BRIGHTNESS_HIGH;
else
ctrl_data_p->led_status[controller].w[i+8] = 0x00;
}
 
// Write the LED value to the controller
buffer[0] = CONTROLLER_CMD_WRITE;
for (i = 0; i < 16; i++)
buffer[i+1] = ctrl_data_p->led_status[controller].w[i];
I2C1_Master_Send(ctrl_data_p->connected_controllers[controller], buffer, 17);
do {
result = I2C1_Get_Status();
} while (!result);
 
Delay_MS(1);
}
 
uint8_t Controller_Get_Connected(void) {
return ctrl_data_p->connected_count;
}
 
void Controller_Set_Active(uint8_t controller) {
uint8_t buffer[2];
uint8_t result;
 
buffer[0] = CONTROLLER_CMD_ACTIVE;
I2C1_Master_Send(ctrl_data_p->connected_controllers[controller], buffer, 1);
do {
result = I2C1_Get_Status();
} while (!result);
 
Delay_MS(1);
}
 
void Controller_Set_Idle(uint8_t controller) {
uint8_t buffer[2];
uint8_t result;
 
buffer[0] = CONTROLLER_CMD_RESET;
I2C1_Master_Send(ctrl_data_p->connected_controllers[controller], buffer, 1);
do {
result = I2C1_Get_Status();
} while (!result);
 
Delay_MS(1);
}