| 3,7 → 3,7 |
|---|
| |
| // 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 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) |
| 23,61 → 23,65 |
|---|
| |
| #include "defines.h" |
| #include "INTERRUPTS.h" |
| #include "IO.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; |
| persistent uint8_t op_state; |
| |
| // Enable weak pull-up if WPU bit is set |
| OPTION_REGbits.nWPUEN = 0; |
| void Reset_Board(uint8_t next_state) { |
| op_state = next_state; |
| RESET(); |
| } |
| |
| // Initialize interrupt inputs |
| LSM303_INT_TRIS = 1; |
| L3GD20_INT_TRIS = 1; |
| BTN_INT_TRIS = 1; |
| 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; |
| } |
| |
| // 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; |
| PCON = 0x0F; |
| STATUSbits.nPD = 1; |
| STATUSbits.nTO = 1; |
| return ret; |
| } |
| |
| 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; |
| |
| 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; |
| |
| 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) |
| 84,15 → 88,24 |
|---|
| 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(); |
| 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(1); |
| |
| // Initialize I2C1 in slave mode |
| I2C1_DATA i2c1_data; |
| I2C1_Init(&i2c1_data); |
| 107,31 → 120,36 |
|---|
| Interrupt_Init(); |
| Interrupt_Enable(); |
| |
| MCP23009_Init(&btns); |
| MCP23009_Query(); |
| |
| LED_VALUES leds = {0x00}; |
| TLC59116_Init(); |
| MCP23009_Init(); |
| // TLC59116_Write_All(&leds); |
| |
| BTN_STATUS btns; |
| LED_VALUES leds = {0x00, 0x00, 0x00, 0x00, |
| 0x00, 0x00, 0x00, 0x00, |
| 0x00, 0x00, 0x00, 0x00, |
| 0x00, 0x00, 0x00, 0x00}; |
| if (op_state == OP_STATE_IDLE) { |
| IO_IOC_Enable(); |
| Idle_Animation(); |
| } else if (op_state == OP_STATE_ACTIVE) { |
| while (1) { |
| __delay_ms(1); |
| // Read value of buttons |
| MCP23009_Query(); |
| |
| 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; |
| // 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 == 17 && buffer[0] == CMD_SET_LEDS) { |
| for (i = 0; i < 16; i++) { |
| leds.w[i] = buffer[i+1]; |
| } |
| TLC59116_Write_All(&leds); |
| } |
| } |
| } |
| TLC59116_Write_All(&leds); |
| } |
| } |
| |