| 26,6 → 26,7 |
|---|
| #include "IO.h" |
| #include "I2C1.h" |
| #include "I2C2.h" |
| #include "CPS.h" |
| #include "TLC59116.h" |
| #include "MCP23009.h" |
| |
| 117,6 → 118,9 |
|---|
| I2C2_Init(&i2c2_data); |
| I2C2_Configure_Master(I2C_1MHZ); |
| |
| CPS_DATA cps_data; |
| CPS_Init(&cps_data); |
| |
| // Initialize interrupts |
| Interrupt_Init(); |
| Interrupt_Enable(); |
| 131,23 → 135,53 |
|---|
| // IO_IOC_Enable(); |
| Idle_Animation(); |
| } else if (op_state == OP_STATE_ACTIVE) { |
| uint8_t button_R = 0, button_L = 0; |
| uint8_t dir_state = DIR_S; |
| leds.single.LED_S = DIR_BRIGHTNESS; |
| TLC59116_Write_All(&leds); |
| while (1) { |
| // 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 == 1 && buffer[0] == CMD_ACTIVE) { |
| Reset_Board(OP_STATE_ACTIVE); |
| } 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); |
| do { |
| result = I2C1_Get_Status(); |
| } while (!result); |
| length = I2C1_Read_Buffer(buffer); |
| if (length == 1 && buffer[0] == CMD_RESET) { |
| Reset_Board(OP_STATE_IDLE); |
| } else if (length == 1 && buffer[0] == CMD_ACTIVE) { |
| Reset_Board(OP_STATE_ACTIVE); |
| } else if (length == 17 && buffer[0] == CMD_SET_LEDS) { |
| for (i = 0; i < 16; i++) { |
| leds.w[i] = buffer[i + 1]; |
| } |
| // Reset the direction LEDs |
| if (dir_state == DIR_S) |
| leds.single.LED_S = DIR_BRIGHTNESS; |
| else if (dir_state == DIR_W) |
| leds.single.LED_W = DIR_BRIGHTNESS; |
| else if (dir_state == DIR_N) |
| leds.single.LED_N = DIR_BRIGHTNESS; |
| else if (dir_state == DIR_E) |
| leds.single.LED_E = DIR_BRIGHTNESS; |
| TLC59116_Write_All(&leds); |
| } |
| |
| |
| // Check if either capacitive buttons were pressed |
| if (cps_data.btn_pressed[0] && button_R == 0) { |
| // Right button went from unpressed -> pressed |
| dir_state = Direction_Rotate_CClockwise(dir_state); |
| TLC59116_Write_All(&leds); |
| } |
| if (cps_data.btn_pressed[1] && button_L == 0) { |
| // Left button went from unpressed -> pressed |
| dir_state = Direction_Rotate_Clockwise(dir_state); |
| TLC59116_Write_All(&leds); |
| } |
| // Save the previous button state |
| button_R = cps_data.btn_pressed[0]; |
| button_L = cps_data.btn_pressed[1]; |
| |
| // Poll the hardware buttons |
| I2C2_Master_Restart(MCP23009_ADDR, MCP23009_GPIOA, 1); |
| do { |
| result = I2C2_Get_Status(); |
| 154,11 → 188,86 |
|---|
| } while (!result); |
| length = I2C2_Read_Buffer(buffer); |
| btns.w = buffer[0]; |
| // Change the direction according to the user's perspective |
| if (dir_state == DIR_W) { |
| uint8_t tmp = btns.BTN_R_S; |
| btns.BTN_R_S = btns.BTN_R_W; |
| btns.BTN_R_W = btns.BTN_R_N; |
| btns.BTN_R_N = btns.BTN_R_E; |
| btns.BTN_R_E = tmp; |
| } else if (dir_state == DIR_E) { |
| uint8_t tmp = btns.BTN_R_S; |
| btns.BTN_R_S = btns.BTN_R_E; |
| btns.BTN_R_E = btns.BTN_R_N; |
| btns.BTN_R_N = btns.BTN_R_W; |
| btns.BTN_R_W = tmp; |
| } else if (dir_state == DIR_N) { |
| uint8_t tmp = btns.BTN_R_S; |
| btns.BTN_R_S = btns.BTN_R_N; |
| btns.BTN_R_N = tmp; |
| tmp = btns.BTN_R_E; |
| btns.BTN_R_E = btns.BTN_R_W; |
| btns.BTN_R_W = tmp; |
| } |
| } |
| } |
| } |
| |
| void Check_I2C(void) { |
| uint8_t Direction_Rotate_Clockwise(uint8_t dir_state) { |
| uint8_t ret; |
| switch (dir_state) { |
| case DIR_S: |
| leds.single.LED_S = 0x00; |
| leds.single.LED_W = DIR_BRIGHTNESS; |
| ret = DIR_W; |
| break; |
| case DIR_W: |
| leds.single.LED_W = 0x00; |
| leds.single.LED_N = DIR_BRIGHTNESS; |
| ret = DIR_N; |
| break; |
| case DIR_N: |
| leds.single.LED_N = 0x00; |
| leds.single.LED_E = DIR_BRIGHTNESS; |
| ret = DIR_E; |
| break; |
| case DIR_E: |
| leds.single.LED_E = 0x00; |
| leds.single.LED_S = DIR_BRIGHTNESS; |
| ret = DIR_S; |
| break; |
| } |
| return ret; |
| } |
| |
| uint8_t Direction_Rotate_CClockwise(uint8_t dir_state) { |
| uint8_t ret; |
| switch (dir_state) { |
| case DIR_S: |
| leds.single.LED_S = 0x00; |
| leds.single.LED_E = DIR_BRIGHTNESS; |
| ret = DIR_E; |
| break; |
| case DIR_E: |
| leds.single.LED_E = 0x00; |
| leds.single.LED_N = DIR_BRIGHTNESS; |
| ret = DIR_N; |
| break; |
| case DIR_N: |
| leds.single.LED_N = 0x00; |
| leds.single.LED_W = DIR_BRIGHTNESS; |
| ret = DIR_W; |
| break; |
| case DIR_W: |
| leds.single.LED_W = 0x00; |
| leds.single.LED_S = DIR_BRIGHTNESS; |
| ret = DIR_S; |
| break; |
| } |
| return ret; |
| } |
| |
| void Check_I2C_Idle(void) { |
| uint8_t buffer[32]; |
| uint8_t result, length, i; |
| |
| 170,11 → 279,6 |
|---|
| Reset_Board(OP_STATE_IDLE); |
| } else if (length == 1 && buffer[0] == CMD_ACTIVE) { |
| Reset_Board(OP_STATE_ACTIVE); |
| } 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); |
| } |
| } |
| } |
| 195,7 → 299,7 |
|---|
| while (1) { |
| |
| // Check to see if a new message was received |
| Check_I2C(); |
| Check_I2C_Idle(); |
| |
| // Update the LEDs in the middle section |
| for (i = 0; i < 8; i++) { |