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Line 88... Line 88...
88 
    RCON = 0x0;
 88 
    RCON = 0x0;
89 
    return ret;
 89 
    return ret;
90 
}
 90 
}
91 
 
 91 
 
92 
// Initialize a persistent operational state machine
 92 
// Initialize a persistent operational state machine
93 
static BOARD_STATE op_state __attribute__((persistent));
 93 
volatile static uint8_t op_state __attribute__((persistent));
94 
 
 94 
 
95 
uint8_t Get_Board_State(void) {
 95 
uint8_t Get_Board_State(void) {
96 
    return op_state.cube_mode;
 96 
    return op_state;
97 
}
 97 
}
98 
 
 98 
 
99 
void Reset_Board(uint8_t next_state) {
 99 
void Reset_Board(uint8_t next_state) {
100 
    op_state.cube_mode = next_state;
 100 
    op_state = next_state;
101
101
102 
    // Executes a software reset
 102 
    // Executes a software reset
103 
    INTDisableInterrupts();
 103 
    INTDisableInterrupts();
104 
    SYSKEY = 0x00000000; // Write invalid key to force lock
 104 
    SYSKEY = 0x00000000; // Write invalid key to force lock
105 
    SYSKEY = 0xAA996655; // Write key1 to SYSKEY
 105 
    SYSKEY = 0xAA996655; // Write key1 to SYSKEY
Line 141... Line 141...
141 
    LED1_LAT = 0;
 141 
    LED1_LAT = 0;
142 
    LED2_LAT = 0;
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    LED2_LAT = 0;
143 
    LED3_LAT = 0;
 143 
    LED3_LAT = 0;
144 
    LED4_LAT = 0;
 144 
    LED4_LAT = 0;
145 
 
 145 
 
146 
    // Initialize the Ethernet module
 - 
 
147 
    ETH_DATA eth_data;
 - 
 
148 
    ETH_Init(&eth_data, NULL, &Cube_Ethernet_Frame_In);
 - 
 
149 
 
 - 
 
150 
    // Initialize the SPI1 module
 146 
    // Initialize the SPI1 module
151 
    SPI1_DATA spi_1_data;
 147 
    SPI1_DATA spi_1_data;
152 
    SPI1_Init(&spi_1_data, NULL);
 148 
    SPI1_Init(&spi_1_data, NULL);
153 
 
 149 
 
154 
    // Initialize the SPI4 module
 150 
    // Initialize the SPI4 module
Line 157... Line 153...
157 
 
 153 
 
158 
    // Initialize the I2C1 module
 154 
    // Initialize the I2C1 module
159 
    I2C1_DATA i2c_1_data;
 155 
    I2C1_DATA i2c_1_data;
160 
    I2C1_Init(&i2c_1_data, I2C1_400KHZ, 0x20);
 156 
    I2C1_Init(&i2c_1_data, I2C1_400KHZ, 0x20);
161 
 
 157 
 
162 
    // Initialize the UART1 module
 158 
//    // Initialize the UART1 module
163 
    UART1_DATA uart_data;
 159 
//    UART1_DATA uart_data;
164 
    UART1_Init(&uart_data, &Cube_Data_In);
 160 
//    UART1_Init(&uart_data, &Cube_Data_In);
165 
 
 161 
 
166 
    // Initializs the PWM2 output to 20MHz
 162 
    // Initializs the PWM2 output to 20MHz
167 
    PWM2_Init();
 163 
    PWM2_Init();
168 
 
 164 
 
169 
    // Initialize the cube variables
 165 
    // Initialize the cube variables
Line 176... Line 172...
176 
    TIMER5_Init(&timer_5_data, &Cube_Timer_Interrupt, 500);
 172 
    TIMER5_Init(&timer_5_data, &Cube_Timer_Interrupt, 500);
177 
 
 173 
 
178 
    // Start the controller polling and overlay rotation interrupt
 174 
    // Start the controller polling and overlay rotation interrupt
179 
    TIMER4_DATA timer_4_data;
 175 
    TIMER4_DATA timer_4_data;
180 
    TIMER4_Init(&timer_4_data, &Controller_Update, NULL, 0);
 176 
    TIMER4_Init(&timer_4_data, &Controller_Update, NULL, 0);
- 
 
 177 
//    TIMER4_Init(&timer_4_data, NULL, NULL, 0);
181 
 
 178 
 
182 
    // Process button inputs
 179 
    // Process button inputs
183 
    BTN_DATA btn_data;
 180 
    BTN_DATA btn_data;
184 
    BTN_Init(&btn_data, &BTN1_Interrupt, &BTN2_Interrupt, NULL);
 181 
    BTN_Init(&btn_data, &BTN1_Interrupt, &BTN2_Interrupt, NULL);
185 
 
 182 
 
186 
    // Initialize controllers
 183 
    // Initialize controllers
187 
    CONTROLLER_DATA ctrl_data;
 184 
    CONTROLLER_DATA ctrl_data;
188 
    Controller_Init(&ctrl_data, NULL);
 185 
    Controller_Init(&ctrl_data, NULL);
- 
 
 186 
 
- 
 
 187 
    // Initialize the Ethernet module
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 188 
    ETH_DATA eth_data;
- 
 
 189 
    ETH_Init(&eth_data, NULL, &Cube_Ethernet_Frame_In);
189
190
190 
    SNAKE_DATA snake_data;
 191 
    SNAKE_DATA snake_data;
191 
    TRON_DATA tron_data;
 192 
    TRON_DATA tron_data;
192 
 
 193 
 
193 
    // Determine what to do at this point. We either choose to idle (on POR)
 194 
    // Determine what to do at this point. We either choose to idle (on POR)
194 
    // or go into a mode specified prior to the software reset event
 195 
    // or go into a mode specified prior to the software reset event
195 
    uint8_t last_reset = Get_Reset_Condition();
 196 
    uint8_t last_reset = Get_Reset_Condition();
196 
    if (last_reset == RESET_POR || last_reset == RESET_BOR ||
 197 
    if (last_reset == RESET_POR || last_reset == RESET_BOR ||
197 
            last_reset == RESET_PIN || last_reset == RESET_WDT ||
 198 
            last_reset == RESET_PIN || last_reset == RESET_WDT ||
198 
            last_reset == RESET_CFG) {
 199 
            last_reset == RESET_CFG) {
199 
        op_state.cube_mode = BOARD_MODE_IDLE;
 200 
        op_state = BOARD_MODE_IDLE;
200 
    }
 201 
    }
201 
 
 202 
 
202 
    PWM2_Start();
 203 
    PWM2_Start();
203 
    TIMER5_Start();
 204 
    TIMER5_Start();
204 
    TIMER4_Start();
 205 
    TIMER4_Start();
205
206
206 
    /* -------------------- END OF INITIALIZATION -------------------- */
 207 
    /* -------------------- END OF INITIALIZATION -------------------- */
207 
    /* ------------------------ BEGIN DISPLAY ------------------------ */
 208 
    /* ------------------------ BEGIN DISPLAY ------------------------ */
208
209
209 
    switch (op_state.cube_mode) {
 210 
    switch (op_state) {
- 
 
 211 
        case BOARD_MODE_IDLE:
- 
 
 212 
            Idle_Animation_Sequence();
- 
 
 213 
            break;
210 
        case BOARD_MODE_SNAKE:;
 214 
        case BOARD_MODE_SNAKE:;
211 
            Controller_Init(&ctrl_data, &Snake_Update_Direction);
 215 
            Controller_Init(&ctrl_data, &Snake_Update_Direction);
212 
            Snake_Init(&snake_data);
 216 
            Snake_Init(&snake_data);
213 
            Snake_Main();
 217 
            Snake_Main();
214 
            break;
 218 
            break;
Line 216... Line 220...
216 
            Controller_Init(&ctrl_data, &Tron_Update_Direction);
 220 
            Controller_Init(&ctrl_data, &Tron_Update_Direction);
217 
            Tron_Init(&tron_data);
 221 
            Tron_Init(&tron_data);
218 
            Tron_Main();
 222 
            Tron_Main();
219 
            break;
 223 
            break;
220 
        case BOARD_MODE_ETHERNET:
 224 
        case BOARD_MODE_ETHERNET:
- 
 
 225 
            TIMER4_Stop();
221 
            while(1);
 226 
            while(1);
222 
            break;
 227 
            break;
223 
        case BOARD_MODE_IDLE:
 - 
 
224 
        default:
 - 
 
225 
            Idle_Animation_Sequence();
 - 
 
226 
            break;
 - 
 
227 
    }
 228 
    }
228 
 
 229 
 
- 
 
 230 
    while(1);
- 
 
 231 
 
229 
}
 232 
}
230 
 
 233 
 
231 
void Idle_Animation_Sequence(void) {
 234 
void Idle_Animation_Sequence(void) {
232 
      Delay_MS(250);
 235 
      Delay_MS(250);
233 
 
 236