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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">
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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">
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// PIC16F1825 Configuration Bit Settings
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// PIC16F1825 Configuration Bit Settings
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 3 
 
4 
// CONFIG1
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// CONFIG1
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#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
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#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
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#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)
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#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT software controlled)
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#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)
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#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)
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#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is digital input)
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#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is digital input)
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#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)
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#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)
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#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)
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#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)
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#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)
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#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)
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#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)
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#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)
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// </editor-fold>
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// </editor-fold>
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#include "defines.h"
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#include "defines.h"
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#include "INTERRUPTS.h"
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#include "INTERRUPTS.h"
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#include "IO.h"
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#include "I2C1.h"
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#include "I2C1.h"
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#include "I2C2.h"
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#include "I2C2.h"
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#include "TLC59116.h"
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#include "TLC59116.h"
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#include "MCP23009.h"
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#include "MCP23009.h"
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 31 
 
31 
void Pins_Init(void) {
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persistent uint8_t op_state;
- 
 
 33 
 
32 
    // Set all pins to digital I/O
 34 
void Reset_Board(uint8_t next_state) {
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    ANSELA = 0x0;
 - 
 
34 
    ANSELB = 0x0;
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    op_state = next_state;
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    ANSELC = 0x0;
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    RESET();
36 
 
 37 
}
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    // Enable weak pull-up if WPU bit is set
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    OPTION_REGbits.nWPUEN = 0;
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 38 
 
40 
    // Initialize interrupt inputs
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uint8_t Get_Last_Reset(void) {
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    LSM303_INT_TRIS = 1;
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    uint8_t ret;
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    L3GD20_INT_TRIS = 1;
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    if (PCONbits.nPOR == 0) {
43 
    BTN_INT_TRIS = 1;
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        ret = RESET_POR;
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45 
    // Initialize UART pins
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    } else if (PCONbits.nBOR == 0) {
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    UART_RX_TRIS = 1;
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        ret = RESET_BOR;
47 
    UART_TX_TRIS = 0;
 45 
    } else if (STATUSbits.nTO == 0) {
48 
 
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49 
    // Initialize I2C address pins
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        ret = RESET_WDT;
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    I2C_ADDR_0_TRIS = 1;
 47 
    } else if (PCONbits.nRMCLR == 0) {
51 
    I2C_ADDR_1_TRIS = 1;
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        ret = RESET_MCLR;
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    I2C_ADDR_2_TRIS = 1;
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    } else if (PCONbits.STKOVF || PCONbits.STKUNF) {
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    I2C_ADDR_3_TRIS = 1;
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        ret = RESET_STK;
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    // Enable the weak-pullup on the address pins
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    } else if (PCONbits.nRI == 0) {
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    I2C_ADDR_0_WPU = 1;
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        ret = RESET_RST;
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    I2C_ADDR_1_WPU = 1;
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    } else {
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    I2C_ADDR_2_WPU = 1;
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        ret = RESET_POR;
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    I2C_ADDR_3_WPU = 1;
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    }
59 
 
 56 
 
60 
    // Initialize I2C pins (dont really need to as the I2C code does it)
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61 
    I2C_1_CLK_TRIS = 1;
 57 
    PCON = 0x0F;
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    I2C_1_DAT_TRIS = 1;
 58 
    STATUSbits.nPD = 1;
63 
    I2C_2_CLK_TRIS = 1;
 59 
    STATUSbits.nTO = 1;
64 
    I2C_2_DAT_TRIS = 1;
 60 
    return ret;
65 
}
 61 
}
66 
 
 62 
 
67 
uint8_t Read_Address(void) {
 63 
uint8_t Read_Address(void) {
68 
    uint8_t ret = 0;
 64 
    uint8_t ret = I2C1_SLAVE_PREFIX;
69 
    ret |= I2C_ADDR_3_LAT << 3;
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    if (!I2C_ADDR_3_PORT)
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        ret |= 0x08;
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    ret |= I2C_ADDR_2_LAT << 2;
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    if (!I2C_ADDR_2_PORT)
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        ret |= 0x04;
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    ret |= I2C_ADDR_1_LAT << 1;
 69 
    if (!I2C_ADDR_1_PORT)
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 70 
        ret |= 0x02;
72 
    ret |= I2C_ADDR_0_LAT;
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    if (!I2C_ADDR_0_PORT)
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        ret |= 0x01;
73
73 
 
74 
    return ret;
 74 
    return ret;
75 
}
 75 
}
76 
 
 76 
 
- 
 
 77 
BTN_STATUS btns;
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 78 
 
77 
int main(void) {
 79 
int main(void) {
78 
    uint8_t buffer[32];
 80 
    uint8_t buffer[32];
79 
    uint8_t result, length;
 81 
    uint8_t result, length;
80 
    uint8_t i2c_slave_addr;
 82 
    uint8_t i2c_slave_addr;
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 83 
//    uint8_t op_state;
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 84 
    uint8_t i;
81 
 
 85 
 
82 
    // Set internal oscillator speed to 32MHz
 86 
    // Set internal oscillator speed to 32MHz
83 
    OSCCONbits.SPLLEN = 1;  // 4x PLL enable (overwritten by config bits)
 87 
    OSCCONbits.SPLLEN = 1;  // 4x PLL enable (overwritten by config bits)
84 
    OSCCONbits.IRCF = 0xE;  // Base frequency @ 8MHz
 88 
    OSCCONbits.IRCF = 0xE;  // Base frequency @ 8MHz
85 
    OSCCONbits.SCS = 0b00;  // System clock determined by config bits
 89 
    OSCCONbits.SCS = 0b00;  // System clock determined by config bits
86 
 
 90 
 
87 
    // Set watchdog timer to reset device every 1s
 - 
 
88 
    // CLRWDT is issued upon receiving data over I2C
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89 
//    WDTCON = 0x0A;
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90 
 
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91 
    // Initialize I/O
 91 
    // Initialize I/O
92 
    Pins_Init();
 92 
    IO_Init();
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 93 
 
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 94 
    uint8_t last_reset = Get_Last_Reset();
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 95 
    if (last_reset == RESET_POR || last_reset == RESET_BOR ||
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 96 
            last_reset == RESET_MCLR || last_reset == RESET_WDT ||
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 97 
            last_reset == RESET_STK) {
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 98 
        op_state = OP_STATE_IDLE;
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 99 
    }
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 100 
//    if (last_reset == RESET_RST) {
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 101 
//        op_state = OP_STATE_ACTIVE;
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 102 
//    }
93 
 
 103 
 
94 
    i2c_slave_addr = Read_Address();
 104 
    i2c_slave_addr = Read_Address();
95 
 
 105 
 
- 
 
 106 
    // Delay a bit to allow I2C lines to stabilize
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 107 
    __delay_ms(1);
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 108 
 
96 
    // Initialize I2C1 in slave mode
 109 
    // Initialize I2C1 in slave mode
97 
    I2C1_DATA i2c1_data;
 110 
    I2C1_DATA i2c1_data;
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    I2C1_Init(&i2c1_data);
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    I2C1_Init(&i2c1_data);
99 
    I2C1_Configure_Slave(i2c_slave_addr);
 112 
    I2C1_Configure_Slave(i2c_slave_addr);
100 
 
 113 
 
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 118 
 
106 
    // Initialize interrupts
 119 
    // Initialize interrupts
107 
    Interrupt_Init();
 120 
    Interrupt_Init();
108 
    Interrupt_Enable();
 121 
    Interrupt_Enable();
109 
 
 122 
 
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 123 
    MCP23009_Init(&btns);
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 124 
    MCP23009_Query();
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 125 
 
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 126 
    LED_VALUES leds = {0x00};
110 
    TLC59116_Init();
 127 
    TLC59116_Init();
111 
    MCP23009_Init();
 128 
//    TLC59116_Write_All(&leds);
112 
 
 129 
 
- 
 
 130 
    if (op_state == OP_STATE_IDLE) {
113 
    BTN_STATUS btns;
 131 
        IO_IOC_Enable();
114 
    LED_VALUES leds = {0x00, 0x00, 0x00, 0x00,
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        Idle_Animation();
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                       0x00, 0x00, 0x00, 0x00,
 133 
    } else if (op_state == OP_STATE_ACTIVE) {
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 134 
        while (1) {
116 
                       0x00, 0x00, 0x00, 0x00,
 135 
            __delay_ms(1);
117 
                       0x00, 0x00, 0x00, 0x00};
 136 
            // Read value of buttons
118 
 
 - 
 
119 
    TLC59116_Write_All(&leds);
 137 
            MCP23009_Query();
120 
 
 138 
 
121 
    Idle_Animation();
 139 
            // Check if an I2C message was received
122 
 
 - 
 
123 
    // Check for received data over I2C1
 140 
            result = I2C1_Get_Status();
124 
    while (1) {
 141 
            if (result) {
125 
        MCP23009_Query(&btns);
 142 
                length = I2C1_Read_Buffer(buffer);
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 143 
                if (length == 1 && buffer[0] == CMD_RESET) {
126 
        uint8_t i;
 144 
                    Reset_Board(OP_STATE_IDLE);
127 
        for (i = 0; i < 8; i++) {
 145 
                } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
128 
            if ((btns.w >> i) & 0x1) {
 146 
                    for (i = 0; i < 16; i++) {
129 
                leds.w[i] = 0x00;
 147 
                        leds.w[i] = buffer[i+1];
130 
            } else {
 148 
                    }
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 149 
                    TLC59116_Write_All(&leds);
131 
                leds.w[i] = 0x20;
 150 
                }
132 
            }
 151 
            }
133 
        }
 152 
        }
134 
        TLC59116_Write_All(&leds);
 - 
 
135 
    }
 153 
    }
136 
}
 154 
}
137 
 
 155 
 
138 
void Idle_Animation(void) {
 156 
void Idle_Animation(void) {
139 
    LED_VALUES leds = {0};
 157 
    LED_VALUES leds = {0};