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Line 73... Line 73...
73 
 
 73 
 
74 
    return ret;
 74 
    return ret;
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}
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}
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 76 
 
77 
BTN_STATUS btns;
 77 
BTN_STATUS btns;
- 
 
 78 
LED_VALUES leds = {0x00};
78 
 
 79 
 
79 
int main(void) {
 80 
int main(void) {
80 
    uint8_t buffer[32];
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    uint8_t buffer[32];
81 
    uint8_t result, length;
 82 
    uint8_t result, length;
82 
    uint8_t i2c_slave_addr;
 83 
    uint8_t i2c_slave_addr;
Line 102... Line 103...
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//    }
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//    }
103 
 
 104 
 
104 
    i2c_slave_addr = Read_Address();
 105 
    i2c_slave_addr = Read_Address();
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 106 
 
106 
    // Delay a bit to allow I2C lines to stabilize
 107 
    // Delay a bit to allow I2C lines to stabilize
107 
    __delay_ms(1);
 108 
    __delay_ms(10);
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 109 
 
109 
    // Initialize I2C1 in slave mode
 110 
    // Initialize I2C1 in slave mode
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    I2C1_DATA i2c1_data;
 111 
    I2C1_DATA i2c1_data;
111 
    I2C1_Init(&i2c1_data);
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    I2C1_Init(&i2c1_data);
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    I2C1_Configure_Slave(i2c_slave_addr);
 113 
    I2C1_Configure_Slave(i2c_slave_addr);
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 114 
 
114 
    // Initialize I2C2 in master mode
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    // Initialize I2C2 in master mode
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    I2C2_DATA i2c2_data;
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    I2C2_DATA i2c2_data;
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    I2C2_Init(&i2c2_data);
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    I2C2_Init(&i2c2_data);
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    I2C2_Configure_Master(I2C_400KHZ);
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    I2C2_Configure_Master(I2C_1MHZ);
118 
 
 119 
 
119 
    // Initialize interrupts
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    // Initialize interrupts
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    Interrupt_Init();
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    Interrupt_Init();
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    Interrupt_Enable();
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    Interrupt_Enable();
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 123 
 
123 
    MCP23009_Init(&btns);
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    MCP23009_Init(&btns);
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    MCP23009_Query();
 125 
    MCP23009_Query();
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 126 
 
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    LED_VALUES leds = {0x00};
 - 
 
127 
    TLC59116_Init();
 127 
    TLC59116_Init();
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//    TLC59116_Write_All(&leds);
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//    TLC59116_Write_All(&leds);
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 129 
 
130 
    if (op_state == OP_STATE_IDLE) {
 130 
    if (op_state == OP_STATE_IDLE) {
131 
        IO_IOC_Enable();
 131 
//        IO_IOC_Enable();
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        Idle_Animation();
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        Idle_Animation();
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    } else if (op_state == OP_STATE_ACTIVE) {
 133 
    } else if (op_state == OP_STATE_ACTIVE) {
134 
        while (1) {
 134 
        while (1) {
135 
            __delay_ms(1);
 - 
 
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            // Read value of buttons
 - 
 
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            MCP23009_Query();
 - 
 
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 - 
 
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            // Check if an I2C message was received
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            // Check if an I2C message was received
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            result = I2C1_Get_Status();
 136 
            result = I2C1_Get_Status();
141 
            if (result) {
 137 
            if (result) {
142 
                length = I2C1_Read_Buffer(buffer);
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                length = I2C1_Read_Buffer(buffer);
143 
                if (length == 1 && buffer[0] == CMD_RESET) {
 139 
                if (length == 1 && buffer[0] == CMD_RESET) {
144 
                    Reset_Board(OP_STATE_IDLE);
 140 
                    Reset_Board(OP_STATE_IDLE);
- 
 
 141 
                } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
- 
 
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                    Reset_Board(OP_STATE_ACTIVE);
145 
                } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
 143 
                } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
146 
                    for (i = 0; i < 16; i++) {
 144 
                    for (i = 0; i < 16; i++) {
147 
                        leds.w[i] = buffer[i+1];
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                        leds.w[i] = buffer[i + 1];
148 
                    }
 146 
                    }
149 
                    TLC59116_Write_All(&leds);
 147 
                    TLC59116_Write_All(&leds);
150 
                }
 148 
                }
151 
            }
 149 
            }
- 
 
 150 
 
- 
 
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            I2C2_Master_Restart(MCP23009_ADDR, MCP23009_GPIOA, 1);
- 
 
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            do {
- 
 
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                result = I2C2_Get_Status();
- 
 
 154 
            } while (!result);
- 
 
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            length = I2C2_Read_Buffer(buffer);
- 
 
 156 
            btns.w = buffer[0];
- 
 
 157 
        }
- 
 
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    }
- 
 
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}
- 
 
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- 
 
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void Check_I2C(void) {
- 
 
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    uint8_t buffer[32];
- 
 
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    uint8_t result, length, i;
- 
 
 164 
 
- 
 
 165 
    // Check if an I2C message was received
- 
 
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    result = I2C1_Get_Status();
- 
 
 167 
    if (result) {
- 
 
 168 
        length = I2C1_Read_Buffer(buffer);
- 
 
 169 
        if (length == 1 && buffer[0] == CMD_RESET) {
- 
 
 170 
            Reset_Board(OP_STATE_IDLE);
- 
 
 171 
        } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
- 
 
 172 
            Reset_Board(OP_STATE_ACTIVE);
- 
 
 173 
        } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
- 
 
 174 
            for (i = 0; i < 16; i++) {
- 
 
 175 
                leds.w[i] = buffer[i + 1];
- 
 
 176 
            }
- 
 
 177 
            TLC59116_Write_All(&leds);
152 
        }
 178 
        }
153 
    }
 179 
    }
154 
}
 180 
}
155 
 
 181 
 
156 
void Idle_Animation(void) {
 182 
void Idle_Animation(void) {
Line 166... Line 192...
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 192 
 
167 
    for (i = 0; i < 16; i++) leds.w[i] = 0x00;
 193 
    for (i = 0; i < 16; i++) leds.w[i] = 0x00;
168
194
169 
    while (1) {
 195 
    while (1) {
170 
 
 196 
 
- 
 
 197 
        // Check to see if a new message was received
- 
 
 198 
        Check_I2C();
- 
 
 199 
 
171 
        // Update the LEDs in the middle section
 200 
        // Update the LEDs in the middle section
172 
        for (i = 0; i < 8; i++) {
 201 
        for (i = 0; i < 8; i++) {
173 
            // Change the LED brightness depending on its direction
 202 
            // Change the LED brightness depending on its direction
174 
            if (led_direction_bar[i] == 1) {
 203 
            if (led_direction_bar[i] == 1) {
175 
                leds.w[i]++;
 204 
                leds.w[i]++;
Line 238... Line 267...
238 
        TLC59116_Write_All(&leds);
 267 
        TLC59116_Write_All(&leds);
239 
 
 268 
 
240 
        // Delay a bit to slow down the animation
 269 
        // Delay a bit to slow down the animation
241 
        __delay_ms(1);
 270 
        __delay_ms(1);
242 
    }
 271 
    }
243 
 
 - 
 
244 
}
 272 
}
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