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Line 24... Line 24...
24 
#include "defines.h"
 24 
#include "defines.h"
25 
#include "INTERRUPTS.h"
 25 
#include "INTERRUPTS.h"
26 
#include "IO.h"
 26 
#include "IO.h"
27 
#include "I2C1.h"
 27 
#include "I2C1.h"
28 
#include "I2C2.h"
 28 
#include "I2C2.h"
- 
 
 29 
#include "CPS.h"
29 
#include "TLC59116.h"
 30 
#include "TLC59116.h"
30 
#include "MCP23009.h"
 31 
#include "MCP23009.h"
31 
 
 32 
 
32 
persistent uint8_t op_state;
 33 
persistent uint8_t op_state;
33 
 
 34 
 
Line 115... Line 116...
115 
    // Initialize I2C2 in master mode
 116 
    // Initialize I2C2 in master mode
116 
    I2C2_DATA i2c2_data;
 117 
    I2C2_DATA i2c2_data;
117 
    I2C2_Init(&i2c2_data);
 118 
    I2C2_Init(&i2c2_data);
118 
    I2C2_Configure_Master(I2C_1MHZ);
 119 
    I2C2_Configure_Master(I2C_1MHZ);
119 
 
 120 
 
- 
 
 121 
    CPS_DATA cps_data;
- 
 
 122 
    CPS_Init(&cps_data);
- 
 
 123 
 
120 
    // Initialize interrupts
 124 
    // Initialize interrupts
121 
    Interrupt_Init();
 125 
    Interrupt_Init();
122 
    Interrupt_Enable();
 126 
    Interrupt_Enable();
123 
 
 127 
 
124 
    MCP23009_Init(&btns);
 128 
    MCP23009_Init(&btns);
Line 129... Line 133...
129 
 
 133 
 
130 
    if (op_state == OP_STATE_IDLE) {
 134 
    if (op_state == OP_STATE_IDLE) {
131 
//        IO_IOC_Enable();
 135 
//        IO_IOC_Enable();
132 
        Idle_Animation();
 136 
        Idle_Animation();
133 
    } else if (op_state == OP_STATE_ACTIVE) {
 137 
    } else if (op_state == OP_STATE_ACTIVE) {
- 
 
 138 
        uint8_t button_R = 0, button_L = 0;
- 
 
 139 
        uint8_t dir_state = DIR_S;
- 
 
 140 
        leds.single.LED_S = DIR_BRIGHTNESS;
- 
 
 141 
        TLC59116_Write_All(&leds);
134 
        while (1) {
 142 
        while (1) {
135 
            // Check if an I2C message was received
 143 
            // Check if an I2C message was received
- 
 
 144 
            do {
136 
            result = I2C1_Get_Status();
 145 
                result = I2C1_Get_Status();
137 
            if (result) {
 146 
            } while (!result);
138 
                length = I2C1_Read_Buffer(buffer);
 147 
            length = I2C1_Read_Buffer(buffer);
139 
                if (length == 1 && buffer[0] == CMD_RESET) {
 148 
            if (length == 1 && buffer[0] == CMD_RESET) {
140 
                    Reset_Board(OP_STATE_IDLE);
 149 
                Reset_Board(OP_STATE_IDLE);
141 
                } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
 150 
            } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
142 
                    Reset_Board(OP_STATE_ACTIVE);
 151 
                Reset_Board(OP_STATE_ACTIVE);
143 
                } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
 152 
            } else if (length == 17 && buffer[0] == CMD_SET_LEDS) {
144 
                    for (i = 0; i < 16; i++) {
 153 
                for (i = 0; i < 16; i++) {
145 
                        leds.w[i] = buffer[i + 1];
 154 
                    leds.w[i] = buffer[i + 1];
146 
                    }
 - 
 
147 
                    TLC59116_Write_All(&leds);
 - 
 
148 
                }
 155 
                }
- 
 
 156 
                // Reset the direction LEDs
- 
 
 157 
                if (dir_state == DIR_S)
- 
 
 158 
                    leds.single.LED_S = DIR_BRIGHTNESS;
- 
 
 159 
                else if (dir_state == DIR_W)
- 
 
 160 
                    leds.single.LED_W = DIR_BRIGHTNESS;
- 
 
 161 
                else if (dir_state == DIR_N)
- 
 
 162 
                    leds.single.LED_N = DIR_BRIGHTNESS;
- 
 
 163 
                else if (dir_state == DIR_E)
- 
 
 164 
                    leds.single.LED_E = DIR_BRIGHTNESS;
- 
 
 165 
                TLC59116_Write_All(&leds);
149 
            }
 166 
            }
- 
 
 167
150 
 
 168 
 
- 
 
 169 
            // Check if either capacitive buttons were pressed
- 
 
 170 
            if (cps_data.btn_pressed[0] && button_R == 0) {
- 
 
 171 
                // Right button went from unpressed -> pressed
- 
 
 172 
                dir_state = Direction_Rotate_CClockwise(dir_state);
- 
 
 173 
                TLC59116_Write_All(&leds);
- 
 
 174 
            }
- 
 
 175 
            if (cps_data.btn_pressed[1] && button_L == 0) {
- 
 
 176 
                // Left button went from unpressed -> pressed
- 
 
 177 
                dir_state = Direction_Rotate_Clockwise(dir_state);
- 
 
 178 
                TLC59116_Write_All(&leds);
- 
 
 179 
            }
- 
 
 180 
            // Save the previous button state
- 
 
 181 
            button_R = cps_data.btn_pressed[0];
- 
 
 182 
            button_L = cps_data.btn_pressed[1];
- 
 
 183 
 
- 
 
 184 
            // Poll the hardware buttons
151 
            I2C2_Master_Restart(MCP23009_ADDR, MCP23009_GPIOA, 1);
 185 
            I2C2_Master_Restart(MCP23009_ADDR, MCP23009_GPIOA, 1);
152 
            do {
 186 
            do {
153 
                result = I2C2_Get_Status();
 187 
                result = I2C2_Get_Status();
154 
            } while (!result);
 188 
            } while (!result);
155 
            length = I2C2_Read_Buffer(buffer);
 189 
            length = I2C2_Read_Buffer(buffer);
156 
            btns.w = buffer[0];
 190 
            btns.w = buffer[0];
- 
 
 191 
            // Change the direction according to the user's perspective
- 
 
 192 
            if (dir_state == DIR_W) {
- 
 
 193 
                uint8_t tmp = btns.BTN_R_S;
- 
 
 194 
                btns.BTN_R_S = btns.BTN_R_W;
- 
 
 195 
                btns.BTN_R_W = btns.BTN_R_N;
- 
 
 196 
                btns.BTN_R_N = btns.BTN_R_E;
- 
 
 197 
                btns.BTN_R_E = tmp;
- 
 
 198 
            } else if (dir_state == DIR_E) {
- 
 
 199 
                uint8_t tmp = btns.BTN_R_S;
- 
 
 200 
                btns.BTN_R_S = btns.BTN_R_E;
- 
 
 201 
                btns.BTN_R_E = btns.BTN_R_N;
- 
 
 202 
                btns.BTN_R_N = btns.BTN_R_W;
- 
 
 203 
                btns.BTN_R_W = tmp;
- 
 
 204 
            } else if (dir_state == DIR_N) {
- 
 
 205 
                uint8_t tmp = btns.BTN_R_S;
- 
 
 206 
                btns.BTN_R_S = btns.BTN_R_N;
- 
 
 207 
                btns.BTN_R_N = tmp;
- 
 
 208 
                tmp = btns.BTN_R_E;
- 
 
 209 
                btns.BTN_R_E = btns.BTN_R_W;
- 
 
 210 
                btns.BTN_R_W = tmp;
- 
 
 211 
            }
157 
        }
 212 
        }
158 
    }
 213 
    }
159 
}
 214 
}
160 
 
 215 
 
- 
 
 216 
uint8_t Direction_Rotate_Clockwise(uint8_t dir_state) {
- 
 
 217 
    uint8_t ret;
- 
 
 218 
    switch (dir_state) {
- 
 
 219 
        case DIR_S:
- 
 
 220 
            leds.single.LED_S = 0x00;
- 
 
 221 
            leds.single.LED_W = DIR_BRIGHTNESS;
- 
 
 222 
            ret = DIR_W;
- 
 
 223 
            break;
- 
 
 224 
        case DIR_W:
- 
 
 225 
            leds.single.LED_W = 0x00;
- 
 
 226 
            leds.single.LED_N = DIR_BRIGHTNESS;
- 
 
 227 
            ret = DIR_N;
- 
 
 228 
            break;
- 
 
 229 
        case DIR_N:
- 
 
 230 
            leds.single.LED_N = 0x00;
- 
 
 231 
            leds.single.LED_E = DIR_BRIGHTNESS;
- 
 
 232 
            ret = DIR_E;
- 
 
 233 
            break;
- 
 
 234 
        case DIR_E:
- 
 
 235 
            leds.single.LED_E = 0x00;
- 
 
 236 
            leds.single.LED_S = DIR_BRIGHTNESS;
- 
 
 237 
            ret = DIR_S;
- 
 
 238 
            break;
- 
 
 239 
    }
- 
 
 240 
    return ret;
- 
 
 241 
}
- 
 
 242 
 
- 
 
 243 
uint8_t Direction_Rotate_CClockwise(uint8_t dir_state) {
- 
 
 244 
    uint8_t ret;
- 
 
 245 
    switch (dir_state) {
- 
 
 246 
        case DIR_S:
- 
 
 247 
            leds.single.LED_S = 0x00;
- 
 
 248 
            leds.single.LED_E = DIR_BRIGHTNESS;
- 
 
 249 
            ret = DIR_E;
- 
 
 250 
            break;
- 
 
 251 
        case DIR_E:
- 
 
 252 
            leds.single.LED_E = 0x00;
- 
 
 253 
            leds.single.LED_N = DIR_BRIGHTNESS;
- 
 
 254 
            ret = DIR_N;
- 
 
 255 
            break;
- 
 
 256 
        case DIR_N:
- 
 
 257 
            leds.single.LED_N = 0x00;
- 
 
 258 
            leds.single.LED_W = DIR_BRIGHTNESS;
- 
 
 259 
            ret = DIR_W;
- 
 
 260 
            break;
- 
 
 261 
        case DIR_W:
- 
 
 262 
            leds.single.LED_W = 0x00;
- 
 
 263 
            leds.single.LED_S = DIR_BRIGHTNESS;
- 
 
 264 
            ret = DIR_S;
- 
 
 265 
            break;
- 
 
 266 
    }
- 
 
 267 
    return ret;
- 
 
 268 
}
- 
 
 269 
 
161 
void Check_I2C(void) {
 270 
void Check_I2C_Idle(void) {
162 
    uint8_t buffer[32];
 271 
    uint8_t buffer[32];
163 
    uint8_t result, length, i;
 272 
    uint8_t result, length, i;
164 
 
 273 
 
165 
    // Check if an I2C message was received
 274 
    // Check if an I2C message was received
166 
    result = I2C1_Get_Status();
 275 
    result = I2C1_Get_Status();
Line 168... Line 277...
168 
        length = I2C1_Read_Buffer(buffer);
 277 
        length = I2C1_Read_Buffer(buffer);
169 
        if (length == 1 && buffer[0] == CMD_RESET) {
 278 
        if (length == 1 && buffer[0] == CMD_RESET) {
170 
            Reset_Board(OP_STATE_IDLE);
 279 
            Reset_Board(OP_STATE_IDLE);
171 
        } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
 280 
        } else if (length == 1 && buffer[0] == CMD_ACTIVE) {
172 
            Reset_Board(OP_STATE_ACTIVE);
 281 
            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);
 - 
 
178 
        }
 282 
        }
179 
    }
 283 
    }
180 
}
 284 
}
181 
 
 285 
 
182 
void Idle_Animation(void) {
 286 
void Idle_Animation(void) {
Line 193... Line 297...
193 
    for (i = 0; i < 16; i++) leds.w[i] = 0x00;
 297 
    for (i = 0; i < 16; i++) leds.w[i] = 0x00;
194
298
195 
    while (1) {
 299 
    while (1) {
196 
 
 300 
 
197 
        // Check to see if a new message was received
 301 
        // Check to see if a new message was received
198 
        Check_I2C();
 302 
        Check_I2C_Idle();
199 
 
 303 
 
200 
        // Update the LEDs in the middle section
 304 
        // Update the LEDs in the middle section
201 
        for (i = 0; i < 8; i++) {
 305 
        for (i = 0; i < 8; i++) {
202 
            // Change the LED brightness depending on its direction
 306 
            // Change the LED brightness depending on its direction
203 
            if (led_direction_bar[i] == 1) {
 307 
            if (led_direction_bar[i] == 1) {