// Timer : scrutation du fanion

#include <msp430.h>
#include <stdint.h>


// Définition des LED et des poussoirs pour la carte 2025
#define Led1On P2OUT|=(1<<0)
#define Led1Off P2OUT&=~(1<<0)
#define Led1Toggle P2OUT^=(1<<0)
#define InitLed1 P2DIR|=(1<<0);Led1Off

#define Led2On P2OUT|=(1<<2)
#define Led2Off P2OUT&=~(1<<2)
#define Led2Toggle P2OUT^=(1<<2)
#define InitLed2 P2DIR|=(1<<2);Led2Off

#define Led3On P4OUT|=(1<<0)
#define Led3Off P4OUT&=~(1<<0)
#define Led3Toggle P4OUT^=(1<<0)
#define InitLed3 P4DIR|=(1<<0);Led3Off

#define Led4On P6OUT|=(1<<0)
#define Led4Off P6OUT&=~(1<<0)
#define Led4Toggle P6OUT^=(1<<0)
#define InitLed4 P6DIR|=(1<<0);Led4Off

#define Led5On P6OUT|=(1<<1)
#define Led5Off P6OUT&=~(1<<1)
#define Led5Toggle P6OUT^=(1<<1)
#define InitLed5 P6DIR|=(1<<1);Led5Off

#define Led6On P6OUT|=(1<<2)
#define Led6Off P6OUT&=~(1<<2)
#define Led6Toggle P6OUT^=(1<<2)
#define InitLed6 P6DIR|=(1<<2);Led6Off

#define Led7On P6OUT|=(1<<3)
#define Led7Off P6OUT&=~(1<<3)
#define Led7Toggle P6OUT^=(1<<3)
#define InitLed7 P6DIR|=(1<<3);Led7Off

#define Led8On P6OUT|=(1<<4)
#define Led8Off P6OUT&=~(1<<4)
#define Led8Toggle P6OUT^=(1<<4)
#define InitLed8 P6DIR|=(1<<4);Led8Off

#define Pous1On (!(P2IN&(1<<3)))
#define InitPous1 P2DIR&=~(1<<3);P2REN|=(1<<3);P2OUT|=(1<<3)

#define Pous2On (!(P2IN&(1<<4)))
#define InitPous2 P2DIR&=~(1<<4);P2REN|=(1<<4);P2OUT|=(1<<4)

#define Pous3On (!(P2IN&(1<<5)))
#define InitPous3 P2DIR&=~(1<<5);P2REN|=(1<<5);P2OUT|=(1<<5)

#define Pous4On (!(P2IN&(1<<6)))
#define InitPous4 P2DIR&=~(1<<6);P2REN|=(1<<6);P2OUT|=(1<<6)

#define Pous5On (!(P2IN&(1<<7)))
#define InitPous5 P2DIR&=~(1<<7);P2REN|=(1<<7);P2OUT|=(1<<7)

// Encodeur rotatif
#define EncodX (P1IN>>5)&1
#define InitEncodX P1DIR&=~(1<<5);P1REN|=(1<<5);P1OUT|=(1<<5)

#define EncodY (P1IN>>6)&1
#define InitEncodY P1DIR&=~(1<<6);P1REN|=(1<<6);P1OUT|=(1<<6)

#define PousEncodOn (!(P6IN&(1<<6)))
#define InitPousEncod P6DIR&=~(1<<6);P6REN|=(1<<6);P6OUT|=(1<<6)

// Définitions du moteur Logidule
#define MoteurDirDroite (P7OUT|=(1<<4))
#define MoteurDirGauche (P7OUT&=~(1<<4))
#define MoteurEn (P7OUT|=(1<<0))
#define MoteurStop (P7OUT&=~(1<<0))
#define InitMoteur (P7DIR |= ((1<<4)|(1<<0)))

#define EncodeurX (P1IN>>2)&1
#define EncodeurY (P1IN>>3)&1
#define FinCourseDroite (!(P1IN&(1<<4)))
#define FinCourseGauche (!(P1IN&(1<<5)))

void InitCarte2025() {
  InitLed1;
  InitLed2;
  InitLed3;
  InitLed4;
  InitLed5;
  InitLed6;
  InitLed7;
  InitLed8;

  InitPous1;
  InitPous2;
  InitPous3;
  InitPous4;
  InitPous5;

  InitEncodX;
  InitEncodY;
  InitPousEncod;
  InitMoteur;
}

void AfficheLedBleues(uint16_t val) {
  if (val & (1<<0)) { Led8On; } else { Led8Off; }
  if (val & (1<<1)) { Led7On; } else { Led7Off; }
  if (val & (1<<2)) { Led6On; } else { Led6Off; }
  if (val & (1<<3)) { Led5On; } else { Led5Off; }
  if (val & (1<<4)) { Led4On; } else { Led4Off; }
}

#define CPU_F ((double)25000000)
#define Delay_ms(x) __delay_cycles((long)(CPU_F*(double)x/1000.0))

void delay_ms(unsigned int ms) {
    while(ms) {
        Delay_ms(1);
        ms--;
    }
}

void main(void) {
  WDTCTL = WDTPW | WDTHOLD;
  InitCarte2025();

  // Initialisation du Timer :
  // choix de l'horloge et mode continu
  TA0CTL = TASSEL_2 + ID_3 + MC_2;

  while (1) { // boucle infinie
    if (TA0CTL & TAIFG) { // teste le fanion d'overflow
      TA0CTL &=~TAIFG;
      Led1Toggle;
    }
  }
}