// Timer : scrutation du fanion
// EPFL 2020, Pierre-Yves Rochat, pyr@pyr.ch

#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--;
    }
}

// Procédures pour passer la fréquence de 1 à 25 MHz
// (fournies par Texas Instrument !)
void SetVCoreUp (unsigned int level) {
  PMMCTL0_H = 0xA5; // Open PMM registers for write access
  // Set SVS/SVM high side new level :
  SVSMHCTL = SVSHE + SVSHRVL0 * level + SVMHE + SVSMHRRL0 * level;
  // Set SVM low side to new level :
  SVSMLCTL = SVSLE + SVMLE + SVSMLRRL0 * level;
  while ((PMMIFG & SVSMLDLYIFG) == 0) {} // Wait till SVM is settled
  PMMIFG &= ~(SVMLVLRIFG + SVMLIFG); // Clear already set flags
  PMMCTL0_L = PMMCOREV0 * level; // Set VCore to new level
  if ((PMMIFG & SVMLIFG)) { // Wait till new level reached
    while ((PMMIFG & SVMLVLRIFG) == 0);
  }
  // Set SVS/SVM low side to new level :
  SVSMLCTL = SVSLE + SVSLRVL0 * level + SVMLE + SVSMLRRL0 * level;
  PMMCTL0_H = 0x00; // Lock PMM registers for write access
}

void setupDCO(void) {
  SetVCoreUp(1u); // Power settings
  SetVCoreUp(2u); SetVCoreUp(3u);
  UCSCTL3 = SELREF__REFOCLK; // select REFO as FLL source
  UCSCTL6 = XT1OFF | XT2OFF; // turn off XT1 and XT2
  // Initialize DCO to 25.00MHz :
  __bis_SR_register(SCG0); // Disable the FLL control loop
  UCSCTL0 = 0x0000u;  // Set lowest possible DCOx, MODx
  UCSCTL1 = DCORSEL_6; // Set RSELx for DCO = 50 MHz
  UCSCTL2 = 762u;  // Set DCO Multiplier for 25MHz
                       // (N + 1) * FLLRef = Fdco, (762 + 1) * 32768 = 25.00MHz
  UCSCTL4 = SELA__REFOCLK | SELS__DCOCLK | SELM__DCOCLK;
  __bic_SR_register(SCG0); // Enable the FLL control loop

  // Worst-case settling time for the DCO when the DCO range bits have been
  // changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
  // UG for optimization.
  // 32*32*25MHz/32768Hz = 781250 = MCLK cycles for DCO to settle
  __delay_cycles(781250u);

  do { // Loop until XT1,XT2 & DCO fault flag is cleared
    UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + DCOFFG); // Clear XT2,XT1,DCO fault flags
    SFRIFG1 &= ~OFIFG; // Clear fault flags
  } while (SFRIFG1&OFIFG); // Test oscillator fault flag
}


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

  // Initialisation du Timer :
  // choix de l'horloge et mode continu
  TA0CTL = TASSEL_2 | ID_3 | MC_2 | TAIE;
  __enable_interrupt(); // Active l'ensemble des interruption

  while (1) { // boucle infinie vide
  }
}

// Pour gérer les trois autres interruptions, cette routine doit les sélectionner.
// Il faut respecter à la lettre le switch (TAIV) ... case !
// TAIV est un registre interne au microcontrôleur,
// qui indique la provenance de l'interruption courante (Overflow, Compare 1 ou Compare 2)

// Timer_A1 Interrupt Vector (TAIV) handler
#pragma vector=TIMER0_A1_VECTOR
__interrupt void Timer_A1(void) {
  switch(TA0IV) {
  case  2: // CCR1 : not used
           break;
  case  4: // CCR2 : not used
           break;
  case  6: // CCR3 : not used
             break;
  case  8: // CCR4 : not used
             break;
  case 14: // Overflow (cette valeur était de 10 pour le MSP430G)
           Led1Toggle;
           break;
  }
}