// Procédures utiles pour la carte MSP-EXP430F5529
// Pierre-Yves Rochat, 2020, EPFL, pyr@pyr.ch

#ifndef CARTE2026_H_
#define CARTE2026_H_

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

void InitCarte2025();

void AfficheLedBleues(uint16_t val) ;

void delay_ms(unsigned int ms);

void setupDCO(void);

void InitMoteur();





#endif /* PYR_CARTEBLANCHE_H_ */