// Programme de test du module "Robot 2015"
// PYR 2015/05/08

// Leds rouge et verte (compatible Launchpad)
#define bLed1  0 // P1.0, actif à 1 
#define bLed2  6 // P1.6, actif à 1 
#define Led1On  P1OUT|= (1<<bLed1)
#define Led1Off P1OUT &=~(1<<bLed1)
#define Led1Toggle P1OUT ^= (1<<bLed1) 
#define Led2On  P1OUT|= (1<<bLed2)
#define Led2Off P1OUT &=~(1<<bLed2)
#define Led2Toggle P1OUT ^= (1<<bLed2) 
// Poussoir (compatible Launchpad)
#define bPous 3 // P1.3, actif à 0
#define PousOn (!(P1IN & (1<<bPous)))

// Double rangée de 8 LEDs, avec registre 74HC595
#define HC595Out P3OUT
#define HC595Dir P3DIR
#define bHC595Data 7
#define bHC595Ck 5
#define bHC595Load 6

void AffHC595 (int valRouge, int valVert) {
  int i;
  for (i=0; i<8; i++){
    if (valRouge & (1<<0)) { 
      HC595Out &=~(1<< bHC595Data);
    } else {
      HC595Out |= (1<< bHC595Data);
    }
    HC595Out |= (1<<bHC595Ck);
    HC595Out &=~(1<<bHC595Ck); 
    valRouge = valRouge>>1; // bit suivant
  }
  for (i=0; i<8; i++){
    if (valVert & (1<<7)) { 
      HC595Out &=~(1<< bHC595Data);
    } else {
      HC595Out |= (1<< bHC595Data);
    }
    HC595Out |= (1<<bHC595Ck);
    HC595Out &=~(1<<bHC595Ck);
    valVert = valVert<<1; // bit suivant
  } 
  HC595Out |= (1<<bHC595Load);
  HC595Out &=~(1<<bHC595Load); 
}

void SetupHC595 () {
  HC595Dir |= (1<<bHC595Data)|(1<<bHC595Ck)|(1<<bHC595Load);
  AffHC595 (0, 0);
}

void Att(long int duree) { // petite attente
  volatile long int i;
  for(i=0; i<duree; i++) {
  }
}

int main() {
  WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
  BCSCTL1 = CALBC1_16MHZ; DCOCTL = CALDCO_16MHZ;
  P1OUT = 0; P2OUT = 0; P3OUT = 0; P2SEL = 0; // initialisation des sorties
  P1DIR = (1<<bLed1) | (1<<bLed2); // sorties
  P1OUT |= (1<<bPous); // entrée pull-up

  SetupHC595();
  while(1) {
    AffHC595 (0x55, 0xAA);
    Att(100000);
    AffHC595 (0xAA, 0x55);
    Att(200000);
   }
}