Forget to add a bunch of things

oops

2 files changed, 51 insertions, 96 deletions

diff --git a/Disc02.X/disc02asm.s b/Disc02.X/disc02asm.s
deleted file mode 100644
index c718500..0000000
--- a/Disc02.X/disc02asm.s
+++ /dev/null
@@ -1,40 +0,0 @@
-        .equ __P24FJ64GA002,1        ;required "boiler-plate" (BP)
-        .include "p24Fxxxx.inc"      ;BP
-
-#include "xc.inc"                    ;BP
-	; DO NOT include config statements. We define them in the C file
-        ;the next two lines set up the actual chip for operation - required
-        ;config __CONFIG2, POSCMOD_NONE & I2C1SEL_PRI & IOL1WAY_OFF & OSCIOFNC_ON & FCKSM_CSECME & FNOSC_FRCPLL & SOSCSEL_LPSOSC & WUTSEL_FST & IESO_OFF
-        ;config __CONFIG1, FWDTEN_OFF & COE_OFF & BKBUG_OFF & GWRP_OFF & GCP_OFF & JTAGEN_OFF
-
-    .bss                        ;put the following labels in RAM
-_counter:  .space  2          ;declare a 16-bit variable
-; you SHOULD NOT define stack, becasue this file is compiled 
-; alongside a C file that contains main(). The C compiler
-; will create stack space for us.
-;stack:
-;    .space  32                  ;this will be our stack area, from var_16_bit to here
-    .text                       ;BP (put the following data in ROM(program memory))
-    .global _myAsmFunc
-    .global _myGlobalVar
-    .global _counter
-
-_myAsmFunc:
-    push    w0
-    
-    inc	    _myGlobalVar
-    inc	    _counter
-    
-    bra	    checkLoopEndCond
-loopBody:
-    btg    LATB, #2	    ; btg stands for bit-toggle.
-    nop
-    dec	    WREG0
-checkLoopEndCond: 
-    cp0	    w0
-    bra	    nz, loopBody
-
-    pop	    w0
-    return
-    .end
-
diff --git a/Disc02.X/disc02C.c b/Lab4.X/lab4_main.c
index 442852f..f9f626c 100644
--- a/Disc02.X/disc02C.c
+++ b/Lab4.X/lab4_main.c
@@ -1,56 +1,51 @@
-#include <p24Fxxxx.h>

-#include <xc.h>

-

-// PIC24FJ64GA002 Configuration Bit Settings

-// CW1: FLASH CONFIGURATION WORD 1 (see PIC24 Family Reference Manual 24.1)

-#pragma config ICS = PGx1          // Comm Channel Select (Emulator EMUC1/EMUD1 pins are shared with PGC1/PGD1)

-#pragma config FWDTEN = OFF        // Watchdog Timer Enable (Watchdog Timer is disabled)

-#pragma config GWRP = OFF          // General Code Segment Write Protect (Writes to program memory are allowed)

-#pragma config GCP = OFF           // General Code Segment Code Protect (Code protection is disabled)

-#pragma config JTAGEN = OFF        // JTAG Port Enable (JTAG port is disabled)

-

-

-// CW2: FLASH CONFIGURATION WORD 2 (see PIC24 Family Reference Manual 24.1)

-#pragma config POSCMOD = NONE           // Primary Oscillator Select (Primary oscillator disabled. 

-					// Primary Oscillator refers to an external osc connected to the OSC1 and OSC2 pins)

-#pragma config I2C1SEL = PRI       // I2C1 Pin Location Select (Use default SCL1/SDA1 pins)

-#pragma config IOL1WAY = OFF       // IOLOCK Protection (IOLOCK may be changed via unlocking seq)

-#pragma config OSCIOFNC = ON       // OSC2/CLKO/RC15 functions as port I/O (RC15)

-#pragma config FCKSM = CSECME      // Clock Switching and Monitor (Clock switching is enabled, 

-                                       // Fail-Safe Clock Monitor is enabled)

-#pragma config FNOSC = FRCPLL      // Oscillator Select (Fast RC Oscillator with PLL module (FRCPLL))

-

-void myAsmFunc(int iterations);

-

-int myGlobalVar;

-extern int counter;

-

-void setup(void) {

-    CLKDIVbits.RCDIV = 0;

-

-    AD1PCFG = 0x9fff; // all digital

-    TRISB = 3;

-    LATB = 0;

-}

-

-int main(void) {

-    int aS=-1, bS=-2;

-    unsigned int aU = 65535, bU=65534;

-    int dummy = 1;

-    

-    setup();

-    

-    myGlobalVar = 4;

-    counter = 5;

-    

-    myAsmFunc(3);

-    

-    if (aS < bS)

-        ++dummy;

-    

-    if (aU < bU)

-        ++dummy;

-

-    while (1) {

-    }

-}

+#include "xc.h"
+#include "lab4_servo.h"
+#include "lab4_button.h"
+
+// CW1: FLASH CONFIGURATION WORD 1 (see PIC24 Family Reference Manual 24.1)
+#pragma config ICS = PGx1          // Comm Channel Select (Emulator EMUC1/EMUD1 pins are shared with PGC1/PGD1)
+#pragma config FWDTEN = OFF        // Watchdog Timer Enable (Watchdog Timer is disabled)
+#pragma config GWRP = OFF          // General Code Segment Write Protect (Writes to program memory are allowed)
+#pragma config GCP = OFF           // General Code Segment Code Protect (Code protection is disabled)
+#pragma config JTAGEN = OFF        // JTAG Port Enable (JTAG port is disabled)
+
+
+// CW2: FLASH CONFIGURATION WORD 2 (see PIC24 Family Reference Manual 24.1)
+#pragma config I2C1SEL = PRI       // I2C1 Pin Location Select (Use default SCL1/SDA1 pins)
+#pragma config IOL1WAY = OFF       // IOLOCK Protection (IOLOCK may be changed via unlocking seq)
+#pragma config OSCIOFNC = ON       // Primary Oscillator I/O Function (CLKO/RC15 functions as I/O pin)
+#pragma config FCKSM = CSECME      // Clock Switching and Monitor (Clock switching is enabled, 
+                                       // Fail-Safe Clock Monitor is enabled)
+#pragma config FNOSC = FRCPLL      // Oscillator Select (Fast RC Oscillator with PLL module (FRCPLL))
+
+void setup(void) {
+    //SET IC/OC
+    __builtin_write_OSCCONL(OSCCON & 0xbf); // unlock PPS
+    RPINR7bits.IC1R = 8;  // Use Pin RP8 = "8", for Input Capture 1 (Table 10-2)
+    RPOR3bits.RP6R = 18;  // Use Pin RP6 for Output Compare 1 = "18" (Table 10-3)
+    __builtin_write_OSCCONL(OSCCON | 0x40); // lock   PPS
+    //END IC/OC
+    CLKDIVbits.RCDIV = 0;  //Set RCDIV=1:1 (default 2:1) 32MHz or FCY/2=16M 
+    AD1PCFG = 0x9fff;
+    _CN22PUE = 1;
+    TRISB |= 100000000;
+    initServo();
+    initPushButton();
+}
+
+int main(void) {
+    setup();
+    unsigned long first = 0, second = 0;
+    while (1) {
+        if (emptyBuffer() == 1)
+            continue;
+        //Buffer is not empty, keep going
+        first = getBuffer();
+        second = getBuffer();
+        if (first < 500 && second < 500) {
+            setServo(2500);
+        } else {
+            setServo(1000);
+        }
+    }
+}