1 files changed, 51 insertions, 56 deletions
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);
+        }
+    }
+}