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-rw-r--r--Lab4.X/lab4_main.c (renamed from Disc02.X/disc02C.c)107
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);
+ }
+ }
+}