#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);
        }
    }
}