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#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);
}
}
}
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