//-----------------------------------------------------------------------------
// Note
//  CCP1を使用してサーボを動かす
//  PICの周波数を32Mhzに設定
//-----------------------------------------------------------------------------
#include <xc.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>


// コンフィグレーションBIT1 設定
#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)
#pragma config PWRTE = ON       // Power-up Timer Enable (PWRT enabled)
#pragma config MCLRE = OFF      // MCLR Pin Function Select (MCLR/VPP pin function is MCLR)
#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)
#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)
#pragma config BOREN = OFF      // Brown-out Reset Enable (Brown-out Reset disabled)
#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)
#pragma config IESO = OFF       // Internal/External Switchover (Internal/External Switchover mode is disabled)
#pragma config FCMEN = OFF      // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is disabled)

// コンフィグレーションBIT2 設定
#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)
#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)
#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)
#pragma config BORV = HI        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), high trip point selected.)
#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)

#define TMR1_OFFSET 25536

unsigned short next = 0;


void interrupt ccp1( void )
{
    // タイマ1割り込み処理
    if( TMR1IF )
    {
        RA2 = 1;

        CCPR1 = next;
        TMR1 = TMR1_OFFSET;   // 20msec毎に割り込み
        TMR1IF = 0; // タイマ割り込みフラグをクリア
    }

    // CCP1割り込み処理
    if( CCP1IF )
    {
        RA2 = 0;
        CCP1IF = 0; // コンペアマッチ割り込みフラグをクリア
    }
}




int main(int argc, char** argv)
{
    long i;

    OSCCON = 0b01110000 ;    // 内部クロック8ＭＨｚ

    ANSELA = 0b00000000 ;    // すべてデジタルI/Oに割当てる
    TRISA  = 0b00001000 ;    // RA3を入力とする
    PORTA  = 0b00000000 ;    // ピン状態初期化

    CCP1CON = 0b00001010 ;   // コンペアモード
    T1CON   = 0b00100100 ;   // 分周1/4 クロック同期有効

    TMR1IE = 1; // タイマ1割り込み有効
    CCP1IE = 1; // コンペアマッチ割り込み有効

    TMR1 = TMR1_OFFSET;
    next = TMR1_OFFSET + 3000;  // 1.5msec

    TMR1ON = 1; // タイマ1 開始

    TMR1IF = 0;
    CCP1IF = 0;
    PEIE = 1;
    GIE  = 1;    // 全割り込み有効

    for(;;)
    {
        for(i=0;i<600000;i++)
        {
            // 処理なし(WAIT)
        }

        next = TMR1_OFFSET + 4000;  // 2msec

        for(i=0;i<600000;i++)
        {
            // 処理なし(WAIT)
        }

        next = TMR1_OFFSET + 2000;  // 1msec
    }

    return (EXIT_SUCCESS);
}