/*
 * File:   testing.c
 * Author: Bennett and Bec
 *
 * Created on 15 October 2019, 14:59
 */

#include <stdio.h>
#include <stdlib.h>
#include "ConfigRegsPIC18f4520.h"
#include <timers.h>
//#include <math.h>
//#include <string.h>
#include <p18f4520.h>


//void encoderISR(void);
void lowPriorityISR (void);
void low_interrupt(void);
void configureISR(void);

//Define the low priority interrupt at 0x0018
//start the service routine for low priority interrupt
//#pragma interruptlow lowPriorityISR
//void lowPriorityISR (void){
//    encoderISR();
//}

#pragma code lowPriorityInterruptAddress=0x0018
void low_interrupt(void){
    //All that needs to happen in the interrupt is to goto the service routine
    _asm
    GOTO lowPriorityISR
    _endasm
}

//#pragma code //default code section

//#define M_PI 3.14159265358979323846264338327950288

// Function declarations
void configurePORTB(void);

volatile unsigned int trigger = 0;
volatile unsigned int trigger2 = 0;
volatile unsigned int x = 0;

//unsigned char x;
#pragma code
void main(void) {


    configurePORTB();
    configureISR();



    while(1) {
        //x = PORTBbits.RB5;
        //x = LATBbits.LATB4;
    }

}



void configurePORTB(void)
{
    TRISBbits.RB4 = 0;
    TRISBbits.RB6 = 0;
    TRISBbits.RB7 = 0;

//    PORTBbits.RB4 = 0;
//    PORTBbits.RB6 = 0;
//    PORTBbits.RB7 = 0;

    TRISBbits.RB5 = 1;      // set RB4 to input
    INTCON2bits.RBPU = 0;   // clear pull up to enable
    ADCON1 = 0xFF;          // Check why***
}

void configureISR(void)
{

    RCONbits.IPEN = 1;          // enable priority interrupts

    INTCONbits.RBIE = 1;        // enables interrupt on PORTB change
    INTCON2bits.RBIP = 0;       // low priority interrupt

    //INTCON2bits.INTEDG0 = 1;        // interrupt on rising edge (RB0)
    //INTCON2bits.INTEDG1 = 1;


    T1CON = 0b10000001;               // enable timer 1, prescaler of 1, 16 bit resolution
    //PIE1bits.TMR1IE = 1;            // enable timer 1 overflow interrupt
    //INTCONbits.PEIE = 1;
    //INTCONbits.GIE = 1;


    //PIE1bits.TMR1IE = 1;        // enable timer 1 overflow interrupt

    INTCONbits.GIEH = 1;    //Enable high priority interrupts
    INTCONbits.GIEL = 1;    //Enable low priority interrupts

}
#pragma interruptlow lowPriorityISR
void lowPriorityISR(void)
{
//    if(PIR1bits.TMR1IF == 1)
//    {
//        trigger2 = 1;
//        //encoder_overflow_counter++;         // increment counter
//        //if(encoder_overflow_counter)
//        PIR1bits.TMR1IF = 0;                // clear overflow bit flag
//    }
    //trigger2 = 1;
    if(INTCONbits.RBIF == 1)
    {
        trigger = 1;
//        // find time difference
//        encoder_left_t2 = ReadTimer1();
//        encoder_time_diff = encoder_overflow_counter*(2^16) + encoder_left_t2 - encoder_left_t1;
//        encoder_left_t1 = encoder_left_t2;
//        encoder_overflow_counter = 0;


        x = PORTBbits.RB5;          // Need to read PORTB before clearing the mismatch
        INTCONbits.RBIF = 0;        // Clear interrupt flag
    }

}