// Global Variables

const unsigned char MSG0[21] = "Quad Copter         "; 
const unsigned char MSG1[21] = "PW (ms):            ";     

unsigned int N, T0, T1, M;

// Subroutine Declarations
#include <pic18.h>

// Subroutines
#include        "lcd_portd.c"

// High-priority service
void interrupt IntServe(void)
{
   if (TMR0IF) {	// PS = 4
      TMR0 = -50000;
      TMR1 = -N; 
      T0 += 1;
      RC0 = 1;
      TMR0IF = 0;
      }
   if (TMR1IF) {
      RC0 = 0;
      T1 += 1;
      TMR1IF = 0;
      }
   }
   
        
// Main Routine

void main(void)
{
   unsigned int i;

   TRISA = 0;
   TRISB = 0xFF;
   TRISC = 0;
   TRISD = 0;
   TRISE = 0;
   ADCON1 = 0x0F;

   LCD_Init();                  // initialize the LCD

   LCD_Move(0,0);  for (i=0; i<20; i++) LCD_Write(MSG0[i]);
   LCD_Move(1,0);  for (i=0; i<20; i++) LCD_Write(MSG1[i]);

   Wait_ms(1000);
   N = 9000;

// set up Timer0 for PS = 4
   T0CS = 0;
   T0CON = 0x81;
   TMR0ON = 1;
   TMR0IE = 1;
   TMR0IP = 1;
   PEIE = 1;
// set up Timer1 for PS = 1
   TMR1CS = 0;
   T1CON = 0x81;
   TMR1ON = 1;
   TMR1IE = 1;
   TMR1IP = 1;
   PEIE = 1;
// turn on all interrupts
   GIE = 1;



   while(1) {
      if (RB0) N =  9000;
      if (RB1) N = 12000;
      if (RB2) N = 13000;
      if (RB3) N = 14000;
      if (RB4) N = 15000;
      if (RB5) N = 16000;
      if (RB6) N = 17000;
      if (RB7) N = 18000;

      LCD_Move(1,9);  LCD_Out(N, 5, 4);
 
      }      


   }