void configureTimers(void)
{
        T2CON = 0x0100; //0000000100000000 @ 16bit
        
        PR2 = 0xFFFE;
        IEC0bits.T2IE = 0;    
    
    
        T1CON = 0x0100;   //0000000100000000       


        TMR1 = 0;           
    
//setto il perio register di timer 1
//voglio avere 2500 interrupt al secondo in modo da settare il relAlarm //del 
    //task motori con 50 in modo che mi generi 50 allarmi al secondo
    // 80 MHz
     // PR1 = 0x3E80;          
    // 60 MHz
         PR1 = 0x2EE0;


    IPC0bits.T1IP = 5;     
    IFS0bits.T1IF = 0;     
    IEC0bits.T1IE = 1;     
    T1CONbits.TON = 1;                                 
}

void configureClock(void){
    /* Clock setup */
    CLKDIVbits.DOZEN = 0;
    CLKDIVbits.PLLPRE = 0;
    CLKDIVbits.PLLPOST = 0;
    PLLFBDbits.PLLDIV = 58; //multiply for 60 (4 / 2 * 60 / 2 = 60MHz)
//    PLLFBDbits.PLLDIV = 78; //multiply for 80 (4 / 2 * 80 / 2 = 80MHz)
    
    /* Wait for PLL to lock */
    while(OSCCONbits.LOCK!=1);
}

CPU mySystem {

    OS myOs {
        EE_OPT = "DEBUG";

        CPU_DATA = PIC30 {
            APP_SRC = "code.c";
            MULTI_STACK = FALSE;
            ICD2 = TRUE;
        };

        MCU_DATA = PIC30 {
            MODEL = PIC33FJ256MC710; 
        };
        
        BOARD_DATA = EE_FLEX {
            USELEDS = FALSE;
        };
        
        KERNEL_TYPE = FP;
        
    };

    TASK PWM {
        PRIORITY = 1;
        STACK = SHARED;
        SCHEDULE = FULL;
    };
    TASK calculate {
        PRIORITY = 2;
        STACK = SHARED;
        SCHEDULE = FULL;
    };
    
    COUNTER myCounter;
    
    ALARM alarmPWM {
        COUNTER = "myCounter";
        ACTION = ACTIVATETASK { TASK = "PWM"; };
    };
    
};