pindefs.c
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	#include "p33FJ128GP802.h"

	#include "pindefs.h"

	/** \brief initialize all the pins for I/O
	* initialize all the pins for I/O
	*/

	void pin_init()
	{
	// pin default configuration
	ADPCFG = 0xFFFF; // Set all Analog ports as Digital I/O

	// battery power monitoring
	TRISAbits.TRISA0 = 1; // BATT_VOLTAGE is input
	TRISAbits.TRISA1 = 1; // BATT_CURRENT is input

	// enable signals for power supplies
	TRISAbits.TRISA3 = 0; // SERVO_VOLTAGE_EN is output
	TRISAbits.TRISA4 = 0; // DIGITAL_VOLTAGE_EN is output
	TRISBbits.TRISB3 = 0; // MOTOR_VOLTAGE_EN is output
	TRISBbits.TRISB2 = 0; // POWER_EN is output

	// switch button inputs
	TRISBbits.TRISB12 = 1; // SW1 is input
	TRISBbits.TRISB0 = 1; // SW2 is input
	TRISBbits.TRISB1 = 1; // SW3 is input

	// led driver interface
	TRISBbits.TRISB4 = 0; // LED_CLK is output
	TRISBbits.TRISB13 = 0; // LED_LE is output
	TRISBbits.TRISB14 = 0; // LED_OE is output
	TRISBbits.TRISB15 = 0; // LED_SDO is output

	// speaker output
	TRISBbits.TRISB11 = 0; // SPEAKER is output
	_RP11R = 0b10010; // Map OC1 to RP11

	//-------------- SPI 1 -------------------------------------------
	_RP15R = 0b00111; // Map SPI SDO to RP15
	_RP4R = 0b01000; // Map SPI SCK out to RP4

	}