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200 Kevin 1 
#include <xc.h>
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#include <plib.h>
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#include "defines.h"
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#include "BTN.h"
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static BTN_DATA *btn_data_ptr;
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void BTN_Init(BTN_DATA *data, void (*callback_1)(void), void (*callback_2)(void), void (*callback_3)(void)) {
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    btn_data_ptr = data;
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    btn_data_ptr->callback_function_1 = callback_1;
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    btn_data_ptr->callback_function_2 = callback_2;
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    btn_data_ptr->callback_function_3 = callback_3;
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    BTN1_TRIS = 1;
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    BTN2_TRIS = 1;
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    BTN3_TRIS = 1;
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    INTDisableInterrupts();
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    CNCONSET = 0x8000;  // Turn on change notice interrupt
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#if defined CEREBOT_32MX7
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    CNENSET = 0x80300;  // Set interrupt on CN8/9/19
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#elif defined CEREBOT_MX7CK
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    CNENSET = 0x00300;  // Set interrupt on CN8/9
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#endif
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    int tmp = BTN1_PORT;
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    tmp = BTN2_PORT;
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    tmp = BTN3_PORT;
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    IPC6SET = 0xD0000;  // Set priority level = 3, sub-priority level = 1
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    IFS1CLR = 0x1;      // Clear interrupt flag
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    IEC1SET = 0x1;      // Enable interrupt
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    INTEnableInterrupts();
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}
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void __ISR(_CHANGE_NOTICE_VECTOR, ipl3) __CN_Interrupt_Handler(void) {
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    // Upon interrupt, debounce input and call saved function
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    if (BTN1_PORT == 1) {
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        Delay_MS(BTN_DEBOUNCE_MS);
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        if (BTN1_PORT == 1) {
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            if (btn_data_ptr->callback_function_1 != NULL)
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                (*btn_data_ptr->callback_function_1)();
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        }
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    }
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    if (BTN2_PORT == 1) {
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        Delay_MS(BTN_DEBOUNCE_MS);
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        if (BTN2_PORT == 1) {
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            if (btn_data_ptr->callback_function_2 != NULL)
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                (*btn_data_ptr->callback_function_2)();
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        }
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    }
212 Kevin 53 
#ifdef CEREBOT_32MX7
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    if (BTN3_PORT == 1) {
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        Delay_MS(BTN_DEBOUNCE_MS);
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        if (BTN3_PORT == 1) {
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            if (btn_data_ptr->callback_function_3 != NULL)
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                (*btn_data_ptr->callback_function_3)();
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        }
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    }
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#endif
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    IFS1CLR = 0x1; // Clear interrupt flag
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}