unsigned char usbcdc_rd_ready() {
if (ep2_o.STAT & UOWN)
return 0;
if (rx_idx >= ep2_o.CNT) {
usbcdc_read();
return 0;
}
return 1;
}
char usbcdc_getchar() {
char c;
while (!usbcdc_rd_ready());
c = cdc_rx_buffer[rx_idx++];
if (rx_idx>=ep2_o.CNT) {
usbcdc_read();
}
return c;
}
void main(void) {
OSCCON = 0x70;
initIO();
stepperInit(MOTOR_X);
stepperInit(MOTOR_Y);
stepperInit(MOTOR_Z);
stepperInit(MOTOR_4);
TRISCbits.TRISC6 = 0;
// Timer 0 interrupt rate = ((48 000 000 MHz / 4) / 4) / 256 = 11 718.7 Hz
// rxtimeout = 255/11718.75 = 21.7 msec
// Note Timer 2 would allow faster rates if the interrupt processing can be optimized
T0CONbits.T0CS = 0; // Internal instruction clock as source for timer 0
T0CONbits.PSA = 0; // Assign prescaler to Timer 0. PSA=1 would be equivalent prescaler 1:1
T0CONbits.T08BIT = 1; // 8 bit
T0CONbits.T0PS2 = 0; // Set up prescaler to 1:4 = 001
T0CONbits.T0PS1 = 0;
T0CONbits.T0PS0 = 1; // se above
T0CONbits.TMR0ON = 1;
T0CONbits.T0SE = 1; // high to low (no effect when timer clock coming from instruction clock...)
usbcdc_init();
INTCON2bits.TMR0IP = 1; // Make Timer0 high priority
INTCON = 0; // Clear interrupt flag bits.
INTCONbits.TMR0IE = 1; // Enable Timer 0 interrupts
TMR0L = 0;
TMR0H = 0;
stepperSetMode(MOTOR_X, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_Y, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_Z, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_4, 0xF, 0, 0, 0, 0);
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
LED_PIN = 0;
while (1) {
if (usbcdc_device_state != CONFIGURED) {
if (!rx_timeout) {
rx_timeout = 255;
if (!blink--) {
blink = 23;
LED_PIN = !LED_PIN;
}
}
} else {
if (getMessage()) {
LED_PIN=0;
processMessage();
//LED_PIN = 1;
blink = 12;
} else {
if (!blink--) {
blink = 12;
LED_PIN = !LED_PIN;
while (UIRbits.TRNIF == 1)
UIRbits.TRNIF = 0;
usbcdc_read();
}
}
}
}
}
