void interrupt ISR(void) {
USB_CDC_ISR();
UART_ISR();
I2C_ISR();
if (INTCONbits.T0IF && INTCONbits.T0IE) {
INTCONbits.T0IF = 0;
}
if (PIR1bits.TMR1IF && PIE1bits.TMR1IE) {
PIR1bits.TMR1IF = 0;
TMR1H = 0xC0;
}
if (PIR2bits.TMR3IF && PIE2bits.TMR3IE) {
PIR2bits.TMR3IF = 0;
}
}
//ISR
void interrupt ISR(void)// interrupt 0 // ISR (Interrupt Service Routines)
{
IOC_ISR();
TMR0_ISR();
TMR1_ISR();
// TMR2_ISR();
INT_ISR();
UART_ISR();
I2C_ISR();
}
void interrupt ISR(void) {
UART_ISR();
if(INTCONbits.TMR0IF) {
INTCONbits.TMR0IF = 0;
static uint8_t prev_A;
static uint8_t prev_B;
LATB7 = !LATB7;
if (A_PULSE != prev_A) {
prev_A = A_PULSE;
if (A_PULSE) {
if (B_PULSE) {
encoder--;
} else {
encoder++;
}
} else {
if (B_PULSE) {
//encoder++;
} else {
//encoder--;
}
}
}
if (B_PULSE != prev_B) {
prev_B = B_PULSE;
if (B_PULSE) {
if (A_PULSE) {
//encoder++;
} else {
//encoder--;
}
} else {
if (A_PULSE) {
//encoder--;
} else {
//encoder++;
}
}
}
}
}
/*
** ===================================================================
** Event : UART_OnRxChar (module Events)
**
** Component : UART [AsynchroSerial]
** Description :
** This event is called after a correct character is received.
** The event is available only when the <Interrupt
** service/event> property is enabled and either the <Receiver>
** property is enabled or the <SCI output mode> property (if
** supported) is set to Single-wire mode.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void UART_OnRxChar(void)
{
UART_ISR();
}
#include "uart.h"
#include <xc.h>
#include <stdint.h>
#include "platform.h"
#define BUFFER_SIZE 32
#define BUFFER_MASK (BUFFER_SIZE - 1)
volatile char rxbuffer[BUFFER_SIZE];
volatile char txbuffer[BUFFER_SIZE];
volatile uint8_t txip, txop, rxip, rxop;
void interrupt isr(void){
UART_ISR()
}
void uart_init(unsigned long baud){
unsigned long spbrg_calc = ((_XTAL_FREQ/baud)/16)-1;
SPBRG = spbrg_calc;
txip = txop = rxip = rxop = 0;
TXSTAbits.BRGH = 1;
RCSTAbits.CREN = 1;
PIE1bits.RCIE = 1;
TXSTAbits.TXEN = 1;
RCSTAbits.SPEN = 1;
PIR1bits.TXIF = 0;
PIR1bits.RCIF = 0;
}