void main(void)
{
unsigned char data = 0;
signed char err0 = 0, err1 = 0, err2 = 0;
Delay100TCYx(10); //let the device startup
//initialize uart
usart_init();
spi_init();
printf("Var is %i\r\n", data);
printf("Starting\r\n");
printf("SSPCON1 is x%x\r\n", SSPCON1);
printf("SSPADD is x%x\r\n", SSPADD);
printf("SSPSTAT is x%x\r\n", SSPSTAT);
PORTCbits.RC2 = 1; // pin high
while(1){
PORTCbits.RC2 = 0; // CS low
Delay1TCY(); // delay at least 5 ns
WriteSPI(0x80); // b'10000000, read single byte 000000
//WriteSPI(0xB2); // b'10101100, read single byte
data = ReadSPI();
PORTCbits.RC2 = 1; // CS high
Delay1TCY(); // delay at least 5 ns
//data = data>>1;
printf("Data is 0x%02X \r\n", data);
}
}
void DelayFor18TCY(void)
{ //Delay10TCYx(0x2); //delays 20 cycles
Delay10TCYx(1);
Delay1TCY();Delay1TCY();Delay1TCY();Delay1TCY();
Delay1TCY();Delay1TCY();Delay1TCY();Delay1TCY();
Delay1TCY();Delay1TCY();
return;
}
void Pas(){
CLOCK =0;
// On attend 1 µs, 12 cycles
Delay1TCY();
Delay1TCY();
Delay10TCYx(1);
// On repasse à 1
CLOCK =1;
}
// 38KHz のデューティー比 33% の HI で待つ
// HI:105.263157894737[cycle] == 8.77192982456142[us]
// 38KHz のデューティー比 50% の 場合
// HI:157.894736842105[cycle] == 13.1578947368421[us]
void DelayIRFreqHi(void)
{
// duty 1/3
Delay10TCYx(10);
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
}
void DelayTXBitUART( void ){
//Delay4TCYx( (TX_BIT_UART / 4) - 3 );
#if ( FOSC == 18432000 )
#if ( SWBAUD == 19200 )
// DelayTXBitUART == 228
Delay10TCYx( 22 ); // 220 ciclos + 2 de chamada e + 2 de retorno
Delay1TCY(); // 1 ciclo
Delay1TCY(); // 1 ciclo
Delay1TCY(); // 1 ciclo
Delay1TCY(); // 1 ciclo
#endif
#else
#endif
}
void main(void)
{
//This uses a 10 MHz clock to
// generate a 416 kHz square wave signal
// for I2C communication
CLOCK_LOW; // data pin output
//DATA_LOW;
while(1){
SCLK_PIN = 1; // pin high
Delay1TCY(); // delay
SCLK_PIN = 0; // pin low
Delay1TCY(); // delay
}
}
unsigned int getDistance_mm(){
// On emet une impulsion
TRIS_SONIC = 0; // Patte en sortie
SONIC = 1; // Etat haut
Delay10TCYx(12);
// On arrete l'impulsion
SONIC = 0; // Etat bas
// On écoute le port
TRIS_SONIC = 1; // Patte en entrée
Delay1TCY();
// On attend que le capteur commence son echelon
while(SONIC == 0);
// On compte le temps pendant lequel le capteur attend
distance_cs = getTemps_cs();
distance_micro_s = getTemps_micro_s();
// On attends que l'echellon se termine
while(SONIC == 1);
distance_micro_s = getTemps_micro_s() - distance_micro_s ;
if(distance_cs != getTemps_cs()){
distance_micro_s = 10000 * (getTemps_cs()-distance_cs)+ distance_micro_s;
}
return (unsigned int) (distance_micro_s / 6.4);
}
void ADXL345_multiByteWrite(unsigned char startAddress, char* buffer, unsigned char size) {
#if I2C
unsigned char i;
StartI2C();
WriteI2C(ADXL343_ADDR_WRITE);
WriteI2C(startAddress);
for (i = 0; i < size; i++) {
WriteI2C(buffer[i]);
}
StopI2C();
#elif SPI
unsigned char tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
unsigned char i;
SPI_CS_PIN = 0; //CS pin low, ie enable chip
Delay1TCY(); // delay at least 5 ns
WriteSPI(tx); //Send starting write address.
for (i = 0; i < size; i++) {
WriteSPI(buffer[i]);
}
SPI_CS_PIN = 1; //CS pin high, ie disable chip
#endif
}
void ADXL345_oneByteWrite(unsigned char address, unsigned char data)
{
#if I2C
StartI2C();
WriteI2C(ADXL343_ADDR_WRITE); // control byte
WriteI2C(address); // word address
WriteI2C(data); // data
StopI2C();
#elif SPI
SPI_CS_PIN = 0; //CS pin low, ie enable chip
Delay1TCY(); // delay at least 5 ns
address = address | ADXL345_SPI_WRITE;
WriteSPI(address); // write bit, multibyte bit, A5-A0 address
WriteSPI(data);
SPI_CS_PIN = 1; //CS pin high, ie disable chip
Delay1TCY(); // delay at least 5 ns
#endif
}
void Delay10TCYx(unsigned char unit) {
int i;
while(unit > 0) {
for(i = 0; i < 10; i++) {
Delay1TCY();
}
unit--;
}
};
unsigned char ADXL345_oneByteRead(unsigned char address) {
unsigned char data = 0;
#if I2C
StartI2C();
WriteI2C(ADXL343_ADDR_WRITE);
WriteI2C(address);
RestartI2C();
WriteI2C(ADXL343_ADDR_READ);
data = ReadI2C();
NotAckI2C();
StopI2C();
return data;
#elif SPI
SPI_CS_PIN = 0; //CS pin low, ie enable chip
Delay1TCY(); // delay at least 5 ns
address = address | ADXL345_SPI_READ;
WriteSPI(address); // read bit, multibyte bit, A5-A0 address
data = ReadSPI();
SPI_CS_PIN = 1; //CS pin high, ie disable chip
Delay1TCY(); // delay at least 5 ns
return data;
#endif
}
// Delay for: ((((2*FOSC) / (4*baud)) + 1) / 2) - 12 cycles
// not sure if a cycle is a clock cycle or instruction cycle (= 4 clocks)
void DelayTXBitUART(void) {
// for 57600 baud, main clock running at 4 MIPs (million INSTRUCTIONS / sec), ~56 Nops
// seems to work. each bit should be 1/57600 = 1.73e-5, and 56 Nops is .25uS*56 =
// 14uS, or 1.4e-5... the rest of the delay is from the mechanics of calling a function
// and other delays within the UART code.
Delay10TCYx(5);
Delay1TCY(); // equiv to Nop()
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
}
void ADXL345_multiByteRead(unsigned char startAddress, char* buffer, unsigned char size) {
#if I2C
unsigned char i;
StartI2C();
WriteI2C(ADXL343_ADDR_WRITE);
WriteI2C(startAddress);
RestartI2C();
WriteI2C(ADXL343_ADDR_READ);
for (i = 0; i < size; i++) {
buffer[i] = ReadI2C(); //keep the clock pulsing
// if not last byte, send ack
// if last byte, send nack
if(i < size-1)
{
AckI2C();
}
else
{
NotAckI2C();
}
}
StopI2C();
#elif SPI
unsigned char tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F)); // the &0x3F restricts reading from only the XYZ data registers
unsigned char i;
SPI_CS_PIN = 0; //CS pin low, ie enable chip
Delay1TCY(); // delay at least 5 ns
WriteSPI(tx); //Send address to start reading from.
for (i = 0; i < size; i++) {
buffer[i] = ReadSPI(); //keep the clock pulsing
}
SPI_CS_PIN = 1; //CS pin high, ie disable chip
#endif
}
void high_isr(void)
{
//Timer for servo
if(INTCONbits.TMR0IF)
{
PORTBbits.RB3 = 1;
if(servoState == 0){
Delay1TCY();
Delay1TCY();
//Delay10TCYx(6);
}else{
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay10TCYx(5);
Delay100TCYx(4);
}
PORTBbits.RB3 = 0;
INTCONbits.TMR0IF = 0; // Clear interrupt flag for timer 0
WriteTimer0(64911);
}
//code for servo state = 1 and regular timer
if(PIR1bits.TMR1IF && servoState == 1){
valveCounter++;
if(valveCounter == valveTotalTick){
closeValve();
valveCounter = 0;
}
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
else if(PIR1bits.TMR1IF && plantTimerCount == totalTimerCount){
//Waters all the plants
moveToLocation(plantBeingWatered);
openValve();
if(plantBeingWatered == totalplants){
plantTimerCount = 0;
plantBeingWatered = -1;
}
plantBeingWatered++;
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
//Timer for timed water sequence
else if(PIR1bits.TMR1IF)
{
plantTimerCount++;
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
// interupt for button to water plant 0
if(INTCONbits.INT0IF){
moveToLocation(0);
openValve();
INTCONbits.INT0IF = 0;
}
// interupt for button to water plant 1
if(INTCON3bits.INT1IF){
moveToLocation(1);
openValve();
INTCON3bits.INT1IF = 0;
}
// interupt for button to water plant 2
if(INTCON3bits.INT2IF){
moveToLocation(2);
openValve();
INTCON3bits.INT2IF = 0;
}
}
void high_ISR(void)
{
//Check which interrupt flag caused the interrupt.
//Service the interrupt
//Clear the interrupt flag
//Etc.
#if defined(USB_INTERRUPT)
USBDeviceTasks();
#endif
if (PIR1bits.TMR1IF)
{
// Clear the interrupt
PIR1bits.TMR1IF = 0;
TMR1L = TIMER1_L_RELOAD; // Set to 120 for 25KHz ISR fire
TMR1H = TIMER1_H_RELOAD; //
OutByte = CurrentCommand.DirBits;
TookStep = FALSE;
AllDone = TRUE;
// Note, you don't even need a command to delay. Any command can have
// a delay associated with it, if DelayCounter is != 0.
if (CurrentCommand.DelayCounter)
{
CurrentCommand.DelayCounter--;
}
if (CurrentCommand.DelayCounter)
{
AllDone = FALSE;
}
else if (CurrentCommand.Command == COMMAND_MOTOR_MOVE)
{
// Only output DIR bits if we are actually doing something
if (CurrentCommand.StepsCounter[0] || CurrentCommand.StepsCounter[1])
{
if (UseBuiltInDrivers)
{
if (CurrentCommand.DirBits & DIR1_BIT)
{
Dir1IO = 1;
}
else
{
Dir1IO = 0;
}
if (CurrentCommand.DirBits & DIR2_BIT)
{
Dir2IO = 1;
}
else
{
Dir2IO = 0;
}
}
else
{
if (CurrentCommand.DirBits & DIR1_BIT)
{
Dir1AltIO = 1;
}
else
{
Dir1AltIO = 0;
}
if (CurrentCommand.DirBits & DIR2_BIT)
{
Dir2AltIO = 1;
}
else
{
Dir2AltIO = 0;
}
}
// Only do this if there are steps left to take
if (CurrentCommand.StepsCounter[0])
{
StepAcc[0] = StepAcc[0] + CurrentCommand.StepAdd[0];
if (StepAcc[0] > 0x8000)
{
StepAcc[0] = StepAcc[0] - 0x8000;
OutByte = OutByte | STEP1_BIT;
TookStep = TRUE;
CurrentCommand.StepsCounter[0]--;
}
AllDone = FALSE;
}
if (CurrentCommand.StepsCounter[1])
{
StepAcc[1] = StepAcc[1] + CurrentCommand.StepAdd[1];
if (StepAcc[1] > 0x8000)
{
StepAcc[1] = StepAcc[1] - 0x8000;
OutByte = OutByte | STEP2_BIT;
TookStep = TRUE;
CurrentCommand.StepsCounter[1]--;
}
AllDone = FALSE;
}
if (TookStep)
{
if (UseBuiltInDrivers)
{
if (OutByte & STEP1_BIT)
{
Step1IO = 1;
}
if (OutByte & STEP2_BIT)
{
Step2IO = 1;
}
}
else
{
if (OutByte & STEP1_BIT)
{
Step1AltIO = 1;
}
if (OutByte & STEP2_BIT)
{
Step2AltIO = 1;
}
}
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
if (UseBuiltInDrivers)
{
Step1IO = 0;
Step2IO = 0;
}
else
{
Step1AltIO = 0;
Step2AltIO = 0;
}
}
}
}
// Check to see if we should change the state of the pen
else if (CurrentCommand.Command == COMMAND_SERVO_MOVE)
{
if (gUseRCPenServo)
{
// Precompute the channel, since we use it all over the place
UINT8 Channel = CurrentCommand.ServoChannel - 1;
// This code below is the meat of the RCServo2_Move() function
// We have to manually write it in here rather than calling
// the function because a real function inside the ISR
// causes the compiler to generate enormous amounts of setup/teardown
// code and things run way too slowly.
// If the user is trying to turn off this channel's RC servo output
if (0 == CurrentCommand.ServoPosition)
{
// Turn off the PPS routing to the pin
*(gRC2RPORPtr + gRC2RPn[Channel]) = 0;
// Clear everything else out for this channel
gRC2Rate[Channel] = 0;
gRC2Target[Channel] = 0;
gRC2RPn[Channel] = 0;
gRC2Value[Channel] = 0;
}
else
{
// Otherwise, set all of the values that start this RC servo moving
gRC2Rate[Channel] = CurrentCommand.ServoRate;
gRC2Target[Channel] = CurrentCommand.ServoPosition;
gRC2RPn[Channel] = CurrentCommand.ServoRPn;
if (gRC2Value[Channel] == 0)
{
gRC2Value[Channel] = CurrentCommand.ServoPosition;
}
}
}
// If this servo is the pen servo (on g_servo2_RPn)
if (CurrentCommand.ServoRPn == g_servo2_RPn)
{
// Then set its new state based on the new position
if (CurrentCommand.ServoPosition == g_servo2_min)
{
PenState = PEN_UP;
SolenoidState = SOLENOID_OFF;
if (gUseSolenoid)
{
PenUpDownIO = 0;
}
}
else
{
PenState = PEN_DOWN;
SolenoidState = SOLENOID_ON;
if (gUseSolenoid)
{
PenUpDownIO = 1;
}
}
}
}
// If we're done with our current command, load in the next one
if (AllDone)
{
CurrentCommand.Command = COMMAND_NONE;
if (!FIFOEmpty)
{
CurrentCommand = CommandFIFO[0];
/*
for (i = 0; i < NUMBER_OF_STEPPERS; i++)
{
StepAdd[i] = CommandFIFO[0].ToLoadStepAdd[i];
StepsCounter[i] = CommandFIFO[0].ToLoadStepsCounter[i];
}
DirBits = CommandFIFO[0].ToLoadDirBits;
Command = CommandFIFO[0].ToLoadCommand;
DelayCounter = CommandFIFO[0].ToLoadDelayCounter;
*/
FIFOEmpty = TRUE;
}
}
// Check for button being pushed
if (
(!swProgram)
||
(
UseAltPause
&&
!PORTBbits.RB0
)
)
{
ButtonPushed = TRUE;
}
}
}
// 38KHz のデューティー比 33% の LO で待つ
// LO:210.526315789474[cycle] == 17.5438596491228[us]
// 38KHz のデューティー比 50% の 場合
// LO:157.894736842105[cycle] == 13.1578947368421[us]
void DelayIRFreqLo(void)
{
// duty 1/3
Delay10TCYx(21);
Delay1TCY();
}
void YourLowPriorityISRCode()
{
// Service Timer2 interrupt (10us resolution note generator)
if( PIR1bits.TMR2IF == 1 )
{
PIR1bits.TMR2IF = 0; // Clear the interrupt flag
Generator[0].Timer++;
Generator[1].Timer++;
Generator[2].Timer++;
Generator[3].Timer++;
// NOTE! In the following sections, I have Delay1TCY(); statements littered
// about in an ugly fashion. I was conducting some timing experiments on my
// floppy hardware... some drives are more tolerant than others when it comes
// to timing. I'll put some easily adjustable knobs in later, but feel
// free to mess around with it in the meantime.
if( Generator[0].Active == TRUE )
{
if( Generator[0].Timer >= Generator[0].Period )
{
Generator[0].Timer = 0;
DRIVE_0_SELECT = 0; // light on
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_0_STEP = 0;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_0_STEP = 1;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_0_DIRECTION = ~DRIVE_0_DIRECTION;
}
}
else
{
DRIVE_0_SELECT = 1; // light off
}
if( Generator[1].Active == TRUE )
{
if( Generator[1].Timer >= Generator[1].Period )
{
Generator[1].Timer = 0;
DRIVE_1_SELECT = 0; // light on
Delay1TCY(); Delay1TCY();
DRIVE_1_STEP = 0;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_1_STEP = 1;
Delay1TCY();
DRIVE_1_DIRECTION = ~DRIVE_1_DIRECTION;
}
}
else
{
DRIVE_1_SELECT = 1; // light off
}
if( Generator[2].Active == TRUE )
{
if( Generator[2].Timer >= Generator[2].Period )
{
static unsigned char count = 0;
Generator[2].Timer = 0;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY(); // test block
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_2_SELECT = 0; // light on
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY(); // test block
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_2_STEP = 0;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY(); // test block
Delay1TCY(); Delay1TCY();
DRIVE_2_STEP = 1;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
//count++;
//if( count >= 80 )
{
DRIVE_2_DIRECTION = ~DRIVE_2_DIRECTION;
//count = 0;
}
}
}
else
{
DRIVE_2_SELECT = 1; // light off
}
if( Generator[3].Active == TRUE )
{
if( Generator[3].Timer >= Generator[3].Period )
{
Generator[3].Timer = 0;
DRIVE_3_SELECT = 0; // light on
Delay1TCY(); Delay1TCY();
DRIVE_3_STEP = 0;
Delay1TCY(); Delay1TCY();
Delay1TCY(); Delay1TCY();
DRIVE_3_STEP = 1;
Delay1TCY();
DRIVE_3_DIRECTION = ~DRIVE_3_DIRECTION;
}
}
else
{
DRIVE_3_SELECT = 1; // light off
}
}
} //This return will be a "retfie", since this is in a #pragma interruptlow section
// Init code
void EBB_Init(void)
{
char i;
for (i = 0; i < NUMBER_OF_STEPPERS; i++)
{
CurrentCommand.StepAdd[i] = 1;
CurrentCommand.StepsCounter[i] = 0;
}
FIFOEmpty = TRUE;
// Set up TMR1 for our 25KHz High ISR for stepping
T1CONbits.RD16 = 0; // Set 8 bit mode
T1CONbits.TMR1CS1 = 0; // System clocked from Fosc/4
T1CONbits.TMR1CS0 = 0;
T1CONbits.T1CKPS1 = 1; // Use 1:4 Prescale value
T1CONbits.T1CKPS0 = 0;
T1CONbits.T1OSCEN = 0; // Don't use external osc
T1CONbits.T1SYNC = 0;
TMR1L = TIMER1_L_RELOAD; // Set to 120 for 25KHz ISR fire
TMR1H = TIMER1_H_RELOAD; //
T1CONbits.TMR1ON = 1; // Turn the timer on
IPR1bits.TMR1IP = 1; // Use high priority interrupt
PIR1bits.TMR1IF = 0; // Clear the interrupt
PIE1bits.TMR1IE = 1; // Turn on the interrupt
// For debugging
// PORTA = 0;
RefRA0_IO_TRIS = INPUT_PIN;
// PORTB = 0;
// INTCON2bits.RBPU = 0; // Turn on weak-pull ups for port B
// PORTC = 0; // Start out low
// TRISC = 0x80; // Make portC output execpt for PortC bit 7, USB bus sense
// PORTD = 0;
// TRISD = 0;
// PORTE = 0;
// TRISE = 0;
ANCON0 = 0xFE; // Let AN0 (RA0) be an analog input
ANCON1 = 0x17; // Let AN11 (V+) also be an analog input
MS1_IO = 1;
MS1_IO_TRIS = OUTPUT_PIN;
MS2_IO = 1;
MS2_IO_TRIS = OUTPUT_PIN;
MS3_IO = 1;
MS3_IO_TRIS = OUTPUT_PIN;
Enable1IO = 1;
Enable1IO_TRIS = OUTPUT_PIN;
Enable2IO = 1;
Enable2IO_TRIS = OUTPUT_PIN;
Step1IO = 0;
Step1IO_TRIS = OUTPUT_PIN;
Dir1IO = 0;
Dir1IO_TRIS = OUTPUT_PIN;
Step2IO = 0;
Step2IO_TRIS = OUTPUT_PIN;
Dir2IO = 0;
Dir2IO_TRIS = OUTPUT_PIN;
// For bug in VUSB divider resistor, set RC7 as output and set high
// Wait a little while to charge up
// Then set back as an input
// The idea here is to get the schmidt trigger input RC7 high before
// we make it an input, thus getting it above the 2.65V ST threshold
// And allowing VUSB to keep the logic level on the pin high at 2.5V
#if defined(USE_USB_BUS_SENSE_IO)
tris_usb_bus_sense = OUTPUT_PIN; // See HardwareProfile.h
USB_BUS_SENSE = 1;
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
tris_usb_bus_sense = INPUT_PIN;
USB_BUS_SENSE = 0;
#endif
gUseSolenoid = TRUE;
gUseRCPenServo = TRUE;
// Set up pen up/down direction as output
/// TODO: This should be different based upon the board type, right?
PenUpDownIO = 0;
PenUpDownIO_TRIS = OUTPUT_PIN;
SolenoidState = SOLENOID_ON;
UseBuiltInDrivers = TRUE;
PenState = PEN_UP;
Layer = 0;
NodeCount = 0;
ButtonPushed = FALSE;
// Default RB0 to be an input, with the pull-up enabled, for use as alternate
// PAUSE button (just like PRG)
// Except for v1.1 hardware, use RB2
TRISBbits.TRISB0 = 1;
INTCON2bits.RBPU = 0; // Turn on all of PortB pull-ups
UseAltPause = TRUE;
TRISBbits.TRISB3 = 0; // Make RB3 an output (for engraver)
PORTBbits.RB3 = 0; // And make sure it starts out off
}
void EscI2CDelay(void)
{
Delay1TCY();
Delay1TCY();
}