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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">

// PIC16F1825 Configuration Bit Settings

// CONFIG1

#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)

#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT enabled)

#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)

#pragma config MCLRE = OFF      // MCLR Pin Function Select (MCLR/VPP pin function is digital input)

#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)

#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)

#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)

#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)

#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)

#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)

// CONFIG2

#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)

#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)

#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)

#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)

#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)

// </editor-fold>

#include "defines.h"

#include "INTERRUPTS.h"

#include "STEPPER.h"

#include "IOC.h"

void Pins_Init(void) {

    // RA0 and RA1 pins as analog input

    ANSELA = 0x3;

    ANSELC = 0x0;

//    // Enable weak pull-up if WPU bit is set

//    OPTION_REGbits.nWPUEN = 0;

    // SDO1 on RC2

    APFCON0bits.SDOSEL = 0;

    STEP_TRIS = 0;

    STEP_LAT = 0;

    DIR_TRIS = 0;

    DIR_LAT = 0;

    M0_TRIS = 0;

    M0_LAT = 0;

    M1_TRIS = 0;

    M1_LAT = 0;

    M2_TRIS = 0;

    M2_LAT = 0;

    SW_1_TRIS = 1;

    SW_2_TRIS = 1;

    STEP_CURRENT_TRIS = 1;

    POT_CURRENT_TRIS = 1;

    SPI_MOSI_TRIS = 0;

    SPI_D_C_TRIS = 0;

    SPI_CLK_TRIS = 0;

}

OPERATING_MODE currMode;

STEPPER_MICROSTEP currStep;

int main(void) {

    // Set internal oscillator speed to 32MHz

    OSCCONbits.SPLLEN = 1;  // 4x PLL enable (overwritten by config bits)

    OSCCONbits.IRCF = 0xE;  // Base frequency @ 8MHz

    OSCCONbits.SCS = 0b00;  // System clock determined by config bits

    // Initialize I/O

    Pins_Init();

    IOC_Init();

    Interrupt_Init();

    Interrupt_Enable();

    currMode = SINGLE_STEP;

    currStep = STEP_1_1;

    while(1) {

    }

}

void Set_Next_Mode() {

    switch (currMode) {

        case SINGLE_STEP:

            currMode = AUTO_STEP;

            break;

        case AUTO_STEP:

            currMode = SET_MICROSTEP;

            break;

        case SET_MICROSTEP:

        default:

            currMode = SINGLE_STEP;

            break;

    }

}

OPERATING_MODE Get_Cur_Mode(void) {

    return currMode;

}

void Set_Next_Step() {

    switch (currStep) {

        case STEP_1_1:

            currStep = STEP_1_2;

            break;

        case STEP_1_2:

            currStep = STEP_1_4;

            break;

        case STEP_1_4:

            currStep = STEP_1_8;

            break;

        case STEP_1_8:

            currStep = STEP_1_16;

            break;

        case STEP_1_16:

            currStep = STEP_1_32;

            break;

        case STEP_1_32:

        default:

            currStep = STEP_1_1;

            break;

    }

    STEPPER_Set_Microstep(currStep);

}