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#include "defines.h"
#include "IOC.h"
#include "STEPPER.h"
void IOC_Init(void) {
INTCONbits.IOCIE = 1;
// Enable interrupt on both edges on RA3 and RA4
IOCAPbits.IOCAP3 = 1;
IOCANbits.IOCAN3 = 1;
IOCAPbits.IOCAP4 = 1;
IOCANbits.IOCAN4 = 1;
}
void IOC_Interrupt_Handler(void) {
STEP_LAT = 1;
STEP_LAT = 0;
if (IOCAFbits.IOCAF3) {
// Delay to debounce button on any edge
__delay_ms(1);
if (SW_1_PORT) {
switch (Get_Cur_Mode()) {
case SINGLE_STEP:
STEPPER_Step();
break;
case AUTO_STEP:
STEPPER_Toggle_Auto();
break;
case SET_MICROSTEP:
STEPPER_Set_Next_Step();
break;
}
}
// Delay to debounce button on any edge
__delay_ms(1);
IOCAFbits.IOCAF3 = 0;
return;
}
if (IOCAFbits.IOCAF4) {
// Delay to debounce button on any edge
__delay_ms(1);
if (SW_2_PORT) {
Set_Next_Mode();
}
// Delay to debounce button on any edge
__delay_ms(1);
IOCAFbits.IOCAF4 = 0;
return;
}
}