[ay2b]

This is great! I like the new architecture for the main loop - it matches what I've been advocating to teams for years. One additional change I'd recommend is to have a "Teleop_Init()", "Autonomous_Init()" and "Disabled_Init()" that gets called as soon as the new mode is entered.

I've been going through and comparing the old to the new, but perhaps you can give a more detailed explanation of the changes. Some parts I've gone through line-by-line, other parts I haven't had the time to do so yet. Here's what I've identified:

In _startup() you have some assembly labeled "initialize all memory to zero", whereas in the old code, there was a function Clear_Memory(), which presumably does the same. All the other startup & initialization routines appear to be identical.

The main() function is now better organized, so that it calls a separate "slow loop" and a "fast loop" function for each of the three modes - autonomous, disabled and teleop. The "fast loop" functions are *_Spin(). I might suggest having a suffix for the "slow loop" functions too, so you have Autonomous_Slow_Loop() rather than just Autonomous(), but that's just my style.

The serial_ports.[ch] code appears to be the same.

The comments in pwm.[ch] lead me to believe it is all new, but I do not have an old version around to compare. Historically, I've ignored the CCP pins and spent my time working on other programming problems.

The timer code is basically the same code (because it only takes a few lines to set up a timer), but is a bit better organized. My main recommendation here would be to use the provide OpenTimer and WriteTimer macros, where applicable, rather than setting the magic variables directly. Even with all the comments, I think those macros make it easier for people new to the PIC to understand what's going on.

The interrupt code is also better organized than before, though I haven't yet gone through it line-by-line.

What sort of changes were needed to make it work with version 3.1? I have not yet read C18_ISR.pdf, which may answer this question for me. My impression from the comments here so far is that the main difference is in the way the interrupt handlers are set up, so I want to make sure I really take my time going through the new interrupt.[ch] files.

Overall, I'm happy with the changes made. The overall architecture now more closely matches the overall architecture I've been using for my team, which means that when I find myself at an event helping some random with their code, based on this, I will have an easier job.