New C18 3.0+ Compatible FRC Code

[Kevin Watson]

Originally Posted by ay2b

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.

This was my original plan but I wasn't sure if the added functions would just confuse people. I mentioned earlier that a good compromise might be to raise a flag once the mode changes. I'd very much like to know how people feel about this.

Originally Posted by ay2b

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.

My philosophy is to include all the code so folks can see what's going on.

Originally Posted by ay2b

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.

Most of the work went into writing the interface library (ifi_frc_xxxx.lib) that's compatable with the new COFF file format used by the 3.0 compiler. I was actually ready to release the libraries last February, but ran into a nasty bug that kept the project on the back burner until a few weeks ago. I found the bug a few days ago.

-Kevin