Used in the 2d mapping project to control the stepper motor and send the current step value over serial to a computer

mapper_app.c

#include <xc.h>
#include <stdio.h>
#include <delays.h>

#pragma config FOSC=IRC,MCLRE=OFF,WDTEN=0,LVP=OFF,BOREN=OFF

//Functions
void setup(void);
void config_usart(void);
void step_pos(int n);
void step_neg(int n);


//Variables
int x_state = 1;
int count = 0;
char c;


void main(void)
{
		setup();
		config_usart();
		
		while(1)
		{
			if (PIR1bits.RCIF == 1 )
			{
				c = RCREG;
				if( c == 'g')
				{
					step_pos(2048);
					while( c != 'h')
					{
						c = RCREG;
						printf("o\n");
					}
					step_neg(2048);
					
				}
				
				
				
			}
		}
			
				
		
}
void setup(void)
{
    OSCCON = 0b01100011; //internal oscillator block, 8MHz clock speed.
    TRISB = 0b00100000; // all outputs except for rx pin
    TRISC = 0b00000000;
    ANSELHbits.ANS11 = 0; // disable analog input on rx pin
}

void config_usart(void)
{
    TXSTAbits.TXEN = 1; // transmit enabled
    TXSTAbits.SYNC = 0; // asynchronous mode
    RCSTAbits.SPEN = 1; // usart enabled, tx set as output
    RCSTAbits.CREN = 1; // enable rx
    SPBRG = 12;         // baud rate = 9600
}


void putch(char data) // this function is required for printf to work properly, got it from the xc8 manual
{  
     while (!TXIF)    
         continue;    
     TXREG = data; 
}

void step_pos(int n)
{
	count = 0;
	while( count < n )
	{
		if (count == n) break;

		LATCbits.LATC2 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC2 = 0;
		count++;
		printf("%d\n",count);



		if (count == n) break;

		LATBbits.LATB4 = 1;
		Delay10KTCYx(2);
		LATBbits.LATB4 = 0;
		count++;
		printf("%d\n",count);



		if (count == n) break;

		LATCbits.LATC7 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC7 = 0;
		count++;
		printf("%d\n",count);




		if (count == n) break;

		LATCbits.LATC6 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC6 = 0;
		count++;
		printf("%d\n",count);


	
		
		
		
	
	}
	
	
	
}

void step_neg(int n)
{
	count = 0;
	while( count < n )
	{
		if (count == n) break;

		LATCbits.LATC6 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC6 = 0;
		count++;
		printf("%d\n",count);


		if (count == n) break;

		LATCbits.LATC7 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC7 = 0;
		count++;
		printf("%d\n",count);


		if (count == n) break;

		LATBbits.LATB4 = 1;
		Delay10KTCYx(2);
		LATBbits.LATB4 = 0;
		count++;
		printf("%d\n",count);


		if (count == n) break;

		LATCbits.LATC2 = 1;
		Delay10KTCYx(2);
		LATCbits.LATC2 = 0;
		count++;
		printf("%d\n",count);
		
	}
	

}