#pragma chip PIC16F873
#define CP_off  |= 0x3F30   // 16C62X and similar
#pragma config CP_off, WDTE=off, FOSC=HS, BODEN=off
#pragma config |= 0x800 // set bit 11 This turns off Background debugging


/* global variables */
char a;
char t;
bit b1, b2;

/* assign names to port pins */
#pragma bit led @ PORTB.0
#pragma bit led2 @ PORTB.1


#pragma origin 4
interrupt serverX(void)
{
}


void delay(char x)
{
    char i;
    do {	
       i = 255; 
       do
           i = i -1;
       while (i > 0);	
    } while (--x > 0); /* 3 is */
}

#include "picuart.c"
#include "encoder.c"


void main( void)
{
    char i, j, c, err;

    // if (TO == 1 && PD == 1 /* power up */)  {
    //   WARM_RESET:
    clearRAM(); // clear all RAM
    // }

 /* first decide the initial output level
    on the output port pins, and then
    define the input/output configuration.
    This avoids spikes at the output pins. */

    PORTA = 0b.1111;  /* out = 1 */
    TRISA = 0b.0000.0000;  /* xxxx 0001 */
 
    PORTB = 0b.1111.1111;  /* out = 1 */
    TRISB = 0b.0011.1100;  /* xxxx 0001 */
 
    PORTC = 0b.1111.1111;  /* out = 1 */
    TRISC = 0b.0000.0000;  /* xxxx 0001 */
 
    delay(250);
    led = 1;
    delay(250);
    led = 0;
    delay(250);
    led = 1;
    delay(250);
    led = 0;
    uart_init(B9600);

    j = 0;

    for (i=0;;i++) {
        poll_encoders();
/*
        if (uart_byte_ready()) {
	    err = uart_error();
            c = RCREG;
            if (err) {
                c = 0;
                do {
                    led = !led;
                    delay(100);
                } while (--err);

                CREN = 0;
                nop();
                SPEN = 0;
                nop();
                TXEN = 0;
		nop();
                uart_init(B2400);
            }
            else {
                led = !led;
            }
            switch (c) {
                case 'e':
                case 'E':
                    delay(20);
                    uart_putb(enc1count);
                    uart_putb(enc2count);
                    break;
                case 'r':
                case 'R':
                    delay(20);
                    uart_putb(enc1count);
                    uart_putb(enc2count);
                    enc1count = 0;
                    enc2count = 0;
                    break;
                default:
                    break;
            }
        }
*/
        if (i == 0) {
            j++;
            if (j == 12) {
		j = 0;
                uart_putb(13);
		uart_puthex(enc1count2);
                uart_puthex(enc1count);
                uart_putb(32);
		uart_puthex(enc2count2);
                uart_puthex(enc2count);
                led2 = !led2;
            }
        } 
    }

    for (;;) ;		// end of main - loop forever
}