Probably time to switch to Atmel
Once again, the problem isn't flying the aircraft but PIC assembly language nuances. BANKSEL tracking, pointer tracking, buffer tracking, byte order tracking, branch statement tracking, low pass filtering using mult & add operations, are all steps that could be done without, in C compiled for Atmel.
It just needs a time with a window to port the USB driver or even better, port everything to the arduino libraries. Development would be a lot faster, since the microcontroller isn't doing anything revolutionary.
GCC for AVR is so mainstream, it's now tracked in the GCC changelogs. No mention of GCC for PIC anywhere.
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