LIST P=16F876, R=DEC INCLUDE "P16F876.inc" __CONFIG (_CP_OFF & _HS_OSC & _PWRTE_ON & _WDT_OFF & _LVP_OFF) ERRORLEVEL -302 ;========================================================== ;Bank 0 RAM block CBLOCK 020h ;20h to 70h = 80 bytes available W_TEMP ;Holds W during interrupts STATUS_TEMP ;Holds STATUS during interrupts PCLATH_TEMP ;Holds PCLATH during interrupts txptr ;Transmit character pointer txchbuff:50 ;transmit character buffer lasttxch ;Last transmit character (contents set to 00h) HIFIXCHAR ;High part of address of fixed char subroutine LOFIXCHAR ;Low part of address of fixed char subroutine ;Used for Binary to ASCII conversion bin:4 ; 32-bit binary number (unsigned) bcd:10 ; 10 BC digits or 10 ascii chars pti,pto ; pointers ii temp cnt ENDC ; Bank0/1/2/3 mirrored in all banks 0x70, 0xF0, 0x170, 0x1F0, 16 bytes CBLOCK 0x070 ; ram variables accesible from all banks mainly used for context saving ; ( ram area above 0x70 are mirrored in all banks ) Saved_W:1 ; variable used for context saving Saved_Status:1 ; variable used for context saving Saved_Pclath:1 ; Saved_Fsr:1 ; Table_Temp:1 ; table lookup temp variable SendStrIndex ;Send text string index PROGSTAT ;Program status flags ENDC ;Bank 2 RAM block CBLOCK 0110h ;Actually 0110h (96 bytes exclusive available in BANK2) TIMER0_1 ;Second byte counter for Timer0 TIMER0_2 ;Third byte counter for Timer0 TIMER0_3 ;Fourth byte counter for Timer0 TIMER0_OF ;Overflow status TIMER1_1 ;Third byte counter for Timer1 TIMER1_2 ;Fourth byte counter for Timer1 TIMER1_OF ;Overflow status ;Timer 2 related counters ONE_CNT ;One second counter (1/75th second resolution) ORN_CNT ;Orientation mode sample counter (1/75th second resolution) TMP_CNT ;Temperature request sample counter (1 second resolution) MAG_CNT ;Magnetometer request sample counter (1 second resolution) TMR0BUFFER:4 ;TIMER0 4-Byte buffer TMR1BUFFER:4 ;TIMER1 4-Byte buffer TEMP1H ;Temperature 1 High byte TEMP1L ;Temperature 1 Low byte TEMP2H ;Temperature 2 High byte TEMP2L ;Temperature 2 Low byte SourceL ;Temporary subtraction register (DIFFERENCE ends up here) SourceM SourceH DestL ;Temporary subtraction register DestM DestH ORIENTED ;Flag indicating that sensors are oriented (!0=oriented) LOCKED ;Flag indicating that sensors are locked (!0=oriented) ENDC ;Bank 3 RAM block CBLOCK 0190h ;Actually 0190h (16 bytes in BANK3) mv_i ;temporary move counter mv_temp ;temporary move register ENDC CBLOCK 020h ;Actually 01A0h (80 bytes in BANK3) TBUFF:80 ;Storage for 10 32bit Timer buffers for each Timer ;Arranged as: ;TMR0 Byte1 buffer10 ;TMR0 Byte2 buffer10 ; etc ;TMR0 Byte4 buffer10 ;TMR1 Byte1 buffer10 ;TMR1 Byte2 buffer10 ; etc ;TMR1 Byte4 buffer10 ;TMR0 Byte1 buffer9 ; etc ; etc ;TMR1 Byte4 buffer1 ENDC ONE_PRL EQU 75 ;One Second count preload value 1s = 75 counts @ 19.6608MHz ORN_PRL EQU 16 ;Orientation mode preload counter value (1/75ths seconds) MAG_PRL EQU 1 ;Magnetometer sample preload (number of seconds per magnetometer samples) TMP_PRL EQU 2 ;Temperature sample preload (number of seconds between temperature samples) ;PROGSTAT flag bit definitions CMDBUSY EQU 0 ;Bit 0 = Command is being processed STYPE EQU 1 ;Bit 1 = String type 0=Variable, 1=Fixed ADACQ EQU 2 ;Bit 2 = A/D acquisition state, 0=sampling, 1=converting TEMPREQ EQU 3 ;Bit 3 = Temperature request ONESEC EQU 4 ;Bit 4 = On second elapsed flag SAMPREQ EQU 5 ;Bit 5 = Sample request flag HEALTH EQU 2 ;PortC bit for health LED CR EQU 0Dh LF EQU 0Ah NULL EQU 00h ; base frequency XTAL_FREQ EQU 19660800 ; OSC freq in Hz ; caulculates baudrate when BRGH = 1, adjust for rounding errors #define CALC_HIGH_BAUD(BaudRate) (((10*XTAL_FREQ/(16*BaudRate))+5)/10)-1 ; caulculates baudrate when BRGH = 0, adjust for rounding errors #define CALC_LOW_BAUD(BaudRate) (((10*XTAL_FREQ/(64*BaudRate))+5)/10)-1 ; calculates timer1 delay when prescale is 1:8, adjust for rounding errors #define CALC_TIMER(TickTime) (0xFFFF-((TickTime*XTAL_FREQ)/32000))+1 ; used for I2C calculations ;#define I2CClock D'100000' ; define I2C bit rate #define I2CClock D'50000' ; define I2C bit rate #define I2C_ClockValue (((XTAL_FREQ/I2CClock)/4) -1) ; ;========================================================== BANK0 MACRO BCF STATUS, RP0 ; Select Bank 0 BCF STATUS, RP1 BCF STATUS, IRP ENDM BANK1 MACRO BSF STATUS, RP0 ; Select Bank 1 BCF STATUS, RP1 BCF STATUS, IRP ENDM BANK2 MACRO BCF STATUS, RP0 ; Select Bank 2 BSF STATUS, RP1 BSF STATUS, IRP ENDM BANK3 MACRO BSF STATUS, RP0 ; Select Bank 3 BSF STATUS, RP1 BSF STATUS, IRP ENDM MOVE MACRO variable,value ;Move a variable into a file MOVLW value MOVWF variable ENDM BMOVE MACRO s_bank,s_variable,d_bank,d_variable ;Move variables with banks defined IF s_bank == 0 BANK0 ENDIF IF s_bank == 1 BANK1 ENDIF IF s_bank == 2 BANK2 ENDIF IF s_bank == 3 BANK3 ENDIF MOVF s_variable,W IF s_bank != d_bank IF d_bank == 0 BANK0 ENDIF IF d_bank == 1 BANK1 ENDIF IF d_bank == 2 BANK2 ENDIF IF d_bank == 3 BANK3 ENDIF ENDIF MOVWF d_variable ENDM ;Check incoming command and go to its handler ; The command is just one char ; The handler is located at label CMDCHK MACRO char,label MOVF RCREG, w ; Get the received word XORLW char BTFSC STATUS,Z GOTO label ENDM ;Set the MUX value to addr ; The 8 channel MUX is located on the lower three bits of PORTB ; addr can be anything from 0-7 MUXSET MACRO addr MOVF PORTB,W ;Get existing PORT B value ANDLW 011111000b IORLW 111b & addr MOVWF PORTB ENDM ; TABLE_JUMP Calculates an eventual page boundary crossing ; set's up the PCLATH register correctly ; Offset must be in w-reg, offset 0 jumps to the next instr. ; Adjusts for 256 bytes boundary ; Uses one byte of dedicated ram TABLE_JUMP MACRO MOVWF Table_Temp ; save wanted offset MOVLW LOW($+8) ; get low adress ( of first instr. after macro ) ADDWF Table_Temp,F ; add offset MOVLW HIGH($+6) ; get highest 5 bits ( of first instr. after macro ) BTFSC STATUS,C ; page crossed ? ( 256 byte ) ADDLW 0x01 ; Yes add one to high adress MOVWF PCLATH ; load high adress in latch MOVF Table_Temp,W ; get computed adress MOVWF PCL ; And jump ENDM ;STRFIX ; - This macro is used to define fixed text to be sent out the serial port. ; - The address of this macro is called as a subroutine. ; - This 'subroutine' returns the character pointed to by the index SendStrIndex. ; Example usage: ; STRINGLABEL SSTRING "HELLO WORLD\x0D\x0A\x00" ; - Note the CRLF and zero termination. ; - Directive dt generates a number of RETLW lines. ; SendStrIndex is a pointer number from 0-n STRFIX MACRO text MOVF SendStrIndex, W ; Get the string index TABLE_JUMP ; tablejump macro jumps W number of lines dt text ; i.e. equal to RETLW 'H' RETLW 'E' .... ENDM PULSE MACRO port,bit ;Single debugging pulse BANK0 BSF port,bit BCF port,bit ENDM PULSER MACRO port,bit ;Continuous debugging pulse BANK0 BSF port,bit BCF port,bit GOTO $-2 ENDM ;+++++ ; LONG_CALL long call, sets the page bits 4:5 of PCLATH ; so call can cross ANY page boundary, reset's PCLATH after call. ; w-reg is left untouched. LONG_CALL MACRO LABEL LOCAL DEST_HIGH, SOURCE_HIGH, DIFF_HIGH DEST_HIGH SET (HIGH(LABEL)&0x18) ; save bit's 4:5 of dest adress SOURCE_HIGH SET (HIGH($)&0x18) ; --- || --- source adress DIFF_HIGH SET DEST_HIGH ^ SOURCE_HIGH ; get difference ( XOR ) IF (DIFF_HIGH == 0) ; same page, SHOULD generate no extra code, delta 0 pages MESSG "Call on same page, replace LONG_CALL with PCALL " LABEL NOP ; redundant NOP's NOP CALL LABEL NOP NOP ELSE ; test if both bits must be set ? i.e. page0<->page3 or page2<->page3 IF (DIFF_HIGH == 0x18) ; difference in BOTH bit's, delta 2 pages ;MESSG "Setting page bit's for long page crossing call" SET_PCLATH DEST_HIGH ; set both bits in PCLATH CALL LABEL SET_PCLATH SOURCE_HIGH ; reset both bits in pclath ELSE ; if we end up here then one BSF/BCF is enough, i.e. delta 1 page ; i.e. page0<->1 or page2<->3 MESSG "Call only one page, replace LONG_CALL with SHORT_CALL " LABEL IF (DIFF_HIGH == 0x10) ; diff in high bit NOP ; redundant NOP SET_PCLATH4 DEST_HIGH ; set high(4) bit of PCLATH CALL LABEL SET_PCLATH4 SOURCE_HIGH NOP ; redundant NOP ELSE ; lowest bit only NOP ; redundant NOP SET_PCLATH3 DEST_HIGH ; set low(3) bit of PCLATH CALL LABEL SET_PCLATH3 SOURCE_HIGH NOP ENDIF ENDIF ENDIF ENDM ;+++++ ; SHORT_CALL short call, code for calling between page0<->1 or page2<->3 ; Reset's PCLATH after call. ; w-reg is left untouched. SHORT_CALL MACRO LABEL LOCAL DEST_HIGH, SOURCE_HIGH, DIFF_HIGH DEST_HIGH SET (HIGH(LABEL)&0x18) ; save bit's 4:5 of dest adress SOURCE_HIGH SET (HIGH($)&0x18) ; --- || --- source adress DIFF_HIGH SET DEST_HIGH ^ SOURCE_HIGH ; get difference ( XOR ) IF (DIFF_HIGH == 0) ; same page, SHOULD generate no extra code, delta 0 pages MESSG "Call on same page, replace SHORT_CALL with PCALL " LABEL NOP ; redundant NOP's CALL LABEL NOP ELSE ; for safety check so we do not require LONG_CALL IF ((DIFF_HIGH&0x18)==0x18) MESSG " WARNING ! Replace SHORT_CALL with LONG_CALL " LABEL ENDIF ;MESSG "Setting page bit's for short page crossing call" IF (DIFF_HIGH == 0x10) ; diff in high bit SET_PCLATH4 DEST_HIGH ; set high(4) bit of PCLATH CALL LABEL SET_PCLATH4 SOURCE_HIGH ELSE ; lowest bit only SET_PCLATH3 DEST_HIGH ; set low(3) bit of PCLATH CALL LABEL SET_PCLATH3 SOURCE_HIGH ENDIF ENDIF ENDM ;+++++ ; PCALL page call, code for calling on same page ; outputs messages if LONG/SHORT call could/must be used ; PCALL MACRO LABEL LOCAL DEST_HIGH, SOURCE_HIGH, DIFF_HIGH DEST_HIGH SET (HIGH(LABEL)&0x18) ; save bit's 4:5 of dest adress SOURCE_HIGH SET (HIGH($)&0x18) ; --- || --- source adress DIFF_HIGH SET DEST_HIGH ^ SOURCE_HIGH ; get difference ( XOR ) IF (DIFF_HIGH == 0) ; same page, call ok CALL LABEL ELSE ; for safety check so we do not require LONG_CALL IF ((DIFF_HIGH&0x18)==0x18) MESSG " WARNING ! Replace PCALL with LONG_CALL " LABEL CALL LABEL ; INCORRECT Call !!! ELSE MESSG " WARNING ! Replace PCALL with SHORT_CALL " LABEL CALL LABEL ENDIF ENDIF ENDM ;========================================================== ORG 0 GOTO INIT ;========================================================== ORG 4 INTS ;Save STATUS, W, and PCLATH registers in RAM MOVWF W_TEMP ;Copy W to TEMP register SWAPF STATUS,W ;Swap status to be saved into W CLRF STATUS ;bank 0, regardless of current bank, Clears IRP,RP1,RP0 MOVWF STATUS_TEMP ;Save status to bank zero STATUS_TEMP register MOVF PCLATH, W ;Only required if using pages 1, 2 and/or 3 MOVWF PCLATH_TEMP ;Save PCLATH into W CLRF PCLATH ;Page zero, regardless of current page ;determine if "RX character" interrupt BANK0 BTFSC PIR1, RCIF ; Check for received character GOTO COMMAND ;determine if "TX buffer empty" interrupt BTFSS PIR1,TXIF ;Check transmit Interrupt flag (1=interrupt) GOTO INST1 ;not set, check next int MOVF txptr,F ;Check if characters are being sent BTFSS STATUS,Z ;Zero=no string GOTO NEXTCHAR INST1 ;determine if Timer2 interrupt (semi-real-time-clock) BTFSC PIR1,TMR2IF ;Check Timer2 Interrupt Flag GOTO TIMER2INT ;determine if Timer1 interrupt (second optional magnetometer) BTFSC PIR1,TMR1IF ;Check Timer1 Interrupt Flag GOTO TIMER1INT ;determine if Timer0 interrupt (first magnetometer) BTFSC INTCON,T0IF ;Check Timer0 Interrupt Flag GOTO TIMER0INT ;If nothing determined GOTO INTEXIT ;----------------------------------------------------------- TIMER0INT ;Timer0 Interrupt Handler BCF INTCON,T0IF ;Clear out old interrupt flag BANK2 INCFSZ TIMER0_1,F ;Increment second byte and check for rollover GOTO INTEXIT INCFSZ TIMER0_2,F ;Increment third byte GOTO INTEXIT INCFSZ TIMER0_3,F ;Increment fourth byte GOTO INTEXIT MOVE TIMER0_OF,1 ;Set Overflow bit GOTO INTEXIT ;----------------------------------------------------------- TIMER1INT ;Timer1 Interrupt Handler BCF PIR1,TMR1IF ;Clear out old interrupt flag BANK2 INCFSZ TIMER1_1,F ;Increment third byte and check for rollover GOTO INTEXIT INCFSZ TIMER1_2,F ;Increment fourth byte GOTO INTEXIT MOVE TIMER1_OF,1 ;Set Overflow bit GOTO INTEXIT ;============================================================================ TIMER2INT ;TIMER2 Interrupt Handler ;This interrupt is generted many times a second by the accumulation ; of counts from TIMER2, its prescaler, and postscaler. ;Various asynchronous timers are maintained: ; - Magnetometer sample request (normally 1 second frequency) ; - Temperature sample request (normally 2 second frequency) ; - Orientation mode (normally many times faster than 1 second frequency) ; ;Magnetometer samples are shifted and the most recent count is recorded. ;The magnetometer counters are reset so that a new count can be started. ;Since the magnetometer TIMERs get reset even though they may be about to ; count up, it is possible to miss that count. Fortunately that missed count ; is not that important so we can ignore the small error. ;--------------------------------------------------------------------------- BCF PIR1,TMR2IF ;Clear out old interrupt flag ;--------------------------------------------------------------------------- ;Extinguish HEALTH lamp in case it was previously on BANK0 BCF PORTC,HEALTH ;--------------------------------------------------------------------------- ;Check if ORIENTATION (high-speed) sample mode count has elapsed BANK2 DECFSZ ORN_CNT,F GOTO T2_OR_E ;Orientation counter still running (do nothing) ;Orientation counter expired MOVE ORN_CNT,ORN_PRL ;Reload ORIENT mode counter ;Check for ORIENT mode BANK0 BTFSS PORTB,5 ;Check if orientation mode switch is set (=0) BSF PROGSTAT,SAMPREQ ;Request Magnetometer Sample T2_OR_E ;All finished checking orientation counter ;--------------------------------------------------------------------------- ;Check if 1s has elapsed BANK2 DECFSZ ONE_CNT,F GOTO T2_ON_E ;One second has not yet elapsed, ;One second has elapsed: ; - Reload One second counter MOVE ONE_CNT,ONE_PRL ;Reload one second counter ; - Check if Magnetometers should be sampled DECFSZ MAG_CNT,F ;Check magnetometer sample counter GOTO T2_ON_2 ;Magnetometer sample is not yet required MOVE MAG_CNT,MAG_PRL ;Reload magnetometer sample rate counter ;Check for REGULAR (non-Orient) mode BANK0 BTFSC PORTB,5 ;Check if orientation mode switch is not set (=1) BSF PROGSTAT,SAMPREQ ;Request Magnetometer Sample T2_ON_2 ; - Check if temperature sensors should be sampled BANK2 DECFSZ TMP_CNT,F ;Check if temperature sample should be done GOTO T2_ON_E ;Temperature sample is not yet required T2_ON_3 MOVE TMP_CNT,TMP_PRL ;Reload temperature sample rate counter BSF PROGSTAT,TEMPREQ ;Request a temperature reading T2_ON_E ;--------------------------------------------------------------------------- BTFSS PROGSTAT,SAMPREQ ;Check if Magnetometer sample has been requested GOTO T2_MAGSAMP_E ;Magnetometer sample has not been requested BCF PROGSTAT,SAMPREQ ;Clear out sample request since it is being done now ;Illuminate health light indicating that a sample is being taken BANK0 BSF PORTC,HEALTH ;--------------------------------------------------------------------------- ;Record TMR0 value ;Check for TMR0 overflow then buffer the timer counts T2_T0_0 BTFSS INTCON,T0IF ;Check Timer0 Interrupt Flag GOTO T2_T0_2 ;TMR0 Int flag is not set T2_T0_1 ;TMR0 Int flag is set BCF INTCON,T0IF ;Clear out old interrupt flag BANK2 INCFSZ TIMER0_1,F ;Increment second byte and check for rollover GOTO T2_T0_2 INCFSZ TIMER0_2,F ;Increment third byte GOTO T2_T0_2 INCFSZ TIMER0_3,F ;Increment fourth byte GOTO T2_T0_2 MOVE TIMER0_OF,1 ;Set Overflow bit T2_T0_2 ;Store current counts temporarily BMOVE 2,TIMER0_3,2,TMR0BUFFER BMOVE 2,TIMER0_2,2,TMR0BUFFER+1 BMOVE 2,TIMER0_1,2,TMR0BUFFER+2 BMOVE 0,TMR0 ,2,TMR0BUFFER+3 ;Make one last check if Interrupt flag was set during last reading BTFSC INTCON,T0IF ;Check Timer0 Interrupt Flag GOTO T2_T0_1 ;Reset counters, overflow indicators, timer registers BANK2 CLRF TIMER0_3 CLRF TIMER0_2 CLRF TIMER0_1 CLRF TIMER0_OF BANK0 CLRF TMR0 BCF INTCON,T0IF ;Clear out overflow flag in case it just overflowed ;--------------------------------------------------------------------------- ;Turn off Timer 1 to prevent any rollover for example: ; - two 8 bit counters may roll over unless stopped ; - 16 bit counter may generate an overflow BANK0 BCF T1CON,TMR1ON ;Check for TMR1 overflow in case it overflowed before entering this routine T2_T1_0 BANK0 BTFSS PIR1,TMR1IF ;Check Timer1 Interrupt Flag GOTO T2_T1_2 ;TMR1 Int flag is not set T2_T1_1 ;TMR1 Int flag is set BANK0 BCF PIR1,TMR1IF ;Clear out old interrupt flag BANK2 INCFSZ TIMER1_1,F ;Increment third byte and check for rollover GOTO T2_T1_2 INCFSZ TIMER1_2,F ;Increment fourth byte GOTO T2_T1_2 MOVE TIMER1_OF,1 ;Set Overflow bit T2_T1_2 ;Store current counts temporarily BMOVE 2,TIMER1_2,2,TMR1BUFFER BMOVE 2,TIMER1_1,2,TMR1BUFFER+1 BMOVE 0,TMR1H ,2,TMR1BUFFER+2 BMOVE 0,TMR1L ,2,TMR1BUFFER+3 ;Reset counters, overflow indicators, timer registers BANK2 CLRF TIMER1_2 CLRF TIMER1_1 CLRF TIMER1_OF BANK0 CLRF TMR1H CLRF TMR1L ;Turn on Timer 1 (two 8 bit counters may roll over unless stopped) BANK0 BSF T1CON,TMR1ON ;--------------------------------------------------------------------------- ;Move Timer results up through timer buffer ; From: http://www.piclist.com/techref/microchip/memmove.htm?key=move&from= ; Moving data blocks ; Dmitry Kiryashov ; ; for ( mv_i = num_of_elements; mv_i != 0; ) { mv_i--; b[mv_i] = a[mv_i]; } BANK3 movlw 36 ;num_of_elements movwf mv_i mvloop: decf mv_i, W addlw TBUFF+4 ;a movwf FSR ; (a+i) movfw INDF movwf mv_temp ; movlw 4 ;(b-a) addwf FSR, F ; (b+i) movfw mv_temp movwf INDF ; decfsz mv_i, F goto mvloop ;Move current count into BUFFER 1 BMOVE 2,TMR0BUFFER+0,3,TBUFF+72 BMOVE 2,TMR0BUFFER+1,3,TBUFF+73 BMOVE 2,TMR0BUFFER+2,3,TBUFF+74 BMOVE 2,TMR0BUFFER+3,3,TBUFF+75 BMOVE 2,TMR1BUFFER+0,3,TBUFF+76 BMOVE 2,TMR1BUFFER+1,3,TBUFF+77 BMOVE 2,TMR1BUFFER+2,3,TBUFF+78 BMOVE 2,TMR1BUFFER+3,3,TBUFF+79 ;--------------------------------------------------------------------------- ;Check for orientation (counts are close) ; If abs(M1-M2)<100 then illuminate "Oriented" LED output ;Note: if identical then locking is occuring, this should be indicated somehow ; so that the user can orient the sensors at something besides 180 ; degrees apart. **** todo *** ;DestH;M;L = Difference = Dest-Source BANK2 CLRF ORIENTED ;TMR0 - TMR1 BMOVE 2,TMR0BUFFER+3,2,DestL BMOVE 2,TMR0BUFFER+2,2,DestM BMOVE 2,TMR0BUFFER+1,2,DestH BMOVE 2,TMR1BUFFER+3,2,SourceL BMOVE 2,TMR1BUFFER+2,2,SourceM BMOVE 2,TMR1BUFFER+1,2,SourceH CALL SUBTRACT24 SKPC ;skip if no borrow GOTO T2_ORN0 ;must have been negative check other ;200 - Difference1 BMOVE 2,DestL,2,SourceL BMOVE 2,DestM,2,SourceM BMOVE 2,DestH,2,SourceH MOVE DestL,200 MOVE DestM,0 MOVE DestH,0 CALL SUBTRACT24 SKPNC ;If carry set then <200 (ORIENTED) INCF ORIENTED,F GOTO T2_ORN1 T2_ORN0 ;TMR1 - TMR0 BMOVE 2,TMR1BUFFER+3,2,DestL BMOVE 2,TMR1BUFFER+2,2,DestM BMOVE 2,TMR1BUFFER+1,2,DestH BMOVE 2,TMR0BUFFER+3,2,SourceL BMOVE 2,TMR0BUFFER+2,2,SourceM BMOVE 2,TMR0BUFFER+1,2,SourceH CALL SUBTRACT24 ;200 - Difference1 BMOVE 2,DestL,2,SourceL BMOVE 2,DestM,2,SourceM BMOVE 2,DestH,2,SourceH MOVE DestL,200 MOVE DestM,0 MOVE DestH,0 CALL SUBTRACT24 SKPNC ;If carry set then <200 (ORIENTED) INCF ORIENTED,F T2_ORN1 MOVF ORIENTED,W BANK0 BTFSC STATUS,Z GOTO T2_ORN2 BSF PORTC,5 GOTO T2_ORN3 T2_ORN2 BCF PORTC,5 T2_ORN3 ;Check if units are locked in frequency BANK2 CLRF LOCKED ;TMR0 - TMR1 BMOVE 2,TMR0BUFFER+3,2,DestL BMOVE 2,TMR0BUFFER+2,2,DestM BMOVE 2,TMR0BUFFER+1,2,DestH BMOVE 2,TMR1BUFFER+3,2,SourceL BMOVE 2,TMR1BUFFER+2,2,SourceM BMOVE 2,TMR1BUFFER+1,2,SourceH CALL SUBTRACT24 SKPC ;skip if no borrow GOTO T2_ORN5 ;must have been negative check other ;10 - Difference1 BMOVE 2,DestL,2,SourceL BMOVE 2,DestM,2,SourceM BMOVE 2,DestH,2,SourceH MOVE DestL,10 MOVE DestM,0 MOVE DestH,0 CALL SUBTRACT24 SKPNC ;If carry set then <10 (ORIENTED) INCF LOCKED,F GOTO T2_ORN6 T2_ORN5 ;TMR1 - TMR0 BMOVE 2,TMR1BUFFER+3,2,DestL BMOVE 2,TMR1BUFFER+2,2,DestM BMOVE 2,TMR1BUFFER+1,2,DestH BMOVE 2,TMR0BUFFER+3,2,SourceL BMOVE 2,TMR0BUFFER+2,2,SourceM BMOVE 2,TMR0BUFFER+1,2,SourceH CALL SUBTRACT24 ;10 - Difference1 BMOVE 2,DestL,2,SourceL BMOVE 2,DestM,2,SourceM BMOVE 2,DestH,2,SourceH MOVE DestL,10 MOVE DestM,0 MOVE DestH,0 CALL SUBTRACT24 SKPNC ;If carry set then <10 (ORIENTED) INCF LOCKED,F T2_ORN6 MOVF LOCKED,W BANK0 BTFSC STATUS,Z GOTO T2_ORN7 BSF PORTB,0 GOTO T2_ORN8 T2_ORN7 BCF PORTB,0 T2_ORN8 ;--------------------------------------------------------------------------- ;*** Move all of this time intensive code out of the interrupt routine and into ; a psuedo multiasker. ;Check if continuous-output mode setting is on BANK0 BTFSC PORTB,6 ;skip if cont mode is required (pin shorted to GND) GOTO T2_MAGSAMP_E ;cont mode is not required BSF PROGSTAT,CMDBUSY ;Indicate that command is being processed GOTO CMD_CONT ;Execute continuous output T2_MAGSAMP_E ;End of Magnetometer sampling code GOTO INTEXIT ;========================================================================== COMMAND BANK0 ;If already busy then this command gets lost - sorry BTFSS PROGSTAT,CMDBUSY GOTO COMMAND_CHECKING;Not busy - process a new command MOVF RCREG, w ;Clear the RX interrupt flag GOTO INTEXIT ;Exit to wait for other interrupts COMMAND_CHECKING BSF PROGSTAT,CMDBUSY ;Indicate that command is being processed ;Determine what command was received CMDCHK '1',COMMAND1 CMDCHK '2',COMMAND2 CMDCHK 'v',SEND_A ;test simple variable text sending CMDCHK 'f',SEND_B ;test simple fixed text sending ;All other (unknown) commands fall through here CMD_CONT BMOVE 3,TBUFF+72,0,bin BMOVE 3,TBUFF+73,0,bin+1 BMOVE 3,TBUFF+74,0,bin+2 BMOVE 3,TBUFF+75,0,bin+3 call b2bcd ; convert to 32-bit binary to 10 bcd call bcd2a ; convert 10 bcd to 10 ascii ;Move ASCII result into transmit buffer area MOVF bcd,W MOVWF txchbuff MOVF bcd+1,W MOVWF txchbuff+1 MOVF bcd+2,W MOVWF txchbuff+2 MOVF bcd+3,W MOVWF txchbuff+3 MOVF bcd+4,W MOVWF txchbuff+4 MOVF bcd+5,W MOVWF txchbuff+5 MOVF bcd+6,W MOVWF txchbuff+6 MOVF bcd+7,W MOVWF txchbuff+7 MOVF bcd+8,W MOVWF txchbuff+8 MOVF bcd+9,W MOVWF txchbuff+9 MOVE txchbuff+10,',' ;comma ;get timer 1 value BMOVE 3,TBUFF+76,0,bin BMOVE 3,TBUFF+77,0,bin+1 BMOVE 3,TBUFF+78,0,bin+2 BMOVE 3,TBUFF+79,0,bin+3 call b2bcd ; convert to 32-bit binary to 10 bcd call bcd2a ; convert 10 bcd to 10 ascii MOVF bcd,W MOVWF txchbuff+11 MOVF bcd+1,W MOVWF txchbuff+12 MOVF bcd+2,W MOVWF txchbuff+13 MOVF bcd+3,W MOVWF txchbuff+14 MOVF bcd+4,W MOVWF txchbuff+15 MOVF bcd+5,W MOVWF txchbuff+16 MOVF bcd+6,W MOVWF txchbuff+17 MOVF bcd+7,W MOVWF txchbuff+18 MOVF bcd+8,W MOVWF txchbuff+19 MOVF bcd+9,W MOVWF txchbuff+20 MOVE txchbuff+21,',' ;comma ;get temperature 00 value BANK0 MOVE bin,0 MOVE bin+1,0 BMOVE 2,TEMP1H,0,bin+2 BMOVE 2,TEMP1L,0,bin+3 call b2bcd ; convert to 32-bit binary to 10 bcd call bcd2a ; convert 10 bcd to 10 ascii MOVF bcd,W MOVWF txchbuff+22 MOVF bcd+1,W MOVWF txchbuff+23 MOVF bcd+2,W MOVWF txchbuff+24 MOVF bcd+3,W MOVWF txchbuff+25 MOVF bcd+4,W MOVWF txchbuff+26 MOVF bcd+5,W MOVWF txchbuff+27 MOVF bcd+6,W MOVWF txchbuff+28 MOVF bcd+7,W MOVWF txchbuff+29 MOVF bcd+8,W MOVWF txchbuff+30 MOVF bcd+9,W MOVWF txchbuff+31 MOVE txchbuff+32,',' ;comma ;get temperature 1 value BANK0 MOVE bin,0 MOVE bin+1,0 BMOVE 2,TEMP2H,0,bin+2 BMOVE 2,TEMP2L,0,bin+3 call b2bcd ; convert to 32-bit binary to 10 bcd call bcd2a ; convert 10 bcd to 10 ascii MOVF bcd,W MOVWF txchbuff+33 MOVF bcd+1,W MOVWF txchbuff+34 MOVF bcd+2,W MOVWF txchbuff+35 MOVF bcd+3,W MOVWF txchbuff+36 MOVF bcd+4,W MOVWF txchbuff+37 MOVF bcd+5,W MOVWF txchbuff+38 MOVF bcd+6,W MOVWF txchbuff+39 MOVF bcd+7,W MOVWF txchbuff+40 MOVF bcd+8,W MOVWF txchbuff+41 MOVF bcd+9,W MOVWF txchbuff+42 MOVE txchbuff+43,00dh ;CR MOVE txchbuff+44,00ah ;LF MOVE txchbuff+45,000h ;The last character is 00h GOTO FIRSTCHAR ;----------------------------------------------------------- COMMAND1 MOVE txchbuff,031h MOVE txchbuff+1,000h ;The last character is 00h GOTO FIRSTCHAR ;----------------------------------------------------------- COMMAND2 MOVE txchbuff,032h MOVE txchbuff+1,000h ;The last character is 00h GOTO FIRSTCHAR COMMAND_D ;Test fixed string sending ; *********************************************************************** ; To send characters using this method, the following must be used. ; The routine is entered during the interrupt routine. ; The exit of this routine is done with a standard interrupt exit. ; This routine: ; - stores characters into RAM ; - Sets the pointer for the first character ; - GOTO the code that sends the first character (FIRSTCHAR) ; and exits from the interrupt ; - Future characters are sent upon TX buffer empty interrupt ; The characters have the following meaning: ; 00 - end of transmission ; 01 XX XX - fixed text at address XX XX (in subroutine form) ; 02 XX XX - location of code to execute at address XX XX (which might produce more text) ; all others - variable text SEND_A ;Example code to send variable data MOVE txchbuff,'V' ;Send the character 'V' MOVE txchbuff+1,000h ;The last character is 00h GOTO FIRSTCHAR SEND_B ;Example code to send fixed code MOVE txchbuff,001h ;Indicate that Fixed text exists at the following address MOVE txchbuff+1,HIGH(STRING0) MOVE txchbuff+2,LOW(STRING0) GOTO FIRSTCHAR SEND_C ;Example code to send mixed variable and fixed chars starting with variable chars MOVE txchbuff,031h ;Send the character '1' MOVE txchbuff+1,001h ;Indicate that Fixed text exists at the following address MOVE txchbuff+2,HIGH(STRING0) MOVE txchbuff+3,LOW(STRING0) GOTO FIRSTCHAR SEND_D ;Example code to send mixed variable and fixed chars starting with fixed chars MOVE txchbuff,001h ;Indicate that Fixed text exists at the following address MOVE txchbuff+1,HIGH(STRING0) MOVE txchbuff+2,LOW(STRING0) MOVE txchbuff+3,031h ;Send the character '1' MOVE txchbuff+4,000h ;The last character is 00h GOTO FIRSTCHAR SEND_E ;Example code to send partial code, continued by next code GOTO FIRSTCHAR SEND_E1 GOTO FIRSTCHAR ;------------------------------------------------------------------------- FIRSTCHAR ;Send the first character. ;BANK0 is assumed ; BCF PROGSTAT,STYPE ;Assume NEXT_CHAR is a variable chars CLRF txptr ;Set the transmit character pointer to the first location. BANK1 BSF PIE1, TXIE ;Enable the transmit buffer empty interrupt NEXTCHAR ;Send the next character pointed to by txptr ;Called by "TX buffer empty" interrupts ;Check if Fixed or variable characters BTFSC PROGSTAT,STYPE GOTO FCHAR BANK0 MOVF txptr,W ;Get pointer ADDLW txchbuff ;Add offset of transmit buffer address MOVWF FSR ;Place pointer into indirect file ;Check for control character MOVF INDF,W ;get character to be sent BTFSC STATUS,Z ;check if last character (00h) GOTO LASTCHAR ;do not send last character, just exit XORLW 001h ;check for FIXED character definition (01h) BTFSC STATUS,Z GOTO FIXEDCHAR ;Fixed characters exist XORLW 002h ;check for executable code definition (02h) BTFSC STATUS,Z GOTO CODECHAR ;New code exists to create more chars ;Send character MOVF INDF,W ;get character to be sent MOVWF TXREG ;send character INCF txptr,F ;Increment pointer GOTO INTEXIT FCHAR ;Send a fixed character from predefined ROM address CALL F3 ;call fixed string subroutine ;Return here to send character GOTO F1 LASTCHAR CLRF txptr ;indicate that transmission is over BCF PROGSTAT,CMDBUSY ;Indicate that command is finished processing BANK1 BCF PIE1, TXIE ;Disable the Tx interrupt - no more chars to send GOTO INTEXIT ;---------------------------------------------------------- FIXEDCHAR ; Address of long call is located at where txptr is pointing to. BSF PROGSTAT,STYPE ;Set NEXT_CHAR for fixed chars INCF txptr,F ;Point to next character in RAM which contains address CLRF SendStrIndex ;point to the first char to send from ROM CALL F2 ; - return point from subroutine F1 CLRF PCLATH ;Put PCLATH back to where this page ADDLW 0 ;test for last character (set/reset Z) BTFSC STATUS,Z ;check if last character (00h) GOTO LASTCHAR ;do not send last character, just exit MOVWF TXREG ;send character INCF SendStrIndex,F ;Increment pointer GOTO INTEXIT F2 ;Get pointer to fixed string from RAM MOVF txptr,W ;Get pointer ADDLW txchbuff ;Add offset of transmit buffer address MOVWF FSR ;Place pointer into indirect file MOVF INDF,W ;get HIGH address of jump point MOVWF HIFIXCHAR ;Store High address for later INCF txptr,F ;Increment pointer MOVF txptr,W ;Get pointer ADDLW txchbuff ;Add offset of transmit buffer address MOVWF FSR ;Place pointer into indirect file MOVF INDF,W ;get HIGH address of jump point MOVWF LOFIXCHAR ;Store Low address for later F3 ;Jump to fixed string routine which returns char to be sent in W MOVF HIFIXCHAR,W MOVWF PCLATH MOVF LOFIXCHAR,W MOVWF PCL ;Jump to desired address ;Return to previous call location ;---------------------------------------------------------- CODECHAR ;*** unfinished *** GOTO INTEXIT ;---------------------------------------------------------- INTEXIT ;Exit from interrupt routines ; ;Restore STATUS, W, and PCLATH registers in RAM BANK0 MOVF PCLATH_TEMP, W ;Restore PCLATH MOVWF PCLATH ;Move W into PCLATH SWAPF STATUS_TEMP,W ;Swap STATUS_TEMP register into W ;(sets bank to original state) MOVWF STATUS ;Move W into STATUS register SWAPF W_TEMP,F ;Swap W_TEMP SWAPF W_TEMP,W ;Swap W_TEMP into W RETFIE ;exit and enable interrupts ;========================================================== INIT ; Set initial port values BANK0 MOVE PORTA, 00h ; Misc PORTA MOVE PORTB, 00h ; Unused port MOVE PORTC, 00h ; Misc. port ;Set port direction BANK1 MOVE ADCON1,06h ; Set all bits on port A to digital MOVE TRISA, 00010000b ; 00------ NC ; --0----- unused output ; ---1---- T0CKI input ; ----0000 unused output MOVE TRISB, 11100000b ; 1------- Parity setting input ; -1------ Continuous setting input ; --1----- Orientation mode input ; ---0000- unused outputs ; -------0 Locked LED output BCF OPTION_REG,NOT_RBPU; enable weak pullups on port B inputs MOVE TRISC, 10011001b ; 1------- RX is serial data in ; -0------ TX is serial data out ; --0----- Oriented Indicator output ; ---1---- SDA input ; ----1--- SCL input ; -----0-- HEARBEAT LED output ; ------0- T1OSCI input (input for debug only) ; -------1 T1CKI input BANK0 CLRF PROGSTAT ;Clear all program status flags ;Clear All RAM in BANK2 (from 10h to 7Fh) BANK2 MOVLW 010h ;initialize pointer MOVWF FSR ;to RAM CLRF INDF ;clear INDF register, Loopback point INCF FSR,F ;inc pointer BTFSS FSR,7 ;all done? GOTO $-3 ;not done yet, clear next address ;Clear All RAM in BANK3 (from 10h to 7Fh) BANK3 MOVLW 010h ;initialize pointer MOVWF FSR ;to RAM CLRF INDF ;clear INDF register, Loopback point INCF FSR,F ;inc pointer BTFSS FSR,7 ;all done? GOTO $-3 ;not done yet, clear next address ;========================================================== ; Set up TIMER0 for clock pulses from magnetometer 1 ;========================================================== BANK1 BSF OPTION_REG,T0CS ;Tansition on T0CKI pin BCF OPTION_REG,T0SE ;Increment on low-to-high transition on T0CKI pin BSF OPTION_REG,PSA ;Prescaler is assigned to the WDT (not to TMR0, no prescaling required) BSF INTCON,T0IE ;Set Timer0 Interrupt Enable BANK2 CLRF TMR0 ;First byte CLRF TIMER0_1 ;Second byte CLRF TIMER0_2 ;Third byte CLRF TIMER0_3 ;Fourth byte ;========================================================== ; Set up TIMER1 for clock pulses from magnetometer 2 (optional) ;========================================================== BANK0 CLRF TMR1L ;Clear lower byte of counter CLRF TMR1H ;Clear upper byte of counter MOVE T1CON, 00000011b ; 00------ Unimplemented ; --00---- T1CKPS1,0 = Prescaler 1:1 ; ----1--- T1OSCEN Debug Timer1 oscillator enabled (using crystal clock) ; ----0--- T1OSCEN Timer1 oscillator disabled (using external clock) ; -----0-- !T1SYNC = Syncrhonous ; ------1- TMR1CS = Clock source is external RC0/T1CKI ; -------1 TMR1ON = Enable Timer1 BANK1 BSF PIE1,T0IE ;Set Timer0 Interrupt Enable BANK2 CLRF TIMER1_1 ;Third byte counter for Timer1 CLRF TIMER1_2 ;Fourth byte counter for Timer1 CLRF TIMER1_OF ;Overflow status ;========================================================== ; Set up TIMER2 for real-time clock function ;========================================================== ;At Fosc = 4MHz ; Fosc/4 = 1MHz ; Prescaler (1:16) = 62.5kHz ; Timer 8bit = 244Hz ; Postscaler (1:16) = 15.26Hz ; Result = 4MHz / 262144 = interrupt every 65.536 ms (15.2587Hz) ; RTCCOUNT=15 therefore; 1.017..Hz = .98304s BANK0 MOVE T2CON,01111110b ;<7> = 0 Not used ;<6:3> = 1111 Postscaler = 1:16 ;<2> = 1 Timer 2 ON ;<1:0> = 10 Prescaler = 1:16 BANK1 BSF PIE1,TMR2IE ;TMR2 is cleared on reset, no need to clear it here. BANK2 MOVE ONE_CNT,ONE_PRL ;Preload 1 second counter MOVE ORN_CNT,ORN_PRL ;Pre-load Orientation mode counter MOVE MAG_CNT,MAG_PRL ;Pre-load Magnetometer sample counter MOVE TMP_CNT,TMP_PRL ;Pre-load Temperature sample counter ;========================================================== ; Set up USART for 9600 baud communications with computer ;========================================================== BANK1 BSF TXSTA, BRGH ; Set high-speed mode ;Baud Rate = FOSC/(16(SPBRG+1)) ;SPBRG = (FOSC/16*Baudrate)-1 ;MOVE SPBRG, 25 ; Set 9600 baud for 4 MHz oscillator MOVE SPBRG, 129 ; Set 9600 baud for 20 MHz oscillator ;MOVE SPBRG, 127 ; Set 9600 baud for 19.6608 MHz oscillator BCF TXSTA, SYNC ; Clear SYNC bit BANK0 BSF RCSTA, SPEN ; Set serial port enable BANK1 BCF TXSTA, TX9 ; 8-bit transmissions BSF TXSTA, TXEN ; Enable transmission BSF PIE1, RCIE ; Rx interrupts are desired BANK0 BCF RCSTA, RX9 ; 8-bit receptions BSF RCSTA, CREN ; Enable reception ;Fill last char TX buffer with 00h as a saftey catch MOVE lasttxch,00h ;========================================================== ; INIT_I2C - Initializes I2C, module, 100Khz, master mode ;========================================================== INIT_I2C ;Pins are set up before this ; setup MSSP adress register BANK1 MOVE SSPADD,I2C_ClockValue ; setup clock rate ; setup MSSP status reg MOVE SSPSTAT,(1< into an ascii string also starting at . Original ; bcd digits are lost. bcd2a movlw bcd+9 movwf pto ; destination pointer movlw bcd+4 movwf pti ; source pointer movlw 5 ; 5 bytes to process movwf cnt bcd2a1 movf pti,w ; get current input pointer movwf FSR decf pti,f ; prepare for next movf INDF,w ; get 2 bcds movwf temp ; save for later movf pto,w ; get current output pointer movwf FSR decf pto,f ; prepare for next decf pto,f movf temp,w ; get digits back andlw 0x0f ; process lsd addlw "0" movwf INDF ; to output decf FSR,F swapf temp,w ; process msd andlw 0x0f addlw "0" movwf INDF ; to output decfsz cnt,F ; all digits? goto bcd2a1 return ; yes ;****************************************************************** ; Convert 32-bit binary number at into a bcd number ; at . Uses Mike Keitz's procedure for handling bcd ; adjust; Modified Microchip AN526 for 32-bits. b2bcd movlw 32 ; 32-bits movwf ii ; make cycle counter clrf bcd ; clear result area clrf bcd+1 clrf bcd+2 clrf bcd+3 clrf bcd+4 b2bcd2 movlw bcd ; make pointer movwf FSR movlw 5 movwf cnt ; Mike's routine: b2bcd3 movlw 0x33 addwf INDF,f ; add to both nybbles btfsc INDF,3 ; test if low result > 7 andlw 0xf0 ; low result >7 so take the 3 out btfsc INDF,7 ; test if high result > 7 andlw 0x0f ; high result > 7 so ok subwf INDF,f ; any results <= 7, subtract back incf FSR,f ; point to next decfsz cnt,F goto b2bcd3 rlf bin+3,f ; get another bit rlf bin+2,f rlf bin+1,f rlf bin+0,f rlf bcd+4,f ; put it into bcd rlf bcd+3,f rlf bcd+2,f rlf bcd+1,f rlf bcd+0,f decfsz ii,f ; all done? goto b2bcd2 ; no, loop return ; yes ;------------------------------------------------------------ ; 24-bit subtraction-with-Borrow ; SourceH:SoureceM:SourceL = Number to be subtracted ; DestH:DestM:DestL = Number to be subtracted FROM ;Out DestH:DestM:DestL = Result = Dest-Source ; Carry = NOT( Borrow result) ; by David Cary 2001-06-26 ; based on code by Rudy Wieser (2000-02-17) SUBTRACT24 movfw SourceL ; Lo byte subwf DestL,f movfw SourceM ;middle byte skpc incfsz SourceM,W subwf DestM,f movfw SourceH ; Hi byte skpc incfsz SourceH,W subwf DestH,f ;dest = dest - source, WITH VALID CARRY ;(although the Z flag is not valid). retlw 0 ;============================================================ ;Strings to be output STRING0 STRFIX "Hello World\x0d\x0a\x00" STRING1 STRFIX "Help \x0d\x0aUsage \x0d\x0aetc \x0d\x0aetc\x0d\x0a\x00" END