radix dec global__variables__bank0 equ 32 global__variables__bank1 equ 160 global__variables__bank2 equ 288 global__variables__bank3 equ 496 global__bit__variables__bank0 equ 99 global__bit__variables__bank1 equ 160 global__bit__variables__bank2 equ 288 global__bit__variables__bank3 equ 496 indf___register equ 0 pcl___register equ 2 c___byte equ 3 c___bit equ 0 z___byte equ 3 z___bit equ 2 rp0___byte equ 3 rp0___bit equ 5 rp1___byte equ 3 rp1___bit equ 6 irp___byte equ 3 irp___bit equ 7 trisa___register equ 0x85 trisb___register equ 0x86 fsr___register equ 4 pclath___register equ 10 org 0 start: nop nop nop goto skip___interrupt interrupt___vector: retfie skip___interrupt: ; Initialize A/D system to allow digital I/O movlw 7 movwf 31 ; Switch from register bank 0 to register bank 1 (which contains 159) bsf rp0___byte,rp0___bit ; Register bank is now 1 clrf 159 ; Initialize TRIS registers movlw 235 movwf trisb___register clrf pclath___register ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 goto main ; comment ############################################################################# ; comment {} ; comment {Copyright < c > 2001 by Wayne C . Gramlich .} ; comment {All rights reserved .} ; comment {} ; comment {Permission to use , copy , modify , distribute , and sell this software} ; comment {for any purpose is hereby granted without fee provided that the above} ; comment {copyright notice and this permission are retained . The author makes} ; comment {no representations about the suitability of this software for any purpose .} ; comment {It is provided { as is } without express or implied warranty .} ; comment {} ; comment {This is a test harness for testing the AnalogIn4 RoboBrick . See :} ; comment {} ; comment {http : / / web . gramlich . net / projects / robobricks / analogin4 / index . html} ; comment {} ; comment {for more details .} ; comment {} ; comment ############################################################################# ; processor pic16f628 cp = off cpd = off lvp = off bowden = off mclre = on pwrte = off wdte = off fosc = xt ; 16169=0x3f29 8199=0x2007 __config 16169 configuration___address equ 8199 ; constant clock_rate 10000000 clock_rate equ 10000000 ; constant clock_ticks_per_instruction 4 clock_ticks_per_instruction equ 4 ; constant instructions_per_second clock_rate / clock_ticks_per_instruction instructions_per_second equ 2500000 ; constant baud_rate 2400 baud_rate equ 2400 ; constant instructions_per_bit clock_rate / {{ clock_ticks_per_instruction * baud_rate }} instructions_per_bit equ 1041 ; constant delays_per_bit 3 delays_per_bit equ 3 ; constant instructions_per_delay instructions_per_bit / delays_per_bit instructions_per_delay equ 347 ; constant extra_instructions_per_bit 12 extra_instructions_per_bit equ 12 ; constant extra_instructions_per_delay extra_instructions_per_bit / delays_per_bit extra_instructions_per_delay equ 4 ; constant delay_instructions instructions_per_delay - extra_instructions_per_delay delay_instructions equ 343 ; comment {The null pulse that comes back from a clock pulse command is supposed to be} ; comment {exactly 9 bits long . 9 bits at 2400 baud is 9 / 2400 = 3 . 75 mS . The number} ; comment {iterations through the loop is 3 . 75 mS / < number of instructions per iteration . >} ; constant nine_bits_instructions {{ clock_rate * 9 }} / {{ clock_ticks_per_instruction * baud_rate }} nine_bits_instructions equ 9375 ; constant instructions_per_iteration 7 instructions_per_iteration equ 7 ; constant iterations_for_nine_bits nine_bits_instructions / instructions_per_iteration iterations_for_nine_bits equ 1339 ; constant iterations_high iterations_for_nine_bits / 256 iterations_high equ 5 ; constant iterations_low iterations_for_nine_bits - {{ iterations_high * 256 }} iterations_low equ 59 ; comment {Some character constants :} ; constant sp 32 sp equ 32 ; constant cr 13 cr equ 13 ; constant lf 10 lf equ 10 ; comment {Some bit definitions :} ; constant rx_slave_bit 5 rx_slave_bit equ 5 ; constant tx_slave_bit 4 tx_slave_bit equ 4 ; constant rx_master_bit 1 rx_master_bit equ 1 ; constant tx_master_bit 2 tx_master_bit equ 2 ; constant rx_slave_mask 1 << rx_slave_bit rx_slave_mask equ 32 ; constant tx_slave_mask 1 << tx_slave_bit tx_slave_mask equ 16 ; constant rx_master_mask 1 << rx_master_bit rx_master_mask equ 2 ; constant tx_master_mask 1 << tx_master_bit tx_master_mask equ 4 ; comment {Some register definitions :} status equ 3 ; bind c status @ 0 c equ status+0 c__byte equ status+0 c__bit equ 0 ; bind z status @ 2 z equ status+0 z__byte equ status+0 z__bit equ 2 ; comment {Some port and pin definitions :} ; comment {port porta a unused none} portb equ 6 tx_master_pin__byte equ 6 tx_master_pin__bit equ 2 rx_master_pin__byte equ 6 rx_master_pin__bit equ 1 tx_slave_pin__byte equ 6 tx_slave_pin__bit equ 4 rx_slave_pin__byte equ 6 rx_slave_pin__bit equ 5 ; comment {Miscellaneous constants :} ; constant space 0xff space equ 255 ; constant buffer_size 3 buffer_size equ 3 ; string_constants Start string___fetch: movwf pcl___register ; binary_string = 0s'Binary' binary_string___string equ 0 binary_string: addwf pcl___register,f ; Length = 6 retlw 6 ; `Binary' retlw 66 retlw 105 retlw 110 retlw 97 retlw 114 retlw 121 ; bit_string = 0s'Bit' bit_string___string equ 8 bit_string: addwf pcl___register,f ; Length = 3 retlw 3 ; `Bit' retlw 66 retlw 105 retlw 116 ; channel_string = 0s'Channel' channel_string___string equ 13 channel_string: addwf pcl___register,f ; Length = 7 retlw 7 ; `Channel' retlw 67 retlw 104 retlw 97 retlw 110 retlw 110 retlw 101 retlw 108 ; clock_string = 0s'Clk' clock_string___string equ 22 clock_string: addwf pcl___register,f ; Length = 3 retlw 3 ; `Clk' retlw 67 retlw 108 retlw 107 ; common_string = 0s'Common' common_string___string equ 27 common_string: addwf pcl___register,f ; Length = 6 retlw 6 ; `Common' retlw 67 retlw 111 retlw 109 retlw 109 retlw 111 retlw 110 ; done_string = 0s'Done' done_string___string equ 35 done_string: addwf pcl___register,f ; Length = 4 retlw 4 ; `Done' retlw 68 retlw 111 retlw 110 retlw 101 ; fail_string = 0s'Fail' fail_string___string equ 41 fail_string: addwf pcl___register,f ; Length = 4 retlw 4 ; `Fail' retlw 70 retlw 97 retlw 105 retlw 108 ; hello_string = 0s'AnalogIn4_Test' hello_string___string equ 47 hello_string: addwf pcl___register,f ; Length = 14 retlw 14 ; `AnalogIn4_Test' retlw 65 retlw 110 retlw 97 retlw 108 retlw 111 retlw 103 retlw 73 retlw 110 retlw 52 retlw 95 retlw 84 retlw 101 retlw 115 retlw 116 ; input_string = 0s'Input' input_string___string equ 63 input_string: addwf pcl___register,f ; Length = 5 retlw 5 ; `Input' retlw 73 retlw 110 retlw 112 retlw 117 retlw 116 ; interrupt_string = 0s'Interrupt' interrupt_string___string equ 70 interrupt_string: addwf pcl___register,f ; Length = 9 retlw 9 ; `Interrupt' retlw 73 retlw 110 retlw 116 retlw 101 retlw 114 retlw 114 retlw 117 retlw 112 retlw 116 ; patterns = 0 , 1 , 2 , 4 , 8 , 0x10 , 0x20 , 0x40 , 0x80 , 0xff , 0 patterns___string equ 81 patterns: addwf pcl___register,f ; Length = 11 retlw 11 ; 0 retlw 0 ; 1 retlw 1 ; 2 retlw 2 ; 4 retlw 4 ; 8 retlw 8 ; 0x10 retlw 16 ; 0x20 retlw 32 ; 0x40 retlw 64 ; 0x80 retlw 128 ; 0xff retlw 255 ; 0 retlw 0 ; register_string = 0s'Register' register_string___string equ 94 register_string: addwf pcl___register,f ; Length = 8 retlw 8 ; `Register' retlw 82 retlw 101 retlw 103 retlw 105 retlw 115 retlw 116 retlw 101 retlw 114 ; test_string = 0s'Test' test_string___string equ 104 test_string: addwf pcl___register,f ; Length = 4 retlw 4 ; `Test' retlw 84 retlw 101 retlw 115 retlw 116 ; threshold_string = 0s'Threshold' threshold_string___string equ 110 threshold_string: addwf pcl___register,f ; Length = 9 retlw 9 ; `Threshold' retlw 84 retlw 104 retlw 114 retlw 101 retlw 115 retlw 104 retlw 111 retlw 108 retlw 100 ; string__constants End temp equ global__variables__bank0+0 ; procedure main start main: main__variables__base equ global__variables__bank0+1 main__bytes__base equ main__variables__base+0 main__bits__base equ main__variables__base+7 main__total__bytes equ 7 main__124byte0 equ main__bytes__base+6 main__152byte0 equ main__bytes__base+6 ; arguments_none ; Read a byte . main__buffer equ main__bytes__base+0 main__char equ main__bytes__base+3 main__index equ main__bytes__base+4 main__number equ main__bytes__base+5 ; Print out a welcome message : ; call master_crlf {{ }} call master_crlf ; call master_string {{ hello_string }} movlw LOW hello_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; Main loop ; number := 0 clrf main__number ; loop_forever ... start main__112loop__forever: ; Get a character : ; tx_slave_pin := 1 bsf tx_slave_pin__byte,tx_slave_pin__bit ; char := master_get {{ }} call master_get movf master_get__0return__byte,w movwf main__char ; Delay 2 / 3 ' s of bit make sure that get_byte is done . ; call delay {{ }} call delay ; call delay {{ }} call delay ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } start movlw 48 subwf main__char,w ; expression=`0c'0' <= char' exp_delay=2 true_delay=-1 false_delay=1 true_size=132 false_size=1 btfss c___byte,c___bit goto and121__0false movlw 58 subwf main__char,w ; expression=`char < {{ 0c'9' + 1 }}' exp_delay=2 true_delay=9 false_delay=-1 true_size=11 false_size=116 btfsc c___byte,c___bit goto label121__1false label121__1true: and121__0true: ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } body start ; Do a multiply by 8 then add in digit : ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; number := {{ number << 3 }} + char - 0c'0' rlf main__number,w movwf main__124byte0 rlf main__124byte0,f rlf main__124byte0,w andlw 248 addwf main__char,w addlw 208 movwf main__number ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } body end goto label121__1end label121__1false: and121__0false: movlw 115 subwf main__char,w ; expression=`{ char = 0c's' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=8 false_size=103 btfss z___byte,z___bit goto label125__0false label125__0true: ; else_if { char = 0c's' } body start ; Send byte to brick , no wait : ; Echo command and send CRLF : ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; Ship the byte down to the brick : ; call slave_send {{ number }} movf main__number,w movwf slave_send__data call slave_send ; number := 0 clrf main__number ; else_if { char = 0c's' } body end goto label125__0end label125__0false: movlw 119 subwf main__char,w ; expression=`{ char = 0c'w' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=39 false_size=59 btfss z___byte,z___bit goto label136__0false label136__0true: ; else_if { char = 0c'w' } body start ; Send byte to brick , wait for results : ; Echo command and send CRLF : ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; Ship the byte down to the brick ... ; call slave_send {{ number }} movf main__number,w movwf slave_send__data call slave_send ; number := 0 clrf main__number ; call delay < > ; ... and wait for a response : ; index := 0 clrf main__index ; `while index < buffer_size ...' start main__151while__continue: movlw 3 subwf main__index,w ; expression=` index < buffer_size ' exp_delay=2 true_delay=10 false_delay=2 true_size=11 false_size=1 btfsc c___byte,c___bit goto main__151while__break ; buffer ~~ {{ index }} := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf main__152byte0 movlw LOW main__buffer addwf main__index,w movwf fsr___register movf main__152byte0,w bcf irp___register,irp___bit movwf indf___register ; index := index + 1 incf main__index,f goto main__151while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__151while__break: ; `while index < buffer_size ...' end ; index := 0 clrf main__index ; `while index < buffer_size ...' start main__157while__continue: movlw 3 subwf main__index,w ; expression=` index < buffer_size ' exp_delay=2 true_delay=8 false_delay=2 true_size=9 false_size=1 btfsc c___byte,c___bit goto main__157while__break ; call master_octal {{ buffer ~~ {{ index }} }} movlw LOW main__buffer addwf main__index,w movwf fsr___register bcf irp___register,irp___bit movf indf___register,w movwf master_octal__number call master_octal ; index := index + 1 incf main__index,f goto main__157while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__157while__break: ; `while index < buffer_size ...' end ; Terminate the output list ; call master_crlf {{ }} call master_crlf ; else_if { char = 0c'w' } body end goto label136__0end label136__0false: movlw 105 subwf main__char,w ; expression=`{ char = 0c'i' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=12 false_size=42 btfss z___byte,z___bit goto label164__0false label164__0true: ; else_if { char = 0c'i' } body start ; Interrogate the slave RoboBrick : ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; Initialize the id index : ; call slave_send {{ 0xfd }} movlw 253 movwf slave_send__data call slave_send ; Get the first 8 bytes : ; call common_test_id_bytes8 {{ }} call common_test_id_bytes8 ; Get the next 8 bytes of random numbers : ; call common_test_id_bytes8 {{ }} call common_test_id_bytes8 ; Get the next 8 bytes of random numbers : ; call common_test_id_bytes8 {{ }} call common_test_id_bytes8 ; Get the slave brick name : ; call common_test_id_string {{ }} call common_test_id_string ; Get the vendor name : ; call common_test_id_string {{ }} call common_test_id_string ; else_if { char = 0c'i' } body end goto label164__0end label164__0false: movlw 116 subwf main__char,w ; expression=`{ char = 0c't' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=5 false_size=32 btfss z___byte,z___bit goto label187__0false label187__0true: ; else_if { char = 0c't' } body start ; Do testing : ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; call test {{ }} call test ; else_if { char = 0c't' } body end goto label187__0end label187__0false: movlw 99 subwf main__char,w ; expression=`{ char = 0c'c' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=8 false_size=19 btfss z___byte,z___bit goto label192__0false label192__0true: ; else_if { char = 0c'c' } body start ; call master_send {{ char }} movf main__char,w movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; call clock_adjust {{ number }} movf main__number,w movwf clock_adjust__adjust call clock_adjust ; number := 0 clrf main__number ; else_if { char = 0c'c' } body end goto label192__0end label192__0false: movlw 252 subwf main__char,w ; expression=`{ char != 0xfc }' exp_delay=2 true_delay=-1 false_delay=0 true_size=15 false_size=0 btfsc z___byte,z___bit goto label197__0end ; else_if { char != 0xfc } body start ; Just echo back the current number : ; call master_send {{ 0c'<' }} movlw 60 movwf master_send__character call master_send ; call master_octal {{ char }} movf main__char,w movwf master_octal__number call master_octal ; call master_send {{ 0c'>' }} movlw 62 movwf master_send__character call master_send ; Send a carriage - return line - feed : ; call master_crlf {{ }} call master_crlf ; Output the character in octal : ; call master_octal {{ number }} movf main__number,w movwf master_octal__number call master_octal ; Send a carriage - return line - feed : ; call master_crlf {{ }} call master_crlf ; Reset number ; number := 0 clrf main__number ; else_if { char != 0xfc } body end label197__0end: ; if exp=` char != 0xfc ' empty false ; Other expression=`{ char != 0xfc }' delay=-1 ; if exp=` char = 0c'c' ' generic label192__0end: ; Other expression=`{ char = 0c'c' }' delay=-1 ; if exp=` char = 0c't' ' generic label187__0end: ; Other expression=`{ char = 0c't' }' delay=-1 ; if exp=` char = 0c'i' ' generic label164__0end: ; Other expression=`{ char = 0c'i' }' delay=-1 ; if exp=` char = 0c'w' ' generic label136__0end: ; Other expression=`{ char = 0c'w' }' delay=-1 ; if exp=` char = 0c's' ' generic label125__0end: ; Other expression=`{ char = 0c's' }' delay=-1 ; if exp=`char < {{ 0c'9' + 1 }}' generic label121__1end: ; Other expression=`char < {{ 0c'9' + 1 }}' delay=-1 ; if exp=`0c'0' <= char' false goto ; Other expression=`0c'0' <= char' delay=-1 and121__0end: ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } end goto main__112loop__forever ; loop_forever ... end ; procedure main end ; procedure clock_adjust start clock_adjust: clock_adjust__variables__base equ global__variables__bank0+8 clock_adjust__bytes__base equ clock_adjust__variables__base+0 clock_adjust__bits__base equ clock_adjust__variables__base+10 clock_adjust__total__bytes equ 10 clock_adjust__234byte0 equ clock_adjust__bytes__base+9 clock_adjust__280byte0 equ clock_adjust__bytes__base+9 clock_adjust__290byte0 equ clock_adjust__bytes__base+9 clock_adjust__294byte0 equ clock_adjust__bytes__base+9 clock_adjust__adjust equ clock_adjust__bytes__base+0 ; This procedure will adjust the clock to the slave . clock_adjust__command equ clock_adjust__bytes__base+1 clock_adjust__count equ clock_adjust__bytes__base+2 clock_adjust__error equ clock_adjust__bytes__base+3 clock_adjust__error_minimum equ clock_adjust__bytes__base+4 clock_adjust__high equ clock_adjust__bytes__base+5 clock_adjust__low equ clock_adjust__bytes__base+6 clock_adjust__target equ clock_adjust__bytes__base+7 clock_adjust__wait equ clock_adjust__bytes__base+8 ; target := iterations_low - adjust movlw 59 movwf clock_adjust__234byte0 movf clock_adjust__adjust,w subwf clock_adjust__234byte0,w movwf clock_adjust__target ; count := 2 movlw 2 movwf clock_adjust__count ; error := 0xff movlw 255 movwf clock_adjust__error ; error_minimum := 0xf0 movlw 240 movwf clock_adjust__error_minimum ; Print out the target : ; call master_send {{ 0c'T' }} movlw 84 movwf master_send__character call master_send ; call master_octal {{ iterations_high }} movlw 5 movwf master_octal__number call master_octal ; call master_octal {{ target }} movf clock_adjust__target,w movwf master_octal__number call master_octal ; call master_crlf {{ }} call master_crlf ; loop_forever ... start clock_adjust__245loop__forever: ; Print out the clock value : ; call master_send {{ 0c'C' }} movlw 67 movwf master_send__character call master_send ; call slave_send {{ 0xfa }} movlw 250 movwf slave_send__data call slave_send ; call master_octal {{ slave_get {{ }} }} call slave_get movf slave_get__0return__byte,w movwf master_octal__number call master_octal ; Ask for a timing byte : ; call slave_send {{ 0xfb }} movlw 251 movwf slave_send__data call slave_send ; wait := 0 clrf clock_adjust__wait ; low := 0 clrf clock_adjust__low ; high := 0 clrf clock_adjust__high ; `while rx_slave_pin ...' start clock_adjust__257while__continue: ; expression=`rx_slave_pin' exp_delay=0 true_delay=3 false_delay=2 true_size=2 false_size=1 btfss rx_slave_pin__byte,rx_slave_pin__bit goto clock_adjust__257while__break ; Do nothing : ; wait := wait + 1 incf clock_adjust__wait,f goto clock_adjust__257while__continue ; if exp=`rx_slave_pin' false goto ; Other expression=`rx_slave_pin' delay=-1 clock_adjust__257while__break: ; `while rx_slave_pin ...' end ; `while ! rx_slave_pin ...' start clock_adjust__261while__continue: ; expression=`rx_slave_pin' exp_delay=0 true_delay=2 false_delay=5 true_size=1 false_size=4 btfsc rx_slave_pin__byte,rx_slave_pin__bit goto clock_adjust__261while__break ; low := low + 1 incf clock_adjust__low,f ; if { z } start ; expression=`{ z }' exp_delay=0 true_delay=1 false_delay=0 true_size=1 false_size=0 btfsc z__byte,z__bit ; if { z } body start ; high := high + 1 incf clock_adjust__high,f ; if { z } body end ; if exp=`z' false skip delay=2 ; Other expression=`{ z }' delay=2 ; if { z } end goto clock_adjust__261while__continue ; if exp=`rx_slave_pin' true goto ; Other expression=`rx_slave_pin' delay=-1 clock_adjust__261while__break: ; `while ! rx_slave_pin ...' end ; Print out high and low : ; call master_send {{ 0c'H' }} movlw 72 movwf master_send__character call master_send ; call master_octal {{ high }} movf clock_adjust__high,w movwf master_octal__number call master_octal ; call master_send {{ 0c'L' }} movlw 76 movwf master_send__character call master_send ; call master_octal {{ low }} movf clock_adjust__low,w movwf master_octal__number call master_octal ; call master_send {{ 0c'W' }} movlw 87 movwf master_send__character call master_send ; call master_octal {{ wait }} movf clock_adjust__wait,w movwf master_octal__number call master_octal ; Now think about adjusting clock . ; if { high > iterations_high } start movlw 6 subwf clock_adjust__high,w ; expression=`{ high > iterations_high }' exp_delay=2 true_delay=7 false_delay=-1 true_size=7 false_size=36 btfsc c___byte,c___bit goto label277__0true label277__0false: movlw 5 subwf clock_adjust__high,w ; expression=`{ high < iterations_high }' exp_delay=2 true_delay=4 false_delay=-1 true_size=4 false_size=27 btfss c___byte,c___bit goto label281__0true label281__0false: ; else body start ; The high 8 - bits are equal : ; if { low > target } start movf clock_adjust__low,w subwf clock_adjust__target,w ; expression=`{ low > target }' exp_delay=2 true_delay=7 false_delay=-1 true_size=7 false_size=15 btfss c___byte,c___bit goto label287__0true label287__0false: movf clock_adjust__target,w subwf clock_adjust__low,w ; expression=`{ low < target }' exp_delay=2 true_delay=7 false_delay=3 true_size=7 false_size=3 btfss c___byte,c___bit goto label291__0true label291__0false: ; else body start ; Exact match ; we are done : ; command := 0 clrf clock_adjust__command ; error := 0 clrf clock_adjust__error ; error_minimum := 0 clrf clock_adjust__error_minimum ; else body end goto label291__0end label291__0true: ; else_if { low < target } body start ; Clock pulse is too short ; slave clock is too fast : ; command := 0xf8 movlw 248 movwf clock_adjust__command ; error := target - low movf clock_adjust__target,w movwf clock_adjust__294byte0 movf clock_adjust__low,w subwf clock_adjust__294byte0,w movwf clock_adjust__error ; else_if { low < target } body end ; if exp=` low < target ' generic label291__0end: ; Other expression=`{ low < target }' delay=-1 goto label287__0end label287__0true: ; if { low > target } body start ; Clock pulse is too long ; slave clock is too slow : ; command := 0xf9 movlw 249 movwf clock_adjust__command ; error := low - target movf clock_adjust__low,w movwf clock_adjust__290byte0 movf clock_adjust__target,w subwf clock_adjust__290byte0,w movwf clock_adjust__error ; if { low > target } body end ; if exp=` low > target ' generic label287__0end: ; Other expression=`{ low > target }' delay=-1 ; if { low > target } end ; else body end goto label281__0end label281__0true: ; else_if { high < iterations_high } body start ; Clock pulse is too short ; slave clock is too fast : ; command := 0xf8 movlw 248 movwf clock_adjust__command ; error := target movf clock_adjust__target,w movwf clock_adjust__error ; else_if { high < iterations_high } body end ; if exp=` high < iterations_high ' generic label281__0end: ; Other expression=`{ high < iterations_high }' delay=-1 goto label277__0end label277__0true: ; if { high > iterations_high } body start ; Clock pulse is too long ; slave clock is too slow : ; command := 0xf9 movlw 249 movwf clock_adjust__command ; error := 0xff - target movlw 255 movwf clock_adjust__280byte0 movf clock_adjust__target,w subwf clock_adjust__280byte0,w movwf clock_adjust__error ; if { high > iterations_high } body end ; if exp=` high > iterations_high ' generic label277__0end: ; Other expression=`{ high > iterations_high }' delay=-1 ; if { high > iterations_high } end ; Print out the error and error minimum : ; call master_send {{ 0c'E' }} movlw 69 movwf master_send__character call master_send ; call master_octal {{ error }} movf clock_adjust__error,w movwf master_octal__number call master_octal ; call master_send {{ 0c'M' }} movlw 77 movwf master_send__character call master_send ; call master_octal {{ error_minimum }} movf clock_adjust__error_minimum,w movwf master_octal__number call master_octal ; if { error = error_minimum } start movf clock_adjust__error,w subwf clock_adjust__error_minimum,w ; expression=`{ error = error_minimum }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=2 false_size=14 btfss z___byte,z___bit goto label309__0false label309__0true: ; if { error = error_minimum } body start ; call master_crlf {{ }} call master_crlf ; return retlw 0 ; if { error = error_minimum } body end goto label309__0end label309__0false: movf clock_adjust__error_minimum,w subwf clock_adjust__error,w ; expression=`{ error < error_minimum }' exp_delay=2 true_delay=3 false_delay=-1 true_size=3 false_size=6 btfss c___byte,c___bit goto label312__0true label312__0false: ; else body start ; count := count - 1 decf clock_adjust__count,f ; if { z } start ; expression=`{ z }' exp_delay=0 true_delay=3 false_delay=0 true_size=3 false_size=0 btfss z__byte,z__bit goto label317__0end ; if { z } body start ; error_minimum := error_minimum + 1 incf clock_adjust__error_minimum,f ; count := 2 movlw 2 movwf clock_adjust__count ; if { z } body end label317__0end: ; if exp=`z' empty false ; Other expression=`{ z }' delay=-1 ; if { z } end ; else body end goto label312__0end label312__0true: ; else_if { error < error_minimum } body start ; error_minimum := error movf clock_adjust__error,w movwf clock_adjust__error_minimum ; error := error + 1 incf clock_adjust__error,f ; else_if { error < error_minimum } body end ; if exp=` error < error_minimum ' generic label312__0end: ; Other expression=`{ error < error_minimum }' delay=-1 ; if exp=` error = error_minimum ' generic label309__0end: ; Other expression=`{ error = error_minimum }' delay=-1 ; if { error = error_minimum } end ; Now adjust the clock : ; call slave_send {{ command }} movf clock_adjust__command,w movwf slave_send__data call slave_send ; call master_crlf {{ }} call master_crlf goto clock_adjust__245loop__forever ; loop_forever ... end ; procedure clock_adjust end ; procedure test start test: test__variables__base equ global__variables__bank0+18 test__bytes__base equ test__variables__base+0 test__bits__base equ test__variables__base+4 test__total__bytes equ 4 ; arguments_none ; This procedure will test the Shaft2 RoboBrick : test__channel equ test__bytes__base+0 test__index equ test__bytes__base+1 test__pattern equ test__bytes__base+2 test__result equ test__bytes__base+3 ; Verify that the common commands are working : ; call master_string {{ common_string }} movlw LOW common_string+1 movwf master_string__message call master_string ; call master_string {{ test_string }} movlw LOW test_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; call common_test {{ }} call common_test ; call interrupt_test {{ }} call interrupt_test ; Test registers : ; call master_string {{ register_string }} movlw LOW register_string+1 movwf master_string__message call master_string ; call master_string {{ test_string }} movlw LOW test_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; Complement : ; call test_register_nibble {{ 0x20 , 8 , 0x30 }} movlw 32 movwf test_register_nibble__set_command movlw 8 movwf test_register_nibble__get_command movlw 48 movwf test_register_nibble__error call test_register_nibble ; High : ; call test_register_nibble {{ 0x40 , 9 , 0x31 }} movlw 64 movwf test_register_nibble__set_command movlw 9 movwf test_register_nibble__get_command movlw 49 movwf test_register_nibble__error call test_register_nibble ; Low : ; call test_register_nibble {{ 0x50 , 0xa , 0x32 }} movlw 80 movwf test_register_nibble__set_command movlw 10 movwf test_register_nibble__get_command movlw 50 movwf test_register_nibble__error call test_register_nibble ; Raising : ; call test_register_nibble {{ 0x60 , 0xb , 0x33 }} movlw 96 movwf test_register_nibble__set_command movlw 11 movwf test_register_nibble__get_command movlw 51 movwf test_register_nibble__error call test_register_nibble ; Falling : ; call test_register_nibble {{ 0x70 , 0xc , 0x34 }} movlw 112 movwf test_register_nibble__set_command movlw 12 movwf test_register_nibble__get_command movlw 52 movwf test_register_nibble__error call test_register_nibble ; Test threshold registers : ; call master_string {{ threshold_string }} movlw LOW threshold_string+1 movwf master_string__message call master_string ; call master_string {{ register_string }} movlw LOW register_string+1 movwf master_string__message call master_string ; call master_string {{ test_string }} movlw LOW test_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; channel := 0 clrf test__channel ; `while channel < 4 ...' start test__369while__continue: movlw 4 subwf test__channel,w ; expression=` channel < 4 ' exp_delay=2 true_delay=1 false_delay=2 true_size=77 false_size=1 btfsc c___byte,c___bit goto test__369while__break ; index := 0 clrf test__index ; `while index < patterns . size ...' start test__371while__continue: movlw 11 subwf test__index,w ; expression=` index < patterns . size ' exp_delay=2 true_delay=1 false_delay=2 true_size=70 false_size=1 btfsc c___byte,c___bit goto test__371while__break ; pattern := patterns ~~ {{ index }} incf test__index,w clrf pclath___register call patterns movwf test__pattern ; Set high threshold : ; call slave_send {{ 0x18 | channel }} movlw 24 iorwf test__channel,w movwf slave_send__data call slave_send ; call slave_send {{ pattern }} movf test__pattern,w movwf slave_send__data call slave_send ; Read high threshold : ; call slave_send {{ 0x10 | channel }} movlw 16 iorwf test__channel,w movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test__result ; if { pattern != result } start movf test__pattern,w subwf test__result,w ; expression=`{ pattern != result }' exp_delay=2 true_delay=6 false_delay=0 true_size=14 false_size=0 btfsc z___byte,z___bit goto label381__0end ; if { pattern != result } body start ; call master_octal {{ channel }} movf test__channel,w movwf master_octal__number call master_octal ; call master_octal {{ pattern }} movf test__pattern,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test__result,w movwf master_octal__number call master_octal ; call master_fail {{ threshold_string , 0x50 }} movlw LOW threshold_string+1 movwf master_fail__test_name movlw 80 movwf master_fail__test_number call master_fail ; if { pattern != result } body end label381__0end: ; if exp=` pattern != result ' empty false ; Other expression=`{ pattern != result }' delay=-1 ; if { pattern != result } end ; Set low threshold : ; call slave_send {{ 0x1c | channel }} movlw 28 iorwf test__channel,w movwf slave_send__data call slave_send ; call slave_send {{ pattern }} movf test__pattern,w movwf slave_send__data call slave_send ; Read high threshold : ; call slave_send {{ 0x14 | channel }} movlw 20 iorwf test__channel,w movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test__result ; if { pattern != result } start movf test__pattern,w subwf test__result,w ; expression=`{ pattern != result }' exp_delay=2 true_delay=6 false_delay=0 true_size=14 false_size=0 btfsc z___byte,z___bit goto label395__0end ; if { pattern != result } body start ; call master_octal {{ channel }} movf test__channel,w movwf master_octal__number call master_octal ; call master_octal {{ pattern }} movf test__pattern,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test__result,w movwf master_octal__number call master_octal ; call master_fail {{ threshold_string , 0x51 }} movlw LOW threshold_string+1 movwf master_fail__test_name movlw 81 movwf master_fail__test_number call master_fail ; if { pattern != result } body end label395__0end: ; if exp=` pattern != result ' empty false ; Other expression=`{ pattern != result }' delay=-1 ; if { pattern != result } end ; index := index + 1 incf test__index,f goto test__371while__continue ; if exp=` index < patterns . size ' false goto ; Other expression=` index < patterns . size ' delay=-1 test__371while__break: ; `while index < patterns . size ...' end ; channel := channel + 1 incf test__channel,f goto test__369while__continue ; if exp=` channel < 4 ' false goto ; Other expression=` channel < 4 ' delay=-1 test__369while__break: ; `while channel < 4 ...' end ; Set the Vref bit : ; call slave_send {{ 0xf }} movlw 15 movwf slave_send__data call slave_send ; Test Vref bit : ; call slave_send {{ 0xd }} movlw 13 movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test__result ; if { result != 1 } start decf test__result,w ; expression=`{ result != 1 }' exp_delay=1 true_delay=4 false_delay=0 true_size=8 false_size=0 btfsc z___byte,z___bit goto label411__0end ; if { result != 1 } body start ; call master_octal {{ result }} movf test__result,w movwf master_octal__number call master_octal ; call master_fail {{ register_string , 0x52 }} movlw LOW register_string+1 movwf master_fail__test_name movlw 82 movwf master_fail__test_number call master_fail ; if { result != 1 } body end label411__0end: ; if exp=` result != 1 ' empty false ; Other expression=`{ result != 1 }' delay=-1 ; if { result != 1 } end ; Clear the Vref bit : ; call slave_send {{ 0xe }} movlw 14 movwf slave_send__data call slave_send ; Test Vref bit : ; call slave_send {{ 0xd }} movlw 13 movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test__result ; if { result != 0 } start ; expression=`{ result != 0 }' exp_delay=1 true_delay=4 false_delay=0 true_size=8 false_size=0 btfsc z___byte,z___bit goto label420__0end ; if { result != 0 } body start ; call master_octal {{ result }} movf test__result,w movwf master_octal__number call master_octal ; call master_fail {{ register_string , 0x53 }} movlw LOW register_string+1 movwf master_fail__test_name movlw 83 movwf master_fail__test_number call master_fail ; if { result != 0 } body end label420__0end: ; if exp=` result != 0 ' empty false ; Other expression=`{ result != 0 }' delay=-1 ; if { result != 0 } end ; Now set all of the thresholds : ; channel := 0 clrf test__channel ; `while channel < 4 ...' start test__427while__continue: movlw 4 subwf test__channel,w ; expression=` channel < 4 ' exp_delay=2 true_delay=9 false_delay=2 true_size=16 false_size=1 btfsc c___byte,c___bit goto test__427while__break ; Set high threshold : ; call slave_send {{ 0x18 | channel }} movlw 24 iorwf test__channel,w movwf slave_send__data call slave_send ; call slave_send {{ 0xc0 }} movlw 192 movwf slave_send__data call slave_send ; Set low threshold : ; call slave_send {{ 0x1c | channel }} movlw 28 iorwf test__channel,w movwf slave_send__data call slave_send ; call slave_send {{ 0x40 }} movlw 64 movwf slave_send__data call slave_send ; channel := channel + 1 incf test__channel,f goto test__427while__continue ; if exp=` channel < 4 ' false goto ; Other expression=` channel < 4 ' delay=-1 test__427while__break: ; `while channel < 4 ...' end ; Test some shaft inputs : ; call master_string {{ input_string }} movlw LOW input_string+1 movwf master_string__message call master_string ; call master_string {{ test_string }} movlw LOW test_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; Set all inputs low : ; call test_input {{ 0 , 0 }} clrf test_input__channel clrf test_input__target call test_input ; call test_input {{ 1 , 0 }} movlw 1 movwf test_input__channel clrf test_input__target call test_input ; call test_input {{ 2 , 0 }} movlw 2 movwf test_input__channel clrf test_input__target call test_input ; call test_input {{ 3 , 0 }} movlw 3 movwf test_input__channel clrf test_input__target call test_input ; call test_binary {{ 0 , 0x60 }} clrf test_binary__pattern movlw 96 movwf test_binary__error call test_binary ; Set all inputs high , one by one : ; call test_input {{ 0 , 0xff }} clrf test_input__channel movlw 255 movwf test_input__target call test_input ; call test_binary {{ 1 , 0x64 }} movlw 1 movwf test_binary__pattern movlw 100 movwf test_binary__error call test_binary ; call test_input {{ 1 , 0xff }} movlw 1 movwf test_input__channel movlw 255 movwf test_input__target call test_input ; call test_binary {{ 3 , 0x68 }} movlw 3 movwf test_binary__pattern movlw 104 movwf test_binary__error call test_binary ; call test_input {{ 2 , 0xff }} movlw 2 movwf test_input__channel movlw 255 movwf test_input__target call test_input ; call test_binary {{ 7 , 0x6c }} movlw 7 movwf test_binary__pattern movlw 108 movwf test_binary__error call test_binary ; call test_input {{ 3 , 0xff }} movlw 3 movwf test_input__channel movlw 255 movwf test_input__target call test_input ; call test_binary {{ 0xf , 0x70 }} movlw 15 movwf test_binary__pattern movlw 112 movwf test_binary__error call test_binary ; Now do some interrupt tests : ; Low : ; call test_interrupt {{ 0x50 , 0 }} movlw 80 movwf test_interrupt__mask_set_command clrf test_interrupt__target call test_interrupt ; High : ; call test_interrupt {{ 0x40 , 0xff }} movlw 64 movwf test_interrupt__mask_set_command movlw 255 movwf test_interrupt__target call test_interrupt ; Falling : ; call test_interrupt {{ 0x70 , 0 }} movlw 112 movwf test_interrupt__mask_set_command clrf test_interrupt__target call test_interrupt ; Raising : ; call test_interrupt {{ 0x60 , 0xff }} movlw 96 movwf test_interrupt__mask_set_command movlw 255 movwf test_interrupt__target call test_interrupt ; Set channel 1 to half value : ; call test_input {{ 1 , 0x80 }} movlw 1 movwf test_input__channel movlw 128 movwf test_input__target call test_input ; Lastly put the puppy in Vref mode : ; call slave_send {{ 0xf }} movlw 15 movwf slave_send__data call slave_send ; call test_input {{ 0 , 0x80 }} clrf test_input__channel movlw 128 movwf test_input__target call test_input ; call test_input {{ 2 , 0x80 }} movlw 2 movwf test_input__channel movlw 128 movwf test_input__target call test_input ; call test_input {{ 3 , 0x80 }} movlw 3 movwf test_input__channel movlw 128 movwf test_input__target call test_input ; Say we are done : ; call master_string {{ done_string }} movlw LOW done_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; procedure test end retlw 0 ; procedure test_input start test_input: test_input__variables__base equ global__variables__bank0+22 test_input__bytes__base equ test_input__variables__base+0 test_input__bits__base equ test_input__variables__base+3 test_input__total__bytes equ 3 test_input__channel equ test_input__bytes__base+0 test_input__target equ test_input__bytes__base+1 ; This procedure will verify that we can input a value of < target > ; from < channel > . test_input__actual equ test_input__bytes__base+2 ; actual := target ^ 0x55 movlw 85 xorwf test_input__target,w movwf test_input__actual ; `while actual != target ...' start test_input__495while__continue: movf test_input__actual,w subwf test_input__target,w ; expression=` actual != target ' exp_delay=2 true_delay=20 false_delay=2 true_size=36 false_size=1 btfsc z___byte,z___bit goto test_input__495while__break ; call master_send {{ cr }} movlw 13 movwf master_send__character call master_send ; call master_string {{ channel_string }} movlw LOW channel_string+1 movwf master_string__message call master_string ; call master_octal {{ channel }} movf test_input__channel,w movwf master_octal__number call master_octal ; call master_string {{ input_string }} movlw LOW input_string+1 movwf master_string__message call master_string ; call slave_send {{ channel }} movf test_input__channel,w movwf slave_send__data call slave_send ; actual := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_input__actual ; call master_octal {{ actual }} movwf master_octal__number call master_octal ; if { actual = target } start movf test_input__actual,w subwf test_input__target,w ; expression=`{ actual = target }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=1 false_size=1 btfsc z___byte,z___bit ; if { actual = target } body start ; call master_send {{ 0c'=' }} movlw 61 ; 2 instructions found for sharing btfss z___byte,z___bit ; else body start ; call master_send {{ 0c'~' }} movlw 126 ; 2 instructions found for sharing ; if exp=` actual = target ' single true and false skip delay=6 ; Other expression=`{ actual = target }' delay=6 ; 2 shared instructions follow movwf master_send__character call master_send ; if { actual = target } end ; call master_octal {{ target }} movf test_input__target,w movwf master_octal__number call master_octal ; call master_send {{ 0c':' }} movlw 58 movwf master_send__character call master_send goto test_input__495while__continue ; if exp=` actual != target ' false goto ; Other expression=` actual != target ' delay=-1 test_input__495while__break: ; `while actual != target ...' end ; call master_crlf {{ }} call master_crlf ; procedure test_input end retlw 0 ; procedure test_register_nibble start test_register_nibble: test_register_nibble__variables__base equ global__variables__bank0+25 test_register_nibble__bytes__base equ test_register_nibble__variables__base+0 test_register_nibble__bits__base equ test_register_nibble__variables__base+5 test_register_nibble__total__bytes equ 5 test_register_nibble__set_command equ test_register_nibble__bytes__base+0 test_register_nibble__get_command equ test_register_nibble__bytes__base+1 test_register_nibble__error equ test_register_nibble__bytes__base+2 ; This procedure will verify that the register that is set with ; < set_command > and read with < get_command > can take values between ; 0 and < maximum > . If there are any problems < error > is used as the ; error code . test_register_nibble__value equ test_register_nibble__bytes__base+3 test_register_nibble__result equ test_register_nibble__bytes__base+4 ; value := 0 clrf test_register_nibble__value ; `while value < 16 ...' start test_register_nibble__529while__continue: movlw 16 subwf test_register_nibble__value,w ; expression=` value < 16 ' exp_delay=2 true_delay=1 false_delay=2 true_size=27 false_size=1 btfsc c___byte,c___bit goto test_register_nibble__529while__break ; call slave_send {{ set_command | value }} movf test_register_nibble__set_command,w iorwf test_register_nibble__value,w movwf slave_send__data call slave_send ; call slave_send {{ get_command }} movf test_register_nibble__get_command,w movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_register_nibble__result ; if { value != result } start movf test_register_nibble__value,w subwf test_register_nibble__result,w ; expression=`{ value != result }' exp_delay=2 true_delay=5 false_delay=0 true_size=11 false_size=0 btfsc z___byte,z___bit goto label533__0end ; if { value != result } body start ; call master_octal {{ value }} movf test_register_nibble__value,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test_register_nibble__result,w movwf master_octal__number call master_octal ; call master_fail {{ register_string , error }} movlw LOW register_string+1 movwf master_fail__test_name movf test_register_nibble__error,w movwf master_fail__test_number call master_fail ; if { value != result } body end label533__0end: ; if exp=` value != result ' empty false ; Other expression=`{ value != result }' delay=-1 ; if { value != result } end ; value := value + 1 incf test_register_nibble__value,f goto test_register_nibble__529while__continue ; if exp=` value < 16 ' false goto ; Other expression=` value < 16 ' delay=-1 test_register_nibble__529while__break: ; `while value < 16 ...' end ; Clear the pattern : ; call slave_send {{ set_command }} movf test_register_nibble__set_command,w movwf slave_send__data call slave_send ; procedure test_register_nibble end retlw 0 ; procedure test_binary start test_binary: test_binary__variables__base equ global__variables__bank0+30 test_binary__bytes__base equ test_binary__variables__base+0 test_binary__bits__base equ test_binary__variables__base+3 test_binary__total__bytes equ 3 test_binary__pattern equ test_binary__bytes__base+0 test_binary__error equ test_binary__bytes__base+1 ; This procedure will verify that the binary pattern matches < pattern > . ; If it does not , < error > is the error code used . test_binary__result equ test_binary__bytes__base+2 ; First verify that we read out the correct pattern : ; call slave_send {{ 4 }} movlw 4 movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_binary__result ; if { result != pattern } start subwf test_binary__pattern,w ; expression=`{ result != pattern }' exp_delay=2 true_delay=5 false_delay=0 true_size=11 false_size=0 btfsc z___byte,z___bit goto label557__0end ; if { result != pattern } body start ; call master_octal {{ pattern }} movf test_binary__pattern,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test_binary__result,w movwf master_octal__number call master_octal ; call master_fail {{ binary_string , error }} movlw LOW binary_string+1 movwf master_fail__test_name movf test_binary__error,w movwf master_fail__test_number call master_fail ; if { result != pattern } body end label557__0end: ; if exp=` result != pattern ' empty false ; Other expression=`{ result != pattern }' delay=-1 ; if { result != pattern } end ; Test complement : ; call slave_send {{ 0x2f }} movlw 47 movwf slave_send__data call slave_send ; call slave_send {{ 4 }} movlw 4 movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_binary__result ; if { result != pattern ^ 0xf } start movlw 15 xorwf test_binary__pattern,w subwf test_binary__result,w ; expression=`{ result != pattern ^ 0xf }' exp_delay=3 true_delay=6 false_delay=0 true_size=12 false_size=0 btfsc z___byte,z___bit goto label567__0end ; if { result != pattern ^ 0xf } body start ; call master_octal {{ pattern }} movf test_binary__pattern,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test_binary__result,w movwf master_octal__number call master_octal ; call master_fail {{ binary_string , error | 1 }} movlw LOW binary_string+1 movwf master_fail__test_name movlw 1 iorwf test_binary__error,w movwf master_fail__test_number call master_fail ; if { result != pattern ^ 0xf } body end label567__0end: ; if exp=` result != pattern ^ 0xf ' empty false ; Other expression=`{ result != pattern ^ 0xf }' delay=-1 ; if { result != pattern ^ 0xf } end ; Test raw : ; call slave_send {{ 5 }} movlw 5 movwf slave_send__data call slave_send ; result := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_binary__result ; if { result != pattern } start subwf test_binary__pattern,w ; expression=`{ result != pattern }' exp_delay=2 true_delay=6 false_delay=0 true_size=12 false_size=0 btfsc z___byte,z___bit goto label576__0end ; if { result != pattern } body start ; call master_octal {{ pattern }} movf test_binary__pattern,w movwf master_octal__number call master_octal ; call master_octal {{ result }} movf test_binary__result,w movwf master_octal__number call master_octal ; call master_fail {{ binary_string , error | 2 }} movlw LOW binary_string+1 movwf master_fail__test_name movlw 2 iorwf test_binary__error,w movwf master_fail__test_number call master_fail ; if { result != pattern } body end label576__0end: ; if exp=` result != pattern ' empty false ; Other expression=`{ result != pattern }' delay=-1 ; if { result != pattern } end ; Reset complement : ; call slave_send {{ 0x20 }} movlw 32 movwf slave_send__data call slave_send ; procedure test_binary end retlw 0 ; procedure test_interrupt start test_interrupt: test_interrupt__variables__base equ global__variables__bank0+33 test_interrupt__bytes__base equ test_interrupt__variables__base+0 test_interrupt__bits__base equ test_interrupt__variables__base+2 test_interrupt__total__bytes equ 2 test_interrupt__mask_set_command equ test_interrupt__bytes__base+0 test_interrupt__target equ test_interrupt__bytes__base+1 ; This procedure will test interrupts shaft . ; Set mask bit : ; call slave_send {{ mask_set_command | 1 }} movlw 1 iorwf test_interrupt__mask_set_command,w movwf slave_send__data call slave_send ; call master_octal {{ target }} movf test_interrupt__target,w movwf master_octal__number call master_octal ; call master_send {{ 0c':' }} movlw 58 movwf master_send__character call master_send ; Set interrupt enable and clear interrupt pending : ; call slave_send {{ 0xf2 }} movlw 242 movwf slave_send__data call slave_send ; Wait for an interrupt : ; `while rx_slave_pin ...' start test_interrupt__603while__continue: ; expression=`rx_slave_pin' exp_delay=0 true_delay=2 false_delay=2 true_size=1 false_size=1 btfsc rx_slave_pin__byte,rx_slave_pin__bit ; Wait for bit to go low : goto test_interrupt__603while__continue goto test_interrupt__603while__break ; if exp=`rx_slave_pin' true goto small true test_interrupt__603while__break: ; `while rx_slave_pin ...' end ; Clear mask bit : ; call slave_send {{ mask_set_command }} movf test_interrupt__mask_set_command,w movwf slave_send__data call slave_send ; call master_crlf {{ }} call master_crlf ; procedure test_interrupt end retlw 0 ; comment {The procedures below are used to test the common shared commands :} ; procedure common_test start common_test: common_test__variables__base equ global__variables__bank0+35 common_test__bytes__base equ common_test__variables__base+0 common_test__bits__base equ common_test__variables__base+2 common_test__total__bytes equ 2 common_test__658byte0 equ common_test__bytes__base+1 ; arguments_none ; This procedure will verify that the common shared commands work . common_test__actual equ common_test__bytes__base+0 ; Print the ID information : ; ID reset : ; call slave_send {{ 0xfd }} movlw 253 movwf slave_send__data call slave_send ; Read the fixed bytes : ; call common_test_id_match {{ 1 , 0xc0 }} movlw 1 movwf common_test_id_match__desired movlw 192 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 0 , 0xc1 }} clrf common_test_id_match__desired movlw 193 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 12 , 0xc2 }} movlw 12 movwf common_test_id_match__desired movlw 194 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 1 , 0xc3 }} movlw 1 movwf common_test_id_match__desired movlw 195 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 0 , 0xc4 }} clrf common_test_id_match__desired movlw 196 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 0 , 0xc5 }} clrf common_test_id_match__desired movlw 197 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 0 , 0xc6 }} clrf common_test_id_match__desired movlw 198 movwf common_test_id_match__test_number call common_test_id_match ; call common_test_id_match {{ 0 , 0xc7 }} clrf common_test_id_match__desired movlw 199 movwf common_test_id_match__test_number call common_test_id_match ; call master_crlf {{ }} call master_crlf ; call common_test_id_bytes8 {{ }} call common_test_id_bytes8 ; call common_test_id_bytes8 {{ }} call common_test_id_bytes8 ; Read the brick name : ; call common_test_id_string {{ }} call common_test_id_string ; Read the vendor name : ; call common_test_id_string {{ }} call common_test_id_string ; Verfify that we don ' t read off the end of the id and crash : ; call common_test_id_next {{ }} call common_test_id_next movf common_test_id_next__0return__byte,w ; Reset id : ; call slave_send {{ 0xfd }} movlw 253 movwf slave_send__data call slave_send ; Verify that we are still alive : ; call common_test_id_match {{ 1 , 0xc8 }} movlw 1 movwf common_test_id_match__desired movlw 200 movwf common_test_id_match__test_number call common_test_id_match ; Read glitch : ; Clear glitch register : ; call slave_send {{ 0xfe }} movlw 254 movwf slave_send__data call slave_send ; actual := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf common_test__actual ; Send a couple of glitches : ; call slave_send {{ 0xff }} movlw 255 movwf slave_send__data call slave_send ; call slave_send {{ 0xff }} movlw 255 movwf slave_send__data call slave_send ; Read the glitch register : ; call slave_send {{ 0xfe }} movlw 254 movwf slave_send__data call slave_send ; if { slave_get {{ }} != 2 } start call slave_get movf slave_get__0return__byte,w movwf common_test__658byte0 movlw 2 subwf common_test__658byte0,w ; expression=`{ slave_get {{ }} != 2 }' exp_delay=3 true_delay=3 false_delay=0 true_size=5 false_size=0 btfsc z___byte,z___bit goto label658__1end ; if { slave_get {{ }} != 2 } body start ; call master_fail {{ common_string , 0xc9 }} movlw LOW common_string+1 movwf master_fail__test_name movlw 201 movwf master_fail__test_number call master_fail ; if { slave_get {{ }} != 2 } body end label658__1end: ; if exp=` slave_get ## {{ }} != 2 ' empty false ; Other expression=`{ slave_get {{ }} != 2 }' delay=-1 ; if { slave_get {{ }} != 2 } end ; Do a clock pulse : ; call slave_send {{ 0xfb }} movlw 251 movwf slave_send__data call slave_send ; if { slave_get {{ }} != 0 } start call slave_get movf slave_get__0return__byte,w ; expression=`{ slave_get {{ }} != 0 }' exp_delay=0 true_delay=3 false_delay=0 true_size=5 false_size=0 btfsc z___byte,z___bit goto label664__0end ; if { slave_get {{ }} != 0 } body start ; call master_fail {{ common_string , 0xca }} movlw LOW common_string+1 movwf master_fail__test_name movlw 202 movwf master_fail__test_number call master_fail ; if { slave_get {{ }} != 0 } body end label664__0end: ; if exp=` slave_get ## {{ }} != 0 ' empty false ; Other expression=`{ slave_get {{ }} != 0 }' delay=-1 ; if { slave_get {{ }} != 0 } end ; Read clock : ; call slave_send {{ 0xfa }} movlw 250 movwf slave_send__data call slave_send ; actual := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf common_test__actual ; Increment : ; call slave_send {{ 0xf9 }} movlw 249 movwf slave_send__data call slave_send ; Decrement : ; call slave_send {{ 0xf8 }} movlw 248 movwf slave_send__data call slave_send ; Read clock again : ; call slave_send {{ 0xfa }} movlw 250 movwf slave_send__data call slave_send ; if { actual != slave_get {{ }} } start call slave_get movf slave_get__0return__byte,w subwf common_test__actual,w ; expression=`{ actual != slave_get {{ }} }' exp_delay=1 true_delay=3 false_delay=0 true_size=5 false_size=0 btfsc z___byte,z___bit goto label676__0end ; if { actual != slave_get {{ }} } body start ; call master_fail {{ common_string , 0xcb }} movlw LOW common_string+1 movwf master_fail__test_name movlw 203 movwf master_fail__test_number call master_fail ; if { actual != slave_get {{ }} } body end label676__0end: ; if exp=` actual != slave_get ## {{ }} ' empty false ; Other expression=`{ actual != slave_get {{ }} }' delay=-1 ; if { actual != slave_get {{ }} } end ; procedure common_test end retlw 0 ; procedure common_test_id_match start common_test_id_match: common_test_id_match__variables__base equ global__variables__bank0+37 common_test_id_match__bytes__base equ common_test_id_match__variables__base+0 common_test_id_match__bits__base equ common_test_id_match__variables__base+3 common_test_id_match__total__bytes equ 3 common_test_id_match__desired equ common_test_id_match__bytes__base+0 common_test_id_match__test_number equ common_test_id_match__bytes__base+1 ; This procedure will verify that the next byte in the id is < desired > . common_test_id_match__id equ common_test_id_match__bytes__base+2 ; id := common_test_id_next {{ }} call common_test_id_next movf common_test_id_next__0return__byte,w movwf common_test_id_match__id ; call master_octal {{ id }} movwf master_octal__number call master_octal ; if { desired != id } start movf common_test_id_match__desired,w subwf common_test_id_match__id,w ; expression=`{ desired != id }' exp_delay=2 true_delay=3 false_delay=0 true_size=5 false_size=0 btfsc z___byte,z___bit goto label692__0end ; if { desired != id } body start ; call master_fail {{ common_string , test_number }} movlw LOW common_string+1 movwf master_fail__test_name movf common_test_id_match__test_number,w movwf master_fail__test_number call master_fail ; if { desired != id } body end label692__0end: ; if exp=` desired != id ' empty false ; Other expression=`{ desired != id }' delay=-1 ; if { desired != id } end ; procedure common_test_id_match end retlw 0 ; procedure common_test_id_bytes8 start common_test_id_bytes8: common_test_id_bytes8__variables__base equ global__variables__bank0+40 common_test_id_bytes8__bytes__base equ common_test_id_bytes8__variables__base+0 common_test_id_bytes8__bits__base equ common_test_id_bytes8__variables__base+1 common_test_id_bytes8__total__bytes equ 1 ; arguments_none ; This procedure will print out the next 8 bytes of the id in octal . common_test_id_bytes8__count equ common_test_id_bytes8__bytes__base+0 ; `count_down count 8 ...' start movlw 8 movwf common_test_id_bytes8__count common_test_id_bytes8__705_loop: ; call master_octal {{ common_test_id_next {{ }} }} call common_test_id_next movf common_test_id_next__0return__byte,w movwf master_octal__number call master_octal decfsz common_test_id_bytes8__count,f goto common_test_id_bytes8__705_loop common_test_id_bytes8__705_done: ; `count_down count 8 ...' end ; call master_crlf {{ }} call master_crlf ; procedure common_test_id_bytes8 end retlw 0 ; procedure common_test_id_string start common_test_id_string: common_test_id_string__variables__base equ global__variables__bank0+41 common_test_id_string__bytes__base equ common_test_id_string__variables__base+0 common_test_id_string__bits__base equ common_test_id_string__variables__base+1 common_test_id_string__total__bytes equ 1 ; arguments_none ; This procedure will print out the next id string . common_test_id_string__count equ common_test_id_string__bytes__base+0 ; `count_down count common_test_id_next ## {{ }} ...' start call common_test_id_next movf common_test_id_next__0return__byte,w movwf common_test_id_string__count common_test_id_string__719_loop: ; call master_send {{ common_test_id_next {{ }} }} call common_test_id_next movf common_test_id_next__0return__byte,w movwf master_send__character call master_send decfsz common_test_id_string__count,f goto common_test_id_string__719_loop common_test_id_string__719_done: ; `count_down count common_test_id_next ## {{ }} ...' end ; call master_crlf {{ }} call master_crlf ; procedure common_test_id_string end retlw 0 ; procedure common_test_id_next start common_test_id_next: common_test_id_next__variables__base equ global__variables__bank0+42 common_test_id_next__bytes__base equ common_test_id_next__variables__base+0 common_test_id_next__bits__base equ common_test_id_next__variables__base+1 common_test_id_next__total__bytes equ 1 ; arguments_none common_test_id_next__0return__byte equ common_test_id_next__bytes__base+0 ; This procedure returns the next byte from the identification string . ; call slave_send {{ 0xfc }} movlw 252 movwf slave_send__data call slave_send ; return slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf common_test_id_next__0return__byte retlw 0 ; procedure common_test_id_next end ; comment {The procedures below are used to test the shared interrupt commands :} ; procedure interrupt_test start interrupt_test: interrupt_test__variables__base equ global__variables__bank0+43 interrupt_test__bytes__base equ interrupt_test__variables__base+0 interrupt_test__bits__base equ interrupt_test__variables__base+1 interrupt_test__total__bytes equ 1 ; arguments_none ; This procedure tests the common shared interrupt commands . interrupt_test__counter equ interrupt_test__bytes__base+0 ; Clear interrupt bits : ; call slave_send {{ 0xf0 }} movlw 240 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xd0 }} clrf interrupt_read__desired movlw 208 movwf interrupt_read__test_number call interrupt_read ; Set / clear interrupt pending bit only : ; call slave_send {{ 0xf5 }} movlw 245 movwf slave_send__data call slave_send ; call interrupt_read {{ 1 , 0xd1 }} movlw 1 movwf interrupt_read__desired movlw 209 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf4 }} movlw 244 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xd2 }} clrf interrupt_read__desired movlw 210 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf1 }} movlw 241 movwf slave_send__data call slave_send ; call interrupt_read {{ 1 , 0xd3 }} movlw 1 movwf interrupt_read__desired movlw 211 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf0 }} movlw 240 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xd4 }} clrf interrupt_read__desired movlw 212 movwf interrupt_read__test_number call interrupt_read ; Set / clear interrupt enable bit only : ; call slave_send {{ 0xf7 }} movlw 247 movwf slave_send__data call slave_send ; call interrupt_read {{ 2 , 0xd5 }} movlw 2 movwf interrupt_read__desired movlw 213 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf6 }} movlw 246 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xd6 }} clrf interrupt_read__desired movlw 214 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf2 }} movlw 242 movwf slave_send__data call slave_send ; call interrupt_read {{ 2 , 0xd7 }} movlw 2 movwf interrupt_read__desired movlw 215 movwf interrupt_read__test_number call interrupt_read ; call slave_send {{ 0xf0 }} movlw 240 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xd8 }} clrf interrupt_read__desired movlw 216 movwf interrupt_read__test_number call interrupt_read ; Now set both the interrupt enable and pending bit . ; This must trigger an interrupt . ; call slave_send {{ 0xf3 }} movlw 243 movwf slave_send__data call slave_send ; `count_down counter 3 ...' start movlw 3 movwf interrupt_test__counter interrupt_test__773_loop: ; call delay {{ }} call delay decfsz interrupt_test__counter,f goto interrupt_test__773_loop interrupt_test__773_done: ; `count_down counter 3 ...' end ; if { rx_slave_pin } start ; expression=`{ rx_slave_pin }' exp_delay=0 true_delay=3 false_delay=0 true_size=5 false_size=0 btfss rx_slave_pin__byte,rx_slave_pin__bit goto label776__0end ; if { rx_slave_pin } body start ; No interrupt detected : ; call master_fail {{ interrupt_string , 0xd9 }} movlw LOW interrupt_string+1 movwf master_fail__test_name movlw 217 movwf master_fail__test_number call master_fail ; if { rx_slave_pin } body end label776__0end: ; if exp=`rx_slave_pin' empty false ; Other expression=`{ rx_slave_pin }' delay=-1 ; if { rx_slave_pin } end ; Read the interrupt enable bit is cleared as a side effect ; of reading the bit . ; call interrupt_read {{ 1 , 0xda }} movlw 1 movwf interrupt_read__desired movlw 218 movwf interrupt_read__test_number call interrupt_read ; Clear the interrupt pending bit : ; call slave_send {{ 0xf0 }} movlw 240 movwf slave_send__data call slave_send ; call interrupt_read {{ 0 , 0xdb }} clrf interrupt_read__desired movlw 219 movwf interrupt_read__test_number call interrupt_read ; procedure interrupt_test end retlw 0 ; procedure interrupt_read start interrupt_read: interrupt_read__variables__base equ global__variables__bank0+44 interrupt_read__bytes__base equ interrupt_read__variables__base+0 interrupt_read__bits__base equ interrupt_read__variables__base+2 interrupt_read__total__bytes equ 2 interrupt_read__desired equ interrupt_read__bytes__base+0 interrupt_read__test_number equ interrupt_read__bytes__base+1 ; This procedure will verify that the interrupt bits match < desired > . ; call slave_send {{ 0xef }} movlw 239 movwf slave_send__data call slave_send ; temp := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf temp ; if { temp != desired } start subwf interrupt_read__desired,w ; expression=`{ temp != desired }' exp_delay=2 true_delay=4 false_delay=0 true_size=8 false_size=0 btfsc z___byte,z___bit goto label798__0end ; if { temp != desired } body start ; call master_octal {{ temp }} movf temp,w movwf master_octal__number call master_octal ; call master_fail {{ interrupt_string , test_number }} movlw LOW interrupt_string+1 movwf master_fail__test_name movf interrupt_read__test_number,w movwf master_fail__test_number call master_fail ; if { temp != desired } body end label798__0end: ; if exp=` temp != desired ' empty false ; Other expression=`{ temp != desired }' delay=-1 ; if { temp != desired } end ; procedure interrupt_read end retlw 0 ; comment {The following procedures are used to communicate with the master :} ; procedure master_crlf start master_crlf: master_crlf__variables__base equ global__variables__bank0+46 master_crlf__bytes__base equ master_crlf__variables__base+0 master_crlf__bits__base equ master_crlf__variables__base+0 master_crlf__total__bytes equ 0 ; arguments_none ; This procedure will output a carriage - return line - feed ; to the master . ; call master_send {{ cr }} movlw 13 movwf master_send__character call master_send ; call master_send {{ lf }} movlw 10 movwf master_send__character call master_send ; procedure master_crlf end retlw 0 ; procedure master_fail start master_fail: master_fail__variables__base equ global__variables__bank0+46 master_fail__bytes__base equ master_fail__variables__base+0 master_fail__bits__base equ master_fail__variables__base+2 master_fail__total__bytes equ 2 master_fail__test_name equ master_fail__bytes__base+0 master_fail__test_number equ master_fail__bytes__base+1 ; This procedure will output ` fail ' followed by a carriage return ; and line feed . ; call master_string {{ fail_string }} movlw LOW fail_string+1 movwf master_string__message call master_string ; call master_string {{ test_name }} movf master_fail__test_name,w movwf master_string__message call master_string ; call master_octal {{ test_number }} movf master_fail__test_number,w movwf master_octal__number call master_octal ; call master_crlf {{ }} call master_crlf ; procedure master_fail end retlw 0 ; procedure master_get start master_get: master_get__variables__base equ global__variables__bank0+48 master_get__bytes__base equ master_get__variables__base+0 master_get__bits__base equ master_get__variables__base+1 master_get__total__bytes equ 1 ; arguments_none master_get__0return__byte equ master_get__bytes__base+0 ; This procedure will get the next byte or return 0xfc if ; no byte is forthcoming . ; return get_byte {{ rx_master_mask }} movlw 2 movwf get_byte__mask call get_byte movf get_byte__0return__byte,w movwf master_get__0return__byte retlw 0 ; procedure master_get end ; procedure master_octal start master_octal: master_octal__variables__base equ global__variables__bank0+49 master_octal__bytes__base equ master_octal__variables__base+0 master_octal__bits__base equ master_octal__variables__base+2 master_octal__total__bytes equ 2 master_octal__848byte0 equ master_octal__bytes__base+1 master_octal__849byte0 equ master_octal__bytes__base+1 master_octal__number equ master_octal__bytes__base+0 ; This procedure will output < number > in octal to the tx port . ; Output the character in octal : ; call master_send {{ {{ number >> 6 }} + 0c'0' }} swapf master_octal__number,w movwf master_octal__848byte0 rrf master_octal__848byte0,f rrf master_octal__848byte0,w andlw 3 addlw 48 movwf master_send__character call master_send ; call master_send {{ {{ {{ number >> 3 }} & 7 }} + 0c'0' }} rrf master_octal__number,w movwf master_octal__849byte0 rrf master_octal__849byte0,f rrf master_octal__849byte0,w andlw 7 addlw 48 movwf master_send__character call master_send ; call master_send {{ {{ number & 7 }} + 0c'0' }} movlw 7 andwf master_octal__number,w addlw 48 movwf master_send__character call master_send ; call master_send {{ sp }} movlw 32 movwf master_send__character call master_send ; procedure master_octal end retlw 0 ; procedure slave_get start slave_get: slave_get__variables__base equ global__variables__bank0+51 slave_get__bytes__base equ slave_get__variables__base+0 slave_get__bits__base equ slave_get__variables__base+1 slave_get__total__bytes equ 1 ; arguments_none slave_get__0return__byte equ slave_get__bytes__base+0 ; This procedure will get a byte from the slave or return 0xfc ; if no byte is forthcoming . ; return get_byte {{ rx_slave_mask }} movlw 32 movwf get_byte__mask call get_byte movf get_byte__0return__byte,w movwf slave_get__0return__byte retlw 0 ; procedure slave_get end ; procedure slave_send start slave_send: slave_send__variables__base equ global__variables__bank0+52 slave_send__bytes__base equ slave_send__variables__base+0 slave_send__bits__base equ slave_send__variables__base+1 slave_send__total__bytes equ 1 slave_send__data equ slave_send__bytes__base+0 ; This procedure will send one byte of < data > to the slave . ; call send_byte {{ data , tx_slave_mask }} movf slave_send__data,w movwf send_byte__char movlw 16 movwf send_byte__mask call send_byte ; procedure slave_send end retlw 0 ; comment {The last procedures do character sending and receiving :} ; procedure get_byte start get_byte: get_byte__variables__base equ global__variables__bank0+53 get_byte__bytes__base equ get_byte__variables__base+0 get_byte__bits__base equ get_byte__variables__base+5 get_byte__total__bytes equ 5 get_byte__905byte1 equ get_byte__bytes__base+4 get_byte__mask equ get_byte__bytes__base+0 get_byte__0return__byte equ get_byte__bytes__base+1 ; Get an 8 - bit byte from < mask > bit of < portb > and return it . ; If no character shows up in a while 0xfc is returned . get_byte__count equ get_byte__bytes__base+2 get_byte__char equ get_byte__bytes__base+3 ; Wait until a start bit arrives : ; count := 0 clrf get_byte__count ; `while portb & mask != 0 ...' start get_byte__887while__continue: movf portb,w andwf get_byte__mask,w ; expression=` portb & mask != 0 ' exp_delay=2 true_delay=1 false_delay=2 true_size=9 false_size=1 btfsc z___byte,z___bit goto get_byte__887while__break ; count := count - 1 decf get_byte__count,f ; if { count = 0 } start movf get_byte__count,w ; expression=`{ count = 0 }' exp_delay=1 true_delay=3 false_delay=0 true_size=3 false_size=0 btfss z___byte,z___bit goto label889__0end ; if { count = 0 } body start ; return 0xfc movlw 252 movwf get_byte__0return__byte retlw 0 ; if { count = 0 } body end label889__0end: ; if exp=` count = 0 ' empty false ; Other expression=`{ count = 0 }' delay=-1 ; if { count = 0 } end ; call delay {{ }} call delay goto get_byte__887while__continue ; if exp=` portb & mask != 0 ' false goto ; Other expression=` portb & mask != 0 ' delay=-1 get_byte__887while__break: ; `while portb & mask != 0 ...' end ; Skip over the start bit : ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; Sample in the middle third of each data bit : ; 1 cycle : ; char := 0 clrf get_byte__char ; 2 cycles for loop setup : ; 1 + 2 = 3 ; nop extra_instructions_per_bit - 3 ; Delay 9 cycles movlw 2 movwf get_byte__905byte1 get_byte__905delay0: decfsz get_byte__905byte1,f goto get_byte__905delay0 nop nop ; `count_down count 8 ...' start movlw 8 movwf get_byte__count get_byte__906_loop: ; call delay {{ }} call delay ; 2 cycles : ; char := char >> 1 bcf c___byte,c___bit rrf get_byte__char,f ; 3 cycles : ; if { portb & mask != 0 } start movf portb,w andwf get_byte__mask,w ; expression=`{ portb & mask != 0 }' exp_delay=2 true_delay=1 false_delay=0 true_size=1 false_size=0 btfss z___byte,z___bit ; if { portb & mask != 0 } body start ; char @ 7 := 1 ; Select char @ 7 get_byte__char__912select0 equ get_byte__char+0 get_byte__char__912select0__byte equ get_byte__char+0 get_byte__char__912select0__bit equ 7 bsf get_byte__char__912select0__byte,get_byte__char__912select0__bit ; if { portb & mask != 0 } body end ; if exp=` portb & mask != 0 ' false skip delay=4 ; Other expression=`{ portb & mask != 0 }' delay=4 ; if { portb & mask != 0 } end ; call delay {{ }} call delay ; call delay {{ }} call delay ; 3 cycles at end of loop : ; 2 + 3 + 3 = 8 ; nop extra_instructions_per_bit - 8 ; Delay 4 cycles nop nop nop nop decfsz get_byte__count,f goto get_byte__906_loop get_byte__906_done: ; `count_down count 8 ...' end ; Skip over 1 / 3 of the stop bit : ; call delay {{ }} call delay ; return char movf get_byte__char,w movwf get_byte__0return__byte retlw 0 ; procedure get_byte end ; procedure send_byte start send_byte: send_byte__variables__base equ global__variables__bank0+58 send_byte__bytes__base equ send_byte__variables__base+0 send_byte__bits__base equ send_byte__variables__base+4 send_byte__total__bytes equ 4 send_byte__char equ send_byte__bytes__base+0 send_byte__mask equ send_byte__bytes__base+1 ; Send < char > to < mask > bit of < portb > . send_byte__count equ send_byte__bytes__base+2 send_byte__mark equ send_byte__bytes__base+3 ; Send the start bit : ; 3 cycles : ; mark := mask ^ space movlw 255 xorwf send_byte__mask,w movwf send_byte__mark ; 1 cycle < mark is already in W > : ; portb := mark movwf portb ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; 2 cycles for loop setup : ; 3 + 1 + 2 = 6 ; nop extra_instructions_per_bit - 6 ; Delay 6 cycles nop nop nop nop nop nop ; Send the data : ; `count_down count 8 ...' start movlw 8 movwf send_byte__count send_byte__950_loop: ; 5 cycles : ; if { char @ 0 } start ; Alias variable for select char @ 0 send_byte__char__952select0 equ send_byte__char+0 send_byte__char__952select0__byte equ send_byte__char+0 send_byte__char__952select0__bit equ 0 ; expression=`{ char @ 0 }' exp_delay=0 true_delay=1 false_delay=1 true_size=1 false_size=1 btfsc send_byte__char__952select0__byte,send_byte__char__952select0__bit ; if { char @ 0 } body start ; portb := space movlw 255 ; 1 instructions found for sharing btfss send_byte__char__952select0__byte,send_byte__char__952select0__bit ; else body start ; portb := mark movf send_byte__mark,w ; 1 instructions found for sharing ; if exp=` char @ 0 ' single true and false skip delay=4 ; Other expression=`{ char @ 0 }' delay=4 ; 1 shared instructions follow movwf portb ; if { char @ 0 } end ; 2 cycles : ; char := char >> 1 bcf c___byte,c___bit rrf send_byte__char,f ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; 3 cycles at end of loop : ; 5 + 2 + 3 = 10 ; nop extra_instructions_per_bit - 10 ; Delay 2 cycles nop nop decfsz send_byte__count,f goto send_byte__950_loop send_byte__950_done: ; `count_down count 8 ...' end ; Send the stop bit : ; 1 cycle to finish off previous loop : ; nop 1 ; Delay 1 cycles nop ; 2 cycles : ; portb := space movlw 255 movwf portb ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; 4 cycles for call / return : ; 4 cycles for tw arguments : ; 2 + 4 + 4 = 10 ; nop extra_instructions_per_bit - 10 ; Delay 2 cycles nop nop ; procedure send_byte end retlw 0 ; procedure master_send start master_send: master_send__variables__base equ global__variables__bank0+62 master_send__bytes__base equ master_send__variables__base+0 master_send__bits__base equ master_send__variables__base+1 master_send__total__bytes equ 1 master_send__character equ master_send__bytes__base+0 ; This procedure will output < character > to the master . ; call send_byte {{ character , tx_master_mask }} movf master_send__character,w movwf send_byte__char movlw 4 movwf send_byte__mask call send_byte ; procedure master_send end retlw 0 ; procedure master_string start master_string: master_string__variables__base equ global__variables__bank0+63 master_string__bytes__base equ master_string__variables__base+0 master_string__bits__base equ master_string__variables__base+3 master_string__total__bytes equ 3 master_string__message equ master_string__bytes__base+0 ; This procedure will output < message > to the master . master_string__size equ master_string__bytes__base+1 master_string__index equ master_string__bytes__base+2 ; index := 0 clrf master_string__index ; `while index < message . size ...' start master_string__1000while__continue: clrf pclath___register movf master_string__message,w call string___fetch subwf master_string__index,w ; expression=` index < message . size ' exp_delay=4 true_delay=7 false_delay=2 true_size=8 false_size=1 btfsc c___byte,c___bit goto master_string__1000while__break ; call master_send {{ message ~~ {{ index }} }} incf master_string__index,w addwf master_string__message,w clrf pclath___register call string___fetch movwf master_send__character call master_send ; index := index + 1 incf master_string__index,f goto master_string__1000while__continue ; if exp=` index < message . size ' false goto ; Other expression=` index < message . size ' delay=-1 master_string__1000while__break: ; `while index < message . size ...' end ; call master_send {{ sp }} movlw 32 movwf master_send__character call master_send ; procedure master_string end retlw 0 ; procedure delay start ; optimize 0 delay: delay__variables__base equ global__variables__bank0+66 delay__bytes__base equ delay__variables__base+0 delay__bits__base equ delay__variables__base+1 delay__total__bytes equ 1 delay__1007byte1 equ delay__bytes__base+0 ; arguments_none ; uniform_delay delay_instructions ; Uniform delay remaining = 339 Accumulated Delay = 0 ; Uniform delay remaining = 339 Accumulated Delay = 0 ; Delay 1 third of a bit : ; Uniform delay remaining = 339 Accumulated Delay = 0 ; watch_dog_reset clrwdt ; Uniform delay remaining = 338 Accumulated Delay = 1 ; Uniform delay remaining = 338 Accumulated Delay = 1 ; Soak up remaining 338 cycles ; Delay 338 cycles movlw 112 movwf delay__1007byte1 delay__1007delay0: decfsz delay__1007byte1,f goto delay__1007delay0 nop ; procedure delay end retlw 0 ; optimize 1 ; Register bank 0 used 67 bytes of 96 available bytes ; Register bank 1 used 0 bytes of 80 available bytes ; Register bank 2 used 0 bytes of 48 available bytes ; Register bank 3 used 0 bytes of 0 available bytes end