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 69 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 > 1999 - 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 developing Robobricks . Basically it allows} ; comment {the user to type in an 8 - bit number in octal and send it to a RoboBrick .} ; comment {Any resulting data is read back and printed in octal . All communication} ; comment {occurs at 2400 baud . See} ; comment {} ; comment {http : / / web . gramlich . net / projects / robobricks / harness / 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 ; comment {processor pic16f84 cp = off dp = off pwrte = disabled wdte = disabled fosc = xt} ; comment {Some timing constants :} ; 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 ; 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 definitions :} ; constant sp 32 sp equ 32 ; constant cr 13 cr equ 13 ; constant lf 10 lf equ 10 ; comment {Some bit definitions < see schematic > :} ; 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 port and pin definitions :} porta equ 5 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 {Some register and bit declarations :} 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 miscellaneous declarations :} ; constant space 0xff space equ 255 ; constant buffer_size 5 buffer_size equ 5 ; string_constants Start string___fetch: movwf pcl___register ; hello = 0s'Harness-B' , cr , lf hello___string equ 0 hello: addwf pcl___register,f ; Length = 11 retlw 11 ; `Harness-B' retlw 72 retlw 97 retlw 114 retlw 110 retlw 101 retlw 115 retlw 115 retlw 45 retlw 66 ; cr retlw 13 ; lf retlw 10 ; string__constants End ; procedure main start main: main__variables__base equ global__variables__bank0+0 main__bytes__base equ main__variables__base+0 main__bits__base equ main__variables__base+10 main__total__bytes equ 10 main__149byte0 equ main__bytes__base+9 main__121byte0 equ main__bytes__base+9 ; arguments_none ; The main procedure prints out a hello message followed by ; command loop . The commands are : ; ; Ns - Send N < in octal > to RoboBrick < no reply expected > ; Nw - Send N < in octal > to RoboBrick and print reply bytes ; in octal . Octal 376 means no byte . ; i - Interrogate the RoboBrick ' s identification information ; c - Perform a clock adjust sequence . main__char equ main__bytes__base+0 main__number equ main__bytes__base+1 main__count equ main__bytes__base+2 main__index equ main__bytes__base+3 main__buffer equ main__bytes__base+4 ; Print out a welcome message : ; index := 0 clrf main__index ; `while index < hello . size ...' start main__101while__continue: movlw 11 subwf main__index,w ; expression=` index < hello . size ' exp_delay=2 true_delay=9 false_delay=2 true_size=10 false_size=1 btfsc c___byte,c___bit goto main__101while__break ; char := hello ~~ {{ index }} incf main__index,w clrf pclath___register call hello movwf main__char ; call master_send {{ char , tx_master_mask }} movwf master_send__character movlw 4 call master_send ; index := index + 1 incf main__index,f goto main__101while__continue ; if exp=` index < hello . size ' false goto ; Other expression=` index < hello . size ' delay=-1 main__101while__break: ; `while index < hello . size ...' end ; Main loop ; number := 0 clrf main__number ; loop_forever ... start main__109loop__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=114 false_size=1 btfss c___byte,c___bit goto and118__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=98 btfsc c___byte,c___bit goto label118__1false label118__1true: and118__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__121byte0 rlf main__121byte0,f rlf main__121byte0,w andlw 248 addwf main__char,w addlw 208 movwf main__number ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } body end goto label118__1end label118__1false: and118__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=85 btfss z___byte,z___bit goto label122__0false label122__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 label122__0end label122__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=41 btfss z___byte,z___bit goto label133__0false label133__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__148while__continue: movlw 5 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__148while__break ; buffer ~~ {{ index }} := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf main__149byte0 movlw LOW main__buffer addwf main__index,w movwf fsr___register movf main__149byte0,w bcf irp___register,irp___bit movwf indf___register ; index := index + 1 incf main__index,f goto main__148while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__148while__break: ; `while index < buffer_size ...' end ; index := 0 clrf main__index ; `while index < buffer_size ...' start main__154while__continue: movlw 5 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__154while__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__154while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__154while__break: ; `while index < buffer_size ...' end ; Terminate the output list ; call master_crlf {{ }} call master_crlf ; else_if { char = 0c'w' } body end goto label133__0end label133__0false: movlw 105 subwf main__char,w ; expression=`{ char = 0c'i' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=8 false_size=28 btfss z___byte,z___bit goto label161__0false label161__0true: ; else_if { char = 0c'i' } body start ; Interrogate the slave RoboBrick : ; Initialize the id index : ; call slave_send {{ 0xfd }} movlw 253 movwf slave_send__data call slave_send ; Get the first 8 bytes : ; call slave_id8 {{ }} call slave_id8 ; Get the next 8 bytes of random numbers : ; call slave_id8 {{ }} call slave_id8 ; Get the next 8 bytes of random numbers : ; call slave_id8 {{ }} call slave_id8 ; Get the slave brick name : ; call slave_id_string {{ }} call slave_id_string ; Get the vendor name : ; call slave_id_string {{ }} call slave_id_string ; else_if { char = 0c'i' } body end goto label161__0end label161__0false: movlw 99 subwf main__char,w ; expression=`{ char = 0c'c' }' exp_delay=2 true_delay=2 false_delay=-1 true_size=4 false_size=19 btfsc z___byte,z___bit goto label181__0true label181__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 label184__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 label184__0end: ; if exp=` char != 0xfc ' empty false ; Other expression=`{ char != 0xfc }' delay=-1 goto label181__0end label181__0true: ; else_if { char = 0c'c' } body start ; 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 ; if exp=` char = 0c'c' ' generic label181__0end: ; Other expression=`{ char = 0c'c' }' delay=-1 ; if exp=` char = 0c'i' ' generic label161__0end: ; Other expression=`{ char = 0c'i' }' delay=-1 ; if exp=` char = 0c'w' ' generic label133__0end: ; Other expression=`{ char = 0c'w' }' delay=-1 ; if exp=` char = 0c's' ' generic label122__0end: ; Other expression=`{ char = 0c's' }' delay=-1 ; if exp=`char < {{ 0c'9' + 1 }}' generic label118__1end: ; Other expression=`char < {{ 0c'9' + 1 }}' delay=-1 ; if exp=`0c'0' <= char' false goto ; Other expression=`0c'0' <= char' delay=-1 and118__0end: ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } end goto main__109loop__forever ; loop_forever ... end ; procedure main end ; procedure clock_adjust start clock_adjust: clock_adjust__variables__base equ global__variables__bank0+10 clock_adjust__bytes__base equ clock_adjust__variables__base+0 clock_adjust__bits__base equ clock_adjust__variables__base+9 clock_adjust__total__bytes equ 9 clock_adjust__220byte0 equ clock_adjust__bytes__base+8 clock_adjust__262byte0 equ clock_adjust__bytes__base+8 clock_adjust__272byte0 equ clock_adjust__bytes__base+8 clock_adjust__276byte0 equ clock_adjust__bytes__base+8 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 ; target := iterations_low - adjust movlw 59 movwf clock_adjust__220byte0 movf clock_adjust__adjust,w subwf clock_adjust__220byte0,w movwf clock_adjust__target ; count := 4 movlw 4 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__231loop__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 ; low := 0 clrf clock_adjust__low ; high := 0 clrf clock_adjust__high ; `while rx_slave_pin ...' start clock_adjust__242while__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 ; Do nothing : goto clock_adjust__242while__continue goto clock_adjust__242while__break ; if exp=`rx_slave_pin' true goto small true clock_adjust__242while__break: ; `while rx_slave_pin ...' end ; `while ! rx_slave_pin ...' start clock_adjust__245while__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__245while__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__245while__continue ; if exp=`rx_slave_pin' true goto ; Other expression=`rx_slave_pin' delay=-1 clock_adjust__245while__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 ; 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 label259__0true label259__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 label263__0true label263__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 label269__0true label269__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 label273__0true label273__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 label273__0end label273__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__276byte0 movf clock_adjust__low,w subwf clock_adjust__276byte0,w movwf clock_adjust__error ; else_if { low < target } body end ; if exp=` low < target ' generic label273__0end: ; Other expression=`{ low < target }' delay=-1 goto label269__0end label269__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__272byte0 movf clock_adjust__target,w subwf clock_adjust__272byte0,w movwf clock_adjust__error ; if { low > target } body end ; if exp=` low > target ' generic label269__0end: ; Other expression=`{ low > target }' delay=-1 ; if { low > target } end ; else body end goto label263__0end label263__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 label263__0end: ; Other expression=`{ high < iterations_high }' delay=-1 goto label259__0end label259__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__262byte0 movf clock_adjust__target,w subwf clock_adjust__262byte0,w movwf clock_adjust__error ; if { high > iterations_high } body end ; if exp=` high > iterations_high ' generic label259__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 label291__0false label291__0true: ; if { error = error_minimum } body start ; call master_crlf {{ }} call master_crlf ; return retlw 0 ; if { error = error_minimum } body end goto label291__0end label291__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 label294__0true label294__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 label299__0end ; if { z } body start ; error_minimum := error_minimum + 1 incf clock_adjust__error_minimum,f ; count := 4 movlw 4 movwf clock_adjust__count ; if { z } body end label299__0end: ; if exp=`z' empty false ; Other expression=`{ z }' delay=-1 ; if { z } end ; else body end goto label294__0end label294__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 label294__0end: ; Other expression=`{ error < error_minimum }' delay=-1 ; if exp=` error = error_minimum ' generic label291__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__231loop__forever ; loop_forever ... end ; procedure clock_adjust end ; procedure master_crlf start master_crlf: master_crlf__variables__base equ global__variables__bank0+19 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_get start master_get: master_get__variables__base equ global__variables__bank0+19 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_send start master_send: master_send__variables__base equ global__variables__bank0+20 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_octal start master_octal: master_octal__variables__base equ global__variables__bank0+21 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__350byte0 equ master_octal__bytes__base+1 master_octal__349byte0 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__349byte0 rrf master_octal__349byte0,f rrf master_octal__349byte0,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__350byte0 rrf master_octal__350byte0,f rrf master_octal__350byte0,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+23 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_id8 start slave_id8: slave_id8__variables__base equ global__variables__bank0+24 slave_id8__bytes__base equ slave_id8__variables__base+0 slave_id8__bits__base equ slave_id8__variables__base+1 slave_id8__total__bytes equ 1 ; arguments_none ; This procedure will print out the next 8 bytes of data from ; the slave RoboBrick id bytes . slave_id8__counter equ slave_id8__bytes__base+0 ; `count_down counter 8 ...' start movlw 8 movwf slave_id8__counter slave_id8__374_loop: ; call master_octal {{ slave_id_next {{ }} }} call slave_id_next movf slave_id_next__0return__byte,w movwf master_octal__number call master_octal decfsz slave_id8__counter,f goto slave_id8__374_loop slave_id8__374_done: ; `count_down counter 8 ...' end ; call master_crlf {{ }} call master_crlf ; procedure slave_id8 end retlw 0 ; procedure slave_id_next start slave_id_next: slave_id_next__variables__base equ global__variables__bank0+25 slave_id_next__bytes__base equ slave_id_next__variables__base+0 slave_id_next__bits__base equ slave_id_next__variables__base+1 slave_id_next__total__bytes equ 1 ; arguments_none slave_id_next__0return__byte equ slave_id_next__bytes__base+0 ; This procedure will return the next byte from the id bytes . ; 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 slave_id_next__0return__byte retlw 0 ; procedure slave_id_next end ; procedure slave_id_string start slave_id_string: slave_id_string__variables__base equ global__variables__bank0+26 slave_id_string__bytes__base equ slave_id_string__variables__base+0 slave_id_string__bits__base equ slave_id_string__variables__base+1 slave_id_string__total__bytes equ 1 ; arguments_none ; This procedure will return the string for the id bytes . slave_id_string__size equ slave_id_string__bytes__base+0 ; size := slave_id_next {{ }} call slave_id_next movf slave_id_next__0return__byte,w movwf slave_id_string__size ; call master_octal {{ size }} movwf master_octal__number call master_octal ; `count_down size size ...' start movf slave_id_string__size,w movwf slave_id_string__size slave_id_string__400_loop: ; call master_send {{ slave_id_next {{ }} }} call slave_id_next movf slave_id_next__0return__byte,w movwf master_send__character call master_send decfsz slave_id_string__size,f goto slave_id_string__400_loop slave_id_string__400_done: ; `count_down size size ...' end ; call master_crlf {{ }} call master_crlf ; procedure slave_id_string end retlw 0 ; procedure slave_send start slave_send: slave_send__variables__base equ global__variables__bank0+27 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 ; procedure get_byte start get_byte: get_byte__variables__base equ global__variables__bank0+28 get_byte__bytes__base equ get_byte__variables__base+0 get_byte__bits__base equ get_byte__variables__base+4 get_byte__total__bytes equ 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 < porta > 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__427while__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__427while__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 label429__0end ; if { count = 0 } body start ; return 0xfc movlw 252 movwf get_byte__0return__byte retlw 0 ; if { count = 0 } body end label429__0end: ; if exp=` count = 0 ' empty false ; Other expression=`{ count = 0 }' delay=-1 ; if { count = 0 } end ; call delay {{ }} call delay goto get_byte__427while__continue ; if exp=` portb & mask != 0 ' false goto ; Other expression=` portb & mask != 0 ' delay=-1 get_byte__427while__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 : ; char := 0 clrf get_byte__char ; `count_down count 8 ...' start movlw 8 movwf get_byte__count get_byte__442_loop: ; call delay {{ }} call delay ; char := char >> 1 bcf c___byte,c___bit rrf get_byte__char,f ; 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 := char | 0x80 ; char @ 7 := 1 ; Select char @ 7 get_byte__char__447select0 equ get_byte__char+0 get_byte__char__447select0__byte equ get_byte__char+0 get_byte__char__447select0__bit equ 7 bsf get_byte__char__447select0__byte,get_byte__char__447select0__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 decfsz get_byte__count,f goto get_byte__442_loop get_byte__442_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+32 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 < porta > . send_byte__count equ send_byte__bytes__base+2 send_byte__mark equ send_byte__bytes__base+3 ; Send the start bit : ; mark := mask ^ space movlw 255 xorwf send_byte__mask,w movwf send_byte__mark ; portb := mark movwf portb ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; Send the data : ; `count_down count 8 ...' start movlw 8 movwf send_byte__count send_byte__477_loop: ; if { char @ 0 } start ; Alias variable for select char @ 0 send_byte__char__478select0 equ send_byte__char+0 send_byte__char__478select0__byte equ send_byte__char+0 send_byte__char__478select0__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__478select0__byte,send_byte__char__478select0__bit ; if { char @ 0 } body start ; portb := space movlw 255 ; 1 instructions found for sharing btfss send_byte__char__478select0__byte,send_byte__char__478select0__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 ; 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 decfsz send_byte__count,f goto send_byte__477_loop send_byte__477_done: ; `count_down count 8 ...' end ; Send the stop bit : ; portb := space movlw 255 movwf portb ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; procedure send_byte end retlw 0 ; procedure delay start ; optimize 0 delay: delay__variables__base equ global__variables__bank0+36 delay__bytes__base equ delay__variables__base+0 delay__bits__base equ delay__variables__base+1 delay__total__bytes equ 1 delay__496byte1 equ delay__bytes__base+0 ; arguments_none ; uniform_delay instructions_per_delay ; Uniform delay remaining = 343 Accumulated Delay = 0 ; Uniform delay remaining = 343 Accumulated Delay = 0 ; Delay 1 third of a bit : ; Uniform delay remaining = 343 Accumulated Delay = 0 ; Uniform delay remaining = 343 Accumulated Delay = 0 ; Soak up remaining 343 cycles ; Delay 343 cycles movlw 114 movwf delay__496byte1 delay__496delay0: decfsz delay__496byte1,f goto delay__496delay0 ; procedure delay end retlw 0 ; optimize 1 ; Register bank 0 used 37 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