radix dec global__variables__bank0 equ 12 global__variables__bank1 equ 255 global__bit__variables__bank0 equ 64 global__bit__variables__bank1 equ 255 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 TRIS registers movlw 233 ; Switch from register bank 0 to register bank 1 (which contains trisa___register) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf trisa___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 testing the LED10 RoboBrick . See :} ; comment {} ; comment {http : / / web . gramlich . net / projects / robobricks / led10 / index . html} ; comment {} ; comment {for more details .} ; comment {} ; comment ############################################################################# ; processor pic16f84 cp = off dp = off pwrte = disabled wdte = enabled fosc = xt ; 16381=0x3ffd 8199=0x2007 __config 16381 configuration___address equ 8199 ; constant clock_rate 4000000 clock_rate equ 4000000 ; constant instruction_rate clock_rate / 4 instruction_rate equ 1000000 ; constant baud_rate 2400 baud_rate equ 2400 ; constant instructions_per_bit instruction_rate / baud_rate instructions_per_bit equ 416 ; constant delays_per_bit 3 delays_per_bit equ 3 ; constant instructions_per_delay instructions_per_bit / delays_per_bit instructions_per_delay equ 138 ; comment {The null pulse that comes back from a clock pulse command is supposed to be} ; comment {9 bits long . At 4 Mhz = 1 instruction per microsecond , 9 bits is 9 / 2400 =} ; comment {3 . 75 ms . The count loop below is 7 instruction long . 3 . 75 / . 007 = 536 = 0x217 .} ; comment {So we want our timer loop to get as close to 0x217 as possible .} ; constant clock_fudge 0 clock_fudge equ 0 ; constant clock_target 0x12 + clock_fudge clock_target equ 18 ; 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 0 rx_slave_bit equ 0 ; constant tx_slave_bit 1 tx_slave_bit equ 1 ; constant tx_master_bit 2 tx_master_bit equ 2 ; constant rx_master_bit 3 rx_master_bit equ 3 ; constant rx_slave_mask 1 << rx_slave_bit rx_slave_mask equ 1 ; constant tx_slave_mask 1 << tx_slave_bit tx_slave_mask equ 2 ; constant rx_master_mask 1 << rx_master_bit rx_master_mask equ 8 ; constant tx_master_mask 1 << tx_master_bit tx_master_mask equ 4 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 porta equ 5 tx_master_pin__byte equ 5 tx_master_pin__bit equ 2 rx_master_pin__byte equ 5 rx_master_pin__bit equ 3 tx_slave_pin__byte equ 5 tx_slave_pin__bit equ 1 rx_slave_pin__byte equ 5 rx_slave_pin__bit equ 0 heart__byte equ 5 heart__bit equ 4 ; constant space 0xff space equ 255 ; constant buffer_size 3 buffer_size equ 3 ; string_constants Start string___fetch: movwf pcl___register ; bit_string = 0s'Bit' bit_string___string equ 0 bit_string: addwf pcl___register,f ; Length = 3 retlw 3 ; `Bit' retlw 66 retlw 105 retlw 116 ; clock_string = 0s'Clk' clock_string___string equ 5 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 10 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 18 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 24 fail_string: addwf pcl___register,f ; Length = 4 retlw 4 ; `Fail' retlw 70 retlw 97 retlw 105 retlw 108 ; hello_string = 0s'Shaft2_Test' hello_string___string equ 30 hello_string: addwf pcl___register,f ; Length = 11 retlw 11 ; `Shaft2_Test' retlw 83 retlw 104 retlw 97 retlw 102 retlw 116 retlw 50 retlw 95 retlw 84 retlw 101 retlw 115 retlw 116 ; interrupt_string = 0s'Int' interrupt_string___string equ 43 interrupt_string: addwf pcl___register,f ; Length = 3 retlw 3 ; `Int' retlw 73 retlw 110 retlw 116 ; patterns = 0 , 1 , 2 , 4 , 8 , 0x10 , 0x20 , 0x40 , 0x80 , 0xff , 0 patterns___string equ 48 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'Reg' register_string___string equ 61 register_string: addwf pcl___register,f ; Length = 3 retlw 3 ; `Reg' retlw 82 retlw 101 retlw 103 ; 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__108byte0 equ main__bytes__base+6 main__136byte0 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__96loop__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=129 false_size=1 btfss c___byte,c___bit goto and105__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=113 btfsc c___byte,c___bit goto label105__1false label105__1true: and105__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__108byte0 rlf main__108byte0,f rlf main__108byte0,w andlw 248 addwf main__char,w addlw 208 movwf main__number ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } body end goto label105__1end label105__1false: and105__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=100 btfss z___byte,z___bit goto label109__0false label109__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 label109__0end label109__0false: movlw 119 subwf main__char,w ; expression=`{ char = 0c'w' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=37 false_size=58 btfss z___byte,z___bit goto label120__0false label120__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__135while__continue: movlw 3 subwf main__index,w ; expression=` index < buffer_size ' exp_delay=2 true_delay=9 false_delay=2 true_size=10 false_size=1 btfsc c___byte,c___bit goto main__135while__break ; buffer ~~ {{ index }} := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf main__136byte0 movlw LOW main__buffer addwf main__index,w movwf fsr___register movf main__136byte0,w movwf indf___register ; index := index + 1 incf main__index,f goto main__135while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__135while__break: ; `while index < buffer_size ...' end ; index := 0 clrf main__index ; `while index < buffer_size ...' start main__141while__continue: movlw 3 subwf main__index,w ; expression=` index < buffer_size ' exp_delay=2 true_delay=7 false_delay=2 true_size=8 false_size=1 btfsc c___byte,c___bit goto main__141while__break ; call master_octal {{ buffer ~~ {{ index }} }} movlw LOW main__buffer addwf main__index,w movwf fsr___register movf indf___register,w movwf master_octal__number call master_octal ; index := index + 1 incf main__index,f goto main__141while__continue ; if exp=` index < buffer_size ' false goto ; Other expression=` index < buffer_size ' delay=-1 main__141while__break: ; `while index < buffer_size ...' end ; Terminate the output list ; call master_crlf {{ }} call master_crlf ; else_if { char = 0c'w' } body end goto label120__0end label120__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=41 btfss z___byte,z___bit goto label148__0false label148__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 label148__0end label148__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=31 btfss z___byte,z___bit goto label171__0false label171__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 label171__0end label171__0false: movlw 99 subwf main__char,w ; expression=`{ char = 0c'c' }' exp_delay=2 true_delay=-1 false_delay=-1 true_size=7 false_size=19 btfss z___byte,z___bit goto label176__0false label176__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__target call clock_adjust ; else_if { char = 0c'c' } body end goto label176__0end label176__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 label181__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 label181__0end: ; if exp=` char != 0xfc ' empty false ; Other expression=`{ char != 0xfc }' delay=-1 ; if exp=` char = 0c'c' ' generic label176__0end: ; Other expression=`{ char = 0c'c' }' delay=-1 ; if exp=` char = 0c't' ' generic label171__0end: ; Other expression=`{ char = 0c't' }' delay=-1 ; if exp=` char = 0c'i' ' generic label148__0end: ; Other expression=`{ char = 0c'i' }' delay=-1 ; if exp=` char = 0c'w' ' generic label120__0end: ; Other expression=`{ char = 0c'w' }' delay=-1 ; if exp=` char = 0c's' ' generic label109__0end: ; Other expression=`{ char = 0c's' }' delay=-1 ; if exp=`char < {{ 0c'9' + 1 }}' generic label105__1end: ; Other expression=`char < {{ 0c'9' + 1 }}' delay=-1 ; if exp=`0c'0' <= char' false goto ; Other expression=`0c'0' <= char' delay=-1 and105__0end: ; if { 0c'0' <= char && char < {{ 0c'9' + 1 }} } end goto main__96loop__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+7 clock_adjust__total__bytes equ 7 clock_adjust__271byte0 equ clock_adjust__bytes__base+6 clock_adjust__target equ clock_adjust__bytes__base+0 ; This procedure will adjust the clock to the slave . clock_adjust__count equ clock_adjust__bytes__base+1 clock_adjust__error equ clock_adjust__bytes__base+2 clock_adjust__error_minimum equ clock_adjust__bytes__base+3 clock_adjust__high equ clock_adjust__bytes__base+4 clock_adjust__low equ clock_adjust__bytes__base+5 ; call master_string {{ clock_string }} movlw LOW clock_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; if { target = 0 } start movf clock_adjust__target,w ; expression=`{ target = 0 }' exp_delay=1 true_delay=2 false_delay=0 true_size=2 false_size=0 btfss z___byte,z___bit goto label218__0end ; if { target = 0 } body start ; target := clock_target movlw 18 movwf clock_adjust__target ; if { target = 0 } body end label218__0end: ; if exp=` target = 0 ' empty false ; Other expression=`{ target = 0 }' delay=-1 ; if { target = 0 } end ; 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 ; loop_forever ... start clock_adjust__225loop__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__236while__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__236while__continue goto clock_adjust__236while__break ; if exp=`rx_slave_pin' true goto small true clock_adjust__236while__break: ; `while rx_slave_pin ...' end ; `while ! rx_slave_pin ...' start clock_adjust__239while__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__239while__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__239while__continue ; if exp=`rx_slave_pin' true goto ; Other expression=`rx_slave_pin' delay=-1 clock_adjust__239while__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 ; If high is less than 2 , things are probably pretty broken . ; We ' ll try a little fix here , but we are probably pretty ; screwed up . ; if { high < 2 } start movlw 2 subwf clock_adjust__high,w ; expression=`{ high < 2 }' exp_delay=2 true_delay=1 false_delay=0 true_size=1 false_size=0 btfss c___byte,c___bit ; if { high < 2 } body start ; low := 0 clrf clock_adjust__low ; if { high < 2 } body end ; if exp=` high < 2 ' false skip delay=4 ; Other expression=`{ high < 2 }' delay=4 ; if { high < 2 } end ; High is now free ; stuff a command in it now . ; Now think about adjusting clock . ; if { low > clock_target } start movlw 19 subwf clock_adjust__low,w ; expression=`{ low > clock_target }' exp_delay=2 true_delay=5 false_delay=-1 true_size=5 false_size=15 btfsc c___byte,c___bit goto label261__0true label261__0false: movlw 18 subwf clock_adjust__low,w ; expression=`{ low < clock_target }' exp_delay=2 true_delay=7 false_delay=3 true_size=7 false_size=3 btfss c___byte,c___bit goto label268__0true label268__0false: ; else body start ; call master_send < 0c'x' > ; high := 0 clrf clock_adjust__high ; error := 0 clrf clock_adjust__error ; error_minimum := 0 clrf clock_adjust__error_minimum ; else body end goto label268__0end label268__0true: ; else_if { low < clock_target } body start ; call master_send < 0c'-' > ; Slave clock is too fast < i . e . pulse too short . > ; error := clock_target - low movlw 18 movwf clock_adjust__271byte0 movf clock_adjust__low,w subwf clock_adjust__271byte0,w movwf clock_adjust__error ; Decrement clock : ; high := 0xf8 movlw 248 movwf clock_adjust__high ; call slave_send < 0xf8 > ; else_if { low < clock_target } body end ; if exp=` low < clock_target ' generic label268__0end: ; Other expression=`{ low < clock_target }' delay=-1 goto label261__0end label261__0true: ; if { low > clock_target } body start ; call master_send < 0c'+' > ; Slave clock is too slow < i . e . pulse too long . > ; error := low - clock_target movlw 238 addwf clock_adjust__low,w movwf clock_adjust__error ; Increment clock : ; high := 0xf9 movlw 249 movwf clock_adjust__high ; call slave_send < 0xf9 > ; if { low > clock_target } body end ; if exp=` low > clock_target ' generic label261__0end: ; Other expression=`{ low > clock_target }' delay=-1 ; if { low > clock_target } 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 label288__0false label288__0true: ; if { error = error_minimum } body start ; call master_crlf {{ }} call master_crlf ; return retlw 0 ; if { error = error_minimum } body end goto label288__0end label288__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 label291__0true label291__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 label296__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 label296__0end: ; if exp=`z' empty false ; Other expression=`{ z }' delay=-1 ; if { z } end ; else body end goto label291__0end label291__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 label291__0end: ; Other expression=`{ error < error_minimum }' delay=-1 ; if exp=` error = error_minimum ' generic label288__0end: ; Other expression=`{ error = error_minimum }' delay=-1 ; if { error = error_minimum } end ; Now adjust the clock : ; call slave_send {{ high }} movf clock_adjust__high,w movwf slave_send__data call slave_send ; call master_crlf {{ }} call master_crlf goto clock_adjust__225loop__forever ; loop_forever ... end ; procedure clock_adjust end ; procedure test start test: test__variables__base equ global__variables__bank0+15 test__bytes__base equ test__variables__base+0 test__bits__base equ test__variables__base+0 test__total__bytes equ 0 ; arguments_none ; This procedure will test the Shaft2 RoboBrick : ; Adjust the clock : ; call clock_adjust < 0 > ; Verify that the common commands are working : ; call common_test {{ }} call common_test ; Verify that we can interrupt : ; call test_interrupt_setup < 0 > ; call test_interrupt_setup < 1 > ; call interrupt_test < > ; Test some shaft inputs : ; call test_shaft {{ 0 , 0x10 , 0 }} clrf test_shaft__high movlw 16 movwf test_shaft__low clrf test_shaft__shaft call test_shaft ; call test_shaft {{ 0 , 0x10 , 1 }} clrf test_shaft__high movlw 16 movwf test_shaft__low movlw 1 movwf test_shaft__shaft call test_shaft ; Now test interrupt ranges : ; call test_interrupt {{ 0 }} clrf test_interrupt__shaft call test_interrupt ; call test_interrupt {{ 1 }} movlw 1 movwf test_interrupt__shaft call test_interrupt ; Let ' s go test some registers : ; call master_string {{ register_string }} movlw LOW register_string+1 movwf master_string__message call master_string ; call master_crlf {{ }} call master_crlf ; call test_byte_register < 6 , 2 , 0x30 > ; call test_byte_register < 7 , 3 , 0x31 > ; call test_byte_register < 0x18 , 0x19 , 0x32 > ; call test_word_register < 4 , 0 , 0x34 > ; call test_word_register < 5 , 1 , 0x36 > ; call test_word_register < 0x10 , 0x14 , 0x38 > ; call test_word_register < 0x12 , 0x16 , 0x3a > ; Announce 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_interrupt_setup start test_interrupt_setup: test_interrupt_setup__variables__base equ global__variables__bank0+15 test_interrupt_setup__bytes__base equ test_interrupt_setup__variables__base+0 test_interrupt_setup__bits__base equ test_interrupt_setup__variables__base+1 test_interrupt_setup__total__bytes equ 1 test_interrupt_setup__shaft equ test_interrupt_setup__bytes__base+0 ; This procedure will set up the registers for shaft to be interrupt safe . ; Set low threshold : ; call slave_send {{ 0x12 | shaft }} movlw 18 iorwf test_interrupt_setup__shaft,w movwf slave_send__data call slave_send ; call slave_send {{ 0 }} clrf slave_send__data call slave_send ; call slave_send {{ 0x10 }} movlw 16 movwf slave_send__data call slave_send ; Set high threshold : ; call slave_send {{ 0x10 | shaft }} movlw 16 iorwf test_interrupt_setup__shaft,w movwf slave_send__data call slave_send ; call slave_send {{ 0 }} clrf slave_send__data call slave_send ; call slave_send {{ 0x30 }} movlw 48 movwf slave_send__data call slave_send ; Set the shaft to the middle : ; call slave_send {{ 4 | shaft }} movlw 4 iorwf test_interrupt_setup__shaft,w movwf slave_send__data call slave_send ; call slave_send {{ 0 }} clrf slave_send__data call slave_send ; call slave_send {{ 0x20 }} movlw 32 movwf slave_send__data call slave_send ; procedure test_interrupt_setup end retlw 0 ; procedure test_interrupt start test_interrupt: test_interrupt__variables__base equ global__variables__bank0+16 test_interrupt__bytes__base equ test_interrupt__variables__base+0 test_interrupt__bits__base equ test_interrupt__variables__base+1 test_interrupt__total__bytes equ 1 test_interrupt__shaft equ test_interrupt__bytes__base+0 ; This procedure will test interrupts shaft . ; call test_interrupt_setup {{ 0 }} clrf test_interrupt_setup__shaft call test_interrupt_setup ; call test_interrupt_setup {{ 1 }} movlw 1 movwf test_interrupt_setup__shaft call test_interrupt_setup ; Now enable interrupts : ; call slave_send {{ 0xf2 }} movlw 242 movwf slave_send__data call slave_send ; Let people know what is going on : ; call master_octal {{ shaft }} movf test_interrupt__shaft,w movwf master_octal__number call master_octal ; call master_send {{ 0c':' }} movlw 58 movwf master_send__character call master_send ; call master_octal {{ 0x10 }} movlw 16 movwf master_octal__number call master_octal ; call master_send {{ 0c'?' }} movlw 63 movwf master_send__character call master_send ; call master_octal {{ 0x30 }} movlw 48 movwf master_octal__number call master_octal ; Now wait for interrupt : ; `while rx_slave_pin ...' start test_interrupt__392while__continue: ; expression=`rx_slave_pin' exp_delay=0 true_delay=1 false_delay=2 true_size=2 false_size=1 btfss rx_slave_pin__byte,rx_slave_pin__bit goto test_interrupt__392while__break ; call delay {{ }} call delay goto test_interrupt__392while__continue ; if exp=`rx_slave_pin' false goto ; Other expression=`rx_slave_pin' delay=-1 test_interrupt__392while__break: ; `while rx_slave_pin ...' end ; call master_crlf {{ }} call master_crlf ; procedure test_interrupt end retlw 0 ; procedure test_shaft start test_shaft: test_shaft__variables__base equ global__variables__bank0+17 test_shaft__bytes__base equ test_shaft__variables__base+0 test_shaft__bits__base equ test_shaft__variables__base+5 test_shaft__total__bytes equ 5 test_shaft__high equ test_shaft__bytes__base+0 test_shaft__low equ test_shaft__bytes__base+1 test_shaft__shaft equ test_shaft__bytes__base+2 ; This procedure will verify that the shaft can be positioned to < high > and < low > . test_shaft__current_high equ test_shaft__bytes__base+3 test_shaft__current_low equ test_shaft__bytes__base+4 ; Let the user know what we are shooting for : ; call master_octal {{ high }} movf test_shaft__high,w movwf master_octal__number call master_octal ; call master_octal {{ low }} movf test_shaft__low,w movwf master_octal__number call master_octal ; call master_send {{ 0c':' }} movlw 58 movwf master_send__character call master_send ; call master_crlf {{ }} call master_crlf ; current_high := high + 1 incf test_shaft__high,w movwf test_shaft__current_high ; current_low := low + 1 incf test_shaft__low,w movwf test_shaft__current_low ; `while high != current_high || low != current_low ...' start test_shaft__418while__continue: movf test_shaft__high,w subwf test_shaft__current_high,w ; expression=`high != current_high' exp_delay=2 true_delay=10 false_delay=-1 true_size=1 false_size=23 btfss z___byte,z___bit goto or418__0true movf test_shaft__low,w subwf test_shaft__current_low,w ; expression=`low != current_low' exp_delay=2 true_delay=8 false_delay=2 true_size=19 false_size=1 btfsc z___byte,z___bit or418__0false: goto test_shaft__418while__break or418__0true: ; call slave_send {{ shaft }} movf test_shaft__shaft,w movwf slave_send__data call slave_send ; current_high := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_shaft__current_high ; current_low := slave_get {{ }} call slave_get movf slave_get__0return__byte,w movwf test_shaft__current_low ; call master_octal {{ current_high }} movf test_shaft__current_high,w movwf master_octal__number call master_octal ; call master_octal {{ current_low }} movf test_shaft__current_low,w movwf master_octal__number call master_octal ; call master_send {{ cr }} movlw 13 movwf master_send__character call master_send goto test_shaft__418while__continue ; if exp=`low != current_low' false goto ; Other expression=`low != current_low' delay=-1 ; if exp=`high != current_high' true goto ; Other expression=`high != current_high' delay=-1 or418__0end: test_shaft__418while__break: ; `while high != current_high || low != current_low ...' end ; call master_crlf {{ }} call master_crlf ; procedure test_shaft end retlw 0 ; comment {procedure test_byte_register <} ; comment {argument set_command byte} ; comment {argument read_command byte} ; comment {argument error byte} ; comment returns_nothing ; comment {} ; comment {# This procedure will test the ability to set and read back a byte register :} ; comment {} ; comment {variable index byte} ; comment {variable pattern byte} ; comment {} ; comment {index := 0} ; comment {while < index < patterns . size > <} ; comment {pattern := patterns < index >} ; comment {call slave_send < set_command >} ; comment {call slave_send < pattern >} ; comment {} ; comment {call slave_send < read_command >} ; comment {temp := slave_get < >} ; comment {if < temp != pattern > <} ; comment {call master_octal < pattern >} ; comment {call master_octal < temp >} ; comment {call master_fail < register_string , error >} ; comment > ; comment {index := index + 1} ; comment > ; comment > ; comment {procedure test_word_register <} ; comment {argument set_command byte} ; comment {argument read_command byte} ; comment {argument error byte} ; comment returns_nothing ; comment {} ; comment {# This procedure will test the ability to set and read back a word register :} ; comment {} ; comment {variable low byte} ; comment {variable low_index byte} ; comment {variable high byte} ; comment {variable high_index byte} ; comment {} ; comment {high_index := 0} ; comment {while < high_index < patterns . size > <} ; comment {high := patterns < high_index >} ; comment {low_index := 0} ; comment {while < low_index < patterns . size > <} ; comment {low := patterns < low_index >} ; comment {} ; comment {# Set the register :} ; comment {call slave_send < set_command >} ; comment {call slave_send < high >} ; comment {call slave_send < low >} ; comment {} ; comment {# Verify its contents :} ; comment {call slave_send < read_command >} ; comment {temp := slave_get < >} ; comment {if < temp != high > <} ; comment {call master_octal < high >} ; comment {call master_octal < temp >} ; comment {call master_fail < register_string , error >} ; comment > ; comment {temp := slave_get < >} ; comment {if < temp != low > <} ; comment {call master_octal < low >} ; comment {call master_octal < temp >} ; comment {call master_fail < register_string , error | 1 >} ; comment > ; comment {low_index := low_index + 1} ; comment > ; comment {high_index := high_index + 1} ; comment > ; comment > ; 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+22 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__547byte0 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 {{ 16 , 0xc2 }} movlw 16 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 {{ 0 , 0xc3 }} clrf 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__547byte0 movlw 2 subwf common_test__547byte0,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 label547__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 label547__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 label553__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 label553__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 label565__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 label565__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+24 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+2 common_test_id_match__total__bytes equ 2 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 > . ; if { desired != common_test_id_next {{ }} } start call common_test_id_next movf common_test_id_next__0return__byte,w subwf common_test_id_match__desired,w ; expression=`{ desired != common_test_id_next {{ }} }' exp_delay=1 true_delay=3 false_delay=0 true_size=5 false_size=0 btfsc z___byte,z___bit goto label577__0end ; if { desired != common_test_id_next {{ }} } 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 != common_test_id_next {{ }} } body end label577__0end: ; if exp=` desired != common_test_id_next ## {{ }} ' empty false ; Other expression=`{ desired != common_test_id_next {{ }} }' delay=-1 ; if { desired != common_test_id_next {{ }} } 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+26 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__590_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__590_loop common_test_id_bytes8__590_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+27 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__604_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__604_loop common_test_id_string__604_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+28 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+29 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__658_loop: ; call delay {{ }} call delay decfsz interrupt_test__counter,f goto interrupt_test__658_loop interrupt_test__658_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 label661__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 label661__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+30 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 label683__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 label683__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+32 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+32 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+34 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 8 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+35 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__733byte0 equ master_octal__bytes__base+1 master_octal__734byte0 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__733byte0 rrf master_octal__733byte0,f rrf master_octal__733byte0,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__734byte0 rrf master_octal__734byte0,f rrf master_octal__734byte0,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+37 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 1 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+38 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 2 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+39 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 porta & mask != 0 ...' start get_byte__772while__continue: movf porta,w andwf get_byte__mask,w ; expression=` porta & 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__772while__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 label774__0end ; if { count = 0 } body start ; return 0xfc movlw 252 movwf get_byte__0return__byte retlw 0 ; if { count = 0 } body end label774__0end: ; if exp=` count = 0 ' empty false ; Other expression=`{ count = 0 }' delay=-1 ; if { count = 0 } end ; call delay {{ }} call delay goto get_byte__772while__continue ; if exp=` porta & mask != 0 ' false goto ; Other expression=` porta & mask != 0 ' delay=-1 get_byte__772while__break: ; `while porta & 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__787_loop: ; call delay {{ }} call delay ; char := char >> 1 bcf c___byte,c___bit rrf get_byte__char,f ; if { porta & mask != 0 } start movf porta,w andwf get_byte__mask,w ; expression=`{ porta & mask != 0 }' exp_delay=2 true_delay=2 false_delay=0 true_size=2 false_size=0 btfsc z___byte,z___bit goto label790__0end ; if { porta & mask != 0 } body start ; char := char | 0x80 movlw 128 iorwf get_byte__char,f ; if { porta & mask != 0 } body end label790__0end: ; if exp=` porta & mask != 0 ' empty false ; Other expression=`{ porta & mask != 0 }' delay=-1 ; if { porta & mask != 0 } end ; call delay {{ }} call delay ; call delay {{ }} call delay decfsz get_byte__count,f goto get_byte__787_loop get_byte__787_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+43 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 ; porta := mark movwf porta ; 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__822_loop: ; if { char @ 0 } start ; Alias variable for select char @ 0 send_byte__char__823select0 equ send_byte__char+0 send_byte__char__823select0__byte equ send_byte__char+0 send_byte__char__823select0__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__823select0__byte,send_byte__char__823select0__bit ; if { char @ 0 } body start ; porta := space movlw 255 ; 1 instructions found for sharing btfss send_byte__char__823select0__byte,send_byte__char__823select0__bit ; else body start ; porta := 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 porta ; 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__822_loop send_byte__822_done: ; `count_down count 8 ...' end ; Send the stop bit : ; porta := space movlw 255 movwf porta ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; procedure send_byte end retlw 0 ; procedure master_send start master_send: master_send__variables__base equ global__variables__bank0+47 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+48 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__860while__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__860while__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__860while__continue ; if exp=` index < message . size ' false goto ; Other expression=` index < message . size ' delay=-1 master_string__860while__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+51 delay__bytes__base equ delay__variables__base+0 delay__bits__base equ delay__variables__base+1 delay__total__bytes equ 1 delay__867byte1 equ delay__bytes__base+0 ; arguments_none ; uniform_delay instructions_per_delay ; Uniform delay remaining = 134 Accumulated Delay = 0 ; Uniform delay remaining = 134 Accumulated Delay = 0 ; Delay 1 third of a bit : ; Uniform delay remaining = 134 Accumulated Delay = 0 ; watch_dog_reset clrwdt ; Uniform delay remaining = 133 Accumulated Delay = 1 ; Uniform delay remaining = 133 Accumulated Delay = 1 ; Soak up remaining 133 cycles ; Delay 133 cycles movlw 44 movwf delay__867byte1 delay__867delay0: decfsz delay__867byte1,f goto delay__867delay0 ; procedure delay end retlw 0 ; optimize 1 ; Register bank 0 used 52 bytes of 68 available bytes ; Register bank 1 used 0 bytes of 0 available bytes end