radix dec global__variables__bank0 equ 7 global__variables__bank1 equ 48 global__bit__variables__bank0 equ 32 global__bit__variables__bank1 equ 55 indf___register equ 0 pcl___register equ 2 c___byte equ 3 c___bit equ 0 z___byte equ 3 z___bit equ 2 ; On 12-bit PIC's, RP0 is actually bit 5 in FSR (=4) rp0___byte equ 4 rp0___bit equ 5 ; On 12-bit PIC's, RP1 is actually bit 6 in FSR (=4) rp1___byte equ 4 rp1___bit equ 6 ; On 12-bit PIC's, PA0 is actually bit 5 in STATUS (=3) pa0___byte equ 3 pa0___bit equ 5 fsr___register equ 4 org 0 start: ; Use oscillator calibration value already in register W movwf 5 ; Initialize TRIS registers movlw 200 tris 6 ; Initialize OPTION register movlw 192 option ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto main ; comment {* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *} ; comment {} ; comment {Copyright < c > 2000 - 2001 by Wayne Gramlich and Bill Benson} ; 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 the code that implements the Stepper1 RoboBrick . Basically} ; comment {it just waits for commands that come in at 2400 baud and responds} ; comment {to them . See} ; comment {} ; comment {http : / / web . gramlich . net / projects / robobricks / stepper1 / index . html} ; comment {} ; comment {for more details .} ; comment {} ; comment {* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *} ; processor pic12c509 cp = off wdte = off mclre = off fosc = intrc ; 10=0xa 4095=0xfff __config 10 configuration___address equ 4095 ; comment {Define processor constants :} ; constant clock_rate 4000000 clock_rate equ 4000000 ; constant clocks_per_instruction 4 clocks_per_instruction equ 4 ; constant instruction_rate clock_rate / clocks_per_instruction instruction_rate equ 1000000 ; comment {Define serial communication control constants :} ; 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 {Stepper bit numbers :} ; constant stepper0_bit 0 stepper0_bit equ 0 ; constant stepper1_bit 1 stepper1_bit equ 1 ; constant stepper2_bit 2 stepper2_bit equ 2 ; comment {Note : on the 8 - pin PIC ' s , GPIO3 is input only :} ; constant serial_in_bit 3 serial_in_bit equ 3 ; constant stepper3_bit 4 stepper3_bit equ 4 ; constant serial_out_bit 5 serial_out_bit equ 5 ; comment {Servo bit masks :} ; constant stepper0_mask {{ 1 << stepper0_bit }} stepper0_mask equ 1 ; constant stepper1_mask {{ 1 << stepper1_bit }} stepper1_mask equ 2 ; constant stepper2_mask {{ 1 << stepper2_bit }} stepper2_mask equ 4 ; constant stepper3_mask {{ 1 << stepper3_bit }} stepper3_mask equ 16 ; constant serial_in_mask {{ 1 << serial_in_bit }} serial_in_mask equ 8 ; constant serial_out_mask {{ 1 << serial_out_bit }} serial_out_mask equ 32 ; comment {Register definitions :} ; comment {Status register :} 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 {OSCCAL register :} osccal equ 5 ; comment {The 509 has 4 bits of OSCCAL and the 509 A has 6 bits .} ; constant osccal_lsb 0x10 osccal_lsb equ 16 ; comment {constant osccal_lsb 0x4} ; comment {Define port bit assignments} porta equ 6 stepper0__byte equ 6 stepper0__bit equ 0 stepper1__byte equ 6 stepper1__bit equ 1 stepper2__byte equ 6 stepper2__bit equ 2 stepper3__byte equ 6 stepper3__bit equ 4 serial_in__byte equ 6 serial_in__bit equ 3 serial_out__byte equ 6 serial_out__bit equ 5 ; string_constants Start ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (label) bcf pa0___byte,pa0___bit string___fetch: movwf pcl___register ; id = 1 , 0 , 15 , 0 , 0 , 0 , 0 , 0 , 0r'16' , 9 , 0s'Stepper1A' , 15 , 0s'Gramlich&Benson' id___string equ 0 id: addwf pcl___register,f ; Length = 50 retlw 50 ; 1 retlw 1 ; 0 retlw 0 ; 15 retlw 15 ; 0 retlw 0 ; 0 retlw 0 ; 0 retlw 0 ; 0 retlw 0 ; 0 retlw 0 ; 0r'16' retlw 174 ; random number retlw 103 ; random number retlw 194 ; random number retlw 56 ; random number retlw 248 ; random number retlw 131 ; random number retlw 216 ; random number retlw 104 ; random number retlw 252 ; random number retlw 194 ; random number retlw 129 ; random number retlw 100 ; random number retlw 86 ; random number retlw 42 ; random number retlw 82 ; random number retlw 164 ; random number ; 9 retlw 9 ; `Stepper1A' retlw 83 retlw 116 retlw 101 retlw 112 retlw 112 retlw 101 retlw 114 retlw 49 retlw 65 ; 15 retlw 15 ; `Gramlich&Benson' retlw 71 retlw 114 retlw 97 retlw 109 retlw 108 retlw 105 retlw 99 retlw 104 retlw 38 retlw 66 retlw 101 retlw 110 retlw 115 retlw 111 retlw 110 ; waves = 0x10 , 4 , 2 , 1 , 0x14 , 6 , 3 , 0x11 , 0x10 , 0x14 , 4 , 6 , 2 , 3 , 1 , 0x11 waves___string equ 52 waves: addwf pcl___register,f ; Length = 16 retlw 16 ; 0x10 retlw 16 ; 4 retlw 4 ; 2 retlw 2 ; 1 retlw 1 ; 0x14 retlw 20 ; 6 retlw 6 ; 3 retlw 3 ; 0x11 retlw 17 ; 0x10 retlw 16 ; 0x14 retlw 20 ; 4 retlw 4 ; 6 retlw 6 ; 2 retlw 2 ; 3 retlw 3 ; 1 retlw 1 ; 0x11 retlw 17 ; string__constants End ; comment {Note that the 12 - bit PIC ' s only have a 2 - level deep stack .} ; comment {The code starts in the main procedure < located at the end of this code >} ; comment {The next level of procedure call is either get_byte or send_byte .} ; comment {Lastly , the lowest level of procedure called is delay . It all fits ,} ; comment {but just barely .} ; bank 0 ; Default register bank is now 0 ; comment {Define global values that are read and written by main procedure} ; comment {and read by delay procedure . See comment in front of delay} ; comment {procedure that talks about global register accessibility .} ; comment {Note that servos = 4 , so we are defining 9 registers below .} adjust_low equ global__variables__bank0+0 adjust_high equ global__variables__bank0+1 current_low equ global__variables__bank0+2 current_high equ global__variables__bank0+3 desired_low equ global__variables__bank0+4 desired_high equ global__variables__bank0+5 middle_high equ global__variables__bank0+6 middle_low equ global__variables__bank0+7 slow_rate equ global__variables__bank0+8 fast_rate equ global__variables__bank0+9 ramp_rate equ global__variables__bank0+10 ramp_amount equ global__variables__bank0+11 complement equ global__variables__bank0+12 power_down equ global__bit__variables__bank0+0 power_down__byte equ global__bit__variables__bank0+0 power_down__bit equ 0 wave_table equ global__variables__bank0+13 wave_mask equ global__variables__bank0+14 wave_offset equ global__variables__bank0+15 interrupt_pending equ global__bit__variables__bank0+0 interrupt_pending__byte equ global__bit__variables__bank0+0 interrupt_pending__bit equ 1 interrupt_enable equ global__bit__variables__bank0+0 interrupt_enable__byte equ global__bit__variables__bank0+0 interrupt_enable__bit equ 2 ; comment {We are really tight on data registers . Push data registers} ; comment {into register bank 1 for every procedure execept delay to} ; comment {spread the register bank load .} ; bank 0 ; Default register bank is now 0 ; procedure get_byte start get_byte: ; Procedure must be called with RP0, RP1, and IRP set to register bank 0 ; Procedure must be called with PCLATH set to code bank 0 get_byte__variables__base equ global__variables__bank0+16 get_byte__bytes__base equ get_byte__variables__base+0 get_byte__bits__base equ get_byte__variables__base+3 get_byte__total__bytes equ 4 ; arguments_none get_byte__0return__byte equ get_byte__bytes__base+0 ; This procedure will wait for a byte to be received from ; serial_in_bit . It calls the delay procedure for all delays . get_byte__count equ get_byte__bytes__base+1 get_byte__char equ get_byte__bytes__base+2 ; Why does the delay procedure wait for a third of bit ? Well , it ; has to do with the loop immediately below . If we catch the ; start bit at the beginning of a 1 / 3 bit time , we will be ; sampling data at approximately 1 / 3 of the way into each bit . ; Conversely , if we catch the start near the end of a 1 / 3 bit ; bit time , we will be sampling data at approximately 2 / 3 of the ; way into each bit . So , what this means is that our bit sample ; times will be somewhere between 1 / 3 and 2 / 3 of bit < i . e . in ; the middle of the bit . ; It would be nice to tweak the code to shorter delay times ; < 1 / 4 bit , 1 / 5 bite , etc . > but then it gets too hard to get ; the bookeeping done in the delay routine . A 12 - bit PIC ; running at 4 MHz <= 1 MIPS > , only has 138 instructions available ; for the delay routine when at 1 / 3 of bit . ; Wait for a start bit : ; `while serial_in ...' start get_byte__146while__continue: ; expression=`serial_in' exp_delay=0 true_delay=1 false_delay=2 true_size=2 false_size=1 btfss serial_in__byte,serial_in__bit goto get_byte__146while__break ; call delay {{ }} call delay goto get_byte__146while__continue ; if exp=`serial_in' false goto ; Other expression=`serial_in' delay=-1 get_byte__146while__break: ; `while serial_in ...' end ; Skip over 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__157_loop: ; call delay {{ }} call delay ; char := char >> 1 bcf c___byte,c___bit rrf get_byte__char,f ; if { serial_in } start ; expression=`{ serial_in }' exp_delay=0 true_delay=2 false_delay=0 true_size=2 false_size=0 btfss serial_in__byte,serial_in__bit goto label160__0end ; if { serial_in } body start ; char := char | 0x80 movlw 128 iorwf get_byte__char,f ; if { serial_in } body end label160__0end: ; if exp=`serial_in' empty false ; Other expression=`{ serial_in }' delay=-1 ; if { serial_in } end ; call delay {{ }} call delay ; call delay {{ }} call delay decfsz get_byte__count,f goto get_byte__157_loop get_byte__157_done: ; `count_down count 8 ...' end ; Skip over 2 / 3 ' s of stop bit : ; call delay {{ }} call delay ; 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: ; Procedure must be called with RP0, RP1, and IRP set to register bank 0 ; Procedure must be called with PCLATH set to code bank 0 send_byte__variables__base equ global__variables__bank0+20 send_byte__bytes__base equ send_byte__variables__base+0 send_byte__bits__base equ send_byte__variables__base+2 send_byte__total__bytes equ 2 send_byte__char equ send_byte__bytes__base+0 send_byte__count equ send_byte__bytes__base+1 ; This procedure will send byte to serial_out_bit . ; send the start bit : ; serial_out := 0 bcf serial_out__byte,serial_out__bit ; 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__188_loop: ; serial_out := char @ 0 ; Alias variable for select char @ 0 send_byte__char__189select0 equ send_byte__char+0 send_byte__char__189select0__byte equ send_byte__char+0 send_byte__char__189select0__bit equ 0 btfss send_byte__char__189select0__byte,send_byte__char__189select0__bit bcf serial_out__byte,serial_out__bit btfsc send_byte__char__189select0__byte,send_byte__char__189select0__bit bsf serial_out__byte,serial_out__bit ; 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__188_loop send_byte__188_done: ; `count_down count 8 ...' end ; send stop bit ; serial_out := 1 bsf serial_out__byte,serial_out__bit ; call delay {{ }} call delay ; call delay {{ }} call delay ; call delay {{ }} call delay ; procedure send_byte end retlw 0 ; comment {In order for the uniform delay stuff to work , the delay routine must have} ; comment {all of its local variables in register bank 0 * AND * all of the global} ; comment {variables it accesses in register bank 0 . That way , the uCL peep - hole} ; comment {optimizer never attempts to stuff in any instructions to patch up} ; comment {register bank accessibility . Any tweaking by the peep - hole optimizer} ; comment {messes up the uniform delay instruction counting .} ; bank 0 ; Default register bank is now 0 ; procedure delay start ; optimize 0 delay: ; Procedure must be called with RP0, RP1, and IRP set to register bank 0 ; Procedure must be called with PCLATH set to code bank 0 delay__variables__base equ global__variables__bank0+22 delay__bytes__base equ delay__variables__base+0 delay__bits__base equ delay__variables__base+3 delay__total__bytes equ 3 delay__226byte2 equ delay__bytes__base+1 delay__223byte1 equ delay__bytes__base+1 delay__223byte2 equ delay__bytes__base+1 delay__212byte1 equ delay__bytes__base+1 delay__223byte3 equ delay__bytes__base+2 ; arguments_none ; uniform_delay instructions_per_delay ; Uniform delay remaining = 134 Accumulated Delay = 0 ; Uniform delay remaining = 134 Accumulated Delay = 0 ; This procedure will delay for a third of bit at 2400 baud . ; Uniform delay remaining = 134 Accumulated Delay = 0 ; It is responsible for keeping the servo pulses going on ; Uniform delay remaining = 134 Accumulated Delay = 0 ; a regular basis . ; Uniform delay remaining = 134 Accumulated Delay = 0 ; Uniform delay remaining = 134 Accumulated Delay = 0 delay__counter equ delay__bytes__base+0 ; Uniform delay remaining = 134 Accumulated Delay = 0 ; Uniform delay remaining = 134 Accumulated Delay = 0 ; porta := porta & serial_out_mask | {{ waves ~~ {{ current_low & wave_mask + wave_offset }} ^ complement }} movlw 32 andwf porta,w movwf delay__223byte3 movf current_low,w andwf wave_mask,w addwf wave_offset,w movwf delay__223byte2 incf delay__223byte2,w call waves movwf delay__223byte1 movf complement,w xorwf delay__223byte1,w iorwf delay__223byte3,w movwf porta ; Uniform delay remaining = 120 Accumulated Delay = 14 ; Uniform delay remaining = 120 Accumulated Delay = 14 ; counter := counter - 1 decf delay__counter,f ; Uniform delay remaining = 119 Accumulated Delay = 15 ; if { z } start ; expression=`{ z }' exp_delay=0 true_delay=8 false_delay=0 true_size=8 false_size=0 btfsc z__byte,z__bit goto label226__0true label226__0false: ; Delay 7 cycles movlw 2 movwf delay__226byte2 delay__226delay1: decfsz delay__226byte2,f goto delay__226delay1 goto label226__0end label226__0true: ; if { z } body start ; Uniform delay remaining = 119 Accumulated Delay = 0 ; Adjust the position : ; Uniform delay remaining = 119 Accumulated Delay = 0 ; counter := ramp_rate movf ramp_rate,w movwf delay__counter ; Uniform delay remaining = 117 Accumulated Delay = 2 ; current_high := current_high + adjust_high movf adjust_high,w addwf current_high,f ; Uniform delay remaining = 115 Accumulated Delay = 4 ; current_low := current_low + adjust_low movf adjust_low,w addwf current_low,f ; Uniform delay remaining = 113 Accumulated Delay = 6 ; if { c } start ; expression=`{ c }' exp_delay=0 true_delay=1 false_delay=0 true_size=1 false_size=0 btfsc c__byte,c__bit ; if { c } body start ; Uniform delay remaining = 113 Accumulated Delay = 0 ; current_high := current_high + 1 incf current_high,f ; Uniform delay remaining = 112 Accumulated Delay = 1 ; Uniform delay remaining = 112 Accumulated Delay = 1 ; if { c } body end ; if exp=`c' false skip delay=2 ; Other expression=`{ c }' delay=2 ; if { c } end ; Uniform delay remaining = 111 Accumulated Delay = 8 ; Uniform delay remaining = 111 Accumulated Delay = 8 ; if { z } body end ; if exp=`z' total delay=11 ; if exp=`z' generic label226__0end: ; Other expression=`{ z }' delay=11 ; if { z } end ; Uniform delay remaining = 108 Accumulated Delay = 26 ; Uniform delay remaining = 108 Accumulated Delay = 26 ; Soak up remaining 108 cycles ; Delay 108 cycles movlw 35 movwf delay__212byte1 delay__212delay0: decfsz delay__212byte1,f goto delay__212delay0 nop nop ; procedure delay end retlw 0 ; optimize 1 ; bank 1 ; Default register bank is now 1 ; procedure end_point_update start end_point_update: ; Procedure must be called with RP0, RP1, and IRP set to register bank 1 ; Procedure must be called with PCLATH set to code bank 0 end_point_update__variables__base equ global__variables__bank1+0 end_point_update__bytes__base equ end_point_update__variables__base+0 end_point_update__bits__base equ end_point_update__variables__base+1 end_point_update__total__bytes equ 2 end_point_update__268byte0 equ end_point_update__bytes__base+0 end_point_update__264byte0 equ end_point_update__bytes__base+0 end_point_update__269byte0 equ end_point_update__bytes__base+0 end_point_update__263byte0 equ end_point_update__bytes__base+0 ; arguments_none ; This procedure will figure out all of magic constants needed ; when the end - points are adjusted . end_point_update__direction equ end_point_update__bits__base+0 end_point_update__direction__byte equ end_point_update__bits__base+0 end_point_update__direction__bit equ 0 ; if { desired_high > current_high } start movf desired_high,w subwf current_high,w ; expression=`{ desired_high > current_high }' exp_delay=2 true_delay=1 false_delay=-1 true_size=1 false_size=14 btfss c___byte,c___bit goto label248__0true label248__0false: movf current_high,w subwf desired_high,w ; expression=`{ desired_high < current_high }' exp_delay=2 true_delay=1 false_delay=-1 true_size=1 false_size=8 btfss c___byte,c___bit goto label250__0true label250__0false: movf desired_low,w subwf current_low,w ; expression=`{ desired_low > current_low }' exp_delay=2 true_delay=0 false_delay=3 true_size=0 false_size=3 btfss c___byte,c___bit goto label252__0end movf desired_low,w subwf current_low,w ; expression=`{ desired_low > current_low }' exp_delay=2 true_delay=1 false_delay=0 true_size=1 false_size=0 btfss c___byte,c___bit ; else_if { desired_low > current_low } body start ; direction := 1 ; 1 instructions found for sharing ; if exp=` desired_low > current_low ' false skip delay=4 ; Other expression=`{ desired_low > current_low }' delay=4 label252__0end: ; if exp=` desired_low > current_low ' empty true ; Other expression=`{ desired_low > current_low }' delay=-1 ; 1 shared instructions follow bsf end_point_update__direction__byte,end_point_update__direction__bit goto label250__0end label250__0true: ; else_if { desired_high < current_high } body start ; direction := 0 bcf end_point_update__direction__byte,end_point_update__direction__bit ; else_if { desired_high < current_high } body end ; if exp=` desired_high < current_high ' generic label250__0end: ; Other expression=`{ desired_high < current_high }' delay=-1 goto label248__0end label248__0true: ; if { desired_high > current_high } body start ; direction := 1 bsf end_point_update__direction__byte,end_point_update__direction__bit ; if { desired_high > current_high } body end ; if exp=` desired_high > current_high ' generic label248__0end: ; Other expression=`{ desired_high > current_high }' delay=-1 ; if { desired_high > current_high } end ; if { direction } start ; expression=`{ direction }' exp_delay=0 true_delay=12 false_delay=13 true_size=12 false_size=13 btfss end_point_update__direction__byte,end_point_update__direction__bit goto label260__0false label260__0true: ; if { direction } body start ; adjust_high := 0 clrf adjust_high ; adjust_low := 1 movlw 1 movwf adjust_low ; middle_high := desired_high - current_high movf desired_high,w movwf end_point_update__263byte0 movf current_high,w subwf end_point_update__263byte0,w movwf middle_high ; middle_low := desired_low - current_low movf desired_low,w movwf end_point_update__264byte0 movf current_low,w subwf end_point_update__264byte0,w ; 1 instructions found for sharing goto label260__0end label260__0false: ; else body start ; adjust_high := 0xff movlw 255 movwf adjust_high ; adjust_low := adjust_high movwf adjust_low ; middle_high := current_high - desired_high movf current_high,w movwf end_point_update__268byte0 movf desired_high,w subwf end_point_update__268byte0,w movwf middle_high ; middle_low := current_low - desired_low movf current_low,w movwf end_point_update__269byte0 movf desired_low,w subwf end_point_update__269byte0,w ; 1 instructions found for sharing ; if exp=`direction' generic label260__0end: ; Other expression=`{ direction }' delay=-1 ; 1 shared instructions follow movwf middle_low ; if { direction } end ; if { ! c } start ; expression=`c' exp_delay=0 true_delay=0 false_delay=1 true_size=0 false_size=1 btfss c__byte,c__bit ; if { ! c } body start ; middle_high := middle_high + 1 incf middle_high,f ; if { ! c } body end ; if exp=`c' true skip delay=2 ; Other expression=`c' delay=2 ; if { ! c } end ; Divide middle by 2 : ; inline assembly statements begin bcf c___byte,c___bit rrf middle_high,f rrf middle_low,f ; inline assembly statements end ; procedure end_point_update end retlw 0 ; procedure reset start reset: ; Procedure must be called with RP0, RP1, and IRP set to register bank 1 ; Procedure must be called with PCLATH set to code bank 0 reset__variables__base equ global__variables__bank1+2 reset__bytes__base equ reset__variables__base+0 reset__bits__base equ reset__variables__base+0 reset__total__bytes equ 0 ; arguments_none ; current_low := 0 clrf current_low ; current_high := 0 clrf current_high ; desired_low := 0 clrf desired_low ; desired_high := 0 clrf desired_high ; slow_rate := 255 movlw 255 movwf slow_rate ; fast_rate := 255 movlw 255 ; Switch from register bank 1 to register bank 0 (which contains fast_rate) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf fast_rate ; ramp_rate := 1 movlw 1 movwf ramp_rate ; ramp_amount := 1 movlw 1 movwf ramp_amount ; complement := 0 clrf complement ; wave_table := 0 clrf wave_table ; interrupt_pending := 0 bcf interrupt_pending__byte,interrupt_pending__bit ; interrupt_enable := 0 bcf interrupt_enable__byte,interrupt_enable__bit ; procedure reset end ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 retlw 0 ; comment {The main procedure is loaded with switch statements . On the 12 - bit} ; comment {PIC ' s , switch statements have to live in the first 256 bytes of} ; comment {each code bank . For this reason , we shove main into code bank 1 .} ; comment {If we , try to put main in code bank 0 , it pushes the first bytes} ; comment {of several other routines out of the first 256 bytes , which is also} ; comment {a no - no of the 12 - bit PIC ' s .} ; origin 0x200 org 512 ; bank 1 ; Default register bank is now 1 ; procedure main start switch__353block_start: addwf pcl___register,f goto switch__353block354 goto switch__353block359 goto switch__353block364 goto switch__353block369 goto switch__353block374 goto switch__353block378 goto switch__353block382 goto switch__353block386 switch__353block_end: ; switch_check 353 switch__353block_start switch__353block_end switch__394block_start: addwf pcl___register,f goto switch__394block395 goto switch__394block399 goto switch__394block403 goto switch__394block407 goto switch__394block411 goto switch__394block415 goto switch__394block419 goto switch__394block423 switch__394block_end: ; switch_check 394 switch__394block_start switch__394block_end switch__440block_start: addwf pcl___register,f goto switch__440block441 goto switch__440block446 goto switch__440block451 goto switch__440block451 switch__440block_end: ; switch_check 440 switch__440block_start switch__440block_end switch__436block_start: addwf pcl___register,f goto switch__436block437 goto switch__436block437 goto switch__436block437 goto switch__436block437 goto switch__436block458 goto switch__436block458 goto switch__436block462 goto switch__436block470 switch__436block_end: ; switch_check 436 switch__436block_start switch__436block_end switch__478block_start: addwf pcl___register,f goto switch__478block479 goto switch__478block486 goto switch__478block493 goto switch__478block498 goto switch__478block503 goto switch__478block507 goto switch__478block511 goto switch__478block515 switch__478block_end: ; switch_check 478 switch__478block_start switch__478block_end switch__349block_start: addwf pcl___register,f goto switch__349block350 goto switch__349block392 goto switch__349block430 goto switch__349block430 goto switch__349block434 goto switch__349block476 goto switch__349default525 goto switch__349default525 switch__349block_end: ; switch_check 349 switch__349block_start switch__349block_end switch__535block_start: addwf pcl___register,f goto switch__535block536 goto switch__535block536 goto switch__535block536 goto switch__535block536 goto switch__535block536 goto switch__535block536 goto switch__535block536 goto switch__535block540 switch__535block_end: ; switch_check 535 switch__535block_start switch__535block_end switch__556block_start: addwf pcl___register,f goto switch__556block557 goto switch__556block557 goto switch__556block562 goto switch__556block566 switch__556block_end: ; switch_check 556 switch__556block_start switch__556block_end switch__574block_start: addwf pcl___register,f goto switch__574block575 goto switch__574block579 goto switch__574block583 goto switch__574block587 goto switch__574block591 goto switch__574block599 goto switch__574block603 goto switch__574block608 switch__574block_end: ; switch_check 574 switch__574block_start switch__574block_end switch__532block_start: addwf pcl___register,f goto switch__532end goto switch__532end goto switch__532end goto switch__532end goto switch__532end goto switch__532block533 goto switch__532block554 goto switch__532block572 switch__532block_end: ; switch_check 532 switch__532block_start switch__532block_end switch__329block_start: addwf pcl___register,f goto switch__329block330 goto switch__329block347 goto switch__329end goto switch__329block530 switch__329block_end: ; switch_check 329 switch__329block_start switch__329block_end main: ; Procedure must be called with RP0, RP1, and IRP set to register bank 1 ; Procedure must be called with PCLATH set to code bank 0 main__variables__base equ global__variables__bank1+2 main__bytes__base equ main__variables__base+0 main__bits__base equ main__variables__base+5 main__total__bytes equ 5 main__532byte0 equ main__bytes__base+4 main__432byte1 equ main__bytes__base+4 main__329byte0 equ main__bytes__base+4 main__505byte1 equ main__bytes__base+4 main__349byte0 equ main__bytes__base+4 ; arguments_none main__command equ main__bytes__base+0 main__temp equ main__bytes__base+1 main__glitch equ main__bytes__base+2 main__index equ main__bytes__base+3 ; call reset {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call reset ; glitch := 0 clrf main__glitch ; index := 0 clrf main__index ; Loop around waiting for a command : ; loop_forever ... start ; Switch from code bank 0 to code bank 1 before possible transfer (label) bsf pa0___byte,pa0___bit main__324loop__forever: ; Wait for a command byte : ; command := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call get_byte movf get_byte__0return__byte,w ; Switch from register bank 0 to register bank 1 (which contains main__command) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__command ; Dispatch on the command : ; switch { command >> 6 } swapf main__command,w movwf main__329byte0 rrf main__329byte0,f rrf main__329byte0,w andlw 3 ; case 0 ; case 1 ; case 3 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__329block_start switch__329block330: ; Command = 01 xx xxxx : ; if { command @ 5 } start ; Alias variable for select command @ 5 main__command__332select0 equ main__command+0 main__command__332select0__byte equ main__command+0 main__command__332select0__bit equ 5 ; expression=`{ command @ 5 }' exp_delay=0 true_delay=4 false_delay=3 true_size=4 false_size=3 btfsc main__command__332select0__byte,main__command__332select0__bit goto label332__1true label332__1false: ; else body start ; Increment Desired < Command = 000 i iiii > : ; desired_low := desired_low + 1 incf desired_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 ; desired_high := desired_high + 1 incf desired_high,f ; if { z } body end ; if exp=`z' false skip delay=2 ; Other expression=`{ z }' delay=2 ; if { z } end ; else body end goto label332__1end label332__1true: ; if { command @ 5 } body start ; Decrement Desired < Command = 001 d dddd > : ; desired_low := desired_low - 1 decf desired_low,f ; if { desired_low = 0xff } start incf desired_low,w ; expression=`{ desired_low = 0xff }' exp_delay=1 true_delay=1 false_delay=0 true_size=1 false_size=0 btfsc z___byte,z___bit ; if { desired_low = 0xff } body start ; desired_high := desired_high - 1 decf desired_high,f ; if { desired_low = 0xff } body end ; if exp=` desired_low = 0xff ' false skip delay=3 ; Other expression=`{ desired_low = 0xff }' delay=3 ; if { desired_low = 0xff } end ; if { command @ 5 } body end ; if exp=` command @ 5 ' generic label332__1end: ; Other expression=`{ command @ 5 }' delay=-1 ; if { command @ 5 } end ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__329end switch__329block347: ; Command = 01 xx xxxx : ; switch { {{ command >> 3 }} & 7 } rrf main__command,w movwf main__349byte0 rrf main__349byte0,f rrf main__349byte0,w andlw 7 ; case 0 ; case 1 ; case 2 3 ; case 4 ; case 5 goto switch__349block_start switch__349block350: ; Command = 0100 0 xxx : ; temp := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call get_byte movf get_byte__0return__byte,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 ; case 1 ; case 2 ; case 3 ; case 4 ; case 5 ; case 6 ; case 7 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__353block_start switch__353block354: ; Set Desired High < Command = 0100 0000 > : ; desired_high := temp movf main__temp,w movwf desired_high ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__353end switch__353block359: ; Set Desired Low < Command = 0100 0001 > : ; desired_low := temp movf main__temp,w movwf desired_low ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__353end switch__353block364: ; Set Current High < Command = 0100 0010 > : ; current_high := temp movf main__temp,w movwf current_high ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__353end switch__353block369: ; Set Current Low < Command = 0100 0011 > : ; current_low := temp movf main__temp,w movwf current_low ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__353end switch__353block374: ; Set Slow Rate < Command = 0100 0100 > : ; slow_rate := temp movf main__temp,w movwf slow_rate goto switch__353end switch__353block378: ; Set Fast Rate < Command = 0100 0101 > : ; fast_rate := temp movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains fast_rate) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf fast_rate ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__353end switch__353block382: ; Set Ramp Rate < Command = 0100 0110 > : ; ramp_rate := temp movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains ramp_rate) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf ramp_rate ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__353end switch__353block386: ; Set Ramp Amount < Command = 0100 0111 > : ; ramp_amount := temp movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains ramp_amount) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf ramp_amount ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 switch__353end: goto switch__349end switch__349block392: ; Command = 0100 1 xxx : ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 ; case 1 ; case 2 ; case 3 ; case 4 ; case 5 ; case 6 ; case 7 goto switch__394block_start switch__394block395: ; Read Desired High < Command = 0100 1000 > : ; temp := desired_high movf desired_high,w movwf main__temp goto switch__394end switch__394block399: ; Read Desired Low < Command = 0100 1001 > : ; temp := desired_low movf desired_low,w movwf main__temp goto switch__394end switch__394block403: ; Read Current High < Command = 0100 1010 > : ; temp := current_high movf current_high,w movwf main__temp goto switch__394end switch__394block407: ; Read Current Low < Command = 0100 1011 > : ; temp := current_low movf current_low,w movwf main__temp goto switch__394end switch__394block411: ; Read Slow Rate < Command = 0100 1100 > : ; temp := slow_rate movf slow_rate,w movwf main__temp goto switch__394end switch__394block415: ; Read Fast Rate < Command = 0100 1101 > : ; temp := fast_rate ; Switch from register bank 1 to register bank 0 (which contains fast_rate) bcf rp0___byte,rp0___bit ; Register bank is now 0 movf fast_rate,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp goto switch__394end switch__394block419: ; Read Ramp Rate < Command = 0100 1110 > : ; temp := ramp_rate ; Switch from register bank 1 to register bank 0 (which contains ramp_rate) bcf rp0___byte,rp0___bit ; Register bank is now 0 movf ramp_rate,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp goto switch__394end switch__394block423: ; Read Ramp Amount < Command = 0100 1111 > : ; temp := ramp_amount ; Switch from register bank 1 to register bank 0 (which contains ramp_amount) bcf rp0___byte,rp0___bit ; Register bank is now 0 movf ramp_amount,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp switch__394end: ; call send_byte {{ temp }} movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__349end switch__349block430: ; Set Complement Mask < Command = 0101 cccc > : ; complement := {{ command << 1 }} & 0x10 | command & 7 bcf c___byte,c___bit rlf main__command,w andlw 16 movwf main__432byte1 movlw 7 andwf main__command,w iorwf main__432byte1,w ; Switch from register bank 1 to register bank 0 (which contains complement) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf complement ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__349end switch__349block434: ; Command = 0110 0 xxx : ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 1 2 3 ; case 4 5 ; case 6 ; case 7 goto switch__436block_start switch__436block437: ; Set Wave Table < Command = 0110 00 ww > : ; wave_table := command & 3 movlw 3 andwf main__command,w ; Switch from register bank 1 to register bank 0 (which contains wave_table) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf wave_table ; switch { wave_table } ; case 0 ; case 1 ; case 2 3 ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__440block_start switch__440block441: ; Wave Drive : ; wave_mask := 3 movlw 3 ; Switch from register bank 1 to register bank 0 (which contains wave_mask) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf wave_mask ; wave_offset := 0 clrf wave_offset ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__440end switch__440block446: ; Two Phase : ; wave_mask := 3 movlw 3 ; Switch from register bank 1 to register bank 0 (which contains wave_mask) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf wave_mask ; wave_offset := 4 movlw 4 movwf wave_offset ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 goto switch__440end switch__440block451: ; Two Phase : ; wave_mask := 7 movlw 7 ; Switch from register bank 1 to register bank 0 (which contains wave_mask) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf wave_mask ; wave_offset := 8 movlw 8 movwf wave_offset ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 switch__440end: goto switch__436end switch__436block458: ; Set Power Down Bit < Command = 0110 010 p > : ; power_down := command @ 0 ; Alias variable for select command @ 0 main__command__460select0 equ main__command+0 main__command__460select0__byte equ main__command+0 main__command__460select0__bit equ 0 bcf power_down__byte,power_down__bit btfsc main__command__460select0__byte,main__command__460select0__bit bsf power_down__byte,power_down__bit goto switch__436end switch__436block462: ; Read Power Down Bit < Command = 0110 0110 > : ; temp := 0 clrf main__temp ; if { power_down } start ; expression=`{ power_down }' exp_delay=0 true_delay=1 false_delay=0 true_size=1 false_size=0 btfsc power_down__byte,power_down__bit ; if { power_down } body start ; temp := temp + 1 incf main__temp,f ; if { power_down } body end ; if exp=`power_down' false skip delay=2 ; Other expression=`{ power_down }' delay=2 ; if { power_down } end ; call send_byte {{ temp }} movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__436end switch__436block470: ; Read Wave Table < Command = 0110 0111 > : ; call send_byte {{ wave_table }} ; Switch from register bank 1 to register bank 0 (which contains wave_table) bcf rp0___byte,rp0___bit ; Register bank is now 0 movf wave_table,w movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit switch__436end: goto switch__349end switch__349block476: ; Command = 0110 1 xxx : ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 ; case 1 ; case 2 ; case 3 ; case 4 ; case 5 ; case 6 ; case 7 goto switch__478block_start switch__478block479: ; Set Desired < Command = 0110 1000 > : ; temp := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call get_byte movf get_byte__0return__byte,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp ; desired_low := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 call get_byte movf get_byte__0return__byte,w movwf desired_low ; desired_high := temp ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movf main__temp,w movwf desired_high ; call end_point_update {{ }} call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block486: ; Set Current < Command = 0110 1001 > : ; temp := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call get_byte movf get_byte__0return__byte,w ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__temp ; current_low := get_byte {{ }} ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 call get_byte movf get_byte__0return__byte,w movwf current_low ; current_high := temp ; Switch from register bank 0 to register bank 1 (which contains main__temp) bsf rp0___byte,rp0___bit ; Register bank is now 1 movf main__temp,w movwf current_high ; call end_point_update {{ }} call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block493: ; Read Desired < Command = 0110 1010 > : ; call send_byte {{ desired_low }} movf desired_low,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; call send_byte {{ desired_high }} movf desired_high,w movwf send_byte__char call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block498: ; Read Current < Command = 0110 1011 > : ; call send_byte {{ current_low }} movf current_low,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; call send_byte {{ current_high }} movf current_high,w movwf send_byte__char call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block503: ; Read Complement Mask < Command = 0110 1100 > : ; call send_byte {{ {{ complement >> 1 }} & 8 | complement & 7 }} bcf c___byte,c___bit ; Switch from register bank 1 to register bank 0 (which contains complement) bcf rp0___byte,rp0___bit ; Register bank is now 0 rrf complement,w andlw 8 ; Switch from register bank 0 to register bank 1 (which contains main__505byte1) bsf rp0___byte,rp0___bit ; Register bank is now 1 movwf main__505byte1 movlw 7 ; Switch from register bank 1 to register bank 0 (which contains complement) bcf rp0___byte,rp0___bit ; Register bank is now 0 andwf complement,w ; Switch from register bank 0 to register bank 1 (which contains main__505byte1) bsf rp0___byte,rp0___bit ; Register bank is now 1 iorwf main__505byte1,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block507: ; Reset < Command = 0110 1101 > : ; call reset {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call reset ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__478end switch__478block511: ; Stop < Command = 0110 1110 > : ; Code to quickly stop goes here : goto switch__478end switch__478block515: ; Clear < Command = 0110 1111 > : ; current_high := 0 clrf current_high ; current_low := 0 clrf current_low ; desired_high := 0 clrf desired_high ; desired_low := 0 clrf desired_low ; call end_point_update {{ }} ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call end_point_update ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit switch__478end: goto switch__349end switch__349default525: ; Do nothing : switch__349end: goto switch__329end switch__329block530: ; Command = 11 xx xxxx : ; switch { {{ command >> 3 }} & 7 } rrf main__command,w movwf main__532byte0 rrf main__532byte0,f rrf main__532byte0,w andlw 7 ; case 5 ; case 6 ; case 7 goto switch__532block_start switch__532block533: ; Command = 1110 1 xxx : ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 1 2 3 4 5 6 ; case 7 goto switch__535block_start switch__535block536: ; Command = 1110 10 xx , 1110 110 x , or 1110 1110 : ; Do nothing : goto switch__535end switch__535block540: ; Read Interrupt Bits < Command = 1110 1111 > : ; if { interrupt_enable } start ; expression=`{ interrupt_enable }' exp_delay=0 true_delay=2 false_delay=1 true_size=2 false_size=1 btfsc interrupt_enable__byte,interrupt_enable__bit goto label542__0true label542__0false: ; else body start ; temp := 0 clrf main__temp ; else body end goto label542__0end label542__0true: ; if { interrupt_enable } body start ; temp := 2 movlw 2 movwf main__temp ; if { interrupt_enable } body end ; if exp=`interrupt_enable' generic label542__0end: ; Other expression=`{ interrupt_enable }' delay=-1 ; if { interrupt_enable } end ; if { interrupt_pending } start ; expression=`{ interrupt_pending }' exp_delay=0 true_delay=1 false_delay=0 true_size=1 false_size=0 btfsc interrupt_pending__byte,interrupt_pending__bit ; if { interrupt_pending } body start ; temp := temp + 1 incf main__temp,f ; if { interrupt_pending } body end ; if exp=`interrupt_pending' false skip delay=2 ; Other expression=`{ interrupt_pending }' delay=2 ; if { interrupt_pending } end ; call send_byte {{ temp }} movf main__temp,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit switch__535end: goto switch__532end switch__532block554: ; Set Interrupt Bits < Command = 1111 0 xxx > : ; switch { {{ command >> 1 }} & 3 } bcf c___byte,c___bit rrf main__command,w andlw 3 ; case 0 1 ; case 2 ; case 3 goto switch__556block_start switch__556block557: ; Set Interrupt Bits < Command = 1111 00 ep > : ; interrupt_enable := command @ 1 ; Alias variable for select command @ 1 main__command__559select0 equ main__command+0 main__command__559select0__byte equ main__command+0 main__command__559select0__bit equ 1 bcf interrupt_enable__byte,interrupt_enable__bit btfsc main__command__559select0__byte,main__command__559select0__bit bsf interrupt_enable__byte,interrupt_enable__bit ; interrupt_pending := command @ 0 ; Alias variable for select command @ 0 main__command__560select0 equ main__command+0 main__command__560select0__byte equ main__command+0 main__command__560select0__bit equ 0 bcf interrupt_pending__byte,interrupt_pending__bit btfsc main__command__560select0__byte,main__command__560select0__bit bsf interrupt_pending__byte,interrupt_pending__bit goto switch__556end switch__556block562: ; Set Interrupt Pending < Command = 1111 010 p > : ; interrupt_pending := command @ 0 ; Alias variable for select command @ 0 main__command__564select0 equ main__command+0 main__command__564select0__byte equ main__command+0 main__command__564select0__bit equ 0 bcf interrupt_pending__byte,interrupt_pending__bit btfsc main__command__564select0__byte,main__command__564select0__bit bsf interrupt_pending__byte,interrupt_pending__bit goto switch__556end switch__556block566: ; Set Interrupt Enable < Command = 1111 010 e > : ; interrupt_enable := command @ 0 ; Alias variable for select command @ 0 main__command__568select0 equ main__command+0 main__command__568select0__byte equ main__command+0 main__command__568select0__bit equ 0 bcf interrupt_enable__byte,interrupt_enable__bit btfsc main__command__568select0__byte,main__command__568select0__bit bsf interrupt_enable__byte,interrupt_enable__bit switch__556end: goto switch__532end switch__532block572: ; Shared commands < Command = 1111 1 xxx > : ; switch { command & 7 } movlw 7 andwf main__command,w ; case 0 ; case 1 ; case 2 ; case 3 ; case 4 ; case 5 ; case 6 ; case 7 goto switch__574block_start switch__574block575: ; Clock Decrement < Command = 1111 1000 > : ; osccal := osccal - osccal_lsb movlw 240 addwf osccal,f goto switch__574end switch__574block579: ; Clock Increment < Command = 1111 1001 > : ; osccal := osccal + osccal_lsb movlw 16 addwf osccal,f goto switch__574end switch__574block583: ; Clock Read < Command = 1111 1010 > : ; call send_byte {{ osccal }} movf osccal,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__574end switch__574block587: ; Clock Pulse < Command = 1111 1011 > : ; call send_byte {{ 0 }} ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 clrf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; Switch from register bank 0 to register bank 1 bsf rp0___byte,rp0___bit ; Register bank is now 1 ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__574end switch__574block591: ; ID Next < Command = 1111 1100 > : ; call send_byte {{ id ~~ {{ index }} }} incf main__index,w ; Switch from register bank 1 to register bank 0 bcf rp0___byte,rp0___bit ; Register bank is now 0 ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call id movwf send_byte__char call send_byte ; index := index + 1 ; Switch from register bank 0 to register bank 1 (which contains main__index) bsf rp0___byte,rp0___bit ; Register bank is now 1 incf main__index,f ; if { index >= id . size } start movlw 50 subwf main__index,w ; expression=`{ index >= id . size }' exp_delay=2 true_delay=1 false_delay=0 true_size=1 false_size=0 ; Switch from code bank 0 to code bank 1 before possible transfer (btfsc) bsf pa0___byte,pa0___bit btfsc c___byte,c___bit ; if { index >= id . size } body start ; index := 0 clrf main__index ; if { index >= id . size } body end ; if exp=` index >= id . size ' false skip delay=4 ; Other expression=`{ index >= id . size }' delay=4 ; if { index >= id . size } end goto switch__574end switch__574block599: ; ID Reset < Command = 1111 1101 > : ; index := 0 clrf main__index goto switch__574end switch__574block603: ; Glitch Read < Command = 1111 1110 > : ; call send_byte {{ glitch }} movf main__glitch,w ; Switch from register bank 1 to register bank 0 (which contains send_byte__char) bcf rp0___byte,rp0___bit ; Register bank is now 0 movwf send_byte__char ; Switch from code bank 1 to code bank 0 before possible transfer (call) bcf pa0___byte,pa0___bit call send_byte ; glitch := 0 ; Switch from register bank 0 to register bank 1 (which contains main__glitch) bsf rp0___byte,rp0___bit ; Register bank is now 1 clrf main__glitch ; Switch from code bank 0 to code bank 1 before possible transfer (goto) bsf pa0___byte,pa0___bit goto switch__574end switch__574block608: ; Glitch < Command = 1111 1111 > : ; if { glitch != 0xff } start incf main__glitch,w ; expression=`{ glitch != 0xff }' exp_delay=1 true_delay=1 false_delay=0 true_size=1 false_size=0 btfss z___byte,z___bit ; if { glitch != 0xff } body start ; glitch := glitch + 1 incf main__glitch,f ; if { glitch != 0xff } body end ; if exp=` glitch != 0xff ' false skip delay=3 ; Other expression=`{ glitch != 0xff }' delay=3 ; if { glitch != 0xff } end switch__574end: switch__532end: switch__329end: goto main__324loop__forever ; loop_forever ... end ; procedure main end ; Register bank 0 used 25 bytes of 25 available bytes ; Register bank 1 used 7 bytes of 16 available bytes end