?? picservo.lst
字號:
00495
00496 ; Offset Part of the Pulse
005A 0800 00497 MOVF INDF, w ; (1) Load the offset count
005B 3E01 00498 ADDLW 1 ; (1) Incremnt the count - 255->0, 0->1 because
of
00499 ; calling convention of DelayWByFour
005C 204F 00500 CALL DelayWByFour ; (8+) Delay
00501
00502 ; Position Part of the Pulse
005D 0A84 00503 INCF FSR, f ; (1) Access the next value which is the
00504 ; position loop count
MPASM 4.02 Released PICSERVO.ASM 12-31-2006 11:50:00 PAGE 11
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
00505
005E 0800 00506 MOVF INDF, w ; (1) Load the variable loop count
005F 3E01 00507 ADDLW 1 ; (1) Incremnt the count - 255->0, 0->1 because
of
00508 ; calling convention of DelayWByFour
0060 204F 00509 CALL DelayWByFour ; (8+) Delay
00510
00511
00512 ; Turn off the output bit to end the pulse
0061 0829 00513 MOVF CurrentServoMask, w ; (1) Get the mask
0062 0686 00514 XORWF PORTB, f ; (1) Turn of the pulse
00515
00516 ; and return from the call.
0063 0008 00517 RETURN
00518
00519
00520 ;+-----------------------------------------------------------------------------
00521 ;| SUBROUTINE: DisableInterrupts
00522 ;|
00523 ;| Disable interrupts. This is not just as simple as BCF GIE because of the way
00524 ;| that interrupts are triggered it is possible for an interrupt to occur
00525 ;| during the execution of the BCF GIE instruction which causes the PIC to start
00526 ;| the interrupt handler which then returns with RETFIE which sets the GIE flag
00527 ;| again!
00528 ;+-----------------------------------------------------------------------------
0064 00529 DisableInterrupts
0064 138B 00530 BCF INTCON, GIE ; disable the interrupt
0065 1B8B 00531 BTFSC INTCON, GIE ; check if GIE is still disabled
0066 2864 00532 GOTO DisableInterrupts ; it isn't, so try again
0067 0008 00533 RETURN
00534
00535
00536 ;+-----------------------------------------------------------------------------
00537 ;| Main Program, Setup and Constantly Loop
00538 ;+-----------------------------------------------------------------------------
0068 00539 Main
0068 1283 00540 BCF STATUS, RP0 ; Set the lower RAM bank as the default.
0069 2064 00541 CALL DisableInterrupts ; disable interrupts until were setup
00542
00543
00544 ; Setup the PIC's ports, PortB is all outputs, PortA is the Serial interface
006A 0185 00545 CLRF PORTA ; Clear the port outputs
006B 0186 00546 CLRF PORTB
00547
006C 1683 00548 BSF STATUS, RP0 ; Set the Upper RAM bank while we init t
he ports
006D 300A 00549 MOVLW 0Ah ; All outputs except RA3 and RA1
Message[302]: Register in operand not in bank 0. Ensure that bank bits are correct.
006E 0085 00550 MOVWF TRISA ; Set the port directional flags
00551
006F 3000 00552 MOVLW 00h ; Port B All outputs
Message[302]: Register in operand not in bank 0. Ensure that bank bits are correct.
0070 0086 00553 MOVWF TRISB ; Set the port directional flags
MPASM 4.02 Released PICSERVO.ASM 12-31-2006 11:50:00 PAGE 12
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
00554
0071 1283 00555 BCF STATUS, RP0 ; Set the lower RAM bank as the default.
00556
00557 ; Turn off the LED
0072 1605 00558 BSF LED_Drive
00559
00560 ; initialise the serial port
0073 2143 00561 CALL InitSerialPort
00562
00563 ; Transmit the power on welcome message (interrupts already disabled)
0074 01AA 00564 CLRF DataByte
0075 00565 PwrOnMsgLoop
0075 082A 00566 MOVF DataByte, w
0076 200F 00567 CALL GetPWROnMsg
0077 39FF 00568 ANDLW 0ffh ; check for end of message
0078 1903 00569 BTFSC STATUS, Z
0079 287D 00570 GOTO EndPwrOnMsgLoop ; was 0, exit
007A 214D 00571 CALL TransmitDataByte
007B 0AAA 00572 INCF DataByte, f
007C 2875 00573 GOTO PwrOnMsgLoop
007D 00574 EndPwrOnMsgLoop
00575
00576 ; Initialise the Servo values to resonable defaults and set their
00577 ; mask values
007D 3001 00578 MOVLW 01h
007E 008C 00579 MOVWF Servo0_Mask
007F 3002 00580 MOVLW 02h
0080 008F 00581 MOVWF Servo1_Mask
0081 3004 00582 MOVLW 04h
0082 0092 00583 MOVWF Servo2_Mask
0083 3008 00584 MOVLW 08h
0084 0095 00585 MOVWF Servo3_Mask
0085 3010 00586 MOVLW 10h
0086 0098 00587 MOVWF Servo4_Mask
0087 3020 00588 MOVLW 20h
0088 009B 00589 MOVWF Servo5_Mask
0089 3040 00590 MOVLW 40h
008A 009E 00591 MOVWF Servo6_Mask
008B 3080 00592 MOVLW 80h
008C 00A1 00593 MOVWF Servo7_Mask
008D 01A6 00594 CLRF Flags ; initialise all flags
008E 20D8 00595 CALL ResetState ; initialise all outputs and state
00596
00597 ; Setup the Real time counter so it runs on the instruction
00598 ; clock and triggers and interrupt every 20ms or so. This
00599 ; then calls the interrupt routine which serives all the servo
00600 ; outputs. This is then enabled or disabled by the main loop when
00601 ; it is bit banging the serial input.
00602
00603 ; Assign the prescaler to the timer and to 1:128 scale. This
00604 ; also enables the PORTB pullups.
008F 1683 00605 BSF STATUS, RP0 ; Set the Upper RAM bank while we init t
he ports
MPASM 4.02 Released PICSERVO.ASM 12-31-2006 11:50:00 PAGE 13
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
0090 3086 00606 MOVLW 86h ; binary: 0000 0110
Message[302]: Register in operand not in bank 0. Ensure that bank bits are correct.
0091 0081 00607 MOVWF OPTION_REG ; Set the OPTION register
0092 1283 00608 BCF STATUS, RP0 ; Set the lower RAM bank as the default.
00609
00610 ; Setup the RTCC for the 19ms interrupts
0093 306B 00611 MOVLW RTCC_19msValue
0094 0081 00612 MOVWF TMR0
0095 110B 00613 BCF INTCON, T0IF
00614
00615 ; Enable the Timer 0 Interrupt and disable all others
0096 018B 00616 CLRF INTCON ; mask out all interrupts
0097 168B 00617 BSF INTCON, T0IE ; unmask the timer interrupt
00618
00619 ; Enable interrupts
0098 178B 00620 BSF INTCON, GIE
00621
00622 ; Set the CTS signal active so the host can send us data
0099 1105 00623 BCF Serial_CTS
00624
00625 ; Wait for the start bit (a high to low transition on Serial_RX)
00626 ; or for the servo pulse safe flag to be activated.
009A 00627 StartBitLoop
009A 1D85 00628 BTFSS Serial_RX
009B 289F 00629 GOTO StartReceiveData
00630
00631 ; Test for servo pulse safe flag. If set, start the servo pulses, otherwise
00632 ; go back and test for a start bit again.
009C 1D26 00633 BTFSS Flag_ServoPulseSafe
009D 289A 00634 GOTO StartBitLoop
009E 28AB 00635 GOTO ProcessServos
00636
009F 00637 StartReceiveData
00638 ; possible start bit, receive a byte
009F 2064 00639 CALL DisableInterrupts
00A0 2167 00640 CALL ReceiveDataByte
00A1 00AA 00641 MOVWF DataByte
00A2 178B 00642 BSF INTCON, GIE
00643
00644 ; check if it is valid. If it is send it straight back
00A3 1C26 00645 BTFSS Serial_ReceiveValid
00A4 289A 00646 GOTO StartBitLoop ; invalid, continue looking for a start bit
00647
00648 ; light the LED
00A5 300A 00649 MOVLW LED_Drive_Time
00A6 00A8 00650 MOVWF LED_Drive_Count
00A7 1205 00651 BCF LED_Drive
00652
00A8 082A 00653 MOVF DataByte, w
00A9 20F7 00654 CALL ParseCommand
00655
00AA 289A 00656 GOTO StartBitLoop
00657
MPASM 4.02 Released PICSERVO.ASM 12-31-2006 11:50:00 PAGE 14
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
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