list p=16f628A #include ERRORLEVEL -302 ; disable warning (Bankswitching) __CONFIG _CP_OFF & _DATA_CP_OFF & _LVP_OFF & _BOREN_OFF & _MCLRE_ON & _WDT_OFF & _PWRTE_ON & _XT_OSC ORG 0000 movlw 0x07 movwf CMCON goto __main ORG 0004 ORG 0004 __interrupt: ; 0004 __main: ; 0004 ; var H'00C:000' transfer_bit ; var H'00D:000' transfer_byte ;; 043 : var volatile byte port_b at 6 ; var H'006:000' port_b ;; 093 : var volatile bit pin_b0 at port_b : 0 ; var H'006:000' pin_b0 ;; 094 : var volatile bit pin_b1 at port_b : 1 ; var H'006:001' pin_b1 ;; 095 : var volatile bit pin_b2 at port_b : 2 ; var H'006:002' pin_b2 ;; 096 : var volatile bit pin_b3 at port_b : 3 ; var H'006:003' pin_b3 ;; 097 : var volatile bit pin_b4 at port_b : 4 ; var H'006:004' pin_b4 ;; 098 : var volatile bit pin_b5 at port_b : 5 ; var H'006:005' pin_b5 ;; 099 : var volatile bit pin_b6 at port_b : 6 ; var H'006:006' pin_b6 ;; 100 : var volatile bit pin_b7 at port_b : 7 ; var H'006:007' pin_b7 ;; 276 : var byte trisa ; var H'00E:000' trisa ;; 277 : var byte trisb ; var H'00F:000' trisb ;; 284 : trisa = all_input movlw H'FF' movwf H'2E' ;; 286 : trisb = all_input movlw H'FF' movwf H'2F' ;; 580 : var byte _port_a_buffer ; var H'010:000' _port_a_buffer ;; 581 : var byte _port_b_buffer ; var H'011:000' _port_b_buffer ;; 022 : port_a_direction = all_output movlw H'00' call _2894__vector ;; 023 : pin_b0_direction = output bcf H'2F',0 call _3343__vector ;; 024 : pin_b1_direction = output bcf H'2F',1 call _3372__vector ;; 025 : pin_b2_direction = output bcf H'2F',2 call _3401__vector ;; 026 : pin_b3_direction = output bcf H'2F',3 call _3430__vector ;; 027 : pin_b4_direction = output bcf H'2F',4 call _3459__vector ;; 028 : pin_b5_direction = input bsf H'2F',5 call _3488__vector ;; 029 : pin_b6_direction = input bsf H'2F',6 call _3517__vector ;; 030 : pin_b7_direction = input bsf H'2F',7 call _3546__vector ;; 137 : var byte steps = 0b_01101 -- StepTab[0] := 13; { binary 01101 } ; var H'012:000' steps movlw H'2D' movwf H'32' ;; 138 : var bit state_prev = high -- Step pulse logic-hi ; var H'00C:001' state_prev bsf H'2C',1 ;; 140 : forever loop w_8227_ag: ; 001D ;; 143 : if pin_b7 then btfss H'06',7 goto if_8096_by if_8096_th: ; 001F ;; 144 : run_stepper(0b_00000) -- Stepper motor Disable (cutt off power) movlw H'00' call _7679__vector ;; 145 : pin_a0 = pin_b0 bcf H'30',0 btfsc H'06',0 ass_8393_t: ; 0023 bsf H'30',0 ass_8393_f: ; 0024 call _5910__vector ;; 146 : pin_a1 = pin_b1 bcf H'30',1 btfsc H'06',1 ass_8399_t: ; 0027 bsf H'30',1 ass_8399_f: ; 0028 call _5939__vector ;; 147 : pin_a2 = pin_b2 bcf H'30',2 btfsc H'06',2 ass_8405_t: ; 002B bsf H'30',2 ass_8405_f: ; 002C call _5968__vector ;; 148 : pin_a3 = pin_b3 bcf H'30',3 btfsc H'06',3 ass_8411_t: ; 002F bsf H'30',3 ass_8411_f: ; 0030 call _5997__vector ;; 149 : pin_a4 = pin_b4 bcf H'30',4 btfsc H'06',4 ass_8417_t: ; 0033 bsf H'30',4 ass_8417_f: ; 0034 call _6026__vector if_8096_by: ; 0035 ;; 151 : if ! pin_b7 then -- Stepper Enable (lo-logic) btfsc H'06',7 goto if_8133_by if_8133_th: ; 0037 ;; 152 : if (! pin_b5) & state_prev then -- Step pulse detect (lo-logic) btfsc H'06',5 goto if_8137_by e_8140: ; 0039 btfss H'2C',1 goto if_8137_by if_8137_th: ; 003B ;; 153 : state_prev = low bcf H'2C',1 ;; 154 : if pin_b6 then -- Direction forward (hi-logic) btfss H'06',6 goto if_8148_by if_8148_th: ; 003E ;; 155 : stepper_motor_forward( steps ) movf H'32',w call _7702__vector movf H'33',w movwf H'32' if_8148_by: ; 0042 ;; 157 : if ! pin_b6 then -- Direction backward (lo-logic) btfsc H'06',6 goto if_8166_by if_8166_th: ; 0044 ;; 158 : stepper_motor_backward( steps ) movf H'32',w call _7889__vector movf H'33',w movwf H'32' if_8166_by: ; 0048 ;; 160 : run_stepper( steps ) movf H'32',w call _7679__vector ;; 164 : pin_a0 = pin_b0 bcf H'30',0 btfsc H'06',0 ass_8423_t: ; 004C bsf H'30',0 ass_8423_f: ; 004D call _5910__vector ;; 165 : pin_a1 = pin_b1 bcf H'30',1 btfsc H'06',1 ass_8429_t: ; 0050 bsf H'30',1 ass_8429_f: ; 0051 call _5939__vector ;; 166 : pin_a2 = pin_b2 bcf H'30',2 btfsc H'06',2 ass_8435_t: ; 0054 bsf H'30',2 ass_8435_f: ; 0055 call _5968__vector ;; 167 : pin_a3 = pin_b3 bcf H'30',3 btfsc H'06',3 ass_8441_t: ; 0058 bsf H'30',3 ass_8441_f: ; 0059 call _5997__vector ;; 168 : pin_a4 = pin_b4 bcf H'30',4 btfsc H'06',4 ass_8447_t: ; 005C bsf H'30',4 ass_8447_f: ; 005D call _6026__vector if_8137_by: ; 005E ;; 170 : if pin_b5 then state_prev = high -- Clear step pulse (1 cycle pulse) btfsc H'06',5 if_8217_th: ; 005F bsf H'2C',1 if_8217_by: ; 0060 if_8133_by: ; 0060 goto w_8227_ag ;; 003 : idle_loop: page goto idle_loop as_8230_idle_loop: ; 0061 goto as_8230_idle_loop _7889__vector: ; 0062 ;; 091 : procedure stepper_motor_backward( byte in out x ) is ; var H'013:000' x p_7889_stepper_motor_backward: ; 0062 movwf H'33' ;; 092 : x = x & 0b_11111 movlw H'3F' andwf H'33',f ;; 093 : if x == 0b_00101 then -- StepTab[9] := 5; { binary 00101 } movf H'33',w sublw H'05' btfss H'03',2 goto if_7911_by if_7911_th: ; 0069 ;; 094 : x = 0b_10101 movlw H'35' movwf H'33' ;; 096 : end if goto e_7889_stepper_motor_backward if_7911_by: ; 006C ;; 097 : if x == 0b_10101 then -- StepTab[8] := 21; { binary 10101 } movf H'33',w sublw H'35' btfss H'03',2 goto if_7927_by if_7927_th: ; 0070 ;; 098 : x = 0b_10100 movlw H'34' movwf H'33' ;; 100 : end if goto e_7889_stepper_motor_backward if_7927_by: ; 0073 ;; 101 : if x == 0b_10100 then -- StepTab[7] := 20; { binary 10100 } movf H'33',w sublw H'34' btfss H'03',2 goto if_7943_by if_7943_th: ; 0077 ;; 102 : x = 0b_10110 movlw H'36' movwf H'33' ;; 104 : end if goto e_7889_stepper_motor_backward if_7943_by: ; 007A ;; 105 : if x == 0b_10110 then -- StepTab[6] := 22; { binary 10110 } movf H'33',w sublw H'36' btfss H'03',2 goto if_7959_by if_7959_th: ; 007E ;; 106 : x = 0b_10010 movlw H'32' movwf H'33' ;; 108 : end if goto e_7889_stepper_motor_backward if_7959_by: ; 0081 ;; 109 : if x == 0b_10010 then -- StepTab[5] := 18; { binary 10010 } movf H'33',w sublw H'32' btfss H'03',2 goto if_7975_by if_7975_th: ; 0085 ;; 110 : x = 0b_11010 movlw H'3A' movwf H'33' ;; 112 : end if goto e_7889_stepper_motor_backward if_7975_by: ; 0088 ;; 113 : if x == 0b_11010 then -- StepTab[4] := 26; { binary 11010 } movf H'33',w sublw H'3A' btfss H'03',2 goto if_7991_by if_7991_th: ; 008C ;; 114 : x = 0b_01010 movlw H'0A' movwf H'33' ;; 116 : end if goto e_7889_stepper_motor_backward if_7991_by: ; 008F ;; 117 : if x == 0b_01010 then -- StepTab[3] := 10; { binary 01010 } movf H'33',w sublw H'0A' btfss H'03',2 goto if_8007_by if_8007_th: ; 0093 ;; 118 : x = 0b_01011 movlw H'0B' movwf H'33' ;; 120 : end if goto e_7889_stepper_motor_backward if_8007_by: ; 0096 ;; 121 : if x == 0b_01011 then -- StepTab[2] := 11; { binary 01011 } movf H'33',w sublw H'0B' btfss H'03',2 goto if_8023_by if_8023_th: ; 009A ;; 122 : x = 0b_01001 movlw H'09' movwf H'33' ;; 124 : end if goto e_7889_stepper_motor_backward if_8023_by: ; 009D ;; 125 : if x == 0b_01001 then -- StepTab[1] := 9; { binary 01001 } movf H'33',w sublw H'09' btfss H'03',2 goto if_8039_by if_8039_th: ; 00A1 ;; 126 : x = 0b_01101 movlw H'2D' movwf H'33' ;; 128 : end if goto e_7889_stepper_motor_backward if_8039_by: ; 00A4 ;; 129 : if x == 0b_01101 then -- StepTab[0] := 13; { binary 01101 } movf H'33',w sublw H'2D' btfss H'03',2 goto if_8055_by if_8055_th: ; 00A8 ;; 130 : x = 0b_00101 -- StepTab[9] := 5; { binary 00101 } movlw H'05' movwf H'33' ;; 132 : end if goto e_7889_stepper_motor_backward if_8055_by: ; 00AB e_7889_stepper_motor_backward: ; 00AB return _7702__vector: ; 00AC ;; 047 : procedure stepper_motor_forward( byte in out x ) is ; var H'013:000' x p_7702_stepper_motor_forward: ; 00AC movwf H'33' ;; 048 : x = x & 0b_11111 movlw H'3F' andwf H'33',f ;; 049 : if x == 0b_01101 then -- StepTab[0] := 13; { binary 01101 } movf H'33',w sublw H'2D' btfss H'03',2 goto if_7724_by if_7724_th: ; 00B3 ;; 050 : x = 0b_01001 movlw H'09' movwf H'33' ;; 052 : end if goto e_7702_stepper_motor_forward if_7724_by: ; 00B6 ;; 053 : if x == 0b_01001 then -- StepTab[1] := 9; { binary 01001 } movf H'33',w sublw H'09' btfss H'03',2 goto if_7740_by if_7740_th: ; 00BA ;; 054 : x = 0b_01011 movlw H'0B' movwf H'33' ;; 056 : end if goto e_7702_stepper_motor_forward if_7740_by: ; 00BD ;; 057 : if x == 0b_01011 then -- StepTab[2] := 11; { binary 01011 } movf H'33',w sublw H'0B' btfss H'03',2 goto if_7756_by if_7756_th: ; 00C1 ;; 058 : x = 0b_01010 movlw H'0A' movwf H'33' ;; 060 : end if goto e_7702_stepper_motor_forward if_7756_by: ; 00C4 ;; 061 : if x == 0b_01010 then -- StepTab[3] := 10; { binary 01010 } movf H'33',w sublw H'0A' btfss H'03',2 goto if_7772_by if_7772_th: ; 00C8 ;; 062 : x = 0b_11010 movlw H'3A' movwf H'33' ;; 064 : end if goto e_7702_stepper_motor_forward if_7772_by: ; 00CB ;; 065 : if x == 0b_11010 then -- StepTab[4] := 26; { binary 11010 } movf H'33',w sublw H'3A' btfss H'03',2 goto if_7788_by if_7788_th: ; 00CF ;; 066 : x = 0b_10010 movlw H'32' movwf H'33' ;; 068 : end if goto e_7702_stepper_motor_forward if_7788_by: ; 00D2 ;; 069 : if x == 0b_10010 then -- StepTab[5] := 18; { binary 10010 } movf H'33',w sublw H'32' btfss H'03',2 goto if_7804_by if_7804_th: ; 00D6 ;; 070 : x = 0b_10110 movlw H'36' movwf H'33' ;; 072 : end if goto e_7702_stepper_motor_forward if_7804_by: ; 00D9 ;; 073 : if x == 0b_10110 then -- StepTab[6] := 22; { binary 10110 } movf H'33',w sublw H'36' btfss H'03',2 goto if_7820_by if_7820_th: ; 00DD ;; 074 : x = 0b_10100 movlw H'34' movwf H'33' ;; 076 : end if goto e_7702_stepper_motor_forward if_7820_by: ; 00E0 ;; 077 : if x == 0b_10100 then -- StepTab[7] := 20; { binary 10100 } movf H'33',w sublw H'34' btfss H'03',2 goto if_7836_by if_7836_th: ; 00E4 ;; 078 : x = 0b_10101 movlw H'35' movwf H'33' ;; 080 : end if goto e_7702_stepper_motor_forward if_7836_by: ; 00E7 ;; 081 : if x == 0b_10101 then -- StepTab[8] := 21; { binary 10101 } movf H'33',w sublw H'35' btfss H'03',2 goto if_7852_by if_7852_th: ; 00EB ;; 082 : x = 0b_00101 movlw H'05' movwf H'33' ;; 084 : end if goto e_7702_stepper_motor_forward if_7852_by: ; 00EE ;; 085 : if x == 0b_00101 then -- StepTab[9] := 5; { binary 00101 } movf H'33',w sublw H'05' btfss H'03',2 goto if_7868_by if_7868_th: ; 00F2 ;; 086 : x = 0b_01101 -- StepTab[0] := 13; { binary 01101 } movlw H'2D' movwf H'33' ;; 088 : end if goto e_7702_stepper_motor_forward if_7868_by: ; 00F5 e_7702_stepper_motor_forward: ; 00F5 return _7679__vector: ; 00F6 ;; 042 : procedure run_stepper( byte in a ) is ; var H'013:000' a p_7679_run_stepper: ; 00F6 movwf H'33' ;; 043 : port_b = a movf H'33',w goto _5202__vector e_7679_run_stepper: ; 00F9 ;; 694 : procedure pin_a4'put( bit in x at _port_a_buffer : 4 ) is p_6026__pin_a4__put_t: ; 00F9 _6026__vector: ; 00F9 ; var H'010:004' x p_6026_put: ; 00F9 ;; 695 : _port_a_flush goto _5056__vector e_6026_put: ; 00FA ;; 691 : procedure pin_a3'put( bit in x at _port_a_buffer : 3 ) is p_5997__pin_a3__put_t: ; 00FA _5997__vector: ; 00FA ; var H'010:003' x p_5997_put: ; 00FA ;; 692 : _port_a_flush goto _5056__vector e_5997_put: ; 00FB ;; 688 : procedure pin_a2'put( bit in x at _port_a_buffer : 2 ) is p_5968__pin_a2__put_t: ; 00FB _5968__vector: ; 00FB ; var H'010:002' x p_5968_put: ; 00FB ;; 689 : _port_a_flush goto _5056__vector e_5968_put: ; 00FC ;; 685 : procedure pin_a1'put( bit in x at _port_a_buffer : 1 ) is p_5939__pin_a1__put_t: ; 00FC _5939__vector: ; 00FC ; var H'010:001' x p_5939_put: ; 00FC ;; 686 : _port_a_flush goto _5056__vector e_5939_put: ; 00FD ;; 682 : procedure pin_a0'put( bit in x at _port_a_buffer : 0 ) is p_5910__pin_a0__put_t: ; 00FD _5910__vector: ; 00FD ; var H'010:000' x p_5910_put: ; 00FD ;; 683 : _port_a_flush goto _5056__vector e_5910_put: ; 00FE ;; 605 : procedure port_b'put( byte in x at _port_b_buffer ) is p_5202__port_b__put_t: ; 00FE _5202__vector: ; 00FE ; var H'011:000' x p_5202_put: ; 00FE movwf H'31' ;; 606 : _port_b_flush goto _5079__vector e_5202_put: ; 0100 _5079__vector: ; 0100 p_5079__port_b_flush: ; 0100 ;; 590 : var volatile byte port_b at 6 = _port_b_buffer ; var H'006:000' port_b movf H'31',w movwf H'06' e_5079__port_b_flush: ; 0102 return _5056__vector: ; 0103 p_5056__port_a_flush: ; 0103 ;; 587 : var volatile byte port_a at 5 = _port_a_buffer ; var H'005:000' port_a movf H'30',w movwf H'05' e_5056__port_a_flush: ; 0105 return ;; 410 : procedure pin_b7_direction'put( bit in d at trisb : 7 ) is p_3546__pin_b7_direction__put_t: ; 0106 _3546__vector: ; 0106 ; var H'00F:007' d p_3546_put: ; 0106 ;; 411 : _trisb_flush goto _2785__vector e_3546_put: ; 0107 ;; 407 : procedure pin_b6_direction'put( bit in d at trisb : 6 ) is p_3517__pin_b6_direction__put_t: ; 0107 _3517__vector: ; 0107 ; var H'00F:006' d p_3517_put: ; 0107 ;; 408 : _trisb_flush goto _2785__vector e_3517_put: ; 0108 ;; 404 : procedure pin_b5_direction'put( bit in d at trisb : 5 ) is p_3488__pin_b5_direction__put_t: ; 0108 _3488__vector: ; 0108 ; var H'00F:005' d p_3488_put: ; 0108 ;; 405 : _trisb_flush goto _2785__vector e_3488_put: ; 0109 ;; 401 : procedure pin_b4_direction'put( bit in d at trisb : 4 ) is p_3459__pin_b4_direction__put_t: ; 0109 _3459__vector: ; 0109 ; var H'00F:004' d p_3459_put: ; 0109 ;; 402 : _trisb_flush goto _2785__vector e_3459_put: ; 010A ;; 398 : procedure pin_b3_direction'put( bit in d at trisb : 3 ) is p_3430__pin_b3_direction__put_t: ; 010A _3430__vector: ; 010A ; var H'00F:003' d p_3430_put: ; 010A ;; 399 : _trisb_flush goto _2785__vector e_3430_put: ; 010B ;; 395 : procedure pin_b2_direction'put( bit in d at trisb : 2 ) is p_3401__pin_b2_direction__put_t: ; 010B _3401__vector: ; 010B ; var H'00F:002' d p_3401_put: ; 010B ;; 396 : _trisb_flush goto _2785__vector e_3401_put: ; 010C ;; 392 : procedure pin_b1_direction'put( bit in d at trisb : 1 ) is p_3372__pin_b1_direction__put_t: ; 010C _3372__vector: ; 010C ; var H'00F:001' d p_3372_put: ; 010C ;; 393 : _trisb_flush goto _2785__vector e_3372_put: ; 010D ;; 389 : procedure pin_b0_direction'put( bit in d at trisb : 0 ) is p_3343__pin_b0_direction__put_t: ; 010D _3343__vector: ; 010D ; var H'00F:000' d p_3343_put: ; 010D ;; 390 : _trisb_flush goto _2785__vector e_3343_put: ; 010E ;; 332 : procedure port_a_direction'put( byte in x at trisa ) is p_2894__port_a_direction__put_t: ; 010E _2894__vector: ; 010E ; var H'00E:000' x p_2894_put: ; 010E movwf H'2E' ;; 333 : _trisa_flush goto _2764__vector e_2894_put: ; 0110 _2785__vector: ; 0110 p_2785__trisb_flush: ; 0110 ;; 305 : bank movfw trisb movf H'2F',w ;; 306 : tris 6 tris H'06' e_2785__trisb_flush: ; 0112 return _2764__vector: ; 0113 p_2764__trisa_flush: ; 0113 ;; 298 : bank movfw trisa movf H'2E',w ;; 299 : tris 5 tris H'05' e_2764__trisa_flush: ; 0115 return END ; ********** variable mapping ; 05:0 : ; ; port_a * 0587:22 jpic.jal ; 06:0 : ; ; port_b * 0590:22 jpic.jal ; pin_b0 * 0093:19 jpic.jal ; port_b * 0043:19 jpic.jal ; 06:1 : ; ; pin_b1 * 0094:19 jpic.jal ; 06:2 : ; ; pin_b2 * 0095:19 jpic.jal ; 06:3 : ; ; pin_b3 * 0096:19 jpic.jal ; 06:4 : ; ; pin_b4 * 0097:19 jpic.jal ; 06:5 : ; ; pin_b5 * 0098:19 jpic.jal ; 06:6 : ; ; pin_b6 * 0099:19 jpic.jal ; 06:7 : ; ; pin_b7 * 0100:19 jpic.jal ; 0C:0 : ; ; transfer_bit ; 0C:1 : ; ; state_prev 0138:09 5-phase_final.jal ; 0D:0 : ; ; transfer_byte ; 0E:0 : ; ; x * 0332:33 jpic.jal ; trisa 0276:10 jpic.jal ; 0F:0 : ; ; d * 0389:33 jpic.jal ; trisb 0277:10 jpic.jal ; 0F:1 : ; ; d * 0392:33 jpic.jal ; 0F:2 : ; ; d * 0395:33 jpic.jal ; 0F:3 : ; ; d * 0398:33 jpic.jal ; 0F:4 : ; ; d * 0401:33 jpic.jal ; 0F:5 : ; ; d * 0404:33 jpic.jal ; 0F:6 : ; ; d * 0407:33 jpic.jal ; 0F:7 : ; ; d * 0410:33 jpic.jal ; 10:0 : ; ; x * 0682:23 jpic.jal ; _port_a_buffer 0580:10 jpic.jal ; 10:1 : ; ; x * 0685:23 jpic.jal ; 10:2 : ; ; x * 0688:23 jpic.jal ; 10:3 : ; ; x * 0691:23 jpic.jal ; 10:4 : ; ; x * 0694:23 jpic.jal ; 11:0 : ; ; x * 0605:23 jpic.jal ; _port_b_buffer 0581:10 jpic.jal ; 12:0 : ; ; steps 0137:10 5-phase_final.jal ; 13:0 : ; ; a 0042:24 5-phase_final.jal ; x 0047:34 5-phase_final.jal ; x 0091:35 5-phase_final.jal