LIST P=12F629 #INCLUDE __CONFIG _CPD_OFF & _BODEN_OFF & _MCLRE_OFF & _PWRTE_ON & _WDT_ON & _INTRC_OSC_NOCLKOUT errorlevel -302 BANK0 MACRO BCF STATUS,RP0 ENDM BANK1 MACRO BSF STATUS,RP0 ENDM #DEFINE M0L LAT,0 #DEFINE M0R LAT,2 #DEFINE M1L LAT,4 #DEFINE M1R LAT,5 #DEFINE IRIN GPIO,3 #DEFINE LED GPIO,1 CBLOCK 0x20 STATUS_SAVE W_SAVE MSTIMER TIMERTEMP0 TIMERTEMP1 MOTOR0_PWM MOTOR1_PWM MOTOR_DIR PWM_TEMP Bit_Cntr TEMP1 LAT SERIALDATA_MOTOR0 SERIALDATA_MOTOR1 SERIALDATA_CHECKSUM ENDC ORG 0 GOTO BOOT ;-------------------------------------INT------------------------------- ORG 4 INTERRUPT MOVWF W_SAVE SWAPF STATUS, W MOVWF STATUS_SAVE BANK0 BTFSC PIR1,CMIF GOTO COMPARATOR_INT TIMERINT BCF INTCON, T0IF MOVLW D'128' MOVWF TMR0 CLRF LAT ; MOTOROK KI INCF PWM_TEMP,F INCF PWM_TEMP,F ;RAM0 > RAM1 MOVFW MOTOR0_PWM ;RAM0 SUBWF PWM_TEMP,W ;RAM1 BTFSS STATUS,C GOTO MOT0ON ; IGAZ MOVFW MOTOR1_PWM ;RAM0 SUBWF PWM_TEMP,W ;RAM1 BTFSS STATUS,C GOTO MOT1ON ; IGAZ MOVFW LAT MOVWF GPIO INTERRUPT_END SWAPF STATUS_SAVE, W MOVWF STATUS SWAPF W_SAVE, 1 SWAPF W_SAVE, 0 RETFIE MOT0ON BTFSS MOTOR_DIR,0 BSF M0L BTFSC MOTOR_DIR,0 BSF M0R MOVFW MOTOR1_PWM ;RAM0 SUBWF PWM_TEMP,W ;RAM1 BTFSS STATUS,C GOTO MOT1ON ; IGAZ MOVFW LAT MOVWF GPIO SWAPF STATUS_SAVE, W MOVWF STATUS SWAPF W_SAVE, 1 SWAPF W_SAVE, 0 RETFIE MOT1ON BTFSS MOTOR_DIR,1 BSF M1L BTFSC MOTOR_DIR,1 BSF M1R MOVFW LAT MOVWF GPIO SWAPF STATUS_SAVE, W MOVWF STATUS SWAPF W_SAVE, 1 SWAPF W_SAVE, 0 RETFIE COMPARATOR_INT BTFSS CMCON,COUT GOTO LOWVOLT COMPINT_END BCF PIR1,CMIF BTFSC INTCON,T0IF GOTO TIMERINT SWAPF STATUS_SAVE, W MOVWF STATUS SWAPF W_SAVE, 1 SWAPF W_SAVE, 0 RETFIE LOWVOLT ; CLRF GPIO ; NOP ; NOP ; NOP ; NOP ; NOP ; NOP ; NOP ; NOP ; BTFSC CMCON,COUT ; GOTO COMPINT_END LEMERULT_CONFIG MOVLW D'7' MOVWF CMCON BANK1 CLRF VRCON MOVLW B'11001000' MOVWF TRISIO BANK0 BCF T1CON, TMR1ON LEMERULT CLRWDT MOVLW B'00000010' MOVWF GPIO CALL DELAY50MS CALL DELAY50MS CLRF GPIO CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS CALL DELAY50MS GOTO LEMERULT DELAY50MS ;KÖZEL 50MS MOVLW D'10' MOVWF MSTIMER GOTO DELAY1MS_1 DELAY1MS_1 ;1 MS*5 MOVLW D'100' MOVWF TIMERTEMP0 DELAY1MS_2 ;10uS*5 NOP MOVLW D'15' MOVWF TIMERTEMP1 DELAY1MS_3 DECFSZ TIMERTEMP1,F GOTO $-1 NOP NOP DECFSZ TIMERTEMP0, F GOTO DELAY1MS_2 DECFSZ MSTIMER GOTO DELAY1MS_1 RETURN ;----------------------------------INT------------------------------------ BOOT BANK1 call 3ffh ;get the calibration value movwf OSCCAL ;calibrate BANK0 CLRF GPIO BANK1 MOVLW B'11001010' MOVWF TRISIO MOVLW B'10001110' MOVWF OPTION_REG MOVLW B'01100000' MOVWF INTCON BANK0 CLRF GPIO MOVLW B'00000100' MOVWF CMCON BANK1 MOVLW B'10100111' MOVWF VRCON CLRF PIE1 BSF PIE1,CMIE BANK0 CLRF T1CON CLRF MOTOR1_PWM CLRF MOTOR0_PWM CLRF LAT CLRF PWM_TEMP CLRF TEMP1 CLRF MOTOR_DIR CALL DELAY50MS BTFSS CMCON,COUT GOTO LEMERULT_CONFIG BSF INTCON,GIE CLRWDT MAIN CALL RS232_Rx MOVFW TEMP1 CLRF TEMP1 XORLW 0xAA BTFSS STATUS, Z GOTO MAIN ; CSOMAGKEZDET DETEKTÁLÁSA PACKAGESTARTRECIVED CALL RS232_Rx MOVFW TEMP1 CLRF TEMP1 MOVWF SERIALDATA_MOTOR0 CALL RS232_Rx MOVFW TEMP1 CLRF TEMP1 MOVWF SERIALDATA_MOTOR1 CALL RS232_Rx MOVFW TEMP1 CLRF TEMP1 MOVWF SERIALDATA_CHECKSUM CHECK_PACKAGE MOVFW SERIALDATA_MOTOR0 ADDWF SERIALDATA_MOTOR1,W ADDLW D'1' XORWF SERIALDATA_CHECKSUM , W BTFSS STATUS,Z GOTO MAIN ; VISSZA AMíG NEM JÖN EGY "ÉP" CSOMAG RECOVEOK CLRWDT BCF INTCON,GIE CLRF MOTOR_DIR BTFSC SERIALDATA_MOTOR0,7 BSF MOTOR_DIR,0 BTFSC SERIALDATA_MOTOR1,7 BSF MOTOR_DIR,1 MOVFW SERIALDATA_MOTOR0 ANDLW B'01111111' MOVWF MOTOR0_PWM BCF STATUS,C RLF MOTOR0_PWM,F MOVFW SERIALDATA_MOTOR1 ANDLW B'01111111' MOVWF MOTOR1_PWM BCF STATUS,C RLF MOTOR1_PWM,F BSF INTCON,GIE GOTO MAIN ; Egy RS-232 bájt vétele ; RS232_Rx btfsc IRIN ; start bit detektálás (log0 szintű) goto RS232_Rx ; nincs start jel, várakozik tovább ;---------------------------------------------------------------------- call Start_Delay ; fél bitidőnyi késleltetés movlw d'8' ; bitek száma movwf Bit_Cntr Rmit call Bit_Delay ; teljes bitidőnyi késleltetés btfss IRIN ; RxD bemenet másolása C bitbe bcf STATUS,C btfsc IRIN bsf STATUS,C rrf TEMP1,1 ; Carry beléptetése Temp1-be decfsz Bit_Cntr,1 ; összes bit vétele megtörtént? goto Rmit ; még nem ;---------------------------------------------------------------------- call Bit_Delay ; Stop bit késleltetés return ; vétel kész, vett adat Temp1-ben ;---------------------------------------------------------------------- ; RS232 startbit késleltetés ; 416 us / 1200 Baud ;Timer1 et használom mert egy sima ciklusnál "közbejöhet" az interrupt és elrontja az egészet... ; T1 be betöltöm az időt és nézem az interrupt flag et Start_Delay MOVLW D'254' MOVWF TMR1H MOVLW D'96' ; 54 MOVWF TMR1L BSF T1CON, TMR1ON CHECK_STARTD BTFSS PIR1, TMR1IF GOTO CHECK_STARTD BCF T1CON, TMR1ON BCF PIR1, TMR1IF RETURN ;---------------------------------------------------------------------- ; RS232 bit idő beállitás ; 833 us / 1200 Baud Bit_Delay MOVLW D'252' MOVWF TMR1H MOVLW D'191' ; 109 MOVWF TMR1L BSF T1CON, TMR1ON CHECK_Bit_Delay BTFSS PIR1, TMR1IF GOTO CHECK_Bit_Delay BCF T1CON, TMR1ON BCF PIR1, TMR1IF RETURN ;---------------------------------------------------------------------- END