; basic configuration ; Title "multiplexorr." ; list P = 16F877 ; include "p16f877.inc" ; use definition file for 16F877 ; __CONFIG b'11111101111001' ; ; memory - counters and max timing values in memory + rot value list CBLOCK 0x20 ; RAM starts at address 20h del1 del dur1 tmpsped1 tmpsped2 tmpsped3 tmpsped4 sped1 dir1 dur2 sped2 dir2 dur3 sped3 dir3 vidsel viddur viddur1 sped4 inbit oldinbit olderbit indel val1 val2 val3 val4 latch1 step1 step2 step3 msd lsd durr3 tmpdurr3 inner1 led1 gendur1 gendur2 gendur3 ENDC ; org 0x0000 ; start address = 0000h nop goto start nop Table1 addwf PCL, 1 nop retlw d'5' retlw d'6' retlw d'10' retlw d'9' Table2 addwf PCL, 1 nop retlw 1 retlw 2 retlw 4 retlw 8 retlw 1 retlw 2 retlw 4 retlw 8 retlw 1 retlw 2 retlw 4 retlw 8 retlw 1 retlw 2 retlw 4 retlw 8 ; ; set up I/O ports - all digital outs except portb digital in start movlw b'00000000' ; all port pins = low movwf PORTA movlw b'00000000' movwf PORTC movlw b'00000000' movwf PORTD movlw b'00000000' movwf PORTE bcf STATUS,RP1 bsf STATUS,RP0 ; set RAM Page 1 for TRIS registers ; INITIALISE PORTS ; binary used to see individual pin IO status movlw b'00000000' ; all IO pins = outputs movwf TRISA movlw b'11111111' movwf TRISB movlw b'00000000' movwf TRISC movlw b'00000000' movwf TRISD movlw b'00000000' movwf TRISE movlw b'00000110' ; all analog pins = digital movwf ADCON1 bcf STATUS,RP0 ; back to RAM page 0 ; zero variables movlw 0x00 movwf latch1 movwf led1 movwf dur1 movwf dur2 movwf dur3 movwf dir1 movwf dir2 movwf dir3 movwf vidsel movwf indel movlw 0x01 movwf step1 movwf step2 movwf step3 movlw 4 movwf inner1 movlw 0x05 movwf sped4 movwf tmpsped4 movlw 0x02 movwf tmpdurr3 movwf durr3 movlw 0x10 movwf sped1 movwf sped2 movwf sped3 movwf tmpsped1 movwf tmpsped2 movwf tmpsped3 movwf tmpsped4 movlw 0x05 movwf viddur1 movwf viddur movlw 0x20 movwf gendur1 movwf gendur2 movwf gendur3 ;main loop Loop movf PORTB,0 ; input value from portb movwf inbit; ; rot 1,2,3 + vidswitch decisions and timing ; if respective durs not up then do new decisions=set speed and dur and dir ; speed decfsz inner1,1 goto endlay movlw d'20' movwf inner1 decfsz tmpsped1,1 goto lay2 call Layer1 lay2 decfsz tmpsped2,1 goto lay3 call Layer2 lay3 decfsz tmpsped3,1 goto lay4 call Layer3 lay4 decfsz tmpsped4,1 goto endlay call Layer4 ; output /select porta / laser out / rot value out / vidswitch out / led ; val1,2,3,4 - latch then value ;val1 and 2 on first latch endlay swapf val2,0 addwf val1,0 clrf PORTA movwf PORTD bsf PORTA,0 ; movlw D'2' ; movwf del ; call yadelay ; second latch movf val3,0 clrf PORTA movwf PORTD bsf PORTA,1 ; movlw D'2' ; movwf del ; call yadelay ; third latch btfss latch1,0 goto endthird movf val4,0 clrf PORTA movwf PORTD bsf PORTA,2 ; movlw D'2' ; movwf del ; call yadelay ; laser out ; latch endthird bcf latch1,0 movf inbit,0 movwf PORTC call Laslatch2 movf oldinbit,0 movwf PORTC call Laslatch1 ;led if we have data flow movf inbit,0 xorwf oldinbit,1 btfss STATUS,Z call Led movf inbit,0 movwf oldinbit ; movlw D'100' ; movwf del ; call yadelay goto Loop ; subs various delays Newdelay movlw 0x03 ; ???? movwf msd ; clrf lsd ; loop2 decfsz lsd, f ; delay time = msd * ((3 * 20 *256) + 3) * tcy goto loop2 ; decfsz msd, f ; goto loop2 ; return yadelay movlw D'142' movwf del1 nop nop yadelay1 nop nop nop nop decfsz del1, 1 goto yadelay1 nop decfsz del, 1 goto yadelay nop return Laslatch1 bcf PORTA,4 bsf PORTA,5 return Laslatch2 bcf PORTA,5 bsf PORTA,4 return Led movf led1,0 xorlw 8 movwf PORTA movwf led1 movf oldinbit,0 movwf olderbit return ; deal with output dpendent on dir here Layer1 decfsz gendur1,1 goto laye1 la1 movlw 0x03 movwf gendur1 decfsz dur1,1 goto laye1 call Decision1 ; do output based on dir here laye1 btfss dir1,0 call Bac1 btfsc dir1,0 call For1 ; val1 is step1 in array location movf sped1,0 movwf tmpsped1 return Layer2 decfsz gendur2,1 goto laye2 la2 movlw 0x03 movwf gendur2 decfsz dur2,1 goto laye2 call Decision2 ; do output based on dir here laye2 btfss dir2,0 call Bac2 btfsc dir2,0 call For2 ; val1 is step1 in array location movf sped2,0 movwf tmpsped2 return Layer3 decfsz tmpdurr3,1 return decfsz gendur3,1 goto laye3 movlw 0x03 movwf gendur3 Inner3 decfsz dur3,1 goto laye3 call Decision3 ; do output based on dir here laye3 btfss dir3,0 call Bac3 btfsc dir3,0 call For3 movf durr3,0 movwf tmpdurr3 movf sped3,0 movwf tmpsped3 ; val1 is step1 in array location return Layer4 decfsz viddur1,1 goto laye4 decfsz viddur,1 goto laye5 call Decision4 ; put speed back laye5 movlw 0x10 movwf viddur1 laye4 movf sped4,0 movwf tmpsped4 return Decision1 movf olderbit,0 andlw 0x1f movwf sped1 incf sped1,1 movf inbit,0 andlw 0x1f movwf dur1 incf dur1,1 btfsc inbit,0 bcf dir1,0 btfss inbit,0 bsf dir1,0 return ; set speed1/dir1/dur1 from inbit Decision2 movf inbit,0 andlw 0x1f movwf sped2 incf sped2,1 movf olderbit,0 andlw 0x1f movwf dur2 incf dur2,1 btfsc olderbit,0 bcf dir2,0 btfss olderbit,0 bsf dir2,0 return ; set speed1/dir1/dur1 from inbit Decision3 movf olderbit,0 andlw 0x1f movwf sped3 incf sped3,1 movf inbit,0 andlw 0x1f movwf dur3 incf dur3,1 btfsc inbit,0 bcf dir3,0 btfss inbit,0 bsf dir3,0 return ; set speed1/dir1/dur1 from inbit Decision4 movf inbit,0 andlw d'15' movwf val4 incf val4,0 call Table2 movwf val4 movf inbit,0 andlw 0x1f movwf viddur incf viddur,1 bsf latch1,0 return ; speed is constant/ set dur ALSO output new value Bac1 decf step1,1 btfss step1,7 goto bacc1 movlw 0x03 movwf step1 bacc1 incf step1,0 call Table1 movwf val1 return Bac2 decf step2,1 btfss step2,7 goto bacc2 movlw 0x03 movwf step2 bacc2 incf step2,0 call Table1 movwf val2 return Bac3 decf step3,1 btfss step3,7 goto bacc3 movlw 0x03 movwf step3 bacc3 incf step3,0 call Table1 movwf val3 return For1 movlw 4 incf step1,1 subwf step1,0 btfsc STATUS,C movwf step1 incf step1,0 call Table1 movwf val1 return For2 movlw 4 incf step2,1 subwf step2,0 btfsc STATUS,C movwf step2 incf step2,0 call Table1 movwf val2 return For3 movlw 4 incf step3,1 subwf step3,0 btfsc STATUS,C movwf step3 incf step3,0 call Table1 movwf val3 return end