The PIC version of the arduino

svn path=/trunk/externals/hardware/arduino/; revision=6128

5 files changed, 2432 insertions, 0 deletions

diff --git a/PICduino/P16F767.INC b/PICduino/P16F767.INC
new file mode 100755
index 0000000..5b15168
--- /dev/null
+++ b/PICduino/P16F767.INC
@@ -0,0 +1,502 @@
+        LIST

+; P16F767.INC  Standard Header File, Version 1.00    Microchip Technology, Inc.

+        NOLIST

+

+; This header file defines configurations, registers, and other useful bits of

+; information for the PIC16F767 microcontroller.  These names are taken to match 

+; the data sheets as closely as possible.  

+

+; Note that the processor must be selected before this file is 

+; included.  The processor may be selected the following ways:

+

+;       1. Command line switch:

+;               C:\ MPASM MYFILE.ASM /PIC16F767

+;       2. LIST directive in the source file

+;               LIST   P=PIC16F767

+;       3. Processor Type entry in the MPASM full-screen interface

+

+;==========================================================================

+;

+;       Revision History

+;

+;==========================================================================

+

+;Rev:   Date:    Reason:

+;1.00   05/05/03 Initial Release 

+;1.01	10/21/03 Made changes to Program Memory register names. 

+;1.02	04/07/04 Added INT0IE & INT0IF  bit names.

+

+;==========================================================================

+;

+;       Verify Processor

+;

+;==========================================================================

+

+        IFNDEF __16F767

+           MESSG "Processor-header file mismatch.  Verify selected processor."

+        ENDIF

+

+;==========================================================================

+;

+;       Register Definitions

+;

+;==========================================================================

+

+W                            EQU     H'0000'

+F                            EQU     H'0001'

+

+;----- Register Files------------------------------------------------------

+

+INDF                         EQU     H'0000'

+TMR0                         EQU     H'0001'

+PCL                          EQU     H'0002'

+STATUS                       EQU     H'0003'

+FSR                          EQU     H'0004'

+PORTA                        EQU     H'0005'

+PORTB                        EQU     H'0006'

+PORTC                        EQU     H'0007'

+PORTE                        EQU     H'0009'

+PCLATH                       EQU     H'000A'

+INTCON                       EQU     H'000B'

+PIR1                         EQU     H'000C'

+PIR2                         EQU     H'000D'

+TMR1L                        EQU     H'000E'

+TMR1H                        EQU     H'000F'

+T1CON                        EQU     H'0010'

+TMR2                         EQU     H'0011'

+T2CON                        EQU     H'0012'

+SSPBUF                       EQU     H'0013'

+SSPCON                       EQU     H'0014'

+CCPR1L                       EQU     H'0015'

+CCPR1H                       EQU     H'0016'

+CCP1CON                      EQU     H'0017'

+RCSTA                        EQU     H'0018'

+TXREG                        EQU     H'0019'

+RCREG                        EQU     H'001A'

+CCPR2L                       EQU     H'001B'

+CCPR2H                       EQU     H'001C'

+CCP2CON                      EQU     H'001D'

+ADRESH                       EQU     H'001E'

+ADCON0                       EQU     H'001F'

+

+OPTION_REG                   EQU     H'0081'

+TRISA                        EQU     H'0085'

+TRISB                        EQU     H'0086'

+TRISC                        EQU     H'0087'

+TRISE                        EQU     H'0089'

+PIE1                         EQU     H'008C'

+PIE2                         EQU     H'008D'

+PCON                         EQU     H'008E'

+OSCCON						 EQU	 H'008F'

+OSCTUNE						 EQU	 H'0090'

+SSPCON2                      EQU     H'0091'

+PR2                          EQU     H'0092'

+SSPADD                       EQU     H'0093'

+SSPSTAT                      EQU     H'0094'

+CCPR3L						 EQU	 H'0095'

+CCPR3H						 EQU	 H'0096'

+CCP3CON   					 EQU	 H'0097'

+TXSTA                        EQU     H'0098'

+SPBRG                        EQU     H'0099'

+ADCON2						 EQU     H'009B'

+CMCON                        EQU     H'009C'

+CVRCON                       EQU     H'009D'

+ADRESL                       EQU     H'009E'

+ADCON1                       EQU     H'009F'

+

+WDTCON					  	 EQU	 H'0105'

+LVDCON						 EQU	 H'0109'

+PMDATA	                     EQU     H'010C'

+PMADR                        EQU     H'010D'

+PMDATH                       EQU     H'010E'

+PMADRH                       EQU     H'010F'

+

+PMCON1                       EQU     H'018C'

+

+;----- STATUS Bits --------------------------------------------------------

+

+IRP                          EQU     H'0007'

+RP1                          EQU     H'0006'

+RP0                          EQU     H'0005'

+NOT_TO                       EQU     H'0004'

+NOT_PD                       EQU     H'0003'

+Z                            EQU     H'0002'

+DC                           EQU     H'0001'

+C                            EQU     H'0000'

+

+;----- INTCON Bits --------------------------------------------------------

+

+GIE                          EQU     H'0007'

+PEIE                         EQU     H'0006'

+T0IE                         EQU     H'0005'

+TMR0IE                       EQU     H'0005'

+INTE                         EQU     H'0004'

+INT0IE                       EQU     H'0004'

+RBIE                         EQU     H'0003'

+T0IF                         EQU     H'0002'

+TMR0IF                       EQU     H'0002'

+INTF                         EQU     H'0001'

+INT0IF                       EQU     H'0001'

+RBIF                         EQU     H'0000'

+

+;----- PIR1 Bits ----------------------------------------------------------

+

+PSPIF                        EQU     H'0007'

+ADIF                         EQU     H'0006'

+RCIF                         EQU     H'0005'

+TXIF                         EQU     H'0004'

+SSPIF                        EQU     H'0003'

+CCP1IF                       EQU     H'0002'

+TMR2IF                       EQU     H'0001'

+TMR1IF                       EQU     H'0000'

+

+;----- PIR2 Bits ----------------------------------------------------------

+

+OSFIF						 EQU     H'0007'

+CMIF			     		 EQU     H'0006'

+LVDIF                        EQU     H'0005'

+BCLIF                        EQU     H'0003'

+CCP3IF						 EQU	 H'0001'

+CCP2IF                       EQU     H'0000'

+

+;----- T1CON Bits ---------------------------------------------------------

+

+T1RUN						 EQU	 H'0006'

+T1CKPS1                      EQU     H'0005'

+T1CKPS0                      EQU     H'0004'

+T1OSCEN                      EQU     H'0003'

+NOT_T1SYNC                   EQU     H'0002'

+T1INSYNC                     EQU     H'0002'    ; Backward compatibility only

+T1SYNC                       EQU     H'0002'

+TMR1CS                       EQU     H'0001'

+TMR1ON                       EQU     H'0000'

+

+;----- T2CON Bits ---------------------------------------------------------

+

+TOUTPS3                      EQU     H'0006'

+TOUTPS2                      EQU     H'0005'

+TOUTPS1                      EQU     H'0004'

+TOUTPS0                      EQU     H'0003'

+TMR2ON                       EQU     H'0002'

+T2CKPS1                      EQU     H'0001'

+T2CKPS0                      EQU     H'0000'

+

+;----- SSPCON Bits --------------------------------------------------------

+

+WCOL                         EQU     H'0007'

+SSPOV                        EQU     H'0006'

+SSPEN                        EQU     H'0005'

+CKP                          EQU     H'0004'

+SSPM3                        EQU     H'0003'

+SSPM2                        EQU     H'0002'

+SSPM1                        EQU     H'0001'

+SSPM0                        EQU     H'0000'

+

+;----- CCP1CON Bits -------------------------------------------------------

+

+CCP1X                        EQU     H'0005'

+CCP1Y                        EQU     H'0004'

+CCP1M3                       EQU     H'0003'

+CCP1M2                       EQU     H'0002'

+CCP1M1                       EQU     H'0001'

+CCP1M0                       EQU     H'0000'

+

+;----- RCSTA Bits ---------------------------------------------------------

+

+SPEN                         EQU     H'0007'

+RX9                          EQU     H'0006'

+RC9                          EQU     H'0006'    ; Backward compatibility only

+NOT_RC8                      EQU     H'0006'    ; Backward compatibility only

+RC8_9                        EQU     H'0006'    ; Backward compatibility only

+SREN                         EQU     H'0005'

+CREN                         EQU     H'0004'

+ADDEN                        EQU     H'0003'

+FERR                         EQU     H'0002'

+OERR                         EQU     H'0001'

+RX9D                         EQU     H'0000'

+RCD8                         EQU     H'0000'    ; Backward compatibility only

+

+;----- CCP2CON Bits -------------------------------------------------------

+

+CCP2X                        EQU     H'0005'

+CCP2Y                        EQU     H'0004'

+CCP2M3                       EQU     H'0003'

+CCP2M2                       EQU     H'0002'

+CCP2M1                       EQU     H'0001'

+CCP2M0                       EQU     H'0000'

+

+;----- ADCON0 Bits --------------------------------------------------------

+

+ADCS1                        EQU     H'0007'

+ADCS0                        EQU     H'0006'

+CHS2                         EQU     H'0005'

+CHS1                         EQU     H'0004'

+CHS0                         EQU     H'0003'

+GO                           EQU     H'0002'

+NOT_DONE                     EQU     H'0002'

+GO_DONE                      EQU     H'0002'

+CHS3						 EQU	 H'0001'

+ADON                         EQU     H'0000'

+

+;----- OPTION_REG Bits -----------------------------------------------------

+

+NOT_RBPU                     EQU     H'0007'

+INTEDG                       EQU     H'0006'

+T0CS                         EQU     H'0005'

+T0SE                         EQU     H'0004'

+PSA                          EQU     H'0003'

+PS2                          EQU     H'0002'

+PS1                          EQU     H'0001'

+PS0                          EQU     H'0000'

+

+;----- TRISE Bits ---------------------------------------------------------

+

+IBF                          EQU     H'0007'

+OBF                          EQU     H'0006'

+IBOV                         EQU     H'0005'

+PSPMODE                      EQU     H'0004'

+TRISE3						 EQU	 H'0003'

+TRISE2                       EQU     H'0002'

+TRISE1                       EQU     H'0001'

+TRISE0                       EQU     H'0000'

+

+;----- PIE1 Bits ----------------------------------------------------------

+

+PSPIE                        EQU     H'0007'

+ADIE                         EQU     H'0006'

+RCIE                         EQU     H'0005'

+TXIE                         EQU     H'0004'

+SSPIE                        EQU     H'0003'

+CCP1IE                       EQU     H'0002'

+TMR2IE                       EQU     H'0001'

+TMR1IE                       EQU     H'0000'

+

+;----- PIE2 Bits ----------------------------------------------------------

+

+OSFIE					 	 EQU     H'0007'

+CMIE			     		 EQU     H'0006'

+LVDIE						 EQU	 H'0005'

+BCLIE                        EQU     H'0003'

+CCP3IE						 EQU	 H'0001'

+CCP2IE                       EQU     H'0000'

+

+;----- PCON Bits ----------------------------------------------------------

+

+SBOREN						 EQU     H'0002'

+NOT_POR                      EQU     H'0001'

+NOT_BO                       EQU     H'0000'

+NOT_BOR                      EQU     H'0000'

+

+;----- OSCCON Bits -------------------------------------------------------

+IRCF2			     		 EQU     H'0006'

+IRCF1			     		 EQU     H'0005'

+IRCF0			    		 EQU     H'0004'

+OSTS                         EQU     H'0003'

+IOFS			    		 EQU     H'0002'

+SCS1                         EQU     H'0001'

+SCS0                         EQU     H'0000'

+

+;----- OSCTUNE Bits -------------------------------------------------------

+TUN5			    		 EQU     H'0005'

+TUN4                         EQU     H'0004'

+TUN3                         EQU     H'0003'

+TUN2		            	 EQU     H'0002'

+TUN1                         EQU     H'0001'

+TUN0		            	 EQU     H'0000'

+

+;----- SSPCON2 Bits --------------------------------------------------------

+

+GCEN                         EQU     H'0007'

+ACKSTAT                      EQU     H'0006'

+ACKDT                        EQU     H'0005'

+ACKEN                        EQU     H'0004'

+RCEN                         EQU     H'0003'

+PEN                          EQU     H'0002'

+RSEN                         EQU     H'0001'   

+SEN                          EQU     H'0000'   

+

+;----- SSPSTAT Bits -------------------------------------------------------

+

+SMP                          EQU     H'0007'

+CKE                          EQU     H'0006'

+D                            EQU     H'0005'

+I2C_DATA                     EQU     H'0005'

+NOT_A                        EQU     H'0005'

+NOT_ADDRESS                  EQU     H'0005'

+D_A                          EQU     H'0005'

+DATA_ADDRESS                 EQU     H'0005'

+P                            EQU     H'0004'

+I2C_STOP                     EQU     H'0004'

+S                            EQU     H'0003'

+I2C_START                    EQU     H'0003'

+R                            EQU     H'0002'

+I2C_READ                     EQU     H'0002'

+NOT_W                        EQU     H'0002'

+NOT_WRITE                    EQU     H'0002'

+R_W                          EQU     H'0002'

+READ_WRITE                   EQU     H'0002'

+UA                           EQU     H'0001'

+BF                           EQU     H'0000'

+

+;----- CCP3CON Bits -------------------------------------------------------

+

+CCP3X                        EQU     H'0005'

+CCP3Y                        EQU     H'0004'

+CCP3M3                       EQU     H'0003'

+CCP3M2                       EQU     H'0002'

+CCP3M1                       EQU     H'0001'

+CCP3M0                       EQU     H'0000'

+

+;----- TXSTA Bits ---------------------------------------------------------

+

+CSRC                         EQU     H'0007'

+TX9                          EQU     H'0006'

+NOT_TX8                      EQU     H'0006'    ; Backward compatibility only

+TX8_9                        EQU     H'0006'    ; Backward compatibility only

+TXEN                         EQU     H'0005'

+SYNC                         EQU     H'0004'

+BRGH                         EQU     H'0002'

+TRMT                         EQU     H'0001'

+TX9D                         EQU     H'0000'

+TXD8                         EQU     H'0000'    ; Backward compatibility only

+

+;----- ADCON2 Bits ---------------------------------------------------------

+

+ACQT2                        EQU     H'0005'

+ACQT1                        EQU     H'0004'

+ACQT0                        EQU     H'0003'

+

+;----- CMCON Bits ---------------------------------------------------------

+

+C2OUT                        EQU     H'0007'

+C1OUT                        EQU     H'0006'

+C2INV                        EQU     H'0005'

+C1INV                        EQU     H'0004'

+CIS                          EQU     H'0003'

+CM2                          EQU     H'0002'

+CM1                          EQU     H'0001'

+CM0                          EQU     H'0000'

+

+;----- CVRCON Bits --------------------------------------------------------

+

+CVREN                        EQU     H'0007'

+CVROE                        EQU     H'0006'

+CVRR                         EQU     H'0005'

+CVR3                         EQU     H'0003'

+CVR2                         EQU     H'0002'

+CVR1                         EQU     H'0001'

+CVR0                         EQU     H'0000'

+

+;----- ADCON1 Bits --------------------------------------------------------

+

+ADFM                         EQU     H'0007'

+ADCS2						 EQU     H'0006'

+VCFG1						 EQU     H'0005'

+VCFG0						 EQU	 H'0004'

+PCFG3                        EQU     H'0003'

+PCFG2                        EQU     H'0002'

+PCFG1                        EQU     H'0001'

+PCFG0                        EQU     H'0000'

+

+;----- WDTCON Bits --------------------------------------------------------

+

+WDTPS3                       EQU     H'0004'

+WDTPS2                       EQU     H'0003'

+WDTPS1                       EQU     H'0002'

+WDTPS0                       EQU     H'0001'

+SWDTEN                       EQU     H'0000'

+SWDTE                        EQU     H'0000'

+

+;----- LVDCON Bits --------------------------------------------------------

+

+IRVST                        EQU     H'0005'

+LVDEN                        EQU     H'0004'

+LVDL3                        EQU     H'0003'

+LVDL2                        EQU     H'0002'

+LVDL1                        EQU     H'0001'

+LVDL0                        EQU     H'0000'

+

+;----- PMCON1 Bits --------------------------------------------------------

+

+RD							 EQU	 H'0000'

+

+

+;==========================================================================

+;

+;       RAM Definition

+;

+;==========================================================================

+

+        __MAXRAM H'1FF'

+        __BADRAM H'08'

+        __BADRAM H'88', H'9A'

+        __BADRAM H'107'-H'108'

+        __BADRAM H'185', H'187'-H'189', H'18D'-H'18F'

+

+;==========================================================================

+;

+;       Configuration Bits

+;

+;==========================================================================

+

+_CONFIG1                    EQU     H'2007'

+_CONFIG2                    EQU     H'2008'

+

+;Configuration Byte 1 Options

+_CP_ALL                      EQU     H'1FFF'

+_CP_OFF	                     EQU     H'3FFF'

+_CCP2_RC1		    		 EQU     H'3FFF'

+_CCP2_RB3                    EQU     H'2FFF'

+_DEBUG_OFF                   EQU     H'3FFF'

+_DEBUG_ON                    EQU     H'37FF'

+_VBOR_2_0		             EQU     H'3FFF'

+_VBOR_2_7					 EQU     H'3F7F'

+_VBOR_4_2					 EQU     H'3EFF'

+_VBOR_4_5 					 EQU     H'3E7F'

+_BOREN_1	      			 EQU	 H'3FFF'	;MUST BE CONFIGURED IN CONJUCTION W/ BORSEN (CONFIG2)

+_BOREN_0					 EQU     H'3FBF'	;MUST BE CONFIGURED IN CONJUCTION W/ BORSEN (CONFIG2)

+_MCLR_ON		   		     EQU     H'3FFF'

+_MCLR_OFF                    EQU     H'3FDF'

+_PWRTE_OFF                   EQU     H'3FFF'

+_PWRTE_ON                    EQU     H'3FF7'

+_WDT_ON                      EQU     H'3FFF'

+_WDT_OFF                     EQU     H'3FFB'

+_EXTRC_CLKOUT		    	 EQU     H'3FFF'

+_EXTRC_IO		    		 EQU     H'3FFE'

+_INTRC_CLKOUT                EQU     H'3FFD'

+_INTRC_IO		    		 EQU     H'3FFC'

+_EXTCLK			    		 EQU     H'3FEF'

+_HS_OSC                      EQU     H'3FEE'

+_XT_OSC                      EQU     H'3FED'

+_LP_OSC                      EQU     H'3FEC'

+

+;Configuration Byte 2 Options

+_BORSEN_1					 EQU	 H'3FFF'	;MUST BE CONFIGURED IN CONJUCTION W/ BOREN (CONFIG1)

+_BORSEN_0					 EQU	 H'3FBF'	;MUST BE CONFIGURED IN CONJUCTION W/ BOREN (CONFIG1)

+_IESO_ON                     EQU     H'3FFF'

+_IESO_OFF                    EQU     H'3FFD'

+_FCMEN_ON                    EQU     H'3FFF'

+_FCMEN_OFF                   EQU     H'3FFE'

+

+

+;**** Brown-out Reset configurations **** (Refer to the 16F7x7 Data Sheet for more details)

+;BOREN_1 & BORSEN_1	=	BOR enabled and always on

+;BOREN_1 & BORSEN_0 = 	BOR enabled during operation and disabled during sleep by hardware

+;BOREN_0 & BORSEN_1 = 	BOR controlled by software bit SBOREN (PCON,2)

+;BOREN_0 & BORSEN_0 =   BOR disabled

+

+

+; To use the Configuration Bits, place the following lines in your source code

+;  in the following format, and change the configuration value to the desired 

+;  setting (such as CP_OFF to CP_ALL).  These are currently commented out here

+;  and each __CONFIG line should have the preceding semicolon removed when

+;  pasted into your source code.

+

+;Program Configuration Register 1

+;		__CONFIG    _CONFIG1, _CP_OFF & _CCP2_RC1 & _DEBUG_OFF & _VBOR_2_0 & BOREN_1 & _MCLR_OFF & _PWRTE_OFF & _WDT_OFF & _HS_OSC

+

+;Program Configuration Register 2

+;		__CONFIG    _CONFIG2, _BORSEN_1 & _IESO_OFF & _FCMEN_OFF

+

+

+        LIST

diff --git a/PICduino/f767duino.HEX b/PICduino/f767duino.HEX
new file mode 100755
index 0000000..80098e6
--- /dev/null
+++ b/PICduino/f767duino.HEX
@@ -0,0 +1,120 @@
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diff --git a/PICduino/f767duino.asm b/PICduino/f767duino.asm
new file mode 100755
index 0000000..57a5a0b
--- /dev/null
+++ b/PICduino/f767duino.asm
@@ -0,0 +1,1810 @@
+;********************************************************

+;														*

+;	Filename:		f767duino.asm						*

+;	Date:			20061016							*

+;	File Version:	0.6									*

+;		Fixed a bug in receive interrupt handler and	*

+;		buffer increment								*

+;	Date:			20061012							*

+;	File Version:	0.5									*

+;		Using shadow registers for tris					*

+;		registers to avoid bcf and bsf instructions		*

+;	Date:			20061012							*

+;	File Version:	0.4									*

+;		Fixed another bug. Digital out still doesn't 	*

+;		work. Next try using shadow registers for tris	*

+;		registers to avoid bcf and bsf instructions		*

+;	Date:			20061011							*

+;	File Version:	0.3									*

+;		fixed a couple of bugs. Now analog input works	*

+;	Date:			20060927							*

+;	File Version:	0.2									*

+;		completed port to PIC asm						*

+;	Date:			20060921							*

+;	File Version:	0.1									*

+;														*

+;	Author:			Martin Peach						*

+;														* 

+;														*

+;********************************************************

+;											*

+;	Files required:	P16F767.INC				*

+;											*

+;											*

+;************************************************************************************************

+;																								*

+;	This is an implementation of the Arduino using a PIC16F767 instead of an ATmega8.			*

+;	See PICduino.CKT for the schematic.															*

+;																								*

+;************************************************************************************************

+;___Arduino_Pin_Name____=___PIC_Pin_Name____*

+;   DigitalPin0 RXD		=	RC7				*

+;   DigitalPin1 TXD		= 	RC6				*

+;   DigitalPin2			= 	RC5				*

+;   DigitalPin3			= 	RC4				*

+;   DigitalPin4			= 	RC3				*

+;   DigitalPin5			= 	RB0				*

+;   DigitalPin6			= 	RB4				*

+;   DigitalPin7			= 	RB7				*

+;   DigitalPin8			= 	RB6				*

+;   DigitalPin9	 PWM	= 	RB5				*

+;   DigitalPin10 PWM	= 	RC2				*

+;   DigitalPin11 PWM	= 	RC1				*

+;   DigitalPin12		= 	RC0				*

+;   DigitalPin13		= 	RB1				*

+;	AnalogInput0		= 	RA0/AN0			*

+;	AnalogInput1		= 	RA1/AN1			*

+;	AnalogInput2		= 	RA2/AN2			*

+;	AnalogInput3		= 	RA5/AN4			*

+;	AnalogInput4		= 	RB2/AN8			*

+;	AnalogInput5		= 	RB3/AN9			*

+;	VRef				= 	RA3/AN3			*

+;											*

+; Timing parameters:

+; FOsc = 14745600Hz

+; TOsc = 67.8ns

+; Tad = 2.17us, Tcnv = 26.04us

+; ADC needs 20us (~10Tad) to charge the sampling capacitor + 2Tad(~5us) after each conversion

+;********************************************

+; This is based on Pd_firmware_pde

+; Copyright (C) 2006 Hans-Christoph Steiner

+; This library is free software; you can redistribute it and/or

+; modify it under the terms of the GNU Lesser General Public

+; License as published by the Free Software Foundation; either

+; version 2.1 of the License, or (at your option) any later version.

+;

+; This library is distributed in the hope that it will be useful,

+; but WITHOUT ANY WARRANTY; without even the implied warranty of

+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

+; Lesser General Public License for more details.

+;

+; You should have received a copy of the GNU Lesser General

+; Public License along with this library; if not, write to the

+; Free Software Foundation, Inc., 59 Temple Place, Suite 330,

+; Boston, MA  02111-1307  USA

+;

+; -----------------------------

+; Firmata, the Arduino firmware

+; -----------------------------

+; 

+; Firmata turns the Arduino into a Plug-n-Play sensorbox, servo

+; controller, and/or PWM motor/lamp controller.

+;

+; It was originally designed to work with the Pd object [arduino]

+; which is included in Pd-extended.  This firmware is intended to

+; work with any host computer software package.  It can easily be

+; used with other programs like Max/MSP, Processing, or whatever can

+; do serial communications.;

+; @authors: Hans-Christoph Steiner <hans@at.or.at>

+;   help with protocol redesign: Jamie Allen <jamie@heavyside.net>

+;   key bugfixes: Georg Holzmann <grh@mur.at>

+;                 Gerda Strobl <gerda.strobl@student.tugraz.at>

+; @date: 2006-05-19

+; @locations: STEIM, Amsterdam, Netherlands

+;             IDMI/Polytechnic University, Brookyn, NY, USA

+;             Electrolobby Ars Electronica, Linz, Austria

+;

+; 

+; TODO: add pulseIn functionality

+; TODO: add software PWM for servos, etc (servo.h or pulse.h)

+; TODO: redesign protocol to accomodate boards with more I/Os

+; TODO: 

+; TODO: add "outputMode all 0/1" command

+; TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM

+;

+; =========================================================================

+	list		p=16f767			; list directive to define processor

+	#include	<P16F767.inc>		; processor specific variable definitions

+	

+	__CONFIG    _CONFIG1,  _CP_OFF & _CCP2_RC1 & _DEBUG_OFF & _VBOR_2_0 & _BOREN_0 & _MCLR_ON & _PWRTE_ON & _WDT_OFF & _HS_OSC

+	__CONFIG    _CONFIG2,  _BORSEN_0 & _IESO_OFF & _FCMEN_OFF

+

+; === CONSTANTS ===========================================================

+B19200					equ d'47'	; time constant for baud rate generator

+B9600					equ d'95'	; time constant for baud rate generator

+; firmware version numbers.  The protocol is still changing, so these version

+; numbers are important

+MAJOR_VERSION			equ	0

+MINOR_VERSION			equ	1

+; firmata protocol

+; ===============

+; data: 0-127

+; control: 128-255

+; computer->Arduino commands

+; --------------------

+; 128-129 UNUSED

+SET_PIN_ZERO_TO_IN		equ	d'130'	; set digital pin 0 to INPUT

+SET_PIN_ONE_TO_IN		equ	d'131'	; set digital pin 1 to INPUT

+SET_PIN_TWO_TO_IN		equ	d'132'	; set digital pin 2 to INPUT

+SET_PIN_THREE_TO_IN		equ	d'133'	; set digital pin 3 to INPUT

+SET_PIN_FOUR_TO_IN		equ	d'134'	; set digital pin 4 to INPUT

+SET_PIN_FIVE_TO_IN		equ	d'135'	; set digital pin 5 to INPUT

+SET_PIN_SIX_TO_IN		equ	d'136'	; set digital pin 6 to INPUT

+SET_PIN_SEVEN_TO_IN		equ	d'137'	; set digital pin 7 to INPUT

+SET_PIN_EIGHT_TO_IN		equ	d'138'	; set digital pin 8 to INPUT

+SET_PIN_NINE_TO_IN		equ	d'139'	; set digital pin 9 to INPUT

+SET_PIN_TEN_TO_IN		equ	d'140'	; set digital pin 10 to INPUT

+SET_PIN_ELEVEN_TO_IN	equ	d'141'	; set digital pin 11 to INPUT

+SET_PIN_TWELVE_TO_IN	equ	d'142'	; set digital pin 12 to INPUT

+SET_PIN_THIRTEEN_TO_IN	equ	d'143'	; set digital pin 13 to INPUT

+; 144-149 UNUSED

+DISABLE_DIGITAL_INPUTS	equ	d'150'	; disable reporting of digital inputs

+ENABLE_DIGITAL_INPUTS	equ	d'151'	; enable reporting of digital inputs

+; 152-159 UNUSED

+ZERO_ANALOG_INS			equ	d'160'	; disable reporting on all analog ins

+ONE_ANALOG_IN			equ	d'161'	; enable reporting for 1 analog in (0)

+TWO_ANALOG_INS			equ	d'162'	; enable reporting for 2 analog ins (0,1)

+THREE_ANALOG_INS		equ	d'163'	; enable reporting for 3 analog ins (0-2)

+FOUR_ANALOG_INS			equ	d'164'	; enable reporting for 4 analog ins (0-3)

+FIVE_ANALOG_INS			equ	d'165'	; enable reporting for 5 analog ins (0-4)

+SIX_ANALOG_INS			equ	d'166'	; enable reporting for 6 analog ins (0-5)

+; 167-199 UNUSED

+SET_PIN_ZERO_TO_OUT		equ	d'200'	; set digital pin 0 to OUTPUT

+SET_PIN_ONE_TO_OUT		equ	d'201'	; set digital pin 1 to OUTPUT

+SET_PIN_TWO_TO_OUT		equ	d'202'	; set digital pin 2 to OUTPUT

+SET_PIN_THREE_TO_OUT	equ	d'203'	; set digital pin 3 to OUTPUT

+SET_PIN_FOUR_TO_OUT		equ	d'204'	; set digital pin 4 to OUTPUT

+SET_PIN_FIVE_TO_OUT		equ	d'205'	; set digital pin 5 to OUTPUT

+SET_PIN_SIX_TO_OUT		equ	d'206'	; set digital pin 6 to OUTPUT

+SET_PIN_SEVEN_TO_OUT	equ	d'207'	; set digital pin 7 to OUTPUT

+SET_PIN_EIGHT_TO_OUT	equ	d'208'	; set digital pin 8 to OUTPUT

+SET_PIN_NINE_TO_OUT		equ	d'209'	; set digital pin 9 to OUTPUT

+SET_PIN_TEN_TO_OUT		equ	d'210'	; set digital pin 10 to OUTPUT

+SET_PIN_ELEVEN_TO_OUT	equ	d'211'	; set digital pin 11 to OUTPUT

+SET_PIN_TWELVE_TO_OUT	equ	d'212'	; set digital pin 12 to OUTPUT

+SET_PIN_THIRTEEN_TO_OUT	equ	d'213'	; set digital pin 13 to OUTPUT

+; 214-228 UNUSED

+OUTPUT_TO_DIGITAL_PINS	equ	d'229'	; next two bytes set digital output data 

+; 230-239 UNUSED

+REPORT_VERSION			equ	d'240'	; return the firmware version

+; 240-249 UNUSED

+DISABLE_PWM				equ	d'250'	; next byte sets pin # to disable

+ENABLE_PWM				equ	d'251'	; next two bytes set pin # and duty cycle

+DISABLE_SOFTWARE_PWM	equ	d'252'	; next byte sets pin # to disable

+ENABLE_SOFTWARE_PWM		equ	d'253'	; next two bytes set pin # and duty cycle

+SET_SOFTWARE_PWM_FREQ	equ	d'254'	; set master frequency for software PWMs

+; 255 UNUSED

+;*************** 

+; two byte digital output data format

+; ----------------------

+; 0  get ready for digital input bytes (229)

+; 1  digitalOut 7-13 bitmask

+; 2  digitalOut 0-6 bitmask

+; two byte PWM data format

+; ----------------------

+; 0  get ready for digital input bytes (ENABLE_SOFTWARE_PWM/ENABLE_PWM)

+; 1  pin #

+; 2  duty cycle expressed as 1 byte (255 = 100%)

+; digital input message format

+; ----------------------

+; 0   digital input marker (255/11111111)

+; 1   digital read from Arduino // 7-13 bitmask

+; 2   digital read from Arduino // 0-6 bitmask

+; analog input message format

+; ----------------------

+; 0   analog input marker

+; 1   high byte from analog input pin 0

+; 2   low byte from analog input pin 0

+; 3   high byte from analog input pin 1

+; 4   low byte from analog input pin 1

+; 5   high byte from analog input pin 2

+; 6   low byte from analog input pin 2

+; 7   high byte from analog input pin 3

+; 8   low byte from analog input pin 3

+; 9   high byte from analog input pin 4

+; 10  low byte from analog input pin 4

+; 11  high byte from analog input pin 5

+; 12  low byte from analog input pin 5

+TOTAL_DIGITAL_PINS		equ	d'14'

+

+INPUT					equ	d'0' ; these aren't defined in Pd_firmware.pde

+OUTPUT					equ	d'1' ; these aren't defined in Pd_firmware.pde

+; for comparing along with INPUT and OUTPUT

+PWM 					equ	d'2'

+

+; maximum number of post-command data bytes

+MAX_DATA_BYTES 			equ	d'2'

+

+; == VARIABLES ============================================================

+; this flag says the next serial input will be data

+;byte waitForData = 0;

+waitForData				equ	0x20	; initialize to 0;

+;byte executeMultiByteCommand = 0; // command to execute after getting multi-byte data

+executeMultiByteCommand	equ	0x21	; initialize to 0

+;byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data

+storedInputData0		equ 0x22	; initialize to 0,0

+storedInputData1		equ 0x23	; initialize to 0,0

+; this flag says the first data byte for the digital outs is next

+;boolean firstInputByte = false;

+firstInputByte			equ 0x24	; initialize to 0

+; this int serves as a bit-wise array to store pin status

+; 0 = INPUT, 1 = OUTPUT

+; int digitalPinStatus;

+digitalPinStatusHi		equ	0x25	; initialize to 0,0

+digitalPinStatusLo		equ	0x26	; initialize to 0,0

+; this byte stores the status of whether PWM is on or not

+; bit 9 = PWM0, bit 10 = PWM1, bit 11 = PWM2

+; the rest of the bits are unused and should remain 0

+;int pwmStatus;

+pwmStatusHi				equ	0x27	; initialize to 0,0

+pwmStatusLo				equ	0x28	; initialize to 0,0

+; this byte stores the status of whether software PWM is on or not

+; 00000010 00000000 means bit 10 is softWarePWM enabled

+;int softPwmStatus;

+softPwmStatusHi			equ	0x29	; initialize to 0,0

+softPwmStatusLo			equ	0x2A	; initialize to 0,0

+;boolean digitalInputsEnabled = true;

+digitalInputsEnabled	equ	0x2B	; initialize to 1

+;byte analogInputsEnabled = 6;

+analogInputsEnabled		equ	0x2C	; initialize to 6;

+;byte analogPin;

+analogPin				equ	0x2D	;

+;int analogData;

+analogDataHi			equ	0x2E	;

+analogDataLo			equ	0x2F	;

+rxBuf					equ	0x40	;

+rxBufEnd				equ	0x50	;

+i						equ	0x51	; local variable in setup()

+pin						equ	0x52	; pin number for pinMode()

+mode					equ	0x53	; pin mode for pinMode()

+maskHi					equ	0x54

+maskLo					equ	0x55

+rxWrPtr					equ	0x56

+rxRdPtr					equ	0x57

+inputData				equ	0x58

+digitalPin				equ	0x59

+transmitByte			equ	0x5A

+digitalData				equ	0x5B

+fsr_temp				equ	0x70	; variable used for context saving

+w_temp					equ	0x71	; variable used for context saving

+status_temp				equ	0x72	; variable used for context saving

+pclath_temp				equ	0x73	; variable used for context saving

+trisa_shadow			equ	0x74

+trisb_shadow			equ	0x75

+trisc_shadow			equ	0x76

+portb_shadow			equ	0x77

+portc_shadow			equ	0x78

+; =========================================================================

+	ORG			0x000			; processor reset vector

+  	goto		setup			; go to beginning of program

+; =========================================================================

+	ORG			0x004			; interrupt vector location

+	movwf		w_temp			; save off current W register contents

+	movf		STATUS,w		; move status register into W register

+	movwf		status_temp		; save off contents of STATUS register

+	movf		PCLATH,w		; move pclath register into w register

+	movwf		pclath_temp		; save off contents of PCLATH register

+

+	btfss		PIR1,RCIF

+	goto		intout

+;receive interrupt

+; 6. Flag bit RCIF will be set when reception is complete and an interrupt will be generated if enable bit RCIE is set.

+; 7. Read the RCSTA register to get the ninth bit (if enabled) and determine if any error occurred during reception.

+	bcf			STATUS,RP0		; bank 0

+	movf		RCSTA,w

+	andlw		b'00000110'		; Framing, Overrun Errors

+	btfss		STATUS,Z

+	goto		RxError

+; 8. Read the 8-bit received data by reading the RCREG register.

+; handle the character by saving it into rxBuf and incrementing rxWrPtr

+	movf		FSR,w			; first save FSR

+	movwf		fsr_temp

+	movf		rxWrPtr,w		; get the pointer to the buffer

+	movwf		FSR				; into FSR

+	movf		RCREG,w			; read the character

+	movwf		INDF			; store it in the buffer

+	movf		fsr_temp,w		; restore FSR

+	movwf		FSR

+	incf		rxWrPtr,f		; point to next slot in buffer

+	movlw		rxBufEnd		; check for end of buffer

+	xorwf		rxWrPtr,w

+	btfss		STATUS,Z

+	goto		intout			; not yet at end

+	movlw		rxBuf			; reset pointer to start of buffer

+	movwf		rxWrPtr

+intout

+	movf		pclath_temp,w	; retrieve copy of PCLATH register

+	movwf		PCLATH			; restore pre-isr PCLATH register contents

+	movf		status_temp,w	; retrieve copy of STATUS register

+	movwf		STATUS			; restore pre-isr STATUS register contents

+	swapf		w_temp,f

+	swapf		w_temp,w		; restore pre-isr W register contents

+	retfie						; return from interrupt

+; 9. If any error occurred, clear the error by clearing enable bit CREN.

+RxError

+	bcf			RCSTA,CREN

+	movf		RCREG,w

+	bsf			RCSTA,CREN

+	goto		intout

+

+; =========================================================================

+; 

+; -------------------------------------------------------------------------

+;void setup()

+;{

+setup

+		clrf	waitForData	; init all the variables

+		clrf	executeMultiByteCommand

+		clrf	storedInputData0

+		clrf	storedInputData1

+		clrf	firstInputByte

+		clrf	digitalPinStatusHi

+		clrf	digitalPinStatusLo

+		clrf	pwmStatusHi

+		clrf	pwmStatusLo

+		clrf	softPwmStatusHi

+		clrf	softPwmStatusLo

+		movlw	1

+		movwf	digitalInputsEnabled	; initialize to 1

+		movlw	6

+		movwf	analogInputsEnabled		; initialize to 6;

+		movlw	rxBuf

+		movwf	rxWrPtr

+		movwf	rxRdPtr

+		clrf	portb_shadow

+		clrf	portc_shadow

+		clrf	PORTB	; PORTB is cleared anyway at reset

+		clrf	PORTC	; PORTC is cleared anyway at reset

+		movlw	0xFF	; all inputs (they are anyway after reset)

+		bsf		STATUS,RP0 ; bank 1

+		movwf	TRISA

+		movwf	trisa_shadow

+		movwf	TRISB

+		movwf	trisb_shadow

+		movwf	TRISC

+		movwf	trisc_shadow

+		bcf		STATUS,RP0 ; bank 0

+;  byte i;

+;

+;  beginSerial(19200);

+		call 	beginSerial_19200

+;  for(i=0; i<TOTAL_DIGITAL_PINS; ++i)

+;  {

+		clrf	i

+;    setPinMode(i,INPUT);

+slp_1

+		movf	i,w

+		movwf	pin

+		movlw	INPUT

+		movwf	mode

+		call	setPinMode

+		incf	i,f

+		movlw	TOTAL_DIGITAL_PINS

+		subwf	i,w

+		btfss	STATUS,C

+		goto	slp_1

+; setup analog pins

+;The following steps should be followed to do an A/D conversion:

+;1. Configure the A/D module:

+; Configure analog pins, voltage reference and digital I/O (ADCON1)

+		movlw	b'10010101' ; right-justified 10-bit result. VRef+ = RA3, AN0-AN9 analog

+		bsf		STATUS,RP0 ; bank 1

+		movwf	ADCON1

+		bcf		STATUS,RP0 ; bank 0

+; Select A/D input channel (ADCON0)

+		movlw	b'10000000'	; start with channel 0, 32 Tosc conversion, module off

+		movwf	ADCON0

+; Select A/D acquisition time (ADCON2)

+		movlw	b'00101000' ; wait 12Tad

+		bsf		STATUS,RP0 ; bank 1

+		movwf	ADCON2	

+		bcf		STATUS,RP0 ; bank 0

+; Select A/D conversion clock (ADCON0)

+; Turn on A/D module (ADCON0)

+		bsf		ADCON0,ADON

+;2. Configure A/D interrupt (if desired):

+; Clear ADIF bit

+; Set ADIE bit

+; Set PEIE bit

+; Set GIE bit

+;3. Wait the required acquisition time (if required).

+;4. Start conversion:

+; Set GO/DONE bit (ADCON0 register)

+;5. Wait for A/D conversion to complete, by either:

+; Polling for the GO/DONE bit to be cleared

+;OR

+; Waiting for the A/D interrupt

+;6. Read A/D Result registers (ADRESH:ADRESL); clear bit ADIF (if required).

+;7. For next conversion, go to step 1 or step 2 as required. The A/D conversion time per bit is

+; defined as TAD. A minimum wait of 2 TAD is required before the next acquisition starts.

+;  }

+;}

+;

+; setup falls through into loop and stays there forever...

+;

+; -------------------------------------------------------------------------

+;void loop()

+;{

+loop

+;  checkForInput();  

+		call 	checkForInput

+;  

+;  // read all digital pins, in enabled

+;  if(digitalInputsEnabled)

+		btfss	digitalInputsEnabled,0

+		goto 	lp_1

+;  {

+;    printByte(ENABLE_DIGITAL_INPUTS);

+		movlw	ENABLE_DIGITAL_INPUTS

+		call	printByte

+;    transmitDigitalInput(7);

+		movlw	d'7'

+		call	transmitDigitalInput

+;    checkForInput();

+		call 	checkForInput

+;    transmitDigitalInput(0);

+		movlw	d'0'

+		call	transmitDigitalInput

+;    checkForInput();

+		call 	checkForInput

+;  }

+lp_1

+;

+;  /* get analog in, for the number enabled */

+;  for(analogPin=0; analogPin<analogInputsEnabled; ++analogPin)

+		clrf	analogPin

+lp_2

+		movf	analogInputsEnabled,w

+		subwf	analogPin,w

+		btfsc	STATUS,C

+		goto	loop

+;  {

+;    analogData = analogRead(analogPin);

+		call	analogRead ; analogRead sets analogDataHi and analogDataLo according to analogPin

+;    // these two bytes get converted back into the whole number in Pd

+;    // the higher bits should be zeroed so that the 8th bit doesn't get set

+;    printByte(ONE_ANALOG_IN + analogPin); 

+		movlw	ONE_ANALOG_IN

+		addwf	analogPin,w

+		call	printByte

+;    printByte(analogData >> 7);  // bitshift the big stuff into the output byte

+		rlf		analogDataLo,w ; bit7 into C

+		rlf		analogDataHi,w ; C into bit0

+		andlw	b'00000111' ; only 10 bits

+		call	printByte

+;    printByte(analogData % 128); // mod by 32 for the small byte

+		movf	analogDataLo,w

+		andlw	b'01111111'

+		call	printByte

+;    checkForInput();

+		call 	checkForInput

+		incf	analogPin,f

+		goto	lp_2

+;  }

+;}

+;

+; ============subroutines======================================================

+;

+; -------------------------------------------------------------------------

+; this function checks to see if there is data waiting on the serial port 

+; then processes all of the stored data

+;void checkForInput()

+;{

+checkForInput

+		movf	rxWrPtr,w

+		xorwf	rxRdPtr,w

+		btfsc	STATUS,Z

+		return

+;  if(serialAvailable())

+;  {  

+;    while(serialAvailable())

+;    {

+		movf	rxRdPtr,w

+		movwf	FSR

+		movf	INDF,w

+;      processInput( (byte)serialRead() );

+		call	processInput

+		incf	rxRdPtr,f

+		movlw	rxBufEnd

+		xorwf	rxRdPtr,w

+		btfss	STATUS,Z

+		goto	checkForInput	

+		movlw	rxBuf ; wrap to start of buffer

+		movwf	rxRdPtr

+		goto	checkForInput

+;    }

+;  }

+;}

+; -------------------------------------------------------------------------

+; printByte: on entry w contains the byte to send

+printByte

+		bsf		STATUS,RP0 ; bank 1

+		btfss	TXSTA,TRMT

+		goto	$-1

+		bcf		STATUS,RP0 ; bank 0

+		movwf	TXREG

+		return

+; -------------------------------------------------------------------------

+beginSerial_19200 ; setup USART for 19200 asynchronous receive and transmit, 8bitsNoParity1Stop

+; Bits TRISC<7:6> have to be set in order to configure pins RC6/TX/CK and RC7/RX/DT as the USART.

+; (They are set at reset)

+		bsf		STATUS,RP0 ; bank 1

+; When setting up an Asynchronous Transmission, follow these steps:

+; 1. Initialize the SPBRG register for the appropriate baud rate. If a high-speed baud rate is desired,

+;   set bit BRGH (see Section 11.1 “AUSART Baud Rate Generator (BRG)”).

+; * * * For 14.745600MHz crystal clock, SPBRG=47, BRGH=1 gives 19200 baud. * * *

+		movlw	B19200 ; = d'47'

+		movwf	SPBRG

+		bsf		TXSTA,BRGH

+; 2. Enable the asynchronous serial port by clearing bit SYNC and setting bit SPEN.

+		bcf		STATUS,RP0 ; bank 0

+		bsf		RCSTA,SPEN

+; 3. If interrupts are desired, then set enable bit TXIE.

+; 4. If 9-bit transmission is desired, then set transmit bit TX9.

+; 5. Enable the transmission by setting bit TXEN which will also set bit TXIF.

+		bsf		STATUS,RP0 ; bank 1

+		bsf		TXSTA,TXEN	

+; 6. If 9-bit transmission is selected, the ninth bit should be loaded in bit TX9D.

+; 7. Load data to the TXREG register (starts transmission).

+; 8. If using interrupts, ensure that GIE and PEIE (bits 7 and 6) of the INTCON register are set.

+;When setting up an Asynchronous Reception, follow these steps:

+; 1. Initialize the SPBRG register for the appropriate baud rate. If a high-speed baud rate is desired,

+; set bit BRGH (see Section 11.1 “AUSART Baud Rate Generator (BRG)”).

+; 2. Enable the asynchronous serial port by clearing bit SYNC and setting bit SPEN.

+; 3. If interrupts are desired, then set enable bit RCIE.

+		bsf		PIE1,RCIE	

+; 4. If 9-bit reception is desired, then set bit RX9.

+; 5. Enable the reception by setting bit CREN.

+		bcf		STATUS,RP0 ; bank 0

+		bsf		RCSTA,CREN

+; 6. Flag bit RCIF will be set when reception is complete and an interrupt will be generated if enable bit RCIE is set.

+; 7. Read the RCSTA register to get the ninth bit (if enabled) and determine if any error occurred during reception.

+; 8. Read the 8-bit received data by reading the RCREG register.

+; 9. If any error occurred, clear the error by clearing enable bit CREN.

+; 10. If using interrupts, ensure that GIE and PEIE (bits 7 and 6) of the INTCON register are set.

+		bsf		INTCON,PEIE

+		bsf		INTCON,GIE

+		return

+; -------------------------------------------------------------------------

+;void transmitDigitalInput(byte startPin)

+;{

+transmitDigitalInput ; on entry w contains startPin

+;  byte i;

+;  byte digitalPin;

+;//  byte digitalPinBit;

+;  byte transmitByte = 0;

+		clrf	transmitByte

+;  byte digitalData;

+;

+		movwf	digitalPin

+		movwf	i

+		clrf	maskLo

+		clrf	maskHi

+		bsf		STATUS,C

+tdilp_1 ; set up the mask with bit startPin set

+		rlf		maskLo,f

+		rlf		maskHi,f

+		movf	i,f

+		btfsc	STATUS,Z

+		goto	tdi_1 ; mask is at startPin

+		decf	i,f

+		goto	tdilp_1		

+;  for(i=0;i<7;++i)

+;  {

+tdi_2

+;    digitalPin = i+startPin;

+		incf	i,f ; ++i

+		movlw	d'7'

+		xorwf	i,w ; i == 7?

+		btfsc	STATUS,Z

+		goto	tdi_3 ; yes

+		incf	digitalPin,f ; no

+		bcf		STATUS,C

+		rlf		maskLo,f

+		rlf		maskHi,f

+;/*    digitalPinBit = OUTPUT << digitalPin;

+;// only read the pin if its set to input

+;if(digitalPinStatus & digitalPinBit) {

+;digitalData = 0; // pin set to OUTPUT, don't read

+;}

+;else if( (digitalPin >= 9) && (pwmStatus & (1 << digitalPin)) ) {

+;digitalData = 0; // pin set to PWM, don't read

+;}*/

+;    if( !(digitalPinStatus & (1 << digitalPin)) )

+tdi_1

+		movf	digitalPinStatusLo,w 

+		andwf	maskLo,w ; maskLo is lowbyte of 1<<digitalPin

+		btfss	STATUS,Z

+		goto	tdi_2

+		movf	digitalPinStatusHi,w

+		andwf	maskHi,w

+		btfss	STATUS,Z

+		goto	tdi_2

+;    {

+;

+;      digitalData = (byte) digitalRead(digitalPin);

+		call	digitalRead ; sets carry to match pin w input data

+;      transmitByte = transmitByte + ((1 << i) * digitalData);

+;		rlf		transmitByte,f ; carry bit shifts into transmitByte

+		rrf		transmitByte,f ; carry bit shifts into transmitByte

+		goto	tdi_2	

+;    }

+;  }

+;  printByte(transmitByte);

+tdi_3

+		bcf		STATUS,C ; shift 0 into high bit

+		rrf		transmitByte,f

+		movf	transmitByte,w

+		call	printByte

+;}

+		return

+;

+; -------------------------------------------------------------------------

+digitalRead0

+		btfsc	PORTC,7

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead1

+		btfsc	PORTC,6

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead2

+		btfsc	PORTC,5

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead3

+		btfsc	PORTC,4

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead4

+		btfsc	PORTC,3

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead5

+		btfsc	PORTB,0

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead6

+		btfsc	PORTB,4

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead7

+		btfsc	PORTB,7

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead8

+		btfsc	PORTB,6

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead9

+		btfsc	PORTB,5

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead10

+		btfsc	PORTC,2

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead11

+		btfsc	PORTC,1

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead12

+		btfsc	PORTC,0

+		bsf		STATUS,C

+		return		

+; -------------------------------------------------------------------------

+digitalRead13

+		btfsc	PORTB,1

+		bsf		STATUS,C

+		return		

+;

+; -------------------------------------------------------------------------

+analogRead0 ; AN0

+		movlw	b'10000101' ; Fosc/32 channel0 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogRead1 ; AN1

+		movlw	b'10001101' ; Fosc/32 channel1 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogRead2 ; AN2

+		movlw	b'10010101' ; Fosc/32 channel2 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogRead3 ; AN4

+		movlw	b'10100101' ; Fosc/32 channel4 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogRead4 ; AN8

+		movlw	b'10000111' ; Fosc/32 channel8 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogRead5 ; AN9

+		movlw	b'10001111' ; Fosc/32 channel9 Go On

+		goto	analogWait

+; -------------------------------------------------------------------------

+analogWait

+		movwf	ADCON0

+;3. Wait the required acquisition time (if required).

+; we set 12Tad in ADCON2

+;4. Start conversion:

+; Set GO/DONE bit (ADCON0 register)

+;5. Wait for A/D conversion to complete, by either:

+; Polling for the GO/DONE bit to be cleared

+		btfsc	ADCON0,GO_DONE

+		goto	$-1

+;OR

+; Waiting for the A/D interrupt

+;6. Read A/D Result registers (ADRESH:ADRESL); clear bit ADIF (if required).

+		movf	ADRESH,w

+		movwf	analogDataHi

+		bsf		STATUS,RP0 ; bank 1

+		movf	ADRESL,w

+		bcf		STATUS,RP0 ; bank 0

+		movwf	analogDataLo

+;7. For next conversion, go to step 1 or step 2 as required. The A/D conversion time per bit is

+; defined as TAD. A minimum wait of 2 TAD is required before the next acquisition starts.

+		return

+; -------------------------------------------------------------------------

+; this function sets the pin mode to the correct state and sets the relevant

+; bits in the two bit-arrays that track Digital I/O and PWM status

+;void setPinMode(int pin, int mode)

+;{

+;  if(mode == INPUT)

+;  {

+setPinMode ; on entry pin contains the digital pin number, mode contains the mode

+		movlw	INPUT

+		xorwf	mode,w

+		btfss	STATUS,Z

+		goto	setPinToOutOrPwm

+		goto	setPinToIn

+;    digitalPinStatus = digitalPinStatus &~ (1 << pin);

+;    pwmStatus = pwmStatus &~ (1 << pin);

+;    pinMode(pin,INPUT);

+; -------------------------------------------------------------------------

+setPinZeroToIn ; pin0 is RX!!!

+		bcf		digitalPinStatusLo,0

+		bcf		pwmStatusLo,0

+		bsf		trisc_shadow,7

+write_trisc

+		movf	trisc_shadow,w

+		bsf		STATUS,RP0 ; bank 1

+		movwf	TRISC	; was bsf TRISC,7

+		bcf		STATUS,RP0 ; bank 0

+		return

+; -------------------------------------------------------------------------

+setPinOneToIn ; pin1 is TX!!!!

+		bcf		digitalPinStatusLo,1

+		bcf		pwmStatusLo,1

+		bsf		trisc_shadow,6

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinTwoToIn	

+		bcf		digitalPinStatusLo,2

+		bcf		pwmStatusLo,2

+		bsf		trisc_shadow,5

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThreeToIn	

+		bcf		digitalPinStatusLo,3

+		bcf		pwmStatusLo,3

+		bsf		trisc_shadow,4

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFourToIn	

+		bcf		digitalPinStatusLo,4

+		bcf		pwmStatusLo,4

+		bsf		trisc_shadow,3

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFiveToIn	

+		bcf		digitalPinStatusLo,5

+		bcf		pwmStatusLo,5

+		bsf		trisb_shadow,0

+write_trisb

+		movf	trisb_shadow,w

+		bsf		STATUS,RP0 ; bank 1

+		movwf	TRISB	; was bsf TRISB,0

+		bcf		STATUS,RP0 ; bank 0

+		return

+; -------------------------------------------------------------------------

+setPinSixToIn	

+		bcf		digitalPinStatusLo,6

+		bcf		pwmStatusLo,6

+		bsf		trisb_shadow,4

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinSevenToIn	

+		bcf		digitalPinStatusLo,7

+		bcf		pwmStatusLo,7

+		bsf		trisb_shadow,7

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinEightToIn	

+		bcf		digitalPinStatusHi,0

+		bcf		pwmStatusHi,0

+		bsf		trisb_shadow,6

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinNineToIn	

+		bcf		digitalPinStatusHi,1

+		bcf		pwmStatusHi,1

+		bsf		trisb_shadow,5

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinTenToIn	

+		bcf		digitalPinStatusHi,2

+		bcf		pwmStatusHi,2

+		bsf		trisc_shadow,2

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinElevenToIn	

+		bcf		digitalPinStatusHi,3

+		bcf		pwmStatusHi,3

+		bsf		trisc_shadow,1

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinTwelveToIn	

+		bcf		digitalPinStatusHi,4

+		bcf		pwmStatusHi,4

+		bsf		trisc_shadow,0

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThirteenToIn	

+		bcf		digitalPinStatusHi,5

+		bcf		pwmStatusHi,5

+		bsf		trisb_shadow,1

+		goto	write_trisb

+;  }

+;  else if(mode == OUTPUT)

+;  {

+; -------------------------------------------------------------------------

+setPinToOutOrPwm

+		movlw	OUTPUT

+		xorwf	mode,w

+		btfsc	STATUS,Z

+		goto	setPinToPwmOrNo

+		goto	setPinToOut

+;    digitalPinStatus = digitalPinStatus | (1 << pin);

+;    pwmStatus = pwmStatus &~ (1 << pin);

+;    pinMode(pin,OUTPUT);

+; -------------------------------------------------------------------------

+setPinZeroToOut ; pin0 is RX!!! Don't allow this to happen! TRISC.7 must be 1

+;		bsf		digitalPinStatusLo,0

+;		bcf		pwmStatusLo,0

+;		bcf		trisc_shadow,7

+;		goto	write_trisc

+		return

+; -------------------------------------------------------------------------

+setPinOneToOut ; pin1 is TX!!!! Don't allow this to happen! TRISC.6 must be 1

+;		bsf		digitalPinStatusLo,1

+;		bcf		pwmStatusLo,1

+;		bcf		trisc_shadow,6

+;		goto	write_trisc

+		return

+; -------------------------------------------------------------------------

+setPinTwoToOut	

+		bsf		digitalPinStatusLo,2

+		bcf		pwmStatusLo,2

+		bcf		trisc_shadow,5

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThreeToOut	

+		bsf		digitalPinStatusLo,3

+		bcf		pwmStatusLo,3

+		bcf		trisc_shadow,4

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFourToOut	

+		bsf		digitalPinStatusLo,4

+		bcf		pwmStatusLo,4

+		bcf		trisc_shadow,3

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFiveToOut	

+		bsf		digitalPinStatusLo,5

+		bcf		pwmStatusLo,5

+		bcf		trisb_shadow,0

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinSixToOut	

+		bsf		digitalPinStatusLo,6

+		bcf		pwmStatusLo,6

+		bcf		trisb_shadow,4

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinSevenToOut	

+		bsf		digitalPinStatusLo,7

+		bcf		pwmStatusLo,7

+		bcf		trisb_shadow,7

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinEightToOut	

+		bsf		digitalPinStatusHi,0

+		bcf		pwmStatusHi,0

+		bcf		trisb_shadow,6

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinNineToOut	

+		bsf		digitalPinStatusHi,1

+		bcf		pwmStatusHi,1

+		bcf		trisb_shadow,5

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinTenToOut	

+		bsf		digitalPinStatusHi,2

+		bcf		pwmStatusHi,2

+		bcf		trisc_shadow,2

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinElevenToOut	

+		bsf		digitalPinStatusHi,3

+		bcf		pwmStatusHi,3

+		bcf		trisc_shadow,1

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinTwelveToOut	

+		bsf		digitalPinStatusHi,4

+		bcf		pwmStatusHi,4

+		bcf		trisc_shadow,0

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThirteenToOut	

+		bsf		digitalPinStatusHi,5

+		bcf		pwmStatusHi,5

+		bcf		trisb_shadow,1

+		goto	write_trisb

+;  }

+;  else if( (mode == PWM) && (pin >= 9) && (pin <= 11) )

+;  {

+; -------------------------------------------------------------------------

+setPinToPwmOrNo

+		movlw	PWM

+		xorwf	mode,w

+		btfsc	STATUS,Z

+		return	; no more choices

+		goto	setPinToPwm

+;    digitalPinStatus = digitalPinStatus | (1 << pin);

+;    pwmStatus = pwmStatus | (1 << pin);

+;    pinMode(pin,OUTPUT);

+; -------------------------------------------------------------------------

+setPinZeroToPWM ; pin0 is RX!!! Don't allow this to happen! TRISC.7 must be 1

+;		bsf		digitalPinStatusLo,0

+;		bsf		pwmStatusLo,0

+;		bcf		trisc_shadow,7

+;		goto	write_trisc

+;		bsf		STATUS,RP0 ; bank 1

+;		bcf		TRISC,7

+;		bcf		STATUS,RP0 ; bank 0

+		return

+; -------------------------------------------------------------------------

+setPinOneToPWM ; pin1 is TX!!!! Don't allow this to happen! TRISC.6 must be 1

+;		bsf		digitalPinStatusLo,1

+;		bsf		pwmStatusLo,1

+;		bcf		trisc_shadow,6

+;		goto	write_trisc

+;		bsf		STATUS,RP0 ; bank 1

+;		bcf		TRISC,6

+;		bcf		STATUS,RP0 ; bank 0

+		return

+; -------------------------------------------------------------------------

+setPinTwoToPWM	

+		bsf		digitalPinStatusLo,2

+		bsf		pwmStatusLo,2

+		bcf		trisc_shadow,5

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThreeToPWM	

+		bsf		digitalPinStatusLo,3

+		bsf		pwmStatusLo,3

+		bcf		trisc_shadow,4

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFourToPWM	

+		bsf		digitalPinStatusLo,4

+		bsf		pwmStatusLo,4

+		bcf		trisc_shadow,3

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinFiveToPWM	

+		bsf		digitalPinStatusLo,5

+		bsf		pwmStatusLo,5

+		bcf		trisb_shadow,0

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinSixToPWM	

+		bsf		digitalPinStatusLo,6

+		bsf		pwmStatusLo,6

+		bcf		trisb_shadow,4

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinSevenToPWM	

+		bsf		digitalPinStatusLo,7

+		bsf		pwmStatusLo,7

+		bcf		trisb_shadow,7

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinEightToPWM	

+		bsf		digitalPinStatusHi,0

+		bsf		pwmStatusHi,0

+		bcf		trisb_shadow,6

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinNineToPWM	

+		bsf		digitalPinStatusHi,1

+		bsf		pwmStatusHi,1

+		bcf		trisb_shadow,5

+		goto	write_trisb

+; -------------------------------------------------------------------------

+setPinTenToPWM	

+		bsf		digitalPinStatusHi,2

+		bsf		pwmStatusHi,2

+		bcf		trisc_shadow,2

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinElevenToPWM	

+		bsf		digitalPinStatusHi,3

+		bsf		pwmStatusHi,3

+		bcf		trisc_shadow,1

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinTwelveToPWM	

+		bsf		digitalPinStatusHi,4

+		bsf		pwmStatusHi,4

+		bcf		trisc_shadow,0

+		goto	write_trisc

+; -------------------------------------------------------------------------

+setPinThirteenToPWM	

+		bsf		digitalPinStatusHi,5

+		bsf		pwmStatusHi,5

+		bcf		trisb_shadow,1

+		goto	write_trisb

+;  }

+;}

+;		return

+; -------------------------------------------------------------------------

+;

+;void setSoftPwm (int pin, byte pulsePeriod) {

+;  byte i;

+;  /*    for(i=0; i<7; ++i) {

+;      mask = 1 << i;

+;      if(digitalPinStatus & mask) {

+;      digitalWrite(i, inputData & mask);

+;      } 

+;      }

+;  */    

+;  //read timer type thing

+;

+;  //loop through each pin, turn them on if selected

+;  //softwarePWMStatus

+;  //check timer type thing against pulsePeriods for each pin 

+;  //throw pin low if expired

+;}

+;

+; -------------------------------------------------------------------------

+;void setSoftPwmFreq(byte freq) {

+;}

+;

+;

+; -------------------------------------------------------------------------

+;void disSoftPwm(int pin) {

+;  //throw pin low

+;    

+;}

+;

+write_portc

+		movf	portc_shadow,w

+		movwf	PORTC

+		return

+write_portb

+		movf	portb_shadow,w

+		movwf	PORTB

+		return

+; -------------------------------------------------------------------------

+digitalWrite0 ; write carry bit to digital pin 0 (Pin0 is RX!!!)

+		bsf		portc_shadow,7

+		btfss	STATUS,C

+		bcf		portc_shadow,7

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite1 ; write carry bit to digital pin 1 (Pin1 is tX!!!)

+		bsf		portc_shadow,6

+		btfss	STATUS,C

+		bcf		portc_shadow,6

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite2 ; write carry bit to digital pin 2

+		bsf		portc_shadow,5

+		btfss	STATUS,C

+		bcf		portc_shadow,5

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite3 ; write carry bit to digital pin 3

+		bsf		portc_shadow,4

+		btfss	STATUS,C

+		bcf		portc_shadow,4

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite4 ; write carry bit to digital pin 4

+		bsf		portc_shadow,3

+		btfss	STATUS,C

+		bcf		portc_shadow,3

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite5 ; write carry bit to digital pin 5

+		bsf		portb_shadow,0

+		btfss	STATUS,C

+		bcf		portb_shadow,0

+		goto	write_portb

+; -------------------------------------------------------------------------

+digitalWrite6 ; write carry bit to digital pin 6

+		bsf		portb_shadow,4

+		btfss	STATUS,C

+		bcf		portb_shadow,4

+		goto	write_portb

+; -------------------------------------------------------------------------

+digitalWrite7 ; write carry bit to digital pin 7

+		bsf		portb_shadow,7

+		btfss	STATUS,C

+		bcf		portb_shadow,7

+		goto	write_portb

+; -------------------------------------------------------------------------

+digitalWrite8 ; write carry bit to digital pin 8

+		bsf		portb_shadow,6

+		btfss	STATUS,C

+		bcf		portb_shadow,6

+		goto	write_portb

+; -------------------------------------------------------------------------

+digitalWrite9 ; write carry bit to digital pin 9

+		bsf		portb_shadow,5

+		btfss	STATUS,C

+		bcf		portb_shadow,5

+		goto	write_portb

+; -------------------------------------------------------------------------

+digitalWrite10 ; write carry bit to digital pin 10

+		bsf		portc_shadow,2

+		btfss	STATUS,C

+		bcf		portc_shadow,2

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite11 ; write carry bit to digital pin 11

+		bsf		portc_shadow,1

+		btfss	STATUS,C

+		bcf		portc_shadow,1

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite12 ; write carry bit to digital pin 12

+		bsf		portc_shadow,0

+		btfss	STATUS,C

+		bcf		portc_shadow,0

+		goto	write_portc

+; -------------------------------------------------------------------------

+digitalWrite13 ; write carry bit to digital pin 13

+		bsf		portb_shadow,1

+		btfss	STATUS,C

+		bcf		portb_shadow,1

+		goto	write_portb

+;

+; 

+; -------------------------------------------------------------------------

+disableDigitalInputs

+		clrf	digitalInputsEnabled

+		return

+; -------------------------------------------------------------------------

+enableDigitalInputs

+		bsf		digitalInputsEnabled,0

+		return

+; -------------------------------------------------------------------------

+setZeroAnalogIns

+		clrw

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setOneAnalogIn

+		movlw	d'1'

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setTwoAnalogIns

+		movlw	d'2'

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setThreeAnalogIns

+		movlw	d'3'

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setFourAnalogIns

+		movlw	d'4'

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setFiveAnalogIns

+		movlw	d'5'

+		goto	setAnalogIns

+; -------------------------------------------------------------------------

+setSixAnalogIns

+		movlw	d'6'

+; -------------------------------------------------------------------------

+setAnalogIns

+;      analogInputsEnabled = inputData - ZERO_ANALOG_INS;

+;      break;

+		movwf	analogInputsEnabled

+		return

+; -------------------------------------------------------------------------

+;    case ENABLE_PWM:

+enablePwm

+;    case ENABLE_SOFTWARE_PWM:

+enableSoftPwm

+;      waitForData = 2;  // 2 bytes needed (pin#, dutyCycle) 

+		movlw	d'2'

+		movwf	waitForData

+;      executeMultiByteCommand = inputData;

+		movf	inputData,w

+		movwf	executeMultiByteCommand

+;      break;

+		return

+; -------------------------------------------------------------------------

+;    case DISABLE_PWM:

+disablePwm

+;    case SET_SOFTWARE_PWM_FREQ:

+setSoftPwmFreq

+;    case DISABLE_SOFTWARE_PWM:

+disableSoftPwm

+;      waitForData = 1;  // 1 byte needed (pin#)

+		movlw	d'1'

+		movwf	waitForData

+;      executeMultiByteCommand = inputData;

+		movf	inputData,w

+		movwf	executeMultiByteCommand

+;      break;      

+		return

+; -------------------------------------------------------------------------

+;    case OUTPUT_TO_DIGITAL_PINS:   // bytes to send to digital outputs

+setOutputToDigitalPins

+;      firstInputByte = true;

+		bsf		firstInputByte,0

+;      break;

+		return

+; -------------------------------------------------------------------------

+;    case REPORT_VERSION:

+reportVersion

+;      printByte(REPORT_VERSION);

+		movlw	REPORT_VERSION

+		call	printByte

+;      printByte(MAJOR_VERSION);

+		movlw	MAJOR_VERSION

+		call	printByte

+;      printByte(MINOR_VERSION);

+		movlw	MINOR_VERSION

+		call	printByte

+;      break;

+;    }

+;  }

+		return

+;}

+;

+; -------------------------------------------------------------------------

+; processInput() is called whenever a byte is available on the

+; Arduino's serial port.  This is where the commands are handled.

+; 

+;void processInput(byte inputData)

+;{

+processInput ; on entry w contains a byte of input data from rxBuf

+;  int i;

+;  int mask;

+		movwf	inputData ; save the new byte

+;  

+;  // a few commands have byte(s) of data following the command

+;  if( waitForData > 0) 

+;  {  

+		movf	waitForData,f

+		btfsc	STATUS,Z

+		goto	pi_1

+;    waitForData--;

+		decf	waitForData,f

+;    storedInputData[waitForData] = inputData;

+		movlw	storedInputData0

+		addwf	waitForData,w

+		movwf	FSR

+		movf	inputData,w

+		movwf	INDF

+;

+;    if(executeMultiByteCommand && (waitForData==0))

+		movf	executeMultiByteCommand,f

+		btfsc	STATUS,Z

+		return	; executeMultiByteCommand == 0

+		movf	waitForData,f

+		btfss	STATUS,Z

+		return	; waitForData != 0

+;    {

+;      //we got everything

+		goto	doMultiByteCommand

+; -------------------------------------------------------------------------

+mb_enablePwm

+;      case ENABLE_PWM: ; 251

+;        setPinMode(storedInputData[1],PWM);

+		movf	storedInputData1,w

+		movwf	pin

+		movlw	PWM

+		movwf	mode

+		call	setPinMode

+;        analogWrite(storedInputData[1], storedInputData[0]);

+;        break;

+		goto	pi_6

+; -------------------------------------------------------------------------

+mb_disablePwm

+;      case DISABLE_PWM: ; 250

+;        setPinMode(storedInputData[0],INPUT);

+		movf	storedInputData0,w

+		movwf	pin

+		movlw	INPUT

+		movwf	mode

+		call 	setPinMode

+;        break;

+		goto	pi_6

+; -------------------------------------------------------------------------

+mb_enableSoftPwm

+;      case ENABLE_SOFTWARE_PWM: ; 253

+;        setPinMode(storedInputData[1],PWM);

+		movf	storedInputData1,w

+		movwf	pin

+		movlw	PWM

+		movwf	mode

+		call	setPinMode

+;        setSoftPwm(storedInputData[1], storedInputData[0]);     

+;        break; 

+		goto	pi_6

+; -------------------------------------------------------------------------

+mb_disableSoftPwm

+;      case DISABLE_SOFTWARE_PWM: ; 252

+;        disSoftPwm(storedInputData[0]);

+;        break;

+		goto	pi_6

+; -------------------------------------------------------------------------

+mb_setSoftPwmFreq

+;      case SET_SOFTWARE_PWM_FREQ: ; 254

+;        setSoftPwmFreq(storedInputData[0]);

+;        break;

+		goto	pi_6

+;      }

+; -------------------------------------------------------------------------

+pi_6

+;      executeMultiByteCommand = 0;

+		clrf	executeMultiByteCommand

+;    }

+		return

+;  }

+; -------------------------------------------------------------------------

+;  else if(inputData < 128)

+;  {

+pi_1

+		btfsc	inputData,7

+		goto	doCommand

+;    if(firstInputByte)

+		movf	pwmStatusLo,w

+		xorlw	0xFF

+		andwf	digitalPinStatusLo,w

+		movwf	maskLo

+		movf	pwmStatusHi,w

+		xorlw	0xFF

+		andwf	digitalPinStatusHi,w

+		movwf	maskHi

+		btfss	firstInputByte,0

+		goto	pi_8

+;    {

+;      // output data for pins 7-13

+;      for(i=7; i<TOTAL_DIGITAL_PINS; ++i)

+;      {

+;        mask = 1 << i;

+;        if( (digitalPinStatus & mask) && !(pwmStatus & mask) )

+;        {

+;          // inputData is a byte and mask is an int, so align the high part of mask

+		btfss	maskLo,7

+		goto	pi_12

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,0

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite7

+pi_12

+		btfss	maskHi,0

+		goto	pi_11

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,1

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite8

+pi_11

+		btfss	maskHi,1

+		goto	pi_10

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,2

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite9

+pi_10

+		btfss	maskHi,2

+		goto	pi_09

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,3

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite10

+pi_09

+		btfss	maskHi,3

+		goto	pi_08

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,4

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite11

+pi_08

+		btfss	maskHi,4

+		goto	pi_07

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,5

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite12

+pi_07

+		btfss	maskHi,5

+		goto	pi_06

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,6

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite13

+;          digitalWrite(i, inputData & (mask >> 7));

+;        }        

+;      }

+pi_06

+;      firstInputByte = false;

+		clrf	firstInputByte

+		return

+;    }

+;    else

+pi_8

+;    { //

+;      for(i=0; i<7; ++i)

+;      {

+;        mask = 1 << i;

+;        if( (digitalPinStatus & mask) && !(pwmStatus & mask) )

+;        {

+;          digitalWrite(i, inputData & mask);

+		btfss	maskLo,0

+		goto	pi_13

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,0

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite0

+pi_13

+		btfss	maskLo,1

+		goto	pi_14

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,1

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite1

+pi_14

+		btfss	maskLo,2

+		goto	pi_15

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,2

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite2

+pi_15

+		btfss	maskLo,3

+		goto	pi_16

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,3

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite3

+pi_16

+		btfss	maskLo,4

+		goto	pi_17

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,4

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite4

+pi_17

+		btfss	maskLo,5

+		goto	pi_18

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,5

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite5

+pi_18

+		btfss	maskLo,6

+		goto	pi_19

+		bcf		STATUS,C ; the data bit is zero

+		btfsc	inputData,6

+		bsf		STATUS,C ; unless it's one

+		call	digitalWrite6

+;        } 

+;      }

+;    }

+pi_19

+		return

+;  }

+

+		ORG		0x400	; table lookup works better when it doesn't cross a 256-byte page boundary

+; -------------------------------------------------------------------------

+;  else

+;  {

+; inputData > 127

+;    switch (inputData)

+;    {

+doCommand

+		movlw	HIGH commandTab

+		movwf	PCLATH

+		movf	inputData,w

+		andlw	0x7F ; skip the first 127 values

+		addwf	PCL,f	; jump to command

+commandTab

+; 128-129 UNUSED

+		return	; 128

+		return	; 129

+		goto	setPinZeroToIn		;SET_PIN_ZERO_TO_IN equ d'130' ; set digital pin 0 to INPUT

+		goto	setPinOneToIn		;SET_PIN_ONE_TO_IN equ d'131' ; set digital pin 1 to INPUT

+		goto	setPinTwoToIn		;SET_PIN_TWO_TO_IN equ d'132' ; set digital pin 2 to INPUT

+		goto	setPinThreeToIn		;SET_PIN_THREE_TO_IN equ d'133' ; set digital pin 3 to INPUT

+		goto	setPinFourToIn		;SET_PIN_FOUR_TO_IN equ d'134' ; set digital pin 4 to INPUT

+		goto	setPinFiveToIn		;SET_PIN_FIVE_TO_IN equ d'135' ; set digital pin 5 to INPUT

+		goto	setPinSixToIn		;SET_PIN_SIX_TO_IN equ d'136' ; set digital pin 6 to INPUT

+		goto	setPinSevenToIn		;SET_PIN_SEVEN_TO_IN equ d'137' ; set digital pin 7 to INPUT

+		goto	setPinEightToIn		;SET_PIN_EIGHT_TO_IN equ d'138' ; set digital pin 8 to INPUT

+		goto	setPinNineToIn		;SET_PIN_NINE_TO_IN equ	d'139' ; set digital pin 9 to INPUT

+		goto	setPinTenToIn		;SET_PIN_TEN_TO_IN equ d'140' ; set digital pin 10 to INPUT

+		goto	setPinElevenToIn	;SET_PIN_ELEVEN_TO_IN equ d'141' ; set digital pin 11 to INPUT

+		goto	setPinTwelveToIn	;SET_PIN_TWELVE_TO_IN equ d'142' ; set digital pin 12 to INPUT

+		goto	setPinThirteenToIn	;SET_PIN_THIRTEEN_TO_IN equ d'143' ; set digital pin 13 to INPUT

+; 144-149 UNUSED

+		return	; 144

+		return	; 145

+		return	; 146

+		return	; 147

+		return	; 148

+		return	; 149

+		goto	disableDigitalInputs	;DISABLE_DIGITAL_INPUTS equ d'150' ; disable reporting of digital inputs

+		goto	enableDigitalInputs		;ENABLE_DIGITAL_INPUTS equ d'151' ; enable reporting of digital inputs

+; 152-159 UNUSED

+		return	; 152

+		return	; 153

+		return	; 154

+		return	; 155

+		return	; 156

+		return	; 157

+		return	; 158

+		return	; 159

+		goto	setZeroAnalogIns	;ZERO_ANALOG_INS equ d'160' ; disable reporting on all analog ins

+		goto	setOneAnalogIn		;ONE_ANALOG_IN equ d'161' ; enable reporting for 1 analog in (0)

+		goto	setTwoAnalogIns		;TWO_ANALOG_INS equ d'162' ; enable reporting for 2 analog ins (0,1)

+		goto	setThreeAnalogIns	;THREE_ANALOG_INS equ d'163' ; enable reporting for 3 analog ins (0-2)

+		goto	setFourAnalogIns	;FOUR_ANALOG_INS equ d'164' ; enable reporting for 4 analog ins (0-3)

+		goto	setFiveAnalogIns	;FIVE_ANALOG_INS equ d'165' ; enable reporting for 5 analog ins (0-4)

+		goto	setSixAnalogIns		;SIX_ANALOG_INS equ d'166' ; enable reporting for 6 analog ins (0-5)

+; 167-199 UNUSED

+		return	; 167

+		return	; 168

+		return	; 169

+		return	; 170

+		return	; 171

+		return	; 172

+		return	; 173

+		return	; 174

+		return	; 175

+		return	; 176

+		return	; 177

+		return	; 178

+		return	; 179

+		return	; 180

+		return	; 181

+		return	; 182

+		return	; 183

+		return	; 184

+		return	; 185

+		return	; 186

+		return	; 187

+		return	; 188

+		return	; 189

+		return	; 190

+		return	; 191

+		return	; 192

+		return	; 193

+		return	; 194

+		return	; 195

+		return	; 196

+		return	; 197

+		return	; 198

+		return	; 199

+		goto	setPinZeroToOut		;SET_PIN_ZERO_TO_OUT equ d'200' ; set digital pin 0 to OUTPUT

+		goto	setPinOneToOut		;SET_PIN_ONE_TO_OUT equ d'201' ; set digital pin 1 to OUTPUT

+		goto	setPinTwoToOut		;SET_PIN_TWO_TO_OUT equ d'202' ; set digital pin 2 to OUTPUT

+		goto	setPinThreeToOut	;SET_PIN_THREE_TO_OUT equ d'203' ; set digital pin 3 to OUTPUT

+		goto	setPinFourToOut		;SET_PIN_FOUR_TO_OUT equ d'204' ; set digital pin 4 to OUTPUT

+		goto	setPinFiveToOut		;SET_PIN_FIVE_TO_OUT equ d'205' ; set digital pin 5 to OUTPUT

+		goto	setPinSixToOut		;SET_PIN_SIX_TO_OUT equ d'206' ; set digital pin 6 to OUTPUT

+		goto	setPinSevenToOut	;SET_PIN_SEVEN_TO_OUT equ d'207' ; set digital pin 7 to OUTPUT

+		goto	setPinEightToOut	;SET_PIN_EIGHT_TO_OUT equ d'208' ; set digital pin 8 to OUTPUT

+		goto	setPinNineToOut		;SET_PIN_NINE_TO_OUT equ d'209' ; set digital pin 9 to OUTPUT

+		goto	setPinTenToOut		;SET_PIN_TEN_TO_OUT equ d'210' ; set digital pin 10 to OUTPUT

+		goto	setPinElevenToOut	;SET_PIN_ELEVEN_TO_OUT equ d'211' ; set digital pin 11 to OUTPUT

+		goto	setPinTwelveToOut	;SET_PIN_TWELVE_TO_OUT equ d'212' ; set digital pin 12 to OUTPUT

+		goto	setPinThirteenToOut	;SET_PIN_THIRTEEN_TO_OUT equ d'213'	; set digital pin 13 to OUTPUT

+; 214-228 UNUSED

+		return	; 214

+		return	; 215

+		return	; 216

+		return	; 217

+		return	; 218

+		return	; 219

+		return	; 220

+		return	; 221

+		return	; 222

+		return	; 223

+		return	; 224

+		return	; 225

+		return	; 226

+		return	; 227

+		return	; 228

+		goto	setOutputToDigitalPins	;OUTPUT_TO_DIGITAL_PINS equ d'229' ; next two bytes set digital output data 

+; 230-239 UNUSED

+		return; 230

+		return; 231

+		return; 232

+		return; 233

+		return; 234

+		return; 235

+		return; 236

+		return; 237

+		return; 238

+		return; 239

+		goto	reportVersion	;REPORT_VERSION equ d'240' ; return the firmware version

+; 240-249 UNUSED

+		return	; 241

+		return	; 242

+		return	; 243

+		return	; 244

+		return	; 245

+		return	; 246

+		return	; 247

+		return	; 248

+		return	; 249

+		goto	disablePwm	;DISABLE_PWM equ d'250' ; next byte sets pin # to disable

+		goto	enablePwm	;ENABLE_PWM equ d'251' ; next two bytes set pin # and duty cycle

+		goto	disableSoftPwm	;DISABLE_SOFTWARE_PWM equ d'252' ; next byte sets pin # to disable

+		goto	enableSoftPwm	;ENABLE_SOFTWARE_PWM equ d'253' ; next two bytes set pin # and duty cycle

+		goto	setSoftPwmFreq	;SET_SOFTWARE_PWM_FREQ equ d'254' ; set master frequency for software PWMs

+; 255 UNUSED

+		return	; 255

+; -------------------------------------------------------------------------

+digitalRead ; on entry digitalPin is the pin to read, returns value in carry

+		movlw	HIGH digRdTab

+		movwf	PCLATH

+		movf	digitalPin,w	

+		bcf		STATUS,C

+		addwf	PCL,f

+digRdTab

+		goto	digitalRead0

+		goto	digitalRead1

+		goto	digitalRead2

+		goto	digitalRead3

+		goto	digitalRead4

+		goto	digitalRead5

+		goto	digitalRead6

+		goto	digitalRead7

+		goto	digitalRead8

+		goto	digitalRead9

+		goto	digitalRead10

+		goto	digitalRead11

+		goto	digitalRead12

+		goto	digitalRead13

+; -------------------------------------------------------------------------

+setPinToIn

+;    digitalPinStatus = digitalPinStatus &~ (1 << pin);

+;    pwmStatus = pwmStatus &~ (1 << pin);

+;    pinMode(pin,INPUT);

+		movlw	HIGH pinintab

+		movwf	PCLATH

+		movf	pin,w

+		addwf	PCL,f

+pinintab

+		goto	setPinZeroToIn	

+		goto	setPinOneToIn	

+		goto	setPinTwoToIn	

+		goto	setPinThreeToIn	

+		goto	setPinFourToIn	

+		goto	setPinFiveToIn	

+		goto	setPinSixToIn	

+		goto	setPinSevenToIn	

+		goto	setPinEightToIn	

+		goto	setPinNineToIn	

+		goto	setPinTenToIn	

+		goto	setPinElevenToIn	

+		goto	setPinTwelveToIn	

+		goto	setPinThirteenToIn	

+; -------------------------------------------------------------------------

+setPinToOut

+		movlw	HIGH pinoutTab

+		movwf	PCLATH

+		movf	pin,w

+		addwf	PCL,f

+pinoutTab

+		goto	setPinZeroToOut

+		goto	setPinOneToOut	

+		goto	setPinTwoToOut	

+		goto	setPinThreeToOut	

+		goto	setPinFourToOut	

+		goto	setPinFiveToOut	

+		goto	setPinSixToOut	

+		goto	setPinSevenToOut	

+		goto	setPinEightToOut	

+		goto	setPinNineToOut	

+		goto	setPinTenToOut	

+		goto	setPinElevenToOut	

+		goto	setPinTwelveToOut	

+		goto	setPinThirteenToOut	

+; -------------------------------------------------------------------------

+setPinToPwm

+		movlw	HIGH pinpwmTab

+		movwf	PCLATH

+		movf	pin,w

+		addwf	PCL,f

+pinpwmTab

+		goto	setPinZeroToPWM

+		goto	setPinOneToPWM	

+		goto	setPinTwoToPWM	

+		goto	setPinThreeToPWM	

+		goto	setPinFourToPWM	

+		goto	setPinFiveToPWM	

+		goto	setPinSixToPWM	

+		goto	setPinSevenToPWM	

+		goto	setPinEightToPWM	

+		goto	setPinNineToPWM	

+		goto	setPinTenToPWM	

+		goto	setPinElevenToPWM	

+		goto	setPinTwelveToPWM	

+		goto	setPinThirteenToPWM	

+; -------------------------------------------------------------------------

+analogRead ; analogRead sets analogDataHi and analogDataLo according to analogPin

+		movlw	HIGH analogRdTab

+		movwf	PCLATH

+		movf	analogPin,w

+		addwf	PCL,f

+analogRdTab	

+		goto	analogRead0

+		goto	analogRead1

+		goto	analogRead2

+		goto	analogRead3

+		goto	analogRead4

+		goto	analogRead5

+; -------------------------------------------------------------------------

+doMultiByteCommand

+;      switch(executeMultiByteCommand)

+;      {

+		movlw	HIGH mbctab

+		movwf	PCLATH

+		movlw	DISABLE_PWM ; 250

+		subwf	executeMultiByteCommand,w ; remove offset of 250

+		addwf	PCL,f

+mbctab

+		goto	mb_disablePwm ; 250

+		goto	mb_enablePwm ; 251

+		goto	mb_disableSoftPwm ; 252

+		goto	mb_enableSoftPwm ; 253

+		goto	mb_setSoftPwmFreq ; 254

+; -------------------------------------------------------------------------

+;

+	END                       ; directive 'end of program'

+

diff --git a/PICduino/f767duino.mcw b/PICduino/f767duino.mcw
new file mode 100755
index 0000000..cd93f1a
--- /dev/null
+++ b/PICduino/f767duino.mcw
diff --git a/PICduino/picduino.png b/PICduino/picduino.png
new file mode 100755
index 0000000..c534c4e
--- /dev/null
+++ b/PICduino/picduino.png