diff options
| author | Martin Peach <mrpeach@users.sourceforge.net> | 2006-10-17 20:26:50 +0000 |
|---|---|---|
| committer | Martin Peach <mrpeach@users.sourceforge.net> | 2006-10-17 20:26:50 +0000 |
| commit | 120be30fdef749f0d58e739836b40df2ee517bef (patch) | |
| tree | e0864b538fa050ba4ed33c10521e9819029b7397 /PICduino/f767duino.asm | |
| parent | 392743de022a7ed67a3b5a95829fabaceeed2b91 (diff) | |
The PIC version of the arduino
svn path=/trunk/externals/hardware/arduino/; revision=6128
Diffstat (limited to 'PICduino/f767duino.asm')
| -rwxr-xr-x | PICduino/f767duino.asm | 1810 |
1 files changed, 1810 insertions, 0 deletions
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'
+
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