; ms_v03.asm ; Updated: June 26, 2006, PTB. ; ; PIC16F84A-20 with a 14.3MHz crystal. ; Actually a -04 part runs with a 14.3MHz xtal, weird... ; ; For: Micro_sumo with the "Solarbotics pager motor" gearmotors. ; "Pushy" ; LIST p=16F84A include "p16f84a.inc" __config _cp_off & _wdt_off & _pwrte_on & _hs_osc __idlocs 0x143D errorlevel -302, -206 ; version set 0 ; 1= use eeprom area, 0= don't. ; _opt256 equ b'00000111' ; timer 1:256, PU, falling RB0 _opt128 equ b'00000110' ; timer 1:128, PU, falling RB0 _opt64 equ b'00000101' ; timer 1:64, PU, falling RB0 _opt32 equ b'00000100' ; timer 1:32, PU, falling RB0 <<<== _opt16 equ b'00000011' ; timer 1:16, PU, falling RB0 _opt2 equ b'00000000' ; timer 1:2, PU, falling RB0 ; |||||||| ; ||||||||____ pre-scaler bits ; |||||||_____ pre-scaler bits ; ||||||______ pre-scaler bits ; ||||| ; |||||_______ 0=NO_WDT, 1=WDT. ; ||||________ 0=lo2hi, 1=hi2lo edge/tocki. ; |||_________ 0=internal TMR0 clk, 1=external clk. ; ||__________ 0=falling edge RB0/INT, 1=rising edge. ; |___________ 0=pullups, 1=no_pullups. ; ; ################################################### ; ; 7 6 5 4 3 2 1 0 ; gie, eeie, t0ie, inte, rbie, t0if, intf, rbif ; _inton equ b'10011000' _int equ b'00000000' ; |||||||| ; ||||||||____ RBIF - RB[4..7] change flag ; |||||||_____ INTF - RB0/INT flag ; ||||||______ T0IF - TMNR0 overflow flag ; ||||| ; |||||_______ RBIE - RB port change int ena ; ||||________ INTE - RB0/INT int ena ; ||| ; |||_________ T0IE - TMR0 overflow int ena ; ||__________ EEIE - EEPROM int ena ; | ; |___________ GIE - Global int ena ; ; ################################################### ; ; Motor Driver Port: ; Using: 74AC245 wired as motor drivers. ; 0xx01, 0xx10, 001xx, 010xx = motor rotation polarity outputs ; ; 43210 a_pins equ b'11111' a_tris equ b'00000' ; inputs =1, outputs =0 ; ||||| ; |||||____ m1p1 - rite mtr phase 1 ; ||||_____ m1p2 - rite mtr phase 2 ; |||______ m2p1 - left mtr phase 1 ; ||_______ m2p2 - left mtr phase 2 ; | ; |________ ena245=0 ; ; ################################################### ; ; 76543210 b_pins equ b'11111111' ; b_tris equ b'11111111' ; inputs =1, outputs =0 ; |||||||| ; ||||||||____ push_me=0, head2head pushing? ; ||||||| ; |||||||_____ spare ; ||||||______ spare ; |||||_______ spare ; |||| ; ||||________ left-front IR-sensor, 0=active ; |||_________ rite-front IR-sensor, 0=active ; || ; ||__________ left edge detector 0=active ; |___________ rite edge detector 0=active bit0 equ 0 bit1 equ 1 bit2 equ 2 bit3 equ 3 bit4 equ 4 bit5 equ 5 bit6 equ 6 bit7 equ 7 #define bank0 status,rp0 #define bank1 status,rp0 #define z_flag status,z #define carry status,c #define motors porta #define leftp1 porta,bit0 #define leftp2 porta,bit1 #define ritep1 porta,bit2 #define ritep2 porta,bit3 #define ena245 porta,bit4 ; ena245, m2p2, m2p1, m1p2, m1p1 #define m1cw b'00001' ; turn left w/ rite motor #define m1ccw b'00010' ; turn right w/ rite motor #define m2cw b'00100' ; turn right w/ left motor #define m2ccw b'01000' ; turn left w/ left motor #define allcw b'00101' ; all forward #define allccw b'01010' ; all backup #define rotcw b'00110' ; rotate/turn right in place #define rotccw b'01001' ; rotate/turn left in place #define brakes b'00000' ; set them #define floats b'11111' ; no driving of wheels #define sensors portb ; interrupt bit: #define push_me portb,bit0 ;#define portb,bit1 ; unused ;#define portb,bit2 ; unused ;#define portb,bit3 ; unused ; edge change bits: #define l_front portb,bit4 ; IR sensor, 0= active #define r_front portb,bit5 ; IR sensor, 0= active #define lt_edge portb,bit6 ; edge sensor, 0= active #define rt_edge portb,bit7 ; edge sensor, 0= active ; _snsbits, copy of PortB: #define push_m _snsbits,bit0 ; push_me ;#define _snsbits,bit1 ; unused ;#define _snsbits,bit2 ; unused ;#define _snsbits,bit3 ; unused #define l_frnt _snsbits,bit4 ; IR sensor, 0= active #define r_frnt _snsbits,bit5 ; IR sensor, 0= active #define l_edge _snsbits,bit6 ; edge sensor, 0= active #define r_edge _snsbits,bit7 ; edge sensor, 0= active ; #define _eeif eecon1,bit5 #define _wrerr eecon1,bit4 #define _wren eecon1,bit3 #define _wr eecon1,bit1 #define _rd eecon1,bit0 ; #define _gie intcon,gie #define _inte intcon,inte #define _t0ie intcon,t0ie #define _rbie intcon,rbie #define _intf intcon,intf ; RBO/INT flag #define _t0if intcon,t0if ; TMR0 overflow flag #define _rbif intcon,rbif ; PortB pin change flag #define morelps .30 ; part of the 5 seconds timer, DON'T TOUCH! #define pwmon .0 ; max ; Values that eventually put into upcounter TMR0: #define pwmoff50 .255-.0 ; 50% (min) #define pwmoff51 .255-.1 ; 51% #define pwmoff57 .255-.32 ; 57% #define pwmoff64 .255-.64 ; 64% #define pwmoff70 .255-.96 ; 70% #define pwmoff75 .255-.128 ; 75% #define pwmoff81 .255-.160 ; 81% #define pwmoff88 .255-.192 ; 88% #define pwmoff93 .255-.224 ; 92% #define pwmoff99 .255-.254 ; 99% #define pwmoff100 .0 ; 100% (max) ; ; RAM RAM RAM RAM RAM RAM RAM RAM RAM ; CBLOCK 0x0C ; to 0x4F inclusive _status, _wtemp _sec5, _loops, _counts, _snsbits _offtime _eeadr, _eedata, _eeloop _local ; reserves and uses .11 bytes here... ENDC ;@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ ; @@@@ ; @ .@ ; @ . @ ; @ . @ ; @. @ ; @@@@ ;@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ ; org 0 b Cold b Cold b Cold b Cold ; ;44444444444444444444444444444444 ; 4 ; 4 4 ; 4 4 ; 444444 ; 4 ; 4 ;44444444444444444444444444444444 ; org 4 movwf _wtemp ; save W swapf status,w ; move status to W (nibbles) movwf _status ; save status register ; ; "W & Status Registers" saved... ; Does the motor driver need to be disabled ; during interrupts??? ; bsf ena245 ; disable motor drivers btfsc _rbif ; did an edge occur? b doedges ; 1= yes, go do it. btfss _intf ; push_me = sumo? b MtrOn ; 0= default, no ints found, false hit. ; dosumo bcf _intf ; clear int reason movlw .50 ; change the length of run-time movwf _counts ; ../ movlw pwmoff100 ; PWM run time in % movwf _offtime ; change it movlw allcw ; go forward & enabled movwf motors ; motors now running b Ixit ; default exit, restart motors. ; ; Interrupt Return: ; MtrOn bcf ena245 ; re-enable motor drivers Ixit swapf _status,w ; restore status register (nibbles) movwf status ; restores bank, etc. swapf _wtemp,f ; restore W (nibbles) swapf _wtemp,w ; without changing "status" bits. retfie ; ; Found any edge, now process it: ; doedges movfw sensors ; make a copy of sensors, PortB movwf _snsbits ; ../ bcf _rbif ; clear reason while write finishes ; 2 EDGES: btfss r_edge ; _snsbits, 0= active rite_edge b dorite btfss l_edge ; _snsbits, 0= active left_edge b doleft ; 2 IR: btfss r_frnt ; _snsbits, 0= active push_me b riteturn ; go that way btfss l_frnt ; _snsbits, 0= active push_me b leftturn ; go that way b MtrOn ; default, no edges found, restart motors. ; ; Routines to move "NOW"! ; dorite movlw m1ccw ; rotate ccw with rite motor movwf motors movlw .10 ; change the length of run-time movwf _counts ; ../ movlw pwmoff51 ; PWM offtime movwf _offtime ; normalize it b Ixit ; doleft movlw m2ccw ; rotate cw with left motor movwf motors movlw .10 ; change the length of run-time movwf _counts ; ../ movlw pwmoff51 ; PWM offtime movwf _offtime ; normalize it b Ixit ; riteturn movlw rotcw ; turn right, top view movwf motors movlw .50 ; change the length of run-time movwf _counts ; ../ movlw pwmoff51 ; PWM offtime movwf _offtime ; normalize it b Ixit ; leftturn movlw rotccw ; turn left, top view movwf motors movlw .50 ; change the length of run-time movwf _counts ; ../ movlw pwmoff51 ; PWM offtime movwf _offtime ; normalize it b Ixit ; ; ############################### ; Cold clrf intcon ; no interrupts used at all clrf tmr0 ; start timer after 2 cycles movlw pwmoff64 ; normal PWM run time in % movwf _offtime ; stuff the variable movlw a_pins ; motors off movwf porta movlw b_pins movwf portb bsf bank1 ; yup, continue movlw _opt32 ; setup prescaler amount movwf option_reg movlw a_tris ; setup external pin directions movwf trisa movlw b_tris movwf trisb bcf bank0 nop nop ; ; ############################### ; ; Hold push_me in while powering up or pushing RESET, ; Then release to start 5 seconds timer. ; Else it skips over this stuff and runs immediately. ; This ~works at 14.3MHz ; wait5secs btfsc push_me ; is wait-5-seconds enabled? b human ; no, skip for now call pauze ; yes, debounce timer ; ; skip over this if push_me not activated... ; w5s1 btfss push_me ; hang until switch b w5s1 ; is released... ; ; part of the 5 seconds timer, DON'T TOUCH! ; movlw .75 ; outer loop movwf _sec5 ; a guess... w5s2 call pauze ; this long decfsz _sec5,1 ; when =0 then quit b w5s2 ; else run timer b IntsOn ; done with timer=5secs... ; ; ############################### ; Alternate entry point... ; pauz4 movlw .60 ; testing each wheel during power-up. b pauz2 ; ; Entry Point for timer... ; part of the 5 seconds timer, DON'T TOUCH! ; pauze movlw morelps pauz2 movwf _loops bcf _t0if pz3 clrf tmr0 pz2 btfss _t0if ; spin until TMR0 overflows b pz2 bcf _t0if ; then clear TMR0 overflow flag nop decfsz _loops,1 ; outer (TMR0) loop b pz3 ; not =0 yet... return ; when _loops =0 ; ; ############################### ; ; These two routines ; can be eliminated later... ; human movlw m1cw ; rite motor moves forward movwf motors call pauz4 movlw m2cw ; left motor moves forward movwf motors call pauz4 ; ; ############################### ; ; Now enable interrupts ; For _rbif & _intf... ; IntsOn if version == 1 call Times ; load up on EEPROM-->>RAM data bytes. endif movlw _inton ; gie, inte, rbie, no t0ie! movwf intcon ; go! ; ; ############################### ; ; Run Time: ; ; How this works... ; Run forward for .xxx ( _counts ) times. ; [And expect interrupts to change direction.] ; Run for that time then change back to going forward... ; ...when _counts runs out or ; ...when direction changes from interrupt time. ; So, if rite-edge goes active, ; _rbif goes active(1) and interrupt happens. ; software changes the motor direction, PWM_offtime and _counts amount. ; This moves the sumo in a different direction... ; until another interrupt or _counts runs out. ; Then motor direction, PWM_offtime and _counts gets reset to forward. ; ------------------------------------------------------------- ; PWM on time: ; Main movlw .50 ; testing this # ... movwf _counts ; update direction counter movlw pwmoff64 ; normal forward speed in % movwf _offtime ; stuff the variable movlw allcw ; now go forward movwf motors ; turn motors on b Run2 ; ; PWM on Time: ; Always full TMR0 amount. ; With motors enabled. ; Running bcf ena245 ; turn motors on Run2 bcf _t0if ; clear TMR0 done flag clrf tmr0 ; reset TMR0 itself (or for the first time) RT2 btfss _t0if ; if TMR0 not overflowed, b RT2 ; then continue ; ; PWM off time: ; ; TMR0 is an upcounter (to overflow) ; _offtime is adjustable from .255 (one tick) to .0 (255 ticks). ; on time is fixed to 256 while _offtime can be adjusted ; with .255-.###. It gives the ### that is needed to count up to overflow. ; ; For instance: 254 written to TMR0 and starts to count UP, ; TMR0 counts from 254, 255, 0 at this "255 to 0" the overflow flag hits. ; This is two TMR0 "ticks". "~" means "approximate". ; ; Or: Using .255-.254 = .1 ; thus TMR0 now counts up from .1, .2, .3, etc. this gives 254 "ticks". ; ; .0 gives total time = ~50% speed (255 TMR0 ticks) ; .255-.254 gives total time = ~51% speed (254 TMR0 ticks) ; .255-.192 gives total time = ~64% speed (192 TMR0 ticks) ; .255-.128 gives total time = ~75% speed (128 TMR0 ticks) ; .255-.64 gives total time = ~88% speed ( 64 TMR0 ticks) ; .255-.1 gives total time = ~98% speed ( 2 TMR0 ticks) ; .255 gives total time = ~99% speed ( 1 TMR0 tick) ; bsf ena245 ; PWM motors off movfw _offtime ; can be changed shorter until _counts resets movwf tmr0 ; normal PWM off time =1/2 bcf _t0if ; clear before using... nop ; wait for write to finish... nop ; .../ nop ; ../ Pot3 btfss _t0if ; if tmr0 not done then loop b Pot3 bcf _t0if ; else done ; ; TMR0 has now overflowed, ; Now check for going forward again, ; Or staying in current direction & timing. ; decfsz _counts,1 ; update TMR0's outer loop b Running ; no change in direction b Main ; yes, change direction ; if version == 1 include "eeprom.inc" endif ; ;-------------------------------- ; END