;******************************************************************************* ;* ;* TITLE: Valve Controller for Liquid Fertilser Applicator for PreMac ;* ;* AUTHOR: Robert Ferrer and Jacques Duvenage for Agrigel ;* ;******************************************************************************* ;* ;* INSTRUCTIONS: ;* ;* 1. Assemble ;* ;* NOTES: ;* ;* - ;* ;* KNOWN ISSUES: ;* ;* I222 - Not all branches of code have been tested ;* ;******************************************************************************* ;* OP-CODE OPERAND ;COMMENTS ;******************************************************************************* ;* ;* Config ;* ;******************************************************************************* ; CONFIG RETEN=OFF, INTOSCSEL=LOW, SOSCSEL=DIG, XINST=OFF CONFIG FOSC=HS1, PLLCFG=OFF, FCMEN=OFF, IESO=OFF CONFIG PWRTEN=ON CONFIG BOREN=OFF, BORV=0, BORPWR=LOW CONFIG WDTEN=OFF, WDTPS=32768 CONFIG CANMX=PORTC, MSSPMSK=MSK7 CONFIG STVREN=ON, BBSIZ=BB1K CONFIG MCLRE=ON CONFIG CP0=OFF, CP1=OFF, CP2=OFF, CP3=OFF, CPB=OFF, CPD=OFF ;Turn code protection when it's time CONFIG WRT0=OFF, WRT1=OFF, WRT2=OFF, WRT3=OFF, WRTB=OFF, WRTC=OFF, WRTD=OFF CONFIG EBTR0=OFF, EBTR1=OFF, EBTR2=OFF, EBTR3=OFF, EBTRB=OFF ; ;******************************************************************************* ;* ;* Include: ;* ;******************************************************************************* ;* Definitions used in external libraries ;******************************************************************************* ; #define DefaultMemoryStart 0x100 ;Default Bank is Bank 1 #define CANBusMemoryStart 0x100 ;CANBus memory uses Bank 1 ; ;******************************************************************************* ;* Devices ;******************************************************************************* ; ;Primary device #define FLOWCONTROLDEVICE ;This unit is used as a flow control pcb ;#define HYDDRIVEDEVICE ;This unit is used as a HYD drive pcb ;#define GRANCONTROLDEVICE ;This unit is used as a granular fertiliser control board ; ;******************************************************************************* ;* Systems ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE #define STEPPER_MOTOR ;This device uses the stepper motor #define FLOW_SENSOR ;This device uses the pulse sensor #define SPEED_SENSOR ;This device uses the speed sensor #define PRESSURE_SENSOR ;This device uses the pressure sensor #define ENGAGE_SENSOR ;This device uses the bit sensor #define CANBUS ;This device uses the CANBus #define COMMS ;This device uses serial communication #define STORAGE ;This device uses memory to save variables (EEPROM) #define DIP_SWITCH ;This device uses the dipswitch #define VOLTAGE_METER ;This device uses the voltage meter #define AMPERE_METER ;This device uses the ampere meter #define HAUL_SENSOR ;This deivce uses the haul sensor #define LED_SEQUENCE ;This device uses the red and green LEDs #define KEYPAD ;This device uses the keypad #endif ; #ifdef HYDDRIVEDEVICE #define SPEED_SENSOR ;This device uses the stepper motor #define PULSEWIDTH_MOD ;This device uses the pulse wisth modulator #define CANBUS ;This device uses the CANBus #define COMMS ;This device uses serial communication #define STORAGE ;This device uses memory to save variables (EEPROM) #define VOLTAGE_METER ;This device uses the voltage meter #define HAUL_SENSOR ;This deivce uses the haul sensor #define LED_SEQUENCE ;This device uses the red and green LEDs #define KEYPAD ;This device uses the keypad #endif ; #ifdef GRANCONTROLDEVICE #define DIP_SWITCH ;This device uses the dipswitch #define SPEED_SENSOR ;This device uses the speed sensor #define ENGAGE_SENSOR ;This device uses the bit sensor #define CANBUS ;This device uses the CANBus #define COMMS ;This device uses serial communication #define STORAGE ;This device uses memory to save variables (EEPROM) #define VOLTAGE_METER ;This device uses the voltage meter #define HAUL_SENSOR ;This deivce uses the haul sensor #define LED_SEQUENCE ;This device uses the red and green LEDs #define KEYPAD ;This device uses the keypad #endif ; ;******************************************************************************* ;* Sub-systems ;******************************************************************************* ; #ifdef FLOW_SENSOR #define PULSE_SENSOR ;Flow sensor uses #endif ; #ifdef SPEED_SENSOR #ifndef PULSE_SENSOR #define PULSE_SENSOR ;The speed pickup works with an external interrupt #endif #endif ; #ifdef PRESSURE_SENSOR #define ANALOGUE_SENSOR ;The pressure sensor is an analogue sensor (ADC) #endif ; #ifdef ENGAGE_SENSOR #define BIT_SENSOR ;The pressure sensor is an analogue sensor (ADC) #endif ; #ifdef EXTERNALRATE_INPUT #ifndef ANALOGUE_SENSOR #define ANALOGUE_SENSOR ;The pressure sensor is an analogue sensor (ADC) #endif #endif ; #ifdef CANBUS #endif ; #ifdef COMMS #define UART_2 #endif ; #ifdef STORAGE #define EEPROM_S #endif ; #ifdef VOLTAGE_METER #ifndef ANALOGUE_SENSOR #define ANALOGUE_SENSOR ;The pressure sensor is an analogue sensor (ADC) #endif #endif ; #ifdef AMPERE_METER #ifndef ANALOGUE_SENSOR #define ANALOGUE_SENSOR ;The pressure sensor is an analogue sensor (ADC) #endif #endif ; ;******************************************************************************* ;* Components ;******************************************************************************* ; #ifdef STEPPER_MOTOR #define TIMER_4 ;The stepper motor uses timer 4 #endif ; #ifdef PULSE_SENSOR #define TIMER_2 #define TIMER_3 #define EXTERNAL_1 #define CALCULATOR #define STATISTICS #endif ; #ifdef ANALOGUE_SENSOR #define ADC_CONVERTER #endif #ifdef PULSEWIDTH_MOD #ifndef TIMER_4 #define TIMER_4 #endif #endif ; #ifdef LED_SEQUENCE #define TIMER_1 #endif ; #define TIMER_0 ; ;******************************************************************************* ;* ;* Definitions ;* ;******************************************************************************* ;* Basic ;******************************************************************************* ; ;Version of Current Softare (J: 2019) #define VersionYear 'J' #define VersionMonth '3' #define VersionDayTens '1' #define VersionDayUnits '2' ; ;Software short version #define SOFTWARE_VERSION d'11' ;1.1 ; ;Hardware version #ifdef FLOWCONTROLDEVICE #define HARDWARE_VERSION d'50' ;5.0 #endif ; #ifdef HYDDRIVEDEVICE #define HARDWARE_VERSION d'20' ;2.0 #endif ; #ifdef GRANCONTROLDEVICE #define HARDWARE_VERSION d'10' ;1.0 #endif ; ;Commonly Used Registeres #define CarryFlag STATUS,C,Access;Carry #define ZeroFlag STATUS,Z,Access;ZeroFlag ; ;Instruction definitions #define Same 1 ;Return register #define Access 0 ;Access Bank #define Banked 1 ;BSR Selected Bank #define Shadow 1 #define NoShadow 0 ; ;Boolean Defninitions #define FALSE 0 ;False #define TRUE ~FALSE ;True ; Fast equ TRUE ;Fast Slow equ ~Fast ;Slow ; #define Off 0 ;Off #define On ~Off ;On ; #define NegativeLogic 0 ;Negative Logic #define PositiveLogic ~NegativeLogic;Positive Logic ; ;******************************************************************************* ;* Bootloader ;******************************************************************************* ; #define SIZE_OF_BLOCK 0x40 #define CODE_ADD_UPPER_DEF 0x00 #define CODE_ADD_HIGH_DEF 0x00 #define CODE_ADD_LOW_DEF 0x00 #define BUFFER_ADDR_HIGH 0x02 #define BUFFER_ADDR_LOW 0x00 #define EEPROM_ORIGIN 0x3000 #define CANBUS_ORIGIN 0x4400 #define BOOTLOADER_ORIGIN 0x6000 ; ;******************************************************************************* ;* Libraries ;******************************************************************************* ; #include "P18F26K80.INC" ;PIC defninitions ; ;******************************************************************************* ;* Keypad ;******************************************************************************* ; #DEFINE FlipKeypad ;Flip the Keypad Direction ; #IFNDEF FlipKeypad ; #define RedLED LATC,1,Access;Keypad Red led toggle bit #define GreenLED LATC,0,Access;Keypad Green led toggle bit #define ManualClose KeyFlags,0,Access;Manual Close Button has been pressed #define ManualOpen KeyFlags,1,Access;Manual Open Button has been pressed #define ManualCloseHistory KeyFlags,2,Access;Manual Close Button hisotry #define ManualOpenHistory KeyFlags,3,Access;Manual Open Button hisotry #define BypassClose KeyFlags,4,Access;Bypass Close Button has been pressed #define BypassOpen KeyFlags,5,Access;Bypass Open Button has been pressed #define BypassCloseHistory KeyFlags,6,Access;Bypass Close Button hisotry #define BypassOpenHistory KeyFlags,7,Access;Bypass Open Button hisotry ; #ELSE ; #define RedLED LATC,0,Access;Keypad Red led toggle bit #define GreenLED LATC,1,Access;Keypad Green led toggle bit #define BypassClose KeyFlags,0,Access;Bypass Close Button has been pressed #define BypassOpen KeyFlags,1,Access;Bypass Open Button has been pressed #define BypassCloseHistory KeyFlags,2,Access;Bypass Close Button hisotry #define BypassOpenHistory KeyFlags,3,Access;Bypass Open Button hisotry #define ManualClose KeyFlags,4,Access;Manual Close Button has been pressed #define ManualOpen KeyFlags,5,Access;Manual Open Button has been pressed #define ManualCloseHistory KeyFlags,6,Access;Manual Close Button hisotry #define ManualOpenHistory KeyFlags,7,Access;Manual Open Button hisotry ; #ENDIF ; #define MembraneSWControlOpenPin MembraneSwitches,0,Banked #define MembraneSWControlClosePin MembraneSwitches,1,Banked #define MembraneSWBypassOpenPin MembraneSwitches,2,Banked #define MembraneSWBypassClosePin MembraneSwitches,3,Banked #define NoSwitch MembraneSwitches,4,Banked,Off #define LEDGreenL LEDFlags,0,Access #define LEDGreenH LEDFlags,1,Access #define LEDRedL LEDFlags,2,Access #define LEDRedH LEDFlags,3,Access #define LEDSetBoth LEDFlags,4,Access #define LEDFlashGreen LEDFlags,5,Access #define LEDFlashRed LEDFlags,6,Access ; ;******************************************************************************* ;* Pin Setup ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE ; ;* +-----+-----+-----+-----+-----+-----+-----+-----+ ;* | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS A | 0 | 0 | 1 | 0 | 1 | 1 | 1 | 1 | ;* | LAT A | OSC | OSC | - | - | - | - | - | - | ;* | PORT A | - | - | DIP | - | M1 | M0 | VI | PRES| ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS B | 1 | 1 | 1 | 1 | 0 | 1 | 1 | 1 | ;* | LAT B | - | - | 0 | - | STEP| 0 | 0 | 0 | ;* | PORT B | PGD | PGC | RST |ISTEP| - | ENG | PM | WAT | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS C | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | ;* | LAT C | 0 | TX | RSTS| DIR | DLED| PLED| GRN | RED | ;* | PORT C | RX | - | - | - | - | - | - | - | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* ;LAT bits #define InitialisePORTA b'00000000' #define InitialisePORTB b'00000000' #define InitialisePORTC b'00000000' ; ;TRIS bits #define ConfigurePORTA b'00101111' #define ConfigurePORTB b'11110111' #define ConfigurePORTC b'10000000' ; ;Pins ;Pins A2 and A3 is defined in the keypad section ; #define Pressure PORTA,0,Access;Pressure #define VoltIn PORTA,1,Access;VoltIn #define M0 PORTA,2,Access;Keypad M0 #define M1 PORTA,3,Access;Keypad M1 #define _RA4 PORTA,4,Access; #define DIPSwitch PORTA,5,Access;DIP Switch #define _RA6 PORTA,6,Access; #define _RA7 PORTA,7,Access; ; #define _LA0 LATA,0,Access; #define _LA1 LATA,1,Access; #define _LA2 LATA,2,Access; #define _LA3 LATA,3,Access; #define _LA4 LATA,4,Access; #define _LA5 LATA,5,Access; #define _LA6 LATA,6,Access; #define _LA7 LATA,7,Access; ; #define WaterSensor PORTB,0,Access;Water Sensor #define PulseMeter PORTB,1,Access;Flow meter pulse pickup #define EngageBit PORTB,2,Access;Engage Bit #define _RB3 PORTB,3,Access; #define _RB4 PORTB,4,Access; #define ProgReset PORTB,5,Access;Program Reset #define _RB6 PORTB,6,Access; #define _RB7 PORTB,7,Access; ; #define _LB0 LATB,0,Access; #define _LB1 LATB,1,Access; #define _LB2 LATB,2,Access; #define ValveStep LATB,3,Access;Valve step pin #define ValveCurrent LATB,4,Access;Valve current sensor #define _LB5 LATB,5,Access; #define _LB6 LATB,6,Access; #define _LB7 LATB,7,Access; ; ;Pins C0 and C1 is defined in the keypad section #define _RC2 PORTC,2,Access; #define _RC3 PORTC,3,Access;I2C SCL Pin Input #define _RC4 PORTC,4,Access;Valve step Direction (See Stepper Motor section) #define _RC5 PORTC,5,Access; #define _RC6 PORTC,6,Access; #define RX PORTC,7,Access;Serial RX ; #define AnalogueLED LATC,2,Access;Pressure LED #define DIPLED LATC,3,Access;DIP switch LED #define ValveDirection LATC,4,Access;Valve step Direction (See Stepper Motor section) #define ValveReset LATC,5,Access;Reset #define TX LATC,6,Access;Serial TX #define _LC7 LATC,7,Access; ; #define MCLR PORTE,3,Access;MCLR Pin ; #endif ; #ifdef HYDDRIVEDEVICE ; ;* +-----+-----+-----+-----+-----+-----+-----+-----+ ;* | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS A | 0 | 0 | 0 | 0 | 1 | 1 | 1 | 1 | ;* | LAT A | - | - | - | - | - | - | - | - | ;* | PORT A | OSC | OSC | - | - | M1 | M0 | VI | A | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS B | 0 | 0 | 0 | 0 | 0 | 0 | 1 | 1 | ;* | LAT B | - | - | 0 | - | - | - | 0 | 0 | ;* | PORT B | PGD | PGC | RST | - | - | - | PM | WAT | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS C | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | ;* | LAT C | 0 | TX | - | - | - | PWM | GRN | RED | ;* | PORT C | RX | - | - | - | - | - | - | - | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* ;LAT bits #define InitialisePORTA b'00000000' #define InitialisePORTB b'00000000' #define InitialisePORTC b'00000000' ; ;TRIS bits #define ConfigurePORTA b'00001111' #define ConfigurePORTB b'00000011' #define ConfigurePORTC b'10000000' ; ;Pins ;Pins A2 and A3 is defined in the keypad section ; #define _A PORTA,0,Access; #define VoltIn PORTA,1,Access; #define M0 PORTA,2,Access;Keypad M0 #define M1 PORTA,3,Access;Keypad M1 #define _RA4 PORTA,4,Access; #define _RA5 PORTA,5,Access; #define _RA6 PORTA,6,Access; #define _RA7 PORTA,7,Access; ; #define SCOPE0 LATA,0,Access; #define SCOPE1 LATA,1,Access; #define _LA2 LATA,2,Access; #define _LA3 LATA,3,Access; #define _LA4 LATA,4,Access; #define SCOPE2 LATA,5,Access; #define _LA6 LATA,6,Access; #define _LA7 LATA,7,Access; ; #define WaterSensor PORTB,0,Access;Water Sensor #define PulseMotor PORTB,1,Access;Flow meter pulse pickup #define _RB2 PORTB,2,Access; #define _RB3 PORTB,3,Access; #define _RB4 PORTB,4,Access; #define ProgReset PORTB,5,Access;Program Reset #define _RB6 PORTB,6,Access; #define _RB7 PORTB,7,Access; ; #define _LB0 LATB,0,Access; #define _LB1 LATB,1,Access; #define _LB2 LATB,2,Access; #define _LB3 LATB,3,Access; #define _LB4 LATB,4,Access; #define _LB5 LATB,5,Access; #define _LB6 LATB,6,Access; #define _LB7 LATB,7,Access; ; ;Pins C0 and C1 is defined in the keypad section #define _RC2 PORTC,2,Access; #define _RC3 PORTC,3,Access; #define _RC4 PORTC,4,Access; #define _RC5 PORTC,5,Access; #define _RC6 PORTC,6,Access; #define RX PORTC,7,Access;Serial RX ; #define PWM_Pin LATC,2,Access; #define _LC3 LATC,3,Access; #define _LC4 LATC,4,Access; #define _LC5 LATC,5,Access; #define TX LATC,6,Access;Serial TX #define _LC7 LATC,7,Access; ; #define MCLR PORTE,3,Access;MCLR Pin ; #endif ; #ifdef GRANCONTROLDEVICE ; ;* +-----+-----+-----+-----+-----+-----+-----+-----+ ;* | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS A | 0 | 0 | 1 | 0 | 1 | 1 | 1 | 0 | ;* | LAT A | OSC | OSC | - | - | - | - | - | MCLR| ;* | PORT A | - | - | DIP | - | M1 | M0 | VI | - | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS B | 1 | 0 | 0 | 1 | 1 | 1 | 1 | 1 | ;* | LAT B | - | - | 0 | - | - | 0 | 0 | 0 | ;* | PORT B | PGD | PGC | RST |DOUT2|DOUT1| ENG | PIC | WAT | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | TRIS C | 1 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | ;* | LAT C | 0 | TX | - | SDA | SCL | - | GRN | RED | ;* | PORT C | RX | - | DIP | SDA | SCL | - | - | - | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* ; ;LAT bits #define InitialisePORTA b'00110000' #define InitialisePORTB b'01000001' #define InitialisePORTC b'01000100' ; ;TRIS bits #define ConfigurePORTA b'00101110' #define ConfigurePORTB b'10011111' #define ConfigurePORTC b'10110000' ; ;Pins ;Pins A2 and A3 is defined in the keypad section ; #define _RA0 PORTA,0,Access;Pressure #define VoltIn PORTA,1,Access;VoltIn #define M0 PORTA,2,Access;Keypad M0 #define M1 PORTA,3,Access;Keypad M1 #define _RA4 PORTA,4,Access; #define DIPSwitch PORTA,5,Access;DIP Switch #define _RA6 PORTA,6,Access; #define _RA7 PORTA,7,Access; ; #define HX711_Clock LATA,0,Access; #define _LA1 LATA,1,Access; #define _LA2 LATA,2,Access; #define _LA3 LATA,3,Access; #define _LA4 LATA,4,Access; #define _LA5 LATA,5,Access; #define _LA6 LATA,6,Access; #define _LA7 LATA,7,Access; ; #define WaterSensor PORTB,0,Access;Water Sensor #define Flow1Pin PORTB,1,Access;Flow meter pulse pickup #define Flow2Pin PORTB,2,Access;Engage Bit #define HX711_Data PORTB,3,Access;Cell1 #define HX711_Data2 PORTB,4,Access;Cell2 #define ProgReset PORTB,5,Access;Program Reset #define _PGC PORTB,6,Access; #define _PGD PORTB,7,Access; ; #define _LB0 LATB,0,Access; #define _LB1 LATB,1,Access; #define _LB2 LATB,2,Access; #define _LB3 LATB,3,Access;Valve step pin #define _LB4 LATB,4,Access;Valve current sensor #define _LB5 LATB,5,Access; #define _LB6 LATB,6,Access; #define _LB7 LATB,7,Access; ; ;Pins C0 and C1 is defined in the keypad section #define BoardID_PORT PORTC,2,Access; #define PWM_Pin PORTC,2,Access; #define _RC3 PORTC,3,Access;I2C SCL Pin Input #define _RC4 PORTC,4,Access;Valve step Direction (See Stepper Motor section) #define _RC5 PORTC,5,Access; #define _RC6 PORTC,6,Access; #define RX PORTC,7,Access;Serial RX ; #define BoardID_LAT LATC,2,Access;Pressure LED #define _LC3 LATC,3,Access;DIP switch LED #define _LC4 LATC,4,Access;Valve step Direction (See Stepper Motor section) #define DIPLED LATC,5,Access;DIPLED #define TX LATC,6,Access;Serial TX #define _LC7 LATC,7,Access; ; #define BoardID_TRIS TRISC,2,Access ; #define MCLR PORTE,3,Access;MCLR Pin ; #endif ; ;******************************************************************************* ;* Analogue and Digital ;******************************************************************************* ; #ifdef ADC_CONVERTER ; ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | ANCON0 | AN7 | AN6 | AN5 | AN4 | AN3 | AN2 | AN1 | AN0 | ;* | | 0 | 0 | 0 | 1 | 0 | 0 | 1 | 1 | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ;* | ANCON1 | - | AN14| AN13| AN12| AN11| AN10| AN9 | AN8 | ;* | | - | 0 | 0 | 0 | 0 | 0 | 1 | 0 | ;* +--------+-----+-----+-----+-----+-----+-----+-----+-----+ ; #ifdef GRANCONTROLDEVICE ; #define TrackADC_DIPSW123 b'00000001';ADCON0 setup for Pressure Pin (AN0) #define TrackADC_DIPSW456 b'00000101';ADCON0 setup for Voltage meter Pin (AN1) #define TrackADC_Volt b'00000101';ADCON0 setup for Voltage meter Pin (AN1) #define TrackADC_Matrix0 b'00001001';ADCON0 setup for Keypad matrix 1 (AN2) #define TrackADC_Matrix1 b'00001101';ADCON0 setup for Keypad matrix 2 (AN3) #define TrackADC_DIP b'00010001';ADCON0 setup for DIP switch Pin (AN4) #define TrackADC_Current b'00111101';ADCON0 setup for Current measurement (AN15) ; #define ConfigureADC1 b'00000000';ADC1 Config #define ConfigureADC2 b'00111110';ADC2 Config ; #endif ; #ifdef FLOWCONTROLDEVICE ; #define TrackADC_Pressure b'00000001';ADCON0 setup for Pressure Pin (AN0) #define TrackADC_Volt b'00000101';ADCON0 setup for Voltage meter Pin (AN1) #define TrackADC_Matrix0 b'00001001';ADCON0 setup for Keypad matrix 1 (AN2) #define TrackADC_Matrix1 b'00001101';ADCON0 setup for Keypad matrix 2 (AN3) #define TrackADC_DIP b'00010001';ADCON0 setup for DIP switch Pin (AN4) #define TrackADC_Amp b'00100101';ADCON0 setup for Ampere meter Pin (AN9) ; #define ConfigureADC1 b'00000000';ADC1 Config #define ConfigureADC2 b'00111110';ADC2 Config ; #endif ; #ifdef HYDDRIVEDEVICE ; #define TrackADC_Volt b'00000101';ADCON0 setup for Voltage meter Pin (AN1) #define TrackADC_Matrix0 b'00001001';ADCON0 setup for Keypad matrix 1 (AN2) #define TrackADC_Matrix1 b'00001101';ADCON0 setup for Keypad matrix 2 (AN3) ;#define TrackADC_Amp b'00100101';ADCON0 setup for Ampere meter Pin (AN9) ; #define ConfigureADC1 b'00000000';ADC1 Config #define ConfigureADC2 b'00111110';ADC2 Config ; #endif ; ;ANSEL bits #ifdef FLOWCONTROLDEVICE #define ConfigureANCON0 b'00010011' #define ConfigureANCON1 b'00000010' #else #define ConfigureANCON0 b'00000011' #define ConfigureANCON1 b'00000000' #endif ; #define _Go ADCON0,GO,Access;ADCON0 Go bit ; #endif ; ;******************************************************************************* ;* Flags ;******************************************************************************* ; #define ControlFlow PulseFlags,0,Banked; ; #ifdef FLOWCONTROLDEVICE ; #define FlowDevice PulseFlags,1,Banked; #define FCDevice PulseFlags,2,Banked; #define PressureDevice PulseFlags,3,Banked; #define FirstTracking PulseFlags,4,Access; ; #endif ; #ifdef GRANCONTROLDEVICE ; #define FlowDevice PulseFlags,1,Banked; #define FCDevice PulseFlags,2,Banked; #define PressureDevice PulseFlags,3,Banked; ; #endif ; #ifdef HYDDRIVEDEVICE ; #define KickStartFlag SystemFlags0,6,Banked; ; #endif ; #ifdef PULSE_SENSOR ; #define ProcessNewPulseData PulseFlags,4,Banked; #define HydraulicRefresh PulseFlags,5,Banked;Set when we need too transmit a packet to the hydraulic PCB #define _ProcessPWM PulseFlags,6,Banked; #define Tick PulseFlags,7,Banked; ; #define Flasher PulseSensorFlags,0,Access; #define NewDataForSensor1 PulseSensorFlags,1,Access #define Sensor1WrappedAround PulseSensorFlags,2,Access #define DisplayNewDataForInterrupt1 PulseSensorFlags,3,Access #define Sensor1DataNotProcessed PulseSensorFlags,4,Access #define ReadPulseSensor PulseSensorFlags,6,Access #define ExtraBit PulseSensorFlags,7,Access ; #endif ; #ifdef CALCULATOR ; #define CalculatorOverflow CalculatorFlags,0,Access; #define CalculatorError CalculatorFlags,1,Access; #define CalculatorBoolean CalculatorFlags,2,Access; #define CalculatorMulOver CalculatorFlags,3,Access; #define CalculatorDivStore CalculatorFlags,4,Access; ; #endif ; #ifdef CANBUS #define Overflow0_bit COMSTAT,7,Access;Overflow flag RX1 #define Overflow1_bit COMSTAT,6,Access;Overflow flag RX0 #define CANBusError_bit PIR5,5,Access;CANBus error flag #define InvalidMessage_bit PIR5,7,Access;Invalid message flag #define TX2BufferIF PIR5,4,Access;TX2 buffer interrupt flag #define TX1BufferIF PIR5,3,Access;TX1 buffer interrupt flag #define TX0BufferIF PIR5,2,Access;TX0 buffer interrupt flag #define WAKEIF_ PIR5,6,Access;Wake up interrupt flag #define BootModeBit BootFlags,1,Banked ;Device currently updateing firmware #define BootNewData BootFlags,2,Banked ;Device has changes to program memory that are waiting to be saved #define SentEngagedBit DeviceFlags,0,Banked ;Engage status message sent ; #ifdef FLOWCONTROLDEVICE #define ManualCalibration DeviceFlags,1,Banked ;Is manual calibration alllowed? #define CalibrationMode DeviceFlags,2,Banked ;Is the device in calibration mode #define IncCalibBit DeviceFlags,3,Banked ;Send an increase calibration message to main unit #define DecCalibBit DeviceFlags,4,Banked ;Send a decrease calibration message to main unit #define IncCalibBitHis DeviceFlags,5,Banked ;Has the increase calibration message been sent to main unit? #define DecCalibBitHis DeviceFlags,6,Banked ;Has the decrease calibration message been sent to main unit? #endif ; #define ActionType DeviceFlags,5,Banked ;CANKingdom action type (Run:0, Freeze:1) #define CommType DeviceFlags,6,Banked ;CANKingdom communication type (Communicate:0, Listen only:1) ; #define ConfigModeBit ConfigFlags,0,Banked ;Is the device in config mode? #define ConfigInitBit ConfigFlags,1,Banked ;Has the device been initialised? #define ConfigReplySent ConfigFlags,2,Banked ;Has reply been sent to the main unit after button press? #define ConfigBaseNum ConfigFlags,3,Banked ;The base number has been registerd #define ConfigDeviceNum ConfigFlags,4,Banked ;A device number is also registered ; #define DeviceIDDefault 0x88 ;Device ID default symbol ; #endif ; #ifdef DIP_SWITCH ; #define DIP_Switch_0 SystemFlags0,0,Banked #define DIP_Switch_1 SystemFlags0,1,Banked #define DIP_Switch_2 SystemFlags0,2,Banked ; #endif ; #ifdef VOLTAGE_METER ; #define VoltFlag SystemFlags0,3,Banked ; #endif ; #ifdef AMPERE_METER ; #define AmpFlag SystemFlags0,4,Banked ; #endif ; #ifdef HAUL_SENSOR ; #define HaulFlag SystemFlags0,5,Banked ; #endif ; #ifdef GRANCONTROLDEVICE #define Switched LoadCellFlags,0,Access #define FirstTracking LoadCellFlags,1,Access #define ZeroPointReset LoadCellFlags,2,Access #endif ; ;******************************************************************************* ;* CANBus Clock Speed ;******************************************************************************* ; #ifdef CANBUS ;#define BRP_Setup 0x43 ;125khz SJW = 1 BRP = 3 ;#define BRP_Setup 0x42 ;?khz SJW = 1 BRP = 2 #define BRP_Setup 0x41 ;250khz SJW = 1 BRP = 1 ;#define BRP_Setup 0x40 ;500khz SJW = 1 BRP = 0 ;#define SEG1_Setup 0x83 ;SEG2PHTS = 1 SEG1PH = 1 PRSEG = 4 SAM = 0 #define SEG1_Setup 0x45 ;SEG2PHTS = 1 SEG1PH = 5 PRSEG = 6 SAM = 0 #define SEG2_Setup 0x02 ;SEG2PH = 2 #endif ; ;******************************************************************************* ;* Timers ;******************************************************************************* ; ;Timer for delay functions #ifdef TIMER_0 #define _TMR0IF INTCON, TMR0IF, Access;Timer0 Interrupt #define _TMR0IE INTCON, TMR0IE, Access;Timer0 Interrupt Enable #define _TMR0IP INTCON2,TMR0IP, Access;Timer0 Interrupt Priority ;Timer 0 is configured inline before use #endif ; ;Timer Pulse Width Modulation #ifdef TIMER_1 #define _TMR1IP IPR1,TMR1IP,Access;Timer1 Interrupt Priority #define _TMR1IF PIR1,TMR1IF,Access;Timer1 Interrupt #define _TMR1IE PIE1,TMR1IE,Access;Timer1 Interrupt Enable #define TMR1_OFFSET_MAX 8 ;Timer1 double timer limit #define ConfigureTMR1 b'00010001';Timer 1 Configuration #endif ; ;Pulse timers #ifdef TIMER_2 #define _TMR2IP IPR1,TMR2IP,Access;Timer2 Interrupt Priority #define _TMR2IF PIR1,TMR2IF,Access;Timer2 Interrupt #define _TMR2IE PIE1,TMR2IE,Access;Timer2 Interrupt Enable #define TC5msec d'108' ; #ifdef HYDDRIVEDEVICE #define ConfigureTMR2 b'00010111';Timer 2 Configuration #else #define ConfigureTMR2 b'00111110';Timer 2 Configuration #endif #endif ; ;Timer 3 HH byte #ifdef TIMER_3 #define _TMR3IP IPR2,TMR3IP,Access;Timer3 Interrupt Priority #define _TMR3IF PIR2,TMR3IF,Access;Timer3 Interrupt #define _TMR3IE PIE2,TMR3IE,Access;Timer3 Interrupt Enable #define ConfigureTMR3 b'00110011';Timer 3 Configuration #define ConfigureTMR3Gate b'00000000';Timer 3 Gate Configuration #define SkipFirstPulses1TC 2 ; #endif ; ; #ifdef TIMER_4 #define _TMR4IP IPR4,TMR4IP,Access #define _TMR4IF PIR4,TMR4IF,Access;Timer4 Interrupt #define _TMR4IE PIE4,TMR4IE,Access #ifdef HYDDRIVEDEVICE #define ConfigureTMR4 b'00010111';Timer 4 Configuration #else #define ConfigureTMR4 b'00000101';Timer 4 Configuration #endif #endif ; #ifdef EXTERNAL_1 #define _INT1IP INTCON3,INT1IP,Access;External Interrupt Priority #define _INT1IE INTCON3,INT1IE,Access;External Interrupt Enable #define _INT1IF INTCON3,INT1IF,Access;External Interrupt #define _INT1EDG INTCON2,INTEDG1,Access;External Interrupt Edge Select bit #define _nRBPU INTCON2,RBPU,Access;PORTB Pull-up Enable bit #endif ; ;******************************************************************************* ;* Interrupt Definitions ;******************************************************************************* ; #define _GIEH INTCON,GIEH,Access;Global Interrupt enable high #define _GIEL INTCON,GIEL,Access;Global Interrupt enable low #define _IPEN RCON,IPEN,Access;Interrupt Priority Enable bit ; ;******************************************************************************* ;* EEPROM Definitions ;******************************************************************************* ; #ifdef EEPROM_S ; #define _EEPGD EECON1,EEPGD,Access;Flash Program or Data EEPROM Memory Select bit #define _EECFGS EECON1,CFGS,Access;Flash Program/Data EEPROM or Configuration Select bit #define _EERD EECON1,RD,Access;Read Control bit #define _EEFREE EECON1,FREE,Access;Flash Row Erase Enable bit #define _EEWREN EECON1,WREN,Access;Flash Program/Data EEPROM Write Enable bit #define _EEWR EECON1,WR,Access;Write Control bit ; #endif ; ;******************************************************************************* ;* UART Definitions ;******************************************************************************* ; #ifdef UART_2 ; #define _SPEN2 RCSTA2,SPEN,Access;EUSART2 enable #define _UART2MD PMD0,UART2MD,Access;EUSART2 module enable #define configureSPBRGH2 b'00000000';EUSART2 baud rate generator high byte #define configureSPBRG2 b'00010001';EUSART2 baud rate generator low byte ;#define configureSPBRG2 b'00000000';EUSART2 baud rate generator low byte #define configureTXSTA2 b'10100000';EUSART2 TXSTA2 bitset #define _TX2IF PIR3,TX2IF,Access;EUSART2 TX Interrupt #define _TX2IE PIE3,TX2IE,Access;EUSART2 TX Interrupt enable #define _TX2IP IPR3,TX2IP,Access;EUSART2 TX Interrupt priority #define _RX2IF PIR3,RC2IF,Access;EUSART2 RX Interrupt #define _RX2IE PIE3,RC2IE,Access;EUSART2 RX Interrupt enable #define _RX2IP IPR3,RC2IP,Access;EUSART2 RX Interrupt priority #define _RCIDL BAUDCON2,RCIDL,Access;EUSART2 Receive Operation Idle status bit #define _CREN2 RCSTA2,CREN,Access;EUSART2 Receive enable bit #define _TXEN2 TXSTA2,TXEN,Access;EUSART2 TX enable #define _TRMT2 TXSTA2,TRMT,Access;EUSART2 TRMT pin #define _TXREG2 TXREG2 ;EUSART2 TX Buffer #define _RCREG2 RCREG2 ;EUSART2 RX Buffer ; #endif ; ;******************************************************************************* ;* Stepper Motor ;******************************************************************************* ; #ifdef STEPPER_MOTOR ; #define OpenValve CALL Call_openValve;Valve clear for open direction #define SkipIfValveOpen BTFSC ValveDirection;Skip if valve open #define CloseValve CALL Call_closeValve;Valve set for close direction #define SkipIfValveClosed BTFSS ValveDirection;Skip if valve closed ; #endif ; ;******************************************************************************* ;* Device specific definitions ;******************************************************************************* ; #define FilterSize 9 #define PulseTC d'60' ;*5msec = 300msec #define ProcessPulsemeterTC d'50' ;*5msec #define TCFlasher d'100' ; #define TICKS_PER_REVOLUTION_SECOND d'86398' ; ;******************************************************************************* ;* ;* Memory Organization ;* ;******************************************************************************* ;* Internal EEPROM memory map ;******************************************************************************* ; #ifdef EEPROM_S ; CBLOCK 0 ;Map the persistent variables into the EEPROM EE_BootFlags EE_CANKing_MODE EE_BaseNumber EE_Folder_1L EE_Folder_1H EE_Folder_2L EE_Folder_2H EE_Folder_3L EE_Folder_3H EE_Folder_4L EE_Folder_4H EE_Folder_5L EE_Folder_5H EE_Folder_6L EE_Folder_6H EE_Folder_7L EE_Folder_7H EE_DeviceFlags EE_ConfigFlags EE_DeviceID EE_FlowRateL EE_FlowRateH EE_GoldenNumber EE_GoldenNumberH EE_GoldenNumberHH EE_GoldenNumberHHH EE_GoldenNumberHHHH EE_ZeroA EE_ZeroAH EE_ZeroAHH EE_ZeroB EE_ZeroBH EE_ZeroBHH ENDC ; #endif ; ;******************************************************************************* ;* Access Memory ;******************************************************************************* ; CBLOCK 0x000 ; STKPTR_Ltemp ;Stack pointer high and low bytes STKPTR_Lmax STKPTR_Htemp STKPTR_Hmax ; DeviceID_0 DeviceID_1 DeviceID_2 DeviceID_3 DeviceID_4 ; LEDFlags ;Indicates what state the LED flags are in ; KeyFlags ; TMR3HH ;Additional counting byte for Timer 3 ; PulseSensorFlags ; CheckAccess_0BankUsage ; ENDC ; #IF CheckAccess_0BankUsage > h'10' ERROR "Too many file registers have been used in the Access Bank (0x00:0x0F)" #ENDIF ; CBLOCK 0x010 ; Steps ;Motor steps to be executed StepsH StepsOpen ;Motor steps from closed StepsOpenH StepBatch ; GoldenNumber ;Number used to fine tune flow meter accuracy GoldenNumberH GoldenNumberHH GoldenNumberHHH GoldenNumberHHHH ; MotorState ;State of valve function MotorCurrentReference ;Amp meter voltage reference for 0 urrent PulseTimer ;Used to see if there is a flow meter timeout ; CurrentReading CurrentDebounce CurrentShutDown CurrentShutDownH ; LoadCellMul LoadCellMulH LoadCellDiv LoadCellDivH ; LoadCellA LoadCellAH LoadCellAHH ; LoadCellB LoadCellBH LoadCellBHH ; AgeA0 AgeA1 AgeA2 AgeB0 AgeB1 AgeB2 ; LoadCellFlags ; TrackingTimer TrackingTimerH ; ; CheckAccess_1BankUsage ; ENDC ; #IF CheckAccess_1BankUsage > h'40' ERROR "Too many file registers have been used in the Access Bank (0x10:0x3F)" #ENDIF ; #ifdef CALCULATOR ; CBLOCK 0x040 CalculatorFlags ;Calculator Memory CalculatorCount CalculatorX0 CalculatorX1 CalculatorX2 CalculatorX3 CalculatorX4 CalculatorY0 CalculatorY1 CalculatorY2 CalculatorY3 CalculatorY4 CalculatorTA0 CalculatorTA1 CalculatorTA2 CalculatorTA3 CalculatorTA4 CalculatorP0 CalculatorP1 CalculatorP2 CalculatorP3 CalculatorP4 ; CheckAccess_4BankUsage ENDC ; #IF CheckAccess_4BankUsage >= h'60' ERROR "Too many file registers have been used in the Access Bank (0x40:0x5F)" #ENDIF #endif ; ;******************************************************************************* ;* Bank 0 Memory (Without Access) ;******************************************************************************* ; CBLOCK h'60' ; MassA MassAH MassAHH ; MassB MassBH MassBHH ; LoadCellAAverage LoadCellAAverageH LoadCellAAverageHH LoadCellBAverage LoadCellBAverageH LoadCellBAverageHH LoadCellCAverage LoadCellCAverageH LoadCellCAverageHH ; LoadCellA0 LoadCellA0H LoadCellA0HH LoadCellA1 LoadCellA1H LoadCellA1HH LoadCellA2 LoadCellA2H LoadCellA2HH LoadCellB0 LoadCellB0H LoadCellB0HH LoadCellB1 LoadCellB1H LoadCellB1HH LoadCellB2 LoadCellB2H LoadCellB2HH ; LoadCellAZero LoadCellAZeroH LoadCellAZeroHH LoadCellBZero LoadCellBZeroH LoadCellBZeroHH LoadCellCZero LoadCellCZeroH LoadCellCZeroHH ; gpm gpmH gpmHH ; CheckBank0Usage ENDC ; #IF CheckBank0Usage >= h'100' ERROR "Too many file registers have been used in Bank 0" #ENDIF ; ;******************************************************************************* ;* Bank 1 Memory ;******************************************************************************* ; CBLOCK h'100' BootFlags ;Is the device engaged or disingaged ;Interrupts SaveWREG ;PUSH Storage for Low Priority Interrupts SaveSTATUS SaveFSR0L SaveFSR0H SaveFSR1L SaveFSR1H SaveFSR2L SaveFSR2H SavePCLATH SavePCLATU SaveTBLPTR SaveTBLPTRH SaveTBLPTRU SaveTABLAT SavePRODL SavePRODH SaveBSR ;0x110 ; ;Timers Timer1_offset ;Timers ; Interrupt1Count ; Interrupt1Time Interrupt1TimeH Interrupt1TimeHH ; Interrupt1Capture Interrupt1CaptureH Interrupt1CaptureHH Interrupt1CaptureCount ;0x120 Interrupt1Work Interrupt1WorkH Interrupt1WorkHH Interrupt1WorkCount Interrupt1Old Interrupt1OldH Interrupt1OldHH Interrupt1OldCount ; Main_DoubleBuffer Main_DoubleBufferH SkipFirstPulses1 ; ;EEPROM EEPROM_State EEPROM_Work ; UART2Write_State UART2Read_State ; Counter ;Bootloader counter DataAddressHigh ;Word to modify (at address) DataAddressLow ;0x130 NewDataHigh ;Word to replace with NewDataLow CodeAddressUpper CodeAddressHigh CodeAddressLow EraseAddressUpper EraseAddressHigh EraseAddressLow ; SystemFlags0 ; DIPReading ; VoltReading ; AmpReading ; CheckBank1_0Usage ENDC ; ;******************************************************************************* ;* CANBus Memory ;******************************************************************************* ; #IF CheckBank1_0Usage > h'140' ERROR "Too many file registers have been used in Bank 1 (0x00:0x3F)" #ENDIF ; #ifdef CANBUS ; CBLOCK h'140' ; CANKing_MODE ;CANKingdom Action, Comm and City Mode bits ; BaseNumber ;Last received base number from capital ; DeviceID ;Current Deive ID DeviceFlags ;Is the device engaged or disingaged ConfigFlags ;Device config flags FlowRateH ;Current Flow rate 2bytes FlowRateL ; Folder_1H ;Mayor's Message Folder Envelope Folder_1L Folder_2H ;Configuration Message Receive Folder Envelope Folder_2L Folder_3H ;Configuration Message Send Folder Envelope Folder_3L Folder_4H ;Bootloader Message Receive Folder Envelope Folder_4L Folder_5H ;Bootloader Message Send Folder Envelope Folder_5L Folder_6H ;Flow Control Message Receive Folder Envelope Folder_6L Folder_7H ;Flow Control Message Send Folder Envelope Folder_7L ; TXMessBuff_D0 ;Message buffer used to send messages TXMessBuff_D1 TXMessBuff_D2 TXMessBuff_D3 TXMessBuff_D4 TXMessBuff_D5 TXMessBuff_D6 TXMessBuff_D7 TXMessBuff_DL TXMessBuff_SH TXMessBuff_SL TXMessBuff_EH TXMessBuff_EL ; RXMessBuff_D0 ;Message buffer used to proccess received messages RXMessBuff_D1 RXMessBuff_D2 RXMessBuff_D3 RXMessBuff_D4 RXMessBuff_D5 RXMessBuff_D6 RXMessBuff_D7 RXMessBuff_DL RXMessBuff_SH RXMessBuff_SL RXMessBuff_EH RXMessBuff_EL ; TempCANSTAT TempCANCON ; CheckBank1_4Usage ENDC ; #IF CheckBank1_4Usage > h'180' ERROR "Too many file registers have been used in Bank 1 (0x40:0x7F)" #ENDIF ; #endif ; #ifdef STATISTICS ; CBLOCK h'180' ; StatsEntry0Age StatsEntry0 StatsEntry0H StatsEntry1Age StatsEntry1 StatsEntry1H StatsEntry2Age StatsEntry2 StatsEntry2H StatsEntry3Age StatsEntry3 StatsEntry3H StatsEntry4Age StatsEntry4 StatsEntry4H StatsEntry5Age StatsEntry5 StatsEntry5H StatsEntry6Age StatsEntry6 StatsEntry6H StatsEntry7Age StatsEntry7 StatsEntry7H StatsEntry8Age StatsEntry8 StatsEntry8H StatsEntry9Age StatsEntry9 StatsEntry9H ; StatsEntryA0 StatsEntryA0H StatsEntryA1 StatsEntryA1H StatsEntryA2 StatsEntryA2H StatsEntryA3 StatsEntryA3H StatsEntryA4 StatsEntryA4H StatsEntryA5 StatsEntryA5H StatsEntryA6 StatsEntryA6H StatsEntryA7 StatsEntryA7H StatsEntryA8 StatsEntryA8H StatsEntryA9 StatsEntryA9H ; MedianCounter MedianNewSamplePointer MedianNewSamplePointerH NewSample NewSampleH ; MedianTemp MedianTempH MedianTempAge SetError SetErrorH ; PWM_OutR PWM_OutRH PWM_Out PWM_SP ; PumpVolumeL ;Volume of one revolution on the hydraulic pump PumpVolumeH ; TargetVolumeL ;Target flow rate TargetVolumeH TargetVolumeU ; Matrix0 ;Keypad Flags Matrix1 ; ManualOpenDebounceTimer ;Keypad debounce timers ManualCloseDebounceTimer ; BypassOpenDebounceTimer BypassCloseDebounceTimer ; MembraneSwitches ;Keypad Flags ; CheckBank1_2Usage ENDC ; #IF CheckBank1_2Usage > h'1D0' ERROR "Too many file registers have been used in Bank 1 (0x80:0xCF)" #ENDIF ; #endif ; CBLOCK h'1D0' ; OpenKickInitial OpenKickInitialH OpenKick OpenKickH ; PulseRange PulseRangeH PulseFlags PulseCalibration PulseProcessVariable PulseProcessVariableH ProcessPulsemeterTimer SetPoint SetPointH PulseAdjusted PulseAdjustedH ; Integral SetErrorOut SetErrorOutH DisplayMode DisplaySetErrorData ; AnalogueT ;Variables to store pressure AnalogueH AnalogueL ; PressureTargetH PressureTargetL ; PumpRPMH ; HydraulicSafetyTimer HydraulicSafetyTimerH HydraulicRefreshTimer HydraulicRefreshTimerH ; ControlOutput ControlSetPoint TickCount ProcessPWMTimer FlasherTimer AutoRepeat ; RPM_SP RPMH_SP RPMHH_SP RPM_SP_Old RPMH_SP_Old RPMHH_SP_Old RPM_PV RPMH_PV RPMHH_PV RPM_Error RPMH_Error RPMHH_Error ; CheckBank1_9Usage ENDC ; #IF CheckBank1_9Usage > h'200' ERROR "Too many file registers have been used in Bank 1 (0xD0:0xFF)" #ENDIF ; ;******************************************************************************* ;* Bank 2 Memory ;******************************************************************************* ; CBLOCK h'200' CheckBank2Usage ENDC ; #IF CheckBank2Usage > h'300' ERROR "Too many file registers have been used in Bank 2" #ENDIF ; ;******************************************************************************* ;* Bank 3 Memory ;******************************************************************************* ; CBLOCK h'300' CheckBank3Usage ENDC ; #IF CheckBank3Usage > h'400' ERROR "Too many file registers have been used in Bank 3" #ENDIF ; ;******************************************************************************* ;* Bank 4 Memory ;******************************************************************************* ; CBLOCK h'400' CheckBank4Usage ENDC ; #IF CheckBank4Usage > h'500' ERROR "Too many file registers have been used in Bank 4" #ENDIF ; ;******************************************************************************* ;* ;* Origins ;* ;******************************************************************************* ;* Start ;******************************************************************************* ; ORG 0x00 ; ResetComesToHere: ; BANKSEL DefaultMemoryStart GOTO Startup ;Start at Bootloader ; ;******************************************************************************* ;* High Priority Interrupts ;******************************************************************************* ; ORG 0x08 CALL ProcessHighPriorityInterrupts RETFIE FAST ; ;******************************************************************************* ;* Low Priority Interrupts ;******************************************************************************* ; ORG 0x18 CALL ProcessLowPriorityInterrupts RETFIE ; ;Internal EEPROM ORG at end of code ; ;******************************************************************************* ;***** ***** ;***** ***** ;***** Main Code ***** ;***** ***** ;***** ***** ;******************************************************************************* ; ;******************************************************************************* ;* Device ID ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE ; ;Flow Control Device ID DeviceIDInitFlow: ; MOVLW LOW(SOFTWARE_VERSION) MOVFF WREG,DeviceID_0 MOVLW HIGH(SOFTWARE_VERSION) MOVFF WREG,DeviceID_1 MOVLW LOW(HARDWARE_VERSION) MOVFF WREG,DeviceID_2 MOVLW HIGH(HARDWARE_VERSION) MOVFF WREG,DeviceID_3 MOVLW 0xA5 MOVFF WREG,DeviceID_4 ; RETURN ; ;FC Device ID DeviceIDInitFC: ; MOVLW LOW(SOFTWARE_VERSION) MOVFF WREG,DeviceID_0 MOVLW HIGH(SOFTWARE_VERSION) MOVFF WREG,DeviceID_1 MOVLW LOW(HARDWARE_VERSION) MOVFF WREG,DeviceID_2 MOVLW HIGH(HARDWARE_VERSION) MOVFF WREG,DeviceID_3 MOVLW 0xFC MOVFF WREG,DeviceID_4 ; RETURN ; ;Pressure Control Device ID DeviceIDInitPressure: ; MOVLW LOW(SOFTWARE_VERSION) MOVFF WREG,DeviceID_0 MOVLW HIGH(SOFTWARE_VERSION) MOVFF WREG,DeviceID_1 MOVLW LOW(HARDWARE_VERSION) MOVFF WREG,DeviceID_2 MOVLW HIGH(HARDWARE_VERSION) MOVFF WREG,DeviceID_3 MOVLW 0xB6 MOVFF WREG,DeviceID_4 ; RETURN ; #endif ; #ifdef HYDDRIVEDEVICE ;Hyd Drive Device ID DeviceIDInitHyd: ; MOVLW LOW(SOFTWARE_VERSION) MOVFF WREG,DeviceID_0 MOVLW HIGH(SOFTWARE_VERSION) MOVFF WREG,DeviceID_1 MOVLW LOW(HARDWARE_VERSION) MOVFF WREG,DeviceID_2 MOVLW HIGH(HARDWARE_VERSION) MOVFF WREG,DeviceID_3 MOVLW 0xC7 MOVFF WREG,DeviceID_4 ; RETURN ; #endif ; #ifdef GRANCONTROLDEVICE ;Granular control Device ID DeviceIDInitGran: ; MOVLW LOW(SOFTWARE_VERSION) MOVFF WREG,DeviceID_0 MOVLW HIGH(SOFTWARE_VERSION) MOVFF WREG,DeviceID_1 MOVLW LOW(HARDWARE_VERSION) MOVFF WREG,DeviceID_2 MOVLW HIGH(HARDWARE_VERSION) MOVFF WREG,DeviceID_3 MOVLW 0x3A MOVFF WREG,DeviceID_4 ; RETURN ; #endif ; Begin: ; ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; CLRF STKPTR_Lmax,Access ;Clear stack pointers CLRF STKPTR_Hmax,Access ; CALL Boot_init ;Initialise Bootloader CALL Pins_init ;Initialise pins ; #ifdef STEPPER_MOTOR BCF ValveReset ;Reset the stepper motor #endif ; #ifdef ANALOGUE_SENSOR CALL ADC_init ;Initialise ADC #endif ; #ifdef UART_2 CALL UART_init ;Initialise UART #endif ; #ifdef FLOWCONTROLDEVICE CALL Check_Device ;Find out what devvice is currently in use ; FlowSectionInit: ; BTFSS FlowDevice ;If this is a flow device GOTO FCSectionInit ;Else goto next section ; CALL DeviceIDInitFlow ;Init device ID CALL PulseSensorInit ;Initialise flow-meter CALL StepperMotorInit ;Initialise valve motor ; GOTO ExitSectionInit ;After init exit ; FCSectionInit: ; BTFSS FCDevice ;If this is a fc peripheral device GOTO PressureSectionInit ; CALL DeviceIDInitFC ;Init device ID CALL PulseSensorInit ;Initialise speed-pickup CALL StepperMotorInit ;Initialise valve motor ; MOVLW d'100' ;Init target pressure MOVWF PressureTargetL,Banked MOVLW d'0' ; MOVWF PressureTargetH,Banked ; GOTO ExitSectionInit ;After init exit ; PressureSectionInit: ; BTFSS PressureDevice ;If this is a pressure control device GOTO ExitSectionInit ; CALL DeviceIDInitPressure ;Init device ID CALL StepperMotorInit ;Initialise valve motor ; MOVLW d'100' ;Init target pressure MOVWF PressureTargetL,Banked MOVLW d'0' ; MOVWF PressureTargetH,Banked ; ExitSectionInit: ; #endif ; #ifdef HYDDRIVEDEVICE CALL DeviceIDInitHyd ;Init device ID ; HydSectionInit: ; MOVLW LOW(70) MOVWF OpenKick,Banked MOVLW HIGH(70) MOVWF OpenKickH,Banked ; CALL PulseSensorInit ;Initialise speed-pickup ; MOVLW LOW(70) MOVWF RPM_SP,Banked MOVLW HIGH(70) MOVWF RPMH_SP,Banked ; #endif ; #ifdef GRANCONTROLDEVICE CALL DeviceIDInitGran CLRF LoadCellFlags,Access BSF FirstTracking MOVLW LOW(2000) MOVWF TrackingTimer,Access MOVLW HIGH(2000) MOVWF TrackingTimerH,Access #endif ; #ifdef EXTERNAL_1 CALL External_1_init ;Initialise External Flow meter interrupt #endif ; #ifdef CANBUS CALL CANBus_init ;Initialise CANBus #endif ; #ifdef TIMER_1 CALL Timer_1_init ;Initialise timer 1 #endif ; #ifdef TIMER_2 CALL Timer_2_init ;Initialise timer 1 #endif ; #ifdef TIMER_3 CALL Timer_3_init ;Initialise timer 1 #endif ; #ifdef TIMER_4 CALL Timer_4_init ;Initialise timer 1 #endif ; #ifdef STATISTICS CALL Stats_Init #endif ; #ifdef HAUL_SENSOR CALL HaulSensorInit #endif ; #ifdef KEYPAD CALL Keypad_init #endif ; CALL Interrupts_init ;Initialise interrupts ; ;******************************************************************************* ;* Forever Loop ;******************************************************************************* ; Forever: ; BTFSC BootModeBit BCF _GIEH BTFSC BootModeBit ;If in boot mode then just go into forever loop GOTO Closed_Loop ; #ifdef PULSE_SENSOR ;Pulse sensor CALL ProcessPulseSensor ;Get Flow rate #endif ; #ifdef FLOWCONTROLDEVICE FlowSectionForever: ; BTFSS FlowDevice ;If this is a flow device GOTO FCSectionForever ;Else goto next section ;Flow device ;Flowmeter CALL ProcessBSFMeter ;Stepper motor CALL ProcessMotorState ;Process state of motor by using pressure difference CALL ProcessStepperMotor ;Process motor ; GOTO ExitSectionForever ;After init exit ; FCSectionForever: ; BTFSS FCDevice ;If this is a fc peripheral device GOTO ExitSectionForever ;FC Device ;Speed Picup CALL ProcessSpeedPickup ;Engage CALL ProcessEngage ;Pressure CALL ProcessPressure ;Stepper motor CALL ProcessPressureMove ;Process state of motor by using pressure difference CALL ProcessStepperMotor ;Process motor steps ; GOTO ExitSectionForever ;After init exit ; ExitSectionForever: ; #endif ;Flowmeter #ifdef HYDDRIVEDEVICE CALL ProcessPWM #endif ; ;Haul Sensor #ifdef HAUL_SENSOR CALL ProcessHaulSensor CALL ProcessHaulFlag #endif ;Comms #ifdef UART_2 CALL UART2Write_Process #endif ;EEPROM #ifdef EEPROM_S CALL ProcessEEPROM #endif ; #ifdef VOLTAGE_METER CALL VoltageMeter_Process #endif ; #ifdef AMPERE_METER CALL AmpereMeter_Process #endif ; #ifdef DIP_SWITCH CALL Check_Device #endif ; #ifdef LED_SEQUENCE CALL ProcessLEDState #endif ; #ifdef KEYPAD CALL ProcessMembrane2x2Matrix CALL ProcessKeypad #endif ; #ifdef GRANCONTROLDEVICE CALL GranControl #endif ; GOTO Forever ;Repeat ; ;******************************************************************************* ;* ;* This is where we actually process the high priority interrupts ;* ;******************************************************************************* ; ProcessHighPriorityInterrupts: ; ;MOVF BSR,W,Access ;XORLW 1 ;BTFSS ZeroFlag ;NOP ; MOVF STKPTR,W,Access ANDLW b'00011111' MOVWF STKPTR_Htemp,Access ; SUBWF STKPTR_Hmax,W,Access BTFSS CarryFlag MOVFF STKPTR_Htemp,STKPTR_Hmax ; ;Interrupts go here ; #ifdef TIMER_3 BTFSC _TMR3IF ;Timer 3 interrupt CALL Timer_3_interrupt #endif ; #ifdef CANBUS BCF PIR5,7,Access CALL CANInterrupts #endif ; #ifdef EXTERNAL_1 BTFSC _INT1IF ;External 1 interrupt CALL External_1_interrupt #endif ; ;MOVF BSR,W,Access ;XORLW 1 ;BTFSS ZeroFlag ;NOP ; RETURN ;Exit ; ;******************************************************************************* ;* ;* This is where we actually process the low priority interrupts ;* ;******************************************************************************* ; ProcessLowPriorityInterrupts: ; ;Save registers MOVFF WREG,SaveWREG MOVFF STATUS,SaveSTATUS MOVFF FSR0H,SaveFSR0H MOVFF FSR0L,SaveFSR0L MOVFF FSR1H,SaveFSR1H MOVFF FSR1L,SaveFSR1L MOVFF FSR2H,SaveFSR2H MOVFF FSR2L,SaveFSR2L MOVFF PCLATH,SavePCLATH MOVFF PCLATU,SavePCLATU MOVFF TABLAT,SaveTABLAT MOVFF TBLPTRU,SaveTBLPTRU MOVFF TBLPTRH,SaveTBLPTRH MOVFF TBLPTR,SaveTBLPTR MOVFF PRODL,SavePRODL MOVFF PRODH,SavePRODH MOVFF BSR,SaveBSR ; MOVF STKPTR,W,Access ANDLW b'00011111' MOVWF STKPTR_Ltemp,Access ; SUBWF STKPTR_Lmax,W,Access BTFSS CarryFlag MOVFF STKPTR_Ltemp,STKPTR_Lmax ; MOVF BSR,W,Access XORLW 1 BTFSS ZeroFlag NOP ; ProcessInterrupts2: ; ;Interrupts go here #ifdef TIMER_1 BTFSC _TMR1IF ;Timer 1 interrupt CALL Timer_1_interrupt #endif ; #ifdef TIMER_2 BTFSC _TMR2IF ;Timer 2 interrupt CALL Timer_2_interrupt #endif #ifdef UART_2 BTFSC _RX2IF CALL UART2_RX_interrupt #endif #ifdef PULSEWIDTH_MOD BTFSC _TMR4IF CALL Timer_4_interrupt #endif ; ;Restore registers MOVFF SaveWREG,WREG MOVFF SaveSTATUS,STATUS MOVFF SaveFSR0H,FSR0H MOVFF SaveFSR0L,FSR0L MOVFF SaveFSR1H,FSR1H MOVFF SaveFSR1L,FSR1L MOVFF SaveFSR2H,FSR2H MOVFF SaveFSR2L,FSR2L MOVFF SavePCLATH,PCLATH MOVFF SavePCLATU,PCLATU MOVFF SaveTABLAT,TABLAT MOVFF SaveTBLPTRU,TBLPTRU MOVFF SaveTBLPTRH,TBLPTRH MOVFF SaveTBLPTR,TBLPTR MOVFF SavePRODL,PRODL MOVFF SavePRODH,PRODH MOVFF SaveBSR,BSR ; RETURN ;Exit ; ;******************************************************************************* ;* ;* Basic opperations ;* ;******************************************************************************* ; ;******************************************************************************* ;* ;* DIP switch ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef DIP_SWITCH ; Check_Device: ; CALL DIPSample ;First get the current DIP value ; Check_FlowDevice: ; BTFSC DIP_Switch_0 GOTO Check_FlowDevice_Cle BTFSC DIP_Switch_1 GOTO Check_FlowDevice_Cle BTFSC DIP_Switch_2 GOTO Check_FlowDevice_Cle ; Check_FlowDevice_Set: ; BSF FlowDevice GOTO Check_FCDevice ; Check_FlowDevice_Cle: ; BCF FlowDevice ; Check_FCDevice: ; BTFSS DIP_Switch_0 GOTO Check_FCDevice_Cle BTFSC DIP_Switch_1 GOTO Check_FCDevice_Cle BTFSC DIP_Switch_2 GOTO Check_FCDevice_Cle ; Check_FCDevice_Set: ; BSF FCDevice GOTO Check_PressureDevice ; Check_FCDevice_Cle: ; BCF FCDevice ; Check_PressureDevice: ; BTFSC DIP_Switch_0 GOTO Check_PressureDevice_Cle BTFSS DIP_Switch_1 GOTO Check_PressureDevice_Cle BTFSC DIP_Switch_2 GOTO Check_PressureDevice_Cle ; Check_PressureDevice_Set: ; BSF PressureDevice GOTO Check_Device_Exit ; Check_PressureDevice_Cle: ; BCF PressureDevice ; Check_Device_Exit: ; RETURN ; DIPSample: ; ;Get the latest reading MOVLW TrackADC_DIP ;Set ADCON0 register with correct values CALL ReadADC ;Wait until read complete ; MOVFF ADRESH,DIPReading ;Read digital value from ; SelectSWD MACRO LowerLimit,UpperLimit,Target,OfBank,SW0State,SW1State,SW2State ; LOCAL SelectSWDEnd, SelectSWDStart ; MOVLW LowerLimit ;Test if Target is bigger than lower limit SUBWF Target,W,OfBank ; BTFSS CarryFlag ;If true then continue GOTO SelectSWDEnd ;Exit ; MOVLW UpperLimit ;Test if Target is bigger than lower limit SUBWF Target,W,OfBank ; BTFSS CarryFlag ;If true then continue GOTO SelectSWDStart ;Start BTFSS ZeroFlag ;Else check if equal GOTO SelectSWDEnd ; SelectSWDStart: ; IF SW0State == On ;if state0 is On BSF DIP_Switch_0 ;Then set bit ELSE BCF DIP_Switch_0 ;Else clear bit ENDIF ; IF SW1State == On ;if state1 is On BSF DIP_Switch_1 ;Then set bit ELSE BCF DIP_Switch_1 ;Else clear bit ENDIF ; IF SW2State == On ;if state2 is On BSF DIP_Switch_2 ;Then set bit ELSE BCF DIP_Switch_2 ;Else clear bit ENDIF ; SelectSWDEnd: ; ENDM ;Get correct reading SelectSWD 0x6A,0x76,DIPReading,Banked,Off,Off,Off SelectSWD 0x76,0x82,DIPReading,Banked,Off,Off,On SelectSWD 0x82,0x92,DIPReading,Banked,Off,On,Off SelectSWD 0x92,0x9C,DIPReading,Banked,Off,On,On SelectSWD 0x9C,0xAE,DIPReading,Banked,On,Off,Off SelectSWD 0xAE,0xC9,DIPReading,Banked,On,Off,On SelectSWD 0xC9,0xEC,DIPReading,Banked,On,On,Off SelectSWD 0xEC,0xFF,DIPReading,Banked,On,On,On ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Voltage meter ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef VOLTAGE_METER ; VoltageMeter_Process: ; ;Get the latest reading MOVLW TrackADC_Volt ;Set ADCON0 register with correct values CALL ReadADC ;Wait until read complete ; MOVFF ADRESH,VoltReading ;Read digital value from ; MOVLW 0x40 ;Test if Target is bigger than lower limit SUBWF VoltReading,W,Banked ; BTFSS CarryFlag ;If true then continue BSF VoltFlag BTFSC CarryFlag BCF VoltFlag ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Voltage meter ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef AMPERE_METER ; AmpereMeter_Read: ; ;Get the latest reading MOVLW TrackADC_Amp ;Set ADCON0 register with correct values CALL ReadADC ;Wait until read complete ; MOVFF ADRESH,AmpReading ;Read digital value from ; RETURN ; AmpereMeter_Process: ; CALL AmpereMeter_Read ;Get the current reading ;MOVLW 0x82 ;Test if Target is bigger than lower limit MOVF MotorCurrentReference,W,Access ;Get the reference value SUBWF AmpReading,W,Banked ; BTFSS CarryFlag ;If true then continue BSF AmpFlag BTFSC CarryFlag BCF AmpFlag ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Pins ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; Pins_init: ; MOVLW InitialisePORTA ;Define port latches for old PCB for now MOVWF LATA,Access MOVLW InitialisePORTB MOVWF LATB,Access MOVLW InitialisePORTC MOVWF LATC,Access ; MOVLW ConfigurePORTA ;Configure port directions for old PCB for now MOVWF TRISA,Access MOVLW ConfigurePORTB MOVWF TRISB,Access MOVLW ConfigurePORTC MOVWF TRISC,Access ; #ifdef EXTERNAL_1 BCF _nRBPU ;Enable weak pull-ups on PORT B #endif ; RETURN ; ;******************************************************************************* ;* ;* Analogue/Digital ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef ANALOGUE_SENSOR ADC_init: ; MOVLW ConfigureANCON0 ;Define the analogue and digital mix for the PCB MOVFF WREG,ANCON0 MOVLW ConfigureANCON1 MOVFF WREG,ANCON1 ; MOVLW ConfigureADC1 ;Analog to Digital Converter config MOVFF WREG,ADCON1 ; MOVLW ConfigureADC2 MOVFF WREG,ADCON2 ; MOVLW 0 MOVFF WREG,CM1CON ;Comparator config MOVFF WREG,CM2CON ; RETURN ; ;******************************************************************************* ;* Read/Write Basic ;******************************************************************************* ; ReadADC: ; MOVWF ADCON0,Access ;Set Converter up with WREG BSF _Go ;Start conversion ; ReadADC1: ; BTFSC _Go ;Wait until conversion complete GOTO ReadADC1 ; RETURN ;Exit #endif ; ;******************************************************************************* ;* ;* EUSART ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef UART_2 UART_init: ; BCF _UART2MD ;Enable EUSART2 module BSF _SPEN2 ;Enable EUSART2 BSF _CREN2 ;Enable EUSART2 receive enable ; MOVLW configureSPBRGH2 ;Configure EUSART2 Baud Rate Generator high byte MOVFF WREG,SPBRGH2 MOVLW configureSPBRG2 ;Configure EUSART2 Baud Rate Generator low byte MOVFF WREG,SPBRG2 MOVLW configureTXSTA2 ;Configure EUSART2 Stat TX register MOVFF WREG,TXSTA2 ; CLRF UART2Write_State,Banked CLRF UART2Read_State,Banked ; RETURN ; ;******************************************************************************* ;* Read/Write Basic ;******************************************************************************* ; WriteUART2: ; MOVWF _TXREG2,Access ;Copy data to transmit buffer ; RETURN ;Exit ; ReadUART2: ; MOVF _RCREG2,W,Access ;Copy from receive buffer ; RETURN ;Exit ; ;******************************************************************************* ;* UART Advanced ;******************************************************************************* ; UART2Write_Process: ; BTFSS _TRMT2 GOTO UART2_End ; ;Macros UART2Write_Var MACRO VariableName ; MOVFF VariableName,_TXREG2 ;1,2 ; INCF UART2Write_State,Same,Banked ;3 ; GOTO UART2_End ;4,5 NOP ;6 NOP ;7 NOP ;8 ; ENDM ; UART2Read_Var MACRO VariableName ; MOVFF _RCREG2,VariableName ; INCF UART2Read_State,Same,Banked ; GOTO UART2_End NOP ;6 NOP ;7 NOP ;8 ; ENDM ; UART2Write_Lit MACRO LiteralName ; MOVLW LiteralName MOVWF _TXREG2,Access ; INCF UART2Write_State,Same,Banked ; GOTO UART2_End NOP ;6 NOP ;7 NOP ;8 ; ENDM ; UART2Write_Res MACRO ; CLRF UART2Write_State,Banked ; GOTO UART2_End NOP NOP NOP ;6 NOP ;7 NOP ;8 ; ENDM ; UART2Read_Res MACRO ; CLRF UART2Read_State,Banked ; CALL Send_Simulated ;Send the received message over the CANBus ; GOTO UART2_End NOP NOP NOP ;6 NOP ;7 NOP ;8 ; ENDM ; UART2Write_Dispatcher: ; CLRF PCLATU,Access ; MOVF UART2Write_State,W,Banked SWAPF WREG,W,Access ANDLW b'00000011' ADDLW HIGH(UART2Write_DispatchTable) MOVWF PCLATH,Access ; MOVF UART2Write_State,W,Banked SWAPF WREG,W,Access ANDLW b'11110000' ; ADDLW LOW(UART2Write_DispatchTable) BTFSC CarryFlag INCF PCLATH,Same,Access MOVWF PCL,Access ; #ifdef FLOWCONTROLDEVICE ; UART2Write_DispatchTable: ; SysDat_00 UART2Write_Lit 0x3A SysDat_01 UART2Write_Lit 0xA3 SysDat_02 UART2Write_Lit 0xA5 SysDat_03 UART2Write_Lit d'55' SysDat_04 UART2Write_Var DeviceID SysDat_05 UART2Write_Lit 0x00 SysDat_06 UART2Write_Var Interrupt1Time SysDat_07 UART2Write_Var Interrupt1TimeH SysDat_08 UART2Write_Var Interrupt1TimeHH SysDat_09 UART2Write_Var StatsEntry0 SysDat_10 UART2Write_Var StatsEntry0H SysDat_11 UART2Write_Var StatsEntry1 SysDat_12 UART2Write_Var StatsEntry1H SysDat_13 UART2Write_Var StatsEntry2 SysDat_14 UART2Write_Var StatsEntry2H SysDat_15 UART2Write_Var StatsEntry3 SysDat_16 UART2Write_Var StatsEntry3H SysDat_17 UART2Write_Var StatsEntry4 SysDat_18 UART2Write_Var StatsEntry4H SysDat_19 UART2Write_Var StatsEntry5 SysDat_20 UART2Write_Var StatsEntry5H SysDat_21 UART2Write_Var StatsEntry6 SysDat_22 UART2Write_Var StatsEntry6H SysDat_23 UART2Write_Var StatsEntry7 SysDat_24 UART2Write_Var StatsEntry7H SysDat_25 UART2Write_Var StatsEntry8 SysDat_26 UART2Write_Var StatsEntry8H SysDat_27 UART2Write_Var StatsEntry9 SysDat_28 UART2Write_Var StatsEntry9H SysDat_29 UART2Write_Var StatsEntryA0 SysDat_30 UART2Write_Var StatsEntryA0H SysDat_31 UART2Write_Var StatsEntryA1 SysDat_32 UART2Write_Var StatsEntryA1H SysDat_33 UART2Write_Var StatsEntryA2 SysDat_34 UART2Write_Var StatsEntryA2H SysDat_35 UART2Write_Var StatsEntryA3 SysDat_36 UART2Write_Var StatsEntryA3H SysDat_37 UART2Write_Var StatsEntryA4 SysDat_38 UART2Write_Var StatsEntryA4H SysDat_39 UART2Write_Var StatsEntryA5 SysDat_40 UART2Write_Var StatsEntryA5H SysDat_41 UART2Write_Var StatsEntryA6 SysDat_42 UART2Write_Var StatsEntryA6H SysDat_43 UART2Write_Var StatsEntryA7 SysDat_44 UART2Write_Var StatsEntryA7H SysDat_45 UART2Write_Var StatsEntryA8 SysDat_46 UART2Write_Var StatsEntryA8H #ifdef PULSE_SENSOR SysDat_47 UART2Write_Var PulseRange SysDat_48 UART2Write_Var PulseRangeH SysDat_49 UART2Write_Var PulseProcessVariable SysDat_50 UART2Write_Var PulseProcessVariableH #else SysDat_47 UART2Write_Lit 0x00 SysDat_48 UART2Write_Lit 0x00 SysDat_49 UART2Write_Lit 0x00 SysDat_50 UART2Write_Lit 0x00 #endif SysDat_51 UART2Write_Var SetPoint SysDat_52 UART2Write_Var SetPointH SysDat_53 UART2Write_Var PulseAdjusted SysDat_54 UART2Write_Var PulseAdjustedH SysDat_55 UART2Write_Var PulseFlags SysDat_56 UART2Write_Var MotorState SysDat_57 UART2Write_Var DeviceID_4 SysDat_58 UART2Write_Lit 0x0A SysDat_59 UART2Write_Lit 0x0D SysDat_60 UART2Write_Res SysDat_61 UART2Write_Res #endif #ifdef HYDDRIVEDEVICE ; UART2Write_DispatchTable: ; SysDat_00 UART2Write_Lit 0x3A SysDat_01 UART2Write_Lit 0xA3 SysDat_02 UART2Write_Lit 0xC7 SysDat_03 UART2Write_Lit d'48' SysDat_04 UART2Write_Var DeviceID SysDat_05 UART2Write_Var Interrupt1Time SysDat_06 UART2Write_Var Interrupt1TimeH SysDat_07 UART2Write_Var Interrupt1TimeHH SysDat_08 UART2Write_Var Interrupt1Work SysDat_09 UART2Write_Var Interrupt1WorkH SysDat_10 UART2Write_Var Interrupt1WorkHH SysDat_11 UART2Write_Var CalculatorP0 SysDat_12 UART2Write_Var CalculatorP1 SysDat_13 UART2Write_Var CalculatorP2 SysDat_14 UART2Write_Var PulseRangeH SysDat_15 UART2Write_Var RPM_SP SysDat_16 UART2Write_Var RPMH_SP SysDat_17 UART2Write_Var RPMHH_SP SysDat_18 UART2Write_Var RPM_SP_Old SysDat_19 UART2Write_Var RPMH_SP_Old SysDat_20 UART2Write_Var RPM_PV ; SysDat_21 UART2Write_Var RPMH_PV SysDat_22 UART2Write_Var RPM_Error SysDat_23 UART2Write_Var RPMH_Error SysDat_24 UART2Write_Var RPMHH_Error SysDat_25 UART2Write_Var PWM_OutR SysDat_26 UART2Write_Var PWM_OutRH SysDat_27 UART2Write_Var PWM_Out SysDat_28 UART2Write_Var PWM_SP SysDat_29 UART2Write_Var PulseRange SysDat_30 UART2Write_Var PulseRangeH SysDat_31 UART2Write_Var PumpVolumeL SysDat_32 UART2Write_Var PumpVolumeL SysDat_33 UART2Write_Var PumpVolumeH SysDat_34 UART2Write_Var StatsEntry9H SysDat_35 UART2Write_Var GoldenNumber SysDat_36 UART2Write_Var GoldenNumberH SysDat_37 UART2Write_Var GoldenNumberHH SysDat_38 UART2Write_Var GoldenNumberHHH SysDat_39 UART2Write_Var GoldenNumberHHHH SysDat_40 UART2Write_Var NewSample SysDat_41 UART2Write_Var NewSampleH SysDat_42 UART2Write_Var RPM_PV SysDat_43 UART2Write_Var RPMH_PV SysDat_44 UART2Write_Var RPM_SP SysDat_45 UART2Write_Var RPMH_SP SysDat_46 UART2Write_Var TargetVolumeL SysDat_47 UART2Write_Var TargetVolumeH SysDat_48 UART2Write_Var TargetVolumeU SysDat_49 UART2Write_Var PulseFlags SysDat_50 UART2Write_Var MotorState SysDat_51 UART2Write_Lit 0x0A SysDat_52 UART2Write_Lit 0x0D SysDat_53 UART2Write_Res ; #endif ; #ifdef GRANCONTROLDEVICE ; UART2Write_DispatchTable: ; SysDat_00 UART2Write_Lit ':' SysDat_01 UART2Write_Var LoadCellA SysDat_02 UART2Write_Var LoadCellAH SysDat_03 UART2Write_Var LoadCellAHH SysDat_04 UART2Write_Var LoadCellCAverage SysDat_05 UART2Write_Var LoadCellCAverageH SysDat_06 UART2Write_Var LoadCellCAverageHH SysDat_07 UART2Write_Var LoadCellCZero SysDat_08 UART2Write_Var LoadCellCZeroH SysDat_09 UART2Write_Var LoadCellCZeroHH SysDat_10 UART2Write_Var LoadCellB SysDat_11 UART2Write_Var LoadCellBH SysDat_12 UART2Write_Var LoadCellBHH SysDat_13 UART2Write_Var CalculatorP0 SysDat_14 UART2Write_Var CalculatorP1 SysDat_15 UART2Write_Var StatsEntry2 SysDat_16 UART2Write_Var StatsEntry2H SysDat_17 UART2Write_Var StatsEntry3 SysDat_18 UART2Write_Var StatsEntry3H SysDat_19 UART2Write_Var StatsEntry4 SysDat_20 UART2Write_Var StatsEntry4H SysDat_21 UART2Write_Var StatsEntry5 SysDat_22 UART2Write_Var StatsEntry5H SysDat_23 UART2Write_Var StatsEntry6 SysDat_24 UART2Write_Var StatsEntry6H SysDat_25 UART2Write_Var StatsEntry7 SysDat_26 UART2Write_Var StatsEntry7H SysDat_27 UART2Write_Var StatsEntry8 SysDat_28 UART2Write_Var StatsEntry8H SysDat_29 UART2Write_Var StatsEntry9 SysDat_30 UART2Write_Var StatsEntry9H SysDat_31 UART2Write_Var LoadCellMul SysDat_32 UART2Write_Var LoadCellMulH SysDat_33 UART2Write_Var LoadCellDiv SysDat_34 UART2Write_Var LoadCellDivH SysDat_35 UART2Write_Var StatsEntryA2 SysDat_36 UART2Write_Var StatsEntryA2H SysDat_37 UART2Write_Var StatsEntryA3 SysDat_38 UART2Write_Var StatsEntryA3H SysDat_39 UART2Write_Var StatsEntryA4 SysDat_40 UART2Write_Var StatsEntryA4H SysDat_41 UART2Write_Var StatsEntryA5 SysDat_42 UART2Write_Var StatsEntryA5H SysDat_43 UART2Write_Var StatsEntryA6 SysDat_44 UART2Write_Var StatsEntryA6H SysDat_45 UART2Write_Var StatsEntryA7 SysDat_46 UART2Write_Var SetPoint SysDat_47 UART2Write_Var SetPointH SysDat_48 UART2Write_Lit 0 #ifdef PULSE_SENSOR SysDat_49 UART2Write_Var gpm SysDat_50 UART2Write_Var gpmH SysDat_51 UART2Write_Var gpmHH SysDat_52 UART2Write_Var LoadCellBAverage #else SysDat_49 UART2Write_Lit 0x00 SysDat_50 UART2Write_Lit 0x00 SysDat_51 UART2Write_Lit 0x00 SysDat_52 UART2Write_Lit 0x00 #endif SysDat_53 UART2Write_Var LoadCellBAverageH SysDat_54 UART2Write_Var LoadCellBAverageHH SysDat_55 UART2Write_Var PulseFlags SysDat_56 UART2Write_Var MotorState SysDat_57 UART2Write_Lit 0x0A SysDat_58 UART2Write_Lit 0x0D SysDat_59 UART2Write_Res SysDat_60 UART2Write_Res SysDat_61 UART2Write_Res SysDat_62 UART2Write_Res SysDat_63 UART2Write_Res ; #endif ; UART2_End: ; RETURN ; ;******************************************************************************* ;* UART Interrupts ;******************************************************************************* ; UART2_RX_interrupt: ; BCF _RX2IF ; #ifdef SIMULATIONDEVICE ; TSTFSZ UART2Read_State,Banked ;Check progress of reading data GOTO UART2Read_Process ;If zero then goto read databyte ; MOVFF _RCREG2,WREG ;Else check if data start marker SUBLW ':' BTFSC ZeroFlag INCF UART2Read_State,Same,Banked GOTO UART2Read_Interrupt_exit ;Waiting for start symbol ; UART2Read_Process: ; CLRF PCLATU,Access ;Read correct data byte ; RLNCF UART2Read_State,W,Banked SWAPF WREG,W,Access ANDLW b'00000011' ADDLW HIGH(UART2Read_DispatchTable) MOVWF PCLATH,Access ; RLNCF UART2Read_State,W,Banked SWAPF WREG,W,Access ANDLW b'11100000' ; ADDLW LOW(UART2Read_DispatchTable) BTFSC CarryFlag INCF PCLATH,Same,Access MOVWF PCL,Access ; UART2Read_DispatchTable: ; SysData_Copy00 UART2Read_Var simulBuffer0 SysData_Copy01 UART2Read_Var simulBuffer1 SysData_Copy02 UART2Read_Var simulBuffer2 SysData_Copy03 UART2Read_Var simulBuffer3 SysData_Copy04 UART2Read_Var simulBuffer4 SysData_Copy05 UART2Read_Var simulBuffer5 SysData_Copy06 UART2Read_Var simulBuffer6 SysData_Copy07 UART2Read_Var simulBuffer7 SysData_Copy08 UART2Read_Var simulBuffer8 SysData_Copy09 UART2Read_Var simulBuffer9 SysData_Copy10 UART2Read_Var simulBuffer10 SysData_Copy11 UART2Read_Var simulBuffer11 SysData_Copy12 UART2Read_Var simulBuffer12 SysData_Copy13 UART2Read_Res SysData_Copy14 UART2Read_Res SysData_Copy15 UART2Read_Res ; #endif ; UART2Read_Interrupt_exit: ; RETURN #endif ; ;******************************************************************************* ;* ;* Keypad ;* ;******************************************************************************* ;* Macros ;******************************************************************************* ;* MACRO: Debounce ;* This MACRO debounces the INPUT in the background and requires a maximum ;* of 19 instruction cycles to operate ;* ;* The FLAG always uses POSITIVE LOGIC to make reading, understanding and ;* maintaining the software simpler ;******************************************************************************* ; #ifdef KEYPAD ; Keypad_init: ; #ifdef FLOWCONTROLDEVICE BCF CalibrationMode #endif ; RETURN ; Debounce MACRO PinLogic,PinFile,PinBit,PinBank,FlagFile,FlagBit,FlagBank,HistoryFile,HistoryBit,HistoryBank,TimerFile,TimerBank,TC ; LOCAL WasLo,WasHi,Stable,Differs,ToggleHi,ToggleLo,DebounceEnd ; ;Check if bit was high or low BTFSS HistoryFile,HistoryBit,HistoryBank ;IF !HISTORY GOTO WasLo ;THEN check if still LO GOTO WasHi ;ELSE check if still HI ; ;Check if bit still low WasLo: ; BTFSS PinFile,PinBit,PinBank ;IF !PIN GOTO Stable ;THEN STABLE GOTO Differs ;ELSE DIFFERS ; ;Check if bit still high WasHi: ; BTFSC PinFile,PinBit,PinBank ;IF PIN GOTO Stable ;THEN STABLE GOTO Differs ;ELSE DIFFERS ; ;The bit is still stable so do a debounce Stable: ; MOVF TimerFile,W,TimerBank ;IF TIMER=0 BTFSC ZeroFlag GOTO DebounceEnd ;THEN go ; DECFSZ TimerFile,Same,TimerBank ;IF TIMER-1!=0 GOTO DebounceEnd ;THEN go ; BTFSS HistoryFile,HistoryBit,HistoryBank ;FLAG=HISTORY ; ;Depending on the PinLogic either set or clear specific bits IF PinLogic==PositiveLogic BCF FlagFile,FlagBit,FlagBank ELSE BSF FlagFile,FlagBit,FlagBank ENDIF ; BTFSC HistoryFile,HistoryBit,HistoryBank ;FLAG!=HISTORY ; ;Depending on the PinLogic either set or clear specific bits IF PinLogic==PositiveLogic BSF FlagFile,FlagBit,FlagBank ELSE BCF FlagFile,FlagBit,FlagBank ENDIF ; GOTO DebounceEnd ; ;The bit is different so do a reset Differs: ; MOVLW TC ;Reload debounce timer MOVWF TimerFile,TimerBank ; ; _______ BTG HistoryFile,HistoryBit,HistoryBank ;HISTORY=HISTORY GOTO DebounceEnd ;Exit ; DebounceEnd: ; ENDM ; SelectSW MACRO Case,Of,OfBank,SelectEnd,SWAFile,SWABit,SWABank,SWAState,SWBFile,SWBBit,SWBBank,SWBState ; LOCAL SelectSWEnd ; MOVLW Case ;Test if Case is smaller than Of SUBWF Of,W,OfBank ; BTFSS CarryFlag ;If true then continue GOTO SelectSWEnd ;Else exit ; ;Set states according to inputs IF SWAState == On ;if stateA is On BSF SWAFile,SWABit,SWABank ;Then set bit ELSE BCF SWAFile,SWABit,SWABank ;Else clear bit ENDIF ; IF SWBState == On BSF SWBFile,SWBBit,SWBBank ELSE BCF SWBFile,SWBBit,SWBBank ENDIF ; GOTO SelectEnd ;Exit ; SelectSWEnd: ; ENDM ; ;******************************************************************************* ;* Keypad Matrix Test ;******************************************************************************* ; ProcessMembrane2x2Matrix: ; MOVLW TrackADC_Matrix0 ;Set ADCON0 register with correct values CALL ReadADC ;Wait until read complete ; MOVFF ADRESH,Matrix0 ;Read digital value from ; MOVLW TrackADC_Matrix1 ;Repeat for next set of values CALL ReadADC ; MOVFF ADRESH,Matrix1 ;Read digital value from ; ProcessMembrane2x2Matrix1: ; MOVLW d'5' SUBWF Matrix0,W,Banked BTFSS CarryFlag GOTO ProcessMembrane2x2Matrix1C ;If matrix 1 smaller than 5 then GOTO Process Matrix 2 ; ;Else set flags according to button pushed SelectSW 0x98,Matrix0,Banked,ProcessMembrane2x2Matrix2,NoSwitch,NoSwitch SelectSW 0x88,Matrix0,Banked,ProcessMembrane2x2Matrix2,MembraneSWControlOpenPin,On,MembraneSWControlClosePin,On SelectSW 0x60,Matrix0,Banked,ProcessMembrane2x2Matrix2,MembraneSWControlOpenPin,Off,MembraneSWControlClosePin,On SelectSW 0x40,Matrix0,Banked,ProcessMembrane2x2Matrix2,MembraneSWControlOpenPin,On,MembraneSWControlClosePin,Off ; ProcessMembrane2x2Matrix1C: ; ;If none of the above then clear flags BCF MembraneSWControlOpenPin BCF MembraneSWControlClosePin ; ProcessMembrane2x2Matrix2: ; MOVLW d'5' SUBWF Matrix1,W,Banked BTFSS CarryFlag GOTO ProcessMembrane2x2Matrix2C ;If matrix 1 smaller than 5 then GOTO Process Matrix 2 ; SelectSW 0x98,Matrix1,Banked,ProcessMembrane2x2MatrixEnd,NoSwitch,NoSwitch SelectSW 0x88,Matrix1,Banked,ProcessMembrane2x2MatrixEnd,MembraneSWBypassOpenPin,On,MembraneSWBypassClosePin,On SelectSW 0x60,Matrix1,Banked,ProcessMembrane2x2MatrixEnd,MembraneSWBypassOpenPin,On,MembraneSWBypassClosePin,Off SelectSW 0x40,Matrix1,Banked,ProcessMembrane2x2MatrixEnd,MembraneSWBypassOpenPin,Off,MembraneSWBypassClosePin,On ; ProcessMembrane2x2Matrix2C: ; ;If none of the above then clear flags BCF MembraneSWBypassOpenPin BCF MembraneSWBypassClosePin ; GOTO ProcessMembrane2x2MatrixEnd ;Else exit ; ProcessMembrane2x2MatrixEnd: ; IFNDEF FlipKeypad Debounce PositiveLogic,MembraneSWControlOpenPin,ManualOpen,ManualOpenHistory,ManualOpenDebounceTimer,Banked,1 Debounce PositiveLogic,MembraneSWControlClosePin,ManualClose,ManualCloseHistory,ManualCloseDebounceTimer,Banked,1 ; Debounce PositiveLogic,MembraneSWBypassOpenPin,BypassOpen,BypassOpenHistory,BypassOpenDebounceTimer,Banked,1 Debounce PositiveLogic,MembraneSWBypassClosePin,BypassClose,BypassCloseHistory,BypassCloseDebounceTimer,Banked,1 ELSE Debounce PositiveLogic,MembraneSWBypassOpenPin,ManualOpen,ManualOpenHistory,ManualOpenDebounceTimer,Banked,1 Debounce PositiveLogic,MembraneSWBypassClosePin,ManualClose,ManualCloseHistory,ManualCloseDebounceTimer,Banked,1 ; Debounce PositiveLogic,MembraneSWControlOpenPin,BypassOpen,BypassOpenHistory,BypassOpenDebounceTimer,Banked,1 Debounce PositiveLogic,MembraneSWControlClosePin,BypassClose,BypassCloseHistory,BypassCloseDebounceTimer,Banked,1 ENDIF ; RETURN ; ;******************************************************************************* ;* Process Keypad Flags ;******************************************************************************* ; ProcessKeypad: ; ProcessKeypadTopLeft: ; BTFSS ManualOpen ;If top-left button was pressed and pointing to diagnostic page 3 then show that button was pressed GOTO ProcessKeypadBottomLeft ; BTFSC ConfigModeBit GOTO ConfigButtonPressPre ; #ifdef FLOWCONTROLDEVICE BTFSS FlowDevice GOTO ProcessKeypadBottomLeft ; BSF CalibrationMode #endif ; GOTO ProcessKeypadBottomLeft ; ProcessKeypadBottomLeft: ; BTFSS ManualClose ;If bottom-left button was pressed and pointing to diagnostic page 4 then show that button was pressed GOTO ProcessKeypadTopRight ; BTFSC ConfigModeBit GOTO ConfigButtonPressPre ; #ifdef FLOWCONTROLDEVICE BTFSS FlowDevice GOTO ProcessKeypadTopRight ; BCF CalibrationMode #endif ; GOTO ProcessKeypadTopRight ; ProcessKeypadTopRight: ; BTFSS BypassOpen ;If top-right button was pressed and pointing to diagnostic page 5 then show that button was pressed GOTO ProcessKeypadTopRight_O ; BTFSC ConfigModeBit GOTO ConfigButtonPressPre ; #ifdef FLOWCONTROLDEVICE BTFSS FlowDevice GOTO ProcessKeypadBottomRight ; BTFSS CalibrationMode GOTO ProcessKeypadBottomRight BTFSC IncCalibBitHis GOTO ProcessKeypadBottomRight ; BSF IncCalibBit BSF IncCalibBitHis BSF LEDFlashRed ; CALL Send_Flow_rate #endif ; GOTO ProcessKeypadBottomRight ; ProcessKeypadTopRight_O: ; #ifdef FLOWCONTROLDEVICE BCF IncCalibBit BCF IncCalibBitHis #endif ; GOTO ProcessKeypadBottomRight ; ProcessKeypadBottomRight: ; BTFSS BypassClose ;If bottom-right button was pressed and pointing to diagnostic page 6 then show that button was pressed GOTO ProcessKeypadBottomRight_O ; BTFSC ConfigModeBit GOTO ConfigButtonPressPre ; #ifdef FLOWCONTROLDEVICE BTFSS FlowDevice GOTO ProcessKeypadEnd ; BTFSS CalibrationMode GOTO ProcessKeypadEnd BTFSC DecCalibBitHis GOTO ProcessKeypadEnd ; BSF DecCalibBit BSF DecCalibBitHis BSF LEDFlashRed ; CALL Send_Flow_rate #endif ; GOTO ProcessKeypadEnd ; ProcessKeypadBottomRight_O: ; #ifdef FLOWCONTROLDEVICE BCF DecCalibBit BCF DecCalibBitHis #endif ; GOTO ProcessKeypadEnd ; ConfigButtonPressPre: ; CALL ConfigButtonPress ; ProcessKeypadEnd: ; RETURN ; ConfigButtonPress: ; BTFSS ConfigModeBit ;Only when in config state should this code execute. Thus test it first GOTO ConfigButtonPress_Exit BTFSC ConfigInitBit GOTO ConfigButtonPress_Exit BTFSC ConfigReplySent GOTO ConfigButtonPress_Exit ; ;We are in config state so execute BSF ConfigReplySent ;Indicate that a message has been sent ; CALL Send_Config_Button ; ConfigButtonPress_Exit: ; RETURN ; #endif ; ;******************************************************************************* ;* Process LED Global State ;******************************************************************************* ; #ifdef LED_SEQUENCE ; ProcessLEDState: ; ;If not in init mode then green LED BTFSC BootModeBit GOTO ProcessLEDState_Boot BTFSS ConfigModeBit ;If not in config mode GOTO ProcessLEDState_NoConfig ;Then GOTO no config leg of code, else continue ; BTFSS ConfigReplySent GOTO ProcessLEDState_NoReply GOTO ProcessLEDState_ReplySent ; ProcessLEDState_Boot: ; CALL ProcessGreen_LVL1 ;Long Flash Green LED CALL ProcessRed_LVL1 ;Long Flash Red LED GOTO ProcessLEDState_Exit ;Exit ; ProcessLEDState_NoConfig: ; BTFSC ConfigInitBit #ifdef FLOWCONTROLDEVICE GOTO ProcessLEDState_Calibration #else GOTO ProcessLEDState_Init #endif ; CALL ProcessGreen_LVL2 ;Short Flash Green LED CALL ProcessRed_LVL0 ;Clear Red LED GOTO ProcessLEDState_Exit ;Exit ; #ifdef FLOWCONTROLDEVICE ProcessLEDState_Calibration: ; BTFSS CalibrationMode GOTO ProcessLEDState_Init ; CALL ProcessGreen_LVL3 ;Set Green LED CALL ProcessRed_LVL0 ;Clear Red LED GOTO ProcessLEDState_Exit ;Exit #endif ; ProcessLEDState_Init: ; CALL ProcessGreen_LVL0 ;Clear Green LED CALL ProcessRed_LVL0 ;Clear Red LED GOTO ProcessLEDState_Exit ;Exit ; ProcessLEDState_NoReply: ; CALL ProcessGreen_LVL0 ;Clear Green LED CALL ProcessRed_LVL1 ;Long Flash Red LED GOTO ProcessLEDState_Exit ;Exit ; ProcessLEDState_ReplySent: ; CALL ProcessGreen_LVL0 ;Clear Green LED CALL ProcessRed_LVL3 ;Set Flash Red LED GOTO ProcessLEDState_Exit ;Exit ; ProcessLEDState_Exit: ; RETURN ; ProcessGreen_LVL0: ; BCF LEDGreenH BCF LEDGreenL RETURN ; ProcessGreen_LVL1: ; BCF LEDGreenH BSF LEDGreenL RETURN ; ProcessGreen_LVL2: ; BSF LEDGreenH BCF LEDGreenL RETURN ; ProcessGreen_LVL3: ; BSF LEDGreenH BSF LEDGreenL RETURN ; ProcessRed_LVL0: ; BCF LEDRedH BCF LEDRedL RETURN ; ProcessRed_LVL1: ; BCF LEDRedH BSF LEDRedL RETURN ; ProcessRed_LVL2: ; BSF LEDRedH BCF LEDRedL RETURN ; ProcessRed_LVL3: ; BSF LEDRedH BSF LEDRedL RETURN ; #endif ; ;******************************************************************************* ;* ;* Haul Sensor ;* ;******************************************************************************* ;* Haul Sensor Init ;******************************************************************************* ; #ifdef HAUL_SENSOR HaulSensorInit: ; ;Init Haul sensor here ; RETURN ; ;******************************************************************************* ;* Haul Sensor Test ;******************************************************************************* ; ProcessHaulSensor: ; ;Test sensor here BTFSS M1 ;If haul sensor signal low BCF HaulFlag ;Then clear haul signal BTFSC M1 ;If haul sensor signal high BSF HaulFlag ;Then set haul signal ; RETURN ; ;******************************************************************************* ;* Process Haul Sensor Flags ;******************************************************************************* ; ProcessHaulFlag: ; BTFSC HaulFlag ;If haul sensor received a signal CALL ConfigSignal ; RETURN ; ConfigSignal: ; BTFSS ConfigModeBit ;Only when in config state should this code execute. Thus test it first GOTO ConfigSignal_Exit BTFSC ConfigInitBit GOTO ConfigSignal_Exit BTFSC ConfigReplySent GOTO ConfigSignal_Exit ; ;We are in config state so execute BSF ConfigReplySent ;Indicate that a message has been sent ; CALL Send_Config_Button ; ConfigSignal_Exit: ; BCF HaulFlag ;Clear Haul sensor signal bit RETURN #endif ; ;******************************************************************************* ;* ;* External Interrupts ;* ;******************************************************************************* ; #ifdef EXTERNAL_1 ; ;******************************************************************************* ;* External 1 Init ;******************************************************************************* ; External_1_init: ; BCF _INT1IE ;Clear external 1 interrupt enable BCF _INT1IF ;Clear external 1 interrupt ; CLRF Interrupt1Count,Banked ;Clear interrupt1Count BSF _INT1IP ;Set as high priority interrupt BSF _INT1IE ;Set interrupt enable ; RETURN ;Exit ; ;******************************************************************************* ;* External 1 interrupt handler ;******************************************************************************* ; ;Everytime the flow sensor signal goes high there is an interrupt which coppies the current time in Timer 3. ;The result is then processed in the ProcessPulseSensor line of code External_1_interrupt: ; INCF Interrupt1Count,Same,Banked ;Increase the number of interrupts that occurd ; BTFSC NewDataForSensor1 ;Check if Sensor data hase been processed before trying to add new data BSF Sensor1DataNotProcessed ;Indicate that data has not been processed ; BSF NewDataForSensor1 ;Set the New data flag ; MOVFF TMR3L,Interrupt1Capture ;Capture the current time and save to Interrupt1Capture MOVFF TMR3H,Interrupt1CaptureH MOVFF TMR3HH,Interrupt1CaptureHH ; INCFSZ Interrupt1CaptureCount,W,Banked ;Increase to maximum of 0xFF INCF Interrupt1CaptureCount,Same,Banked ; BCF _INT1IF ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Interrupts ;* ;******************************************************************************* ; Interrupts_init: ; BSF _IPEN ;Active low priority interrupts BSF _GIEL ;SET PEIE register BSF _GIEH ;SET GIE register ; RETURN ;Exit ; ;******************************************************************************* ;* ;* Timers ;* ;******************************************************************************* ; ;Timer 0 is used by the delay functions ; #ifdef TIMER_1 ; ;******************************************************************************* ;* Timer 1 Init ;******************************************************************************* ; Timer_1_init: ; CLRF Timer1_offset,Banked ; BCF PMD1,TMR1MD,Access ;Clear TMR1MD register to anable Timer 1 SETF TMR1H,Access ;Set up timer 1 SETF TMR1L BCF _TMR1IE ;Clear TMR1IE register BCF _TMR1IF ;Clear TMR1 Interrupt MOVLW ConfigureTMR1 MOVWF T1CON,Access BCF _TMR1IP ;Clear high priority BSF _TMR1IE ;SET TMR1IE register ; RETURN ; ;******************************************************************************* ;* Timer 1 interrupt handler ;******************************************************************************* ; Timer_1_interrupt: ; #ifdef LED_SEQUENCE ;This section controls the LEDs BCF _TMR1IF ;Clear TMR1 Interrupt INCF Timer1_offset,Same,Banked MOVLW TMR1_OFFSET_MAX ; CPFSEQ Timer1_offset,Banked GOTO Timer1_Short CLRF Timer1_offset ; Timer1_Long: ; BTFSC LEDGreenH GOTO LED_Red_long BTFSS LEDGreenL GOTO LED_Red_long BTG GreenLED ; LED_Red_long: ; BTFSC LEDRedH GOTO Timer1_Short BTFSS LEDRedL GOTO Timer1_Short BTG RedLED ; Timer1_Short: ; BTFSC LEDGreenH GOTO LED_Green_Set ; LED_Green_Clear: ; BTFSS LEDGreenL BCF GreenLED GOTO LED_Red ; LED_Green_Set: ; BTFSS LEDGreenL BTG GreenLED BTFSC LEDGreenL BSF GreenLED ; LED_Red: ; BTFSC LEDRedH GOTO LED_Red_Set ; LED_Red_Clear: ; BTFSS LEDRedL BCF RedLED GOTO LED_Flash ; LED_Red_Set: ; BTFSS LEDRedL BTG RedLED BTFSC LEDRedL BSF RedLED ; LED_Flash: ; BTFSC LEDFlashGreen BSF GreenLED BCF LEDFlashGreen ; BTFSC LEDFlashRed BSF RedLED BCF LEDFlashRed ; RETURN ; #endif ; #endif ; #ifdef TIMER_2 ; ;******************************************************************************* ;* Timer 2 Init ;******************************************************************************* ; Timer_2_init: ; BCF PMD1,TMR2MD,Access ;Clear TMR2MD register to anable Timer 2 BCF _TMR2IE ;Clear TMR2IE register BCF _TMR2IF ;Clear TMR2 Interrupt MOVLW ConfigureTMR2 MOVWF T2CON,Access BCF _TMR2IP ;Clear LOW priority BSF _TMR2IE ;SET TMR2IE register ; MOVLW TC5msec ;Set up timer 2 timeout MOVWF PR2,Access ; ; CLRF TMR2,Access ;Reset Timer 2 ; RETURN ; ;******************************************************************************* ;* Timer 2 interrupt handler ;******************************************************************************* ; Timer_2_interrupt: ; ProcessProcessPulsemeterTimer: ; #ifdef HYDDRIVEDEVICE BCF _TMR2IE BCF PWM_Pin #else ; BCF _TMR2IF ; MOVF ProcessPulsemeterTimer,W,Banked BTFSS ZeroFlag DECF ProcessPulsemeterTimer,Same,Banked ; ProcessPulseTimer: ; MOVF PulseTimer,W,Access BTFSS ZeroFlag DECF PulseTimer,Same,Access ; ProcessPulseTimerEnd: #endif ; #ifdef GRANCONTROLDEVICE ; MOVF TrackingTimer,W,Access iorwf TrackingTimerH,W,Access btfsc ZeroFlag bcf FirstTracking movlw 1 subwf TrackingTimer,Same,Access movlw 0 subwfb TrackingTimerH,Same,Access ; #endif ; RETURN ; #endif ; #ifdef TIMER_3 ; ;******************************************************************************* ;* Timer 3 Init ;******************************************************************************* ; Timer_3_init: ; BCF PMD1,TMR3MD,Access ;Clear TMR2MD register to anable Timer 2 SETF TMR3H SETF TMR3L BCF _TMR3IE ;Clear TMR2IE register BCF _TMR3IF ;Clear TMR2 Interrupt MOVLW ConfigureTMR3 MOVWF T3CON,Access MOVLW ConfigureTMR3Gate MOVWF T3GCON,Access BSF _TMR3IP ;Set high priority BSF _TMR3IE ; RETURN ; ;******************************************************************************* ;* Timer 3 interrupt handler ;******************************************************************************* ; Timer_3_interrupt: ; INCF TMR3HH,Same,Access BTFSS TMR3HH,2,Access GOTO ProcessTimer3End ; CLRF TMR3HH,Access ; BTFSS Sensor1WrappedAround GOTO ProcessTimer3A ; MOVLW SkipFirstPulses1TC MOVWF SkipFirstPulses1,Banked ; BSF NewDataForSensor1 ; ProcessTimer3A: ; BSF Sensor1WrappedAround ; ProcessTimer3End: ; BCF _TMR3IF ; RETURN ; #endif ; #ifdef TIMER_4 ; ;******************************************************************************* ;* Timer 4 Init ;******************************************************************************* ; Timer_4_init: ;250usec at 11.0592MHz ; BCF _TMR4IP ;Set high priority BCF _TMR4IE ; MOVLW d'172' MOVWF PR4,Access MOVLW ConfigureTMR4 MOVWF T4CON,Access ; #ifdef PULSEWIDTH_MOD BSF _TMR4IE #endif ; RETURN ; #ifdef PULSEWIDTH_MOD ; ;This is where the PWM signal is generated Timer_4_interrupt: ; BCF _TMR4IF ; MOVF PWM_OutR,W,Banked ;If there is an error SUBWF PWM_Out,W,Banked ; BTFSC ZeroFlag ;Then slowly change the PWM_Out GOTO ProcessTimer4_1A ; BTFSS CarryFlag INCF PWM_Out,Same,Banked BTFSC CarryFlag DECF PWM_Out,Same,Banked ; ProcessTimer4_1A: ; MOVF PWM_Out,W,Banked ;If PWM_Out is zero BTFSS ZeroFlag GOTO ProcessTimer4_1 ;Else goto next section ; BCF PWM_Pin ;Then Clear the PWM pin BCF _TMR2IE ;Clear and exit timer ; GOTO ProcessTimer4_End ; ProcessTimer4_1: ; BSF PWM_Pin ;Set the PWM Pin ; MOVFF PWM_Out,PR2 ;Update the new Timer 1 tick limit ; MOVLW 0 MOVFF WREG,TMR2 ;Reset TMR 2 ; BCF _TMR2IF BSF _TMR2IE ; ProcessTimer4_End: ; decfsz ProcessPWMTimer,Same,Banked ;Decrease the PWMTimer and check if zero goto Skip1 ;Else goto next section movlw d'60' ;Then reset timer movwf ProcessPWMTimer,Banked bsf _ProcessPWM ;Indicate that the PWM should be processed ; Skip1: ; RETURN #endif #endif ; ;******************************************************************************* ;* Timer 6 interrupt handler ;******************************************************************************* ; Timer_6_interrupt: ; ;bsf Tick ;Indicate that a tick has occurded ;incf TickCount,Same,Banked ;Increase tick count ; ;bsf _Go ;Enable the ADC go bit ; ;Skip1: ; RETURN ; ;******************************************************************************* ;* ;* Stepper Motor ;* ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; #ifdef STEPPER_MOTOR ; StepperMotorInit: ; MOVLW LOW(0x200) ;Set enough steps to make sure valve is closed MOVWF Steps,Access MOVLW HIGH(0x200) MOVWF StepsH,Access ; CALL AmpereMeter_Read ;Get the latest reference current reading MOVFF AmpReading,WREG ;Move the amp reading ADDLW 0x02 ;Add 2 as offset to reading MOVWF MotorCurrentReference,Access ;Set value as new reference ; BSF ValveReset ;Exit reset state ; RETURN ; ;******************************************************************************* ;* Process stepper motor ;******************************************************************************* ; ProcessStepperMotor: ; BTFSS _TMR4IF ;Skip this routine if the timer hasn't timed out yet GOTO ProcessStepperMotorEnd ; CLRF TMR4,Access ;Not sure where the timer may be, so ensure that this pulse is at least as long as it needs to be BCF _TMR4IF ; BTFSS ValveStep GOTO NextStep BCF ValveStep ; GOTO ProcessStepperMotorEnd ; NextStep: ; MOVF Steps,W,Access ;Check if any steps left IORWF StepsH,W,Access BTFSC ZeroFlag GOTO ProcessStepperMotorEnd ;If no steps then exit MOVLW 1 ;Else continue SUBWF Steps,Same,Access ;Decrease steps by 1 MOVLW 0 SUBWFB StepsH,Same,Access ;If borrow then subtract StepsH by 1 ; SkipIfValveOpen ;Continue to function based on direction GOTO ProcessStepperMotorClose GOTO ProcessStepperMotorOpen ; ProcessStepperMotorClose: ; MOVF StepsOpen,W,Access ;Check if stepsOpen not zero IORWF StepsOpenH,W,Access BTFSC ZeroFlag ;then GOTO next section GOTO ProcessStepperMotorClose1 ; MOVLW 1 ;Else subtract 1 from StepsOpen first SUBWF StepsOpen,Same,Access MOVLW 0 SUBWFB StepsOpenH,Same,Access ; ProcessStepperMotorClose1: ; GOTO ProcessStepperMotorStep ; ProcessStepperMotorOpen: ; BTFSC StepsOpenH,4,Access ;Check if StepsOpen at max GOTO ProcessStepperMotorOpen1 ;Then GOTO next section MOVLW 1 ;Else add 1 ADDWF StepsOpen,Same,Access MOVLW 0 ADDWFC StepsOpenH,Same,Access ; ProcessStepperMotorOpen1: ; GOTO ProcessStepperMotorStep ; ProcessStepperMotorStep: ; BSF ValveStep ;Set Step bit ; ProcessStepperMotorEnd: ; RETURN ;Else exit ; Call_openValve: ; BCF ValveDirection RETURN ; Call_closeValve: ; BSF ValveDirection RETURN ; ;******************************************************************************* ;* Process flow ;******************************************************************************* ; KickStartMotor: ; OpenValve ; KickStartStatsEntry1: ; MOVF OpenKick,W,Banked MOVWF Main_DoubleBuffer,Banked MOVF OpenKickH,W,Banked MOVWF Main_DoubleBufferH,Banked ; MOVF OpenKick,W,Banked SUBWF Main_DoubleBuffer,W,Banked BTFSS ZeroFlag GOTO KickStartStatsEntry1 ; MOVF OpenKickH,W,Banked SUBWF Main_DoubleBufferH,W,Banked BTFSS ZeroFlag GOTO KickStartStatsEntry1 ; MOVF Main_DoubleBuffer,W,Banked SUBWF Steps,W,Access MOVF Main_DoubleBufferH,W,Banked SUBWFB StepsH,W,Access ; BTFSC CarryFlag GOTO KickStartStatsEntry2 ; MOVF Main_DoubleBuffer,W,Banked MOVWF Steps,Access MOVF Main_DoubleBufferH,W,Banked MOVWF StepsH,Access ; CALL ReloadPulseTimer ; KickStartStatsEntry2: ; KickStartMotorEnd: ; RETURN ; KickStartMotorInitial: ; OpenValve ; KickStartMotorInitial1: ; MOVF OpenKickInitial,W,Banked MOVWF Steps,Access MOVF OpenKickInitialH,W,Banked MOVWF StepsH,Access ; MOVF OpenKickInitial,W,Banked SUBWF Steps,W,Access BTFSS ZeroFlag GOTO KickStartMotorInitial1 ; MOVF OpenKickInitialH,W,Banked SUBWF StepsH,W,Access BTFSS ZeroFlag GOTO KickStartMotorInitial1 ; CALL ReloadPulseTimer ; KickStartMotorInitialEnd: ; RETURN ; #endif ; ResetFlow: ; ;Clear values stored CLRF StatsEntry0 CLRF StatsEntry0H CLRF StatsEntry1 CLRF StatsEntry1H CLRF StatsEntry2 CLRF StatsEntry2H CLRF StatsEntry3 CLRF StatsEntry3H CLRF StatsEntry4 CLRF StatsEntry4H CLRF StatsEntry5 CLRF StatsEntry5H CLRF StatsEntry6 CLRF StatsEntry6H CLRF StatsEntry7 CLRF StatsEntry7H CLRF StatsEntry8 CLRF StatsEntry8H CLRF StatsEntry9 CLRF StatsEntry9H CLRF StatsEntryA0 CLRF StatsEntryA0H CLRF StatsEntryA1 CLRF StatsEntryA1H CLRF StatsEntryA2 CLRF StatsEntryA2H CLRF StatsEntryA3 CLRF StatsEntryA3H CLRF StatsEntryA4 CLRF StatsEntryA4H CLRF StatsEntryA5 CLRF StatsEntryA5H CLRF StatsEntryA6 CLRF StatsEntryA6H CLRF StatsEntryA7 CLRF StatsEntryA7H CLRF StatsEntryA8 CLRF StatsEntryA8H CLRF StatsEntryA9 CLRF StatsEntryA9H ; RETURN ; ;******************************************************************************* ;* ;* Pulse Meter ;* ;******************************************************************************* ;* Init ;******************************************************************************* ; #ifdef PULSE_SENSOR ; PulseSensorInit: NOP ; #ifdef FLOWCONTROLDEVICE ; BTFSS FlowDevice ;If this is a flow device GOTO PulseSensorInitFC MOVLW 0x14 ;Load up the GoldenNumber with a hard coded value for now MOVWF GoldenNumber,Access ;0005220814 MOVLW 0x08 MOVWF GoldenNumberH,Access MOVLW 0x22 MOVWF GoldenNumberHH,Access MOVLW 0x05 MOVWF GoldenNumberHHH,Access MOVLW 0x00 MOVWF GoldenNumberHHHH,Access ; GOTO PulseSensorInitO ; PulseSensorInitFC: ; MOVLW 0x59 ;2765 ticks should give 1ms at 11.0952 MHz MOVWF GoldenNumber,Access MOVLW 0x01 MOVWF GoldenNumberH,Access MOVLW 0x00 MOVWF GoldenNumberHH,Access MOVLW 0x00 MOVWF GoldenNumberHHH,Access MOVLW 0x00 MOVWF GoldenNumberHHHH,Access ; #endif ; #ifdef HYDDRIVEDEVICE ; MOVLW 0x00 ;Load up the GoldenNumber with a hard coded value for now MOVWF GoldenNumber,Access MOVLW 0xBA MOVWF GoldenNumberH,Access MOVLW 0x6F MOVWF GoldenNumberHH,Access MOVLW 0x12 MOVWF GoldenNumberHHH,Access MOVLW 0x00 MOVWF GoldenNumberHHHH,Access ; #endif ; HydrCalcNewGoldenNumber: ; ; This section calulates the golden number based on the PumpVolume. The golden number is used to calculate the targeted ticks per pulse ; MOVFF PumpVolumeL,CalculatorY0 ;Get Pump Volume MOVFF PumpVolumeH,CalculatorY1 ; MOVLW 0 MOVFF WREG,CalculatorY2 MOVFF WREG,CalculatorY3 MOVFF WREG,CalculatorY4 ; MOVLW LOW(TICKS_PER_REVOLUTION_SECOND);The number of ticks per pulse at 60RPM (Using 4 magnets) MOVFF WREG,CalculatorX0 MOVLW HIGH(TICKS_PER_REVOLUTION_SECOND);The number of ticks per pulse at 60RPM (Using 4 magnets) MOVFF WREG,CalculatorX1 MOVLW UPPER(TICKS_PER_REVOLUTION_SECOND);The number of ticks per pulse at 60RPM (Using 4 magnets) MOVFF WREG,CalculatorX2 MOVLW 0 MOVFF WREG,CalculatorX3 MOVFF WREG,CalculatorX4 ; CALL Mul40 ;Divide to get the new golden number ; ;MOVFF CalculatorX0,GoldenNumber ;MOVFF CalculatorX1,GoldenNumberH ;MOVFF CalculatorX2,GoldenNumberHH ;MOVFF CalculatorX3,GoldenNumberHHH ;MOVFF CalculatorX4,GoldenNumberHHHH ; ; This number must still be divided by 60 but that results in a golden number too small ; so we''ll do it later somewhere else ; RETURN ; PulseSensorInitO: ; BCF ControlFlow ;System start in disengaged mode ; MOVLW 0 MOVWF MotorState,Access ; MOVLW d'100' MOVWF PulseCalibration,Banked ; RETURN ;Works by sending a pulse at varying speeds depending on the rate of flow ProcessPulseSensor: ; BTFSS NewDataForSensor1 ;If there is new data then start process GOTO ProcessPulseSensorEnd ;Else exit ; ProcessPulseSensorA: ; MOVF Interrupt1Capture,W,Banked ;Move the data that was captured to Interrupt1Work register MOVWF Interrupt1Work,Banked MOVF Interrupt1CaptureH,W,Banked MOVWF Interrupt1WorkH,Banked MOVF Interrupt1CaptureHH,W,Banked MOVWF Interrupt1WorkHH,Banked MOVF Interrupt1CaptureCount,W,Banked MOVWF Interrupt1WorkCount,Banked ; MOVF Interrupt1Capture,W,Banked ;Verify the data that was captured to Interrupt1Work register SUBWF Interrupt1Work,W,Banked BTFSS ZeroFlag GOTO ProcessPulseSensorA ; MOVF Interrupt1CaptureH,W,Banked ;Verify the data that was captured to Interrupt1Work register SUBWF Interrupt1WorkH,W,Banked BTFSS ZeroFlag GOTO ProcessPulseSensorA ; MOVF Interrupt1CaptureHH,W,Banked ;Verify the data that was captured to Interrupt1Work register SUBWF Interrupt1WorkHH,W,Banked BTFSS ZeroFlag GOTO ProcessPulseSensorA ; MOVF Interrupt1CaptureCount,W,Banked ;Verify the data that was captured to Interrupt1Work register SUBWF Interrupt1WorkCount,W,Banked BTFSS ZeroFlag GOTO ProcessPulseSensorA ; CLRF Interrupt1CaptureCount,Banked ; BCF NewDataForSensor1 ;Clear new data flag ; BCF Sensor1WrappedAround ; ; BSF DisplayNewDataForInterrupt1 ; ; MOVF Interrupt1Old,W,Banked ;Get difference between old interrupt value and new SUBWF Interrupt1Work,W,Banked MOVWF Interrupt1Time,Banked ;Put result in Interrupt1Time ; MOVF Interrupt1OldH,W,Banked SUBWFB Interrupt1WorkH,W,Banked MOVWF Interrupt1TimeH,Banked ; MOVF Interrupt1OldHH,W,Banked SUBWFB Interrupt1WorkHH,W,Banked ANDLW b'00000011' ;Tie up 1 - Only two bits in the upper byte are used MOVWF Interrupt1TimeHH,Banked ; MOVFF Interrupt1Work,Interrupt1Old ;The New interrupt value becomes the old MOVFF Interrupt1WorkH,Interrupt1OldH MOVFF Interrupt1WorkHH,Interrupt1OldHH ; ProcessPulseSensorCFP: ;Check First Pulses ; MOVF SkipFirstPulses1,W,Banked ;If SkipFirstPulses1 not empty BTFSC ZeroFlag ;Then skip GOTO ProcessPulseSensorCFPEnd ;Else process next bit of code ; DECF SkipFirstPulses1,Same,Banked ;Decrease number of skips to still do ; MOVLW 0xFF CLRF Interrupt1Count,Banked ;Set the current time difference to max because we are not going to use it MOVWF Interrupt1Time,Banked MOVWF Interrupt1TimeH,Banked MOVWF Interrupt1TimeHH,Banked CLRF Interrupt1CaptureCount,Banked ; MOVLW 0 ;Current flow rate should be 0 because we are still skipping the first few pulses MOVFF WREG,PulseRange MOVFF WREG,PulseRangeH ; BSF ReadPulseSensor ; ; #ifdef HYDDRIVEDEVICE GOTO HYDInterruptProcess #endif ; GOTO ProcessPulseSensorEnd ;Exit ; ProcessPulseSensorCFPEnd: ; ; Since we are not skipping we can continue with the calculations ; #ifdef FLOWCONTROLDEVICE ; ;Divide the time difference by the number of pulses (This gets the time per pulse) MOVFF Interrupt1Time,CalculatorX0 ;Move The calculated time to CalculatorX MOVFF Interrupt1TimeH,CalculatorX1 MOVFF Interrupt1TimeHH,CalculatorX2 MOVLW 0 MOVFF WREG,CalculatorX3 ;Upper bytes of CalcuatorX are made 0; MOVFF WREG,CalculatorX4 ; MOVFF Interrupt1WorkCount,CalculatorY0 ;Move counter to CalculatorY MOVLW 0 MOVFF WREG,CalculatorY1 MOVFF WREG,CalculatorY2 MOVFF WREG,CalculatorY3 MOVFF WREG,CalculatorY4 ; CALL Div40 ; ;After the division sava a copy of result ; ; MOVFF CalculatorX0,CalculatorP0 ; MOVFF CalculatorX1,CalculatorP1 ; MOVFF CalculatorX2,CalculatorP2 ; MOVFF CalculatorX3,CalculatorP3 ; MOVFF CalculatorX4,CalculatorP4 ; ProcessFlowDeviceP: ; BTFSS FlowDevice ;If this is a flow device GOTO ProcessFCDeviceP ; MOVFF CalculatorX0,CalculatorY0 ;Move answer to Y MOVFF CalculatorX1,CalculatorY1 MOVFF CalculatorX2,CalculatorY2 MOVFF CalculatorX3,CalculatorY3 MOVFF CalculatorX4,CalculatorY4 ; MOVFF GoldenNumber,CalculatorX0 ;Move Golden Number to X MOVFF GoldenNumberH,CalculatorX1 MOVFF GoldenNumberHH,CalculatorX2 MOVFF GoldenNumberHHH,CalculatorX3 MOVFF GoldenNumberHHHH,CalculatorX4 ; CALL Div40 ;Divide X by Y ; MOVF CalculatorX2,W,Access ;Check if answer bigger than 0x7FFF BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ;If bigger then max out CalculatorX ; MOVF CalculatorX3,W,Access BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ; MOVF CalculatorX4,W,Access BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ; BTFSC CalculatorX1,7,Access GOTO ProcessPulseSensorMaxOut ; GOTO ProcessPulseSensorSaveFlow ;Else just save flow ; ProcessFCDeviceP: ; BTFSS FCDevice ;If this is a flow device GOTO ProcessPulseSensorSaveFlow ; MOVFF GoldenNumber,CalculatorY0 ;Move Golden Number to X MOVFF GoldenNumberH,CalculatorY1 MOVFF GoldenNumberHH,CalculatorY2 MOVFF GoldenNumberHHH,CalculatorY3 MOVFF GoldenNumberHHHH,CalculatorY4 ; CALL Div40 ;Divide X by Y ; MOVF CalculatorX2,W,Access ;Check if answer bigger than 0x7FFF BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ;If bigger then max out CalculatorX ; MOVF CalculatorX3,W,Access BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ; MOVF CalculatorX4,W,Access BTFSS ZeroFlag GOTO ProcessPulseSensorMaxOut ; BTFSC CalculatorX1,7,Access GOTO ProcessPulseSensorMaxOut ; GOTO ProcessPulseSensorSaveFlow ;Else just save flow ; ProcessPulseSensorMaxOut: ; MOVLW 0xFF ;Max out by placing 0x7FFF in CalcuatorX MOVWF CalculatorX0,Access MOVLW 0x7F MOVWF CalculatorX1,Access CALL ResetFlow ;Max out and set statistical memory to zero ; #endif ; #ifdef HYDDRIVEDEVICE ; HYDInterruptProcess: ;Divide the time difference by the number of pulses (This gets the time per pulse) ; MOVFF Interrupt1Time,CalculatorX0 ;Move The calculated time to CalculatorX MOVFF Interrupt1TimeH,CalculatorX1 MOVFF Interrupt1TimeHH,CalculatorX2 MOVLW 0 MOVFF WREG,CalculatorX3 ;Upper bytes of CalcuatorX are made 0; MOVFF WREG,CalculatorX4 ; ; MOVFF Interrupt1WorkCount,CalculatorY0 ;Move counter to CalculatorY ; MOVLW 0 ; MOVFF WREG,CalculatorY1 ; MOVFF WREG,CalculatorY2 ; MOVFF WREG,CalculatorY3 ; MOVFF WREG,CalculatorY4 ; ; CALL Div40 ; MOVLW d'60' MOVFF WREG,CalculatorY0 MOVLW 0 MOVFF WREG,CalculatorY1 MOVFF WREG,CalculatorY2 MOVFF WREG,CalculatorY3 MOVFF WREG,CalculatorY4 ; CALL Mul40 ; MOVFF CalculatorX0,CalculatorY0 MOVFF CalculatorX1,CalculatorY1 MOVFF CalculatorX2,CalculatorY2 MOVFF CalculatorX3,CalculatorY3 MOVFF CalculatorX4,CalculatorY4 ; ; Next take the interrupt time (ticks) and devide by goldenNumber to get flow rate ; MOVFF GoldenNumber,CalculatorX0 ;Move Golden Number to X MOVFF GoldenNumberH,CalculatorX1 MOVFF GoldenNumberHH,CalculatorX2 MOVFF GoldenNumberHHH,CalculatorX3 MOVFF GoldenNumberHHHH,CalculatorX4 ; CALL Div40 ;Divide X by Y ; MOVFF CalculatorX0,NewSample ;Move the CalculatorX value to NewSample MOVFF CalculatorX1,NewSampleH MOVFF CalculatorX0,RPM_PV ;Move the CalculatorX value to NewSample MOVFF CalculatorX1,RPMH_PV ; ; Now average the reading from the flow meter using the filers ; ;CALL AverageFilter ; ;MOVFF CalculatorX0,RPM_PV ;Copy the result to target variable ;MOVFF CalculatorX1,RPMH_PV ;MOVFF CalculatorX2,RPMHH_PV ; #endif #endif ; ProcessPulseSensorSaveFlow: ; MOVFF CalculatorX0,PulseRange ;Save current Pulse Flow MOVFF CalculatorX1,PulseRangeH ; BSF ReadPulseSensor ; ProcessPulseSensorEnd: ; RETURN ; ;******************************************************************************* ;* Flow meter - Ball Sensor ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE ; ProcessBSFMeter: ; ProcessBSFMeter_Normal: ; BTFSS ReadPulseSensor ;Check if it is neccesary to read sensor GOTO ProcessBSFMeterEnd ;If not then exit ; BCF ReadPulseSensor ;Else start by clearing ReadPulseSensor bit ; ProcessBSFMeterTry: ; MOVFF PulseRange,CalculatorX0 ;Move PulseRange to CalculatorX MOVFF PulseRangeH,CalculatorX1 ; CALL ReloadPulseTimer ; BTFSS CalculatorX1,7,Access ;Check if Pulse Flow bigger than 0x7FFF GOTO ProcessBSFMeter1 ;Else GOTO next section of code ;Then set to zero ProcessBSFMeterZero: ; MOVLW 0 ;Clear CalculatorX MOVWF CalculatorX0,Access MOVWF CalculatorX1,Access ; ProcessBSFMeter1: ; BTFSC ControlFlow ;If ControlFlow set GOTO processPulseMotor2 GOTO ProcessBSFMeter2 ; MOVLW d'100' ;Subtract 100 from calculatorX SUBWF CalculatorX0,W,Access MOVLW 0 SUBWFB CalculatorX1,W,Access ; BTFSC CarryFlag ;If CalculatorX bigger, then reset CalculatorX GOTO ProcessBSFMeter2 ;Else continue ; MOVLW 0 MOVWF CalculatorX0,Access MOVWF CalculatorX1,Access ; ProcessBSFMeter2: ; MOVFF CalculatorX0,NewSample ;Move the CalculatorX value to NewSample MOVFF CalculatorX1,NewSampleH ; ; Now average the reading from the flow meter using the filers ; CALL MedianFilterOrder CALL AverageFilter ; ; Now apply the flow meter calibration from the flow meter EEPROM ; MOVFF PulseCalibration,CalculatorY0 CLRF CalculatorY1,Access CLRF CalculatorY2,Access CLRF CalculatorY3,Access CLRF CalculatorY4,Access ; CALL Mul40 ; ; Skip the /100 for now ; ; Now apply the flow compensation from the main unit ; MOVLW d'100' ;GB17 hard code this for now because it fluctuates and messes the process variable around MOVFF WREG,CalculatorY0 ;MOVFF FlowCompensation,CalculatorY0 CLRF CalculatorY1,Access CLRF CalculatorY2,Access CLRF CalculatorY3,Access CLRF CalculatorY4,Access ; CALL Mul40 ; ; Skip the /100 for now ; ; Instead of /100 and /100 just do a single /10000 ; MOVLW LOW(d'10000') MOVWF CalculatorY0,Access MOVLW HIGH(d'10000') MOVWF CalculatorY1,Access CLRF CalculatorY2,Access CLRF CalculatorY3,Access CLRF CalculatorY4,Access ; CALL Div40 ; MOVFF CalculatorX0,PulseProcessVariable MOVFF CalculatorX1,PulseProcessVariableH ; BSF ProcessNewPulseData ; ;BTFSS ControlFlow GOTO NormalAdjusting GOTO StartAdjusting ; NormalAdjusting: ; MOVFF PulseProcessVariable,PulseAdjusted MOVFF PulseProcessVariableH,PulseAdjustedH GOTO ProcessBSFMeterEnd ; StartAdjusting: ;Check if right size ; BSF ExtraBit CLRF CalculatorP2,Access CLRF CalculatorP3,Access CLRF CalculatorP4,Access BCF CarryFlag MOVF SetPoint,W,Banked ;Get the flow process target value SUBWF PulseProcessVariable,W,Banked ;subtract the real flow rate MOVWF CalculatorP0,Access ;to get the error MOVF SetPointH,W,Banked SUBWFB PulseProcessVariableH,W,Banked MOVWF CalculatorP1,Access ; BTFSC CarryFlag ;If the error is positive GOTO CheckSize ;Then just do calculation else ; InvertFirst: ; BCF ExtraBit MOVF PulseProcessVariable,W,Banked ;Get the flow process target value SUBWF SetPoint,W,Banked ;subtract the real flow rate MOVWF CalculatorP0,Access ;to get the error MOVF PulseProcessVariableH,W,Banked SUBWFB SetPointH,W,Banked MOVWF CalculatorP1,Access ; CheckSize: ; BCF CarryFlag MOVLW LOW(1000) SUBWF CalculatorP0,W,Access ;subtract the real flow rate MOVLW HIGH(1000) SUBWFB CalculatorP1,W,Access ; BTFSS CarryFlag GOTO ExtraAdjustment_In ; CheckSize_2: ; BCF CarryFlag MOVLW LOW(1250) SUBWF CalculatorP0,W,Access ;subtract the real flow rate MOVLW HIGH(1250) SUBWFB CalculatorP1,W,Access ; BTFSC CarryFlag GOTO NormalAdjusting GOTO ExtraAdjustment_Out ; ExtraAdjustment_In: ; MOVFF CalculatorP0,CalculatorX0 MOVFF CalculatorP1,CalculatorX1 BCF CarryFlag ;Divide by 4 RRCF CalculatorX1, Same, Access RRCF CalculatorX0, Same, Access BCF CarryFlag RRCF CalculatorX1, Same, Access RRCF CalculatorX0, Same, Access ; MOVFF SetPoint,PulseAdjusted MOVFF SetPointH,PulseAdjustedH BTFSS ExtraBit GOTO ExtraAdjustment_In_M ; ExtraAdjustment_In_P: ; BCF CarryFlag MOVF CalculatorX0,W,Access ADDWF PulseAdjusted,Same,Banked MOVF CalculatorX1,W,Access ADDWFC PulseAdjustedH,Same,Banked GOTO ProcessBSFMeterEnd ; ExtraAdjustment_In_M: ; BCF CarryFlag MOVF CalculatorX0,W,Access SUBWF PulseAdjusted,Same,Banked MOVF CalculatorX1,W,Access SUBWFB PulseAdjustedH,Same,Banked GOTO ProcessBSFMeterEnd ; ExtraAdjustment_Out: ; BCF CarryFlag MOVLW LOW(1000) SUBWF CalculatorP0,Same,Access MOVLW HIGH(1000) SUBWFB CalculatorP1,Same,Access ; BCF CarryFlag ;Multiply by 4 RLCF CalculatorP0, Same, Access RLCF CalculatorP1, Same, Access BCF CarryFlag RLCF CalculatorP0, Same, Access RLCF CalculatorP1, Same, Access ; MOVFF SetPoint,PulseAdjusted MOVFF SetPointH,PulseAdjustedH ; BCF CarryFlag MOVLW LOW(250) ADDWF CalculatorP0, Same, Access MOVLW HIGH(250) ADDWFC CalculatorP1, Same, Access ; BTFSS ExtraBit GOTO ExtraAdjustment_Out_M ; ExtraAdjustment_Out_P: ; BCF CarryFlag MOVF CalculatorP0,W,Access ADDWF PulseAdjusted,Same,Banked MOVF CalculatorP1,W,Access ADDWFC PulseAdjustedH,Same,Banked GOTO ProcessBSFMeterEnd ; ExtraAdjustment_Out_M: ; BCF CarryFlag MOVF CalculatorP0,W,Access SUBWF PulseAdjusted,Same,Banked MOVF CalculatorP1,W,Access SUBWFB PulseAdjustedH,Same,Banked GOTO ProcessBSFMeterEnd ; ProcessBSFMeterEnd: ; RETURN ; #endif ; ;******************************************************************************* ;* Process state of flow rate system ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE ; ProcessMotorState: ; MotorStateDispatcher: ; #define S_PowerUp 0 #define S_WaitUntilClosed 1 #define S_Closed 2 #define S_Automatic 3 #define S_Manual 4 ; CLRF PCLATU,Access MOVLW HIGH(MotorStateDispatchTable) MOVWF PCLATH,Access ; MOVF MotorState,W,Access RLCF WREG,W,Access RLCF WREG,W,Access ANDLW b'00011100' ; ADDLW LOW(MotorStateDispatchTable) BTFSC CarryFlag INCF PCLATH,Same,Access MOVWF PCL,Access ; MotorStateDispatchTable: ; MSDT00: GOTO PowerUp MSDT01: GOTO WaitUntilClosed MSDT02: GOTO Closed MSDT03: GOTO Automatic MSDT04: GOTO Manual MSDT05: GOTO RestartMotorState MSDT06: GOTO RestartMotorState MSDT07: GOTO RestartMotorState ; RestartMotorState: ; MOVLW S_PowerUp MOVWF MotorState,Access ; GOTO ProcessMotorState ; PowerUp: ; ;When the system start the valve must be closed first ;We give it 300 steps to make sure it closed CloseValve ;Change direction to close direction ; MOVLW LOW(3000) ;Add 3000 steps MOVWF Steps,Access MOVLW HIGH(3000) MOVWF StepsH,Access ; MOVLW S_WaitUntilClosed ;Go into WaitUntilClosed mode MOVWF MotorState,Access ; GOTO MotorStateEnd ;Exit ; WaitUntilClosed: ; BTFSS ControlFlow GOTO WaitUntilClosedSteps ; CALL KickStartMotorInitial ;Start the initial flow ; MOVLW S_Automatic ;Go into automatic mode MOVWF MotorState,Access ; GOTO ClosedEnd ; WaitUntilClosedSteps: ; MOVF Steps,W,Access ;Check if steps equals zero IORWF StepsH,W,Access BTFSS ZeroFlag ;If not zero GOTO WaitUntilClosedEnd ;Then exit ; ;Else MOVLW 0 ;Clear StepsOpen MOVWF StepsOpen,Access MOVWF StepsOpenH,Access ; MOVLW S_Closed ;Go into closed mode MOVWF MotorState,Access ; GOTO WaitUntilClosedEnd ;Exit ; WaitUntilClosedEnd: ; GOTO MotorStateEnd ; Closed: ; BTFSS ControlFlow GOTO Closed1 ; CALL KickStartMotorInitial ;Start the initial flow ; MOVLW S_Automatic ;Go into automatic mode MOVWF MotorState,Access ; GOTO ClosedEnd ; Closed1: ; BTFSS ProcessNewPulseData GOTO ClosedEnd ; BCF ProcessNewPulseData ; MOVF PulseProcessVariable,W,Banked IORWF PulseProcessVariableH,W,Banked ; BTFSC ZeroFlag GOTO ClosedEnd ; CloseValve ; Closed1A: ; MOVF OpenKick,W,Banked ;Kick the motor open MOVWF Steps,Access MOVF OpenKickH,W,Banked MOVWF StepsH,Access ; MOVF OpenKick,W,Banked ;Verify the 2 values, in case OpenKick is currently being updated in the interrupt routine SUBWF Steps,W,Access BTFSS ZeroFlag GOTO Closed1A ; MOVF OpenKickH,W,Banked SUBWF StepsH,W,Access BTFSS ZeroFlag GOTO Closed1A ; ClosedEnd: ; GOTO MotorStateEnd ; Automatic: ; BTFSS ControlFlow GOTO Automatic_Close ; BTFSS ActionType GOTO Automatic1 ; Automatic_Close: ; CloseValve ; MOVLW LOW(3000) MOVWF Steps,Access MOVLW HIGH(3000) MOVWF StepsH,Access ; MOVLW S_WaitUntilClosed MOVWF MotorState,Access ; GOTO AutomaticEnd ; Automatic1: ; ;PulseTimer is used to check for periods of inactivity ;When there is no activity the device is kickstarted with a small flow MOVF PulseTimer,W,Access BTFSC ZeroFlag ;If PulseTimer is not zero then continue ;CALL ResetFlow ;Set the flow rate memory to zero CALL KickStartMotor ;Else kickstart flow ; AutomaticProcessFlow: ; ;Before we process the current state of the valve we must wait for ProcessPulsemeterTimer to clock out ;and we have to wait until new data is available to be processed MOVF ProcessPulsemeterTimer,W,Banked BTFSS ZeroFlag ;If ProcessPulsemeterTimer is not zero GOTO AutomaticProcessFlowEnd ;Then exit ; BTFSS ProcessNewPulseData ;Else wait until new data to process GOTO AutomaticProcessFlowEnd ; BCF ProcessNewPulseData ;If new data to process then clear bit first and continue ; MOVLW ProcessPulsemeterTC ;Reset ProcessPulsemeterTimer MOVWF ProcessPulsemeterTimer,Banked ; AutomaticProcessStatsEntry1: ; MOVF SetPoint,W,Banked ;Get the flow process target value MOVWF Main_DoubleBuffer,Banked MOVF SetPointH,W,Banked MOVWF Main_DoubleBufferH,Banked ; MOVF SetPoint,W,Banked SUBWF Main_DoubleBuffer,W,Banked BTFSS ZeroFlag GOTO AutomaticProcessStatsEntry1 ; MOVF SetPointH,W,Banked SUBWF Main_DoubleBufferH,W,Banked BTFSS ZeroFlag GOTO AutomaticProcessStatsEntry1 ; MOVF Main_DoubleBuffer,W,Banked ;Get the flow process target value SUBWF PulseProcessVariable,W,Banked ;subtract the real flow rate MOVWF SetError,Banked ;to get the error MOVF Main_DoubleBufferH,W,Banked SUBWFB PulseProcessVariableH,W,Banked MOVWF SetErrorH,Banked ; BTFSS CarryFlag ;If the error is positive GOTO AutomaticProcessFlowOpen ;Then open the valve up more GOTO AutomaticProcessFlowClose ;Else close the valve more ; AutomaticProcessFlowOpen: ; SkipIfValveOpen ;Set the direction and clear Integral if direction changed CLRF Integral,Banked OpenValve ; GOTO AutomaticProcessSetError ; AutomaticProcessFlowClose: ; SkipIfValveClosed ;Set the direction and clear Integral if direction changed CLRF Integral,Banked CloseValve ; GOTO AutomaticProcessSetError ; AutomaticProcessSetError: ; MOVFF SetError,SetErrorOut ;Move SetError to SetErrorOut MOVFF SetErrorH,SetErrorOutH ; MOVF SetErrorOut,W,Banked IORWF SetErrorOutH,W,Banked BTFSC ZeroFlag ;If error is zero GOTO AutomaticProcessFlowReset ;Then GOTO AutomaticProcessFlowReset ; BTFSC CarryFlag ;If the error is negative GOTO AutomaticProcessSetError1 ;Then GOTO AutomaticProcessSetError1 ; COMF SetErrorOut,Same,Banked ;Else do ones complement on value to get positive number COMF SetErrorOutH,Same,Banked MOVLW 1 ADDWF SetErrorOut,Same,Banked MOVLW 0 ADDWFC SetErrorOutH,Same,Banked ; AutomaticProcessSetError1: ; MOVLW LOW(d'400') ;100 ;We will use a max of 400 for now SUBWF SetErrorOut,W,Banked ;Subtract the SetErrorOut value MOVLW HIGH(d'400') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag ;If 400 bigger than SetErrorOut then skip GOTO AutomaticProcessSetError3 ;Else GOTO AutomaticProcessSetError3 ; INCF Integral,Same,Banked ;Increase Integral by 1 MOVLW d'50' ;If Integral bigger than 50 SUBWF Integral,W,Banked MOVLW d'50' BTFSC CarryFlag MOVWF Integral,Banked ;Set Integral to maximum of 50 ; GOTO AutomaticProcessSetError3a ;Else just continue ; AutomaticProcessSetError3: ; CLRF Integral,Banked ;Set integral to 0 AutomaticProcessSetError3a: ; ;Here the Error is translated to steps #define MotorFactor 2 #define IncludeIntegral ; MOVLW LOW(d'2400') SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'2400') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag ;If SetErrorOut bigger than 2400 GOTO AutomaticProcessSetError4 ;Then continue ; MOVLW LOW(d'64'*MotorFactor) ;250 ;Else set SetErrorOut to 250 MOVWF SetErrorOut,Banked MOVLW HIGH(d'64'*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ;Goto AutomaticProcessSetErrorApply ; AutomaticProcessSetError4: ; MOVLW LOW(d'1600') SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'1600') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag ;If SetErrorOut bigger than 1600 GOTO AutomaticProcessSetError5 ;Then continue ; MOVLW LOW(d'32'*MotorFactor) ;125 ;Else set SetErrorOut to 125 MOVWF SetErrorOut,Banked MOVLW HIGH(d'32'*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ;Goto AutomaticProcessSetErrorApply ; AutomaticProcessSetError5: ; MOVLW LOW(d'800') ;800 SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'800') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag ;If SetErrorOut bigger than 800 GOTO AutomaticProcessSetError6 ;Then continue ; MOVLW LOW(d'16'*MotorFactor) ;64 ;Else set SetErrorOut to 64 MOVWF SetErrorOut,Banked MOVLW HIGH(d'16'*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ;Goto AutomaticProcessSetErrorApply ; AutomaticProcessSetError6: ; MOVLW LOW(d'400') ;400 SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'400') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag GOTO AutomaticProcessSetError7 ; MOVLW LOW(d'8'*MotorFactor) ;16 MOVWF SetErrorOut,Banked MOVLW HIGH(d'8'*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ; AutomaticProcessSetError7: ; MOVLW LOW(d'200') ;100 SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'200') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag GOTO AutomaticProcessSetError8 ; MOVLW LOW(4*MotorFactor) ;Was 4 MOVWF SetErrorOut,Banked MOVLW HIGH(4*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ; AutomaticProcessSetError8: ; MOVLW LOW(d'100') ;50 SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'100') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag GOTO AutomaticProcessSetError9 ; MOVLW LOW(2*MotorFactor) ;Was 2 MOVWF SetErrorOut,Banked MOVLW HIGH(2*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ; AutomaticProcessSetError9: ; MOVLW LOW(d'10') ;50 SUBWF SetErrorOut,W,Banked MOVLW HIGH(d'10') SUBWFB SetErrorOutH,W,Banked ; BTFSS CarryFlag GOTO AutomaticProcessSetError10 ; MOVLW LOW(1*MotorFactor) ;Was 2 MOVWF SetErrorOut,Banked MOVLW HIGH(1*MotorFactor) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ; AutomaticProcessSetError10: ; MOVLW LOW(1) MOVWF SetErrorOut,Banked MOVLW HIGH(1) MOVWF SetErrorOutH,Banked ; GOTO AutomaticProcessSetErrorApply ; AutomaticProcessSetErrorApply: ; IFDEF IncludeIntegral ; MOVF Integral,W,Banked ADDWF SetErrorOut,Same,Banked MOVLW 0 ADDWFC SetErrorOutH,Same,Banked ; ENDIF ; SkipIfValveClosed GOTO AutomaticProcessSetErrorApplyA ; BCF CarryFlag ; MOVFF SetErrorOut,Steps ;Move SetErrorOut to Steps MOVFF SetErrorOutH,StepsH ; GOTO AutomaticProcessSetErrorApply1 ; AutomaticProcessSetErrorApplyA: ; MOVF SetErrorOut,W,Banked ;If still steps to process then subtract those steps SUBWF Steps,W,Access MOVF SetErrorOutH,W,Banked SUBWFB StepsH,W,Access ; MOVFF SetErrorOut,Steps ;Move SetErrorOut to Steps MOVFF SetErrorOutH,StepsH ; AutomaticProcessSetErrorApply1: ; GOTO AutomaticProcessFlowEnd ; AutomaticProcessFlowReset: ; CLRF Integral,Banked ; AutomaticProcessFlowEnd: ; AutomaticEnd: ; GOTO MotorStateEnd ; MOVLW d'12' ADDWF DisplayMode,W,Banked BTFSC CarryFlag MOVWF DisplayMode,Banked ; Manual: ; ; There is nothing to do here :-) ; GOTO MotorStateEnd ; MotorStateEnd: ; RETURN ; ProcessPressureMove: ; MOVFF AnalogueL,WREG ;Subtract Current Pressure from Target Pressure SUBWF PressureTargetL,W,Banked ; BTFSS CarryFlag ;Check if Positive GOTO PressureOpen ;Pressure open ; PressureClose: ; COMF WREG,W,Access ;Get two's complement (Change to positive number) INCF WREG,W,Access ; MOVWF Steps,Access ;Move to steps CALL Call_closeValve ;Direction to open GOTO PressureMoveExit ;Exit ; PressureOpen: ; SUBLW 0x03 ;Subtract 3 from current value BTFSC CarryFlag ;If value smaller than 3 GOTO PressureMoveExit ;Then exit ; MOVWF Steps,Access ;Else move to steps CALL Call_openValve ;Direction to open ; PressureMoveExit: ; RETURN ; #endif ; ;******************************************************************************* ;* ;* RPM ;* ;******************************************************************************* ; #ifdef PULSEWIDTH_MOD ; ProcessPWM: ; BTFSS _ProcessPWM ;Check for new data GOTO ProcessPWMEnd ;If no new data then exit ; BCF _ProcessPWM ;Else start by clearing new data bit ; CLRF CalculatorP2,Access ; MOVF RPM_SP,W,Banked ;RPM target SUBWF RPM_PV,W,Banked ;current rpm MOVWF RPM_Error,Banked ;error ; MOVF RPMH_SP,W,Banked ;DO the same for high bytes SUBWFB RPMH_PV,W,Banked MOVWF RPMH_Error,Banked ; BTFSS CarryFlag ;depending if the error is bigger than zero or smaller than zero GOTO ProcessPWMIncrement ;Increase RPM GOTO ProcessPWMDecrement ;Decrease RPM ; ProcessPWMIncrement: ; ; We used to manipulate the voltage here, but now we need to manipulate the RPM directly ; COMF RPM_Error,Same,Banked ;Get the complement of the error (go from negative to positive) COMF RPMH_Error,Same,Banked MOVLW 1 ADDWF RPM_Error,Same,Banked MOVLW 0 ADDWFC RPMH_Error,Same,Banked ; MOVFF RPM_Error,CalculatorP0 MOVFF RPMH_Error,CalculatorP1 ; CALL ScaleError ;Scale the error from RPM ; ; Manipulate the PWM here directly ; MOVF RPM_Error,W,Banked ;Add the error to the PWM_OutR variable ADDWF PWM_OutR,Same,Banked ;This will adjust the the RPM to its new output MOVF RPMH_Error,W,Banked ADDWFC PWM_OutRH,Same,Banked ; MOVLW LOW(d'180') ;If PWM_Out bigger than 180 then set at maximum of 180 SUBWF PWM_OutR,W,Banked MOVLW HIGH(d'180') SUBWFB PWM_OutRH,W,Banked ; BTFSS CarryFlag ;If bigger GOTO ProcessPWMUpdate1 ; MOVLW LOW(d'180') ;Then set to limit MOVWF PWM_OutR,Banked MOVLW HIGH(d'180') MOVWF PWM_OutRH,Banked ; ProcessPWMUpdate1: ; ProcessPWMIncrementEnd: ; GOTO ProcessPWMUpdate ;End the increment ; ProcessPWMDecrement: ; MOVFF RPM_Error,CalculatorP0 MOVFF RPMH_Error,CalculatorP1 ; CALL ScaleError ;Scale the error again ; ; Manipulate the PWM directly instead of the voltage ; MOVF RPM_Error,W,Banked ;Update PWM_Out variable by subtracting error SUBWF PWM_OutR,Same,Banked MOVF RPMH_Error,W,Banked SUBWFB PWM_OutRH,Same,Banked BTFSC CarryFlag ;If overflow then make PWM_OutR zero GOTO ProcessPWMDecrement1 ; CLRF PWM_OutR,Banked CLRF PWM_OutRH,Banked ; ProcessPWMDecrement1: ; MOVLW LOW(d'60') ;Check if varibale bigger than 1250 SUBWF PWM_OutR,W,Banked MOVLW HIGH(d'60') SUBWFB PWM_OutRH,W,Banked ; BTFSC CarryFlag ;If it is bigger then max out at 1250 GOTO ProcessPWMUpdate2 ; MOVLW LOW(d'60') MOVWF PWM_OutR,Banked MOVLW HIGH(d'60') MOVWF PWM_OutRH,Banked ; ProcessPWMUpdate2: ; ProcessPWMDecrementEnd: ; GOTO ProcessPWMUpdate ; ProcessPWMUpdate: ; BTFSS ControlFlow ;Check if system engaged GOTO ProcessPWMUpdate_QuickStop ; BTFSS KickStartFlag GOTO ProcessPWMUpdate_WriteDAC GOTO ProcessPWMUpdate_KickStart ;Then kick start ; ProcessPWMUpdate_QuickStop: ; MOVLW 0 MOVWF PWM_OutR,Banked ;Else Switch the PM off MOVWF PWM_OutRH,Banked ; BSF KickStartFlag ; ProcessPWMUpdate_QuickStopEnd: ; GOTO ProcessPWMUpdate_WriteDAC ; ProcessPWMUpdate_KickStart: ; ; RPM_SP_Old is zero ; BCF KickStartFlag ; MOVF RPM_SP,W,Banked ;If new RPM still zero ; IORWF RPMH_SP,W,Banked ; BTFSC ZeroFlag ; GOTO ProcessPWMUpdate_KickStartEnd ;Then exit ; ; RPM_SP is non-zero ; - So make sure RPMVolltage >= 2000 rather than counting it up from 0, so that the motor starts quickly ; ; MOVF RPM_Kick,W ; SUBWF ControlVoltage,W ; MOVF RPMH_Kick,W ; SUBWFB ControlVoltageH,W ; ; BTFSC CarryFlag ; GOTO ProcessPWMUpdate_KickStartEnd ; ; MOVF RPM_Kick,W ; MOVWF ControlVoltage ; MOVF RPMH_Kick,W ; MOVWF ControlVoltageH ; MOVFF OpenKick,CalculatorX0 ;Else do a kickstart MOVFF OpenKickH,CalculatorX1 CLRF CalculatorX2,Access CLRF CalculatorX3,Access CLRF CalculatorX4,Access ; ; MOVLW 41 ; MOVWF CalculatorY0,Access ; CLRF CalculatorY1,Access ; CLRF CalculatorY2,Access ; CLRF CalculatorY3,Access ; CLRF CalculatorY4,Access ; ;CALL Mul40Fast ; MOVFF CalculatorX0,PWM_OutR ;New PWM_Out value MOVFF CalculatorX1,PWM_OutRH ; ProcessPWMUpdate_KickStartEnd: ; GOTO ProcessPWMUpdate_WriteDAC ; ProcessPWMUpdate_WriteDAC: ; GOTO ProcessPWMEnd ; MOVF RPM_SP, W, Banked ;Move New to Old MOVWF RPM_SP_Old, Banked MOVF RPMH_SP, W, Banked MOVWF RPMH_SP_Old, Banked ; SWAPF PWM_OutR, W, Banked ;Divide by 16 ANDLW b'00001111' MOVWF CalculatorX0, Access SWAPF PWM_OutRH, W, Banked ANDLW b'11110000' IORWF CalculatorX0, Same, Access ; BCF _TMR2IE MOVF CurrentShutDown, W, Access IORWF CurrentShutDownH, W, Access ; BTFSC ZeroFlag GOTO CurrentSkip ;Goto current skip ; CLRF CalculatorX0, Access CLRF PWM_OutR, Banked CLRF PWM_OutRH, Banked CLRF PWM_Out, Banked ; CurrentSkip: ; BSF _TMR2IE ; ; 25 = 0.25A gives a current value of 18 ; 50 = 0.75A gives a current value of round about 60 ; 60 = 1A 80 ; 70 = 1.15A ; 80 = 1.35A ; 90 = 1.5A 120 ; 120 = 2A 160 ; 150 = 2.6A 190 ; MOVFF CalculatorX0, PWM_SP ;Update PWM_SP ; MOVLW 65 ; MOVWF PWM_SP,Banked ; ProcessPWMEnd: ; RETURN ; ScaleError: ; MOVLW 1 MOVWF RPM_Error,Banked CLRF RPMH_Error,Banked RETURN ;RRCF RPMH_Error,Same,Banked ;Divide by 2 ;RRCF RPM_Error,Same,Banked ;RRCF RPMH_Error,Same,Banked ;Divide by 2 ;RRCF RPM_Error,Same,Banked ;RRCF RPMH_Error,Same,Banked ;Divide by 2 ;RRCF RPM_Error,Same,Banked ; ScaleErrorEnd: ; MOVF RPM_Error,W,Banked ;If error zero then make 1 IORWF RPMH_Error,W,Banked BTFSC ZeroFlag INCF RPM_Error,Same,Banked ; RETURN ;Exit ; CalculateSP: ; MOVFF TargetVolumeL,CalculatorX0 MOVFF TargetVolumeH,CalculatorX1 MOVFF TargetVolumeU,CalculatorX2 MOVLW 0 MOVWF CalculatorX3,Access MOVWF CalculatorX4,Access ; MOVWF CalculatorY2,Access MOVWF CalculatorY3,Access MOVWF CalculatorY4,Access MOVFF PumpVolumeL,CalculatorY0 MOVFF PumpVolumeH,CalculatorY1 ; CALL Div40 ; MOVFF CalculatorX0,RPM_SP MOVFF CalculatorX1,RPMH_SP ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Pulse Sensor functions ;* ;******************************************************************************* ;* Speed Pickup ;******************************************************************************* ; #IFDEF PULSE_SENSOR ; ProcessSpeedPickup: ; ProcessSpeedPickup_Normal: ; BTFSS ReadPulseSensor ;Check if it is neccesary to read sensor GOTO ProcessSpeedPickupEnd ;If not then exit ; BCF ReadPulseSensor ;Else start by cearing ReadPulseSensor bit ; ProcessSpeedPickupTry: ; MOVFF PulseRange,CalculatorX0 ;Move PulseRange to CalculatorX MOVFF PulseRangeH,CalculatorX1 ; CALL ReloadPulseTimer ; BTFSS CalculatorX1,7,Access ;Check if Pulse Flow bigger than 0x7FFF GOTO ProcessSpeedPickup1 ;Else GOTO next section of code ;Then set to zero ProcessSpeedPickupZero: ; MOVLW 0 ;Clear CalculatorX MOVWF CalculatorX0,Access MOVWF CalculatorX1,Access CALL ResetFlow ;Reset the stat variables also ; ProcessSpeedPickup1: ; MOVFF CalculatorX0,NewSample ;Move the CalculatorX value to NewSample MOVFF CalculatorX1,NewSampleH ; ; Now average the reading from the flow meter using the filers ; MOVLW FilterSize ;Filter Size we use for the median filter (number of entries) MOVWF MedianCounter,Banked ; LFSR 0,StatsEntry0Age ;Point FSR to StatsEntry0Age ; CALL MedianFilterOrder CALL AverageFilter ; MOVFF CalculatorX0,PulseProcessVariable MOVFF CalculatorX1,PulseProcessVariableH ; ProcessSpeedPickupEnd: ; RETURN ; ReloadPulseTimer: ; MOVLW PulseTC MOVWF PulseTimer,Access ; RETURN ; #ENDIF ; ; ;******************************************************************************* ;* ;* Engage Pickup ;* ;******************************************************************************* ; #ifdef FLOWCONTROLDEVICE ; ProcessEngage: ; BTFSS ControlFlow GOTO ProcessEngage_Dis ProcessEngage_En: ; BTFSS EngageBit GOTO ProcessEngage_End ; BCF ControlFlow BTFSC FCDevice CALL Send_Engaged_Status GOTO ProcessEngage_End ProcessEngage_Dis: ; BTFSC EngageBit GOTO ProcessEngage_End ; BSF ControlFlow BTFSC FCDevice CALL Send_Engaged_Status GOTO ProcessEngage_End ; ProcessEngage_End: ; RETURN ; ;******************************************************************************* ;* ;* Pressure Pickup ;* ;******************************************************************************* ; ProcessPressure: ; MOVLW TrackADC_Pressure ;Set ADCON0 register with correct values CALL ReadADC ;Wait until read complete ; MOVFF ADRESH,AnalogueT ;Read digital value from ; ProcessPressure_Top: ; MOVLW d'227' ;Check if reading bigger than 205 SUBWF AnalogueT,W,Banked BTFSS CarryFlag GOTO ProcessPressure_Bottom ;If not then continue ; MOVLW LOW(d'500') MOVWF AnalogueL,Banked MOVLW HIGH(d'500') MOVWF AnalogueH,Banked ; GOTO ProcessPressure_End ; ProcessPressure_Bottom: ; MOVLW d'25' ;Check if reading smaller than 25 SUBWF AnalogueT,W,Banked BTFSC CarryFlag GOTO ProcessPressure_Mid ;If not then continue ; MOVLW LOW(d'20') MOVWF AnalogueL,Banked MOVLW HIGH(d'20') MOVWF AnalogueH,Banked ; GOTO ProcessPressure_End ; ProcessPressure_Mid: ; MOVLW d'25' ;Subtract 25 from Value SUBWF AnalogueT,W,Banked CLRF AnalogueH,Banked ;AnalogueH to Zero MOVWF AnalogueL,Banked ;Get current pressure RLCF AnalogueL,Same,Banked ;Pressure times 2 BTFSC CarryFlag INCF AnalogueH,Same,Banked ;If carry then inc AnalogueH ; MOVFF AnalogueT,WREG ;Move AnalogueT to working register RRCF WREG,Same,Access ;Pressure devide by 2 ADDWF AnalogueL,Same,Banked ;Add this pressure to rest of pressure BTFSC CarryFlag INCF AnalogueH,Same,Banked ;If carry then inc AnalogueH ;Now the Pressure is a value between 0 and 510 (0.0 Bar - 5.0 Bar) ; ProcessPressure_End: ; RETURN ; #endif ; ;******************************************************************************* ;* ;* Granular Control ;* ;******************************************************************************* ; #ifdef GRANCONTROLDEVICE ; ;******************************************************************************* ;* Granular Control Init ;******************************************************************************* ; GranControl_init: ; RETURN ;Exit ; ;******************************************************************************* ;* Granular Control Main ;******************************************************************************* ; ;Everytime the flow sensor signal goes high there is an interrupt which coppies the current time in Timer 3. ;The result is then processed in the ProcessPulseSensor line of code GranControl: ; ; Read the loadcell ; btfsc HX711_Data goto GranControl_Exit ; btfsc HX711_Data2 goto GranControl_Exit ; movlw 24 movwf CalculatorCount,Access ; ReadLoadCell: ; ; Interrupts off, so the HX711 doesn't go to sleep because of a long clock pulse ; bcf _GIEH ; bsf HX711_Clock ; ; Make space for next bit ; rlcf LoadCellA,Same,Access rlcf LoadCellAH,Same,Access rlcf LoadCellAHH,Same,Access ; rlcf LoadCellB,Same,Access rlcf LoadCellBH,Same,Access rlcf LoadCellBHH,Same,Access ; bcf HX711_Clock ; ; Put the interrupts back on now that we have taken our reading ; bsf _GIEH ; ; Copy bit into the space we made for it ; bcf LoadCellA,0,Access btfsc HX711_Data bsf LoadCellA,0,Access ; bcf LoadCellB,0,Access btfsc HX711_Data2 bsf LoadCellB,0,Access ; decfsz CalculatorCount,Same,Access goto ReadLoadCell ; ; Select the channel and the gain for the next sample - Channel A 128 ; ; Interrupts off, so the HX711 doesn't go to sleep because of a long clock pulse ; bcf _GIEH ; bsf HX711_Clock ; nop nop nop nop ; bcf HX711_Clock ; nop nop nop nop ; ; Put the interrupts back on now that we have taken our reading ; bsf _GIEH ; call ZeroTracking ;Treat small changes in the loadcell and electronics as drift and keep the weight zeroed ; ; Compare the new reading to the average and limit how much it can actually change by ; Let's make it not more than double or less than half, except if the average is 0 ; LimitLoadCellA: ; bcf CarryFlag ; movff LoadCellAAverage,CalculatorX0 movff LoadCellAAverageH,CalculatorX1 movff LoadCellAAverageHH,CalculatorX2 rlcf CalculatorX0,Same,Access ;Multiply the average by 2 to get the higher range rlcf CalculatorX1,Same,Access rlcf CalculatorX2,Same,Access ; btfss CarryFlag goto LimitLoadCellA0 ; movlw 0xFF movwf CalculatorX0,Access movwf CalculatorX1,Access movwf CalculatorX2,Access ; LimitLoadCellA0: ; bcf CarryFlag ; movff LoadCellAAverage,CalculatorY0 movff LoadCellAAverageH,CalculatorY1 movff LoadCellAAverageHH,CalculatorY2 ; rrcf CalculatorY2,Same,Access ;Divide the average by 2 to get the lower range movwf CalculatorY1,Access movwf CalculatorY0,Access ; movf CalculatorY0,W,Access subwf CalculatorX0,W,Access movwf CalculatorTA0,Access ; movf CalculatorY1,W,Access subwfb CalculatorX1,W,Access movwf CalculatorTA1,Access ; movf CalculatorY2,W,Access subwfb CalculatorX2,W,Access movwf CalculatorTA2,Access ; ; Double cannot be more than what we can fit in 24-bits ; movlw LOW(0x1000000) subwf CalculatorTA0,W,Access movlw HIGH(0x1000000) subwfb CalculatorTA1,W,Access movlw UPPER(0x1000000) subwfb CalculatorTA2,W,Access ; btfsc CarryFlag goto LimitLoadCellA1 ; movlw LOW(0x1000000) addwf CalculatorX0,Same,Access movlw HIGH(0x1000000) addwfc CalculatorX1,Same,Access movlw UPPER(0x1000000) addwfc CalculatorX2,Same,Access ; LimitLoadCellA1: ; movf LoadCellA,W,Access subwf CalculatorX0,W,Access movf LoadCellAH,W,Access subwfb CalculatorX1,W,Access movf LoadCellAHH,W,Access subwfb CalculatorX2,W,Access ; btfsc CarryFlag goto LimitLoadCellA2 ; movff CalculatorX0,LoadCellA movff CalculatorX1,LoadCellAH movff CalculatorX2,LoadCellAHH ; LimitLoadCellA2: ; movf CalculatorY0,W,Access subwf LoadCellA,W,Access movf CalculatorY1,W,Access subwfb LoadCellAH,W,Access movf CalculatorY2,W,Access subwfb LoadCellAHH,W,Access ; btfsc CarryFlag goto LimitLoadCellA3 ; movff CalculatorY0,LoadCellA movff CalculatorY1,LoadCellAH movff CalculatorY2,LoadCellAHH ; LimitLoadCellA3: ; LimitLoadCellB: bcf CarryFlag ; movff LoadCellBAverage,CalculatorX0 movff LoadCellBAverageH,CalculatorX1 movff LoadCellBAverageHH,CalculatorX2 rlcf CalculatorX0,Same,Access ;Multiply the average by 2 to get the higher range rlcf CalculatorX1,Same,Access rlcf CalculatorX2,Same,Access ; btfss CarryFlag goto LimitLoadCellB0 ; movlw 0xFF movwf CalculatorX0,Access movwf CalculatorX1,Access movwf CalculatorX2,Access ; LimitLoadCellB0: ; bcf CarryFlag ; movff LoadCellBAverage,CalculatorY0 movff LoadCellBAverageH,CalculatorY1 movff LoadCellBAverageHH,CalculatorY2 ; rrcf CalculatorY2,Same,Access ;Divide the average by 2 to get the lower range movwf CalculatorY1,Access movwf CalculatorY0,Access ; movf CalculatorY0,W,Access subwf CalculatorX0,W,Access movwf CalculatorTA0,Access ; movf CalculatorY1,W,Access subwfb CalculatorX1,W,Access movwf CalculatorTA1,Access ; movf CalculatorY2,W,Access subwfb CalculatorX2,W,Access movwf CalculatorTA2,Access ; ; Double cannot be more than what we can fit in 24-bits ; movlw LOW(0x1000000) subwf CalculatorTA0,W,Access movlw HIGH(0x1000000) subwfb CalculatorTA1,W,Access movlw UPPER(0x1000000) subwfb CalculatorTA2,W,Access ; btfsc CarryFlag goto LimitLoadCellB1 ; movlw LOW(0x1000000) addwf CalculatorX0,Same,Access movlw HIGH(0x1000000) addwfc CalculatorX1,Same,Access movlw UPPER(0x1000000) addwfc CalculatorX2,Same,Access ; LimitLoadCellB1: ; movf LoadCellB,W,Access subwf CalculatorX0,W,Access movf LoadCellBH,W,Access subwfb CalculatorX1,W,Access movf LoadCellBHH,W,Access subwfb CalculatorX2,W,Access ; btfsc CarryFlag goto LimitLoadCellB2 ; movff CalculatorX0,LoadCellB movff CalculatorX1,LoadCellBH movff CalculatorX2,LoadCellBHH ; LimitLoadCellB2: ; movf CalculatorY0,W,Access subwf LoadCellB,W,Access movf CalculatorY1,W,Access subwfb LoadCellBH,W,Access movf CalculatorY2,W,Access subwfb LoadCellBHH,W,Access ; btfsc CarryFlag goto LimitLoadCellB3 ; movff CalculatorY0,LoadCellB movff CalculatorY1,LoadCellBH movff CalculatorY2,LoadCellBHH ; LimitLoadCellB3: ; SkipLimit: ; ;Perform median and average filtering on the new loadcell value ; - This a simple 3 sample median filter, intended to get rid of outlyers ; MedianA: ; dcfsnz AgeA0,Same,Access goto UpdateA0 dcfsnz AgeA1,Same,Access goto UpdateA1 ; movlw 3 movwf AgeA2,Access movff LoadCellA,LoadCellA2 movff LoadCellAH,LoadCellA2H movff LoadCellAHH,LoadCellA2HH goto NotOrderedA ; UpdateA0: movlw 3 movwf AgeA0,Access decf AgeA1,Same,Access decf AgeA2,Same,Access movff LoadCellA,LoadCellA0 movff LoadCellAH,LoadCellA0H movff LoadCellAHH,LoadCellA0HH goto NotOrderedA ; UpdateA1: movlw 3 movwf AgeA1,Access decf AgeA2,Same,Access movff LoadCellA,LoadCellA1 movff LoadCellAH,LoadCellA1H movff LoadCellAHH,LoadCellA1HH goto NotOrderedA ; NotOrderedA: ; bcf Switched ; movff LoadCellA1,CalculatorX0 movff LoadCellA1H,CalculatorX1 movff LoadCellA1HH,CalculatorX2 ; movff LoadCellA2,CalculatorY0 movff LoadCellA2H,CalculatorY1 movff LoadCellA2HH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto CheckA1 ; movff LoadCellA2,LoadCellA ;Move the values in the buffers around to sort them properly movff LoadCellA2H,LoadCellAH movff LoadCellA2HH,LoadCellAHH ; movff LoadCellA1,LoadCellA2 movff LoadCellA1H,LoadCellA2H movff LoadCellA1HH,LoadCellA2HH ; movff LoadCellA,LoadCellA1 movff LoadCellAH,LoadCellA1H movff LoadCellAHH,LoadCellA1HH ; movff AgeA2,LoadCellA ;??? movff AgeA1,AgeA2 movff LoadCellA,AgeA1 ; bsf Switched ; CheckA1: ; movff LoadCellA0,CalculatorX0 movff LoadCellA0H,CalculatorX1 movff LoadCellA0HH,CalculatorX2 ; movff LoadCellA1,CalculatorY0 movff LoadCellA1H,CalculatorY1 movff LoadCellA1HH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto CheckA2 ; movff LoadCellA1,LoadCellA ;Move the values in the buffers around to sort them properly movff LoadCellA1H,LoadCellAH movff LoadCellA1HH,LoadCellAHH ; movff LoadCellA0,LoadCellA1 movff LoadCellA0H,LoadCellA1H movff LoadCellA0HH,LoadCellA1HH ; movff LoadCellA,LoadCellA0 movff LoadCellAH,LoadCellA0H movff LoadCellAHH,LoadCellA0HH ; movff AgeA1,LoadCellA movff AgeA0,AgeA1 movff LoadCellA,AgeA0 ; bsf Switched ; CheckA2: ; btfsc Switched goto NotOrderedA ; movff LoadCellA1,LoadCellA ;Replace the loadcell reading with the median filter output movff LoadCellA1H,LoadCellAH movff LoadCellA1HH,LoadCellAHH ; movff LoadCellAAverage,CalculatorX0 movff LoadCellAAverageH,CalculatorX1 movff LoadCellAAverageHH,CalculatorX2 clrf CalculatorX3,Access clrf CalculatorX4,Access ; movlw LOW(7) movwf CalculatorY0,Access movlw HIGH(7) movwf CalculatorY1,Access movlw UPPER(7) movwf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Mul40 ; movff LoadCellA1,CalculatorY0 movff LoadCellA1H,CalculatorY1 movff LoadCellA1HH,CalculatorY2 clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Add40 ; movlw LOW(8) movwf CalculatorY0,Access movlw HIGH(8) movwf CalculatorY1,Access movlw UPPER(8) movwf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Div40 ; movff CalculatorX0,LoadCellAAverage movff CalculatorX1,LoadCellAAverageH movff CalculatorX2,LoadCellAAverageHH ; ;Perform median and average filtering on the new loadcell value ; - This a simple 3 sample median filter, intended to get rid of outlyers ; MedianB: ; dcfsnz AgeB0,Same,Access goto UpdateB0 dcfsnz AgeB1,Same,Access goto UpdateB1 ; movlw 3 movwf AgeB2,Access movff LoadCellB,LoadCellB2 movff LoadCellBH,LoadCellB2H movff LoadCellBHH,LoadCellB2HH goto NotOrderedB ; UpdateB0: movlw 3 movwf AgeB0,Access decf AgeB1,Same,Access decf AgeB2,Same,Access movff LoadCellB,LoadCellB0 movff LoadCellBH,LoadCellB0H movff LoadCellBHH,LoadCellB0HH goto NotOrderedB ; UpdateB1: movlw 3 movwf AgeB1,Access decf AgeB2,Same,Access movff LoadCellB,LoadCellB1 movff LoadCellBH,LoadCellB1H movff LoadCellBHH,LoadCellB1HH goto NotOrderedB ; NotOrderedB: ; bcf Switched ; movff LoadCellB1,CalculatorX0 movff LoadCellB1H,CalculatorX1 movff LoadCellB1HH,CalculatorX2 ; movff LoadCellB2,CalculatorY0 movff LoadCellB2H,CalculatorY1 movff LoadCellB2HH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto CheckB1 ; movff LoadCellB2,LoadCellB ;Move the values in the buffers around to sort them properly movff LoadCellB2H,LoadCellBH movff LoadCellB2HH,LoadCellBHH ; movff LoadCellB1,LoadCellB2 movff LoadCellB1H,LoadCellB2H movff LoadCellB1HH,LoadCellB2HH ; movff LoadCellB,LoadCellB1 movff LoadCellBH,LoadCellB1H movff LoadCellBHH,LoadCellB1HH ; movff AgeB2,LoadCellB ;??? movff AgeB1,AgeB2 movff LoadCellB,AgeB1 ; bsf Switched ; CheckB1: ; movff LoadCellB0,CalculatorX0 movff LoadCellB0H,CalculatorX1 movff LoadCellB0HH,CalculatorX2 ; movff LoadCellB1,CalculatorY0 movff LoadCellB1H,CalculatorY1 movff LoadCellB1HH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto CheckB2 ; movff LoadCellB1,LoadCellB ;Move the values in the buffers around to sort them properly movff LoadCellB1H,LoadCellBH movff LoadCellB1HH,LoadCellBHH ; movff LoadCellB0,LoadCellB1 movff LoadCellB0H,LoadCellB1H movff LoadCellB0HH,LoadCellB1HH ; movff LoadCellB,LoadCellB0 movff LoadCellBH,LoadCellB0H movff LoadCellBHH,LoadCellB0HH ; movff AgeB1,LoadCellB movff AgeB0,AgeB1 movff LoadCellB,AgeB0 ; bsf Switched ; CheckB2: ; btfsc Switched goto NotOrderedB ; movff LoadCellB1,LoadCellB ;Replace the loadcell reading with the median filter output movff LoadCellB1H,LoadCellBH movff LoadCellB1HH,LoadCellBHH ; movff LoadCellBAverage,CalculatorX0 movff LoadCellBAverageH,CalculatorX1 movff LoadCellBAverageHH,CalculatorX2 clrf CalculatorX3,Access clrf CalculatorX4,Access ; movlw LOW(7) movwf CalculatorY0,Access movlw HIGH(7) movwf CalculatorY1,Access movlw UPPER(7) movwf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Mul40 ; movff LoadCellB1,CalculatorY0 movff LoadCellB1H,CalculatorY1 movff LoadCellB1HH,CalculatorY2 clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Add40 ; movlw LOW(8) movwf CalculatorY0,Access movlw HIGH(8) movwf CalculatorY1,Access movlw UPPER(8) movwf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Div40 ; movff CalculatorX0,LoadCellBAverage movff CalculatorX1,LoadCellBAverageH movff CalculatorX2,LoadCellBAverageHH ; Differentiate: ; ; Differentiate between load cells ; movff LoadCellAAverage,CalculatorX0 movff LoadCellAAverageH,CalculatorX1 movff LoadCellAAverageHH,CalculatorX2 clrf CalculatorX3 clrf CalculatorX4 movff LoadCellBAverage,CalculatorY0 movff LoadCellBAverageH,CalculatorY1 movff LoadCellBAverageHH,CalculatorY2 clrf CalculatorY3 clrf CalculatorY4 ; CALL Sub40 MOVFF CalculatorX0,LoadCellCAverage MOVFF CalculatorX1,LoadCellCAverageH MOVFF CalculatorX2,LoadCellCAverageHH ; ; See if we need to refresh the load cells zero? ; - In the system the command to zero the load cells could come from the main unit instead of locally ; UpdateZeroTrack: ; btfss ZeroPointReset goto SkipZero ; bcf ZeroPointReset ; movff LoadCellAAverage,LoadCellAZero movff LoadCellAAverageH,LoadCellAZeroH movff LoadCellAAverageHH,LoadCellAZeroHH ; movff LoadCellBAverage,LoadCellBZero movff LoadCellBAverageH,LoadCellBZeroH movff LoadCellBAverageHH,LoadCellBZeroHH ; movff LoadCellCAverage,LoadCellCZero movff LoadCellCAverageH,LoadCellCZeroH movff LoadCellCAverageHH,LoadCellCZeroHH ; SkipZero: ; ; Perform zeroing ; ZeroA: ; movff LoadCellAAverage,CalculatorX0 movff LoadCellAAverageH,CalculatorX1 movff LoadCellAAverageHH,CalculatorX2 ; movff LoadCellAZero,CalculatorY0 movff LoadCellAZeroH,CalculatorY1 movff LoadCellAZeroHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto SkipNegativeA ; clrf CalculatorX0,Access clrf CalculatorX1,Access clrf CalculatorX2,Access clrf CalculatorX3,Access clrf CalculatorX4,Access ; SkipNegativeA: ; MOVFF CalculatorX0,CalculatorP0 MOVFF CalculatorX1,CalculatorP1 MOVFF CalculatorX2,CalculatorP2 ; movff LoadCellMul,CalculatorY0 movff LoadCellMulH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Mul40Fast ; movff LoadCellDiv,CalculatorY0 movff LoadCellDivH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Div40 ; bcf _GIEH ;movff CalculatorX0,gpm ;movff CalculatorX1,gpmH ;movff CalculatorX2,gpmHH bsf _GIEH ; ZeroB: ; movff LoadCellB,CalculatorX0 movff LoadCellBH,CalculatorX1 movff LoadCellBHH,CalculatorX2 ; movff LoadCellBAverage,CalculatorY0 movff LoadCellBAverageH,CalculatorY1 movff LoadCellBAverageHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto SkipNegativeB ; clrf CalculatorX0,Access clrf CalculatorX1,Access clrf CalculatorX2,Access clrf CalculatorX3,Access clrf CalculatorX4,Access ; SkipNegativeB: ; movff LoadCellMul,CalculatorY0 movff LoadCellMulH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Mul40Fast ; movff LoadCellDiv,CalculatorY0 movff LoadCellDivH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Div40 ; ; movff CalculatorX0,gpm ; movff CalculatorX1,gpmH ; movff CalculatorX2,gpmHH ; ZeroC: ; movff LoadCellCAverage,CalculatorX0 movff LoadCellCAverageH,CalculatorX1 movff LoadCellCAverageHH,CalculatorX2 ; movff LoadCellCZero,CalculatorY0 movff LoadCellCZeroH,CalculatorY1 movff LoadCellCZeroHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto SkipNegativeC ; clrf CalculatorX0,Access clrf CalculatorX1,Access clrf CalculatorX2,Access clrf CalculatorX3,Access clrf CalculatorX4,Access ; SkipNegativeC: ; MOVFF CalculatorX0,CalculatorP0 MOVFF CalculatorX1,CalculatorP1 MOVFF CalculatorX2,CalculatorP2 ; movff LoadCellMul,CalculatorY0 movff LoadCellMulH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Mul40Fast ; movff LoadCellDiv,CalculatorY0 movff LoadCellDivH,CalculatorY1 clrf CalculatorY2,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Div40 ; bcf _GIEH movff CalculatorX0,gpm movff CalculatorX1,gpmH movff CalculatorX2,gpmHH bsf _GIEH ; goto GranControl_Exit ; ; All the subroutines for the granular control main loop go here ; ZeroTracking: ; ; See how big the difference is between the reading and the zero ; - Rather than trying to do a 2's complement calculation, if the answer is negative, just do the calculation again with the numbers the other way around ; movff LoadCellAAverage,CalculatorX0 movff LoadCellAAverageH,CalculatorX1 movff LoadCellAAverageHH,CalculatorX2 ; movff LoadCellAZero,CalculatorY0 movff LoadCellAZeroH,CalculatorY1 movff LoadCellAZeroHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto ZeroTrackingA ; movff LoadCellAZero,CalculatorX0 movff LoadCellAZeroH,CalculatorX1 movff LoadCellAZeroHH,CalculatorX2 ; movff LoadCellAAverage,CalculatorY0 movff LoadCellAAverageH,CalculatorY1 movff LoadCellAAverageHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; ZeroTrackingA: ; ; At power up, if it is within 5000 counts then make the value from the load cell the new zero ; During normal operation, if it is within 100 counts then make the value from the load cell the new zero ; movlw LOW(40) btfsc FirstTracking movlw LOW(5000) subwf CalculatorX0,W,Access movlw HIGH(40) btfsc FirstTracking movlw HIGH(5000) subwfb CalculatorX1,W,Access movlw 0 subwfb CalculatorX2,W,Access ; btfsc CarryFlag goto ZeroTrackingAout ; movff LoadCellAAverage,LoadCellAZero movff LoadCellAAverageH,LoadCellAZeroH movff LoadCellAAverageHH,LoadCellAZeroHH ; ZeroTrackingAout: ; movff LoadCellBAverage,CalculatorX0 movff LoadCellBAverageH,CalculatorX1 movff LoadCellBAverageHH,CalculatorX2 ; movff LoadCellBZero,CalculatorY0 movff LoadCellBZeroH,CalculatorY1 movff LoadCellBZeroHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto ZeroTrackingB ; movff LoadCellBZero,CalculatorX0 movff LoadCellBZeroH,CalculatorX1 movff LoadCellBZeroHH,CalculatorX2 ; movff LoadCellBAverage,CalculatorY0 movff LoadCellBAverageH,CalculatorY1 movff LoadCellBAverageHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; ZeroTrackingB: ; ; At power up, if it is within 5000 counts then make the value from the load cell the new zero ; During normal operation, if it is within 100 counts then make the value from the load cell the new zero ; movlw LOW(100) btfsc FirstTracking movlw LOW(5000) subwf CalculatorX0,W,Access movlw HIGH(100) btfsc FirstTracking movlw HIGH(5000) subwfb CalculatorX1,W,Access movlw 0 subwfb CalculatorX2,W,Access ; btfsc CarryFlag goto ZeroTrackingBout ; movff LoadCellBAverage,LoadCellBZero movff LoadCellBAverageH,LoadCellBZeroH movff LoadCellBAverageHH,LoadCellBZeroHH ; ZeroTrackingBout: ; movff LoadCellCAverage,CalculatorX0 movff LoadCellCAverageH,CalculatorX1 movff LoadCellCAverageHH,CalculatorX2 ; movff LoadCellCZero,CalculatorY0 movff LoadCellCZeroH,CalculatorY1 movff LoadCellCZeroHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; btfsc CarryFlag goto ZeroTrackingC ; movff LoadCellCZero,CalculatorX0 movff LoadCellCZeroH,CalculatorX1 movff LoadCellCZeroHH,CalculatorX2 ; movff LoadCellCAverage,CalculatorY0 movff LoadCellCAverageH,CalculatorY1 movff LoadCellCAverageHH,CalculatorY2 ; clrf CalculatorX3,Access clrf CalculatorX4,Access clrf CalculatorY3,Access clrf CalculatorY4,Access ; call Sub40 ; ZeroTrackingC: ; ; At power up, if it is within 5000 counts then make the value from the load cell the new zero ; During normal operation, if it is within 100 counts then make the value from the load cell the new zero ; movlw LOW(20) btfsc FirstTracking movlw LOW(5000) subwf CalculatorX0,W,Access movlw HIGH(20) btfsc FirstTracking movlw HIGH(5000) subwfb CalculatorX1,W,Access movlw 0 subwfb CalculatorX2,W,Access ; btfsc CarryFlag goto ZeroTrackingCout ; movff LoadCellCAverage,LoadCellCZero movff LoadCellCAverageH,LoadCellCZeroH movff LoadCellCAverageHH,LoadCellCZeroHH ; ZeroTrackingCout: ; return ; GranControl_Exit: ; RETURN ; #endif ; ;************************************************************** ;* ;* Delay functions ;* ;************************************************************** ; Delay1second: ; CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec CALL Delay100msec ; RETURN ; Delay100msec: ; CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec CALL Delay10msec ; RETURN ; Delay10msec: ; MOVLW b'11000111' MOVWF T0CON,Access MOVLW d'256'-d'108' MOVWF TMR0L BCF _TMR0IF ; Delay10msec1: ; BTFSS _TMR0IF GOTO Delay10msec1 ; RETURN ; Delay1msec: ; MOVLW b'11000111' MOVWF T0CON,Access MOVLW d'256'-d'11' MOVWF TMR0L BCF _TMR0IF ; Delay2msec1: ; BTFSS _TMR0IF GOTO Delay2msec1 ; RETURN ; Delay250usec: ; MOVLW b'11000001' MOVWF T0CON,Access MOVLW d'256'-d'3' ;6 MOVWF TMR0L BCF _TMR0IF ; Delay250usec1: ; BTFSS _TMR0IF GOTO Delay250usec1 ; RETURN ; #ifdef CALCULATOR ;******************************************************************************* ;* ;* TITLE..: PICMATHS - 40-bit maths routines ;* AUTHOR.: Robert Farrer ;* ;* V02R00 - 21/01/2004 - Let's start here and see what happens !!! ;* - For PICO PLC ;* V02R01 - 17/01/2005 - Converted to PIC18Fxxx ;* V02R02 - 14/02/2006 - Converted from 32-bit to 40-bit for DALLAS date and time conversions ;* ;******************************************************************************* ; ;******************************************************************************* ;* ;* FUNCTION.....: 40-bit addition ;* CalculatorX = CalculatorX + CalculatorY ;* ;* INPUTS.......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculaotrX0 ;* CalculatorY4, CalculatorY3, CalculatorY2, CalculatorY1, CalculatorY0 ;* ;* OUTPUTS......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ;* CarryFlag ;* ;* SPECIAL NOTES: None ;* ;******************************************************************************* ; Add40: ; MOVF CalculatorY0,W,Access ;Fetch Y low byte ADDWF CalculatorX0,Same,Access ;And add to X low byte ; MOVF CalculatorY1,W,Access ADDWFC CalculatorX1,Same,Access ; MOVF CalculatorY2,W,Access ADDWFC CalculatorX2,Same,Access ; MOVF CalculatorY3,W,Access ADDWFC CalculatorX3,Same,Access ; MOVF CalculatorY4,W,Access ADDWFC CalculatorX4,Same,Access ; RETURN ;And back we go ; ;******************************************************************************* ; ; FUNCTION.....: 40-bit subtraction ; CalculatorX = CalculatorX - CalculatorY ; ; INPUTS.......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0, ; CalculatorY4, CalculatorY3, CalculatorY2, CalculatorY1, CalculatorY0 ; ; OUTPUTS......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ; ; SPECIAL NOTES: None ; ;******************************************************************************* ; Sub40: ; MOVF CalculatorY0,W,Access ;Fetch Y low byte SUBWF CalculatorX0,Same,Access ;And subtract from X low byte ; MOVF CalculatorY1,W,Access SUBWFB CalculatorX1,Same,Access ; MOVF CalculatorY2,W,Access SUBWFB CalculatorX2,Same,Access ; MOVF CalculatorY3,W,Access SUBWFB CalculatorX3,Same,Access ; MOVF CalculatorY4,W,Access SUBWFB CalculatorX4,Same,Access ; RETURN ;And back we go ; ;******************************************************************************* ; ; FUNCTION.....: 40-bit by 40-bit multiplication ; CalculatorX = CalculatorX * CalculatorY ; ; INPUTS.......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ; CalculatorY4, CalculatorY3, CalculatorY2, CalculatorY1, CalculatorY0 ; ; OUTPUTS......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ; CalculatorError ; ; SPECIAL NOTES: Uses CalculatorCount, CalculatorTA4, CalculatorTA3, CalculatorTA2, ; CalculatorTA1, CalculatorTA0, Add32 ; ; Using 40-bit inputs for both X and Y means that the product ; could be 40-bits in length! If the product exceeds 40-bits ; the BError bit is set to indicate an overflow. The reason ; for having 40-bit inputs with only a 40-bit output, is that ; it allows you to do: ; ; 1 * 5 000 000 000 ; 5 000 000 000 * 1 ; ;******************************************************************************* ; Mul40: ; BCF CalculatorError ;Assume no ERROR BCF CalculatorMulOver ;RESET muliplier overflow flag ; MOVFF CalculatorX0,CalculatorTA0 ;Save X to Temp MOVFF CalculatorX1,CalculatorTA1 MOVFF CalculatorX2,CalculatorTA2 MOVFF CalculatorX3,CalculatorTA3 MOVFF CalculatorX4,CalculatorTA4 ; CLRF CalculatorX0,Access ;Zero product CLRF CalculatorX1,Access CLRF CalculatorX2,Access CLRF CalculatorX3,Access CLRF CalculatorX4,Access ; MOVLW d'40' ;There are 40-bits to process MOVWF CalculatorCount,Access ; Mul40A: ; RRCF CalculatorTA4,Same,Access ;IF LSB = 1 RRCF CalculatorTA3,Same,Access RRCF CalculatorTA2,Same,Access RRCF CalculatorTA1,Same,Access RRCF CalculatorTA0,Same,Access ; BSF CalculatorBoolean ;IF MulOver .AND. LSB BTFSS CalculatorMulOver BCF CalculatorBoolean BTFSS CarryFlag BCF CalculatorBoolean ; BTFSC CalculatorBoolean BSF CalculatorError ;THEN indicate an ERROR ; BTFSC CarryFlag CALL Add40 ;THEN update product ; BTFSC CarryFlag ;IF CARRY, (from Add40) BSF CalculatorError ;THEN indicate an ERROR ; BCF CarryFlag ;CalcY * 2 RLCF CalculatorY0,Same,Access RLCF CalculatorY1,Same,Access RLCF CalculatorY2,Same,Access RLCF CalculatorY3,Same,Access RLCF CalculatorY4,Same,Access ; BTFSC CarryFlag ;IF CalcY overflowed BSF CalculatorMulOver ;THEN flag for next addition ; DECFSZ CalculatorCount,Same,Access ;IF more bits GOTO Mul40A ;THEN process them ; RETURN ;Back we go ; ;******************************************************************************* ; ; FUNCTION.....: 40-bit fast multiply ; CalculatorX = INTEGER (CalculatorX / CalculatorY) ; ; INPUTS.......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0, ; CalculatorY4, CalculatorY3, CalculatorY2, CalculatorY1, CalculatorY0 ; ; OUTPUTS......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ; ; SPECIAL NOTES: Uses CalcCount, CalculatorTA4, CalculatorTA3, CalculatorTA2, ; CalculatorTA1, CalculatorTA0, Sub32, Add32 ; ; We need a 40-bit result as 5 000 000 000 / 1 is still 40-bits! ; ; If you try dividing by 0 then BError will be set. ; ;******************************************************************************* ; Mul40Fast: ; MOVF CalculatorY0,W,Access ; 1 MULWF CalculatorX0,Access ; 2 MOVFF PRODL,CalculatorTA0 ; 3 4 MOVFF PRODH,CalculatorTA1 ; 5 6 CLRF CalculatorTA2,Access ;7 CLRF CalculatorTA3,Access ;8 CLRF CalculatorTA4,Access ;9 - 17 = -8 ; MOVF CalculatorY0,W,Access ;18 MULWF CalculatorX1,Access ;19 MOVF PRODL,W,Access ;20 ADDWF CalculatorTA1,Same,Access ;21 MOVF PRODH,W,Access ;22 ADDWFC CalculatorTA2,Same,Access ;23 MOVLW 0 ;24 ADDWFC CalculatorTA3,Same,Access ;25 trimmed 26 & 27 ; MOVF CalculatorY0,W,Access ;28 MULWF CalculatorX2,Access ;29 MOVF PRODL,W,Access ;30 ADDWF CalculatorTA2,Same,Access ;31 MOVF PRODH,W,Access ;32 ADDWFC CalculatorTA3,Same,Access ;33 MOVLW 0 ;34 ADDWFC CalculatorTA4,Same,Access ;35 ; MOVF CalculatorY0,W,Access ;36 MULWF CalculatorX3,Access ;37 MOVF PRODL,W,Access ;38 ADDWF CalculatorTA3,Same,Access ;39 MOVF PRODH,W,Access ;40 ADDWFC CalculatorTA4,Same,Access ;41 ; MOVF CalculatorY0,W,Access ;42 MULWF CalculatorX4,Access ;43 MOVF PRODL,W,Access ;44 ADDWF CalculatorTA4,Same,Access ;45 ; MOVF CalculatorY1,W,Access ;46 MULWF CalculatorX0,Access ;47 MOVF PRODL,W,Access ;48 ADDWF CalculatorTA1,Same,Access ;49 MOVF PRODH,W,Access ;50 ADDWFC CalculatorTA2,Same,Access ;51 MOVLW 0 ;52 ADDWFC CalculatorTA3,Same,Access ;53 MOVLW 0 ;54 ADDWFC CalculatorTA4,Same,Access ;55 ; MOVF CalculatorY1,W,Access ;56 MULWF CalculatorX1,Access ;57 MOVF PRODL,W,Access ;58 ADDWF CalculatorTA2,Same,Access ;59 MOVF PRODH,W,Access ;60 ADDWFC CalculatorTA3,Same,Access ;61 MOVLW 0 ;62 ADDWFC CalculatorTA4,Same,Access ;63 ; MOVF CalculatorY1,W,Access ;64 MULWF CalculatorX2,Access ;65 MOVF PRODL,W,Access ;66 ADDWF CalculatorTA3,Same,Access ;67 MOVF PRODH,W,Access ;68 ADDWFC CalculatorTA4,Same,Access ;69 ; MOVF CalculatorY1,W,Access ;70 MULWF CalculatorX3,Access ;71 MOVF PRODL,W,Access ;72 ADDWF CalculatorTA4,Same,Access ;73 ; MOVF CalculatorY2,W,Access ;74 MULWF CalculatorX0,Access ;75 MOVF PRODL,W,Access ;76 ADDWF CalculatorTA2,Same,Access ;77 MOVF PRODH,W,Access ;78 ADDWFC CalculatorTA3,Same,Access ;79 MOVLW 0 ;80 ADDWFC CalculatorTA4,Same,Access ;81 ; MOVF CalculatorY2,W,Access ;82 MULWF CalculatorX1,Access ;83 MOVF PRODL,W,Access ;84 ADDWF CalculatorTA3,Same,Access ;85 MOVF PRODH,W,Access ;86 ADDWFC CalculatorTA4,Same,Access ;87 ; MOVF CalculatorY2,W,Access ;88 MULWF CalculatorX2,Access ;89 MOVF PRODL,W,Access ;90 ADDWF CalculatorTA4,Same,Access ;91 ; MOVF CalculatorY3,W,Access ;92 MULWF CalculatorX0,Access ;93 MOVF PRODL,W,Access ;94 ADDWF CalculatorTA3,Same,Access ;95 MOVF PRODH,W,Access ;96 ADDWFC CalculatorTA4,Same,Access ;97 ; MOVF CalculatorY3,W,Access ;98 MULWF CalculatorX1,Access ;99 MOVF PRODL,W,Access ;100 ADDWF CalculatorTA4,Same,Access ;101 ; MOVF PRODH,W,Access ;102 this instruction serves no purpose -1 ; MOVF CalculatorY4,W,Access ;103 MULWF CalculatorX0,Access ;104 MOVF PRODL,W,Access ;105 ADDWF CalculatorTA4,Same,Access ;106 ; MOVFF CalculatorTA0,CalculatorX0 ;107 108 MOVFF CalculatorTA1,CalculatorX1 ;109 110 MOVFF CalculatorTA2,CalculatorX2 ;111 112 MOVFF CalculatorTA3,CalculatorX3 ;113 114 MOVFF CalculatorTA4,CalculatorX4 ;115 116 ; RETURN ;117 118 119 120 * 4 / 11059200 = 43,1usec => trimmed 120 - 10 - 1 = 109 * 4 / 11059200 = 39.5usec => saves 3.6usec which means 1 free very 11 calls ; 399/39.5 = 10.11 times faster than minimum ; 587/39.5 = 14.87 times faster than maxiumum ;This routine is at least 10 times faster, but the compromise here is that the error flag is not set if it overflows, if this is a requirement, ; it could be added in and still be faster than shift and rotate ; ;******************************************************************************* ; ; FUNCTION.....: 40-bit division ; CalculatorX = INTEGER (CalculatorX / CalculatorY) ; ; INPUTS.......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0, ; CalculatorY4, CalculatorY3, CalculatorY2, CalculatorY1, CalculatorY0 ; ; OUTPUTS......: CalculatorX4, CalculatorX3, CalculatorX2, CalculatorX1, CalculatorX0 ; ; SPECIAL NOTES: Uses CalcCount, CalculatorTA4, CalculatorTA3, CalculatorTA2, ; CalculatorTA1, CalculatorTA0, Sub32, Add32 ; ; We need a 40-bit result as 5 000 000 000 / 1 is still 40-bits! ; ; If you try dividing by 0 then BError will be set. ; ;******************************************************************************* ; Div40: ; BCF CalculatorError ;Assume no ERROR MOVF CalculatorY0,W,Access ;Fetch Y0 IORWF CalculatorY1,W,Access ;OR with Y1 IORWF CalculatorY2,W,Access ;OR with Y2 IORWF CalculatorY3,W,Access ;OR with Y3 IORWF CalculatorY4,W,Access ;OR with Y4 BTFSC ZeroFlag ;IF ZERO BSF CalculatorError ;THEN indicate an error ; MOVFF CalculatorX0,CalculatorTA0 ;Save X to Temp MOVFF CalculatorX1,CalculatorTA1 MOVFF CalculatorX2,CalculatorTA2 MOVFF CalculatorX3,CalculatorTA3 MOVFF CalculatorX4,CalculatorTA4 ; CLRF CalculatorX0,Access ;Zero CalcX as temp work space CLRF CalculatorX1,Access CLRF CalculatorX2,Access CLRF CalculatorX3,Access CLRF CalculatorX4,Access ; MOVLW d'40' ;There are 40-bits to process MOVWF CalculatorCount,Access ; Div40A: ; RLCF CalculatorTA0,Same,Access ;Quotient goes to temp LSB RLCF CalculatorTA1,Same,Access RLCF CalculatorTA2,Same,Access RLCF CalculatorTA3,Same,Access RLCF CalculatorTA4,Same,Access RLCF CalculatorX0,Same,Access ;Temp MSB goes to CalcX LSB RLCF CalculatorX1,Same,Access RLCF CalculatorX2,Same,Access RLCF CalculatorX3,Same,Access RLCF CalculatorX4,Same,Access ; CALL Sub40 ;IF CalcX < CalcY ; BSF CalculatorDivStore ;Assume no BORROW BTFSS CarryFlag ;IF BORROW BCF CalculatorDivStore ;THEN correct assumption ; BTFSS CarryFlag CALL Add40 ;THEN restore CalcX ; BSF CarryFlag ;Assume no BORROW BTFSS CalculatorDivStore ;IF BORROW BCF CarryFlag ;THEN correct assumption ; DECFSZ CalculatorCount,Same,Access ;IF more bits GOTO Div40A ;THEN process them ; RLCF CalculatorTA0,Same,Access ;Quotient goes to temp LSB RLCF CalculatorTA1,Same,Access RLCF CalculatorTA2,Same,Access RLCF CalculatorTA3,Same,Access RLCF CalculatorTA4,Same,Access MOVFF CalculatorTA0,CalculatorX0 MOVFF CalculatorTA1,CalculatorX1 MOVFF CalculatorTA2,CalculatorX2 MOVFF CalculatorTA3,CalculatorX3 MOVFF CalculatorTA4,CalculatorX4 ; RETURN ;Back we go ; #endif ; #ifdef STATISTICS ;******************************************************************************* ;* ;* TITLE..: PICSTATS - 16-bit statistics routines ;* AUTHOR.: Robert Farrer ;* ;******************************************************************************* ; Stats_Init: ; MOVLW d'1' MOVWF StatsEntry0Age,Banked CLRF StatsEntry0,Banked CLRF StatsEntry0H,Banked ; MOVLW d'2' MOVWF StatsEntry1Age,Banked CLRF StatsEntry1,Banked CLRF StatsEntry1H,Banked ; MOVLW d'3' MOVWF StatsEntry2Age,Banked CLRF StatsEntry2,Banked CLRF StatsEntry2H,Banked ; MOVLW d'4' MOVWF StatsEntry3Age,Banked CLRF StatsEntry3,Banked CLRF StatsEntry3H,Banked ; MOVLW d'5' MOVWF StatsEntry4Age,Banked CLRF StatsEntry4,Banked CLRF StatsEntry4H,Banked ; MOVLW d'6' MOVWF StatsEntry5Age,Banked CLRF StatsEntry5,Banked CLRF StatsEntry5H,Banked ; MOVLW d'7' MOVWF StatsEntry6Age,Banked CLRF StatsEntry6,Banked CLRF StatsEntry6H,Banked ; MOVLW d'8' MOVWF StatsEntry7Age,Banked CLRF StatsEntry7,Banked CLRF StatsEntry7H,Banked ; MOVLW d'9' MOVWF StatsEntry8Age,Banked CLRF StatsEntry8,Banked CLRF StatsEntry8H,Banked ; MOVLW d'10' MOVWF StatsEntry9Age,Banked CLRF StatsEntry9,Banked CLRF StatsEntry9H,Banked ; RETURN ; ;******************************************************************************* ; ; FUNCTION.....: Insert new value and order values ; ;******************************************************************************* ; MedianFilterOrder: ; MOVLW FilterSize ;Filter Size we use for the median filter (number of entries) MOVWF MedianCounter,Banked ; LFSR 0,StatsEntry0Age ;Point FSR to StatsEntry0Age ; StartOrder_DecreaseAge: ; ;Decrease all ages and check for oldest entry DECFSZ POSTINC0,Same,Access ;Decrease FlowxAge. If 0 then continue GOTO StartOrder_SkipStatEntry ;Else GOTO next filter ; MOVF POSTDEC0,W,Access ;Move StatsEntry0 to WREG and point back to StatsEntry0Age ; MOVFF FSR0L,MedianNewSamplePointer ;Copy current address to MedianNewSamplePointer MOVFF FSR0H,MedianNewSamplePointerH ; ;Reset FlowxAge and then assign new value to Flowx and FlowxH MOVLW FilterSize ;Move FilterSize to FlowxAge MOVWF POSTINC0,Access MOVFF CalculatorX0,POSTINC0 ;Move CalculatorX0 to Flowx MOVFF CalculatorX1,POSTINC0 ;Move CalculatorX1 to FlowxH ; GOTO StartOrder_NextStatEntry ;Skip next filter ; StartOrder_SkipStatEntry: ; ;Goto next FlowAge byte MOVF POSTINC0,W,Access ;Dummy +1 MOVF POSTINC0,W,Access ;Dummy +1 ; StartOrder_NextStatEntry: ; ;Do this for all items inside MedianCounter then continue with code (One should always be eliminated and replaced) DECFSZ MedianCounter,Same,Banked ;If last continue with code GOTO StartOrder_DecreaseAge ;Else continue for next index ; MOVFF MedianNewSamplePointer,FSR0L ;First move the MedianNewSample Pointer back into FSR0L and FSR0H MOVFF MedianNewSamplePointerH,FSR0H ; ; This documentation was added afterwards, so hopefully there are no discrepancies: ; - Smaller, (lighter?), values float to the top ; - Larger, (heavier?), values sink to the bottom ; - A new value added right at the top can only potentially sink ; - A new value added right at the bottom can only potentially float ; - Values added elsewhere in the list must be tested to see whether they must sink or float ; - Because the list is ordered only 1 pass is required in order to correctly insert the new value into the list ; ; See if the new sample is right at the top or right at the bottom ; MOVLW LOW(StatsEntry0Age) ;Put StatsEntry0Age low address into W SUBWF FSR0L,W,Access ;Subtract current FSR addres BTFSS ZeroFlag ;If match GOTO StartOrder_CheckMedianFloat ;Then test high byte, else GOTO next test ;Else test for highest register ; MOVLW HIGH(StatsEntry0Age) ;Put StatsEntry0Age high address into W SUBWFB FSR0H,W,Access ;Subtract current FSR addres BTFSC ZeroFlag ;If match GOTO MedianSink ;Then continue to median sink procedure, else GOTO next test ; StartOrder_CheckMedianFloat: ; MOVLW LOW(StatsEntry0Age+((FilterSize-1)*3)) ;Put last FlowxAge low address into W SUBWF FSR0L,W,Access ;Subtract current FSR addres BTFSS ZeroFlag ;If match GOTO StartOrder_SampleMiddle ;Then test high byte, else GOTO next test ; MOVLW HIGH(StatsEntry0Age+((FilterSize-1)*3)) ;Put last FlowxAge high address into W SUBWFB FSR0H,W,Access ;Subtract current FSR addres BTFSC ZeroFlag ;If match GOTO MedianFloat ;Then continue to median float procedure, else GOTO next test ; StartOrder_SampleMiddle: ; ; The new sample is somewhere in the middle, see if it must float up or sink down ; MOVF POSTINC0,W,Access ;Point to next higher sample and check that it is higher than the new one MOVF POSTINC0,W,Access MOVF POSTINC0,W,Access ; MOVF POSTINC0,W,Access ;Skip Age ; MOVF CalculatorX0,W,Access ;Test to see if it is bigger or smaller SUBWF POSTINC0,W,Access MOVF CalculatorX1,W,Access SUBWFB POSTINC0,W,Access BTFSS CarryFlag ;If new value is bigger than next value GOTO MedianSink ;Then the value needs to go down ; MOVLW 8 ;Point to next lower sample (8 registers back) SUBWF FSR0L,Same,Access MOVLW 0 SUBWFB FSR0H,Same,Access ; MOVF POSTINC0,W,Access ;Check that it is lower than the new one SUBWF CalculatorX0,W,Access MOVF POSTINC0,W,Access SUBWFB CalculatorX1,W,Access BTFSS CarryFlag ;If new value is smaller than previous value GOTO MedianFloat ;Then the value needs to go up ; GOTO MedianEnd ;It is in the right place, so we don't need to do anything! ;- I wonder how often we get this lucky in reality? ; MedianSink: ; MOVFF MedianNewSamplePointer,FSR0L ;Move pointer of new value to FSR0 and FSR1 MOVFF MedianNewSamplePointerH,FSR0H MOVFF MedianNewSamplePointer,FSR1L MOVFF MedianNewSamplePointerH,FSR1H ; MedianSink1: ; MOVLW LOW(StatsEntry0Age+((FilterSize-1)*3)); See if the new sample is right at the bottom SUBWF FSR0L,W,Access BTFSS ZeroFlag GOTO MedianSink2 ; MOVLW HIGH(StatsEntry0Age+((FilterSize-1)*3)) SUBWFB FSR0H,W,Access BTFSC ZeroFlag GOTO MedianSinkEnd ; MedianSink2: ; MOVF POSTINC0,W,Access ;Point to the next higher sample and check that it is higher than the new one MOVF POSTINC0,W,Access MOVF POSTINC0,W,Access MOVF POSTINC0,W,Access ; MOVF CalculatorX0,W,Access SUBWF POSTINC0,W,Access MOVF CalculatorX1,W,Access SUBWFB INDF0,W,Access BTFSC CarryFlag GOTO MedianSinkEnd ;If the next higher sample is higher than this one, then we have sunk as far as we can sink ; MOVFF POSTDEC0,MedianTempH ;Otherwise swap these 2 samples and test again MOVFF POSTDEC0,MedianTemp ;Move to temp MOVFF INDF0,MedianTempAge MOVFF POSTINC1,POSTINC0 ;Replace MOVFF POSTINC1,POSTINC0 MOVFF INDF1,INDF0 MOVFF MedianTempH,POSTDEC1 ;Move from temp MOVFF MedianTemp,POSTDEC1 MOVFF MedianTempAge,POSTINC1 MOVF POSTINC1,W,Access ;Move pointers to correct addresses MOVF POSTINC1,W,Access MOVF POSTDEC0,W,Access MOVF POSTDEC0,W,Access ; GOTO MedianSink1 ; MedianSinkEnd: ; GOTO MedianEnd ; MedianFloat: ; MOVFF MedianNewSamplePointer,FSR0L ;Move pointer of new value to FSR0 and FSR1 MOVFF MedianNewSamplePointerH,FSR0H MOVFF MedianNewSamplePointer,FSR1L MOVFF MedianNewSamplePointerH,FSR1H ; MedianFloat1: ; MOVLW LOW(StatsEntry0Age) ;See if the new sample is right at the bottom SUBWF FSR0L,W,Access BTFSS ZeroFlag GOTO MedianFloat2 ; MOVLW HIGH(StatsEntry0Age) SUBWFB FSR0H,W,Access BTFSC ZeroFlag GOTO MedianFloatEnd ; MedianFloat2: ; MOVF POSTDEC0,W,Access ;Point to the next lower sample and check that it is lower than the new one MOVF POSTDEC0,W,Access ; MOVF POSTINC0,W,Access SUBWF CalculatorX0,W,Access MOVF INDF0,W,Access SUBWFB CalculatorX1,W,Access BTFSC CarryFlag GOTO MedianFloatEnd ;If the next lower sample is lower than this one, then we have floated as far as we can float ; MOVFF POSTDEC0,MedianTempH ;Otherwise swap these 2 samples and test again MOVFF POSTDEC0,MedianTemp ;Move to temp MOVFF INDF0,MedianTempAge MOVFF POSTINC1,POSTINC0 ;Replace MOVFF POSTINC1,POSTINC0 MOVFF INDF1,INDF0 MOVFF MedianTempH,POSTDEC1 ;Move from temp MOVFF MedianTemp,POSTDEC1 MOVFF MedianTempAge,POSTDEC1 MOVF POSTDEC1,W,Access ;Move pointers to correct addresses MOVF POSTDEC1,W,Access MOVF POSTDEC0,W,Access MOVF POSTDEC0,W,Access ; GOTO MedianFloat1 ; MedianFloatEnd: ; MedianEnd: ; RETURN ; AverageFilter: ; #ifdef FLOWCONTROLDEVICE MOVLW S_WaitUntilClosed ;Move WaitUntilClosed constant to WREG XORWF MotorState,W,Access ;Check if mainstate in closed mode BTFSC ZeroFlag ;If system closed GOTO AverageFilter_clear ; AverageFilter_tryClosed: ; MOVLW S_Closed ;Move Closed constant to WREG XORWF MotorState,W,Access ;Check if mainstate in closed mode BTFSS ZeroFlag ;If system closed GOTO AverageFilter_moveup ; AverageFilter_clear: ; CLRF StatsEntryA9,Banked ;Clear all Entries to cause a fast reset CLRF StatsEntryA9H,Banked CLRF StatsEntryA8,Banked CLRF StatsEntryA8H,Banked CLRF StatsEntryA7,Banked CLRF StatsEntryA7H,Banked CLRF StatsEntryA6,Banked CLRF StatsEntryA6H,Banked CLRF StatsEntryA5,Banked CLRF StatsEntryA5H,Banked CLRF StatsEntryA4,Banked CLRF StatsEntryA4H,Banked CLRF StatsEntryA3,Banked CLRF StatsEntryA3H,Banked CLRF StatsEntryA2,Banked CLRF StatsEntryA2H,Banked CLRF StatsEntryA1,Banked CLRF StatsEntryA1H,Banked ; GOTO AverageFilter_processEntry #endif ; AverageFilter_moveup: ; MOVFF StatsEntryA8,StatsEntryA9 ;Move all of the flow values up one register MOVFF StatsEntryA8H,StatsEntryA9H MOVFF StatsEntryA7,StatsEntryA8 MOVFF StatsEntryA7H,StatsEntryA8H MOVFF StatsEntryA6,StatsEntryA7 MOVFF StatsEntryA6H,StatsEntryA7H MOVFF StatsEntryA5,StatsEntryA6 MOVFF StatsEntryA5H,StatsEntryA6H MOVFF StatsEntryA4,StatsEntryA5 MOVFF StatsEntryA4H,StatsEntryA5H MOVFF StatsEntryA3,StatsEntryA4 MOVFF StatsEntryA3H,StatsEntryA4H MOVFF StatsEntryA2,StatsEntryA3 MOVFF StatsEntryA2H,StatsEntryA3H MOVFF StatsEntryA1,StatsEntryA2 MOVFF StatsEntryA1H,StatsEntryA2H MOVFF StatsEntryA0,StatsEntryA1 MOVFF StatsEntryA0H,StatsEntryA1H ; MOVFF StatsEntry4,StatsEntryA0 ;Insert the new median flow rate at the bottom of the list MOVFF StatsEntry4H,StatsEntryA0H ; AverageFilter_processEntry: ; MOVFF StatsEntryA0,CalculatorX0 ;Add all the rates together MOVFF StatsEntryA0H,CalculatorX1 CLRF CalculatorX2,Access ; MOVFF StatsEntryA1,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA1H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA2,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA2H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA3,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA3H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA4,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA4H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA5,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA5H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA6,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA6H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA7,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA7H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA8,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA8H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; MOVFF StatsEntryA9,WREG ADDWF CalculatorX0,Same,Access MOVFF StatsEntryA9H,WREG ADDWFC CalculatorX1,Same,Access MOVLW 0 ADDWFC CalculatorX2,Same,Access ; ; Find the high and subtract it ; CLRF CalculatorY0,Access ;Clear CalculatorY CLRF CalculatorY1,Access ; MOVF CalculatorY0,W,Access ;Subtract CalculatorY from FlowAx SUBWF StatsEntryA0,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA0H,W,Banked BTFSC CarryFlag ;If CalculatorY bigger than FlowAx MOVFF StatsEntryA0,CalculatorY0 ;Then move FlowAx to CalculatorY BTFSC CarryFlag MOVFF StatsEntryA0H,CalculatorY1 ;Else just continue ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA1,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA1H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA1,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA1H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA2,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA2H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA2,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA2H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA3,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA3H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA3,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA3H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA4,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA4H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA4,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA4H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA5,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA5H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA5,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA5H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA6,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA6H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA6,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA6H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA7,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA7H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA7,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA7H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA8,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA8H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA8,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA8H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA9,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA9H,W,Banked BTFSC CarryFlag MOVFF StatsEntryA9,CalculatorY0 BTFSC CarryFlag MOVFF StatsEntryA9H,CalculatorY1 ; MOVF CalculatorY0,W,Access ;Subtract the highest value from CalculatorX SUBWF CalculatorX0,Same,Access MOVF CalculatorY1,W,Access SUBWFB CalculatorX1,Same,Access MOVLW 0 SUBWFB CalculatorX2,Same,Access ; ; Find the low and subtract it ; MOVLW 0xFF ;Set CalculatorY to 0xFFFF MOVWF CalculatorY0,Access MOVWF CalculatorY1,Access ; MOVF CalculatorY0,W,Access ;Subtract CalculatorY from FlowAx SUBWF StatsEntryA0,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA0H,W,Banked BTFSS CarryFlag ;If CalculatorY smaller than FlowAx MOVFF StatsEntryA0,CalculatorY0 ;Then move FlowAx to CalculatorY BTFSS CarryFlag MOVFF StatsEntryA0H,CalculatorY1 ;Else just continue ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA1,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA1H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA1,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA1H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA2,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA2H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA2,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA2H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA3,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA3H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA3,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA3H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA4,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA4H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA4,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA4H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA5,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA5H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA5,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA5H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA6,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA6H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA6,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA6H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA7,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA7H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA7,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA7H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA8,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA8H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA8,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA8H,CalculatorY1 ; MOVF CalculatorY0,W,Access SUBWF StatsEntryA9,W,Banked MOVF CalculatorY1,W,Access SUBWFB StatsEntryA9H,W,Banked BTFSS CarryFlag MOVFF StatsEntryA9,CalculatorY0 BTFSS CarryFlag MOVFF StatsEntryA9H,CalculatorY1 ; MOVF CalculatorY0,W,Access ;Subtract the lowest value from CalculatorX SUBWF CalculatorX0,Same,Access MOVF CalculatorY1,W,Access SUBWFB CalculatorX1,Same,Access MOVLW 0 SUBWFB CalculatorX2,Same,Access ; RRCF CalculatorX2,Same,Access ;Divide by 8 (Diveide by 2 three times) RRCF CalculatorX1,Same,Access RRCF CalculatorX0,Same,Access ; RRCF CalculatorX2,Same,Access RRCF CalculatorX1,Same,Access RRCF CalculatorX0,Same,Access ; RRCF CalculatorX2,Same,Access RRCF CalculatorX1,Same,Access RRCF CalculatorX0,Same,Access ; CLRF CalculatorX2,Access ;Clear upper bytes of CalculatorX CLRF CalculatorX3,Access CLRF CalculatorX4,Access ; RETURN ; #endif ; ;******************************************************************************* ;* ;* EEPROM ;* ;******************************************************************************* ;* Read data from internal EEPROM ;* - W loaded with address ;******************************************************************************* ; ORG EEPROM_ORIGIN ; #ifdef EEPROM_S ; ;******************************************************************************* ;* Load variables specific to system from internal EEPROM ;******************************************************************************* ; LoadVariablesFromEEPROM: ; MOVLW 0x00 MOVWF EEADRH,Access MOVLW 0x00 MOVWF EEADR,Access ; MOVLW EE_ConfigFlags ;Device config flags CALL ReadInternalEEPROM MOVWF ConfigFlags, Banked ; BTFSS ConfigInitBit GOTO LoadVariablesToEEPROM_Exit ; MOVLW EE_CANKing_MODE CALL ReadInternalEEPROM MOVWF CANKing_MODE, Banked MOVLW EE_BaseNumber CALL ReadInternalEEPROM MOVWF BaseNumber, Banked ; MOVLW EE_DeviceID ;Current Deive ID CALL ReadInternalEEPROM MOVWF DeviceID, Banked MOVLW EE_DeviceFlags ;Is the device engaged or disingaged CALL ReadInternalEEPROM MOVWF DeviceFlags, Banked MOVLW EE_FlowRateH ;Current Flow rate 2bytes CALL ReadInternalEEPROM MOVWF FlowRateH, Banked MOVLW EE_FlowRateL CALL ReadInternalEEPROM MOVWF FlowRateL, Banked ; MOVLW EE_Folder_1H ;Mayor's Message Folder Envelope CALL ReadInternalEEPROM MOVWF Folder_1H, Banked MOVLW EE_Folder_1L CALL ReadInternalEEPROM MOVWF Folder_1L, Banked ;Folder 2 variable is not saved to memory ;Folder 3 variable is not saved to memory ;Folder 4 variable is not saved to memory ;Folder 5 variable is not saved to memory MOVLW EE_Folder_6H ;Flow Control Message Receive Folder Envelope CALL ReadInternalEEPROM MOVWF Folder_6H, Banked MOVLW EE_Folder_6L CALL ReadInternalEEPROM MOVWF Folder_6L, Banked MOVLW EE_Folder_7H ;Flow Control Message Send Folder Envelope CALL ReadInternalEEPROM MOVWF Folder_7H, Banked MOVLW EE_Folder_7L CALL ReadInternalEEPROM MOVWF Folder_7L, Banked MOVLW EE_GoldenNumber CALL ReadInternalEEPROM MOVWF GoldenNumber, Access MOVLW EE_GoldenNumberH CALL ReadInternalEEPROM MOVWF GoldenNumberH, Access MOVLW EE_GoldenNumberHH CALL ReadInternalEEPROM MOVWF GoldenNumberHH, Access MOVLW EE_GoldenNumberHHH CALL ReadInternalEEPROM MOVWF GoldenNumberHHH, Access MOVLW EE_GoldenNumberHHHH CALL ReadInternalEEPROM MOVWF GoldenNumberHHHH, Access ; LoadVariablesToEEPROM_Exit: ; RETURN ; ReadInternalEEPROM: ; MOVWF EEADR,Access ; BCF _EEPGD BCF _EECFGS ; BSF _EERD NOP MOVF EEDATA,W,Access ; RETURN ; ;******************************************************************************* ;* Write data into internal EEPROM ;* - EEADR loaded with address ;* - Data to be written in W ;* - Interrupts are disabled ;******************************************************************************* ; WriteInternalEEPROM: ; MOVWF EEDATA,Access BCF _EEPGD BCF _EECFGS BSF _EEWREN ; WriteInternalEEPROM1: ; BTFSS BootModeBit ; BCF _GIEH BTFSC _GIEH GOTO WriteInternalEEPROM1 ; MOVLW 0x55 MOVWF EECON2,Access MOVLW 0xAA MOVWF EECON2,Access BSF _EEWR BTFSC _EEWR BRA $-2 ; BTFSS BootModeBit BSF _GIEH ; BCF _EEWREN BTFSS BootModeBit ; RETURN ; ProcessEEPROM: ; BTFSC _EEWR GOTO ProcessEEPROMEnd ; ;The size of the code in this macro affects the calculation in the EEPROM state dispatcher EEPROM_Check: MACRO EEPROM,RAM ; LOCAL EEPROM_CheckEnd ; MOVFF RAM,WREG ;1 2 MOVWF EEPROM_Work,Banked ;3 MOVLW EEPROM ;4 CALL ReadInternalEEPROM ;5 6 SUBWF EEPROM_Work,W,Banked ;7 BTFSC ZeroFlag ;8 GOTO EEPROM_CheckEnd ;9 10 ; MOVF EEPROM_Work,W,Banked ;11 CALL WriteInternalEEPROM ;12 13 ; EEPROM_CheckEnd: ; INCF EEPROM_State,Same,Banked ;14 ; GOTO ProcessEEPROMEnd ;15 16 ; ENDM ; EEPROM_Save: MACRO EEPROM,RAM ; MOVFF RAM,WREG MOVWF EEPROM_Work,Banked MOVLW EEPROM CALL ReadInternalEEPROM ; SUBWF EEPROM_Work,W,Banked ; MOVF EEPROM_Work,W,Banked CALL WriteInternalEEPROM ; ENDM ; EEPROM_Slot: macro ; CLRF EEPROM_State,Banked ;1 GOTO ProcessEEPROMEnd ;2 3 NOP ;4 NOP ;5 NOP ;6 NOP ;7 NOP ;8 NOP ;9 NOP ;10 NOP ;11 NOP ;12 NOP ;13 NOP ;14 NOP ;15 NOP ;16 ; ENDM ; CLRF PCLATU,Access ; RLNCF EEPROM_State,W,Banked SWAPF WREG,W,Access ANDLW b'00000011' ADDLW HIGH(Process_EEPROM_DispatchTable) MOVWF PCLATH,Access ; RLNCF EEPROM_State,W,Banked SWAPF WREG,W,Access ANDLW b'11100000' ; ADDLW LOW(Process_EEPROM_DispatchTable) BTFSC CarryFlag INCF PCLATH,Same,Access MOVWF PCL,Access ; Process_EEPROM_DispatchTable: ; P_E_ST_00 EEPROM_Check EE_BootFlags,BootFlags P_E_ST_01 EEPROM_Check EE_CANKing_MODE,CANKing_MODE P_E_ST_02 EEPROM_Check EE_BaseNumber,BaseNumber P_E_ST_03 EEPROM_Check EE_Folder_1H,Folder_1H P_E_ST_04 EEPROM_Check EE_Folder_1L,Folder_1L P_E_ST_05 EEPROM_Check EE_Folder_2H,Folder_2H P_E_ST_06 EEPROM_Check EE_Folder_2L,Folder_2L P_E_ST_07 EEPROM_Check EE_Folder_3H,Folder_3H P_E_ST_08 EEPROM_Check EE_Folder_3L,Folder_3L P_E_ST_09 EEPROM_Check EE_Folder_4H,Folder_4H P_E_ST_10 EEPROM_Check EE_Folder_4L,Folder_4L P_E_ST_11 EEPROM_Check EE_Folder_5H,Folder_5H P_E_ST_12 EEPROM_Check EE_Folder_5L,Folder_5L P_E_ST_13 EEPROM_Check EE_Folder_6H,Folder_6H P_E_ST_14 EEPROM_Check EE_Folder_6L,Folder_6L P_E_ST_15 EEPROM_Check EE_Folder_7H,Folder_7H ; P_E_ST_16 EEPROM_Check EE_Folder_7L,Folder_7L P_E_ST_17 EEPROM_Check EE_DeviceFlags,DeviceFlags P_E_ST_18 EEPROM_Check EE_ConfigFlags,ConfigFlags P_E_ST_19 EEPROM_Check EE_DeviceID,DeviceID P_E_ST_20 EEPROM_Check EE_FlowRateH,FlowRateH P_E_ST_21 EEPROM_Check EE_FlowRateL,FlowRateL P_E_ST_22 EEPROM_Check EE_GoldenNumber,GoldenNumber P_E_ST_23 EEPROM_Check EE_GoldenNumberH,GoldenNumberH P_E_ST_24 EEPROM_Check EE_GoldenNumberHH,GoldenNumberHH P_E_ST_25 EEPROM_Check EE_GoldenNumberHHH,GoldenNumberHHH P_E_ST_26 EEPROM_Check EE_GoldenNumberHHHH,GoldenNumberHHHH P_E_ST_27 EEPROM_Slot P_E_ST_28 EEPROM_Slot P_E_ST_29 EEPROM_Slot P_E_ST_30 EEPROM_Slot P_E_ST_31 EEPROM_Slot ; ProcessEEPROMEnd: ; RETURN ; #endif ; ;******************************************************************************* ;* ;* CANBusCode ;* ;******************************************************************************* ; ORG CANBUS_ORIGIN ; CANKingdomRX_extern: ; KingsMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with King's ID XORLW 0x00 ;King's Identifier is 0x00000000 BTFSS ZeroFlag ;Test if Zero GOTO ConfMessTest ;Else goto next test ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with King's ID XORLW 0x00 ;King's Identifier is 0x00000000 BTFSS ZeroFlag ;Test if Zero GOTO ConfMessTest ;Else goto next test ; GOTO KingsMess ;If match then goto King's message handler ; ConfMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Configuration ID XORWF Folder_2L,W,Banked ;Configuration message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessTestBasicExit ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Configuration ID XORWF Folder_2H,W,Banked ;Configuration message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessTestBasicExit ;Else goto exit ; GOTO ConfMess ;If match then goto Configuration message handler ; MessTestBasicExit: ; #IFDEF FLOWCONTROLDEVICE ; BTFSC FlowDevice GOTO FlowBroadTest BTFSC FCDevice GOTO FCBroadTest GOTO MessExit ; FlowBroadTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORLW 0x2C ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO FlowMessTest ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORLW 0x01 ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO FlowMessTest ;Else goto exit ; GOTO FlowMess ;If match then goto Flow control message handler ; FlowMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORWF Folder_6L,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORWF Folder_6H,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit GOTO FlowMess ;If match then goto Flow control message handler ; FCBroadTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORLW 0x2C ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO FCMessTest ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORLW 0x01 ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO FCMessTest ;Else goto exit ; GOTO FCMessReplyOnly ;If match then goto Flow control message handler ; FCMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORWF Folder_6L,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORWF Folder_6H,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit GOTO FCMess ;If match then goto Flow control message handler ; #ENDIF ; #IFDEF HYDDRIVEDEVICE HydraulicBroadTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORLW 0x2C ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO HydraulicMessTest ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORLW 0x01 ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO HydraulicMessTest ;Else goto exit ; GOTO HydraulicMessReplyOnly ;If match then goto Flow control message handler ; HydraulicMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORWF Folder_6L,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORWF Folder_6H,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit GOTO HydraulicMess ;If match then goto Flow control message handler ; #ENDIF ; #IFDEF GRANCONTROLDEVICE ; GranBroadTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORLW 0x2C ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO GranMessTest ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORLW 0x01 ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO GranMessTest ;Else goto exit ; GOTO GranMess ;If match then goto Flow control message handler ; GranMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Flow Control ID XORWF Folder_6L,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Flow Control ID XORWF Folder_6H,W,Banked ;Flow message identifier BTFSS ZeroFlag ;Test if Zero GOTO MessExit ;Else goto exit GOTO GranMess ;If match then goto Flow control message handler ; #ENDIF ; CANKingdomRX_handler_exit: ; GOTO MessExit ; ;******************************************************************************* ; Page lookup ;******************************************************************************* ; KingsMess: ; MOVF RXMessBuff_D1, W, Banked ;Check Message Page byte BTFSC ZeroFlag ;Test if Zero GOTO KingsMess_0_A ;If true then goto page 0 ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_1 ;If true then goto page 1 ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_2 ;If true then goto page 2 ; GOTO Undefined_Page ;Else goto unidentified page handler ; KingsMess_0_A: ; MOVF RXMessBuff_D2,W,Banked ;Get Action mode byte BTFSC ZeroFlag ;If keep current mode then GOTO KingsMess_0_C ;Go to next section ANDLW b'00000011' ;Get only relevant bits ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_A_Run ;If true then goto section ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_A_Freeze ;If true then goto section ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_A_Reset ;If true then goto section GOTO KingsMess_0_C ;Go to next section ; KingsMess_0_A_Run: ; BCF ActionType ;Set action to run GOTO KingsMess_0_C ;Go to next section ; KingsMess_0_A_Freeze: ; BSF ActionType ;Set action to run GOTO KingsMess_0_C ;Go to next section ; KingsMess_0_A_Reset: ; RESET GOTO KingsMess_0_C ;Go to next section ; KingsMess_0_C: ; MOVF RXMessBuff_D3,W,Banked ;Get Comm mode byte BTFSC ZeroFlag ;If keep current mode then GOTO KingsMess_0_M ;Go to next section ANDLW b'00000011' ;Get only relevant bits ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_C_Silent ;If true then goto section ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_C_Listen ;If true then goto section ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO KingsMess_0_C_Comm ;If true then goto section GOTO KingsMess_0_M ;Go to next section ; KingsMess_0_C_Silent: ; GOTO KingsMess_0_M ;Go to next section ; KingsMess_0_C_Listen: ; BSF CommType ;Set comm to listen only GOTO KingsMess_0_M ;Go to next section ; KingsMess_0_C_Comm: ; BCF CommType ;Set comm to communicate GOTO KingsMess_0_M ;Go to next section ; KingsMess_0_M: ; MOVF RXMessBuff_D4,W,Banked ;Get City mode byte ANDLW b'00001111' ;Get only relevant bits IORWF CANKing_MODE,Same,Banked ;Add result to CANKing_MODE register ; GOTO MessExit ; KingsMess_1: ; MOVFF RXMessBuff_D4,BaseNumber ;Get base number LCB from buffer BSF ConfigBaseNum ;Base number registered ; BTFSC ConfigInitBit ;Is system initialized? GOTO MessExit ;Then exit BTFSS ConfigDeviceNum ;Else check if dvice id set GOTO MessExit ;Else exit ; MOVFF RXMessBuff_D2,WREG ;Move Mayor's response Page to working register XORLW 0xFF ;Mayor's document page 1 BTFSS ZeroFlag ;If no match GOTO MessExit ;Exit ; KingsMess_2: ; MOVF RXMessBuff_D0,W,Banked ;Move target number to working register XORWF Folder_1L,W,Banked ;Match Mayor's Evelope BTFSS ZeroFlag ;If match then continue GOTO MessExit ;Else not for this device and Exit ; MOVF RXMessBuff_D6,W,Banked ;Get folder number DECF WREG,W,Access ;Decrease by three DECF WREG,W,Access DECF WREG,W,Access DECF WREG,W,Access DECF WREG,W,Access ; KingsMess2_Env6: ; DECFSZ WREG,W,Access ;If not for folder 4 GOTO KingsMess2_Env7 ;Then move on MOVFF RXMessBuff_D3,Folder_6H ;Else save folder envelope MOVFF RXMessBuff_D2,Folder_6L ; GOTO KingsMess2_Env6_2 ; KingsMess2_Env6_2: ; GOTO MessExit ; KingsMess2_Env7: DECFSZ WREG,W,Access ;If not for folder 5 GOTO Undefined_Fold ;Then unidentified ; MOVFF RXMessBuff_D3,Folder_7H ;Else save folder envelope MOVFF RXMessBuff_D2,Folder_7L BCF ConfigModeBit ;Set device to config mode BSF ConfigInitBit ;Set device to config mode ; CALL Send_Config_Status ;Reply with the status of device ; #ifdef FLOWCONTRLDEVICE BTFSC FCDevice CALL Send_Engaged_Status #endif ; GOTO MessExit ; ConfMess: ; MOVF RXMessBuff_D1,W,Banked ;Check Message Page byte BTFSC ZeroFlag ;Test if Zero GOTO ConfMess_0 ;If true then goto ConfMess_0 ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO Undefined_Page ;Else goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO ConfMess_2 ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; ConfMess_0: ;Configure Flow Rate Unit ; MOVF RXMessBuff_D0,W,Banked ;Move target number to working register XORWF Folder_1L,W,Banked ;Match Mayor's Evelope BTFSS ZeroFlag ;If match then continue GOTO ConfMess_C ;Else not for this device and Exit ; MOVFF RXMessBuff_D2,WREG ;Compare Config bit flags ANDLW b'00111000' ;Reset device? XORLW b'00101000' BTFSS ZeroFlag ;Test if true GOTO ConfMess_C ;Go to next section ; ConfMess_Reset: ; CLRF DeviceID ;Clear the device ID CALL Reset_Counters ;Reset all CANBus counters CALL Reset_Default_values ;Reset all CANBus default values ; GOTO MessExit ;Go to exit ; ConfMess_C: ;Configure Flow Rate Unit ; MOVFF RXMessBuff_D2,WREG ;Compare Config bit flags ANDLW b'10000000' ;Go into init mode? BTFSC ZeroFlag ;Test if true GOTO ConfMess_0_2 ;Go to exit BTFSC ConfigInitBit GOTO ConfMess_0_2 ;Go to exit ; Enter_config_mode: ; BSF ConfigModeBit ;Set device to config mode BCF ConfigInitBit ;Device not initialised BCF ConfigReplySent ;Button not yet pressed BCF ConfigDeviceNum ;Device ID is descarded BCF SentEngagedBit ;Reset sent engage flag CLRF DeviceID ;Clear the device ID CLRF Folder_1L ;Clear the Mayor's Folder CLRF Folder_1H GOTO ConfMess_Respond ;Continue to next section ; ConfMess_0_2: ; MOVFF RXMessBuff_D2,WREG ;Compare Config bit flags ANDLW b'11000000' ;Go into init mode? XORLW b'11000000' ;Make sure all bits are set BTFSC ZeroFlag ;Test if true GOTO Enter_config_mode ;Enter config mode ; ConfMess_Respond: ; MOVFF RXMessBuff_D2,WREG ;Compare Config bit flags ANDLW b'00000001' ;Reply if not init BTFSC ZeroFlag ;Test if true GOTO MessExit ;Else goto exit ; ConfMess_0_respond: ; BTFSS ConfigInitBit ;Check if device initialised CALL Send_Config_Status ;Reply with Device init status ; GOTO MessExit ;Go to exit ; ConfMess_2: ;Save new device ID message ; BTFSS ConfigReplySent ;Make sure message is meant for this unit GOTO MessExit BTFSC ConfigInitBit GOTO MessExit BTFSS ConfigModeBit GOTO MessExit ; MOVFF RXMessBuff_D2,DeviceID ;Compare Config bit flags BSF ConfigDeviceNum ; BTFSS ConfigBaseNum GOTO MessExit CALL MayorMess ;Send mayor's message for registration of deivce at main unit GOTO MessExit ;Go to exit ; MayorMess: ; MOVF BaseNumber,W,Banked ;Move base number to working register ; ADDWF DeviceID,W,Banked ;Add device id value to base number BTFSC CarryFlag ;If there was a carry INCF Folder_1H, Banked ;Then add 1 to Folder_1H MOVWF Folder_1L, Banked ;Move new address to Folder_1L ; CALL Send_Mayors ;Then send mayor's document page 1 GOTO MessExit ;Exit ; #IFDEF FLOWCONTROLDEVICE FlowMess: ; TSTFSZ Folder_1L GOTO FlowMess_Content TSTFSZ Folder_1H GOTO FlowMess_Content RETURN ; FlowMess_Content: ; MOVF RXMessBuff_D1,W,Banked BTFSC ZeroFlag ;Test if Zero GOTO Undefined_Page ;If true then goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO FlowMess_1 ;If true then goto page 1 ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO FlowMess_2 ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; FlowMess_1: ;Save flow rate message ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00001000' ;Update Engage? BTFSC ZeroFlag ;Test if true GOTO FlowMess_FlowRate ;Else goto exit ; FlowMess_Engage: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00000010' ;Update Engage? BTFSS ZeroFlag ;Test if true GOTO FlowMess_Engage_On ;Set Engage bit ; FlowMess_Engage_Off: ; BCF EngageBit ;Engage system BCF ControlFlow GOTO FlowMess_FlowRate ;Continue to next section ; FlowMess_Engage_On: ; BSF EngageBit ;Else goto exit BSF ControlFlow ; FlowMess_FlowRate: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00000100' ;Update Flow rate? BTFSC ZeroFlag ;Test if true GOTO FlowMess_ManualCalib ;Else continue ; MOVFF RXMessBuff_D2,SetPoint ;Save new flow rate MOVFF RXMessBuff_D3,SetPointH ; FlowMess_ManualCalib: ; MOVFF RXMessBuff_D5,WREG ;Compare Config bit flags ANDLW b'00000001' ;Update ManualCalibration? BTFSS ZeroFlag ;Test if true GOTO FlowMess_ManualCalib_On ;Set ManualCalibration ; FlowMess_ManualCalib_Off: ; BCF ManualCalibration ;Manual calibration is not allowed GOTO FlowMess_FlowRateReply ;Continue to next section ; FlowMess_ManualCalib_On: ; BSF ManualCalibration ;Manual calibration is allowed ; FlowMess_FlowRateReply: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00010000' ;Reply with device details? BTFSC ZeroFlag ;Test if true GOTO MessExit ;Else exit ; CALL Send_Flow_rate ;Call flow rate send message ; GOTO MessExit ; FlowMess_2: ;Save flow rate message ; MOVFF RXMessBuff_D2,GoldenNumber ;Move new golden number MOVFF RXMessBuff_D3,GoldenNumberH ;Move new golden number MOVFF RXMessBuff_D4,GoldenNumberHH ;Move new golden number MOVFF RXMessBuff_D5,GoldenNumberHHH ;Move new golden number MOVFF RXMessBuff_D6,GoldenNumberHHHH ;Move new golden number ; GOTO MessExit ; FCMessReplyOnly: ; TSTFSZ Folder_1L GOTO FCMess_Content_Reply TSTFSZ Folder_1H GOTO FCMess_Content_Reply RETURN ; FCMess_Content_Reply: ; MOVF RXMessBuff_D1,W,Banked BTFSC ZeroFlag ;Test if Zero GOTO Undefined_Page ;If true then goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO FCMess_1_1 ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; FCMess: ; TSTFSZ Folder_1L GOTO FCMess_Content TSTFSZ Folder_1H GOTO FCMess_Content RETURN ; FCMess_Content: ; MOVF RXMessBuff_D1,W,Banked BTFSC ZeroFlag ;Test if Zero GOTO Undefined_Page ;If true then goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO FCMess_1 ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; FCMess_1: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00001000' ;Reply with device details? BTFSC ZeroFlag ;Test if true GOTO FCMess_1_1 ;Else goto next section ; MOVFF RXMessBuff_D3,PressureTargetH ;Set new pressure target MOVFF RXMessBuff_D2,PressureTargetL ;Set new pressure target ; FCMess_1_1: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00010000' ;Reply with device details? BTFSC ZeroFlag ;Test if true GOTO MessExit ;Else exit ; CALL Send_Engaged_Status ;Call engage status send message ; GOTO MessExit ; #ENDIF ; #IFDEF HYDDRIVEDEVICE ; HydraulicMessReplyOnly: ; TSTFSZ Folder_1L GOTO HydraulicMess_Content TSTFSZ Folder_1H GOTO HydraulicMess_Content RETURN ; HydraulicMess_ContentReply: ; MOVF RXMessBuff_D1,W,Banked BTFSC ZeroFlag ;Test if Zero GOTO Undefined_Page ;If true then goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO HydraulicMess_1Reply ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; HydraulicMess_1Reply: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00010000' ;Reply with device details? BTFSC ZeroFlag ;Test if true GOTO MessExit ;Else exit ; CALL Send_Flow_rate ;Call engage status send message ; GOTO MessExit ; HydraulicMess: ; TSTFSZ Folder_1L GOTO HydraulicMess_Content TSTFSZ Folder_1H GOTO HydraulicMess_Content RETURN ; HydraulicMess_Content: ; MOVF RXMessBuff_D1,W,Banked BTFSC ZeroFlag ;Test if Zero GOTO Undefined_Page ;If true then goto unidentified page handler ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO HydraulicMess_1 ;If true then goto page 1 ; GOTO Undefined_Page ;Else goto unidentified page handler ; HydraulicMess_1: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00000100' ;Update flow rate? BTFSC ZeroFlag ;Test if true GOTO HydraulicMess_Eng ;Else exit ; MOVFF RXMessBuff_D2,TargetVolumeL ;New target volume mL/min MOVFF RXMessBuff_D3,TargetVolumeH MOVFF RXMessBuff_D5,TargetVolumeU CALL CalculateSP ; HydraulicMess_Eng: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00001000' ;Update flow rate? BTFSC ZeroFlag ;Test if true GOTO HydraulicMess_Vol ;Else exit ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00000010' ;Update Engage? BTFSS ZeroFlag ;Test if true GOTO HydraulicMess_Eng_On ;Set Engage bit ; HydraulicMess_Eng_Off: ; BCF ControlFlow GOTO HydraulicMess_Vol ;Continue to next section ; HydraulicMess_Eng_On: ; BSF ControlFlow ; ; HydraulicMess_Vol: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00100000' ;Update volume? BTFSC ZeroFlag ;Test if true GOTO HydraulicMess_Rep ;Else exit ; MOVFF RXMessBuff_D6,PumpVolumeL ;New set point MOVFF RXMessBuff_D7,PumpVolumeH ;New set point H ; CALL HydrCalcNewGoldenNumber ; HydraulicMess_Rep: ; MOVFF RXMessBuff_D4,WREG ;Compare Config bit flags ANDLW b'00010000' ;Reply with device details? BTFSC ZeroFlag ;Test if true GOTO MessExit ;Else exit ; CALL Send_Flow_rate ;Call engage status send message ; GOTO MessExit ; #ENDIF ; ;******************************************************************************* ; Error Handlers ;******************************************************************************* ; Undefined_Ident: ; GOTO MessExit ;The identifier was not recognized ; Undefined_Page: ; GOTO MessExit ;The page was not recognized ; Undefined_Fold: ; GOTO MessExit ;The folder was not recognized ; MessExit: ; RETURN ; ;******************************************************************************* ; Messages for sending ;******************************************************************************* ; Send_Config_Status: ; BTFSC ConfigInitBit GOTO Send_Config_Button_ID ;Send Device ID if device configured ; Send_Config_Button_None: ; MOVLW 0x00 ;Byte 0 GOTO Send_Config_Button_Byte ; Send_Config_Button_ID: ; MOVFF Folder_1L,WREG ;Byte 0 - Device ID ; Send_Config_Button_Byte: ; MOVWF TXMessBuff_D0,Banked MOVLW 0x01 ;Byte 1 - Page 1 MOVWF TXMessBuff_D1,Banked BTFSC ConfigInitBit GOTO Send_Config_Status_1 ; Send_Config_Status_0: ; MOVLW 0x00 ;Byte 2 MOVWF TXMessBuff_D2,Banked GOTO Send_Config_Status_O ; Send_Config_Status_1: ; MOVLW 0x01 ;Byte 2 MOVWF TXMessBuff_D2,Banked ; Send_Config_Status_O: ; MOVFF DeviceID_4,TXMessBuff_D3 ;Byte 3 - Device type MOVLW 0x00 ;Byte 4 MOVWF TXMessBuff_D4,Banked MOVLW 0x00 ;Byte 5 MOVWF TXMessBuff_D5,Banked MOVLW 0x00 ;Byte 6 MOVWF TXMessBuff_D6,Banked MOVLW 0x00 ;Byte 7 MOVWF TXMessBuff_D7,Banked MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_3H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_3L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message ; RETURN ; Send_Config_Button: ; MOVLW 0x00 ;Byte 0 MOVWF TXMessBuff_D0,Banked MOVLW 0x01 ;Byte 1 - Page 1 MOVWF TXMessBuff_D1,Banked MOVLW 0x02 ;Byte 2 BTFSC ConfigInitBit INCF WREG,Same,Access MOVWF TXMessBuff_D2,Banked MOVLW 0x00 ;Byte 3 MOVWF TXMessBuff_D3,Banked MOVLW 0x00 ;Byte 4 MOVWF TXMessBuff_D4,Banked MOVLW 0x00 ;Byte 5 MOVWF TXMessBuff_D5,Banked MOVLW 0x00 ;Byte 6 MOVWF TXMessBuff_D6,Banked MOVLW 0x00 ;Byte 7 MOVWF TXMessBuff_D7,Banked MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_3H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_3L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message RETURN ; #IFDEF FLOWCONTROLDEVICE Send_Flow_rate: ; MOVFF Folder_1L,TXMessBuff_D0 ;Byte 0 - Device ID MOVLW 0x00 ;Byte 1 - Page 0 MOVWF TXMessBuff_D1,Banked ; ;MOVFF PulseProcessVariable,TXMessBuff_D2 ;Byte 2 - Flow rate low byte ;MOVFF PulseProcessVariableH,TXMessBuff_D3 ;Byte 3 - Flow rate high byte MOVFF PulseAdjusted,TXMessBuff_D2 ;Byte 2 - Flow rate low byte MOVFF PulseAdjustedH,TXMessBuff_D3 ;Byte 3 - Flow rate high byte ; MOVLW 0x00 ;Byte 4 - Device flags MOVWF TXMessBuff_D4,Banked ;Clear byte ; SendFlowError_: ; ; BTFSC ErrorBit ; GOTO SendFlowEngage_ ; ; MOVLW 0x01 ; IORWF TXMessBuff_D4,Same,Banked ; SendFlowEngage_: ; BTFSC ControlFlow GOTO SendFlowWaterSensor ; MOVLW 0x02 IORWF TXMessBuff_D4,Same,Banked ; SendFlowWaterSensor: ; BTFSC WaterSensor GOTO SendAmpMeter ; MOVLW 0x80 IORWF TXMessBuff_D4,Same,Banked ; SendAmpMeter: ; BTFSS AmpFlag GOTO SendFlowVoltage ; MOVLW 0x40 IORWF TXMessBuff_D4,Same,Banked ; SendFlowVoltage: ; MOVFF SetError,TXMessBuff_D5 MOVFF VoltReading,TXMessBuff_D7 ;Byte 7 - Volt reading ; SendFlowCalib: ; CLRF TXMessBuff_D5,Banked ;Byte 5 - Calibration flags - Clear byte ; SendFlowCalib_I: ; BTFSS IncCalibBit GOTO SendFlowCalib_D MOVLW 0x02 IORWF TXMessBuff_D5,Same,Banked ; SendFlowCalib_D: ; BTFSS DecCalibBit GOTO SendFlowDLCBytes MOVLW 0x01 IORWF TXMessBuff_D5,Same,Banked ; SendFlowDLCBytes: ; MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_7H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_7L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message ; RETURN ; #endif ; #IFDEF GRANCONTROLDEVICE Send_Flow_rate: ; MOVFF Folder_1L,TXMessBuff_D0 ;Byte 0 - Device ID MOVLW 0x00 ;Byte 1 - Page 0 MOVWF TXMessBuff_D1,Banked ; MOVFF gpm,TXMessBuff_D2 ;Byte 2 - Flow rate low byte MOVFF gpmH,TXMessBuff_D3 ;Byte 3 - Flow rate high byte ; MOVLW 0x00 ;Byte 4 - Device flags MOVWF TXMessBuff_D4,Banked ;Clear byte ; SendFlowError_: ; ; BTFSC ErrorBit ; GOTO SendFlowEngage_ ; ; MOVLW 0x01 ; IORWF TXMessBuff_D4,Same,Banked ; SendFlowEngage_: ; BTFSC ControlFlow GOTO SendFlowWaterSensor ; MOVLW 0x02 IORWF TXMessBuff_D4,Same,Banked ; SendFlowWaterSensor: ; BTFSC WaterSensor GOTO SendFlowVoltage ; MOVLW 0x80 IORWF TXMessBuff_D4,Same,Banked ; SendFlowVoltage: ; MOVFF SetError,TXMessBuff_D5 MOVFF VoltReading,TXMessBuff_D7 ;Byte 7 - Volt reading MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_7H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_7L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message ; RETURN ; #endif ; Send_Engaged_Status: ; TSTFSZ Folder_7L GOTO Send_Engaged_Status_Content TSTFSZ Folder_7H GOTO Send_Engaged_Status_Content RETURN ; Send_Engaged_Status_Content: ; MOVFF Folder_1L,TXMessBuff_D0 ;Byte 0 - Device ID MOVLW 0x00 ;Byte 1 - Page 0 MOVWF TXMessBuff_D1,Banked MOVFF AnalogueL,TXMessBuff_D2 ;Byte 2 - AnalogueL ;MOVFF AnalogueT,TXMessBuff_D2 ;Byte 2 - AnalogueT MOVFF AnalogueH,TXMessBuff_D3 ;Byte 3 - AnalogueH #IFDEF FLOWCONTROLDEVICE BTFSS EngageBit MOVLW 0x0E ;Byte 4 - System is engaged BTFSC EngageBit MOVLW 0x0C ;Byte 4 - System is not engaged #else ; #IFDEF GRANCONTROLDEVICE BTFSS ControlFlow MOVLW 0x0E ;Byte 4 - System is engaged BTFSC ControlFlow MOVLW 0x0C ;Byte 4 - System is not engaged #else MOVLW 0x0C ;Byte 4 - System is not engaged #endif #endif ; BTFSS WaterSensor IORLW b'10000000' ; #IFDEF FLOWCONTROLDEVICE BTFSC AmpFlag IORLW b'01000000' #endif ; MOVWF TXMessBuff_D4,Banked MOVFF PulseProcessVariable,TXMessBuff_D5 ;Byte 5 - Pulse Interval MOVFF PulseProcessVariableH,TXMessBuff_D6 ;Byte 6 - Pulse Interval High ; #ifdef VOLTAGE_METER MOVFF VoltReading,TXMessBuff_D7 ;Byte 7 - Volt reading #else MOVLW 0x00 ; MOVWF TXMessBuff_D7 ;Byte 7 #endif ; MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_7H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_7L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message ; RETURN ; #IFDEF HYDDRIVEDEVICE Send_Flow_rate: ; MOVFF Folder_1L,TXMessBuff_D0 ;Byte 0 - Device ID MOVLW 0x00 ;Byte 1 - Page 0 MOVWF TXMessBuff_D1,Banked ; MOVFF PulseProcessVariable,TXMessBuff_D2 ;Byte 2 - Flow rate low byte MOVFF PulseProcessVariableH,TXMessBuff_D3 ;Byte 3 - Flow rate high byte ; MOVLW 0x00 ;Byte 4 - Device flags MOVWF TXMessBuff_D4,Banked ;Clear byte ; SendFlowWaterSensor: ; BTFSC WaterSensor GOTO SendVoltMeter ; MOVLW 0x80 IORWF TXMessBuff_D4,Same,Banked ; SendVoltMeter: ; #ifdef VOLTAGE_METER MOVFF VoltReading,TXMessBuff_D7 #endif ; SendAmpMeter: ; #ifdef AMPERE_METER BTFSS AmpFlag GOTO SendFlowError ; MOVLW 0x40 IORWF TXMessBuff_D4,Same,Banked #endif ; SendFlowError: ; MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked ;Load EID15:EID8 MOVFF Folder_7H,TXMessBuff_EH ;Load EID7:EID0 MOVFF Folder_7L,TXMessBuff_EL ;Load EID7:EID0 ; CALL Send_Message ; RETURN #ENDIF ; Send_Mayors: ; MOVLW 0x00 ;Byte 0 MOVWF TXMessBuff_D0,Banked MOVLW 0x01 ;Byte 1 - Page 1 MOVWF TXMessBuff_D1,Banked MOVFF DeviceID_0,TXMessBuff_D2 ;Byte 2 - Device ID byte 0 MOVFF DeviceID_1,TXMessBuff_D3 ;Byte 3 - Device ID byte 1 MOVFF DeviceID_2,TXMessBuff_D4 ;Byte 4 - Device ID byte 2 MOVFF DeviceID_3,TXMessBuff_D5 ;Byte 5 - Device ID byte 3 MOVFF DeviceID_4,TXMessBuff_D6 ;Byte 6 - Device ID byte 4 MOVLW 0x00 ;Byte 7 MOVWF TXMessBuff_D7,Banked MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked MOVFF Folder_1L,TXMessBuff_EL ;Load EID7:EID0 MOVFF Folder_1H,TXMessBuff_EH ;Load EID15:EID8 ; CALL Send_Message ; RETURN ; Send_ADRH: ; MOVFF Folder_6L,TXMessBuff_D0 MOVFF Folder_6H,TXMessBuff_D1 MOVFF Folder_7L,TXMessBuff_D2 MOVFF Folder_7H,TXMessBuff_D3 MOVFF RXMessBuff_D6,TXMessBuff_D4 MOVLW 0xBB MOVFF WREG,TXMessBuff_D5 MOVFF WREG,TXMessBuff_D6 MOVFF WREG,TXMessBuff_D7 MOVLW 0x08 ;DLC - 8 bytes MOVWF TXMessBuff_DL,Banked ; MOVLW 08H ;Load SID2:SID0, EXIDE = 1 MOVWF TXMessBuff_SL,Banked MOVLW 00H ;Load SID10:SID3, EID17:EID16 MOVWF TXMessBuff_SH,Banked MOVLW 0x64 MOVWF TXMessBuff_EL ;Load EID7:EID0 MOVLW 0x00 MOVWF TXMessBuff_EH ;Load EID7:EID0 ; CALL Send_Message ; RETURN ; ;******************************************************************************* ;* ;* Boot-loader ;* ;******************************************************************************* ; ; Read in the block of data from FLASH ; ORG BOOTLOADER_ORIGIN ; ;******************************************************************************* ;* Initialisation ;******************************************************************************* ; Boot_init: ; BCF BootModeBit ; RETURN ; ;******************************************************************************* ;* Bootloader ;******************************************************************************* ; Startup: ; MOVLW EE_BootFlags ;Device config flags CALL BootReadInternalEEPROM MOVWF BootFlags, Banked BTFSS BootModeBit GOTO Begin BSF RedLED ; ;There is an issue with the bootloader the system has reset without Closed_Loop: ; CALL CANInterrupts GOTO Closed_Loop ; ;******************************************************************************* ;* Start bootloader update session ;******************************************************************************* ; Start_Bootload: ; MOVLW SIZE_OF_BLOCK ;number of bytes in erase block MOVWF Counter ; MOVLW CODE_ADD_UPPER_DEF MOVWF TBLPTRU, Access MOVWF CodeAddressUpper,Banked MOVWF EraseAddressUpper,Banked ; MOVLW CODE_ADD_HIGH_DEF MOVWF TBLPTRH, Access MOVWF CodeAddressHigh,Banked MOVWF EraseAddressHigh,Banked ; MOVLW CODE_ADD_LOW_DEF MOVWF TBLPTRL, Access MOVWF CodeAddressLow,Banked MOVWF EraseAddressLow,Banked ; MOVLW 0x02 ;Data memory is in second bank MOVWF DataAddressHigh,Banked ; CALL SETUP_READ_BLOCK ; RETURN ; ;******************************************************************************* ;* Update next line of code ;******************************************************************************* ; CheckNextBootCodeLine: ; MOVF TBLPTRU, W, Access XORWF CodeAddressUpper, W, Banked BTFSS ZeroFlag CALL ChangeBootBlock ; MOVF TBLPTRH, W, Access XORWF CodeAddressHigh, W, Banked BTFSS ZeroFlag CALL ChangeBootBlock ; MOVF TBLPTRL, W, Access XORWF CodeAddressLow, W, Banked ANDLW b'11000000' BTFSS ZeroFlag CALL ChangeBootBlock ; CALL ModifyWord ; RETURN ; ;******************************************************************************* ;* Change program block ;******************************************************************************* ; ChangeBootBlock: ; CALL ERASE_BLOCK CALL SETUP_READ_BLOCK ; RETURN ; SETUP_READ_BLOCK: ; MOVLW SIZE_OF_BLOCK ;number of bytes in erase block MOVWF Counter,Banked ; MOVLW BUFFER_ADDR_HIGH ;point to buffer with address counter register MOVWF FSR0H,Access MOVLW BUFFER_ADDR_LOW MOVWF FSR0L,Access ; MOVF CodeAddressUpper, W, Banked ;Load TBLPTR with the base MOVWF TBLPTRU, Access ;address of the memory block MOVF CodeAddressHigh, W, Banked MOVWF TBLPTRH, Access MOVF CodeAddressLow, W, Banked MOVWF TBLPTRL, Access ; READ_BLOCK: ; TBLRD*+ ;read into TABLAT, and inc MOVF TABLAT, W, Access ;get data MOVWF POSTINC0, Access ;store data DECFSZ Counter, Same, Banked ;done? BRA READ_BLOCK ;repeat ; RESET_READ_ADDRESS: ; MOVF CodeAddressUpper, W, Banked ;Load TBLPTR with the base MOVFF CodeAddressUpper, EraseAddressUpper MOVWF TBLPTRU, Access ;address of the memory block MOVF CodeAddressHigh, W, Banked MOVFF CodeAddressHigh, EraseAddressHigh MOVWF TBLPTRH, Access MOVF CodeAddressLow, W, Banked MOVFF CodeAddressLow, EraseAddressLow MOVWF TBLPTRL, Access ; RETURN ; ModifyWord: ; MOVF DataAddressHigh, W, Banked ;point to buffer MOVWF FSR0H, Access MOVF DataAddressLow, W, Banked MOVWF FSR0L, Access MOVF NewDataLow, W, Banked ;update buffer word MOVWF POSTINC0, Access MOVF NewDataHigh, W, Banked MOVWF INDF0, Access BSF BootNewData ;Indicate new data ; RETURN ; ERASE_BLOCK: ; MOVF EraseAddressUpper, W, Banked ;load TBLPTR with the base MOVWF TBLPTRU, Access ;address of the memory block MOVF EraseAddressHigh, W, Banked MOVWF TBLPTRH, Access MOVF EraseAddressLow, W, Banked MOVWF TBLPTRL, Access BSF EECON1, EEPGD ;point to Flash program memory BCF EECON1, CFGS ;access Flash program memory BSF EECON1, WREN ;enable write to memory BSF EECON1, FREE ;enable Row Erase operation MOVLW 55h MOVWF EECON2, Access ;write 55h MOVLW 0AAh MOVWF EECON2, Access ;write 0AAh BSF EECON1, WR ;start erase (CPU stall) TBLRD*- ;dummy read decrement MOVLW BUFFER_ADDR_HIGH ;point to buffer MOVWF FSR0H, Access MOVLW BUFFER_ADDR_LOW MOVWF FSR0L, Access ; WRITE_BUFFER_BACK: ; ;MOVF EraseAddressUpper, W, Banked ;load TBLPTR with the base ;MOVWF TBLPTRU, Access ;address of the memory block ;MOVF EraseAddressHigh, W, Banked ;MOVWF TBLPTRH, Access ;MOVF EraseAddressLow, W, Banked ;MOVWF TBLPTRL, Access MOVLW SIZE_OF_BLOCK ;number of bytes in holding register MOVWF Counter, Banked ; WRITE_BYTE_TO_HREGS: ; MOVFF POSTINC0, WREG ;get low byte of buffer data MOVWF TABLAT, Access ;present data to table latch TBLWT+* ;write data, perform a short write ;to internal TBLWT holding register. DECFSZ Counter, Same, Banked ;loop until buffers are full BRA WRITE_BYTE_TO_HREGS ; PROGRAM_MEMORY: ; MOVF EraseAddressUpper, W, Banked ;load TBLPTR with the base MOVWF TBLPTRU, Access ;address of the memory block MOVF EraseAddressHigh, W, Banked MOVWF TBLPTRH, Access MOVF EraseAddressLow, W, Banked MOVWF TBLPTRL, Access ; BSF EECON1, EEPGD ;point to Flash program memory BCF EECON1, CFGS ;access Flash program memory BSF EECON1, WREN ;enable write to memory MOVLW 55h MOVWF EECON2, Access ;write 55h MOVLW 0AAh MOVWF EECON2, Access ;write 0AAh BSF EECON1, WR ;start program (CPU stall) BCF EECON1, WREN ;disable write to memory ; BCF BootNewData ;Indicate no new data ; RETURN ; SETUP_READ_BLOCK_A: ; MOVLW SIZE_OF_BLOCK ;number of bytes in erase block MOVWF Counter,Banked ; MOVLW BUFFER_ADDR_HIGH ;point to buffer with address counter register MOVWF FSR0H,Access MOVLW BUFFER_ADDR_LOW MOVWF FSR0L,Access ; MOVLW 0x00 ;Load TBLPTR with the base MOVWF TBLPTRU, Access ;address of the memory block MOVLW 0x00 ;Load TBLPTR with the base MOVWF TBLPTRH, Access MOVLW 0x00 ;Load TBLPTR with the base MOVWF TBLPTRL, Access ; READ_BLOCK_A: ; TBLRD*+ ;read into TABLAT, and inc MOVF TABLAT, W, Access ;get data MOVWF POSTINC0, Access ;store data DECFSZ Counter, Same, Banked ;done? BRA READ_BLOCK_A ;repeat ; NOP RETURN ; Check_if_Boot_Done: MOVF CodeAddressUpper, W, Banked SUBLW 0x7F BTFSS ZeroFlag GOTO Boot_Exit ; MOVF CodeAddressHigh, W, Banked SUBLW 0x3F BTFSS ZeroFlag GOTO Boot_Exit ; Boot_Exit: ; RETURN ; ;******************************************************************************* ;* CANBus bootloader code ;******************************************************************************* ; #ifdef CANBUS ; CANBus_init: CANBus_Init_Basic: ; BANKSEL PMD2 ;Select proper bank BCF PMD2, 2, Banked ;Enable ECAN module MOVLW 0x00 ;CAN Legacy Mode (Mode 0) MOVWF ECANCON,Access MOVLW 0x80 ;Request CONFIG Mode MOVWF CANCON,Access ; CANBus_Init_Ports: ; CANBus_Init_Wait_for_config: ; MOVF CANSTAT,W,Access ;Wait until module in Config mode ANDLW b'11100000' ;Use only upper 3 bits XORLW B'10000000' ;XOR with config mode bits TSTFSZ WREG ;Is it Config mode yet? GOTO CANBus_Init_Wait_for_config ;If not then repeat else continue ; CANBus_Init_TXBnCON: ; MOVLW 0x21 ;OUTPUT CANTX, drive Vdd, Oscilator as clock source MOVWF CIOCON,Access ; CANBus_Init_Filters: ; BANKSEL RXFCON0 CLRF RXFCON0,Banked ;No Filters Enabled CLRF RXFCON1,Banked ;No Filters Enabled CLRF MSEL0,Banked ;Acceptance Mask 0 CLRF MSEL1,Banked ;Acceptance Mask 1 CLRF MSEL2,Banked ;Acceptance Mask 2 CLRF MSEL3,Banked ;Acceptance Mask 3 ; ;RX Buffer 0 BANKSEL RXF0SIDH ;Select proper bank MOVLW 0x00 MOVWF RXF0SIDH,Banked ;Filter SID = 0 MOVLW 0x08 MOVWF RXF0SIDL,Banked ;Extended message and SID = 0 ; CLRF RXF0EIDH,Banked ;Filter EID = 0 CLRF RXF0EIDL,Banked ;Filter EID = 0 ; CLRF RXM0SIDH,Banked ;MASK SID = 0 MOVLW 0x08 MOVWF RXM0SIDL,Banked ;Extended message and SID = 0 ; CLRF RXM0EIDH,Banked ;Mask EID = 0 CLRF RXM0EIDL,Banked ;Mask EID = 0 ; BCF RXB0CON,6,Access ;Do not filter any messages BCF RXB0CON,5,Access ;Do not filter any messages BSF RXB0CON,2,Access ;Overflow goes to Receive buffer 1 ; ;RX Buffer 1 MOVLW 0x00 MOVWF RXF1SIDH,Banked ;Filter SID = 0 MOVLW 0x08 MOVWF RXF1SIDL,Banked ;Extended message and SID = 0 ; CLRF RXF1EIDH,Banked ;Filter EID = 0 CLRF RXF1EIDL,Banked ;Filter EID = 0 ; CLRF RXM1SIDH,Banked ;MASK SID = 0 MOVLW 0x08 MOVWF RXM1SIDL,Banked ;Extended message and SID = 0 ; CLRF RXM1EIDH,Banked ;Mask EID = 0 CLRF RXM1EIDL,Banked ;Mask EID = 0 ; BCF RXB1CON,6,Access ;Do not filter any messages BCF RXB1CON,5,Access ;Do not filter any messages ; CANBus_Init_Clock: ; BANKSEL BRGCON1 ;Select proper bank MOVLW BRP_Setup ;Set SJW and BRP bits MOVWF BRGCON1 MOVLW SEG1_Setup ;Set Segment sizes MOVWF BRGCON2 MOVLW SEG2_Setup MOVWF BRGCON3 ; CANBus_Init_Buffer: ; BANKSEL TXBIE ;Select proper bank MOVLW 0xFF ;TXI0-2 Enabled (RX already enabled) MOVWF TXBIE,Banked ; CANBus_Init_Interrupts: ; MOVLW 0xFF ;Enable all CANBus interrupts MOVWF PIE5,Access BSF IPR5,0,Access ;RXB0IF is high priority BSF IPR5,1,Access ;RXB1IF is high priority BSF IPR5,2,Access ;TXB0IF is high priority BSF IPR5,3,Access ;TXB1IF is high priority BSF IPR5,4,Access ;TXB2IF is high priority BSF IPR5,5,Access ;ERRIF is high priority BSF IPR5,6,Access ;WAKIF is high priority BSF IPR5,7,Access ;IRXIF is high priority ; CANBus_Init_Normal_Mode: ; MOVLW 0x00 ;Request NORMAL Mode MOVWF CANCON,Access ; CANBus_Init_Wait_for_normal: ; MOVF CANSTAT, W, Access ;Read current mode state. ANDLW B'11100000' ;Interested in OPMODE bits only. XORLW B'00000000' ;Use 0 to match TSTFSZ WREG ;Is it Normal mode yet? GOTO CANBus_Init_Wait_for_normal ;No. Continue to wait... ; CANBus_Init_Reset_Variables: ; CALL Reset_Variables ;Reset all CANBus variables CALL Reset_Counters ;Reset all CANBus counters CALL Reset_Default_values ;Reset all CANBus default values ; BANKSEL DefaultMemoryStart CALL LoadVariablesFromEEPROM ;Load variables from EEPROM ; ;Other Init CANBus_Init_Other: ; GOTO CANBus_Init_Reset_Variables_Exit ; ;Other functions ; CANBus_Init_Reset_Variables_Exit: ; BANKSEL DefaultMemoryStart RETURN ; Reset_Counters: ; BANKSEL TXERRCNT ;Select proper bank CLRF TXERRCNT,Banked ;Reset TX Error Counter CLRF RXERRCNT,Banked ;Reset RX Error Counter RETURN ; Reset_Variables: ; BANKSEL DefaultMemoryStart CLRF Folder_1L,Banked ;Reset Mayor's Folder Envelope CLRF Folder_1H,Banked MOVLW 0x03 MOVWF Folder_2L,Banked ;Reset Configuration RX Envelope CLRF Folder_2H,Banked MOVLW 0x03 MOVWF Folder_3L,Banked ;Reset Configuration TX Envelope CLRF Folder_3H,Banked MOVLW 0x04 MOVWF Folder_4L,Banked ;Reset Boot-loader RX Envelope CLRF Folder_4H,Banked MOVLW 0x04 MOVWF Folder_5L,Banked ;Reset Boot-loader TX Envelope CLRF Folder_5H,Banked CLRF Folder_6L,Banked ;Reset Flow Control RX Envelope CLRF Folder_6H,Banked CLRF Folder_7L,Banked ;Reset Flow Control TX Envelope CLRF Folder_7H,Banked RETURN ; Reset_Default_values: ; BANKSEL DefaultMemoryStart MOVLW 0x00 ;Default flow rate value MOVWF FlowRateH,Banked MOVLW d'250' MOVWF FlowRateL,Banked MOVLW DeviceIDDefault ;Index according to the Device ID MOVWF DeviceID,Banked MOVLW 0x00 ;Reset Config flags MOVWF ConfigFlags BCF SentEngagedBit BCF ConfigModeBit ; RETURN ; ;******************************************************************************* ;* ;* CANBus Message Handler ;* ;******************************************************************************* ; Send_Message: Send_Message_Buf0: ; BANKSEL TXB0CON ;Select proper bank BTFSC TXB0CON,3,Banked ;Check if TX Buffer 0 available GOTO Send_Message_Buf1 ;Else goto next buffer ; MOVFF TXMessBuff_D0,TXB0D0 ;Load data byte 0 into buffer MOVFF TXMessBuff_D1,TXB0D1 ;Load data byte 1 into buffer MOVFF TXMessBuff_D2,TXB0D2 ;Load data byte 2 into buffer MOVFF TXMessBuff_D3,TXB0D3 ;Load data byte 3 into buffer MOVFF TXMessBuff_D4,TXB0D4 ;Load data byte 4 into buffer MOVFF TXMessBuff_D5,TXB0D5 ;Load data byte 5 into buffer MOVFF TXMessBuff_D6,TXB0D6 ;Load data byte 6 into buffer MOVFF TXMessBuff_D7,TXB0D7 ;Load data byte 7 into buffer MOVFF TXMessBuff_DL,TXB0DLC ;Load data DLC byte into buffer MOVFF TXMessBuff_SL,TXB0SIDL ;Load data SIDL byte into buffer MOVFF TXMessBuff_SH,TXB0SIDH ;Load data SIDH byte into buffer MOVFF TXMessBuff_EL,TXB0EIDL ;Load data EIDL byte into buffer MOVFF TXMessBuff_EH,TXB0EIDH ;Load data EIDH byte into buffer MOVLW B'00001000' ;Normal priority; Request transmission MOVWF TXB0CON,Banked GOTO Send_Message_Exit ;Exit ; Send_Message_Buf1: ; BANKSEL TXB1CON ;Select proper bank BTFSC TXB1CON,3,Banked ;Check if TX Buffer 0 available GOTO Send_Message_Buf2 ;Else goto next buffer ; MOVFF TXMessBuff_D0,TXB1D0 ;Load data byte 0 into buffer MOVFF TXMessBuff_D1,TXB1D1 ;Load data byte 1 into buffer MOVFF TXMessBuff_D2,TXB1D2 ;Load data byte 2 into buffer MOVFF TXMessBuff_D3,TXB1D3 ;Load data byte 3 into buffer MOVFF TXMessBuff_D4,TXB1D4 ;Load data byte 4 into buffer MOVFF TXMessBuff_D5,TXB1D5 ;Load data byte 5 into buffer MOVFF TXMessBuff_D6,TXB1D6 ;Load data byte 6 into buffer MOVFF TXMessBuff_D7,TXB1D7 ;Load data byte 7 into buffer MOVFF TXMessBuff_DL,TXB1DLC ;Load data DLC byte into buffer MOVFF TXMessBuff_SL,TXB1SIDL ;Load data SIDL byte into buffer MOVFF TXMessBuff_SH,TXB1SIDH ;Load data SIDH byte into buffer MOVFF TXMessBuff_EL,TXB1EIDL ;Load data EIDL byte into buffer MOVFF TXMessBuff_EH,TXB1EIDH ;Load data EIDH byte into buffer MOVLW B'00001000' ;Normal priority; Request transmission MOVWF TXB1CON,Banked GOTO Send_Message_Exit ;Exit ; Send_Message_Buf2: ; BANKSEL TXB2CON ;Select proper bank BTFSC TXB2CON,3,Banked ;Check if TX Buffer 0 available GOTO Send_Message_Full ;Else goto next buffer ; MOVFF TXMessBuff_D0,TXB2D0 ;Load data byte 0 into buffer MOVFF TXMessBuff_D1,TXB2D1 ;Load data byte 1 into buffer MOVFF TXMessBuff_D2,TXB2D2 ;Load data byte 2 into buffer MOVFF TXMessBuff_D3,TXB2D3 ;Load data byte 3 into buffer MOVFF TXMessBuff_D4,TXB2D4 ;Load data byte 4 into buffer MOVFF TXMessBuff_D5,TXB2D5 ;Load data byte 5 into buffer MOVFF TXMessBuff_D6,TXB2D6 ;Load data byte 6 into buffer MOVFF TXMessBuff_D7,TXB2D7 ;Load data byte 7 into buffer MOVFF TXMessBuff_DL,TXB2DLC ;Load data DLC byte into buffer MOVFF TXMessBuff_SL,TXB2SIDL ;Load data SIDL byte into buffer MOVFF TXMessBuff_SH,TXB2SIDH ;Load data SIDH byte into buffer MOVFF TXMessBuff_EL,TXB2EIDL ;Load data EIDL byte into buffer MOVFF TXMessBuff_EH,TXB2EIDH ;Load data EIDH byte into buffer ; MOVLW B'00001000' ;Normal priority; Request transmission MOVWF TXB2CON,Banked GOTO Send_Message_Exit ;Exit ; Send_Message_Full: ; ;Put an error handler here ; Send_Message_Exit: ; BANKSEL DefaultMemoryStart RETURN ; CANInterrupts: ; MOVFF CANCON, TempCANCON ; Save CANCON.WIN bits ; This is required to prevent CANCON ; from corrupting CAN buffer access ; in-progress while this interrupt ; occurred MOVFF CANSTAT, TempCANSTAT ; Save CANSTAT register ; This is required to make sure that ; we use same CANSTAT value rather ; than one changed by another CAN ; interrupt. MOVF TempCANSTAT, W, Banked ;Retrieve ICODE bits ANDLW B'00001110' RRNCF WREG,W,Access ;Rotate 1 bit to the right BTFSC ZeroFlag GOTO NoInterrupt ;000 = No interrupt DCFSNZ WREG,W,Access GOTO ErrorInterrupt ;001 = Error interrupt DCFSNZ WREG,W,Access GOTO TXB2Interrupt ;010 = TXB2 interrupt DCFSNZ WREG,W,Access GOTO TXB1Interrupt ;011 = TXB1 interrupt DCFSNZ WREG,W,Access GOTO TXB0Interrupt ;100 = TXB0 interrupt DCFSNZ WREG,W,Access GOTO RXB1Interrupt ;101 = RXB1 interrupt DCFSNZ WREG,W,Access GOTO RXB0Interrupt ;110 = RXB0 interrupt DCFSNZ WREG,W,Access GOTO WakeupInterrupt ;111 = Wake-up on interrupt ; GOTO IntExit ;If error the goto exit ; NoInterrupt: ; GOTO IntExit ;Do nothing ; ErrorInterrupt: ; BTFSC Overflow1_bit ;If overflow occurd CALL OverflowHandler ;Then handle overflow error BCF Overflow1_bit ;Clear overflow interrupt 1 ; BTFSC Overflow0_bit ;If overflow occurd CALL OverflowHandler ;Then handle overflow error BCF Overflow0_bit ;Clear overflow interrupt 0 ; BTFSC CANBusError_bit ;If error occurd CALL GeneralErrorHandler ;Then handle error BCF CANBusError_bit ;Clear error interrupt ; BTFSC InvalidMessage_bit ;If invalid message occurd CALL InvalidMessageHandler ;Then handle invalid message BCF InvalidMessage_bit ;Clear invalid interrupt ; GOTO IntExit ; TXB2Interrupt: ; BCF TX2BufferIF ;Clear TX sent interrupt GOTO IntExit ; TXB1Interrupt: ; BCF TX1BufferIF ;Clear TX sent interrupt ; GOTO IntExit ; TXB0Interrupt: ; BCF TX0BufferIF ;Clear TX sent interrupt ; GOTO IntExit ; RXB1Interrupt: ; BANKSEL RXB1D0 ;Select proper bank BCF RXB1CON,7,Banked ;Clear1 RXFUL bit BCF PIR5,1,Access ;Clear RX1 interrupt ; MOVFF RXB1EIDH,RXMessBuff_EH ;Move RX buffer data to memory MOVFF RXB1EIDL,RXMessBuff_EL MOVFF RXB1SIDH,RXMessBuff_SH MOVFF RXB1SIDL,RXMessBuff_SL MOVFF RXB1D0,RXMessBuff_D0 MOVFF RXB1D1,RXMessBuff_D1 MOVFF RXB1D2,RXMessBuff_D2 MOVFF RXB1D3,RXMessBuff_D3 MOVFF RXB1D4,RXMessBuff_D4 MOVFF RXB1D5,RXMessBuff_D5 MOVFF RXB1D6,RXMessBuff_D6 MOVFF RXB1D7,RXMessBuff_D7 MOVFF RXB1DLC,RXMessBuff_DL BANKSEL DefaultMemoryStart ; CALL CANKingdomRX_handler ;Call the CANKingdom protocol ; GOTO IntExit ; RXB0Interrupt: ; BCF RXB0CON,7,Access ;Clear1 RXFUL bit BCF PIR5,0,Access ;Clear RX0 interrupt ; MOVFF RXB0EIDH,RXMessBuff_EH ;Move RX buffer data to memory MOVFF RXB0EIDL,RXMessBuff_EL MOVFF RXB0SIDH,RXMessBuff_SH MOVFF RXB0SIDL,RXMessBuff_SL MOVFF RXB0D0,RXMessBuff_D0 MOVFF RXB0D1,RXMessBuff_D1 MOVFF RXB0D2,RXMessBuff_D2 MOVFF RXB0D3,RXMessBuff_D3 MOVFF RXB0D4,RXMessBuff_D4 MOVFF RXB0D5,RXMessBuff_D5 MOVFF RXB0D6,RXMessBuff_D6 MOVFF RXB0D7,RXMessBuff_D7 MOVFF RXB0DLC,RXMessBuff_DL ; CALL CANKingdomRX_handler ;Call the CANKingdom protocol ; GOTO IntExit ; WakeupInterrupt: ; BCF WAKEIF_ ;Clear wakeup interrupt flag GOTO IntExit ; IntExit: ; RETURN ; OverflowHandler: ; ;Handle overflow error here RETURN ; GeneralErrorHandler: ; ;Handle general error here RETURN ; InvalidMessageHandler: ; ;Handle invalid error here RETURN ; ;******************************************************************************* ;* ;* CANKingdom Implementation ;* ;******************************************************************************* ;* Identifier lookup ;******************************************************************************* ; CANKingdomRX_handler: ; BTFSC BootModeBit ;Check if system in boot update mode GOTO BootMessTest ;If so then go straight to bootloader ; BootMessTest: ; MOVFF RXMessBuff_EL,WREG ;Compare EIDL with Boot-loader ID XORWF Folder_4L,W,Banked ;Boot-loader message identifier BTFSS ZeroFlag ;Test if Zero GOTO CANKingdomRX_extern_ ;Else goto exit ; MOVFF RXMessBuff_EH,WREG ;Compare EIDH with Boot-loader ID XORWF Folder_4H,W,Banked ;Boot-loader message identifier BTFSS ZeroFlag ;Test if Zero GOTO CANKingdomRX_extern_ ;Else goto exit ; BootMess: ; MOVF RXMessBuff_D1,W,Banked ;Check Message Page byte BTFSC ZeroFlag ;Test if Zero GOTO BootMess_0 ;If true then goto BootMess_0 ; DCFSNZ WREG,W,Access ;Decrease and test if Zero GOTO BootMess_1 ;If true then goto BootMess_1 ; GOTO Undefined_Page_ ;Else goto unidentified page handler ; BootMess_0: ;Configure Flow Rate Unit ; MOVFF RXMessBuff_D2,WREG ;Compare Device ID to received ID XORWF DeviceID_4,W,Access ; BTFSS ZeroFlag ;Test if true GOTO MessExit_ ;Go to exit ; BootMess_Mode: ;Configure Flow Rate Unit ; MOVFF RXMessBuff_D7,WREG ;Compare Boot bit flags ANDLW b'00000001' ;Go into boot mode? BTFSC ZeroFlag ;Test if true GOTO BootMess_Reset ;Go to exit ; BSF BootModeBit ;Set device to boot mode EEPROM_Save EE_BootFlags,BootFlags BCF _GIEH ;disable interrupts CALL Start_Bootload ; BootMess_Reset: ; MOVFF RXMessBuff_D7,WREG ;Compare Boot bit flags ANDLW b'00000010' ;Reset device? BTFSC ZeroFlag ;Test if true ; GOTO MessExit_ ;Else goto exit ; BTFSC BootNewData CALL ERASE_BLOCK ;Erase and save last block BCF BootModeBit ;Set device to boot mode EEPROM_Save EE_BootFlags,BootFlags RESET ;Reset device ; GOTO MessExit_ ;Else goto exit ; BootMess_1: ;Save new program code ; BTFSS BootModeBit ;If system is not in boot mode then exit GOTO MessExit_ ; MOVFF RXMessBuff_D2,WREG ;Point to correct data memory address ANDLW b'11000000' MOVWF CodeAddressLow,Banked MOVFF RXMessBuff_D3,CodeAddressHigh ;Move high address byte MOVFF RXMessBuff_D4,CodeAddressUpper ;Move upper address byte ; MOVF CodeAddressUpper, W, Banked ;Check if upper address byte is zero BTFSS ZeroFlag GOTO MessExit_ ; MOVFF CodeAddressHigh,WREG ;Check if high address byte over bootloader address limit SUBLW HIGH(BOOTLOADER_ORIGIN) BTFSS CarryFlag GOTO MessExit_ BTFSS ZeroFlag GOTO BootMess_1_GetData ; MOVFF CodeAddressLow,WREG ;Check if low address byte over bootloader address limit SUBLW LOW(BOOTLOADER_ORIGIN) BTFSS CarryFlag GOTO MessExit_ BTFSC ZeroFlag GOTO MessExit_ ; BootMess_1_GetData: ; MOVFF RXMessBuff_D2,WREG ;Point to correct data memory address ANDLW b'00111111' MOVWF DataAddressLow,Banked ; MOVFF RXMessBuff_D5,NewDataLow ;Move low address byte MOVFF RXMessBuff_D6,NewDataHigh ;Move high address byte ; CALL CheckNextBootCodeLine ; ; GOTO MessExit_ ;Go to exit ; Undefined_Page_: ; GOTO MessExit_ ;The page was not recognized ; UpdateTable: ; CALL ERASE_BLOCK ; GOTO MessExit_ ; CANKingdomRX_extern_: ; BTFSS BootModeBit GOTO CANKingdomRX_extern GOTO MessExit_ ;The page was not recognized ; MessExit_: ; RETURN ; #endif ; #ifdef EEPROM_S ; BootReadInternalEEPROM: ; MOVWF EEADR,Access ; BCF _EEPGD BCF _EECFGS ; BSF _EERD NOP MOVF EEDATA,W,Access ; RETURN ; ;******************************************************************************* ;* Write data into internal EEPROM ;* - EEADR loaded with address ;* - Data to be written in W ;* - Interrupts are disabled ;******************************************************************************* ; BootWriteInternalEEPROM: ; MOVWF EEDATA,Access BCF _EEPGD BCF _EECFGS BSF _EEWREN ; BootWriteInternalEEPROM1: ; BTFSS BootModeBit ; BCF _GIEH BTFSC _GIEH GOTO WriteInternalEEPROM1 ; MOVLW 0x55 MOVWF EECON2,Access MOVLW 0xAA MOVWF EECON2,Access BSF _EEWR BTFSC _EEWR BRA $-2 ; BTFSS BootModeBit BSF _GIEH ; BCF _EEWREN BTFSS BootModeBit ; RETURN ; BootEEPROM_Save: MACRO EEPROM,RAM ; MOVFF RAM,WREG MOVWF EEPROM_Work,Banked MOVLW EEPROM CALL BootReadInternalEEPROM ; SUBWF EEPROM_Work,W,Banked ; MOVF EEPROM_Work,W,Banked CALL BootWriteInternalEEPROM ; ENDM ; #endif ; ;******************************************************************************* ;* Internal EEPROM default data ;******************************************************************************* ; ORG 0xF00000 ; DE 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 ; END