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Natalie C. Landon-Brace edited Code.tex about 10 years ago

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\chapter{Code} \begin{verbatim} INSERT ;Author: Natalie Landon-Brace ;For AER201, January - April 2014 list p=16f877 ; list directive to define processor #include ; processor specific variable definitions __CONFIG _CP_OFF & _WDT_OFF & _BODEN_ON & _PWRTE_ON & _HS_OSC & _WRT_ENABLE_ON & _CPD_OFF & _LVP_OFF cblock 0x20 COUNTH COUNTM COUNTL Table_Counter lcd_d1 lcd_d2 com dat optime ; operation time for display (gets modified) optime_final ; "permanent" operation time (if operation time needs to be viewed multiple times lights_total ; total number of lights tested option_temp ; used to determine which key was pressed (modifiable) stats_temp ; used to check which state the light is in (modifiable) stats1 ; this is the variable which holds the state of light 1 after it is tested (permanent) stats2 ; as above, for light 2 stats3 ; as above, for light 3 stats4 ; as above, for light 4 stats5 ; as above, for light 5 stats6 ; as above, for light 6 stats7 ; as above, for light 7 stats8 ; as above, for light 8 stats9 ; as above, for light 9 count ; used to convert optime to decimal for display ones ; ones digit of the converted binary number tens ; tens digit of the converted binary number huns ; hundreds digit of the converted binary number (hopefully not used) binary_num ; move optime to this variable to allow binary --> decimal for display w_temp ; saves the value in the working register status_temp ; saves the current state of the status register (for ISR) count38 ; used to count to 38 ---> for operation timer adc_delay ; used for acquisition time for ADC Tray_CheckCounter ; Switch Debouncing LastStableState ; Switch Debouncing data_points ; number of data points collected for the current voltage of the light voltage_refh ; MSBs of the voltage for comparison (first data point collected - to determine flickering) voltage_refl ; LSBs of the voltage for comparison (first data point collected - to determine flickering) voltage_temph ; MSBs of the ADC conversion (current voltage) -- ADRESH voltage_templ ; LSBs of the ADC conversion (current voltage) -- ADRESL led_on_flag ; counts number of times LED is detected to be on (increments each time voltage_temp > On Threshold) flicker_flag ; counts number of times LED is detected to have flickered (voltage_ref - voltage_temp > Flicker Threshold) loop_counter ; counts the number of times the loop has been run - used for testing flickering and shade array movement endc ;Declare constants for pin assignments (LCD on PORTD) ; servos plug in to RC2 #define RS PORTD,2 #define E PORTD,3 #define STEPA PORTC, 0 ;output to stepper motor port A #define STEPB PORTC, 1 ;output to stepper motor port B #define STEPC PORTD, 4 ;output to stepper motor port C #define STEPD PORTC, 3 ;output to stepper motor port D #define TRAYPORT PORTD, 0 ;port for contact switch input #define MUX0 PORTA, 1 ;A select, mux #define MUX1 PORTA, 2 ;B select, mux #define MUX2 PORTA, 3 ;C select, mux #define MUX3 PORTA, 4 ;D select, mux #define MUXE PORTA, 5 ;Enable, mux #define IRMUX PORTD, 1 ; Input from IR mux (digital) #define IR_POWER PORTC, 6 ; signal to bias transistor to power IR board. ; #define LIGHT_IN PORTA, 5 ORG 0x0000 ;RESET vector must always be at 0x00 goto init ;Just jump to the main code section. ORG 0x0004 ; Goes here when an interrupt is triggered goto INTERRUPT_THINGS ;*************************************** ; Look up tables ;*************************************** Welcome_Msg1 addwf PCL,F dt "Welcome!", 0 Welcome_Msg2 addwf PCL,F dt "Press * to Start",0 OpMessage addwf PCL,F dt "Checking...",0 End_Message1 addwf PCL,F dt "A:Time B:Summary",0 End_Message2 addwf PCL, F dt "C:Info D:Standby",0 Op_time1 addwf PCL,F dt " seconds",0 Return_Message addwf PCL,F dt "D: Back to Main",0 Lights_Tested addwf PCL, F dt "PFLN",0 Stats addwf PCL, F dt "Press 1-9 for light info",0 LBintoNum addwf PCL, F dt "0123456789" KPBintoNum addwf PCL,F dt "123 456 789" Pass addwf PCL, F dt " - Pass", 0 Flicker_Fail addwf PCL, F dt " - Flicker Fail",0 LED_Fail addwf PCL, F dt " - LED Fail", 0 NO_LIGHT addwf PCL, F dt " - N/A",0 ;*************************************** ; Delay: ~160us macro -- From Sample ;*************************************** LCD_DELAY macro movlw 0xFF movwf lcd_d1 decfsz lcd_d1,f goto $-1 endm ;*************************************** ; Display macro -- From Sample ;*************************************** Display macro Message local loop_ local end_ clrf Table_Counter clrw loop_ movf Table_Counter,W call Message xorlw B'00000000' ;check WORK reg to see if 0 is returned btfsc STATUS,Z goto end_ call WR_DATA incf Table_Counter,F goto loop_ end_ endm bank0 macro bcf STATUS, RP0 bcf STATUS, RP1 endm bank1 macro bsf STATUS, RP0 bcf STATUS, RP1 endm bank2 macro bcf STATUS, RP0 bsf STATUS, RP1 endm bank3 macro bsf STATUS, RP0 bsf STATUS, RP1 endm ;*************************************** ; Initialize the Operation ;*************************************** init bsf INTCON, GIE ; enable global interrupts bsf INTCON, 5 ; enable timer 0 interrupts bcf INTCON, 4 ; clear timer0 interrupt flag bcf INTCON, 2 ; disable internal interrupts (from Port B) bcf INTCON, 1 ; clear internal interrupt flag. bank1 movlw b'00000001' movwf TRISA ; intialize Port A to have RA0/AN1 be input (for ADC) ; clrf TRISA movlw b'11110111' ; Set required keypad inputs & interrupts movwf TRISB ; movlw b'00110000' ; movwf TRISC clrf TRISC ; All port C is output movlw b'00000011' ; Enabling input from IR board and contact switches movwf TRISD ; clrf TRISD ; clear all ports before program runs bank0 clrf PORTA clrf PORTB clrf PORTC clrf PORTD call InitADC ; initialize the ADC call InitLCD ;Initialize the LCD call SERVO_NEUTRAL ; ensure the servo is in the neutral position before the tray is placed ;*************************************** ; Main code ;*************************************** STANDBY_DISPLAY call ClrLCD Display Welcome_Msg1 ;Display line 1 of the welcome message call Switch_Lines ; Switch lines Display Welcome_Msg2 ; Display line 2 of the welcome message test btfss PORTB,1 ; Check for input from the keypad goto $-1 ; if no input, keep displaying the welcome message swapf PORTB, W ;When input is detected, read it in to W andlw 0x0F ;Sample Code put this here...??? xorlw b'00001100' ; Check to see if it is the 12th key (*) btfss STATUS,Z ; If status Z goes to 0, it is the 12th key, skip goto test ; If it's not *, keep displaying the main message btfsc PORTB,1 ;Wait for key to be released goto $-1 ; goto STARTER STARTER call ClrLCD ;Clear the LCD for the new message Display OpMessage ;Display the operation message ;initializing variables which will be loaded during BEGIN_OPERATION movlw d'0' movwf optime movlw d'0' movwf lights_total movlw d'0' movwf stats1 movlw d'0' movwf stats2 movlw d'0' movwf stats3 banksel stats4 movlw d'0' movwf stats4 banksel stats5 movlw d'0' movwf stats5 banksel stats6 movlw d'0' movwf stats6 banksel stats7 movlw d'0' movwf stats7 banksel stats8 movlw d'0' movwf stats8 banksel stats9 movlw d'0' movwf stats9 bank0 COUNTDOWN call ADC_Delay call BEGIN_OPERATION ; Begin checking lights call ClrLCD ; Clear LCD and display termination message movlw "D" call WR_DATA movlw "O" call WR_DATA movlw "N" call WR_DATA movlw "E" call WR_DATA movlw "!" call WR_DATA call HalfS ;Delay to make termination message readable call HalfS call HalfS call HalfS ENDING call ClrLCD ;Clear the LCD to make space for the new message Display End_Message1 ;Display the first line of the end message call Switch_Lines ;Switch Lines Display End_Message2 ;Display the second line of the end message END_DISPLAY ; Shifts the ending messages to the left ; movlw b'00011000' ;call WR_INS ;call HalfS btfss PORTB,1 ; Check for input from the keypad goto $-1 ; if no input, keep displaying the end message swapf PORTB, W ;When input is detected, read it in to W andlw 0x0F goto OPTIONA ; When the input is detected, see if it's for A goto END_DISPLAY ; btfsc PORTB,1 ;Wait for key to be released ; goto $-1 ; ; call ClrLCD ;goto $ OPTIONA movwf option_temp xorlw b'00000011' ; Check to see if it is the 3rd key (A) btfss STATUS,Z ; If status Z goes to 0, it is the 3rd key, skip goto OPTIONB ; If not check if it's B call ClrLCD ; If it is, clear and display! OPTIME movf optime_final, W ; move optime into the working register movwf binary_num ; move working register into binary_num for conversion call BIN2BCD ; convert binary to ASCII for display movf huns, W ; display each digit individually call WR_DATA movf tens, W call WR_DATA movf ones, W call WR_DATA Display Op_time1 ;Display "seconds" call Switch_Lines Display Return_Message ;D: Return OPTIME_RETURN btfss PORTB,1 ; Check for input from the keypad goto $-1 ; if no input, keep displaying the message swapf PORTB, W ;When input is detected, read it in to W andlw 0x0F xorlw b'00001111' ;Check to see if it's D btfss STATUS, Z ; If it's D skip goto OPTIME_RETURN ; If it's not D, wait. btfsc PORTB,1 ;Wait for key to be released goto $-1 ; goto ENDING OPTIONB movf option_temp, W xorlw b'00000111' ; Check to see if it is the 7th key (B) btfss STATUS,Z ; If status Z goes to 0, it is the 7th key, skip goto OPTIONC ; If not keep rotating call ClrLCD ; If it is, clear and display! TESTED movf lights_total, W ;move the number of lights (var) into W call LBintoNum ;convert the number of lights (binary) into decimal call WR_DATA ; display the number on the LCD movlw " " call WR_DATA movlw "-" call WR_DATA movlw " " call WR_DATA movf stats1, W call Lights_Tested ; determine which letter to display for each light in summary (N/L/F/P) call WR_DATA movf stats2, W call Lights_Tested call WR_DATA movf stats3, W call Lights_Tested call WR_DATA movf stats4, W call Lights_Tested call WR_DATA movf stats5, W call Lights_Tested call WR_DATA movf stats6, W call Lights_Tested call WR_DATA movf stats7, W call Lights_Tested call WR_DATA movf stats8, W call Lights_Tested call WR_DATA movf stats9, W call Lights_Tested call WR_DATA call Switch_Lines Display Return_Message TESTED_RETURN btfss PORTB,1 ; Check for input from the keypad goto $-1 ; if no input, keep displaying the end message swapf PORTB, W ;When input is detected, read it in to W andlw 0x0F ;Sample Code put this here...??? xorlw b'00001111' btfss STATUS, Z goto TESTED_RETURN ; if it's not D, wait. btfsc PORTB,1 ;Wait for key to be released goto $-1 ; goto ENDING ; if it is D, go back to the menu OPTIONC movf option_temp, W xorlw b'0001011' ; Check to see if it is the 11th key (C) btfss STATUS,Z ; If status Z goes to 0, it is the 11th key, skip goto OPTIOND ; If not keep rotating LIGHTSTATS call ClrLCD ; If it is, clear and display! Display Stats call Switch_Lines Display Return_Message LIGHTSTATS_ROTATE movlw b'00011000' call WR_INS call HalfS LIGHTSTATS_RETURN btfss PORTB,1 ; Check for input from the keypad goto LIGHTSTATS_ROTATE ; if no input, keep displaying the stats message LIGHTSTATS_ANALYZE swapf PORTB, W ;When input is detected, read it in to W andlw 0x0F movwf option_temp ;Store the input option xorlw b'00000011' ; Is it A? btfsc STATUS, Z ; If not A, check some more call INPUT_LOOP ; If it is A, stay put. movf option_temp, W ; Restoring the input option xorlw b'00000111' ; Is it B? btfsc STATUS, Z call INPUT_LOOP ; If it's B - wait. movf option_temp, W xorlw b'00001011' ; If it's C - wait btfsc STATUS, Z call INPUT_LOOP movf option_temp, W ; Restore to check for D xorlw b'00001111' ; Check to see if D was pushed btfss STATUS, Z goto CHECK1 ;If D is not pressed, check if it was a number btfsc PORTB,1 ;Wait for key to be released goto $-1 ; goto ENDING ; When key is released, return to Main Menu INPUT_LOOP btfss PORTB, 1 goto $-1 return CHECK1 movf option_temp,W ;move the option into W xorlw b'00000000' ; check to see if 1 was pressed btfss STATUS, Z goto CHECK2 ; if not 1, check 2 call ClrLCD ; if 1, clear the LCD and display movf option_temp, W ; restore the option call KPBintoNum ; convert it to a decimal and display on keypad call WR_DATA ; write to the LCD movf stats1, W ; move the value stored in stats to the working register call DISPLAY_ERROR ; check to see which message to display call SUBDISPLAY ; display the second line of the message goto LIGHTSTATS_ANALYZE ; return to get upper menu to get new input ; same as CHECK1 except for light 2. CHECK2 movf option_temp,W xorlw b'00000001' btfss STATUS, Z goto CHECK3 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA movf stats2, W call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check 1, but for light 3 CHECK3 movf option_temp,W xorlw b'00000010' btfss STATUS, Z goto CHECK4 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA movf stats3, W call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1, but for light 4 CHECK4 movf option_temp,W xorlw b'00000100' btfss STATUS, Z goto CHECK5 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats4 movf stats4, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1, but for light 5 CHECK5 movf option_temp,W xorlw b'00000101' btfss STATUS, Z goto CHECK6 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats5 movf stats5, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1, but for light 6 CHECK6 movf option_temp,W xorlw b'00000110' btfss STATUS, Z goto CHECK7 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats6 movf stats6, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1, but for light 7 CHECK7 movf option_temp,W xorlw b'00001000' btfss STATUS, Z goto CHECK8 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats7 movf stats7, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1 but for light 8 CHECK8 movf option_temp,W xorlw b'00001001' btfss STATUS, Z goto CHECK9 call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats8 movf stats8, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ; as in check1 but for light 9 CHECK9 movf option_temp,W xorlw b'00001010' btfss STATUS, Z goto LIGHTSTATS_ANALYZE call ClrLCD movf option_temp, W call KPBintoNum call WR_DATA banksel stats9 movf stats9, W bank0 call DISPLAY_ERROR call SUBDISPLAY goto LIGHTSTATS_ANALYZE ;***************** ; DISPLAY ERROR ; This method determines what state the light is in (0 - Pass, 1 - Flicker Fail etc.) ; and displays the correct message according to the value stored in stats# for that light. ;***************** DISPLAY_ERROR movwf stats_temp xorlw d'0' btfss STATUS, Z goto CHECK_FLICK Display Pass ; If the value stored in status is 0, display Pass return ; If the value stored in the status register is 1, display Flicker Fail CHECK_FLICK movf stats_temp, W xorlw d'1' btfss STATUS, Z goto CHECK_LED Display Flicker_Fail return ; If the value stored in the status reg is 2, display LED Fail CHECK_LED movf stats_temp, W xorlw d'2' btfss STATUS, Z goto CHECK_NONE Display LED_Fail return ; If the value stored in the status register is 3, display N/A CHECK_NONE movf stats_temp,W xorlw d'3' btfss STATUS, Z return movlw " " call WR_DATA movlw "-" call WR_DATA movlw " " call WR_DATA movlw "N" call WR_DATA movlw "/" call WR_DATA movlw "A" call WR_DATA return ; Displays D; Return to Main on the second line, waits for input SUBDISPLAY call Switch_Lines Display Return_Message btfss PORTB, 1 goto $-1 return ; Returns to Standby if D is pushed OPTIOND movf option_temp, W xorlw b'00001111' btfss STATUS, Z ; if it's option D return to start goto END_DISPLAY ; otherwise stay in the end menu. goto STANDBY_DISPLAY ;*************************************** ; LCD control - From Sample ;*************************************** Switch_Lines movlw B'11000000' call WR_INS return Clear_Display movlw B'00000001' call WR_INS return ;*************************************** ; Delay 0.5s - From Sample ;*************************************** HalfS local HalfS_0 movlw 0x88 movwf COUNTH movlw 0xBD movwf COUNTM movlw 0x03 movwf COUNTL HalfS_0 decfsz COUNTH, f goto $+2 decfsz COUNTM, f goto $+2 decfsz COUNTL, f goto HalfS_0 goto $+1 nop nop return ;******* LCD-related subroutines ******* ;*********************************** InitLCD bcf STATUS,RP0 bsf E ;E default high ;Wait for LCD POR to finish (~15ms) call lcdLongDelay call lcdLongDelay call lcdLongDelay ;Ensure 8-bit mode first (no way to immediately guarantee 4-bit mode) ; -> Send b'0011' 3 times movlw b'00110011' call WR_INS call lcdLongDelay call lcdLongDelay movlw b'00110010' call WR_INS call lcdLongDelay call lcdLongDelay ; 4 bits, 2 lines, 5x7 dots movlw b'00101000' call WR_INS call lcdLongDelay call lcdLongDelay ; display on/off movlw b'00001100' call WR_INS call lcdLongDelay call lcdLongDelay ; Entry mode movlw b'00000110' call WR_INS call lcdLongDelay call lcdLongDelay ; Clear ram movlw b'00000001' call WR_INS call lcdLongDelay call lcdLongDelay return ;************************************ ;ClrLCD: Clear the LCD display ClrLCD movlw B'00000001' call WR_INS return ;**************************************** ; Write command to LCD - Input : W , output : - ;**************************************** WR_INS bcf RS ;clear RS movwf com ;W --> com andlw 0xF0 ;mask 4 bits MSB w = X0 movwf PORTD ;Send 4 bits MSB bsf E ; call lcdLongDelay ;__ __ bcf E ; |__| swapf com,w andlw 0xF0 ;1111 0010 movwf PORTD ;send 4 bits LSB bsf E ; call lcdLongDelay ;__ __ bcf E ; |__| call lcdLongDelay return ;**************************************** ; Write data to LCD - Input : W , output : - ;**************************************** WR_DATA bsf RS movwf dat movf dat,w andlw 0xF0 addlw 4 movwf PORTD bsf E ; call lcdLongDelay ;__ __ bcf E ; |__| swapf dat,w andlw 0xF0 addlw 4 movwf PORTD bsf E ; call lcdLongDelay ;__ __ bcf E ; |__| return lcdLongDelay movlw d'20' movwf lcd_d2 LLD_LOOP LCD_DELAY decfsz lcd_d2,f goto LLD_LOOP return ;********* ; BIN2BCD ; Converts a binary number to ASCII ; characters for display on the LCD ; Written by: A. Borowski ; Sourced from: piclist.com --> 8 bit to ASCII Decimal 3 digits ;********** BIN2BCD movlw 8 movwf count clrf huns clrf tens clrf ones BCDADD3 movlw 5 subwf huns, 0 btfsc STATUS, C CALL ADD3HUNS movlw 5 subwf tens, 0 btfsc STATUS, C CALL ADD3TENS movlw 5 subwf ones, 0 btfsc STATUS, C CALL ADD3ONES decf count, 1 bcf STATUS, C rlf binary_num, 1 rlf ones, 1 btfsc ones,4 ; CALL CARRYONES rlf tens, 1 btfsc tens,4 ; CALL CARRYTENS rlf huns,1 bcf STATUS, C movf count, 0 btfss STATUS, Z goto BCDADD3 movf huns, 0 ; add ASCII Offset addlw h'30' movwf huns movf tens, 0 ; add ASCII Offset addlw h'30' movwf tens movf ones, 0 ; add ASCII Offset addlw h'30' movwf ones return ADD3HUNS movlw 3 addwf huns,1 return ADD3TENS movlw 3 addwf tens,1 return ADD3ONES movlw 3 addwf ones,1 return CARRYONES bcf ones, 4 bsf STATUS, C return CARRYTENS bcf tens, 4 bsf STATUS, C return ;************** ; OPERTION CODE HERE ;************** BEGIN_OPERATION movlw b'11000111' ;intializing the timer banksel OPTION_REG movwf OPTION_REG ; starting the timer bank0 movlw d'1' ; initializing the loop counter for lowering the shade array movwf loop_counter ARRAY_LOWER ;lowering the shade array call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR call STEPPER_DRIVERFOR decfsz loop_counter ; if the loop counter is not 0, keep lowering! goto ARRAY_LOWER bsf STEPD ; set the motor to stay at the last step call HalfS ; delay call CHECK_PRESENCE call SERVO_ON ; turn on the lights :) ; TEST REMOVING HALFS DELAYS CHECK_LED1 bcf MUXE ; ground the enable to activate the mux bcf MUX0 ; ground all select pins to select light 1 bcf MUX1 bcf MUX2 bcf MUX3 call HalfS ; delay to allow switching to occur movf stats1, W ; test the stats register xorlw d'3' ; if it's 3, go to END_LED routine (store 3 for "NOT THERE") btfsc STATUS, Z ; if it is 3, test the light. goto END_LED1 call LIGHT_TEST ; test the light movwf stats1 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED2 ; skip over saving 3 to the stats register. END_LED1 movlw d'3' movwf stats1 CHECK_LED2 bsf MUX0 ; select 1 to get light 2 call HalfS movf stats2, W xorlw d'3' btfsc STATUS, Z goto END_LED2 call LIGHT_TEST ; test the light movwf stats2 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED3 END_LED2 movlw d'3' movwf stats2 CHECK_LED3 bcf MUX0 ; select 2 to get light 3 bsf MUX1 call HalfS movf stats3, W xorlw d'3' btfsc STATUS, Z goto END_LED3 call LIGHT_TEST ; test the light movwf stats3 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED4 END_LED3 movlw d'3' movwf stats3 CHECK_LED4 bsf MUX0 ; select 3 to get light 4 call HalfS movf stats4, W xorlw d'3' btfsc STATUS, Z goto END_LED4 call LIGHT_TEST ; test the light movwf stats4 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED5 END_LED4 movlw d'3' movwf stats4 CHECK_LED5 bcf MUX0 ; select 4 to get light 5 bcf MUX1 bsf MUX2 call HalfS movf stats5, W xorlw d'3' btfsc STATUS, Z goto END_LED5 call LIGHT_TEST ; test the light movwf stats5 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED6 END_LED5 movlw d'3' movwf stats5 CHECK_LED6 bsf MUX0 ; select 5 to get light 6 call HalfS movf stats6, W xorlw d'3' btfsc STATUS, Z goto END_LED6 call LIGHT_TEST ; test the light movwf stats6 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED7 END_LED6 movlw d'3' movwf stats6 CHECK_LED7 bsf MUX1 ; select 6 to get light 7 bcf MUX0 call HalfS movf stats7, W xorlw d'3' btfsc STATUS, Z goto END_LED7 call LIGHT_TEST ; test the light movwf stats7 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED8 END_LED7 movlw d'3' movwf stats7 CHECK_LED8 bsf MUX0 ; select 7 to get light 8 call HalfS movf stats8, W xorlw d'3' btfsc STATUS, Z goto END_LED8 call LIGHT_TEST ; test the light movwf stats8 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto CHECK_LED9 END_LED8 movlw d'3' movwf stats8 CHECK_LED9 bcf MUX0 ; select 8 to get light 9 #eternalmysteries bcf MUX1 bcf MUX2 bsf MUX3 movf stats9, W xorlw d'3' btfsc STATUS, Z goto END_LED9 call LIGHT_TEST ; test the light movwf stats9 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly goto END_OPERATION END_LED9 movlw d'3' movwf stats9 END_OPERATION call SERVO_NEUTRAL ; turn off the lights bcf STEPD ; clear the stepper motor from its current position movlw d'1';30 ; set the loop counter so sensor array goes up as much as it went down movwf loop_counter ARRAY_LIFT call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV call STEPPER_DRIVERREV decfsz loop_counter goto ARRAY_LIFT ; continue lifting the array as long as the counter is not 0 bsf INTCON, 5 ; clear the timer interrupt movf optime, W ; save the operation time movwf optime_final return ;*********** ; LIGHT TEST ;*********** LIGHT_TEST bcf IR_POWER ; unbias transistor to turn on IR board call ADC_Delay ; call delay to allow board to turn on btfss IRMUX ; see if the light is there! ; goto NOT_THERE ; if IR_MUX is low, no reflection = no light ; incf lights_total ;if the light is there, increment the total number of lights movlw b'0' ; clear data points, voltage_temp, voltage_ref, led_on and flicker counters movwf data_points movwf voltage_templ movwf voltage_refl movwf voltage_temph movwf voltage_refh movwf led_on_flag movwf flicker_flag movlw d'10' ; SMALLER?? Set loop counter, to make sure enough data points are collected movwf loop_counter bsf IR_POWER ; bias transistor to turn of IR board call ADC_Delay ; allow board to power down goto ON_TEST ; begin testing lights call InitADC NOT_THERE movlw d'3' return ; If not there, store 'N/A' ON_TEST ; ADC TEST call ADC_MainLoop ;call for conversion of incoming voltage banksel ADRESL movf ADRESL, W bank0 movwf voltage_refl movf ADRESH, W movwf voltage_refh ; store ADRESL in voltage_refL and ADRESH in voltage_refH (first data point only) for reference for flickering LED_TEST ; ADC TEST call ADC_MainLoop ; convert incoming voltage banksel ADRESL movf ADRESL, W movwf voltage_templ bank0 movf ADRESH, W movwf voltage_temph ; store new voltage in voltage_temp call COMPARE_ON ; see if voltage_temp > threshold btfss STATUS, C ; if status C is set, voltage_temp > W (threshold) incf led_on_flag ; if voltage_temp > threshold, increase the number of times the light is detected "on" incf data_points ; increment number of data points used movlw d'254' ; max out at 254 data points subwf data_points, W ; see if data points > 254 btfss STATUS, C ; if it is, end. if not, check again goto LED_TEST movlw d'0' ; clear data points (for flicker testing) movwf data_points movlw d'10' ; test if led_flag > 10 subwf led_on_flag, W btfsc STATUS, C ; if greater than 10, test for flickering. if not store LED fail and end checking goto FLICKER_TEST movlw d'2' ; LED fail return FLICKER_TEST ; ADC TEST call ADC_MainLoop ; convert incoming voltage banksel ADRESL movf ADRESL, W movwf voltage_templ bank0 movf ADRESH, W movwf voltage_temph ; store new voltage in voltage_temp call COMPARE_REF_NEW ; see if voltage_temp > voltage_reference or not btfsc STATUS, C ; if voltage_temp < reference, swap them call SWAP_VOLTAGES ; Flicker voltage change - take the difference between the reference and the new voltage ;16 bit subtraction, voltage_temp = voltage_temp - voltage_reference ;http://www.piclist.com/techref/microchip/math/sub/16bb.htm movf voltage_refl, W subwf voltage_templ movf voltage_refh, W btfss STATUS, C incfsz voltage_refh, W subwf voltage_temph ; Compare the result of subtraction (now stored in voltage_temp) to the threshold call COMPARE btfsc STATUS, C ; if voltage_temp > threshold (0.25 V), STATUS C = 1 incf flicker_flag ; if Status C = 1, increment the number of times it's flickered incf data_points ; increment number of data points taken movlw d'254' ; if data points < 254, check again subwf data_points, W btfss STATUS, C goto FLICKER_TEST ; if data points > 254, check number of flickers movlw d'10' subwf flicker_flag, W ; if there have been more than 10 flickers, in 254 data points, end checking btfsc STATUS, C goto LIGHT_STATUS ; skip to storing pass as the result decfsz loop_counter ; decrease number of repeats for the loop to make. if not 0, check again goto FLICKER_TEST LIGHT_STATUS movlw d'10' ; check if flicker was detected more than 10 times subwf flicker_flag, W btfsc STATUS, C goto PASS ; if flicker > 10, then store pass movlw d'1' ; otherwise, store flicker fail return PASS movlw d'0' return SWAP_VOLTAGES movf voltage_templ, W ; store voltage_temp in W, save W movwf w_temp movf voltage_refl, W ; move voltage_ref into W, move W into voltage_temp movwf voltage_templ movf w_temp, W ; move W_temp (saved W) into voltage_ref movwf voltage_refl movf voltage_temph, W movwf w_temp movf voltage_refh, W movwf voltage_temph movf w_temp, W movwf voltage_refh return ; 16 bit compare. Voltage_temp against flicker difference threshold ; Compare function sourced from piclist.com COMPARE movlw d'000' movwf w_temp movf voltage_temph, W subwf w_temp, W btfss STATUS, Z return movlw d'50' movwf w_temp movf voltage_templ, W subwf w_temp, W ; subtract the temp from 0.25 V. ; If voltage > 0.25 V, C = 0 ; If voltage <= 0.25 V, C = 1 return ; 16 bit compare sourced from piclist.com ; Comparing voltage_temp to 0.8 V (ON threshold) COMPARE_ON movlw d'000' movwf w_temp movf voltage_temph, W subwf w_temp, W btfss STATUS, Z return movlw d'165' movwf w_temp movf voltage_templ, W subwf w_temp, W ; subtract the temp from 0.8 V. ; If voltage > 0.8 V, C = 0 ; If voltage <= 0.8 V, C = 1 return ; 16 bit compare from piclist.com ; Compare the new voltage measure to the reference COMPARE_REF_NEW ; movf voltage_temph, W ; temp is Y ; xorlw 0x80 ; movwf w_temp ; movf voltage_refh, W ; ref is X ; xorlw 0x80 ; subwf w_temp, W ; goto EQUAL2 movf voltage_temph, W subwf voltage_refh, W EQUAL2 btfss STATUS, Z return movf voltage_templ, W subwf voltage_refl, W ; if temp > ref, status C = 1 ; if ref > temp, status C = 0 return ;********* ; STEPPER MOTOR DRIVING THINGS ; ********* ; Driving the stepper motor "forward" - ACBD STEPPER_DRIVERFOR bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD return ; Reversing the stepper motor. DBCA STEPPER_DRIVERREV bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA bsf STEPD call lcdLongDelay call lcdLongDelay bcf STEPD bsf STEPB call lcdLongDelay call lcdLongDelay bcf STEPB bsf STEPC call lcdLongDelay call lcdLongDelay bcf STEPC bsf STEPA call lcdLongDelay call lcdLongDelay bcf STEPA return ;*************** ; SERVO MOTORS ;*************** ; Servo neutral initializes servo position, turns lights off SERVO_NEUTRAL bank1 movlw b'10000000' ; set timer period (128) movwf PR2 bank0 movlw b'00001100' ; setting to PWM mode movwf CCP1CON movlw b'00000110' ; set the timer pre-scaler (1:16) and turn on timer movwf T2CON movlw b'00000110' ; setting duty cycle to 6% movwf CCPR1L clrf TMR2 ; clear timer before starting call ADC_Delay call ADC_Delay call ADC_Delay call ADC_Delay return ; turn lights on :) SERVO_ON movlw b'01100011' ; change the duty cycle to 99% movwf CCPR1L clrf TMR2 ; clear the timer call ADC_Delay call ADC_Delay call ADC_Delay call ADC_Delay return ;**************** ; INTERRUPT THINGS ; **************** INTERRUPT_THINGS movwf w_temp ; move whatever is in W to a temp register movf STATUS, W ;move status to the W register movwf status_temp ; save the status register in a temp register btfsc INTCON, 2 ; test to see if the timer is causing the interrupt call TIMER_ISR ; if it's the timer, go to the timer ISR movf status_temp, W ; restore the status register movwf STATUS swapf w_temp, f ; restore W swapf w_temp, w retfie ; return from interrupt TIMER_ISR bcf INTCON, 2 ; clear the timer flag decfsz count38, f ; decrease the counter from 38 (timer interrupt happens ~38 times/second) return ; if the interrupt hasn't happened 38 times, return to main program incf optime ; if it has, increment optime movlw d'38' ; restore counter to 38 movwf count38 return ; return to main ;************** ; ADC THINGS ;************** ; Initialize the ADC InitADC bank1 movlw b'10001110' ; right justified, only RA0 is Analog, Vref+ = Vdd, Vref- = Vss movwf ADCON1 bank0 movlw b'11000101' ; setting for internal clock to be used, RA0 to be tested, turn on ADC movwf ADCON0 return ADC_MainLoop call ADC_Delay ; wait acquisition time call ADC_Delay bsf ADCON0, GO ; start conversion WAIT btfsc ADCON0, GO goto WAIT ; wait until conversion completes bank0 return ; return to main code ADC_Delay movlw 0xFF movwf adc_delay decfsz adc_delay, f goto $-1 nop return ;************** ; CHECK PRESENCE ; ; Debounce the signal coming from the contact switches to ensure that ; the tray is placed correctly so that operation can begin ;************** CHECK_PRESENCE bcf MUXE ; ground the enable to activate the mux bcf MUX0 ; ground all select pins to select light 1 bcf MUX1 bcf MUX2 bcf MUX3 call HalfS ; delay to allow switching to occur call PRESENT_TEST ; test the light movwf stats1 ; store the result in the stat register for the light call HalfS ; delay to ensure values have been stored correctly CHECK_PRESENCE2 bsf MUX0 ; select 1 to get light 2 call HalfS call PRESENT_TEST movwf stats2 call HalfS CHECK_PRESENCE3 bcf MUX0 ; select 2 to get light 3 bsf MUX1 call HalfS call PRESENT_TEST movwf stats3 call HalfS CHECK_PRESENCE4 bsf MUX0 ; select 3 to get light 4 call HalfS call PRESENT_TEST movwf stats4 call HalfS CHECK_PRESENCE5 bcf MUX0 ; select 4 to get light 5 bcf MUX1 bsf MUX2 call HalfS call PRESENT_TEST movwf stats5 call HalfS CHECK_PRESENCE6 bsf MUX0 ; select 5 to get light 6 call HalfS call PRESENT_TEST movwf stats6 call HalfS CHECK_PRESENCE7 bsf MUX1 ; select 6 to get light 7 bcf MUX0 call HalfS call PRESENT_TEST movwf stats7 call HalfS CHECK_PRESENCE8 bsf MUX0 ; select 7 to get light 8 call HalfS call PRESENT_TEST movwf stats8 call HalfS CHECK_PRESENCE9 bcf MUX0 ; select 8 to get light 9 #eternalmysteries bcf MUX1 bcf MUX2 bsf MUX3 call HalfS call PRESENT_TEST movwf stats9 call HalfS return PRESENT_TEST call ADC_MainLoop ;call for conversion of incoming voltage banksel ADRESL movf ADRESL, W bank0 movwf voltage_templ movf ADRESH, W movwf voltage_temph call COMPARE btfss STATUS, C goto NOT_THEREP ; if light is present, it means it's shining through from the bottom aka no candlelights. So the light is not there. movlw d'0' incf lights_total return NOT_THEREP movlw d'3' return END \end{verbatim}