yy.txt

pic得电机控制程序

; ###############################################################################
;	filename:		IC16C745.asm
;				Hand Held Haptic Device PIC Code
;
;
; The program has to:
; -initialize the device
; -switch to channel 1
; -enter the loop
; -read from the A/D Channel 1
; -switch to channel 2
; -read from the A/D channel 2
; -switch to channel 1
; -read from the data Bus B ( which is attached to the encoder decoder)
; -transmit this data through the USB to the host
; -wait for the host to calculate the model and transmit back to the device
; -recieve the data from the host
; -set the PWM duty cycle
; -and REPEAT the loop
;
; ###############################################################################
;
;	Author:			Michael Shaver
;	Company:		Department of Computer Science, UBC
; 	Sponsers:   		Karon Maclean
;				Dinesh Pai
;
;	Revision:		0.0
;	Date:			04-June-2001
;	Assembled using		MPASM 2.30.07
;	Revision History:
;	04-June-2001 MJS        Rev 0.0
;
;################################################################################
;
;	include files:
;		P16C745.inc	Rev 1.00
;		usb_defs.inc	Rev 1.00
;
;################################################################################


#include <p16c745.inc>
#include "usb_defs.inc"

	__CONFIG	_H4_OSC & _WDT_OFF & _PWRTE_OFF & _CP_OFF

unbanked	udata_shr
W_save		res	1

bank0	udata
Status_save	res	1	; registers for saving context
PCLATH_save	res	1
FSR_save	res	1

inner		res	1	; delay loop counters
middle		res	1
outer		res	1




;Declarations for ADC
;********************
adcValuex	res	1	; scaled value from ADC x
adcValuey	res	1	; scaled value from ADC y

UserStatus	res	1	; User implemented status bit
;UserStatus bit definition
ADxfinish	EQU	0	;bit0 - clear='x not finish' set='x finish'
ADyfinish	EQU	1	;bit1 - clear='y not finish' set='y finish'
direction	EQU	2	;bit2 - clear='motor direction is forward' set='reverse'

;Declarations for Decoder
;************************
DecHighbit	res	1	; variable for Decoder bits <15:8>
DecLowbit	res 	1	; variable for Decoder bots <7:0>

;out put pin definition
SEL		EQU	6	;pin 6 of portc will be connected to Decoder SEL
OE		EQU	7	;pin 7 of portc will be connected to Decoder OE

;Declarations for PWM
;********************
;see UserStatus bit definition 'direction' above


;buffersFilled	res	1	; # of values read from ADC
buffer		res	8	; source/destination buffer for testing...

state	res	1
counter	res	1

	extern	InitUSB
	extern	PutEP1
	extern	GetEP1
	extern	ServiceUSBInt
	extern	CheckSleep
	extern	RemoteWakeup

STARTUP	code
	pagesel	main
	goto	main
	nop









InterruptServiceVector
	movwf	W_save		; save W
	movf	STATUS,W
	clrf	STATUS		; force to page 0
	movwf	Status_save	; save STATUS
	movf	PCLATH,w
	movwf	PCLATH_save	; save PCLATH
	movf	FSR,w
	movwf	FSR_save	; save FSR

; *************************************************************
; Interrupt Service Routine
; First we step through several stages, attempting to identify the source 
; of the interrupt.
; ******************************************************************

Process_ISR
; Step 1, what triggered the interrupt?

;	btfsc	INTCON,T0IF	; Timer 0
;	nop
	btfsc	INTCON,RBIF	; Port B
;	bcf	INTCON,RBIF
	call	PortBChange
;	btfsc	INTCON,INTF	; External Interrupt
;	nop

	pagesel	ServiceUSBInt
	btfsc	PIR1,USBIF
	call	ServiceUSBInt

	pagesel ADIntRoutine
	btfsc	PIR1,ADIF	; AD Done?
	call    ADIntRoutine

;	btfsc	PIR1,RCIF
;	nop
;	btfsc	PIR1,TXIF
;	nop
;	btfsc	PIR1,CCP1IF
;	nop
;	btfsc	PIR1,TMR2IF
;	nop
;	btfsc	PIR1,TMR1IF
;	nop
;	btfsc	PIR2,CCP2IF
;	nop

; ******************************************************************
; End ISR, restore context and return to the main program
; ******************************************************************
EndISR
	clrf	STATUS		; select bank 0
	movf	FSR_save,w	; restore the FSR
	movwf	FSR
	movf	PCLATH_save,w	; restore PCLATH
	movwf	PCLATH
	movf	Status_save,w	; restore Status
	movwf	STATUS
	swapf	W_save,f	; restore W without corrupting STATUS
	swapf	W_save,w
	retfie


; **********************************************************************
; PortB Change Interrupt Handler, calls RemoteWakeup to perform wakeup
; **********************************************************************
PortBChange
	clrf	STATUS
	movf	PORTB,w
	bcf	INTCON,RBIF
;	pagesel RemoteWakeup
;	call RemoteWakeup
	return

	code













; ******************************************************************
;	MAIN
; 	
; ******************************************************************
main

	movlw	.30		; delay 16 uS to wait for USB to reset
	movwf	W_save		; SIE before initializing registers
	decfsz	W_save,f	; W_save is merely a convienient register
	goto	$-1		; to use for the delay counter.

; ******************************************************************
; Sets the probe control register to output the UCTRL register and
; USBDPRAM databus onto the probepins.  
; ******************************************************************

;	bsf	STATUS,RP0
;	bcf	STATUS,RP1
;	bcf	OPTION_REG,NOT_RBPU  ; enable portb weak pull-up to detected change in PORTB

;added mjs

;A/D CONVERSION  INITIALIZATION
;A/D STEP 1:

	banksel	ADCON1		;Go to the ADC bank
	movlw	B'101'		;<7:3>=00000(Unimplemented)
				;<2:0>= 101(PortA all analog pins with RA3/AN3 as Vref)
	movwf	ADCON1		;ADCON1="00000101"

;Set A/D Control Register ADCON0 to: <7:6>=10(Fint/32), <5:3>=000=channel 0(RA0/AN0)
;<2>=0(go/done* bit),<1>=0(unimplemented),<0>=1(A/D ON)

	banksel ADCON0		;Go to the other ADC bank
	movlw	b'10000001'
	movwf	ADCON0		;ADCON0="10000001"


;A/D STEP 2: configure A/D interrupt: , (i)Set GIE bit, (ii)Clear ADIF bit, (iii)Set ADIE bit
	banksel	PIR1		;bank 0
	bsf	INTCON,GIE	;set the general interupt enable bit
	bcf	PIR1,ADIF	;clear the A/D done interupt bit

	banksel	PIE1		;bank 1
	bsf	PIE1,ADIE	;set the A/D done interupt enable bit

;may need to put 'bsf...gie' here??


;END ADDED mjs

	pagesel	InitUSB
	call	InitUSB
	pagesel	main
	ConfiguredUSB	; wait here until the enumeration process is complete

idleloop   ;I want to test the length of the idle loop  = (256*3+3)*256 =262912 (44ms)

	banksel	inner
	clrf	inner
	clrf	middle

	incfsz	inner,f
	goto	$-1
	incfsz	middle,f
	goto	$-3

;ADDED MJS

;set the data direction registers of port A and B
;1 = input, 0 = output

	banksel	TRISA
	bsf	TRISA,0		;RA0 set to input
	bsf	TRISA,1		;RA1 set to input
				;TRISA="---- --11"
	movlw	0xff		;set Port B to be an input port
	movwf	TRISB		;TRISB="1111 1111"


;PULSE WIDTH MODULATION INITIALIZATION
;pwm STEP 1
;set data direction register for port C
;clear TRISC<7:6,2:1> to make them output pins

	
	movlw	b'00111001'
	andwf	TRISC,f		;TRISC = 00uu u0uu 
				;(<7:6> are output pins for Decoder. <2:1> is output for PWM)

	;set period of PWM
	movlw	0xff
	movwf	PR2		;PR2 is also in Bank 1 

	;turn on PWM mode
	movlw	b'00001111'
	banksel	CCP1CON
	movwf	CCP1CON		;set CCP1 to PWM mode
	movwf	CCP2CON		;set CCP2 to PWM mode

	;set the duty cycle to 0% (which equals no motion in circuit)
;	bsf	CCP1CON,5	
;	bcf	CCP1CON,4	;set CCP1CON<5:4> (LS 2 bits of duty cycle)
;	movlw	0x7f
;	movwf	PWMcommand	;PWMcommand= 0111 1111
;	call	PWMduty		;PWMduty uses PWMcommand to set duty cycle
	clrf	CCPR1L		;clear the most sig. bits of PWM 1
	clrf	CCPR2L		;clear the most sig. bits of PWM 2

	;step 3
	movlw	b'00000100'
	iorwf	T2CON,f		;set T2CON<2> (enable TMR2)
	movlw	b'11111100'
	andwf	T2CON,f		;clear T2CON<1:0> (set prescale to 1:1)


;DECODER INITIALIZATION
;Note: pins <7:6> of port c set to out put in PWM init

	banksel	PORTC
	bsf	PORTC,SEL	;setting OE and SEL clears data latch and enables