📄 robot_v01_bak.asm
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CPFSGT DEGREE24
BSF PIN_MOT24
CPFSGT DEGREE25
BSF PIN_MOT25
CPFSGT DEGREE26
BSF PIN_MOT26
CPFSGT DEGREE27
BSF PIN_MOT27
CPFSGT DEGREE28
BSF PIN_MOT28
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
CLRWDT
INCFSZ SERVO_CNT1
BRA SERVO_MG995_OUT
SETF LATE
SETF LATG
SETF LATF
RETURN
;******************
;******************
;******************
;******************
;******************
;******************
;******************
CPU_CLOCK_8M:
BCF OSCTUNE,PLLEN
CPU_CLOCK_32M_B:
MOVLW 0000010B
MOVWF OSCCON
CPU_CLOCK_32M_WAIT:
CLRWDT
BTFSS OSCCON,OSTS
BRA CPU_CLOCK_32M_WAIT
RETURN
CPU_CLOCK_32M:
BSF OSCTUNE,PLLEN
BRA CPU_CLOCK_32M_B
CPU_CLOCK_32K:
BCF OSCTUNE,PLLEN
MOVLW 0000011B
MOVWF OSCCON
RETURN
;******************
IO_INIT:
MOVLW UPPER IO_TABLE; LOAD TBLPTR WITH THE BASE
MOVWF TBLPTRU ; PIC_ADDRESS OF THE WORD
MOVLW HIGH IO_TABLE
MOVWF TBLPTRH
MOVLW LOW IO_TABLE
MOVWF TBLPTRL
MOVLW 0X0F
MOVWF FSR0H
MOVLW 0XD5
MOVWF FSR0L
MOVLW 0X74
MOVWF CNT
IO_INT2:
TBLRD*+; READ INTO TABLAT AND INCREMENT
MOVF TABLAT,W ; GET DATA
MOVWF POSTDEC0
CLRWDT
DECFSZ CNT
BRA IO_INT2
CLRF INTCON
MOVLW 11000000B
MOVWF INTCON2
CLRF INTCON3
CLRF FSR2H
CLRF FSR2L
;--------------------------
IO_INIT4:
CLRF POSTINC2
BTFSS FSR2H,1
BRA IO_INIT4
RETURN
IO_TABLE:
;**************table for pic87f65j10
; FD5H T0CON , FD4H -----
DB 00000000B , 00000000B
; FD3H OSCCON , FD2H -----
DB 00000010B , 00000000B
; FD1H WDTCON , FD0H RCON
DB 00000001B , 01111111B
; FCFH TMR1H , FCEH TMR1L
DB 00000000B , 00000000B
; FCDH T1CON , FCCH TMR2
DB 00100101B , 00000000B
; FCBH PR2 , FCAH T2CON
DB 01000000B , 00000100B
; FC9H SSP1BUF , FC8H SSP1ADD
DB 00000000B , 00000000B
; FC7H SSP1STAT , FC6H SSP1CON1
DB 01000000B , 00100000B
; FC5H SSP1CON2 , FC4H ADRESH
DB 00000000B , 00000000B
; FC3H ADRESL , FC2H ADCON0
DB 00000000B , 00000000B
; FC1H ADCON1 , FC0H ADCON2
DB 00001100B , 00001111B
; FBFH CCPR1H , FBEH CCPR1L
DB 00111111B , 00000000B
; FBDH CCP1CON , FBCH CCPR2H
DB 00000000B , 00111111B
; FBBH CCPR2L , FBAH CCP2CON
DB 00000000B , 00001100B
; FB9H CCPR3H , FB8H CCPR3L
DB 00000000B , 00000000B
; FB7H CCP3CON , FB6H ECCP1AS
DB 00000000B , 00000000B
; FB5H CVRCON , FB4H CMCON
DB 00000000B , 11111111B
; FB3H TMR3H , FB2H TMR3L
DB 00000000B , 00000000B
; FB1H T3CON , FB0H PSPCON
DB 01000111B , 00000000B
; FAFH SPBRG1 , FAEH RCREG1
DB 00000000B , 00000000B
; FADH TXREG1 , FACH TXSTA1
DB 00000000B , 00000000B
; FABH RCSTA1 , FAAH -----
DB 00000000B , 00000000B
; FA9H ----- , FA8H -----
DB 00000000B , 00000000B
; FA7H EECON2 , FA6H EECON1
DB 00000000B , 00000000B
; FA5H IPR3 , FA4H PIR3
DB 00000000B , 00000000B
; FA3H PIE3 , FA2H IPR2
DB 00000000B , 00000000B
; FA1H PIR2 , FA0H PIE2
DB 00000000B , 00000000B
; F9FH IPR1 , F9EH PIR1 ,
DB 00000000B , 00000000B
; F9DH PIE1 , F9CH MEMCON
DB 00000000B , 11111111B
; F9BH OSCTUNE , F9AH TRISJ
DB 10111111B , 11111111B
; F99H TRISH , F98H TRISG
DB 11111111B , 00000000B
; F97H TRISF , F96H TRISE
DB 00000000B , 00000000B
; F95H TRISD , F94H TRISC
DB 00000000B , 10010001B
; F93H TRISB , F92H TRISA
DB 11111111B , 00000000B
; F91H LATJ , F90H LATH
DB 00000000B , 00000000B
; F8FH LATG , F8EH LATF
DB 11111111B , 11111111B
; F8DH LATE , F8CH LATD
DB 11111111B , 00000000B
; F8BH LATC , F8AH LATB
DB 11000000B , 00000000B
; F89H LATA , F88H PORTJ
DB 00100000B , 00000000B
; F87H PORTH , F86H PORTG
DB 00000000B , 11111111B
; F85H PORTF , F84H PORTE
DB 11111111B , 11111111B
; F83H PORTD , F82H PORTC
DB 00000000B , 11000000B
; F81H PORTB , F80H PORTA
DB 00000000B , 00100000B
; F7FH SPBRGH1 , F7EH BAUDCON1
DB 00000000B , 00001000B
; F7DH SPBRGH2 , F7CH BAUDCON2
DB 00000000B , 00001000B
; F7BH ------- , F7AH ------
DB 00000000B , 00000000B
; F79H ECCP1DEL , F78H TMR4
DB 10000001B , 00000000B
; F77H PR4 , F76H T4CON
DB 00000000B , 00000000B
; F75H CCPR4H , F74H CCPR4L
DB 00000000B , 00000000B
; F73H CCP4CON , F72H CCPR5H
DB 00000000B , 00000000B
; F71H CCPR5L , F70H CCP5CON
DB 00000000B , 00000000B
; F6FH SPBRG2 , F6EH RCREG2
DB 00000111B , 00000000B
; F6DH TXREG2 , F6CH TXSTA2
DB 00000000B , 00101110B
; F6BH RCSTA2 , F6AH ECCP3AS
DB 00000000B , 00000000B
; F69H ECCP3DEL , F68H ECCP2AS
DB 11111111B , 00000000B
; F67H ECCP2DEL , F66H SSP2BUF
DB 11111111B , 00000000B
; F65H SSP2ADD , F64H SSP2STAT
DB 00000000B , 00000000B
; F63H SSP2CON1 , F62H SSP2CON2
DB 00000000B , 00000000B
;******************************
;******************************
;******************************
;--------------------------
WRITE_SPI_03H_CS
MOVLW 03
BRA WRITE_SPI
WRITE_SPI_00:
MOVLW 0
WRITE_SPI:
BCF F_CE
MOVWF SSP1BUF
DELAY8NOP:
CLRWDT
NOP
NOP
NOP
NOP
CLRWDT
NOP
NOP
NOP
NOP
MOVF SSP1BUF,W
RETURN
;**********************************
;**********************************
;******************************
SPEECH_V1:
MOVLW 0
SPEECH_V1_2:
MOVWF VOIC_CNT
SPEECH_V2:
MOVF VOIC_CNT,W
MULLW 0X40
MOVF PRODL,W
MOVWF PIC_ADDRM
MOVF PRODH,W
MOVWF PIC_ADDRH
MOVLW 0X60
MOVWF PIC_ADDRL
SPEECH_ONE:
RCALL WRITE_SPI_03H_CS
MOVF PIC_ADDRH,W
RCALL WRITE_SPI
MOVF PIC_ADDRM,W
RCALL WRITE_SPI
MOVF PIC_ADDRL,W
RCALL WRITE_SPI
RCALL WRITE_SPI
RCALL SOUND_SOFT_ON
MOVLW 0X00
MOVWF PIC_ADDRH
MOVLW 0X3F
MOVWF PIC_ADDRM
MOVLW 0X90
MOVWF PIC_ADDRL
MOVLW 24
CPFSEQ VOIC_CNT
BRA SPEECH_ONE2
MOVLW 0X01
MOVWF PIC_ADDRH
MOVLW 0XFF
MOVWF PIC_ADDRM
MOVLW 0X90
MOVWF PIC_ADDRL
SPEECH_ONE2:
MOVF SSP1BUF,W
MOVWF SSP1BUF
MOVWF PRODL
MOVWF PRODH
; MOVWF LAT
RRCF PRODL
RRCF PRODL,W
ANDLW 00111111B
MOVWF PRODL ;CCPR1L
SWAPF PRODH
ANDLW 00110000B
IORLW 00001100B
MOVWF CCP2CON
MOVF PRODL,W
MOVWF CCPR2L
CLRWDT
SPEECH_ONE4:
BTFSS TMR1L,6
BRA SPEECH_ONE4 ;BTG LATE,0
SPEECH_ONE5:
BTFSC TMR1L,6
BRA SPEECH_ONE5
MOVLW 0XFF
ADDWF PIC_ADDRL
ADDWFC PIC_ADDRM
ADDWFC PIC_ADDRH
BC SPEECH_ONE2
SOUND_SOFT_OFF:
BSF F_CE
MOVLW 00001100B
MOVWF CCP2CON
MOVF CCPR2L,W
bz SOUND_SOFT_OFF_end
SOUND_SOFT_OFF2:
BTFSS TMR1L,6
BRA SOUND_SOFT_OFF2
SOUND_SOFT_OFF4:
BTFSC TMR1L,6
BRA SOUND_SOFT_OFF4
CALL WORK_1
DECFSZ CCPR2L
BRA SOUND_SOFT_OFF2
SOUND_SOFT_OFF_end:
RETURN
;-----------------------------------
SOUND_SOFT_ON:
MOVLW 00001100B
MOVWF CCP2CON
SOUND_SOFT_ON2:
BTFSS TMR1L,6
BRA SOUND_SOFT_ON2
SOUND_SOFT_ON4:
BTFSC TMR1L,6
BRA SOUND_SOFT_ON4
CALL WORK_1
INCF CCPR2L
BTFSS CCPR2L,5
BRA SOUND_SOFT_ON2
RETURN
;********************
;*************************
;******************************
;******************************
;******************************
;******************************
MAX_WORK_STEP EQU 32
;******************************
;*****************
ROBOT_WALK_STOP:
MOVLW F_D
MOVWF DEGREE12
MOVWF DEGREE14
MOVWF DEGREE18
MOVWF DEGREE20
MOVLW L_M
MOVWF DEGREE11
MOVWF DEGREE13
MOVWF DEGREE15
MOVWF DEGREE17
MOVWF DEGREE19
MOVWF DEGREE21
MOVLW T_D
MOVWF DEGREE16
MOVLW H_U
MOVWF DEGREE10
RETURN
ROBOT_WALK:
MOVF WORK_CNT,W
ANDLW 0X0f
BTFSS STATUS,Z
RETURN
MOVLW 01111000B
ANDWF ROBOT_STATUSL,W
BZ ROBOT_WALK_STOP
MOVLW UPPER ROBOT_STEP_TABLE; LOAD TBLPTR WITH THE BASE
MOVWF TBLPTRU ; PIC_ADDRESS OF THE WORD
MOVLW HIGH ROBOT_STEP_TABLE
MOVWF TBLPTRH
MOVLW LOW ROBOT_STEP_TABLE
MOVWF TBLPTRL
MOVLW 0 ;DOWN
BTFSC ROBOT_STATUSL,5
MOVLW 2 ;LEFT
BTFSC ROBOT_STATUSL,4
MOVLW 4 ;RIGHT
BTFSC ROBOT_STATUSL,3
MOVLW 6 ;UP
ADDWF TBLPTRL
MOVLW 0
ADDWFC TBLPTRH
CLRF TBLPTRU
TBLRD*+; READ INTO TABLAT AND INCREMENT
MOVF TABLAT,W ; GET DATA
MOVWF PRODL
TBLRD*+; READ INTO TABLAT AND INCREMENT
MOVF TABLAT,W ; GET DATA
MOVWF TBLPTRH
MOVF PRODL,W
MOVWF TBLPTRL
MOVF WORK_STEP,W
MULLW 12
MOVF PRODL,W
ADDWF TBLPTRL
MOVF PRODH,W
ADDWFC TBLPTRH
MOVLW HIGH DEGREE10
MOVWF FSR0H
MOVLW LOW DEGREE10
MOVWF FSR0L
MOVLW 12
MOVWF PRODL
ROBOT_WALK4:
TBLRD*+; READ INTO TABLAT AND INCREMENT
MOVF TABLAT,W ; GET DATA
MOVWF POSTINC0
DECFSZ PRODL
BRA ROBOT_WALK4
INCF WORK_STEP
MOVLW MAX_WORK_STEP
CPFSLT WORK_STEP
CLRF WORK_STEP
RETURN
;******************************
ROBOT_STEP_TABLE
DW WROK_DOWN_TABLE
DW WROK_LEFT_TABLE
DW WROK_RIGHT_TABLE
DW WROK_UP_TABLE
DW WROK5_STEP_TABLE
DW WROK6_STEP_TABLE
DW WROK6_STEP_TABLE
DW WROK6_STEP_TABLE
DW WROK6_STEP_TABLE
;******************************
WROK_UP_TABLE
WROK5_STEP_TABLE
WROK6_STEP_TABLE
WROK6_STEP_TABLE
WROK6_STEP_TABLE
WROK6_STEP_TABLE
WROK_DOWN_TABLE
WROK_LEFT_TABLE:
WROK_RIGHT_TABLE
; HEAD FOOT1 FOOT2 TAIL FOOT3 FOOT4
DB H_U,L_M,F_D,L_M,F_D,L_M,F_D,L_M,F_D,L_M,F_D,L_M ;0
DB H_U,L_M,F_U,L_M,F_D,L_M,F_D,L_M,F_D,L_M,F_D,L_M ;0
DB H_U,L_M,F_U,L_M,F_U,L_M,F_D,L_M,F_D,L_M,F_D,L_M ;0
DB H_U,L_M,F_U,L_M,F_U,L_M,F_D,L_M,F_D,L_M,F_D,L_M ;0
;**********************************
ORG 7FF8H
DW 0XFF3F ;CONFIG 1
DW 0XFF7D ;CONFIG 2
DW 0XFeFF ;CONFIG 3
DW 0XFFFF
; DW 0XFBBF ;CONFIG 1
; DW 0XFFFD ;CONFIG 2
; DW 0XFFFF ;CONFIG 3
; DW 0XFFFF
;*******************
END
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