;Include

the PIC file and Configure the system

list P=PIC12F752
#include "p12F752.inc"
__config (_CP_OFF & _WDT_OFF & _BOREN_EN & _PWRTE_ON & _FOSC_INT & _MCLRE_OFF &
_CKLOUTEN_OFF)

;VARIABLE DEFINITIONS
;Pound Defines Pins
#define COLOR_OUTPUT_PIN

2



;PIN 2
#define PAIRED_OUTPUT_PIN

1



;PIN 1
#define TIME_OUTPUT_PIN


0



;PIN 0
#define COLOR_INPUT_PIN

3



;PIN 3 - If set we are
blue
#define PAIRED_INPUT_PIN

4



;PIN 4 - If set we
should set the servo to be in the paired position
#define TIME_INPUT_PIN

5



;PIN 5 - Every pulse
indicates we should tick the time servo
#define
TESTING_OUTPUT_PIN

5

;Temporary Variables for File Registers
W_TEMP


equ
0x71
STATUS_TEMP
equ
0x72
PCLATH_TEMP

equ
0x73

;Additional File Regsiters
PORT_A_READ
equ
0x74

;Depending on which bits are set in PWM_Status, we know what point we are in our PWM
PWM_STATUS
equ
0x75
#define


PAIRED_PWM_BIT
1
#define


TIME_PWM_BIT

2

;Compare Values
T2_COMPARE_PAIR


equ 0x76
T2_COMPARE_TIME


equ 0x77
T2_COMPARE_INTERMEDIATE

equ 0x78

TIMER_COUNTER



equ 0x79

Timer_Counter_Reset

equ
9

;Timer Constants - Note these need to actually be determined
T2_Prescalar

equ b'00000010'

;Prescaler of 16
T2_Postscalar

equ b'00001000'
;Postscaler of 2


Unpaired_Period



equ d'10'



;Match value
of 50
Paired_Period


equ d'5'



;Match value of 50

Intermediate_Period

equ d'200'

;Org
;Set org to start at 0 and go to port initialization but goto ISR aterwards

org

0

goto
InitPort

org

4

goto
ISR

org

5



;Pin Values Table that the motor will step through
Timer_Periods:

addwf
PCL, f
retlw

d'4'

retlw
d'5'
retlw

d'6'
retlw

d'8'
retlw

d'9'

;45 second position

retlw
d'11'

retlw
d'12'

retlw
d'14'

retlw
d'15'

retlw
d'16'

;0 Position
EndTable: ;use this label to verify that the end is less than 0xff


;Initialize the PORT
InitPort:

;Select PORT A (ANSELA) and clear it to initialize

banksel

ANSELA

clrf
ANSELA


;Select TRISA and clear it which will set everything to an output

banksel

TRISA

clrf
TRISA


;Set the bits of all of our inputs

bsf


TRISA, COLOR_INPUT_PIN


bsf


TRISA, PAIRED_INPUT_PIN

bsf


TRISA, TIME_INPUT_PIN


BANKSEL
OPTION_REG

BCF
OPTION_REG, NOT_GPPU


;Clear the Actual Port so nothing is Turned On

banksel

LATA

clrf
LATA

InitVariables:

clrf
PWM_STATUS

bsf


PWM_STATUS, PAIRED_PWM_BIT


;Reset The Timer Counter

movlw
Timer_Counter_Reset





movwf
TIMER_COUNTER



;Call the Table to get the last value

movf
TIMER_COUNTER, w

call
Timer_Periods



;Set the compare time eqeual to the last value of the table

movwf
T2_COMPARE_TIME



banksel

LATA

bcf


LATA, COLOR_OUTPUT_PIN

;Initialize the Interrupts
InitInterrupt:

;initialize the Capture Interrupt

banksel

IOCAN



;select the register for
capture interrupts (IOCAN)

bsf


IOCAN, TIME_INPUT_PIN
;Set the bit for the IOCAN register
for the receiving pin (this implies negative edge)



;Initialize the Timer Interrupt for Timer 2

banksel

T2CON


;Bankselect Timer 2

clrf
T2CON


;Clear

movlw
T2_Prescalar
;Set the prescaler

iorwf
T2CON, f

movlw
T2_Postscalar
;set the postscaler

iorwf
T2CON, f


banksel

PR2




;make sure we are in
PR_2

movlw
T2_COMPARE_PAIR

;set the compare value

movwf
PR2




;move working register back
to PR_2




bsf


T2CON, TMR2ON

;Turn on Timer 2


;Enable/Disable Interrupts

banksel

INTCON

bsf


INTCON, PEIE ;Enable Peripheral Interrupt

bsf


INTCON, GPIE ;Enable Interrupt on Change (IOCIE --> GPIE)

bsf


INTCON, GIE
;Enable Global Interrupt


banksel

PIE1

bsf


PIE1, TMR2IE ;Enable Timer2 Interrupt

;Event Checker Loop to Idle in Unless we Receive and Interrupt
EventChecker:

;Read in the Most Recent Port A

banksel

PORTA

movfw
PORTA

movwf
PORT_A_READ


;Check for Paired Byte

btfss
PORT_A_READ, PAIRED_INPUT_PIN ;if the Paired Bit is clear then we can
go back to simply waiting for an interupt/pairing as nothing will have changed

goto
PairBitCleared

call
PairBitSet


;Check for Color

btfss
PORT_A_READ, COLOR_INPUT_PIN
;if the Paired Bit is clear then
we can go back to simply waiting for an interupt/pairing as nothing will have changed

goto
SetColorRed

goto
SetColorBlue




;Go to this function when we discover the pair bit was clear
PairBitCleared:

;Set the Period of the Pair Compare value to be the paired period

movlw
Unpaired_Period





movwf
T2_COMPARE_PAIR


;Reset the Timing Servo so that it is at the intial counter of 10


movlw
Timer_Counter_Reset






movwf
TIMER_COUNTER


;Call the Table to get the last value

movf
TIMER_COUNTER, w

call
Timer_Periods



;Set the compare time eqeual to the last value of the table

movwf
T2_COMPARE_TIME


goto
EventChecker
;loop back to event checker / waiting for interrupt
state

;Call this Function When we discover the pair bit was set
PairBitSet:

;Set the Period of the Pair Compare value to be the paired period

movlw
Paired_Period




movwf
T2_COMPARE_PAIR


return;


;Set the Color to Blue
SetColorBlue:

banksel

LATA

bsf


LATA, COLOR_OUTPUT_PIN

goto
EventChecker
;loop back to event checker / waiting for interrupt
state

;Set the Color to Red
SetColorRed:

banksel

LATA

bcf


LATA, COLOR_OUTPUT_PIN

goto
EventChecker
;loop back to event checker / waiting for interrupt
state


;interrupt
ISR:

call
Push



;Call Push



banksel

INTCON




;Disable Global
Interrupts

bcf


INTCON, GIE


;if the interrupt was caused by timer 2 then go to timer 2 action

banksel

PIR1





btfsc
PIR1, TMR2IF

;check if timer 2 flag arises

goto
Timer2Interrupt


;go to timer 2 interrupt

;Capture Interrupt
CaptureInterrupt:

banksel

IOCAF

bcf


IOCAF, TIME_INPUT_PIN
;Clear Capture Flag

banksel

INTCON

bcf


INTCON, RAIF

;Clear Capture Flag in INTCON
(IOCIF i.e. RAIF)


;Decrement the Timer Counter

decf
TIMER_COUNTER

movf
TIMER_COUNTER, w


;Call the Table to get the last value

call
Timer_Periods



;Set the compare time eqeual to the last value of the table

movwf
T2_COMPARE_TIME


goto
Pop




;Goto Pop

;Timer2Interrupt i.e. time to PWM
Timer2Interrupt:

banksel

PIR1

bcf


PIR1, TMR2IF

;Clear Timer Interrupt Flag


;First Check which stage we are in

banksel

PWM_STATUS

btfsc
PWM_STATUS, PAIRED_PWM_BIT ;if the pair bit is clear then skip

goto
PairedPWM



btfsc
PWM_STATUS, TIME_PWM_BIT
;if the time bit is clear then skip

goto
TimePWM


goto
IntermediatePWM


;Set the Paired PWM output high
PairedPWM:

;Set the TIME PWM flag so that we go to the Time PWM Next


clrf
PWM_STATUS

bcf


PWM_STATUS, PAIRED_PWM_BIT

bsf


PWM_STATUS, TIME_PWM_BIT


;Set the Paired PWM Pin

banksel

LATA

bsf


LATA, PAIRED_OUTPUT_PIN

bcf


LATA, TIME_OUTPUT_PIN


;Reset Compare value

banksel

PR2




;make sure we are in
PR_2

movf
T2_COMPARE_PAIR, w


;set the compare value

movwf
PR2




;move working register back
to PR_2




goto
Pop;




;End of the Interrupt

TimePWM:


;Clear the Flag so we go to the intermediate PWM next

clrf
PWM_STATUS

bcf


PWM_STATUS, PAIRED_PWM_BIT

bcf


PWM_STATUS, TIME_PWM_BIT


;Set the Time PWM Pin

banksel

LATA

bcf


LATA, PAIRED_OUTPUT_PIN

bsf


LATA, TIME_OUTPUT_PIN


;Reset Compare value

banksel

PR2




;make sure we are in
PR_2

movf
T2_COMPARE_TIME, w


;set the compare value

movwf
PR2




;move working register back
to PR_2




goto Pop;




;End of the Interrupt

;Set all outputs low
IntermediatePWM:

;Set the Compare Vaule for the intermediate timer

movlw
Intermediate_Period

;Move the Maximum Period to the
intermediate compare value


movwf
T2_COMPARE_INTERMEDIATE

;set the intermediate
compare value to its maximum


movf
T2_COMPARE_PAIR, w


;Move the pair compare
value to the working register






subwf
T2_COMPARE_INTERMEDIATE, f
;subtract the working
register from the intermediate file


movf
T2_COMPARE_TIME, w


;Move the time compare
value to the working register






subwf
T2_COMPARE_INTERMEDIATE, f

;subtract the working
register from the intermediate file


;Change the Flag so that we go to the paired PWM Next

clrf
PWM_STATUS

bsf


PWM_STATUS, PAIRED_PWM_BIT

bcf


PWM_STATUS, TIME_PWM_BIT


;Clear all Pins

banksel

LATA

bcf


LATA, PAIRED_OUTPUT_PIN

bcf


LATA, TIME_OUTPUT_PIN


;Reset Compare value

banksel

PR2




;make sure we are in
PR_2

movf
T2_COMPARE_INTERMEDIATE, w
;set the compare value

movwf
PR2




;move working register back
to PR_2




goto Pop;




;End of the Interrupt



Push:

movwf
W_TEMP




;Store the current w by
moving it directly into the temp file location


movf
STATUS, W


;Store the current status by first
moving the status into W

clrf
STATUS




;Clear the status

movwf
STATUS_TEMP


;Move the W into the tempeorary
status


movf
PCLATH, W


moving the PCLATH into W

clrf
PCLATH




movwf
PCLATH_TEMP


tempeorary status


return


Pop:

clrf
STATUS






;Restore the PCLATH

movf
PCLATH_TEMP, W

movwf
PCLATH


;Restore the Status

movf
STATUS_TEMP, W

movwf
STATUS


;Restore the W

swapf
W_TEMP, F

swapf
W_TEMP, W





banksel

INTCON


Interrupts back On

bsf


INTCON, GIE


retfie






ToggleTest:

banksel LATA

bsf

LATA, TESTING_OUTPUT_PIN

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

;Store the current PCLATH by first

;Clear the PCLATH

;Move the PCLATH into the

;clear status

;restire WREG keeping status bits

;Turn Global

;return from the ISR


nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

nop

bcf

LATA, TESTING_OUTPUT_PIN

return


End ;end of program