;;======================================================================;; ;; ServoPoint ;; ;;======================================================================;; ;; ;; ;; Program: ServoPoint -- DCC servo controlled point ;; ;; Code: Paco Caņada ;; ;; Platform: Microchip PIC12F629, 4 Mhz ;; ;; Date: 26.10.2007 ;; ;; First release: 26.10.2007 ;; ;; LastDate: 26.10.2007 ;; ;; ;; ;;======================================================================;; ; ; ; Minimal external components, uses internal oscilator at 4 MHz, ; ; This program is distributed as is but WITHOUT ANY WARRANTY ; I hope you enjoy!! ; ; Revisions: ; 26.10.2007 Start of writting code ; 04.11.2007 change to only button programming ; 11.11.2007 LED flashing for programming ; ----- Definitions #define __VERNUM D'1' #define __VERDAY 0x11 #define __VERMONTH 0x11 #define __VERYEAR 0x07 LIST p=12F629 ; target processor errorlevel -305,-302 #include p12F629.inc __CONFIG _BODEN_ON & _CP_OFF & _WDT_OFF & _MCLRE_OFF & _PWRTE_OFF & _INTRC_OSC_NOCLKOUT ; Make sure that internal osc. is calibrated ; Value has to be read before reprogramming the device. ; --- Constant values FXTAL equ D'4000000' ; internal oscilator GP_TRIS equ 0x0C ; GP2,GP3: inputs GP_INI equ 0x00 ; all zero OPTION_INI equ 0x88 ; Option register: no pull-up, falling GP2, no prescaler, wdt 1:1 WPU_INI equ 0x33 ; Weak pull-up enable. default, no pull-ups INTC_INI equ 0xD0 ; GIE, INTE enable, PEIE enable PIE1_INI equ 0x01 ; interrupt TMR1 #define RELE1A GPIO,0 ; Rele output straight #define RELE1B GPIO,1 ; Rele output diverge #define DCCIN GPIO,2 ; DCC input pin #define SWITCH GPIO,3 ; Move/Programm switch (GPIO,3 only input) #define LED GPIO,4 ; Prog LED #define SERVO GPIO,5 ; Servo output REACH_PULS equ 0x04 ; aditional pulses when reached position ; --- EEPROM Section #define EE_INI 0x00 EE_ADDR1H equ EE_INI+0x00 EE_ADDR1L equ EE_INI+0x01 EE_RANGE1 equ EE_INI+0x02 EE_SPEED1 equ EE_INI+0x03 EE_OUT equ EE_INI+0x7F ; saved outputs ; ----- Variables ; --- Internal RAM Section #define RAMINI0 0x020 ; 64 bytes of RAM INT_W equ RAMINI0+0x00 ; interrupt context registers INT_STAT equ RAMINI0+0x01 SHIFT0 equ RAMINI0+0x02 DATA1 equ RAMINI0+0x03 DATA2 equ RAMINI0+0x04 DATA3 equ RAMINI0+0x05 DATA4 equ RAMINI0+0x06 PREAMBLE equ RAMINI0+0x08 DCCSTATE equ RAMINI0+0x09 DCCBYTE equ RAMINI0+0x0A EEDATA0 equ RAMINI0+0x0B ; EEPROM shadow variables EEADR0 equ RAMINI0+0x0C SRVADRH1 equ RAMINI0+0x10 ; servo address SRVADRL1 equ RAMINI0+0x11 ; RANGE1 equ RAMINI0+0x12 ; servo range SPEED1 equ RAMINI0+0x13 ; servo speed SRV1CNT equ RAMINI0+0x20 ; speed PULSE1 equ RAMINI0+0x21 ; pulse duration MOVING equ RAMINI0+0x22 ; moving flags POSITION equ RAMINI0+0x23 ; current position flags STATE equ RAMINI0+0x24 ; current state REACHED equ RAMINI0+0x25 ; position reached SPACE_H equ RAMINI0+0x26 ; spacing duration SPACE_L equ RAMINI0+0x27 RELEPULSE1 equ RAMINI0+0x28 ; biestable rele pulse DEBOUNCE1 equ RAMINI0+0x2A ; key debouncing DEBOUNCEP equ RAMINI0+0x2B ; prog key debounce TIMER equ RAMINI0+0x2C ; for prescaler prog key debouncing FLSH_PRE equ RAMINI0+0x2D ; flash prescaler FLSH1 equ RAMINI0+0x2E ; flash sequence FLSH2 equ RAMINI0+0x2F ; FLAGS equ RAMINI0+0x30 COUNT equ RAMINI0+0x32 TEMP equ RAMINI0+0x33 EEPTR equ RAMINI0+0x3F ; Page register ; --- Flags #define NEW_PACKET FLAGS,0 ; New 3 byte packet received #define DCC4BYTE FLAGS,3 ; DCC command 4 bytes #define DO_PULSE FLAGS,5 ; do pulse, TMR1 end #define RESET_FLG FLAGS,7 ; reset packet ; --------------- Program Section -------------------------------------- org 0x000 PowerUp: clrf STATUS ; Bank 0 default clrf INTCON ; Disable all interrupts clrf PCLATH ; tables on page 0 goto INIT ; ---------------------------------------------------------------------- org 0x004 Interrupt: movwf INT_W ; save context registers ;1 swapf STATUS,w ;2 movwf INT_STAT ;3 clrf STATUS ; interrupt uses bank 0 ;4 btfss PIR1,TMR1IF ; end of servo pulse? ;+1 goto Int_DCC ;+2,3 bcf SERVO ; yes, clear pulse ;+3 bcf PIR1,TMR1IF ;+4 bsf DO_PULSE ;+5 Int_DCC: btfss INTCON,INTF ; RB0 interrupt? ;+4, +6 goto EndInt ;+5,6, +7,8 btfss DCCIN ;5 goto Int_Low_Half ;6,7 Int_High_Half: movf DCCSTATE,w ; 8 addwf PCL,f ; 9 goto Preamble ; 10,11 goto WaitLow goto ReadBit goto ReadBit goto ReadBit goto ReadBit goto ReadBit goto ReadBit goto ReadBit goto ReadLastBit goto EndByte1 goto EndByte2 goto EndByte3 goto EndByte4 Int_Low_Half: movlw d'256' - d'80' ; 77us: between 64us (one) and 90us (zero);8 movwf TMR0 ;9 bcf INTCON,T0IF ; clear overflow flag for counting ;10 bcf INTCON,INTF ;11 bsf STATUS,RP0 ;12 bsf OPTION_REG,INTEDG ; next interrupt on rising edge GP2 ;13 swapf INT_STAT,w ; restore context registers ;14 movwf STATUS ;15 swapf INT_W,f ;16 swapf INT_W,w ;17 retfie ;18,19 EndHighHalf: bcf INTCON,INTF ;21 bsf STATUS,RP0 ;22 bcf OPTION_REG,INTEDG ; next interrupt on falling edge GP2 ;23 EndInt: swapf INT_STAT,w ; restore context registers ;24 movwf STATUS ;25 swapf INT_W,f ;26 swapf INT_W,w ;27 retfie ;28,29 Preamble: btfss NEW_PACKET ; wait until last decoded ;12 incf PREAMBLE,f ; ;13 btfsc INTCON,T0IF ; if timer 0 overflows then is a DCC zero;14 clrf PREAMBLE ; ;15 movlw 0xF6 ; 10 preamble bits? ;16 addwf PREAMBLE,w ; ;17 btfsc STATUS,C ; ;18 incf DCCSTATE,f ; yes, next state ;19 goto EndHighHalf ; ;20,21 WaitLow: btfsc INTCON,T0IF ; if timer 0 overflows then is a DCC zero;12 incf DCCSTATE,f ; then state ;13 clrf DCCBYTE ; ;14 clrf PREAMBLE ; ;15 clrf DATA4 ; ;16 goto EndHighHalf ; ;17,18 ReadBit: bsf STATUS,C ;12 btfsc INTCON,T0IF ; if timer 0 overflows then is a DCC zero;13 bcf STATUS,C ;14 rlf SHIFT0,f ; receiver shift register ;15 incf DCCSTATE,f ; ;16 goto EndHighHalf ; ;17,18 ReadLastBit: bsf STATUS,C ;12 btfsc INTCON,T0IF ; if timer 0 overflows then is a DCC zero;13 bcf STATUS,C ;14 rlf SHIFT0,f ; receiver shift register ;15 incf DCCBYTE,w ;16 addwf DCCSTATE,f ;17 goto EndHighHalf ; ;18,19 EndByte1: movlw 0x00 ; ;12 btfsc INTCON,T0IF ; End bit=1, invalid packet ;13 movlw 0x02 ; ;14 movwf DCCSTATE ; ;15 movf SHIFT0,w ; ;16 movwf DATA1 ; ;17 incf DCCBYTE,f ; ;18 goto EndHighHalf ; ;19,20 EndByte2: movlw 0x00 ; ;12 btfsc INTCON,T0IF ; End bit=1, invalid packet ;13 movlw 0x02 ; ;14 movwf DCCSTATE ; ;15 movf SHIFT0,w ; ;16 movwf DATA2 ; ;17 incf DCCBYTE,f ; ;18 goto EndHighHalf ; ;19,20 EndByte3: btfss INTCON,T0IF ; End bit=1, end of packet ;12 goto EndByte3x ; ;13,14 movlw 0x02 ; ;14 movwf DCCSTATE ; ;15 movf SHIFT0,w ; ;16 movwf DATA3 ; ;17 incf DCCBYTE,f ; ;18 bsf DCC4BYTE ; ;19 goto EndHighHalf ; ;20,21 EndByte3x: clrf DCCSTATE ; ;15 movf SHIFT0,w ; ;16 movwf DATA3 ; ;17 bsf NEW_PACKET ; ;18 bcf DCC4BYTE ; ;19 goto EndHighHalf ; ;20,21 EndByte4: clrf DCCSTATE ; ;12 btfsc INTCON,T0IF ; End bit=1, end of packet ;13 goto EndInt ; End bit=0, invalid packet ;14,15 movf SHIFT0,w ; ;15 movwf DATA4 ; ;16 bsf NEW_PACKET ; ;17 goto EndHighHalf ; ;18,19 ; ---------------------------------------------------------------------- ; ----- Initialization INIT: clrf GPIO movlw 0x07 movwf CMCON ; set GP2:0 to digital I/O bsf STATUS,RP0 ; bank 1 movlw GP_TRIS movwf TRISIO call 0x3FF ; get OSCCAL value movwf OSCCAL movlw WPU_INI ; pull-ups movwf WPU clrf IOC ; interrupt on change clrf VRCON ; voltage reference off movlw OPTION_INI ; Option register: no pull-up, falling GP2, no prescaler, wdt 1:1 movwf OPTION_REG movlw PIE1_INI movwf PIE1 bcf STATUS,RP0 ; bank 0 clrf PIR1 movlw 0x01 ; Timer 1 on, 1:1 movwf T1CON movlw 0x20 ; clear RAM movwf FSR ClearRAM: clrf INDF incf FSR,f movlw 0x60 xorwf FSR,w btfss STATUS,Z goto ClearRAM movlw INTC_INI movwf INTCON ; enable GP2 external interrupt movlw d'150' ; init servos default movwf PULSE1 ; clrf MOVING ; clrf POSITION ; clrf STATE call LoadCV ; Load CV in SFR call LoadOutputs ; set servo to last position ; ---------------------------------------------------------------------- MainLoop: btfsc NEW_PACKET ; new packet? call Decode ; yes, decode btfsc DO_PULSE ; end of servo pulse? call DoServo ; yes, next pulse goto MainLoop DoServo: bcf DO_PULSE btfsc INTCON,INTE ; disabled interrupts? goto DoServoJump clrf DCCSTATE ; yes, clear for decoding bsf INTCON,INTE ; re-enable interrupts DoServoJump: movf STATE,w andlw 0x03 addwf PCL,f goto PulseServo1 goto PulseServo2 goto Spacing clrf STATE ; prevents erroneus contents if ($ > d'255') ERROR " Tables exceded page 0. If it works, why do you change it? " endif ; ---------------------------------------------------------------------- PulseServo1: clrf SPACE_H ; init spacing value (20ms) clrf SPACE_L movf PULSE1,w ; 200: 2ms, 100: 1ms call PulseServo btfsc MOVING,0 bcf INTCON,INTE ; disable DCC interrupts for time accuracy btfsc MOVING,0 bsf SERVO bsf T1CON,TMR1ON ; run timer 1 incf STATE,f movf RELEPULSE1,w ; relay pulse btfss STATUS,Z decfsz RELEPULSE1,f goto EndSpacing bcf RELE1A bcf RELE1B goto EndSpacing PulseServo2: movlw d'150' ; 200: 2ms, 100: 1ms call PulseServo ; dummy pulse bsf T1CON,TMR1ON ; run timer 1 incf STATE,f ; movf RELEPULSE2,w ; relay pulse ; btfss STATUS,Z ; decfsz RELEPULSE2,w ; goto EndServo1 ; bcf RELE2A ; bcf RELE2B goto EndServo1 Spacing: bcf T1CON,TMR1ON movf SPACE_H,w ; pulses length movwf TMR1H movf SPACE_L,w movwf TMR1L movlw 0xE0 ; 20ms time ( 0x10000 - 0x4E20 = 0xB1E0 ) addwf TMR1L,f btfsc STATUS,C incf TMR1H,f movlw 0xB1 addwf TMR1H,f ; bcf PIR1,TMR1IF bsf T1CON,TMR1ON ; run timer 1 clrf STATE goto EndServo2 PulseServo: bcf T1CON,TMR1ON ; stop timer 1 clrf TMR1H ; do PULSE x10 movwf TEMP movwf TMR1L rlf TMR1L,f rlf TMR1H,f rlf TMR1L,f ; x4 rlf TMR1H,f rlf TMR1L,f ; x8 rlf TMR1H,f movlw 0xF8 andwf TMR1L,f movf TEMP,w ; x8 + x1 = x9 addwf TMR1L,f btfsc STATUS,C incf TMR1H,f addwf TMR1L,f ; x9 + x1 = x10 btfsc STATUS,C incf TMR1H,f movf TMR1L,w ; correct spacing addwf SPACE_L,f btfsc STATUS,C incf SPACE_H,f movf TMR1H,w addwf SPACE_H,f comf TMR1L,f ; negative for incrementing comf TMR1H,f movlw 0x01 addwf TMR1L,f btfsc STATUS,C incf TMR1H,f ; bcf PIR1,TMR1IF return ; ---------------------------------------------------------------------- EndSpacing: ; every 20ms return EndServo1: btfss MOVING,0 ; moving servo? return ; no btfss POSITION,0 ; yes ************* goto EndServo1Nxt btfsc REACHED,0 goto EndServo1WW1 decfsz SRV1CNT,f ; speed goto EndServo1W1 movf SPEED1,w movwf SRV1CNT decf PULSE1,f EndServo1W1: comf RANGE1,w ; range (negative) addlw 0x01 addlw d'150' xorwf PULSE1,w btfss STATUS,Z return movlw REACH_PULS movwf SRV1CNT bsf REACHED,0 return EndServo1WW1: decfsz SRV1CNT,f ; additional pulses return bcf POSITION,0 ; ********************** EndServoSave: bcf REACHED,0 bcf MOVING,0 movlw d'5' ; 5 * 20ms relay pulse movwf RELEPULSE1 btfss POSITION,0 bsf RELE1A btfsc POSITION,0 bsf RELE1B movf POSITION,w ; save new output state xorlw 0x01 movwf EEDATA0 movlw EE_OUT goto SetParm EndServo1Nxt: btfsc REACHED,0 goto EndServo1WW2 decfsz SRV1CNT,f ; speed goto EndServo1W2 movf SPEED1,w movwf SRV1CNT incf PULSE1,f EndServo1W2: movlw d'150' ; range addwf RANGE1,w xorwf PULSE1,w btfss STATUS,Z return movlw REACH_PULS movwf SRV1CNT bsf REACHED,0 return EndServo1WW2: decfsz SRV1CNT,f return bsf POSITION,0 ; ***************** goto EndServoSave EndServo2: ; every 20ms btfsc SWITCH ; check program switch goto ReadInputSwitch decf DEBOUNCE1,f ; *** for 2,5s decfsz DEBOUNCE1,f ; pressed, wait debounce time (2,5s) return goto MainProg ; enter programming mode ReadInputSwitch: movf DEBOUNCE1,w ; short pressed? btfsc STATUS,Z return ; no Key_Change: ; servo move bsf MOVING,0 movf SPEED1,w movwf SRV1CNT clrf DEBOUNCE1 return ; ---------------------------------------------------------------------- MainProg: bsf LED ; LED on btfss SWITCH ; wait to release goto MainProg clrf EEPTR bsf FLSH_PRE,1 call SetFlash ProgLoop: btfss DO_PULSE ; every 65ms goto ProgKey bcf DO_PULSE decfsz FLSH_PRE,f ; prescaler flash goto ProgKey bsf FLSH_PRE,1 bcf STATUS,C btfsc FLSH1,7 bsf STATUS,C rlf FLSH2,f rlf FLSH1,f btfss STATUS,C bcf LED btfsc STATUS,C bsf LED ProgKey: decfsz TIMER,f ; debounce time goto ProgNoKey bsf TIMER,2 bcf STATUS,C ; check key btfsc SWITCH bsf STATUS,C rlf DEBOUNCEP,w movwf DEBOUNCEP xorlw 0xC0 btfss STATUS,Z goto ProgNoKey btfss EEPTR,1 incf EEPTR,f incf EEPTR,f call SetFlash btfss EEPTR,2 goto ProgLoop EndProg: bcf LED bsf INTCON,INTE ; enable interrupts return ProgNoKey: btfss NEW_PACKET ; new packet? goto ProgLoop DecodeProg: bcf NEW_PACKET ; prepare for next packet bcf INTCON,INTE ; disable interrupts for more speed movf DATA1,w ; exclusive or check xorwf DATA2,w xorwf DATA3,w xorwf DATA4,w btfss STATUS,Z ; valid packet? goto ExitDecodeProg ; no, return movf DATA1,w ;'10AAAAAA' '1AAADxxx' AAA:111 D:1 activate andlw 0xC0 xorlw 0x80 ;'10xxxxxx'? accessory operation btfsc DATA2,7 btfss STATUS,Z goto ExitDecodeProg btfss DATA2,3 ; activate? goto ExitDecodeProg btfss EEPTR,1 goto ProgSetAddr ; address ProgRangeSpeed: decf DATA1,f ; '10AAAAAA' rlf DATA1,w movwf TEMP rlf TEMP,w ; 'AAAAAAxx' andlw 0xFC movwf TEMP rrf DATA2,w ; '1AAA1CCD' andlw 0x03 iorwf TEMP,f incf TEMP,w movwf EEDATA0 movf EEPTR,w call SetParm call LoadCV bsf MOVING,0 ; move to test movf SPEED1,w movwf SRV1CNT goto EndProg ProgSetAddr: movf DATA1,w movwf EEDATA0 movlw EE_ADDR1H call SetParm ; save address movf DATA2,w movwf EEDATA0 movlw EE_ADDR1L call SetParm ; save address call LoadCV bsf MOVING,0 ; move to test movf SPEED1,w movwf SRV1CNT goto EndProg ExitDecodeProg: bsf INTCON,INTE ; enable interrupts goto ProgLoop SetFlash: btfss EEPTR,1 goto FlashLED movlw b'11111111' btfsc EEPTR,0 movlw b'10101010' movwf FLSH1 movwf FLSH2 return FlashLED: movlw b'11000000' movwf FLSH1 movwf FLSH2 return ; ---------------------------------------------------------------------- Decode: bcf NEW_PACKET ; prepare for next packet bcf INTCON,INTE ; disable interrupts for more speed movf DATA1,w ; exclusive or check xorwf DATA2,w xorwf DATA3,w xorwf DATA4,w btfss STATUS,Z ; valid packet? goto ExitDecode ; no, return ; 'AAAAAAAA''DDDDDDDD''EEEEEEEE' ; 3 byte packet ; DATA1 DATA2 DATA3 movf DATA1,w ; address = '00000000' ? btfsc STATUS,Z goto Broadcast ; movf DATA1,w andlw 0xC0 xorlw 0x80 ;'10xxxxxx'? accessory operation btfss STATUS,Z goto ExitDecode goto Accessory Accessory: bcf RESET_FLG ; btfsc KEY_PROG ; pressed switch? ; goto AccessProg ; yes, program new address AccSrv1: movf SRVADRH1,w ; '10AAAAAA' of servo 1 xorwf DATA1,w btfss STATUS,Z goto AccSrv2 movf SRVADRL1,w ; '1AAACDDD' xorwf DATA2,w btfss STATUS,Z goto AccSrv1B btfss POSITION,0 ; move servo bsf MOVING,0 goto AccSrv1C AccSrv1B: xorlw 0x01 ; other position? btfss STATUS,Z goto AccSrv2 btfsc POSITION,0 ; move servo bsf MOVING,0 AccSrv1C: movf SPEED1,w ; set speed movwf SRV1CNT AccSrv2: goto ExitFunction ExitFunction: bcf RESET_FLG bsf INTCON,INTE ; enable DCC interrupts return ; ----------------------------------------------------------------------- Broadcast: movf DATA2,w ; reset packet? btfss STATUS,Z goto ExitDecode ; bcf PROG_2X bsf RESET_FLG Clear: ; reset decoder ; bcf SERVO ; servo disable bsf INTCON,INTE ; enable interrupts return ExitDecode: bcf RESET_FLG bsf INTCON,INTE ; enable interrupts return ;--------------------------------------------------------------------------- LoadCV: movlw SRVADRH1 ; first CV to read movwf FSR movlw 0x00 movwf EEADR0 LoadCVNxt: movf EEADR0,w call EE_Read movwf INDF movlw SPEED1 ; last CV to read xorwf FSR,w btfsc STATUS,Z goto LoadCVEnd incf FSR,f incf EEADR0,f goto LoadCVNxt LoadCVEnd: return ;--------------------------------------------------------------------------- LoadOutputs: movlw EE_OUT ; read saved outputs call EE_Read movwf POSITION movf RANGE1,w ; calculate pulse for position btfsc POSITION,0 ; *************** xorlw 0xFF btfsc POSITION,0 ; *************** addlw 0x01 addlw d'150' movwf PULSE1 movlw 0x10 ; pulses for setting position movwf SRV1CNT bsf REACHED,0 ; do move to reached position bsf MOVING,0 return ;----- Internal EEPROM routines ------------------------------------------------ EE_Read: bsf STATUS,RP0 ; w=ADR movwf EEADR bsf EECON1,RD movf EEDATA,w bcf STATUS,RP0 return SetParm: call EE_Read ; w=ADR, EEDATA0=data. Write only changes xorwf EEDATA0,w btfsc STATUS,Z return EE_Write: movf EEDATA0,w bsf STATUS,RP0 movwf EEDATA bsf EECON1,WREN bcf INTCON,GIE movlw 0x55 movwf EECON2 movlw 0xAA movwf EECON2 bsf EECON1,WR bsf INTCON,GIE bcf EECON1,WREN EEWrite0: btfsc EECON1,WR goto EEWrite0 bcf STATUS,RP0 return ;--------------------------------------------------------------------------- ; ----- EEPROM default values org 0x2100 ;'10AAAAAA'1AAACDDD' dw 0x81 ; address dw 0xF8 dw 0x32 ; range dw 0x01 ; speed org 0x2120 dt " Servo " dt " Point " dt "F.Caņada" dt (__VERDAY >> 4) +0x30 dt (__VERDAY & 0x0F)+0x30,"/" dt (__VERMONTH >> 4) +0x30 dt (__VERMONTH & 0x0F)+0x30,"/" dt (__VERYEAR >> 4) +0x30 dt (__VERYEAR & 0x0F)+0x30 org 0x217F dw 0x00 ; last state end