Boat Code .asm ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; ;xBee_Helm_Code ;218C Spring 2008 ;Redneck Yacht Club ;Kuan Li, Stephanie Lue, Christine Tower ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; list P=PIC16F690 #include "p16f690.inc" __config (_CP_OFF & _WDT_OFF & _PWRTE_ON & _HS_OSC) ; This is for our state machine current_state equ 0x7F temp_reg equ 0x7E dump_data equ 0x7D ; ; This for our ibutton SN_Family_byte equ 0x20 SN_Low_byte equ 0x21 SN_High_byte equ 0x22 loop_count equ 0x23 bit_count equ 0x24 first_byte_full equ 0x25 second_byte_full equ 0x26 ; ; This is for the sendout timer send_tof_count equ 0x27 send_flag equ 0x28 ; ; SSP variables rx_ssp_byte equ 0x29 tx_ssp_byte equ 0x2A ; ; Receive variables byte_count equ 0x2B full_packet equ 0x2C temp_received equ 0x2D byte_1 equ 0x2E byte_2 equ 0x2F byte_3 equ 0x30 byte_4 equ 0x31 byte_5 equ 0x32 byte_6 equ 0x33 byte_7 equ 0x34 byte_8 equ 0x35 byte_9 equ 0x36 byte_10 equ 0x37 byte_11 equ 0x38 byte_12 equ 0x39 ; the checksum CheckSumValue equ 0x3A ;sending packet Tx_Destination_MSB equ 0x3B Tx_Destination_LSB equ 0x3C Tx_Info_Byte0 equ 0x3D Tx_Info_Byte1 equ 0x3E Tx_Info_Byte2 equ 0x3F Paired_Helm_LSB equ 0x40 Paired_Hull_MSB equ 0x41 ;recieving packet Rx_Info_Byte0 equ 0x42 Rx_Info_Byte1 equ 0x43 Rx_Info_Byte2 equ 0x44 Rx_AddressLSB_Byte equ 0x45 ;standown timer Standown_Timer_LSB equ 0x47 Standown_Timer_MSB equ 0x48 ;controller Helper pic led_data equ 0x49 ; ISR entry/exit variables W_TEMP equ 0x70 STATUS_TEMP equ 0x71 PCLATH_TEMP equ 0x72 ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; #define the states #define WAIT_IBUTTON_st b'00000001' #define WAIT_HELM_st b'00000010' #define PLAY_GAME_st b'00000100' #define STAND_DOWN_st b'00001000' ; ; #define for the bit_test states #define WAIT_IBUTTON_BT 0x00 #define WAIT_HELM_BT 0x01 #define PLAY_GAME_BT 0x02 #define STAND_DOWN_BT 0x03 ; ; ibutton #defines #define HI_500 0x04 #define LO_500 0xC4 #define HI_50 0x00 #define LO_50 0x64 #define HI_5 0x00 #define LO_5 0x02 #define HI_75 0x00 #define LO_75 0xA5 #define HI_60 0x00 #define LO_60 0x7D #define HI_40 0x00 #define LO_40 0x32 #define LOOP_COUNT 0x18 #define BIT_COUNT 0x00 ; ; EUSART #defines #define BAUDRATEX d'64' ; this is for a baud rate of 9600 with an external resonator that runs at 10 MHz ; ; 0.2 sec sendout timer #defines #define SENDOUT_TOF 0x7B ; this creates a 0.2 sec pause between transmits ; ; SSP #defines #define SLAVE_SELECT_LINE 0x06 ; ; communication protocol #defines #define HELM_HEADER 0xAA #define START_BYTE 0x7E #define LENGTH_MSB 0x00 #define LENGTH_LSB 0x08 #define API_RX 0x81 #define API_TX 0x01 ; ; Frame ID: change this to non-zero if you wish ; your xBee to respond with a Tx Status message #define FRAME_ID 0x00 ; ; Addresses #define ADMIRAL_ADDRESS_MSB 0xBC #define ADMIRAL_ADDRESS_LSB 0xFF #define BROADCAST_ADDRESS_MSB 0xFF #define BROADCAST_ADDRESS_LSB 0xFF ; #define HELM_MSB 0xBC #define CRAFT_MSB 0xAF #define OURHELM_LSB 0x02 #define OURCRAFT_LSB 0x02 ; ; OPTIONS #define OPTIONS_DEFAULT 0x01 ; ; for ME218C Data Byte 0 Header #define IBUTTON 0x01 #define NAVIGATION 0x02 #define ADMIRAL 0x04 #define WATERCRAFT 0x08 #define PING_RESPONSE 0x10 #define ACK 0x80 ; ; Admiral Messages #define STAND_DOWN 0x01 #define START_GAME 0x02 #define END_GAME 0x04 #define BLUE_GOAL 0x08 #define RED_GOAL 0x10 #define SOFT_RESET 0x20 #define HARD_RESET 0x40 #define ADMIRAL_PING 0x80 ; ; Commands from Helm to Watercraft #define NO_ACTION_1 0x88 #define NO_ACTION_2 0x00 ; ; Commands from Watercraft to Helm #define STAND_DOWN_RECEIVED_1 0x00 #define STAND_DOWN_RECEIVED_2 0x02 #define MATCHED_0 0x08 #define MATCHED_1 0x00 #define MATCHED_2 0x01 ; ; Ping Responses #define WAITING_IBUTTON 0x01 #define WAITING_PAIR 0x02 #define PAIRED 0x04 #define UNPAIRED 0x00 ; Standdown #defines #define STANDOWN_TOF_MSB 0x17 #define STANDOWN_TOF_LSB 0xEF ;Note: Timing is based on using the external resonator (10MHz) ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; ; org 0 pagesel Main goto Main org 4 nop org 5 pagesel InterruptServiceRoutine goto InterruptServiceRoutine ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Tables can go here ByteSwitch: bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 addwf PCL, f ; add ByteCount to PCL, store back to PCL...this tells you which 'switch case' you are going to goto WriteByte1 ; go to Byte1 processing goto WriteByte2 ; go to Byte2 processing goto WriteByte3 ; go to Byte3 processing goto WriteByte4 ; go to Byte4 processing goto WriteByte5 ; go to Byte5 processing goto WriteByte6 ; go to Byte6 processing goto WriteByte7 ; go to Byte7 processing goto WriteByte8 ; go to Byte8 processing goto WriteByte9 ; go to Byte9 processing goto WriteByte10 ; go to Byte10 processing goto WriteByte11 ; go to Byte11 processing goto WriteByte12 ; go to Byte12 processing ; ; Macro for sending a literal data through the SSP ; The argument is the literal data to be sent ; ;ISR ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; InterruptServiceRoutine Push: movwf W_TEMP ; Copy W to TEMP register swapf STATUS, W ; Swap status to be saved into W movwf STATUS_TEMP ; Save status to STATUS_TEMP register movf PCLATH,W movwf PCLATH_TEMP ; Test for receive interrupt banksel PIR1 btfss PIR1,RCIF ; test to see if a receive caused the interrupt goto TOF_test goto HandleReceive HandleReceive: banksel RCREG movf RCREG,w ; move the contents of the receive register to W/clear flag bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 movwf temp_received ; put byte into temp_received variable ; Prepare to use the byte switch variable movf byte_count,w goto ByteSwitch ; go to the ByteSwitch table TOF_test: ; Test for timer overflow banksel PIR1 btfss PIR1,TMR2IF ; test to see if the timer 2 overflow flag is set goto Pop ; increment timer overflow counters bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 incf send_tof_count,F ; increment the sendout timer overflow count movlw SENDOUT_TOF xorwf send_tof_count,W btfss STATUS,Z ; if Z = 1, then the send overflow count has reached our value goto StandownTimer bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 bsf send_flag, 0 ; set bit 0 of SendFlag to show that the timer is over goto StandownTimer StandownTimer: ; Standown timer overflow counter bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 incfsz Standown_Timer_LSB ; increment the standown timer low byte goto Pop incf Standown_Timer_MSB ; denote the rollover by incrementing standown timer high byte goto Pop ; write the first byte to memory WriteByte1: movlw START_BYTE ; test to see if this "first" byte is the actual start byte xorwf temp_received,w btfss STATUS,Z ; if Z = 1, then this is the start byte goto ClearByteCount ; something bad happened movf temp_received,w movwf byte_1 ; move this data into byte_1 variable clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte count (= 1) goto Pop ; write the second byte to memory WriteByte2: movlw LENGTH_MSB ; test to see if this "second" byte is correct xorwf temp_received,w btfss STATUS,Z ; if Z =1, then this is length_msb byte goto ClearByteCount ; something bad happened movf temp_received,w movwf byte_2 ; move this data into byte_2 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte count (= 2) goto Pop ; write the third byte to memory WriteByte3: movlw LENGTH_LSB ; test to see if this "third" byte is correct xorwf temp_received,w btfss STATUS,Z ; if Z = 1, then this is length_lsb byte goto ClearByteCount ; something bad happened movf temp_received,w movwf byte_3 ; move this data into byte_3 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte count (= 3) goto Pop ; write the fourth byte to memory WriteByte4: movf temp_received,w movwf byte_4 ; move this data into byte_4 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte count (= 4) goto Pop ; write the 5th byte to memory WriteByte5: movf temp_received,w movwf byte_5 ; move this data into byte_5 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 5) goto Pop ; write the 6th byte to memory WriteByte6: movf temp_received,w movwf byte_6 ; move this data into byte_6 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 6) goto Pop ; write the 7th byte to memory WriteByte7: movf temp_received,w movwf byte_7 ; move this data into byte_7 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 7) goto Pop WriteByte8: movf temp_received,w movwf byte_8 ; move this data into byte_8 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 8) goto Pop WriteByte9: movf temp_received,w movwf byte_9 ; move this data into byte_9 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 9) goto Pop WriteByte10: movf temp_received,w movwf byte_10 ; move this data into byte_10 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 10) goto Pop WriteByte11: movf temp_received,w movwf byte_11 ; move this data into byte_11 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 11) goto Pop WriteByte12: movf temp_received,w movwf byte_12 ; move this data into byte_12 clrf temp_received ; clear the temp_received variable incf byte_count,f ; increment byte_count (= 12) bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 bsf full_packet,0 ; set bit 0 of full packet variable, received 12 bytes goto Pop ClearByteCount: bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 clrf full_packet ; clear the full_packet variable clrf byte_count ; clear the byte_count variable goto Pop Pop: ; Clear interrupt flags banksel PIR1 bcf PIR1,TMR2IF movf PCLATH_TEMP,W movwf PCLATH swapf STATUS_TEMP, W ; swap nibbles in STATUS_TEMp register and place result in W movwf STATUS ; Move W into STATUS register (sets bank to original state) swapf W_TEMP, F ; Swap nibbles in W_TEMP and place result into W_TEMP swapf W_TEMP, W ; Swap nibbles in W_TEMP and place result into W retfie ;Main program ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Main: ; INITIALIZATION SEQUENCE pagesel Initialize ; general init for SCI Tx, Rx and iButton call Initialize pagesel debuginit call debuginit foreverloop: teststate1: btfss current_state,WAIT_IBUTTON_BT goto teststate2 call wait_for_ibutton teststate2: btfss current_state,WAIT_HELM_BT goto teststate3 call wait_for_helm teststate3: btfss current_state,PLAY_GAME_BT goto teststate4 call play_game teststate4: btfss current_state,STAND_DOWN_BT goto foreverloop call stand_down goto foreverloop ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; debuginit: ;Debugging ports banksel TRISA bcf TRISA,2 bcf TRISA,1 banksel ANSEL bcf ANSEL,ANS2 bcf ANSEL,ANS1 banksel PORTA bcf PORTA,2 bcf PORTA,1 return ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Initialize: ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;InitializeiButton ;Sets port A0 as a digital I/O line ;Configures timer 1, uses 10 MHz external resonator ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Configure ports, set up timer 1 ; ; Port A0 set up banksel ANSEL bcf ANSEL,ANS0 ; Configure A0 as digital I/O ; ; Timer 1 set up banksel T1CON bsf T1CON,TMR1ON ; Enable timer 1 bcf T1CON,TMR1CS ; Use internal clock bcf T1CON,T1CKPS1 ; Set clock prescale to 1:1 bcf T1CON,T1CKPS0 ; ; Set up output compare for timers banksel CCP1CON bsf CCP1CON,CCP1M3 ; set C5 up for output compare bcf CCP1CON,CCP1M2 ; 1011, will generate software bsf CCP1CON,CCP1M1 ; interrupt on match bcf CCP1CON,CCP1M0 ; bcf PIR1,CCP1IF ; clear the output compare flag ; ; ; Initializlie the Serial Number counters and variables ; bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 movlw LOOP_COUNT ; set loop count to 16 movwf loop_count movlw BIT_COUNT ; set bit count to 0 movwf bit_count clrf first_byte_full ; family byte is initially empty clrf second_byte_full ; low byte is initially empty ; ;Clear relevant data. clrf SN_High_byte clrf SN_Low_byte ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Initializethe EUSART ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; NOTE: ANSEL config is necessary for RX line banksel ANSELH bcf ANSELH, ANS11 ; RX as ditigal I/O banksel TRISB bsf TRISB, TRISB5 ; B5 as input for RX line nop bcf TRISB, TRISB7 ; B7 as output for TX line ; banksel SPBRG movlw BAUDRATEX ; set X value for Baud Rate Generator --> this is d'64' to get 9600 baud rate movwf SPBRG ; bcf TXSTA,SYNC ; set config for Baud Rate Generator bcf BAUDCTL,BRG16 ; set config for Baud Rate Generator bsf TXSTA,BRGH ; set config for Baud Rate Generator ; banksel RCSTA ; switch banks to configure EUSART bcf RCSTA,RX9 ; configure for 8-bit reception nop bsf RCSTA,CREN ; enable continuos receive nop bsf RCSTA,SPEN ; set up EUSART banksel TXSTA ; switch banks to enable trasmit bsf TXSTA,TXEN ; transmit enable banksel PIE1 bsf PIE1,RCIE ; enable receive interrupt banksel PIR1 bcf PIR1,RCIF ; initially clear the receive interrupt flag ; clear related variables bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 clrf byte_count ; initially clear byte_count bcf full_packet,0 ; initially clear full_packet ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Initialize timer 2 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; banksel T2CON bsf T2CON, TMR2ON ; Enable timer 2 bsf T2CON, T2CKPS1 ; Set clock prescale to 1:16 bcf T2CON, T2CKPS0 bcf T2CON, TOUTPS0 bcf T2CON, TOUTPS1 bcf T2CON, TOUTPS2 bcf T2CON, TOUTPS3 ; Set postscale 1:1 ; Timer overflow (TMR2IF is triggered) banksel PR2 ; go to PR2 register movlw 0xFF ; make PR2 count all the way up to 255 movwf PR2 ; move 0xFF into PR2 ; Enable timer 2 overflow interrupts banksel PIE1 bsf PIE1,TMR2IE ; enable timer 2 overflow interrupts banksel PIR1 bcf PIR1,TMR2IF ; initially clear timer 2 overflow flag ; clear related variables bcf STATUS,RP0 bcf STATUS, RP1 ; switch to bank 0 clrf send_tof_count ; initially clear timer 2 overflow count clrf send_flag ; initially clear send_flag ; Clear flags for the standown timer. clrf Standown_Timer_LSB ;count down timer clrf Standown_Timer_MSB ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Initialize SSP ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; banksel SSPSTAT ; The Sync Serial Port Status Register (pg 180 of manual) bsf SSPSTAT,SMP ; Input data sampled at end of data output line. (clear for Slave mode) nop bsf SSPSTAT,CKE ; Data transmitted on falling edge of SCK nop banksel SSPCON ; The Sync Serial Port Control Register (pg 181 of manual) bsf SSPCON,SSPEN ; SSP enable bit. nop bsf SSPCON,CKP ; Clock polarity Select Bit; transmit happens on rising edge, receive on falling edge nop ;The SSP mode select. ;This is for the Master mode: with clock = FOSC/64 bcf SSPCON,SSPM3 nop bcf SSPCON,SSPM2 nop bsf SSPCON,SSPM1 nop bcf SSPCON,SSPM0 nop banksel ANSELH bcf ANSELH,1 ; Sets the ANSEL9 (RC7) to digital input/output nop bcf ANSELH,2 ; Sets the ANSEL10 (RB4) to digital input/output. banksel TRISC bcf TRISC,7 ; Set the Data direction to output for the SDO for the SSP nop bsf TRISB,4 ; Set the Data direction to input for the SDO for the SSP nop banksel TRISB bcf TRISB,6 ; Clear the SCK to output for MASTER MODE on TRISB 6 nop ;bsf TRISB,6 ; SET the SCK to input for SLAVE MODE on TRISB 6 ;nop ;This is setting up the slave select line. banksel ANSELH bcf ANSELH,ANS8 ; This is to set control of the Slave select line. banksel TRISC bcf TRISC,6 ; Clears the bit so that the SS is output (This is for MASTER) nop ;bsf TRISC,6 ; Sets the bit so that the SS is input (this is for SLAVE) ;nop banksel ANSEL ; slave select line for Right Motor PIC bcf ANSEL,4 banksel TRISC ; slave select line for Right Motor PIC BCF TRISC,0 banksel PORTC bsf PORTC,6 ;this is setting a default LED_state bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 movlw 0x00 movwf led_data ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Enable Interrupts ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; banksel INTCON ; go to bank with INTCON bsf INTCON, GIE ; enable global interrupt bsf INTCON, PEIE ; enable peripheral interrupt ;Start in waiting for ibutton state.ASDF movlw WAIT_HELM_st movwf current_state ;Debugging Code: movlw 0x59 movwf SN_High_byte movlw 0xF1 movwf SN_Low_byte return ;Section of ibutton code: ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause500 ;Creates a 500 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause500: banksel PIR1 movlw LO_500 movwf CCPR1L movlw HI_500 ; Set up value in CCPR1 movwf CCPR1H clrf TMR1H ; Clear the timer clrf TMR1L bcf PIR1,CCP1IF ; Clear the OC flag Check500Timer: pagesel Check500Timer btfss PIR1,CCP1IF ; Check output compare flage goto Check500Timer ; Loop if flag is not set pagesel Timer500Expired goto Timer500Expired Timer500Expired: bcf PIR1,CCP1IF ; clear the output compare flag return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause50 ;Creates a 50 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause50: ; banksel PIR1 movlw HI_50 ; Set up value in CCPR1 movwf CCPR1H movlw LO_50 movwf CCPR1L clrf TMR1H ; Clear the timer clrf TMR1L bcf PIR1,CCP1IF ; Clear OC flag Check50Timer: pagesel Check50Timer btfss PIR1,CCP1IF ; Check output compare flage goto Check50Timer ; Loop if flag is not set pagesel Timer50Expired goto Timer50Expired Timer50Expired: bcf PIR1,CCP1IF ; clear the output cmpare flag return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause40 ;Creates a 40 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause40: ; banksel PIR1 movlw HI_40 ; Set up value in CCPR1 movwf CCPR1H movlw LO_40 movwf CCPR1L clrf TMR1H ; Clear the timer clrf TMR1L bcf PIR1,CCP1IF ; Clear OC flag Check40Timer: pagesel Check40Timer btfss PIR1,CCP1IF ; Check output compare flage goto Check40Timer ; Loop if flag is not set pagesel Timer40Expired goto Timer40Expired Timer40Expired: bcf PIR1,CCP1IF ; clear the output compare flag return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause5 ;Creates a 5 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause5: ; Check5Timer: nop nop nop nop nop nop ; simply use nops here nop ; only 5 usec pause return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause75 ;Creates a 75 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause75: ; banksel PIR1 movlw HI_75 ; Set up value in CCPR1 movwf CCPR1H movlw LO_75 movwf CCPR1L clrf TMR1H ; Clear the timer clrf TMR1L bcf PIR1,CCP1IF ; Clear the OC flag Check75Timer: pagesel Check75Timer btfss PIR1,CCP1IF ; Check output compare flage goto Check75Timer ; Loop if flag is not set pagesel Timer75Expired goto Timer75Expired Timer75Expired: bcf PIR1,CCP1IF ; clear the output compare flag return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pause60 ;Creates a 60 usec pause and then returns ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Pause60: ; banksel PIR1 ; Clear the OC flag movlw HI_60 ; Set up value in CCPR1 movwf CCPR1H movlw LO_60 movwf CCPR1L clrf TMR1H ; Clear the timer clrf TMR1L bcf PIR1,CCP1IF Check60Timer: pagesel Check60Timer btfss PIR1,CCP1IF ; Check output compare flage goto Check60Timer ; Loop if flag is not set pagesel Timer60Expired goto Timer60Expired Timer60Expired: bcf PIR1,CCP1IF ; clear the output compare flag return ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;iButtonFind ;Reads and writes iButton line until an iButton is found ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; iButtonFind: ; iButton_check_admiral: bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 ;see if you got something from the admiral when waiting for your ibutton btfss full_packet,0 goto iButtonFindLoop call HandlePacket ;It's ok to immediately respond when you get a packet. bsf send_flag,0 ;Check if the command is from the admiral movlw ADMIRAL xorwf Rx_Info_Byte0,W btfss STATUS,Z ;if Z == 1. This is from the admiral goto iButtonFindLoop ;Check if this is a ping command movlw ADMIRAL_PING xorwf Rx_Info_Byte2,W btfss STATUS,Z ;if Z == 1. This is from the admiral goto iButtonFindLoop ;Formulate the ping responds packet movlw ADMIRAL_ADDRESS_MSB movwf Tx_Destination_MSB movlw ADMIRAL_ADDRESS_LSB movwf Tx_Destination_LSB ;this is the ping responds header. This is constant and never changes movlw PING_RESPONSE movwf Tx_Info_Byte0 ;This the state that you are in with your ibutton pairing. ;0x01=waiting for ibutton ;0x02=ibutton read and waiting for pairing ;0x04=if ibutton is paired. movlw WAITING_IBUTTON movwf Tx_Info_Byte1 ;Leat significant bit of paird helm/craft address (Send 0x00 if unpaired) movlw UNPAIRED movwf Tx_Info_Byte2 call send_packet iButtonFindLoop: banksel TRISA bcf TRISA,0 ; Set A0 as an output banksel PORTA bcf PORTA,0 ; Set A0 low nop call Pause500 ; Wait for 500 usec banksel TRISA bsf TRISA,0 ; Set A0 as an input nop call Pause50 ; Wait for 50 usec banksel PORTA btfss PORTA,0 ; Test the state of A0 return goto iButton_check_admiral ; Repeat if no iButton found, will also check for admiral command ; ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;ResetSequence ;Conducts reset sequence that must be done at the beginning of any new ;read ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ResetSequence: ; banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 low nop pagesel Pause500 call Pause500 pagesel Pause500 call Pause500 ; Wait for 500 usec bsf PORTA,0 ; Set A0 high nop pagesel Pause500 call Pause500 ; Wait for 500 usec return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;SendReadROM ;Sends 0x33 out, LSB first ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SendReadROM: ; ; The Read ROM command is sending 0x33 (00110011) out, LSB first ; ; Run through Read ROM routine pagesel WriteOne call WriteOne pagesel WriteOne call WriteOne pagesel WriteZero call WriteZero pagesel WriteZero call WriteZero pagesel WriteOne call WriteOne pagesel WriteOne call WriteOne pagesel WriteZero call WriteZero pagesel WriteZero call WriteZero return ; WriteOne: banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 as low nop pagesel Pause5 call Pause5 ; wait 5 usec banksel TRISA bsf TRISA,TRISA0 ; Set A0 as input nop pagesel Pause5 call Pause5 ; wait 5 usec nop pagesel Pause5 call Pause5 ; wait 5 usec nop pagesel Pause60 call Pause60 ; wait 60 usec return ; WriteZero: banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 as low nop pagesel Pause60 call Pause60 ; wait 60 usec banksel TRISA bsf TRISA,TRISA0 ; Set A0 as input nop pagesel Pause5 call Pause5 ; wait 5 usec nop pagesel Pause5 call Pause5 ; wait 5 usec nop pagesel Pause5 call Pause5 ; wait 5 usec return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;ReadiButton ;Reads last two bytes of the SN and stores the information ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ReadiButton: ; ; Will read out the LSB first ; nop pagesel Pause5 call Pause5 nop pagesel Pause5 call Pause5 nop pagesel Pause5 call Pause5 First_Read: pagesel Read_Family goto Read_Family ; ReadLoop: bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 movlw 0x01 ; test status of low_byte_full xorwf first_byte_full,W ; if Z=1, the low_byte is full pagesel Read_Family btfss STATUS,Z goto Read_Family pagesel Read_Low btfss second_byte_full,W goto Read_Low pagesel Read_High goto Read_High ; DecreaseLoop: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 incf bit_count pagesel ReadLoop decfsz loop_count goto ReadLoop return ; Switch_Bytes1: bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 ; In this situation we only decf loop_count ; increment loop count, bit count pagesel ReadLoop goto ReadLoop ; =0 again ; Switch_Bytes2: bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 ; In this situation we only decf loop_count ; increment loop count, bit count pagesel ReadLoop goto ReadLoop ; =0 again ; Read_Family: bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 rrf SN_Family_byte,f banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 as low nop pagesel Pause5 call Pause5 ; Wait 5 usec banksel TRISA bsf TRISA,TRISA0 ; Set A0 as an input pagesel Pause5 call Pause5 ; Wait 5 usec nop pagesel Pause5 call Pause5 ; Wait 5 usec bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 btfsc PORTA,0 ; test state of A0 bsf SN_Family_byte,7 nop movlw 0x07 ; test status of bit count xorwf bit_count,W ; Z=1 if bit_count=7 pagesel Last_Bit1 btfsc STATUS,Z goto Last_Bit1 pagesel Pause50 call Pause50 pagesel DecreaseLoop goto DecreaseLoop ; Last_Bit1: nop pagesel Pause40 call Pause40 bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 bsf first_byte_full,0 ; set low_byte_full=1 movlw 0x00 movwf bit_count ; reset bit_count for high byte pagesel Switch_Bytes1 goto Switch_Bytes1 ; Read_Low: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 rrf SN_Low_byte,f banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 as low nop pagesel Pause5 call Pause5 ; Wait 5 usec banksel TRISA bsf TRISA,TRISA0 ; Set A0 as an input pagesel Pause5 call Pause5 ; Wait 5 usec nop pagesel Pause5 call Pause5 ; Wait 5 usec bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 btfsc PORTA,0 ; test state of A0 bsf SN_Low_byte,7 nop movlw 0x07 ; test status of bit coun xorwf bit_count,W ; Z=1 if bit_count=7 pagesel Last_Bit2 btfsc STATUS,Z goto Last_Bit2 pagesel Pause50 call Pause50 pagesel DecreaseLoop goto DecreaseLoop ; Last_Bit2: nop pagesel Pause40 call Pause40 bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 bsf second_byte_full,0 ; set low_byte_full=1 movlw 0x00 movwf bit_count ; reset bit_count for high byte pagesel Switch_Bytes2 goto Switch_Bytes2 ; Read_High: bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 rrf SN_High_byte,f banksel TRISA bcf TRISA,TRISA0 ; Set A0 as an output nop banksel PORTA bcf PORTA,0 ; Set A0 as low nop pagesel Pause5 call Pause5 ; Wait 5 usec banksel TRISA bsf TRISA,TRISA0 ; Set A0 as an input pagesel Pause5 call Pause5 ; Wait 5 usec nop pagesel Pause5 call Pause5 ; Wait 5 usec bcf STATUS,RP1 ; switch to bank 0 to bcf STATUS,RP0 btfsc PORTA,0 ; test state of A0 bsf SN_High_byte,7 pagesel Pause50 call Pause50 pagesel DecreaseLoop goto DecreaseLoop ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; send_packet: ; Test the ability to have a .2 s pause before sends bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 ; SendPause btfsc send_flag,0 ; if the flag is set we can proceed to sending (this is the .2 second wait for the send) goto PrePacketChecksum goto end_send_packet ; timer is not expired, exit funtion PrePacketChecksum: call CalculateCheckSum PrePacketPause1: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause1 ; SENDING START_DELIMETER Byte 1 banksel TXREG ; go to bank with TXREG. Both TXREG and SN_HIGH_BYTE is in bank 0 movlw START_BYTE ; move START_BYTE to W movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause2: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause2 ; SENDING LENGTH_MSB Byte 2 banksel TXREG ; go to bank with TXREG. Both TXREG and SN_HIGH_BYTE is in bank 0 movlw LENGTH_MSB ; move MSB of frame length to W movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause3: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause3 ; SENDING LENGTH_LSB Byte 3 banksel TXREG ; go to bank with TXREG. Both TXREG and SN_HIGH_BYTE is in bank 0 movlw LENGTH_LSB ; move LSB of frame length to W movwf TXREG PrePacketPause4: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause4 ; SENDING API_IDENTIFIER Byte 4 banksel TXREG ; go to bank with TXREG. Both TXREG and SN_HIGH_BYTE is in bank 0 movlw API_TX ; move LSB of frame length to W movwf TXREG PrePacketPause5: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause5 ; SENDING FRAME_ID Byte 5 banksel TXREG movlw FRAME_ID ; move FRAME_ID to W movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause6: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause6 ; SENDING MSB of Destination Address Byte 6 bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Tx_Destination_MSB,W ; move Craft MSB to W banksel TXREG movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause7: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause7 ; SENDING LSB of Destination Address Byte 7 bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Tx_Destination_LSB, W ; move Craft LSB to W (this is the LSB of OUR craft) ** this will change once we start syncing to other boats!! banksel TXREG movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause8: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause8 ; SENDING OPTIONS Byte (0x00) default Byte 8 banksel TXREG movlw OPTIONS_DEFAULT ;move otpions default to W movwf TXREG ; move W to TXREg - this transmits the byte PrePacketPause9: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause9 ; SENDING ME218C Header (Data Byte 0) Byte 9 bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ; indicate that we are sending a command from the helm ** this can change once we start sending different types of messages!! movf Tx_Info_Byte0, W banksel TXREG movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause10: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause10 ; SENDING ME218C (Navigation Byte) Byte 10 bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Tx_Info_Byte1, W ; indicate that we are telling motors to turn off banksel TXREG movwf TXREG ;move W to TXREG - this transmits the byte PrePacketPause11: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause11 ;SENDING ME218C Special Byte Byte 11 bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Tx_Info_Byte2,W ; indicate that we are turning off all special functions banksel TXREG movwf TXREG ; move W to TXREG - this transmits the byte PrePacketPause12: banksel TXSTA btfss TXSTA, TRMT ; check to see if the transmit register is clear goto PrePacketPause12 ;SENDING CHECK SUM bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf CheckSumValue, W ; this is a value calcualted by a special sub function ** DON"T FORGET TO WRITE THIS!!!!!!!!' banksel TXREG movwf TXREG ; move CheckSumValue to W - this transmits the byte bcf STATUS,RP0 bcf STATUS,RP1 ; switch to bank 0 clrf send_flag ; clear the send_flag clrf send_tof_count ; clear the number of tof counts end_send_packet: return ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Calculating Check Sum ; This function calculates the check sum. Check sum is calculated by: adding up the value of all bytes (excluding the Start delimter ; and frame length Bytes). Keep only the lowest 8 bits of the result and subtract from 0xFF. ; To verify that the checksum is correct, add all byte (excluding delimter and length but include the checksum). If it is correct, ; the sum should = 0xFF. ; In our case, we will add up bytes 4 through 11 THIS IS IN THE CASE THAT WE'RE TRANSMITTING THIS WILL BE FOR THE PIC ON THE HELM ; DO WE NEED TO WORRY ABOUT THE CARRY BIT? !!!!!!!!!!!!!!!!!! THIS IS A KARL QUESTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; CalculateCheckSum: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ; go to bank with CheckSumValue clrf CheckSumValue ; clear value in checksum Add_API: movlw API_TX ; move API_TX to W addwf CheckSumValue, f ; add API_TX to CheckSumValue, store back in CheckSumValue Add_FrameID: movlw FRAME_ID ; move FRAME_ID to W addwf CheckSumValue,f ; add FRAME_ID to CheckSumValue, store back in CheckSumValue Add_DestMSB: movf Tx_Destination_MSB, W ; move value in Destination_MSB to W addwf CheckSumValue,f ; add Destination_MSB to CheckSumvalue, store back in CheckSumValue Add_DestLSB: movf Tx_Destination_LSB,W ; move value in Destinatino_LSB to W addwf CheckSumValue,f ; add Destination_LSB to CheckSumValue, store back in CheckSumValue Add_Options: movlw OPTIONS_DEFAULT ; move options Default literal value (0x00) to W addwf CheckSumValue,f ; add Options value to CheckSumValue, store back in CheckSumValue Add_Header: movf Tx_Info_Byte0, W ; move value in Header_Byte to W addwf CheckSumValue,f ; add Header_Byte value to CheckSumValue, store back in CheckSumValue Add_Navigation: movf Tx_Info_Byte1, W ; move value in Navigation_Byte to W addwf CheckSumValue, f ; add Navigation_Byte value to CheckSumValue, store back in CheckSumValue Add_Special: movf Tx_Info_Byte2, W ; move value in Special Byte to W addwf CheckSumValue, f ; add Special_Byte value to CheckSumValue, store back in CheckSumValue ; do we have to do anything special to keep the lowest 8 bits? or just assume that the variable registers are only 8 bits...? movf CheckSumValue, W ; move value in CheckSum to W sublw 0xFF ; 0xFF - CheckSumValue, result stored back into W movwf CheckSumValue ; move results of subtraction back into CheckSumValue return ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SENDSSP_F: ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; function for sending data from an address through the SSP ; The argument is the address of the data to be sent ; ;stores what was in the literal so that it can be restored. banksel PORTC bcf PORTC,SLAVE_SELECT_LINE ;Set the SS low so that transmissions can be recieved. bcf STATUS,RP0 bcf STATUS,RP1 MOVF tx_ssp_byte,W ;prep the W reg with your data to send. banksel SSPBUF MOVWF SSPBUF ;sends out your transmit data. sspcomplete: ; wait until the flag is set banksel SSPSTAT pagesel sspcomplete BTFSS SSPSTAT, BF ; checks the status of the reg2 flag in the reg1 register. GOTO sspcomplete banksel SSPBUF MOVF SSPBUF, W ;contents of the SSBUF is now in w register bcf STATUS,RP0 bcf STATUS,RP1 MOVWF rx_ssp_byte ;This is just done so that the BF Flag gets reset (data is thrown away) banksel PORTC bsf PORTC,SLAVE_SELECT_LINE ;Set the SS high so that no more transmissions are sent. return ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; Handle Packet Function ; This function will one day become more meaningful than this. I promise. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; HandlePacket: StoreData: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf byte_6,W movwf Rx_AddressLSB_Byte ; move Byte 7 into Rx_AddressLSB_Byte movf byte_9,W movwf Rx_Info_Byte0 ; move Byte9 into Rx_Info_Byte0 movf byte_10, W movwf Rx_Info_Byte1 ; store Byte10 into Rx_Navigation Byte movf byte_11,W movwf Rx_Info_Byte2 ; store Byte 11 into Rx_Info_Byte2 clrf full_packet clrf byte_count return ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; RespondToMatch ; This function stores the appropriate data to Paired_Hull_LSB ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;respond_to_match: ; bcf STATUS,RP1 ;switch to bank 0 to ; bcf STATUS,RP0 ; movf Rx_AddressLSB_Byte,W ; movwf Paired_Hull_LSB ; the sender's address is officially the address of our paired hull ; movlw CRAFT_MSB ; movwf Paired_Hull_MSB ; ; ;Store what boat you are controlling into the LSB ; movf Paired_Hull_LSB,W ; ;movlw 0x06 ; movwf led_data ; bcf led_data,4 ; bcf led_data,5 ; bcf led_data,6 ; bcf led_data,7 ; return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; ping_response ; This function generates an appropriate ping response ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ping_response: ;Formulate the ping responds packet movlw ADMIRAL_ADDRESS_MSB movwf Tx_Destination_MSB movlw ADMIRAL_ADDRESS_LSB movwf Tx_Destination_LSB ;this is the ping responds header. This is constant and never changes movlw PING_RESPONSE movwf Tx_Info_Byte0 ;This the state that you are in with your ibutton pairing. ;0x01=waiting for ibutton ;0x02=ibutton read and waiting for pairing ;0x04=if ibutton is paired. btfss current_state,WAIT_HELM_BT goto paired_ping_response movlw WAITING_PAIR movwf Tx_Info_Byte1 ;Leat significant bit of paird helm/craft address (Send 0x00 if unpaired) movlw UNPAIRED movwf Tx_Info_Byte2 goto exit_ping_response paired_ping_response: movlw PAIRED movwf Tx_Info_Byte1 ;Leat significant bit of paird helm/craft address (Send 0x00 if unpaired) movf Paired_Helm_LSB,W movwf Tx_Info_Byte2 exit_ping_response: call send_packet return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; STATE MACHINE STATES ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; wait_for_ibutton: banksel PORTA bcf PORTA,1 call iButtonFind call ResetSequence call SendReadROM call ReadiButton movlw WAIT_HELM_st movwf current_state return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; wait_for_helm: ; banksel PORTA bsf PORTA,1 ; bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ;see if you got some kind of communications or else you would just exit. btfss full_packet,0 goto exit_wait_for_helm call HandlePacket; bsf send_flag,0 ; ; wait_for_helm_check_admiral: ;we are checking to see if the packet is from the admiral. If it isn't from the admiral then you don't have to do anything else with it. movlw ADMIRAL xorwf Rx_Info_Byte0,W btfss STATUS,Z ;If Z==1 the command is from admiral goto wait_for_helm_record_ibutton ;it is from the admiral and we want to see if it is a hard reset movlw HARD_RESET xorwf Rx_Info_Byte2,W btfss STATUS,Z ;If Z==1 the command is from admiral goto wait_for_helm_check_ping ;It is a hard reset so change the state and exit this state: movlw WAIT_IBUTTON_st movwf current_state goto exit_wait_for_helm wait_for_helm_check_ping: movlw ADMIRAL_PING xorwf Rx_Info_Byte2,W btfss STATUS,Z ;If Z==1 the command is from admiral goto exit_wait_for_helm ;It is now a Ping command from the admiral we will respond to ping and then continue broadcast the ibutton call ping_response goto exit_wait_for_helm wait_for_helm_record_ibutton: ;check if it is a ibutton broadcast ;we are checking to see if the packet is from the admiral. If it isn't from the admiral then you don't have to do anything else with it. movlw IBUTTON xorwf Rx_Info_Byte0,W btfss STATUS,Z ;If Z==1 the command is from admiral goto exit_wait_for_helm ;if the broadcast command is not a ibutton do this goto CheckSerialNumber ;if the command is a ibutton then do this ;See if your serial number matches the broadcast one so that you can go on to the next state CheckSerialNumber: ; check the bytes TestSNHighByte: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Rx_Info_Byte1, W ; move contents of Rx_Navigation_Byte into W xorwf SN_High_byte,W ; xor OUR SN_high_byte with the serial number you just received pagesel No_Match btfss STATUS, Z ; check to see if the serial high byte we just received is equal to our SN_high_byte goto No_Match ; Z=0, so the high serial byte we just received is NOT equal to our SN_High_byte pagesel TestSNLowByte goto TestSNLowByte ; Z=1. The high byte matches, so we need to check the low byte TestSNLowByte: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 movf Rx_Info_Byte2, W ; move contents of Rx_Special_Byte into W xorwf SN_Low_byte,W ; xor OUR SN_Low_byte with the serial number we just received pagesel No_Match btfss STATUS, Z ; check to see if the serial low byte we just received is equal to our SN_low_byte goto No_Match ; Z=0, so the low serial byte we just received is not equal to our SN_low_byte pagesel Match goto Match ; we have a match! No_Match: ;No match so don't do anything pagesel exit_wait_for_helm goto exit_wait_for_helm Match: bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ;save the LSB of the helm so that you can filter out your messages: movf Rx_AddressLSB_Byte,W movwf Paired_Helm_LSB ;Change states: movlw PLAY_GAME_st movwf current_state goto exit_wait_for_helm exit_wait_for_helm: return ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; play_game: banksel PORTA bsf PORTA,1 ; bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ;see if you got some kind of communications or else you would just exit. btfss full_packet,0 goto exit_playing_game call HandlePacket; bsf send_flag,0 play_game_check_admiral: ;we are checking to see if the packet is from the admiral. If it isn't from the admiral then you don't have to do anything else with it. movlw ADMIRAL xorwf Rx_Info_Byte0,W btfss STATUS,Z ;If Z==1 the command is from admiral goto play_game_check_from_helm_ibutton ;it is from the admiral and we want to see if it is a hard reset movlw HARD_RESET xorwf Rx_Info_Byte2,W btfss STATUS,Z ;If Z==1 the command is from admiral goto play_game_check_ping ;It is a hard reset so change the state and exit this state: movlw WAIT_IBUTTON_st movwf current_state goto exit_wait_for_helm play_game_check_ping: movlw ADMIRAL_PING xorwf Rx_Info_Byte2,W btfss STATUS,Z ;If Z==1 the command is from admiral goto exit_playing_game ;It is now a Ping command from the admiral we will respond to ping and then continue broadcast the ibutton call ping_response goto exit_playing_game play_game_check_from_helm_ibutton: ;we are checking to see if the packet is from the helm and is a ibutton. movlw IBUTTON xorwf Rx_Info_Byte0,W btfss STATUS,Z ;If Z==1 the command is from admiral goto play_game_check_from_helm_nav ;we are checking to see if the lsb matches what you have. movf Paired_Helm_LSB,W xorwf Rx_AddressLSB_Byte,W btfss STATUS,Z ;If Z==1 the command is from admiral goto play_game_check_from_helm_nav play_game_send_out_matched: ;Send out a matched command bcf STATUS,RP1 ;switch to bank 0 to bcf STATUS,RP0 ;we are prepping the send packet for a broadcast of the ibutton movlw HELM_MSB movwf Tx_Destination_MSB movf Paired_Helm_LSB,W movwf Tx_Destination_LSB movlw MATCHED_0 movwf Tx_Info_Byte0 movlw MATCHED_1 movwf Tx_Info_Byte1 movlw MATCHED_2 movwf Tx_Info_Byte2 call send_packet ;Send packet does nothing if you goto exit_playing_game play_game_check_from_helm_nav goto exit_playing_game exit_playing_game: ;movlw STAND_DOWN_st ;movwf current_state return ; ; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; stand_down: exit_stand_down: movlw WAIT_IBUTTON_st movwf current_state return ; ; END