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;
1		;
2		; book scanner za kiber pipu 15.11.12.
3		;
4		; ____ ____
5		; MCLR \| \__/ \| B7 PGD
6		; LM in A0 \| \| B6 PGC
7		; tranz out A1 \| \| B5 out cw/ccw
8		; out A2 \| \| B4 out -Full Power
9		; test key in A3 \| \| B3 out EXP0
10		; in A4 \| \| B2 in KEY
11		; mot clk out A5 \| 2525 \| B1 in HALL
12		; Vss \| \| B0 LM in
13		; 16 MHz Osc \| \| Vdd
14		; 16 MHz Osc \| \| Vss
15		; LED out C0 \| \| C7 RXD
16		; EXP2 out C1 \| \| C6 TXD
17		; in C2 \| \| C5 out EXP1
18		; in C3 \|____________\| C4 out
19		;
20
21		LIST P=18F2525
22		#include <P18F2525.INC>
23
24		#define motclock lata,5
25		#define cwccw latb,5
26		#define motpower latb,4
27		#define led lata,2
28		#define click0 latc,5 ; (uostravanje)
29		#define click1 latc,5 ; (camera 1)
30		#define click2 latc,1 ; (camera 2)
31		#define hilite2 latc,0
32		#define key porta,3
33		#define extkey portb,2
34		#define hall portb,1
35
36		config osc = HS
37		config fcmen = off
38		config ieso = off
39		config pwrt = on
40		config borv = 1
41		config wdt = off
42		config mclre = on
43		config lpt1osc = off
44		config pbaden = off
45		config stvren = on
46		config lvp = off
47		config xinst = off
48		config debug = off
49		config cp0 = off
50		config cp1 = off
51		config cp2 = off
52		config cpb = off
53		config cpd = off
54		config wrt0 = on
55		config wrt1 = on
56		config wrt2 = on
57		config wrtb = on
58		config wrtc = on
59		config wrtd = off
60		config ebtr0 = off
61		config ebtr1 = off
62		config ebtr2 = off
63		config ebtrb = off
64
65		CBLOCK 0
66		inner
67		outer
68		keyrotor
69		stepcount
70		liftcount
71		speedbyte
72
73		ENDC
74
75		;____________________________________________________MACROS
76
77		gore macro
78		bcf cwccw
79		endm
80
81		dole macro
82		bsf cwccw
83		endm
84
85		weak macro
86		bsf motpower ; low power
87		endm
88
89		strong macro
90		bcf motpower ; high power
91		endm
92
93		ifhallon macro
94		btfss hall
95		endm
96
97		ifhalloff macro
98		btfsc hall
99		endm
100
101		defspeed macro
102		movlw .56
103		movwf speedbyte
104		endm
105
106		speed macro speedvalue
107		movlw speedvalue
108		movwf speedbyte
109		endm
110
111		ifz macro
112		btfsc status,z
113		endm
114
115		ifnz macro
116		btfss status,z
117		endm
118
119		ifc macro
120		btfsc status,c
121		endm
122
123		ifnc macro
124		btfss status,c
125		endm
126
127		;*********************************************************************************
128		;*********************************************************************************
129		;************** ***************
130		;************** M A I N ***************
131		;************** ***************
132		;*********************************************************************************
133		;*********************************************************************************
134
135
136		org 0
137
138		movlw 0fh
139		movwf adcon1
140		movlw 7
141		movwf cmcon
142
143		movlw b'00000000'
144		movwf porta
145		movlw b'00000000'
146		movwf portb
147		movlw b'00000000'
148		movwf portc
149		movlw B'011001'
150		movwf trisa
151		movlw B'00000111'
152		movwf trisb
153		movlw B'10001100'
154		movwf trisc
155		; ___ clear ram bank 0-3
156		lfsr fsr0,0
157		goclr1k
158		clrf postinc0
159		btfss fsr0h,2
160		goto goclr1k
161
162		;******************************************************************************
163		;******************************************************************************
164		;
165		; F A R M
166		;
167		;******************************************************************************
168		;******************************************************************************
169
170		; jedan step motora je 0,153 mm
171		bcf led
172		call home
173		ifc
174		goto goerror
175		farm
176		defspeed
177		bcf led
178		weak
179		dole
180		call waitkey
181
182		strong
183		call slowstart
184		movlw .123
185		movwf liftcount
186		move_down ; \ u ovoj petlji ide nadole
187		call mm2
188		decfsz liftcount,f
189		bra move_down ; / u ovoj petlji ide nadole
190
191		btfsc extkey
192		bra otp1
193		; still down mode
194		waitjust
195		call timing0
196		weak
197		gore
198		bsf hilite2
199		bcf status,c
200		btfsc extkey
201		bsf status,c
202		rlcf keyrotor
203		movf keyrotor,w
204		xorlw b'11111110'
205		bnz waitjust
206		bra goup
207		otp1
208		call timing2
209		weak
210		gore
211		bsf hilite2
212		movlw 0
213		call timing3
214
215		bsf click0
216		bsf click1
217		call timing3
218		bsf click2
219		call timing3
220		call timing3
221		call timing3
222		call timing3
223		call timing3
224		call timing3
225		call timing3
226		call timing3
227		bcf click0
228		bcf click1
229		call timing3
230		bcf click2
231		call timing3
232		call timing3
233		call timing3
234		call timing3
235		call timing3
236		call timing3
237		call timing3
238		goup
239		bcf hilite2
240		call home ; ide nagore
241		ifc
242		goto goerror
243		call timing2
244		bra farm
245		;-------------------------------
246
247		showhall
248		ifhallon
249		bsf led
250		ifhalloff
251		bcf led
252		return
253
254		;-------
255		mm2 ; napravi 13 koraka (2 mm)
256		movlw .13 ; za 2 mm
257		movwf stepcount
258		gost20
259		btg motclock
260		call timing
261		btg motclock
262		call timing
263		decfsz stepcount,f
264		bra gost20
265		return
266		;-------
267		timing0
268		movlw .5
269		movwf outer
270		bra gostep
271		timing2
272		movlw .200
273		movwf outer
274		bra gostep
275		timing
276		movf speedbyte,w
277		movwf outer
278		gostep2
279		movlw .6
280		movwf inner
281		gostep
282		decfsz inner,f
283		bra gostep
284		decfsz outer,f
285		bra gostep2
286		return
287		;-------
288		timing3 ; dugi tajming, period w
289		movwf outer
290		gostep3
291		nop
292		nop
293		nop
294		nop
295		nop
296		decfsz inner,f
297		bra gostep3
298		decfsz outer,f
299		bra gostep3
300		return
301
302		;-------
303		waitkey
304		btfss extkey
305		return
306		btfss key
307		return
308		bra waitkey
309		;-------------------------------
310
311		home
312		strong
313		defspeed
314		ifhalloff
315		bra samogore
316		; prvo ide dole da se otkaci od halla
317		dole
318		call slowstart
319		movlw .3 ; za 20 mm
320		call gosteps2
321		call slowstop
322		ifhallon
323		goto errhome
324		movlw .200
325		call timing3
326		samogore ; ide gore do halla, error ako ga nije nasao
327		gore
328		call slowstart_long
329		defspeed
330		movlw .150 ; za 300 mm max posle kojih prijavljuje gresku
331		call gosteps
332		bc errhome
333		slowstop ; sad ide jos usporeno
334		speed 90
335		movlw 1 ; jos 2 mm
336		call gosteps2
337		speed 160
338		movlw 1 ; jos 2 mm
339		call gosteps2
340		speed 200
341		movlw 1 ; jos 2 mm
342		call gosteps2
343		bcf status,c ; NC = no error
344		return
345		errhome
346		bsf status,c ; C = error
347		return
348		;-------
349
350		slowstart
351		speed 200
352		movlw 1 ; jos 2 mm
353		call gosteps2
354		speed 160
355		movlw 2 ; jos 2 mm
356		call gosteps2
357		speed 90
358		movlw 3 ; jos 2 mm
359		call gosteps2
360		defspeed
361		return
362
363		slowstart_long
364		speed 160
365		movlw 8 ; x 2 mm
366		call gosteps2
367		speed 120
368		movlw 1 ; x 2 mm
369		call gosteps2
370		speed 90
371		movlw 1 ; x 2 mm
372		call gosteps2
373		defspeed
374		return
375
376
377		;-------
378
379		gosteps ; napravi w*2mm, stop and clr C if hall low
380		strong
381		movwf liftcount
382		godns
383		call mm2
384		ifhallon
385		bra foundhall
386		decfsz liftcount,f
387		bra godns
388		bsf status,c ; set C, error (nije nasao hall)
389		return
390		foundhall
391		bcf status,c ; clr C, nasao hall
392		return
393		;-------
394
395		gosteps2 ; samo napravi w*2mm bezuslovno
396		strong
397		movwf liftcount
398		godns2
399		call mm2
400		decfsz liftcount,f
401		bra godns2
402		return
403
404		;------------------------------
405
406		goerror ; samo blinka led do beskraja
407		weak
408		btg led
409		clrf wreg
410		call timing3
411		bra goerror
412
413		;------------------------------
414		END