Тема: Аналіз та синтез систем. ; DECLARATION SYMBOLES ; ;************************************************************************ ;off_time DS.B 1 ;************************************************************************ ; ; Ended DECLARATION SYMBOLES ZONE ; ;************************************************************************
BYTES
segment byte 'ram0' ;************************************************************************ ; ; VARIABLES DECLARATION ZONE ; ;************************************************************************ ; Variable for SPI data send (MASTER MODE) SPI_data ds.b 1 var ds.b 1 delay_h ds.b 1 delay_l ds.b 1 ;************************************************************************ ; ; Ended DECLARATION VARIABLES ZONE ; ;************************************************************************ WORDS segment byte 'rom' ;************************************************************************ ; ; CONSTANTES DECLARATION ZONE ; ; Value unit digit (Voltage goes from 0 up to 5 Volts) table1 table1 dc.b 0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1 dc.b 1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,2 dc.b 2,2,2,2,2,2,3,3,3,3,3,3,3,3,3,3 dc.b 3,3,4,4,4,4,4,4,4,4,4,4,4,4,4,5 ; Value dot unit digit (Voltage goes from 0.1 up to 0.9 Volts) table2 table2 dc.b 0,1,2,3,4,4,5,6,7,8,8,9,0,1,1,2 dc.b 3,4,5,5,6,7,8,8,9,0,1,2,2,3,4,5 dc.b 5,6,7,8,9,9,0,1,2,3,3,4,5,6,6,7 dc.b 8,9,0,0,1,2,3,3,4,5,6,7,7,8,9,0 ;************************************************************************ ; ; Ended CONSTANTES DECLARATION ZONE ; ;************************************************************************ ;------------------------------------------------------------------------ ;************************************************************************ ; ; SUBROUTINE PROGRAM DECLARATION ZONE ; ;************************************************************************ init_ST7: clr MCCSR ; normal mode ret init_ports:
ld A,#%10011011 ; Init port A with this value ld PADDR,A ; init port A (PWM0 is in PA2) ld PAOR,A ld A,#%01110100 bset PBDR,#2 ; Set PB2 pin in level logic “1” load data into SPI ld PBDDR,A ; init port B SPI clock (SCK = PB1 pin ) ld PBOR,A ; MOSI is PB3 and PB0 is for analog input ret ;************************************************************************ ; ; Ended Subroutine program declaration ZONE; ;************************************************************************ ;------------------------------------------------------------------------- ; SUBROUTINE NAME: init_IO ; DESCRIPTION: ; ;------------------------------------------------------------------------- init_IO: ld A,#%10011011 ld PADDR,A ld PAOR,A ld A,#%01110100 bset PBDR,#2 ; Set the PB2 pin in level logic “1” load data into SPI ld PBDDR,A ld PBOR,A ret ; - Program for ADC: Initializing the ADCSR register select_CH: ld A,#%00000000 ; The CH0=CH1=CH2 = 0 means AIN0 (PB0) ; is selecting because the potentiometer (analog input ; signal) is connecting to this PB0 pin, this I/O must be ; configuring in High impedance ld ADCCSR,A ; configuring the ADCCSR register with %00000000 ret ;************************************************************************ ; ; GET DATA FROM ADC ; ;************************************************************************ ; - Launch the conversion of the input analog signal process_adc: bset ADCCSR,#5 ; Launch the ADC for one conversion cont: ld A,ADCCSR ; load the content of the ADCCSR in the “A” register and A,#$80 ; the “And” allows verifying the end conversion of ADC jreq cont ; if not, this means the bit « OEC » is not yet equal 1 ; This bit7 “OEC” of the ADCCSR register bres ADCCSR,#5 ; Stop the ADC by setting the bit 5 of the ADCCSR ; bit5 = ADON in the ADCCSR register ; begin reading the conversion result of conversion ld A,ADCDRH ; Load the MSB of the ADC in the A register ; “var” is a variable reserved at the begin in RAM0 ld var,A ; var content now the ADC conversion result ; mean the conversion result is storing in the “var” ret ;************************************************************************ ; ; INIT SPI ; ;************************************************************************ init_SPI:
;************************************************************************ ; ; INIT SPI ; ;************************************************************************ delay: push x push y
ld x, delay_l ld y, delay_h dec_2: dec x JRNE dec_2 ld x,delay_l dec y JRNE dec_2
pop y pop x ret ;************************************************************************ ; ; MAIN PROGRAM ; ;************************************************************************ main: rsp
ld a, #%01111100 ld $04, a ld $05, a ld a, #%00110000 ld $03, a ; stop motor 1 ld a, #%00011111 ld $01, a ld $02, a ld a, #%00000000 ld $00, a ; stop motor 2
clr $80 LD A,#%00010000 ; завантажити маску джерела таймеру LD $0D,A ; джерело таймеру CNTR1 від так тової частоти
LD A,#%00001111 ;1000 LD $10,A ; ATR1 high LD $1b,A ; DCR2 high (pa4) LD A,#%00010000 ; завантажити маску вибору ШИМ на PA3 LD $12,A ; вибір ШИМ LD A,#%10000000 LD $11,A ; ATR1 low (0..255) LD A,#%10000001 ; значення = 1 LD $1C,A ; DCR2 low (pa4) LD A,#1 ; завантажити маску дозволу зміни ширини LD $21,A ; дати дозвіл на зміну ширини імпульсу ;============================================================================ ;jp MOTOR2 MOTOR1: ;============================================================================ call Read_Signal cp A, #10 ;Еталонне значення ;============================================================================ ;==============================our kroks============================
ld a, #10 CALL VVERH1
ld a, #10 CALL VLIVO1
ld a, #10 CALL VNIZ1
ld a, #10 CALL VVERH1
ld a, #10 CALL VVERH1
ld a, #10 CALL VNIZ1
ld a, #10 CALL VPRAVO1
ld a, #10 CALL VVERH1
ld a, #10 CALL VNIZ1
ld a, #10 CALL VNIZ1
jp MOTOR1 ;============================================= ;============================================== VLIVO1: push a ld a, #%01110100 ;song ld $03, a call PAUSE_S ld a, #%00100100 ld $03, a call PAUSE_S ld a, #%01100000 ;song ld $03, a call PAUSE_S ld a, #%00000000 ld $03, a call PAUSE_S ld a, #%00010000 ld $03, a call PAUSE_S ld a, #%00011000 ld $03, a call PAUSE_S ld a, #%00111000 ld $03, a call PAUSE_S ld a, #%00111100 ld $03, a call PAUSE_S pop a dec a jrne VLIVO1 ld a, #%00110000 ld $03, a ; stop motor 1 RET ;============================================== VPRAVO1: push a ;8 ld a, #%00111100 ld $03, a call PAUSE_S ;7 ld a, #%00111000 ld $03, a call PAUSE_S ;6 ld a, #%00011000 ld $03, a call PAUSE_S ;5 ld a, #%00010000 ld $03, a call PAUSE_S ;4 ld a, #%00000000 ld $03, a call PAUSE_S ;3 ld a, #%00100000 ld $03, a call PAUSE_S ;2 ld a, #%00100100 ld $03, a call PAUSE_S ;1 ld a, #%00110100 ld $03, a call PAUSE_S pop a dec a jrne VPRAVO1 ld a, #%00110000 ld $03, a ; stop motor 1 RET ;============================================== VNIZ1: push A ld a, #%00000001 ;1 ld $00, a call PAUSE_S ld a, #%00000011 ;1-2 ld $00, a call PAUSE_S ld a, #%00000010 ;2 ld $00, a call PAUSE_S ld a, #%00000110 ;2-3 ld $00, a call PAUSE_S ld a, #%00000100 ;3 ld $00, a call PAUSE_S ld a, #%00001100 ;3-4 ld $00, a call PAUSE_S ld a, #%00001000 ;4 ld $00, a call PAUSE_S ld a, #%00001001 ;4-1 ld $00, a call PAUSE_S pop A dec A jrne VNIZ1 ld A,#%00000000 ld $00,A ; stop motor 2 RET
;============================================== VVERH1: push A ld a, #%00001000 ;4 ld $00, a call PAUSE_S
ld a, #%00001100 ;3-4 ld $00, a call PAUSE_S ld a, #%00000100 ;3 ld $00, a call PAUSE_S ld a, #%00000110 ;2-3 ld $00, a call PAUSE_S ld a, #%00000010 ;2 ld $00, a call PAUSE_S ld a, #%00000011 ;1-2 ld $00, a call PAUSE_S ld a, #%00000001 ;1 ld $00, a call PAUSE_S ld a, #%00001001 ;4-1 ld $00, a call PAUSE_S pop A dec A jrne VVERH1 ld A,#%00000000 ld $00,A ; stop motor 2
RET ;============================================= DIA1: push A ld a, #%00000001 ;1 ld $00, a ;8 ld a, #%00111100 ld $03, a call PAUSE_S ld a, #%00000011 ;1-2 ld $00, a ;7 ld a, #%00111000 ld $03, a call PAUSE_S ld a, #%00000010 ;2 ld $00, a ;6 ld a, #%00011000 ld $03, a call PAUSE_S ld a, #%00000110 ;2-3 ld $00, a ;5 ld a, #%00010000 ld $03, a call PAUSE_S ld a, #%00000100 ;3 ld $00, a ;4 ld a, #%00000000 ld $03, a call PAUSE_S ld a, #%00001100 ;3-4 ld $00, a ;3 ld a, #%00100000 ld $03, a call PAUSE_S ld a, #%00001000 ;4 ld $00, a ;2 ld a, #%00100100 ld $03, a call PAUSE_S ld a, #%00001001 ;4-1 ld $00, a ;1 ld a, #%00110100 ld $03, a call PAUSE_S pop A dec A jrne DIA1 ld a, #%00110000 ld $03, a ; stop motor 1 ld A,#%00000000 ld $00,A ; stop motor 2 RET ;============================================== DIA2: push a
ld a, #%01110100 ;song ld $03, a ld a, #%00001000 ;4 ld $00, a call PAUSE_S ld a, #%00100100 ld $03, a ld a, #%00001100 ;3-4 ld $00, a call PAUSE_S ld a, #%01100000 ;song ld $03, a ld a, #%00000100 ;3 ld $00, a call PAUSE_S ld a, #%00000000 ld $03, a ld a, #%00000110 ;2-3 ld $00, a call PAUSE_S ld a, #%00010000 ld $03, a ld a, #%00000010 ;2 ld $00, a call PAUSE_S ld a, #%00011000 ld $03, a ld a, #%00000011 ;1-2 ld $00, a call PAUSE_S ld a, #%00111000 ld $03, a ld a, #%00000001 ;1 ld $00, a call PAUSE_S ld a, #%00111100 ld $03, a ld a, #%00001001 ;4-1 ld $00, a call PAUSE_S pop a dec a jrne DIA2 ld a, #%00110000 ld $03, a ; stop motor 1 ld A,#%00000000 ld $00,A ; stop motor 2 RET ;============================================== ;============================================== PAUSE_S: ld a, #6 l_pause: push a ld a, #255 l_pa: bset $2e, #6 dec a jrne l_pa pop a dec a jrne l_pause ret
Read_Signal: LD A,#%01100001 ; Завантажити в A маску настройки АЦП для ; PB0 LD $34,A ; Записати її в регістр ADCCSR, що дає дозвіл ан ;алогового вводу ; з ніжки PB0. M1: BTJF $34,#7,M1 ; Переписати біт EOC в CF і перейти на M1, ;якщо він нульовий. LD A,$35 ; Зчитати в регістр A отримане значення. ret dummy_rt: IRET ; Empty Procedure : Mean return to Main program. ;*********************************************************** ; ; VECTORS D’INTERRUPTION DECLARATION ; ;*********************************************************** segment 'vectit' DC.W dummy_rt ; Adresse FFE0-FFE1h SPI_it DC.W dummy_rt ; Adresse FFE2-FFE3h lt_RTC1_it DC.W dummy_rt ; Adresse FFE4-FFE5h lt_IC_it DC.W dummy_rt ; Adresse FFE6-FFE7h at_timerover_it DC.W dummy_rt ; Adresse FFE8-FFE9h at_timerOC_it DC.W dummy_rt ; Adresse FFEA-FFEBh AVD_it DC.W dummy_rt ; Adresse FFEC-FFEDh DC.W dummy_rt ; Adresse FFEE-FFEFh lt_RTC2_it DC.W dummy_rt ; Adresse FFF0-FFF1h ext3_it DC.W dummy_rt ; Adresse FFF2-FFF3h ext2_it DC.W dummy_rt ; Adresse FFF4-FFF5h ext1_it DC.W dummy_rt ; Adresse FFF6-FFF7h ext0_it DC.W dummy_rt ; Adresse FFF8-FFF9h AWU_it DC.W dummy_rt ; Adresse FFFA-FFFBh softit DC.W dummy_rt ; Adresse FFFC-FFFDh reset DC.W main ; Adresse FFFE-FFFFh END ;***********************************************************
