;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;; C O N F I G ;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; include "p12f683.inc" __config _MCLRE_OFF & _BOREN_OFF & _IESO_OFF & _FCMEN_OFF & _PWRTE_OFF & _CP_OFF & _CPD_OFF & _WDTE_OFF & _MCLRE_OFF & _BOREN_OFF & _FOSC_INTOSCIO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;; C O N S T A N T S ;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; #define SERVO_DVIRKA GPIO, GP5 ;dvirka #define SERVO_PACKA GPIO, GP4 ;packa #define SPINAC GPIO, GP3 ;prepinac #define TRUE .1 #define FALSE .0 #define DVIRKA_FULL_ANGLE .15 ;dvirka naplno #define DVIRKA_OCI_ANGLE .40 ;jen koukaji oci #define DVIRKA_INIT_ANGLE .90 ;zakladni #define PACKA_INIT_ANGLE .175 ;zakladni #define PACKA_END_ANGLE .30 ;vypni #define PACKA_PRED_ANGLE .50 ;pred vypinac #define PACKA_TESNE_ANGLE .30 ;tesne pred vypinac #define PACKA_HALF_ANGLE .90 ;na pul cesty #define PACKA_MEZI_ANGLE .70 #define MOTOR_DVIRKA .0 #define MOTOR_PACKA .1 #define DIRECTION_FORWARD .0 #define DIRECTION_BACKWARD .1 ;WT588D #define S_SDA GPIO, GP0; #define S_CS GPIO, GP1; #define S_SCK GPIO, GP2; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;; K O N S T A N T Y ;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;WT588D SOUND_00_SNORE equ .0 SOUND_01_YAWN equ .1 SOUND_02_SIREN equ .2 SOUND_03_PILA equ .3 SOUND_04_LAUGH equ .4 ;laugh maniacal SOUND_05_KNOCK equ .5 ;knock knock SOUND_06_CHILDREN equ .6 ;children hustle SOUND_07_CLARINET equ .7 SOUND_08_ROBOT equ .8 ;robot alarm SOUND_09_PARTY equ .9 ;party horn SOUND_0A_FACTORY equ .10 ;factory whistle SOUND_0B_CAR equ .11 ;car horn SOUND_0C_ROOSTER equ .12 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;; V A R I A B L E S ;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; cblock 0x20 d1 ;registry na countery pro 1s delay d2 d3 w_temp status_temp pulseCount numMilis ;WT588D numSecs ;WT588D tmp ;WT588D finished canExit ;Flag pro ukonceni behu interruptu numHalfSecsWait ;Kolik 0.5s cekat i j scenar ;Ktery scenar? hiByte loByte sweepFrom sweepTo sweepStep sweepDirection ;false=ascending,true=descending sweepNotNeeded ;Nekdy staci drzet jen dvirka whichHold ;ktery motor drzi pozici? (0=1., 1=2.) holdAngle ;drzime uhel tmpStep ;pro uchovani stepu v PackaTamZpet endc ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;; M A C R O S ;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; BANK0 macro ;{ bcf STATUS, RP0 ;Select memory bank 0 errorlevel -302 endm BANK1 macro bsf STATUS, RP0 ;Select memory bank 1 errorlevel +302 endm ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;; R E S E T V E C T O R S ;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; org 0x00 goto MAIN org 0x04 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; INTERRUPT ;{ movwf w_temp ;copy W to temp register, could be in either bank swapf STATUS,w ;swap status to be saved into W movwf status_temp ;save status to bank 0 register bcf PIR1, TMR1IF ;vycisti Interrupt flag pro Timer1 ;orig movlw 0xB1 movwf TMR1H movlw 0xEA movwf TMR1L HandleFirstServo btfsc sweepNotNeeded, 0 goto HandleSecondServo ;Obsluha 1. motoru Sw0 btfsc whichHold, 0 ;Ktery motor drzim? 5cycles ->servosSet goto setServo1 bsf SERVO_PACKA goto servosSet setServo1 bsf SERVO_DVIRKA nop ;Vypln, at mam konstantni cas pro obe if vetve servosSet call Wait0.490ms ;prictej postupne 11us (0.011ms) movf sweepFrom, w movf sweepFrom, f ;=0? btfsc STATUS, Z goto SwZ movwf i Sw1 nop ;11us nop nop nop nop nop nop nop decfsz i, f goto Sw1 SwZ btfsc whichHold, 0 ;Ktery motor drzim? 5cycles ->servosUnset goto unsetServo1 bcf SERVO_PACKA goto servoUnset unsetServo1 bcf SERVO_DVIRKA nop ;Vypln, at mam konstantni cas pro obe if vetve servoUnset movlw .50 addwf sweepFrom, f addwf sweepTo, f movf sweepStep, w btfss sweepDirection, 0 ;pricitej/odecitej stupne goto Swi Swd subwf sweepFrom, f ;dekrement movf sweepTo, w subwf sweepFrom, w ;sweepFrom - sweepTo < 0? goto Swc Swi addwf sweepFrom, f ;inkrement movf sweepFrom, w subwf sweepTo, w ;sweepTo - sweepFrom < 0? goto Swc ;filler, takty Swc movlw FALSE btfsc STATUS, C goto Swf movlw TRUE Swf movwf finished HandleSecondServo ;Obsluha 2. motoru (hold) Hw0 btfsc whichHold, 0 ;Ktery motor drzim? 5cycles ->servosSet goto holdServo2 bsf SERVO_DVIRKA goto servoHeld holdServo2 bsf SERVO_PACKA nop ;Vypln, at mam konstantni cas pro obe if vetve servoHeld call Wait0.490ms ;prictej postupne 11us (0.011ms) movf holdAngle, w movf holdAngle, f ;=0? btfsc STATUS, Z goto HwZ Hwc movwf i Hw1 nop ;11us nop nop nop nop nop nop nop decfsz i, f goto Hw1 HwZ btfsc whichHold, 0 ;Ktery motor drzim? 5cycles ->servosUnset goto unholdServo2 bcf SERVO_DVIRKA goto servoUnHeld unholdServo2 bcf SERVO_PACKA nop ;Vypln, at mam konstantni cas pro obe if vetve servoUnHeld movlw .50 subwf sweepFrom, f subwf sweepTo, f btfss canExit, 0 ;"Vypni" interrupt zvenku goto skip movlw TRUE movwf finished skip swapf status_temp,w ;swap status_temp register into W, sets bank to original state movwf STATUS ;move W into STATUS register swapf w_temp,f ;swap w_temp swapf w_temp,w ;swap w_temp into W retfie ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;; M A I N ;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; MAIN ;{ BANK1 movlw b'01100100' movwf OSCCON ;4MHZ internal BANK0 ;Inicializace vystupnich GPIO BANK1 clrf ANSEL ;digital I/O movlw b'11001000' ;Vse output, GP3 input movwf TRISIO BANK0 movlw 0x07 movwf CMCON0 ;digital I/O clrf GPIO bcf SERVO_DVIRKA BANK1 movlw b'11001000' ;Interni oscilator, prescaler 1:1 (PSA = 1) movwf OPTION_REG BANK0 movlw SOUND_00_SNORE call DoSoundFX call SetLoopSound call InterruptOff call DvirkaInitPos call PackaInitPos call GetNumStartScenar ;Pockej na spinac a init scenar ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;; M A I N L O O P ;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; LOOP ;{ call RunScenar movlw SOUND_00_SNORE call DoSoundFX call SetLoopSound waitKey btfss SPINAC ;Pockej na spinac goto waitKey call GetNextScenar goto LOOP ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;; S C E N A R E ;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;Pust scenar podle promenne 'scenar' RunScenar ;{ movlw HIGH jmpTbl movwf PCLATH movf scenar, w addwf PCL, f jmpTbl goto Scenar0 goto Scenar1 goto Scenar2 goto Scenar3 goto Scenar4 goto Scenar5 goto Scenar6 goto Scenar7 goto Scenar8 goto Scenar9 goto Scenar10 ;} ;Vyber nahodny scenar z TMR1L, se kterym budeme zacinat. ;Pote se posunujeme +1 a na konci seznamu zpet na 0ty scenar. GetNumStartScenar ;{ GetL btfss SPINAC goto GetL movf TMR0, w andlw b'00000111' ;0-7 movwf scenar return ;} GetNextScenar ;{ movf scenar, w addlw .246 ;>10? btfss STATUS, C goto lessNine clrf scenar return lessNine incf scenar, f return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar0 ;{ ;1. Dvirka rychle nahoru ;2. Pockej 1s, packa tam ;3. Packa rychle zpet ;4. Dvirka rychle dolu movlw SOUND_02_SIREN call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;Pockej 1s movlw .2 call DvirkaHold ;2, 3 movlw .3 ;Rychle call PackaTamZpet ;Pockej 0.5secs movlw .1 call DvirkaHold ;4 call DvirkaInitPos ;Zavri dvirka return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar1 ;{ ;1. Klapani 3x nahoru a dolu ;2. Dvirka pomalu nahoru, pak pockej 1s ;3. Packa rychle prepne ;4. Packa rychle zpet ;5. Dvirka rychle dolu movlw SOUND_03_PILA call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaKlapRychle call Wait1s ;2 movlw .1 call DvirkaFullOpen ;Pockej 1sec movlw .2 call DvirkaHold ;3, 4 movlw .3 call PackaTamZpet ;Pockej 1secs movlw .2 call DvirkaHold ;5 movlw .3 call DvirkaDown return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar2 ;{ ;1. Stredne rychla dvirka nahoru ;2. Packa stredne rychly vyjezd tesne pred prepinac ;3. Packa dojede a vypne ;4. Packa zajede stredne rychle zpet ;5. Stredne rychla dvirka dolu movlw SOUND_04_LAUGH call DoSoundFX movlw .2 call WaitSecs ;1 movlw .2 call DvirkaFullOpen ;Pockej 1.5secs movlw .3 call DvirkaHold ;2 movlw .2 call PackaPredPrepinac ;cekej 2sec movlw .4 call DvirkaHold ;3 call PackaInitVars movlw PACKA_PRED_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa prepina rychle call WaitServo ;4 movlw PACKA_END_ANGLE movwf sweepFrom movlw PACKA_INIT_ANGLE movwf sweepTo movlw .2 movwf sweepStep call SweepForward ;Packa zpet, stredne rychle ;Pockej 0.5secs movlw .1 call DvirkaHold ;5 movlw .2 call DvirkaDown return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar3 ;{ ;1. Rychle otevreni dvirek full ;2. Packa rychle tesne pred prepinac ;3. Pockej 2s ;4. Packa stredne rychle prepne ;5. Pockej 2s ;6. Packa stredne rychle vrati zpet ;7. Dvirka se stredne rychle zavrou ;8. Pockej 1s ;9. Dvirka se rychle otevrou ;A. Pockej 3s ;B. Dvirka se rychle zavrou movlw SOUND_05_KNOCK call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;2 movlw .4 call PackaTesnePredPrepinac ;3 movlw .4 call DvirkaHold ;4 call PackaInitVars movlw PACKA_TESNE_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa prepne prepinac call WaitServo ;5 movlw .4 call DvirkaHold ;6 movlw .2 movwf tmpStep call PackaZpet ;7 movlw .2 call DvirkaDown ;8 call Wait1s ;9 call DvirkaFullFast ;A ;Pockej 1s movlw .6 call DvirkaHold ;B call DvirkaInitPos ;Zavri dvirka return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar4 ;{ ;1. Rychle otevreni dvirek full ;2. 2s pauza, rychle zavreni dvirek ;3. 2s pauza; rychle otevreni dvirek full ;4. Packa rychle tam ;5. Packa rychle zpet ;6. Dvirka rychle dolu movlw SOUND_06_CHILDREN call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;2 ;Pockej 2s movlw .4 call DvirkaHold call DvirkaInitPos ;Zavri dvirka ;3 call Wait1s call Wait1s call DvirkaFullFast ;4, 5 movlw .4 call PackaTamZpet ;5 movlw .1 call DvirkaDown return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar5 ;{ ;1. Rychle otevreni dvirek full ;2. Packa rychle tam ;3. Packa rychle zpet ;4. Rychle zavreni dvirek ;5. Pauza 2secs ;6. Rychle otevreni dvirek full ;7. Pauza 3secs ;8. Rychle zavreni dvirek movlw SOUND_07_CLARINET call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;2, 3 movlw .4 call PackaTamZpet ;4 call DvirkaInitPos ;Zavri dvirka ;5 call Wait1s call Wait1s ;6 call DvirkaFullFast ;7 movlw .6 call DvirkaHold ;8 movlw .2 call DvirkaDown return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar6 ;{ ;1. Rychle otevreni dvirek full ;2. Packa vyjede rychle a vypne a drzi 2s ;3. Packa 3x zajede trochu zpet a zase kousek tam ;4. Packa zajede rychle zpet, pauza 2secs ;5. Dvirka rychle zavreni, pauza 2secs ;6. Dvirka rychle otevreni full ;7. Pauza 2secs (plysak kouka) ;8. Dvirka rychle zavreni movlw SOUND_08_ROBOT call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;2 movlw .4 call PackaTam movlw .4 call DvirkaHold ;Drz packu na miste 2s ;3 call PackaInitVars movlw .3 movwf j Sc6l movlw PACKA_END_ANGLE movwf sweepFrom movlw PACKA_MEZI_ANGLE movwf sweepTo movlw .2 movwf sweepStep call SweepForward ;Packa zpet movlw PACKA_MEZI_ANGLE movwf sweepFrom movlw PACKA_INIT_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa rychle zpet nahoru call WaitServo decfsz j, f goto Sc6l ;4 movlw .4 movwf tmpStep call PackaZpet movlw .4 call DvirkaHold ;Drz packu na miste 2s ;5 call DvirkaInitPos ;Zavri dvirka call Wait1s ;Cekej 2s call Wait1s ;6 call DvirkaFullFast ;7 movlw .4 ;Cekej otevrene dvirka 2s call DvirkaHold ;8 call DvirkaInitPos ;Zavri dvirka rychle return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar7 ;{ ;1. Dvirka pomale otevreni full ;2. Packa pomalu vyjede tesne pred prepinac ;3. 1secs, packa prepne prepinac ;4. Packa zajede rychle zpet ;5. Dvirka se rychle zavrou. movlw SOUND_09_PARTY call DoSoundFX movlw .2 call WaitSecs ;1 movlw .1 call DvirkaFullOpen ;Pockej 1.5secs movlw .3 call DvirkaHold ;2 movlw .2 call PackaPredPrepinac ;3 ;Pockej 1sec movlw .2 call DvirkaHold call PackaInitVars movlw PACKA_PRED_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa prepne prepinac ;4 movlw .4 movwf tmpStep call PackaZpet ;5 call DvirkaInitPos ;Zavri dvirka rychle return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar8 ;{ ;1. Dvirka rychle otevreni full ;2. Packa stredne rychle do poloviny ;3. Packa rychle tesne pred prepinac ;4. Packa do poloviny a opakuj 3. celkem 3x ;5. Pockej 2s, packa rychle prepne prepinac. ;6. Packa rychle zajede zpet. ;7. Dvirka se rychle zavrou. movlw SOUND_0A_FACTORY call DoSoundFX movlw .2 call WaitSecs ;1 call DvirkaFullFast ;2 call PackaInitVars movlw PACKA_INIT_ANGLE movwf sweepFrom movlw PACKA_HALF_ANGLE movwf sweepTo movlw .2 movwf sweepStep call SweepBackward ;Packa do poloviny cesty movlw .2 ;Pocka 1s call DvirkaHold ;3 call PackaInitVars ;4 movlw .3 movwf j Sc8l movlw PACKA_HALF_ANGLE movwf sweepFrom movlw PACKA_PRED_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa tesne pred prepinac movlw PACKA_PRED_ANGLE movwf sweepFrom movlw PACKA_HALF_ANGLE movwf sweepTo movlw .2 movwf sweepStep call SweepForward ;Packa do poloviny zpet decfsz j, f goto Sc8l ;5 movlw .4 ;Pocka 2s call DvirkaHold call PackaInitVars movlw PACKA_HALF_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa vypne prepinac ;6 movlw .4 movwf tmpStep call PackaZpet ;7 call Wait1s movlw .3 call DvirkaDown return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar9 ;{ ;1. Dvirka se pomalu otevrou full ;2. Packa rychle prepne prepinac ;3. Packa rychle zpet. ;4. Dvirka pomalu zpet do vysky oci, pauza 2s ;5. Dvirka rychle otevrou full ;6. Pauza 3s ;7. Dvirka rychle zavrou. movlw SOUND_0B_CAR call DoSoundFX movlw .2 call WaitSecs ;1 movlw .1 call DvirkaFullOpen movlw .3 ;Pockej 1.5s call DvirkaHold ;2, 3 movlw .4 call PackaTamZpet movlw .4 ;Pockej 2s call DvirkaHold ;4 call DvirkaInitVars movlw DVIRKA_FULL_ANGLE movwf sweepFrom movlw DVIRKA_OCI_ANGLE movwf sweepTo movlw .2 movwf sweepStep call SweepBackward ;Dvirka do vysky oci movlw .4 ;2secs ve vysce oci movwf numHalfSecsWait movlw DVIRKA_OCI_ANGLE call DvirkaHoldOci ;5 call DvirkaFullFast ;Otevri dvirka rychle full ;6 movlw .6 ;Pockej 3secs call DvirkaHold ;7 call DvirkaInitPos ;Zavri dvirka rychle return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Scenar10 ;{ ;1. Dvirka se pomalu otevrou na vysku oci ;2. Pauza 2s ;3. Dvirka se rychle otevrou full ;4. Packa rychle tesne pred prepinac ;5. Pauza 3s ;6. Packa prepne rychle prepinac ;7. Packa stredne rychle zpet ;8. Dvirka rychle zavrou ;9. Pauza 2s ;A. Dvirka rychle otevreni full ;B. Packa rychle prepnuti a drzi prepnute 2s ;C. Packa rychle zpet ;D. Dvirka stredne rychle dolu movlw SOUND_0C_ROOSTER call DoSoundFX movlw .2 call WaitSecs ;1 movlw .1 call DvirkaOciOpen ;2 movlw .4 ;Pockej 2secs movwf numHalfSecsWait movlw DVIRKA_OCI_ANGLE call DvirkaHoldOci ;3 call DvirkaFullFast ;Otevri dvirka rychle full ;4 movlw .4 call PackaPredPrepinac ;5 movlw .6 ;Pauza 3secs call DvirkaHold ;6 call PackaInitVars movlw PACKA_PRED_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movlw .4 movwf sweepStep call SweepBackward ;Packa rychle prepne prepinac ;7 movlw .2 movwf tmpStep call PackaZpet ;8 call DvirkaInitPos ;Zavri dvirka rychle ;9 call Wait1s ;Pauza 2secs call Wait1s ;A call DvirkaFullFast ;B movlw .4 call PackaTam movlw .4 ;Pockej 2secs, u prepinace call DvirkaHold ;C movlw .4 movwf tmpStep call PackaZpet call Wait1s ;D movlw .2 call DvirkaDown ;Zavri dvirka rychle return ;} ;************************************************************* ; ***************** H E L P E R R U T I N Y **************** ;************************************************************* InterruptOn ;{ BANK1 bsf PIE1, TMR1IE ;Enables the TMR1 overflow interrupt bsf INTCON, PEIE ;Peripheral interrupt pro Timer1 bsf INTCON, GIE ;Povol vsechna preruseni BANK0 movlw FALSE movwf finished movwf canExit movlw 0xFF ;Par cyklu pred turnoverem, aby hned nastalo preruseni movwf TMR1H movlw 0xE0 movwf TMR1L nop nop movlw b'00000001' ;TMR1ON = zapni movwf T1CON return ;} InterruptOff ;{ BANK0 clrf T1CON ;TMR1ON = vypni BANK1 bcf PIE1, TMR1IE ;Enables the TMR1 overflow interrupt bcf INTCON, PEIE ;Peripheral interrupt pro Timer1 bcf INTCON, GIE ;Povol vsechna preruseni BANK0 return ;} ;************************************************************* ; ***************** S E R V O R U T I N Y ****************** ;************************************************************* ServoRutiny ;{ SweepForward movlw DIRECTION_FORWARD goto SweepXtoY SweepBackward movlw DIRECTION_BACKWARD goto SweepXtoY SweepXtoY movwf sweepDirection call InterruptOn SwWait btfss finished, 0 goto SwWait call InterruptOff return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; D V I R K A R U T I N Y ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; DvirkaKlapRychle ;{ movlw .5 movwf j DvirkaK call DvirkaOciFast call DvirkaInitPos2 decfsz j, f goto DvirkaK return ;} DvirkaInitPos ;{ movlw .10 movwf pulseCount DvInit bsf SERVO_DVIRKA call Wait1.5ms bcf SERVO_DVIRKA call Wait18.5ms decfsz pulseCount, f goto DvInit return ;} DvirkaInitPos2 ;{ movlw .10 movwf pulseCount S65 bsf SERVO_DVIRKA call Wait1.275ms bcf SERVO_DVIRKA call Wait18.725ms decfsz pulseCount, f goto S65 return ;} DvirkaInitVars ;{ movlw PACKA_INIT_ANGLE ;Drz uhel pro packu movwf holdAngle movlw MOTOR_PACKA movwf whichHold ;Drz packu, hybej dvirky movlw FALSE movwf sweepNotNeeded return ;} DvirkaOciFast ;{ movlw .10 movwf pulseCount S50 bsf SERVO_DVIRKA call Wait1.055ms bcf SERVO_DVIRKA call Wait18.945ms decfsz pulseCount, f goto S50 return ;} DvirkaOciOpen ;{ movwf sweepStep call DvirkaInitVars movlw DVIRKA_INIT_ANGLE movwf sweepFrom movlw DVIRKA_OCI_ANGLE movwf sweepTo call SweepBackward ;Dvirka pomalu nahoru do oci return ;} DvirkaFullFast ;{ movlw .30 movwf pulseCount S15 bsf SERVO_DVIRKA call Wait0.665ms bcf SERVO_DVIRKA call Wait19.335ms decfsz pulseCount, f goto S15 return ;} DvirkaFullOpen ;{ movwf sweepStep call DvirkaInitVars movlw DVIRKA_INIT_ANGLE movwf sweepFrom movlw DVIRKA_FULL_ANGLE movwf sweepTo call SweepBackward ;Dvirka pomalu nahoru return ;} DvirkaDown ;{ movwf sweepStep call DvirkaInitVars movlw DVIRKA_FULL_ANGLE movwf sweepFrom movlw DVIRKA_INIT_ANGLE movwf sweepTo call SweepForward ;Dvirka pomalu dolu return ;} DvirkaHold ;{ movwf numHalfSecsWait ;Drz dvirka, packu nechej byt (noSweep) movlw DVIRKA_FULL_ANGLE ;Drz uhel pro dvirka DvirkaHoldOci movwf holdAngle movlw MOTOR_DVIRKA movwf whichHold ;Drz dvirka movlw TRUE movwf sweepNotNeeded ;Jen drzime dvirka call InterruptOn movf numHalfSecsWait, w movwf j DvHl call Wait0.5s decfsz j, f goto DvHl movlw TRUE ;Cekani hotovo movwf canExit DvHw btfss finished, 0 ;Pockej na dobeh preruseni goto DvHw call InterruptOff movlw FALSE movwf canExit return ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; P A C K A R U T I N Y ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; PackaInitPos ;{ movlw .40 movwf pulseCount S175 bsf SERVO_PACKA call Wait2.44ms bcf SERVO_PACKA call Wait17.56ms decfsz pulseCount, f goto S175 return ;} PackaInitVars ;{ movlw DVIRKA_FULL_ANGLE ;Drz uhel pro dvirka movwf holdAngle movlw MOTOR_DVIRKA movwf whichHold ;Drz dvirka, hybej packou movlw FALSE movwf sweepNotNeeded return ;} PackaTamZpet ;{ call PackaTam call PackaZpet return ;} PackaTam ;{ movwf tmpStep call PackaInitVars movlw PACKA_INIT_ANGLE movwf sweepFrom movlw PACKA_END_ANGLE movwf sweepTo movf tmpStep, w movwf sweepStep call SweepBackward ;Packa ven call WaitServo return ;} PackaZpet ;{ call PackaInitVars movlw PACKA_END_ANGLE movwf sweepFrom movlw PACKA_INIT_ANGLE movwf sweepTo movf tmpStep, w movwf sweepStep call SweepForward ;Packa zpet call WaitServo return ;} PackaPredPrepinac ;{ movwf sweepStep call PackaInitVars movlw PACKA_INIT_ANGLE movwf sweepFrom movlw PACKA_PRED_ANGLE movwf sweepTo call SweepBackward ;Packa ven pred prepinac call WaitServo return ;} PackaTesnePredPrepinac ;{ movwf sweepStep call PackaInitVars movlw PACKA_INIT_ANGLE movwf sweepFrom movlw PACKA_TESNE_ANGLE movwf sweepTo call SweepBackward ;Packa ven tesne pred prepinac call WaitServo return ;} ;************************************************************* ; ***************** C E K A C I S M Y C K Y **************** ;************************************************************* Wait1s ;999990 cycles ;{ movlw 0x07 movwf d1 movlw 0x2F movwf d2 movlw 0x03 movwf d3 wait1_0 decfsz d1, f goto $+2 decfsz d2, f goto $+2 decfsz d3, f goto wait1_0 goto $+1 ;6 cycles goto $+1 goto $+1 return ;4 cycles (including call) ;} Wait0.5s ;499994 cycles ;{ movlw 0x03 movwf d1 movlw 0x18 movwf d2 movlw 0x02 movwf d3 Wait0.5s_0 decfsz d1, f goto $+2 decfsz d2, f goto $+2 decfsz d3, f goto Wait0.5s_0 ;2 cycles goto $+1 ;4 cycles (including call) return ;} Wait0.490ms ;484 cycles ;{ movlw 0xA1 movwf d1 Wait0.490ms_0 decfsz d1, f goto Wait0.490ms_0 ;2 cycles goto $+1 ;4 cycles (including call) return ;} Wait0.5ms ;496 cycles ;{ movlw 0xA5 movwf d1 Wait0.5ms_0 decfsz d1, f goto Wait0.5ms_0 ;4 cycles (including call) return ;} Wait0.665ms ;661 cycles ;{ movlw 0xDC movwf d1 Wait0.665ms_0 decfsz d1, f goto Wait0.665ms_0;4 cycles (including call) return ;} Wait1ms ;993 cycles ;{ movlw 0xC6 movwf d1 movlw 0x01 movwf d2 goto WaitCommon ;} Wait1.055ms ;1048 cycles (50°) ;{ movlw 0xD1 movwf d1 movlw 0x01 movwf d2 goto WaitCommon ;} Wait1.275ms ;1268 cycles ;{ movlw 0xFD movwf d1 movlw 0x01 movwf d2 goto WaitCommon ;} Wait1.5ms ;1493 cycles ;{ movlw 0x2A movwf d1 movlw 0x02 movwf d2 goto WaitCommon ;} Wait2.44ms ;2433 cycles ;{ movlw 0xE6 movwf d1 movlw 0x02 movwf d2 goto WaitCommon ;} Wait17.56ms ;17553 cycles ;{ movlw 0xB6 movwf d1 movlw 0x0E movwf d2 goto WaitCommon ;} Wait18.5ms ;18493 cycles ;{ movlw 0x72 movwf d1 movlw 0x0F movwf d2 goto WaitCommon ;} Wait18.725ms;18718 cycles ;{ movlw 0x9F movwf d1 movlw 0x0F movwf d2 goto WaitCommon ;} Wait18.945ms ;18938 cycles ;{ movlw 0xCB movwf d1 movlw 0x0F movwf d2 goto WaitCommon ;} Wait19.335ms;19328 cycles ;{ movlw 0x19 movwf d1 movlw 0x10 movwf d2 goto WaitCommon ;} WaitServo ;Prodleva pro dojezd motoru na misto ;{ goto Wait19.335ms ;} WaitCommon ;{ decfsz d1, f goto $+2 decfsz d2, f goto WaitCommon nop return ;4 cycles (including call) ;} ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;; W T 5 8 8 D P L A Y E R ;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; DoSoundFX ;{ movwf tmp movlw .5 call WaitMilis ;Nastav SCK a CS na log. 1 bsf S_SCK ;Pro WT588D bsf S_CS movlw .17 call WaitMilis bcf S_CS ;Slave Select = LOW (Initiating transmission) movlw .2 call WaitMilis ;Ted projdu postupne bit 0, bit 1, bit 2, bit 3 a nastavuju podle toho log 1 nebo log 0 movlw .8 movwf i cycle bcf S_SCK ;Clock na log. 0, zaciname prenos data btfss tmp, 0; bit 0 nastaven? goto btNotSet bsf S_SDA ; ano, posli log 1 goto tsted btNotSet bcf S_SDA ; ne, posli log 0 na vystup tsted call Wait30us bsf S_SCK ;Clock na log. 1, skoncili jsme prenos 1 bitu call Wait30us rrf tmp, f decfsz i, f goto cycle bsf S_CS ;Slave Select = HI return ;} SetLoopSound ;{ movlw .30 call WaitMilis movlw 0xF2 ;loop aktualne prehravaneho zvuku call DoSoundFX return ;} WaitMilis ;{ movwf numMilis WaitM call Wait1ms decfsz numMilis, f goto WaitM return ;} WaitSecs ;{ movwf numSecs WaitS call Wait1s decfsz numSecs, f goto WaitS return ;} Wait30us ;25 cycles ;{ movlw 0x08 movwf d1 Wait30us_0 decfsz d1, f goto Wait30us_0 ;1 cycle nop ;4 cycles (including call) return ;} ;*** KONEC SOUBORU ******************************************** end