;***************************************************************************
;
; File Name :'MAIN.asm"
; Title :
; Date :
; Version :
; Support telephone :765 287 1987 David B. VanHorn
; Support fax :765 287 1989
; Support Email :dvanhorn@cedar.net
; Support Snail ;1104 E 13th St, Muncie IN 47302
; Target MCU :AT90S8515
;
;***************************************************************************;
; D E S C R I P T I O N
;
; This is an application I put together to help people get started on the
;ATMEL AVR 8515 processor. It's not complete by any means, I dont' think it's
;possible to use EVERY feature and mode. Basically, I wanted to get you started,
;and help you avoid some sneaky traps that you can fall into.
;
;Legal issues: I retain ownership of this software. I grant you the right to use
;the software to educate yourself on the intricacies of the 8515 processor, and
;to use it for personal, non-commercial use. Anything else, email me. If you think
;this is a cool thing and want to encourage me to write more stuff, feel free to
;send a donation.
;
;This application uses most (all?) of the features of the assembler itself, in
;terms of equates, defines, inline math, multiple file includes..
;
;This application uses timer 0 and timer 1, the UART and baud rate generator,
;all the I/O ports, and the watchdog timer.
;
;Active features:
;
; Pseudorandom number (PN) generator, This is implemented with a 19 bit
; maximal length shift register. Each time the routine is called, the
; bit pattern is shifted. The seed value is programmable, and the routine
; leaves you randomized bits in three registers (Could easily be put in SRAM)
;
; 1mS system "tick" (T0) Drives timeouts and timed events
;
; Watchdog timer support, coded for the internal watchdog, but a simple
; hack to drive external doggies. There is an equate to set the watchdog
; "feed" interval, driven from the 1mS opsys tick
;
; R/C Servo outputs. (T1) There is a programmable width for each servo, from
; 0-255 (actually 250, the math for 255 is JUST TOO UGLY!) Eight or less
; output channels are supported. Each channel has a byte in ram that sets
; it's position. There is a debug routine in the servo logic that provides
; some action on channels 1-3 so you can see it do something immediately.
; WARNING: Buffer the signal with at least a 1k resistor out to the servos.
;
; Switch inputs (ok, so it's not hard..)
; LED outputs, driven from the PN generator. Ditto
;
; Stepper motor control. A single channel output for unipolar motors, with
; flag bytes in RAM setting full or half step mode, and forward or reverse
; direction, as well as speed in mS per step (or half-step)
; WARNING: You're on your own for drivers, the 8515 won't run even the
; wimpiest stepper directly, don't even try. At a minimum, four NPN transistors
; should do the trick.
;
; Buffered serial input and output comms at popular baud rates. Also break
; generation, and Xon/Xoff handshake. Coding in hardware handshake would be
; trivial. There is a receive and a transmit buffer of configurable size.
;
; Inter-Charachter delay on transmit. Not pacing with nulls, this is a true
; delay, driven by the T0 interrupt. I've needed this from time to time to
; talk to other devices that couldn't really handle full speed comms.
;
;
;This application does not use the I2C interface, or the on-chip EEPROM.
;Feel free to do something with them and send me a module to include in the package.
;
;PLEASE DO NOT HACK THIS AND PASS IT ON.
;Hack it for yourself all you like, but the main idea is to give newcomers software
;that does something, and that actually WORKS.. Your code might work, but the next
;guy might not be so clever. If you use this to create something else, please call it
;something else, and make it clear to whoever you give it to that it's YOUR creation.
;
;Old software rule #1: You modify it, you're on your own.
;
;***************************************************************************;
; M O D I F I C A T I O N H I S T O R Y
;
;
; rev. date who why
; ---- -------- --- ------------------------------------------
; 0.01 98.07.29 dvh Creation
; 0.02 98.08.20 dvh Adding RC servo outputs on PORTC
; 0.03 98.08.30 dvh Added watchdog timer support
; 0.04 98.08.30 dvh Added stepper motor support
; 0.05 98.08.31 dvh Exported Watchdog support to it's own file
; 0.10 98.09.02 dvh Couldn't think of anything else to add, so I shipped it.
;
; 0.11 98.10.15 dvh Added DS1820 and 1602 support on port A
; Moved "Ping" to port A0
; Fixed a stack bug if the serout buffer was full
; At this point, just less than half the ROM is used.
;
; 0.12 98.11.30 dvh Added several more devices to the brew, but they are not
; actually part of this app. I ran out of I/O pins. If you
; want to use LCD4bit, VFD, or DS1806, you'll have to give
; something up from this app. The switches and LEDs take
; up a lot of pins, so they would be good candidates.
; The code is out there, with examples of how to set up the
; I/O pins required, just alter them to the pins you choose.
;
;********************************************************************
;This application consists of fifteen files. They should all be in the
;same directory, or you will have to edit the .include directives
;below to make them point to the right locations.
;
;Main.asm (You're looking at it) The main structure of the program
;8515def.inc Port and pin definitions, supplied by ATMEL
;Equates.inc Where constants get defined as words, to make life easier
;Isr.asm Interrupt Service Routines
;Init.asm Machine initialization
;Memory.asm Buffer management
;Serial.asm Serial comms using the on-board uart
;Servo.asm Servo control code for eight standard R/C servos on PORTC
;Stepper.asm Stepper motor control for one unipolar motor on port A0-A3
;Random.asm A 19 bit PseudoNoise generator
;Watchdog.asm Watchdog timer code
;DS1602.asm Handler for the Dallas 1602 dual seconds counter clock
;DS1820.asm Handler for the Dallas 1820 thermometer chip
;Tables.asm Example lookup table, plus code to get data out of it.
;
;The following files are not integrated into this application, they are just
;example code.
;
;DS1806.asm Handler for Dallas sextet pot
;LCD4bit.asm Handler for generic charachter based LCDs in 4 bit mode
;VFD.asm Handler for Futaba Vaccum Flourescent Displays
;EEPROM.asm Handler for the internal EEPROM, coded to save and recall
; pot values for DS1806 above, but you can use it for anything.
;
;********************************************************************
;Physical resources.
;
;This application is designed for an AVR demo board, with 8.00 MHz crystal.
;For bonus points, modify it to use a 4 MHz xtal, without changing the speed
;that anything runs at. That's a good first project!
;
;A0-3 Stepper motor output, 4 phase unipolar motor (Ping on A0 if used)
;A4-6 DS1602 dual RTC chip A4=/Reset A5=Data A6=Clock
;A7 DS1820 Thermostat chip
;B0-7 Demo board LEDs
;D0-7 Demo board switches
;C0-7 R/C Servo outputs, connect to servos through a 1k resistor.
;T0 1mS opsys interrupt
;T1 Servo width
;UART Interrupt driven buffered comms, both directions
;Wdog Internal watchdog timer is active.
;
;********************************************************************
;
;Logical equates to make life easier
;
.include "EQUATES.INC" ;Lots of settings in here to play with.
;
;********************************************************************
;
;The actual beginning of the code.
;INIT the machine, start the ISRs, and exit into idle
;On reset, the 8515 jumps to 0000, which contains a jump vector (see ISR.ASM)
;
.cseg ;This tells the assembler that what follows is code, and goes in ROMspace
;
.include "Isr.asm" ;Restart vector and Interrupt service routines are here
.include "Init.asm" ;Initialization of timers,ports,and ext hdw.
;
;***********************************************************************
;
Idle:
ldi TEMP,'A' ;
sts MORSE,TEMP ;
rcall ASC2MORSE ;
;
;Spin the random number generator.
;
rcall Random ;Result in RAND1,RAND2,and RAND3
out PORTB,RAND1 ;Output to the lights
;Without a scope, you'll just see lights that are half-bright.
;
;Get the switches and light the lights (currently turned off)
;The switches are used in SERVO.ASM to control some of the servo outputs.
;in TEMP,PIND ;Input the switches
;out PORTB,TEMP ;Output to the lights
;NOTE! The switch inputs are active low, an un-pushed switch
;gives a "1" input. This results in LED off, if the pin status
;is fed out to PORTB, due to how the LEDs are wired.
;NOTE! A LOW output state lights the LEDs. NOT a HIGH!!!
;NOTE: The servos have width values set in INIT, and min-max values set in EQUATES.
;You should set the min-max to match your servos, and load the widths you want into
;the servo control bytes.
rcall Servo_Frame_Check ;Move the servos, if it's time (Servo.asm)
;NOTE: The stepper is set to OFF in init, you'll need to set a direction, mode
;and step-rate before you'll get any output.
;
rcall Step_Motor ;Step the stepper, if it's time (Stepper.asm)
;You could put something here to react to RS-232 input, and/or create RS-232
;output based on switch inputs, the random generator, send messages.. Up to you!
;You could write a subsumption based robot controller, I've given you a bunch
;of bot-useful I/O functions that really work, and a ton of free CPU cycles.
;The step motor driver needs an interface capable of handling the load, but
;the output pins are wiggling properly, just don't try to connect a stepper
;directly to the chip. A set of four NPN transistors will work acceptably
;well for small motors with the motor common leads (2 usually) tied to a
;suitable power supply. Don't try to run steppers off the development board
;power supply, you'll glitch the CPU.
;The RTC and temp sensor code just needs the occasional call to update the
;RAM buffers. The RTC should be called as needed, or at least 2x per second
;if you expect the RTCBUF to be a random-access thing.
;ldi TEMP,$01 ;A ping every time we loop, this shouldn't be used
;rcall Ping ;unless your'e debugging, it will glitch the stepper.
rcall Timed_Smack ;Feed the watchdog, if it's needed (Watchdog.asm)
rjmp Idle ;
;*************************************************************************************
;Useful Hooks! Nothing in this section gets executed, it's just examples.
;
;You don't want to continuously call the clock routines, I just put them here so it
;would be obvious how to use them.
;
;The DS1602 has two seconds counters. One is battery backed (RTIME) and one isn't (ETIME)
;The GET routines dump their data in RTC_BUF, and the PUT routines take their input from RTC_BUF
;There are separate sections for RTIME data and ETIME data.
;
;rcall Get_RTIME ;Read the DS1602
;rcall Put_RTIME ;Write to the DS1602
;rcall Clear_RTIME ;Clear the battery-backed counter
;rcall Get_ETIME ;Read from the DS1602
;rcall Put_ETIME ;Write to the DS1602
;rcall Clear_ETIME ;Clear the elapsed time counter
;DS1820 Thermostat routines
;Uses a 9 byte buffer at TEMP_BUF, an 8 byte buffer at SERNO_BUF,
;and two byte flags "TEMP_FLAG",and "TEMP_STAT"
;
;Ram Data:
;Byte 0 Temp LSB First byte transmitted
; 1 Temp MSB
; 2 TH/User 1
; 3 TH/User 2
; 4 Reserved
; 5 Reserved
; 6 Count remain
; 7 Count per Deg C.
; 8 CRC Last byte transmitted
;
;rcall Update_Temp ;The main routine, calls Start, Poll, and Get.
;
;rcall Start_Temp ;Starts the conversion process, checks TEMP_FLAGto see if it's already
; ;running, so you can harmlessly call it over and over.
;rcall Poll_Temp ;Checks to see if it's done converting, sets TEMP_FLAG if so
;rcall Get_Temp ;Actually get the temp data, once POLL says we can, returns TEMP_FLAG to idle
;
;rcall Get_Serno ;Pick up the lasered serial number from the chip, called already in INIT,
; ;so you shouldn't need to mess with it later, just get the data from RAM.
;
;rcall Reset_1820 ;Initializes the chip, Returns 00 in TEMP_STAT if the sensor is ok,
; ;or FF if no sensor was detected. Call this only in INIT, or if something
; ;goes very wrong.
;
;Basically, you could call Update_Temp whenever you're not doing anything
;else, and it will drop an updated temperature into the buffer whenever it can.
;
;********************************************************************
;
;A terribly useful little diagnostic hack, provided you've got a scope.
;Just call Ping with a number in TEMP, and it will give you N pulses.
;This is very useful for figuring which branch of a program is taken
;on live hardware, when simulation isn't really an option.
;
Ping:
sbi PORTA,0 ;I hope your scope can resolve to 125nS
cbi PORTA,0 ;
dec TEMP ;One less ping
brne Ping ;Are we done? If not, then ping again
ret ;If so, bye!
;********************************************************************
;External Routines
;
.include "Servo.asm" ;RC Servo drivers, 8 channels on port C using timer 1
.include "Stepper.asm" ;5/6 wire unipolar motor driver
.include "Memory.asm" ;Memory allocation, buffer handlers
.include "Serial.asm" ;Serial port I/O
.include "Random.asm" ;Pseudorandom generator, Specifically, a 19
;bit maximal length generator.
.include "Watchdog.asm" ;Watchdog timer handler
.include "DS1602.asm" ;Dallas DS1602 RTC chip handler
.include "DS1820.asm" ;Dallas DS1820 Thermostat chip
.include "morse.asm" ;ASCII text to Morse code converter
;***************************************************************************
;Lookup tables.. Stuff you need
;
.include "Tables.asm"
;
.db "COPYRIGHT 1997-1998 David VanHorn",CR,LF
.db "ALL RIGHTS RESERVED",CR,LF
;
;***************************************************************************