'$sim
$crystal = 11059200
$baud = 9600
$regfile = "m8515.dat"
'Muszę pamiętać o odznaczeniu piszczenia oraz bootbloku!!!!!!!!!!!!!!!!!
'do boot blocku
Const Ramend_lo = $5f 'RAM ending location to set up stack pointer
Const Ramend_hi = $04
Const Pagesize = 32 'Flash Memory Page Size, in WORDS
'Variable Definitions:
!.def Tmp_reg = R16 'Temporary register for calculations etc.
!.def Hex_reg = R17 'Hex calculation register
!.def Ser_reg = R18 'Serial character buffer register
!.def SPM_reg = R19 'Temporary register for SPM register settings
!.def Rec_size = R20 'Number of data bytes in this Hex file line
!.def Chk_sum = R21
'***********************
Declare Sub Test()
Declare Sub Zmipod() 'Zmiana podświetlenia kolejno zielone jasneniebieskie i niebieskie
Declare Sub Skankod()
Declare Sub Pierwszyekran() 'to co po włączeniu maszyny, pozycja wyjściowa po skończonym cięciu itp
'Procedura odpowiedzialna za cięcie-najdłuższa oraz najtrudniejsza
Declare Sub Ciecie()
'Odpowiedzialna za nastawy(po wciśnięciu Enter na pierwszym screen'ie
Declare Sub Ustaw()
Dim B As Byte 'Przechowuje skan kod klawisza od 0 do 15. 16 oznacza brak wciśniętego klawisza
Dim Kolor As Byte 'Zmienna odpowiedzialna za kolor podświetlenia
'Licznik przechowujący liczbę kroków, Powinien być wyzerowany gdy silniki osiągną pozycje domowe
Dim Licznikx As Double
Dim Liczniky As Double
Dim Licznikz As Double
Const K0 = 0
Const K1 = 1
Const K2 = 2
Const K3 = 3
Const K4 = 4
Const K5 = 5
Const K6 = 6
Const K7 = 7
Const K8 = 8
Const K9 = 9
Const Kstop = 10
Const Kenter = 11
Const Kstart = 12
Const Kkropka = 13
Const Klewo = 14
Const Kprawo = 15
'Podświetlanie
Niebieskie Alias Portb.3
Zielone Alias Portb.2
'Układy wykonawcze
Przekaznik1 Alias Portd.2
Przekaznik2 Alias Portd.3
Przekaznik3 Alias Portd.4
Elektroniczne1 Alias Portd.5
Elektroniczne2 Alias Portd.6
'Silnik X
Xkrok Alias Portc.7
Xkierunek Alias Portc.6
Xenabled Alias Portc.5
'silnik y
Ykrok Alias Portc.4
Ykierunek Alias Portc.3
Yenabled Alias Portc.2
'silnik z
Zkrok Alias Portc.1
Zkierunek Alias Portc.0
Zenabled Alias Portd.7
'Sensory
Sensorx Alias Porte.0
Sensory Alias Porte.1
Sensorz Alias Porte.2
Glosnik Alias Portd.5
'Ustawienie LCD
Config Lcdpin = Pin , Db4 = Portb.6 , Db5 = Portb.7 , Db6 = Portb.0 , Db7 = Portb.1 , E = Portb.5 , Rs = Portb.4
Config Lcd = 20 * 4
Config Kbd = Porta , Delay = 100
'Ustawienie portów do czego mają służyć
Config Pinb.3 = Output
Config Pinb.2 = Output
Config Pind.3 = Output
Config Pind.4 = Output
Config Pind.5 = Output
Config Pind.6 = Output
Config Pind.7 = Output
Config Portc = Output
Config Porte = Input
Cls
Cursor Off Noblink
Set Zielone
Waitms 200
Set Niebieskie
Waitms 200
Reset Zielone
Waitms 200
Reset Niebieskie
Set Zielone
Deflcdchar 0 , 32 , 32 , 14 , 1 , 15 , 17 , 15 , 1 'ą replace ? with number (0-7)
Deflcdchar 1 , 32 , 32 , 14 , 17 , 31 , 16 , 14 , 1 'ę replace ? with number (0-7)
Deflcdchar 2 , 2 , 4 , 15 , 16 , 16 , 17 , 14 , 32 'ć replace ? with number (0-7)
Deflcdchar 3 , 12 , 4 , 6 , 12 , 4 , 4 , 14 , 32 'ł replace ? with number (0-7)
Deflcdchar 4 , 4 , 32 , 31 , 2 , 4 , 8 , 31 , 32 'ż replace ? with number (0-7)
Deflcdchar 5 , 2 , 4 , 14 , 17 , 17 , 17 , 14 , 32 'ó replace ? with number (0-7)
Deflcdchar 6 , 2 , 4 , 22 , 25 , 17 , 17 , 17 , 32 'ń replace ? with number (0-7)
Deflcdchar 7 , 2 , 4 , 14 , 16 , 14 , 1 , 30 , 32 'ś replace ? with number (0-7)
'Powitanie
Cls
Lcd "Automatyczne ci" ; Chr(1) ; "cie"
Lowerline
Lcd " Czip" ; Chr(5) ; "w V 0.7 "
Thirdline
Lcd "Pomys" ; Chr(3) ; " i wykonanie:"
Fourthline
Lcd " Henio"
Print "Powitanie-Test UART"
Wait 3
'tu najlepiej poustawiać wszystkie zmienne umieszczone w sramie żeby później było łatwo znaleźć domyślne wartości
Kolor = 1
Pierwszyekran
End
'*******************************************************************************
Sub Pierwszyekran()
'pierwszy screen
Cls
Lcd "Naci" ; Chr(7) ; "nij Start " ; Chr(4) ; "eby"
Lowerline
Lcd "rozpocz" ; Chr(0) ; Chr(2) ; " ci" ; Chr(1) ; "cie"
Thirdline
Lcd "Enter - wej" ; Chr(7) ; "cie do"
Fourthline
Lcd "ustawie" ; Chr(6)
Do
Skankod 'wywołujemy obsługę klawiatury
If B = K0 Then
Zmipod
End If
'********************
If B = K1 Then
Dim I As Byte
Cls
For I = 1 To 80
Lcd Chr(i)
Next I
End If
'********************
If B = K2 Then
Dim Ii As Byte
Cls
For Ii = 81 To 160
Lcd Chr(ii)
Next Ii
End If
'********************
If B = K3 Then
Dim Iii As Byte
Cls
For Iii = 161 To 240
Lcd Chr(iii)
Next Iii
End If
'********************
If B = K4 Then
Dim Iiii As Byte
Cls
For Iiii = 240 To 255
Lcd Chr(iiii)
Next Iiii
End If
'********************
If B = K5 Then
End If
'********************
If B = K6 Then
End If
'********************
If B = K7 Then
End If
'********************
'********************
If B = K8 Then
End If
'********************
If B = K9 Then
End If
'********************
If B = Kstop Then
End If
'********************
If B = Kenter Then
Ustaw
End If
'********************
If B = Kstart Then
End If
'********************
If B = Kkropka Then
Cls
Lcd "Startujemy"
Lowerline
Lcd "boot loadera..."
jmp $f80
End If
'********************
If B = Klewo Then
End If
'********************
If B = Kprawo Then
End If
Loop
End Sub
'*******************************************************************************
Sub Zmipod()
If Kolor = 1 Then
Reset Zielone
Set Niebieskie
Kolor = 2
Exit Sub
End If
If Kolor = 2 Then
Set Zielone
Kolor = 3
Exit Sub
End If
If Kolor = 3 Then
Reset Niebieskie
Kolor = 1
Exit Sub
End If
End Sub
' "Po naciśnięciu klawisza"*****************************************************
Sub Skankod()
Do
B = Getkbd()
If B <> 16 Then
Cls
Lcd B
Sound Glosnik , 5000 , 100
Exit Sub
End If
Loop
End Sub
'*******************************************************************************
Sub Ustaw()
Cls
' "1234*1234*1234*1234*"
Lcd "1-Ustaw szer. chipa"
Lowerline
Lcd "2-Ustaw szer. wafla"
Thirdline
Lcd "3-Ustaw grub. wafla"
Fourthline
Lcd " Nast" ; Chr(1) ; "pny " ; Chr(126) ; Chr(126) ; Chr(126)
Do
Skankod
If B = Kstop Then
Pierwszyekran
End If
Loop
End Sub
'to jest na końcu i jest bootloaderem Cały kod musze umieścić przed tym
$boot = $f7f 'Set boot vector to F7F and add a NOP, for BASCOM Programmer
nop
Disable Interrupts 'no interrupts allowed during bootloader programming
'_chk_for_bootload: 'Check for bootload, this one uses hardware, Port D.5
' cbi DDRD,5 'Clear the data direction bit for input
' sbi PORTD,5 'Set the pull-up
' sbic PIND,5 'Skip next instruction if pin is clear
' jmp $0000 'Pin must be high, run normal code
_bootloader_start: 'Otherwise, run the bootloader
ldi tmp_reg,Ramend_Hi 'Load temp reg with the top of SRAM value
!out SPH,tmp_reg 'Move out to stack pointer low byte
ldi tmp_reg,Ramend_Lo 'Load temp reg with the top of SRAM value
!out SPL,tmp_reg 'Move out to stack pointer low byte
ldi tmp_reg,$00 'Load the temp register with USART settings
!out UCSRA,tmp_reg 'Set up the USART
ldi tmp_reg,$18 'Load the temp register with USART settings
!out UCSRB,tmp_reg 'Set up the USART
ldi tmp_reg,$86 'Load the temp register with USART settings
!out UCSRC,tmp_reg 'Set up the USART
ldi tmp_reg,$00 'Load the temp register with USART baud rate high
!out UBRRH,tmp_reg 'Set up the USART
ldi tmp_reg,25 'Load the temp register with USART baud rate low
!out UBRRL,tmp_reg 'Set up the USART
clt 'Clear the T flag, used to indicate end of file
_send_boot_msg: 'Send a bootloader started message
ldi ser_reg, asc("B") 'Load "B" to show bootloader enabled
rcall _send_ser 'Call routine to send a character
_read_lines: 'Read in the lines from serial port to SRAM
rcall _receive_hex_line 'Receive a single line from the UART into SRAM
_parse_line: 'Decode the current hex line
ldi XH,$01 'Point to start of line, high byte, uses $0100
ldi XL,$00 'Point to start of line, low byte
clr chk_sum 'Clear the checksum register for this line
_read_header:
ld tmp_reg,x+ 'Get first character, should be ":"
cpi tmp_reg, asc(":") 'Compare with ":" to send as error flag
breq _header_ok 'Fine, read the next record
_header_err: 'Not ":", send error character
ldi ser_reg, asc("!") 'Header error
rcall _send_ser 'Call routine to send a character
_header_ok: 'Fine, read the next record
_read_record_size: 'Read the data byte count for this line
rcall _char_to_byte 'Call routine to convert two characters to byte
mov rec_size,hex_reg 'Save number of bytes in this line
tst rec_size 'Test if record size is zero for this line
brne _read_address 'Not the final line, continue
!set 'Set the T flag indicating write last page
rjmp _write_current_page 'Final line, write current page exit to main program
_read_address: 'Read the address high byte and low bytes into ZH/ZL
rcall _char_to_byte 'Call routine to convert two characters to byte
mov ZH,hex_reg 'Load ZH with page address high byte
rcall _char_to_byte 'Call routine to convert two characters to byte
mov ZL,hex_reg 'Load ZL with page address low byte
_read_record_type: 'Read the record type for this line
rcall _char_to_byte 'Call routine to convert two characters to byte
_read_data_pairs: 'Read the rest of the data bytes
rcall _char_to_byte 'Call routine to convert two characters to byte
mov r0,hex_reg 'Save in R0, LS Byte of page write buffer
rcall _char_to_byte 'Call routine to convert two characters to byte
mov r1,hex_reg 'Save in R1, MS Byte of page write buffer
_store_word: 'Store current R1/R0 Word in page buffer at proper address
ldi spm_reg,1 'Load SPM Enable (SPMEN)
rcall _exec_spm 'Execute current SPM, return is in exec_spm
_check_byte_count: 'Check if this was the last word of the line
subi rec_size,2 'Decrement the Record Size by two bytes
breq _read_checksum 'Done with this data, read checksum
subi ZL,$FE 'Not done, increment the low address byte by two
rjmp _read_data_pairs 'Go back and read the next two characters
_read_checksum: 'Byte count = record size, next is checksum for this line
rcall _char_to_byte 'Call routine to convert two characters to byte
breq _checksum_ok 'Must have added to zero, checksum is okay
_checksum_err: 'Checksum or other decoding error detected
ldi ser_reg, asc("!") 'Load "!" to send as error flag
rcall _send_ser 'Call routine to send a character
_checksum_ok:
'Done decoding and storing one complete input line, so check if this page is full
_chk_page_full: 'Check if this page is full
mov tmp_reg, ZL 'Load the address low byte into the temp reg
andi tmp_reg,((Pagesize - 1 )*2) 'AND with page size for this device, mask bits
cpi tmp_reg,((Pagesize - 1 )*2) 'Compare with page size for this device
brne _read_lines 'Page buffer is not full, read another line
_write_current_page: 'Write current page if the page buffer is full
_erase_page: 'Erase Page, page address is in Z12-Z6
ldi spm_reg,3 'Load Page Erase (PGERS) and SPM Enable (SPMEN)
rcall _exec_spm 'Execute current SPM
_write_page: 'Page address range is Z12-Z6 for Mega8
andi ZL,$C0 'Ensure that Z5 - Z0 are 0
ldi spm_reg,5 'Load page write (PGWRT) and SPM Enable (SPMEN)
rcall _exec_spm 'Execute current SPM
_enable_page: 'Re-enable the Read-While-Write section
rcall _wait_spm 'Check if current write is complete
ldi spm_reg,11 'Set RWWSRE and SPMEN only
rcall _exec_spm 'Execute current SPM
_check_end_of_file: 'Check if this is the end of the file
brtc _read_lines 'Not the last page, continue to read in data lines
_exit_bootloader: 'Done, exit the bootloader code
jmp $0000 'Jump to main program reset vector
'*******************************************************************************
'Send a serial character
_send_ser: 'Send a serial characater
sbis UCSRA,UDRE 'Check if USART data register is empty
rjmp _send_ser 'Not ready yet, wait
!out UDR,ser_reg 'Send serial register
ret
'*******************************************************************************
'Get one line from the serial port and store at start of SRAM
_receive_hex_line:
ldi XH,$01 'Set pointers to SRAM location $0100
ldi XL,$00 'Above all registers
ldi ser_reg, asc("?") 'No data now, so load "?" to request next character
rcall _send_ser 'Call routine to send a character
_receive_hex_line_char: 'Get a character from UART and add to buffer
sbis UCSRA,RXC 'Check UART for a serial character received
rjmp _receive_hex_line_char 'No, check again...
in tmp_reg,UDR 'Store input character in temp register
' mov ser_reg, tmp_reg 'Echo this character for troubleshooting
' rcall _send_ser 'Call routine to send a character
cpi tmp_reg,13 'Compare with <CR>, input line terminator
breq _receive_hex_line_end 'Yes, line is finished, branch to end
st x+,tmp_reg 'Otherwise store value then increment buffer and
rjmp _receive_hex_line_char 'Go back and get next character
_receive_hex_line_end: 'This input line is finished, so
ret 'Done with this line, so return
'*******************************************************************************
'Get two characters from buffer, add to checksum and return with result in hex_reg
_char_to_byte:
ld hex_reg,x+ 'Load character into hex_reg, increment X
subi hex_reg,$41 'ASCII Value minus $41, "A"
brcc _char_to_byte1 'Branch if value was greater than $41
subi hex_reg,$F9 'Not greater, subtract $F9
_char_to_byte1:
subi hex_reg,$F6 'Subtract $F6
lsl hex_reg 'Shift this data
lsl hex_reg 'Left for four bits
lsl hex_reg 'To move it into the
lsl hex_reg 'High nibble
ld tmp_reg,x+ 'Get next character,
subi tmp_reg,$41 'ASCII Value minus $41, "A"
brcc _char_to_byte2 'Branch if value was greater than $41
subi tmp_reg,$F9 'Not greater, subtract $F9
_char_to_byte2:
subi tmp_reg,$F6 'Subtract $F6
add hex_reg,tmp_reg 'Add into hex register
add chk_sum,hex_reg 'Add it into the checksum for this line
ret
'*******************************************************************************
_exec_spm: 'Execute the current SPM instruction
!out spmcr,spm_reg 'Send to SPM Control Register
spm 'Do SPM instruction
_wait_spm: 'Check if current flash write is complete
in spm_reg,spmcr 'Get the SPM control Register
sbrc spm_reg,spmen 'Check if SPM Enable flag is clear
rjmp _wait_spm 'No, go back and wait for SPMEN flag cleared
ret 'Flag cleared, Return
'*******************************************************************************
