#include "compic.h" //////////////////////////////////////////////////////////////////////////////// // compic.c // // Mini Laser Tweezers comPIC firmware version 0.2.2 // // // // Description: Firmware for the comPIC, communicates to host over USB // // routes data between host, motorPIC and trapPIC's // // timing source for feedback rate // // // // Authors: Steve Smith, Shane Saxon, Zach Radding // // // //////////////////////////////////////////////////////////////////////////////// enum{ kHostPacketID = 42, //communication with host packet header ID kPicPacketID = 213, //inter-PIC communication packet header ID kCommandPacketSize = 31, //size of the incoming host command packet kTrapReadBufferSize = 21, kMotorBufferSize = 5, kTrapWriteBufferSize = 16 }; int16 *ramPointer; //used by ltClearRam() to initialize all memory int8 firstAddress; //variables above this line not cleared //CAUTION DIRECT MEMORY ACCESS USED FOR USB WRITE BUFFER int8 checkSum; //for communications int8 commandBuffer[kCommandPacketSize]; //commands and settings from host int8 trapWriteBuffer[kTrapWriteBufferSize]; //commands sent to both traps int8 motorWriteBuffer[kMotorBufferSize]; int8 trapAReadBuffer[kTrapReadBufferSize+kTrapReadBufferSize+kMotorBufferSize]; //data from trapA int8 commandBufferIndex; int8 commandCheckSum; int8 commandBufferGood; int8 previousCommandCount; //do not change any variables above this line, machine code sensitive! int8 errorNumber, errorTemp; int8 readByteGood; //indicates no errors in readSettings int8 trapAReadBufferGood, trapBReadBufferGood; //variables for host communication and data testing int8 readHostByte, writeData; int8 i, timeOut, motorReadByte, motorWriteByte; int8 cycleCountPointer, cycleCountHiPointer; int8 readIndex, writeIndex; int16 cycleTime; int16 cycleCount; int16 cycleCountHiByte; //increments every time cycleCount rolls over int16 timeOutCount; //////////////////////////////////////////////////////// //clears all GPR's void ltClearRam(void) { for (ramPointer = *firstAddress; ramPointer < 0x7FE; ramPointer+=2) { // if(ramPointer != *cycleTime) //example of how to skip variables *ramPointer = 0; } } //////////////////////////////////////////////////////// void ltInitVariables(void) { ltClearRam(); cycleTime = 63161 + 11; //65061 is 20kHz, 5kHz 63636, 4kHz 63161, 2kHz 60786, 1kHz 56036 //11 is overhead for calculating timer interrupt cycleCount = 0; cycleCountHiByte = 0; timeOut = 0; errorNumber = 0; writeData = 1; commandBufferIndex = 0; commandCheckSum = 0; commandBufferGood = 0; cycleCountPointer = &cycleCount; cycleCountHiPointer = &cycleCountHiByte; readIndex = &trapAReadBuffer[0]; writeIndex = &trapAReadBuffer[0]; } //////////////////////////////////////////////////////// void ltSetupPic(void) { setup_adc_ports(NO_ANALOGS); setup_adc(ADC_OFF); setup_psp(PSP_DISABLED); setup_wdt(WDT_ON); //turn watch dog timer on setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); //timer used by interrupt handler setup_timer_1(T1_DISABLED); setup_timer_2(T2_DISABLED,0,1); setup_timer_3(T3_DISABLED); setup_timer_4(T4_DISABLED,0,1); setup_comparator(NC_NC_NC_NC); setup_vref(FALSE); } //////////////////////////////////////////////////////// //the code for setup_spi does not work perfectly, so we are using our own, //setup using assembly instructions so that it matches PIC18F6520 datasheet //ports and register addressess may need to be changed if different PIC void ltSpiCustomSetup(void) { #asm //first, configure port_C tri-state, (the SPI port) BCF 0xF94.5 //SDO, PIN C5 is data out BSF 0xF94.4 //SDI, PIN C4 is data in BCF 0xF94.3 //SCK, PIN C3 sets clock to output for master mode //second, setup the SSPCON1 and SSPSTAT registers MOVLW 0x00 //SPI MODE_01 uses 0x00 MOVWF 0xFC7 //SSPSTAT register MOVLW 0x00 //SPI MODE_01 uses 0x00, 9.5Mbps with 38Mhz clock MOVWF 0xFC6 //SSPCON1 register //third, enable the SPI port using SSPEN bit BSF 0xFC6,5 //SSPEN bit of SSPCON1 #endasm } ///////////////////////////////////////////////////////////////////////////// // sets up the ports and reads all the data from the FTDI chip to clear buffer // resets the FTDI-245BM (USB chip) if busy for too long void ltClearUSB(void) { set_tris_d(0xFF); //set port D to input, this is the FTDI USB data port while (input(PIN_A3) == 0) //0 when there is data in the buffer { timeOutCount = 0; //reset the timeout counter while (input(PIN_A2)) //1 when the chip is busy { if (timeOutCount++ > 500) //exception handling for USB lock-up { if (!errorNumber) errorNumber = 44; //error 33, USB timeout on chip busy output_low(PIN_A4); //reset USB if locked up delay_us(100); output_high(PIN_A4); } } output_high(PIN_A0); //here we just clock the data out, disgarded output_low(PIN_A0); output_high(PIN_A0); } } //////////////////////////////////////////////////////// void ltSetupPorts(void) { set_tris_a(0xEC); //FTDI USB reset, control, and status lines set_tris_d(0xFF); //set port D to input, this is the FTDI USB data port output_high(PIN_A0); //read pin(RD), high to low triggers data transfer output_high(PIN_A1); //clock pin(WR), high to low triggers data transfer output_high(PIN_A4); //reset pin for the FTDI USB, low resets the USB ltClearUSB(); //resets and empties the USB read buffer set_tris_b(0x00); //ports used for control of SPI devices, not SPI port output_high(PIN_B0); //motorPIC SS, active on low, currently unused, debug output_high(PIN_B3); //motorPIC chip select(CS pin), active on low set_tris_c(0xFE); ltSpiCustomSetup(); //setup_spi doesn't work right, so we use our own set_tris_e(0xF0); //PIC to PIC bus control lines output_high(PIN_E0); output_high(PIN_E1); output_high(PIN_E2); //not ready to communicate with other PICs on 8-bit bus output_low(PIN_E3); set_tris_f(0xFF); //8 bit bus between the PICs set_tris_g(0xFF); //not used, could put status LED's on this port, debug } //////////////////////////////////////////////////////// void ltResetComPIC(void) { ltInitVariables(); ltSetupPic(); ltSetupPorts(); ltClearUSB(); //resets and empties the USB read buffer } //////////////////////////////////////////////////////// //writes a USB packet with data assigned by writeID[] array void ltWriteHostPacket(void) { set_tris_d(0x00); #asm MOVLW kHostPacketID MOVWF 0xF8C //put packet ID on portD for the USB chip //the ID is sent twice in a row CHECK0: BTFSC 0xF80.2 //wait for FTDI USB chip to not be busy GOTO CHECK0 BSF 0xF80.1 //toggle the write pin on the USB chip BCF 0xF80.1 CHECK1: BTFSC 0xF80.2 GOTO CHECK1 BSF 0xF80.1 BCF 0xF80.1 ADDLW kHostPacketID //put the first checksum value in w CLRF 0xFEA //clear the high byte of FSR0, we use bank0 MOVFF cycleCountPointer,0xFE9 //point low byte of FSR0L to low data byte MOVFF 0xFEF,0xF8C //put first data byte for the USB, port D ADDWF 0xFEF,0 //calculates checksum by adding up data CHECK2: BTFSC 0xF80.2 GOTO CHECK2 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 //increment FSR0L for the high data byte MOVFF 0xFEF,0xF8C //put first data byte for the USB, port D ADDWF 0xFEF,0 CHECK3: BTFSC 0xF80.2 GOTO CHECK3 BSF 0xF80.1 BCF 0xF80.1 MOVFF readIndex,0xFE9 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK4: BTFSC 0xF80.2 GOTO CHECK4 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK5: BTFSC 0xF80.2 GOTO CHECK5 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK6: BTFSC 0xF80.2 GOTO CHECK6 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK7: BTFSC 0xF80.2 GOTO CHECK7 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK8: BTFSC 0xF80.2 GOTO CHECK8 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK9: BTFSC 0xF80.2 GOTO CHECK9 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK10: BTFSC 0xF80.2 GOTO CHECK10 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK11: BTFSC 0xF80.2 GOTO CHECK11 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK12: BTFSC 0xF80.2 GOTO CHECK12 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK13: BTFSC 0xF80.2 GOTO CHECK13 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK14: BTFSC 0xF80.2 GOTO CHECK14 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK15: BTFSC 0xF80.2 GOTO CHECK15 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK16: BTFSC 0xF80.2 GOTO CHECK16 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK17: BTFSC 0xF80.2 GOTO CHECK17 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK18: BTFSC 0xF80.2 GOTO CHECK18 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK19: BTFSC 0xF80.2 GOTO CHECK19 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK20: BTFSC 0xF80.2 GOTO CHECK20 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK21: BTFSC 0xF80.2 GOTO CHECK21 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK22: BTFSC 0xF80.2 GOTO CHECK22 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK23: BTFSC 0xF80.2 GOTO CHECK23 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK24: BTFSC 0xF80.2 GOTO CHECK24 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK25: BTFSC 0xF80.2 GOTO CHECK25 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK26: BTFSC 0xF80.2 GOTO CHECK26 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK: BTFSC 0xF80.2 GOTO CHECK BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK27: BTFSC 0xF80.2 GOTO CHECK27 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK28: BTFSC 0xF80.2 GOTO CHECK28 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK29: BTFSC 0xF80.2 GOTO CHECK29 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK30: BTFSC 0xF80.2 GOTO CHECK30 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK31: BTFSC 0xF80.2 GOTO CHECK31 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK32: BTFSC 0xF80.2 GOTO CHECK32 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK33: BTFSC 0xF80.2 GOTO CHECK33 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK34: BTFSC 0xF80.2 GOTO CHECK34 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK35: BTFSC 0xF80.2 GOTO CHECK35 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK36: BTFSC 0xF80.2 GOTO CHECK36 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK37: BTFSC 0xF80.2 GOTO CHECK37 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK38: BTFSC 0xF80.2 GOTO CHECK38 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK39: BTFSC 0xF80.2 GOTO CHECK39 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK40: BTFSC 0xF80.2 GOTO CHECK40 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK41: BTFSC 0xF80.2 GOTO CHECK41 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK42: BTFSC 0xF80.2 GOTO CHECK42 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK43: BTFSC 0xF80.2 GOTO CHECK43 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK44: BTFSC 0xF80.2 GOTO CHECK44 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK45: BTFSC 0xF80.2 GOTO CHECK45 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK46: BTFSC 0xF80.2 GOTO CHECK46 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK47: BTFSC 0xF80.2 GOTO CHECK47 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK48: BTFSC 0xF80.2 GOTO CHECK48 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK49: BTFSC 0xF80.2 GOTO CHECK49 BSF 0xF80.1 BCF 0xF80.1 //end of motor data INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK50: BTFSC 0xF80.2 GOTO CHECK50 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK51: BTFSC 0xF80.2 GOTO CHECK51 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK52: BTFSC 0xF80.2 GOTO CHECK52 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK53: BTFSC 0xF80.2 GOTO CHECK53 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK54: BTFSC 0xF80.2 GOTO CHECK54 BSF 0xF80.1 BCF 0xF80.1 MOVFF errorNumber,0xF8C ADDWF errorNumber,0 CHECK55: BTFSC 0xF80.2 GOTO CHECK55 BSF 0xF80.1 BCF 0xF80.1 MOVFF cycleCountPointer,0xFE9 //point low byte of FSR0L to low data byte MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK56: BTFSC 0xF80.2 GOTO CHECK56 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK57: BTFSC 0xF80.2 GOTO CHECK57 BSF 0xF80.1 BCF 0xF80.1 MOVFF cycleCountHiPointer,0xFE9 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK58: BTFSC 0xF80.2 GOTO CHECK58 BSF 0xF80.1 BCF 0xF80.1 INCF 0xFE9,1 MOVFF 0xFEF,0xF8C ADDWF 0xFEF,0 CHECK59: BTFSC 0xF80.2 GOTO CHECK59 BSF 0xF80.1 BCF 0xF80.1 MOVWF 0xF8C //put w on port D, sends the checksum CHECK60: BTFSC 0xF80.2 GOTO CHECK60 BSF 0xF80.1 BCF 0xF80.1 #endasm } //////////////////////////////////////////////////////// void ltProcessCommands(void) { if (commandBufferGood) //copies data to trapWriteBuffer { for (i = 0; i < kTrapWriteBufferSize; i++) trapWriteBuffer[i] = commandBuffer[3 + i]; for (i = 0; i < kMotorBufferSize; i++) motorWriteBuffer[i] = commandBuffer[(3 + kTrapWriteBufferSize) + i]; /* if ( commandBuffer[3 + kTrapWriteBufferSize + kMotorBufferSize] == 22) writeData = commandBuffer[3 + kTrapWriteBufferSize + kMotorBufferSize + 1]; */ if ( commandBuffer[3 + kTrapWriteBufferSize + kMotorBufferSize + 2] == 99) cycleTime = commandBuffer[3 + kTrapWriteBufferSize+kMotorBufferSize + 3] //could be improved, debug * 256 + commandBuffer[3 + kTrapWriteBufferSize + kMotorBufferSize + 4] + 11; //11 is for overhead of calculating timer in interrupt routine commandBufferGood = 0; } else for (i = 0; i < 16; i++) //clear buffer, prevents sending commands twice trapWriteBuffer[i] = 0; } //////////////////////////////////////////////////////// void ltReadHostByte(void) { #use fast_io(D) #use fast_io(A) while (input(PIN_A2)){} //wait if USB chip busy output_high(PIN_A0); //tell the USB chip to output it's data readHostByte = input_d(); output_low(PIN_A0); } //////////////////////////////////////////////////////// //reads and processess command packets from host, breaks if nothing in the //buffer, can process packets split between multiple calls to this function void ltReadHostPacket(void) { #use fast_io(A) set_tris_d(0xFF); if (input(PIN_A3)) //timeOut is to stop USB if no host { if (timeOut != 0) timeOut--; } else timeOut = 255; while (commandBufferIndex < 2) //search for packet header { if (input(PIN_A3)) //exit if nothing in the buffer return; ltReadHostByte(); if (readHostByte == kHostPacketID) commandBuffer[commandBufferIndex++] = readHostByte; else commandBufferIndex = 0; } while (commandBufferIndex < kCommandPacketSize) //get rest of packet { if (input(PIN_A3)) return; ltReadHostByte(); commandBuffer[commandBufferIndex++] = readHostByte; } commandCheckSum = 0; for (i = 0; i < kCommandPacketSize - 1; i++) commandCheckSum += commandBuffer[i]; //ok to process commands if checksum good and commandCount header == tail if ( commandBuffer[kCommandPacketSize - 1] == commandCheckSum & commandBuffer[2] == commandBuffer[kCommandPacketSize - 2] ) { if (previousCommandCount == commandBuffer[2]) commandBufferGood = 0; else { commandBufferGood = 1; previousCommandCount = commandBuffer[2]; } } commandBufferIndex = 0; //reset to process next packet commandCheckSum = 0; } //////////////////////////////////////////////////////// //sync from piezoPIC and send one option byte with ID void ltWriteTrapCommands(void) { #use fast_io(E) #use fast_io(F) errorTemp = 0; //forces us into Block0 of RAM since we use direct memory addressing if (input(PIN_E5) || input(PIN_E7) || input(PIN_E4) == 0 || input(PIN_E6) == 0) //check trapPIC's write line { if (errorNumber == 0) errorNumber = 88; //error 88, trapPIC writeting out of sync } output_low(PIN_E0); delay_us(2); set_tris_f(0x00); //set 8bit parrallel port to read from comPIC #asm movlw kPicPacketID //load packetID into register w movwf 0xF85 //put byte value in w register onto the data bus port bsf 0xf84,3 //C2 high, ready, comPIC will exit loop within 3 cycles nop nop bcf 0xf84,3 //comPIC uses this to catch up one cycle, if behind nop nop bsf 0xf84,3 //for comPIC to catch up one more cycle, if needed bcf 0xf84,3 nop nop nop nop //piezoPIC and comPIC are now synced together movff trapWriteBuffer[0],0xF85 //transfer next byte to readbyte array addwf trapWriteBuffer[0],0 //calculates checksum nop movff trapWriteBuffer[1],0xF85 //transfer next byte to readbyte array addwf trapWriteBuffer[1],0 //calculates checksum nop movff trapWriteBuffer[2],0xF85 //transfer next byte to readbyte array addwf trapWriteBuffer[2],0 //calculates checksum nop movff trapWriteBuffer[3],0xF85 addwf trapWriteBuffer[3],0 nop movff trapWriteBuffer[4],0xF85 addwf trapWriteBuffer[4],0 nop movff trapWriteBuffer[5],0xF85 addwf trapWriteBuffer[5],0 nop movff trapWriteBuffer[6],0xF85 addwf trapWriteBuffer[6],0 nop movff trapWriteBuffer[7],0xF85 addwf trapWriteBuffer[7],0 nop movff trapWriteBuffer[8],0xF85 addwf trapWriteBuffer[8],0 nop movff trapWriteBuffer[9],0xF85 addwf trapWriteBuffer[9],0 nop movff trapWriteBuffer[10],0xF85 addwf trapWriteBuffer[10],0 nop movff trapWriteBuffer[11],0xF85 addwf trapWriteBuffer[11],0 nop movff trapWriteBuffer[12],0xF85 addwf trapWriteBuffer[12],0 nop movff trapWriteBuffer[13],0xF85 addwf trapWriteBuffer[13],0 nop movff trapWriteBuffer[14],0xF85 addwf trapWriteBuffer[14],0 nop movff trapWriteBuffer[15],0xF85 addwf trapWriteBuffer[15],0 nop movwf 0xF85 //send checksum nop nop nop #endasm set_tris_f(0xFF); output_high(PIN_E0); output_low(PIN_E1); //allows for other delays, debug } //////////////////////////////////////////////////////// void ltReadTrapAData(void) { #use fast_io(E) #use fast_io(F) errorTemp = 0; #asm CLRF 0xFEA MOVFF writeIndex,0xFE9 //point the FSR to the current right position #endasm if (input(PIN_E4)) //add errors for A, B, or both A&B errorTemp = 77; //error 78, trap A unavailable set_tris_f(0xFF); //set 8bit parrallel port to read from comPIC #asm BSF 0xf84,3 //C2 high, ready, comPIC will exit loop within 3 cycles NOP NOP BCF 0xf84,3 //comPIC uses this to catch up one cycle, if behind NOP NOP BSF 0xf84,3 //for comPIC to catch up one more cycle, if needed BCF 0xf84,3 NOP //add or subtract nop's here to callibrate timing NOP //use oscilloscope on pins 0, 5 & 7 at 100ns MOVLW kPicPacketID //this is the packet ID, we put it in register w CPFSEQ 0xF85 //if 1st byte is not the right ID we exit goto check0 //copy 1st byte from w to trapReadBuffer NOP nop MOVFF 0xF85,0xFEF //copy byte read to location specified by FSR ADDWF 0xFEF,0 //calculates checksum INCF 0xFE9 //increment the FSR pointer for the next byte MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 NOP CPFSEQ 0xF85 goto check1 //if w not same as checksum generate error goto check2 //were good, exit check0: MOVLW 32 //error3, not a read mode packet MOVWF errorTemp goto check2 check1: MOVLW 33 //error4, bad checksum from read mode packet MOVWF errorTemp goto check2 check2: #endasm output_high(PIN_E1); output_low(PIN_E2); //works faster with low here, debug if (errorTemp) { trapAReadBufferGood = 0; //bad packet don't process if (errorNumber == 0) errorNumber = errorTemp; } else trapAReadBufferGood = 1; //no errors, the data is ok to process } //////////////////////////////////////////////////////// void ltReadTrapBData(void) { #use fast_io(E) #use fast_io(F) errorTemp = 0; #asm CLRF 0xFEA MOVFF writeIndex,0xFE9 //point the FSR to the current right position MOVLW kTrapReadBufferSize ADDWF 0xFE9 #endasm if (input(PIN_E6)) //wait for trapPIC errorTemp = 80; //error 80, trap B unavailable set_tris_f(0xFF); //set 8bit parrallel port to read from comPIC #asm BSF 0xf84,3 //C2 high, ready, comPIC will exit loop within 3 cycles NOP NOP BCF 0xf84,3 //comPIC uses this to catch up one cycle, if behind NOP NOP BSF 0xf84,3 //for comPIC to catch up one more cycle, if needed BCF 0xf84,3 NOP //add or subtract nop's here to callibrate timing NOP //use oscilloscope on pins 0, 5 & 7 at 100ns MOVLW kPicPacketID //this is the packet ID, we put it in register w CPFSEQ 0xF85 //if 1st byte is not the right ID we exit goto check0 //copy 1st byte from w to trapReadBuffer NOP MOVFF 0xF85,0xFEF //copy byte read to location specified by FSR ADDWF 0xFEF,0 //calculates checksum INCF 0xFE9 //increment the FSR pointer for the next byte MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 INCF 0xFE9 MOVFF 0xF85,0xFEF ADDWF 0xFEF,0 NOP CPFSEQ 0xF85 goto check1 //if w not same as checksum generate error goto check2 //were good, exit check0: MOVLW 16 //error16, bad packetID, trapPIC B MOVWF errorTemp goto check2 check1: MOVLW 17 //error17, bad checksum from trapPIC B MOVWF errorTemp goto check2 check2: #endasm output_high(PIN_E2); if (errorTemp) { trapBReadBufferGood = 0; //bad packet don't process if (errorNumber == 0) errorNumber = errorTemp; } else trapBReadBufferGood = 1; //no errors, the data is ok to process } //////////////////////////////////////////////////////// //sends and reads a byte over SPI with the motor controller //bytes are synchronously sent both directions void ltMotorSPI(void) { #asm nop //delay allows slave (motorPIC) to be ready nop nop nop movff motorWriteByte,0xFC9 //SSPBUF, starts SPI transfer check0: btfss 0xFC7,0 //SSPSTAT, BF bit, loops until the byte is transferred goto check0 INCF 0xFE9 //increment the FSR pointer MOVFF 0xFC9,0xFEF //copy byte read to location specified by FSR #endasm } //////////////////////////////////////////////////////// //sends and reads motor packet void ltMotorCommunication(void) { #asm CLRF 0xFEA MOVFF writeIndex,0xFE9 //point the FSR to the current right position MOVLW kTrapReadBufferSize ADDWF 0xFE9 ADDWF 0xFE9 DECF 0xFE9 #endasm output_low(PIN_B3); //enable the motorPIC SPI communication motorWriteByte = motorWriteBuffer[0]; ltMotorSPI(); motorWriteByte = motorWriteBuffer[1]; ltMotorSPI(); motorWriteByte = motorWriteBuffer[2]; ltMotorSPI(); motorWriteByte = motorWriteBuffer[3]; ltMotorSPI(); motorWriteByte = motorWriteBuffer[4]; ltMotorSPI(); output_high(PIN_B3); //disable the motorPIC SPI } ///////////////////////////////////////////////////////////////// //Interupt handler using timer0 (rtcc is the same as timer0) ///////////////////////////////////////////////////////////////// #int_rtcc timer0_handler() { set_timer0(cycleTime + get_timer0()); //interrupt timer sets the frequency restart_wdt(); //restarts code if program hangs ltWriteTrapCommands(); //sends configuration byte and syncs trapPICs delay_us(5); ltReadTrapAData(); delay_us(5); ltReadTrapBData(); ltProcessCommands(); ltMotorCommunication(); cycleCount++; if (cycleCount == 0) cycleCountHiByte++; } //////////////////////////////////////////////////////// void main() { ltInitVariables(); ltSetupPic(); ltSetupPorts(); output_low(PIN_C0); //trapPICs reset pin delay_ms(500); //give other PIC's time to boot, why is this necessary, debug output_high(PIN_C0); //trapPICs reset pin delay_ms(200); enable_interrupts(int_rtcc); //interrupt driven program enable_interrupts(GLOBAL); while(1) { while (commandBufferGood){} //wait for command write to other PICs ltReadHostPacket(); if (timeOut != 0 && writeData) { ltWriteHostPacket(); errorNumber = 0; //clear error } } }