; ******************************************************************************
;
; LiniClock_12hour.asm (one-hand analogue clock using LiniStepper V1 or v2 PCB)
; PIC 16F628A code
; Copyright Sep 2010 - Roman Black http://www.RomanBlack.com
;
; 200/400/1200/3600 steps
; Clock uses one stepper motor to turn one hand. The clock takes exactly
; 12 hours for a full rotation, giving an attractive 12hour
; clock face with a single "hours" hand.
; The clock is driven directly from the PIC's 16MHz xtal OR
; can be driven from 60Hz or 50Hz mains freq for high accuracy.
; One button is used to "set" the clock by advancing the hand,
; the clock set button is on pin RA0 and HI = clock set (Note!!
; if using Lini v1 PCB you also need a 10k pull-down resistor on that
; pin but on Lini v2 PCB the resistor is not needed).
;
; This code was adapted from the Linistepper v2 code, the main difference
; is that instead of advancing the motor 1 microstep when the step
; input goes /, it now advances the motor one microstep every 50 seconds,
; this gives exactly 12 hours per rotation with a cheap 48step/rev stepper
; motor. (If using a 200step/rev motor, it will advance one microstep
; every 12 seconds).
;
; Dip switch J1 selects motor type; ON = 200step/rev motor, OFF = 48step/rev motor
; Dip switch J2 selects clock source; ON = mains freq detect, OFF = PIC 16Mhz xtal
;
; PORTA.F0 = clock set button; Hi = clock set
; PORTA.F1 = 60Hz mains freq input (optional)
; PORTA.F2 = 50Hz mains freq input (optional)
; (note!! replace C5 and C6 with large caps >=22uF for good clock hand smoothing)
;
; (set mplab TABS to 5 for best viewing this .asm file)
;******************************************************************************
;==============================================================================
; mplab settings
ERRORLEVEL -224 ; suppress annoying message because of option/tris
ERRORLEVEL -302 ; suppress message because of bank select in setup ports
LIST b=5, n=97, t=ON, st=OFF ;
; absolute listing tabs=5, lines=97, trim long lines=ON, symbol table=OFF
;==============================================================================
; processor defined
;include <p16f84A.inc>
;include <p16f628.inc>
include <p16f628A.inc>
; processor config
IFDEF __16F84A
__CONFIG _CP_OFF & _WDT_OFF & _PWRTE_ON & _HS_OSC
ENDIF
IFDEF __16F628
__CONFIG _CP_OFF & _WDT_OFF & _PWRTE_ON & _HS_OSC & _MCLRE_ON & _BODEN_OFF & _LVP_OFF
ENDIF
IFDEF __16F628A
__CONFIG _CP_OFF & _WDT_OFF & _PWRTE_ON & _HS_OSC & _MCLRE_ON & _BODEN_OFF & _LVP_OFF
ENDIF
;==============================================================================
; Variables here
;-------------------------------------------------
IFDEF __16F84A
#define RAM_START 0x0C
#define RAM_END RAM_START+d'68' ; 16F84 has only 68 ram
ENDIF
IFDEF __16F628
#define RAM_START 0x20
#define RAM_END RAM_START+d'96' ; F628 has 96 ram
ENDIF
IFDEF __16F628A
#define RAM_START 0x20
#define RAM_END RAM_START+d'96' ; F628A has 96 ram
ENDIF
;-------------------------------------------------
CBLOCK RAM_START
status_temp ; used for int servicing
w_temp ; used for int servicing
step ; (0-71) ustep position!
steptemp ; for calcs
phase ; stores the 4 motor phase pins 0000xxxx
current1 ; for current tween pwm
current2 ; for current tween pwm
bres_hi ; hi byte of 24bit variable (for 1second timing)
bres_mid ; mid byte
bres_lo ; lo byte
second_count ;
input_edge ;
hz_count ;
button_debounce ; used for "clock set" button
ENDC
;-------------------------------------------------
; NEW!! Just for LiniClock; set the stepper motor type!
;#define MOTOR_SECONDS 6 ; This setting for 200step/rev motors
#define MOTOR_SECONDS 25 ; This setting for 48step/rev motors
;-------------------------------------------------
; PIC input pins for porta
#define CLOCK_SET 0 ; HI = clock set
#define Hz_60 1 ; mains freq input
#define Hz_50 2 ; mains freq input (alternative)
#define J1 3 ; ON = HI = 200step/rev motor
#define J2 4 ; ON = HI = use mains freq input
;-------------------------------------------------
; Custom instructions!
#define skpwne skpnz ; after subxx, uses zero
#define skpweq skpz ; after subxx, uses zero
#define skpwle skpc ; after subxx, uses carry
#define skpwgt skpnc ; after subxx, uses carry
;==============================================================================
; CODE GOES HERE
org 0x0000 ; Set program memory base at reset vector 0x00
reset
goto main ;
;==============================================================================
; INTERRUPT vector here (int not used!)
org 0x0004 ; interrupt routine must start here
int_routine
;-------------------------------------------------
; first we preserve w and status register
movwf w_temp ;
movf STATUS,w ;
movwf status_temp ;
;-------------------------------------------------
; we get here every TMR0 overflow
; int body code here if you want
;-------------------------------------------------
; finally we restore w and status registers and
; clear TMRO int flag now we are finished.
int_exit
bcf INTCON,T0IF ; must clear the overflow flag!
movf status_temp,w ;
movwf STATUS ;
swapf w_temp,f
swapf w_temp,w ;
retfie ; return from interrupt
;-------------------------------------------------
;==============================================================================
;******************************************************************************
; MOVE MOTOR sets 8 portb output pins to control motor
;******************************************************************************
; NOTE!! var step is used for sequencing the 0-71 steps
; uses tables! so keep it first in the code and set PCLATH to page 0
;------------------
move_motor ; goto label
;------------------
;-------------------------------------------------
; this code controls the phase sequencing and current
; settings for the motor.
; there are always 72 steps (0-71)
; we can split the main table into 2 halves, each have identical
; current sequencing. That is only 12 entries for hardware current.
; Then can x3 the table to get 36 table entries which cover all 72 steps.
; the 36 entries jump to 36 code pieces, which set the current values
; for the 2 possible tween steps... We need 2 current values, one
; for the x2 value and one for the x1 value.
;-------------------------------------------------
; PHASE SEQUENCING (switch the 4 coils)
; there are 4 possible combinations for the phase switching:
; each have 18 steps, total 72 steps:
; A+ B+ range 0 step 0-17
; A- B+ range 1 18-35
; A- B- range 2 36-53
; A+ B- range 3 54-71
;-------------------------------------------------
; find which of the 4 ranges we are in
movf step,w ; get step
movwf steptemp ; store as working temp
movf steptemp,w ;
sublw d'35' ; sub to test
skpwle ;
goto half_hi ; wgt, steptemp is 36-71 (upper half)
;-------------------------
half_low ; wle, steptemp is 0-35
movf steptemp,w ;
sublw d'17' ; sub to test
skpwle ;
goto range1 ; wgt
range0 ; wle
movlw b'00000101' ; 0101 = A+ B+
goto phase_done ;
range1
movlw b'00001001' ; 1001 = A- B+
goto phase_done ;
;-------------------------
half_hi ; steptemp is 36-71
; NOTE! must subtract 36 from steptemp, so it
; will become 0-35 and ok with table later!
movlw d'36' ; subtract 36 from steptemp,
subwf steptemp,f ; (now steptemp is 0-35)
; now find the range
movf steptemp,w ;
sublw d'17' ; sub to test
skpwle ;
goto range3 ; wgt
range2 ; wle
movlw b'00001010' ; 1010 = A- B-
goto phase_done ;
range3
movlw b'00000110' ; 0110 = A+ B-
phase_done ; note! steptemp is always 0-35 by here
movwf phase ; store phase values
;-------------------------------------------------
; at this point we have the phasing done and stored as the last
; 4 bits in var phase; 0000xxxx
; now we have 36 possible current combinations, which we can do
; by separate code fragments, from a jump table.
; as we have 2 power modes; full and low power, we
; need 2 tables.
;-------------------------------------------------
; LiniClock note!! motor is always set to high power;
;btfsc inputs,POWER ; select table to use
;goto table_lowpower ;
;-------------------------------------------------
; HIGH POWER TABLE
;-------------------------------------------------
table_highpower ;
movf steptemp,w ; add steptemp to the PCL
addwf PCL,f ;
; here are the 36 possible values;
;-------------------------
goto st00 ; * (hardware 6th steps)
goto st01 ; (pwm tween steps)
goto st02 ; (pwm tween steps)
goto st03 ; *
goto st04 ;
goto st05 ;
goto st06 ; *
goto st07 ;
goto st08 ;
goto st09 ; *
goto st10 ;
goto st11 ;
goto st12 ; *
goto st13 ;
goto st14 ;
goto st15 ; *
goto st16 ;
goto st17 ;
goto st18 ; *
goto st19 ;
goto st20 ;
goto st21 ; *
goto st22 ;
goto st23 ;
goto st24 ; *
goto st25 ;
goto st26 ;
goto st27 ; *
goto st28 ;
goto st29 ;
goto st30 ; *
goto st31 ;
goto st32 ;
goto st33 ; *
goto st34 ;
goto st35 ;
;-------------------------------------------------
; LOW POWER TABLE
;-------------------------------------------------
; as low power mode is for wait periods we don't need to
; maintain the full step precision and can wait on the
; half-step (400 steps/rev). This means much easier code tables.
; The nature of the board electronics is not really suited
; for LOW power microstepping, but it could be programmed here
; if needed.
; NOTE!! uses my hi-torque half stepping, not normal half step.
; doing half stepping with the 55,25 current values gives;
; 55+25 = 80
; max current 100+100 = 200
; typical (high) current 100+50 = 150
; so low power is about 1/2 the current of high power mode,
; giving about 1/4 the motor heating and half the driver heating.
; for now it uses only half-steps or 8 separate current modes.
; we only have to use 4 actual current modes as
; the table is doubled like the table_highpower is.
; NOTE!! I have left the table full sized so it can be modified
; to 1200 or 3600 steps if needed.
;-------------------------------------------------
table_lowpower ;
movf steptemp,w ; add steptemp to the PCL
addwf PCL,f ;
; here are the 36 possible values;
;-------------------------
; A+ B+ (A- B-)
goto lp00 ;
goto lp00 ;
goto lp00 ;
goto lp00 ;
goto lp00 ; 55,25 (100,45) current low (high)
goto lp00 ;
goto lp00 ;
goto lp00 ;
goto lp00 ;
goto lp09 ;
goto lp09 ;
goto lp09 ;
goto lp09 ;
goto lp09 ; 25,55 (45,100)
goto lp09 ;
goto lp09 ;
goto lp09 ;
goto lp09 ;
;-------------------------
; A- B+ (A+ B-)
goto lp18 ;
goto lp18 ;
goto lp18 ;
goto lp18 ;
goto lp18 ; 25,55 (45,100)
goto lp18 ;
goto lp18 ;
goto lp18 ;
goto lp18 ;
goto lp27 ;
goto lp27 ;
goto lp27 ;
goto lp27 ;
goto lp27 ; 55,25 (100,45)
goto lp27 ;
goto lp27 ;
goto lp27 ;
goto lp27 ;
;-------------------------------------------------
; all tables done, no more tables after this point!
;-------------------------------------------------
; next are the 36 code fragments for the high power table.
; CURRENT INFO.
; hardware requires that we send the entire 8 bits to the motor
; at one time, to keep pwm fast.
; ----xxxx, where xxxx is the coils on/off phasing (done)
; xxxx----, where xxxx is the current settings for the A and B phases;
; xx------, where xx is current for A phase
; --xx----, where xx is current for B phase
; hardware currents for 6th stepping have 4 possible values;
; 00 = 0% current
; 01 = 25% current
; 10 = 55% current
; 11 = 100% current
;-------------------------------------------------
; PWM INFO.
; hardware gives us 6th steps, or 1200 steps/rev.
; to get 3600 steps/rev we need TWO more
; "tween" steps between every proper hardware 6th step.
; to do this we set 2 currents, current1 and current2.
; then we do FAST pwm, with 2 time units at current2,
; and 1 time unit at current1.
; this gives a current which is between the two currents,
; proportionally closer to current2. (2/3 obviously)
; this gives the ability to get 2 evenly spaced "tween" currents
; between our hardware 6th step currents, and go from 1200 to 3600.
; the next 36 code fragments set the 2 currents desired, then
; we goto a fast-pwm loop (same loop used for all currents)
; which modulates between the 2 currents and gives final
; output current.
;-------------------------------------------------
st00 ; (6th step)
movf phase,w ; get coil phasing (is 0000xxxx)
iorlw b'11000000' ; set currents; 100,0
movwf current2 ;
movwf current1 ;
goto pwm ;
st01 ; (tween step)
movf phase,w ; get coil phasing
iorlw b'11000000' ; set 100,0
movwf current2 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current1 ;
goto pwm ;
st02 ; (tween step)
movf phase,w ; get coil phasing
iorlw b'11010000' ; set 100,25
movwf current2 ;
movf phase,w ;
iorlw b'11000000' ; set 100,0
movwf current1 ;
goto pwm ;
;-------------------------
st03 ; (6th step)
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current2 ;
movwf current1 ;
goto pwm ;
st04 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current2 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current1 ;
goto pwm ;
st05 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current1 ;
goto pwm ;
;-------------------------
st06 ; (6th step)
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movwf current1 ;
goto pwm ;
st07 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current1 ;
goto pwm ;
st08 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current1 ;
goto pwm ;
;-------------------------
st09 ; (6th step)
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st10 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current1 ;
goto pwm ;
st11 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current1 ;
goto pwm ;
;-------------------------
st12 ; (6th step)
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st13 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current1 ;
goto pwm ;
st14 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current1 ;
goto pwm ;
;-------------------------
st15 ; (6th step)
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st16 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movf phase,w ;
iorlw b'00110000' ; set 0,100
movwf current1 ;
goto pwm ;
st17 ;
movf phase,w ;
iorlw b'00110000' ; set 0,100
movwf current2 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current1 ;
goto pwm ;
;-------------------------
;-------------------------
st18 ; (6th step)
movf phase,w ;
iorlw b'00110000' ; set 0,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st19 ;
movf phase,w ;
iorlw b'00110000' ; set 0,100
movwf current2 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current1 ;
goto pwm ;
st20 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movf phase,w ;
iorlw b'00110000' ; set 0,100
movwf current1 ;
goto pwm ;
;-------------------------
st21 ; (6th step)
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st22 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current2 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current1 ;
goto pwm ;
st23 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movf phase,w ;
iorlw b'01110000' ; set 25,100
movwf current1 ;
goto pwm ;
;-------------------------
st24 ; (6th step)
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st25 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current2 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current1 ;
goto pwm ;
st26 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movf phase,w ;
iorlw b'10110000' ; set 55,100
movwf current1 ;
goto pwm ;
;-------------------------
st27 ; (6th step)
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movwf current1 ;
goto pwm ;
st28 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current2 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current1 ;
goto pwm ;
st29 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movf phase,w ;
iorlw b'11110000' ; set 100,100
movwf current1 ;
goto pwm ;
;-------------------------
st30 ; (6th step)
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movwf current1 ;
goto pwm ;
st31 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current2 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current1 ;
goto pwm ;
st32 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current2 ;
movf phase,w ;
iorlw b'11100000' ; set 100,55
movwf current1 ;
goto pwm ;
;-------------------------
st33 ; (6th step)
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current2 ;
movwf current1 ;
goto pwm ;
st34 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current2 ;
movf phase,w ;
iorlw b'11000000' ; set 100,0
movwf current1 ;
goto pwm ;
st35 ;
movf phase,w ;
iorlw b'11000000' ; set 100,0
movwf current2 ;
movf phase,w ;
iorlw b'11010000' ; set 100,25
movwf current1 ;
goto pwm ;
; high power table done!
;-------------------------------------------------
; next are the 4 code fragments for the low power table.
; (no PWM is used)
;-------------------------------------------------
lp00 ;
movf phase,w ;
iorlw b'10010000' ; set 55,25
movwf current2 ;
movwf current1 ;
goto pwm ;
lp09 ;
movf phase,w ;
iorlw b'01100000' ; set 25,55
movwf current2 ;
movwf current1 ;
goto pwm ;
lp18 ;
movf phase,w ;
iorlw b'01100000' ; set 25,55
movwf current2 ;
movwf current1 ;
goto pwm ;
lp27 ;
movf phase,w ;
iorlw b'10010000' ; set 55,25
movwf current2 ;
movwf current1 ;
goto pwm ;
;-------------------------------------------------
;------------------------------------------------------------------------------
;******************************************************************************
; Main
;******************************************************************************
;
;------------------
main ; goto label
;------------------
;---------------------------------------------
; do initial setup for ports and ints and stuff
call setup ; this is our only proper call...
; it is called only once, and does not really need
; to be a function.
;---------------------------------------------
; main operating loop is here.
;---------------------------------------------
goto move_motor ; will set the motor to step 0,
; and loop permanently from there
;---------------------------------------------
goto main ; safe loop, should never get here anyway.
;==============================================================================
;******************************************************************************
; UPDATE CLOCK test if it is time to move the clock hand yet!
;******************************************************************************
;
;------------------
update_clock ; goto tag
;------------------
;-------------------------------------------------
; we enter here when TMR0 has overflowed (3906 Hz)
; xtal is 16 MHz, TMR0 is 1:4 prescale so each TMR0
; "tick" is 1uS (1 million ticks a second)
; no interrupt is used, instead we poll for TMR0 overflow flag.
;
; there are 2 systems that can be used to operate the clock;
; 1. generate 1 second period from the PIC 16MHz xtal
; 2. generate 1 second period by counting mains freq pulses
; (which is slected by jumper J2; ON = HI = mains freq)
;-------------------------------------------------
; first reset the TMR0 int flag
bcf INTCON,T0IF ;
; then test J2 to see which clock method is being used
btfss PORTA,J2 ; J2 HI = mains freq
goto clock_xtal ;
;-------------------------------------------------
;-------------------------------------------------
clock_mains_freq
; this system generates the 1 second period by simply
; counting mains cycles; either 60 cycles (60Hz mains)
; of 50 cycles (for 50Hz mains) = 1 second
; check if a mains / edge was detected on either input pin
; first, just check if either pin is hi
movf PORTA,w ; read all pins on PORTA
andlw b'00000110' ; keep only RA1 and RA2
skpz ;
goto cm_hi ;
cm_lo
; both pins are low
clrf input_edge ; clear test flag
goto button_test ; nothing more to do
cm_hi
; one or more pin was high, so test if it was / edge
btfsc input_edge,0 ; test flag for zero
goto button_test ; flag was already hi, so nothing to do
; gets here on / edge (of either pin!)
bsf input_edge,0 ; set edge flag bit
; now test for which pin it was
btfss PORTA,Hz_60 ;
goto cm_50Hz ;
cm_60Hz
; count one more mains cycle and see if 1 second reached
decfsz hz_count,f ;
goto button_test ; not 1 second, nothing more to do
; gets here when 1 second reached!
movlw d'60' ; load Hz counter again
movwf hz_count ;
goto reached_1second ;
cm_50Hz
; count one more mains cycle and see if 1 second reached
decfsz hz_count,f ;
goto button_test ; not 1 second, nothing more to do
; gets here when 1 second reached!
movlw d'50' ; load Hz counter again
movwf hz_count ;
goto reached_1second ;
;-------------------------------------------------
;-------------------------------------------------
clock_xtal
; clock system based on the 16MHz PIC xtal
; This zero-error 1 second clock routine (see my web page)
; will count +1 seconds for every 1 million TMR0 ticks.
;
; The LiniClock code then turns the stepper motor 1 microstep
; for every 6 or 25 seconds, (depends on type of stepper motor)
;-------------------------------------------------
;-------------------------------------------------
; zero-error 1 second clock here.
; This consists of three main steps;
; * subtract 256 counts from our 24bit variable
; * test if we reached the setpoint
; * if so, add 1,000,000 counts to 24bit variable and generate event.
; (this code was copied from my "one_sec.asm" code)
;-------------------------------------------------
; * optimised 24 bit subtract here
; This is done with the minimum instructions.
; We subtract 256 from the 24bit variable
; by just decrementing the mid byte.
tstf bres_mid ; first test for mid==0
skpnz ; nz = no underflow needed
decf bres_hi,f ; z, so is underflow, so dec the msb
decfsz bres_mid,f ; dec the mid byte (subtract 256)
; now the full 24bit optimised subtract is done!
; this is almost 4 times faster than a "proper"
; 24bit subtract.
goto button_test ; nz, so definitely not one second yet.
; in most cases the entire 'fake" int takes
; only 9 instructions.
;------------------------
; * test if we have reached one second.
; only gets here when mid==0, it MAY be one second.
; only gets to here 1 in every 256 times.
; (this is our best optimised test)
; it gets here when bres_mid ==0.
tstf bres_hi ; test hi for zero too
skpz ; z = both hi and mid are zero, is one second!
goto button_test ; nz, so not one second yet.
;-------------------------------------------------
; Only gets to here if we have reached one second.
; Add the 1,000,000 ticks first.
; One second = 1,000,000 = 0F 42 40 (in hex)
; As we know hi==0 and mid==0 this makes it very fast.
; This is an optimised 24bit add, because we can
; just load the top two bytes and only need to do
; a real add on the bottom byte. This is much quicker
; than a "proper" 24bit add.
movlw 0x0F ; get msb value
movwf bres_hi ; load in msb
movlw 0x42 ; get mid value
movwf bres_mid ; load in mid
movlw 0x40 ; lsb value to add
addwf bres_lo,f ; add it to the remainder already in lsb
skpnc ; nc = no overflow, so mid is still ok
incf bres_mid,f ; c, so lsb overflowed, so inc mid
; this is optimised and relies on mid being known
; and that mid won't overflow from one inc.
; that's it! Our optimised 24bit add is done,
; this is roughly twice as quick as a "proper"
; 24bit add.
;-------------------------
reached_1second
; Gets here every second. Now we can update the clock!
; there are 2 speeds to suit the 2 possible motors.
; dipwitch J1 on RA3 selects motor type; HI = 200step/rev motor
btfss PORTA,J1 ; test dipswitch J1
goto clock_48 ; is 48step/rev motor
; gets here if a 200step/rev motor
; need to advance motor 1 microstep every 12 seconds
clock_200
incf second_count,f ; add a second
movf second_count,w ; test for roll over >11
sublw d'11' ; sub to test
skpwgt ;
goto pwm ; return, nothing to do yet
; gets here every 6 seconds!
clrf second_count ;
goto make_a_step ; move motor!
; gets here if a 48step/rev motor
; need to advance motor 1 microstep every 50 seconds
clock_48
incf second_count,f ; add a second
movf second_count,w ; test for roll over >49
sublw d'49' ; sub to test
skpwgt ;
goto pwm ; return, nothing to do yet
; gets here every 25 seconds!
clrf second_count ;
goto make_a_step ; move motor!
make_a_step
; for now just advance one microstep each second!
; we are in 18th microstep mode, so step range is 0-71 (72 steps)
incf step,f ; step++
;movf step,w ; temp!! add a full step to w (is 18 counts)
;addlw d'18'
;movwf step
movf step,w ; test for roll over >71
sublw d'71' ; sub to test
skpwgt ;
goto move_motor ;
clrf step ; wgt, rolled over so force to step 0
;movlw 0x09 ; temp!! rotate to full steps only
;movwf step;
goto move_motor ;
;-------------------------------------------------
button_test
; we get here roughly once for every TMR0 overflow
; so we can test the clock set button and if it is set
; advance the motor forward at a set speed.
; note!! the dipswitch J1 on RA3 selects whether it is a
; 48step or 200step motor. HI = 200 step
btfss PORTA,J1 ; test dipswitch J1
goto button_test_48 ; is 48step/rev motor
;-------------------------
; the clock set button is RA0; HI = set clock
; this code below is for 200step/rev motor
button_test_200
btfss PORTA,0 ;
goto button_low_200 ;
button_high_200 ; button is pressed!
incf button_debounce,f ;
movf button_debounce,w ; test for debounce >40
sublw d'40' ; sub to test
skpwgt ;
goto pwm ; wle, just go back to pwm mode
; is time to make a clock set step, to advance clock hand
clrf button_debounce ;
goto make_a_step ;
button_low_200 ; button is not pressed
clrf button_debounce ;
goto pwm ; so return
;-------------------------
; the clock set button is RA0; HI = set clock
; this code below is for 48step/rev motor
button_test_48
btfss PORTA,0 ;
goto button_low_48 ;
button_high_48 ; button is pressed!
incf button_debounce,f ;
movf button_debounce,w ; test for debounce >150
sublw d'150' ; sub to test
skpwgt ;
goto pwm ; wle, just go back to pwm mode
; is time to make a clock set step, to advance clock hand
clrf button_debounce ;
goto make_a_step ;
button_low_48 ; button is not pressed
clrf button_debounce ;
goto pwm ; so return
;------------------------------------------------------------------------------
;******************************************************************************
; PWM is the fast pwm loop
;******************************************************************************
; NOTE!! we enter the code in the middle of the loop!
;-------------------------------------------------
; the 2 target currents were set in the move_motor code.
; what this function does is spend 2 time units at current2,
; and 1 time unit at current1.
; actual is 8 clocks at current2
; and 4 clocks at current 1
; total 12 cycles, so 333 kHz with 16MHz resonator.
; this gives an average pwm current of 2/3 the way between
; current2 and current1.
; the routine is kept short to keep pwm frequency high, so it
; is easy to smooth in hardware by the ramping caps.
; IMPORTANT! is timed by clock cycles, don't change this code!
; it also checks for any change in input pins here
; the 8/4 code seen here was supplied by Eric Bohlman (thanks!)
;-------------------------------------------------
pwm_loop
; first output current1 to motor
movf current1,w ; get currents and phase switching
movwf PORTB ; send to motor!
nop ; timing delay
nop ;
; (4 cycles)
;-------------------------
pwm ; main entry!
; better to enter at current2 for motor power.
; now output current2
movf current2,w ;
movwf PORTB ; send to motor!
nop ; safe wait 250nS
; now test input pins
movf PORTA,w ; get pin values from port
nop ;
btfss INTCON,T0IF ; see if TMR0 overflowed yet!
goto pwm_loop ; z, inputs not changed, so keep looping
; (8 cycles)
;-------------------------------------------------
; TMR0 has overlfowed, so check if clock
; hand needs to move (need to advance a step)
goto update_clock ;
;-------------------------------------------------
;------------------------------------------------------------------------------
;******************************************************************************
; SETUP sets port directions and interrupt stuff etc,
;******************************************************************************
; NOTE!! is the only proper funtion, is done before other activity
;------------------
setup ; routine tag
;------------------
;-------------------------------------------------
; Note! there are added bits for the 16F628!
; here we set up peripherals and port directions.
; this will need to be changed for different PICs.
;-------------------------------------------------
; OPTION setup
movlw b'10000001' ;
; x------- ; 7, 0=enable, 1=disable, portb pullups
; -x------ ; 6, 1=/, int edge select bit
; --x----- ; 5, timer0 source, 0=internal clock, 1=ext pin.
; ---x---- ; 4, timer0 ext edge, 1=\
; ----x--- ; 3, prescaler assign, 1=wdt, 0=timer0
; -----x-- ; 2,1,0, timer0 prescaler rate select
; ------x- ; 000=2, 001=4, 010=8, 011=16, etc.
; -------x ; (using 1:4 for Clock using 167MHz xtal)
;
banksel OPTION_REG ; go proper reg bank
movwf OPTION_REG ; load data into OPTION_REG
banksel 0 ;
;-------------------------------------------------
; note! check for 16F628 (and A) and do extra setup for it.
IFDEF __16F628
banksel VRCON ; do bank 1 stuff
clrf VRCON ; disable Vref
clrf PIE1 ; disable pi etc
banksel 0 ;
clrf T1CON ; disable timer1
clrf T2CON ; disable timer2
clrf CCP1CON ; disable CCP module
movlw b'00000111' ; disable comparators
movwf CMCON ;
ENDIF
IFDEF __16F628A
banksel VRCON ; do bank 1 stuff
clrf VRCON ; disable Vref
clrf PIE1 ; disable pi etc
banksel 0 ;
clrf T1CON ; disable timer1
clrf T2CON ; disable timer2
clrf CCP1CON ; disable CCP module
movlw b'00000111' ; disable comparators
movwf CMCON ;
ENDIF
;-------------------------------------------------
; PORTB pins direction setup
; 1=input, 0=output
clrf PORTB ;
;
movlw b'00000000' ; all 8 portb are outputs
;
banksel TRISB ; go proper reg bank
movwf TRISB ; send mask to portb
banksel 0 ;
;-------------------------------------------------
; PORTA pins direction setup
; 1=input, 0=output
clrf PORTA ;
; NOTE!! all 5 PORTA pins are inputs
movlw b'00011111' ;
; ---x---- ; RA4
; ----x--- ; RA3
; -----x-- ; RA2
; ------x- ; RA1
; -------x ; RA0
banksel TRISA ; go proper reg bank
movwf TRISA ; send mask to porta
banksel 0 ;
;-------------------------------------------------
movlw 0x00 ; set up PCLATH for all jump tables on page 0
movwf PCLATH ; (all tables are in move_motor)
;-------------------------------------------------
; CLEAR RAM! for lower bank
movlw RAM_START ; first byte of ram
movwf FSR ; load pointer
ram_clear_loop
clrf INDF ; clear the ram we pointed to
incf FSR,f ; inc pointer to next ram byte
movf FSR,w ; get copy of pointer to w
sublw RAM_END ; test if PAST the last byte now
skpweq ;
goto ram_clear_loop ;
;-------------------------------------------------
; here we can set the user variables and output pins
movlw 0x09 ; for step 9 of 0-71 (first full step position)
movwf step ; loaded ready for jump table
clrf bres_hi ; set up for 1 second clock
movlw d'1' ;
movwf bres_mid ;
clrf second_count ;
clrf button_debounce ;
;-------------------------------------------------
; set up INTCON register last
movlw b'00000000' ; set the bit value
; x------- ; bit7 GIE global int enable, 1=enabled
; -x------ ; bit6 EE write complete enable, 1=en
; --x----- ; bit5 TMR0 overflow int enable, 1=en
; ---x---- ; bit4 RB0/INT enable, 1=en
; ----x--- ; bit3 RB port change int enable, 1=en
; -----x-- ; bit2 TMR0 int flag bit, 1=did overflow and get int
; ------x- ; bit1 RB0/INT flag bit, 1=did get int
; -------x ; bit0 RB port int flag bit, 1=did get int
movwf INTCON ; put in INTCON register
;-------------------------------------------------
return ;
;------------------------------------------------------------------------------
;==============================================================================
; this code is only to display 1k of the memory usage chart
; in the absolute listing!
; page 0 256 byte block--------------------
;org 0x40-2
;nop
;org 0x80-1
;nop
;org 0xC0-1
;nop
;org 0x100-1
;nop
; page 1 256 byte block--------------------
;org 0x140-2
;nop
;org 0x180-1
;nop
;org 0x1C0-1
;nop
;org 0x200-1
;nop
; page 2 256 byte block--------------------
org 0x240-2
nop
org 0x280-1
nop
org 0x2C0-1
nop
org 0x300-1
nop
; page 3 256 byte block--------------------
org 0x340-2
nop
org 0x380-1
nop
org 0x3C0-1
nop
org 0x400-1
nop
IFDEF __16F628A
; page 4 256 byte block--------------------
org 0x440-2
nop
org 0x480-1
nop
org 0x4C0-1
nop
org 0x500-1
nop
; page 5 256 byte block--------------------
org 0x540-2
nop
org 0x580-1
nop
org 0x5C0-1
nop
org 0x600-1
nop
; page 6 256 byte block--------------------
org 0x640-2
nop
org 0x680-1
nop
org 0x6C0-1
nop
org 0x700-1
nop
; page 7 256 byte block--------------------
org 0x740-2
nop
org 0x780-1
nop
org 0x7C0-1
nop
org 0x800-1
nop
ENDIF
;-------------------------------------------------------------------------
end
;-------------------------------------------------------------------------
;==============================================================================
;==============================================================================
;==============================================================================
;-------------------------------------------------
; NOTE!! example! below is the original (non-pwm) table for the
; 24x hardware 6th steps.
; this will be useful to code a minimum-rom microstepper
; if you don't need 3600 and can make do with 1200 steps.
; same system as the main code;
; ----xxxx are the phase sequencing
; xxxx---- are the current values
; (this code table has been used and tested!)
;-------------------------------------------------
; COMMENTED OUT!
;movlw b'11000101' ; 0, 100,0 A+ B+ 00=0 01=25
;movlw b'11010101' ; 1, 100,25 A+ B+ 10=55 11=100
;movlw b'11100101' ; 2, 100,55 A+ B+
;movlw b'11110101' ; 3, 100,100 A+ B+
;movlw b'10110101' ; 4, 55,100 A+ B+
;movlw b'01110101' ; 5, 25,100 A+ B+
;-------------------------
;movlw b'00111001' ; 6, 0,100 A- B+
;movlw b'01111001' ; 7, 25,100 A- B+
;movlw b'10111001' ; 8, 55,100 A- B+
;movlw b'11111001' ; 9, 100,100 A- B+
;movlw b'11101001' ; 10, 100,55 A- B+
;movlw b'11011001' ; 11, 100,25 A- B+
;-------------------------
;movlw b'11001010' ; 12, 100,0 A- B-
;movlw b'11011010' ; 13, 100,25 A- B-
;movlw b'11101010' ; 14, 100,55 A- B-
;movlw b'11111010' ; 15, 100,100 A- B-
;movlw b'10111010' ; 16, 55,100 A- B-
;movlw b'01111010' ; 17, 25,100 A- B-
;-------------------------
;movlw b'00110110' ; 18, 0,100 A+ B-
;movlw b'01110110' ; 19, 25,100 A+ B-
;movlw b'10110110' ; 20, 55,100 A+ B-
;movlw b'11110110' ; 21, 100,100 A+ B-
;movlw b'11100110' ; 22, 100,55 A+ B-
;movlw b'11010110' ; 23, 100,25 A+ B-
EXAMPLE! full table example here, 0-71 steps showing every step...
;-------------------------
0 100,0 A+ B+
1 100,8 (pwm tween)
2 100,17 (pwm tween)
3 100,25 A+ B+
4 100,35 (pwm tween)
5 100,45 (pwm tween)
6 100,55 A+ B+
7 100,70 (pwm tween)
8 100,85 (pwm tween)
9 100,100 A+ B+ (rest of table is same, tweens not shown)
10
11
12 55,100 A+ B+
13
14
15 25,100 A+ B+
16
17
;-------------------------
18 0,100 A- B+
19
20
21 25,100 A- B+
22
23
24 55,100 A- B+
25
26
27 100,100 A- B+
28
29
30 100,55 A- B+
31
32
33 100,25 A- B+
34
35
;-------------------------
36 100,0 A- B-
37
38
39 100,25 A- B-
40
41
42 100,55 A- B-
43
44
45 100,100 A- B-
46
47
48 55,100 A- B-
49
50
51 25,100 A- B-
52
53
;-------------------------
54 0,100 A+ B-
55
56
57 25,100 A+ B-
58
59
60 55,100 A+ B-
61
62
63 100,100 A+ B-
64
65
66 100,55 A+ B-
67
68
69 100,25 A+ B-
70
71
;-------------------------------------------------
| file: /Techref/io/stepper/linistep/LiniClock/LiniClock_12hour.asm, 40KB, , updated: 2010/9/30 08:46, local time: 2024/11/15 23:24,
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