;********************************************************************** ; * ; Filename: main.asm * ; Date: May 13th, 2007 * ; File Version: 0.1 * ; * ; Author: s1axter * ; Company: * ; * ; * ;********************************************************************** ; * ; Files required: * ; * ; * ; * ;********************************************************************** ; * ; Notes: * ; * ; * ; * ; * ;********************************************************************** list p=16f872 ; list directive to define processor #include ; processor specific variable definitions __CONFIG _XT_OSC & _PWRTE_OFF & _BODEN_OFF & _CP_OFF & _WDT_OFF ; '__CONFIG' directive is used to embed configuration data within .asm file. ; The labels following the directive are located in the respective .inc file. ; See respective data sheet for additional information on configuration word. ;********************************************************************** RESET_VECTOR CODE 0x000 ; processor reset vector movlw high start ; load upper byte of 'start' label movwf PCLATH ; initialize PCLATH goto start ; go to beginning of program INT_VECTOR CODE 0x004 ; interrupt vector location ;------------------------------------------------------------ ;------------------- Variable Definition ;------------------------------------------------------------ ;NOTE: 0x20 is start of general purpose registers ;Varibles for delay routine cblock 0x20 delayCount1 delayCountA delayCountB endc ;Variables for motor control ; cblock 0x25 ; FWD EQU b'10100000' ; REV EQU b'01010000' ; RTE EQU b'01100000' ; LFT EQU b'10010000' ; RUN EQU b'000000001' ; OFF EQU b'000000000' ; endc ;Variables for timing cblock 0x30 ONESEC STEPRUN endc MAIN CODE start ;------------------------------------------------------------ ;------------------- Initial Setup for PIC ;------------------------------------------------------------ movlw 0x00 ; all port pins = low movwf PORTA movwf PORTB movwf PORTC bsf STATUS,RP0 ; set RAM Page 1 for TRIS registers ; INITIALISE PORTS ; binary used to see individual pin IO status movlw 0x00 ; PORTA and PORTB outputs movwf TRISA movwf TRISB movwf TRISC movlw b'00000110' ; all analog pins = digital movwf ADCON1 bcf STATUS,RP0 ; back to RAM page 0 ;------------------------------------------------------------ ;------------------- Main Program Code ;------------------------------------------------------------ DemoRun ;Forward, 4 sec call STOP movlw 0x04 movwf STEPRUN movlw b'01010000' movwf PORTC call RUN call Delay ;Right, 2 sec call STOP movlw 0x02 movwf STEPRUN movlw b'01100000' movwf PORTC call RUN call Delay ;Reverse, 4 sec call STOP movlw 0x04 movwf STEPRUN movlw b'10100000' movwf PORTC call RUN call Delay ;Left, 2 sec call STOP movlw 0x02 movwf STEPRUN movlw b'10010000' movwf PORTC call RUN call Delay goto DemoRun ;------------------------------------------------------------ ;------------------- Run Bot ;------------------------------------------------------------ RUN movlw 0x01 movwf PORTB retlw 0x00 ;------------------------------------------------------------ ;------------------- Stop Bot ;------------------------------------------------------------ STOP movlw 0x00 movwf PORTB retlw 0x00 ;------------------------------------------------------------ ;------------------- Delay X seconds ;------------------------------------------------------------ Delay movlw d'4' movwf ONESEC insideDelay call Delay250 decfsz ONESEC, F goto insideDelay decfsz STEPRUN goto Delay retlw 0x00 ;------------------------------------------------------------ ;------------------- Delay 250 ms ;------------------------------------------------------------ Delay250 movlw d'250' movwf delayCount1 d1 movlw 0xC7 movwf delayCountA movlw 0x01 movwf delayCountB Delay_0 decfsz delayCountA, f goto $+2 decfsz delayCountB, f goto Delay_0 decfsz delayCount1 ,f goto d1 retlw 0x00 END ; directive 'end of program'