quit:
MOVfw PORTB
MOVwf oldb ; oldb = PORTB
MOVfw wtemp1 ; restore W
bcf INTCON, RBIF ; reset interrupt (important)
retfie
int_timer0_reset:
btfsc tmr0o0, 7 ; wait 128 overflows
goto a1
incf tmr0o0, 1
goto a0
a1:
btfsc tmr0o1, 6 ; wait 64 overflows
goto a4
incf tmr0o1, 1
goto a0
a4:
btfsc PORTB, 7 ; a short hack, so we can measure the impulses
goto next1 ; of timer0 with an oscillograph
bsf PORTB, 7 ; signal is on bit 7 of portb
goto mainl
next1:
bcf PORTB, 7
mainl:
MOVwf wtemp2 ; save W
MOVfw tickL ; store ticks in result1
MOVwf result1L
MOVfw tickH
MOVwf result1H
MOVfw quad ; and blend the direction bit on MSB of result1
iorwf result1H, 1
clrf tickH ; clear tick counter
clrf tickL
clrf tmr0o0 ; clear timer0 overflow counters
clrf tmr0o1
MOVfw wtemp2 ; restore W
a0:
bcf INTCON, T0IF ; reset interrupt (important)
retfie
int_USART_receive:
MOVwf wtemp3 ; save W
MOVlw COMMAND_3 ; command3 active ?
subwf cmdNum, W
bz getData_command3 ; yes, handle it
MOVfw RCREG ; store received byte
clrf RCREG ; it’s a good idea to flush the buffer
clrf RCREG ; after receiving a byte, so it’s
clrf RCREG ; forced that we have a new byte in the buffer in the next step
MOVwf recByte
MOVlw COMMAND_2 ; -execute command2 ?
subwf recByte, W
bz command2 ; yes, do it
MOVlw COMMAND_3 ; -execute command3 ?
subwf recByte, W
bz command3 ; yes, do it
MOVlw COMMAND_4 ; -execute command4 ?
subwf recByte, W
bz command4 ; yes, do it
commandUnknown: ; else, received byte is unknown
bsf PORTB, 0 ; show error on LEDs
MOVfw wtemp3 ; restore W
retfie
; --==*[ COMMAND EXEC - transmit motor data in debug mode ]*==--
command2:
MOVfw result1H
call sendByte
上一页 [1] [2] [3] [4] [5] [6] 下一页
本文关键字：步进电机 程序 PIC单片机，单片机-工控设备 - PIC单片机
