//;*****************************************************************************
//;  HZTest                                                                    *
//;  Automatic rotor control firmware                                          *
//;  Dr. Pedro E. Colla (LU7HZ)                                                *
//;  2012  Free for amateur uses                                               *
//;*****************************************************************************
//;    PIC configuration bits                                                  *
//;*****************************************************************************
//_CONFIG   _CP_OFF & _CPD_OFF & _BODEN_OFF & _MCLRE_OFF & _WDT_OFF & _PWRTE_ON & _INTRC_OSC_NOCLKOUT
//;*****************************************************************************
program HZTest;

{ Declarations section }
//;*****************************************************************************
//#define  bit_K      h'DA' ; hex DA = 1200 bits/sec (218)                     *
//                          ; hex 6b = 2400 bits/sec (107)                     *
//                          ; hex 32 = 4800 bits/sec (50)                      *
//                          ; hex 17 = 9600 bits/sec (23)                      *
//                          ; hex 0A =19200 bits/sec (10)                      *
//******************************************************************************
Const 
    bit_K     : byte   = 50;            //value calculated with program PicLoops
    half_bit  : byte   = bit_K / 4;     //Half loop (experimental 1/4 loop)
    cw        = 0 ; register;
    ccw       = 1 ; register;
    rotor     = 2 ; register;
    rxpin     = 3 ; register;
    setauto   = 4 ; register;
    txpin     = 5 ; register;
    
    moving    = 7 ; register;
    bounce    = 5 ; register;
    adcon     = 4 ; register;
    busy      = 3 ; register;
    
    done      = 1 ; register;

Label 
    Init,bit_delay;
Var
    delay_cntr    : Byte;
    long_cntr     : Byte;
    cnt           : Byte;
    rxchar        : Byte;
    txchar        : Byte;
    ct            : Byte;
    p             : Byte;

{******************************************************************************}
{* Rotor Control Word (RCW)                                                   *}
{*       (7) Rotor movement enabled    (moving)                               *}
{*       (6) not used                                                         *}
{*       (5) GP4 debounce logic        (bounce)                               *}
{*       (4) ADC Conversion state      (adcon)                                *}
{*       (3) busy flag                                                        *}
{*       (2) not used                                                         *}
{*       (1) not used                                                         *}
{*       (0) not used                                                         *}
{******************************************************************************}
    RCW            :         Byte;
//*----------------------------------------------------------------------------*
//* Boot process to initialize processor registers and program variables       *
//*----------------------------------------------------------------------------*
Procedure BootFirmware;
begin
          Asm
          bcf     STATUS,RP0       ;bank 9
          clrf    GPIO             ;clear outputs
          clrf    INTCON           ;clear interrupts
          movlw   $07              ;turn comparator off
          movwf   CMCON            ;
          movlw   $09              ;turn adc on and set word to left
          movwf   ADCON0           ;
                                   ;
          bsf     STATUS,RP0       ; bank 1
          {$IFNDEF OSCAL}
          call    $03FF            ; get factory calibration value
          movwf   OSCCAL           ; set OSCCAL calibration value
          {$ENDIF}
                                   ;*---------[I/O Mapping]--------------------*
                                   ;| GP5 (out) (dig) pin 2  serial out        |
                                   ;| GP4 (in)  (dig) pin 3  set / start auto  |
                                   ;| GP3 (in)  (dig) pin 4  serial in         |
                                   ;| GP2 (in)  (an0) pin 5  rotor/reference V |
                                   ;| GP1 (out) (dig) pin 6  turn CCW rotor    |
                                   ;| GP0 (out) (dig) pin 7  turn CW rotor     |
                                   ;*------------------------------------------*
          movlw   %00011100        ; TRISIO set
          movwf   TRISIO           ; all others inputs
                                   ;
          clrf    ANSEL            ; set all pins to digital mode
          movlw   %00000100        ; ANSEL set AN2 pin 5 as analog
          movwf   ANSEL            ;
          clrf    PIE1             ;Clear interrupts and misc registers
          clrf    IOC              ;
          clrf    WPU              ;
          clrf    VRCON            ;
          movlw   %00001111        ;Set option_reg register
          movwf   OPTION_REG       ;
                                   ;
          bcf     STATUS,RP0       ; switch back to bank 0
          clrf    GPIO             ;
          clrf    ADRESH
          clrf    _RCW
          bsf     GPIO,5
          end;
end;
//*----------------------------------------------------------------------------*
//* delay of one bit at the target speed                                       *
//* Routine and delay calculated with PicLoops.exe                             *
//*----------------------------------------------------------------------------*
Procedure bit_delay;

begin
                                                 {                               }
        Asm                                      {                               }
        movlw       _bit_K                    {                               }
        movwf       _delay_cntr                  {                               }
                                                 {                               }
loop:                                            {                               }
        nop                                      {cLoops code excerpt            }
        decfsz      _delay_cntr,1                {                               }
        goto        loop                         {                               }
                                                 {                               }
        end;                                     {                               }
                                                 {                               }
end;
//*----------------------------------------------------------------------------*
//* delay of one bit at the target speed (porque hay dos??)                    *
//*----------------------------------------------------------------------------*
procedure long_delay;
begin
        asm
        movlw       100
        movwf       _long_cntr
loop_R:
        call        _bit_delay
        decfsz      _long_cntr,1
        goto        loop_R
        end;
end;
//*----------------------------------------------------------------------------*
//* delay of half bit at the target speed                                      *
//* Routine and delay calculated with PicLoops.exe                             *
//*----------------------------------------------------------------------------*
procedure start_delay;
begin
        Asm                                     {                                }
        movlw       _half_bit
        movwf       _delay_cntr                 {                                }
loop_R2:                                        {                                }
        nop                                     {icLoops code excerpt            }
        decfsz      _delay_cntr,1               {                                }
        goto        loop_R2                     {                                }
        end;                                    {                                }
end;                                            {                                }
//*----------------------------------------------------------------------------*
//* Transmit a single character over serial (blocking)                         *
//*----------------------------------------------------------------------------*
Procedure send232(Var c : byte);           {                               }
                                                {                               }
begin                                           {                               }
                                        //; RS-232C serial out.  the byte in file register
                                        //; xmt_bute will transmit
        cnt        := $08;                      {*-----------------------------*}
        txchar     := c;
        GPIO.txpin := 0;                        {Set 8 bits to send, lower GP5  }
        bit_delay;                              {and wait for one bit length    }
                                                {*-----------------------------*}
                                                {*-----------------------------*}
      Asm
txloop:
      rrf         _txchar,1
      btfss       STATUS,C         ;btfsc  STATUS,0  for direct connection
                                   ;btfss  STATUS,0  for standard connection
      bcf         GPIO,5
      btfsc       STATUS,C         ;btfss  STATUS,0  for direct connection
                                   ;btfsc  STATUS,0  for standard connection
      bsf         GPIO,5
      call        _bit_delay
      decfsz      _cnt,1
      goto        txloop
      bsf         GPIO,5       ;bcf for direct connection
                                   ;bsf for standard connection

      call        _bit_delay
      end;
end;
//*----------------------------------------------------------------------------*
//* Receive a single character (blocking while receiving)                      *
//*----------------------------------------------------------------------------*
Function get232(Var error : byte ) : byte;      {                               }
                                                {                               }
begin                                           {                               }
//*---------------------------------------------{-------------------------------}
      cnt    := $08;
      rxchar := $00;

      if GPIO.3 <> 0 then begin
         error := $ff;
         result:= $00;
         exit;
      end;

      start_delay;
      if GPIO.3 <> 0 then begin
         error := $ff;
         result:= $00;
         exit;
      end;

          Asm
//----------------------------------------------{-------------------------------}
receive:
          call        _bit_delay
          btfss       GPIO,3                   ;btfsc if connect via 22k resistor
                                               ;btfss if standard connection
          bcf         STATUS,C
          btfsc       GPIO,3                   ;btfss if connect via 22k resistor
                                               ;btfsc if standard connection
          bsf         STATUS,C
          rrf         _rxchar,1
          decfsz      _cnt,1
          goto        receive
          
endrx:
          end;
          result := rxchar;
          error  := $00;
end;
//*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=**
//* Main Program Loop                                                          *
//*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=**
begin
//*--------------------------------------------{-------------------------------*}
                                               {* Boot the firmware to start   *}
                                               {*------------------------------*}
     BootFirmware;
//*--------------------------------------------{-------------------------------*}
                                               {* Master Diagnostics Mode      *}
                                               {* Enter mode if GP4 is pressed *}
                                               {* during initialization time   *}
                                               {*------------------------------*}
     ct := ';';
     Send232(ct);
                                               {Conditional compilation         }
     while GPIO.setauto = 0 do begin           {Debounce before start           }
     end;                                      {                                }
     
     while true do begin                       {Infinite loop need to reboot    }
                                               {to exit back into normal mode   }
        ct := get232(p);                       {Receive a character             }
        if p = 0 then begin                    {If no error (there is a char    }
           send232(ct);                        {Transmit it                     }
        end;                                   {                                }
        if ADCON0.1 = 0 then begin             {Take a sample from GP2 (analog) }
           if ADRESH > 128 then begin          {If result is >128 turn GP0 on   }
              GPIO.ccw := 1;                   {                                }
           end else begin                      {                                }
              GPIO.ccw := 0;                   {otherwise off                   }
           end;                                {                                }
           ADCON0.1 := 1;                      {and resample again              }
        end;                                   {                                }
        GPIO.cw  := not(GPIO.setauto);         {GP0 is complement of GP4        }
        if GPIO.setauto = 0 then begin         {If GP4 is pressed during exec   }
           while GPIO.setauto = 0 do begin     {While pressed                   }
             ct := 'U';                        {Keep sending 'U' which forms    }
             send232(ct);                      {a square wave at the serial port}
           end;                                {for testing and callibration    }
        end;                                   {purposes, half period should    }
     end;                                      {be around 2 mSecs for 4800 bps  }
end.