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|
;throttle_dev_set.inc
.NOLIST
; ***************************************************************************************
; * PWM MODEL RAILROAD THROTTLE *
; * *
; * WRITTEN BY: PHILIP DEVRIES *
; * *
; * Copyright (C) 2003 Philip DeVries *
; * *
; * This program is free software; you can redistribute it and/or modify *
; * it under the terms of the GNU General Public License as published by *
; * the Free Software Foundation; either version 2 of the License, or *
; * (at your option) any later version. *
; * *
; * This program is distributed in the hope that it will be useful, *
; * but WITHOUT ANY WARRANTY; without even the implied warranty of *
; * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
; * GNU General Public License for more details. *
; * *
; * You should have received a copy of the GNU General Public License *
; * along with this program; if not, write to the Free Software *
; * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA *
; * *
; ***************************************************************************************
;*********************************************************
;* Hardware Settings *
;*********************************************************
;
; REGISTER ASSGINMENTS
; Note that registes 16 - 31 are acessed by a larger instruction
; set than registers 0 - 15.
;
;*********************************************************
; REGISTER ASSIGNMENTS
; GLOBAL VISIBILITY ;all functions have access to this NAME of the register
; GLOBAL DURATION ;the register always MEANS the same thing.
;*********************************************************
.DEF Flags_1= r16 ; Global. Status flags
.DEF Cycle_count= r17 ; Global. Count PWM cycles
.DEF throttle_set= r18 ; Global. Current Throttle Setting
.ifdef SWITCH_LOWPASS ENABLED
.DEF Flags_2= r19 ; Global. Switch "status" flags
.endif SWITCH_LOWPASS_ENABLED
.ifdef MOMENTUM_ENABLED
.DEF momentum_set= r4 ; Global. Input control
.endif ;MOMENTUM_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef WALKAROUND_ENABLED
.DEF throttle_hold= r14 ; Global. Previous throttle setting
.DEF Flags_2= r19 ; Global. Switch "status" flags
.endif ;WALKAROUND_ENABLED
.endif ;TRADITIONAL_ENABLED
;*********************************************************
; REGISTER ASSIGNMENTS
; LOCAL VISIBILITY ;only the translation unit has (should have)
; access to any NAME of the register
; GLOBAL DURATION ;the register always MEANS the same thing.
;*********************************************************
.ifdef MOMENTUM_ENABLED
.ifdef LOWPASS_ENABLED
.DEF error_hi_prev= r2 ; Global. History of error
.DEF error_lo_prev= r3 ; Global. History of error
.endif ;LOWPASS_ENABLED
.endif ;MOMENTUM_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef THROTTLE_LOWPASS_ENABLED
.DEF throttle_hi_prev= r9 ; Global. History of throttle handle
.DEF throttle_lo_prev= r10 ; Global. History of throttle handle
.endif ;THROTTLE_LOWPASS_ENABLED
.ifdef MOMENTUM_LOWPASS_ENABLED
.DEF momentum_hi_prev= r11 ; Global. History of momentum handle
.DEF momentum_lo_prev= r12 ; Global. History of momentum handle
.endif ;THROTTLE_LOWPASS_ENABLED
.endif ;TRADITIONAL_ENABLED
.ifdef MOMENTUM_ENABLED
.DEF speed_hi_prev= r5 ; Global. Speed at last sample time
.DEF speed_lo_prev= r6 ; Global. Speed at last sample time
.endif ;MOMENTUM_ENABLED
;*********************************************************
; REGISTER ASSIGNMENTS
; LOCAL VISIBILITY ;only the translation unit has (should have)
; access to any NAME of the register
; LOCAL DURATION ;the register has different meanings in different contexts
;*********************************************************
.DEF Implicit= r0 ; Local. Used for implicit lpm
.DEF Sreg_stack= r1 ; Local. "stack" for SREG during interrupts
; .DEF ZL= r30 ; Local. Used for Z pointer (low byte)
; .DEF ZH= r31 ; Local. Used for Z pointer (high byte)
.MACRO LOWLOCAL1
.DEF @0 = r7 ; Local. General Use
.ENDMACRO
.MACRO LOWLOCAL2
.DEF @0 = r8 ; Local. General Use
.ENDMACRO
.MACRO HILOCAL1
.DEF @0 = r26 ; Local. General Use
.ENDMACRO
.MACRO HILOCAL2
.DEF @0 = r27 ; Local. General Use
.ENDMACRO
;*********************************************************
; REGISTER ASSIGNMENTS
; GLOBAL VISIBILITY ;all functions have access to this NAME of the register
; LOCAL DURATION ;the register has different meanings in different contexts
;*********************************************************
.MACRO B_TEMPLOCAL
.DEF @0 = r23 ; Local. Second Level Routine Safe
.ENDMACRO
.MACRO B_TEMPLOCAL1
.DEF @0 = r24 ; Local. Second Level Routine Safe
.ENDMACRO
.MACRO B_TEMPLOCAL2
.DEF @0 = r25 ; Local. Second Level Routine Safe
.ENDMACRO
B_TEMPLOCAL B_Temp ; General use names
B_TEMPLOCAL1 B_Temp1
B_TEMPLOCAL2 b_Temp2
;ISR LOCALS
; UNUSED
;.DEF Not_used= r29
; GLOBALS
;FLAGS_1 flag data
;.SET F_Flags_1= 0b11111111 ; All flags
.SET F_accel= 0b00000001 ; Accelerating if 1, decel if 0
.SET BF_accel= 0x00 ; Flag bit location
.SET F_brake= 0b00000010 ; Brake set if 1
.SET BF_brake= 0x01 ;
.SET F_stop= 0b00000100
.SET BF_stop= 0x02
.SET F_reverse= 0b00001000
.SET BF_reverse= 0x03
.SET F_negative_err= 0b00010000
.SET BF_negative_err= 0x04
.SET F_use_backemf= 0b00100000
.SET BF_use_backemf= 0x05
;.SET F_= 0b01000000
;.SET BF_= 0x06
;.SET F_= 0b10000000
;.SET BF_= 0x07
.ifdef SWITCH_LOWPASS_ENABLED
;FLAGS_2 flag data - count and status for forward/reverse/brake/stop
.SET F_Flags_2= 0b00001111 ; All flags
.SET F_stop_count= 0b00010000
.SET BF_stop_count= 0x04
.SET F_brake_count= 0b00100000
.SET BF_brake_count= 0x05
.SET F_reverse_count= 0b01000000
.SET BF_reverse_count= 0x06
.SET F_foreward_count= 0b10000000
.SET BF_foreward_count= 0x07
;bits 0-3 the count- from 0-16
.endif SWITCH_LOWPASS_ENABLED
;PORT SETUP STUFF
.SET emf_port= 0x05 ;PB5 - INPUT -- Back EMF input
.SET emf_port_bit= 0b00100000 ;PIN1 ADC0
.SET momentum_port= 0x04 ;PB4 - INPUT -- Momentum Level input
.SET momentum_port_bit= 0b00010000 ;PIN2 ADC3 Acceleration-indicator output
.SET dir_in_port= 0x03 ;PB3 - INPUT -- Direction/Brake
.SET dir_in_port_bit= 0b00001000 ;PIN3 ADC2 Deceleration-indicator output
.SET throttle_port= 0x02 ;PB2 - INPUT -- Throttle Handle MAY USE INT0
.SET throttle_port_bit= 0b00000100 ;PIN7 ADC1 (Could also use INTO
; INT0 as DCC input.)
.SET pwm_port= 0x01 ;PB1 - OUTPUT -- PWM (off L)
.SET pwm_port_bit= 0b00000010 ;PIN6 NO ADC
; ONLY PWM PIN.
.SET dir_out_port= 0x00 ;PB0 - OUTPUT -- '1' = forward
.SET dir_out_port_bit= 0b00000001 ;PIN5 NO ADC '0' = reverse
.SET acsr_val= 0b10000000 ; bit 7 --AC0 1 --comparator disabled
.SET eecr_read_enable= 0b00000001 ; bit 4,5,6,7 --unused
; bit 3 --EERIE 0 --interrupt disabled
; bit 2 --EEMWE 0 --master write disabled
; bit 1 --EEWE 0 --write disabled
; bit 0 --EERE 1 --read ENABLED
.SET eecr_mwrite_enable= 0b00000100 ; bit 4,5,6,7 --unused
; bit 3 --EERIE 0 --interrupt disabled
; bit 2 --EEMWE 1 --master write ENABLED
; bit 1 --EEWE 0 --write disabled
; bit 0 --EERE 0 --read disabled
.SET eecr_write_enable= 0b00000110 ; bit 4,5,6,7 --unused
; bit 3 --EERIE 0 --interrupt disabled
; bit 2 --EEMWE 1 --master write ENABLED
; bit 1 --EEWE 1 --write ENABLED
; bit 0 --EERE 0 --read disabled
.SET admux_emf= 0b00100000 ; bit 4,3 --unused
; bit 7 --REFS1 0 Two bits:
; bit 6 --REFS0 0 Select VCC volt reference
; bit 5 --ADLAR 1 left adjust, 8 bit data in ADCH
; bit 2 --MUX2 0 Three bits:
; bit 1 --MUX1 0
; bit 0 --MUX0 0 Select ADC0 from PB5
.SET admux_throttle= 0b00100001 ; bit 4,3 --unused
; bit 7 --REFS1 0 Two bits:
; bit 6 --REFS0 0 Select VCC volt reference
; bit 5 --ADLAR 1 left adjust, 8 bit data in ADCH
; bit 2 --MUX2 0 Three bits:
; bit 1 --MUX1 0
; bit 0 --MUX0 1 Select ADC1 from PB2
.SET admux_direction= 0b00100010 ; bit 4,3 --unused
; bit 7 --REFS1 0 Two bits:
; bit 6 --REFS0 0 Select VCC volt reference
; bit 5 --ADLAR 1 left adjust, 8 bit data in ADCH
; bit 2 --MUX2 0 Three bits:
; bit 1 --MUX1 1
; bit 0 --MUX0 0 Select ADC2 from PB3
.SET admux_momentum= 0b00100011 ; bit 4,3 --unused
; bit 7 --REFS1 0 Two bits:
; bit 6 --REFS0 0 Select VCC volt reference
; bit 5 --ADLAR 1 left adjust, 8 bit data in ADCH
; bit 2 --MUX2 0 Three bits:
; bit 1 --MUX1 1
; bit 0 --MUX0 1 Select ADC3 from PB4
.SET admux_off= 0b00000000 ; bit 4,3 --unused
; bit 7 --REFS1 0 Two bits:
; bit 6 --REFS0 0 Select VCC volt reference
; bit 5 --ADLAR 0 right adjust
; bit 2 --MUX2 0 Three bits:
; bit 1 --MUX1 0
; bit 0 --MUX0 0 Select ADC0 from PB5
.SET adcsr_off= 0b00010011 ; bit 7 --ADCEN 0 ADC enable disable
; bit 6 --ADSC 0 Start conversion no
; bit 5 --ADFR 0 Free running mode disable
; bit 4 --ADIF 1 Interrupt flag clear
; bit 3 --ADIE 0 Interrupt enable disabled
; bit 2 --ADPS2 0 Three bits:
; bit 1 --ADPS1 1
; bit 0 --ADPS0 1 Prescaler div 8 (200kHz)
.SET adcsr_enable= 0b11110011 ; bit 7 --ADCEN 1 ADC enable ENABLED
; bit 6 --ADSC 1 Start conversion yes
; bit 5 --ADFR 1 Free running mode ENABLED
; bit 4 --ADIF 1 Interrupt flag clear
; bit 3 --ADIE 0 Interrupt enable disabled
; bit 2 --ADPS2 0 Three bits:
; bit 1 --ADPS1 1
; bit 0 --ADPS0 1 Prescaler div 8 (200kHz)
.SET mcucr_power_down_mode= 0b00110000
; bit 7 --unused
; bit 6 --PUD 0 pullups ENABLED
; bit 5 --SE 1 sleep ENABLED
; bit 4 --SM1 1 Two bits:
; bit 3 --SM0 0 Sleep in power down mode
; bit 2 --unused
; bit 1 --ISC01 0 Two bits:
; bit 0 --ISC00 0 INTO interrupt on logic
; low input
.SET wdtcr_off_enable= 0b00011000 ; enable watchdog turn off
.SET wdtcr_off= 0b00010000 ; watchdog turn off
.SET gimsk_val_off= 0b00000000 ; bit 7,4,3,2,1,0 --unused
; bit 6 --INTO 0 INTO interrupt disabled
; bit 5 --PCIE 0 pin change interrupt disabled
.SET gimsk_val_pcie= 0b00100000 ; bit 7,4,3,2,1,0 --unused
; bit 6 --INTO 0 INTO interrupt disabled
; bit 5 --PCIE 1 pin change interrupt ENABLED
.SET gifr_clear= 0b01100000 ; bit 7,4,3,2,1,0 --unused
; bit 6 --INTF0 1 INTO interrupt flag cleared
; bit 5 --PCIF 1 pin ch. interrupt flag cleared
.SET timsk_val_off= 0b00000000 ; bit 7,5,4,3,0 --unused
; bit 6 --OCIE1A 0 TC1 compare interrupt disabled
; bit 2 --TOIE1 0 TC1 overflow interrupt disabled
; bit 1 --TOIE0 0 TC0 overflow interrupt disabled
.SET timsk_enable_t1= 0b01000000 ; bit 7,5,4,3,0 --unused
; bit 6 --OCIE1A 0 TC1 compare interrupt disabled
; bit 2 --TOIE1 0 TC1 overflow interrupt disabled
; bit 1 --TOIE0 0 TC0 overflow interrupt disabled
.SET tifr_clear_tov0= 0b00000010 ; bit 7,5,4,3,0 --unused
; bit 6 --OCF1A 0 OCF1A flag not cleared
; bit 2 --TOV1 0 TOV1 flag not cleared
; bit 1 --TOV0 1 TOV0 flag CLEARED
.SET tccr1_enable_t1= 0b01100011
; bit 7 --CTC1 0 Clear on compare match no
; bit 6 --PWM1 1 PWM mode ENABLED
; bit 5 --COM1A1 1 Two bits:
; bit 4 --COM1A0 0 Clear output on OCR1A match
; Set output when TCNT1 = 0
; bit 3 --CS13 0 Four bits:
; bit 2 --CS12 0
; bit 3 --CS11 1
; bit 4 --CS10 1 CK*4: 156.25nS
; 256cnt = 25kHz
.LIST
|
