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