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antenna_positioning_system_877.asm
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antenna_positioning_system_877.asm
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title “Antenna Positioning System”
#define _version “1.30”
;
; Update History: 5/6/2023
;
; Application Description/Comments
;
; Authors: Malik Mouhiidine, Osamah Awlaqi
;
; Hardware Notes:
;
LIST P=16F877A ; Device Specification
#INCLUDE <P16F877A.inc> ; Include Files/Registers
; Variable Register Declarations
; Macros
__CONFIG _CP_OFF & _XT_OSC & _PWRTE_ON & _WDT_OFF & _BODEN_OFF
CBLOCK 0x0C
COMPT1
COMPT2
SAVE_WORK_COMPT
SAVE_WORK_COMPT_5M
DUTY_CYCLE
SAVE_DUTY_CYCLE
SAVE_WORK_ADC
ENDC
CBLOCK 0x20
DIVISOR
QUOTIEN
DIVIDER
SAVE_WORK_CALC
REMAINDER
POSITION
POSITION_COMPT_TIMER
ACTION
ENDC
ORG 0
MAINLINE:
BSF STATUS,RP0 ; Select bank 1
MOVLW b'00000000' ; Configure ADCON1 for Fosc/32 and AN0 as analog input
MOVWF ADCON1
MOVLW b'00000111'
MOVWF TRISB
MOVLW b'00000000'
MOVWF TRISC
MOVLW b'00000000'
MOVWF TRISD
MOVLW d'255' ; Set the Cycle time to 255 for varying the duty cycle from 0-255
MOVWF PR2
BCF STATUS,RP0 ; Select bank 0
MOVLW 0x0F ; Select the PWM mode.
MOVWF CCP1CON
MOVWF CCP2CON
MOVLW d'255'
MOVWF CCPR1L
MOVWF CCPR2L
MOVLW b'00000111'
BSF T2CON, 2 ; Start the Timer for PWM generation (TMR2ON)
MOVLW h'38'
CALL LCD_COMMAND
MOVLW h'06'
CALL LCD_COMMAND
MOVLW h'0C'
CALL LCD_COMMAND
MOVLW h'01'
CALL LCD_COMMAND
CALL DELAY_5MS
CLRF PORTB
CLRF PORTC
CLRF PORTD
MOVLW b'00000001'
MOVWF ACTION ; bit 0,1,2 => stop, right, left
BSF STATUS,RP1 ;
BCF STATUS,RP0 ; Bank 2
MOVLW h'10' ; Data Memory
MOVWF EEADR ; Address to read
BSF STATUS,RP0 ; Bank 3
BCF EECON1,EEPGD ; Point to Data memory
BSF EECON1,RD ; EE Read
BCF STATUS,RP0 ; Bank 2
MOVF EEDATA,W ; W = EEDATA
BCF STATUS,RP1 ;
BCF STATUS,RP0 ; Bank 0
MOVWF POSITION
MOVLW d'255'
MOVWF POSITION_COMPT_TIMER
GOTO MAINLINE_CODE
MAINLINE_CODE:
CALL ADC
CALL TURN
GOTO MAINLINE_CODE
TURN:
BTFSS PORTB, 2
CALL STOP_ACTION
BTFSS PORTB, 0
CALL RIGHT_ACTION
BTFSS PORTB, 1
CALL LEFT_ACTION
BTFSC ACTION, 0
CALL REALLY_STOP
BTFSC ACTION, 1
CALL TEST_RIGHT
BTFSC ACTION, 2
CALL TEST_LEFT
CALL SHOW_SPEED
CALL SHOW_POSITION
CALL SAVE_POSITION
RETURN
RIGHT_ACTION:
BSF ACTION, 1
BCF ACTION, 0
BCF ACTION, 2
RETURN
LEFT_ACTION:
BSF ACTION, 2
BCF ACTION, 0
BCF ACTION, 1
RETURN
STOP_ACTION:
BSF ACTION, 0
BCF ACTION, 1
BCF ACTION, 2
RETURN
SAVE_POSITION:
BSF STATUS,RP1
BSF STATUS,RP0
WAIT_WRITE:
BTFSC EECON1,WR ;Wait for write
GOTO WAIT_WRITE ;to complete
BCF STATUS, RP0 ;Bank 2
MOVLW h'10' ;Data Memory
MOVWF EEADR ;Address to write
BCF STATUS,RP1
MOVF POSITION, W ;Data Memory Value
BSF STATUS,RP1
MOVWF EEDATA ;to write
BSF STATUS,RP0 ;Bank 3
BCF EECON1,EEPGD ;Point to DATA memory
BSF EECON1,WREN ;Enable writes
MOVLW h'55' ;
MOVWF EECON2 ;Write 55h
MOVLW h'AA' ;
MOVWF EECON2 ;Write AAh
BSF EECON1,WR ;Set WR bit to begin write
BCF EECON1,WREN ;Disable writes
BCF STATUS,RP1
BCF STATUS,RP0
RETURN
SHOW_POSITION:
MOVLW h'C0' ; Set cursor to second line first column
CALL LCD_COMMAND
MOVLW h'50' ; P
CALL LCD_DATA
MOVLW h'4F' ; O
CALL LCD_DATA
MOVLW h'53' ; S
CALL LCD_DATA
MOVLW h'49' ; I
CALL LCD_DATA
MOVLW h'54' ; T
CALL LCD_DATA
MOVLW h'49' ; I
CALL LCD_DATA
MOVLW h'4F' ; O
CALL LCD_DATA
MOVLW h'4E' ; N
CALL LCD_DATA
MOVLW h'3A' ; :
CALL LCD_DATA
MOVF POSITION, W
CALL SHOW_THREE_NUMBERS
RETURN
SHOW_SPEED:
MOVLW h'80'
CALL LCD_COMMAND
MOVLW "S"
CALL LCD_DATA
MOVLW "P"
CALL LCD_DATA
MOVLW "E"
CALL LCD_DATA
MOVLW "E"
CALL LCD_DATA
MOVLW "D"
CALL LCD_DATA
MOVLW ":"
CALL LCD_DATA
MOVF DUTY_CYCLE, W
CALL SHOW_THREE_NUMBERS
RETURN
SHOW_THREE_NUMBERS:
MOVWF SAVE_WORK_CALC
MOVLW d'100'
SUBWF SAVE_WORK_CALC, W
BTFSC STATUS, 0
CALL SHOW_FIRST_NUM
BTFSS STATUS, 0
CALL SHOW_BLANK
MOVLW d'9'
SUBWF SAVE_WORK_CALC, W
BTFSC STATUS, 0
CALL SHOW_SECOND_NUM
BTFSS STATUS, 0
CALL SHOW_BLANK
CALL SHOW_THIRD_NUM
MOVF SAVE_WORK_CALC, W
RETURN
SHOW_BLANK:
MOVLW b'00000000'
CALL LCD_DATA
RETURN
SHOW_FIRST_NUM:
MOVF SAVE_WORK_CALC, W
MOVWF DIVISOR
MOVLW d'100'
MOVWF DIVIDER
CLRF QUOTIEN
CLRF REMAINDER
CALL DIV
MOVLW b'00110000'
ADDWF QUOTIEN, W
CALL LCD_DATA
BSF STATUS, 0
RETURN
SHOW_SECOND_NUM:
MOVF SAVE_WORK_CALC, W
MOVWF DIVISOR
MOVLW d'100'
MOVWF DIVIDER
CLRF QUOTIEN
CLRF REMAINDER
CALL DIV
MOVF REMAINDER, DIVISOR
MOVLW d'10'
MOVWF DIVIDER
CLRF REMAINDER
CLRF QUOTIEN
CALL DIV
MOVLW b'00110000'
ADDWF QUOTIEN, W
CALL LCD_DATA
BSF STATUS, 0
RETURN
SHOW_THIRD_NUM:
MOVF SAVE_WORK_CALC, W
MOVWF DIVISOR
MOVLW d'10'
MOVWF DIVIDER
CLRF QUOTIEN
CLRF REMAINDER
CALL DIV
MOVLW b'00110000'
ADDWF REMAINDER, W
CALL LCD_DATA
RETURN
DIV:
CHECK:
MOVF DIVIDER, W
SUBWF DIVISOR, W
BTFSC STATUS, 0
GOTO SUB
BTFSS STATUS, 0
GOTO RET
SUB:
MOVF DIVIDER, W
SUBWF DIVISOR, F
MOVLW d'1'
ADDWF QUOTIEN, F
GOTO CHECK
RET:
MOVF DIVISOR, W
MOVWF REMAINDER
RETURN
TEST_RIGHT:
MOVLW d'255'
SUBWF POSITION, W
BTFSC STATUS, 0
CALL MAX_POSITION
BTFSS STATUS, 0
CALL RIGHT
RETURN
TEST_LEFT:
MOVLW d'0'
SUBWF POSITION, W
BTFSC STATUS, 2
CALL MIN_POSITION
BTFSS STATUS, 2
CALL LEFT
RETURN
MAX_POSITION:
MOVLW d'255'
MOVWF POSITION
CALL SHOW_MAX
CALL REALLY_STOP
RETURN
MIN_POSITION:
MOVLW d'0'
MOVWF POSITION
CALL SHOW_MIN
CALL REALLY_STOP
BSF STATUS, 2
RETURN
REMOVE_SHOW_RIGHT_OR_LEFT:
MOVLW h'CD'
CALL LCD_COMMAND
MOVLW h'00'
CALL LCD_DATA
MOVLW h'00'
CALL LCD_DATA
MOVLW h'00'
CALL LCD_DATA
RETURN
SHOW_MIN:
MOVLW h'CD'
CALL LCD_COMMAND
MOVLW h'4D' ; M
CALL LCD_DATA
MOVLW h'49' ; I
CALL LCD_DATA
MOVLW h'4E' ; N
CALL LCD_DATA
RETURN
SHOW_MAX:
MOVLW h'CD'
CALL LCD_COMMAND
MOVLW h'4D' ; M
CALL LCD_DATA
MOVLW h'41' ; A
CALL LCD_DATA
MOVLW h'58' ; X
CALL LCD_DATA
RETURN
RIGHT:
CALL TURN_RIGHT
CALL SHOW_RIGHT
CALL REMOVE_SHOW_RIGHT_OR_LEFT
DECFSZ POSITION_COMPT_TIMER, F
CALL INCREMENT_POSITION
RETURN
LEFT:
CALL TURN_LEFT
CALL SHOW_LEFT
CALL REMOVE_SHOW_RIGHT_OR_LEFT
DECFSZ POSITION_COMPT_TIMER, F
CALL DECREMENT_POSITION
RETURN
INCREMENT_POSITION:
INCF POSITION, F
MOVLW d'255'
MOVWF POSITION_COMPT_TIMER
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
RETURN
DECREMENT_POSITION:
DECF POSITION, F
MOVLW d'255'
MOVWF POSITION_COMPT_TIMER
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
CALL DELAY_5MS
RETURN
SHOW_STOP:
MOVLW h'8A'
CALL LCD_COMMAND
MOVLW "S"
CALL LCD_DATA
MOVLW "T"
CALL LCD_DATA
MOVLW "O"
CALL LCD_DATA
MOVLW "P"
CALL LCD_DATA
MOVLW h'00'
CALL LCD_DATA
RETURN
SHOW_RIGHT:
MOVLW h'8A'
CALL LCD_COMMAND
MOVLW "R"
CALL LCD_DATA
MOVLW "I"
CALL LCD_DATA
MOVLW "G"
CALL LCD_DATA
MOVLW "H"
CALL LCD_DATA
MOVLW "T"
CALL LCD_DATA
RETURN
SHOW_LEFT:
MOVLW h'8A'
CALL LCD_COMMAND
MOVLW "L"
CALL LCD_DATA
MOVLW "E"
CALL LCD_DATA
MOVLW "F"
CALL LCD_DATA
MOVLW "T"
CALL LCD_DATA
MOVLW h'00'
CALL LCD_DATA
RETURN
LCD_COMMAND:
MOVWF PORTD
BCF PORTC, 5 ; RS
BCF PORTC, 6 ; RW
BSF PORTC, 7 ; E
CALL DELAY
BCF PORTC, 7 ; E
RETURN
LCD_DATA:
MOVWF PORTD
BSF PORTC, 5 ; RS
BCF PORTC, 6 ; RW
BSF PORTC, 7 ; E
CALL DELAY
BCF PORTC, 7 ; E
RETURN
TURN_RIGHT:
MOVF DUTY_CYCLE, W
SUBWF d'255', W
MOVWF CCPR2L
CALL DELAY
RETURN
TURN_LEFT:
MOVF DUTY_CYCLE, W
SUBWF d'255', W
MOVWF CCPR1L
CALL DELAY
RETURN
REALLY_STOP:
MOVLW d'255'
MOVWF CCPR1L
MOVWF CCPR2L
CALL DELAY
CLRF PORTC
CALL SHOW_STOP
RETURN
ADC:
MOVWF SAVE_WORK_ADC
; Start ADC conversion
MOVLW b'10000111'
MOVWF ADCON0
; Wait for conversion to complete
WAIT_CONVERSION:
BTFSC ADCON0, 2
GOTO WAIT_CONVERSION
; Read digital value
MOVF ADRESH, W
MOVWF DUTY_CYCLE
CALL DELAY_5MS
MOVF SAVE_WORK_ADC, W
RETURN
DELAY_5MS:
MOVF DUTY_CYCLE, SAVE_DUTY_CYCLE
MOVWF SAVE_WORK_COMPT_5M
MOVLW d'249'
MOVWF COMPT2
OUTER_LOOP:
MOVLW d'249'
MOVWF COMPT1
LOOP:
DECFSZ COMPT1, f
GOTO LOOP
DECFSZ COMPT2, f
GOTO OUTER_LOOP
MOVF SAVE_WORK_COMPT_5M, W
MOVF SAVE_DUTY_CYCLE, DUTY_CYCLE
RETURN
DELAY:
MOVF DUTY_CYCLE, SAVE_DUTY_CYCLE
MOVWF SAVE_WORK_COMPT
MOVLW d'10'
MOVWF COMPT2
_OUTER_LOOP:
MOVLW d'249'
MOVWF COMPT1
_LOOP:
DECFSZ COMPT1, f
GOTO _LOOP
DECFSZ COMPT2, f
GOTO _OUTER_LOOP
MOVF SAVE_WORK_COMPT, W
MOVF SAVE_DUTY_CYCLE, DUTY_CYCLE
RETURN
END