BASE CLRWDT MOVLW B'00011111' ANDWF STATUS,F ; ; BI0 ;INT TIMER FLAGS ;{ BI0.1 MOVLW .10 SUBWF Q.INT.100MCS,W BTFSS STATUS,C GOTO BI0.2 ; MOVWF Q.INT.100MCS ; BANKSEL Q.INT.1MS ;B1 !!! INCF Q.INT.1MS,F ; SWAPF Q.INT.1MS,W ;b'PREV:NEW' XORWF Q.INT.1MS,W BTFSC STATUS,Z GOTO BI0.2 ;EACH 1MS ; CALL INT1MS ; BANKSEL Q.INT.1MS MOVF Q.INT.1MS,W ADDLW B'00010000' ;FOR b'xxxx=xxxx' MOVWF Q.INT.1MS ANDLW B'00001111' SUBLW .9 BTFSS STATUS,C CLRF Q.INT.1MS ;00H ; B0 MOVLW Q.INT.1MS MOVWF FSR ;;;;; MOVLW LOW TAB.INT.10MS LGOTO TAB.P2 ;PAGE2 ;;;;; ;BTFSC INT.1MS ;GOTO BI.1MS BI0.2 B0 BTFSS INT.250MS GOTO BI0.3 LGOTO BI.250MS.P1 BI0.3 ; BI0.OUT B0 ;}; ; BI2 ;{ ;}; BI3 ;{ BI3.OUT ;}; BI4 ; ;{ ;}; BI5 ;{ ;}; B01 ;{ B01.OUT ;}; ; C1.CHECK ;{ ;BTFSC Q.DR.ZUB_0 ;GOTO C1.CH.OUT ; BTFSS C1.INT.OK GOTO C1.CH.OUT ; BCF C1.INT.OK ; ;BSF P.PIP ; CALL TOUT.DR.XY ;C CALL L.T.DR BCF XY.SP.UP.MODE ; ; MOVLW .1 SUBWF Q.DR.ZUB.L,F BTFSS STATUS,C SUBWF Q.DR.ZUB.H,F BTFSC STATUS,C GOTO IP.XY.1 ; MOVCFQ .0,Q.DR.ZUB.L,.2 MOVLW .34 BTFSS ERR.IND CALL L.ERR ; ;FULL POSITION INC/DEC IP.XY.1 MOVLW Q.REG.H ; BTFSC DVIG.X MOVLW POS.ZUB.X.L BTFSC DVIG.Y MOVLW POS.ZUB.Y.L MOVWF FSR ;''' BTFSS DR.FR_RE GOTO IP.XY.SUB ;ADD ZUB MOVLW .1 ADDWF INDF,F INCF FSR,F BTFSC STATUS,C ADDWF INDF,F ; GOTO IP.XY.OUT ; ;SUB ZUB IP.XY.SUB MOVLW .1 SUBWF INDF,F INCF FSR,F BTFSS STATUS,C SUBWF INDF,F BTFSS STATUS,C CLRF INDF DECF FSR,F BTFSS STATUS,C CLRF INDF ; IP.XY.OUT ; C1.CH.OUT ;}; CH.Q.DR.ZUB_0 ;{ CLRW ADDWF Q.DR.ZUB.L,F BTFSC STATUS,Z ADDWF Q.DR.ZUB.H,F BSF Q.DR.ZUB_0 BTFSS STATUS,Z BCF Q.DR.ZUB_0 ;}; ; DRIVE_JOB ;{ ;1-UP,2-RIGHT,3-DOWN,4-LEFT,5-EZD FRONT,6-EZD REAR ; BTFSS DR.ON GOTO DR.OUT ; ;''' DR.SC.TAB MOVLW LOW TAB.DR GOTO TAB ;''' ;}; DR.SC0 ;SELECT & ON RELAY ;{ BTFSS Z.T.DR.250 BTFSC Z.T.DR GOTO DR.OUT ; BTFSC DR.OFF GOTO DR.S.TORM.ON ; BTFSC DVIG.Z GOTO DR.SC0.Z ; BTFSC Q.DR.ZUB_0 BTFSC DR.MAN GOTO DR.SC0.XY GOTO DR.S.TORM.ON ;NOT RELAY ON (IMITATION JOB) ; DR.SC0.XY BCF XY.SP.UP.MODE BTFSC DR.MAN BCF P.TORM.OFF ; BTFSS DVIG.Y GOTO DR.SC0.CH.X ; BSF P.DVIG.Y ; GOTO DR.SC0.OUT ; DR.SC0.CH.X MOVLW .33 BTFSS DVIG.X GOTO DR.ERR.OUT ; BSF P.DVIG.X ; GOTO DR.SC0.OUT ; DR.SC0.Z BSF P.DVIG.Z ; BCF DR.A.NOT.PAUSE MOVF Z.STEP,W CALL L.IND2.WDAT CALL L.IND3.EMP BCF P.TORM.OFF ; DR.SC0.OUT ; MOVLW .5 ;x10MS CALL L.T.DR ;LOAD DELAY & set Z.T.DR MOVLW .1 CALL L.DR.STAT ;}; DR.SC1 ;SELECT VESPER CH ;{ BTFSC Z.T.DR GOTO DR.OUT ; BTFSS DR.FR_RE BSF P.S2 ;RE ; BTFSC DR.FR_RE BSF P.S1 ; ; LOAD FIRST TOUT ;Z BTFSS DVIG.Z GOTO DR.SC1.XY1 ; CALL TOUT.DR.Z ;C CALL L.T.DR.250 BCF Z.S.OK MOVLW .5 MOVWF Q.H.XX ; GOTO DR.SC1.OUT ; ;XY DR.SC1.XY1 CALL TOUT.FIRST.DR.Y.UP ;C BTFSS DR.FR_RE CALL TOUT.FIRST.DR.Y.DOWN ;C BTFSS DVIG.Y CALL TOUT.FIRST.DR.X ;C CALL L.T.DR ; BTFSS DVIG.Y GOTO DR.SC1.X1 ;SAVE CUR HORDA MOVCFQ .0,UP.HORDA.L,.2 ; BTFSC DR.FR_RE GOTO DR.SC1.XY2 ; DOWN DRIVE MOVFQFQ CUR.HORDA.L,.2,UP.HORDA.L,.2 GOTO DR.SC1.XY2 ; DR.SC1.X1 BSF H.F.XX ;FOR Z [XX] ; DR.SC1.XY2 MOVLW .100 CALL L.T.DR.1 ;FOR DELAY C1 ON BSF FL.C1.ON ; ;LOAD NEXT LEVEL DR.SC1.OUT MOVLW .2 CALL L.DR.STAT ; GOTO DR.OUT ;}; DR.SC2 ;JOB XYZ ;{ CLRF T.REG.1S CLRW BTFSC ERR.H.PIL GOTO DR.ERR.OUT ; BTFSC DVIG.Z GOTO DR.SC2.Z ; DR.SC2.2 BTFSS DR.MAN GOTO DR.SC2.3 ; DR.MAN BTFSC DR.OFF GOTO DR.S.TORM.ON ; CALL CH.GR.OUT XORLW .1 BTFSS STATUS,Z GOTO DR.S.TORM.ON ;RIGHT/UP LIM GOTO DR.SC2.FIX.SP ; ; DR.AUTO DR.SC2.3 ;MOVLW .19 BTFSC Z.T.DR GOTO DR.SC2.4 ; TIMEOUT BTFSS DVIG.X GOTO DR.SC2.XY.SP.UP ; BTFSS DR.UNLIM GOTO DR.SC2.XY.SP.UP ; BTFSS DR.FR_RE BTFSS GR.L.X GOTO DR.SC2.31 MOVCFQ .0,POS.ZUB.X.L,.2 ;SET 0 POSITION GOTO DR.SC2.32 ; DR.SC2.31 BTFSC DR.FR_RE BTFSS GR.R.X GOTO DR.SC2.XY.SP.UP ;MAX X CALIBR CALL MAX.POS.X.L ;C MOVWF POS.ZUB.X.L CALL MAX.POS.X.H ;C MOVWF POS.ZUB.X.H ; DR.SC2.32 MOVLW .1 CALL LOAD.PIP MOVLW .3 CALL LOAD.LED GOTO DR.S.TORM.OFF ; DR.SC2.4 BTFSC Q.DR.ZUB_0 GOTO DR.S.TORM.OFF ; DR.SC2.47 BTFSC DR.OFF GOTO DR.S.TORM.ON ; DR.SC2.5 BTFSC ERR.POS GOTO DR.SC2.67 ;MIN SP ; ; SQR^2(Q.DR.ZUB)*C.X-C.X1=RAS.SP DR.SC2.6 BTFSC XY.SP.UP.MODE GOTO DR.OUT ; BTFSC SQR.JOB GOTO DR.OUT ; BSF P.TORM.OFF BANKSEL SQR.REZ.L MOVF SQR.REZ.L,W BANKSEL 0H MOVWF REZ.L ; MOVLW Q.DR.ZUB.L MOVWF FSR CALL L.SQR ; CALL C.Y.UP ;C BTFSS DR.FR_RE CALL C.Y.DOWN ;C BTFSS DVIG.Y CALL C.X ;C ; CALL MUL1B1B ;W*REZ.L MOVLW .10 MOVWF REG.AL CALL DIV2B1B ; CALL C.Y1.UP ;C BTFSS DR.FR_RE CALL C.Y1.DOWN ;C BTFSS DVIG.Y CALL C.X1 ;C ; SUBWF REZ.L,F MOVLW .1 BTFSS STATUS,C SUBWF REZ.M,F BTFSC STATUS,C GOTO DR.SC2.7 ; DR.SC2.67 CLRF REZ.L GOTO L.SP.MIN ; DR.SC2.7 ;L.SP.XY CALL MAX.PWM.X ;C BTFSC DVIG.Y CALL MAX.PWM.Y ;C MOVWF REZ.H ;MAX ; MOVF REZ.M,F BTFSC STATUS,Z GOTO L.S.2 L.SP.MAX MOVF REZ.H,W ;L.MAX GOTO L.S.OUT ; L.S.2 MOVF REZ.L,W SUBWF REZ.H,W BTFSS STATUS,C GOTO L.SP.MAX ;CH.MIN L.SP.MIN CALL MIN.PWM.Y.UP ;C BTFSS DR.FR_RE CALL MIN.PWM.Y.DOWN ;C BTFSS DVIG.Y CALL MIN.PWM.X ;C MOVWF REZ.M ; MOVF REZ.L,W SUBWF REZ.M,W ;MIN-CUR ; MOVF REZ.L,W BTFSC STATUS,C MOVF REZ.M,W ;L.MIN ; L.S.OUT CALL WR.PWM2 ; GOTO DR.OUT ; DR.SC2.XY.SP.UP MOVLW .19 BTFSC XY.SP.UP.MODE GOTO DR.ERR.OUT ; BSF XY.SP.UP.MODE ;ON MODE CALL TOUT.DR.XY.SP.UP ;C CALL L.T.DR BSF REZ.M,0 GOTO DR.SC2.7 ;}; DR.SC2.Z ; ;{ BTFSS DR.MAN GOTO DR.SC2.Z.A ;MAN MODE CALL CH.GR.OUT XORLW .12 MOVLW .12 BTFSC STATUS,Z GOTO DR.ERR.OUT BTFSC DR.OFF GOTO DR.S.TORM.ON GOTO DR.SC2.FIX.SP ; DR.SC2.Z.A CALL CH.GR.OUT XORLW .1 MOVLW .12 BTFSS STATUS,Z GOTO DR.ERR.OUT ; DR.SC2.Z.2 BTFSC DR.OFF GOTO DR.S.TORM.ON ; DR.SC2.Z.1 MOVLW .19 BTFSS Z.T.DR.250 GOTO DR.ERR.OUT ; ;LIM SP IN CUR POS BTFSC DR.FR_RE GOTO DR.SC2.Z.FR ;REAR MOVF Z.STEP,F CALL MAX.SP.Z.POS0 ;C BTFSC STATUS,Z GOTO DR.SC2.Z.LIM.SP MOVLW .1 XORWF Z.STEP,W CALL MAX.SP.Z.POS1 ;C BTFSC STATUS,Z GOTO DR.SC2.Z.LIM.SP GOTO DR.SC2.Z.A.SP ;FRONT DR.SC2.Z.FR MOVLW .13 XORWF Z.STEP,W CALL MAX.SP.Z.POS13 ;C BTFSC STATUS,Z GOTO DR.SC2.Z.LIM.SP MOVLW .12 XORWF Z.STEP,W CALL MAX.SP.Z.POS12 ;C BTFSC STATUS,Z GOTO DR.SC2.Z.LIM.SP MOVLW .11 XORWF Z.STEP,W CALL MAX.SP.Z.POS11 ;C BTFSC STATUS,Z GOTO DR.SC2.Z.LIM.SP ; DR.SC2.Z.A.SP ;AUTO SEL SP ; BTFSC ON.PIL BTFSS ON.PIL1 GOTO DR.SC2.FIX.SP ; CALL RD.PWM2 ;OUT:REZ.H ; CALL C.MIN.POS.Z ;C MOVWF Q.REG.H MOVF Z.STEP,W SUBWF Q.REG.H,W ; BTFSC STATUS,C GOTO DR.SC2.Z.START ; ;BTFSC H.F.XX ;GOTO DR.SC2.Z.START ;AUTO SPEED SEL DR.SC2.Z.003 MOVF H.F.H,F BTFSS STATUS,Z GOTO DR.SC2.Z.001 ; CALL H.POR.JOB.SP ;C SUBWF H.F.L,W BTFSS STATUS,Z BTFSS STATUS,C GOTO DR.SC2.Z.002 ; DR.SC2.Z.001 ;BSF P.LED CALL MAX.PWM.Z.FR ;C BTFSS DR.FR_RE CALL MAX.PWM.Z.RE ;C ; GOTO DR.SC2.FS.1 ; DR.SC2.Z.002 ;BCF P.LED CALL MIN.PWM.Z ;C GOTO DR.SC2.FS.1 ; DR.SC2.Z.START CALL H.XX.SP.Z ;C ;MOVWF Q.REG.H ;ST ;MOVF H.F.H,F ;BTFSS STATUS,Z ;GOTO DR.SC2.Z.START.1 ;>255 ; ;CALL H.POR.XX.SP ;C ;SUBWF H.F.L,W ; ;CALL H.XX.SP.Z ;C ;BTFSC STATUS,C ;GOTO DR.SC2.Z.START.1 ; ;DECFSZ Q.H.XX,F GOTO DR.SC2.FS.1 ; ;BCF H.F.XX ;GOTO DR.SC2.Z.A.SP ; DR.SC2.Z.START.1 ;MOVLW .10 ;MOVWF Q.H.XX ;MOVF Q.REG.H,W ;GOTO DR.SC2.FS.1 ; DR.SC2.Z.LIM.SP MOVWF REG.AL BTFSC DR.FR_RE SUBWF F.MANUAL.Z,W BTFSS DR.FR_RE SUBWF F.MANUAL.Z.RET,W MOVF REG.AL,W BTFSC STATUS,C GOTO DR.SC2.L.SP ; DR.SC2.FIX.SP CALL RD.PWM2 ;OUT:REZ.H ; MOVF F.MANUAL.X,W BTFSC DVIG.Y MOVF F.MANUAL.Y,W BTFSS DVIG.Z GOTO DR.SC2.FS.1 MOVF F.MANUAL.Z,W BTFSS DR.FR_RE MOVF F.MANUAL.Z.RET,W ; DR.SC2.FS.1 SUBWF REZ.H,F BTFSS STATUS,Z DR.SC2.L.SP CALL WR.PWM2 GOTO DR.OUT ;}; DR.ERR.OUT ;DR.TORM ;{ CALL L.ERR BSF DR.ERR GOTO DR.S.TORM ; DR.S.TORM.OFF BSF P.TORM.OFF ;TORM.OFF GOTO DR.S.TORM DR.S.TORM.ON BCF P.TORM.OFF BCF DR.ERR ; DR.S.TORM BTFSS DR.FR_RE BCF P.S2 BTFSC DR.FR_RE BCF P.S1 ; MOVLW .3 ;LAST LEVEL CALL L.DR.STAT MOVLW .5 CALL L.T.DR ;}; DR.SC3 ;{ BTFSS DVIG.Z GOTO DR.SC3.1XY ; BTFSS GR.END.Z BTFSC GR.START.Z GOTO DR.SC3.NW ;NO WAIT GOTO DR.SC3.1 ; DR.SC3.1XY BTFSC DR.ERR GOTO DR.SC3.NW ;NO WAIT ; DR.SC3.1 BTFSS Z.T.DR BTFSS _VESPER.JOB GOTO DR.OUT ; DR.SC3.NW CALL DR.SC.OFF ; BTFSS DR.ERR ;out with err GOTO DR.SC3.Z ; BCF DR.ERR GOTO DR.OUT ; ;;; CH PREV DVIG JOB FOR NEXT AUTO JOB ; ; DR.SC3.Z BTFSS DR.MAN BTFSS RAD.OK GOTO DR.OUT ; BTFSC Z.LIM.POS.MAN GOTO DR.OUT ; BTFSS DVIG.Z GOTO DR.SC3.XY ;AFTER Z ; BTFSS Z.S.OK ;izm max pos (inv) GOTO DR.SC3.OFF ; ;BCF H.F.XX ;! ADD 02.06.20 ; BTFSC MAX.POS.Z GOTO DR.SC3.Z.MAX ; MOVLW .6 ;AFTER Z ; X or Y CALL L.DR.STAT ; GOTO DR.OUT ; DR.SC3.Z.MAX BTFSS DR.A.NOT.PAUSE GOTO DR.SC3.X.3 GOTO DR.SC3.51 ; DR.SC3.XY ; DR.SC3.Y BTFSS DVIG.Y GOTO DR.SC3.X ;AFTER Y ;GO TO 0 & AFTER X RET ; DR.SC3.Y.3 BCF X.RET ; DR.SC3.Y.4 MOVLW .4 CALL L.DR.STAT GOTO DR.OUT ; ;AFTER X DR.SC3.X BTFSC DVIG.X BTFSC CLEAN.X GOTO DR.OUT ; BTFSC X.RET GOTO DR.SC3.Y.4 ; GOTO RET X ; DR.SC3.X.3 BTFSC DR.A.PAUSE.OFF GOTO DR.SC3.51 BSF DR.A.PAUSE GOTO DR.OUT ;AUTO Z DR.SC3.51 MOVLW .5 CALL L.DR.STAT MOVLW .2 BSF L.IMP CALL LOAD.PIP ;CALL DELAY.RET.Z ;C ;CALL L.T.DR.250 GOTO DR.OUT ; DR.SC3.OFF BCF DR.ON CLRW CALL LOAD.LED GOTO DR.OUT ;}; DR.SC4 ;AFTER Y (& FULL LEFT) ;X RET ;{ BTFSC Z.T.DR GOTO DR.OUT ; CLRF FL.DR ;CL OLD STATUS BSF DVIG.X ; BTFSC X.RET GOTO DR.SC4.RET.2 ; DR.FR_RE=0 BSF X.RET ;! BSF F.AX.X ; FIRST X AXIS NOT JOB CURRENT SLOY BSF DR.UNLIM CALL DRLD.XY ;CL L.DR.STAT GOTO DR.OUT ; DR.SC4.RET.2 BCF X.RET CALL CH.ST.AX.SH.HORDA ; MOVFQFQ REZ.L,.2,Q.REG.L,.2 ;ST AXIS CUR HORDA ; BTFSC RAD2.OK GOTO DR.SC4.R2 ; BTFSC UP.HORDA.OK GOTO DR.SC4.NP ; CALL CH.ST.AX.CUR.HORDA GOTO DR.SC4.R2.01 ; DR.SC4.NP CALL DRLD.NEW.POS BCF F.AX.X ;FIRST X AXIS JOB GOTO DR.OUT ; ; DR.SC4.R2 ; MID POS - H/2(R2) CALL MID.POS.X.L ;C MOVWF REZ.L CALL MID.POS.X.H ;C MOVWF REZ.M ; MOVLW CUR.HORDA2.L CALL SUB22 ; DR.SC4.R2.01 MOVFQFQ REZ.L,.2,Q.NN2.L,.2 ;ST AXIS CUR HORDA R2 (or R1) ; BTFSS UP.HORDA.OK GOTO DR.SC4.R2.1 ; MOVFQFQ Q.REG.L,.2,REZ.L,.2 ;AXIS CUR HORDA MOVLW Q.NN2.L CALL SUB22 ; CALL MAX.PIL.X ;C MOVWF REG.AL MOVLW REG.AL CALL SUB21 ; BTFSC A_B GOTO DR.SC4.R2.1 ; MOVFQFQ Q.REG.L,.2,REZ.L,.2 GOTO DR.SC4.NP ; DR.SC4.R2.1 CALL MAX.PIL.X ;C ADDWF Q.NN2.L,W MOVWF REZ.L MOVLW .1 BTFSS STATUS,C CLRW ADDWF Q.NN2.H,W MOVWF REZ.M ; CALL DRLD.NEW.POS GOTO DR.OUT ;}; DR.SC5 ;AFTER X; LOAD Z JOB ;{ BTFSC Z.T.DR GOTO DR.OUT ; CLRF FL.DR BSF DVIG.Z ; ;CALL DELAY.DR.A.Z ;CALL L.T.DR.250 ; CALL C.MIN.POS.Z ;C MOVWF REG.AL MOVF Z.STEP,W SUBWF REG.AL,W ; BCF DR.FR_RE BTFSC STATUS,C BSF DR.FR_RE ; CALL DRLD.Z XORLW .1 BTFSC STATUS,Z GOTO DR.OUT ; XORLW .1 GOTO DR.ERR.OUT ;}; DR.SC6 ;AFTER Z ; X or Y ;{ BTFSC Z.T.DR GOTO DR.OUT ; CLRF FL.DR BSF DVIG.X BSF DR.FR_RE ;RIGHT ; BTFSS UP.HORDA.OK GOTO DR.SC6.OUT.RIGHT ; ;L or R OF LEFT AXIS CUR HORDA? ; MID POS - CUR H/2 BTFSS F.AX.X GOTO DR.SC6.R1.2 ; CALL CH.ST.AX.SH.HORDA ; MOVLW POS.MM.X.L CALL SUB22 ; DR.SC6.6 BTFSS A_B GOTO DR.SC6.R1.2 ;CUR.POS RIGHT BY ST.AXIS ; CALL MAX.PIL.X ;C MOVWF Q.NN1.L MOVLW Q.NN1.L CALL SUB21 ; BTFSS B_A GOTO DR.SC6.4 ; ;IMIT RET.X ; GO TO X FIRST AXIS CALL CH.ST.AX.SH.HORDA ; CALL DRLD.NEW.POS BCF F.AX.X ;FIRST X AXIS JOBER GOTO DR.OUT ; DR.SC6.4 ;MAX PIL X = Q.NN1.L CLRF Q.NN1.H ; CALL DRLD.XY XORLW .1 BTFSC STATUS,Z GOTO DR.OUT GOTO DR.NN.ERR ; ;;L or R OF RIGHT AXIS CUR HORDA? DR.SC6.R1.2 BTFSC OVER.POS.X.SHORT.HORDA GOTO DR.SC6.OUT.RIGHT ; ;IN OBREZ ZONA BANKSEL OST.POS.MM.X.L MOVFQFQ OST.POS.MM.X.L,.2,REZ.L,.2 ;ST ;OSTATOK:POS.X...SHORT.HORDA BANKSEL 0H ; MOVLW RAZMER.X CALL SUB21 ; BTFSC B_A ;B>A? GOTO DR.A.X.LAST.PIL.X ;OST