;******************************************************************* ; DOLLHOUSE.ASM: Dollhouse Elevator and Lighting Controller ; ; Controls eight lighting circuits (push ON, push OFF) and an ; Elevator ;******************************************************************* ; Written by Mark S. Csele, P.Eng. 2002/12 ;******************************************************************* ; HARDWARE: ; MCU=PIC16C876 XTAL=3.6864 MHz PICCTL21B PC Board Controller ; PORT A: Elevator Control ; RA0 - Elevator motor POWER ; RA1 - Elevator motor REVERSE ; RA2 - Bottom Limit Switch (active low) ; RA3 - Top Limit Switch active low) ; RA4 - Encoder Input (active low pulses, 0.5mS wide, 35Hz max) ; RA5 - Floor 1 Pushbutton ; PORT B: Lights ON/OFF pushbuttons ; RB0 through RB6 - Pushbuttons (Active low = ON) ; RB7 - Floor 2 Pushbutton ; PORT C: Lights ; RC0 through RC6 - Lamps (Active high = ON) ; RC7 - Floor 3 Pushbutton ;********************************************************************* LIST p=16F876 ;PIC16C876 is the target processor for this test INCLUDE "P16F876.INC" ;Include file with register defines ;********************************************************************* ; Constant Defines ;********************************************************************* ;Port A bit definitions MOTOR_PWR equ 0 ;Powers the elevator motor MOTOR_REV equ 1 ;Reverses the elevator motor (downward) SWT_BOTTOM equ 2 ;Low when elevator reaches bottom SWT_TOP equ 3 ;Low when elevator reaches top ENCODER equ 4 ;Pulses from encoder PB_FLOOR_3 equ 5 ;Floor 3 pushbutton (active low) PB_FLOOR_1 equ 7 ;Floor 1 pushbutton (active low) PB_FLOOR_2 equ 7 ;Floor 2 pushbutton (active low) FOYER_TIME equ .120 ;Two minutes for foyer lights SHUTDOWN_TIME equ .30 ;Thirty minues to shutdown system ELEVATOR_TIME equ .60 ;Sixty seconds to shutdown elevator ENCODER_HI_DN equ .2 ;# of pulses on the way down from floor 3 to 2 ENCODER_LO_DN equ .15 ENCODER_HI_UP equ .2 ;# of pulses on the way up from floor 1 to 2 ENCODER_LO_UP equ .40 ;********************************************************************* ; Register Defines ;********************************************************************* ;Assorted miscellaneous general-purpose registers DlyRegA equ 2E ;Temp register for delay DlyRegB equ 2F ;Temp register for delay Lights equ 30 ;Pushbutton activated lights (toggled) Foyer equ 31 ;Auto-on when elevator car arrives OldPbState equ 32 ;Last know PB state (used to flag changes) OldLights equ 33 ;Last known state of ON room lights EncoderHi equ 34 ;Counter for # of pulses EncoderLo equ 35 Ticks equ 38 ;one-fifteenth of a second counter Seconds equ 39 ;Seconds counter (internal) FoyerTimer equ 3A ;A countdown timer in seconds (at zero, shutdown lights) ElevatorTimer equ 3B ;A countdown timer in seconds (at zero, kill motor) AutoShutDownTimer equ 3C ;A countdown timer in minutes (at zero, shutdown lights) ISR_w_temp equ 3D ;ISR temp save locations for w and status ISR_s_temp equ 3E ;******************************************************************** ; Main Program Begins ;********************************************************************* nop nop goto Main ;ISR: Timers for auto-shutdown, auto-foyer lights off, and elevator failure (timeout) ; AutoShutDownTimer - a timer in units of MINUTES ; FoyerTimer - a timer in units of SECONDS ; ElevatorFailureTimer - a timer in units of SECONDS org 4 ISR ;This is the ISR which, interrupted at 15 Hz, keeps a running clock in minutes and seconds. ;Easy to modify to any purpose such as a countdown timer, etc. ;Timer is set to interrupt at 15 Hz movwf ISR_w_temp ;Save W register swapf STATUS,w ;Save Status flags intact movwf ISR_s_temp bcf STATUS,RP0 ;Select Page 0 ... Will be restored later anyway bcf INTCON,T0IE ;Disable Interrupt bcf INTCON,T0IF ;Clear Interrupt flag bsf INTCON,T0IE ;Re-Enable RTC Interrupt movlw .16 ;Re-Load RTCC with 16. Will count to 256 movwf TMR0 ;then overflow to 0 (causing INT) decfsz Ticks,f ;Keep dec'ing until zero goto intdone movlw .15 ;Count is zero, one second has elapsed movwf Ticks ;Re-load temp counter movf FoyerTimer,f ;If timer==0 (stopped), just ignore it btfsc STATUS,Z goto FoyerTimerDone decfsz FoyerTimer,f ;Decrement SECONDS timers goto FoyerTimerDone clrf Foyer ;Timer expired ... turn off foyer lights automatically FoyerTimerDone movf ElevatorTimer,f btfsc STATUS,Z goto ElevatorTimerDone decfsz ElevatorTimer,f goto ElevatorTimerDone clrf PORTA ;Turn OFF elevator motor automatically ElevatorTimerDone incf Seconds,f ;Increment seconds movfw Seconds sublw .59 ;Check if seconds >=60 btfsc STATUS,C ;W>59 then Carry=0, thus increment minute goto intdone clrf Seconds movf AutoShutDownTimer,f ;If already expired, don't touch it btfsc STATUS,Z goto intdone decfsz AutoShutDownTimer,f ;Decrement MINUTES timers goto intdone clrf PORTA ;Motors off clrf PORTC ;Lights off clrf Lights clrf Foyer intdone swapf ISR_s_temp,W ;Restore STATUS register intact movwf STATUS swapf ISR_w_temp,f ;Restore w without changing status flags swapf ISR_w_temp,w retfie ;Return from Int and re-enable global interrupts ;#### MAIN PROGRAM #### Main movlw b'11111111' ;Port B all inputs bsf STATUS,RP0 ;select Page 1 movwf TRISB bcf STATUS,RP0 ;select Page 0 movlw b'10000000' ;Port C all outputs except RC7 bsf STATUS,RP0 ;select Page 1 movwf TRISC bcf STATUS,RP0 ;select Page 0 clrf PORTC ;Turn Off All Lights movlw 6 ;Configure Port A for all digital I/O (F876 and C73) bsf STATUS,RP0 ;select Page 1 movwf ADCON1 bcf STATUS,RP0 ;select Page 1 clrf PORTA ;Make All Elevator Control Outputs LOW movlw b'00111100' ;Port A all inputs except two relays bsf STATUS,RP0 ;select Page 1 movwf TRISA bcf STATUS,RP0 ;select Page 0 clrf PORTA ;Set up ISR variables needed movlw .15 movwf Ticks ;ISR temporary counter clrf Seconds ;The following code sets the INTERRUPT CONTROLLER to int. the PIC at ;15Hz for a 3.6864MHz XTAL bsf STATUS,RP0 ;Select Page 1 movlw b'00000111' ;Timer Prescaler /256 movwf OPTION_REG bcf STATUS,RP0 ;Select Page 0 movlw .16 ;Pre-Load TMR0 with 16 movwf TMR0 bcf INTCON,T0IF ;Clear TMR0 Int Flag bsf INTCON,T0IE ;Set TMR0 Interrupt On bsf INTCON,GIE ;Global Interrupt Enable ;Interrupt driven clock is now running, just read Seconds and Minutes registers to ;check real time clock clrf Lights clrf Foyer clrf Seconds ;Seconds Counter (0-59) clrf FoyerTimer clrf ElevatorTimer clrf AutoShutDownTimer MainLoop ;Elevator control ;Check for a floor PB and begin moving car. Do not check buttons again until ;elevator is at destination floor but do check for lighting PBs CheckForFloorPB btfss PORTA,PB_FLOOR_3 goto MoveToFloor3 btfss PORTB,PB_FLOOR_1 goto MoveToFloor1 btfss PORTC,PB_FLOOR_2 goto MoveToFloor2 goto NoFloorRequested ;### FLOOR 1 ### MoveToFloor1 ;Reset shutdown timer (interrupt-driven) to 30 minutes movlw SHUTDOWN_TIME movwf AutoShutDownTimer btfss PORTA,SWT_BOTTOM ;Check if we are already there goto ElevatorDone ;Switch is low ... already there bsf PORTA,MOTOR_REV ;Move car DOWN bsf PORTA,MOTOR_PWR movlw ELEVATOR_TIME ;Restart timer movwf ElevatorTimer WaitForFloor1 call DetectLightPB movf ElevatorTimer,f btfsc STATUS,Z goto ElevatorDone ;Timeout. Already shutdown in ISR btfsc PORTA,SWT_BOTTOM goto WaitForFloor1 clrf PORTA ;Motor off bsf Foyer,5 ;Turn on lights when car arrives movlw FOYER_TIME movwf FoyerTimer goto ElevatorDone ;### FLOOR 2 ### MoveToFloor2 ;Reset shutdown timer (interrupt-driven) to 30 minutes movlw SHUTDOWN_TIME movwf AutoShutDownTimer btfss PORTA,SWT_TOP ;Check if we are at top floor goto AtTop ;Switch is low ... we're there btfss PORTA,SWT_BOTTOM ;Check if we are at bottom floor goto AtBottom ;Switch is low ... we're there goto ElevatorDone ;Must be there already ... just exit AtTop bsf PORTA,MOTOR_REV ;Move car DOWN bsf PORTA,MOTOR_PWR movlw ELEVATOR_TIME ;Restart timer movwf ElevatorTimer movlw ENCODER_HI_DN ;Load Encoder counts for trip down movwf EncoderHi movlw ENCODER_LO_DN movwf EncoderLo WaitForCarDown ; call DetectLightPB movf ElevatorTimer,f btfsc STATUS,Z goto ElevatorDone ;Timeout. Already shutdown in ISR btfsc PORTA,ENCODER ;Wait for encoder to pulse low goto WaitForCarDown WaitForEncoderHigh btfss PORTA,ENCODER goto WaitForEncoderHigh decfsz EncoderLo,f ;Decrement low count and check if zero goto WaitForCarDown movf EncoderHi,f ;Check if Hi count ==0 also btfsc STATUS,Z goto DownDone ;Both counts zero, stop elevator decf EncoderHi,f ;Not zero, decrement it goto WaitForCarDown DownDone clrf PORTA bsf Foyer,3 ;Turn on lights when car arrives movlw FOYER_TIME movwf FoyerTimer goto ElevatorDone AtBottom bcf PORTA,MOTOR_REV ;Move car UP bsf PORTA,MOTOR_PWR movlw ELEVATOR_TIME ;Restart timer movwf ElevatorTimer movlw ENCODER_HI_UP ;Load Encoder counts for trip up movwf EncoderHi movlw ENCODER_LO_UP movwf EncoderLo WaitForCarUp call DetectLightPB movf ElevatorTimer,f btfsc STATUS,Z goto ElevatorDone ;Timeout. Already shutdown in ISR btfsc PORTA,ENCODER ;Wait for encoder to pulse low goto WaitForCarUp WaitForEncoderHighUp btfss PORTA,ENCODER goto WaitForEncoderHighUp decfsz EncoderLo,f ;Decrement low count and check if zero goto WaitForCarUp movf EncoderHi,f ;Check if Hi count ==0 also btfsc STATUS,Z goto UpDone ;Both counts zero, stop elevator decf EncoderHi,f ;Not zero, decrement it goto WaitForCarUp UpDone clrf PORTA bsf Foyer,3 ;Turn on lights when car arrives movlw FOYER_TIME movwf FoyerTimer goto ElevatorDone ;### FLOOR 3 ### MoveToFloor3 ;Reset shutdown timer (interrupt-driven) to 30 minutes movlw SHUTDOWN_TIME movwf AutoShutDownTimer btfss PORTA,SWT_TOP ;Check if we are already there goto ElevatorDone ;Switch is low ... already there bcf PORTA,MOTOR_REV ;Move car UP bsf PORTA,MOTOR_PWR movlw ELEVATOR_TIME ;Restart timer movwf ElevatorTimer WaitForFloor3 call DetectLightPB movf ElevatorTimer,f btfsc STATUS,Z goto ElevatorDone ;Timeout. Already shutdown in ISR btfsc PORTA,SWT_TOP goto WaitForFloor3 clrf PORTA ;Motor off bsf Foyer,0 ;Turn on lights when car arrives movlw FOYER_TIME movwf FoyerTimer goto ElevatorDone ElevatorDone ;Reset shutdown timer (interrupt-driven) to 30 minutes movlw SHUTDOWN_TIME movwf AutoShutDownTimer movlw FOYER_TIME ;Reload timer to shutdown foyer lights after elevator movement movwf FoyerTimer NoFloorRequested call DetectLightPB call Delay ;Delay for debounce goto MainLoop ;Light can be switched-on from either (a) pushbuttons or (b) auto when elevator arrives ;When a Pushbutton is activated, it is toggled in the 'Lights' register and the 'Foyer' ;register bit is cleared (Off) when toggled off manually ;When the elevator arrives a bit if turned ON in the 'Foyer' register and a 2 minute timer ;activated. When two minutes elapses, it is cleared (but light may stay on if pushbutton ;toggled in the 'Lights' register) DetectLightPB movf PORTB,w ;Read pushbuttons iorlw b'10000000' ;Mask Off upper bit subwf OldPbState,w ;Check if anything changed btfsc STATUS,Z goto NoPbChanges movf Lights,w ;Save old value of 'Lights' movwf OldLights movf PORTB,w ;Read pushbuttons iorlw b'10000000' ;Mask Off upper bit xorlw 0xFF ;Invert all bits (high bits = PB held down) btfsc STATUS,Z ;Check if PB released goto NoPbChanges ;If so, just ignore it xorwf Lights,w ;Toggle only the changed bits movwf Lights ;Update the value of active lights ;If a Light was turned OFF, clear the appropriate 'Foyer' bit movf PORTB,w ;Read pushbuttons iorlw b'10000000' ;Mask Off upper bit xorlw 0xFF ;Invert all bits (high bits = PB held down) andwf OldLights,w btfsc STATUS,Z goto LightsDone ToggleFoyerOff movf OldLights,w ;Check which bit was turned off xorlw 0xFF andwf Foyer,f ;Clear any bits set OFF in Foyer LightsDone ;Reset shutdown timer (interrupt-driven) to 30 minutes movlw SHUTDOWN_TIME movwf AutoShutDownTimer NoPbChanges movf PORTB,w ;Read pushbuttons iorlw b'10000000' ;Mask Off upper bit movwf OldPbState ;Update last known state ;NoPbChanges movf Lights,w ;OR value of Lights and Foyer to determine which should be ON iorwf Foyer,w movwf PORTC ;Turn ON appropriate lights return Delay movlw 0xFF movwf DlyRegA DelayA movlw 0xFF movwf DlyRegB DelayB decfsz DlyRegB,f goto DelayB decfsz DlyRegA,f goto DelayA return END