187 lines
4.8 KiB
NASM
187 lines
4.8 KiB
NASM
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org 100h
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cpu 8086
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jmp start
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; Variablen
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sollwert db tmin
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tcounts db 0 ; Impulszaehler fuer Servo, Vorwaertszaehler
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anzeige times 3 db 0 ; Puffer fuer Ausgabe
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strlen equ $ - anzeige ; Laenge Zeichenpuffer
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; Konstanten
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intab0 equ 20h ; Adresse Interrupttabelle PIT, Kanal 1
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eoi equ 20h ; End Of Interrupt (EOI)
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clrscr equ 0 ; Clear Screen
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getkey equ 1 ; Funktion auf Tastatureingabe warten
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ascii equ 1 ; Funktion ASCII-Zeichenausgabe
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hexbyte equ 4 ; HEX-Byte Ausgabe
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conin equ 5 ; Console IN
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conout equ 6 ; Console OUT
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pitc equ 0a6h ; Steuerkanal PIT
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pit1 equ 0a2h ; Counter 1 PIT
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pit2 equ 0a4h ; Counter 2 PIT
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ppi_ctl equ 0b6h ; Steuerkanal PPI (Parallelinterface)
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ppi_a equ 0b0h ; Kanal A PPI
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ppi_pa0 equ 1 ; LED 0
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ppi_pa1 equ 2 ; LED 1
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ppi_pa2 equ 4 ; LED 2
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ppi_pa3 equ 8 ; Lautsprecher
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ppi_pa6 equ 1 << 6 ; Servomotor
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ppi_b equ 0b2h ; Kanal B PPI
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ppi_c equ 0b4h ; Kanal C PPI
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ocw_2_3 equ 0c0h ; PIC (Interruptcontroller), OCW2,3
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ocw_1 equ 0c2h ; PIC (Interruptcontroller), OCW1
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icw_1 equ 0c0h ; PIC (Interruptcontroller), ICW1
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icw_2_4 equ 0c2h ; PIC (Interruptcontroller), ICW2,4
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leds equ 0 ; LED Port
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schalter equ 0 ; Schalterport
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keybd equ 80h ; SBC-86 Tastatur
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gokey equ 11h ; Taste "GO"
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outkey equ 15h ; Taste "OUT"
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sseg7 equ 9eh ; Segmentanzeige 7
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tcpwm equ 184 ; 1843200 Hz / 184 = ca. 10000 Hz = 0.1 ms
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; Taktzyklus
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; Zeitkonstante fuer PWM-Interrupt
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tpwm equ 200 ; Periodendauer des PWM-Signals (* 0.1 ms)
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tmax equ 25 ; Impulsdauer fuer 0 Grad (* 0.1 ms)
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tmin equ 6 ; Impulsdauer fuer 180 Grad (* 0.1 ms)
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divider equ 13 ; Vorteiler Wandlerwert
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; 0..255 -> 0..19 -> + tmin -> tmin..tmax
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ad_start1 equ 00110000b ; AD-Wandler starten und auf "read"
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ad_start2 equ 00100111b ; AD-Wandler nur "read" und LED's an
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start:
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; Initialisierung
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mov ah, clrscr ; Anzeige aus
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int conout
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call init ; Controller und Interruptsystem scharfmachen
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mov al, 0
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out leds, al
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mov al, ad_start1 ; ADU init.
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out ppi_a, al
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mov al, ad_start2
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out ppi_a, al
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; Hintergrundprogramm: Lesen des Wandlerwertes, Verarbeitung und Displayausgabe
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again:
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in al, ppi_b ; Wandlerwert
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; ...
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; ...
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; ...
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jmp again
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; Ausgabe einer ASCII-Zeichenkette
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strout:
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; ...
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; ...
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; ...
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ret
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; 8-Bit Division AL / BL
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; Return: Quotient in AL, Rest in AH
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; Zerstoert AX, BH
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; Algorithmus siehe:
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; https://www-user.tu-chemnitz.de/~heha/Mikrocontroller/Division.htm
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; Wuerde auch mit dem DIV-Befehl der CPU funktionieren, wieso dann das hier?
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divide: xor ah, ah ; High-Teil Dividend
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mov bh, 8 ; Anzahl Bits Quotient
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_div: shl ax, 1 ; Dividend * 2
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cmp ah, bl ; teilbar?
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jb _smaller ; nein
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sub ah, bl ; ja, abziehen
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inc al ; Dividend, Bit 0 = 1
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_smaller:
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dec bh ; fertig?
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jnz _div ; nein, naechste Stelle
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ret
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; Hornerschema rueckwaerts (Teilen des Wertes durch die Zielbasis bis nix mehr
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; da ist; die Reste der Division sind die Ziffern, von "hinten" (LOW) beginnend)
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; Hexwert (in AL) nach dezimal (ASCII-String) wandeln und in "anzeige" speichern
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; Zerstoert AX, BX, CX, DI
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val2astr:
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mov di, anzeige + strlen - 1 ; Zielpuffer rueckwaerts beschreiben
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mov bl, 10 ; Dezimalwandlung (Zielbasis)
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xor cx, cx
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v1: call divide ; AL / BL, Rest in AH
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add ah, '0' ; --> ASCII
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mov [di], ah ; Zeichen in Puffer
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dec di ; vorherige Pufferstelle
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inc cl ; Zaehler++
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or al, al ; fertig? (Dividend zerdividiert?)
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jnz v1 ; noe, nochmal
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mov al, cl ; Anzahl
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mov cl, strlen ; max. Stringlaenge
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sub cl, al ; Anzahl Reststellen
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; out leds, al ; Kontrollausgabe
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jcxz v3 ; fertig?
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v2: mov byte [di], ' ' ; Rest loeschen
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dec di
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loop v2 ; fertig?
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v3: ret
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; Initialisierung Controller und Interruptsystem
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init:
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cli ; Interrupts aus
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; PIT-Init.
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mov al, 01110110b ; Kanal 1, Mode 3, 16-Bit ZK
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out pitc, al ; Steuerkanal
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mov al, tcpwm & 0ffh ; Low-Teil Zeitkonstante
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out pit1, al
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mov al, tcpwm >> 8 ; High-Teil Zeitkonstante
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out pit1, al
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; PPI-Init.
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mov al, 10001011b ; PPI A/B/C Mode 0, A Output, sonst Input
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out ppi_ctl, al
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jmp short $+2 ; I/O-Delay
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mov al, 0 ; LED's aus (high aktiv)
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out ppi_a, al
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; PIC-Init.
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mov al, 00010011b ; ICW1, ICW4 benoetigt, Bit 2 egal,
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; Flankentriggerung
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out icw_1, al
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jmp short $+2 ; I/O-Delay
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mov al, 00001000b ; ICW2, auf INT 8 gemapped
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out icw_2_4, al
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jmp short $+2 ; I/O-Delay
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mov al, 00010001b ; ICW4, MCS-86, EOI, non-buffered,
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; fully nested
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out icw_2_4, al
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jmp short $+2 ; I/O-Delay
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mov al, 11111110b ; Kanal 0 am PIC demaskieren
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; PIT K1
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out ocw_1, al
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; Interrupttabelle init.
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mov word [intab0], isr_servotimer ; Interrupttabelle (Timer K1)
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; initialisieren (Offset)
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mov [intab0 + 2], cs ; (Segmentadresse)
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sti ; ab jetzt Interrupts
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ret
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isr_servotimer: ; Timer fuer Servo, besser exklusiv (CLI)
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push ax
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; ...
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; ...
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; ...
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isr_servotimer_out:
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mov al, eoi ; EOI an PIC
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out ocw_2_3, al
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pop ax
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iret
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