here is the entire front end...
Code:@ __config _CONFIG1, _INTRC_OSC_NOCLKOUT & _WDT_ON & _MCLRE_ON & _LVP_OFF & _CP_OFF OSCCON = $70 'sets the oscillator speed DEFINE OSC 8 'Oscillator speed in MHz 'http://www.picbasic.co.uk/forum/showthread.php?t=3251 INCLUDE "DT_INTS-14.bas" ' Base Interrupt System INCLUDE "ReEnterPBP.bas" ' Include if using PBP interrupts PORTA = %00000000 ' output logic at power-up PORTB = %00000000 ' output logic at power-up PORTC = %00000000 ' output logic at power-up PORTD = %00000000 ' output logic at power-up PORTE = %00000000 ' output logic at power-up ' Set up serial UART define HSER_RCSTA 90H ' Set Receive Status and control register DEFINE HSER_TXSTA 24H ' set transmit status and control register DEFINE HSER_BAUD 19200 ' baud setting 19200 115200 define HSER_CLROERR 1 ' reset on serial buffer overflow ' Define Analog parameters ADCON1 = %10000000 'Right Justify ANSEL = %11111111 'Analog on for AN0-AN7 ANSELH = %00000000 'AN8-13 off Define ADC_BITS 10 ' Set number of bits in result Define ADC_CLOCK 3 ' Set clock source (3=rc) Define ADC_SAMPLEUS 10 ' Set sampling time in uS ' Alias pins (0=Output, 1=Input) L1 VAR PORTC.5 :TRISC.5 = 0 L2 VAR PORTD.2 :TRISD.2 = 0 L3 VAR PORTD.1 :TRISD.1 = 0 L4 VAR PORTD.0 :TRISD.0 = 0 L5 VAR PORTC.1 :TRISC.1 = 0 Sp var PORTC.2 :TRISC.2 = 0 'pulsed signal S2 var PORTD.5 :TRISD.5 = 1 'mode switch - LCD Select Mode S3 var PORTD.4 :TRISD.4 = 1 'mode switch - LCD Light S1 var PORTD.7 :TRISD.7 = 1 'mode switch - Plus S5 var PORTD.6 :TRISD.6 = 1 'mode switch - Minus S8 var PORTB.4 :TRISB.4 = 1 'Pelco-D board - Zoom S11 var PORTB.5 :TRISB.5 = 1 'Peclo-D board - Zoom S7 var PORTB.1 :TRISB.1 = 1 'RC board - Mast S10 var PORTB.3 :TRISB.3 = 1 'RC board - Mast S6 var PORTB.2 :TRISB.2 = 1 'Video Select 'Define RAM i var byte j var byte RC_Mode var Bit 'Flag to switch back and forth from arm and drive funtions S2_Rel var BIT 'flag to see if switch is realsed S6_Rel var BIT 'flag to see if switch is realsed Mode_Debug var bit 'Flag for LCD Debug Mode Mode_Debug1 var bit 'Flag for LCD Debug Mode LCD_msg var byte 'Counter to reset LCD message Display wsave VAR BYTE $70 SYSTEM 'value required for interupt PreLoad VAR WORD 'Preload value for timer interupt PreLoad = 21537 JOY1X var word ' Analog Values JOY1Y var word JOY2X var word JOY2Y var word P1 var word Battery var word ' Battery voltage analog Battery_r var word ' battery voltage remainder Batt_div con 660 ' scaling value to get Volts Batt_Alarm con 480 ' approx 7.2V Batt_Stop con 430 ' approx 6.5V Batt_stop1 var byte Batt_beep var byte Lights_Last var BIT Video_Mode var BYTE Video_Changed VAR BYTE JOY1X_Trim var Byte 'trim value 128 = neutral trim, 0=-128, 256=128 JOY1Y_Trim var Byte JOY2X_Trim var Byte JOY2Y_Trim var Byte Temp_Trim var BYTE JOY1X_GainH con 6 'Gain for High end of stick 50-130% (5-13) JOY1X_GainL con 6 'Gain for Low end of stick 50-130% (5-13) JOY1Y_GainH con 6 JOY1Y_GainL con 6 JOY2X_GainH con 6 JOY2X_GainL con 6 JOY2Y_GainH con 6 JOY2Y_GainL con 6 P1_GainH con 10 P1_GainL con 10 JOY1X_Max con 1400 'pan JOY1X_Min con 800 'pan JOY1Y_Max con 1400 'tilt JOY1Y_Min con 800 'tilt JOY2X_Max con 1400 JOY2X_Min con 800 JOY2Y_Max con 1400 JOY2Y_Min con 800 P1_Max con 1850 'Aux Tilt P1_Min con 450 'Aux Tilt Pulse_Start con 400 '400us - fudge: Pulse Start (high) + chan pulse (low) = Total chan pulse chan_adj con 9 'fudge factor for pulses (used a scope to come up with value) Chan_Ctr con 1100 Chan1 var word 'Aile Chan2 var word 'Elev Chan3 var word 'Thro Chan4 var word 'Rudd Chan5 var word 'Gear Chan6 var word 'Aux1 Chan7 var word 'Aux2 Chan8 var word 'Aux3 Chan1f var word 'Aile Chan2f var word 'Elev Chan3f var word 'Thro Chan4f var word 'Rudd Chan5f var word 'Gear Chan6f var word 'Aux1 Chan7f var word 'Aux2 Chan8f var word 'Aux3 'Reverse Bits, Channel , Mode 1 (0=Normal, 1=Reverse) Chan1_1R con 0 'Drive Turn Chan2_1R con 1 'Drive Speed Chan3_1R con 0 'Camera Tilt Chan4_1R con 0 'Camera Pan Chan5_1R con 1 'Aux Camera Tilt 'LCD Constants LCD_CLR con 88 'clear LCD_INSTR CON 254 'instruction command LCD_L con 71 'move curser to position 71 [column] [row] LCD_H CON 72 'move curser home LCD_BL1 con 66 'backlight on, follow by minutes LCD_BL0 con 70 'backlight off ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler TMR1_INT, _RC_Pulse, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM T1CON = %00000001 ; Prescaler = 1:1, TMR1ON TMR1L = PreLoad.LowByte TMR1H = PreLoad.HighByte ; preload to give 22mS interrupts (at 1:1) ' ///////////////////////////////////////////////////////////////////////////// ' Begin ' ///////////////////////////////////////////////////////////////////////////// high l1: pause 50: high l2: pause 50: high l3: pause 50: high l4: pause 50: high l5: pause 50 low l1: pause 50: low l2: pause 50: low l3: pause 50: low l4: pause 50: low l5: low 50 'trim values retreived from eeprom gosub Sub_Read_EEprom if JOY1X_Trim = 255 and JOY1Y_Trim = 255 then 'means things are zeroed out (reprogrammed), so set defaults High L5: pause 250: low L5 JOY1X_Trim = 128 JOY1Y_Trim = 128 JOY2X_Trim = 128 JOY2Y_Trim = 128 gosub Sub_Write_EEprom endif @ INT_ENABLE TMR1_INT ; enable Timer 1 interrupts ' ///////////////////////////////////////////////////////////////////////////// ' Main Loop ' ///////////////////////////////////////////////////////////////////////////// mainloop: ' Main program loop
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