Code:
'****************************************************************
'* Name : UNTITLED.BAS *
'* Author : [select VIEW...EDITOR OPTIONS] *
'* Notice : Copyright (c) 2014 [select VIEW...EDITOR OPTIONS] *
'* : All Rights Reserved *
'* Date : 6/7/2014 *
'* Version : 1.0 *
'* Notes : *
'* : *
'****************************************************************
INCLUDE "DT_INTS-14.bas"
INCLUDE "ReEnterPBP.bas"
DEFINE HSER_RCSTA 90h ' Enable serial port & continuous receive
DEFINE HSER_TXSTA 24h ' Enable transmit, BRGH = 1
DEFINE HSER_SPBRG 129 ' 9600 Baud @ 20MHz, 0.16%
DEFINE HSER_CLROERR 1 ' Clear overflow automatically
APFCON0.2 = 1
APFCON0.7 = 1
#CONFIG
__config _CONFIG1, _FOSC_HS & _WDTE_OFF & _PWRTE_OFF & _MCLRE_ON & _CP_OFF & _CPD_OFF & _BOREN_OFF & _CLKOUTEN_OFF & _IESO_OFF
__config _CONFIG2, _PLLEN_OFF & _LVP_OFF
#ENDCONFIG
DEFINE OSC 20
ANSELA = 0
ANSELB = 0
ASM
INT_LIST macro ; IntSource, Label, Type, ResetFlag?
INT_Handler INT_INT, _doEncoder, PBP, yes
endm
INT_CREATE ; Creates the interrupt processor
ENDASM
@ INT_ENABLE INT_INT
LED var PORTC.7
TRISC.7 = 0
LED = 0
DOWN var PORTB.4
TRISB.4 = 0
DOWN = 0
EAST var PORTB.5
TRISB.5 = 0
EAST = 0
WEST var PORTB.6
TRISB.6 = 0
WEST = 0
TRISC.5 = 1
UP var PORTB.7
TRISB.7 = 0
UP = 0
a0 var byte
a1 var byte
e0 var byte
e1 var byte
i var byte
VerboseMode var byte
cereal var byte
Aencoder0Pos var word
Eencoder0Pos var word
VerboseMode = 1
goto MainMenu
doEncoder:
if UP = 1 then
'if e0 = 5 then
Eencoder0Pos = Eencoder0Pos + 1
' e0 = 0
if VerboseMode = 1 then Hserout ["Eencoder0Pos = ", #Eencoder0Pos, 13, 10]
'endif
'e0 = e0 + 1
endif
if DOWN = 1 then
'if e1 = 5 then
Eencoder0Pos = Eencoder0Pos - 1
' e1 = 0
if VerboseMode = 1 then Hserout ["Eencoder0Pos = ", #Eencoder0Pos, 13, 10]
'endif
'e1 = e1 + 1
endif
if EAST = 1 then
if a0 = 5 then
Aencoder0Pos = Aencoder0Pos + 1
A0 = 0
if VerboseMode = 1 then Hserout ["Aencoder0Pos = ", #Aencoder0Pos, 13, 10]
endif
a0 = a0 + 1
endif
if WEST = 1 then
if a1 = 5 then
Aencoder0Pos = Aencoder0Pos - 1
a1 = 0
if VerboseMode = 1 then Hserout ["Aencoder0Pos = ", #Aencoder0Pos, 13, 10]
endif
a1 = a1 + 1
endif
@ INT_RETURN
MainMenu:
gosub CLR
HSEROUT ["******** MAIN MENU ********", 13, 10, 10]
HSEROUT [" 1. Start Homing Sequence", 13, 10]
HSEROUT [" 2. Manual JOG Mode", 13, 10]
HSEROUT [" 3. Auto-Acquire Satellite", 13, 10]
HSEROUT [" 4. Stow Dish for Travel", 13, 10, 10]
HSEROUT ["Enter Your Selection:"]
hSERIN [cereal]
if VerboseMode = 1 then HSEROUT [#cereal,13,10]
' If cereal = "1" then goto HomeDish
If cereal = "2" then goto JogMenu
' If cereal = "3" then goto TEST1
' If cereal = "4" then goto Startup
goto MainMenu
JogMenu:
gosub CLR
pause 250
HSEROUT ["***** JOG MENU *****", 13, 10, 10]
HSEROUT ["U - UP", 13, 10]
HSEROUT ["D - DOWN", 13, 10]
HSEROUT ["E - EAST", 13, 10]
HSEROUT ["W - WEST", 13, 10]
HSEROUT ["S - ALL STOP", 13, 10]
HSEROUT ["X - MAIN MENU", 13, 10, 10]
hSERIN [cereal]
if cereal = "U" Then
gosub allSTOP
HIGH UP
endif
if cereal = "D" then
gosub allSTOP
HIGH DOWN
endif
if cereal = "E" then
gosub allSTOP
high EAST
endif
if cereal = "W" then
gosub allSTOP
HIGH WEST
endif
if cereal = "S" then gosub allSTOP
if cereal = "X" then
gosub allSTOP
goto MainMenu
endif
goto JOGMenu
allSTOP:
EAST = 0
UP = 0
DOWN = 0
WEST = 0
if VerboseMode = 1 then GOSUB POS
return
CLR:
if VerboseMode = 0 then
For i = 0 to 30
HSEROUT [10]
next i
endif
return
abort:
gosub allSTOP
gosub clr
HSEROUT ["USER STOP! -- MOVE ABORTED!", 13, 10]
PAUSE(5000)
goto MainMenu
moveerror:
gosub allSTOP
gosub clr
HSEROUT ["SYSTEM ERROR! -- MOVE ABORTED!", 13, 10]
PAUSE(5000)
goto MainMenu
POS:
pause 100
HSEROUT [" EL -- ", #Eencoder0Pos, " AZ -- ", #Aencoder0Pos, 13, 10]
pause 2000
return
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