Pongsat update

Anarean AIR.spin

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+PUB Initialize | OK 'Initializes the Non range exteneded Anarean AIR Rx/Tx module

CPC1822.spin

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+PUB Initialize | OK 'Initializes the solar tracking system

I2C_ROMEngine.spin

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+{{///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// I2C Electrically Erasable Programmable Read Only Memory Engine//// Author: Kwabena W. Agyeman// Updated: 7/27/2010// Designed For: P8X32A// Version: 1.1//// Copyright (c) 2010 Kwabena W. Agyeman// See end of file for terms of use.//// Update History://// v1.0 - Original release - 8/8/2009.// v1.1 - Added variable pin support - 7/27/2010.//// For each included copy of this object only one spin interpreter should access it at a time.//// Nyamekye,//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// I2C Circuit:////                  3.3V//                   |//                   R 10KOHM//                   |// Data Pin Number  --- EEPROM SDA Pin.////                  3.3V//                   |//                   R 10KOHM//                   |// Clock Pin Number --- EEPROM SCL Pin.///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////}}PUB readByte(EEPROMaddress) '' 18 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Reads a byte from the EEPROM. It is recommended to read the byte on a byte boundary.'' //'' // Returns the byte on success and false on failure. Could return a byte of value 0.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  result &= readPage(EEPROMaddress, @result, 1)PUB writeByte(EEPROMaddress, value) '' 19 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Writes a byte to the EEPROM. It is recommended to write the byte on a byte boundary.'' //'' // Returns true on success and false on failure.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' // Value - Value to write to the EEPROM.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  return writePage(EEPROMaddress, @value, 1)PUB readWord(EEPROMaddress) '' 18 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Reads a word from the EEPROM. It is recommended to read the word on a word boundary.'' //'' // Returns the word on success and false on failure. Could return a word of value 0.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  result &= readPage(EEPROMaddress, @result, 2)PUB writeWord(EEPROMaddress, value) '' 19 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Writes a word to the EEPROM. It is recommended to write the word on a word boundary.'' //'' // Returns true on success and false on failure.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' // Value - Value to write to the EEPROM.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  return writePage(EEPROMaddress, @value, 2)PUB readLong(EEPROMaddress) '' 18 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Reads a long from the EEPROM. It is recommended to read the long on a long boundary.'' //'' // Returns the long on success and false on failure. Could return a long of value 0.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  result &= readPage(EEPROMaddress, @result, 4)PUB writeLong(EEPROMaddress, value) '' 19 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Writes a long to the EEPROM. It is recommended to write the long on a long boundary.'' //'' // Returns true on success and false on failure.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' // Value - Value to write to the EEPROM.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  return writePage(EEPROMaddress, @value, 4)PUB readPage(EEPROMaddress, RAMaddress, byteCount) '' 14 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Reads bytes from the EEPROM. Uses a 19 bit addressing scheme which can acess multiple EERPOMs on a bus.'' //'' // This rountine can only read from the EEPROM selected. Any reads past that EEPROM will warp arround.'' //'' // It is recommended to use the byte/word/long read rountines used on byte/word/long boundaries respectively.'' //'' // Returns true on success and false on failure.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' // RAMaddress - Starting byte address of the data to write to.'' // ByteCount - Number of bytes to read.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  result := eepromPoll(EEPROMaddress)  if(result)    stopDataTransfer    startDataTransfer    result and= transmitPacket(constant((10 << 4) | 1) | ((EEPROMaddress >> 15) & $E))    repeat ((byteCount <# (65_536 - (RAMaddress #> 0))) #> 0)      byte[RAMaddress++] := receivePacket(--byteCount)  stopDataTransfer  clearLockPUB writePage(EEPROMaddress, RAMaddress, byteCount) '' 14 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Writes bytes to the EEPROM. Uses a 19 bit addressing scheme which can access multiple EERPOMs on a bus.'' //'' // This rountine can only write to the page of the EEPROM selected. Any writes past that page will warp arround.'' //'' // It is recommended to use the byte/word/long write rountines used on byte/word/long boundaries respectively.'' //'' // Returns true on success and false on failure.'' //'' // EEPROMaddress - Starting byte address of the data to access.'' // RAMaddress - Starting byte address of the data to read from.'' // ByteCount - Number of bytes to write.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  result := eepromPoll(EEPROMaddress)  if(result)    repeat ((byteCount <# (65_536 - (RAMaddress #> 0))) #> 0)      result and= transmitPacket(byte[RAMaddress++])  stopDataTransfer  clearLockPUB ROMEngineStart(dataPinNumber, clockPinNumber, lockNumberToUse) '' 9 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Checks out a lock for the driver and changes the I2C Circuit pins.'' //'' // Returns true on success and false on failure.'' //'' // DataPinNumber - Pin to use to drive the SDA data line circuit.'' // ClockPinNumber - Pin to use to drive the SCL clock line circuit.'' // LockNumberToUse - Lock number to use if sharing the I2C bus (0 - 7). -1 to request a new lock number.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  ROMEngineStop  dataPin := ((dataPinNumber <# 31) #> 0)  clockPin := ((clockPinNumber <# 31) #> 0)  if((dataPin <> clockPin) and (chipver == 1))    lockNumber := lockNumberToUse    if(lockNumberToUse == -1)      lockNumber := locknew    result or= ++lockNumberPUB ROMEngineStop '' 3 Stack Longs'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////'' // Returns the lock used by the driver.'' ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  if(lockNumber)    lockret(-1 + lockNumber~)PRI eepromPoll(EEPROMaddress) ' 8 Stack Longs  setLock  startDataTransfer  result := cnt  repeat until(transmitPacket(constant(10 << 4) | ((EEPROMaddress >> 15) & $E)))    stopDataTransfer    startDataTransfer    if((||(cnt - result)) > (clkfreq / constant(1_000 / 5)))      return false  result := transmitPacket(EEPROMaddress >> 8)  result and= transmitPacket(EEPROMaddress)PRI transmitPacket(value) ' 4 Stack Longs  value := ((!value) >< 8)  repeat 8    dira[dataPin] := value    dira[clockPin] := false    dira[clockPin] := true    value >>= 1  dira[dataPin] := false  dira[clockPin] := false  result := not(ina[dataPin])  dira[clockPin] := true  dira[dataPin] := truePRI receivePacket(aknowledge) ' 4 Stack Longs  dira[dataPin] := false  repeat 8    result <<= 1    dira[clockPin] := false    result |= ina[dataPin]    dira[clockPin] := true  dira[dataPin] := (not(not(aknowledge)))  dira[clockPin] := false  dira[clockPin] := true  dira[dataPin] := truePRI startDataTransfer ' 3 Stack Longs  outa[dataPin] := false  outa[clockPin] := false  dira[dataPin] := true  dira[clockPin] := truePRI stopDataTransfer ' 3 Stack Longs  dira[clockPin] := false  dira[dataPin] := falsePRI setLock ' 3 Stack Longs  if(lockNumber)    repeat while(lockset(lockNumber - 1))PRI clearLock ' 3 Stack Longs  if(lockNumber)    lockclr(lockNumber - 1)DAT' //////////////////////Variable Array/////////////////////////////////////////////////////////////////////////////////////////dataPin                 byte 29 ' Default data pin.clockPin                byte 28 ' Default clock pin.lockNumber              byte 00 ' Driver lock number.' /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////{{/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////                                                  TERMS OF USE: MIT License///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation// files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy,// modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the// Software is furnished to do so, subject to the following conditions://// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the// Software.//// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE// WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR// COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,// ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////}}

L298MotorPwm.spin

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+{{ 
+     L298MotorsPwm.spin
+     Tom Doyle
+     25 Feb 2007
+
+     Starts a cog to maintain a PWM signal to the L298 chip
+     The control pins on the L298 are controlled by the forward and reverse procedures
+     Speed is controlled by the update procedure
+
+     In normal use it is not necessary to call any of these procedures directly as
+     they are called by the SetMotor.spin object
+}} 
+
+CON
+
+ _clkmode = xtal1 + pll16x
+ _xinfreq = 5_000_000
+
+
+VAR
+
+  long duty, period, pPin, dirM, I1pin, I2Pin   ' par access
+
+  byte cog
+
+PUB start(EnPin, In1Pin, In2Pin, pulsesPerCycle) : success
+
+    ' EnPin - L298 Enable Pin
+    ' In1Pin - L298 Input 1 Pin
+    ' In2Pin - L298 Input 2 Pin
+    ' pulsesPerCycle - pulses per PWM cycle = clkfreq/pwmfreq
+
+    pPin   := EnPin
+    I1pin  := In1Pin
+    I2pin  := In2Pin
+
+    duty   := 0
+    period := pulsesPerCycle
+
+    reverse                                           ' initialize dirM
+    success   := cog := cognew(@entry, @duty)
+
+
+PUB stop
+{{ set esc PWM pin to off
+   stop cog }}
+
+    waitpeq(0, |< pPin, 0)
+    dira[pPin] := 0  
+    if cog > 0
+      cogstop(cog)
+
+PUB forward
+
+    dirM := !0
+
+Pub reverse
+
+    dirM := 0
+
+
+PUB update(dutyPercent)
+
+    duty := period * dutyPercent / 100
+
+
+DAT
+
+entry                   movi   ctra,#%00100_000
+                        movd   ctra,#0
+
+                        mov     addr, par
+                        add     addr, #8        ' L298 Enable (PWM) pin number
+                        rdword  _Enpin, addr    ' stored in _EnPin
+                        movs    ctra,_Enpin
+
+                        mov     temp, #1
+                        shl     temp,_Enpin      ' L298 Enable (PWM) pin
+                        or      dira, temp       ' make an output
+
+                        mov     addr, par        
+                        add     addr, #16        ' L298 In1 pin
+                        rdlong  _In1Pin, addr    ' stored in _In1Pin
+                        mov     temp, #1
+                        shl     temp,_In1pin     ' L298 In1 pin
+                        or      dira, temp       ' make an output
+
+                        mov     addr, par        
+                        add     addr, #20        ' L298 In2 pin
+                        rdlong  _In2Pin, addr    ' stored in _In2Pin
+                        mov     temp, #1
+                        shl     temp,_In2pin     ' L298 In2 pin
+                        or      dira, temp       ' make an output
+
+
+                        mov     frqa,#1
+
+                        mov     addr, par
+                        add     addr, #4         ' pulses per pwm cycle
+                        rdlong  _cntadd, addr                        
+                        mov     cntacc,cnt
+                        add     cntacc,_cntadd                       
+
+:loop                   waitcnt cntacc,_cntadd
+
+                        mov     tempDir, outa
+
+                        mov     addr, par             
+                        add     addr, #12          ' dirM
+                        rdlong  _dirM, addr        ' store in _dirM
+
+                        mov     tempDir, outa
+
+                        mov     temp, #1
+                        shl     temp,_In1Pin       ' L298 In1
+                        test     _dirM, 1 WZ       ' check if direction = 1
+                        muxz    tempDir, temp         ' set Input 1                        
+
+                        mov     temp, #1
+                        shl     temp,_In2Pin       ' L298 In2
+                        test     _dirM, 1  WZ      ' check if direction = 1                        
+                        muxnz   tempDir, temp      ' set Input 2
+
+                        mov     outa, tempDir
+
+                        rdlong  _duty,par
+                        mov     temp, par       
+                        add     temp, #1        
+                        rdlong  _duty, temp     
+                        neg     phsa,_duty
+                        jmp     #:loop
+
+_dirM                   res     1    ' motor direction 0 or 1
+_In1Pin                 res     1    ' L298 Input 1 Pin
+_In2Pin                 res     1    ' L298 Input 2 Pin
+tempDir                 res     1    ' temp direction
+cntacc                  res     1
+_duty                   res     1
+_cntadd                 res     1
+_Enpin                  res     1     ' L298 Enable Pin
+addr                    res     1
+temp                    res     1