BasicMicro - Forums

;calculates the number of interrupts per 1/100th of a second
;as a floating point constant.

interval fcon MHZ/100/256/128

CurrentState var byte         'Variable to hold current state flag
CurrentState = 0

flag1 var CurrentState.bit0      'Each flag aliased to bit of current state variable
flag2 var CurrentState.bit1
flag3 var CurrentState.bit2
flag4 var CurrentState.bit3
flag5 var CurrentState.bit4

StatePlusOne var byte         'Variable to hold state flag during interrupt
StatePlusOne = 0

counter var float         
counter = 0.0

milliseconds var long
milliseconds = 0

low p3      'Set starting state
low p4
low p5
low p6

TCRV0 = 0x03 ;Sets Timer V to count once every 128 OSC clocks
TCRV1 = 0x01

;Tells the processor where to jump to when the timer V
;overflow interrupt triggers.

ONINTERRUPT TIMERVINT_OVF,handler

ENABLE TIMERVINT_OVF ;enables the timer V overflow interrupt
ENABLE ;enables interrupts in general



while 1                           'If no tasks to perform program will sit in this while loop   
   
      
      'This will become task routine to read and intergrate accel
               
      while flag3 = 1                  'Check if task needs to be done
      
         toggle p4                     'Do Task                                    
         CurrentState = StatePlusOne          'Current task complet set state back
         
      wend

      'Overall task is to turn leds on This is broken down into individual tasks
      'This is where gps data will be gathered and sent
      
      while flag1 = 1                  'Check if task needs to be done

         high p5                        'Do Task
         CurrentState = 0                'Current task complet clear state
         flag2 = 1                     'Set to next task
         
      wend

      while flag2 = 1                  'Check if task needs to be done

         high p3                        'Do Task
         CurrentState = 0               'Current task complet clear state
         
      wend

      'Overall task is to turn leds off. This is broken down into individual tasks
      'This is where telemetry data will be gathered and sent
      
      while flag4 = 1                  'Check if task needs to be done

         low p5                        'Do Task
         CurrentState = 0               'Current task complet set to next state
         flag5 = 1                     'Set to next task
         
      wend

      while flag5 = 1                  'Check if task needs to be done

         low p3                        'Do Task
         CurrentState = 0               'Current task complet set to next state
            
      wend
      
      'This will run when no other tasks are needed
      'This is where the IMU fifo will be read and saved to eeprom
      
      toggle p6                     'Default state or lowest priority task.
                                    'This gets done if there is nothing to do or once per cycle         
wend



handler
;this interrupt is executed once per 256*128 clock cycles

counter = counter + 1.0                  
                                 'Interrupt needs to be processed first so the current state gets postponed
stateplusone = currentstate                  'This is done by setting stateplusone to the current state                                 
                                 
if(counter>interval)then               'Will trigger task at 100 HZ

   counter=counter-interval
   milliseconds = milliseconds + 10   
   flag3 = 1
   
else

   if(milliseconds = 500)then               'Will Set leds low for .5 sec
      currentstate = 0
      flag1 = 1

   elseif (milliseconds >= 1000)            'Will Set leds high for .5 sec
      currentstate = 0
      flag4 = 1
      milliseconds = milliseconds - 1000
      
   endif

endif

resume

handler
;this interrupt is executed once per 256*128 clock cycles

counter = counter + 1.0         
                                                                     
if(counter>interval)then               'Will trigger task at 100 HZ

   counter=counter-interval
   milliseconds = milliseconds + 10   
   flag3 = 1

endif

resume

;====================================================================
lTimerCnt         var long   

;--------------------------------------------------------------------
;[TIMER INTERRUPT INIT]
TIMERINT   con   TIMERAINT
ONASMINTERRUPT TIMERAINT, HANDLE_TIMERA_ASM

;--------------------------------------------------------------------
;[InitServoDriver] - Initializes the servo driver including the main timer used in the phoenix code
InitTimer:
;Timer
; Timer A init, used for timing of messages and some times for timing code...
  TIMERINT   con   TIMERAINT

  WTIMERTICSPERMSMUL con 64   ; BAP28 is 16mhz need a multiplyer and divider to make the conversion with /8192
  WTIMERTICSPERMSDIV con 125  ;
  TMA = 0   ; clock / 8192               ; Low resolution clock - used for timeouts...
  ENABLE TIMERINT
return

;==============================================================================
;[Handle_Timer_asm] - Handle timer A overflow in assembly language.  Currently only
;used for timings for debuging the speed of the code
;Now used to time how long since we received a message from the remote.
;this is important when we are in the NEW message mode, as we could be hung
;out with the robot walking and no new commands coming in.
;==============================================================================
BEGINASMSUB
HANDLE_TIMERA_ASM
   push.l    er1                  ; first save away ER1 as we will mess with it.
   bclr    #6,@IRR1:8               ; clear the cooresponding bit in the interrupt pending mask
   mov.l    @LTIMERCNT:16,er1      ; Add 256 to our counter
   add.l   #256,er1
   mov.l    er1, @LTIMERCNT:16
   pop.l    er1
   rte
ENDASMSUB

return      ; Put a basic statement before...
;==============================================================================
;[GetCurrentTime] - Gets the Timer value from our overflow counter as well as the TCA counter.  It
;                makes sure of consistency. That is it is very possible that
;                after we grabbed the timers value it overflows, before we grab the other part
;                so we check to make sure it is correct and if necessary regrab things.
;==============================================================================
GetCurrentTime:
  lCurrentTime = lTimerCnt + TCA
   
  ; handle wrap
  if lTimerCnt <> (lCurrentTime & 0xffffff00) then
   lCurrentTime = lTimerCnt + TCA
  endif

return lCurrentTime
;-------------------------------------------------------------------------------------
;[ConvertTimeMS]
_ttconv   var   long
ConvertTimeMS[_ttconv]:
   return (_ttconv * WTIMERTICSPERMSMUL)/WTIMERTICSPERMSDIV

  'Start time
  GOSUB GetCurrentTime[], lTimerStart
...
      GOSUB GetCurrentTime[], lTimerEnd   
      GOSUB ConvertTimeMS[lTimerEnd-lTimerStart], CycleTime

  WTIMERTICSPERMSMUL con 256   ; Arc32 is 20mhz need a multiplier and divider to make the conversion with /8192
  WTIMERTICSPERMSDIV con 625  ;

ONASMINTERRUPT TIMERVINT_OVF, HANDLE_TIMERVINT_ASM

ONASMINTERRUPT TIMERVINT, HANDLE_TIMERVINT_ASM

BEGINASMSUB
TASOIHANDLER:
   push.w   r3               ; save away...
   push.w   r2                ; first save away registers we will touch
   push.w   r1               ;
   
   bclr.b   #6, @TCSRV:8      ; clear out the interrupt bit so it can happen again
;   andc   #0x7f,ccr               ; allow other interrupts to happen while processing this one???

... ; then at the end...
   
   pop.w   r1               ; restore back the registers we used to the caller
   pop.w   r2
   pop.w   r3

   rte                     ; and return from the exception.

ENDASMSUB