MOVfw result1L
call sendByte
MOVfw winkelH
call sendByte
MOVfw winkelL
call sendByte
MOVfw wtemp3 ; restore W
retfie
; --==*[ COMMAND INIT - setup for receive motor data (part 1/2) ]*==--
command3: ; command3
MOVlw COMMAND_3
MOVwf cmdNum ; cmdNum contains now the current command value
MOVlw .2
MOVwf byteCnt ; we want exactly 2 bytes from the pc
MOVfw wtemp3 ; restore W
retfie
; --==*[ COMMAND EXEC - receive motor data (part 2/2) ]*==--
getData_command3:
decf byteCnt, 1 ; handle byte counter
bz c3_b2 ; if byte counter is 0 then it is the 2nd byte
MOVfw RCREG ; else, 1st byte receive
MOVwf motorL ; store in motorL
b outhere ; and exit
c3_b2:
MOVfw RCREG ; 2nd byte receive
MOVwf motorH ; store in motorH
MOVlw 0xFF ; reset cmdNum to undefined value (0xFF)
MOVwf cmdNum
; reconfigure PWM
MOVfw motorH
MOVwf CCPR1L ; store high byte (8; bits 9 - 2)
bcf CCP1CON, CCP1Y
btfsc motorL, 0 ; store low byte (2; bits 0)
bsf CCP1CON, CCP1Y
bcf CCP1CON, CCP1X
btfsc motorL, 1 ; store low byte (2; bits 1)
bsf CCP1CON, CCP1X
btfss motorL, 2 ; motorL<2> bit is significant for motor direction
b turn_left
bsf PORTB, 1 ; turn motor right
b outhere
turn_left:
bcf PORTB, 1 ; turn motor left
outhere:
MOVfw wtemp3 ; restore W
retfie
; --==*[ COMMAND EXEC - transmit motor data ]*==--
command4:
MOVfw result1H ; transmit high byte
call sendByte
MOVfw result1L ; transmit low byte
call sendByte
MOVfw wtemp3 ; restore W
retfie
; --==*[ ERROR HANDLING - for the serial communication ]*==--
err_Overflow: ; handle overflow error
MOVwf wtemp4 ; save W
bsf PORTB, 7 ; show error on leds (10)
bcf PORTB, 6
bcf RCSTA, CREN ; dISAble continuous reception
MOVf RCREG, W ; flush receive fifo buffer (3 bytes deep)
MOVf RCREG, W
MOVf RCREG, W
bsf RCSTA, CREN ; reenable continuous reception
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本文关键字：步进电机 程序 PIC单片机，单片机-工控设备 - PIC单片机
