detpic/panic.asm

   1 ;======================================================================
   2 ; panic.asm
   3 ;
   4 ; This file implements panic_routine, which is called by the
   5 ; `panic' macro in panic.inc.  See panic.inc for the functionality
   6 ; of `panic'.
   7
   8         include common.inc
   9
  10 ;---------------------------------------------------------------------------
  11 ; reserved access bank locations
  12
  13   udata_acs
  14
  15 psave_intcon    res     1
  16 psave_bsr       res     1
  17
  18 panicst                         res     1
  19 panicst_restart_i2c             equ     7
  20 panicst_acked                   equ     5
  21 panicst_ferroerr                equ     4
  22 panicst_writeslave              equ     3
  23 panicst_i2cmours                equ     2
  24 panicst_i2cmenable              equ     1
  25
  26 panic_valcount                  res     1
  27
  28 panic_vars_section udata 0x060 + maxpics ; not available via access bank
  29 ; used in panic routine for temporary storage:
  30
  31 flash_pattern           res     1
  32 morse_counter           res     1
  33 register_counter        res     1
  34 bit_counter             res     1
  35
  36 panic_address   res     1       ; condensed form of message start addr.
  37 panic_morse     res     1       ; # bytes of morse msg in panic readout
  38 panic_regs      res     1       ; # registers in panic readout
  39
  40 t0l_count       res     1
  41 t0h_count       res     1
  42
  43 psave_latc      res     1
  44 psave_t         res     1
  45 psave_tablat    res     1
  46 psave_tblptr    res     3
  47 psave_fsr0      res     2
  48 psave_fsr1      res     2
  49 psave_prod      res     2
  50 psave_stkptr    res     1
  51
  52 stack_depth     equ     31
  53 panic_stack     res     stack_depth*3
  54
  55 ;****************************************************************************
  56
  57 pan_ code
  58
  59 ;****************************************************************************
  60
  61
  62 panic_routine @
  63 ; switch off interrupts and power
  64 ; reconfigure timer0 for writing diagnostic msg to the LED
  65
  66         mov_ff  INTCON, psave_intcon
  67         bc_f    INTCON, GIEH   ; disable all interrupts
  68
  69         mov_ff  BSR, psave_bsr
  70         banksel flash_pattern
  71
  72         mov_ff  LATC, psave_latc
  73
  74 ; now we have time to save registers etc
  75 ; (turning off interrupts is urgent (we might get interrupted while
  76 ;  panicing which would be bad because we might forget to panic).
  77
  78         mov_wf   panic_address
  79
  80         mov_ff  t, psave_t
  81         mov_ff  TABLAT, psave_tablat
  82         mov_ff  TBLPTRL, psave_tblptr
  83         mov_ff  TBLPTRH, psave_tblptr+1
  84         mov_ff  TBLPTRU, psave_tblptr+2
  85         mov_ff  FSR0L, psave_fsr0
  86         mov_ff  FSR0H, psave_fsr0+1
  87         mov_ff  FSR1L, psave_fsr1
  88         mov_ff  FSR1H, psave_fsr1+1
  89         mov_ff  PRODL, psave_prod
  90         mov_ff  PRODH, psave_prod+1
  91         mov_ff  STKPTR, psave_stkptr
  92
  93         mov_lfsr panic_stack + stack_depth*3 - 1, 0
  94         mov_lw  stack_depth
  95         mov_wf  STKPTR
  96 stacksave_loop
  97         mov_ff  TOSU, POSTDEC0
  98         mov_ff  TOSH, POSTDEC0
  99         mov_ff  TOSL, POSTDEC0
 100         dec_f_ifnz STKPTR
 101         bra     stacksave_loop
 102
 103         clr_f    STKPTR         ; avoids stack overruns
 104         clr_f   panicst
 105
 106         call    panic_kill_hook
 107
 108 ; re-initialise timer0 config, etc.
 109         call    read_pic_no
 110         bra_z   panic_setup_if_master
 111         ; must be slave:
 112
 113 panic_setup_if_slave
 114         movlw   (1<<TMR0ON) | morse_slave_t0scale
 115         movwf   T0CON
 116         movlw   morse_slave_t0inith
 117         movwf   t0h_count
 118         movlw   morse_slave_t0initl
 119         movwf   t0l_count
 120
 121         bra     panic_setup_endif_masterslave
 122
 123 panic_setup_if_master
 124         movlw   (1<<TMR0ON) | morse_master_t0scale
 125         movwf   T0CON
 126         movlw   morse_master_t0inith
 127         movwf   t0h_count
 128         movlw   morse_master_t0initl
 129         movwf   t0l_count
 130
 131         pin_l   p0_booster_userfault
 132
 133         mov_lw  0x0b ; AAARGH
 134         bt_f_if1 TXSTA, TXEN
 135         call    serial_write_char
 136 ;...
 137 panic_setup_endif_masterslave
 138
 139 ; get # bytes of morse msg, # registers in panic readout, message start addr.
 140 ; back from condensed message start addr. stored in panic_address
 141
 142 panic_loop
 143         mov_lw  4 ; size of each message's details
 144         mul_wf  panic_address
 145         mov_ff  PRODL,TBLPTRL
 146         mov_ff  PRODH,WREG
 147         add_lw  (morse_messages_start)/256
 148         mov_wf  TBLPTRH
 149         clr_f   TBLPTRU
 150
 151         tblrd   *+              ; read 1st byte of error message
 152                                 ; (gives # bytes morse, # bytes registers)
 153         dw      0xffff ; silicon errata: B4 issue 4
 154
 155         mov_ff  TABLAT,panic_morse
 156         mov_lw  00001111b
 157         and_wff panic_morse     ; panic_morse now contains # bytes of morse msgs
 158
 159         mov_ff  TABLAT,panic_regs
 160         mov_lw  01110000b
 161         and_wff panic_regs
 162         swap_f  panic_regs      ; panic_regs now contains # registers to read
 163
 164         call    led_black
 165         rcall   waiting16
 166         rcall   morsemsg        ; transmit morse in red
 167         call    led_black
 168         rcall   waiting8
 169         rcall   waiting4
 170         rcall   registermsg     ; transmit contents of registers in
 171                                 ; red(=low) and blue(=high)
 172         rcall   waiting16
 173         bra     panic_loop
 174
 175 ;****************************************************************************
 176 ; PANIC SUBROUTINES
 177
 178 morsemsg
 179 ; wrapper round morse_readout to flash the per-pic led red for a morse msg
 180
 181 morse_msg_start
 182         clr_f           morse_counter           ; clear loop counter
 183
 184 morse_loop
 185         mov_fw          panic_morse
 186         cmp_fw_ifge     morse_counter           ; if loop counter >=panic_morse
 187         return                                  ; return to panic
 188
 189         tblrd           *+
 190         mov_ff          TABLAT,flash_pattern
 191         rcall           morse_readout
 192         inc_f           morse_counter
 193         bra             morse_loop
 194
 195
 196 ;--------------------------
 197 morse_readout
 198
 199 ; Flashes the per-pic led and black in a specified pattern.
 200 ;
 201 ; The pattern is specified as the state for 8 identically-long time
 202 ; periods each as long as a morse `dot', encoded into a byte with
 203 ; most significant bit first.
 204 ;                       On entry                On exit
 205 ; W                     any                     undefined
 206 ; flash_pattern         flash pattern           preserved
 207 ; bit_counter           any                     undefined
 208
 209         mov_lw          9
 210         mov_wf          bit_counter
 211         rr_f            flash_pattern
 212
 213 morse_readout_loop
 214         dec_f_ifz       bit_counter             ; done all the bits yet ?
 215         return
 216         ; No:
 217
 218         rl_f            flash_pattern           ; top bit goes into N,
 219                                                 ;ie Negative if 1
 220         bra_n           morse_readout_if_led_1
 221
 222 morse_readout_if_led_0
 223         call            led_black
 224         bra             morse_readout_endif_led
 225
 226 morse_readout_if_led_1
 227         call            led_red
 228
 229 morse_readout_endif_led
 230         rcall           waiting
 231         bra             morse_readout_loop
 232
 233 ;--------------------------
 234 ;--------------------------
 235 registermsg
 236
 237 register_msg_start
 238         clr_f           register_counter        ; clear loop counter
 239
 240 register_loop
 241         mov_fw          panic_regs
 242         cmp_fw_ifge     register_counter        ; if loop counter >=panic_regs
 243         return                                  ; return to panic
 244
 245         tblrd           *+
 246
 247         mov_fw          TABLAT          ; TABLAT has the 8-bit version
 248         mov_wf          FSR0L           ; of the address.  So, 8 bits
 249                                         ; go straight into FSR0L.
 250
 251         mov_lw          0x0f            ; For FSR0H, we see if the
 252         mov_fw          FSR0H           ; address XX is >=0x60.
 253                                         ; If it is then we meant 0xfXX;
 254         mov_lw          0x5f            ; if not then we meant 0x0XX.
 255         cmp_fw_ifle     FSR0L           ; (This is just like PIC does
 256         clr_f           FSR0H           ; for insns using Access Bank)
 257
 258         mov_ff          INDF0,flash_pattern
 259         rcall           register_readout
 260
 261         inc_f           register_counter        ;increment loop counter
 262
 263         rcall           waiting8
 264         bra             register_loop
 265
 266 ;--------------------------
 267
 268 register_readout
 269
 270 ; Flashes the per-pic led red(0) and green(1) in a specified pattern.
 271 ; (black gap between each bit)
 272 ;
 273 ; The pattern is specified as the state for 8 identically-long time
 274 ; periods each as long as a morse `dot', encoded into a byte with
 275 ; most significant bit first.
 276 ;                       On entry                On exit
 277 ; W                     any                     undefined
 278 ; flash_pattern         flash pattern           preserved
 279 ; bit_counter           any                     undefined
 280
 281         clr_f   bit_counter             ; clear loop counter
 282         rr_f    flash_pattern
 283
 284
 285 register_readout_loop
 286         mov_lw          8
 287         cmp_fw_ifge     bit_counter             ; if loop counter >=8 (register
 288                                                 ; length), return
 289         return
 290
 291         mov_lw          4
 292         cmp_fw_ifne     bit_counter     ; if loop counter !=4 (nybble length),
 293                                         ; skip insertion of extra black space
 294         bra             not_nybble_boundary
 295         rcall           waiting4
 296
 297 not_nybble_boundary
 298         rl_f            flash_pattern           ; top bit goes into N flag,
 299                                                 ; ie Negative if 1
 300         bra_n           register_readout_if_led_1
 301
 302 register_readout_if_led_0
 303         call            led_red
 304         bra             register_readout_endif_led
 305
 306 register_readout_if_led_1
 307         call            led_green
 308
 309 register_readout_endif_led
 310         inc_f           bit_counter       ; increment loop counter
 311         rcall           waiting
 312         call            led_black
 313         rcall           waiting
 314         bra             register_readout_loop
 315
 316
 317 ;****************************************************************************
 318 ; GENERAL SUBROUTINES
 319
 320 ;----------------------------------------
 321 waiting16       rcall   waiting8
 322 waiting8        rcall   waiting4
 323 waiting4        rcall   waiting2
 324 waiting2        rcall   waiting
 325 waiting
 326 ; waits for a fixed interval, depending on the configuration of TMR0
 327
 328         bt_f_if1 idloc1,idloc1_master
 329         pin_z   p0_booster_userfault
 330
 331         bc_f    INTCON,2        ; clear timer0 interrupt bit (p109)
 332 ; Interrupt happens on overflow.  So start at 65535-morse_t0cycles:
 333         mov_fw  t0h_count
 334         mov_wf  TMR0H           ; p107 set high byte of timer0 (buffered,
 335                                 ; only actually set when write to tmr0l occurs)
 336         mov_fw  t0l_count
 337         mov_wf  TMR0L           ; set timer0 low byte - timer now set
 338 waiting_loop    ; wait for timer0 interrupt, or some other interrupt
 339         bt_f_if1 INTCON,TMR0IF
 340         return
 341
 342         bt_f_if1 idloc1, idloc1_master
 343         bra     waiting_master
 344         ; slave:
 345
 346         bt_f_if0 SSPCON1, SSPEN
 347         bra     waiting_loop    ; no readouts if i2c is disabled
 348         ; slave, i2c enabled:
 349
 350         bt_f_if1 PIR1, SSPIF
 351         call    pan_i2cs_interrupt
 352
 353         bra     waiting_loop
 354
 355 ;****************************************************************************
 356 ; MEMORY READOUT - CRASH DUMP
 357
 358 ;----------------------------------------
 359 ; MASTER'S PANIC SERIAL PORT HANDLING
 360
 361 ;--------------------
 362 waiting_master
 363         bt_f_if1 PIR1,RCIF ; host sent us something ?
 364         call    panicd_serialrx
 365
 366         bt_f_if0 SSPCON1, SSPEN
 367         bra     waiting_loop
 368         ; master, i2c enabled:
 369
 370         bt_f_if0 panicst, panicst_i2cmenable
 371         bra     waiting_loop
 372
 373         bt_f_if1 PIR1, SSPIF
 374         rcall   pan_i2cm_interrupt
 375
 376         bra     waiting_loop
 377
 378 ;----------
 379 panicst_oerrferr
 380         mov_fw  RCREG
 381         xor_lw  0x11
 382         bra_z   panic_reset
 383         xor_lw  0x10 ^ 0x11
 384         bra_nz  panicd_serialrx_err_loop
 385         ; yay! host ack'd ferr/oerr
 386         bc_f    panicst, panicst_ferroerr
 387         return ; return from panicd_serialrx
 388
 389 ;----------
 390 panicd_serialrx_err
 391         bs_f    panicst, panicst_ferroerr
 392         bc_f    RCSTA, RCEN     ; disable       } to clear FERR/OERR
 393         mov_fw  RCREG           ; read RCREG    } (see PIC18FXX8 DS p182)
 394         bs_f    RCSTA, RCEN     ; reenable      }
 395 panicd_serialrx_err_loop
 396         bt_f_if0 PIR1, RCIF ; wait for a byte 0x10 to ack the overrun/error
 397         bra     panicd_serialrx_err_loop
 398 ;...
 399 ;----------
 400 panicd_serialrx
 401         pin_nz  p0_booster_userfault
 402         bt_f_if1 RCSTA,FERR
 403         bra     panicd_serialrx_err
 404         bt_f_if1 RCSTA,OERR
 405         bra     panicd_serialrx_err
 406         bt_f_if1 panicst, panicst_ferroerr
 407         bra     panicst_oerrferr
 408
 409         mov_fw  RCREG
 410         bra     panicd_process_input_byte
 411
 412 ;----------------------------------------
 413 ; CRASHREAD MASTER/SLAVE COMMON COMMAND BYTE HANDLING
 414
 415 ;----------
 416 pan_i2csu_write_data
 417         call    led_green
 418 panicd_process_input_byte
 419 ;               W       instruction from host or master
 420         tst_w_ifnz
 421         bra     write_ifnot_00
 422         ; we've received 0x00:
 423
 424         mov_lfsr 0,1
 425         bs_f    panicst, panicst_acked
 426         return
 427
 428 ;----------
 429 write_ifnot_00
 430         bt_f_if0 panicst, panicst_acked ; well, ignore that !
 431         return
 432         ; OK, we have an instruction:
 433
 434         bt_w_if1 7 ; huh?
 435         bra     write_if_setbytetowrite
 436         bt_w_if1 6
 437         bra     panic_crashread_setpointer
 438         bt_f_if0 idloc1,idloc1_master
 439         return ; all the remaining options are for master only
 440         bt_w_if1 5
 441         bra     write_if_master_slaveselect
 442         bt_w_if1 4
 443         bra     write_if_master_masterread
 444         bt_w_if1 3
 445         bra     write_if_master_slaveread
 446
 447         xor_lw  0x11
 448         bra_z   panic_reset
 449         ; nope, well, we ignore it
 450         return
 451
 452 ;----------
 453 panic_crashread_setpointer
 454 ;  W                    byte from master or host        undefined
 455 ;  FSR1*                crashread pointer               updated
 456 ;  t, STATUS, PROD*     any                             undefined
 457 ;  all others           any                             preserved
 458         mov_wf  t
 459         mov_lw  1<<6
 460         mul_wf  FSR1L
 461         mov_ff  PRODH, FSR1H
 462         mov_fw  t
 463         and_lw  0x3f
 464         ior_wfw PRODL
 465         mov_wf  FSR1L
 466 panic_noop
 467         return
 468
 469 ;======================================================================
 470 panic_reset
 471         reset
 472
 473 ;======================================================================
 474 ; MASTER READOUT AND MASTER READOUT OF SLAVES
 475
 476 ;----------
 477 write_if_setbytetowrite
 478         bt_f_if0 idloc1,idloc1_master
 479         return ; for master only
 480
 481         bc_w    7
 482         mov_wf  panic_valcount
 483         bs_f    panicst, panicst_writeslave
 484         bs_f    panicst, panicst_i2cmenable
 485         return
 486
 487 ;----------
 488 write_if_master_slaveread
 489         mov_wf  panic_valcount
 490         bc_f    panicst, panicst_writeslave
 491         return
 492
 493 ;----------
 494 write_if_master_slaveselect
 495         bc_w    5
 496         btg_w   4
 497         bs_f    panicst, panicst_i2cmours
 498         bt_f_if1 panicst, panicst_writeslave
 499         bra     pan_i2cm_write_start
 500         bra     pan_i2cm_read_start
 501
 502 ;----------
 503 write_if_master_masterread
 504         bc_w    4
 505         mov_wf  panic_valcount
 506 write_if_master_masterread_loop
 507         mov_fw  POSTINC1
 508         call    serial_write_char
 509         dec_f_ifnz panic_valcount
 510         bra     write_if_master_masterread_loop
 511         return
 512
 513 ;----------
 514 pan_i2cmu_read_got_byte
 515         bt_f_if0 panicst, panicst_i2cmours
 516         return
 517         call    serial_write_char
 518         dec_f_ifnz panic_valcount
 519         bra     pan_i2cm_read_another
 520         return
 521
 522 ;----------
 523 pan_i2cmu_write_next_byte
 524         mov_fw  panic_valcount
 525         bc_f    STATUS, Z
 526         bt_f_if0 panicst, panicst_i2cmours
 527         retlw   0x00
 528         bt_f_if0 panicst, panicst_writeslave
 529         bs_f    STATUS, Z
 530         bc_f    panicst, panicst_writeslave
 531         return
 532
 533 ;----------
 534 pan_i2cmu_done
 535         mov_lw  ' '
 536         goto    serial_write_char
 537
 538 ;======================================================================
 539 ; SLAVE I2C
 540
 541 pan_near_i2csu code
 542 ;----------
 543 pan_i2csu_write_begin
 544         return
 545
 546 ;----------
 547 pan_i2csu_read_begin
 548         mov_lw  0x80 ; M0000000
 549         bt_f_if0 panicst, panicst_acked
 550         goto    i2cs_read_data
 551 ;...
 552 i2csu_read_panicd_ok
 553         mov_fw  POSTINC1
 554         goto    i2cs_read_data
 555
 556 ;----------
 557 pan_i2csu_read_another
 558         bt_f_if1 panicst, panicst_acked
 559         bra     i2csu_read_panicd_ok
 560         ; not ok
 561         mov_lw  0x0b ; AARGH
 562         goto    i2cs_read_data
 563
 564 near_gots code
 565 ;----------
 566 got_aargh @
 567         panic   morse_T
 568
 569 command_crashed_section code 0x2100
 570 ;----------
 571 command_crashed @
 572 panic_crashread_commanded @
 573         panic   morse_E
 574
 575 ;***************************************************************************
 576         include final.inc