1 ;======================================================================
2 ; MAIN PROGRAM AND GLUE
7 ;======================================================================
8 ; COMMON TO MASTER AND SLAVE
10 ;----------------------------------------
26 bs_f RCON, IPEN ; interrupt priorities
30 bt_f_if0 idloc1,idloc1_master
33 bt_f_if1 idloc1,idloc1_master
39 bt_f_if1 idloc1,idloc1_boarddet
40 goto backgroundloop_detectors
41 goto backgroundloop_reversers
45 ; called by {master,slave}_init immediately after they've init'd i2c.
49 call points_local_init
50 call polarity_local_init
51 call detect_local_init
54 ;----------------------------------------
59 mov_ff isr_low_save_stkptr, STKPTR
62 ;======================================================================
65 ;----------------------------------------
67 ; Master-specific initialisation.
69 call polarity_master_init
70 call common_local_init
76 ;----------------------------------------
80 call nmra_serialrx_intrl
82 ;call points_local_intrl
87 master_interrupt_high_notnmra
90 ;----------------------------------------------------------------------
91 serialrx_table_section code 0x2000
95 ;command_<something> has same calling convention:
97 ; FSR0 -> start of message undefined
98 ; *FSR0 message undefined
100 ; ; INDF0=MM ww ww ww ww ii ii ii
101 rlc_fw INDF0 ; W = ww ww ww ww ii ii ii ?? C=MM Z=00
102 bra_c serialrx_if_multibyte
103 bra_z command_crashed
104 ; single-byte non-0 command, has to be ON or OFF
105 ; ie supposedly ; INDF0=zz zz II zz zz zz zz PP C=zz
106 rrc_fw INDF0 ; W = zz zz zz II zz zz zz zz C=PP
107 xor_lw 0x10 ; W = zz zz zz zz zz zz zz zz C=PP Z=OK
112 serialrx_if_multibyte
113 rr_fw INDF0 ; W = ii MM ww ww ww ww ii ii
114 and_lw 0x3c ; W = zz zz ww ww ww ww zz zz
115 bt_f_if0 PCL, 0 ; always true, but reads PCL
119 goto serialrx_bad ; 1 0000 xxx
120 goto command_ping ; 1 0001 xxx
121 goto command_polarity ; 1 0010 xxx
122 goto serialrx_bad ; 1 0011 xxx
123 goto command_point ; 1 0100 xxx
124 goto serialrx_bad ; 1 0101 xxx
125 goto serialrx_bad ; 1 0110 xxx
126 goto serialrx_bad ; 1 0111 xxx
127 goto serialrx_bad ; 1 1000 xxx
128 goto serialrx_bad ; 1 1001 xxx
129 goto serialrx_bad ; 1 1010 xxx
130 goto serialrx_bad ; 1 1011 xxx
131 goto serialrx_bad ; 1 1100 xxx
132 goto serialrx_bad ; 1 1101 xxx
133 goto serialrx_bad ; 1 1110 xxx
134 goto serialrx_bad ; 1 1111 xxx
136 goto serialrx_bad ; 0 0000 xxx
137 goto serialrx_bad ; 0 0001 xxx
138 goto serialrx_bad ; 0 0000 xxx
145 ; bra_z crashed_master_do
147 ; bra_z crashed_master_do
149 ; serialrx_check 0x00, 0x21, command_power_on
150 ; serialrx_check 0x21, 0x20, command_power_off
152 ; and_lw 0xf8 ; W^0x20 = MM ww ww ww ww zz zz zz
154 ; serialrx_check 0x00, 0xa0, point_master_do
155 ; serialrx_check 0xa0, 0x88, ping_master_do
156 ; serialrx_check 0x88, 0x90, polarity_master_do
158 ; serialrx_check 0x90, 0x90, polarity_master_do
160 ; mov_wf t ; t = MM ww ww ww ww zz zz zz
166 ;--------------------
172 ;======================================================================
175 ;----------------------------------------
177 ; Slave-specific initialisation.
183 call common_local_init
184 call detect_slave_init
187 ;----------------------------------------
190 call points_local_intrl
193 ;----------------------------------------
198 ;----------------------------------------
203 bra i2csu_write_if_special
205 bra polarity_local_do
212 i2csu_write_if_special
214 bra i2csu_write_if_bad
215 goto panic_crashread_commanded
218 ;======================================================================
219 ; MASTER/SLAVE deviations
223 ; Either transmits the message to the master, or if we are the master,
224 ; handles it as an incoming message from the notional `slave 0'.
225 ; W message unchanged
227 bt_f_if0 idloc1,idloc1_master
228 goto slave_add_short_message
229 goto loopback_read_byte
231 ;======================================================================