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_master
40 goto backgroundloop_master
41 bt_f_if1 idloc1,idloc1_boarddet
42 goto backgroundloop_detectors
43 goto backgroundloop_reversers
47 ; called by {master,slave}_init immediately after they've init'd i2c.
51 call points_local_init
52 call polarity_local_init
53 call detect_local_init
56 ;----------------------------------------
61 mov_ff isr_low_save_stkptr, STKPTR
64 ;======================================================================
67 ;----------------------------------------
69 ; Master-specific initialisation.
72 call polarity_master_init
73 call common_local_init
80 ;----------------------------------------
84 call nmra_serialrx_intrl
86 call points_local_intrl
91 master_interrupt_high_notnmra
94 ;----------------------------------------------------------------------
95 serialrx_table_section code 0x2000
99 ;command_<something> has same calling convention:
101 ; FSR0 -> start of message undefined
102 ; *FSR0 message undefined
104 ; ; INDF0=MM ww ww ww ww ii ii ii
105 rlc_fw INDF0 ; W = ww ww ww ww ii ii ii ?? C=MM Z=00
106 bra_c serialrx_if_multibyte
107 bra_z command_crashed
108 ; single-byte non-0 command, has to be ON or OFF
109 ; ie supposedly ; INDF0=zz zz II zz zz zz zz PP C=zz
110 rrc_fw INDF0 ; W = zz zz zz II zz zz zz zz C=PP
111 xor_lw 0x10 ; W = zz zz zz zz zz zz zz zz C=PP Z=OK
116 serialrx_if_multibyte
117 rr_fw INDF0 ; W = ii MM ww ww ww ww ii ii
118 and_lw 0x3c ; W = zz zz ww ww ww ww zz zz
119 bt_f_if0 PCL, 0 ; always true, but reads PCL
123 goto serialrx_bad ; 1 0000 xxx
124 goto command_ping ; 1 0001 xxx
125 goto command_polarity ; 1 0010 xxx
126 goto serialrx_bad ; 1 0011 xxx
127 goto command_point ; 1 0100 xxx
128 goto serialrx_bad ; 1 0101 xxx
129 goto serialrx_bad ; 1 0110 xxx
130 goto serialrx_bad ; 1 0111 xxx
131 goto serialrx_bad ; 1 1000 xxx
132 goto serialrx_bad ; 1 1001 xxx
133 goto serialrx_bad ; 1 1010 xxx
134 goto serialrx_bad ; 1 1011 xxx
135 goto serialrx_bad ; 1 1100 xxx
136 goto serialrx_bad ; 1 1101 xxx
137 goto serialrx_bad ; 1 1110 xxx
138 goto serialrx_bad ; 1 1111 xxx
140 goto serialrx_bad ; 0 0000 xxx
141 goto serialrx_bad ; 0 0001 xxx
142 goto serialrx_bad ; 0 0000 xxx
149 ; bra_z crashed_master_do
151 ; bra_z crashed_master_do
153 ; serialrx_check 0x00, 0x21, command_power_on
154 ; serialrx_check 0x21, 0x20, command_power_off
156 ; and_lw 0xf8 ; W^0x20 = MM ww ww ww ww zz zz zz
158 ; serialrx_check 0x00, 0xa0, point_master_do
159 ; serialrx_check 0xa0, 0x88, ping_master_do
160 ; serialrx_check 0x88, 0x90, polarity_master_do
162 ; serialrx_check 0x90, 0x90, polarity_master_do
164 ; mov_wf t ; t = MM ww ww ww ww zz zz zz
170 ;--------------------
176 ;======================================================================
179 ;----------------------------------------
181 ; Slave-specific initialisation.
187 call common_local_init
188 call detect_slave_init
191 ;----------------------------------------
194 call points_local_intrl
197 ;----------------------------------------
202 ;----------------------------------------
207 bra i2csu_write_if_special
209 bra polarity_local_do
216 i2csu_write_if_special
218 bra i2csu_write_if_bad
219 goto panic_crashread_commanded
222 ;======================================================================
223 ; MASTER/SLAVE deviations
227 ; Either transmits the message to the master, or if we are the master,
228 ; handles it as an incoming message from the notional `slave 0'.
229 ; W message unchanged
231 bt_f_if0 idloc1,idloc1_master
232 goto slave_add_short_message
233 goto loopback_read_byte
235 ;======================================================================