* Nick Shin 7/31/95 * Joe Daniels Final Project * Elevator Controller * Define Parallel Port Names as Actual Port Addresses PORTA EQU $1000 PORTB EQU $1004 PORTC EQU $1003 PORTCD EQU $1007 PORTD EQU $1008 PORTDD EQU $1009 PORTE EQU $100A * Define Registers Needed for Serial Communications SCDR EQU $102F SCSR EQU $102E SCCR1 EQU $102C SCCR2 EQU $102D BAUD EQU $102B * Initalize Microcontroller ORG $D000 ; Start program at address D000 LDS #$F000 ; Set top of stack LDAA #%00110000 ; Set BAUD rate at 9600 STAA BAUD LDAA #$08 ; Enable Serial Transmit STAA SCCR2 LDAA #%00000000 ; Setting up port C as input ports STAA PORTCD LDAA #%11111111 ; Setting up port D as output ports STAA PORTDD * Initalize the chips on the Proto-Board LDAA #$2A ; This is just for debugging purposes JSR TRANSMIT ; JSR TRANSMIT ; JSR PRINT ; LDAA #%00000000 ; Clearing everything STAA PORTA STAA PORTB LDAB #%00000011 ; Giving the chips time to be "cleared" JSR BIGDELAY LDAA #%01111000 ; Initalizing "Floor" chips STAA PORTA LDAA #%00011011 ; Initalizing "Counter" chips STAA PORTB LDAB #%00000011 ; Giving the chips time to be "set" JSR BIGDELAY * Start of elevator controller program * ---------------------------------------------- * ---------- MAIN PROGRAM ---------- * ---------------------------------------------- NORMAL LDAB #%00010000 ; This is just for debugging purposes NORM1 ; LDAA #$2A ; JSR TRANSMIT ; DECB ; BEQ NORM2 ; JMP NORM1 ; NORM2 ; JSR CRLF ; LDAA PORTC ; Getting direction before ORing ANDA #%00010011 ; and setting PandT = 1 STAA PORTB LDAA PORTA ; Check what floor the elev is on ANDA #%00000011 ; by getting Qb and Qa CMPA #%00000000 ; Checking if floor1 BEQ FLR1 CMPA #%00000001 ; Checking if floor2 BEQ FLR2 CMPA #%00000010 ; Checking if floor3 BEQ FLR3_0 CMPA #%00000011 ; Checking if floor4 BEQ FLR4_0 JMP NORMAL * ---------------------------------------------- * ---------- FLOOR 1 ROUTINES ---------- * ---------------------------------------------- FLR1 LDAA #$41 ; Debugging spot JSR PRINT ; LDAB #%11111111 ; Giving time (so it can be seen on the HEX disp) JSR BIGDELAY2 ; for the elevator to move LDAA PORTC ANDA #%00000001 ; Checking if floor1 is choosen -- CMPA #%00000001 ; if so, then open the doors BNE FLR1RET FLR1OPEN LDAB #%00000011 ; A delay feature to adjust to the quick M64HC11 JSR BIGDELAY LDAA #%01110000 ; Turning off ELEV floor1 and floor1 UP LED STAA PORTA LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%01111000 ; Reactivating all ELEV LED lites STAA PORTA JMP OPEN FLR1RET LDAA #$59 ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%00001110 ; Checking for upper floor requests CMPA #%00000000 BEQ FLR1RET2 JMP FLOORUP ; Jump to Move Elev Up Subroutine FLR1RET2 LDAA PORTE ANDA #%00111110 ; Checking for upper floor ARROW requests CMPA #%00000000 BEQ NORMAL_0 JMP FLOORUP ; Jump to Move Elev Up Subroutine NORMAL_0 JMP NORMAL ; Jump extension FLR3_0 JMP FLR3 ; Jump extension FLR4_0 JMP FLR4 ; Jump extension * ---------------------------------------------- * ---------- FLOOR 2 ROUTINES ---------- * ---------------------------------------------- FLR2 LDAA #$42 ; Debugging spot JSR PRINT ; LDAB #%11111111 ; Giving time (so it can be seen on the HEX disp) JSR BIGDELAY2 ; for the elevator to move LDAA PORTC ANDA #%00010000 ; Checking the last known elev direction CMPA #%00010000 BNE FLR2DWN FLR2UP LDAA PORTE ANDA #%00000010 ; Checking if floor2 UP is choosen CMPA #%00000010 BNE FLR2NXT LDAA #%00001110 ; Clearing floor2 UP signal STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00001111 ; Reactivating all ARROW LED lites STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP FLR2OPEN FLR2DWN LDAA PORTE ANDA #%00000010 ; Checking if floor2 DOWN is choosen CMPA #%00000010 BNE FLR2NXT LDAA #%00001101 ; Clearing floor2 DOWN signal STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00001111 ; Reactivating all ARROW LED lites STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP FLR2OPEN FLR2NXT LDAA PORTC ANDA #%00000010 ; Checking if floor2 is choosen CMPA #%00000010 BNE FLR2RET FLR2OPEN LDAB #%00000011 ; A delay feature to adjust to the quick M64HC11 JSR BIGDELAY LDAA #%01101000 ; Turning off elevator floor2 LED lite STAA PORTA LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%01111000 ; Reactivating the LED lites STAA PORTA JMP OPEN ; Jump to Open Door Subroutine FLR2RET LDAA #$5A ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%00001101 ; Checking for other floor requests CMPA #%00000000 BEQ FLR2RET2 JMP SUBFLR2 FLR2RET2 LDAA PORTE ANDA #%00110101 ; Checking for other floor ARROW requests CMPA #%00000000 BEQ NORMAL_1 SUBFLR2 LDAA PORTC ANDA #%00010000 ; Checking the last known elev direction CMPA #%00010000 BNE SUBFLR2U0 SUBFLR2U1 LDAA PORTC ANDA #%00001100 ; Checking for 3rd & 4th floor requests CMPA #%00000000 BEQ FLOORDOWN_0 ; Jump to Move Elev Down Subroutine JMP FLOORUP ; Jump to Move Elev Up Subroutine SUBFLR2U0 LDAA PORTC ANDA #%00000001 ; Checking for 1st floor requests CMPA #%00000000 BEQ FLOORUP_0 ; Jump to Move Elev Up Subroutine JMP FLOORDOWN ; Jump to Move Elev Down Subroutine FLOORUP_0 JMP FLOORUP ; Jump extension FLOORDOWN_0 JMP FLOORDOWN ; Jump extension NORMAL_1 JMP NORMAL ; Jump extension * ---------------------------------------------- * ---------- FLOOR 3 ROUTINES ---------- * ---------------------------------------------- FLR3 LDAA #$43 ; Bebugging spot JSR PRINT ; LDAB #%11111111 ; Giving time (so it can be seen on the HEX disp) JSR BIGDELAY2 ; for the elevator to move LDAA PORTC ANDA #%00010000 ; Checking the last known elev direction CMPA #%00010000 BNE FLR3DWN FLR3UP LDAA PORTE ANDA #%00000010 ; Checking if floor3 UP is choosen CMPA #%00000010 BNE FLR3NXT LDAA #%00001110 ; Clearing floor3 UP signal STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00001111 ; Reactivating all ARROW LED lites STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP FLR3OPEN FLR3DWN LDAA PORTE ANDA #%00000010 ; Checking if floor3 DOWN is choosen CMPA #%00000010 BNE FLR3NXT LDAA #%00001101 ; Clearing floor3 DOWN signal STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00001111 ; Reactivating all ARROW LED lites STAA PORTD LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP FLR3OPEN FLR3NXT LDAA PORTC ANDA #%00000100 ; Checking if floor3 is choosen CMPA #%00000100 BNE FLR3RET FLR3OPEN LDAB #%00000011 ; A delay feature to adjust to the quick M64HC11 JSR BIGDELAY LDAA #%01011000 ; Turning off elevator floor3 LED lite STAA PORTA LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%01111000 ; Reactivating the LED lites STAA PORTA JMP OPEN ; Jump to Open Door Subroutine FLR3RET LDAA #$44 ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%00001011 ; Checking for other floor requests CMPA #%00000000 BEQ FLR3RET2 JMP SUBFLR3 FLR3RET2 LDAA PORTE ANDA #%00101011 ; Checking for other floor ARROW requests CMPA #%00000000 BEQ NORMAL_2 SUBFLR3 LDAA PORTC ANDA #%00010000 ; Checking the last known elev direction CMPA #%00010000 BNE SUBFLR3U0 SUBFLR3U1 LDAA PORTC ANDA #%00001000 ; Checking for 4th floor requests CMPA #%00000000 BEQ FLOORDOWN_1 ; Jump to Move Elev Down Subroutine JMP FLOORUP ; Jump to Move Elev Up Subroutine SUBFLR3U0 LDAA PORTC ANDA #%00000011 ; Checking for 1st & 2nd floor requests CMPA #%00000000 BEQ FLOORUP_1 ; Jump to Move Elev Up Subroutine JMP FLOORDOWN ; Jump to Move Elev Down Subroutine FLOORUP_1 JMP FLOORUP ; Jump extension FLOORDOWN_1 JMP FLOORDOWN ; Jump extension NORMAL_2 JMP NORMAL ; Jump extension * ---------------------------------------------- * ---------- FLOOR 4 ROUTINES ---------- * ---------------------------------------------- FLR4 LDAA #$45 ; Debugging spot JSR PRINT ; LDAB #%11111111 ; Giving time (so it can be seen on the HEX disp) JSR BIGDELAY2 ; for the elevator to move LDAA PORTC ANDA #%00001000 ; Checking if floor4 is choosen CMPA #%00001000 BNE FLR4RET FLR4OPEN LDAB #%00000011 ; A delay feature to adjust to the quick M64HC11 JSR BIGDELAY LDAA #%00111000 ; Turning off elevator floor4 LED lite STAA PORTA LDAB #%00000011 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%01111000 ; Reactivating the LED lites STAA PORTA JMP OPEN ; Jump to Open Door Subroutine FLR4RET LDAA #$46 ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%00000111 ; Checking for lower floor requests CMPA #%00000000 BEQ FLR4RET2 JMP FLOORDOWN ; Jump to Move Elev DOWN Subroutine FLR4RET2 LDAA PORTE ANDA #%00011111 ; Checking for lower floor ARROW requests CMPA #%00000000 BEQ NORMAL_2 JMP FLOORDOWN ; Jump to Move Elev DOWN Subroutine * ----------------------------------------------------- * ---------- OPEN DOOR ROUTINE ----------------- * * This routine will set the OPEN signal to low * and then high (to toggle the counter) indicating * the beginning sequence to open the Elev doors. * * After the Closing signal is detected (from another * counter) then the Elev doors will be closed. * * ----------------------------------------------------- OPEN LDAA #$47 ; Debugging spot JSR PRINT ; LDAA PORTC ; Getting direction before ORing ANDA #%11011111 ; Setting OPENsignal = 0 STAA PORTB LDAB #%00001111 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips ORAA #%00100000 ; Setting OPENsignal = 1 STAA PORTB LDAB #%00001111 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips OPEN1 LDAA #$48 ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%01000000 ; Checking CLOSINGsignal CMPA #%01000000 BNE OPEN1 OPEN2 LDAA #$49 ; Debugging spot JSR PRINT ; LDAA PORTC ANDA #%00100000 ; Checking CLOSEDsignal CMPA #%00100000 BNE OPEN2 JMP NORMAL_0 * ----------------------------------------------------- * ---------- ELEVATOR MOVEMENT ROUTINES ---------- * * These routines will move the elevator. First by * checking the direction of the elevator the elevator * was just in, and then moving the elevator in that * direction (by forcing a clock pulse to the Elevator * Floor Register/Counter). * * ----------------------------------------------------- FLOORUP LDAA #$50 ; Debugging spot JSR PRINT ; LDAA #%00011001 ; Setting PandT = 0, elev dir = 1, & CLR/D = 0 STAA PORTB LDAB #%00000100 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00011011 ; Now setting CLR/D = 1 STAA PORTB LDAB #%00000100 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP NORMAL_0 FLOORDOWN LDAA #$51 ; Debuging spot JSR PRINT ; LDAA #%00001001 ; Setting PandT = 0, elev dir = 0, & CLR/D = 0 STAA PORTB LDAB #%00000100 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips LDAA #%00001011 ; Now setting CLR/D = 1 STAA PORTB LDAB #%00000100 ; A delay feature to adjust to the slow response JSR BIGDELAY ; of the chips JMP NORMAL_0 * ------------------------------------------------------- * ---------- HELPER - DEBUGGING SECTION ------------ * * Debugging Subroutines using the HP2392 Display by * printing out ASCII characters. * * Also, the chips on the Proto-Board are very slow * compared to the speed of the M68HC11 microcontroller. * So included in this helper section is the delay * subroutines used in this program. * * ------------------------------------------------------- * ---------------------------------------------- * ---------- DEBUGGING - PRINTOUT ---------- * ---------------------------------------------- PRINT JSR TRANSMIT ; The compressed calling function JSR CRLF RTS CRLF LDAA #$0A ; Send carriage return JSR TRANSMIT LDAA #$0D ; Send line feed JSR TRANSMIT RTS TRANSMIT STAA SCDR ; Put character into transmit register COMPLETE LDAA SCSR ANDA #%40 BEQ COMPLETE ; Loop until transmition is complete RTS ; Return from transmit Queue * ---------------------------------------------- * ---------- DELAY SUBROUTINES ---------- * ---------------------------------------------- DELAY ; A little loop to kill time LDAB #%01111111 DEL1 DECB BEQ DEL2 JMP DEL1 DEL2 RTS BIGDELAY ; A loop to run the little loop PSHB ; to kill even more time JSR DELAY ; This subroutine uses the value of accum B JSR DELAY ; which is passed in by the user before PULB ; calling this subroutine DECB BEQ BIGDEL1 JMP BIGDELAY BIGDEL1 RTS BIGDELAY2 ; An even bigger loop PSHB LDAB #%00000100 JSR BIGDELAY PULB DECB BEQ BIGDEL2 JMP BIGDELAY2 BIGDEL2 RTS