Project Weekly Progress Report

Project Title:

Microcontroller Implementation of a Small Robot Arm Controller

Week of: April 11^th, 2000

Engineers:

Megan Bern and Ritesh Patel

Advisor’s Signature: _________________

Grade: _______

=================================================================

Objective:

Progress:

;Ritesh Patel & Megan Bern

;Program1

;01/25/00

;generates 100Hz square wave

;A/D and D/A conversion

;Digital Filter [Yn=.25Rn + .25(Rn-1)+.50(Yn-1)]

;include(mod515)

$INCLUDE(mod515.a51)

;include(digital)

$INCLUDE(digital.a51)

STARD EQU 8000H ;start address for program

ORG stard

JMP SETUP

;Interrupt Jump Table

org stard+2BH ;TF2 + EXF2 interrupt

AJMP TMR2SRV ;Jump to timer 1 interrupt

;-----------------------------------------------------------------

TMR2SRV: ;timer 2 service every 5 ms

MOV a,#2 ;load ACC for channel 2

CALL ADCIN ;call converter subroutine

;value in ACC

MOV a,joy ;MOVE JOYSTICK CONDITION INTO a

JZ around2 ;Jump if zero

MOV a,#1 ;load ACC for channel 1

CALL ADCIN2 ;CALL CONVERTER SUBROUTINE

;VALUE IN acc

AJMP AROUND3 ;jump to call d/a out

around2: MOV A,isig ;move input signal condition into a

JNZ INPSIGA ;jump if user is choosing input position

JZ around1 ;jump around if user is not choosing input signal

INPSIGA: CALL INPSIG ;jump to input signal routine

AROUND3: CALL da_out ;write to D/A converter, Chn 2

around1: MOV a,Tmr_Half ;0.05 second timer move to acc

JZ around ;jump if zero

DEC a ;decrement acc

MOV Tmr_Half,a ;move acc to half second timer

around:

CPL p4.1 ;generate pulse

CLR TF2 ;clear interrupt flag

RETI

; ADCIN subroutine.

; Return ACC with the 8 bit A/D conversion from the channel selected by ACC.

; Grabs current robot arm position after P-to-A/D hardware.

ADCIN:

ANL A,#00000111B ; ONLY 8 CHANNELS

ANL ADCON,#11000000B ; MODE FOR A/D CONVERSION: SINGLE

ORL ADCON,A ; "OR" IN THE CHANNEL

MOV DAPR,#0 ; START CONV W/NO REF VOLTAGE

JB BSY,$ ; LOOP TILL CONVERTED

MOV acc,ADDAT ; ACC = CONVERSION

;LOOP is the code for the digital filter yn=0.25rn+0.25r(n-1)+0.50y(n-1).

LOOP: ;calculate 0.25Rn

mov IPAD,a

CLR C

MOV IP_1,IPAD ;MOVE Rn INTO Rn-1

MOV IPAD,a ;MOVE Rn INTO a

MOV b,#4h ;MOVE 4 INTO b

DIV ab ;DIVIDE Rn BY 4

MOV R7,b ;MOVE REMAINDER 1 INTO R7

MOV R2,a ;MOVE Rn(1/4) INTO R2

;calculate 0.25Rn-1

MOV a,IP_1 ;MOVE Rn-1 INTO a

MOV b,#4h ;MOVE 4 INTO b

DIV ab ;DIVIDE Rn-1 BY 4

MOV R3,a ;MOVE Rn-1(1/4) INTO R3

MOV a,b ;MOVE REMAINDER 2 INTO a

ADD a,R7 ;ADD REMAINDER 1 TO REMAINDER 2

CLR C ;CLEAR CARRY FLAG

MOV R7,a ;MOVE SUM OF REMAINDERS 1 AND 2 INTO R7

;calculate 0.50Yn-1

MOV OP_1,OP ;MOVE Yn INTO Yn-1

MOV a,OP_1 ;MOVE Yn-1 INTO a

MOV b,#2h ;MOVE 2 INTO b

DIV ab ;DIVIDE Yn-1 BY 2

MOV R4,a ;MOVE Yn-1(1/2) INTO R4

MOV a,b ;MOVE REMAINDER 3 INTO a

MOV b,#2h ;MOVE 2 INTO b

MUL ab ;MULTIPLY REMAINDER 3 BY 2

CLR C

ADD a,R7 ;ADD (2)REMAINDER 3 TO REMAINDERS 1 AND 2

MOV b,#4h ;MOVE 4 INTO b

DIV ab ;DIVIDE TOTAL REMAINDERS BY 4

;calculate Yn

CLR C ;CLEAR CARRY FLAG

ADD a,R2 ;ADD (1/4)Rn TO REMAINDERS

CLR C ;CLEAR CARRY FLAG

ADD a,R3 ;ADD (1/4)Rn-1 TO REMAINDERS AND (1/4)Rn

CLR C ;CLEAR CARRY FLAG

ADD a,R4 ;ADD (1/2)Yn-1 TO REMAINDERS, (1/4)Rn, AND (1/4)Rn-1

MOV R5,a ;MOVE TOTAL, Yn, INTO R5

MOV a,b ;MOVE REMAINDER OF TOTAL REMAINDERS INTO a

CLR C ;CLEAR CARRY FLAG

SUBB a,#2 ;SUBTRACT 2 FROM REMAINDER OF REMAINDERS

JC HERE ;JUMP HERE IF REMAINDER IS LESS THAN 0.5

JZ THERE ;JUMP THERE IF REMAINDER IS 0.5

JMP THERE ;JUMP THERE IF REMAINDER IS GREATER THAN 0.5

THERE: MOV a,R5 ;MOVE Yn INTO a

CLR C ;CLEAR CARRY FLAG

ADD a,#1 ;ADD 1 TO Yn

MOV OP,a ;MOVE TOTAL, Yn, INTO CURRENT OUTPUT

LJMP MULT ;Jump to MULT

HERE: CLR C ;CLEAR CARRY FLAG

MOV a,R5 ;MOVE Yn INTO a

MOV OP,a ;MOVE TOTAL, Yn, INTO CURRENT OUTPUT

LJMP MULT

;THIS FUNCTION SUBTRACTS 80H FROM Yn and saves it in R6. IT IS DIVIDED BY 30 AND SAVED IN MEMORY.

;It is also multiplied by 7/4 and added to the previous value saved in memory.

;subtracts 80h from Current output and keeps track of sign.

MULT: MOV a,OP

MOV b,#80h ;MOVE 80H INTO B

CLR C ;CLEAR CARRY

SUBB a,b ;SUBTRACT OP-80H

JNC MULTA ;JUMP TO MULT IF OP-80H IS POSITIVE NUMBER OR ZERO

CLR C ;CLEAR CARRY FLAG

MOV negf,#1h ;MOVE 1 INTO RAM LOCATION negf

CPL a ;COMPLIMENT (OP-80H)

MOV b,#1h ;MOVE 1 INTO b

CLR C ;CLEAR CARRY FLAG

ADD a,b ;ADD (OP-80H)'+1

MULTA: ;divides value by 30 and saves in R2.

MOV R6,a ;MOVE OP-80H OR (OP-80H)'+1 INTO R6

MOV b,#1Eh ;MOVE 30 INTO b

DIV ab ;DIVIDE OP-80H BY 30

MOV R2,a ;MOVE (OP-80H)/30 INTO R2

MOV a,b ;MOVE REMAINDER INTO a

CLR C ;CLEAR CARY FLAG

SUBB a,#0Eh ;SUBTRACT 14 FROM REMAINDER

JZ MULT2 ;JUMP IF ZERO

JC MULT2 ;JUMP IF NEGATIVE

MULT1: MOV a,R2 ;MOVE (OP-80H)/30 INTO a

CLR C ;CLEAR CARRY FLAG

ADD a,#1h ;ADD 1 TO (OP-80H)/30

MOV R2,a ;MOVE (OP-80H)/30 INTO R2

MULT2: ;divides value by 4 and saves in R3.

MOV a,R6 ;MOVE (OP-80) OR (OP-80H)'+1 INTO a

MOV b,#4h ;MOVE 4 INTO b

DIV ab ;DIVIDE (OP-80H)/4

MOV R3,a ;MOVE (OP-80H)/4 INTO R3

MOV a,b ;MOVE REMAINDER INTO a

CLR C ;CLEAR CARRY FLAG

SUBB a,#1h ;SUBTRACT 1 FROM REMAINDER

JZ MULT3A ;JUMP IS ZERO

JC MULT3A ;JUMP IF NEGATIVE

MULT3: MOV a,R3 ;MOVE (OP-80H)/4 INTO a

CLR C ;CLEAR CARRY FLAG

ADD a,#1h ;ADD 1 TO (OP-80H)/4

MOV R3,a ;MOVE (OP-80H)/4 INTO R3

AJMP MULT4 ;JUMP TO MULT4

MULT3A: MOV a,R3 ;MOVE (OP-80H)/4 INTO a

MULT4: ;multiplies value by 7 and then adds value to (op-80h)/30

MOV b,#7h ;MOVE 7 INTO b

CLR C ;CLEAR CARRY FLAG

MUL ab ;MULTIPLY (OP-80H)/4 BY 7

MOV b,R2 ;MOVE (OP-80H)/30 INTO b

CLR C ;CLEAR CARRY

ADD a,b ;ADD [(7(OP-80H)/4)+((OP-80H)/30)]

MOV R2,a ;MOV [(7(OP-80H)/4)+((OP-80H)/30)] INTO R2

CALL da_out1

RET

;THIS GRABS THE CURRENT JOYSTICK LOCATION.

ADCIN2: ANL A,#00000111B ; ONLY 8 CHANNELS

ANL ADCON,#11000000B ; MODE FOR A/D CONVERSION: SINGLE

ORL ADCON,A ; "OR" IN THE CHANNEL

MOV DAPR,#0 ; START CONV W/NO REF VOLTAGE

JB BSY,$ ; LOOP TILL CONVERTED

MOV acc,ADDAT ; ACC = CONVERSION

LJMP REM3

;THIS FUNCTION CHECKS TO SEE WHAT POSITION THE USER WOULD LIKE THE ROBOT ARM TO MOVE TO AND ACCEPTS

;THAT POSITION AS THE INPUT SIGNAL.

INPSIG: MOV a,isig

CJNE a,#1h,DEG20

MOV a,#86h

LJMP REM3

DEG20: CJNE a,#2h,DEG30

MOV a,#8Dh

LJMP REM3

DEG30: CJNE a,#3h,DEG40

MOV a,#94h

LJMP REM3

DEG40: CJNE a,#4h,DEG50

MOV a,#9Bh

LJMP REM3

DEG50: CJNE a,#5h,DEG60

MOV a,#0A2h

LJMP REM3

DEG60: CJNE a,#6h,DEG70

MOV a,#0A9h

LJMP REM3

DEG70: CJNE a,#7h,DEG80

MOV a,#0B0h

LJMP REM3

DEG80: CJNE a,#8h,DEG90

MOV a,#0B8h

LJMP REM3

DEG90: CJNE a,#9h,DEGN10

MOV a,#0BFh

LJMP REM3

DEGN10: CJNE a,#11h,DEGN20

MOV a,#78h

LJMP REM3

DEGN20: CJNE a,#12h,DEGN30

MOV a,#71h

LJMP REM3

DEGN30: CJNE a,#13h,DEGN40

MOV a,#6Ah

LJMP REM3

DEGN40: CJNE a,#14h,DEGN50

MOV a,#63h

LJMP REM3

DEGN50: CJNE a,#15h,DEGN60

MOV a,#5Ch

LJMP REM3

DEGN60: CJNE a,#16h,DEGN70

MOV a,#55h

LJMP REM3

DEGN70: CJNE a,#17h,DEGN80

MOV a,#4Eh

LJMP REM3

DEGN80: CJNE a,#18h,DEGN90

MOV a,#47h

LJMP REM3

DEGN90: CJNE a,#19h,INPSIGB

MOV a,#40h

LJMP REM3

INPSIGB: LJMP INPSIG

;THIS FUNCTION SUBTRACTS 80 FROM THE INPUT AND THEN PERFORMS THE SUMMATION OF THE P CONTROLLER.

REM3: ;subtracts 80h from the input signal. checks to see if neg or pos.

;keeps track of sign.

MOV b,#80h ;MOVE 80H INTO b

CLR C ;clear carry flag

SUBB a,b ;SUBTRACT (INPUT-80H)

JNC REM3A ;JUMP IF (INPUT-80H) IS NOT A NEGATIVE NUMBER

MOV negi,#1h ;MOVE 1 INTO RAM LOCATION negi

CPL a ;COMPLIMENT (INPUT-80H)

MOV b,#1h ;MOVE 1 INTO b

CLR C ;clear carry flag

ADD a,b ;ADD (INPUT-80H)'+1

REM3A: ;ckecks to see if input is neg or pos.

MOV R4,a ;MOVE (INPUT-80H) OR (INPUT-80H)'+1 INTO R4

MOV a,negi ;MOVE INPUT CONDITION INTO a

JZ REM3B ;JUMP IF INPUT SIGNAL POSITIVE

;input is neg and checks to see if feedback is neg or pos.

MOV a,negf ;MOVE FEEDBACK CONDITION INTO a

JZ STOP ;JUMP IF FEEDBACK CONDITION IS POSITIVE

;input and feedback are both neg. subtracts input from feedback.

MOV a,R2 ;MOVE {[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]} INTO a

MOV b,R4 ;MOVE (INPUT-80H)'+1 INTO b

CLR C ;clear carry flag

SUBB a,b ;SUBTRACT {[7((OP-80H)'+1)/4]+[((OP-80H)'+1)/30]} - [(INPUT-80H)'+1]

MOV negi,#0 ;RESET negi TO ZERO

MOV negf,#0 ;RESET negf TO ZERO

MOV b,#80h ;MOVE 80H INTO b

CLR C

ADD a,b ;ADD {{[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]} - [(INPUT-80H)'+1]} + 80H

RET

REM3B: ;input is pos and ckecks to see if feedback is neg or pos.

MOV a,negf ;MOVE FEEDBACK CONDITION INTO a

JNZ STOP1 ;JUMP IF FEEDBACK CONDITION IS NEGATIIVE

;input and feedback are both pos. subtracts feedback from input signal.

MOV a,R4 ;MOVE (INPUT-80H) INTO a

MOV b,R2 ;MOVE [7(OP-80H)/4 + (OP-80H)/3] INTO b

CLR C

SUBB a,b ;SUBTRACT {(INPUT-80H) - [7(OP-80H)/4 + (OP-80H)/3]}

MOV negi,#0 ;RESET negi TO ZERO

MOV negf,#0 ;RESET negf TO ZERO

MOV b,#80h ;MOVE 80H INTO b

CLR C

ADD a,b ;ADD {(INPUT-80H) - [7(OP-80H)/4 + (OP-80H)/3]} + 80H

RET

STOP: ;input is neg and feedback is pos.

MOV b,R2 ;MOVE {[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]} INTO a

MOV a,#0h ;MOVE 0H INTO a

CLR C

SUBB a,b ;SUBTRACT 0H - {[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]}

MOV b,R4 ;MOVE (INPUT-80H)'+1 INTO b

CLR C

SUBB a,b ;SUBTRACT 0H - {[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]} - [(INPUT-80H)'+1]

MOV negi,#0 ;RESET negi TO ZERO

MOV negf,#0 ;RESET negf TO ZERO

MOV b,#80h ;MOVE 80H INTO b

CLR C

ADD a,b ;ADD {0H - {[7((OP-80H)'+1)/4]+[(OP-80H)'+1/30]} - [(INPUT-80H)'+1]} +

RET

STOP1: ;input is pos and feedback is neg.

MOV a,R4 ;MOVE (INPUT-80H) INTO a

MOV b,R2 ;MOVE [7(OP-80H)/4 + (OP-80H)/3] INTO b

CLR C ;clear carry flag

ADD a,b ;SUBTRACT {(INPUT-80H) - [7(OP-80H)/4 + (OP-80H)/3]}

MOV negi,#0 ;RESET negi TO ZERO

MOV negf,#0 ;RESET negf TO ZERO

MOV b,#80h ;MOVE 80H INTO b

CLR C

ADD a,b ;ADD {(INPUT-80H) - [7(OP-80H)/4 + (OP-80H)/3]} + 80H

RET

; da_out subrountine

; write value in ACC to D/A channel specified below

da_out: MOV P2,#DA_0 ; point to D/A channel 2

MOVX @R1,a ; write data

RET

da_out1: MOV P2,#DA_2

MOVX @R1,a

RET

;***********************************************

;

; Intialization Code

;

;***********************************************

SETUP:

MOV IEN0,#0 ;Disable ALL INTS

MOV SP,#70H ;Initialize STACK

SETB P5.5 ;Do a reset

CLR P5.5 ;bring it low

SETB P5.0 ;make A16 of 128K Ram, high

SETB P5.2 ;disable EEPROM

CLR P5.1 ;new port 5.1 for D/A

;END 80535 Stuff

MOV R0,#7FH ;CLEAR 128 BYTES OF RAM

clr_ram: MOV @R0,#0

DJNZ R0,clr_ram

SETB T2CON.0 ; timer 2: 16 bit operation

SETB T2CON.4 ; and auto-reload mode

MOV TH2,#0EDH ; load timer 2 registers

MOV TL2,#0E4H

MOV CRCH,#0EDH ; load capture registers

MOV CRCL,#0E4H ; timer 2

SETB ET2 ;enable timer 2 ovf int

SETB EAL ; enable all interrupts

Digital:

MOV IPAD,#0 ;Initialize IPAD

MOV IP_1,#0 ;Initialize IP_1

MOV OP,#0 ;Initialize OP

MOV OP_1,#0 ;Initialize OP_1

MOV Tmr_Half,#10 ;Initialize Half second timer to 10

MOV joy,#0 ;INITIALIZE JOYSTICK CONSITION TO ZERO

MOV negi,#0 ;Initialize input condition to zero

MOV negf,#0 ;Initialize feedback condition to zero

MOV isig,#0 ;Initialize input signal condition to zero

Call LCDINIT ; initialize LCD

;THIS FUNCTION CREATES THE MAIN MENU SYSTEM ON THE LCD.

main:

MOV DPTR,#lcddata ; initialize pointer

MOV R0,#0 ; initialize character count

dislop: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#40,dislop ; finished?, then loop

looplcd: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next1 ;Key 1 pressed

MOV joy,#0h

MOV isig,#0h

JMP INPUT1 ;jump if equal

next1: CJNE A,#32h,looplcd ;compare to 2 and if not equal jump

JMP OUTPUT1 ;if equal jump to output

INPUT1: MOV DPTR,#lcddata1 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop1: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop1

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#34,dislop1 ; finished?, then loop

looplcd1: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next2 ;Key 1 pressed

MOV joy,#1h ;set joystick condition to 1

MOV isig,#0h

JMP main

next2: CJNE A,#32h,looplcd1 ;compare to 2 and if not equal jump

MOV joy,#0h ;set joystick condition to zero

MOV isig,#1h

MOV DPTR,#lcd1 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop6: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop6

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#41,dislop6 ; finished?, then loop

looplcd6: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next7 ;Key 1 pressed

JMP posdeg

next7: CJNE A,#32h,looplcd6 ;compare to 2 and if not equal jump

JMP negdeg

posdeg: MOV DPTR,#lcd2 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop7: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop7

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#34,dislop7 ; finished?, then loop

looplcd7: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next8 ;Key 1 pressed

MOV isig,#1h

LJMP main

next8: CJNE A,#32h,next9 ;compare to 2 and if not equal jump

MOV isig,#2h

LJMP main

next9: CJNE A,#33H,next10

MOV isig,#3h

LJMP main

next10: CJNE A,#34H,next11

MOV isig,#4h

LJMP main

next11: CJNE A,#35H,next12

MOV isig,#5h

LJMP main

next12: CJNE A,#30H,looplcd7

otherdeg: MOV DPTR,#lcd3 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop8: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop8

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#21,dislop8 ; finished?, then loop

looplcd8: CALL KEYIN1 ;call keypad subroutine

CJNE A,#36h,next13 ;Key 1 pressed

MOV isig,#6h

LJMP main

next13: CJNE A,#37h,next14 ;compare to 2 and if not equal jump

MOV isig,#7h

LJMP main

next14: CJNE A,#38H,next15

MOV isig,#8h

LJMP main

next15: CJNE A,#39H,looplcd8

MOV isig,#9h

LJMP main

negdeg: MOV DPTR,#lcd4 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop9: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop9

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#39,dislop9 ; finished?, then loop

looplcd9: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next16 ;Key 1 pressed

MOV isig,#11h

LJMP main

next16: CJNE A,#32h,next17 ;compare to 2 and if not equal jump

MOV isig,#12h

LJMP main

next17: CJNE A,#33H,next18

MOV isig,#13h

LJMP main

next18: CJNE A,#34H,next19

MOV isig,#14h

LJMP main

next19: CJNE A,#35H,next20

MOV isig,#15h

LJMP main

next20: CJNE A,#30H,looplcd9

otherdeg1: MOV DPTR,#lcd5 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop10: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop10

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#25,dislop10 ; finished?, then loop

looplcd10: CALL KEYIN1 ;call keypad subroutine

CJNE A,#36h,next21 ;Key 1 pressed

MOV isig,#16h

LJMP main

next21: CJNE A,#37h,next22 ;compare to 2 and if not equal jump

MOV isig,#17h

LJMP main

next22: CJNE A,#38H,next23

MOV isig,#18h

LJMP main

next23: CJNE A,#39H,looplcd10

MOV isig,#19h

JMP main

lcd1: db 1ah,31h,20h,3dh,20h,50h,6fh,73h,69h,74h,69h,76h,65h

db 20h,44h,65h,67h,72h,65h,65h

db 0ah,0dh,32h,20h,3dh,20h,4eh,65h,67h,61h,74h,69h

db 76h,65h,20h,44h,65h,67h,72h,65h,65h

RET

lcd2: db 1ah,31h,3dh,31h,30h,20h,32h,3dh,32h,30h,20h,33h,3dh

db 33h,30h,20h,34h,3dh,34h,30h,0ah,0dh,35h,3dh,35h,30h

db 20h,4fh,3dh,4fh,74h,68h,65h,72h

RET

lcd3: db 1ah,36h,3dh,36h,30h,20h,37h,3dh,37h,30h,0ah,0dh

db 38h,3dh,38h,30h,20h,39h,3dh,39h,30h

RET

lcd4: db 1ah,31h,3dh,2dh,31h,30h,20h,32h,3dh,2dh,32h,30h,20h

db 33h,3dh,2dh,33h,30h,0ah,0dh,34h,3dh,2dh,34h,30h,20h

db 35h,3dh,2dh,35h,30h,20h,4fh,3dh,4fh,74h,68h,65h,72h

RET

lcd5: db 1ah,36h,3dh,2dh,36h,30h,20h,37h,3dh,2dh,37h,30h,0ah

db 0dh,38h,3dh,2dh,38h,30h,20h,39h,3dh,2dh,39h,30h

RET

lcddata1: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,6fh,72h,20h,32h

db 0ah,0dh,31h,3dh,4ah,4fh,59h,53h,54h,49h,43h,4bh,20h

db 32h,3dh,49h,4eh,53h,49h,47h,20h

RET

lcddata: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,6fh,72h,20h

db 32h,0ah,0dh,31h,3dh,49h,6eh,20h,32h,3dh

db 4fh,75h,74h,20h,46h,6fh,72h,20h,4dh,65h,6eh,75h,73h

RET

KEYIN1: JNB IE1,KEYIN1 ; LOOP TILL KEY PRESSED

clr ie1

PUSH DPH

PUSH DPL ; SAVE DPTR

MOV DPTR,#KEYTABL ; POINT TO TRANSLATE TABLE

MOV P2,#KEYSEL ; POINT TO KEYPAD PORT

MOVX A,@R1 ; GET KEY FROM PORT

ANL A,#11111B ; ONLY 5 BITS

MOVC A,@A+DPTR ; TRANSLATE TO KEY FROM TABLE

POP DPL

POP DPH

RET

KEYTABL: DB '123C456D789EA0BF'

OUTPUT1: MOV DPTR,#output2 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop2: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop2

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#40,dislop2 ; finished?, then loop

looplcd2: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next3 ;Key 1 pressed

JMP error

next3: CJNE A,#32h,looplcd2 ;compare to 2 and if not equal jump

JMP other

error: JMP main

other: MOV DPTR,#output3 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop3: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop3

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#40,dislop3 ; finished?, then loop

looplcd3: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next4 ;Key 1 pressed

JMP final

next4: CJNE A,#32h,looplcd3 ;compare to 2 and if not equal jump

JMP other1

final: JMP main

other1: MOV DPTR,#output4 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop4: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop4

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#42,dislop4 ; finished?, then loop

looplcd4: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next5 ;Key 1 pressed

JMP filtered

next5: CJNE A,#32h,looplcd4 ;compare to 2 and if not equal jump

JMP other2

filtered: JMP main

other2: MOV DPTR,#output5 ; initialize pointer

MOV R0,#0 ; initialize character count

dislop5: MOV a,Tmr_Half ;move half second timer to acc

JNZ dislop5

MOV Tmr_Half,#10 ;move 100(dec)in to half second timer

MOV A,R0 ; copy to A

MOVC A,@A+DPTR

Call LCDOUT

INC R0

CJNE R0,#41,dislop5 ; finished?, then loop

looplcd5: CALL KEYIN1 ;call keypad subroutine

CJNE A,#31h,next6 ;Key 1 pressed

JMP command

next6: CJNE A,#32h,looplcd5 ;compare to 2 and if not equal jump

JMP other3

command: JMP main

other3: JMP main

output6: JMP output6

output2: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,46h,6fh,72h,20h

db 45h,72h,72h,6fh,72h,20h,0ah,0dh,6fh,72h

db 20h,32h,20h,46h,6fh,72h,20h,4fh,74h,68h,65h,72h,20h,53h

db 69h,67h,73h

RET

output3: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,46h,6fh,72h,20h

db 4fh,75h,74h,70h,75h,74h,0ah,0dh,6fh,72h,20h,32h,20h

db 46h,6fh,72h,20h,4fh,74h,68h,65h,72h,20h,53h,69h,67h,73h

RET

output4: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,46h,6fh,72h,20h,46h

db 69h,6ch,74h,65h,72h,65h,64h,0ah,0dh,50h,6fh,73h,20h

db 6fh,72h,20h,32h,20h,4fh,74h,68h,65h,72h,20h,53h,69h,67h,73h

RET

output5: db 1ah,50h,72h,65h,73h,73h,20h,31h,20h,46h,6fh,72h,20h,43h

db 6fh,6dh,6dh,61h,6eh,64h,0ah,0dh,6fh,72h,20h,32h,20h,46h

db 6fh,72h,20h,4fh,74h,68h,65h,72h,20h,53h,69h,67h,73h

RET

$include(lcddrv3.a51) ; LCD subrountines

escflag equ psw.5 ;LCD equate

END