'b0 \_  	=	varible
'b1 / w0	=	counter
'b2 \_	=	character
'b3 / w1	=	cursor start posistion
'b4 \_	=	cursor  end  posistion
'b5 / w2	=	keypad
'b6 \_	=	\	
'b7 / w3	=	/ word variable
'b8 \_	=	servo posistion / motor speed	
'b9 / w4	=	motor speed
'b10\_	=	1s / end character
'b11/ w5	=	10s
'b12\_	=	100s
'b13/ w6	=	1000s

'poke $C0   =	b6 - 7th digit in display current servo / motor
'poke $C1   =	b7
'poke $C2 	=		
'poke $C3   =	screen High Address
'poke $C4	=	b0
'poke $C5	=	b1

start:
		setint %00000000,%00000001	'for IR input
		let dirsc = %11100001		'set input / output pins on port C
		let infra = 0
		let pins  = 0
		high portc 0 			'latch enable
		low  portc 0 			'latch disable (stop all motors)
		high portc 5			'ce    disable
		low  portc 7			'wr    enable

	i2cslave %11010000, i2cslow, i2cbyte'set for i2c RTC
		readi2c 7,(b2)			'check if clock is set - $10
		if b2 = $10 then set_i2cprom

'		     (sec,min,hrs,day,dat,mth,yer,cnt)
	writei2c 0,($00,$00,$00,$05,$08,$11,$05,$10)'set clock

set_i2cprom:
	i2cslave %10100000, i2cfast, i2cword'set for i2c eeprom
		'pause 3000				'wait for i2cslaves


'------------------| Display EYE graphics |------------------------

init_screen:
		poke $C3,$80			'screen High Address
		let b3 = $00			'1st address in eeprom
		let b4 = $0C			'last address in eeprom
		gosub init_disp			'set graphics mode
		let b3 = $00			'set cursor position
		gosub cursor_pos

		let w0 = $400			'set begining of graphic data 
get_graphics:
		readi2c w0,(b6,b7,b8,b9,b10,b11,b12,b13)
		let pins = b6
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b7
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b8
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b9
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b10
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b11
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b12
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = b13
		low  portc 5 			'ce
		high portc 5 			'ce

		let w0 = w0 + 8
		if w0 < $7FF then get_graphics
		
		gosub cancel_auto			'cancel auto byte increment

snd:
		high portc 7			'wr    disable

		sound 5,(79,20,110,20,79,20,93,20,104,32)

		low  portc 7			'wr    enable
		pause 400


'------------------| Display MAIN screen |-------------------------'


		poke $C3,$00			'screen High Address
		let b3 = $10			'1st address in eeprom
		let b4 = $1D			'last address in eeprom
		gosub init_disp			'set text mode

disp:							'display main screen
		let infra = 0
		let b3 = $00			'set cursor posistion
		let w0 = $100			'begining of text data
		let b4 = $80			'display 128 bytes
		gosub display			'">BiOS JR 3.1 M1<----------------4MHz 32KF 2K ROM"
							'display "<I> HRD USR DEMO"

'-------------------------| 1ST MENU |-------------------------------'

chk_key:
		gosub key_pad
		branch b5,(info,hrd,usr,demo)
		pause 100
		goto chk_key

info:
		let b3 = $00			'set cursor posistion
		let w0 = $180			'begining of text data
		let b4 = $80			'display 48 bytes
		gosub display			'display " Designed by    Ivan Neubronner Thomas Braunl"
fourth_key:
		gosub get_time
		readadc 1,b5
		if infra = 4 then disp
	if b5 > 30 	and b5 < 220 then disp
		goto fourth_key
	
hrd:
		let b3 = $50			'set cursor posistion
		let w0 = $200			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "SET HDT  IO  END"

hrd_key:
		gosub key_pad
		branch b5,(setup,hdt,io,disp)
		pause 100
		goto hrd_key
											

'-----------------------| SETUP |--------------------------------'

setup:
		let b3 = $50			'set cursor posistion
		let w0 = $390			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "SER  RMT CLK END"

setup_key:
		gosub key_pad
		branch b5,(serial,rmt,clock,hrd)
		pause 100
		goto setup_key

'-----------------------|   IR   |-------------------------------'

ir:
		let infra = 0
		let w4 = 0
		let b3 = $50			'set cursor posistion
		let w0 = $2C0			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "INRARED"
		writei2c $20,("D",$20,$20,$20)

nxt_ir:
		if  w4 = infra then nxt_ir
		let w4 = infra
		gosub digits			'display ir value
		if infra = 17 then io
		readadc 1,b5
	if b5 > 30 	and b5 < 220  then io	'goto io screen
		goto nxt_ir			

'-----------------------| SERIAL |-------------------------------'

serial:
		goto setup

'-----------------------|  RMT  |--------------------------------'

rmt:
		goto setup


'--------------------------| IO |--------------------------------'

io:
		let b3 = $50			'set cursor posistion
		let w0 = $260			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "DIN  IR  ADC END"
io_key:
		gosub key_pad
		branch b5,(din,ir,adc,hrd)
		pause 100
		goto io_key

'-----------------------|  DIN  |--------------------------------'

din:
		let b3 = $50			'set cursor posistion
		let w0 = $290			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "D0 to D5"

get_input:
		if pin1 = 0 then b1_zero
		let b1 = "1"
		goto pin_2
b1_zero:
		let b1 = "0"
pin_2:
		if pin2 = 0 then b13_zero
		let b13 = "1"
		goto pin_3
b13_zero:
		let b13 = "0"
pin_3:
		if pin3 = 0 then b12_zero
		let b12 = "1"
		goto pin_4
b12_zero:
		let b12 = "0"
pin_4:
		if pin4 = 0 then b11_zero
		let b11 = "1"
		goto pin_5
b11_zero:
		let b11 = "0"
pin_5:
		if pin5 = 0 then b10_zero		
		let b10 = "1"
		goto last_one
b10_zero:
		let b10 = "0"
last_one:
		writei2c $20,($35,$20,$20,b1,b13,b12,b11,b10)

		let b3 = $57			'set cursor posistion
		let w0 = $20			'begining of text data
		let b4 = $08			'display 48 bytes
		gosub display

		if infra = 4 then io
		readadc 1,b5
	if b5 > 30 	and b5 < 220 then io
		goto get_input


'-----------------------| CLOCK |--------------------------------'


clock:
		let b3 = $50			'set cursor posistion
		let w0 = $3C0			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display " +   -  NEXT END"
		writei2c $20,($20,$20,$20,$20)
		let w0 = $A0			'begining of text data
		poke $C4,b0
		poke $C5,b1
		poke $C0,1
		let w4 = 0

clk_key:
		gosub key_pad
		branch b5,(plus3,minus3,nxt3,setup)
		pause 100
		goto clk_key
plus3:
		peek $C0,b6
'			    Sec Mi Hr D Da Mo Yr
		lookup b6,(59,59,23,7,31,12,99),b2 'set max limit for values
		let b8 = b8 + 1 max b2
		goto set_time
minus3:
		if  b8 = 0 then set_time
		let b8 = b8 - 1
		goto set_time
nxt3:
		pause 100
		peek $C0,b6
		let b6 = b6 + 1
		if  b6 = 7 then clock
		poke $C0,b6
		let b3 = $50			'set cursor posistion
		peek $C4,b0
		peek $C5,b1
		let w0 = w0 + 16
		poke $C4,b0
		poke $C5,b1
		let b4 = $07			'display 7 bytes
		gosub display
		goto clk_key
set_time:
		gosub digits
		let b0 = b8 / 10			'MSB
		let b1 = b0 * 10
		let b1 = b8 - b1
		let b0 = b0 * 16
		let b2 = b0 + b1
	i2cslave %11010000, i2cslow, i2cbyte'set for i2c RTC
		peek $C0,b6
		writei2c b6,(b2)
		pause 300
	i2cslave %10100000, i2cfast, i2cword'set for i2c eeprom
		goto clk_key


'-----------------------|  ADC  |--------------------------------'

	
adc:
		let b3 = $50			'set cursor posistion
		let w0 = $360			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "ADC IN" menu
							'display "KEY-TST NEXT END" menu
		let b6 = 255			'255 + 1 = 0				    
		let w4 = 0
adc_key:
		let b6 = b6 + 1
		if  b6 = 8 then last_number3
		if  b6 = 4 then make_5
		goto show_digit4
make_5:
		let b6 = 5
		goto show_digit4
last_number3:
		let b6 = 0

show_digit4:
		let b7 = b6 + $30			'change to ASCII
		readadc10 b6,w4

		writei2c $20,($20,b7,$20,$20)
		poke $C0,b6
		gosub digits
		peek $C0,b6

		if infra = 4 then io
		readadc 1,b5
	if b5 > 30 	and b5 < 70  then io	 'refresh screen
	if b5 > 80 	and b5 < 120 then adc_key'next key
		goto show_digit4		


'----------------------| HDT MENU |------------------------------'

hdt:
		let infra = 0
		let b3 = $50			'set cursor posistion
		let w0 = $230			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "SERV MOT SND END"
hdt_key:
		gosub key_pad
		branch b5,(serv,mot,snd,hrd)
		pause 100
		goto hdt_key


'--------------------| SERVO MENU |------------------------------'

serv:
		let b3 = $50			'set cursor posistion
		let w0 = $300			'begining of text data
		let b4 = $30			'display 48 bytes
		gosub display			'display "SERVO  1" menu
		let b6 = 0
		let b7 = 0
		let b8 = 152
		let b9 = 0
		pwmout 1,255,0			'pwm1 off
		pwmout 2,255,0			'pwm2 off

serv_key:
		gosub key_pad
		branch b5,(plus,minus,nxt,hdt)
		pause 100
		goto serv_key

plus:
		let infra = 0
		high portc 0 			'latch enable
		let b8 = b8 + 5 max 220
		servo b6,b8
		pause 100
		low  portc 0 			'latch disable
		low b6				'disable servo drive
		goto show_digit

minus:
		let infra = 0
		high portc 0 			'latch enable
		let b8 = b8 - 5 min 75
		servo b6,b8
		pause 100
		low  portc 0 			'latch disable
		low b6				'disable servo drive
		goto show_digit

nxt:
		let infra = 0
		let b8 = 152
		let b6 = b6 + 1
		if  b6 = 8 then last_number
		goto show_digit
last_number: 
		let b6 = 0
show_digit:
		let b7 = b6 + $31			'change to ASCII & inc by 1
		writei2c $20,($20,b7,$20,$20)
		poke $C0,b6	
		gosub digits
		peek $C0,b6
		goto serv_key	


'------------------------| MOTOR MENU |-----------------------------'


mot:
		let b3 = $50			'set cursor posistion
		let w0 = $330			'begining of text data
		let b4 = $30			'display 16 bytes
		gosub display			'display "MOTOR  A" menu
		let b6 = 1				'turn on motor A
		let b7 = "+"			'clockwise rotation of motor
		let w4 = 0				

mot_key:
		gosub key_pad
		branch b5,(plus2,minus2,nxt2,mot_off)
		pause 100
		goto mot_key

plus2:
		let infra = 0
		high portc 0 			'latch enable
		let pins = b6			'select motor
		let w4 = w4 + 100 max 1023
		if b6 > 8 then next_driver
		pwmout 1,255,w4			'pwm1 		
		goto show_digit2

minus2:
		let infra = 0
		high portc 0 			'latch enable
		let pins = b6			'select motor
		if  w4 < 100 then make_zero 
		let w4 = w4 - 100
		if b6 > 8 then next_driver 
		pwmout 1,255,w4			'pwm1 		
		goto show_digit2
make_zero:
		let w4 = 0
		pwmout 1,255,w4			'pwm1 		
		goto show_digit2

next_driver:
		pwmout 2,255,w4			'pwm2 		
		goto show_digit2
	
nxt2:
		pwmout 1,255,0			'pwm1 off
		pwmout 2,255,0			'pwm2 off
		let infra = 0
		let w4 = 0
		let b6 = b6 * 2
		if  b6 = 0 then last_number2	'128 * 2 = 0 byte wrap around
		if  b7 = "-" then not_reverse
		let b7 = "-"
		goto show_digit2
last_number2:
		let b6 = 1
show_digit2:
		poke $C0,b6				'save b6
		if b6 = 1  or b6 = 2   then motora
		if b6 = 4  or b6 = 8   then motorb
		if b6 = 16 or b6 = 32  then motorc
		if b6 = 64 or b6 = 128 then motord
		goto mot_key
motora:
		let b6 = "A"
		goto show_digit3
motorb:
		let b6 = "B"
		goto show_digit3
motorc:
		let b6 = "C"
		goto show_digit3
motord:
		let b6 = "D"

show_digit3:
		writei2c $20,($20,b6,$20,b7)
		poke $C1,b7		
		gosub digits
		peek $C0,b6				'restore b6
		peek $C1,b7				'restore b7
		goto mot_key

not_reverse:
		let b7 = "+"
		goto show_digit2

mot_off:
		pwmout 1,255,0			'pwm1 off
		pwmout 2,255,0			'pwm2 off
		goto hdt


'------------------------------------------------------------------------'



'----------------------| PLACE YOUR PROGRAM HERE |-----------------------'

usr:





		goto disp				'last line in your program 


'----------------------| PLACE YOUR DEMO HERE |--------------------------'

demo:






		goto disp				'last line in your program

'------------------------------------------------------------------------'

		end



'-------------------------| SUBROUTINES |--------------------------------'

'---------| DO NOT DELETE OR CHANGE THE SUBROUTINES BELOW |--------------'


interrupt:						'check for infrared input
		pause 10
		if pin0 = 1 then no_infra	'check for false ir signal
		infrain				'get ir value
no_infra:
		setint %00000000,%00000001	'set for infrared input pin
		return

'-------------------------| DISPLAY |-------------------------------------'

init_disp:
	for w0 = b3 to b4
		readi2c w0,(b2)			'read from I2C eeprom 
		let pins = b2
		if b2 > $21 then com		
		low  portc 6 			'cd low
		goto dat
com:							'command
		high portc 6 			'cd high
dat:							'data
		low  portc 5 			'ce low
		high portc 5 			'ce high
	next w0	
		return

cursor_pos:						'set b3 & $C3 before calling subroutine
		low  portc 6 			'cd
		let pins = b3			
		low  portc 5 			'ce
		high portc 5 			'ce
		peek $C3,b3				'get screen High Address
		let pins = b3
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = $24			'set address pointer
		high portc 6 			'cd
		low  portc 5 			'ce
		high portc 5 			'ce
		let pins = $B0			`$B0 auto increase data write
		low  portc 5 			'ce
		high portc 5 			'ce
		low  portc 6 			'cd
		return


display:						'set w0, b3 & b4 before calling subroutine
		gosub cursor_pos			'b4 is the numbers characters to read
display2:
		readi2c w0,(b2)			'w0 is the address in the 32K I2C rom
		let b2   = b2 - $20		'substract $20 instead of $32 in lcd.s
		let pins = b2
		low  portc 5 			'ce
		high portc 5 			'ce
		let w0 = w0 + 1
		let b4 = b4 - 1
		if b4 <> 0 then display2
cancel_auto:
		let pins = $B2			`$B2 cancel auto increase data write
		high portc 6 			'cd
		low  portc 5 			'ce
		high portc 5 			'ce
		low  portc 6 			'cd
		return	

display_char:					'one ASCII character - set cursor position first
		low  portc 6 			'cd
		let b2   = b2 - $20		`substract $20 instead of $32 in lcd.s
		let pins = b2
		low  portc 5 			'ce
		high portc 5 			'ce
		return				'must end with gosub cancel_auto


'---------------------| CONVERT WORD TO 4 BYTES |-------------------------------'

digits:
		low  portc 0 			'latch
		let b13 = w4 / 1000		'convert W4 result for
		let w5  = b13 * 1000		'digital output in
		let w5  = w4 - w5			'Registers b10 to b13
		let b12 = w5 / 100		'b13 is the MSB
		let w3  = b12 * 100
		let w3  = w5 - w3
		let b11 = w3 / 10
		let b10 = b11 * 10
		let b10 = w3 - b10

		let b10 = b10 + $30		'convert to ASCII
		let b11 = b11 + $30		'convert to ASCII
		if  b13 = 0 then make_space
		let b12 = b12 + $30		'convert to ASCII
		let b13 = b13 + $30		'convert to ASCII
		goto show_data
make_space:
		let b13 = $20
		if  b12 = 0 then make_space2
		let b12 = b12 + $30		'convert to ASCII
		goto show_data
make_space2:
		let b12 = $20			'convert to ASCII space
show_data:
		writei2c $24,(b13,b12,b11,b10)
		pause 100
		let b3 = $57			'set cursor posistion
		let w0 = $20			'begining of text data
		let b4 = $08			'display 8 bytes
		gosub display			'display
		return


'----------------| CONVERT 2 x 4-BIT BCD TO 2 x BCD BYTES |--------------------'

get_time:
	i2cslave %11010000, i2cslow, i2cbyte'set for i2c RTC

		readi2c 0,(b0,b1,b2)
		let b10 = b0 & $0F		'AND to get LSBs
		let b0  = b0 - b10		'\     get MSBs
		let b10 = b10 + $30		'  \   change to ASCII
		let b11 = b0 / $0F		'----\ change to LSB
		let b11 = b11 + $30		'change to ASCII

		let b13 = b1 & $0F		'AND to get LSBs
		let b1  = b1 - b13		'get MSBs
		let b13 = b13 + $30		'change to ASCII
		let b1  = b1 / $0F		'change to LSB
		let b1  = b1 + $30		'change to ASCII

		let b7  = b2 & $0F		'AND to get LSBs
		let b2  = b2 - b7			'get MSBs
		let b7  = b7 + $30		'change to ASCII
		let b6  = b2 / $0F		'change to LSB
		let b6  = b6 + $30		'change to ASCII
'				 (hours    minutes     seconds)
		writei2c $20,(b6,b7,":",b1,b13,":",b11,b10)
		let b3 = $57			'set cursor posistion
		let w0 = $20			'begining of text data
		let b4 = $08			'display 8 bytes
		gosub display
	i2cslave %10100000, i2cfast, i2cword'set for i2c eeprom
		return

'----------| READ KEY PAD VOLTAGE OR IR AND CONVERT TO VALUE IN b5 |---------------'

key_pad:
		if  infra = 1  then one
		if  infra = 2  then two
		if  infra = 3  then three
		if  infra = 4  then four
		if  infra = 11 then disp	'main screen
		if  infra = 17 then start	'reset

		readadc 1,b5

	if b5 > 180 and b5 < 220 then one	'1st key pressed
	if b5 > 130 and b5 < 170 then two	'2nd key pressed
	if b5 > 80 	and b5 < 120 then three '3rd key pressed
	if b5 > 30 	and b5 < 70  then four	'4th key pressed

		goto key_pad

one: 
		let b5 = 0
		goto finish
two:
		let b5 = 1
		goto finish
three:
		let b5 = 2
		goto finish
four:
		let b5 = 3
finish:
		let infra = 0
		return


'---------------------------------| EEPROM DATA |---------------------------------'

'      NOT CURRENTLY USED, ALL TEXT AND GRAPHICS ARE STORED IN THE I2C EEPROM


'        | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | A | B | C | D | E | F |

'data $00,(129,000,000,064,016,000,065,000,000,034,000,000,160,151)'init_screen
'	    com,dat,dat,com,dat,dat,com,dat,dat,com,dat,dat,com,com

'        ( 0123456789ABCDEF )
'data $10,("<I> HRD USR DEMO")'1st MAIN		
'data $20,("SET HDT  IO  END")'2nd HRD
'data $30,("SERV MOT SND END")'3rd HDT
'data $40,("DIN  CLK ADC END")'3rd IO
'data $50,("SER  RMT IR  END")'3rd SET
'data $60,(" +  SET NEXT END")'4th CLOCK
'data $70,(" +   -  NEXT END")'4th ADC