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;---------------------------------------------------------------------
;--EUSART Asynchronous Mode                                    ;S.291
;---------------------------------------------------------------------
   ;25.1.1.1 Enabling the Transmitter
   ;The EUSART transmitter is enabled for asynchronous operations 
   ;by configuring the following three control bits:
   ;• TXEN = 1    • SYNC = 0  • SPEN = 1
   ;All other EUSART control bits are assumed to be in default state.
   ;Setting the TXEN bit of the TXSTA register enables the transmitter 
   ;circuitry of the EUSART. Clearing the SYNC bit of the TXSTA register 
   ;configures the EUSART for asynchronous operation.    
   ;
;   BANKSEL  TXSTA       ;TRANSMIT STATUS AND CONTROL REGISTER  S.298
;   clrf     TXSTA
;   bsf      TXSTA,TXEN  ;b5 Transmit enabled
;   bcf      TXSTA,SYNC  ;b4 Asynchronous mode
;   bsf      TXSTA,BRGH  ;b2 "                in low speed
   ;
   ;25.1.2.1 Enabling the Receiver                             S.295
   ;The EUSART receiver is enabled for asynchronous operation by 
   ;configuring the following three control bits:
   ;• CREN = 1 • SYNC = 0  • SPEN = 1
   ;All other EUSART control bits are assumed to be in default state.
   ; 
   BANKSEL  RCSTA       ;RECEIVE STATUS bank3                  S.299
;  b7=1  SPEN  Serial port enabled RX/DT autom set as PORT pins
;  b6=0  RX    Selects 8-bit reception
;  b5=0  SREN  asyncmode don't care   
;  b4=1  CREN  enble async eceiver
;  b3=0  ADDEN don't care in 8bit async mode
;  b2=0  FERR  Flag framing error
;  b1=0  OERR  Flag overrun error
;  b0=0  RX9D don't care in 8 bit mode
   movlw    b'10010000'
   movwf    RCSTA
   ;   
   ;Setting the SPEN bit of the RCSTA register enables the EUSART and
   ;automatically configures the TX/CK I/O pin as an output. If the 
   ;TX/CK pin is shared with an analog peripheral, the analog I/O 
   ;function must be disabled by clearing the corresponding ANSEL bit.
   ;
   ;25.1.2.8 Asynchronous Reception Set-up:
   ;1.Initialize the SPBRGH, SPBRGL register pair and the BRGH and

btfss    PIR1,RCIF      ;=1? New Bluetooth command received?
GOTO     main_rx_loop   ;no, try it again
;                
BANKSEL  RCREG          ;bank3 
movf     RCREG,w        ;copy received command 
BANKSEL  0
movwf    tmpRCREG       ;containss now received Ascii code

MODULES IN INIT PROJECT    ROBOCAR2023
03_INIT_Robo2023.INC
   OSCCON
   PORTA    L298_PORT
   PORTB    LCD_PORT
            AD_PORT
   PORTC    SCI_PORT
            US_PORT
            PWM_PORT
   T2CON
   CCPR1L
   CCPR2L
   CCP1CON
   PSTR1CON
   PR2
   PR4
   CCPTMRS0
   PIR1,TMR2IF
   PIR3,TMR4IF
   RCSTA
   BAUDCON
   SPBRGH
   SPBRGL
   ADCON0
   ADCON1
   FVRCON 
   CALL  Lcd_Init
   CALL  Lcd_Ready
   PRESET VARIABLES
   T6CON
   TMR6
   INTCON   
;----------------------------------------   
SUBROUTINES IN PROJECT    RoboCar2023
   04_DRIVE_Robo2023.INC
      Eval_Cmd             ;Calling up the subprograms for evaluating
                           ; the possible Rx commands
      Cmd_Lights           
         cmd_eval_front    ;frontlights on
         cmd_eval_front0   :frontlights off
         cmd_eval_back
         cmd_eval_back0
         cmd_eval_park
         cmd_eval_park0
         cmd_eval_horn
         cmd_eval_horn0
         cmd_eval_extra
         cmd_eval_extra0
      Cmd_Extra            ;switches headlights and taillights to flashing
         cmd_extra_on
         cmd_extra_high
         cmd_extra_low
      Cmd_Extra_OFF 
      Cmd_Drive
         cmd_drive_F....
      Cmd_Speed
         cmd_speed_0...10
;----------------------------------------   
   05_US_Robo2023.INC
      US_Measure        ;US-Burst, TMR1,runtime measurement
      US_Distance       ;convert TMR1 to BCD4:0
      Obstacle_Left     ;Obstacle closer than 15cm on the left?
      Obstacle_Right    ;Obstacle closer than 15cm on the right?
      Bin32_Dez
      ;MULT16x16        ;unused
      ;
   07_LCD_Robo2023.INC
   table_debug          ;eg. dt LINE1+.0,"Rx:. Vdd ..,..V", 80h
   LcdOut_Table         ;Read table, display Mask in LCD 
   Out_Menue_Control    ;Output of the parameters in the LCD
         out_vdd
         out_info1_info2
   Out_Vdd_MCU
   Out_Vdd_Drive
   Out_DC1_DC2
   Out_Rx               ;control actual bluetooth command
   Out_US_Distance
   Out_Obstacle_Left    ;Set a flag if there is an obstacle
   Out_Obstacle_Right
   ;
   LeadZero_Lcd         removes leading zeros  004,72 -> 4,72
   BCD_2Bit_Mult10
   Bin16_Dez
   Bin8_Dez_1
   OutBinReg            ;Debugging
   Mult10_8Bit 
   ;----------------------------------------

16F1936_RoboCar2023.ASM
=======================
; Projekt:  Control of RobotCar via Bluetooth
; MCU:      PIC1F1936 (28Pin)
; Info:     Program Memory Words Used:  1294
;           Average duration of a program cycle 
;           with LCD ca. 38ms (for program development)
;           without LCD (final) around ca. 2.7-4ms
;           fosc=8MHz
   #INCLUDE <02_HEADER_RoboCar2023.INC>   ;Labels, definitions, constants, etc
   #INCLUDE <03_INIT_Robo2023.INC>        Initialization of all required 
                                          ;registers, ports, PWM, EUSART, LCD, etc
   main;
      CALL     Debug_Menue    ;Creates the LCd menu for function 
                              ;testing and troubleshooting
   main_loop:
      CALL     US_Measure     ;Send/receive US-Burst/Echo 
      CALL     US_Distance    ;Calculates the distance from US-runtime
      CALL     Obstacle_Dodge ;Calculates required avoidance of obstacles  
      btfsc    Flags,EXTRA    ;=1 execute functions when waiting for rx cmd
      CALL     Cmd_Extra      ;Switching of special functions light, horn
         ;
   main_rx_loop:              ;waiting for bluetooth command     
      btfss    PIR1,RCIF      ;=1? New data received with USART?
      GOTO     main_rx_loop   ;no, try it again
      ;CALL  Rx_Error         ;Error checking RCSTA,FERR:OERR (disabled)
      BANKSEL  RCREG          ;bank3 
      movf     RCREG,w        ;copy received command 
      BANKSEL  0
      movwf    tmpRCREG       ;contains received Ascii code
      ;
      CALL     Out_RX         ;display received Bluetooth-command (cmd)
      CALL     Eval_Cmd       ;evaluate/execute command ->04_DRIVE_Robo
   GOTO  main_loop 
;----------------------------------------
      #INCLUDE <04_DRIVE_Robo2023.INC> ;Drive control subprograms
      #INCLUDE <05_US_Robo2023.INC>    ;ultrasonic distance measurement
      #INCLUDE <07_LCD_Robo2023.INC>   ;LCD output, binary BCD conversion, etc
      #INCLUDE <HD44780_2WIRE.INC>     ;initialization, DDRAM, DATA
   END
;-----------------------------------------
SECTIONS IN FILE 02_HEADER_ROBOCAR2023.INC
;  --SUPPRESSED WARNINGS
;  --MCUDEFINITION / CONFIGURATION
;  --VARIABLES DEFINITIONS
;    LABELS & CONSTANTS
;  --L298_PORT (PORTA)
;  --LCD_PORT (PORTB)
;  --AD_PORT  (PORTB)
;  --SCI_PORT EUSART (PORTC) 
;  --US_PORT (PORTC)
;  --PWM_PORT (PORTC)
;  --DDRAM ADDRESSES for output in debug menu
;    LCD-PROPERTIES 
;    RESET VECTOR
;    INTERRUPT VEKTOR
         ISR
            isr_tmr6
;----------------------------------------