; ==== ISUAL Flight Software -- Univ of California, Berkeley, SSL ==== ; EXECUTE.A -- Execute Ground Commands ; Entry point "EXECUTE" is passed HL = address of a command ; returns A = result code (see below) ; ; For some commands, a call is made to an entry point ; in EEPROM (EE_EXEC2 in EEPROM.A) ; ; Revision History: ; 18-Dec-2002 - SPG - ISUAL Flight Software rev 7.3 ; First Official Release ; 31-Dec-2002 ; Eliminated some error symbols ; Added I_NOP ; 7-Feb-2003 - SPG ; In I_SOH_NOMINAL/REDUNDANT, don't set SCIF_CTL_O bits 4..7 ; 18-Feb-2003 - SPG (Rev 7.7) ; make I_DELAY use GBL_SECONDS_CTR ; implement I_SP_TIMED_STIM ; and I_TRIGGER_DELAY_SET ; I_STANDBY doesn't turn off camera ; 7-Mar-2003 ; Eliminate I_TLM_FLUSH ; 11-Mar-2003 ; Capture Camera N pretrig in SOH+141 ; 19-May-2003 ; restored I_TLM_FLUSH (with software switch) ; 29-May-2003 ; changed CCSDS_SEND calls to CCSDS_HSKP ; moved to EEPROM: I_CAM, I_SPF, I_AP, I_TLM_FLUSH ; 6-Aug-2003 ; allow non-time-tagged exec of HV_VAL_SETM and HV_COUNT_SET ; restore I_TLM_FLUSH ; correct write_eeprom_page ; MMCB_FORMAT checks for DCM and TM queues empty and standby mode ; 8-Aug-2003 ; moved I_GENERIC_CMD and I_TLM_FLUSH to EEPROM ; 9-Aug-2003 ; MMCB_FORMAT sets MODE, ignores multiple calls ; 17-Aug-2003 ; for I_TRIGGER_ENABLE, disable call to MMCB_INITEVQ ; 9-Sep-2003 ; moved I_CAM_HV_ON, I_SPA_HV_ON, I_SPB_HV_ON ; 17-Sep-2003 ; fix bug in I_STANDBY which could turn on a heater ; 19-Sep-2003 ; Change I_DCM_OFF to clear the time-tagged list ; 25-Sep-2003 -- correct handling of ; invalid service in I_PWR_ON ; 23-June-2004 -- pick up SPF trigger channel for telemetry include execute.i include ioports.i include util.i include cmd.i include dcm.i include gbl.i include ccsds.i include cdi.i include task.i include mmcb.i include sc.i include pvcf.i include pwr.i include clock.i include mm.i include htr.i include filter.i include debug.i include eeprom.i ; Result codes ; 0 ; OK ; FE ; bad checksum ; FD ; bad ApID ;ERR_PARAMVAL equ 1 ; bad parameter value ;ERR_BADOP equ 2 ; bad opcode ;ERR_TTFULL equ 3 ; time-tagged list is full ;ERR_DONE equ 5 ; Requested Operation already done ;ERR_NEED equ 6 ; Need to do a prior operation ;ERR_HV equ 7 ; Violates HV setting rules ;ERR_ABORT equ 8 ; failed a Verify ;ERR_TIMEOUT equ 9 ; Timeout of a Wait ;ERR_SEQ equ 10 ; Sequence Number not as expected ;ERR_CHKS equ 11 ; Error checksum in bank ;ERR_CHKR equ 12 ; Error wrong Revision in bank ; HL = addr of TASK EXECUTE_INIT: ; set 25 seconds as default timeout ; on "wait" commands mvi a,25 sta GBL_WAIT_timeout ; zero packet sequence counters lxi h,0 shld sq09 shld sq1A shld sq1B ret EXECUTE: push b push d push h ; HL points to opcode of command ; C =0 if command was immediate, =1 from time-tagged list mov a,M ; opcode ; move pointer past the opcode and sequence number inx h inx h ; interpret the Opcode cpi 020h ; I_NOP jz inop cpi 009h ; I_DCM_ON jz dcm_on cpi 00Ah ; I_DCM_OFF jz dcm_off cpi 021h ; I_IN jz io_in cpi 022h ; I_OUT jz io_out cpi 05Ch ; I_SPS jz isps cpi 01Eh ; I_MEMDUMP jz memdump cpi 04Ah ; I_PATCH1 jz patch1 cpi 04Bh ; I_PATCH2 jz patch2 cpi 04Ch ; I_PATCH4 jz patch4 cpi 01h ; I_RUN jz run cpi 03Eh ; I_STANDBY jz standby cpi 06h ; I_SAFE jz safe cpi 03Ch ; I_MMCB_FORMAT jz do_mmcb_format cpi 03Fh ; I_TM_FORMAT jz do_tm_format cpi 02h ; I_PWR_ON jz pwr_on cpi 03h ; I_PWR_OFF jz pwr_off cpi 07h ; I_MM_ON jz do_mm_on cpi 08h ; I_MM_OFF jz do_mm_off cpi 046h ; I_V4_SET jz v4_set cpi 047h ; I_TIMESET jz timeset cpi 048h ; I_TRIGGER_DELAY_SET jz trigger_delay_set cpi 049h ; I_TIMED_STIM jz timed_stim cpi 023h ; I_CDI jz cdi cpi 076h ; I_HV_VAL_SET1 jz hv_val_set1 cpi 077h ; I_HV_VAL_SETM jz hv_val_setm cpi 078h ; I_HV_COUNT_SET jz hv_count_set cpi 054h ; I_DELAY jz delay cpi 05Ah ; I_TLM_NOMINAL jz tlm_nominal cpi 05Bh ; I_TLM_REDUNDANT jz tlm_redundant cpi 060h ; I_SOH_NOMINAL jz soh_nominal cpi 061h ; I_SOH_REDUNDANT jz soh_redundant cpi 064h ; I_PPS_NOMINAL jz pps_nominal cpi 065h ; I_PPS_REDUNDANT jz pps_redundant cpi 05Fh ; I_HEATER jz heater cpi 066h ; I_FW_MOTOR_ON jz fw_motor_on cpi 067h ; I_FW_MOTOR_OFF jz fw_motor_off cpi 039h ; I_FILTER_SET jz filt_set cpi 062h ; I_FILTER_RESYNC jz filt_resync cpi 068h ; I_MM_DUMP jz mm_dump cpi 06Bh ; I_AP_NOMINAL jz ap_nominal cpi 06Ch ; I_AP_REDUNDANT jz ap_redundant cpi 06Dh ; I_AP_PWR_ON jz ap_pwr_on cpi 06Eh ; I_AP_PWR_OFF jz ap_pwr_off cpi 072h ; I_XGROUP jz xgroup cpi 06Fh ; I_BEGIN_GROUP jz begin_group cpi 070h ; I_END_GROUP jz end_group cpi 06Ah ; I_TO_EEPROM jz to_eeprom cpi 071h ; I_CHECKSUM jz checksum cpi 073h ; I_BEGIN_DSP jz begin_dsp cpi 074h ; I_DSP jz do_dsp cpi 075h ; I_EEPROM_TO_MM jz eeprom_to_mm cpi 079h ; I_LOAD_DCM jz load_dcm cpi 07Ah ; I_TRIGGER_SETUP jz tsu cpi 07Bh ; I_TRIGGER_ENABLE jz tebl cpi 07Ch ; I_TRIGGER_DISABLE jz tdis cpi 07Dh ; I_SP_PWR_ON jz sp_pwr_on cpi 07Eh ; I_SP_PWR_OFF jz sp_pwr_off cpi 026h ; I_CAM_PWR_ON jz cam_pwr_on cpi 027h ; I_CAM_PWR_OFF jz cam_pwr_off cpi 069h ; I_STOP jz stop cpi 044h ; I_SIM_AP_TRIGGER jz sim_ap_trigger cpi 081h ; I_X1PVCF jz x1pvcf cpi 082h ; I_DAY1_THR_SET jz dayth1 cpi 083h ; I_DAY2_THR_SET jz dayth2 cpi 084h ; I_CHK jz chk cpi 08Fh ; I_TTLIST_DUMP jz ttd ; go to "EXEC2" (in EEPROM) for more commands push psw mvi a,ee_bank out BANK_SELECT_O pop psw call ee_exec2 cpi 0 jz exitok cpi 2 ; ERR_BADOP ; result code: invalid opcode jz badop jmp exit badop: lxi h,GBL_SOH+106 ; increment counter inr M exit: pop h pop d pop b ret ; Successful command execution exitok: mvi a,0 ; result code=0 (OK) lxi h,GBL_SOH+51 ; cmds successfully executed call INCBIG ; record the time of last command lxi h,GBL_SOH+53 call clock_read lxi d,GBL_SOH+53 call clock_6_to_10 jmp exit ; command with bad argument values badval: mvi a,1 ; ERR_PARAMVAL lxi h,GBL_SOH+50 inr M jmp exit badp: mvi a,1 ; ERR_PARAMVAL jmp exit ; command violates HV setting rules badhv: mvi a,7 ; ERR_HV jmp exit ; I_IN port=X io_in: mov a,M ; port sta in_c+1 ; modify instruction in_c: in 0 ; (this gets modified) in_c1: sta in_data sta GBL_SOH+13 ; put in housekeeping too ; make a special packet to send the result mvi a,1Ah ; ApID = 71A lxi b,20 ; total packet length lhld sq1A ; this ApID's source sequence number xchg lxi h,in_data ; point to data call CCSDS_HSKP ; generate CCSDS and send it out lhld sq1A inx h shld sq1A jmp exitok sq1A ds 2 in_data ds 1 ; I_OUT port=X data=X io_out: mov a,M ; port sta out_c+1 ; modify instruction inx h mov a,M ; data out_c: out 0 ; (this gets modified) jmp exitok ; I_CDI ; Generic CDI command sq1b ds 2 cdirv ds 2 ; returned value cdi: mov a,M : CDI Opcode ani 0F0h cpi 0E0h ; a "read" command? jnz sendd ; no, just a send ; send, expecting a response rback: mov a,M ; opcode lxi h,cdirv ; where to store response (2 bytes) call CDI_READBACK ; send 71B packet -- CDI readback x71B: mvi a,1Bh ; ApID 71B lxi b,20 ; total packet length is 20 lhld sq1B ; this ApID's source sequence number xchg lxi h,cdirv ; data call CCSDS_HSKP ; send it out ; increment the source sequence count lhld sq1B inx h shld sq1B jmp exitok ; ordinary "send" sendd: mov a,M ; opcode inx h ; point to CDI data (2 bytes) call CDI_SEND ; Capture any parameters being set lxi d,GBL_SOH+94 ; IDH_C_EXP cpi IM_EXP_DUR ; camera exposure duration jz setparm2 ; store 2 bytes lxi d,GBL_SOH+220 cpi IM_GATE_DLY ; IDH_GATEDELAY jz setparm2 lxi d,GBL_SOH+240 cpi IM_REP_PER ; IDH_CAM_I_INT jz setparm2 lxi d,GBL_SOH+141 ; *** 11-mar-2003 - was 104 cpi IM_PRE_TRIG ; IDH_N_CPRE jz setparm1 lxi d,GBL_SOH+93 cpi IM_POST_TRIG ; IDH_N_CPOST jz setparm1 lxi d,GBL_SOH+222 cpi IM_GOFF_ENBL ; IDH_GATE_NOFF jz setparm1 lxi d,GBL_SOH+239 cpi IM_TRIG_LKOUT ; IDH_N_ELOCK jz setparm1 lxi d,GBL_SOH+159 ; IDH_AP_NPOST cpi MM_AP_PT_N jz setparm2 lxi d,GBL_SOH+153 ; IDH_SPF_NPOST cpi MM_SPF_PT_N jz setparm2 ; no parameters set by this CDI jmp exitok setparm2: ; store a 2-byte parameter mov a,M stax d inx d setparm1: ; store a 1-byte parameter inx h mov a,M stax d jmp exitok ; I_SPS ENABLE=X RATE=X ; Activate/Deactivate Slow-rate Spectrophotometer data taking isps: mov a,M cpi 0 ; 0=disable jz sps_d ; enable SPS lda GBL_SOH+11 ori 02h ; lite bit 1 sta GBL_SOH+11 inx h mov a,M ; RATE cpi 0 jz sps_16 ; 0=slow, 1=fast ; always set b0=1 to enable slow SPS accum ; set b1=1 for 0.8s (fast) accum lda GBL_IDC_CTRL+1 ori 03h ; b1=1 b0=1 sta GBL_IDC_CTRL+1 jmp xscdi ; set b1=0 for 1.6s (slow) accum sps_16: lda GBL_IDC_CTRL+1 ori 01h ; b0=1 ani 0FDh ; b1=0 sta GBL_IDC_CTRL+1 xscdi: mvi a,IDC_CTRL lxi h,GBL_IDC_CTRL call cdi_send jmp exitok ; disable SPS sps_d: lda GBL_SOH+11 ani 0FCh ; b1=0 b0=0 sta GBL_SOH+11 jmp xscdi ; I_MEMDUMP ID=X BANK=XX ADDR=XXX memdump: ; build packet data in GBL_TEMP lxi d,GBL_TEMP mov a,M ; ID stax d inx h inx d ; Note: 2-byte BANK retained for compatibility ; with older command procedures. ; BANK value is one byte mov a,M ; Bank stax d mov b,a inx h inx d mov a,M stax d mov c,a ; BC=Bank (B ignored) inx h inx d ; save current Bank setting in BANK_SELECT_I push psw ; set bank to be dumped mov a,c out BANK_SELECT_O ; make HL = dump address mov a,M ; address high stax d mov b,a inx h inx d mov a,M ; address low stax d inx d mov h,b mov l,a ; HL points to data to be dumped mvi c,128 ; always dump 128 bytes call COPY_BYTES ; (DE already pointed to destination) ; restore Bank register pop psw out BANK_SELECT_O ; GBL_TEMP data is built. ; Now generate the Dump packet mvi a,09h ; ApID = 709 lxi b,152 ; total packet length lhld sq09 ; this ApID's source sequence number xchg ; in DE lxi h,GBL_TEMP ; point to data call CCSDS_HSKP ; generate CCSDS and send it out lhld sq09 inx h shld sq09 jmp exitok sq09 ds 2 ; I_PATCH1 BANK=x ADDR=xx DATA=X patch1: ; preserve original Bank in BANK_SELECT_I push psw ; low ; set new BANK mov a,M out BANK_SELECT_O inx h ; get ADDR mov d,M inx h mov e,M ; point to data inx h ; Store the bytes ; HL - points to patch bytes in command packet ; DE - points to where bytes should be stored mvi c,1 ; just 1 byte jmp store ; I_PATCH2 BANK=x ADDR=xx DATA=XX patch2: ; preserve original Bank in BANK_SELECT_I push psw ; set new BANK mov a,M out BANK_SELECT_O inx h ; get ADDR mov d,M inx h mov e,M ; point to data inx h ; Store the bytes ; HL - points to patch bytes in command packet ; DE - points to where bytes should be stored mvi c,2 ; 2 bytes jmp store ; I_PATCH4 BANK=x ADDR=xx DATA=xxxx patch4: ; preserve original Bank in BANK_SELECT_I push psw ; set new BANK mov a,M out BANK_SELECT_O inx h ; get ADDR mov d,M inx h mov e,M ; DE=ADDR ; point to data inx h ; Store the bytes ; HL - points to patch bytes in command packet ; DE - points to where bytes should be stored mvi c,4 ; store 4 bytes jmp store ; HL - points to patch bytes in command packet ; DE - points to where bytes should be stored ; C - number of bytes to store store: mov a,M ; byte from command stax d ; store where it goes ; next byte inx h ; advance pointers inx d dcr c ; decrement count jnz store ; until zero ; restore original Bank pop psw out BANK_SELECT_O jmp exitok ; I_STANDBY standby: ; Turn off HV power services mvi a,9 ; camera HV call pwr_set_off mvi a,10 ; SP 1..3 call pwr_set_off mvi a,11 ; SP 4..6 call pwr_set_off lxi h,0 mvi a,AP_HV_OFF_A call cdi_ahl mvi a,AP_HV_OFF_B call cdi_ahl ; Terminate Camera and Photometer data taking mvi a,0 sta GBL_SOH+11 ; stop packet generation lxi h,0 mvi a,MM_IM_ENBL ; stop hardware readouts call cdi_ahl mvi a,MM_SPF_ENBL call cdi_ahl mvi a,MM_SPS_ENBL call cdi_ahl mvi a,MM_AP_ENBL call cdi_ahl ; deactivate 5 heaters mvi a,1 mvi b,0 ; 0=deactivate call HTR_SET inr a ; 2 call HTR_SET inr a ; 3 call HTR_SET inr a ; 4 call HTR_SET inr a ; 5 call HTR_SET ; Turn off other power services mvi a,13 ; stepper motor call pwr_set_off mvi a,8 ; image front lens heater call pwr_set_off mvi a,4 ; imager FEC (daylight sensor) call pwr_set_off mvi a,3 ; TEC call pwr_set_off ; leave MM(0) and DCM(1) on ; Activate IDC Reset before turning off SP or AP mvi a,0 out IDC_RESET_O call sp_off call ap_off ; turn off the IDC mvi a,2 ; IDC call pwr_set_off ; set Standby mode mvi a,mode_Standby sta GBL_SCIENCE_MODE jmp exitok ; I_STOP stop: ; Terminate Camera and Photometer data taking mvi a,0 sta GBL_SOH+11 ; stop readout processing lxi h,0 mvi a,MM_IM_ENBL ; stop hardware readouts call cdi_ahl mvi a,MM_SPF_ENBL call cdi_ahl mvi a,MM_SPS_ENBL call cdi_ahl mvi a,MM_AP_ENBL call cdi_ahl jmp exitok ; I_SAFE safe: mvi a,1 ; stop exec time-tagged commands sta GBL_TT_ABORT ; Stop science data generation mvi a,0 sta GBL_TM_STATUS jmp standby ; I_MMCB_FORMAT MODE=X ; allocate MMCBs and readout buffers do_mmcb_format: ; Make sure in standby mode and queues are idle ; lda GBL_SCIENCE_MODE ; mvi c,1 ; (for debug display -- tells why command failed) ; cpi MODE_STANDBY ; jnz need mvi c,2 lda GBL_DCM_IDLE cpi 1 jnz need mvi c,3 lda GBL_TM_IDLE cpi 1 jnz need proceed: ; are MMCB parameters defined (patched-in) ? mvi c,4 lda GBL_CAM_NWB cpi 0EFh ; (1st byte of actual value won't ever be EF) jz need ; no ; format the MMCB queues call MMCB_FORMAT mov a,M ; MODE=X sta GBL_SCIENCE_MODE jmp exitok already_done: mvi a,5 ; ERR_DONE jmp exit ; need to do a prior operation need: mov a,c cpi 0 cnz debug_showa mvi a,6 ; ERR_NEED jmp exit ; I_TM_FORMAT -- allocate the Spacecraft TM Buffers do_tm_format: lda GBL_TM_IDLE cpi 1 jnz need ; need to stop TM task lda GBL_MM_Status cpi 1 jnz need ; need to turn on MM ; need to have run DCM_SETUP lda GBL_DCM_STATUS cpi 0FFh ; DCM not initialized jz need ; Initialize PVCF generation call PVCF_START ; set TM active mvi a,1 sta GBL_TM_STATUS jmp exitok ; I_PWR_ON service=x pwr_on: mov a,M ; get service number call PWR_SET_ON ; set power service on cpi 0 jz badp ; service number was invalid jmp exitok ; I_PWR_OFF service=x pwr_off: mov a,M ; get service number call pwr_set_off ; set power service off cpi 0FFh jz badp ; service number was invalid jmp exitok ; I_V4_SET code=X v4_set: mov a,M ; get code cpi 0 jz v4_0 cpi 1 jnz badval in HV_STS_I ori 4 ; b2=1 out HV_CTL_O jmp exitok v4_0: in HV_STS_I ani 0FBh ; b2=0 out HV_CTL_O jmp exitok ; I_TIMESET ; Enable spacecraft time-set timeset: ; enable SC Time-set mvi a,1 sta GBL_TEST ; GBL_TEST will be reset to 0 ; after a successful timeset ; ; clear Time Fault mvi a,0 sta GBL_SOH+30 jmp exitok ;----------------------------------------------------------------- ; FUNCTION: HV_VAL_SET1 ; PURPOSE: Set a single HV register ; REGS INP: HL=&HVID,VAL C=time-tagged command flag ; REGS OUT: A=result code BC,DE,HL=trash ; PSW OUT: ; ; NOTES: Assumes HV is unlocked and value does not exceed max. ; Sets HV count to 1. If HVPS is on, it stays on. ;----------------------------------------------------------------- ; v8 Add comments. Add HV error bit clear/check. Add HVID check. ; v8 CAI 2002-09-12 ; I_HV_VAL_SET1 HVID=X VAL=X ; Set single HV register hv_val_set1: mov a,c cpi 1 ; time-tagged? jz badhv ; should not be ; check for valid HVID mov a,M ; HVID call hvid_chk ; check HVID cpi 0FFh jz badval ; if bad HVID ; Set hv write COUNT=1 mvi a,0Fh ; clear HV error bits out HVERR_CLR_O mvi a,1 out HV_CNTR_O inx h mov a,M ; VAL ; hvid_chk returned DE = addr of output routine xchg ; HL=&output routine call gothere ; call output routine in HVERR_STS_I ani 0Fh ; check HV error bits jnz badhv ; if errors jmp exitok ; gothere: pchl ;----------------------------------------------------------------- ; FUNCTION: HV_COUNT_SET ; PURPOSE: Set HV write counter register ; REGS INP: HL=&COUNT C=time-tagged command flag ; REGS OUT: A,BC,DE,HL=trash ; PSW OUT: Error if count <2 ; ; NOTES: Assumes HV is unlocked. Expects count 2-255. ; No error return if HV is locked. ;----------------------------------------------------------------- ; I_HV_COUNT_SET COUNT=X hv_count_set: ;***6-Aug-03 ;*** mov a,c ;*** cpi 1 ; time-tagged? ;*** jnz badhv ; should be ; mvi a,0Fh ; clear HV error bits out HVERR_CLR_O mov a,M ; COUNT ; must have COUNT>1 cpi 2 jm badval ; if A < 2 ; set count register out HV_CNTR_O in HVERR_STS_I ani 0Fh ; check HV error bits jnz badhv ; if errors jmp exitok ;----------------------------------------------------------------- ; FUNCTION: HV_VAL_SETM ; PURPOSE: Set one of several HV registers ; REGS INP: HL=&HVID,VAL C=time-tagged command flag ; REGS OUT: A=result code BC,DE,HL=trash ; PSW OUT: ; ; NOTES: Assumes HV is unlocked and value does not exceed max. ; Assumes HV count is non-zero. Turns HVPS off. ;----------------------------------------------------------------- hv_val_setm: ;***6-Aug-03 ;*** mov a,c ;*** cpi 1 ; time-tagged? ;*** jnz badhv ; it should be mov a,M ; HVID call hvid_chk ; check HVID cpi 0FFh jz badval ; if bad HVID ; turn off HV power supply for this HVID mvi b,9 ; PS9 is HVPS for camera ani 0F0h ; A=HVID jz setoff mvi b,10 ; PS10 is HVPS for SP 1-3 cpi 10h jz setoff mvi b,11 ; PS11 is HVPS for SP 4-6 cpi 20h jz setoff jmp badval ; if bad HVID (not 0x,1x,2x) setoff: mov a,b ; PS call pwr_set_off ; ; v8: Insert delay after power-off? CAI 2002-09-13 ; *** mvi a,0Fh ; clear HV error bits v8 out HVERR_CLR_O ; now set the HV value in an HV register inx h mov a,M ; VAL xchg ; HL=&output routine call gothere ; call output routine in HVERR_STS_I ; ani 0Fh ; check HV error bits jnz badhv ; if errors jmp exitok ;----------------------------------------------------------------- ; FUNCTION: HVID_CHK ; PURPOSE: Check for valid HV ID number & get jump address ; REGS INP: A=HVID ; REGS OUT: DE=&output routine A=HVID or FF if error ; PSW OUT: ; ; NOTES: Error if HV ID not found in table HVTAB ;----------------------------------------------------------------- hvid_chk: push h ; save HL mov e,a ; save HVID lxi h,hvtab hvts: mov a,M cpi 0FFh ; end of table? jz hi_ret ; if so, error exit cmp e ; HVID match? jz hvi_ok ; if match inx h ; check next entry inx h inx h jmp hvts hvi_ok: inx h ; got valid match mov a,e ; restore HVID mov e,M inx h mov d,M ; DE=&output routine hi_ret: pop h ; restore &HVID ret ; A=0FFh if invalid ID hvtab db 00h ; Dispatch table for ... dw cpday ; HV register output routines db 01h ; HV ID code dw cpnight ; Output routine address db 0Ah ; dw cpmax db 02h dw cmday db 03h dw cmnight1 db 04h dw cmnight2 db 05h dw cmnight3 db 06h dw cmnight4 db 07h dw cmnight5 db 08h dw cmnight6 db 09h dw cmnight7 db 0Bh dw cmmax db 10h dw sp1_day db 11h dw sp1_aur db 12h dw sp1_spr db 13h dw sp2_day db 14h dw sp2_aur db 15h dw sp2_spr db 16h dw sp3_day db 17h dw sp3_aur db 18h dw sp3_spr db 20h dw sp4_day db 21h dw sp4_aur db 22h dw sp4_spr db 23h dw sp5_day db 24h dw sp5_aur db 25h dw sp5_spr db 26h dw sp6_day db 27h dw sp6_aur db 28h dw sp6_spr db 0FFh ; must be last entry in table ; FF marks the end of the table for the search. ; HV Output Routines cpday: out PHOS_DAY_O ret cpnight: out PHOS_SPR_AUR_O ret cpmax: out PHOS_MAX_O ret cmday: out MCP_DAY_O ret cmnight1: out MCP_NITE_1_O ret cmnight2: out MCP_NITE_2_O ret cmnight3: out MCP_NITE_3_O ret cmnight4: out MCP_NITE_4_O ret cmnight5: out MCP_NITE_5_O ret cmnight6: out MCP_NITE_6_O ret cmnight7: out MCP_NITE_7_O ret cmmax: out MCP_MAX_O ret sp1_day: out SP1_DAY_O ret sp1_spr: out SP1_SPR_O ret sp1_aur: out SP1_AUR_O ret sp2_day: out SP2_DAY_O ret sp2_spr: out SP2_SPR_O ret sp2_aur: out SP2_AUR_O ret sp3_day: out SP3_DAY_O ret sp3_spr: out SP3_SPR_O ret sp3_aur: out SP3_AUR_O ret sp4_day: out SP4_DAY_O ret sp4_spr: out SP4_SPR_O ret sp4_aur: out SP4_AUR_O ret sp5_day: out SP5_DAY_O ret sp5_spr: out SP5_SPR_O ret sp5_aur: out SP5_AUR_O ret sp6_day: out SP6_DAY_O ret sp6_spr: out SP6_SPR_O ret sp6_aur: out SP6_AUR_O ret ; I_DELAY seconds=X ; delay command processing for up to 60 seconds delay: ; get number of seconds to delay mov a,M ; seconds (from command data) cpi 61 jp badp ; limit to 60 mov c,a ; C=seconds ; If Trigger interrupt is not enabled, use the ; down-counter timer; otherwise, use GBL_SECONDS_CTR in IRQ_ENABLE_I ani 40h jnz use_seconds ; trigger is enabled jmp use_seconds ; use down-counter ; Multiply C by 1024 lxi h,1024 lxi d,1024 dl0: dcr c jz dl1 dad d jmp dl0 ; Set down-counter timer public DCT_SET dl1: call DCT_SET ; wait for timer to expire dl2: call task lda GBL_DCTIMER cpi 1 jnz dl2 jmp exitok use_seconds: lda GBL_SECONDS_CTR mov b,a ; B=starting seconds value dloop: call task lda GBL_SECONDS_CTR sub b ; A=elapsed seconds sub c ; subtract delay ani 80h ; negative result? jnz dloop ; yes, keep delaying jmp exitok ; I_MM_ON do_mm_on: call MM_ON jmp exitok ; I_MM_OFF do_mm_off: call MM_OFF jmp exitok p_result ds 2 ; I_DCM_ON dcm_on: ; Mass Memory must be on lda GBL_MM_STATUS cpi 1 jnz need ; ignore if DCM disabled lda GBL_DCM_STATUS cpi 0FBh jz exitok ; In case DCM was already running, ; force DCM task to re-initialize ; Activate DCM reset in MM_IM_DCM_STS_I ori 040h ; turn on b6 out MM_IM_DCM_CTL_O ; turn off DCM power mvi a,1 call PWR_SET_OFF ; DCM now inactive mvi a,0FFh sta GBL_DCM_STATUS ; delay and let DCM task re-initialize call task ; turn on DCM power mvi a,1 call PWR_SET_ON ; 10 ms wait mvi c,100 wwx: call wait_1ms dcr c jnz wwx ; release DCM reset in MM_IM_DCM_STS_I ani 0BFh ; turn off b6 out MM_IM_DCM_CTL_O ; set DCM_STATUS=01h mvi a,01h sta GBL_DCM_STATUS jmp exitok ; I_DCM_OFF dcm_off: TTBANK equ 3 ; clear Time-Tagged Command List mvi a,TTBANK ; Time-Tagged Bank out BANK_SELECT_O ; set bank register lxi h,4000h ; first byte in banked memory mvi M,0FFh ; mark end of list jmp exitok ; Commands to set Nominal or redundant telemetry channel ; I_TLM_NOMINAL tlm_nominal: lda GBL_SCIENCE_MODE cpi 0 ; must be in Standby Mode jnz need ; Need to change mode ; switch to nominal link in SCIF_STS_I ani 00Dh ; bit 1 is off; 4..7 are zero out SCIF_CTL_O mvi a,0 sta GBL_TLM_CHANNEL jmp exitok ; I_TLM_REDUNDANT tlm_redundant: lda GBL_SCIENCE_MODE cpi 0 ; must be in Standby Mode jnz need ; Need to change mode ; switch to redundant link in SCIF_STS_I ani 0Fh l 4..7 off ori 02h ; bit 1 is ON out SCIF_CTL_O mvi a,1 sta GBL_TLM_CHANNEL jmp exitok ; make sure we are between SOH transmissions ckilk: mvi a,1 ; 1 = request SOH interlock sta GBL_TLM_ILK ; wait for SOH to be between SOH transmissions wilk: call task lda GBL_TLM_ILK cpi 2 ; 2 = interlock-set jnz wilk ; loop until XMTR is ready loup: in CMD_SOH_STS_I ani 1 ; bit 0: 1=Xmt buffer ready jnz rilk call task jmp loup ; release the interlock rilk: mvi a,0 sta GBL_TLM_ILK ret ; I_SOH_NOMINAL soh_nominal: lda GBL_SCIENCE_MODE cpi 0 ; must be in Standby Mode jnz need ; Need to change mode ; make sure we are between SOH transmissions call ckilk ; now switch to nominal link in SCIF_STS_I ani 0Eh ; bit 0 is off; bits 4..7 off out SCIF_CTL_O jmp exitok ; I_SOH_REDUNDANT soh_redundant: lda GBL_SCIENCE_MODE cpi 0 ; must be in Standby Mode jnz need ; Need to change mode ; make sure we are between SOH transmissions call ckilk ; now switch to redundant link in SCIF_STS_I ani 0Fh ; zero bits 4..7 ori 01h ; bit 0 is ON out SCIF_CTL_O jmp exitok ; I_HEATER ID=X ACTIVATE=X ON_SECS=X OFF_SECS=X heater: mov a,M ; ID ; ID must be 1..5 cpi 0 jz badp cpi 6 jp badp inx h mov b,M ; ACTIVATE inx h mov c,M ; ON_SECS inx h mov d,M ; OFF_SECS call HTR_SET jmp exitok ; I_FW_MOTOR_ON fw_motor_on: call filter_motor_on jmp exitok ; I_FW_MOTOR_OFF fw_motor_off: call filter_motor_off jmp exitok ; I_FILTER_RESYNC filt_resync: call FILTER_RESYNC jmp exitok ; I_FILTER_SET CODE=X filt_set: call filter_motor_on mov a,M ; code cpi 0 jz badp ; must be 1..6 cpi 7 jp badp ; >=7 call FILTER_SET call filter_motor_off jmp exitok ; I_PPS_NOMINAL pps_nominal: in SCIF_STS_I ani 00Bh ; b2=0 4..7=0 out SCIF_CTL_O jmp exitok ; I_PPS_REDUNDANT pps_redundant: in SCIF_STS_I ani 0Fh ; 4..7=0 ori 04h ; b2=1 00000100 out SCIF_CTL_O jmp exitok ; I_MM_DUMP ID=X ADDR=XXXX mm_dump: ; build packet data in GBL_TEMP mov a,M ; ID sta GBL_TEMP inx h push h ; Note: 2-byte BANK retained for compatibility ; with older command procedures. ; BANK value is one byte mvi a,0 sta GBL_TEMP+1 mvi a,0F0h sta GBL_TEMP+2 ; in dump packet, make Dump Address low 2 bytes of MM addr inx h inx h mvi c,2 lxi d,GBL_TEMP+3 call copy_bytes ; read MM into packet data area xchg pop d ; point to MM addr lxi b,128/4 ; words call MM_FETCH ; GBL_TEMP data is built. ; Now generate the Dump packet mvi a,09h ; ApID = 709 lxi b,152 ; total packet length lhld sq09 ; this ApID's source sequence number xchg ; in DE lxi h,GBL_TEMP ; point to data call CCSDS_HSKP ; generate CCSDS and send it out lhld sq09 inx h shld sq09 jmp exitok ; I_TO_EEPROM FROMBANK=X TOBANK=X to_eeprom: mov a,M sta source_bank inx h mov a,M sta target_bank ; Using page-writes of EEPROM (128 bytes) ; Copy source bank (RAM) to a target bank (EEPROM) ; last bytes of bank contain: ; 7FFC - revision code ; 7FFD - number of bytes checksummed (2 bytes) ; 7FFF - checksum lda source_bank out BANK_SELECT_O lxi h,7FFDh mov d,M inx h mov e,M xchg shld byte_count ; first, copy last page of bank lxi h,7F80h lxi d,GBL_128BYTES mvi c,128 call copy_bytes lda target_bank lxi h,7F80h lxi d,GBL_128BYTES xchg call write_eeprom_page ; now copy the defined data lxi h,4000h shld pointer another_page: lda source_bank out BANK_SELECT_O ; source bank lhld pointer lxi d,GBL_128BYTES ; copy 128 bytes to RAM mvi c,128 call copy_bytes lda target_bank lhld pointer lxi d,GBL_128BYTES ; copy RAM to EEPROM xchg call write_eeprom_page ; decrement count by one page lhld byte_count lxi d,-128 dad d shld byte_count mov a,h ani 80h jnz exitok ; advance pointer by one page lhld pointer lxi d,128 dad d shld pointer jmp another_page byte_count ds 2 pointer ds 2 source_bank ds 1 target_bank ds 1 write_EEPROM_page: ; A - bank ; HL - points to source ; DE - points to first byte to write push psw push b push d push h ; save pointers push h ; for write push d ; pacify watchdog out WATCHDOG_PET_O ; disable interrupts during copy di ; send EEPROM write-enable sequence push psw ani 0F0h ; extract "y" bank 8,9,A,B or C ; bank=y1, addr=5555 data=AA inr a ; y1 out BANK_SELECT_O lxi h,5555h mvi M,0AAh ; bank=y0, addr=6AAA data=55 dcr a out BANK_SELECT_O lxi h,6AAAh mvi M,055h ; bank=y1, addr=5555 data=A0 inr a out BANK_SELECT_O lxi h,5555h mvi M,0A0h ; bank=target pop psw out BANK_SELECT_O ; copy 128 bytes pop h ; store-addr pop d ; source-addr mvi c,128 ; size of a page l1: ldax d mov M,a inx h inx d dcr c jnz l1 ; wait 10 ms mvi c,11 l4: call wait_1ms dcr c jnz l4 ; enable interrupts again ei pop h pop d pop b pop psw ret ; subroutine to wait for power strobe busy to go down waitpb: out WATCHDOG_PET_O wpbl: in HKP_STS_I ani 40h ; test b6 jnz wpbl ret ; I_AP_NOMINAL ap_nominal: call waitpb ; wait for power strobe busy to go down out AP_PWR_NOM_O ; set AP to Nominal Power jmp exitok ; I_AP_REDUNDANT ap_redundant: call waitpb ; wait for power strobe busy to go down out AP_PWR_RED_O ; set AP to Redundant Power jmp exitok ; I_BEGIN_GROUP BANK=X OFFSET=XX begin_group: mov a,M ; bank inx h mov d,M inx h mov e,M xchg ; HL=offset call CMD_BEGIN_GROUP jmp exitok ; I_END_GROUP end_group: call CMD_END_GROUP jmp exitok ; I_CHECKSUM BANK=X OFFSET=XX NBYTES=XX checksum: mov a,M ; BANK out BANK_SELECT_O inx h mov d,M ; OFFSET inx h mov e,M inx h mov b,M ; NBYTES inx h mov c,M lxi h,4000h dad d ; HL = address ; mvi d,0 ; D accumulates the checksum out WATCHDOG_PET_O cksl: mov a,d xra M ; XOR byte mov d,a inx h dcx b mov a,b ora c ; BC=0? jnz cksl ; telemeter the result in an I_IN packet mov a,d jmp in_c1 ; I_XGROUP BANK=X OFFSET=XX xgroup: mov a,M ; BANK inx h mov d,M ; OFFSET inx h mov e,M xchg call CMD_XGROUP jmp exitok ; I_BEGIN_DSP BANK=X OFFSET=XX begin_dsp: mov a,M ; BANK sta dsp_bank inx h mov d,M ; OFFSET inx h mov e,M lxi h,4000h ; base of banked memory dad d shld dsp_addr jmp exitok dsp_bank ds 1 dsp_addr ds 2 ; copy 6 bytes of DSP instruction into banked (RAM) memory ; I_DSP D=XXXXXX do_dsp: lda dsp_bank out BANK_SELECT_O ; set bank xchg ; DE points to XXXXXXX lhld dsp_addr ; destination address ; DE=(source) HL=(destination) mvi c,6 ; copy 6 bytes dodl: ldax d ; get source mov M,a ; store inx h ; next inx d dcr c ; count jnz dodl ; store updated address (incremented by 6) shld dsp_addr jmp exitok ; This is used to transfer DSP code from EEPROM to MM, ; ready to be copied by the DCM ; I_EEPROM_TO_MM BANK=X OFFSET=XX NWORDS=XX MM=XXXX eeprom_to_mm: mov a,M ; bank out BANK_SELECT_O ; set EEPROM source bank inx h mov d,M ; OFFSET=XX inx h mov e,M push d inx h ; NWORDS=XX mov b,M inx h mov c,M push b ; copy MM address inx h ; point to MM= mvi c,4 lxi d,ee_MM call copy_bytes ; copy data from banked RAM to unbanked RAM pop h ; NWORDS shld ee_nwords dad h dad h ; x 4 -> number of bytes mov b,h mov c,l ; BC = number of bytes pop h ; OFFSET lxi d,4000h ; base of banked RAM dad d ; HL=source lxi d,GBL_DSP_BUF ; DE=destination ; copy NBYTES bytes from EEPROM to unbanked RAM cel2: mov a,M stax d inx h inx d dcx b mov a,b ora c jnz cel2 ; copy from unbanked RAM to MM lxi d,ee_mm ; DE points to MM address lhld ee_nwords mov b,h mov c,l ; BC=number of words lxi h,GBL_DSP_BUF ; HL=source pointer call mm_store jmp exitok ee_nwords ds 2 ee_mm ds 4 bpl_status ds 4 ; I_LOAD_DCM load_dcm: mvi a,4 sta GBL_DCM_STATUS ; set BPL status=0 lxi h,GBL_zero lxi d,GBL_BPL_STATUS lxi b,1 call mm_store ; send DCM a CDI 31 mvi a,31h call cdi_send lda GBL_SECONDS_CTR mov c,a ; wait for Busy=false wbusy: call task in MM_IM_DCM_STS_I ani 10h ; bit 4: 1 -- busy=true jnz ckto ; then wait for BPL Status=1 call task lxi h,bpl_status lxi d,GBL_BPL_STATUS push b lxi b,1 call mm_fetch pop b lda bpl_status+3 cpi 1 jz dcm_loaded ; check timeout ckto: lda GBL_SECONDS_CTR sub c cpi 10 ; 10-second timeout jm wbusy ; timeout expired in MM_IM_DCM_STS_I mvi a,9 ; ERR_TIMEOUT jmp exit dcm_loaded: ; show DCM Status of "6" mvi a,6 sta GBL_DCM_STATUS jmp exitok idc_on: ; turn IDC on if it's not already on in PWR_STS_LO_I ani 04h ; b2 rnz ; IDC was already on mvi a,2 ; turn on power service 2 call PWR_SET_ON ; 5-Nov2002 (Curt's latest instructions) ; 100 ms wait mvi c,100 w10t: call wait_1ms dcr c jnz w10t ; release IDC reset mvi a,80h out IDC_RESET_O rbagain: ; Send CDI 4E 2877 ; (sets SPS_SCALE123 and selects it for readback) mvi a,04Eh lxi h,2877h call CDI_AHL ; Readback SPS_SCALE123 mvi a,0E7h lxi h,rback call CDI_READBACK ; If readback data is not 2877, repeat CDI sequence lda rback cpi 28h jnz rbagain lda rback+1 cpi 77h jnz rbagain ; repeat current power command mvi a,2 ; turn on power service 2 call PWR_SET_ON ; IDC is now in the mood to accept CDIs ; disable everything lxi h,0 shld GBL_IDC_CTRL ; send the CDI lxi h,GBL_IDC_CTRL mvi a,IDC_CTRL call CDI_SEND ret ; I_TRIGGER_SETUP tsu: in PWR_STS_LO_I ani 04h ; b2 jz need ; reject if IDC not on ; IDC is on ... command the the threshholds etc. mvi c,10 ; setup lightning threshholds ; issue CDI commands 40..49 lxi h,GBL_IDC_LTHRESH ; 10 16-bit words ; pick up trigger channel for telemetry mov a,M sta GBL_SOH+14 ; (science headers copy from here) mvi a,SP_LD_TH_A idcl1: call CDI_SEND inx h inx h inr a dcr c jnz idcl1 ; Lightning Detect Control lxi h,GBL_IDC_LDETECT mvi a,SP_LD_CTRL call CDI_SEND ; select scaling for SPS lxi h,GBL_IDC_SPS_SCALE mvi a,SPS_SCALE123 call CDI_SEND inx h inx h mvi a,SPS_SCALE456 call CDI_SEND jmp exitok ; I_TRIGGER_ENABLE tebl: ; don't allow unless IDC and SP both turned on in PWR_STS_LO_I ani 24h ; b2 and b5 cpi 24h jnz need ; Init Event queue pointers for each instrument ;**** call MMCB_INITEVQ ; If AP selected (I_AP enable=1), ; enable AP trigger lda GBL_SOH+11 ani 01h jz notap lda GBL_IDC_CTRL ori 10h ; b12=1 sta GBL_IDC_CTRL notap: ; if SPF selected, ; enable SP fast accumulation lda GBL_SOH+11 ani 04h ; b2 (SPF) jz notspf lda GBL_IDC_CTRL+1 ori 05h ; b2=1 sta GBL_IDC_CTRL+1 notspf: ; if SPS selected, ; enable SP slow accumulation lda GBL_SOH+11 ani 02h ; b1 (SPS) jz notsps lda GBL_IDC_CTRL+1 ; fast has to be on also ori 05h ; b0,2=1 sta GBL_IDC_CTRL+1 notsps: ; now enable MM/IM trigger lda GBL_IDC_CTRL ori 01h ; b8=1 sta GBL_IDC_CTRL ; enable DPU trigger lda GBL_IDC_CTRL+1 ori 10h ; b4=1 sta GBL_IDC_CTRL+1 ; send the CDI lxi h,GBL_IDC_CTRL mvi a,IDC_CTRL call CDI_SEND ; enable the Event (Trigger) interrupt - RST 6 in IRQ_ENABLE_I ori 40h ; b6=1 for RST6 out IRQ_ENABLE_O ; Arm the IDC triggers call MMCB_REARM jmp exitok ; I_TRIGGER_DISABLE tdis: ; disable Trigger interrupt (RST 6) ; and Exposure interrupt (RST 5) in IRQ_ENABLE_I ani 09Fh ; b5,b6=0 out IRQ_ENABLE_O ; disable MM and AP trigger (and set arm=0 too) lda GBL_IDC_CTRL ani 088h ; b14,b10,b8,b9,b12,b13=0 sta GBL_IDC_CTRL ; disable DPU trigger (and set arm=0) lda GBL_IDC_CTRL+1 ani 08Fh ; b6,b5,b4=0 sta GBL_IDC_CTRL+1 IDCCDI: lxi h,GBL_IDC_CTRL mvi a,IDC_CTRL call CDI_SEND jmp exitok ; I_SIM_AP_TRIGGER sim_ap_trigger: lda GBL_IDC_CTRL ori 44h ; b14=1 - Sim AP; b10=1 - Sim MM sta simap lda GBL_IDC_CTRL+1 ori 40h ; b6=1 - Sim DPU sta simap+1 lxi h,simap mvi a,IDC_CTRL call CDI_SEND jmp IDCCDI simap ds 2 ; I_SP_PWR_ON sp_pwr_on: ; Turn on IDC if it's not already on call idc_on ; Turn on SP mvi a,5 call PWR_SET_ON ; Enable fast and slow accumulation lda GBL_IDC_CTRL+1 ori 05h ; b0,b2=1 sta GBL_IDC_CTRL+1 ; (b2 set by I_SPS command) jmp IDCCDI ; I_SP_PWR_OFF sp_pwr_off: call sp_off jmp exitok sp_off: ; disable fast and slow accumulation lda GBL_IDC_CTRL+1 ori 0FAh ; b0,b2=0 sta GBL_IDC_CTRL+1 ; send the CDI lxi h,GBL_IDC_CTRL mvi a,IDC_CTRL call CDI_SEND ; now turn off the power service mvi a,5 call PWR_SET_OFF ret ; I_AP_PWR_ON ap_pwr_on: ; Make sure IDC is on call idc_on ; wait for power strobe busy to go down call waitpb ; set AP power on out AP_PWR_ON_O ; Enable IDC outputs to the AP lda GBL_IDC_CTRL+1 ori 08h ; b3=1 sta GBL_IDC_CTRL+1 ; send the CDI jmp IDCCDI ; I_AP_PWR_OFF ap_pwr_off: call ap_off jmp exitok ap_off: ; disable AP trigger lda GBL_IDC_CTRL ani 0EFh ; b12=0 sta GBL_IDC_CTRL ; disable IDC outputs to the AP lda GBL_IDC_CTRL+1 ani 0F7h ; b3=0 - disable IDC outputs to AP sta GBL_IDC_CTRL+1 ; send the CDI lxi h,GBL_IDC_CTRL mvi a,IDC_CTRL call CDI_SEND ; wait for power strobe busy to go down call waitpb ; set AP power off out AP_PWR_OFF_O ret ; I_CAM_PWR_ON cam_pwr_on: mvi a,4 call pwr_set_on ; 200ms delay (rev 7.3) mvi c,200 cpo1: call wait_1ms dcr c jnz cpo1 jmp exitok ; I_CAM_PWR_OFF cam_pwr_off: mvi a,4 call pwr_set_off jmp exitok ; I_DAY1_THR_SET VAL=X dayth1: mov a,M ; VAL ; must be 1..8E cpi 0 jz badval ani 80h jz th1ok mov a,M ani 7Fh cpi 0Fh jp badval ; >8E th1ok: mov a,M out DAY1_THR_O jmp exitok ; I_DAY2_THR_SET VAL=X dayth2: mov a,M ; VAL ; must be 2..8F cpi 2 jm badval ani 80h jz th2ok mov a,M ani 7Fh cpi 10h jp badval ; >8F th2ok: mov a,M out DAY2_THR_O jmp exitok ; I_X1PVCF MM=XXXX ; send 1 PVCF from MM x1pvcf: ; HL points to MM addr ; Copy PVCF from MM to RAM, then from RAM ; to SC buffer 1 xchg ; DE points to source MM=XXXX lxi h,GBL_BPVCF ; temporary RAM lxi b,1108/4 ; number of words call mm_fetch lxi d,GBL_PP_MMSC1 ; destination MM (Spacecraft Buffer 1) call mm_store ; ; now set the PVCF counter to 1 ; and force a flush mvi a,0 sta GBL_SOH+71 ; N PVCFS in BUF1 (big endian) mvi a,1 sta GBL_SOH+72 call SC_FLUSH jmp exitok ; I_RUN BANK=X run: ; select the Memory Bank mov a,M ; BANK out BANK_SELECT_O ; set bank ; Verify checksum call CHKB cpi 0 jnz chkbad ; checksum didn't verify ; jump to code in "DPU.A" which will ; copy the EEPROM to RAM and execute it public DPU_RUN jmp DPU_RUN ; I_CHK BANK=X REV=X chk: mov a,M ; BANK out BANK_SELECT_O call CHKB cpi 0 jz chkok chkbad: mvi a,11 ; ERR_CHKS ; bad checksum jmp exit chkok: inx h mov a,M ; REV lxi h,07FFCh cmp M ; right version? jz exitok mvi a,12 ; ERR_CHKR ; bad version jmp exit ; Verify checksum of currently-selected Bank. ; last 4 bytes of bank are expected to be: ; Revision Code ; Byte count (2 bytes, big endian) ; Checksum ; returns: 0=OK, 1=bad checksum public CHKB chkb: push h push d push b ; get number of bytes (big endian) to checksum lda 07FFDh ani 3Fh ; force max mov b,a lda 07FFEh mov c,a lxi h,4000h ; start here mvi d,0 ; D accumulates the checksum out WATCHDOG_PET_O chk1: mov a,d xra M ; XOR byte mov d,a inx h dcx b mov a,b ora c ; BC=0? jnz chk1 lxi h,7FFFh mov a,M cmp d ; compare checksum jnz badchk mvi a,0 ckxit: pop b pop d pop h ret badchk: mvi a,1 jmp ckxit ; I_TTLIST_DUMP ttd: call cmd_dtt jmp exitok ; I_NOP inop: call debug_asc asc "(NOP)$" jmp exitok ; I_TRIGGER_DELAY_SET MSEC=XX trigger_delay_set: mov d,M inx h mov e,M xchg ; MSEC in HL ; (store little-endian) shld GBL_TRIGGER_DELAY jmp exitok ; I_TIMED_STIM CHAN_MASK=X MSECS=XX timed_stim: mov a,M ; CHAN_MASK=X ; turn selected stims on out STIM_CTL_O inx h ; delay milliseconds mov d,M ; MSECS=XX inx h mov e,M dlyms: call wait_1ms dcx d mov a,d ora e jnz dlyms ; now turn stims off mvi a,0 out STIM_CTL_O jmp exitok