US20010024095A1

US20010024095A1 - Movable barrier operator

Info

Publication number: US20010024095A1
Application number: US09/785,619
Authority: US
Inventors: James Fitzgibbon; Paul Wanis; Colin Willmott
Original assignee: Chamberlain Group Inc
Current assignee: Chamberlain Group Inc
Priority date: 1998-09-28
Filing date: 2001-02-16
Publication date: 2001-09-27
Anticipated expiration: 2018-09-28
Also published as: GB0308453D0; NZ507861A; GB2341948A; AU2004200080A1; GB2384577A; AU2004200084A1; GB0300492D0; US20040056621A1; AU2004200081A1; CA2461177C; CA2283533C; GB2381085B; GB2384579A8; AU769967B2; US6246196B1; US6172475B1; NZ507860A; US20060186844A1; US6456022B1; CA2461173C

Abstract

A movable barrier operator having improved safety and energy efficiency features automatically detects line voltage frequency and uses that information to set a worklight shut-off time. The operator automatically detects the type of door (single panel or segmented) and uses that information to set a maximum speed of door travel. The operator moves the door with a linearly variable speed from start of travel to stop for smooth and quiet performance. The operator provides for full door closure by driving the door into the floor when the DOWN limit is reached and no auto-reverse condition has been detected. The operator provides for user selection of a minimum stop speed for easy starting and stopping of sticky or binding doors.

Description

BACKGROUND OF THE INVENTION

This invention relates generally to movable barrier operators for operating movable barriers or doors. More particularly, it relates to garage door operators having improved safety and energy efficiency features.

Garage door operators have become more sophisticated over the years providing users with increased convenience and security. However, users continue to desire further improvements and new features such as increased energy efficiency, ease of installation, automatic configuration, and aesthetic features, such as quiet, smooth operation.

In some markets energy costs are significant. Thus energy efficiency options such as lower horsepower motors and user control over the worklight functions are important to garage door operator owners. For example, most garage door operators have a worklight which turns on when the operator is commanded to move the door and shuts off a fixed period of time after the door stops. In the United States, an illumination period of 4½ minutes is considered adequate. In markets outside the United States, 4½ minutes is considered too long. Some garage door operators have special safety features, for example, which enable the worklight whenever the obstacle detection beam is broken by an intruder passing through an open garage door. Some users may wish to disable the worklight in this situation. There is a need for a garage door operator which can be automatically configured for predefined energy saving features, such as worklight shut-off time.

Some movable barrier operators include a flasher module which causes a small light to flash or blink whenever the barrier is commanded to move. The flasher module provides some warning when the barrier is moving. There is a need for an improved flasher unit which provides even greater warning to the user when the barrier is commanded to move.

Another feature desired in many markets is a smooth, quiet motor and transmission. Most garage door operators have AC motors because they are less expensive than DC motors. However, AC motors are generally noisier than DC motors.

Most garage door operators employ only one or two speeds of travel. Single speed operation, i.e., the motor immediately ramps up to full operating speed, can create a jarring start to the door. Then during closing, when the door approaches the floor at full operating speed, whether a DC or AC motor is used, the door closes abruptly with a high amount of tension on it from the inertia of the system. This jarring is hard on the transmission and the door and is annoying to the user.

If two operating speeds are used, the motor would be started at a slow speed, usually 20 percent of full operating speed, then after a fixed period of time, the motor speed would increase to full operating speed. Similarly, when the door reaches a fixed point above/below the close/open limit, the operator would decrease the motor speed to 20 percent of the maximum operating speed. While this two speed operation may eliminate some of the hard starts and stops, the speed changes can be noisy and do not occur smoothly, causing stress on the transmission. There is a need for a garage door operator which opens the door smoothly and quietly, with no aburptly apparent sign of speed change during operation.

Garage doors come in many types and sizes and thus different travel speeds are required for them. For example, a one-piece door will be movable through a shorter total travel distance and need to travel slower for safety reasons than a segmented door with a longer total travel distance. To accommodate the two door types, many garage door operators include two sprockets for driving the transmission. At installation, the installer must determine what type of door is to be driven, then select the appropriate sprocket to attach to the transmission. This takes additional time and if the installer is the user, may require several attempts before matching the correct sprocket for the door. There is a need for a garage door operator which automatically configures travel speed depending on size and weight of the door.

National safety standards dictate that a garage door operator perform a safety reversal (auto-reverse) when an object is detected only one inch above the DOWN limit or floor. To satisfy these safety requirements, most garage door operators include an obstacle detection system, located near the bottom of the door travel. This prevents the door from closing on objects or persons that may be in the door path. Such obstacle detection systems often include an infrared source and detector located on opposite sides of the door frame. The obstacle detector sends a signal when the infrared beam between the source and detector is broker,, indicating an obstacle is detected. In response to the obstacle signal, the operator causes an automatic safety reversal. The door stops and begins traveling up, away from the obstacle.

There are two different “forces” used in the operation of the garage door operator. The first “force” is usually preset or setable at two force levels: the UP force level setting used to determine the speed at which the door travels in the UP direction and the DOWN force level setting used to determine the speed at which the door travels in the DOWN direction. The second “force” is the force level determined by the decrease in motor speed due to an external force applied to the door, i.e., from an obstacle or the floor. This external force level is also preset or setable and is any set-point type force against which the feedback force signal is compared. When the system determines the set point force has been met, an auto-reverse or stop is commanded.

To overcome differences in door installations, i.e. stickiness and resistance to movement and other varying frictional-type forces, some garage door operators permit the maximum force (the second force) used to drive the speed of travel to be varied manually. This, however, affects the system's auto-reverse operation based on force. The auto-reverse system based on force initiates an auto-reverse if the force on the door exceeds the maximum force setting (the second force) by some predetermined amount. If the user increases the force setting to drive the door through a “sticky” section of travel, the user may inadvertently affect the force to a much greater value than is safe for the unit to operate during normal use. For example, if the DOWN force setting is set so high that it is only a small incremental value less than the force setting which initiates an auto-reverse due to force, this causes the door to engage objects at a higher speed before reaching the auto-reverse force setting. While the obstacle detection system will cause the door to auto-reverse, the speed and force at which the door hits the obstacle may cause harm to the obstacle and/or the door.

Barrier movement operators should perform a safety reversal off an obstruction which is only marginally higher than the floor, yet still close the door safely against the floor. In operator systems where the door moves at a high speed, the relatively large momentum of the moving parts, including the door, accomplishes complete closure. In systems with a soft closure, where the door speed decreases from full maximum to a small percentage of full maximum when closing, there may be insufficient momentum in the door or system to accomplish a full closure. For example, even if the door is positioned at the floor, there is sometimes sufficient play in the trolley of the operator to allow the door to move if the user were to try to open it. In particular, in systems employing a DC motor, when the DC motor is shut off, it becomes a dynamic brake. If the door isn't quite at the floor when the DOWN travel limit is reached and the DC motor is shut off, the door and associated moving parts may not have sufficient momentum to overcome the braking force of the DC motor. There is a need for a garage door operator which closes the door completely, eliminating play in the door after closure.

Many garage door operator installations are made to existing garage doors. The amount of force needed to drive the door varies depending on type of door and the quality of the door frame and installation. As a result, some doors are “stickier” than others, requiring greater force to move them through the entire length of travel. If the door is started and stopped using the full operating speed, stickiness is not usually a problem. However, if the garage door operator is capable of operation at two speeds, stickiness becomes a larger problem at the lower speed. In some installations, a force sufficient to run at 20 percent of normal speed is too small to start some doors moving. There is a need for a garage door operator which automatically controls force output and thus start and stop speeds.

SUMMARY OF THE INVENTION

A movable barrier operator having an electric motor for driving a garage door, a gate or other barrier is operated from a source of AC current. The movable barrier operator includes circuitry for automatically detecting the incoming AC line voltage and frequency of the alternating current. By automatically detecting the incoming AC line voltage and determining the frequency, the operator can automatically configure itself to certain user preferences. This occurs without either the user or the installer having to adjust or program the operator. The movable barrier operator includes a worklight for illuminating its immediate surroundings such as the interior of a garage. The barrier operator senses the power line frequency (typically 50 Hz or 60 Hz) to automatically set an appropriate shut-off time for a worklight. Because the power line frequency in Europe is 50 Hz and in the U.S. is 60 Hz, sensing the power line frequency enables the operator to configure itself for either a European or a U.S. market with no user or installer modifications. For U.S. users, the worklight shut-off time is set to preferably 4½ minutes; for European users, the worklight shut-off time is set to preferably 2½ minutes. Thus, a single barrier movement operator can be sold in two different markets with automatic setup, saving installation time.

The movable barrier operator of the present invention automatically detects if an optional flasher module is present. If the module is present, when the door is commanded to move, the operator causes the flasher module to operate. With the flasher module present, the operator also delays operation of the motor for a brief period, say ore or two seconds. This delay period with the flasher module blinking before door movement provides an added safety feature to users which warns them of impending door travel (e.g. if activated by an unseen transmitter).

The movable barrier operator of the present invention drives the barrier, which may be a door or a gate, at a variable speed. After motor start, the electric motor reaches a preferred initial speed of 20 percent of the full operating speed. The motor speed then increases slowly in a linearly continuous fashion from 20 percent to 100 percent of full operating speed. This provides a smooth, soft start without jarring the transmission or the door or gate. The motor moves the barrier at maximum speed for the largest portion of its travel, after which the operator slowly decreases speed from 100 percent to 20 percent as the barrier approaches the limit of travel, providing a soft, smooth and quiet stop. A slow, smooth start and stop provides a safer barrier movement operator for the user because there is less momentum to apply an impulse force in the event of an obstruction. In a fast system, relatively high momentum of the door changes to zero at the obstruction before the system can actually detect the obstruction. This leads to the application of a high impulse force. With the system of the invention, a slower stop speed means the system has less momentum to overcome, and therefore a softer, more forgiving force reversal. A slow, smooth start and stop also provide a more aesthetically pleasing effect to the user, and when coupled with a quieter DC motor, a barrier movement operator which operates very quietly.

The operator includes two relays and a pair of field effect transistors (FETs) for controlling the motor. The relays are used to control direction of travel. The FET's, with phase controlled, pulse width modulation, control start up and speed. Speed is responsive to the duration of the pulses applied to the FETs. A longer pulse causes the FETs to be on longer causing the barrier speed to increase. Shorter pulses result in a slower speed. This provides a very fine ramp control and more gentle starts and stops.

The movable barrier operator provides for the automatic measurement and calculation of the total distance the door is to travel. The total door travel distance is the distance between the UP and the DOWN limits (which depend on the type of door). The automatic measurement of door travel distance is a measure of the length of the door. Since shorter doors must travel at slower speeds than normal doors (for safety reasons), this enables the operator to automatically adjust the motor speed so the speed of door travel is the same regardless of door size. The total door travel distance in turn determines the maximum speed at which the operator will travel. By determining the total distance traveled, travel speeds can be automatically changed without having to modify the hardware.

The movable barrier operator provides full door or gate closure, i.e. a firm closure of the door to the floor so that the door is not movable in place after it stops. The operator includes a digital control or processor, specifically a microcontroller which has an internal microprocessor, an internal RAM and an internal ROM and an external EEPROM. The microcontroller executes instructions stored in its internal ROM and provides motor direction control signals to the relays and speed control signals to the FETs. The operator is first operated in a learn mode to store a DOWN limit position for the door. The DOWN limit position of the door is used as an approximation of the location of the floor (or as a minimum reversal point, below which no auto-reverse will occur). When the door reaches the DOWN limit position, the microcontroller causes the electric motor to drive the door past the DOWN limit a small distance, say for one or two inches. This causes the door to close solidly on the floor.

The operator embodying the present invention provides variable door or gate output speed, i.e., the user can vary the minimum speed at which the motor starts and stops the door. This enables the user to overcome differences in door installations, i.e. stickiness and resistance to movement and other varying functional-type forces. The minimum barrier speeds in the UP and DOWN directions are determined by the user-configured force settings, which are adjusted using UP and DOWN force potentiometers. The force potentiometers set the lengths of the pulses to the FETs, which translate to variable speeds. The user gains a greater force output and a higher minimum starting speed to overcome differences in door installations, i.e. stickiness and resistance to movement and other varying functional-type forces speed, without affecting the maximum speed of travel for the door. The user can configure the door to start at a speed greater than a default value, say 20 percent. This greater start up and slow down speed is transferred to the linearly variable speed function in that instead of traveling at 20 percent speed, increasing to 100 percent speed, then decreasing to 20 percent speed, the door may, for instance, travel at 40 percent speed to 100 percent speed and back down to 40 percent speed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a garage having mounted within it a garage door operator embodying the present invention; [0021]
FIG. 2 is an exploded perspective view of a head unit of the garage door operator shown in FIG. 1; [0022]
FIG. 3 is an, exploded perspective view of a portion of a transmission unit of the garage door operator shown in FIG. 1; [0023]
FIG. 4 is a block diagram of a controller and motor mounted within the head unit of the garage door operator shown in FIG. 1; [0024]
FIGS. [0025] 5A-5D are a schematic diagram of the controller shown in block format in FIG. 4;
FIGS. [0026] 6A-6B are a flow chart of an overall routine that executes in a microprocessor of the controller shown in FIGS. 5A-5D;
FIGS. [0027] 7A-7H are a flow chart of the main routine executed in the microprocessor;
FIG. 8 is a flow chart of a set variable light shut-off timer routine executed by the microprocessor; [0028]
FIGS. [0029] 9A-9C are a flow chart of a hardware timer interrupt routine executed in the microprocessor;
FIGS. [0030] 10A-10C are a flow chart of a 1 millisecond timer routine executed in the microprocessor;
FIGS. [0031] 11A-11C are a flow chart of a 125 millisecond timer routine executed in the microprocessor;
FIGS. [0032] 12A-12B are a flow chart of a 4 millisecond timer routine executed in the microprocessor;
FIGS. [0033] 13A-13B are a flow chart of an RPM interrupt routine executed in the microprocessor;
FIG. 14 is a flow chart of a motor state machine routine executed in the microprocessor; [0034]
FIG. 15 is a flow chart of a stop in midtravel routine executed in the microprocessor; [0035]
FIG. 16 is a flow chart of a DOWN position routine executed in the microprocessor; [0036]
FIGS. [0037] 17A-17C are a flow chart of an UP direction routine executed in the microprocessor;
FIG. 18 is a flow chart of an auto-reverse routine executed in the microprocessor; [0038]
FIG. 19 is a flow chart of an UP position routine executed in the microprocessor; [0039]
FIGS. [0040] 20A-20D are a flow chart of the DOWN direction routine executed in the microprocessor;
FIG. 21 is an exploded perspective view of a pass point detector and motor of the operator shown in FIG. 2; [0041]
FIG. 22A is a plan view of the pass point detector shown in FIG. 21; and [0042]
FIG. 22B is a partial plan view of the pass point detector shown in FIG. 21.[0043]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the drawings and especially to FIG. 1, a movable barrier or garage door operator system is generally shown therein and referred to by [0044] numeral 8. The system 8 includes a movable barrier operator or garage door operator 10 having a head unit 12 mounted within a garage 14. More specifically, the head unit 12 is mounted to a ceiling 15 of the garage 14. The operator 10 includes a transmission 18 extending from the head unit 12 with a releasable trolley 20 attached. The releasable trolley 20 releasably connects an arm 22 extending to a single panel garage door 24 positioned for movement along a pair of door rails 26 and 28.
The [0045] system 8 includes a hand-held RF transmitter unit 30 adapted to send signals to an antenna 32 (see FIG. 4) positioned on the head unit 12 and coupled to a receiver within the head unit 12 as will appear hereinafter. A switch module 39 is mounted on the head unit 12. Switch module 39 includes switches for each of the commands available from a remote transmitter or from an optional wall-mounted switch (not shown). Switch module 39 enables an installer to conveniently request the various learn modes during installation of the head unit 12. The switch module 39 includes a learn switch, a light switch, a lock switch and a command switch, which are described below. Switch module 39 may also include terminals for wiring a pedestrian door state sensor comprising a pair of contacts 13 and 15 for a pedestrian door 11, as well as wiring for an optional wall switch (not shown).
The [0046] garage door 24 includes the pedestrian door 11. Contact 13 is mounted to door 24 for contact with contact 15 mounted to pedestrian door 11. Both contacts 13 and 15 are connected via a wire 17 to head unit 12. As will be described further below, when the pedestrian door 11 is closed, electrical contact is made between the contacts 13 and 15 closing a pedestrian door circuit in the receiver in head unit 12 and signalling that the pedestrian door state is closed. This circuit must be closed before the receiver will permit other portions of the operator to move the door 24. If circuit is open, indicating that the pedestrian door state is open, the system will not permit door 24 to move.
The [0047] head unit 12 includes a housing comprising four sections: a bottom section 102, a front section 106, a back section 108 and a top section 110, which are held together by screws 112 as shown in FIG. 2. Cover 104 fits into front section 106 and provides a cover for a worklight. External AC power is supplied to the operator 10 through a power cord 112. The AC power is applied to a step-down transformer 120. An electric motor 118 is selectively energized by rectified AC power and drives a sprocket 125 in sprocket assembly 124. The sprocket 125 drives chain 144 (see FIG. 3). A printed circuit board 114 includes a controller 200 and other electronics for operating the head unit 12. A cable 116 provides input and output connections or, signal paths between the printed circuit board 114 and switch module 39. The transmission 18, as shown in FIG. 3, includes a rail 142 which holds chain 144 within a rail and chain housing 140 and holds the chair in tension to transfer mechanical energy from the motor to the door.
A block diagram or the controller and motor connections is shown in FIG. 4. [0048] Controller 200 includes an RF receiver 80, a microprocessor 300 and an EEPROM 302. RF receiver 80 of controller 200 receives a command to move the door and actuate the motor either from remote transmitter 30, which transmits an RF signal which is received by antenna 32, or from a user command switch 250. User command switch 250 can be a switch on switch panel 39, mounted on the head unit, or a switch from an optional wall switch. Upon receipt of a door movement command signal from either antenna 32 or user switch 250, the controller 200 sends a power enable signal via line 240 to AC hot connection 206 which provides AC line current to transformer 212 and power to work light 210. Rectified AC is provided from rectifier 214 via line 236 to relays 232 and 234. Depending on the commanded direction of travel, controller 200 provides a signal to either relay 232 or relay 234. Relays 232 and 234 are used to control the direction of rotation of motor 118 by controlling the direction of current flow through the windings. One relay is used for clockwise rotation; the other is used for counterclockwise rotation.
Upon receipt of the door movement command signal, [0049] controller 200 sends a signal via line 230 to power-control FET 252. Motor speed is determined by the duration or length of the pulses in the signal to a gate electrode of FET 252. The shorter the pulses, the slower the speed. This completes the circuit between relay 232 and FET 252 providing power to motor 118 via line 254. If the door had been commanded to move in the opposite direction, relay 234 would have been enabled, completing the circuit with FET 252 and providing power to motor 118 via line 238.
With power provided, the [0050] motor 118 drives the output shaft 216 which provides drive power to transmission sprocket 125. Gear redaction housing 260 includes an internal pass point system which sends a pass point signal via line 220 to controller 220 whenever the pass point is reached. The pass point signal is provided to controller 200 via current limiting resistor 226 to protect controller 200 from electrostatic discharge (ESD). An RPM interrupt signal is provided via line 224, via current limiting resistor 228, to controller 200. Lead 222 provides a plus five volts supply for the Hall effect sensors in the RPM module. Commanded force is input by two force potentiometers 202, 204. Force potentiometer 202 is used to set the commanded force for UP travel; force potentiometer 204 is used to set the commanded force for DOWN travel. Force potentiometers 202 and 204 provide commanded inputs to controller 200 which are used to adjust the length of the pulsed signal provided to FET 252.
The pass point for this system is provided internally in the [0051] motor 118. Referring to FIG. 22, the pass point module 40 is attached to gear reduction housing 260 of motor 118. Pass point module 40 includes upper plate 42 which covers the three internal gears and switch within lower housing 50. Lower housing 50 includes recess 62 having two pins 61 which position switch assembly 52 in recess 62. Housing 50 also includes three cutouts which are sized to support and provide for rotation of the three geared elements. Outer gear 44 fits rotatably within cutout 64. Outer gear includes a smooth outer surface for rotating within housing 50 and inner gear teeth for rotating middle gear 46. Middle gear 46 fits rotatably within inner cutout 66. Middle gear 46 includes a smooth outer surface and a raised portion with gear teeth for being driven by the gear teeth of outer ring gear 44. Inner gear 48 fits within middle gear 46 and is driven by an extension of shaft 216. Rotation of the motor 118 causes shaft 216 to rotate and drive inner gear 48.
[0052] Outer gear 44 includes a notch 74 in the outer periphery. Middle gear includes a notch 76 in the outer periphery. Referring to FIG. 22A, rotation of inner gear 48 rotates middle gear 46 in the same direction. Rotation of middle gear 46 rotates outer gear 44 in the same direction. Gears 46 and 44 are sized such that pass point indications comprising switch release cutouts 74 and 76 line up only once during the entire travel distance of the door. As seen in FIG. 22A, when switch release cutouts 74 and 76 line up, switch 72 is open generating a pass point presence signal. The location where switch release cutouts 74 and 76 line up is the pass point. At all other times, at least one of the two gears holds switch 72 closed generating a signal indicating that the pass point has not been reached.
The [0053] receiver portion 80 of controller 200 is shown in FIG. 5A. RF signals may be received by the controller 200 at the antenna 32 and fed to the receiver 80. The receiver 80 includes variable inductor L1 and a pair of capacitors C2 and C3 that provide impedance matching between the antenna 32 and other portions of the receiver. An NPN transistor Q4 is connected in common-base configuration as a buffer amplifier. Bias to the buffer amplifier transistor Q4 is provided by resistors R2, R3. The buffered RF output signal is supplied to a second NPN transistor Q5. The radio frequency signal is coupled to a bandpass amplifier 280 to an average detector 282 which feeds a comparator 284. Referring to FIGS. 5C and 5B, the analog output signal A, B is applied to noise reduction capacitors C19, C20 and C21 then provided to pins P32 and P33 of the microcontroller 300. Microcontroller 300 may be a Z86733 microprocessor.
An [0054] external transformer 212 receives AC power from a source such as a utility and steps down the AC voltage to the power supply 90 circuit of controller 200. Transformer 212 provides AC current to full-wave bridge circuit 214, which produces a 28 volt full wave rectified signal across capacitor C35. The AC power may have a frequency of 50 Hz or 60 Hz. An external transformer is especially important when motor 118 is a DC motor. The 28 volt rectified signal is used to drive a wall control switch, a obstacle detector circuit, a door-in-door switch and to power FETs Q11 and Q12 used to start the motor. Zener diode D18 protects against overvoltage due to the pulsed current, in particular, from the FETs rapidly switching off inductive load of the motor. The potential of the full-wave rectified signal is further reduced to provide 5 volts at capacitor C38, which is used to power the microprocessor 300, the receiver circuit 80 and other logic functions.
The 28 volt rectified power supply signal indicated by reference numeral T in FIG. 5C is voltage divided down by resistors R[0055] 61 and R62, then applied to an input pin P24 of microprocessor 300. This signal is used to provide the phase of the power line current to microprocessor 300. Microprocessor 300 constantly checks for the phase of the line voltage in order to determine if the frequency of the line voltage is 50 Hz or 60 Hz. This information is used to establish the worklight time-out period and to select the look-up table stored in the ROM in the microcontroller for converting pulse width to door speed.
When the door is commanded to move, either through a signal from a remote transmitter received through [0056] antenna 32 and processed by receiver 80, or through an optional wall switch, the microprocessor 300 commands the work light to turn on. Microprocessor 300 sends a worklight enable signal from pin P07. The worklight enable signal is applied to the base of transistor Q3, which drives relay K3. AC power from a signal U provides power for operating the worklight 210.
[0057] Microprocessor 300 reads from and writes data to an EEPROM 302 via its pins P25, P26 and P27. EEPROM 302 may be a 93C46. Microprocessor 300 provides a light enable signal at pin P21 which is used to enable a learn mode indicator yellow LED D15. LED D15 is enabled or lit when the receiver is in the learn mode. Pin P26 provides double duty. When the user selects switch S1, a learn enable signal is provided to both microprocessor 300 and EEPROM 302. Switch S1 is mounted on the head unit 12 and is part of switch module 39, which is used by the installer to operate the system.
An optional flasher module provides an additional level of safety for users and is controlled by [0058] microprocessor 300 at pin P22. The optional flasher module is connected between terminals 308 and 310. In the optional flasher module, after receipt of a door command, the microprocessor 300 sends a signal from P22 which causes the flasher light to blink for 2 seconds. The door does not move during that 2 second period, giving the user notice that the door has been commanded to move and will start to move in 2 seconds. After expiration of the 2 second period, the door moves and the flasher light module blinks during the entire period of door movement. If the operator does not have a flasher module installed in the head unit, when the door is commanded to move, there is no time delay before the door begins to move.
[0059] Microprocessor 300 provides the signals which start motor 116, control its direction of rotation (and thus the direction of movement of the door) and the speed of rotation (speed of door travel). FETs Q11 and Q12 are used to start motor 118. Microprocessor 300 applies a pulsed output signal to the gates of FETs Q11 and Q12. The lengths of the pulses determine the time the FETs conduct and thus the amount of time current is applied to start and run the motor 118. The longer the pulse, the longer current is applied, the greater the speed of rotation the motor 118 will develop. Diode D11 is coupled between the 28 volt power supply and is used to clean up flyback voltage to the input bridge D4 when the FETs are conducting. Similarly, Zener diode D19 (see FIG. 5A) is used to protect against overvoltage when the FETs are conducting.
Control of the direction of rotation of motor [0060] 118 (and thus direction of travel of the door) is accomplished with two relays, K1 and K2. Relay K1 supplies current to cause the motor to rotate clockwise in an opening direction (door moves UP); relay K2 supplies current to cause the motor to rotate counterclockwise in a closing direction (door moves DOWN). When the door is commanded to move UP, the microprocessor 300 sends an enable signal from pin P05 to the base of transistor Q1, which drives relay K1. When the door is commanded to move DOWN, the microprocessor 300 sends an enable signal from pin P06 to the base of transistor Q2, which drives relay K2.
Door-in-[0061] door contacts 13 and 15 are connected to terminals 304 and 306. Terminals 304 and 306 are connected to relays K1 and K2. If the signal between contacts 13 and 15 is broken, the signal across terminals 304 and 306 is open, preventing relays K1 and K2 from energizing. The motor 118 will not rotate and the door 24 will not move until the user closes pedestrian door 11, making contact between contacts 13 and 15.
The [0062] pass point signal 220 from the pass point module 40 (see FIG. 21) of motor 118 is applied to pin P23 of microprocessor 300. The RPM signal 224 from the RPM sensor module in motor 118 is applied to pin P31 of microprocessor 300. Application of the pass point signal and the RPM signal is described with reference to the flow charts.
An optional wall control, which duplicates the switches on [0063] remote transmitter 30, may be connected to controller 200 at terminals 312 and 314. When the user presses the door command switch 39, a dead short is made to ground, which the microprocessor 300 detects by the failure to detect voltage. Capacitor C22 is provided for RF noise reduction. The dead short to ground is sensed at pins P02 and P03, for redundancy.
Switches S[0064] 1 and S2 are part of switch module 39 mounted on head unit 12 and used by the installer for operating the system. As stated above, S1 is the learn switch. S2 is the door command switch. When S2 is pressed, microprocessor 300 detects the dead short at pins P02 and P03.
Input from an obstacle detector (not shown) is provided at terminal [0065] 316. This signal is voltage divided down and provided to microprocessor 300 at pins P20 and P30, for redundancy. Except when the door is moving and less than an inch above the floor, when the obstacle detector senses an object in the doorway, the microprocessor executes the auto-reverse routine causing the door to stop and/or reverse depending on the state of the door movement.
Force and speed of door travel are determined by two potentiometers. Potentiometer R[0066] 33 adjusts the force and speed of UP travel; potentiometer R34 adjusts the force and speed of DOWN travel. Potentiometers R33 and R34 act as analog voltage dividers. The analog signal from R33, R34 is further divided down by voltage divider R35/R37, R36/R38 before it is applied to the input of comparators 320 and 322. Reference pulses from pins P34 and P35 of microprocessor 300 are compared with the force input from potentiometers R33 and R34 in comparators 320 and 322. The output of comparators 320 and 322 is applied to pins P01 and P00.
To perform the A/D conversion, the [0067] microprocessor 300 samples the output of the comparators 320 and 322 at pins P00 and P01 to determine which voltage is higher: the voltage from the potentiometer R33 or R34 (IN) or the voltage from the reference pin P34 or P35 (REF). If the potentiometer voltage is higher than the reference, then the microprocessor outputs a pulse. If not, the output voltage is held low. The RC filter (R39, C29/R40, C30) converts the pulses into a DC voltage equivalent to the duty cycle of the pulses. By outputting the pulses in the manner described above, the microprocessor creates a voltage at REF which dithers around the voltage at IN. The microprocessor then calculates the duty cycle of the pulse output which directly correlates to the voltage seen at IN.
When power is applied to the [0068] head unit 12 including controller 200, microprocessor 300 executes a series of routines. With power applied, microprocessor 300 executes the main routines shown in FIGS. 6A and 6B. The main loop 400 includes three basic functions, which are looped continuously until power is removed. In block 402 the microprocessor 300 handles all non-radio EEPROM communications and disables radio access to the EEPROM 302 when communicating. This ensures that during normal operation, i.e., when the garage door operator is not being programmed, the remote transmitter does not have access to the EEPROM, where transmitter codes are stored. Radio transmissions are processed upon receipt of a radio interrupt (see below).
In [0069] block 404, microprocessor 300 maintains all low priority tasks, such as calculating new force levels and minimum speed. Preferably, a set of redundant RAM registers is provided. In the event of an unforeseen event (e.g., an ESD event) which corrupts regular RAM, the main RAM registers and the redundant RAM registers will not match. Thus, when the values in RAM do not match, the routine knows the regular RAM has been corrupted. (See block 504 below.) In block 406, microprocessor 300 tests redundant RAM registers. Several interrupt routines can take priority over blocks 402, 404 and 406.
The infrared obstacle detector generates an asynchronous IR interrupt signal which is a series of pulses. The absence of the obstacle detector pulses indicates an obstruction in the beam. After processing the IR interrupt, [0070] microprocessor 300 sets the status of the obstacle detector as unobstructed at block 416.
Receipt of a transmission from [0071] remote transmitter 30 generates an asynchronous radio interrupt at block 410. At block 418, if in the door command mode, microprocessor 300 parses incoming radio signals and sets a flag if the signal matches a stored code. If in the learn mode, microprocessor 300 stores the new transmitter codes in the EEPROM.
An asynchronous interrupt is generated if a remote communications unit is connected to an optional RS-[0072] 232 communications port located on the head unit. Upon receipt of the hardware interrupt, microprocessor 300 executes a serial data communications routine for transferring and storing data from the remote hardware.
[0073] Hardware timer 0 interrupt is shown in block 422. In block 422, microprocessor 300 reads the incoming AC line signal from pin P24 and handles the motor phase control output. The incoming line signal is used to determine if the line voltage is 50 Hz for the foreign market or 60 Hz for the domestic market. With each interrupt, microprocessor 300, at block 426, task switches among three tasks. In block 428, microprocessor 300 updates software timers. In block 430, microprocessor 300 debounces wall control switch signals. In block 432, microprocessor 300 controls the motor state, including motor direction relay outputs and motor safety systems.
When the [0074] motor 118 is running, it generates an asynchronous RPM interrupt at block 434. When microprocessor 300 receives the asynchronous RPM interrupt at pin P31, it calculates the motor RPM period at block 436, then updates the position of the door at block 438.
Further details of [0075] main loop 400 are shown in FIGS. 7A through 7H. The first step executed in main loop 400 is block 450, where the microprocessor checks to see if the pass point has been passed since the last update. If it has, the routine branches to block 452, where the microprocessor 300 updates the position of the door relative to the pass point in EEPROM 302 or non-volatile memory. The routine then continues at block 454. An optional safety feature of the garage door operator system enables the worklight, when the door is open and stopped and the infrared beam in the obstacle detector is broken.
At block [0076] 454, the microprocessor checks if the enable/disable of the worklight for this feature has been changed. Some users want the added safety feature; others prefer to save the electricity used. If new input has been provided, the routine branches to block 456 and sets the status of the obstacle detector-controlled worklight in non-volatile memory in accordance with the new input. Then the routine continues to block 458 where the routine checks to determine if the worklight has been turned on without the timer. A separate switch is provided on both the remote transmitter 30 and the head unit at module 39 to enable the user to switch on the worklight without operating the door command switch. If no, the routine skips to block 470.
If yes, the routine checks at [0077] block 460 to see if the one-shot flag has been set for an obstacle detector beam break. If no, the routine skips to block 470. If yes, the routine checks if the obstacle detector controlled worklight is enabled at block 462. If not, the routine skips to block 470. If it is, the routine checks if the door is stopped in the fully open position at block 464. If no, the routine skips to block 470. If yes, the routine calls the SetVarLight subroutine (see FIG. 8) to enable the appropriate turn off time (4.5 minutes for 60 Hz systems or 2.5 minutes for 50 Hz systems). At block 468, the routine turns on the worklight.
At [0078] block 470, the microprocessor 300 clears the one-shot flag for the infrared beam break. This resets the obstacle detector, so that a later beam break can generate an interrupt. At block 472, if the user has installed a temporary password usable for a fixed period of time, the microprocessor 300 updates the non-volatile timer for the radio temporary password. At block 474, the microprocessor 300 refreshes the RAM registers for radio mode from non-volatile memory (EEPROM 302). At block 476, the microprocessor 300 refreshes I/O port directions, i.e., whether each of the ports is to be input or output. At block 478, the microprocessor 300 updates the status of the radio lockout flag, if necessary. The radio lockout flag prevents the microprocessor from responding to a signal from a remote transmitter. A radio interrupt (described below) will disable the radio lockout flag and enable the remote transmitter to communicate with the receiver.
At block [0079] 480, the microprocessor 300 checks if the door is about to travel. If not, the routine skips to block 502. If the door is about to travel, the microprocessor 300 checks if the limits are being trained at block 482. If they are, the routine skips to block 502. If not, the routine asks at block 484 if travel is UP or DOWN. If DOWN, the routine refreshes the DOWN limit from non-volatile memory (EEPROM 302) at block 486. If UP, the routine refreshes the UP limit from non-volatile memory (EEPROM 302) at block 488. The routine updates the current operating state and position relative to the pass point in non-volatile memory at block 490. This is a redundant read for stability of the system.
At block [0080] 492, the routine checks for completion of a limit training cycle. If training is complete, the routine branches to block 494 where the new limit settings and position relative to the pass point are written to non-volatile memory.
The routine then updates the counter for the number of operating cycles at block [0081] 496. This information can be downloaded at a later time and used to determine when certain parts need to be replaced. At block 498 the routine checks if the number of cycles is a multiple of 256. Limiting the storage of this information to multiples of 256 limits the number of times the system has to write to that register. If yes it updates the history of force settings at block 500. If not, the routine continues to block 502.
At [0082] block 502 the routine updates the learn switch debouncer. At block 504 the routine performs a continuity check by comparing the backup (redundant) RAM registers with the main registers. If they do not match, the routine branches to block 506. If the registers do not match, the RAM memory has been corrupted and the system is not safe to operate, so a reset is commanded. At this point, the system powers up as if power had been removed and reapplied and the first step is a self test of the system (all installation settings are unchanged).
If the answer to block [0083] 504 is yes, the routine continues to block 508 where the routine services any incoming serial messages from the optional wall control (serial messages might be user input start or stop commands). The routine then loads the UP force timing from the ROM look-up table, using the user setting as an index at block 510. Force potentiometers R33 and R34 are set by the user. The analog values set by the user are converted to digital values. The digital values are used as an index to the look-up table stored in memory. The value indexed from the look-up table is then used as the minimum motor speed measurement. When the motor runs, the routine compares the selected value from the look-up table with the digital timing from the RPM routine to ensure the force is acceptable.
Instead of calculating the force each time the force potentiometers are set, a look-up table is provided for each potentiometer. The range of values based on the range of user inputs is stored in ROM and used to save microprocessor processing time. The system includes two force limits: one for the UP force and one for the DOWN force. Two force limits provide a safer system. A heavy door may require more UP force to lift, but need a lower DOWN force setting (and therefore a slower closing speed) to provide a soft closure. A light door will need less UP force to open the door and possibly a greater DOWN force to provide a full closure. [0084]
Next the force timing is divided by power level of the motor for the door to scale the maximum force timeout at block [0085] 512. This step scales the force reversal point based on the maximum force for the door. The maximum force for the door is determined based on the size of the door, i.e. the distance the door travels. Single piece doors travel a greater distance than segmented doors. Short doors require less force to move than normal doors. The maximum force for a short door is scaled down to 60 percent of the maximum force available for a normal door. So, at block 512, if the force setting is set by the user, for example at 40 percent, and the door is a normal door (i.e., a segmented door or multi-paneled door), the force is scaled to 40 percent of 100 percent. If the door is a short door (i.e., a single panel door), the force is scaled to 40 percent of 60 percent, or 24 percent.
At block [0086] 514, the routine loads the DOWN force timing from the ROM look-up table, using the user setting as an index. At block 516, the routine divides the force timing by the power level of the motor for the door to scale the force to the speed.
At block [0087] 518 the routine checks if the door is traveling DOWN. If yes, the routine disables use of the MinSpeed Register at block 524 and loads the MinSpeed Register with the DOWN force setting, i.e., the value read from the DOWN force potentiometer at block 526. If not, the routine disables use of the MinSpeed Register at block 520 and loads the MinSpeed Register with the UP force setting from the force potentiometer at block 522.
The routine continues at block [0088] 528 where the routine subtracts 20 from the MinSpeed value. The MinSpeed value ranges from 0 to 63. The system uses 64 levels of force. If the result is negative at block 530, the routine clears the MinSpeed Register at block 532 to effectively truncate the lower 38 percent of the force settings. If no, the routine divides the minimum speed by 4 to scale 8 speeds to 32 force settings at block 534. At block 536, the routine adds 4 into the minimum speed to correct the offset, and clips the result to a maximum of 12. At block 538 the routine enables use of the MinSpeed Register.
At block [0089] 540 the routine checks if the period of the rectified AC line signal (input to microprocessor 300 at pin P24) is less than 9 milliseconds (indicating the line frequency is 60 Hz). If it is, the routine skips to block 548. If not, the routine checks if the light shut-off timer is active at block 542. If not, the routine skips to block 548. If yes, the routine checks if the light time value is greater than 2.5 minutes at block 544. If no, the routine skips to block 548. If yes, the routine calls the SetVarLight subroutine (see FIG. 8), to correct the light timing setting, at block 546.
At block [0090] 548 the routine checks if the radio signal has been clear for 100 milliseconds or more. If not, the routine skips to block 552. If yes, the routine clears the radio at block 550. At block 552, the routine resets the watchdog timer. At block 554, the routine loops to the beginning of the main loop.
The SetVarLight subroutine, FIG. 8, is called whenever the door is commanded to move and the worklight is to be turned on. When the SetVarLight subroutine, block [0091] 558 is called, the subroutine checks if the period of the rectified power line signal (pin P24 of microprocessor 300) is greater than or equal to 9 milliseconds. If yes, the line frequency is 50 Hz, and the timer is set to 2.5 minutes at block 564. If no, the line frequency is 60 Hz and the timer is set to 4.5 minutes at block 562. After setting, the subroutine returns to the call point at block 566.
The hardware timer interrupt subroutine operated by [0092] microprocessor 300, shown at block 422, runs every 0.256 milliseconds. Referring to FIGS. 9A-9C, when the subroutine is first called, it sets the radio interrupt status as indicated by the software flags at block 580. At block 582, the subroutine updates the software timer extension. The next series of steps monitor the AC power line frequency (pin P24 of microprocessor 300). At step 584, the subroutine checks if the rectified power line input is high (checks for a leading edge). If yes, the subroutine skips to block 594, where it increments the power line high time counter, then continues to block 596. If no, the subroutine checks if the high time counter is below 2 milliseconds at block 586. If yes, the subroutine skips to block 594. If no, the subroutine sets the measured power line time in RAM at block 588. The subroutine then resets the power line high time counter at block 590 and resets the phase timer register in block 592.
At [0093] block 596, the subroutine checks if the motor power level is set at 100 percent. If yes, the subroutine turns on the motor phase control output at block 606. If no, the subroutine checks if the motor power level is set at 0 percent at block 598. If yes, the subroutine turns off the motor phase control output at block 604. If no, the phase timer register is decremented at block 600 and the result is checked for sign. If positive the subroutine branches to block 606; if negative the subroutine branches to block 604.
The subroutine continues at [0094] block 608 where the incoming RPM signal (at pin P31 of microprocessor 300) is digitally filtered. Then the time prescaling task switcher (which loops through 8 tasks identified at blocks 620, 630, 640, 650) is incremented at block 610. The task switcher varies from 0 to 7. At block 612, the subroutine branches to the proper task depending on the value of the task switcher.
If the task switcher is at value 2 (this occurs every 4 milliseconds), the execute motor state machine subroutine is called at [0095] block 620. If the task is value 0 or 4 (this occurs every 2 milliseconds), the wall control switches are debounced at block 630. If the task value is 6 (this occurs every 4 milliseconds), the execute 4 ms timer subroutine is called at block 640. If the task is value 1, 3, 5 or 7, the 1 millisecond timer subroutine is called at block 650. Upon completion of the called subroutine, the 0.256 millisecond timer subroutine returns at block 614.
Details of the 1 ms timer subroutine (block [0096] 650) are shown in FIGS. 10A-10C. When this subroutine is called, the first step is to update the A/D converters on the UP and DOWN force setting potentiometers (P34 and P35 of microprocessor 300) at block 652. At block 654, the subroutine checks if the A/D conversion (comparison at comparators 320 and 322) is complete. If yes, the measured potentiometer values are stored at block 656. Then the stored values (which vary from 0 to 127) are divided by 2 to obtain the 64 level force setting at block 658. If no, the subroutine decrements the infrared obstacle detector timeout timer at block 660. In block 662, the subroutine checks if the timer has reached zero. If no, the subroutine skips to block 672. If yes, the subroutine resets the infrared obstacle detector timeout timer at block 664. The flag setting for the obstacle detector signal is checked at block 666. If no, the one-shot break flag is set at block 668. If yes, the flag is set indicating the obstacle detector signal is absent at block 670.
At [0097] block 672, the subroutine increments the radio time out register. Then the infrared obstacle detector reversal timer is decremented at block 674. The pass point input is debounced at block 676. The 125 millisecond prescaler is incremented at block 678. Then the prescaler is checked if it has reached 63 milliseconds at block 680. If yes, the fault blinking LED is updated at block 682. If no, the prescaler is checked if it has reached 125 ms at block 684. If yes, the 125 ms timer subroutine is executed at block 686. If no, the routine returns at block 688.
The 125 millisecond timer subroutine (block [0098] 690) is used to manage the power level of the motor 118. At block 692, the subroutine updates the RS-232 mode timer and exits the RS-232 mode timer if necessary. The same pair of wires is used for both wall control switches and RS-232 communication. If RS-232 communication is received while in the wall control mode, the RS-232 mode is entered. If four seconds passes since the last RS-232 word was received, then the RS-232 timer times out and reverts to the wall control mode. At block 694 the subroutine checks if the motor is set to be stopped. If yes, the subroutine skips to block 716 and sets the motor's power level to 0 percent. If no, the subroutine checks if the pre-travel safety light is flashing at block 696 (if the optional flasher module has been installed, a light will flash for 2 seconds before the motor is permitted to travel and then flash at a predetermined interval during motor travel). If yes, the subroutine skips to block 716 and sets the motor's power level to 0 percent.
If no, the subroutine checks if the [0099] microprocessor 300 is in the last phase of a limit training mode at block 698. If yes, the subroutine skips to block 710. If no, the subroutine checks if the microprocessor 300 is in another part of the limit training mode at block 700. If no, the subroutine skips to block 710. If yes, the subroutine checks if the minimum speed (as determined by the force settings) is greater than 40 percent at block 704. If no, the power level is set to 40 percent at block 708. If yes, the power level is set equal to the minimum speed stored in MinSpeed Register at block 706.
At [0100] block 710 the subroutine checks if the flag is set to slow down. If yes, the subroutine checks if the motor is running above or below minimum speed at block 714. If above minimum speed, the power level of the motor is decremented one step increment (one step increment is preferably 5% of maximum motor speed) at block 722. If below the minimum speed, the power level of the motor is incremented one step increment (which is preferably 5% of maximum motor speed) to minimum speed at block 720.
If the flag is not set to slow down at [0101] block 710, the subroutine checks if the motor is running at maximum allowable speed at block 712. If no, the power level of the motor is incremented one step increment (which is preferably 5% of maximum motor speed) at block 720. If yes, the flag is set for motor ramp-up speed complete.
The subroutine continues at [0102] block 724 where it checks if the period of the rectified AC power line (pin P24 of microprocessor 300) is greater than or equal to 9 ms. If no, the subroutine fetches the motor's phase control information (indexed from the power level) from the 60 Hz look-up table stored in ROM at block 728. If yes, the subroutine fetches the motor's phase control information (indexed from the power level) from the 50 Hz look-up table stored in ROM at block 726.
The subroutine tests for a user enable/disable of the infrared obstacle detector-controlled worklight feature at [0103] block 730. Then the user radio learning timers, ZZWIN (at the wall keypad if installed) and AUXLEARNSW (radio on air and worklight command) are updated at block 732. The software watchdog timer is updated at block 734 and the fault blinking LED is updated at block 736. The subroutine returns at block 738.
The 4 millisecond timer subroutine is used to check on various systems which do not require updating as often as more critical systems. Referring to FIGS. 12A and 12B, the subroutine is called at [0104] block 640. At block 750, the RPM safety timers are updated. These timers are used to determine if the door has engaged the floor. The RPM safety timer is a one second delay before the operator begins to look for a falling door, i.e., one second after stopping. There are two different forces used in the garage door operator. The first type force are the forces determined by the UP and DOWN force potentiometers. These force levels determine the speed at which the door travels in the UP and DOWN directions. The second type of force is determined by the decrease in motor speed due to an external force being applied to the door (an obstacle or the floor). This programmed or pre-selected external force is the maximum force that the system will accept before an auto-reverse or stop is commanded.
A [0105] block 752 the 0.5 second RPM timer is checked to see if it has expired. If yes, the 0.5 second timer is reset at block 754. At block 756 safety checks are performed on the RPM seen during the last 0.5 seconds to prevent the door from falling. The 0.5 second timer is chosen so the maximum force achieved at the trolley will reach 50 kilograms in 0.5 seconds if the motor is operating at 100 percent of power.
At [0106] block 758, the subroutine updates the 1 second timer for the optional light flasher module. In this embodiment, the preferred flash period is 1 second. At block 760 the radio dead time and dropout timers are updated. At block 762 the learn switch is debounced. At block 764 the status of the worklight is updated in accordance with the various light timers. At block 766 the optional wall control blink timer is updated. The optional wall control includes a light which blinks when the door is being commanded to auto-reverse in response to an infrared obstacle detector signal break. At block 768 the subroutine returns.
Further details of the asynchronous RPM signal interrupt, block [0107] 434, are shown in FIGS. 13A and 13B. This signal, which is provided to microprocessor 300 at pin P31, is used to control the motor speed and the position detector. Door position is determined by a value relative to the pass point. The pass point is set at 0. Positions above the pass point are negative; positions below the pass point are positive. When the door travels to the UP limit, the position detector (or counter) determines the position based on the number of RPM pulses to the UP limit number. When the door travels DOWN to the DOWN limit, the position detector counts the number of RPM pulses to the DOWN limit number. The UP and DOWN limit numbers are stored in a register.
At [0108] block 782 the RPM interrupt subroutine calculates the period of the incoming RPM signal. If the door is traveling UP, the subroutine calculates the difference between two successive pulses. If the door is traveling DOWN, the subroutine calculates the difference between two successive pulses. At block 784, the subroutine divides the period by 8 to fit into a binary word. At block 786 the subroutine checks if the motor speed is ramping up. This is the max force mode. RPM timeout will vary from 10 to 500 milliseconds. Note that these times are recommended for a DC motor. If an AC motor is used, the maximum time would be scaled down to typically 24 milliseconds. A 24 millisecond period is slower than the breakdown RPM of the motor and therefore beyond the maximum possible force of most preferred motors. If yes, the RPM timeout is set at 500 milliseconds (0.5 seconds) at block 790. If no, the subroutine sets the RPM timeout as the rounded-up value of the force setting in block 788.
At [0109] block 792 the subroutine checks for the direction of travel. This is found in the state machine register. If the door is traveling DOWN, the position counter is incremented at block 796 and the pass point debouncer is sampled at block 800. At block 804, the subroutine checks for the falling edge of the pass point signal. If the falling edge is present, the subroutine returns at block 814. If there is a pass point falling edge, the subroutine checks for the lowest pass point (in cases where more than one pass point is used). If this is not the lowest pass point, the subroutine returns at block 814. If it is the only pass point or the lowest pass point, the position counter is zeroed and the subroutine returns at block 814.
If the door is traveling UP, the subroutine decrements the position counter at [0110] block 794 and samples the pass point debouncer at block 798. Then it checks for the rising edge of the pass point signal at block 802. If there is no pass point signal rising edge, the subroutine returns at block 814. If there is, it checks for the lowest pass point at block 806. If no the subroutine returns at block 814. If yes, the subroutine zeroes the position counter and returns at block 814.
The motor state machine subroutine, block [0111] 620, is shown in FIG. 14. It keeps track of the state of the motor. At block 820, the subroutine updates the false obstacle detector signal output, which is used in systems that do not require an infrared obstacle detector. At block 822, the subroutine checks if the software watchdog timer has reached too high a value. If yes, a system reset is commanded at block 824. If no, at block 826, it checks the state of the motor stored in the motor state register located in EEPROM 302 and executes the appropriate subroutine.
If the door is traveling UP, the UP direction subroutine at [0112] block 832 is executed. If the door is traveling DOWN, the DOWN direction subroutine is executed at block 828. If the door is stopped in the middle of the travel path, the stop in midtravel subroutine is executed at block 838. If the door is fully closed, the DOWN position subroutine is executed at block 830. If the door is fully open, the UP position subroutine is executed at block 834. If the door is reversing, the auto-reverse subroutine is executed at block 836.
When the door is stopped in midtravel, the subroutine at [0113] block 838 is called, as shown in FIG. 15. In block 840 the subroutine updates the relay safety system (ensuring that relays K1 and K2 are open). The subroutine checks for a received wall command or radio command. If there is no received command, the subroutine updates the worklight status and returns. If yes, the motor power is set to 20 percent at block 844 and the motor state is set to traveling DOWN at block 846. The worklight status is updated and the subroutine returns at block 850. If the door is stopped in midtravel and a door command is received, the door is set to close. The next time the system calls the motor state machine subroutine, the motor state machine will call the DOWN direction subroutine. The door must close to the DOWN limit before it can be opened to the full UP limit.
If the state machine indicates the door is in the DOWN position (i.e. the DOWN limit position), the DOWN position subroutine, block [0114] 830, at FIG. 16 is called. When the door is in the DOWN position, the subroutine checks if a wall control or radio command has been received. If no, the subroutine updates the light and returns at block 858. If yes, the motor power is set to 20 percent at block 854 and the motor state register is set to show the state is traveling UP at block 856. The subroutine then updates the light and returns at block 858.
The UP direction subroutine, block [0115] 832, is shown in FIGS. 17A-17C. At block 860 the subroutine waits until the main loop refreshes the UP limit from EEPROM 302. Then it checks if 40 milliseconds have passed since closing of the light relay K3 at block 862. If not, the subroutine returns. If yes, the subroutine checks for flashing the warning light prior to travel at block 866 (only if the optional flasher module is installed). If the light is flashing, the status of the blinking light is updated and the subroutine returns at block 868. If not, the flashing is terminated, the motor UP relay is turned on at block 870. Then the subroutine waits until 1 second has passed after the motor was turned on at block 872. If no, the subroutine skips to block 888. If yes, the subroutine checks for the RPM signal timeout. If no, the subroutine checks if the motor speed is ramping up at block 876 by checking the value of the RAMPFLAG register in RAM (i.e., UP, DOWN, FULLSPEED, STOP). If yes, the subroutine skips to block 888. If no, the subroutine checks if the measured RPM is longer than the allowable RPM period at block 878. If no, the subroutine continues at block 888.
If the RPM signal has timed out at [0116] block 874 or the measured time period is longer than allowable at block 878, the subroutine branches to block 880. At block 880, the reason is set as force obstruction. At block 882, if the training limits are being set, the training status is updated. At block 884 the motor power is set to zero and the state is set as stopped in midtravel. At block 886 the subroutine returns.
At block [0117] 888 the subroutine checks if the door's exact position is known. If it is not, the door's distance from the UP limit is updated in block 890 by subtracting the UP limit stored in RAM from the position of the door also stored in RAM. Then the subroutine checks at block 892 if the door is beyond its UP limit. If yes, the subroutine sets the reason as reaching the limit in block 894. Then the subroutine checks if the limits are being trained. If yes, the limit training machine is updated at block 898. If no, the motor's power is set as zero and the motor state is set at the UP position in block 900. Then the subroutine returns at block 902.
If the door is not beyond its UP limit, the subroutine checks if the door is being manually positioned in the training cycle at [0118] block 904. If not, the door position within the slowdown distance of the limit is checked at block 906. If yes, the motor slow down flag is set at block 910. If the door is being positioned manually at block 904 or the door is not within the slow down distance, the subroutine skips to block 912. At block 912 the subroutine checks if a wall control or radio command has been received. If yes, the motor power is set at zero and the state is set at stopped in midtravel as block 916. If no, the system checks if the motor has been running for over 27 seconds at block 914. If yes, the motor power is set at zero and the motor state is set at stopped in midtravel at block 916. Then the subroutine returns at block 918.
Referring to FIG. 18, the auto-[0119] reverse subroutine block 836 is described. (Force reversal is stopping the motor for 0.5 seconds, then traveling UP.) At block 920 the subroutine updates the 0.5 second reversal timer (the force reversal timer described above). Then the subroutine checks at block 922 for expiration of the force-reversal timer. If yes, the motor power is set to 20 percent at block 924 and the motor state is set to traveling UP at block 926 and the subroutine returns at block 932. If the timer has not expired, the subroutine checks for receipt of a wall command or radio command at block 928. If yes, the motor power is set to zero and the state is set at stopped in midtravel at block 930, then the subroutine returns at block 932. If no, the subroutine returns at block 932.
The UP position routine, block [0120] 834, is shown in FIG. 19. Door travel limits training is started with the door in the UP position. At block 934, the subroutine updates the relay safety system. Then the subroutine checks for receipt of a wall command or radio command at block 936 indicating an intervening user command. If yes, the motor power is set to 20 percent at block 938 and the state is set at traveling DOWN in block 940. Then the light is updated and the subroutine returns at block 950. If no wall command has been received, the subroutine checks for training the limits at block 942. If no, the light is updated and the subroutine returns at block 950. If yes, the limit training state machine is updated at block 944. Then the subroutine checks if it is time to travel DOWN at block 946. If no, the subroutine updates the light and returns at block 950. If it is time to travel DOWN, the state is set at traveling DOWN at block 948 and the system returns at block 950.
The DOWN direction subroutine, block [0121] 828, is shown in FIGS. 20A-20D. At block 952, the subroutine waits until the main loop routine refreshes the DOWN limit from EEPROM 302. For safety purposes, only the main loop or the remote transmitter (radio) can access data stored in or written to the EEPROM 302. Because EEPROM communication is handled within software, it is necessary to ensure that two software routines do not try to communicate with the EEPROM at the same time (and have a data collision). Therefore, EEPROM communication is allowed only in the Main Loop and in the Radio routine, with the Main loop having a busy flag to prevent the radio from communicating with the EEPROM at the same time. At block 954, the subroutine checks if 40 milliseconds has passed since closing of the light relay K3. If no, the subroutine returns at block 956. If yes, the subroutine checks if the warning light is flashing (for 2 seconds if the optional flasher module is installed) prior to travel at block 958. If yes, the subroutine updates the status of the flashing light and returns at block 960. If no, or the flashing is completed, the subroutine turns on the DOWN motor relay K2 at block 962. At block 964 the subroutine checks if one second has passed since the motor is first turned on. The system ignores the force on the motor for the first one second. This allows the motor time to overcome the inertia of the door (and exceed the programmed force settings) without having to adjust the programmed force settings for ramp up, normal travel and slow down. Force is effectively set to maximum during ramp up to overcome sticky doors.
If the one second time has not passed, the subroutine skips to block [0122] 984. If the one second time limit has passed, the subroutine checks for the RPM signal time out at block 966. If no, the subroutine checks if the motor speed is currently being ramped up at block 968 (this is a maximum force condition). If yes, the routine skips to block 984. If no, the subroutine checks if the measured RPM period is longer than the allowable RPM period. If no, the subroutine continues at block 984.
If either the RPM signal has timed out (block [0123] 966) or the RPM period is longer than allowable (block 970), this is an indication of an obstruction or the door has reached the DOWN limit position, and the subroutine skips to block 972. At block 972, the subroutine checks if the door is positioned beyond the DOWN limit setting. If it is, the subroutine skips to block 990 where it checks if the motor has been powered for at least one second. This one second power period after the DOWN limit has been reached provides for the door to close fully against the floor. This is especially important when DC motors are used. The one second period overcomes the internal braking effect of the DC motor on shut-off. Auto-reverse is disabled after the position detector reaches the DOWN limit.
If the motor has been running for one second, at block [0124] 990, the subroutine sets the reason as reaching the limit at block 994. The subroutine then checks if the limits are being trained at block 998. If yes, the limit training machine is updated at block 1002. If no, the motor's power is set to zero and the motor state is set at the DOWN position in block 1006. In block 1008 the subroutine returns.
If the motor has not been running for at least one second at block [0125] 990, the subroutine sets the reason as early limit at block 1026. Then the subroutine sets the motor power at zero and the motor state as auto-reverse at block 1028 and returns at block 1030.
Returning to block [0126] 984, the subroutine checks if the door's position is currently unknown. If yes, the subroutine skips to block 1004. If no, the subroutine updates the door's distance from the DOWN limit using internal RAM in microprocessor 300 in block 986. Then the subroutine checks at block 988 if the door is three inches beyond the DOWN limit. If yes, the subroutine skips to block 990. If no, the subroutine checks if the door is being positioned manually in the training cycle at block 992. If yes, the subroutine skips to block 1004. If no, the subroutine checks if the door is within the slow DOWN distance of the limit at block 996. If no, the subroutine skips to block 1004. If yes, the subroutine sets the motor slow down flag at block 1000.
At [0127] block 1004, the subroutine checks if a wall control command or radio command has been received. If yes, the subroutine sets the motor power at zero and the state as auto-reverse at block 1012. If no, the subroutine checks if the motor has been running for over 27 seconds at block 1010. If yes, the subroutine sets the motor power at zero and the state at auto-reverse. If no, the subroutine checks if the obstacle detector signal has beer, missing for 12 milliseconds or more at block 1014 indicating the presence of the obstacle or the failure of the detector. If no, the subroutine returns at block 1018. If yes, the subroutine checks if the wall control or radio signal is being held to override the infrared obstacle detector at block 1016. If yes, the subroutine returns at block 1018. If no, the subroutine sets the reason as infrared obstacle detector obstruction at block 1020. The subroutine then sets the motor power at zero and the state as auto-reverse at block 1022 and returns at block 1024. (The auto-reverse routine stops the motor for 0.5 seconds then causes the door to travel up.)
The appendix attached hereto includes a source listing of a series of routines used to operate a movable barrier operator in accordance with the present invention. [0128]

While there has been illustrated and described a particular embodiment of the present invention, it will be appreciated that numerous changes and modifications will occur to those skilled in the art, and it is intended in the appended claims to cover all those changes and modifications which followed in the true spirit and scope of the present invention.

APPENDIX


PRO7000 DC Motor Operator
Manual forces, automatic limits
New learn switch for learning the limits
Code based on Flex GDO
Notes:
Motor is controlled via two Form C relays to control direction
Motor speed is controlled via a fet (2 IRF540's in parallel) with a
phase control PWM applies.
Wall control (and RS232) are P98 with a redundant smart button and
command button on the logic board
Flex GDO Logic Board
Fixed AND Rolling Code Functionality
Learn from keyless entry transmitter
Posi-lock
Turn on light from broken IR beam (when at up limit)
Keyless entry temporary password based on number of hours or number
of activations. (Rolling code mode only)
GDO is initialized to a ‘clean slate’ mode when the memory is erased.
In this mode, the GDO will receive either fixed or rolling codes.
When the first radio code is learned, the GDO locks itself into that
mode (fixed or rolling) until the memory is again erased.
Rolling code derived from the Leaded67 code
Using the 8K zilog 233 chip
Timer interrupt needed to be 2X faster
Revision history
Revision 1.1:
Changed light from broken IP beam to work in both fixed and rolling
modes.
Changed light from IR beam to work only on beam break, not on beam
block.
Revision 1.2:
Learning rolling code formely erased fixed code. Mode is now
determined by first transmitter learned after radio erase.
Revision 1.3:
Moved radio interrupt disable to reception of 20 bits.
Changed mode of radio switching. Formely toggled upon radio error,
now switches in pseudo-random fashion depending upon value of
125 ms timer.
Revision 1.4:
Optimized portion of radio after bit value is determined. Used
relative addressing to speed code and minimize ROM size.
Revision 1.5:
Changed mode of learning transmitters. Learn command is now
light-command, learn light is now light-lock, and learn open/close/
stop is lock-command. (Command was press light, press command,
release light, release command, worklight was press light, press
command,
release command, release light, o/c/s was press lock, press command,
release command, release lock. This caused DOG2 to reset
Revision 1.6:
Light button and light transmitter now ignored during travel.
Switch data cleared only after a command switch is checked.
Revision 1.7:
Rejected fixed mode (and fixed mode test) when learning light and
open/close/stop transmitters.
Revision 1.8:
Changed learn from wall control to work obly when both switches are
held. Modified force pot. read routine (moved enabling of blank
time and disabling of interrupts. Fixed mode now learns command
with any combination of wall control switches.
Revision 1.9:
Changed PWM output to go from 0-50% duty cycle. This eliminated
the problem of PWM interrupts causing problems near 100% duty cycle.
THIS REVISION REQUIRES A HARDWARE CHANGE.
Revision 1.9A:
Enabled ROM chacksum. Cleaned up documentation.
Revision 2.0:
Blank tire noise immunity,. If noise signal is detected during blank time
the data already received is not thrown out. The data is retained, and the
noise pulse identified as such. The interrupt is enabled to contine to look
for the sync pulse.
Revision 2.0A:
On the event that the noise pulse is of the same duration as the sync
pulse the time between sync and first data pulse (inactive time) is
measured The inactive time is 5.14 ms for billion code and 2.4 ms for
rolling code. If it is determined that the previously received sync is
indeed a noise pulse, the pulse is thrown out and the micro continules to
lock for a sync pulse as in Rev. 2.0.
Revision 2.1:
To make the blank time more impervious to noise, the sync pulses are
differentiated between. Fixed max width is 4.6 ms, roll max width is 2.3
ms.
This is simular to the inactive time check done in Rev. 2.0A.
Revision 2.2:
The worklight function; when the IP beam is broken and the door is at
the up limit the light will turn on for 4.5 min. This revision allows
the worklight function to be enabled and disabled by the user. The
function will come enabled from the factor.
To disable, with the light off press and hold the light button for 7 sec.
The light will come on and after 5 sec. the function is disabled the light
will turn off. To enable the function, turn the light on, release the
button, then press and hold the light button down for 5 sec. The light
will turn off and after the function has been enable in 5 sec.
the light will turn on.
Revision 3.0:
Integrated in functionality for Siminor rolling code transmitter. The
Siminor transmitter may be received whenever a C code transmitter may
be received.
Siminor transmitters are able to perform as a standard command or as a
light control transmitter, but not as an open/close/stop transmitter.
Revision 3.1:
Modified handling of rolling code counter (in mirroring and adding) to
improve efficiency and hopefully kill all short cycles when a radio is
jammed on the
air.
PROD000
Revision 0.1:
Removed physical radio tests
Disabled radio temporarily
Put in sign bit test for limits
Automatic limits working
Revision 0.2:
Provided for traveling up when too close to limit
Revision 0.3:
Changed force pot. read to new routine.
Disabled T1 interrupt and all old force pot. code
Disabled all RS232 output
Revision 0.4:
Added in (veerrrry) rough force into pot. read routine
Revision 0.5:
Changed EEPROM in comments to add in up limit, last operation, and
down limit.
Created OnePass register
Added in limit read from nonvolatile when going to a moving state
Added in limit read on power-up
Created passcounter register to keep track of pass point(s)
Installed basic wake-up routine to restore position based on last state
Revision 0.6:
Changed RPM time read to routine used in P98 to save RAM
Changed operation of RPM forced up travel
Implemented pass point for one-pass-point travel
Revision 0.7:
Changed pass point from single to multiple (no EEPROM support)
Revision 0.8:
Changed all CKIPRADIO loads from 0xFF to NOEECOMM
Installed EEPROM support for multiple pass points
Revision 0.9:
Changed state machine to handle wake-up (i.e. always head towards
the lowest pass point to re-orient the GDO)
Revision 0.10:
Changed the AC line input routine to work off full-wave rectified
AC coming in
Revision 0.11:
Installed the phase control for motor speed control
Revision 0.12:
Installed traveling down if too near up limit
Installed speed-up when starting travel
Installed slow-down when ending travel
Revision 0.13:
Re-activated the C code
Revision 0.14:
Added in conditional assembly for Siminor radio codes
Revision 0.15:
Disabled old wall control code
Changed all pins to conform with new layout
Removed unused constants
Commented out old wall control routine
Changed code to run at 6 MHz
Revision 0.16:
Fixed bugs in Flex radio
Revision 0.17:
Re-enabled old wall control. Changed command charging time to 12 ms
to fix FMEA problems with IR protectors.
Revision 0.18:
Turned on learn switch connected to EEPROM clock line
Revision 0.19
Eliminated unused registers
Moved new registers out of radio group
Re-enabled radio interrupt
Revision 0.20
Changed limit test to account for “lost” position
Re-wrote pass point routine
Revision 0.21
Changed limit tests in state setting routines
Changed criteria for looking for lost position
Changed lost operation to stop until position is known
Revision 0.22:
Added in L_A_C state machine to learn the limits
Installed learn-command to go into LAC mode
Added in command button and learn button jog commands
Disabled limit testing when in learn mode
Added in LED flashing for in learn mode
Added in EVERYTHING with respect to learning limits
Note: LAC still isn't working properly!!!
Revision 0.23:
Added in RS232 functionality over wall control lines
Revision 0.24:
Touched up RS232 over wall control routine
Removed 50 Hz force table
Added in fixes to LAC state machine
Revision 0.25:
Added switch set and release for wall control (NOT smart switch,
into RS232 commands (Turned debouncer set and release in to subs)
Added smart switch into RS232 commands (smart switch is also a sub)
Re-enabled pass point test in ‘:’ RS232 command
Disabled smart switch scan when in RS232 mode
Corrected relative reference in debouncer subroutines
RS232 ‘F’ command still needs to be fixed
Revision 0.26:
Added in max. force operation until motor ramp-up is done
Added in cleaning of slowdown flag in set_any routine
Changed RPM timeout from 30 to 60 ms
Revision 0.27:
Switched phase control to off, then on (was on, then off) inside
each half cycle of the AC line (for noise reduction)
Changed from 40 ms unit max. period to 32 (will need further changes)
Fixed bug in force ignore during ramp (previously jumped from down to
up state machine)
Added in complete force ignore at very slow part of ramp (need to
change this to ignore when very close to limit)
Removed that again
Bug fix -- changed force skip during ramp-up. Before, it kept counting
down the force ignore timer.
Revision 0.28:
Modified the wall control documentation
Installed blinking the wall control on an IP reversal instead of the
worklight
Installed blinking the wall control when a pass point is seen
Revision 0.29:
Changed max. RPM timeout to 100 ms
Fixed wall control blink bug
Raised minimum speed setting
NOTE: Forces still need to be set to accurate levels
Revision 0.30:
Removed ‘er’ before setteing of pcon register
Bypassed slow-down to limit during learn mode
Revision 0.31:
Changed force ramp to a linear FORCE ramp, not a linear time ramp
Installed a look-up table to make the ramp more linear.
Disabled interrupts during radio pointer match
Changed slowdown flag to a up-down-stop ramping flag
Revision 0.32:
Changed down limit to drive lightly into floor
Changed down limit when learning to back off of floor for a few pulses
Revision 0.33:
Changed max. speed to ⅔ when a short door is detected
Revision 0.34:
Changed light timer to 2.5 minutes for a 50 Hz line, 4.5 minutes for
a 60 Hz line. Currently, the light timer is 4.5 minutes WHEN THE
UNIT FIRST POWERS UP.
Fixed problem with learning RP set to and extended group
Revision 0.35:
Changed strting postion of pass point counter to 0x30
Revision 0.36:
Changed algorithm for finding down limit to cure stopping at the floor
during the learn cycle
Fixed bug in learning limits: Up limit was being updated from
EEPROM during the learn cycle
Changed method of checking when limit is reached: calculation for
distance to limit is now ALWAYS performed
Added in skipping of limit test when position is lost
Revision 0.37:
Revised minimum travel distance and short door constants to reflect
approximately 10 RPM pulses/min
Revision 0.38:
Moved slowstart number closer to the limit
Changed backoff number from 10 to 8
Revision 0.39:
Changed backoff number from 8 to 12
Revision 0.40:
Changed task switcher to unburden processor
Consolidated tasks

0 and 4
Took extra unused code out of tasks 1, 3, 5, 7
Moved auz light and 4 ms timer into task 6
Put state machine into task 2 only
Adjusted auto_delay, motdel, rpm_time_out, force_ignore,
motor_timer, obs_count, for new state machine tick
Removed force_pre prescaler (no longer needed with 4 ms state
machine)
Moved updating of obs_count to one ms timer for accuracy
Changed autoreverse delay timer into a byte-wide timer because it was
only storing an 8 bit number anyways . . .
Changed flash delay and light timer constants to adjust for 4 ms tick
Revision 0.41:
Switched back to 4 MHz operation to account for the fact that Zilog's
Z86733 OTP won't run at 6 MHz reliably
Revision 0.42:
Extended RPM timer so that it could measure from 0-524 ms with
a resolution of 8 us
Revision 0.43:
Put in the new look-up table for the force pots (max RPM pulse period
multiplied by 20 to scale it for the various speeds).
Removed taskswitch because it was a redundant register
Removed extra call to the auxlight routine
Removed register ‘temp’ because, as far as I can tell, it does nothing
Removed light_pre register
Eliminated ‘phase’ register because it was never used
Put in preliminary divide for scaling the force and speed
Created speedlevel AND IDEAL speed registers, which are not yet used
Revision 0.47:
Undid the revision of revisions 0.44 through 0.46
Changed ramp-up and ramp-down to an adaptive ramp system
Changed force compare from subtract to a compare
Removed force ignore during ramp (was a kludge)
Changed max. RPM time out to 500 ms static
Put WDT kick in just before main loop
Fixed the word-wise T0EXT register
Set default RPM to max. to fix problem of not ramping up
Revision 0.48:
Took out adaptive ramp
Created look-ahead speed feedback in RPM pulses
Revision 0.49:
Removed speed feedback (again)
NOTE: Speed feedback isn't necessarily impossible, but after all my
efforts, I've concluded that the design time necessary ( a large
amount isn't worth the benefit it gives, especially given the
current time costraints of this project
Revision 0.50:
Fixed the force pot read to actually return a value of 0-64
Set the msx. RPM period time out to be equivalent to the force setting
Revision 0.51:
Added in P2M_SHADOW register to make the following posible:
Added in flashing warning light ‘with auto-detect)
Revision 0.52:
Fixed the variable worklight timer to have the correct value on
power up
Re-enabled the reason register and stackreason
Enabled up limit to back off by one pulse if it appears to be
crashing the up stop port.
Set the door to ignore commands and radio when lost
Changed start of down ramp to 220
Changed backoff from 12 to 9
Changed drive-past of down limit to 9 pulses
Revision 0.53:
Fixed RS232 ‘9’ and ‘F’ commands
Implemented RS232 ‘K’command
Removed ‘M’, ‘P’, and ‘S’ commands
Set the learn LED to always turn off at the end of the
learn limits mode
Revision 0.54:
Reversed the direction of the pot. read to correct the direction
of the min. and max. forces when dialing the pots.
Added in “U” command (currently does nothing)
Aded in “V” command to read force pot. values
Revision 0.55:
Changed number of pulses added in to down limit from 9 to 16
Revision 0.56:
Changed backoff number from 16 back to 9 (not 8!)
Changed minimum force/speed from 4/20 to 10/20
Revision 0.57:
Changed backoff number back to 16 again
Changed minimum force/speed from 10/20 back to 4/20
Changed learning speed from 10/20 to 20/20
Revision 0.58:
Changed learning speed from 20/20 to 12/20 (same as short door)
Changed force to max. during ramp-up period
Changed RPM timeout to a static vlaue of 500 ms
Change drive-past of limit from 1″ to 2″ of trolley travel
(Actually, changed the number from 10 pulses to 20 pulses)
Changed start of ramp-up from 1 to 4 (i.e. the power level)
Changed the alorithm when near the limit - the door will no
longer avoid going toward the limit, even if it is too close
Revision 0.59:
Removed ramp-up bug from auto-reverse of GDO
Revision 0.60:
Added in check for pass point counter if −1 to find position when lost
Change in waking up when lost. GDO now heads toward pass point
only on first operation after a power outage. Heads down on all
subsequent operations.
Created the “limit unknown” fault and prevented the GDO from
traveling whe the limits are not set at a reasonable value
Cleared the fault code on entering learn limits mode
Implemented RS232 ‘H’ command
Revision 0.61:
Changed limit test to look for trolley exactly at the limit position
Changed search for pass point to erase limit memory
Changed setup position to 2″ above the pass point
Set the learn LED to turn off whenever the L_A_C is cleared
Set the learn limits mode to shut off whenever the worklight times out
Revision 0.62:
Removed test for being exactly at down limit (it disabled the drive into
the limit feature
Fixed bug causing the GDO to ignore force when it should autoreverse
Added in ignoring commands when lost and traveling up
Revision 0.63:
Installed MinSpeed register to vary minimum speed with force pot
setting
Created main loop routine to scale the min speed based on force pot.
Changed drive-past of down limit from 20 to 30 pulses 2″ to 3″
Revision 0.64:
Changed learnin algorithm to utilize block. (Changed autoreverse to
add in ½″ to position instead of backing trolley off of the floor)
Enabled ramp-down when nearing the up limit in learn mode
Revision 0.65:
Put special case in speed check to enable slow down near the up limit
Revision 0.66:
Changed ramp-up: Ramping up of speed is now constant - the ramp-
down is the only ramp affected by the force pot. setting
Changed ramp-up and ramp-down tests to ensure that the GDO will get
UP to the minimum speed when we are inside the ramp-down zone,
(The above change necessitated this)
Changed the down limit to add in 0.2″ instead of 0.5″
Revision 0.67:
Removed minimum travel test in set_arev_state
Moved minimum distance of down limit from pass point from 5″ to 2″
Disabled moving pass point when only one pass point has been set
Revision 0.68:
Set error in learn state if no pass point is seen
Revision 0.69:
Added in decrement of pass point counter in learn mode to kill bugs
Fixed bug: Force pots were being ignored in the learn mode
Added in filtering of the RPM (RPM _FILTER register and a routine in
the one ms timer)
Added in check of RPM filter inside RPM interrupt
Added in polling RPM pin inside RPM interrupt
Re-enabled stopping when in learn mode and position is lost
Revision 0.70:
Removed old method of filtering RPM
Added in a “debouncer” to filter the RPM
Revision 0.71:
Changed “debouncer” to automatically vetor low
whenever an RPM pulse is considered valid
Revision 0.72:
Changed number of pulses added in to down limit to 0. Since the actual
down limit test checks for the position to be BEYOND the down limit
this is the equivalent of adding one pulse into the down limit
Revision 0.74:
Undid the work of rev. 0.73
Changed number of pulses added in to down limit to 1. Noting the
comment in rev. 0.72, this mean that we are adding 2 pulses
Changed learning speed to vary between 8/20 and 12/20, depending
upon the force pot. setting
Revision 0.75:
Installed power-up chip ID on P22, P23, P24, and P25
Note : ID is on P24, P23, and P22. P25 is a strobe to signal valid data
First chip ID is 001, with strobe it's 0001.
Changed set_any routine to re-enable the wall control just in case we
stopped while the wall control was being turned off (to avoid disabling
the wall control completely
Changed speed during learn mode to be ⅔ speed for first seven seconds,
then to slow down to the minimum speed to make the limit learning the
same as operation during normal travel.
Revision 0.76:
Restored learning to operate only at 60% speed
Revision 0.77:
Set unit to reverse off of floor and subtract 1″ of travel
Reverted to learning at 40%-60% of full speed
Revision 0.78:
Changed rampflag to have a constant for running at full speed
USed the above change to simplify the force ignore routine
Also used it to change the RPM time out. The time out is now set equal
to the pot setting, except during the ramp up when it is set to 500 ms.
Changed highest force pot setting to be exactly equal to 500 ms.
Revision 0.79:
Changed setup routine to reverse off block (yet again). Added in one
pulse.
Enabled RS232 version number return
Enabled ROM checksum. Cleaned up ducumentation
Revision 1.1:
Tweaked light times for 8.192 ms prescale instead of 8.0 ms prescale
Changed compare statement inside setvarlight to ‘uge’ for consistency
Changed one-shot low time to 2 ms for power line
Changed one-shot low time to truly count falling-edge-to-falling-edge.
Revision 1.2:
Eliminated testing for lost GDO in set_up_dir_state (is already taken
care of by set_on_dir_state.
Created special time for max. run motor timer in learn mode: 50
seconds
Revision 1.3:
Fixed bug in set_any to fix stack imbalance
Changed short door discrimination point to 78″
Revision 1.4:
Changed second ‘di’ to ‘ei’ in KnowSimCode
Changed IR protector to ignore for first 0.5 second before travel
Changed blinking time constant to take it back to 2 seconds before
travel
Changed blinking code to ALWAYS flash during travel, with pre-travel
flash when module is properly detected
Put in bounds checking on pass point counter to keep it in line
Changed driving into down limit to consider the system list if floor not
seen
Revision 1.5:
Changed blinking of wall control at pass point to be a one-shot timer
to correct problems with bad passpoint connections and stopping at pass
point to cause wall control ignore.
Revision 1.6:
Fixed blinking of wall control when indicating IP protector recersal
to give the blink a true 50% duty cycle
Changed blinker output to output a constant high instead of pulsing
Changed P2S_POR to 1010 Indicate Siminor unit;
Revision 1.7:
Disabled Siminor Radio
Changed P2S_POR to 1011 Indicate Lift-Master unit,
Added in one more conditional assembly point to avoid use of simradio
label
Revision 1.8:
Re-enabled Siminor Radio
Changed P2S_POR back to 1010 Siminor
Re-fixed blinking of wall control LED for protector reversal
Changed blinking of wall control LED for indicating pass point
Fixed error in calculating highest pass point value
Fixed error in calculating lowest pass point value
Revision 1.9:
Lengthened blink time for indicating pass point
Installed a max. travel distance when lost
Removed skipping up limit test when lost
Reset the position when lost and force reversing
Installed sample of pass point signal when changing states
Revision 2.0:
Moved main loop test for max. travel distance (was causing a memory
fault before)
Revision 2.1:
Changed limit test to use 11000000b instead of 10000000b to ensure
only setting up of limit when we're actually close
Revision 2.2:
Changed minimum speed scanning to move it further down the pot.
rotation. Formula is now \\force − 24/41 + 4, truncated to 12
Changed max. travel test to be inside motor state mahine. Max travel
test calculates for limit position differently when system is lost.
Reverted limit test to use 10000000b
Changed some jp's to jr's to conserve code space
Changed loading of reason byte with 0 to clearing if reason byte (very
desperate for space)
Revision 2.3:
Disabled Siminor Radio
Changed P2S_POR to 1011 (Lift-Master)
Revision 2.4:
Re-enabled Siminor Radio
Changed P2S_POR to 1010 (Siminor)
Changed wall control LED to also flash during learn mode
Changed reaction to single pass point near floor. If only one pass point
is seen during the learn cycle, and it is too close to the floor, the
learn cycle will now fail.
Removed an ei from pass point when learning to avoid a race condition
Revision 2.5:
Changed backing off of up limit to only occur during learn cycle. Backs
off by {fraction (1/2 )}″ if learn cycle force stops within ½″ of stop bolt.
Removed considering system lost if floor not seen.
Changed drive-past of down limit to 36 pulses (3″)
Added in clearing of power level whenever motor gets stopped (to turn
off the FET's sooner)
Added in a 40 ms delay (using the same MOTDEL register as for the
traveling states to delay the shut-off of the motor relay. This should
enable the motor to discharge some energy before the relay has to break
the current flow
Created STOPNOFLASH label - it looks like it should have been there
all along
Moved incrementing MOTDEL timer into head of state machine to
conserve space
Revision 2.6:
Fixed back-off of up limit to back off in the proper direction.
Added in testing for actual stop state in back-off (before was always
backing off the limit)
Simplified testing for light being on in ‘set any’ routine; eliminated
lights register
Revision 2.7: (Test-only revision)
Moved ei when testing for down limit
Eliminated testing for negative number in radio time calculation
Installed a primitive debouncer for the pass point (out of paranoia
Changed a pass point in the down direction to correspond to a position
of 1
Installed a temporary echo of the RPM signal on the blinker pin
Temporarily disabled POM checksum
Moved three subroutines before address 0101 to save space (2.2B)
Framed lock up using upforce and dnforce registers with di and ei to
prevent corruption of upforce or dnforce while doing math (2.7C)
Fixed error in definition of pot_count register (2.7C)
Disabled actual number check of RPM perdod for debug (2.7D)
Added in di at test_up_sw and test_dn_sw for ramping up period
(2.7D)
Set RPM_TIME_OUT to always be loaded to max value for debug
(2.7E)
Set RPM_TIME_OUT to round up by two instead of one (2.7F)
Removed 2.7E revision (2.7F)
Fixed RPM_TIME_OUT to round up in both the up and down
direction(2.7G)
Installed constant RS232 output of RPM_TIME_OUT register (2.7H)
Enabled RS232 ‘U’ and ‘V’ commands (2.7I)
Disabled constant output of 2.7H (2.7I)
Set PS232 ‘U’ to output RPM_TIME_OUT (2.7I)
Removed disable of actual RPM number check (2.7J)
Removed pulsing to indicate RPM interrupt (2.7J)
2.7J note -- need to remove ‘u’ command function
Revision 2.8:
Remove interrupt enable before resetting rpm_time_out. This will
introduce roughly 30us of extra delay in time measurement, but should
take care of
nuisance stops.
Removed push-ing and pop-ing of RP in tasks 2 and 6 to save stack
space (2.8B)
Removed temporary functionality for ‘u’ command (2.8 Release)
Re-enabled ROM checksum (2.8 Release)



L_A_C State Machine

73

77

*******

****

*

72

74*

76*

Back to

*

70

Up Lim

----

71

----

Error

******

75

Position

the limit

NON-VOL MEMORY MAP

00	A0	D0	Multi-function transmitters
01	A0	D0
02	A1	D0
03	A1	D0
04	A2	D1
05	A2	D1
06	A3	D1
07	A3	D1
08	A4	D2
09	A4	D2
0A	A5	D2
0B	A5	D2
0C	A6	D3
0D	A6	D3
0E	A7	D3
0F	A7	D3
10	A8	D4
11	A8	D4
12	A9	D4
13	A9	D4
14	A10	D5
15	A10	D5
16	A11	D5
17	A11	D5
18	B	D6
19	B	D6
1A	C	D6
1B	C	D6

1C	unused	D7
1D	unused	D7
1E	unused	D7
1F	unused	D7
20	unused	DTCP	Keyless permanent 4 digit code
21	unused	DTCID	Keyless ID code
22	unused	DTCR1	Keyless Roll value
23	unused	DTCR2
24	unused	DTCT	Keyless temporary 4 digit code
25	unused	Duration	Keyless temporary duration

	Upper byte = Mode; hours activations
	Lower byte = # of hours activations

26

unused

Radio type

	77665544 33221100
	00 = CMD 01 = LIGHT

10 = OPEN/CLOSE/STOP

27

unused

Fixed/roll

	Upper word = fixed/roll byte
	Lower word = unsed

28	CYCLE COUNTER 1ST 16 BITS
29	CYCLE COUNTER 2ND 16 BITS
2A	VACATION FLAG

Vacation Flag , Last Operation

	0000	XXXX	in vacation
	1111	XXXX	out of vacation

2B	A MEMORY ADDRESS LAST WRITTEN
2C	IRLIGHHTADDR 4-22-97
2D	Up Limit
2E	Pass point counter / Last operating state
2F	Down Limit
3C-3F	Force Back trace

RS232 DATA

REASON

00	COMMAND
10	RADIO COMMAND
20	FORCE
30	AUX OBS
40	A REVERSE DELAY
50	LIMIT
60	EARLY LIMIT
70	MOTOR MAX TIME, TIME OUT
80	MOTOR COMMANDED OFF RPM CAUSING AREV
90	DOWN LIMIT WITH COMMAND HELD
A0	DOWN LIMIT WITH THE RADIO HELD
B0	RELEASE OF COMMAND OR RADIO AFTER A FORCED

UP MOTOR ON DUE TO RPM PULSE WITHG MOTOR OFF

STATE

00	AUTOREVERSE DELAY
01	TRAVELING UP DIRECTION
02	AT THE UP LIMIT AND STOPES
03	ERROR RESET
04	TRAVELING DOWN DIRECTION
05	AT THE DOWN LIMIT
06	STOPPED IN MID TRAVEL

DIAG

1) AOBS SHORTED

2) AOBS OPEN / MISS ALIGNED

3) COMMAND SHORTED

4) PROTECTOR INTERMITTENENT

5) CALL DEALER

NO RPM IN THE FIRST SECOND

6) RPM FORCED A REVERSE

7) LIMITS NOT LEAPNET YET

DOG 2

DOG 2 IS A SECONDARY WATCHDOG USED TO

RESET THE SYSTEM IF THE LOWEST LEVEL “MAINLOOP”

IS NOT REACHED WITHIN A 3 SECOND

Conditional Assembly

GLOBALS ON

; Enable a symbol file

Yes	.equ 1
No	.equ 0
TwoThirtyThree	.equ Yes
UseSiminor	.equ Yes

EQUATE STATEMENTS

check_sum_value	.equ	065H	; CRC checksum for ROM code
TIMER_I_EN	.equ	0CH	; TMR mask to start timer 1
MOTORTIME	.equ	.27000 / 4	; Max. run for otor = 22 sec (4 ms tick,
LACTIME	.equ	(500 / 4;	; Delay before learning limits is 0.5 seconds
LEARNTIME	.equ	(50000 / 4	; Max. run for motor in learn mode
PWM_CHARGE	.equ	0CH	; PWM state for old force pots.
LIGHT	.equ	0FFH	; Flag for light on constantly
LIGHT_ON	.equ	10000000B	; P0 pin turning on worklight
MOTOR_UP	.equ	01000000B	; P0 pin turning on the up motor
MOTOR_DN	.equ	00100000B	; P0 pin turning on the down motor
UP_OUT	.equ	00110000B	; P3 pin otput for up force pot.
DOWN_OUT	.equ	001000000B	; P3 pin output for down force pot.
DOWN_COMP	.equ	00000001B	; P0 pin input for down force pot.
UP_COMP	.equ	00000010B	; P0 pin input for up force pot.
FALSEIR	.equ	00000001B	; P2 pin for false AOBS output
LINSINFIN	.equ	00010000B	; P2 pin for reading in AC line
PPoint Port	.equ	p2	; Port for pass point input
PassPoint	.equ	00011000B	; B_t mask for pass point input
PhasePrt	.equ	p0	; Port for phase control output
PhaseHigh	.equ	00010000B	; Pin for controlling FET's

CHARGE_SW

.equ

10000000B

; P3 Pin for charging the wall control

DIS_SW	.equ	01000000B	; P3 Pin for discharging the wall control
SWITCHES1	.equ	00001000B	; PC Pin for first wall control input
SWITCHES2	.equ	00000100B	; P0 Pin for second wall control input
P01M_INIT	.equ	00000101B	; set mode p00-p03 in p04-p07 out
P2M_INIT	.equ	01011100B	; P2M initialization for operation
P2M_POP	.equ	01000000B	; P2M initialization of output of onip ID
P3M_INIT	.equ	00000011B	; set port3 p30-p33 input ANALOG mode
P01S_INIT	.equ	10000000B	; Set init. state as worklight on, motor off
P2S_INIT	.equ	00000110B	; Init p2 to have LED off
P2S_POR	.equ	00101010B	; P2 init to output a chip ID (P25, P24, P23, P22;
P3S_INIT	.equ	00000000B	; Init p3 to have everything off
BLINK_PIN	.equ	00000000B	; Pin which controls flasher module
P2M_ALLOUTS	.equ	01111100B	; Pins which need to be refreshed to outputs
P2M_ALLINS	.equ	01011000B	; Pins which need to be refreshed to inputs
RsPerHalf	.equ	104	; RS232 period 1200 Baud half time 416uS
RsPer Full	.equ	208	; RS232 period full time 832us
RsPer1P22	.equ	00	; RS232 period 1.22 unit times 1.025ms (00 = 256)
FLASH	.equ	0FFH	;
WORKLIGHT	.equ	LIGHT_ON	; Pin for toggling state of worklight

PPOINTPULSES

.equ

897

; Number of RPM pulses between pass points

SetupPos	.equ	(65535-20)	; Setup position -- 2” above pass point
CMD_TEST	.equ	00	; States for old wall control routine
WL_TEST	.equ	01
VAC_TEST	.equ	02
CHARGE	.equ	03
RSSTATUS	.equ	04	; Hold wall control okt. in RS232 mode
WALLOFF	.equ	05	; Turn off wall control LED for blinks
AUTO_REV	.equ	00H	; States for GDO state machine

UP_DIRECTION	.equ	01H
UP_POSITION	.equ	02H
DN_DIRECTION	.equ	04H
DN_POSITION	.equ	05H

STOP	.equ	06H
CMD_SW	.equ	01H	; Flags for switches hit
LIGHT_SW	.equ	02H
VAC_SW	.equ	04H
TRUE	.equ	0FFH	; Generic constants
FALSE	.equ	00H
FIXED_MODE	.equ	10101010b	;Fixed mode radio
ROLL_MODE	.equ	01010101b	;Rolling mode radio
FIXED_TEST	.equ	00000000b	;Unsure of mode -- test fixed
ROLL_TEST	.equ	00000001b	;Unsure of mode -- test roll
FIXED_MASK	.equ	FIXED_TEST	;Bit mask for fixed mode
ROLL_MASK	.equ	ROLL_TEST	;Bit mask for rolling mode

FIXTHR

.equ

03H

;Fixed code decision threshold

DTHR	.equ	02H	;Rolling code decision threshold
FIXSYNC	. equ	08H	;Fixed code sync threshold
DSYNC	.equ	04h	;Rolling code sync threshold
FIXBITS	.equ	11	;Fixed code number of bits
DBITS	.equ	21	;Polling code number of bits
EQUAL	.equ	00	;Counter compare result constants
BACKWIN	.equ	FH	;

FWDWIN

.equ

80H

OUTOFWIN	.equ	0FFH
AddressCounter	.equ	27H
AddressAPointer	.equ	2BH
CYCCOUNT	.equ	28H
TOUCHID	.equ	21H	;Touch code ID
TOUCHROLL	.equ	22H	;Touch code roll value
TOUCHPERM	.equ	20H	;Touch code permanent password
TOUCHTEMP	.equ	24H	;Touch code temporary password
DURAT	.equ	25H	;Touch code temp. duration
VERSIONNUM	.equ	088H	;Version: PRO7000 V2.8
;4-22-97
IRLIGHTADDR	.EQU	20H	;work light feature on or off
DISABLE	.EQU	00H	;00 = disabled, FF = enabled
;
RTYPEADDR	.equ	26h	;Radio transmitter type

VACATIONADDR

.equ

2AH

MODEADDR

.equ

20H

;Rolling/Fixed mode in EEPROM

	;High byte = don't care (now)
	;Low byte = RadioMode flag

UPLIMADDR

.equ

2DH

;Address of up limit

LASTSTATEADDR

.equ

2EH

;Address of last state

DNLIMADDR	.equ	2FH	;Address of down limit
NOEECOMM	.equ	01111111b	;Flag: skip radio read/write
NOINT	.equ	10000000b	;Flag: skip radio interrupts
RDROPTIME	.equ	125	;Radio drop-out time: 0.5s

LRNOCS

.equ

0AAH

;Learn open/close/stop

BRECEIVED	.equ	077H	;B code received flag
LRNLIGHT	.equ	0BBH	;Light command trans.
LRNTEMP	.equ	0CCH	;Learn touchcode temporary
LRNDURTN	.equ	0DDH	;Learn t.c. temp. duration
REGLEARN	.equ	0EEH	;Regular learn mode

NORMAL

.equ

00H

;Normal command trans.

ENTER	.equ	00H	;Touch code ENTER key
POUND	.equ	01H	;Touch code # key
STAR	.equ	02H	;Touch code * key
ACTIVATIONS	.equ	0AAH	;Number of activations mode
HOURS	.equ	055H	;Number of hours mode

;Flags for Ramp Flag Register

STILL

.equ

00h

; Motor not moving

RAMPUP

.equ

0AAH

; Ramp speed up to maximum

RAMPDOWN	.equ	0FFH	; Slow down the motor to minimum
FULLSPEED	.equ	0CCH	; Running at full speed
UPSLOWSTART	.equ	200	; Distance (in pulses) from limit when slow-
down
DNSLOWSTART	.equ	220	; of GDO motor starts (for up and down
direction)
BACKOFF	.equ	16	; Distance (in pulses) to back trolley off of
floor
			; when learning limits by reversing off of
floor
SHORTDOOR	.equ	936	; Travel distance (in pulses) that
discriminates a
			; one piece door (slow travel) from a normal
door
			; (normal travel) (Roughly 76″
PERIODS
AUTO_REV_TIME	.equ	124	; (4 ms prescale)
MIN_COUNT	.equ	02H	; pwm start point
TOTAL_PWM_COUNT	.equ	03FH	; pwm end = start + 2*total − 1
FLASH_TIME	.equ	61	; 0.25 sec flash time

; 4.5 MINUTE USA LIGHT TIMER

USA_LIGHT_HI	.equ	080H	; 4.5 MIN
USA_LIGHT_LO	.equ	0BEH	; 4.5 MIN

; 2.5 MINUTE EUROPEAN LIGHT TIMEP

EURO_LIGHT_HI	.equ	047H	; 2.5 MIN
EURO_LIGHT_LO	.equ	086H	; 2.5 MIN
ONE_SEC	.equ	0F4H	; WITH A /4 IN FRONT
CMD_MAKE	.equ	8	; cycle count *10mS
CMD_BREAK	.equ	(255-8)
LIGHT_MAKE	.equ	8	; cycle count *11mS

LIGHT_BREAK	.equ	(255-8)
VAC_MAKE_OUT	.equ	4	; cycle cound *100mS

VAC_BREAK_OUT

.equ

(255-4)

VAC_MAKE_IN	.equ	2
VAC_BREAK_IN	.equ	(255-2)

VAC_DEL	.equ	8	; Delay 16 ms for vacation
CMD_DEL_EX	.equ	6	; Delay 12 ms ( 5*2 + 2)
VAC_DEL_EX	.equ	50	; Delay 100 ms

PREDEFINED REG

ALL_ON_IMR	.equ	00111101b	; turn on int for timers rpm auxobs radio
RETURN_IMR	.equ	00111100b	; return on the IMR
RadioImr	.equ	00000001b	; turn on the radio only

GLOBAL REGISTERS

STATUS	.equ	04H	; CMD_TEST 00
			; WL_TEST 01
			; VAC_TEST 02
			; CHARGE 03
STATE	.equ	05H	; state register
LineCtr	.equ	06H	;
RampFlag	.equ	0⁻H	; Ramp up, ramp down, or stop
AUTO_DELAY	.equ	08H
LinePer	.equ	09H	; Period of AC line coming in
MOTOR_TIMER_HI	.equ	0AH
MOTOR_TIMER_LO	.equ	0BH

MOTOR_TIMER

.equ

0AH

LIGHT_TIMER_HI	.equ	0CH
LIGHT_TIMER_LO	.equ	0DH

LIGHT_TIMER

.equ

0CH

AOBSF	.equ	0EH
PrevPass	.equ	0FH
CHECK_GRP	.equ	10H
check_sum	.equ	r0	; check sum pointer
rom_data	.equ	r1

test_adr_hi	.equ	r2
test_adr_lo	.equ	r3

test_adr	.equ	rr2
CHECK_SUM	.equ	CHECK_GRP+0	; check sum reg for por
ROM_DATA	.equ	CHECK_GRP+1	; data read
LIM_TEST_HI	.equ	CHECK_GRP−0	; Compare registers for measuring
LIM_TEST_LO	.equ	CHECK_GRP−1	; distance to limit
LIM_TEST	.equ	CHECK_GRP+0	:

AUXLEARNSW

.equ

CHECK_GRP+2

;

RRTO

.equ

CHECK_GRP+3

;

RPM_ACOUNT

.equ

CHECK_GRP+4

; to test for active rpm

RS_COUNTEP	.equ	CHECK_GRP+5	; rs232 byte counter
RS232DAT	.equ	CHECK_GRP+6	; rs232 data
RADIO_CMI	.equ	CHECK_GRP+7	; radio command

R_DEAD_TIME

.equ

CHECK_GRP+8

;

FAULT

.equ

CHECK_GRP+9

;

VACFLAG	.equ	CHECK_GRP+10	; VACATION mode flag
VACFLASH	.equ	CHECK_GRP+11
VACCHANGE	.equ	CHECK_GRP+12
FAULTTIME	.equ	CHECK_GRP+13

FORCE_IGNORE

.equ

CHECK_GRP+14

FAULTCODE

.equ

CHECK_GRP+15

TIMER_GROUP

.equ

20H

position_hi	.equ	r0
position_lo	.equ	r1
position	.equ	rr0
up_limit_hi	.equ	r2
up_limit_lo	.equ	r3
up_limit	.equ	rr2

switch_delay

.equ

r4

obs_count	.equ	r6
rscommand	.equ	r9
rs_temp_hi	.equ	r10
rs_temp_lo	.equ	r11
rs_temp	.equ	rr10
POSITION_HI	.equ	TIMER_GROUP+0
POSITION_LO	.equ	TIMER_GROUP+1
POSITION	.equ	TIMER_GROUP+2
UP_LIMIT_HI	.equ	TIMER_GROUP+2
UP_LIMIT_LO	.equ	TIMER_GROUP+3
UP_LIMIT	.equ	TIMER_GROUP−2

SWITCH_DELAY

.equ

TIMER_GROUP+4

OnePass	.equ	TIMER_GROUP+5
OBS_COUNT	.equ	TIMER_GROUP+6
RsMode	.equ	TIMER_GROUP+7
Divisor	.equ	TIMER_GROUP+8	; Number to divide by
RSCOMMAND	.equ	TIMER_GROUP+9
RS_TEMP_HI	.equ	TIMER_GROUP+10
RS_TEMP_LO	.equ	TIMER_GROUP+11
RS_TEMP	.equ	TIMER_GROUP+10

PowerLevel	.equ	TIMER_GROUP+12	; Current step in 20-step phase ramp-up
PhaseTMR	.equ	TIMER_GROUP+13	; Timer for turning on and off phase control
PhaseTime	.equ	TIMER_GROUP+14	; Current time reload value for phase timer
MaxSpeed	.equ	TIMER_GROUP+15	; Maximum speed for this kind of door

LEARN EE GROUP FOR LOOPS ECT

LEARNEE_GRP

.equ

30H

;

TEMPH

.equ

LEARNEE_GRP

;

TEMPL

.equ

LEARNEE_GRP+1

;

PSM_SHADOW	.equ	LEARNEE_GRP+2	; Readable shadow of P2M register
LEARNDB	.equ	LEARNEE_GRP+3	; learn debouncer
LEARNT	.equ	LEARNEE_GRP+4	; learn timer
ERASET	.equ	LEARNEE_GRP+5	; erase timer
MTEMPH	.equ	LEARNEE_—GRP+6	; memory temp
MTEMPL	.equ	LEARNEE_GRP+7	; memory temp

MTEMP

.equ

LEARNEE_GRP+8

; memory temp

SERIAL	.equ	LEARNEE_GRP+9	; data to & from nonvol memory
ADDRESS	.equ	LEARNEE_GRP+10	; address for the serial nonvol memory

ZZWIN

.equ

LEARNEE_GRP+11

; radio 00 code window

T0_OFLOW

.equ

LEARNEE_GRP+12

; Third byte of T0 counter

T0EXT

.equ

LEARNEE_GRP+13

; t0 extend dec'd every t0 int

T0ENTWORD	.equ	LEARNEE_GRP+12	; Word-wide t0 extension
T125MS	.equ	LEARNEE_GRP+14	; 125mS counter
SKIPRADIO	.equ	LEARNEE_GRP+15	; flag to skip radio read, write if
			; learn or vacation talking to it

temph	.equ	r0	;
temp1	.equ	r1	;

learndb	.equ	r3	; learn debouncer
learnt	.equ	r4	; learn timer
eraset	.equ	r5	; erase timer
mtemph	.equ	r6	; memory temp
mtemp1	.equ	r7	; memory temp

mtemp	.equ	r8	; memory temp
serial	.equ	r9	; data to and from nonvol mem

address

.equ

r10

; addr for serial nonvol memory

zzwin

.equ

r11

;

t0_oflow

.equ

r12

; Overflow counter for T0

t0ext

.equ

r13

; t0extend dec'd every t0 int

t0extword	.equ	rr12	; Word-wide T0 extension
t125ms	.equ	r14	; 125mS counter
skipradio	.equ	r15	; flag to skip radio read, write if
			; learn or vacation talking to it
FORCE_GROUP	.equ	40H
dnforce	.equ	r0
upforce	.equ	r1
loopreg	.equ	r3

up_force_hi	.equ	r4
up_force_lo	.equ	r5

up_force

.equ

rr4

dn_force_hi	.equ	r6
dn_force_lo	.equ	r7

dn_force

.equ

rr6

force_add_hi	.equ	r8
force_add_lo	.equ	r9

force_add	.equ	rr8
up_temp	.equ	r10
dn_temp	.equ	r11
pot_count	.equ	r12

force_temp_of	.equ	r13
force_temp_hi	.equ	r14
force_temp_lo	.equ	r15

DNFORCE	.equ	40H
UPFORCE	.equ	41H
AOBSTEST	.equ	42H
LoopReg	.equ	43H

UP_FORCE_HI	.equ	44H
UP_FORCE_LO	.equ	45H
DN_FORCE_HI	.equ	46H
DN_FORCE_LO	.equ	47H

UP_TEMP	.equ	4AH
ON_TEMP	.equ	4BH
POT_COUNT	.equ	40H

FORCE_TEMP_OF

.equ

40H

FORCE_TEMP_HI	.equ	4EH
FORCE_TEMP_LO	.equ	4FH
RPM_GROUP	.equ	50H
rtypes2	.equ	r0
stackflag	.equ	r1
rpm_temp_of	.equ	r2

rpm_temp_hi

.equ

r3

rpm_temp_hiword

.equ

rr2

rpm_temp_lo	.equ	r4
rpm_past_hi	.equ	r5
rpm_past _lo	.equ	r6

rpm_period_hi	.equ	r7
rpm_period_lo	.equ	r8
divcounter	.equ	r11	; Counter for dividing RPM time
rpm_count	.equ	r12

rpm_time_out

.equ

r13

RTypes2	.equ	RPM_GROUP+2
STACKFLAG	.equ	RPM_GROUP+1
RPM_TEMP_OF	.equ	RPM_GROUP+2	; Overflow for RPM Time

RPM_TEMP_HI

.equ

RPM_GROUP+2

;

RPM_TEMP_HWORD

.equ

RPM_GROUP+2

; High word of RPM Time

RPM_TEMP_LO	.equ	RPM_GROUP+4
RPM_PAST_HI	.equ	RPM_GROUP+5
RPM_PAST_LO	.equ	RPM_GROUP+6

RPM_PERIOD_HI	.equ	RPM_GROUP+7
RPM_PERIOD_LO	.equ	RPM_GROUP+8
DN_LIMIT_HI	.equ	RPM_GROUP+9	;
DN_LIMIT_LO	.equ	RPM_GROUP+10	;
DIVCOUNTER	.equ	RPM_GROUP+11	; Counter for divinding RPM time
RPM_FILTER	.equ	RPM_GROUP+11	; DOUBLE MAPPED register for filtering signal
RPM_COUNT	.equ	RPM_GROUP+12

RPM_TIME_OUT

.equ

RPM_GROUP+13

BLINK_HI	.equ	RPM_GROUP+14	; Blink timer for flashing the
BLINK_LO	.equ	RPM_GROUP+15	; about-to-travel warning light
BLINK	.equ	RPM_GROUP+14	; Word-wise blink timer
RADIO GROUP

RadioGroup

.equ

60H

;

RTemp

.equ

RadioGroup

; radio temp storage

RTempH	.equ	RadioGroup+1	; radio temp storage high
RTempL	.equ	RadioGroup+2	; radio temp storage low

RTimeAH	.equ	RadioGroup+3	; radio active time high byte
RTimeAL	.equ	RadioGroup+4	; radio active time low byte
RTimeIH	.equ	RadioGroup+5	; radio inactive time high byte
RTimeIL	.equ	RadioGroup+6	; radio inactive time low byte
Radio1H	.equ	RadioGroup+7	; sync 1 code storage
Radio1L	.equ	RadioGroup+8	; sync 1 code storage

RadioC

.equ

RadioGroup+9

; radio word count

PointerH	.equ	RadioGroup+10	;
PointerL	.equ	RadioGroup+11	;
AddValueH	.equ	RadioGroup+12	;
AddValueL	.equ	RadioGroup+13	;
Radio3H	.equ	RadioGroup+14	; sync 3 code storage
Radio3L	.equ	RadioGroup+15	; sync 3 code storage

rtemp

.equ

r0

; radio temp storage

rtemph	.equ	r1	; radio temp storage high
rtemp1	.equ	r2	; radio temp storage low

rtimeh	.equ	r3	; radio active time high byte
rtimea1	.equ	r4	; radio active time low byte
rtimeih	.equ	r5	; radio inactive time high byte
rtimei1	.equ	r6	; radio inactive time low byte
radio1h	.equ	r7	; sync 1 code storage
radio11	.equ	r8	; sync 1 code storage

radioc

.equ

r9

; radio word count

pointerh	.equ	r10	;
pointer1	equ	r11	;
pointer	.equ	rr11	; Overall pinter for ROM
addvalueh	.equ	r12	;
addvalue1	.equ	r13	;
radio3h	.equ	r14	; sync 3 code storage
radio31	.equ	r15	; sync 3 code storage
w2	.equ	rr14	; For Siminor revision

CounterGroup	.equ	070h	; counter group
TestReg	.equ	CounterGroup	; Test area when dividing

BitMask	.equ	CounterGroup+01	; Mask for transmitters
LastMatch	.equ	CounterGroup+02	; last matching code address
LoopCount	.equ	CounterGroup+03	; loop counter
CounterA	.equ	CounterGroup+04	; counter translation MSB
CounterB	.equ	CounterGroup+05	;
CounterC	.equ	CounterGroup+06	;
CounterD	.equ	CounterGroup+07	; countr translation LSB
MirrorA	.equ	CounterGroup+08	; back translation MSB
MirrorB	.equ	CounterGroup+09	;
MirrorC	.equ	CounterGroup+010	;
MirrorD	.equ	CounterGroup+011	; back translation LSB
COUNT1H	.equ	CounterGroup+012	; received count
COUNT1L	.equ	CounterGroup+013
COUNT3H	.equ	CounterGroup+014
COUNT3L	.equ	CounterGroup+015
loopcount	.equ	r3	;
countera	.equ	r4	;
counterb	.equ	r5	;
counterc	.equ	r6	;
counterd	.equ	r7	;
mirrora	.equ	r8	;
mirrorb	.equ	r9	;
mirrorc	.equ	r10	;
mirrord	.equ	r11	;
Radio2Group	.equ	080H
PREVFIX	.equ	Radio2Group + 0
PREVTMP	.equ	Radio2Group + 1
ROLLBIT	.equ	Radio2Group + 2
RTimeDH	.equ	Radio2Group + 3
RTimeDL	.equ	Radio2Group + 4
RTimePH	.equ	Radio2Group + 5
RTimePL	.equ	Radio2Group + 6
ID₁₃B	.equ	Radio2Group + 7
SW_B	.equ	Radio2Group + 8
RADIOBIT	.equ	Radio2Group + 9

RadioTimeOut

.equ

Radio2Group + 10

RadioMode	.equ	Radio2Group + 11	;Fixed or rolling mode
BitThresh	.equ	Radio2Group + 12	;Bit decision threshold
SyncThresh	.equ	Radio2Group + 13	;Sync pulse decision threshold
MaxBits	.equ	Radio2Group + 14	;Maximum number of bits
RFlag	.equ	Radio2Group + 15	;Radio flags
prevfix	.equ	r0
prevtmp	.equ	r1
rollbit	.equ	r2
id_b	.equ	r7
sw_b	.equ	r8
radiobit	.equ	r9

radiotimeout

.equ

r10

radiomode	.equ	r11
rflag	.equ	r15

OriginalGroup

.equ

90H

SW_DATA	.equ	OrginalGroup+0
ONEP2	.equ	OrginalGroup+1	; 1.2 SEC TIMER TICK .125
LAST_CMD	.equ	OrginalGroup+2	; LAST COMMAND FROM
			; = 55 WALL CONTROL
			; = 00 RADIO
CodeFlag	.equ	OrginalGroup+3	; Radio code type flag
			; FF = Learning open/close/stop
			; 77 = b code
			; AA = open/close/stop code
			; 55 = Light control trasnmitter
			; 00 = Command or unknown
RPMONES	.equ	OrginalGroup+4	; RPM Pulse One Sec. Disable
RPMCLEAR	.equ	OrginalGroup+5	; RPM PULSE CLEAR & TEST TIMEP
FAREVFLAG	.equ	OrginalGroup+6	; RPM FORCED AREV FLAG
			; 88H FOR A FORCED REVERSE
FLASH_FLAG	.equ	OrginalGroup+7

FLASH_DELAY	.equ	OrginalGroup+8
REASON	.equ	OrginalGroup-30 9

FLASH_COUNTER	.equ	OrginalGroup+10
RadioTypes	.equ	OrginalGroup+11	; Types for one page of tx's
LIGHT_FLAG	.equ	OrginalGroup+12
CMD_DEB	.equ	OrginalGroup+13
LIGHT_DEB	.equ	OrginalGroup+14
VAC_DEB	.equ	OrginalGroup+15
NextGroup	.equ	0A0H

SDISABLE	.equ	NextGroup+0	; system disable timer
PRADIO3H	.equ	NextGroup+1	; 3 mS code storage high byte
PRADIO3L	.equ	NextGroup+2	; 3 mS code storage low byte
PRADIO1H	.equ	NextGroup+3	; 1 mS code storage high byte
PRADIO1L	.equ	NextGroup+4	; 1 mS code storage low byte
RTO	.equ	NextGroup+5	; radio time out
;RFlag	.equ	NextGroup+6	; radio flags

EnableWorkLight

.equ

NextGroup+6

; 4-22-97 work light function on or off?

RINFILTER	.equ	NextGroup+7	; radio input filter
LIGHT1S	.equ	NextGroup+8	; light timer for 1second flash
DOG2	.equ	NextGroup+9	; second watchdog
FAULTFLAG	.equ	NextGroup+10	; flag for fault blink, no rad. blink
MOTDEL	.equ	NextGroup+11	; motor time delay
PPOINT_DEB	.equ	NextGroup+12	; Pass Point debouncer
DELAYC	.equ	NextGroup+13	; for the time delay for command
L_A_C	.equ	NextGroup+14	; Limits are changing register
CMP	.equ	NextGroup+15	; Counter compare result
BACKUP_GRP	.equ	0B0H
PCounterA	.equ	BACKUP_GRP
PCounterB	.equ	BACKUP_GRP+1
PCounterC	.equ	BACKUP_GRP+2
PCounterD	.equ	BACKUP_GRP+3
HOUR_TIMER	.equ	BACKUP_GRP+4

HOUR_TIMES_HI	.equ	BACKUP_GRP+4
HOUR_TIMER_LO	.equ	BACKUP_GRP+5

PassCounter	.equ	BACKUP_GRP+6
STACKREASON	.equ	BACKUP_GRP+7
FirstRun	.equ	BACKUP_GRP+8	; Flag for first operation after power-up
MinSpeed	.equ	BACKUP_GRP+9
BRPM_COUNT	.equ	BACKUP_GRP+10
BRPM_TIME_OUT	.equ	BACKUP_GRP+11
BFORCE_IGNORE	.equ	BACKUP_GRP+12

BAUTC_DELAY

.equ

BACKUP_GRP+13

BCMD_DEB	.equ	BACKUP_GRP+14
BSTATE	.equ	BACKUP_GRP+15

; Double-mapped registers for M6800 test

COUNT_HI	.equ	BRPM_COUNT
COUNT_LO	.equ	BRPM_TIME_OUT
COUNT	.equ	BFORCE_IGNORE
REGTEMP	.equ	BAUTO_DELAY
REGTEMP2	.equ	BCM2_DEB

; Double-mapped registers for Siminor Code Reception

CodeT0	.equ	COUNT1L	; Binary radio code received
CodeT1	.equ	Radio1L
CodeT2	.equ	MirrorC
CodeT3	.equ	MirrorD
CodeT4	.equ	COUNT3H
CodeT5	.equ	COUNT3L

Ix

.equ

COUNT1H

; Index per Siminor's code

W1High

.equ

AddValueH

; Word 1 per Siminor's code

W1Low

.equ

AddValueL

; description

w1high

.equ

addvalueh

w1low

.equ

addvaluel

W2High

.equ

Radio3H

; Word 2 per Siminor's code

W2Low

.equ

Radio3L

; description

w2high

.equ

radio3h

w2low	.equ	radio3l
STACKTOP	.equ	238	; start of the stack
STACKEND	.equ	0C0H	; end of the stack
RS2321P	.equ	P0	; RS232 input port
RS232IM	.equ	SWITCHES1	; RS232 mask
csh	.equ	10000000B	; chip select high for the 93c46
csl	.equ	˜csh	; chip select low for 93c46
clockh	.equ	01000000B	; clock high for 93c46
clockl	.equ	˜clockh	; clock low for 93c46
doh	.equ	00100000B	; data out high for 93c46
dol	.equ	˜doh	; data out low for 93c46
ledh	.equ	00000010B	; turn the led pin high “off

ledl

.equ

˜ledh

;turn the led pin low “on

psmask	.equ	01000000B	; mask for the program switch
csport	.equ	P2	; chip select port
dioport	.equ	P2	; data i/o port
clkport	.equ	P2	; clock port
ledport	.equ	P2	; led port
psport	.equ	P2	; program switch port
WATCHDOG_GROUP	.equ	0FH
pcon	.equ	r0
smr	.equ	r11
wdtmr	.equ	r15

;	.IF	TwoThirtyThree
;
;WDT	.macro
;	.byte	5fH
;	.endm
;
;	.ELSE
;
;MDT	.macro
;	xcr	F1, #00101101b	; Kick external watchdog
;	.endm
;
;	.ENDIF
FILL	.macro

	.byte	0ffh
	.endm

FILL10

.macro

	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	.endm

FILL100	.macro
FILL10

	FILL10
	FILL10
	FILL10
	FILL10
	FILL10
	FILL10
	FILL10
	FILL10
	.endm

FILL1000

.macro

	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	FILL100
	.endm

TRAP

.macro

	jp	start
	jp	start
	jp	start
	jp	start
	jp	start
	.endm

TRAP10

.macro

	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	TRAP
	.endm

SetRpToRadio2Group

.macro

	.byte	031H
	.byte	08CH

.endm

Interrupt Vector Table

.org	0000H
.IF	TwoThirtyThree
.word	RADIO_INT	;IRQ0
.word	000CH	;IRQ1, P3.3
.word	RPM	;IRQ2, P3.1
.word	AUX_OBS	;IRQ3, P3.0
.word	TIMEPVD	;IRQ4, T0
.word RS232	;IRQ5, T1
.ELSE
.word	RADIO_INT	;IRQ0
.word	RADIO_INT	;IRQ1, P3.3
.word	RPM	;IRQ2, P3.1
.word	AUX_OBS	;IRQ3, P3.0
.word	TIMERUD	;IRQ4, T0
.word	000CH	;IRQ5, T1
.ENDIF
.page
.org	000CH
jp	Start	;jmps to start at location 0101, 0202 etc

RS232 DATA ROUTINES
RS_COUNTER REGISTER:
0000XXXX - 0011XXXX Input byte counter (inputting bytes 1-4)
00XX0000	Waiting for a start bit
00XX0001 -XXXX1001 Input bit counter (Bits 1-9, including stop)
00XX1111	Idle -- whole byte received
1000XXXX - 1111XXXX Output byte counter (outputting bytes 1-8)
1XXX0000	Tell the routine to output a byte
1XXX0001 - 1XXX1001 Outputting a byte (Bits 1-9, including stop)
1XXX1111	Idle -- whole byte output
OutputMode:

tm	RS_COUNTER, #00001111B	; Check for outputting start bit
jr	z, OutputStart	;
tcm	RS_COUNTER, #00001001B	; Check for outputting stop bit

jr

z, OutputStop

; (bit 9), if so, don't increment

OutputData:

	scf		; Set carry to ensure high stop bit
	rrc	RS232DAT	;Test the bit for output

jr

c, OutputHigh

;

OutputLow:

and	p3, *˜CHAPSE_SW	; Turn off the pull-up
cr	P3, *DIS_SW	; Turn on the pull-down
jr	DataBitDone	;

OutputStart:

ld

T1,#RsPerFull

; Set the timer to a full bit period

ld	TMR, #00001110B	; Load the full time period
and	p3, #˜CHARGE_SW	; Send a start bit
or	P3, #DIS_SW	;
inc	RS_COUNTER	; Set the counter to first bit
iret	;

OutputHigh:

and

p3, #˜DIS_SW

; Turn off the pull-down

or

P3, #CHARGE_SW

; Turn on the pull-up

DataBitDone:

	inc	RS_COUNTER	; Advance to the next data bit
	iret		;

OutputStop:

and

p3, #˜DIS_SW

; Output a stop (high) bit

or	P3, #CHARGE_SW	;
or	RS_COUNTER, #00001111B	; Set the flag for word being done
cp	RS_COUNTER, #11111111B	; Test for last output byte
jr	nz, MoreOutput	; If not, wait for more output
clr	RS_COUNTER	; Start waiting for input bytes

MoreOutput:

RSExit:

iret

;

RS232:

cp

RsMode, #00

; Check for in RS232 mode,

jr

nz, InRsMode

; If so, keep receiving data

	cp	STATUS, #CHARGE	; Else, only receive data when
	jr	nz, WallModeBad	; charging the wall control

InRsMode:

tcm	RS_COUNTER, #00001111B	; Test for idle state
jr	z, RSExit	; If so, don't do anything
tm	RS_COUNTER, #11000000B	; test for input or output mode
jr	nz, OutputMode

RSInput:

tm	RS_COUNTER, #00001111B	; Check for waiting for start
jr	z, WaitForStart	; If so, test for start bit
tcm	RS_COUNTER, #00001001B	; Test for receiving the stop bit
jr	z, StopBit	; If so, end the word
scf	; Initially set the data in bit
tm	RS232IP, #RS232IM	; Check for high or low bit at input

jr

nz, GotRsBit

; If high, leave carry high

rcf

; Input bit was low

GotRsBit:

rrc	RS232DAT	; Shift the bit into the byte
inc	RS_COUNTER	; Advance to the next bit
iret

Stopbit:

	tm	RS232IP,#RS232IM	; Test for a valid stop bit
	jr	z, DataBad	; If invalid, throw out the word

DataGood:

	tm	RS_COUNTER, #11110000B	; If we're not reading the first word,
	jr	nz, IsData	; then this is not a command

ld

RSCOMMAND, RS232DAT

; Load the new command word

IsData:

	or	RS_COUNTER, #00001111B	; Indicate idle at end of word
	iret

WallModeBad:

clr

RS_COUNTER

; Reset the RS232 state

DataBad:

	and	RS_COUNTER, #00110000B	; Clear the byte counter
	iret

WaitForStart:

tm	RS232IP,#RS232IM	; Check for a start bit
jr	nz, NoStartBit	; If high, keep waiting
inc	RS_COUNTER	; Set to receive bit 1
ld	T1, #RsPer1P22	; Long time until next sample
ld	TMR, #00001110B	; Load the timer
ld	T1, #RsPerFull	; Sample at 1X afterwords
iret		;

NoStartBit:

	ld	T1, #RsPerHalf	; Sample at 2X for start bit
	iret

	Set the worklight timer to 4.5 minutes for 60Hz line
	and 2.5 minutes for 50 Hz line

SetVarLight:

cp

LinePer, #36

; Test for 50Hz or 60Hz

jr

uge, EuroLight

; Load the proper table

USALight:

ld	LIGHT_TIMER_HI,#USA_LIGHT_HI	; set the light period
ld	LIGHT_TIMER_LO,#USA_LIGHT_LO	;
ret		; Return

EuroLight:

ld	LIGHT_TIMER_HI,#EURO_LIGHT_HI	; set the light period
ld	LIGHT_TIMER_LO,#EURO_LIGHT_LO	;
ret		; Return

THIS THE AUXILARY OBSTRUCTION INTERRUPT ROUTINE

AUX_OBS:

	ld	OBS_COUNT, #11	; reset pulse counter (no obstruction)
	and	imr,#11110111b	; turn off the interupt for up to 500uS

ld

AOBSTEST,#11

; reset the test timer

or	AOBSF,#00000010B	; set the flag for got a aobs
and	AOBSF,#11011111B	; Clear the bad aobs flag
iret		; return from int

Test for the presence of a blinker module

LookForFlasher:

and	P2M_SHADOW, #˜BLINK_PIN	;Set high for autolatch test
ld	P2M, P2M_SHADOW	;
or	P2, #BLINK_PIN	;
or	P2M_SHADOW, #BLINK_PIN	;Look for Flasher module
ld	P2M, P2M_SHADOW	;
ret

	; Full 41 bytes of unused memory
	FILL10
	FILL10
	FILL10
	FILL10
	FILL

REGISTER INITILISATION

.org

0011H

; address has both bytes the same

start:

START: di

; turn off the interrupt for init

.IF	TwoThirtyThree
ld	RP,#WATCHDOG_GROUP
ld	wdtmr,#00001111B	; rc dog 100mS
.ELSE
clr	p1
.ENDIF
WDT		; kick the dog
clr	RP	; clear the register pointer

PORT INITILIZATION

ld	p0,#P01S_INIT	; RESET all ports
ld	P2,#P2S_POR	; Output the chip ID code
ld	P3,#P3S_INIT	;

ld	P01M,#P01M_INIT	; set mode p00-p03 out p04-p07in
ld	P3M,#P3M_INIT	; set port3 p30-p33 input analog mode
		; p34-p37 outputs

ld

P2M,#P2M_POR

; set port 2 mode for chip ID out

Internal RAM Test and Reset All RAM = mS

	srp	#0F0h	; point to control group use stack
	ld	r15,#4	;r15= pointer (minimum of RAM)

write_again:

	WDT		; KICK THE DOG
	ld	r14,#1

write_again1:

ld	@r15,r14	;write 1,2,4,8,10,20,40,80
cp	r14,@r15	;then compare
jr	ne,system_error
rl	r14
jr	nc,write_again1
clr	Εr15	;write RAM(r5)=0 to memory
inc	r15
cp	r15,#240
jr	ult,write_again

Checksum Test

CHECKSUMTEST:

srp	#CHECK_GRP
ld	test_adr_hi,#01FH
ld	test_adr_lo,#0FFH	;maximum address=fffh

add_sum:

WDT		; KICK THE DOG
idc	rom_data,@test_adr	;read ROM code one by one
add	checkp_sum,rom_dat	;add it to checksum register
decw	test_addr	;increment ROM address

jr	nz,add_sum	;address=0 ?
cp	check_sum,#check_sum_value
jr	z,system_ok	;check final checksum = 00 ?

system_error:

and	ledport,#ledl	; turn on the LED to indicate fault
jr	system_error
.byte	256-check_sum_value

system_ok

WDT

; kick the dog

ld

STACKEND,#STACKTOP

; start at the top of the stack

SETSTACKLOOP:

	ld	@STACKEND,#01H	; set the value for the stack vector
	dec	STACKEND	; next address

cp

STACKEND,#STACKEND

; test for the last address

jr

nz,SETSTACKLOOP

; loop till done

CLEARDONE:

	ld	STATE,#06	; set the state to stop
	ld	BSTATE,#06	;

ld

OnePass,STATE

; Set the one-shot

ld

STATUS,#CHARGE

; set start to charge

ld

SWITCH_DELAY,#CMD_DEL_EX

; set the delay time to cmd

	ld	LIGHT_TIMER_HI,#USA_LIGHT_HI	; set the light period
	ld	LIGHT_TIMER_LO,#USA_LIGHT_LO	; for the 4.5 min timer

ld	RPMONES,#244	; set the hold off
srp	#LEARNEE_GRP	;
ld	learndb,#0FFH	; set the learn debouncer
ld	zzwin,learndb	; turn off the learning

ld	CMD_DEE,learnoo	; in case of shorted switches
ld	BCMD_DEB,learndb	; in case of shorted switches
ld	VAC_DEB,learndb	;

ld

LIGHT_DEB,learndb

;

ld	ERASET,learndb	; set the erase timer
ld	learnt,learndb	; set the learn timer
ld	RTO,learndb	; set the radio time out
ld	AUXLEARNSW,learndb	; turn off the aux learn switch
ld	RRTO,learndb	; set the radio timer

STACK INITILIZATION

clr	254
1D	255,#238	; set the start of the stack
.IF	TwoThirtyThree
.ELSE
clr	P1
.ENDIF

TIMER INITILIZATION

ld	pre0,#00000101b	; set the prescaler to /1 for 4MHz
ld	PRE1,#00010011B	; set the prescaler to /4 for 4MHz
clr	T0	; set the counter to count FF through 0

ld

T1,#RsPerHalf

; set the period to rs232 period for start bit sample

ld

TMR,#00001111B

; turn on the timers

PORT INITILIZATION

lD	P0,#P01S_INIT	; RESET all ports
ld	P2,#P2S_INIT	;
ld	P3,#P3S_INIT	;

ld	P01M,#P01M_INIT	; set mode p00-p03 out p04-p07in
ld	P3M,#P3M_INIT	; set port3 p30-p33 input analog mode
		; p34-p37 outputs
ld	P2M_SHADOW,#P2M_INIT	; Shadow P2M for read ability

ld	P2M,#P2M_INIT	; set port 2 mode
.IF	TwoThirtyThree
.ELSE
clr	p1
.ENDIF

READ THE MEMORY 2X AND GET THE VACFLAG

ld

SKIPRADIO,#NOEECOMM

;

ld	ADDRESS,#VACTIONADDR	; set non vol address to the VAC flag
call READMEMORY	; read the value 2X 1X INIT 2ND read
call READMEMORY	; read the value
ld	VACFLAG,MTEMPH	; save into volital

WakeUpLimits:

ld

ADDRESS, #UPLIMADDR

; Read the up and down limits into memory

call

READMEMORY

;

ld	UP_LIMIT_HI, MTEMPH	;
ld	UP_LIMIT_LO, MTEMPL	;
ld	ADDRESS, #DNLIMADDR	;

call

READMEMORY

;

	ld	DN_LIMIT_HI, MTEMPH	;
	ld	DN_LIMIT_LO, MTEMPL	;

WDT

; Kick the dog

WakeUpState:

	ld	ADDRESS, #LASTSTATEADDR	; Read the previous operating state into memory
	call	READMEMORY	;

ld	STATE, MTEMPL	; Load the state
ld	PassCounter, MTEMPH	; Load the pass point couter
cp	STATE, #UP_POSITION	; If at up limit, set position

jr

z, WakeUpLimit

;

cp

STATE, #DN_POSITION

; If at down limit, set position

jr

z, WakeOnLimit

;

WakeUpLost:

ld	STATE, #STOP	; Set state as stopped in mid travel
ld	POSITION_HI, #07FH	; Set position as lost
ld	POSITION_LO, #080H	;

jr

GotWakeUp

;

WakeUpLimit:

ld	POSITION_HI, UP_LIMIT_HI	; Set position as at the up limit
ld	POSITION_LO, UP_LIMIT_LO	;
jr	GotWakeUp

WakeDnLimit:

	ld	POSITION_HI, DN_LIMIT_HI	; Set position as at the down limit
	ld	POSITION_LO, DN_LIMIT_LO	;

GotWakeUp:

ld

BSTATE, STATE

; Back up the state and

ld

OnePass, STATE

; clear the one-shot

SET ROLLING/FIXED MODE FROM NON-VOLATILE MEMORY

	call	SetRadioMode	; Set the radio mode
	jr	SETINTEPPUPTS	; Continue on

SetRadioMode:

ld

SKIPRADIO, #NCEECOMM

; Set skip radio flag

ld

ADDRESS, #MODEADDR

; Point to the radio mode flag

call	READMEMORY	; REad the radio mode
ld	RadioMode, MTEMPL	; Set the proper radio mode
clr	SKIPRADIO	; Re-enable the radio
tm	RadioMode, #ROLL_MASK	; Do we want rolling numbers
jr	nz, StartRoll
call	FixedNums
ret

StartRoll:

	call	RollNums
	ret

	INITERRUPT INITILIZATION
	SETINTERRUPTS:

ld	IPR,#00011010B	; set the priority to timer
ld	IMR,#ALL_ON_IMR	; turn on the interrupt
.IF	TwoThirtyThree
ld	IRQ,#01000000B	; set the edge clear int
.ELSE
ld	IRQ,#00000000b	; Set the edge, clear ints
.ENDIF
ei	; enable interrupt

RESET SYSTEM REG

	.IF TwoThirtyThree
ld	RP,#WATCHDOG_GROUP
ld	smr,#00100010B	; reset the xtal / number
ld	pcon,#01111110B	; reset the pcon no comparator output
		; no low emi mode
clr	RP	; Reset the RP
.ENDIF
ld	PRE0,#00000101B	; set the prescaler to / 1 for 4Mhz
WDT		; Kick the dog

MAIN LOOP

MAINLOOP:

cp

PrevPass, PassCounter

;Compare pass point counter to backup

jr

z, PassPointCurrent

;If equal, EEPROM is up to date

PassPointChanged:

ld	SKIPRADIO, #NOEECOMM	; Disable radio EEPROM communications
ld	ADDRESS, #LASTSTATEADDR	; Point to the pass point storage
call	READMEMORY	; Get the current GDO state
di	; Lock in the pass point state

ld

MTEMPH, PassCounter

; Store the current pass point state

ld	PrevPass, PassCounter	; Clear the one-shot
ei	:
call	WRITEMEMORY	; Write it back to the EEPROX
clr	SKIPRADIO

PassPointCurrent:

;

;4-22-97

CP

EnableWorkLight, #10000000B

;is the debouncer set? if so write and

		; give feedback
JR	NE,LightOpen
TM	p0,#LIGHT_ON
JR	NZ,GetRidOfIt

LD	MTEMPL,#0FFH	;turn on the IR beam work light function
LD	MTEMPH,#0FFH
JR	CommitToMem

GetRidOfIt:

LD	MTEMPL,#00H	;turn off the IR beam work light function
LD	MTEMPH,#00H
CommitToMem:

LD

SKIPRADIO,#NOEECOMM

;write to memory to store if enabled or not

LD	ADDRESS,#IRLIGHTADDR	;set address for write
CALL	WRITEMEMORY
CLR	SKIPRADIO

	XOR	p0,#WORKLIGHT	; toggle current state of work light for feedback
	LD	EnableWorklight,#01100000B

LightOpen:

	cp	LIGHT_TIMER_HI,#0FFH	; if oight timer not done test beam break
	jr	nz,TestBeamBreak

	tm	p0,#LIGHT_ON	; if the light is off test beam break
	jr	nz,LightSkip

TestBeamBreak:

tm

AOBSF,#10000000b

; Test for broken beam

	jr	z,LightSkip	; if no pulses Staying blocked
			; else we are intermittent

;4-22-97

LD

SKIPRADIO,#NOEECOMM

;Turn off radio interrupt to read from e2

LD	ADDRESS,#IRLIGHTADDR	;
CALL	READMEMORY
CLR	SKIPRADIO	; don't forget to zero the one shot
CP	MTEMPL,#DISABLED	;Does e2 report that IR work light function
EQ,LightSkip	;is Disabled? If so jump over light on and
CP	STATE,#2	; test for the up limit

JR

nz,LightSkip

; if not goto output the code

call

SetVarLight

; Set worklight to proper time

or

p0,#LIGHT_ON

; turn on the light

LightSkip:

;4-22-97

AND	AOBSF,#01111111B	;Clear the one shot,for IR beam
;break detect.
cp	HOUR_TIMER_HI, #010H	; If and hour has passed,
jr	ult, NoDecrement	; then decrement the
cp	HOUR_TIMER_LO, #020H	; temporary password timer
jr	ult, NoDecrement	;

	clr	HOUR_TIMER_HI	; Reset hour timer
	clr	HOUR_TIMER_LO	;

ld	SKIPRADIO, #NOEECOMM	; Disable radio EE read
ld	ADDRESS, #DURAT	; Load the temporary password
call	READMEMORY	; duration from non-volatile
cp	MTEMPH, #HOURS	; If not in timer mode,
jr	nz, NoDecrement2	; then don't update
cp	MTEMPL, #00	; If timer is not done,
jr	z, NoDecrement2	; decrement it

dec

MTEMPL

; Update the number of hours

call

WRITEMEMORY

;

NoDecrement:

	tm	AOBSF, #01000000b	; If the poll radio mode flag is
	jr	z, NoDecrement2	; set, poll the radio mode

call

SetRadioMode

; Set the radio mode

and

AOBSF, #10111111b

; Clear the flag

NoDecrement2:

clr	SKIPRADIO	; Re-enable radio reads
and	AOBSF,#00100011b	; Clear the single break flag
clr	DOG2	; clear the second watchdog
ld	P01M,#P01M_INIT	; set mode p00-p03 out p04-p07in
ld	P3M,#P3M_INIT	; set port3 p30-p33 input analog mode
; p34-p37 outputs
or	P2M_SHADOW,#P2M_ALLINS	; Refresh all the P2M pins which have are
and	P2M_SHADOW,#P2M_ALLOTS	; always the same when we get here
ld	P2M,P2M_SHADOW	; set port 2 mode
cp	VACCHANGE,#0AAH	; test for the vacation change flag

jr

nz,NOVACCHG

; if no change the skip

cp

VACFLAG,#0FFH

; test for in vacation

jr

z,MCLEARVAC

; if in vac clear

ld

VACFLAG,#0FFH

; set vacation

jr

SETVACCHANGE

; set the change

MCLEARVAC:

clr

VACFLAG

; clear vacation mode

SETVACCHANGE:

clr	VACCHANGE	; one shot
ld	SKIPRADIO,#NOEECOMM	; set skip flag
ld	ADDRESS,#VACATIONADDR	; set the non vol address to the VAC flag
ld	MTEMPH,VACFLAG	; store the vacation flag
ld	MTEMPL,VACFLAG	;

call

WRITEMEMORY

; write the value

clr

SKIPRADIO

; clear skip flag

NOVACCHG:

cp	STACKFLAG,#0FFH	; test for the change flag
jr	nz,NOCHANGEST	; if no change skip updating

	cp	L_A_C, #070H	; If we're in learn mode
	jr	uge, SkipReadLimits	; then don't refresh the limits!

cp	STATE, #UP_DIRECTION	; If we are going to travel up
jr	z, ReadUpLimit	; then read the up limit
cp	STATE, #DN_DIRECTION	; If we are going to travel down
jr	z, ReadDnLimit	; then read the down limit
jr	SkipReadLimits	; No limit on this travel . . .

ReadUpLimit:

ld

SKIPRADIO, #NOEECOMM

; Skip radio EEPROM reads

ld

ADDRESS, #UPLIMADDR

; Read the up limit

call	READMEMORY	;
di		;

	ld	UP_LIMIT_HI, MTEMPH	;
	ld	UP_LIMIT_LO, MTEMPL	;

clr	FirstRun	; Calculate the highest possible value for pass count
add	MTEMPL, #10	; Bias back by 1” to provide margin of error
adc	MTEMPH, #00	;

CalcMaxLoop:

inc

FirstRun

;

add

MTEMPL, #LOW(PPOINTPULSES)

;

	adc	MTEMPH, #HIGH(PPOINTPULSES)	;
	jr	nc, CalcMaxLoop	; Count pass points until value goes positive

GotMaxPPoint:

ei		;
clr	SKIPRADIO	;
tm	PassCounter, #01000000b	; Test for a negative pass point counter
jr	z, CounterGood1	; If not, no lower bounds check needed

cp

DN_LIMIT_HI, #HIGHT(PPOINTPULSES - 35)

; If the down limit is low enough,

jr

ugt, CounterIsNeg1

; then the counter can be negative

jr

ult, ClearCount

; Else, it should be zero

cp

DN_LIMIT_LO, #LOW(PPOINTPULSES - 35)

jr

uge, CounterIsNeg1

;

ClearCount:

and

PassCounter, #10000000b

; Reset the pass point counter to zero

jr

CounterGood1

;

CounterIsNeg1:

or

PassCounter, #01111111b

; Set the pass point counter to −1

CounterGood1:

cp

UP_LIMIT_HI, #0FFH

; Test to make sure up limit is at a

jr

nz, TestUpLimit2

; a learned and legal value

cp	UP_LIMIT_LO, #0FFH	;
jr	z, LimitIsBad	;
jr	LimitsAreDone	;

TestUpLimit2:

cp

UP_LIMIT_HI, #0D0H

; Look for up limit set to illegal value

jr

ule, LimitIsBad

; If so, set the limit fault

jr

LimitsAreDone

;

ReadDnLimit:

ld

SKIPRADIO, #NOEECOMM

; Skip radio EEPROM reads

ld

ADDRESS, #DNLIMADDR

; Read the down limit

	call	READMEMORY	;
	di		;

	ld	DN_LIMIT_HI, MTEMPH	;
	ld	DN_LIMIT_LO, MTEMPH	;

ei		;
clr	SKIPRADIO	;
cp	DN_LIMIT_HI, #00H	; Test to make sure down limit is at a

jr

nz, TestDownLimit2

; a learned and legal value

cp

DN_LIMIT_LO, #00H

;

	jr	z, LimitIsBad	;
	jr	LimitsAreDone	;

TestDownLimit2:

	cp	DN_LIMIT_HI, #020H	; Look for down limit set to illegal value
	jr	ult, LimitsAreDone	; If not, proceed as normal

LimitIsBad:

ld

FAULTCODE, #

; Set the “no limits” fault

call

SET_STOP_STATE

; Stop the GDO

jr

LimitsAreDone

;

SkipReadLimits:

LimitsAreDone:

ld	SKIPRADIO, #NOEECOMM	; Turn off the radio read
ld	ADDRESS, #LASTSTATEADDR	; Write the current state and pass count
call	READMEMORY	;

	ld	MTEMPH, PassCounter	; DON'T update the pass point here!
	ld	MTEMPL, STATE	;

call	WRITEMEMORY	;
clr	SKIPRADIO	;
ld	OnePass, STATE	; Clear the one-shot

	cp	L_A_C, #077H	; Test for successful learn cycle
	jr	nz, DontWriteLimits	; If not, skip writing limits

WriteNewLimits:

cp

STATE, #STOP

;

jr	nz, WriteUpLimit	;
cp	LIM_TEST_HI, #00	; Test for (force) stop witin 0.5″ of
jr	nz, WriteUpLimit	; the original up limit position
cp	LIM_TEST_LO, #16	;
jr	ugt, WriteUpLimit	;

BackOffUpLimit:

;

	add	UP_LIMIT_LO, #	; Back off the up limit by 0.5″
	add	UP_LIMIT_HI, #00	;

WriteUpLimit:

ld

SKIPRADIO, #NOEECOMM

; Skip radio EEPROM reads

ld

ADDRESS, #UPLIMADDR

; Read the up limit

di

;

	ld	MTEMPH, UP_LIMIT_HI	;
	ld	MTEMPL, UP_LIMIT_LO	;

	ei		;
	call	WRITEMEMORY	;

WriteDnLimit:

ld

ADDRESS, #DNLIMADDR

; Read the up limit

di

;

	ld	MTEMPH, DN_LIMIT_HI	;
	ld	MTEMPL, DN_LIMIT_LO	;

	ei		;
	call	WRITEMEMORY	;

WritePassCount:

ld

ADDRESS, #LASTSTATEADDR

; Write the current state and pass count

	ld	MTEMPH, PassCounter	; Update the pass point
	ld	MTEMPL, STATE	;

call	WRITEMEMORY	;
clr	SKIPRADIO	;
clr	L_A_C	; Leave the learn mode

or

ledport,#ledh

; turn off the LED for program mode

DontWriteLimits:

srp

#LEARNEE_GRP

; set the register pointer

clr	STACKFLAG	; clear the flag
ld	SKIPRADIO, #NOEECOMM	; set skip flag
ld	address,#CYCCOUNT	; set the non vol address to the cycle c
call	READMEMORY	; read the value

inc

mtemp1

; increase the counter lower byte

jr	nz,COUNTER1DONE	;
inc	mtemph	; increase the counter high byte
jr	nz,COUNTER2DONE	;

call

WRITEMEMORY

; store the value

	inc	address	; get the next bytes
	call	READMEMORY	; read the data

inc

mtemp1

; increase the counter low byte

jr

nz,COUNTER2DONE

;

inc

mtemph

; increase the vounter high byte

COUNTER2DONE:

call

WRITEMEMORY

; save the value

	ld	address,#CYCCOUNT	;
	call	READMEMORY	; read the data

	and	mtemph,#00001111B	; find the force address
	or	mtemph,#30H	;

ld	ADDRESS,MTEMPH	; set the address
ld	mtemp1,DNFORCE	; read the forces
ld	mtemph,UPFORCE	;

	call	WRITEMEMORY	; write the value
	jr	CDONE	; done set the back trace

COUNTER1DONE:

call

WRITEMEMORY

; got the new address

CDONE:

clr

SKIPRADIO

; clear skip flag

NOCHANGEST:

call	LEARN	; do the learn switch
di
cp	BRPM_COUNT_RPM_COUNT
jr	z,TESTRPM

RESET:

jp

START

TESTRPM:

	cp	BRPM_TIME_OUT,RPM_TIME_OUT
	jr	nz,RESET
	cp	BFORCE_IGNORE,FORCE_IGNORE
	jr	nz,RESET
	ei
	di
	cp	BAUTO_DELAY,AUTO_DELAY
	jr	nz,REESET
	cp	BCMD_DEB,CMD_DEB
	jr	nz,RESET
	cp	BSTATE,STATE
	jr	nz,RESET
	ei

TESTRS232:

	SRP	#TIMER_GROUP
	tcm	RS_COUNTER, #00001111B	; If we are at the end of a word,

jp

nz, SIPRS232

; then handle the RS232 word

cp	rscommand,#‘V’	;
jp	ugt,ClearRS232	;
cp	rscommand,#‘0’	; test for in range
jp	ult,ClearRS232	; if out of range skip
cp	rscommand,#‘<’	; If we are reading
jr	nz,NotRs3C	; go straight there
call	GotRs3C	;
jp	SIPRS232	;

NotRs3C:

cp	rscommand,#‘>’	; If we are writing EEPROM
jr	nz,NotRs3E	; go straight there
call	GotRs3E	;
jp	SKIPRS232	;

NotRs3E:

	ld	rs_temp_hi,#HIGH (RS232JumpTable-(3*‘0’))	; address pointer to table
	ld	rs_temp_lo,#LOW (RS232JumpTable-(3*‘0’))	; Offset for ASCII adjust

add	rs_temp_lo,rscommand	; look up the jump 3x
adc	rs_temp_hi,#00	;
add	rs_temp_lo,rscommand	; look up the jump 3x
adc	rs_temp_hi,·00	;
add	rs_temp_lo,rscommand	; look up the jump 3x
adc	rs_temp_hi,#00	;
call	@rs_temp	; call this address
jp	SKIPRS232	; done

RS232JumpTable:

	jp	GotRs30
	jp	GotRs31
	jp	GotRs32
	jp	GotRs33
	jp	GotRs34
	jp	GotRs35
	jp	GotRs36
	jp	GotRs37
	jp	GotRs38
	jp	GotRs39
	jp	GotRs3A
	jp	GotRs3B
	jp	GotRs3C
	jp	GotRs3D
	jp	GotRs3E
	jp	GotRs3F
	jp	GotRs40
	jp	GotRs41
	jp	GotRs42
	jp	GotRs43
	jp	GotRs44
	jp	GotRs45
	jp	GotRs46
	jp	GotRs47
	jp	GotRs48
	jp	GotRs49
	jp	GotRs4A
	jp	GotRs4B
	jp	GotRs4C
	jp	GotRs4D
	jp	GotRs4E
	jp	GotRs4F
	jp	GotRs50
	jp	GotRs51
	jp	GotRs52
	jp	GotRs53
	jp	GotRs54
	jp	GotRs55
	jp	GotRs56

ClearRS232:

and

RS_COUNTER, #11110000b

; Clear the RS232 state

SKIPRS232:

UpdateForceAndSpeed:

; Update the UP force from the look-up table

srp	#FORCE_GROUP	; Point ot the proper registers
ld	force_add_hi, #HIGH(force_table)	; Fetch the proper unscaled
ld	force_add_lo, #LOW(force_table)	; value from the ROM table

di		;
add	force_add_lo, upforce	; Offset to point to the
adc	force_add_hi, #00	; proper place in the table
add	force_add_lo, upforce	; x2
adc	force_add_hi, #00	;
add	force_add_lo, upforce	; x3 (three bytes wide)
adc	force_add_hi, #00	;
ei		;

ldc

force_temp_of, @force_add

; Fetch the ROM bytes

incw

force_add

;

ldc

force_temp_hi, @force_add

;

incw

force_add

;

ldc	force_temp_lo, @force_add	;
ld	Divisor, PowerLevel	; Divide by our current force level
call	ScaleTheSpeed	; Scale to get our proper force number

di

; Update the force registers

	ld	UP_FORCE_HI, force_temp_hi	;
	ld	UP_FORCE_LO, force_temp_lo	;

ei

;

; Update the DOWN force from the look-up table

	ld	force_add_hi, #HIGH(force_table)	; Fetch the proper unscaled
	ld	force_add_lo, #LOW(force_table)	value from the ROM table

di		;
add	force_add_lo, dnforce	; Offset to point to the
adc	force_add_hi, #00	; proper place in the table
add	force_add_lo, dnforce	; x2
adc	force_add_hi, #00	;
add	force_add_lo, dnforce	; x3 (three bytes wide)
adc	force_add_hi, #00	;
ei		;

ldc

force_temp_of, @force_add

; Fetch the ROM bytes

incw

force_add

;

ldc

force_temp_hi, @force_add

;

incw

force_add

;

ldc	force_temp_lo, @force_add	;
ld	Divisor, PowerLevel	; Divide by our current force level
call	ScaleTheSpeed	; Scale to get our proper force number
di		; Update the force registers
ld	DN_FORCE_HI, force_temp_hi	;
ld	DN_FORCE_LO, force_temp_lo	;

ei

;

; Scale the minumum speed based on force setting

cp

STATE, #DN_DIRECTION

; If we're traveling down,

jr

z, SetDownMinSpeed

; then use the down force pot for min. speed

SetUpMinSpeed:

	di		; Disable interrupts during update
	ld	MinSpeed, UPFORCE	; Scale up force pot

jr

MinSpeedMath

;

SetDownMinSpeed:

	di		;
	ld	MinSpeed, DNFORCE	; Scale down force pot

MinSpeedMath:

sub

MinSpeed, #24

; pot level - 24

	jr	nc, UpStep2	; truncate off the negative number
	clr	MinSpeed	;

UpStep2:

rcf		; Divide by four
rrc	MinSpeed	;
rcf	;
rrc	MinSpeed	;

	add	MinSpeed, #4	; Add four to find the minimum speed
	cp	MinSpeed, #12	; Perform bounds check on minium speed

jr

ule, MinSpeedOkay

; Truncate if necessary

ld

MinSpeed, #12

;

MinSpeedOkay:

ei

; Re-enable interrupts

; Make sure the worklight is at the proper time on power-up

cp

LinePer, #36

; Test for a 50 Hz system

jr	ult, TestRadioDeadTime	; if not, we don't have a problem
cp	LIGHT_TIMER_HI, #0FFH	; If the light timer is running
jr	z, TestRadioDeadTime	; and it is greater than

cp

LIGHT_TIMER_HI, #EURO_LIGHT_HI

; the European time, fix it

	jr	ule, TestRadioDeadTime	;
	call	SetVarLight	;

TestRadioDeadTime:

cp

R_DEAD_TIME, #25

; test for too long dead

jp

nz,MAINLOOP

; if not loop

clr	RadioC	; clear the radio counter
clr	RFlag	; clear the radio flag
jp	MAINLOOP	; loop forever

Speed scaling (i.e. Division) routine

ScaleTheSpeed:

	clr	TestReg
	ld	loopreg, #24	; Loop for all 24 bits

DivideLoop:

rcf

; Rotate the next bit into

rlc	force_temp_lo	; the test field
rlc	force_temp_hi	;
rlc	force_temp_of	;

rlc	TestReg	;
cp	TestReg, Divisor	; Test to see if we can subtract
jr	ult, BitIsDone	; If we can't, we're all done
sub	TestReg, Divisor	; Subtract the divisor

or

force_temp_lo, #00000001b

; Set the LSB to mark the subtract

BitIsDone:

djnz

loopreg, DivideLoop

; Loop for all bits

DivideDone:

; Make sure the result is under our 500 ms limit

	cp	force_temp_of, #00	; Overflow byte must be zero
	jr	nz, ScaleDown	;

cp

force_temp_hi, #0F4H

;

jr

ugt,ScaleDown

;

	jr	ult, DivideIsGood	; If we're less, then we're okay
	cp	force_temp_lo, #024H	; Test low byte

jr

ugt,ScaleDown

; if low byte is okay,

DivideIsGood:

ret

; Number is good

ScaleDown:

ld	force_temp_hi, #0F4H	; Overflow is never used anyway
ld	force_temp_lo, #024H	;
ret

	RS232 SUBROUTINES
	“0”
	Set Command Switch

GotRs30:

ld

LAST_CMD,#0AaH

; set the last command as rs wall cmd

	call	CmdSet	; set the command switch
	jp	NoPos

	“1”
	Clear Command Switch

GotRs31:

call	CmdRel	; release the command switch
jp	NoPos

	“2”
	Set Worklight switch

GotRs32:

	call	LightSet	; set the light switch
	jp	NoPos

	“3”
	Clear Worklight Switch

GotRs33:

	clr	LIGHT_DEB	; Release the light switch
	jp	NoPos

	“4”
	Set Vacation Switch

GotRs34:

	call	VacSet	; Set the vacation switch
	jp	NoPos

	“5”
	Clear Vacation Switch

GotRs35:

	clr	VAC_DEB	; release the vacation switch
	jp	NoPos

	“6”
	Set smart switch

GotRs36:

	call	SmartSet
	jp	NoPos

	“7”
	Clear Smart switch set

GotRs37:

	call	SmartRelease
	jp	NoPos

	“8”
	Return Present state and reason for that state

GotRs38:

	ld	RS232DAT,STATE
	or	RS232DAT,STACKREASON
	jp	LastPos

	“9”
	Return Force Adder and Fault

GotRs39:

	ld	RS232DAT,FAULTCODE	; insert the fault code
	jp	LastPos

	“:”
	Status Bits

GotRs3A:

clr	RS232DAT	; Reset data
tm	P2, #01000000b	; Check the strap
jr	z, LookForBlink	; If none, next check
or	RS232DAT, #00000001b	; Set flag for strap high

LookForBlink:

	call	LookForFlasher	;
	tm	P2, #BLINK_PIN	; If flasheer is present,

	jr	nz, ReadLight	;
	or	RS232DAT,#00000010b	; then idicate it

ReadLight:

tm	P0,#00000010B	; read the light
jr	z,C3ADone
or	RS232DAT,#00000100b

C3ADone:

cp

CodeFlag, #REGLEARN

; Test for being in a learn mode

jr

ult, LookForPass

; If so, set the bit

or

RS232DAT,#00010000b

;

or

RS232DAT,#000100000b

;

LookForPass:

tm	PassCounter,#01111111b	; Check for above pass point
jr	z, LookForProt	; If so, set the bit
tcm	PassCounter,#01111111b	;
jr	z, LookForProt	;

or

RS232DAT,#00100000b

;

LookForProt:

	tm	ACBSF, #10000000b	; Check for protector break/block
	jr	nz, LookForVac	; If blocked, don't set the flag

or

RS232DAT,#01000000b

; Set flag for protector signal good

LookForVac:

cp	VACFLAG,#00B	; test for the vacation mode
jp	nz,LastPos
or	RS232DAT,#00001000b
jp	LastPos

	“;”
	Return L_A_C

GotRs3B:

	ld	RS232DAT,L_A_C	; read the L_A_C
	jr	LastPos

	“<”
	Read a word of data from an EEPROM address input by the user

GotRs3C:

cp	RS_COUNTER, #010H	; If we have only received the
jr	ult, FirstByte	; first word, wait for more
cp	RS_COUNTER, #080H	; If we are outputting,
jr	ugt, OutputSecond	; output the second byte

SecondByte:

ld	SKIPRADIO, #0FFH	; Read the memory at the specified
ld	ADDRESS, RS232DAT	; address
call	READMEMORY	;
ld	RS232DAT, MTEMPH	; Store into temporary registers

ld

RS_TEMP_LO, MTEMPL

;

clr

SKIPRADIO

;

jp

MidPos

;

OutputSecond:

	ld	RS232DAT, RS_TEMP_LO	; Output the second byte of the read
	jp	LastPos	;

FirstByte:

	inc	RS_COUNTER	; Set to receive second word
	ret	;

	“=”
	Exit learn limits mode

GotRs3D:

cp	L_A_C, #00	; If not in learn mode,
jp	z, NoPos	; then don't touch the learn LED
clr	L_A_C	; Reset the learn limits state machine	or	leaport,#ledn	; turn off the LED for program mode

or

ledport,#ledh

; turn off the LED for program mode

jp

NoPos

;

	“>”
	Write a word of dat ato the address input by the user

GotRs3E:

cp	RS_COUNTER, #01FH	;
jr	z, SecondByteW	;
cp	RS_COUNTER, #02FH	;

jr

z, ThirdByteW

;

	cp	RS_COUNTER, #03FH	;
	jr	z, FourthByteW	;

FirstByteW:

DataDone:

	inc	RS_COUNTER	; Set to receive next byte
	ret

SecondByteW:

	ld	RS_TEMP_HI, RS232DAT	; Store the address
	jr	DataDone	;

ThirdByteW:

	ld	RS_TEMP_LO, RS232DAT	; Store the high byte
	jr	DataDone	;

FourthByteW:

cp	RS_TEMP_HI, #03FH	; Test for illegal address
jr	ugt, FailedWrite	; If so, don't write
ld	SKIPRADIO, #0FFH	; Turn off radio reads

	ld	ADDRESS, RS_TEMP_HI	; Load the address
	ld	MTEMPH, RS_TEMP_LO	; and the data for the

ld	MTEMPL, RS232DAT	; EEPROM write
call	WRITEMEMORY	;
clr	SKIPRADIO	; Re-enable radio reads
ld	RS232DAT, #00H	; Flag write okay
jp	LastPos	;

FailedWrite:

	ld	RS232DAT, #0FFH	; Flag bad write
	jp	LastPos

	“?”
	; Suspend all communication for 30 seconds

GotRs3F:

clr	RSCOMMAND	; Throw out any command currently
		;running
jp	NoPos	; Ignore all RS232 data

	“@”
	; Force Up State

GotRs40:

cp	STATE, #DN_DIRECTION	; If traveling down, make sure that
jr	z, dontup	; the door autoreverses first
cp	STATE, #AUTO_REV	; If the door is autoreversing or
jp	z, NoPos	; at the up limit, don't let the

cp

STATE, #UP_POSITION

; up direction state be set

jp

z, NoPos

;

ld	REASON, #00H	; Set the reason as command
call	SET_UP_DIR_STATE
jp	NoPos

dontup:

ld

REASON, #00H

; Set the reason as command

	call	SET_AREV_STATE	; Autoreverse the door
	jp	NoPos	;

	“A”
	Force Down State

GotRs41:

	cp	STATE, #5h	; test for the down position
	jp	z,NoPos	;

clr	REASON	; Set the reason as command
call	SET_DN_DIR_STATE
jp	NoPos

	“B”
	Force Stop State

GotRs42:

clr	REASON	; Set the reason as command
call	SET_STOP_STATE
jp	NoPos

	“C”
	Force Up Limit State

GotRs43:

clr	REASON	; Set the reason as command
call	SET_UP_POS_STATE
jp	NoPos

	“D”
	Force Down Limit State

GotRs44:

clr	REASON	; Set the reason as command
call	SET_DN_POS_STATE
jp	NoPos

	“E”
	Return min. force during travel

GotRs45:

ld

RS232DAT,MIN_RPM_HI

; Return high and low

	cp	RS_COUNTER,#090h	; bytes of min. force read
	jp	ult,MidPos	;

ld

RS232DAT,MIN_RPM_LO

;

jp

LastPos

;

	“F”
	Leave RS232 mode -- go back to scanning for wall control switches

GotRs46:

clr

RsMode

; Exit the rs232 mode

ld	STATUS, #CHARGE	; Scan for switches again
clr	RS_COUNTER	; Wait for input again
ld	rscommand,#0FFH	; turn off command
ret

	“G”
	(No Function)

GotRs47:
jp	NoPos

	“H”
	45 Second search for pass point the setup for the door

GotRs48:

ld

SKIPRADIO, #0FFH

; Disable radio EEPROM reads / writes

ld	MTEMPH, #0FFH	; Erase the up limit and down limit
ld	MTEMPL, #0FFH	; in EEPROM memory
ld	ADDRESS, #UPLIMADDR	;

call

WRITEMEMORY

;

ld

ADDRESS, #DNLIMADDR

;

call	WRITEMEMORY	;
ld	UP_LIMIT_HI, #HIGH(SetupPos)	; Set the dorr to travel
ld	UP_LIMIT_LO, #LOW SetupPos)	; to the setup position

ld

POSITION_HI, #040H

; Set the current position to unknown

and	PassCounter, #10000000b	; Reset to activate on first pass point seen
call	SET_UP_DIR_STATE	; Force the door to travel
ld	OnePass, STATE	; without a limit refresh
jp	NoPos

	“I”
	Return radio drop-out timer

GotRs49:

	clr	RS232DAT	; Initially say no radio on
	cp	RTO,#RDROPTIME	; If there's no radio on,

jp

uge, LastPos

; then broadcast that

	com	RS232DAT	; Set data to FF
	jp	LastPos

	“J”
	Return current position

GotRs4A:

ld	RS232DAT,POSITION_HI
cp	RS_COUNTER,#090H	; Test for no words out yet
jp	ult, MidPos	; If not, transmit high byte
ld	RS232DAT,POSITION_LO
jp	LastPos

	“K”
	Set radio Received

GotRs4B:

	cp	L_A_C, #070H	; If we were positioning the up limit,
	jr	ult, NormalRSRadio	; then start the learn cycle

jr

z, FirstRSLearn

;

cp

L_A_C, #071H

; If we had an error,

jp

nz, NoPos

; re-learn, otherwise ignore

ReLearnRS:

ld

L_A_C, #072H

; Set the re-learn state

	call	SET_UP_DIR_STATE	;
	jp	NoPos	;

FirstRSLearn:

ld

L_A_C, #073H

; Set the learn state

	call	SET_UP_POS_STATE	; Start from the “up limit”
	jp	NoPos

NormalRSRadio:

clr	LAST_CMD	; mark the last command as radio
ld	RADIO_CMD,#0AAH	; set the radio command
jp	NoPos	; return

	“L”
	Direct-connect sensitivity test -- toggle worklight for any code

GotRs4C:

clr	RTO	; Reset the drop-out timer
ld	CodeFlag, #SENS_TEST	; Set the flag to test sensitivity
jp	NoPos

“M”

GotRs4D:

jp

NoPos

	“N”
	If we are within the first 4 seconds and RS232 mode is not yet enabled,
	then echo the nybble on P30 - P33 on all other nybbles
	(A.K.A. The 6800 test)

GotRs4E:

cp

SDISABLE, #32

; If the 4 second init timer

jp	ult, ExitNoTest	; is done, don't do the test
di	; Shut down all other GDO operations
ld	COUNT_HI, #002H	; Set up to loop for 512 iterations,
clr	COUNT_LO	; totaling 13.056 milliseconds
ld	P01M, #00000100b	; Set all possible pins or micro.
ld	P2M, #00000000b	; to outputs for testing
ld	P3M, #00000001b	;
WDT	; Kick the dog

TimingLoop:

clr

REGTEMP

; Create a byte of identical nybbles

ld

REGTEMP2, P3

; from P30 - P33 to write to all ports

and	REGTEMP2, #00001111b	;
or	REGTEMP, REGTEMP2	;
swap	REGTEMP2	;
or	REGTEMP, REGTEMP2	;
ld	P0, REGTEMP	; Echo the nybble to all ports
ld	P2, REGTEMP	;
ld	P3, REGTEMP	;
decw	COUNT	; Loop for 512 iterations
jr	nz, TimingLoop	;
jp	START	; When done, reset the system

	“O”
	Return max, force during travel

GotRs4F:

ld

RS232DAT,P32_MAX_HI

; Return high and low

	cp	RS_COUNTER,#090h	; bytes of max. force read
	jp	ult,MidPos	;

ld

RS232DAT,P32_MAX_LO

;

jp

LastPos

;

	“P”
	Return the measured temperature range

GotRs50:

jr

NoPos

	“Q”
	Return address of last memory matching
	radio code received

GotRs51:

	ld	RS232DAT, RTEMP	; Send back the last matching address
	jr	LastPos	;

	“R”
	Set Rs232 mode -- No ultra board present
	Return Version

GotRs52:

clr

UltraBrd

; Clear flag for ultra board present

SetIntoRs232:

ld	RS232DAT,#VERSIONNUM	; Initially return the version
cp	RsMode,#00	; If this is the first time we're
jr	ugt, LockedInNoCR	l looking RS232, signal it
ld	RS232DAT,#0BBH	; Return a flag for initial RS232 lock

LockedInNoCR:

	ld	RsMode,#32
	jr	LastPos

	“S”
	Set Rs232 mode -- Ultra board present
	Return Version

GotRs53:

jr

NoPos

	“T”
	Range test -- toggle worklight whenever a good memory-matching code
	is received

GotRs54:

clr	RTO	; Reset the drop-out timer
ld	CodeFlag, #RANGETEST	; Set the flag to test sensitivity
jr	NoPos

	“U”
	(No Function)

GotRs55:

jr

NoPos

	“V”
	Return current values of up and down force pots

GotRs56:

ld	RS232DAT,UPFORCE	; Return values of up and down
cp	PS_COUNTER,#090h	; force pots.
jp	ult,MidPos	;
ld	RS232DAT,DNFORCE	;
jr	LastPos

MidPos:

	cr	RS_COUNTER, #10000000B	; Set the output mode
	inc	RS_COUNTER	; Transmit the next byte

jr

RSDone

; exit

LastPos:

	ld	RS_COUNTER, #11110000B	; set the start flag for last byte
	ld	rscommand,#0FFH	; Clear the command

jr

RSDone

; Exit

ExitNoTest:

NoPos:

	clr	RS_COUNTER	; Wait for input again
	ld	rscommand,#0FFH	; turn off command

RSDone:

ld	RsMode,#32	;
ld	STATUS, #RSSTATUS	; Set the wall control to RS232
or	P3, #CHARGE_SW	; Turn on the pull-ups

	and	P3, #˜DIS_SW	;
	ret

Radio interrupt from a edge of the radio signal

RADIO_INT:

	push	RP	; save the radio pair
	srp	#RadioGroup	; set the register pointer

ld

rtemph,T0EXT

; read the upper byte

ld	rtemp1,T0	; read the lower byte
tm	IRQ,#00010000B	; test for pending int
jr	z,RTIMEOK	; if not then ok time

tm

rtemp1,#10000000B

; test for timer reload

jr

z,RTIMEOK

; if not reloaded then ok

dec

rtemph

; if reloaded then dec high for sync

RTIMEOK:

clr	R_DEAD_TIME	; clear the dead time
.IF	TwoThirtyThree
and	IMR,#11111110B	; turn off the radio interrupt
.ELSE
and	IMR,#11111100B	; Turn off the radio interrupt
.ENDIF
ld	RTimeDH,PTimePH	; find the difference
ld	RTimeDL,RTimePL	;
sub	RTimeDL,rtemp1	;
sbc	RTimeDH,rtemph	; in past time and the past time in temp

RTIMEDONE:

	tm	P3,#00000100B	; test the port for the edge
	jr	nz,ACTIVETIME	; if it was the active time then branch

INACTIVETIME:

cp

RINFILTER,#0FFH

; test for active last time

jr

z,GOINACTIVE

; if so continue

jp

RADIO_EXIT

; if not the return

GOINACTIVE:

.IF	TwoThirtyThree
or	IRQ,#01000000B	; set the bit setting direction to pos edge
.ENDIF
clr	RINFILTER	; set flag to inactive
ld	rtimeih,RTimeDH	; transfer difference to inactive
ld	rtimeil,RTimeDL	;
ld	RTimePH,rtemph	; transfer temp into the past
ld	RTimePL,rtempl	;

CP

radioc,#01H

;inactive time after sync bit

JP

Z,RADIO_EXIT

;exit if it was not sync

TM

RadioMode, #ROLL_MASK

;If in fixed mode,

	JR	z, FixedBlank	;no number counter exists
	CP	rtimeih,#0AH	;s.56ms for rolling code mode

JP

ULT,RADIO_EXIT

;pulse ok exit as normal

CLR

radioc

;if pulse is longer, bogus sync, restart sync search

jp

RADIO_EXIT

; return

FixedBlank:

CP

rtimeih,#014H

; test for the max width 5.16ms

JP

ULT,RADIO_EXIT

;pulse ok exit as normal

CLR

radioc

;if pulse is longer, bogus sync, restart sync search

jp

RADIO_EXIT

; return

ACTIVETIME:

cp	RINFILTER,#00H	; test for active last time
jr	z,GOACTIVE	; if so continue
jr	RADIO_EXIT	; if not the return

GOACTIVE:

.IF	TwoThirtyThree
and	IRQ,#00111111B	; clear bit setting direction to neg edge
.ENDIF
ld	RINFILTER,#0FFH	;
ld	rtimeah,RTimeDH	; transfer difference to active
ld	rtimeal,RTimeDL	;
ld	RTimePH,rtemph	; transfer temp into the past
ld	RTimePL,rtempl	;

GotBothEdges:

ei		; enable the interrupts
cp	radioc,#1	; test for the blank timing
jp	ugt,INSIG	; if not then in the middle of signal

.IF UseSiminor

JP

z, CheckSiminor

; Test for a Siminor tx on the first bit

.ENDIF

inc

radioc

; set the counter to the next number

TM	RFlag,#001000000B	;Has a valid blank time occured
JR	NZ,BlankSkip
cp	RadioTimeOut,#10	; test for the min 10 ms blank time

jr

ult,ClearJump

; if not then clear the radio

OP

RFlag,#00100000B

;blank time valid! no need to check

BlankSkip:

cp

rtimeah,#00h

; test first the min sync

pr

z,JustNoise

; if high byte 0 then clear the radio

SyncOk:

TM

RadioMode,#ROLL_MASK

;checking sync pulse with,fix or Roll

JR	z,Fixedsync
CP	rtimeah,#09h	;time for roll 1/2 fixed, 2.3ms
JR	uge,JustNoise
JR	SET1

Fixedsync:	cp	rtimeah,#012h	; test of the max time 4.6mS
jr	uge,JustNoise	; if not clear

SET1:

clr

PREVFIX

;Clear the previous “fixed” bit

cp

rtimeah, SyncThresh

; test for 1 or three time units

jr

uge,SYNC3FLAG

; set the sync 3 flag

SYNCLFLAG:

tm

RFlag, #01000000b

;Was a sync 1 word the last received?

jr

z, SETADCODE

; if not, then this is an A (or D code

SETBCCODE:

ld	radio3h, radio1h	;Store the last sync 1 word
ld	radio31, radio11
or	RFlag, #00000110b	;Set the B/C Code flags
and	RFlag, #11110111b	;Clear the A/D Code Flag
jr	BCCODE

JustNoise:

	CLR	radioc	;Edge was noise keep waiting for sync bit
	JP	RADIO_EXIT

SETADCODE:

or

RFlag, #00001000b

BCCODE:

or	RFlag,#01000000b	; set the sync 1 memory flag
clr	radio1h	; clear the memory
clr	radio11	;
clr	COUNT1H	; clear the memory
clr	COUNT1L	;
jr	DONESET1	; do the 2X

SYNC3FLAG:

and	RFlag,#10111111b	; set the sync 3 memory flag
clr	radio3h	; clear the memory
clr	radio3l	;
clr	COUNT3H	; clear the memory
clr	COUNT3L	;
clr	ID_B	; Clear the ID bits

DONESET1:

RADIO_EXIT:

and	SKIPRADIO, # LOW:˜NOINT)	;Re-enable radio ints
pop	rp
iret	; done return

ClearJump:

or

P2,#10000000b

; turn of the flag bit for clear radio

jp

ClearRadio

; clear the radio signal

.IF

UseSiminor

SimRadio:

tm

rtimeah, #10000000b

; Test for inactive greater than active

jr

nz, SimBitZero

; If so, binary zero received

SimBitOne:

	scf		; Set the bit
	jr	RotateInBit	;

SimBitZero:

rcf

RotateInBit:

rrc	CodeT0	; Shift the new bit into the
rrc	CodeT1	; radio word
rrc	CodeT2	;
rrc	CodeT3	;
rrc	CodeT4	;
rrc	CodeT5	;
inc	radioc	; increase the counter
cp	radioc, # 49 - 129	; Test for all 48 bits received

jp	ugt, CLEARRADIO	;
jp	z, KnowSimCode	;
jp	RADIO_EXIT	;

CheckSiminor:

	tm	RadioMode, #ROLL_MASK	; If not in a rolling mode,
	jr	z, INSIG	; then it can't be a Siminor transmitter

cp

RadioTimeOut, #35

; If the blank time is linger than 35 ms,

jr

ugt, INSIG

; then it can't be a Siminor unit

or

RadioC, #10000000b

; Set the flag for a Siminor signal

clr

ID_B

; No ID bits for Siminor

.ENDIF

INSIG:

AND

RFlag,#11011111B

;clear blank time good flag

cp	rtimeih,#014H	; test for the max width 5.16
jr	uge,ClearJump	; if too wide clear
cp	rtimeih,#00h	; test for the min width

jr

z,ClearJump

; if high byte is zero, pulse too narrow

ISigOk:

cp	rtimeah,#014H	; test for the max width
jr	uge,ClearJump	; if too wide clear
cp	rtimeah,#00h	; if greater then 0 then signal ok

jr

z,ClearJump

; if too narrow clear

ASigOk:

	sub	rtimeal,rtimeil	; find the difference
	sbc	rtimeah,rtimeih

.IF

UseSiminor

	tm	RadioC, #10000000b	; If this is a Siminor code,
	jr	nz, SimRadio	; then handle it appropriately

.ENDIF

tm

rtimeah,#10000000b

; find out if neg

	jr	nz,NEGDIFF2	; use 1 for ABC or D
	jr	POSDIFF2

POSDIFF2:

cp

rtimeah, BitThresh

; test for 3/2

	jr	ult,BITIS2	; mark as a 2
	jr	BITIS3

NEGDIFF2:

com

rtimeah

; invert

cp	rtimeah, BitThresh	; test for 2/1
jr	ult,BIT2COMP	; mark as a 2
jr	BITIS1

BITIS3:

	ld	RADIOBIT,#2h	; set the value
	jr	GOTRADBIT

BIT2COMP:

com

rtimeah

; invert

BITIS2:

	ld	RADIOBIT,#1h	; set the value
	jr	GOTRADBIT

BITIS1:

com

rtimeah

; invert

ld

RADIOBIT, #0h

; set the value

GOTRADBIT:

clr	rtimeah	; clear the time
clr	rtimeal
clr	rtimeih
clr	rtimeil
ei		; enable interrupts --REDUNDANT

ADDRADBIT:

SetRpToRadio2Group

;Macro for assembler error

srp

#Radio2Group

; -- this is what it does

	tr	rflag,#01000000b	; test for radio 1 / 3
	jr	nz,ROLING	;

RC3INC:

tm	RadioMode, #ROLL_MASK	;If in fixed mode,
jr	z, Radio3F	; no number counter exists
tm	RadioC,#00000001b	; test for even odd number

jr

nz,COUNT3INC

; if EVEN number counter

Radio3INC:

; else radio

call	GETTRUEFIX	;Get the true fixed bit
cp	RadioC,#14	; test the radio coutner for the specials
jr	uge,SPECIAL_BITS	; save the special bits seperate

Radio3R:

Radio3F:

srp	#RadioGroup
di		; Disable interrupts to avoid pointer collision
ld	pointerh,#Radio3H	; get the pointer
ld	pointerl,#Radio3L	;
jr	AddAll

SPECIAL_BITS:

cp	RadioC,#20	; test for the switch id
jr	z,SWITCHID	; if so then branch
ld	RTempH,id_b	; save the special bit
add	id_b,RTempH	; *3
add	id_b,RTempH	; *3

	add	id_b,radiobit	; add in the new value
	jr	Radio3R

SWITCHID:

cp

id_b,#18

; If this was a touch code,

jr	uge, Radio3R	; then we already have the ID bit
ld	sw_b,radiobit	; save the switch ID
jr	Radio3R

RC1INC:

tm	RadioMode, #ROLL_MASK	;If in fixed mode, no number counter
jr	z, Radio1F
tm	RadioC,#00000001b	; test for even odd number

jr

nz,COUNT1INC

; if odd number counter

Radio1INC:

; else radio

call	GETRUEFIX	;Get the real fixed code
cp	RadioC, #02	;If this is bit 1 of the 1ms code,
jr	nz, Radio1F	;then see if we need the switch ID bit
tm	rflag, #00010000b	;If this is the first word received,

jr

z, SwitchBit1

;then save the switch bit regardless

cp

id_b, #16

;If we have a touch code,

jr

ult, Radio1F

;then this is our switch ID bit

SwitchBit1:

ld

sw_b, radiobit

;Save touch code ID bit

Radio1F:

srp	#RadioGroup
di		; Disable interrupts to avoid pinter collision
ld	pinterh,#Radio1H	; get the pointer
ld	pointer1,#Radio1L	;
jr	AddAll

GETTRUEFIX:

	; Chamberlain proprietary fixed code
	; bit decryption algorithm goes here
	ret

COUNT3INC:

ld	rollbit, radiobit	;Store the rolling bit
srp	#RadioGroup
di		; Disable interrupts to avoid pinter collision
ld	pointerh,#COUNT3H	; get the pointer
ld	pointer1,#COUNT3L	;
jr	AddAll

COUNT1INC:

ld	rollbit, radiobit	;Store the rolling bit
srp	#RadioGroup
di	; Disable interrupts to avoid pointer collision
ld	pointerh,#COUNT1H	; get the pointers
ld	pointer1,#COUNT1L	;
jr	AddAll

AddAll:

ld	addvalueh,@pointerh	; get the value
ld	addvaluel,@pointerl	;
add	addvaluel,@pointerl	; addx2
adc	addvalueh,@pointerh	;
add	addvaluel,@pointerl	; add x3
adc	addvalueh,@pointerh,	;
add	addvalue1,RADIOBIT	; add in new number

adc

addvalueh,#00h

;

	ld	@pointerh,addvalueh	; save the value
	ld	@pointerl,addvaluel	;

ei

; Re-enable interrupts

ALLADDED:

inc

radioc

; increase the counter

FULLWORD?:

	cp	radioo, MaxBits	; test for full (10/20 bit) word
	jp	nz,RRETURN	; if not then return

;;;;;Disable interrupts until word is handled

or	SKIPRADIO, #NOINT	; Set the flag to disable radio interrupts
.IF	TwoThirtyThree
nad	IMR,#11111110B	; turn off the radio interrupt

.ELSE

and

IMR,#11111100B

; Turn off the radio interrupt

.ENDIF

clr

RadioTimeOut

; Reset the blank time

cp	RADIOBIT, #00H	; If the last bit is zero,
jp	z, ISCCODE	; then the code is the obsolete C code
and	RFlag,#11111101B	; Last digit isn't zero, clear B code flag

ISCCODE:

	tm	RFlag,#00010000B	; test flag for previous word receiverd
	jr	nz,KNOWCODE	; If the second word received

FIRST20:

or

RFlag,#00010000B

; set the flag

clr

radioo

; clear the radio counter

jp

RRETURN

; return

.IF UseSiminor

KnowSimCode:

; Siminor proprietary rolling code decryption algorithm goes here

ld	radiolh, #0FFH	; Set the code to be incompatible with
clr	MirrorA	; the Chamberlain rolling code
clr	MirrorB	;
jp	CounterCorrected	;

.ENDIF

KNOWCODE:

tm

RadioMode, #ROLL_MASK

;If not in rolling mode,

jr

z, CounterCorrected

; forget the number counter

; Chamberlain proprietary counter decryption algorithm goes here

CounterCorrected:

	srp	#RadioGroup	;
	clr	RRTO	; clear the got a radio flag

	tm	SKIPRADIO,#NOEECOMM	; test for the skip flag
	jp	nz,CLEARRADIO	; if skip flag is active then donot look at EE mem

cp

ID_B, #18

;If the ID bits total more than 18,

jr

ult, NoTCode

;

or

RFlag, #00000100b

;then indicate a touch code

NoTCode:

ld	ADDRESS,#VACATIONADDR	; set the non vol address to the VAC flag
call	READMEMORY	; read the value
ld	VACFLAG,MTEMPH	; save into volital

cp

CodeFlag,#REGLEARN

; test for in learn mode

jp

nz,TESTCODE

; if out of learn mode then test for matching

STORECODE:

tm

RadioMode, #ROLL_MASK

;If we are in fixed mode,

jr

z, FixedOnly

;then don't compare the counters

CompareCounters:

cp

PCounterA, MirrorA

; Test for counter match to previous

jp

nz, STORENOTMATCH

; if no match, try again

cp

PCounterB, MirrorB

; Test for counter match to previous

jp

nz, STORENOTMATCH

; if no match, try again

cp

PCounterC, MirrorC

; Test for counter match to previous

jp

nz, STORENOTMATCH

; if no match, try again

cp

PCounterD, MirrorD

; Test for counter match to previous

jp

nz, STORENOTMATCH

; if no match, try again

FixedOnly:

cp	PRADIO1H,radiolh	; test for the match
jp	nz,STORENOTMATCH	; if not a match then loop again
cp	PRADIO1Lradioll	; test for the match
jp	nz,STORENOTMATCH	; if not a match then loop again
cp	PRADIO3H,radio3h	; test for the match
jp	nz,STORENOTMATCH	; if not a match then loop again
cp	PRADIO3L,radio3l	; test for the match
jp	nz,STORENOTMATCH	; if not a match then loop again
cp	AUXLEARNSW, #116	; If learn was not from wall control,

jr

ugt, CMDONLY

; then learn a command only

CmdNotOpen:

	tm	CMD_DEB, #10000000b	; If the command switch is held,
	jr	nz, CmdOrOOS	; then we are learning command or o/c/s

CheckLight:

	tm	LIGHT_DEB, #10000000b	; If the light switch and the lock
	jp	z, CLEARRADIO2	; switch are being held,

tm

VAC_DEB, #10000000b

; then learn a light trans.

jp

z, CLEARRADIO2

;

LearningLight:

	tm	RadioMode, #ROLL_MASK	; Only learn a light trans. if we are in
	jr	z, CMDONLY	; the rolling mode.

ld	CodeFlag, #LRNLIGHT	;
ld	BitMask, #01010101b	;
jr	CMDONLY

CmdOrOCS:

	tm	LIGHT_DEB, #10100000b	; If the light switch isn't being held,
	jr	nz, CMDONLY	; then see if we are learning o/c/s

CheckOCS:

tm

VAC_DEB, #10000000b

; If the vacation switch isn't held,

jp	z, CLEARRADIO222	; then it must be a normal command
tm	RadioMode, #ROLL_MASK	; Only learn an o/c/s if we are in
jr	z, CMDONLY	; the rolling mode.

tm

RadioC, #10000000b

; If the bit for siminor is et,

jr	nz, CMDONLY	; then don't learn as an o/c/s Tx
ld	CodeFlag, #LRNOCS	; Set flag to learn o/c/s
ld	BitMask, #10101010b	;

CMDONLY:

	call	TESTCODES	; test the code to see if in memory now
	cp	ADDRESS, #0FFh	; If the code isn't in memory

jr

z, STOREMATCH

;

WriteOverOCS:

dec

ADDRESS

;

jp

READYTOWRITE

;

STOREMATCH:

cp

RadioMode, #ROLL_TEST

; If we are not testing a new mode,

	jr	ugt, SameRadioMode	; then don't switch
	ld	ADDRESS, #MODEADDR	; Fetch the old radio mode,

	call	READMEMORY	; change only the low order
	tm	RadioMode, #ROLL_MASK	; byte, andd write in its new value.

jr

nz, SetAsRoll

;

SetAsFixed:

ld	RadioMode, #FIXED_MODE	;
call	FixedNums	; Set the fixed thresholds permanetly
jr	WriteMode

SetAsRoll:

	ld	RadioMode, #ROLL_MODE	;
	call	RollNums	; Set the rolling thresholds permanently

WriteMode:

	ld	MTEMPL, RadioMode	;
	call	WRITEMEMORY	;

SameRadioMode:

tm	RFlag, #00000010B	; If the flag for the C code is set,
jp	nz, CCODE	; then set the C Code address
tm	RFlag,#00100100B	; test for the b code
jr	nz,BCODE	; if a B code jump

ACODE:

ld

ADDRESS,#2BH

; set the address to read the last written

call

READMEMORY

; read the memory

	inc	MTEMPH	; add 2 to the last written
	inc	MTEMPH	;

	tr	RadioMode, #ROLL_MASK	; If the radio is in fixed mode,
	jr	z, FixedMem	; then handle the fixed mode memory

RollMem:

inc

MTEMPH

; Add another 2 to the last written

inc	MTEMPH
and	MTEMPH,#11111100B	; Set to a multiple of four
cp	MTEMPH,#1FH	; test for the last address
jr	ult, GOTAADDRESS	; If not the last address jump
jr	AddressZero	; Address is now zero

FixedMem:

and	MTEMPH,#11111110B	; set the address on a even number
cp	MTEMPH,#17H	; test for the last address
jr	ult,GOTAADDRESS	; if not the last address jump

AddressZero:

ld

MTEMPH,#00

; set the address to 0

GOTAADDRESS:

ld	ADDRESS,#2BH	; set the address to write the last written
ld	RTemp,MTEMPH	; save the address
LD	MTEMPL,MTEMPH	; both bytes same

call

WRITEMEMORY

; write it

	ld	ADDRESS,rtemp	; set the address
	jr	READYTOWRITE	;

CCODE:

tm	RadioMode, #ROLL_MASK	; If in rolling code mode,
jp	nz, CLEARRADIO	; then HOW DID WE GET A C CODE?
ld	ADDRESS, #01AH	; Set the C code address

jr

READYTOWRITE

; Store the C code

BCODE:

	tm	RadioMode, #ROLL_MASK	; If in fixed mode,
	jr	z, BFixed	; handle normal touch code

BRoll:

cp

SW_B, #ENTER

; If the user is trying to learn a key

jp

nz, CLEARRADIO

; other than enter, THROW IT OUT

	ld	ADDRESS, #20H	; Set the address for the rolling touch code
	jr	READYTOWRITE

BFixed:

cp

radio3h,#90H

; test for the 00 code

jr

nz,BCODEOK

;

cp

radio3l,#29H

; test for the 00 code

	jr	nz,BCODEOK	;
	jp	CLEARRADIO	; SKIP MAGIC NUMBER

BCODEOK:

ld

ADDRESS,#18H

; set the address for the B code

READYTOWRITE:

call

WRITECODE

; write the code in radio1 and radio3

NOFIXSTORE:

tm	RadioMode, #ROLL_MASK	; If we are in fixed mode,
jr	z, NOWRITESTORE	; then we are done
inc	ADDRESS	; point to the counter address
ld	Radio1H, MirrorA	; Store the counter into the radio
ld	Radio1L, MirrorB	; for the writecode	routine
ld	Radio3H, MirrorC	;
ld	Radio3L, MirroD	;
call	WRITECODE
call	SetMask
com	BitMask

ld

ADDRESS, #RTYPEADDR

; Fetch the radio types

call	READMEMORY
tm	RFlag, #10000000b	; Find the proper byte of the type
jr	nz, UpByte

LowByte:

	and	MTEMPL, BitMask	; Wipe out the proper bits
	jr	MaskDone	;

UpByte:

and

MTEMPH, BitMask

;

MaskDone:

com

BitMask

;

	cp	CodeFlag, #LRNLIGHT	; If we are learing a light	jr	z, LearnLight	; set eh appropriate bits
	cp	CodeFlag, #LRNOCS	; If we are learning an o/c/s,

jr

z, LearnOCS

; set the appropriate bits

Normal:

	clr	BitMask	; Set the proper bits as command
	jr	BMReady

LearnLight:

and

BitMask, #01010101b

; Set the proper bits as worklight

jr

BMReady

; Bit mask is ready

LearnOCS:

	cp	SW_B, #02H	; If ‘open’ switch is not being held,
	jp	nz, CLEARRADIO2	; then don't accept the transmitter

and

BitMask,#10101010b

; Set the proper bits as open/close/stop

BMReady:

	tm	RFlag, #10000000b	; Find the proper byte of the type
	jr	nz, UpByt2	;

LowByt2:

	or	MTEMPL, BitMask	; Write the transmitter type in
	jr	MaskDon2	;

UpByt2:

or

MTEMPH, BitMask

; Write the transmitter type in

MaskDon2:

call

WRITEMEMORY

; Store the transmitter types

NOWRITESTORE:

xor	p0,#WORKLIGHT	; toggle light
or	leadport,#ledh	; turn off the LED for program mode
ld	LIGHT1S,#244	; turn on the 1 second blink
ld	LEARNT,#0FFH	; set learnmode timer

clr	RTO	; disallow cmd from learn
clr	CodeFlag	; Clear any learning flags
jp	CLEARRADIO

STORENOTMATCH:

ld	PRADIO1H,radio1h	; transfer radio into past
ld	PRADIO1L,radio1l	;
ld	PRADIO3H,radio3h	;
ld	PRADIO3L,radio3l	;
tm	RadioMode, #ROLL_MASK	; If we are in fixed mode,

jp	z, CLEARRADIO	; get the next code
ld	PCounterA, MirrorA	; transfer counter into past
ld	PCounterB, MirrorB	;
ld	PCounterC, MirrorC	;
ld	PCounterD, MirrorD	;
jp	CLEARRADIO

TESTCODE:

cp	ID_B, #18	; If this was a touch code,
jp	uge, TCReceived	; handle appropriately
tm	RFlag, #00000100b	; If we have received a B code,
jr	z, AorDCode	; then check for the learn mode
cp	ZZWIN, #64	; Test 0000 learn window

jr	ugt, AorDCode	; if out of window no learn
cp	Radio1H, #90H	;
jr	nz, AorDCode	;
cp	Radio1L, #29H	;
jr	nz, AorDCode	;

ZZLearn:

	push	RP
	srp	#LEARNEE_GRP
	call	SETLEARN
	pop	RP
	jp	CLEARRADIO

AorDCode:

cp

L_A_C, #070H

; Test for in learn limits mode

jr	uge, FS1	; If so, don't blink the LED
cp	FAULTFLAG,#0FFH	; test for a active fault
jr	z,FS1	; if a avtive fault skip led set and reset

and

ledport,#ledl

; turn on the LED for flashing from signal

FS1:

call

TESTCODES

; test the codes

cp

+T+L,15 L_A_C, #070H

; Test for in learn limits mode

jr	uge, FS2	; If so, don't blink the LED
cp	FAULTFLAG,#0FFH	; test for a active fault
jr	z,FS2	; if a avtive fault skip led set and reset

cr

ledport,#ledh

; turn off the LED for flashing from signal

FS2:

cp

ADDRESS,#0FFH

; test for the not matching state

	jr	nz,GOTMATCH	; if matching the send a command if needed
	jp	CLEARRADIO	; clear the radio

SimRollCheck:

inc	ADDRESS	; Point to the rolling code
		; (note: High word always zero)
inc	ADDRESS	; Point to rest of the counter
call	READMEMORY	; Fetch lower word of counter
ld	CounterC, MTEMPH	;
ld	CounterD, MTEMPL	;
cp	CodeT2, CounterC	; If the two counters are equal,
jr	nz, UpdateSCode	; then don't activate
cp	CodeT3, Counter D	;
jr	nz, UpdateSCode	;
jp	CLEARRADIO	; Counters equal -- throw it out

UpdateSCode:

ld	MTEMPH, CodeT2	; Always update the counter if the
ld	MTEMPL, CodeT3	; fixed portions match
call	WRITEMEMORY
sub	CodeT3, CounterD	; Compare the two codes
sbc	CodeT2, CounterC	;

tm

CodeT2, #10000000b

; If the result is negative,

jp

nz, CLEARRADIO

; then don't activate

jp

MatchGoodSim

; Match good -- handle normally

GOTMATCH:

tm

RadioMode, #ROLL_MASK

; If we are in fixed mode,

	jr	z, MatchGood2	; then the match is already valid
	tm	RadioC, #10000000b	; If this was a Siminor transmitter,

jr

nz, SimRollCheck

; then test the roll in its own way

	tm	BitMask, #10101010b	; If this was NOT an open/close/stop trans,
	jr	z, RollCheckB	; then we must check the rolling value

	cp	SW_B, #02	; If the o/c/s had a key other than ‘2’
	jr	nz, MatchGoodOCS	; then don't check / update the roll

RollCheckB:

call	TestCounter	; Rolling mode -- compare the counter values
cp	CMP, #EQUAL	; If the code is equal,
jp	z, NOTNEWMATCH	; then just keep it

	cp	CMP, #FWDWIN	; If we are not in forward window,
	jp	nz, CheckPast	; then forget the code

MatchGood:

ld	Radio1H, MirrorA	; Store the coutner into memory
ld	Radio1L, MirrorB	; to keep the roll current
ld	Radio3H, MirrorC	;
ld	Radio3L, MirrorD	;
dec	ADDRESS	; Line up the address for writing
call	WRITECODE

MatchGoodOCS:

MatchGoodSim:

or	RFlag,#00000001B	; set the flag for recieving without error
cp	RTO,#RDPOPTIME	; test for the timer time out
jp	ult,NOTNEWMATCH	; if the timer is active then donor reissure cma

	cp	ADDRESS, #23H	; If the code was the rolling touch code,
	jr	z, MatchGood2	; then we already know the transmitter type

call

SetMask

; Set the mask bits properly

ld

ADDRESS, #RTYPEADDR

; Fetch the transmitter config. bits

call	READMEMORY	;
tm	RFlag, #10000000b	; If we are in the upper word,
jr	nz, Upper D	; check the upper transmitters

LowerD:

	and	BitMask, MTEMPL	; Isolate out transmitter
	jr	TransType	; Check out transmitter type

UpperD:

and

BitMask, MTEMPH

; Isolate our transmitter

TransType:

tm

BitMask, #01010101b

; Test for light transmitter

jr

nz, LightTrans

; Execute light transmitter

	tm	BitMask, #10101010b	; Test for Open/Close/Stop Transmitter
	jr	nz, OCSTrans	; Execute open/close/stop transmitter

; Otherwise, standard command transmitter

MatchGood2:

or	RFlag, #00000001B	; set the flag for recieving without error
cp	RTO,#RDROPTIME	; test fro the timer time out
jp	ult, NOTNEWMATCH	; if the timer is active then donot reissure cmd

TESTVAC:

	cp	VACFLAG,#00B	; test for the vacation mode
	jp	z,TSTSDISABLE	; if not in vacation mode test the system disable

	tm	RadioMode, #ROLL_MASK	;
	jr	z, FixedB

cp

ADDRESS,#23H

; If this was a touch code,

	jp	nz, NOTNEWMATCH	; then do a command
	jp	TSTSDISABLE	;

FixedB:

cp

ADDRESS,#19H

; test for the B code

jp

nz,NOTNEWMATCH

; if not a B not a match

TSTSDISABLE:

cp

SDISABLE,#32

; test for 4 second

jp	ult,NOTNEWMATCH	; if 6 s ot up not a new code
clr	RTO	; clear the radio timeout
cp	ONEP2,#10	; test for the 1.2 second time out
jp	nz,NOTNEWMATCH	; if the timer is active then skip the command

RADIOCOMMAND:

	clr	RTO	; clear the radio timeout	tm	RFlag,#00000100b	; test for a B code
	jr	z,BDONTSET	; if not a b code donot set flag

zzwinclr:

clr

ZZWIN

; flag got matching B code

ld

CodeFlag,#BRECEIVED

; flag for aobs bypass

BDONTSET:

cp

L_A_C, #070H

; If we were positioning the up limit,

jr

ult, NormalRadio

; then start the learn cycle

	jr	z, FirstLearn	;
	cp	L_A_C, #071H	; If we had an error,

jp

nz, CLEARRADIO

; re-learn, otherwise ignore

ReLearning:

ld

L_A_C, #072H

; Set the re-learn state

	call	SET_UP_DIR_STATE	;
	jp	CLEARRADIO	;

FirstLearn:

ld

L_A_C, #073H

; Set the learn state

	call	SET_UP_POS_STATE	; Start from the “up limit”
	jp	CLEARRADIO	;

NormalRadio:

clr	LAST_CMD	; mark the last command as radio
ld	RADIO_CMD,#0AAH	; set the radio command
jp	CLEARRADIO	; return

LightTrans:

clr	RTO	; Clear the radio timeout
cp	ONEP2,#00	; Test for the 1.2 sec. time out
jp	nz, NOTNEWMATCH	; If it isn't timed out, leave

ld

SW_DATA, #LIGHT_SW

; Set a light command

jp

CLEARRADIO

; return

OCSTrans:

cp

SDISABLE, #32

; Test for 4 second system disable

jp

ult, NOTNEWMATCH

; if not done not a new code

cp

VACFLAG, #00H

; If we are in vacation mode,

jp	nz, NOTNEWMATCH	; don't obey the transmitter
clr	RTO	; Clear the radio timeout
cp	ONEP2, #00	; test for the 1.2 second timeout
jp	nz, NOTNEWMATCH	; If the timer is active the skip command
cp	SW_B, #02	; If the open button is pressed,
jr	nz, CloseOrSTop	; then process it

OpenButton:

cp

STATE, #STOP

; If we are stopped of

jr

z, OpenUp

; at the down limit, then

cp

STATE, #DN_POSITION

; begin to move up

jr	z, OpenUp	;
cp	STATE, #DN_DIRECTION	; If we are moving down,
jr	nz, OCSExit	; then autoreverse

ld

REASON, #010H

; Set the reason as radio

	call	SET_ARVE_STATE	;
	jr	OCSExit	;

OpenUp:

ld

REASON, #010H

; Set the reason as radio

call

SET_UP_DIR_STATE

;

OCSExit:

jp

CLEARRADIO

;

CloseOrSTop:

	cp	SW_B, #01	; If the stop button is pressed,
	jr	no, CloseButton	; then process it

StopButton:

cp	STATE, #UP_DIRECTION	; If we are moving or in
jr	z, StopIt	; the autoreverse state,
cp	STATE, #DN_DIRECTION	; then stop the door
jr	z, StopIt	;
cp	STATE, #AUTO_REV	;
jr	z, StopIt
jr	OCSExit

StopIt:

ld	REASON, #010H	; Set the reason as radio
call	SET_STOP_STATE
jr	OCSExit

CloseButton:

cp

STATE, #UP_POSITION

; If we are at the up limit

jr

z, CloseIt

; or stopped in travel,

cp

STATE, #STOP

; then send the door down

	jr	z, CloseIt	;
	jr	OCSExit

CloseIt:

ld	REASON, #010H	; Set the reason as radio
call	SET_DN_DIR_STATE
jr	OCSExit

SetMask:

and

RFlag, #01111111bv

; Reset the page 1 bit

tm

ADDRESS, #11110000b

; If our address is on page 1,

	jr	z, InLowerByte	; then set the proper flag
	or	RFlag, #10000000b	;

InLowerByte:

	tm	ADDRESS, #00001000b	; Binary search to set the
	jr	z, ZeroOrFour	; proper bits in the bit mask

EightOrTwelve:

	ld	BitMask, #11110000b
	jr	LSNybble

ZeroOrFour:

ld

BitMask, #00001111b

;

LSNybble:

	tm	ADDRESS, #00000100b
	jr	z, ZeroOrEight

FourOrTwelve:

	and	BitMask, #11001100b	;
	ret

ZeroOrEight:

	and	BitMask, #00110011b	;
	ret

TESTCODES:

ld

ADDRESS, #RTYPEADDR

; Get the radio types

call

READMEMORY

;

ld

RadioTypes, MTEMPL

;

	ld	RTypes2, MTEMPH	;
	tm	RadioMode, #ROLL_MASK	;

jr

nz, RollCheck

;

	clr	RadioTypes	;
	clr	RTypes2

RollCheck:

clr

ADDRESS

; start address is 0

NEXTCODE:

call

SetMask

; Get the approprite bit mask

and

+T+L,15 BitMask, RadioTypes

; Isolate the current transmitter types

HAVEMASK:

call	READMEMORY	; read the word at this address
cp	MTEMPH, radioln	; test for the match
jr	nz,NOMATCH	; if not matching then do next address
cp	MTEMPL,radioll	; test for the match
jr	nz,NOMATCH	; if not matching then do next address
inc	ADDRESS	; set the second half of the code
call	READMEMORY	; read the word at this address

	tm	BitMask, #10101010b	; If this is an Open/Close/Stop trans.,
	jr	nz/ CheckOCS1	; then do the different check

cp

CodeFlag, #LRNOCS

; If we are in open/clsoe/stop learn mode,

jr

z, CheckOCS1

; then do the different check

cp	MTEMPH,radio3h	; test for the match
jr	nz,NOMATCH2	; if not matching then do the next address
cp	MTEMPL,radio3;	; test for the match
jr	nz,NOMATCH2	; if not matching then do the next address
ret	; return with the address of the match

CheckOCS1:

sub	MTEMPL, radio3l	; Subtract the radio from the memory
sbc	MTEMPH, radio3h	;
cp	CodeFlag, #LRNOCS	; If we are trying to learn open/close/stop,

jr	nz, Positive	; then we must complement to be postitive
com	MTEMPL	;
com	MTEMPH	;

	add	MTEMPL, #1	; Switch from ones complement to 2's
	adc	MTEMPH, #0	; complement

Positive:

cp

MTEMPH, #00

; We must be within 2 to match properly

jr

nz, NOMATCH2

;

cp

MTEMPL, #02

;

jr

ugt, NOMATCH2

;

ret

; Return with the address of the match

NOMATCH:

inc

ADDRESS

; set the address to the next code

NOMATCH2:

	inc	ADDRESS	; set the address to the next code
	tm	RadioMode, #ROLL_MASK	; If we are in fixed mode,

jr

z, AtNextAdd

; then we are at the next address

inc

ADDRESS

; Roll mode -- advance past the counter

	inc	ADDRESS	; Roll mode -- advance past the counter
	inc	ADDRESS	;

cp	ADDRESS, #10H	; If we are on the second page
jr	nz, AtNextAdd	; then get the other tx. types
ld	RadioTypes, RTypes2	;

AtNextAdd:

	cp	ADDRESS,#22H	; test for the last address
	jr	ult,NEXTCODE	; if not the last address then try again

GOTNOMATCH:

ld

ADDRESS,#0FFH

; set the no match flag

ret

; and return

NOTNEWMATCH:

	clr	RTO	; reset the radio time out
	and	RFlag,#00000001B	; clear radio flags leaving recieving w/o error

	clr	radioc	; clear the radio bit counter
	ld	LEARNT,#0FFH	; set the learn timer “turn off” and backup

jp

RADIO_EXIT

; return

CheckPast:

	; Proprietary algorithm for maintaining
	; rolling code counter
	; Jumps to either MatchGood, UpdatePast or CLEARRADIO

UpdatePast:

ld	LastMatch, ADDRESS	; Store the last fixed code received
ld	PCounterA, MirrorA	; Store the last counter received
ld	PCounterB, MirrorB	;
ld	PCounterC, MirrorC	;
ld	PCounterD, MirrorD	;

CLEARRADIO2:

	ld	LEARNT, #0FFH	; Turn off the learn mode timer
	clr	CodeFlag

CLEARRADIO:

	.IF	TwoThirtyThree
	and	IRQ,#00111111B	; clear the bit setting directio to neg edge

.ENDIF

ld

PINFILTER,#0FFH

; set flag to active

CLEARRADIOA:

tm	RFlag,#00000001B	; test for receiving without error
jr	z,SKIPRTO	; if flag not se then donot clear timer
clr	RTO	; clear radio timer

SKIPRTO:

clr

radioc

; clear the radio counter

clr	RFlag	; clear the radio flag
clr	ID_B	; Clear the ID bits
jp	RADIO_EXIT	; return

TCReceived:

cp

L_A_C, #070H

; Test for in learn limits mode

jr	uge, TestTruncate	; If so, don't blink the LED
cp	FAULTFLAG, #0FFH	; If no fault
jr	z, TestTruncate	; turn on the led
and	ledport, #ledl	;

jr

TestTruncate

; Truncate off most significant digit

TruncTC:

	sub	RadiolL, #0E3h	; Subtract out 3^ 9 to truncate
	sbc	RadiolH, #04Ch	;

TestTruncate:

cp

RadiolH, #04Ch

; If we are greater than 3^ 9,

jr

ugt, TruncT0

; truncate down

	jr	ult, GotT0	;
	cp	Radio1L, #0E3h	;

jr

uge, TruncT0

;

GotTC:

	ld	ADDRESS, #TOUCHID	; Check to make sure the ID code is good
	call	READMEMORY	;

	cp	L_A_C, #070H	; Test for in learn limits mode
	jr	uge, CheckID	; If so, don't blink the LED

cp	FAULTFLAG, #0FFH	; If no fault,
jr	z, CheckID	; turn off the LED
or	ledport, #ledh	;

CheckID:

cp	MTEMPH, Radio3H	;
jr	nz, CLEARRADIO	;
cp	MTEMPL, Radio3L	;
jr	nz, CLEARRADIO	;
call	TestCounter	; Test the rolling code counter
cp	CMP, #EQUAL	; If the counter is equal,
jp	z, NOTNEWMATCH	; then call it the same code

cp

CMP, #FWDWIN

;

jr

nz, CLEARRADIO

;

; Counter good -- update it

ld	COUNT1H, Radiolh	; Back up radio code
ld	COUNT1L, RadiolL	;
ld	RadioH, MirrorA	;Write the counter
ld	RadioL, MirrorB	;
ld	Radio3H, MirrorC	;
ld	Radio3L, MirrorD	;
dec	ADDRESS
call	WRITECODE
ld	Radio1H, COUNT1H	; Restore the radio code
ld	Radio1L, COUNT1L	;
cp	CodeFlag, #NORMAL	; Find and jump to current mode
jr	z, NormT0	;

cp

CodeFlag, #LRNTEMP

;

jp

z, LearnTMP

;

cp

CodeFlag, #LPNDUPIN

;

	jp	z, LearnDur	;
	jp	CLEARRADIO	;

NormTC:

ld

ADDRESS, #TOUCHPERM

; Compare the four-digit touch

call	READMEMORY	; code to our permanent password
cp	Radio1H, MTEMPH	;
jr	nz, CheckTCTemp	;
cp	Radio1L, MTEMPL	;
jr	nz, CheckTCTemp	;

cp

SW_B, #ENTER

; If the ENTER key was pressed,

jp

z, RADIOCOMMAND

; issue a B code radio command

cp

SW_B, #POUND

; If the user pressed the pound key,

jr

z, TCLearn

; enter the learn mode

; Star key pressed -- start 30 s timer

	clr	LEARNT	;
	ld	FLASH COUNTER, #06h	; Blink the worklight three

	ld	FLASH_DELAY, #FLASH_TIME	; times quickly
	ld	FLASH_FLAG, #0FFH	;

ld

CodeFlag, #LRNTEMP

; Enter learn temporary mode

jp

CLEARRADIO

;

TCLearn:

ld

FLASH_COUNTER, #04h

; Blink the worklight two

ld	FLASH_DELAY, #FLASH TIME	; times quickly
ld	FLASH FLAG, #0FFH	;
push	RP	; Enter learn mode
srp	#LEARNEE_GRP
call	SETLEARN
pop	RP
jp	CLEARADIO

CheckTCTemp:

ld

ADDRESS, #TOUCHTEMP

; Compare the four-digit touch

call	READMEMORY	; code to our temporary password
cp	Radio1H, MTEMPH	;
jp	nz, CLEARRADIO	;
cp	Radio1L, MTEMPL	;
jp	nz, CLEARRADIO	;

cp

STATE, #DN_POSITION

; If we are not at the down limit,

jp	nz, RADIOCOMMAND	; issue a command regardless
ld	ADDRESS, #DUPAT	; If the duration is at zero,
call	READMEMORY	; then don't issue a command
cp	MTEMPL, #00	;

jp

z, CLEARRADIO

;

	cp	MTEMPH, #ACTIVATIONS	; If we are in number of activations
	jp	nz, RADIOCOMMAND	; mode, then decrement the

dec

MTEMPL

; number of activations left

	call	WRITEMEMORY	;
	jp	RADIOCOMMAND

LearnTMP:

cp

SW_B, #ENTER

; If the user pressed a key other

jp

nz, CLEARRADIO

; then enter, reject the code

ld

ADDRESS, #TOUCHPERM

; If the code entered matches the

	call	READMEMORY	; permanent touch code,
	cp	Radio1H, MTEMPH	; then reject the code as a

jp

nz, TempGood

; temporary code

cp

Radio1L, MTEMPL

;

jp

z, CLEARRADIO

;

TempGood:

ld

ADDRESS, #TOUCHTEMP

; Write the code into temp.

ld	MTEMPH, Radio1H	; code memory
ld	MTEMPL, Radio1L	;
call	WRITEMEMORY	;

ld

FLASH COUNTER, #08h

; Blink the worklight four

	ld	FLASH_DELAY, #FLASH_TIME	; times quickly
	ld	FLASH_FLAG, #0FFH	;

; Start 30 s timer

clr	LEARNT
ld	CodeFlag, #LRNDURTN	; Enter learn duration mode
jp	CLEARRADIO	;

LearnDur:

cp

Radio1H, #00

; If the duration was > 255,

jp

nz, CLEARRADIO

; reject the duration entered

cp

SW_B, #POUND

; If the user pressed the pound

jr	z, NumDuration	; key, number of activations mode
cp	SW_B, #STAR	; If the star key was pressed,
jr	z, HoursDur	; enter the timer mode
jp	CLEARRADIO	; Enter pressed -- reject code

NumDuration:

	ld	MTEMPH, #ACTIVATIONS	; Flag number of activations mode
	jr	DurationIn	;

HoursDur:

ld

MTEMPH, #HOURS

; Flag number of hours mode

DurationIn:

ld	MTEMPL, Radio1l	; Load on duration
ld	ADDRESS, #DURAT	; Write duration and mode
call	WRITEMEMORY	; into nonvolatile memory

; Give worklight one long blink

xcr

P0, #WORKLIGHT

; Give the light one blink

ld

LIGHTS, #244

; Lasting one second

	clr	CodeFlag	; Clear the learn flag
	jp	CLEARRADIO

	Test Rolling Code Counter Subroutine
	Note: CounterA-D will be used as temp registers

TestCounter:

push	RP
srp	#CounterGroup
inc	ADDRESS	Point to the rolling code counter
call	READMEMORY	; Fetch lower word of counter
ld	countera, MTEMPH
ld	counterb, MTEMPL
inc	ADDRESS	; Point to rest of the counter
call	READMEMORY	; Fetch upper word of counter
ld	countero, MTEMPH
ld	countera, MTEMPL

	Subtract old counter (countera-d) from current
	counter (mirrora-d) and store in countera-d

com	countera	; Obtain twos complement of counter
com	counterb
com	counterc
com	counterd
add	counterd, #01H
adc	counterc, #00H
adc	counterb, #00H
adc	countera, #00H
add	counterd, mirrord	; Subtract
adc	counterc, mirrorc
adc	counterb, mirrorb
adc	countera, mirrora

	If the msb of counterd is negative, check to see
	if we are inside the negative window

	tm	counterd, #10000000B
	jr	z, ChecckFwdWin

CheckBackWin:

cp	countera, #0FFH	; Check to see if we are
jr	nz, OutOfWindow	; less than −0400H
cp	counterb, #0FFH	; (i.e. are we greater than
jr	nz, OutOfWindow	; 0xFFFFFC00H
cp	counterd, #0FCH	;
jr	ult, OutOfWindow	;

InBacKWin:

	ld	CMP, #BACKWN	; Return in back window
	jr	CompDone

CheckFwdWin:

cp	countera, #00H	; Check to see if we are less
jr	nz, Out Of Window	; than 0O00 32″1 = 1024
cp	counterb, #00h	; activations
jr	nz, OutOf Window	;
cp	counterd, #0CH	;
jr	uge, OufOfWindow
cp	counterd, #00H
jr	nz, InFwdWin
cp	counterd, #00H
jr	nz, InFwdwin

CountersEqual:

	ld	CMP, #EQUAL	;Return equal counters
	jr	CompDone

InFwdWin:

	ld	CMP, #FWDWN	;Return in forward window
	jr	CompDone

OutOfWindow

ld

CMP, #OUTOFWIN

;Return out of any window

CompDone:

	pop	RP
	ret

Clear interrupt

ClearRadio:

cp

RadioMode, #ROLL_TEST

;If in fixed or rolling mode,

	jr	ugt, MODEDONE	; then we cannot switch
	tm	T125MS, #00000001b	; If our ‘coin toss’ was a zero,

jr

z, SETROLL

; set as the rolling mode

SETFIXED:

	ld	RadioMode, #FIXED_TEST
	call	FixedNums
	jp	MODEDONE

SETROLL:

	ld	RadioMode, ROLL_TEST
	call	RollNums

MODEDONE:

	clr	RadioTimeOut	; clear radio timer
	clr	RadioC	; clear the radio counter

clr

RFlag

; clear the radio flags

RRETURN:

	pop	RP	; reset the RP
	iret	; return

FixedNums:

	ld	BitThresn, #FIXTHH
	ld	SyncThresh, #FIXSYNC
	ld	MaxBits, #FIXBITS
	ret

RollNums:

	ld	BitThresh, #DTHP
	ld	SyncThresh, #DSYNC
	ld	MaxBits, #DBITS
	ret

rotate mirror LoopCount * 2 then add

RotateMirrorAdd:

rcf

; clear the carry

rlc	mirrord	;
rlc	mirrorc	;
rlc	mirrorb	;
rlc	mirrora	;

djnz

loopcount,RotateMirrorAdd

; loop till done

Add mirror to counter

AddMirrorToCounter:

add	counterd,mirrord	;
adc	counterc,mirrorc	;
adc	counterb,mirrorb	;
adc	countera,mirrora	;
ret

	LEARN DEBOUNCES THE LEARN SWITCH 80mS
	TIMES OUT THE LEARN MODE 30 SECONDS
	DEBOUNCES THE LEARN SWITCH FOR ERASE 6 SECONDS

LEARN:

	srp	#LEARNEE_GRP	; set the register pointer
	cp	STATE, *DN_POSITION	; test for motor stoped

jr	z,TESTLEARN	;
cp	STATE, #UP_POSITION	; test for motor stoped
jr	z,TESTLEARN	;
cp	STATE,#STOP	; test for motor stoped
jr	z,TESTLEARN	;
cp	L_A_C,#074H	; Test for traveling
jr	z,TESTLEARN	;
ld	learnt,#0FFH	; set the learn timer
cp	learnt,#240	; test for the learn 30 second timeout

jr

nz,ERASETEST

; if not then test erase

jr

learnoff

; if 30 seconds then turn off the learn mode

TESTLEARN:

	cp	learndb,#236	; test for the debounced release
	jr	nz,LEARNNOTRELEASED	; if debouncer not released then jump

LEARNRELEASED:

SmartRelease:

	cp	L_A_C, #070H	; Test for in learn limits mode
	jr	nz, NormLearnBreak	; If not, treat the break as normal

	ld	REASON, #00H	; Set the reason as command
	call	SET_STOP_STATE	;

NormLearnBreak:

clr

LEARNDB

; clear the debouncer

ret

; return

LEARNNOTRELEASED:

cp	CodeFlag,#LRNTEMP	;test for learn mode
jr	uge,INLEARN	; if in learn jump
cp	learndb,#20	; test for debounce period

jr

nz,ERASETEST

; if not then test the erase period

SETLEARN:

call

SmartSet

;

ERASETEST:

cp

LA_C, #070H

; Test for in learn limits mode

jr

uge,ERASERELEASE

; If so, DON'T ERASE THE MEMORY

cp

learndb,#0FFH

; test for learn button active

jr	nz,ERASERELEASE	; if button released set the erase timer
cp	eraset,#0FFH	; test for timer active
jr	nz,ERASETIMING	; if the timer active jump
clr	eraset	; clear the erase timer

ERASETIMING:

cp	eraset,#48	; test for the erase period
jr	z,ERASETIME	; if timed out the erase
ret	; else we return

ERASETIME:

	or	ledport,#ledh	; turn off the led
	ld	Skipradio,#NOEECOMM	; set the flag to skip the radio read

call	CLEARCODES	; clear all codes in memory
clr	skipradio	; reset the flag to skip radio
ld	learnt,#0FFH	; set the learn timer
clr	CodeFlag
ret	; return

SmartSet:

cp	L_A_C, #070H	; Test for in learn limits mode
jr	nz, NormLearnMake1	; If not, treat normally
ld	REASON, #00H	; Set the reason as command

call

SET_DN_NOBLINK

;

jr

LearnMakeDone

;

NormlearnMake1:

cp	L_A_C, #074H	; Test for traveling down
jr	nz, NormLearnMake2	; If not, treat normally
ld	L_A_C, #075H	; Reverse off false floor
ld	REASON, #00H	; Set the reason as command

call

SET_AREV_STATE

;

jr

LearnMakeDone

;

NormLearnMake2:

	clr	LEARNT	; clear the learn timer
	ld	CodeFlag, #REGLEARN	; Set the learn flag

and

ledport,#ledl

; turn on the led

clr

VACFLAG

; clear vacation mode

ld

ADDRESS,#VACATIONADDR

; set the non vol address for vacation

	clr	MTEMPH	; clear the data for cleared vacation
	clr	MTEMPL	;

ld

SKIPRADIO,#NOEECOMM

; set the flag

call

WRITEMEMORY

; write the memory

clr

SKIPRADIO

; clear the flag

LearnMakeDone:

	ld	LEARNDB,#0FFH	; set the debouncer
	ret

ERASERELEASE:

	ld	eraset,#0FFH	; turn off the erase timer
	cp	learndb,#236	; test for the debounced release

jr

z,LEARNRELEASE:

; if debouncer not released then jump

ret

; return

INLEARN:

	cp	learndb,#20	; test for the debounce period
	jr	nz,TESTLEARNTIMER	; if not then test the learn timer for.time 0ut

ld

learnd,#0FFH

; set the learn db

TESTLEARNTIMER:

cp

learnt,#240

; test for the learn 30 second timeout

jr

nz, ERASETEST

; if not then test erase

learnoff:

or

ledport,#ledh

; turn off the led

ld

learnt,#0FFh

; set the learn timer

ld

learndb,#0FFH

; set the learn debounce

	clr	CodeFlag	; Clear ANY code types
	jr	ERASETEST	; test the erase timer

	WRITE WORD TO MEMORY
	ADDRESS IS SET IN REG ADDRESS
	DATA IS IN REG MTEMPH AND MTEMPL
	RETURN ADDRESS IS UNCHANGED

WRITEMEMORY:

push

RP

; SAVE THE RP

srp

#LEARNEE_GRP

; set the register pointer

call	STARTB	; output the start bit
ld	serial,#11110000B	; set byte to enable write
call	SERIALOUT	; output the byte

and

csport,#osl

; reset the chip select

call

STARTB

; output the start bit

ld

serial,#01000000B

; set the byte for write

or	serial,address	; or in the address
call	SERIALOUT	; output the byte
ld	serial,mtemph	; set the first byte to write
call	SERIALOUT	; output the byte
ld	serial,mtempl	; set the second byte to write
call	SERIALOUT	; output the byte
call	ENDWRITE	; wait for the ready status
call	STARTB	; output the start bit

ld

serial,#00000000B

; set byte to disable write

call

SERIALOUT

; output the byte

	and	csport,#csl	; reset the chip select
	or	P2M_SHADOW,#clockh	; Change program switch back to read

ld	P2M,P2M_SHADOW	;
pop	RP	; reset the RP
ret

	READ WORD FROM MEMORY
	ADDRESS IS SET IN REG ADDRESS
	DATA IS RETURNED IN REG MTEMPH AND MTEMPL
	ADDRESS IS UNCHANGED

READMEMORY:

push

RP

;

srp

#LEARNEE_GRP

; set the register pointer

call

STARTB

; output the start bit

ld

serial,#1000000DB

; preamble for read

or	serial,address	; or in the address
call	SERIALOUT	; output the byte
call	SERIALIN	; read the first byte
ld	mtemph,serial	; save the value in mtemph
call	SERIALIN	; read the second byte
ld	mtempl,serial	; save the value in mtempl

and

csport,#csl

; reset the chip select

or	P2M_SHADOW,#clockh	; Change program switch back to read
ld	P2M, P2M_SHADOW	;
pop	RP
ret

	WRITE CODE TO 2 MEMORY ADDRESS
	CODE IS IN RADIO1H RADIO1L RADIO3H RADIO3L

WRITECODE:

push

RP

;

srp

#LEARNEE_GRP

; set the register pointer

ld	mtemph,Radio1H	; transfer the data from radio 1 to the temps
ld	mtemp1,Radio1L	;
call	WRITEMEMORY	; write the temp bits
inc	address	; next address
ld	mtemph,Radio3H	; transfer the data from radio 3 to the temps
ld	mtempl,Radio3L	;
call	WRITEMEMORY	; write the temps
pop	RP	;
ret	; return

CLEAR ALL RADIO CODES IN THE MEMORY

CLEARCODES:

push

RP

;

srp	#LEARNEE_GRP	; set the register pointer
ld	MTEMPH,#0FFH	; set the codes to illegal codes
ld	MTEMPL,#0FFH	;

ld

address,#00H

; clear address 0

CLEARC:

call

WRITEMEMORY

; “A0”

	inc	address	; set the next address
	cp	address,#(AddressCounter - 1)	; test for the last address of radio

jr	ult,CLEARC
clr	mtemph	; clear data
clr	mtempl

call

WRITEMEMORY

; Clear radio types

ld

address,#AddressAPointer

; clear address F

call

WRITEMEMORY

;

ld	address,#MODEADDR	;Set EEPROM memcry as fixed test
call	WRITEMEMORY	;
ld	RadioMode, #FIXED TEST	;Revert to fixed mode testing
ld	BitThresh, #FIXTHR
ld	SyncThresh, #FIXSYNC
ld	MaxBits, #FIXBITS

CodesCleared:

	pop	RP	;
	ret	; return

	START BIT FOR SERIAL NONVOL
	ALSO SETS DATA DIRECTION AND AND CS

STARTB:

	and	P2M_SHADOW, #(clockl & dol)	; Set output mode for clock line and
	ld	P2M,P2M_SHADOW	; I/O lines

and

csport,#csl

;

and

clkport,#clockl

; start by clearing the bits

and	dioport,#dol	;
or	csport,#csn	; set the chip select
or	dioport,#doh	; set the data out high

	cr	clkport,#clockh	; set the clock
	and	clkport,#clockl	; reset the clock low

and

dioport,#dol

; set the data low

ret

; return

END OF CODE WRITE

ENDWRITE:

and

csport,#csl

; reset the chip select

nop		; delay
cr	csport,#csn	; set the chip select
P2M_SHADOW, #con	; Set the data line to input
ld	P2M,P2M_SHADOW	; set port 2 mode forcing input mode data
ENDWRITELOOP:
ld	temph,dioport	; read the port
and	temph,#aoh	; mask
jr	z,ENDWRITELOOP	; if the bit is low then loop until done

	and	csport,#csl	; reset the chip select
	or	P2M_SHADOW, #clockh	; Reset the clock line to read smart button

and	P2M_SHADOW, #dol	; Set the data line back to output
ld	P2M,P2M_SHADOW	; set port 2 mode forcing output mode
ret

	SERIAL OUT
	OUTPUT THE BYTE IN SERIAL

SERIALOUT:

and

P2M_SHADOW,#(dol & clockl)

; Set the clock and data lines to outputs

	ld	P2M,P2M_SHADOW	; set port 2 mode forcing output mode data
	ld	templ,#8H	; set the count for eight bits

SERIALOUTLOOP:

rcl

serial

; get the bit to output into the carry

jr

nc,ZEROOUT

; output a zero if no carry

ONEOUT:

or

dioport,#doh

; set the data out high

	or	clkport,#clockh	; set the clock high
	and	clkport,#clockl	; reset the clock low

	and	dioport,#dol	; reset the data out low
	djnz	texnpl,SERIALOUTLOOP

			; loop till done
	ret		; return

ZEROOUT:

and

dioport,#dol

; reset the data out low

	and	dioport,#dol	; reset the data out low
	djnz	templ,SERIALOUTLOOP

			; loop till done
	ret		; return

	SERIAL IN
	INPUTS A BYTE TO SERIAL

SERIALIN:

or	P2M_SHADOW, #doh	; Force the data line to input
ld	P2M,P2M_SHADOW	; set port 2 mode forcing input mode data
ld	templ,#8H	; set the count for eight bits

SERIALINLOOP:

or	clkport,#clockh	; set the clock high
rcf	; reset the carry flag
ld	temph,dioport	; read the port
and	temph,#doh	; mask out the bits
jr	z,DONTSET
scf	; set the carry flag

DONTSET:

rlc

serial

; get the bit into the byte

and	clkport,#clockl	; reset the clock low
djnz	temp1,SERIALINLOOP
		; loop till done
ret	; return

TIMER UPDATE FROM INTERUPT EVERY 0.256mS

**

SkipPulse:

tm	SKIPRADIO, #NOINT	;If the ‘no radio interrupt’
jr	nz, NoPulse	;flag is set, just leave
or	IMR,#RadioImr	; turn on the radio

NoPulse:

iret

TIMERUD:

tm

SKIPRADIO, #NOINT

;If the ‘no radio interrupt’

	jr	nz, NoEnable	;flag is set, just leave
	or	IMR,#RadioImr	; turn on the radio

NoEnable:

decw

TOEXITWORD

; decrement the T0 extension

T0ExtDone:

	tm	P2, #LINEINPIN	; Test the AC line in
	jr	z, LowAC	; If it's low, mark zero crossing

HighAC:

	inc	LineCtr	; Count the high time
	jr	LineDone	;

LowAC:

cp

LineCtr, #08

; If the line was low before

jr	ult, HighAC	; then one-shot the edge of the line
ld	LinePer, LineCtr	; Store the high time
clr	LineCtr	; Reset the counter

ld

PhaseTMR, PhaseTime

; Reset the timer for the phase control

LineDone:

cp

PowerLevel, #20

; Test for at full wave of phase

jr

uge, PhaseOn

; If not, turn off at the start of the phase

cp	PowerLevel, #00	; If we're at the minimum,
jr	z, PhaseOff	; then never turn the phase control on
dec	PhaseTMR	; Update the timer for phase control
jr	mi, PhaseOn	; If we are past the zero point, turn on the line

PhaseOff:

	and	PhasePrt, #˜PhaseHigh	; Turn off the phase control
	jr	PhaseDone

PhaseOn:

cr

PhasePrt, #PhaseHigh

; Turn on the phase control

PhaseDone:

tm

P3, #0000010b

; Test the RPM in pin

jr

nz, IncRPMDB

; If we're high, increment the filter

DecRPMDB:

cp	RPM_FILTER, #00	; Decrement the value of the filter if
jr	z, RPMFiltered	; we're not already at zero
dec	RPM_FILTER	;
jr	RPMFiltered	;

IncRPMDB:

inc	RPM_FILTER	; Increment the value of the filter
jr	nz, RPMFiltered	; and back turn if necessary
dec	RPM_FILTER	;

RPMFiltered:

cp	RPM_FILTER, #12	; If we've seen 2.5 ms of high time
jr	z, VectorRPMHigh	; then vector high
cp	RPM_FILTER, #255 - 12	; If we've seen 2.5 ms of low time
jr	nz, TaskSwitcher	; then vector low

VectorRPMLow:

clr

RPM_FILTER

;

jr

TaskSwitcher

;

VectorRPMHigh:

ld

RPM_FILTER, #0FFH

;

TaskSwitcher

tm	T0EXT, #00000001b	; skip everyother pulse
jr	nz,SkipPulse
tm	T0EXT,#00000010b	; Test for odd numbered task
jr	nz,TASK1357	; If so do the 1ms timer undate
tm	T0EXT,#00000100b	; Test for task 2 or 6
jr	z, TASK04	; If not, then go to Tasks 0 and 4
tm	T0EXT,#00001000b	; Test for task 6
jr	nz, TASK6	; If so, jump
; Otherwise, we must be in task 2

TASK2:

	or	IMP,#RETURN_IMR	; turn on the interrupt
	ei

	call	STATEMACHINE	; do the motor function
	iret

TASK04:

or	IMR,#RETURN_IMR	; turn on the interrupt
ei
push	rp	; save the rp

srp

#TIMER_GROUP

; set the rp for the switches

call	switches	; test the switches
pop	rp
iret

TASK6:

or	IMR,#RETURN_IMR	; turn on the interrupt
ei
call	TIMER4MS	; do the four ms timer
iret

TASK1357:

push	RP
or	IMR,#RETURN_IMR	; turn on the interrupt
ei

ONEMS:

	tm	p0,#DOWN_COMP	; Test down force pot.
	jr	nz,HigherDn	Average too low -- output pulse

LowerDn:

	and	p3,#(˜DOWN_OUT)	; take pulse output low
	jr	DnPotDone

HigherDn:

or

p3,#DOWN_OUT

; Output a high pulse

inc

DN_TEMP

; Increase measured duty cycle

DnPotDone:

	tm	p0,#UP_COMP	; Test the up force pot.
	jr	nz,HigherUp	; Average too low -- output pulse

LowerUp:

and

P3,#(˜UP_OUT)

; Take pulse output low

jr

UpPotDone

;

HigherUp:

	or	P3,#UP_OUT	; Output a high pulse
	inc	UP_TEMP	; Increase measured duty cycle

UpPotDone:

inc	POT_COUNT	; Incremet the total period for
jr	nz, GoTimer	; duty cycle measurement
rcf	; Divide the pot values by two to obtain
rrc	UP_TEMP	; a 64-level force range
rcf	;
rrc	DN_TEMP	;
cr	; Subtract from 63 to reverse the direction

ld

UPFORCE, #63

; Calculate pot. values every 255

sub

UPFORCE, UP_TEMP

; counts

ld

DNFORCE, #63

;

sub	DNFORCE, DN_TEMP	;
ei		;
clr	UP_TEMP	; counts
clr	DN_TEMP	;

GoTimer:

srp

#LEARNEE_GRP

; set the register pointer

	dec	AOBSTEST	; decrease the aobs test timer
	jr	nz,NOFAIL	; if the timer not at 0 then it didnot fail

ld

AOBSTEST,#11

; if it failed reset the timer

tm	AOBSF,#00100000b	; If the aobs was blocked before,
jr	nz, BlockedBeam	; don't turn on the light
or	AOBSF,#100000001b	; Set the break edge flag

BlockedBeam:

or

AOBSF,#00000000b

; Set the single break flag

NOFAIL:

inc	RadioTimeOut
cp	OBS_COUNT, #00	; Test for protector timed out
jr	z, TEST125	; If it has failed, then don't decrement
dec	OBS_COUNT	; Decrement the timer

PPointDeb:

	di		; Disable ints while debouncer being modified (16us)
	tm	PPointPort, #PassPoint	; Test for pass point being seen

jr

nz, IncPPDeb

; If high, increment the debouncer

DecPPDeb:

and

PPOINT_DEB,#00000011b

; Debounce 3-0

jr

z, PPDebDone

; If already zero, don't decrement

	dec	PPOINT_DEB	; Decrement the debouncer
	jr	PPDebDone	;

IncPPDeb:

	inc	PPOINT_DEB	; Increment 0-3 debouncer
	and	PPOINT_DEB, #00000011B	;

jr

nz, PPDebDone

; If rolled over,

ld

PPOINT_DEB, #00000011B

; keep it at the max.

PPDebDone:

ei

; Re-enable interrupts

TEST125:

inc	t125ms	; increment the 125 mS timer
cp	t125ms,#125	; test for the time out
jr	z,ONE25MS	; if true the jump
cp	t125ms,#63	; test for the other timeout
jr	nz,N125
call	FAULTS

N125:

	pop	RP
	iret

ONE25MS:

cp

RsMode, #00

; Test for not in RS232 mode

	jr	z, CheckSpeed	; If not, don't update RS timer
	dec	RsMode	; Count down RS232 time

	jr	nz, CheckSpeed	; If not done yet, don't clear wall
	ld	STATUS, #CHARGE	; Revert to charging wall control

CheckSpeed:

cp

RampFlag, #STILL

; Test for still motor

jr

z, StopMotor

; If so, turn off the FET's

tm

BLINK_HI, #10000000b

; If we are flashing the warning light,

	jr	z, StopMotor	; then don't ramp up the motor
	cp	L_A_C, #076H	; Special case -- use the ramp-down

jr

z, NormalRampFlag

; when we're going to the learned up limit

cp

L_A_C, #070H

; If we're learning limits,

jr

uge, RunReduced

; then run at a slow speed

NormalRampFlag:

cp

RampFlag, #RAMPDOWN

; Test for slowing down

jr

z, SlowDown

; If so, slow to minimum speed

SpeedUp:

	cp	PowerLevel, MaxSpeed	; Test for at max. speed
	jr	uge, SetAtFull	; If so, leave the duty cycle alone

RampSpeedUp:

	inc	PowerLevel	; Increase the duty cycle of the phase
	jr	SpeedDone	;

Slowdown:

	cp	PowerLevel, MinSpeed	; Test for at min. speed
	jr	ult, RampSpeedup	; If we're below the minimum, ramp up to it

jr

z, SpeedDone

; If we're at the minimum, stay there

	dec	PowerLevel	; Increase the duty cycle of the phase
	jr	SpeedDone

RunReduced:

ld

RampFlag, #FULLSPEED

; Flag that we're not ramping up

cp

MinSpeed, #8

; Test for high minimum speed

jr	ugt, PowerAtMin	;
ld	PowerLevel, #8	; Set the speed at 40%
jr	SpeedDone

PowerAtMin:

	ld	PowerLevel, MinSpeed	; Set power at higher minimum
	jr	SpeedDone	;

StopMotor:

clr

PowerLevel

; Make sure that the motor is stopped (FMEA

protection)

jr

SpeedDone

;

SetAtFull:

ld

RampFlag, #FULLSPEED

; Set flag for done with ramp-up

SpeedDone:

cp

LinePer, #36

; Test for 50Hz or 60Hz

jr

uge, FiftySpeed

; Load the proper table

SixtySpeed:

	di		; Disable interrupts to avoid pointer collizion
	srp	#RadioGroup	; Use the radio pointers to do a ROM fetch

	lc	pointerh, ##HIGH SPEED_TABLE_60)	; Point to the force look-up table
	ld	pointerl, #LOW(SPEED_TABLE_60)	;

	add	pointerl, PowerLevel	; Offset for current phase step
	adc	pointerh, #00H	;

ldc

addvalueh, @pointer

; Fetch the ROM data for phase control

ld

PhaseTime, addvalueh

; Transfer to the proper register

	ei		; Re-enable interrupts
	jr	WorkCheck	; Check the worklight toggle

FiftySpeed:

ai		; Disable interrupts to avoid pointer collision
src	#RadioGroup	; Use the radio pointers to do a ROM fetch

	ld	pointerh, #HIGH (SPEED_TABLE_50)	; Point to the force look-up table
	ld	pointerl, #LOW(SPEED_TABLE_50)	;

	add	pointerl, PowerLevel	; Offset for current phase step
	adc	pointerh, #00H	;

ldc

addvalueh, @pointer

; Fetch the ROM data for phase control

ld

PhaseTime, addvalueh

; Transfer to the proper register

ei

; Re-enable interrupts

WorkCheck:

srp

#LEARNEE_GRP

; Re-set the RP

;4-22-97

CP	EnableWorkLight,#01100000B
JR	EQ,DontInc	;Has the button already been held for 10s?
INC	EnableWorkLight	;Work light function is added to every
		;125ms if button is light button is held
		;for 10s will iniate change, if not held
		;down will be cleared in switch routine

DontINC:	cp	AUXLEARNSW,#0FFh	; test for the rollover postion
jr	z,SKIPAUXLEARNSW	; if so then skip

inc

AUXLEARNSW

; increase

SKIPAUXLEARNSW:

cp	ZZWIN,#0FFH	; test for the roll position
jr	z,TESTFA	; if so skip
inc	ZZWIN	; if not increase the counter

TESTFA:

call		; call the fault blinker
clr	T125MS	; reset the timer
inc	DOG2	; incrwease the second watch dog
di
inc	SDISABLE	; count off the systen disable timer
jr	nz,D012	; if not rolled over then do the 1.2 sec
dec	SDISABLE	; else reset to FF

D012:

cp	ONEP2,#00	; test for 0
jr	z,INCLEARN	; if counted down then increment learn
dec	ONEP2	; else down count

INCLEARN:

inc	learnt	; increase the learn timer
cp	learnt,#0H	; test for overflow
jr	nn,LEARNTOK	; if not 0 skip back turning
dec	learnt	;

LEARNTOK:

ei

inc	eraset	; increase the erase timer
cp	eraset,#0H	; test for overflow
jr	nz,ERASETOK	; if not 0 skip back turning
dec	eraset	:

ERASETOK:

	pop	RP
	iret

fault blinker

FAULTB:

inc

FAULTTIME

; increase the fault timer

op	L_A_C, #070H	; Test for in learn limits mode
jr	ult, DoFaults	; If not, handle faults normally
cp	L_A_C, #071H	; Test for failed learn
jr	z, FastFlash	; If so, blink the LED fast

RegFlash:

	tm	FAULTIME, #00000100b	; Toggle the LED every 250ms
	jr	z, FlashOn	;

FlashOff:

	or	ledport, #ledh	; Turn of f the LED for blink
	jr	NOFAULT	; Don't test for faults

FlashOn:

	and	ledport,#ledl	; Turn on the LED for blink
	jr	NOFAULT	;

FastFlash:

tm	FAULTIME; #00000010b	; Toggle the LED every 125ms
jr	z, FlasnOn	;
jr	FlashOff

DoFaults:

cp	FAULTTIME, #80h	; test for the end
jr	nz,FIRSTFAULT	; if not timed out
clr	FAULTTIME	; reset the clock
clr	FAULT	; clear the last
cp	FAULTCODE,#05h	; test for call dealer code

jr

UGE,GOTFAULT

; set the fault

cp

CMD_DEB,#0FFH

; test the debouncer

jr

nz,TESTAOBSM

; if not set test aobs

cp	FAULTCODE,#03h	; test for command shorted
jr	z,GOTFAULT	; set the error
ld	FAUTCODE,#03h	; set the code
jr	FIRSTFAULT	;

TESTAOBSM:

tm	AOBSF,#00000001b	; test for the skiped aobs pulse
jr	z,NOAOBSFAULT	if no skips then no faults
tm	AOBSF,#00000000b	; test for any pulses
jr	z, NOPULSE	; if no pulses find if hi or low
; else we are intermittent
ld	FAULTCODE,#04h	; set the fault
jr	GOTFAULT	; if same got fault
cp	FAULTCODE,#04h	; test the last fault
jr	z,GOTFAULT	; if same got fault
ld	FAULTCODE,#04h	; set the fault
jr	FIRSTFC	;

NOPULSE:	tm	P3,#00000001b	; test the input pin
jr	z,AOBSSH	; jump if aobs is stuck hi
cp	FAULTCODE,#01h	; test for stuck low in the past
jr	z,GOTFAULT	; set the fault
ld	FAULTCODE,#01h	; set the fault code
jr	FIRSTFC	;
AOBSSH:	cp	FAULTCODE,#02h	; test for stuck high in past
jr	z,GOTFAULT	; set the fault
ld	FAULTCODE.#02h	; set the code
jr	FIRSTFC	;
GOTFAULT:	ld	FAULT,FAULTCODE	; set the cone
swap	FAULT	;
jr	FIRSTFC	;

NOAOBSFAULT:

clr

FAULTCODE

; clear the fault code

FIRSTFC:

and

AOBSF, #11111100b

; clear flags

FIRSTFAULT:

tm	FAULTTIME, #00000111b	; If one second has passed,
jr	nz, RegularFault	; increment the 60min
incw	HOUR_TIMER	; Increment the 1 hour timer
tcm	HOUR_TIMER_LO, #00011111b	; If 32 seconds have passed

jr

nz, RegularFault

; poll the radio mode

or

AOBSF, #01000000b

; Set the ‘poll radio’ flag

RegularFault:

cp	FAULT,#00	; test for no fault
jr	z,NOFAULT
ld	FAULTFLAG,#0FFH	; set the fault flag
cp	CodeFlag,#REGLEARN	; test for not in learn mode
jr	z,TESTSDI	; if in learn then skip setting
cp	FAULT, FAULTTIME	;
jr	ULE,TESTSDI
tm	FAULTTIME,#00001000b	; test the 1 sec bit
jr	nz,BITONE

and	ledport,#ledl	; turn on the led
ret

BITONE:

or

ledport,#ledh

; turn off the led

TESTSDI:

ret

	NOFAULT: clr	FAULTFLAG	; clear the flag
	ret

Four ms timer tick routines and aux light function

TIMER4MS:

	cp	RPMONES,#00H	; test for the end of the one sec timer
	jr	z,TESTPERIOD	; if one sec over then test the pulses

		; over the period
aec	RPMONES	; else decrease the timer
di
clr	RPM_COUNT	; start with a count of 0
clr	BRPM_COUNT	; start with a count of 0
ei
jr	RPMTDONE

TESTPERIOD:

cp

RPMCLEAR,#00H

; test the clear test timer for 0

jr

nz,RPMTDONE

; if not timed out then skip

ld	RPMCLEAR,#122	; set the clear test time for next cycle .5
cp	RPM_COUNT,#50	; test the count for too many pulses
jr	ugt,FAREV	; if too man pulses then reverse
di
clr	RPM_COUNT	; clear the counter
clr	BRPM_COUNT	; clear the counter
ei
clr	FAREVFLAG	; clear the flag temp test
jr	RPMTDONE	; continue

FAREV:

ld	FAULTCODE,#06h	; set the fault flag
ld	FAREVFLAG,#088H	; set the forced up flag
and	p),#LOW ˜WORKLIGHT	; turn off light

ld

REASON,#80H

; rpm forcing up motion

call

SET_AREV_STATE

; set the autorev state

RPMTDONE:

dec	RPMCLEAR	; decrement the timer
cp	LIGHT1S,#00	; test for the end
jr	z,SKIPLIGHTE
dec	LIGHT1S	; down count the light time

SKIPLIGHTE:

inc	R_DEAD_TIME
cp	RTO,#RDROPTIME	; test for the radio time out
jr	ult,DONOTCB	; if not timed out donot clear b
cp	CodeFlag, #LRNOCS	; If we are in a special learn mode,

jr

uge,DONOTCB

; then don't clear the code flag

clr

CodeFlag

; else clear the b code flag

DONOTCB:

inc	+L,15 RTO	; increment the radio time out
jr	nz,RTOOK	; if the radio timeout Ok then skip
dec	RTO	; back turn

RTOOK:

cp	RRTO,#0FFH	; test for roll
jr	z,SKIPRRTO	; if so then skip
inc	RRTO

SKIPRRTO:		;
cp	SKIPRADIO, #00	; Test for EEPROM communication

jr

nz, LEARNDBOK

; If so, skip reading program switch

cp

RsMode, #00

; Test for in RS232 mode,

jr

nz, LEARNDBOK

; if so don't update the debouncer

tm

psport,#psmaks

; Test for program switch

jr	z,PRSWOLOSED	; if the switch is closed count up
cp	LEARNDB,#00	; test for the non decrement point
jr	z, LEARNDBOK	; if at end skip dec

	dec	LEARNDB	;
	jr	LEARNBOK	;

PHSWCLOSE:

cp

LEARNDB,#0FFH

; test for debouncer at max.

jr

z,LEARNDBOK

; if not at max increment

inc

LEARNDB

; increase the learn debounce timer

LEARNDBOK

AUX OBSTRUCTION OUTPUT AND LIGHT FUNCTION

AUXLIGHT:

test_light_on:

cp	LIGHT_FLAG,#LIGHT	;
jr	z,ado_light	;
cp	LIGHT1s,#00	; test for no flash
jr	z,NO1S	; if not skip
cp	LIGHTS,#1	; test for timeout
jr	nz,NO1S	; if not skip
xor	p0,#WORKLIGHT	; toggle light
clr	LIGHT1S	; onesnoted

NO1S:

	cp	FLASH_FLAG,#FLASH
	jr	nz,dec_light	;

	clr	VACFLASH	; Keep the vacation flash timer off
	dec	FLASH_DELAY	; 250 ms period

jr

nz,dec_light

;

cp

STATUS, #RSSTATUS

; Test for in RS232 mode

jr

z,BlinkDone

; If so, don't blink the LED

; Toggle the wall control LED

	cp	STATUS, #WALLOFF	; See if the LED is off or on
	jr	z, TurnItOn	;

TurnItOff:

	ld	STATUS, #WALLOFF	; Turn the light off
	jr	BlinkDone	;

TurnItOn:

ld

STATUS, #CHARGE

; Turn the light on

ld

SWITCH_DELAY, #CMD_DEL_EX

; Reset the delay time for charge

BlinkDone:

ld	FLASH_DELAY,#FLASH_TIME
dec	FLASH_COUNTER	;
jr	nz,dec light
clr	FLASH_FLAG	;

dec_light:

cp	LIGHT_TIMER_HI,#0FFH	; test for the timer ignore
jr	z,exit_light	; if set then ignore
tm	T0EXT, #00010000b	; Decrement the light every 8 ms

jr

nz,exit_light

; (Use T0Ext to prescale)

decw	LIGHT_TIMER	;
jr	nz,exit_light	; if timer 0 turn off the light
and	p0,#˜LIGHT_ON	; turn off the light
cp	L_A_C, #00	; Test for in a learn mode

jr

z, exit_light

; If not, leave the LED alone

clr

L_A_C

; Leave the learn mode

or

ledport,#ledh

; turn off the LED for program mode

exit_light:

ret

; return

MOTOR STATE MACHINE

STATEMACHINE:

cp	MOTDEL, #0FFH	; Test for max. motor delay
jr	z, MOTDELDONE	; if do, don't increment
inc	MOTDEL	; update the motor delay

MOTDELDONE:

xor	p2,#FALSEIR	; toggle aux output
cp	DOG2,#8	; test the 2nd watchdog for problem
jp	ugt,START	; if problem reset
cp	STATE,#6	; test for legal number
jp	ugt,start	; if not the reset
jp	z,stop	; step motor 6
cp	STATE,#3	; test for legal number

jp

z,start

; if not the reset

cp	STATE,#0	; test for autorev
jp	z,auto_rev	; auto reversing 0
cp	STATE,#1	; test for up

jp

z,up_direction

; door is going up 1

cp	STATE,#2	; test for autorev
jp	z,up_position	; door is up 2
cp	STATE,#4	; test for autorev

jp

z,dn_direction

; door is going down 4

jp

dn_position

; door is down 5

AUTO_REV ROUTINE

auto_rev:

	cp	FAREVFLAG,#088H	; test for the forced up flag
	jr	nz,LEAVEREV

and

p0,#LOW(˜WORKIGHT)

; turn off light

clr

FAREVFLAG

; one shot temp test

LEAVEREV:

	cp	MOTDEL, #10	; Test for 40 ms passed
	jr	ult, AREVON	; If not, keep the relay on

AREVOFF:

and

p0,#LOW(˜MOTOR_UP & ˜MOTOR_DN)

; disable motor

AREVON

WDT		; kick the dog
call	HOLDREV	; hold off the force reverse
ld	LIGHT_FLAG,#LIGHT	; force the Light on no blink
di

dec	AUTO_DELAY	; wait for .5 second
dec	BAUTO_DELAY	; wait for .5 second
ei

	jr	nz,arswitch	; test switches
	or	p2,#FALSEIR	; set aux output for FEMA

;LOOK FOR LIMIT HERE (No)

ld

REASON,#40H

; set the reason for the change

cp	L_A_C, #075H	; Check for learning limits,
jp	nz, SET_UP_NOBLINK	; If not, proceed normally
ld	L_A_C, #076H	;

jp

SET_UP_NOBLINK

; set the state

arswitch:

ld	REASON,#00H	; set the reason to command
di
cp	SW_DATA,#CMD_SW	; test for a command
clr	SW_DATA
ei
jp	z,SET_STOP_STATE	; if so then stop
ld	REASON,#10H	; set the reason as radio command
cp	RADIO_CMD,#0AAH	; test for a radio command
jp	z,SET_STOP_STATE	; if so the stop

exit_auto_rev:

ret

; return

HOLDFREV:

ld

RPMONES,#244

; set the hold off

ld	RPMCLEAR,#122	; clear rpm reverse .5 sec
di
clr	RPM_COUNT	; start with a count of 0
clr	BRPM_COUNT	; start with a count of 0
ei
ret

DOOR GOING UP

up_direction:

WDT		; kick the dog
cp	OnePass, STATE	; Test for the memory read one-shot
jr	z, UpReady	; If so, continue
ret		; Else wait

UpReady:

	call	HOLDFREV	; hold off the force reverse
	ld	LIGHT_FLAG,#LIGHT	; force the light on no blink

and

p0,#LOW ˜MOTOR_DN

; disable down relay

or	p0,#LIGHT ON	; turn on the light
cp	MOTDEL,#10	; test for 40 milliseconds
jr	ule,UPOFF	; if not timed

CheckUpBlink:

and	P2M_SHADOW, #˜BLINK_PIN	; Turn on the blink output
ld	P2M, P2M_SHADOW	;
cr	P2, #BLINK_PIN	; Turn on the blinker
decw	BLINK	; Decrement blink time
tm	BLINK_HI, #10000000b	; Test for pre-travel blinking done

jp

z, NotUpSlow

; If not, delay normal motor travel

UPON:

or

p0,#(MOTOR_UP | LIGHT_ON)

; turn on the motor and light

UPOFF:

cp

FORCE_IGNORE,#1

; test fro the end of the force ignore

jr

nz,SKIPUPRPM

; if not donot test rpmcount

cp	RPM_ACCOUNT,#12h	; test for less the 2 pulses
jr	ugt,SKIPUPRPM	;
ld	FAULTCODE,#05h

SKIPUPRPM:

	cp	FORCE_IGNORE, #00	; test timer for done
	jr	nz,test_UP_SW_pre	; if timer not up do not test force

TEST_UP_FORCE:

	di
	dec	RPM_TIME_OUT	; decrease the timeout

dec	BRPM_TIME_OUT	; decrease the timeout
ei
jr	z,failed_up_rpm
cp	RampFlag, #RAMPUP	; Check for ramping up the force

jr

z, test_up_sw

; If not, always do full force check

TestUpForcePot:

di

; turn off the interrupt

	cp	RPM_PERIOD_HI, UP_FORCE_HI	; Test the RPM against the force setting
	jr	ugt, failed_up rpm	;

jr

ult, test_up_sw

;

cp

RPM_PERIOD_LO, UP_FORCE_LO

;

jr

ult, test_up_sw

;

failed_up_rpm:

ld

REASON, #20H

; set the reason as force

cp	L_A_C, #076H	; If we're learning limits,
jp	nz, SET_STOP_STATE	; then set the flag to store
ld	L_A_C, #077H	;
jp	SET_STOP_STATE

test_up_sw_pre:

	di
	dec	FORCE_IGNORE
	dec	BFORCE_IGNORE

test_up_sw:

di
ld	LIM_TEST_HI, POSITION_HI	; Calculate the distance from the up limit
ld	LIM_TEST_LO, POSITION_LO	;
sub	LIM_TEST_LO, UP_LIMIT_LO	;
sbc	LIM_TEST_HI, UP_LIMIT_HI	;
cp	POSITION_HI, #0B0H	; Test for lost door

jr

ugt, UpPosKnown

; If not lost, limit test is done

cp

POSITION_HI, #050H

	jr	ult, UpPosKnown	;
	ei		;

UPosUnknown:

sub	LIM_TEST_LO, #062H	; Calculate the total travel distance allowed
sbc	LIM_TEST_HI, #07FH	; from the floor when lost
add	LIM_TEST_LO, DN_LIMIT_LO	;
adc	LIM_TEST_HI, DN_LIMIT_HI	;

UpPosKnown:	;
ei	;

cp

L_A_C, #070H

; If we're positioning the door, forget the limit

jr	z, test_up_time	; and the wall control and radio
cp	LIM_TEST_HI, #11	; Test for exactly at the limit
jr	nz, TestForPastUp	; If not, see if we've passed the limit
cp	LIM_TEST_LO, #00	;

jr

z, AtUpLimit

;

TestForPastUp:

tm

LIM_TEST HI, #10000000b

; Test for a negative result (past the limit, but

close)

jr

z, get_sw

; If so, set the limit

AtUpLimit:

ld

REASON,#50H

; set the reason as limit

cp	L_A_C, #072H	; If we're re-learning limits,
jr	z, ReLearnLim	; jump
cp	L_A_C, #076H	; If we're learning limits,

jp

nz, SET_UP_POS_STATE

; then set the flag to store

ld

L_A_C, #077H

;

jp

SET_UP_POS_STATE

;

ReLearnLim:

ld

L_A_C, #073H

;

jp

SET_UP_POS_STATE

;

get_sw:

cp

L_A_C, #070H

; Test for positioning the up limit

jr

z,NotUpSlow

; If so, don't slow down

TestUpSlow:

cp

LIM_TEST_HI, #HIGH(UPSLOWSTART)

; Test for start of slowdown

jr

nz, NotUpSlow

; (Cheating -- the high byte of the number is zero)

	cp	LIM_TEST_LO, #LOW(UPSLOWSTART)	;
	jr	ugt, NotUpSlow	;

UpSlow:

ld

RampFlag, #RAMPDOWN

; Set the slowdown flag

NotUpSlow:

ld	REASON, #10H	; set the radio command reason
cp	RADIO_CMD,#0AAH	; test for a radio command
jp	z,SET_STOP_STATE	; if so stop
ld	REASON,#00H	; set the reason as a command
di
cp	SW_DATA, #CMD_SW	; test for a command condition
clr	SW_DATA
ei

jr

ne,test_up_time

;

jp

SET_STOP_STATE

;

test_up_time:

ld

REASON,#70H

; set the reason as a time out

decw

MOTOR_TIMER

; decrement motor timer

jp

z,SET_STOP_STATE

;

exit_up_dir:

ret

; return to caller

DOOR UP

up_position:

WDT		; kick the dog
cp	FAREVFLAG,#088E	; test for the forced up flag
jr	nz, LEAVELIGHT

and

p0,#LOW(˜WORKLIGHT)

; turn off light

jr

UPNOFLASH

; skip clearing the flash flag

LEAVELIGHT:

ld

LIGHT_FLAG,#00H

; allow blink

UPNOFLASH:

cp

MOTDEL, #10

; Test for 40 ms passed

jr

ult, UPLIMON

; If not, keep the relay on

UPLIMOFF:

and

p0,#LOW(˜MOTOR UP & ˜MOTOR_DN)

; disable motor

UPLIMON:

cp

L_A_C, #073H

; If we've begun the learn limits cycle,

jr

z,LAOUPPOS

; then delay before traveling

cp

SW_DATA, #LIGHT_SW

; light sw debounced

jr	z,work_up	;
ld	REASON, #10H	; set the reason as a radio command
cp	RADIO_CMD,#0AAH	; test for a radio cmd
jr	z,SETDNDIRSTATE	; if so start down
ld	REASON, #00H	; set the reason as a command
di
cp	SW_DATA,#CMD_SW	; command sw debounced?
clr	SW_DATA
ei
jr	z,SETDNDIRSTATE	; if command
ret

SETDNDIRSTATE:

	ld	ONEP2,#10	; set the 1.2 sec timer
	jp	SET_DN_DIR_STATE

LACUPPOS:

cp	MOTOR_TIMER_HI, #HIGH(LACTIME)	; Make sure we're set to the proper time
jr	ule, UpTimeOx
ld	MOTOR_TIMER_HI, #HIHG(LACTIME)
ld	MOTOR_TIMER_LO, #LOW(LACTIME)

UpTimeOk:

	decw	MOTOR_TIMER	; Count down more time
	jr	nz, up_pos_ret	; If nor timed out, leave

StartLACDown:

ld

L_A_C, #074H

; Set state as traveling down in LAC

clr	UP_LIMIT_HI	; Clear the up limit
clr	UP_LIMIT_LO	; and the position for
clr	POSITION_HI	; determining the new up
clr	POSITION_LO	; limit of travel

ld

PassCounter, #030H

; Set pass points at max.

jp

SET_DN_DIR_STATE

; Start door traveling down

work_up:

	xor	p0,#WORKLIGHT	; toggle work light
	ld	LIGHT_TIMER_HI,#0FFH	; set the timer ignore

and

SW_DATA, #LOW(˜LIGHT_SW)

; Clear the worklight bit

up_pos_ret:

ret

; return

DOOR GOING DOWN

dn_direction:

	WDT		; kick the dog
	cp	OnePass, STATE	; Test for the memory read one-shot

jr

z, DownReady

; If so, continue

ret

; else wait

DownReady:

call	HOLDFREV	; hold off the force reverse
clr	FLASH_FLAG	; turn off the flash
ld	LIGHT_FLAG,#LIGHT	; force the light on no blink

and

p0,#LOW(˜MOTOR_UP

; turn off motor up

or	p0,#LIGHT_ON	; turn on the light
cp	MOTDEL,#10	; test for 40 milliseconds
jr	ule,DNOFF	; if not timed

CheckDnBlink:

and	P2M_SHADOW, #˜BLINK_PIN	; Turn on the blink output
ld	P2M, P2M_SHADOW	;
or	P2, #BLINK_PIN	; Turn on the blinker
decw	BLINK	; Decrement blink time
tm	BLINK_HI, #10000000b	; Test for pre-travel blink done

jr

z, NotOnSlow

; If not, don't start the motor

DNON:

or

p0,#(MOTOR_DN LIGHT_ON

; turn on the motor and Light

DNOFF:

cp

FORCE_IGNORE,#01

; test fro the end of the force ignore

jr

nz,SKIPDNRPM

; if not donot test rpmcount

cp	RPM_ACOUNT,·02H	; test for less the 2 pulses
jr	ugt,SKIPDNRPM	;
ld	FAULTCODE,#05h

SKIPDNRPM:

	cp	FORCE_IGNORE,#00	; test timer for done
	jr	nz,test_on_sw_pre	; if timer not up do not test force

TEST_DOWN_FORCE:

	di
	dec	RPM_TIME_OUT	; decrease the timeout

dec	BRPM_TIME_OUT	; decrease the timeout
ei
jr	z,failed_dn_rpm
cp	RampFlag, #RAMPUP	; Check for ramping up the force

jr

z, test_dn_sw

; If not, always do full force check

TestDownForcePot:

di

; turn off the interrupt

	cp	RPM_PERIOD_HI, DN_FORCE_HI	; rest the RPM against the force setting
	jr	ugt, failed_dn_rpm	; if too slow then force reverse

jr

ult, test_dn_sw

; if faster then we're fine

cp

RPM_PERIOD_LO, DN_FORCE_LO

;

jr

ult, test_dn_sw

;

failed_dn_rpm:

+T+L,12 cp	L_A_C, #074H	; Test for learning limits
jp	z, DnLearnRev	; If not, set the state normally

tm

POSITION_HI, #11000000b

; Test for below last pass point

jr

nz, DnRPMRev

; if not, we're nowhere near the limit

	tm	LIM_TEST_HI, #10000000b	; Test for beyond the down limit
	jr	nz, DoDownLimit	; If so, we've driven into the down limit

DnRPMRev:

ld

REASON, #0B0H

; set the reason as force

cp	POSITION_HI, #0B0H	; Test for lost,
jp	ugt, SET_AREV_STATE	; if not, autoreverse normally
cp	POSITION_HI, #050H	;
jp	ult, SET_AREV_STATE	;

di

; Disable interrupts

	ld	POSITION_HI, #07FH	; Reset lost position for max. travel up
	ld	POSITION_LO, #080H	;

	ei		; Re-enable interrupts
	jp	SET_AREV_STATE	;

DnLearnRev:

ld

L_A_C, #075H

; Set proper LAC

jp

SET_AREV_STATE

;

test_dn_sw_pre:

	di
	dec	FORCE_IGNORE
	dec	BFORCE_IGNORE

test_dn_sw:

di

;

cp	POSITION_HI, #050H	; Test for lost in mid travel
jr	ult, TestDnLimGood	;
cp	POSITION_HI, #0B0H	; If so, don't test for limit until

jr

ult, NotDnSlow

; a proper pass point is seen

TestDnLimGood:

ld	LIM_TEST_HI, DN_LIMIT_HI	; Measure the distance to the down limit
ld	LIM_TEST_LO, DN_LIMIT_LO	;
sub	LIM_TEST_LO, POSITION_LO	;
sbc	LIM_TEST_HI, POSITION_HI	;

ei

;

cp

L_A_C, #070H

If we're in the learn cycle, forget the limit

	jr	uge, test_dn_time	; and ignore the radio and wall control
	tm	LIM_TEST_HI, #10000000b	; Test for a ngegative result (past the down limit)

	jr	z, call_sw_dn	; If so, set the limit
	cp	LIM_TEST_LO, #255 36	; Test for 36 pulses (3″) beyond the limit

jr

ugt, NotDnSlow

; if not, then keep driving onto the floor

DoDownLimit:

	ld	REASON,#50H	; set toe reason as a limit
	cp	CMD_DEB,#0FFH	; test for the switch still held

jr

nz,TESTRADIO

;

	ld	REASON,#90H	; closed with the control held
	jr	TESTFORCEIG

TESTRADIO:

cp

LAST_CMD,#00

; test for the last command being radio

jr	nz,TESTFORCEIG	; if not test force
cp	CodeFlag,#BRECEIVED	; test for the b code flag
jr	nz,TESTFORCEIG	;
ld	REASON,#0A0H	; set the reason as b code to limit

TESTFORCEIG:

cp

FORCE_IGNORE,#00H

; test the force ignore for done

jr	z,NOAREVDN	; a rev if limit before force enabled
ld	REASON,#60h	; early limit
jp	SET_AREV_STATE	; set autoreverse

NOAREVDN:

and

p0,#LOW(˜MOTOR_DN

;

jp

SET_DN_POS_STATE

; set the state

call_sw_dn:

cp

LIM_TEST_HI, #HIGH(DNSLOWSTART,

; Test for start of slowdown

jr

nz, NotDnSlow

; (Cheating -- the high byte is zero)

	cp	LIM_TEST_LO, #LOW(DNSLOWSTART)	;
	jr	ugt, NotDnSlow	;

DnSlow:

ld

RampFlag, #RAMPDOWN

; Set the slowdown flag

NotDnSlow:

ld	REASON, #10H	; set the reason as radio command
cp	RADIO_CMD,#0AAH	; test for a radio command
jp	z,SET_AREV_STATE	; if so arev
ld	REASON,#00H	; set the reason as command
di
cp	SW_DATA,#CMD_SW	; test for command
clr	SW_DATA
ei
jp	z,SET_AREV_STATE	;

test_dn_time:

ld

REASON,#70H

; set the reason as timeout

decw

MOTOR_TIMER

; decrement motor timer

jp

z,SET_AREV_STATE

;

test_obs_count:

cp	OBS_COUNT,#00	; Test the obs count
jr	nz, exit_dn_dir	; if not done, don't reverse
cp	FORCE_IGNORE, #(ONE_SEC / 2)	; Test for 0.5 second passed
jr	ugt, exit_an_dir	; if within first 0.5 sec, ignore it

cp

LAST_CMD,#00

; test for the last command from radio

jr	z,OBSTESTB	; if last command was a radio test b
cp	CMD_DEB,#0FFH	; test for the command switch holding
jr	nz,OBSAREV	; if the command switch is not holding
		; do the autorev
jr	exit_dn_dir	; otherwise skip

OBSAREV:

ld

FLASH_FLAG, #0FFH

; set flag

ld

FLASH_COUNTER, #20

; set for 10 flashes

ld	FLASH_DELAY,#FLASH_TIME	; set for .5 Hz period
ld	REASON,#30E	; set the reason as autoreverse
jp	SET_AREV_STATE	;

OBSTESTB:

cp

CodeFlag,#BRECEIVED

; test for the b code flag

jr

nz,OBSAREV

; if not b code then arev

exit_dn_dir:

ret

; return

DOOR DOWN

dn_position:

WDT		; kick the doa
cp	FAREVFLAG,#088H	; test for the forced up flag
jr	nz,DNLEAVEL	;

and

p0,#LOW(˜WORKLIGHT)

; turn off light

jr

DNNOFLASH

; skip clearing the flash flag

DNLEAVEL:

ld

LIGHT_FLAG,#00H

; allow blink

DNNOFLASH:

cp

MOTDEL, #10

; Test for 40 ms passed

jr

ult, DNLIMON

; If not, keep the relay on

DNLIMOFF:

and

p0,#LOW(˜MOTOR_UP & ˜MOTOR_DN)

; disable motor

DNLIMON:

cp

SW_DATA,#LIGHT_SW

; debounced? light

jr	z,work_an	;
ld	REASON,#10H	; set the reason as a radio command
cp	RADIO_CMD,#0AAH	; test for a radio command
jr	z,SETUPDIRSTATE	; if so go up
ld	REASON,#00H	; set the reason as a command
di
cp	SW_DATA,#CMD_SW	; command sw pressed?
clr	SW_DATA
ei
jr	z,SETUPDIRSTATE	; if so go up
ret

SETUPDIRSTATE:

	ld	ONEP2,#10	; set the 1.2 sec timer
	jp	SET_UP_DIR_STATE

work_dn:

	xor	p0,#WORKLIGMT	; toggle work light
	ld	LIGHT_TIMER_HI,#0FFH	; set the timer ignore

and

SW_DATA, #LOW(˜LIGHT_SW)

; Clear the worklight bit

dn_pos_ret:

ret

; return

STOP

stop:

WDT		; kick the dog
cp	FAREVFLAG,#066H	; test for the forced up flag
jr	nz,LEAVESTOP

and

p0,#LOW˜WORKLIGHT

; turn off light

jr

STOPNOFLASH

;

LEAVESTOP:

ld

LIGHT_FLAG,#00H

; allow blink

STOPNOFLASH:

	cp	MOTDEL, #10	; Test for 40 ms passed
	jr	ult, STOPMIDON	; If not, keep the relay on

STOPMIDOFF:

and

p0,#LOW(˜MOTOR_UP & ˜MOTOR_DN

; disable motor

STOPMIDON:

cp

SW_DATA,#LIGHT_SW

; debounced? light

jr	z,work_stop	;
ld	REASON,#10H	; set the reason as radio command
cp	RADIO_CMD,#0AAH	; test for a radio command

jp

z,SET_DN_DIR_STATE

; if so go down

ld	REASON,#00H	; set the reason as a command
di
cp	SW_DATA,#CMD_SW	; command sw pressed?
clr	SW_DATA
ei

	jp	z,SET_DN_DIR_STATE	; if so go down
	ret

work_stop:

and

SW_DATA, #LOW,˜LIDHT_SW

; Clear the worklight bit

stop_ret:

ret

; return

SET THE AUTOREV STATE

SET_ARVE_STATE:

di

;

cp

L_A_C, #070H

; Test for learning limits,

jt

uge, LearningRev

; If not, do a normal autoreverse

cp

POSITION_HI, #020H

; Look for lost postion

jr

ult, DoTheArev

; If not, Proceed as normal

cp

POSITION_HI, #0D0H

; Look for lost position

jr

ugt, DoTheArev

; If not, proceed as normal

;Otherwise, we're list -- ignore commands

cp

REASON, #020H

Don't respond to command or radio

jf	uge, DoTheArev	;
clr	RADIO_CMD	; Throw out the radio command
ei	; Otherwise, just ignore it
ret	;

DoTheArev:

ld	STATE,#AUTO_REV	; if we got here, then reverse motor
ld	RampFlag, #STILL	; Set the FET's to off
clr	PowerLevel	;
jr	SET_ANY	; Done

LearningRev:

ld	STATE,#AUTO_REV	; if we got here, then reverse motor
ld	RampFlag, #STILL	; Set the FET's to off
clr	PowerLevel	;

cp	L_A_C, #075H	; Check for proper reversal
jr	nz, ErrorLearnArev	; If not, stop the learn cycle
cp	PassCounter, #030H	; If we haven't seen a pass point,

jr

z, ErrorLearnArev

; then flag an error

GoodLearnArev:

cp

POSITION_HI, #00

; Test for down limit at least

jr

nz, DnLimGood

; 20 pulses away from pass point

cp

POSITION_LO, #20

;

jr

ult, MovePassPoint

; If not, use the upper pass point

DnLimGood:

and

PassCounter, #10100000b

; Set at lowest pass point

GotDnLim:

di

	ld	DN_LIMIT_HI, POSITION_HI	; Set the new down limit
	ld	DN_LIMIT_LO, POSITION_LO	;

add	DN_LIMIT_LO, #01	; Add in a pulse to guarantee reversal off the block
adc	DN_LIMIT_HI, #00	;
jr	SET_ANY	;

ErrorLearnArev:

	ld	L_A_C, #071H	; Set the error in learning state
	jr	SET_ANY

MovePassPoint:

cp

PassCounter, #02FH

; If we have only one pass point,

	jr	z, ErrorLearnArev	; don't allow it to be this close to the floor
	di

add	POSITION_LO, #LOW(PPOINTPULSES)	; Use the next pass point up
adc	POSITION_HI, #HIGH(PPOINTPULSES)	;
add	UP_LIMIT_LO, #LOW PPOINPULSES	;
adc	UP_LIMIT_HI, #HIGH PPOINTPULSES	;

ei

;

or

PassCounter, #01111111b

; Set pass counter at −1

jr

GotDmLim

;

SET THE STOPPED STATE

SET_STOP_STATE:

	di
	cp	L_A_C, #070H	; If we're in the learn mode,

jr

uge, DoTheStop

; Then don't ignore anything

cp

POSITION_HI, #020H

; Look for lost postion

jr

ult, DoTheStop

; If not, proceed as normal

cp

POSITION_HI, #0D0H

; Look for lost postion

jr

ugt, DoTheStop

; If not, proceed as normal

;Otherwtse, we're lost -- ignore commands

cp

REASON, #020H

; Don't respond to command or radio

jr	uge, DoTheStop	;
clr	RADIO_CMD	; Throw out the radio command
ei	; Otherwise, just ignore it
ret

DoTheStop:

ld	STATE,#STOP	;
ld	RampFlag, #STILL	; Stop the motor at the FET's
clr	PowerLevel	;
jr	SET_ANY

SET THE DOWN DIRECTION STATE

SET_DN_DIR_STATE:

ld	BLINK_HI, #0FFH	;Initially disable pre-travel blink
call	LookForFlasher	;Test to see if flasher present
tm	P2, #BLINK PIN	;If the flasher is not present,

jr

nz, SET_DN_NOBLINK

;don't flash it

	ld	BLINK_LO, #0FFH	;Turn on the blink timer
	ld	BLINK_HI, #01H	;

SET_DN_NOBLINK:

di
ld	RampFlag, #RAMPUP	; Set the flag to accelerate motor
ld	PowerLevel, #4	; Set speed at minimum
ld	STATE,#DN_DIRECTION	; energize door
clr	FAREVFLAG	; one shot the forced reverse

cp	L_A_C, #070H	; If we're learning the limits,
jr	uge, SET_ANY	; Then don't bother with testing anything
cp	POSITION_HI, #020H	; Look for lost postion
jp	ult, SET_ANY	; If not, proceed as normal
cp	POSITION_HI, #0D0H	; Lock for lost postion
jp	ugt, SET_ANY	; If not, proceed as normal

LostDn:

cp

FirstRun, #0C

; If this isn't our first operation when lost,

	jr	nz, SET_ANY	; then ALWAYS head down
	tm	PassCounter, #01111111b	; If we are below the lowest

jr

z, SET_UP_DIR_STATE

; pass point, head up to see it

tcm

PassCounter, #01111111b

; If our pass point number is set at −1,

jr

z, SET_UP_DIR_STATE

; then go up to find the position

jr

SET_ANY

; Otherwise, proceed normally

SET THE DOWN POSITION STATE

SET_DN_POS_STATE:

	di
	ld	STATE,#DN_POSITION	; load new state

ld	RampFlag, #STILL	; Stop the motor at the FET's
clr	PowerLevel	;
jr	SET_ANY

SET THE UP DIRECTION STATE

SET_UP_DIR_STATE:

ld	BLINK_HI, #0FFH	;Initially turn off blink
call	LookForFlasher	;Test to see if flasher present
tm	P2, #BLINK_PIN	;If the flasher is not present,

jr

nz, SET_UP_NOBLINK

;don't flash it

	ld	BLINK_LO, #0FFH	;Turn on the blink timer
	ld	BLINK_HI, #01H	;

SET_UP_NOBLINK

di
ld	RampFlag,#RAMPUP	; Set the flag to accelerate to max.
ld	PowerLevel, #4	; Start speed at minimum
ld	STATE, #UP_DIRECTION	;
jr	SET_ANY	;

SET THE UP POSITION STATE

SET_UP_POS_STATE:

	di
	ld	STATE,#UP_POSITION	;

	ld	RampFlag, #STILL	; Stop the motor at the FET's
	clr	PowerLevel	;

SET ANY STATE

SET_ANY:

and	P2M_SHADOW, #˜BLINK_PIN	; Turn on the blink output
ld	P2M, P2M_SHADOW	:
and	P2, #˜BLINK_PIN	; Turn off the light
cp	PPOINT_DEB, #2	; Test for pass point being seen
jr	ult, NoPrePPoint	; If signal is low, none seen

PrePPoint:

or

PassCounter, #0000000b

; Flag pass point signal high

jr

PrePPointDone

;

NoPrePPoint:

and

PassCounter, #01111111b

; Flag pass point signal low

PrePPointDone:

ld

FirstRun, #0FFH

; One-shot the first run flag DONE IN MAIN

	ld	BSTATE,STATE	; set the backup state
	di

	clr	RPM_COUNT	; clear the rpm counter
	clr	BRPM_COUNT	;

	ld	AUTO_DELAY,#AUTO_REV_TIME	; set the .5 second auto rev timer
	ld	BAUTO_DELAY, #AUTO_REV_TIME	;

ld	FORCE_IGNORE,#ONE_SEC	; set the force ignore timer to one sec
ld	BFORCE_IGNORE,#ONE_SEC	; set the force ignore timer to one sec
ld	RPM_PERIOD_HI, #0FFH	; Set the RPM period to max. to start
ei		; Flush out any pending interrupts
di		;

	cp	L_A_C, #070H	; If we are in learn mode,
	jr	uge, LearnModeMotor	; don't test the travel distance

push	LIM_TEST_HI	; Save the limit tests
push	LIM_TEST_LO	;
ld	LIM_TEST_HI, DN_LIMIT_HI	+T+L,28 Test the door travel distance to
ld	LIM_TEST_LO, DN_LIMIT_LO	; see if we are shorter than 2.3M
sub	LIM_TEST_L0, UP_LIMIT_LO	;
sbc	LIM_TEST_HI, UP_LIMIT_HI	;
cp	LIM_TEST_HI, #HIGH(SHORTDOOR)	; If we are shorter than 2.3M,
jr	ugt, DoorIsNorm	; then set the max. travel speed to 2/3
jr	ult, DoorIsShort	; Else, normal speed
cp	LIM_TEST_LO, #LOW(SHORTDOOR)	;
jr	ugt, DoorIsNorm	;

DoorIsShort:

ld

MaxSpeed, #12

; Set the max. speed to 2/3

jr

DoorSet

;

DoorIsNorm:

ld

MaxSpeed, #20

;

DoorSet:

pop	LIM_TEST_LO	; Restore the limit tests
pop	LIM_TEST HI	;
ld	MOTOR_TIMER_HI,#HIGH(MOTORTIME)
ld	MOTOR_TIMER_LO,#LOW(MOTORTIME)

MotorTimeSet:

ei
clr	RADIO_CMD	; one shot
clr	RPM_ACOUNT	; clear the rpm active counter

ld

STACKREASON,REASON

; save the temp reason

ld

STACKFLAG,#0FFH

; set the flag

TURN_ON_LIGHT:

call

SetVarLight

; Set the worklight to the proper value

tm

P0, *LIGHT_ON

; If the light is on skip clearing

jr

nz,lighton

;

lightoff:

clr

MOTDEL

; clear the motor delay

lighton:

ret

LearnModeMotor:

ld

MaxSpeed, #12

; Default to slower max. speed

	ld	MOTOR_TIMER_HI,#HIGH(LEARNTIME)
	ld	MOTOR_TIMER_LO,#LOW(LEARNTIME)

jr

MotorTimeSet

; Set door to longer run for learn

THIS IS THE MOTOR RPM INTERRUPT ROUTINE

RPM:

push	rp	; save current pointer
srp	#RPM_GROUP	;point to these reg
ld	rpm_temp_of,T0_0FLOW	; Read the 2nd extension
ld	rpm_temp_hi,T0EXT	; read the timer extension
ld	rpm_temp_lo,T0	; read the timer
tm	IRQ,#00010000B	; test for a pending interrupt
jr	z,RPMTIMEOK	; if not then time ok

RPMTIMEERROR:

tm	rpm_temp_lo, #10000000B	; test for timer reload
jr	z,RPMTIMEOK	; if no reload time is ok
decw	rpm_temp_hiword	; if reloaded then dec the hi to resync

RPMTIMEOK:

cp	RPM_FILTER, #128	; Signal must have been high for 3 ms before
jr	ult, RejectTheRPM	; the pulse is considered legal
tm	P3, #00000010B	; If the line is sitting high,
jr	nz, RejectTheRPM	; then the falling edge was a noise pulse

RPMIsGood:

	and	imr,#11111011b	; turn off the interupt for up to 500uS
	ld	divcounter, #03	; Set to divide by 8 (destroys value in RPM_FILTER)

DivideRPMLoop:

rcf		; Reset the carry
rrc	rpm_temp_of	; Divide the number by 8 so that
rrc	rpm_temp hi	; it will always fit within 16 bits
rrc	rpm_temp_lo	;

djnz	divcounter, DivideRPMLoop	; Loop three times (Note: This clears RPM FILTER)
ld	rpm_period_lo, rpm_past_lo	;
ld	rpm_period_hi, rpm_past_hi	;
sub	rpm_period_lo, rpm_temp_lo	; find the period of the last pulse
sbc	rpm_period_hi, rpm_temp_hi	;
ld	rpm_past_lo, rpm_temp_lo	; Store the current time for the
ld	rpm_past_hi, rpm_temp_hi	; next edge capture
cp	rpm_period_hi,#12	; test for a period of at least 6.144mS

jr

ult,SKIPC

; if the period is less then skip counting

TULS:

INCRPM:

	inc	RPM_COUNT	; increase the rpm count
	inc	BRPM_COUNT	; increase the rpm count

SKIFC:

	inc	RPM_ACOUNT	; increase the rpm count
	cp	RampFlag, #RAMPUP	; If we're ramping the speed up,

jr

z, MaxTimeOut

; then set the timeout at max.

	cp	STATE, #DN_DIRECTION	; If we're traveling down,
	jr	z, DownTimeOut	; then set the timeout from the down force

UpTimeOut:

ld

rpm_time_out,UP_FORCE_HI

; Set the RPM timeout to be equal to the up force setting

rcf

; Divide by two to account

rrc

rpm_time_out

; for the different prescalers

	add	rpm_time_out, #2	; Round up and account for free-running prescale
	jr	GotTimeOut

MaxTimeOut:

ld

rpm_time_out, #125

; Set the RPM timeout to be 500mns

jr

GotTimeOut

;

DownTimeOut:

ld

rpm_time_out,DN_FORCE_HI

; Set the RPM timeout to be equal to the down force setting

rcf

; Divide by two to account

rrc

rpm_time_out

; for the different prescalers

add

rpm_time_out, #2

; Round up and account for free-running prescale

GotTimeOut:

	ld	BRPM_TIME_OUT, rpm_time_out	; Set the backup to the same value
	ei

Position Counter

	Position is incremented when going down and decremented when
	going up. The zero position is taken to be the upper edge of the pass
	point signal (i.e. the falling edge in the up direction, the rising edge in
	the down direction)

cp	STATE, #UP_DIRECTION	; Test for the proper direction of the counter
jr	z, DecPos	;
cp	STATE, #STOP	;
jr	z, DecPos	;

+T+L,12 cp

STATE, #UP_POSITION

;

jr

z, DecPos

;

IncPos:

incw	POSITION	;
cp	PPOINT_DEB, #2	; Test for pass point being seen
jr	ult, NoDNPPoint	; If signal is low, none seen

DnPPoint:

	or	PassCounter, #10000000b	+T+L,32 ; Mark pass point as currently high
	jr	CtrDone	;

NoDnPPoint:

tm

PassCounter, #10000000b

; Test for pass point seen before

jr

z, PastDnEdge

; If not, then we're past the edge

AtDnEdge

	cp	L_A_C, #074H	; Test for learning limits
	jr	nz, NormalDownEdge	; if not, treat normally

LearnDownEdge:

di
sub	UP_LIMIT_LO, POSITION_LO	; Set the up position higher
sbc	UP_LIMIT_HI, POSTION_HI	;

	dec	PassCounter	; Count pass point as being seen
	jr	Lowest1	; Clear the position counter

NormalDownEdge:

dec	PassCounter	; Mark as one pass point closer to floor
tm	PassCounter, #01111111b	; Test for lowest pass point
jr	nz, NotLowest1	; If not, don't zero the position counter

Lowest1:

di
clr	POSITION_HI	; Set the position counter back to zero
ld	POSITION_LO, #1	;
ei		;

NotLowest1:

cp	STATUS, #PSSTATUS	; Test for in R5232 mode
jr	z, DontResetWall3	; If so, don't blink the LED
ld	STATUS, #WALLOFF	; Blink the LED for pass point
clr	VACFLASH	; Set the turn-off timer

DontResetWall3.

PastDnEdge:

NoUpPPoint:

	and	PassCounter, #01111111b	; Clear the flag for pass point high
	jr	CtrDone	;

DecPos:

decw	POSITION	;
cp	PPOINT_DEB, #2	; Test for pass point being seen
jr	ult, NoUpPPoint	; If signal is low, none seen

UpPPoint:

	tm	PassCounter, #10000000b	+T+L,32 ; Test for pass point seen before
	jr	nz, PastUpEdge	; If so, then we're past the edge

AtUpEdge:

	tm	PassCounter, #01111111b	; Test for lowest pass point
	jr	nz, NotLowest2	; If not, don't zero the position counter

Lowest2:

di
clr	POSITION_HI	; Set the position counter back to zero
clr	POSITION_LO	;
ei

NotLowest2:

cp	STATUS, #RSSTATUS	; Test for in R5232 mode
jr	z, DontResetWall2	; If so, don't blink the LED
ld	STATUS, #WALLOFF	; Blink the LED for pass point
clr	VACFLASH	; Set the turn-off timer

DontResetWall2:

inc	PassCounter	; Mark as one pass point higher above
cp	PassCounter, FirstRun	; Test for pass point above max. value
jr	ule, PastUpEdge	; If not, we're fine
ld	PassCounter, FirstRun	; Otherwise, correct the pass counter

PastUpEdge:

or

PassCounter, #10000000b

; Set the flag for pass point high before

CtrDone:

RejectTheRPM:

	pop	rp	; return the rp
	iret	; return

	THIS IS THE SWITCH TEST SUBROUTINE
	STATUS

	0 => COMMAND TEST
	1 => WORKLIGHT TEST
	2 => VACATION TEST
	3 => CHARGE
	4 => RSSTATUS -- RS232 mode, don't scan for switches
	5 => WALLOFF -- Turn off the wall control LED
	SWITCH DATA

	0 => OPEN
	1 => COMMAND CMD_SW
	2 => WORKLIGET LIGHT_SW
	4 => VACATION VAC_SW

switches:

ei

4-22-97

	CP	LIGHT_DEB,#0FFH	;is the light button being held?
	JR	NZ,NotHeldDown	;if not debounced, skip long hold

CP	EnableWorkLight,#01100000B	;has the 10 sec. already passed?
JR	GE,HeldDon
CP	EnableWorkLight,#01010000B
JR	LT,HeldDown
LD	EnableWorkLight,#10010000B	;when debounce occurs, set register
		;to initiate e2 write in mainloop
JR	HeldDown

NotHeldDown:

CLR

EnableWorkLight

HeldDown:

and

SW_DATA, #LIGHT_SW

; Clear all switches excect for worklrght

	cp	STATUS, #WALLOFF	; Test for illegal status
	jp	ugt, start	; if so reset

jr

z, NoWallCtrl

; Turn off wall control state

cp

STATUS, #RSSTATUS

; Check for in RS232 mode

jr

z, NOTFLASHED

; If so, skip the state machine

cp	STATUS,#3	; test for illegal number
jp	z,charge	; if it is 3 then goto charge
cp	STATUS,#2	; test for vacation
jp	z,VACATION_TEST	; if so then jump
cp	STATUS,#1	; test for worklight
jp	z,WORKLIGHT_TEST	; if so then jump
		; else it id command

COMMAND_TEST:

cp

VACFLAC,#00H

; test for vacation mode

	jr	z,COMMAND_TEST1	; if not vacation skip flash
	inc	VACFLASH	; increase the vacation flash timer

cp

VACFLASH,#10

; test the vacation flash period

jr	ult,COMMMAND_TEST1	; if lower period skip flash
and	p3,#˜CHARGE_SW	; turn off wall switch
or	p3,#DIS_SW	; enable discharoe

cp

VACFLASH,#60

; test the time delay for max

	jr	nz,NOTFLASHED	; if the flash is not done jump and ret
	clr	VACFLASH	; restart the timer

NOTFLASHED

ret

; return

NoWallCtrl:

and	P3, #˜CHARGE_SW	; Turn off the circuit
or	P3, #DIS_SW	;
inc	VACFLASH	; Update the off time

	cp	VACFLASH, #81	; If off tine hasn't expired,
	jr	ult, KeepOff	; keep the LED off

ld

STATUS, #CHARGE

; Reset the wall control

ld

SWITCH_DELAY, #CMD_DEL_EX

; Reset the charce timer

KeepOff:

ret

;

COMMAND_TEST1:

tm	p0,#SWTCHES1	; command sw pressed?
jr	nz,CMDOPEN	; open command
tm	P0,#SWITCHES2	; test the second command input
jr	nz,CMDOPEN

CMDCLOSE1:

; closed command

call

DECVAC

; decrease vacation debounce

	call	DECLIGHT	; decrease light debounce
	cp	CMD_DEB,#0FFH	; test for the max number

jr

z,SKIPCMDINO

; if at the max skip inc

di
inc	CMD_DEB	; increase the debouncer
inc	BCMD_DEB	increase the debouncer

SKIPCMDINC:

cp

CMD_DEB,#CMD_MAFE

;

jr

nz,CMDEXIT

; if not made then exit

call

CmdSet

; Set the command switch

CMDEXIT:

	or	p3,#CHARGE_SW	; turn on the charge system
	and	p3,#˜DIS_SW	;

ld

SWITCH_DELAY,#CMD_DEL_EX

; set the delay time to 8mS

ld

STATUS,#CHARGE

; charge time

CMDDELEXIT:

ret

;

CmdSet:

cp

L_A_C, #070H

; Test for in learn limits mode

jr

ult, RegCmdMake

; If not, treat as normal command

jr

ugt, LeaveLAC

; If learning, command button exits

	call	SET_UP_NOBLINK	; Set the up direction state
	jr	CMDMAXEDONE	;

RegCmdMake:

cp

LEARNDB, #0FFH

; Test for learn button held

jr

z, GoIntoLAC

; If so, enter the learn mode

NormalCmd:

	di
	ld	LAST_CMD,#055H	; set the last command as command

cmd:

ld

SW_DATA,#CMD_SW

; set the switch data as command

cp	AUXLEARNSW,#100	; test the time
jr	ugt,SKIP_LEARN
push	RP
srp	#LEARNEE_GRP
call	SETLEARN	; set the learn mode
dr	SW_DATA	; clear the cmd
pop	RP

or

p0,#LIGHT_ON

; turn on the light

call

TURN_ON_LIGHT

; turn on the light

CMDMAKEDONE:

SKIP_LEARN:

ld	CMD_DEB,#0FFH	; set the debouncer to ff one shot
ld	BCMD_DEB,#0FFH	; set the debouncer to ff one shot
ei
ret

LeaveLAC:

clr

L_A_C

; Exit the learn mode

or

ledport,#ledn

; turn off the LED for program mode

	call	SET_STOP_STATE	;
	jr	CMDMAKEDONE	;

GoIntoLAC:

ld

L_A_C, #170H

; Start the learn limits mode

	clr	FAULTCODE	; Clear any faults that exist
	clr	CodeFlag	; Clear the reoular learn mode

	ld	LEARNT, #0FFH	; Turn off the learn timer
	ld	ERASET, #OFFH	; Turn off the erase timer

jr

CMDMAKEDONE

;

CMDOPEN:

; command switch open

and	p3,#˜CHARGE_SW	; turn off charging sw
or	p3,#DIS_SW	; enable discharge
ld	DELAYC,#16	; set the time delay

DELLOOP:

dec	DELAYC
jr	nz,DELLOOP	; loop till delay is up
tm	p0,#SWITCHES1	; command line still high
jr	nz,TESTWL	; if so return later

call

DECVAC

; if not open line dec all debouncers

call

DECLIGHT

;

call

DECCMD

;

	ld	AUXLEARNSW,#0FfH	; turn off the aux learn switch
	jr	CMDEXIT	; and exit

TESTWL:

	ld	STATUS,#WL_TEST	; set to test for a worklight
	ret		; return

WORKLIGHT_TEST:

	tm	p0,#SWITCHES	; command line still high
	jr	nz,TESTVAC2	; exit setting to test for vacation

	call	DECVAC	; decrease the vacation debouncer
	call	DECCMD	; and the command debouncer

cp	LIGHT_DEB,#0FFH	; test for the max
jr	z,SKIPLIGHTING	; if at the max skip inc
inc LIGHT_DEB	; inc debouncer

SKIPLIGHTING:

cp	LIGHT_DEB,#LIGHT_MAKE	; test for the light make
jr	nz,CMDEXIT	; if not then recharge delay
call	LightSet	; Set the light debouncer
jr	CMDEXIT	; then recharge

LightSet:

ld

LIGHT_DEB,#0FFH

; set the debouncer to max

ld

SW_DATA,#LIGHT_SW

; set the data as worklight

cp	RRTO,#RDROPTIME	; test for code reception
jr	ugt,CMDEXT	; if not then skip the seting of flag
clr	AUXLEARNSW	; start the learn timer
ret

TESTVAC2:

	ld	STATUS,#VAC_TEST	; set the next test as vacation
	ld	switch_delay,#VAC_DEL	; set the delay

LIGHTDELEXIT:

ret

; return

VACATION_TEST:

djnz	switch_delay,VACDELEXIT	;
tm	p0,#SWITCHES1	; command line still high
jr, EXIT_ERROR	; exit with a error setting open state
call	DECLIGHT	; decrease the light debouncer

call

DECCMD

; decrease the command debouncer

	cp	VAC_DEB,#0FFH	; test for the max
	jr	z,VACINCSKIP	; skip the incrementing

VACINCSKIP:

or

VACFLAG,#00H

; test for vacation mode

jr

z,VACOUT

; if not vacation use out time

VACIN:

	or	VAC_DEB,#VAC_MAKE_IN	; test for the vacation make point
	jr	nz,VACATION_EXIT	; exit of not made

call

VacSet

;

jr

VACATION_EXIT

;

VACOUT:

	cp	VAC_DEB,#VAC_MAKE_OUT	; test for the vacation make count
	jr	nz,VACATION_EXIT	; exit if not made

	call	VacSet	;
	jr	VACATION_EXIT	; Forget vacatoon mode

VacSet:

ld	VAC_DEB,#0FFH	; set vacation debouncer to max
cp	AUXLEARNSW,#100	; test the time
jr	ugt,SKIP_LEARNV
push	RP
srp	#LEARNEE_GRP
call	SETLEARN	; set the learn mode
pop	RP

cr	p0, #LIGHT_ON	; Turn on the worklight
call	TURN_ON_LIGHT	;
ret

SKIP_LEARNT:

ld	VACCHANGE,#0AAH	; set the toggle data
cp	RRTO,#RDROPTIME	; test for code reception
jr	ugt,VACATION_EXIT	; if not then skip the seting of flag
clr	AUXLEARNSW	; start the learn timer

VACATION_EXIT:

ld

SWITCH_DELAY,#VAC_DEL_EX

; set the delay

ld

STATUS,#CHARGE

; set the next test as charge

VACDELEXIT:

ret

EXIT_ERROR:

	call	DECCMD	; decrement the debouncers
	call	DECVAC	;

call

DECLIGHT

;

ld

SWITCH_DELAY,#VAC_DEL_EX

; set the delay

	ld	STATUS,#CHANGE	; set the next test as charge
	ret

charge:

	or	p3,#CHARGE_SW	;
	and	p3,#˜DIS_SW	;

dec

SWITCH_DELAY

;

	jr	nz,charge_ret	;
	ld	STATUS,#CMD_TEST	;

charge_ret:

ret

DECOMD:

	cp	CMD_DEB,#00H	; test for the min number
	jr	z,SKIPCMDDEC	; if at the min skip dec

di
dec	CMD_DEB	; decrement debouncer
dec	BCMD_DEB	decrement debouncer
ei

SKIPCMDDEC:

cp

CMD_DEB,#CMD_BREAK

; if not at break then exit

jr

nz,DECMDEXIT

; if not break then exit

call

CmdRel

;

DECCMDEXIT:

ret

; and exit

CmdRel:

cp

L_A_C, #070h

; Test for in learn mode

	jr	nz, NormCmdBreak	; If not, treat normally
	call	SET_STOP_START	; Stop the door

NormCmdBreak:

di
clr	CMD_DEB	; reset the debouncer
clr	BCMD_DEB	; reset the debouncer
ei
ret

DECLIGHT:

cp	LIGHT_DEB,#00H	; test for the min number
jr	z,SKIPLIGHTDEC	; if at the min skip dec
dec	LIGHT_DEB	; decrement debouncer

SKIPLIGHTDEC:

cp	LIGHT_DEB,#LIGHT_BREAK	; if not at break then exit
jr	nz,DECLIGHTEXIT	; if not break then exit
clr	LIGHT_DEB	; reset the debouncer

DECLIGHTEXIT:

ret

; and exit

DECVAC:

	cp	VAC_DEB,#00H	; test for one min number
	jr	z,SKIPVACDEC	; if at the min skip dec

dec

VAC_DEB

; decrement debouncer

SKIPVACDEC:

cp

VACFLAG,#00H

; test for vacation mode

jr

z,DECVACOUT

; if not vacation use out time

DECVACIN:

	cp	VAC_DEB,#VAC_BREAK_IN	; test for the vacation break point
	jr	nz,DECVACEXIT	; exit if not

jr

CLEARVACDEB

;

DECVACOUT:

	cp	VAC_DEB,#VAC_BREAK_OUT	; test for the vacation break point
	jr	nz,DECVACEXIT	; exit if not

CLEARVACDEB:

clr

VAC_DEb

; reset the debouncer

DECVACEXIT:

ret

; and exit

FORCE TABLE

force_table:

f_0:	.byte 000H, 06BH, 06CH

	.byte 000H, 06BH, 06CH
	.byte 000H, 06DH, 073H
	.byte 000H, 06FH, 08EH
	.byte 000H, 071H, 0BEH
	.byte 000H, 074H, 004H
	.byte 000H, 076H, 062H
	.byte 000H, 078H, 0DAH
	.byte 000H, 07BH, 06CH
	.byte 000H, 07EH, 01BH
	.byte 000H, 080H, 0E8H
	.byte 000H, 083H, 0D6H
	.byte 000H, 086H, 09BH
	.byte 000H, 089H, 07FH
	.byte 000H, 08CH, 084H
	.byte 000H, 08FH, 0ABH
	.byte 000H, 092H, 0F7H
	.byte 000H, 096H, 06BH
	.byte 000H, 09AH, 009H
	.byte 000H, 09DH, 0D5H
	.byte 000H,	0A1H, 0D2H
	.byte 000H, 0A6H, 004H
	.byte 000H, 0AAH, 076H
	.byte 000H, 0AFH, 027H
	.byte 000H, 0B4H, 01CH
	.byte 000H, 0B9H, 05BH
	.byte 000H, 0BEH, 0EBH
	.byte 000H, 0C4H, 0D3H
	.byte 000H, 0CBH, 01BH
	.byte 000H, 0D1H, 0CDH
	.byte 000H, 0D8H, 0F4H
	.byte 000H, 0E0H, 09CH
	.byte 001H, 005H, 05DH
	.byte 001H, 00EH, 035H
	.byte 001H, 017H, 0ABH
	.byte 001H, 021H, 0D2H
	.byte 001H, 320H, 0BBH
	.byte 001H, 138H, 060H
	.byte 001H, 045H, 03AH
	.byte 001H, 053H, 008H
	.byte 001H, 062H, 010H
	.byte 001H, 072H, 07DH
	.byte 001H, 084H, 083H
	.byte 001H, 098H, 061H
	.byte 001H, 0AEH, 064H
	.byte 001H, 0C6H, 0E8H
	.byte 001H, 0E2H, 062H
	.byte 002H, 001H, 065H
	.byte 002H, 024H, 0AAH
	.byte 002H, 04DH, 024H
	.byte 002H, 07CH, 010H
	.byte 002H, 0B3H, 01BH
	.byte 002H, 0F4H, 094H
	.byte 003H, 043H, 0C1H
	.byte 003H, 0A5H, 071H
	.byte 004H, 020H, 0FCH
	.byte 004H, 0C2H, 038H
	.byte 005H, 09DH, 080H
	.byte 013H, 012H, 0D0H

f_63:

.byte 013H, 012H, 0D0H

SIM_TABLE:

	.WORD 00000H	; Numbers set to zero (proprietary table)
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H
	.WORD 00000H

SPEED_TABLE_50:

	.BYTE 40
	.BYTE 34
	.BYTE 30
	.BYTE 26
	.BYTE 27
	.BYTE 25
	.BYTE 24
	.BYTE 23
	.BYTE 21
	.BYTE 20
	.BYTE 17
	.BYTE 16
	.BYTE 15
	.BYTE 13
	.BYTE 12
	.BYTE 10
	.BYTE	8
	.BYTE 6

SPEED_TABLE_60:

	.BYTE 33
	.BYTE 29
	.BYTE 27
	.BYTE 25
	.BYTE 23
	.BYTE 22
	.BYTE 21
	.BYTE 20
	.BYTE 19
	.BYTE 18
	.BYTE 17
	.BYTE 16
	.BYTE 15
	.BYTE 13
	.BYTE 12
	.BYTE 11
	.BYTE 10
	.BYTE 8
	.BYTE 7
	.BYTE 5
	.BYTE 0
	; Fill 49 bytes of unused memory
	FILL
10
	FILL 10
	FILL 10
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL
	FILL

.end

Claims

What is claimed is:

1. A movable barrier operator operable from alternating current comprising:

an electric motor;

a transmission connected to the motor to be driven thereby and to the movable barrier to be moved;

an electric circuit for detecting AC line voltage and frequency of the alternating current;

a worklight;

a first set of operational values for operating the worklight, when a first AC line frequency is detected;

a second set of operational values for operating the worklight, when a second AC line frequency is detected; and

a controller, responsive to the detected AC line frequency, for activating the corresponding operational set of values for operating the worklight.

2. A movable barrier operator operable from alternating current according to

claim 1

wherein the first AC line frequency comprises 50 Hz and the first set of values comprises a first shut-off time and the second AC line frequency comprises 60 Hz and the second set of values comprises a second shut-off time.

3. A movable barrier operator operable from alternating current according to

claim 2

further comprising a routine for controlling motor speed and wherein the first set of values further comprises a scaling factor for scaling the motor speed.

4. A movable barrier operator operable from alternating current according to

claim 3

wherein the scaling factor is stored in a look-up table stored in a memory.

5. A movable barrier operator operable from alternating current according to

claim 2

wherein the first shut-off time comprises about two and one half minutes and wherein the second shut-off time comprises about four and one half minutes.

6. A movable barrier operator having linearly variable output speed, comprising:

an electric motor having a motor output shaft;

a transmission connected to the motor output shaft to be driven thereby and to the movable barrier to be moved;

a circuit for providing a pulse signal comprising a series of pulses;

a motor control circuit responsive to the pulse signal, for starting the motor and for determining the direction of rotation of the motor output shaft; and

a controller for controlling the length of the pulses in the pulse signal in accordance with a predetermined set of values, wherein in accordance with the predetermined set of values, a speed of the motor is linearly varied from zero to a maximum speed and from the maximum speed to zero.

7. A movable barrier operator according to

claim 6

wherein the predetermined set of values causes incrementing of the motor speed from zero to a maximum motor speed in a plurality of steps, causing the motor to operate at the maximum speed for a predetermined period of time, then decrementing the motor speed from the maximum speed to zero in a plurality of steps.

8. A movable barrier operator according to

claim 7

wherein each step comprises a value corresponding to about five percent of a maximum speed of the motor.

9. A moveable barrier operator according to

claim 6

wherein the motor control circuit comprises:

a first electromechanical switch for causing the motor output shaft to rotate in a first direction;

a second electromechanical switch for causing the motor output shaft to rotate in a second direction; and

a solid state device responsive to the pulse signal, for providing current to the motor to cause it to rotate.

10. A movable barrier operator according to

claim 9

wherein the first and second electromechanical switches comprise relays and the solid state device comprises an FET.

11. A movable barrier operator which automatically detects barrier size, comprising:

an electric motor having a maximum output speed;

a position detector for sensing the position of the barrier with respect to a frame of reference; and

a controller, responsive to the position detector, for calculating a time of travel between a first barrier travel limit and a second barrier travel limit and responsive to the calculated time of barrier travel, for automatically adjusting a barrier travel speed.

12. A movable barrier operator according to

claim 11

wherein the barrier comprises a segmented panel door and wherein the controller adjusts the barrier travel speed such that a maximum barrier travel speed is based on one hundred percent of the motor's maximum output speed.

13. A movable barrier operator according to

claim 11

wherein the barrier comprises a single panel door and wherein the controller adjusts the barrier travel speed such that a maximum barrier travel speed is based on percentage less than one hundred percent of the motor's maximum output speed.

14. A movable barrier operator according to

claim 12

further comprising a routine for varying the motor speed in accordance with a predetermined set of values, wherein in accordance with the predetermined set of values, a speed of the motor is linearly varied from zero to a maximum speed and from the maximum speed to zero.

15. A movable barrier operator according to

claim 13

further comprising a routine for varying the motor speed in accordance with a predetermined set of values, wherein in accordance with the predetermined set of values, a speed of the motor speed is linearly varied from zero to the motor's scaled output speed and from the motor's scaled output speed to zero.

16. A movable barrier operator having full closure, comprising:

an electric motor;

a transmission connected to the motor to be driven thereby and connectable to a movable barrier to be moved;

a position detector for sensing a position of the barrier;

a learn routine for determining a minimum reversal position of the barrier relative to a close limit, wherein the minimum reversal position of the barrier position is located a short distance above the close limit;

a controller responsive to the position detector and to a close command to move the barrier to the close limit, for controlling the motor, wherein when the position detector senses the position of the barrier at the minimum reversal position, the controller causes the motor to continue to operate for a predetermined period of time prior to shutting off the motor, effective for driving the barrier to the close limit.

17. A movable barrier operator according to

claim 16

wherein the electric motor comprises a DC motor.

18. A movable barrier operator according to

claim 16

wherein the electric motor comprises an AC motor.

19. A movable barrier operator according to

claim 16

wherein the minimum reversal position is located approximately one inch above the close limit.

20. A movable barrier operator according to

claim 16

wherein the close limit corresponds to a location of a floor.

21. A movable barrier operator having automatic force settings, comprising:

an electric motor;

a transmission connected to the motor to be driven thereby and connectable to the movable barrier to be moved;

a circuit for providing a pulse signal comprising a series of pulses;

a motor control circuit, responsive to the pulse signal, for starting the motor and for determining the direction of rotation of the motor output shaft;

a first force command device for setting a first force limit for use when the motor is rotating in a first direction;

a second force command device for setting a second force limit for use when the motor is rotating in a second direction; and

a controller responsive to the first force limit and to the second force limit for varying the length of the pulses in the pulse signal, effective for varying the motor speed during travel in the first direction and in the second direction.

22. A movable barrier operator according to

claim 21

wherein the barrier comprises a door having a pedestrian door and the operator further comprises a sensor for detecting the position of the pedestrian door, wherein the controller, responsive to the pedestrian door sensor detecting the pedestrian door is not closed, disables movement of the barrier.

23. A moveable barrier operator according to

claim 21

wherein the motor control circuit comprises a first electromechanical switch for causing the motor output shaft to rotate in the first direction, a second electromechanical switch for causing the motor output shaft to rotate in the second direction and a solid state device responsive to the pulse signal, for providing current to the motor to cause it to rotate.

24. A movable barrier operator according to

claim 21

wherein the first force command device comprises a force potentiometer for generating a first analog force signal and the second force command device comprises a force potentiometer for generating a second analog force signal.

25. A movable barrier operator according to

claim 24

further comprising a first A/D converter for converting the first analog signal to a first digital signal and a second A/D converter for converting the second analog signal to a second digital signal.

26. A movable barrier operator according to

claim 25

further comprising a look-up table comprising a plurality of motor speeds stored in a memory in the controller, wherein responsive to the first digital signal and the second digital signal selects a corresponding motor speed stored in the look-up table.

27. A movable barrier operator having a flasher module, comprising:

an electric motor;

a flasher module light;

a flasher routine for enabling and disabling the flasher module light in a predetermined pattern;

a controller, responsive to a command to move the barrier, for controlling the motor and for automatically detecting the presence of the flasher module light, wherein responsive only to the presence of the flasher module light, the controller executes the flasher routine and delays starting the motor for a predetermined delay time.

28. A movable barrier operator according to

claim 27

, wherein the flasher routine continues until the controller causes the motor to stop.

29. A movable barrier operator according to

claim 27

wherein the predetermined delay time comprises about two seconds.

30. A movable barrier operator according to

claim 27

, wherein the flasher routine continues only during the predetermined delay period.