BIOS_S7_v1602.bsp

' {$STAMP BS2P}
' {$PBASIC 2.5}
' {$PORT COM4}


version  CON 1602

'**********************
'   Slot 7
'**********************

'
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
'XXXXXXXX >>  Start Here to Copy Header entries  <<  XXXXXXXXXXXXXXXXXX
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
'
                       'S0 contains the timing loop
                       'S2 contains the event table AND actions.
                       'S1 contains test code placeholder
'
' 2012
' 1. added test for payload interface boards
' 2. clean slot 0, added time 0,1,2 for clock speed
'
'******************  Start of System Global lables *******************
'     Conditional Assemblies
'
#DEFINE FlyConfig = 0              '1=Set to Flight Configuration, 0=Test Configuration
#DEFINE fastclock = 0              '0=Normal Time X1, 1=Medium Time ~X17 2=Fast Time ~X60
#DEFINE testreset = 1              '1=test reset and reset count
#DEFINE SaySlot   = 1              '1=Say Slot with vector
#DEFINE Sayit = 1                  '1=Say what is happening
#DEFINE nodebug = 1                '1= nodebug outputs
#DEFINE MasterEnabled = 1          '1= enable checking for master input
'
'
'***************************************************************************************
'********* EEPROM Data Storage Area ****************************************************
'Start storage at top of slot6 and work downwards, code can go in slot 4, but be carful
'not to overwrite the data storage.  Programs go from botton to top, Data storage, and
'our data storage allocations are from the top down.  MUST BE CHECKED MANUALLY, program
'does not know any better.
'***************************************************************************************
'
DataStorage    CON 4                'EEROM data is storaged in Slot 4
'
'
'Data storage is defined at the end of this slot (slot 4), the spaces and address must match up with
'the lables defined here which will be used across all slots, be careful in defining this
'
Cstatus             CON 0                    '00 See data at data storage area
TestNumber          CON Cstatus+1            'Test Sequence Counter  1112
ResetNumber         CON TestNumber+2         '00 Number of times reset sence downloaded
IDcodefile          CON ResetNumber+1        'MicroLab alpha ID  2 ascii values
LastPhoto           CON IDcodefile+2         '00000 Photo number  5 ascii values
LastBKupload        CON LastPhoto+5          'Number of the last command file uploaded
NextBktoLoad        CON LastBKupload+1       'NextBktoLoad       next bank to load
LastuploadCommand   CON NextBktoLoad+1       'LastuploadCommand   Number of the last command file uploaded
Missionsec          CON LastuploadCommand+2  'Missionsec          clock sec count here 0-59
Missionmin          CON Missionsec+1         'Missionmin          clock min count here 0-59
Missionhour         CON Missionmin+1         'Missionhour         lock hour count here 0-23
Missionday          CON Missionhour+1        'Missionday          lock day count here 0-xx
TempStatus          CON Missionday+1         'Temp storage for test status routines
'
'     'ETC....
'
'**********************************************************************
'******** Scrathpad Ram Defined Ram location across all slots *********
'**********************************************************************
'
ScratchRam     CON 0                  'start of Scratch ram locations bytes
'
'----- Bios and User Scratch pad memory locations -----------------------------
'
Resetverify    CON ScratchRam         'location is 0 on Power on Reset or not Zero for slot return
VectorFromSlot CON Resetverify+1      'Slot to return to - who called the program vector
VectorFromNum  CON VectorFromSlot+1   'From Vector number within slot place to Return to
SlotErrReturn  CON VectorFromNum+1    'Error code return from Slot program run
'
sMissionday     CON SlotErrReturn+1     'BIOS Mission clock day count here 0-xx
sMissionhour    CON sMissionday+1       'BIOS Mission clock hour count here 0-23
sMissionmin     CON sMissionhour+1      'BIOS Mission clock min count here 0-59
sMissionsec     CON sMissionmin+1       'BIOS Mission clock sec count here 0-59
'
'---------- Bios provided data for user -----------------------------------------
'
RTCsec         CON sMissionsec+1      'BIOS Real Time clock sec count here 0-59
RTCmin         CON RTCsec+1           'BIOS Real Time clock min count here 0- 59
RTChour        CON RTCmin+1           'BIOS Real Time Clock hour count here 0-23
RTCday         CON RTChour+1          'BIOS Real Time clock day count here 1-31
RTCmonth       CON RTCday+1           'BIOS Real Time clock month count here 1-12
RTCyear        CON RTCmonth+1         'BIOS Real Time clock year count here 0-99
'
AmbTemperature     CON  RTCyear+1             'BIOS Ambient temperature in celcius (8 low bits of 10 bits)
AmbTemperaturehigh CON  AmbTemperature+1      'BIOS Ambient temperature in celcius (2 high bits of 10 bits)
AmbHumidity        CON  AmbTemperaturehigh+1  'BIOS Ambient Humidity  (8 low bits of 10 bits)
AmbHumidityhigh    CON  AmbHumidity+1         'BIOS Ambient Humidity  (2 high bits of 10 bits)
'
A2Dchannel0        CON  AmbHumidityhigh+1     'BIOS Analog channel 0, (8 bits 0f 0v to 2.5v low-> high)
A2Dchannel0high    CON  A2Dchannel0+1         'BIOS Analog channel 0, (2 bits 0f 0v to 2.5v low-> high)
A2Dchannel1        CON  A2Dchannel0high+1     'BIOS Analog channel 1, (8 bits 0f 0v to 2.5v low-> high)
A2Dchannel1high    CON  A2Dchannel1+1         'BIOS Analog channel 1, (2 bits 0f 0v to 2.5v low-> high)
A2Dchannel2        CON  A2Dchannel1high+1     'BIOS Analog channel 2, (8 bits 0f 0v to 2.5v low-> high)
A2Dchannel2high    CON  A2Dchannel2+1         'BIOS Analog channel 2, (2 bits 0f 0v to 2.5v low-> high)
A2Dchannel3        CON  A2Dchannel2high+1     'BIOS Analog channel 3, (8 bits 0f 0v to 2.5v low-> high)
A2Dchannel3high    CON  A2Dchannel3+1         'BIOS Analog channel 3, (2 bits 0f 0v to 2.5v low-> high)
InternTemp         CON  A2Dchannel3high+1     'Bios internal temp of msp430- Needs Calibration
InternTemphigh     CON  InternTemp+1          'Bios internal temp of msp430- Needs Calibration
VCCby2             CON  InternTemphigh+1      'Bios VCC/2 for calabration - Regulator check
VCCby2high         CON  VCCby2+1              'Bios VCC/2 for calabration - Regulator check
'
'----------- Bios Reserved working registers ----------------------------------------
'
CameraRes       CON  VCCby2high+1     'Name this Bios Register (camera Resolution 320 $05 640 $07)
CameraQua       CON  CameraRes+1      'Name this Bios Register (Camera quality $02 normal, $01 Better, $00 Best)
SlaveErr        CON  CameraQua+1      'slave MSP430 status byte (Local Slave Status)
ActiveBank      CON  SlaveErr+1       'Name this Bios Register (Active bank)
TextPointer     CON ActiveBank+1      'Name 16 bit pointer to text in active bank
'
'MicroLab Bios Status Byte given to Master on Status Request
'  Location and Bits defined
'
MLabStatus     CON  TextPointer+2     'Current Status of MicroLab
HighPower      CON  $80               '  Bit 7=high power request
ExComplete     CON  $40               '  Bit 6 = execution of upload command completed
                                      '  Bit 5,4,3, don't care
B2ready        CON  $04               '  Bit 2 = bank 2 ready for upload
B1ready        CON  $02               '  Bit 1 = bank 1 ready for upload
B0ready        CON  $01               '  Bit 0 = bank 0 ready for upload
'
'MicroLab Power Status Registers
'                                      '
PowerStatus    CON  MLabStatus+1      'Power control value
P300ma         CON  $80               'enable high power 300ma mode
P75ma          CON  $40               'set to 75ma power usage
P50ma          CON  $20               'set to low power 50ma
P100ma         CON  $00               'default value of power 100ma
'
'Reserved Bios Working Registers
'
BiosWord0      CON  PowerStatus+1     'BIOS Reserved Word for Bios operations
BiosWord0h     CON  BiosWord0+1       '
BiosWord1      CON  BiosWord0h+1      'BIOS Reserved Word for Bios operations
BiosWord1h     CON  BiosWord1+1       '
BiosWord2      CON  BiosWord1h+1      'BIOS Reserved Word for Bios operations
BiosWord2h     CON  BiosWord2+1       'BIOS Reserved Word for Bios operations
BiosWord3      CON  BiosWord2h+1      'BIOS Reserved Word for Bios operations
BiosWord3h     CON  BiosWord3+1       'BIOS Reserved Word for Bios operations
'
'-----------General Purpose registers across Slots--------------------------------------
'
scr_Register0  CON BiosWord3h+1       'General use Scratchpad Ram location across all slots
scr_Register1  CON scr_Register0+1    'General use Scratchpad Ram location across all slots
scr_Register2  CON scr_Register1+1    'General use Scratchpad Ram location across all slots
scr_Register3  CON scr_Register2+1    'General use Scratchpad Ram location across all slots
scr_Register4  CON scr_Register3+1    'General use Scratchpad Ram location across all slots
scr_Register5  CON scr_Register4+1    'General use Scratchpad Ram location across all slots
scr_Register6  CON scr_Register5+1    'General use Scratchpad Ram location across all slots
scr_Register7  CON scr_Register6+1    'General use Scratchpad Ram location across all slots
'
'--------- Location for Saved User Variables -----------------------------------------
'
Reg0low    CON       scr_Register7+1   'Storage of user variables during Bios operations
Reg0high   CON       Reg0low+1         'Storage of user variables during Bios operations
Reg1low    CON       Reg0high+1        'Storage of user variables during Bios operations
Reg1high   CON       Reg1low+1         'Storage of user variables during Bios operations
Reg2low    CON       Reg1high+1        'Storage of user variables during Bios operations
Reg2high   CON       Reg2low+1         'Storage of user variables during Bios operations
Reg3low    CON       Reg2high+1        'Storage of user variables during Bios operations
Reg3high   CON       Reg3low+1         'Storage of user variables during Bios operations
Reg4low    CON       Reg3high+1        'Storage of user variables during Bios operations
Reg4high   CON       Reg4low+1         'Storage of user variables during Bios operations
Reg5low    CON       Reg4high+1        'Storage of user variables during Bios operations
Reg5high   CON       Reg5low+1         'Storage of user variables during Bios operations
Reg6low    CON       Reg5high+1        'Storage of user variables during Bios operations
Reg6high   CON       Reg6low+1         'Storage of user variables during Bios operations
Reg7low    CON       Reg6high+1        'Storage of user variables during Bios operations
Reg7high   CON       Reg7low+1         'Storage of user variables during Bios operations
Reg8low    CON       Reg7high+1        'Storage of user variables during Bios operations
Reg8high   CON       Reg8low+1         'Storage of user variables during Bios operations
Reg9low    CON       Reg8high+1        'Storage of user variables during Bios operations
Reg9high   CON       Reg9low+1         'Storage of user variables during Bios operations
Reg10low   CON       Reg9high+1         'Storage of user variables during Bios operations
Reg10high  CON       Reg10low+1         'Storage of user variables during Bios operations
Reg11low   CON       Reg10high+1        'Storage of user variables during Bios operations
Reg11high  CON       Reg11low+1         'Storage of user variables during Bios operations
Reg12low   CON       Reg11high+1        'Storage of user variables during Bios operations
Reg12high  CON       Reg12low+1         'Storage of user variables during Bios operations
'
'
MoprClk0  CON        Reg12high+1        'Mission Operations Clock0, fail safe operations
MoprClk1  CON        MoprClk0+2         'Mission Operations Clock1, fail safe operations
MoprClk2  CON        MoprClk1+2         'Mission Operations Clock1, fail safe operations
MoprClk3  CON        MoprClk2+2         'Mission Operations Clock1, fail safe operations
'
'
NextAvailiable CON MoprClk3+2          'Next Availiable location for scratch pad ram storage
'
'-------   User Scratchpad Locations open for use -------------
'
'
'
'-------   User Scratchpad Locations open for use -------------  '
'
SlotInfo    CON 127                    'contains the current running slot.
'
'location number 127 contains the number of the currently running program slot
'
'************* End of Scratchpad Ram Space difinations ****************
'
'**********************************************************************
'----- MicroLab Pins and ports on the BS2p24 Defined for BIOS ------------
'**********************************************************************
internalscl       CON 0       'BS2p24 interal I2c buss
internalsda       CON 1       'BS2p24 interal I2c buss
cameraclk         CON 2       'Camera Clock
cameramiso        CON 3       'Camera master in slave out
cameramosi        CON 4       'Camera msater out slave in
camerahold        CON 5       'Camera Hold
masterin          PIN 6       'Serial Input fm master
'masterin          CON 6       'Serial Input fm master
masterout         CON 7       'Serial Output to master
payloadsda        CON 8       'SDA on payload expansion board
payloadscl        CON 9       'SCL on payload expansion board
internawin        CON 10      'Local slave A to D, watchdog serial in
internawout       CON 11      'Loacl slave A to D, watchdog serial out
camerapower       CON 12      'Camera on and off for recycle
votedead          CON 13      'AMicroLab vote that Master is dead
payloadio14       CON 14      'I/O payload line
cameraCS          CON 15      'camrea chip select pin
'
'
'---------------- Bios System General constants --------------------
'
' Input terminal constants for test set to
con_in       CON 16          'Pin 16 is BS2P serial in from RS232 connector
con_baud     CON 240         'set to 9600 8bit true
con_tout     CON 250         'time out waiting for terminal input appx 100ms
'
'----------------- Bios General constants ---------------------------
'
InternI2c          CON      0          'Internal I2C buss address control
PLi2c              CON      8          'Payload I2c BUSS address control
PCF8574address     CON      $40        'internal I2C buss address of PFC8574
Ebankaddress       CON      $A0        'Address of 256k eerom memory
Ebank0             CON      $00        'Ebank0 bank address 00000-0FFFF
Ebank1             CON      $02        'Ebank1 bank address 10000-1FFFF
Ebank2             CON      $04        'Ebank2 bank address 20000-2FFFF
Ebank3             CON      $06        'Ebank3 bank address 30000-3FFFF
'
TextBuffer         CON      $C000      'Text buffer in bank 0,1, and 2
'
Camera320          CON      $05        'Camera Resolution 320X240
Camera640          CON      $07        'Camera Resolution 640X480
CameraNormal       CON      $02        'Camera Quality Normal
CameraBetter       CON      $01        'Camera Quality Better
CameraBest         CON      $00        'Camera Quality Best
'
Baud9600T CON $00F0  'Baudrate of 9600 no parity True
Baud2400T CON $03FD  'Baudrate of 2400 no parity true
'
Ack       CON $5A                      'Acknowledge response to McMek
TimeOut   CON 500                      'input command timeout is .5 seconds
Pace      CON 1                        'pace of output from MicroLab to System terminal
ETX       CON $03                      'End of Text command
EOF       CON $FF                      'end of file marker
'
'------------ Bios System Error and event codes for logging --------------------
'
NoError       CON   0       'no error on return, all ok
'
'-----------------  Variables Same for all program Slots  ---------------
'  Used By BIOS
xcounter    VAR Word         'General use 16 bit counter
TempWord    VAR Word         'General use Temp Word Register
TempWord1   VAR Word         'General use Temp Word Register
counter     VAR Byte         'General use 8 bit counter
TempReg0    VAR Byte         'General use location for values during processes
TempReg1    VAR Byte         'General use location for values during processes
TempReg2    VAR Byte         'General use location for values during processes
TempReg3    VAR Byte         'General use location for values during processes
Sdata       VAR Byte         'data to send to uart
text        VAR Byte(8)      'make array for text
'
'  Variables open for use by User (9 Bytes)and not touched by the BIOS
'  Note: above BIOS Variables can/may be used by the user, however
'  the value may be destroyed by a Call to the BIOS or BIOS operation
'
UserVar0    VAR Byte         'user Varible space - Should be same across all slots
UserVar1    VAR Byte         'user Varible space - Should be same across all slots
UserVar2    VAR Byte         'user Varible space - Should be same across all slots
UserVar3    VAR Byte         'user Varible space - Should be same across all slots
UserVar4    VAR Byte         'user Varible space - Should be same across all slots
UserVar5    VAR Byte         'user Varible space - Should be same across all slots

'
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
' Calibration values must be calculated and writen through the test system write eeram
' not automatically done, this is a one time event. Calibrate CPU temp, may be as
' much as 60 degrees C off from the factory.
'
SysCalBank   CON   Ebank3   'Bank for system calibration
SysCPUcal    CON   $C002    'External E2RAM calibration locations
'
'
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
'XXXXXXXXXXXXXXXXXXXXX  >> End of Header Copy Entries  <<  XXXXXXXXXXXXXXXXXXXXXXX
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
'
'
'special define for this slot
'
#DEFINE Notakeanddownload = 0    'remove take and download code to make room
'
EntryOfSlot:
  #IF SaySlot = 1 #THEN
  DEBUG ">S7-V",DEC TempReg1,CR
  #ENDIF
  BRANCH TempReg1,[systeminit,             '0 systems init
  HeartBeat,                               '1 Now Heartbeat of system
  HeartBeatfromtext,                       '2 Heartbeat from text update
  takeanddownload,                         '3 Take photo and send to terminal (TEST)
  HeartBeatfromStore,                      '4 from store photo routine
  DownLoadfile]                            '5 Transfer file from McMek to MicroLab
'
ReturnBack:
  GET   VectorFromNum,TempReg1     'Returning vector for calling program
  GET   VectorFromSlot,TempReg0    'fetch the program slot where the routine was called
  RUN TempReg0                     'RETURNback now....!!!!
'
'
HeartBeat:
      GOSUB  HeartBeatUpdate     'HeartBeat, update data samples and time
      GOTO ReturnBack            'back to calling routine
HeartBeatfromStore:
      GOSUB  HeartBeatUpdate    'HeartBeat1, from photostore routine
      TempReg1=3                 '3 forced back to store photo routine
      RUN 6
HeartBeatfromtext:               'forced outside system
      GOSUB HeartBeatUpdate      'forced outside system
      TempReg1=0                 'forced outside system
      RUN 4                      'forced outside system
'==========================================================================

'********************************************************************************
'---------- ISS System Init at startup and all resets --------------------------
'********************************************************************************
'-------------------- SLOT ROUTINE 0  ----------------------
'
'---------  Setup I/O pins and conditions 1st --------------
'
systeminit:
  INPUT   internalscl 'Set internal SLC buss high
  INPUT   internalsda 'Set internal SDA buss high
  I2COUT InternI2c, PCF8574address, [$FF] 'Set Output of 8574 for input all High
  LOW     cameraclk   'Set camera clock to logic low
  OUTPUT  cameraclk   'Set camera clock to output
  INPUT   cameramiso  'Set camera miso to receive from camera
  LOW     cameramosi  'Set camera mosi to logic high
  OUTPUT  cameramosi  'Set camera mosi to send data to camera
  INPUT   camerahold  'Set to look at camera hold
  INPUT   masterin    'Set to get serial input from master
  HIGH    masterout   'Set idle output to logic high
  OUTPUT  masterout   'Set for serial output to master
  INPUT   payloadsda  'Set payload SDA buss to high
  INPUT   payloadscl  'Set payload SCL buss to high
  INPUT   internawin  'Set to get internal slave serial data
  HIGH    internawout 'Set internal slave serial line to high
  OUTPUT  internawout 'Set to output serial data to interal slave
  LOW    camerapower 'Set camera to on by logic high
  OUTPUT  camerapower 'Set camera power to output the high
  LOW     votedead    'Set to master is alive
  OUTPUT  votedead    'Set to output alive signal
  INPUT   payloadio14 'Set to input no drive to expansion board
  HIGH    cameraCS    'DeSelect camera
  OUTPUT  cameraCS    'Camera Select pin
  '
  PUT    CameraRes,Camera640        'set degault to 640
'  PUT     CameraRes,Camera320        'set default to 320
  PUT    CameraQua,CameraBetter     'set default to Better
'  PUT     CameraQua,CameraNormal     'set default to Normal
  PUT     TextPointer,$C000           'Text start
'
  PUT   MLabStatus,$20                'Default none zero status response
'
  '-------- Setup other conditions here  ------
'
'------ How many resets occured after program clean program load --------------
'
  STORE DataStorage                   'Set to read/write in slot 6
  READ  ResetNumber,TempReg0          'get reset count from EEPRO
'
        #IF testreset #THEN
        DEBUG "address = ",HEX4 ResetNumber,">",HEX TempReg0,CR
        #ENDIF
'
  TempReg0 = TempReg0+1                 'count this reset now
  WRITE ResetNumber,TempReg0            'save it for next time
'
        #IF testreset #THEN
        DEBUG "Reset count = ",HEX2 TempReg0,CR
        #ENDIF
'
'------- Now - At reset Move any Templets from EEPROM to Scratch pad Ram -----
'
'---------------------------------------
'  Init default time in scratchpad memory
'---------------------------------------
    counter = RTCsec
    FOR TempReg0 = 0 TO 5                   'set up to write default time in scratch pad
    LOOKUP TempReg0,[1,1,1,1,1,12],TempReg1
    PUT counter+TempReg0,TempReg1           'place default time in scratchpad
    NEXT                                    'do it again until finished
    '
    'Now send it to slave processer
    '
reXferTime:
    SEROUT internawout,Baud2400T,[$5A]          'send SetTime command
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0]
    PUT SlaveErr,TempReg0
    '
    FOR TempWord = RTCsec TO RTCyear   '
    PAUSE 10
    GET TempWord,TempReg0                        'get time from scratchpad
    SEROUT internawout,Baud2400T,[TempReg0]      'send to set time
    NEXT
    '
    STORE DataStorage
    FOR TempWord = Missionsec TO Missionday '1228 set power on that was stored in stamp
    PAUSE 10
    READ TempWord,TempReg0                  'get the value from memory
    SEROUT internawout,Baud2400T,[TempReg0] 'send it to the slave
    NEXT
    GOTO TimeXferDone
NoSlave:                                         'slave did not respond to request to send data
   HIGH internawout                              'reset send
   DEBUG "time init error no slave",CR
   GOTO  reXferTime
   '
TimeXferDone:

'----------  All done with systems continue with power on routines -------------
'
'PAYLOAD ROUTINES HERE$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
'$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
'$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
'$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
'
  GOTO ReturnBack                           'go back to where came
'
'
'-----------------------------------------------------------
'  DownLoad a file from McMek(master) to the MicroLab
'  In Bank 3 address 0000 for 2048 bytes
'Note special issues with download....
'  it takes 4 millisec to write a location, therefore data incoming
'must be slower than 4 millisec.
'  Handshake:
'     for each byte downloaded an Act is sent back to the master
'   this controls the flow of data from the master to the microlab
'   When 2048 bytes are downloaded,  the ExComplete flag is set
'   in the status register.  the indicate to the microlab user program
'   that a new data file has been downloaded from the master,  the flag
'   is cleared when the file is executed.
'
'-----------------------------------------------------------
'
DownLoadfile:
    TempReg2 = EBank3              'point to bank 3 for down load file
    FOR xcounter= 0 TO 2047        'Set counter and pointer to download area
    SERIN masterin ,Baud9600T,60000,Errorback,[TempReg0]  'Wait for request/command from McMek,wait 20 sec for response
    I2COUT InternI2c, $A0 | TempReg2,xcounter.HIGHBYTE\xcounter.LOWBYTE, [TempReg0]
    PAUSE 10                        'must wait for eeram write to finish
'''''''''''''''''''''''''''''''''''''''    xcounter=xcounter+1            'point to next location in the ee2ram
    SEROUT masterout,Baud9600T,Pace,[Ack] 'send Ack, to indicate finished writing in ee2ram
    NEXT
    '
    GET MLabStatus,TempReg0        'get status byte
    TempReg0 = TempReg0 | ExComplete 'set the upload file flag, file is ready to be used
    PUT MLabStatus,TempReg0        'replace the status byte for further use
    '
    'Set the state of the Magnetic Chamber file execution system
    ' to state 2 to process the uploaded file
    '
    STORE DataStorage         'set to data storage bank
    READ Cstatus,TempReg0     'what is the state and status
    TempReg0=TempReg0 & $F0   'remove the lower nibble of state condition
    TempReg0=TempReg0 | $02   'set state to 2, process uploaded chamber file
    WRITE Cstatus,TempReg0    'replace status register in e2memory
    '
    ' Reset TestNumber to 0, this is the pointer that will be used to get the data from the
    '  downloaded file
    '
    WRITE TestNumber,Word $0000  'over ride operations, clear the pointer to do file from beginning
    '
    ' File has been downloaded to MicroLab, MLabStatus Byte updated with bit set
    ' Cstatus state forced to change to 2, to process downloaded file
    '
    GOTO ReturnBack                'finished download
Errorback:
    SEROUT masterout,Baud9600T,pace,[$ff]  'Error response to master
    GOTO ReturnBack                        'back to flow of things
'

'
'
'********************************************************************
'************   Set Camera and Take a Photo Here   ******************
'********************************************************************
'
'TakeandStore:
'    GOSUB takepicture            'take the photo
'    GOTO storephoto             'store the photo
'
TakeandDownload:
  #IF Notakeanddownload #THEN
      GOTO ReturnBack
  #ELSE
    GOSUB takepicture            'take the photo
    GOTO downloadphoto          'send photo out terminial
'
takepicture:
  '
'  I2CIN InternI2c, PCF8574address, [TempReg0]         'Get to whole byte
'  TempReg0=TempReg0 | Fbacklight                     'set bit high
'  I2COUT InternI2c, PCF8574address, [TempReg0]        'output high led on

  LOW camerapower               'turn camera power off if on in error recovery
  PAUSE 500                     '1/2 sec
  '
  #IF Sayit = 1 #THEN
  DEBUG CR,"Taking photo",CR      'Say what is happening
  #ENDIF
  '
  HIGH cameraCS               'set camera chip select to high
  HIGH  camerapower           'set camera power on
  '
  #IF Sayit = 1 #THEN
  DEBUG "camera on",CR
  #ENDIF
  '
  PAUSE 1500                  'wait 1.5 sec for camera to init itself
  '
  '
  PULSOUT votedead ,1 '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
  '
    FOR tempreg1 = 0 TO 150                                 'check 150 times for sync before giving up
    LOW cameraCS                                            'enable camera chip select
    FOR xcounter = 0 TO 7                                   'set to send string of 7 commands
    LOOKUP xcounter,[$ff,$ff,$ff,$0d,$00,$00,$00,$00],sdata 'set for command to send
    GOSUB manualbytespi                                     'send the byte, while looking at input
    IF counter=0 THEN DEBUG CR,"hold 7",CR:GOTO takepicture
    text(xcounter) = TempReg3                               'place input into array for later
    NEXT                                                    'send next byte not finished
    IF (text(2) = $FF) & (text(3) = $0E) & (text(4) = $0D) THEN GOTO SyncCamera2  'yes received ack from camera
    HIGH cameraCS                                           'did not receive ack, set chip select to high
    NEXT                                                    'do it again
    tempreg0 = 1                                            'sync Timed out Error, set code
    GOTO cameraerror                                        '
SyncCamera2:                                                'now need to wait for sync from camera
   LOW cameraCS
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$FF]            ' send the bits Quick dummy
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$FF]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$FF]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$0D]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$00]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$00]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$00]            ' send the bits
    SHIFTOUT cameramosi, cameraclk, MSBFIRST, [$00]            ' send the bits
    HIGH cameraCS                                              'deselect camera
    FOR xcounter = 0 TO 7                                      'set to send 0 bytes of command
    LOOKUP xcounter,[$ff,$ff,$ff,$0d,$00,$00,$00,$00],sdata    'command
    LOW cameraCS                                               'enable camera chip select
    GOSUB manualbytespi                                        'send the byte while looking at input
    IF counter=0 THEN DEBUG CR,"hold 6",CR:GOTO takepicture
    text(xcounter) = TempReg3                                  'place received data in text array
    NEXT                                                       'ready to send next byte
    HIGH cameraCS                                              'deselect camera select
'  DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    IF (text(2) = $FF) & (text(3) = $0D) THEN GOTO SyncCamera3 'check for sync from camera
    tempreg0 = 2                                               'set camera error code
    GOTO cameraerror                                           'goto error processing
SyncCamera3:                                                   'now need to ack the sync from camera
    FOR xcounter = 0 TO 7                                      'set to send ack 8 bytes
    LOOKUP xcounter,[$ff,$ff,$ff,$0e,$0d,$00,$00,$00],sdata    'get each byte of command
    LOW cameraCS                                               'enable camera chip select
    GOSUB manualbytespi                                        'send the byte to the camera
    IF counter=0 THEN DEBUG CR,"hold 5",CR:GOTO takepicture
    text(xcounter) = TempReg3                                  'place the received data in text array
    NEXT                                                       'send next byte
    HIGH cameraCS                                              'disable camera select, now synced
' DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    '
    ' Camera now Synced and waiting for instructions
    ' need to init camera
    ' INIT CAMERA
    '
    GET CameraRes,TempReg2                                     'Get current resoluation
    FOR tempreg1 = 0 TO 150                                   'we will try 150 times
    LOW cameraCS                                              'select camera
    FOR xcounter = 0 TO 7                                     'set to send 8 bytes
    LOOKUP xcounter,[$ff,$ff,$ff,$01,$00,$87,$01,TempReg2],sdata   'set init command
    GOSUB manualbytespi                                       'send it while looking at input
    IF counter=0 THEN DEBUG CR,"hold 4",CR:GOTO takepicture
    text(xcounter) = TempReg3                                 'place received data in text array
    NEXT                                                      'get and send the next byte
    HIGH cameraCS                                             'deselect the camera
'      DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    IF (text(2) = $FF) & (text(3) = $0E) & (text(4) = $01) THEN GOTO SelectQuality
    NEXT
    TempReg0=3                                                  'no init error 3
    GOTO cameraerror
    '
    ' init ok, now select quality
    '
SelectQuality:
    GET CameraQua,TempReg2                                      'get current quality
    FOR tempreg1 = 0 TO 150                                    'we will try 150 times
    LOW cameraCS                                               'select camera
    FOR xcounter = 0 TO 7                                      'set to send 8 bytes
    LOOKUP xcounter,[$ff,$ff,$ff,$10,TempReg2,$00,$00,$00],sdata    'set quality command
    GOSUB manualbytespi                                        'send while getting input
    IF counter=0 THEN DEBUG CR,"hold 3",CR:GOTO takepicture
    text(xcounter) = TempReg3                                  'place input in text array
    NEXT                                                       'get the next one
    HIGH cameraCS                                              'deselect camera
'      DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    IF (text(2) = $FF) & (text(3) = $0E) & (text(4) = $10) THEN GOTO GetPicture
    NEXT
    tempreg0 = 4
    GOTO cameraerror
    '
    'Set the quality properly
    '
GetPicture:
    FOR tempreg1 = 0 TO 150                                    'again 150 times
'    PAUSE 5 '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    LOW cameraCS                                               'enable camera
'    PAUSE 5 '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    FOR xcounter = 0 TO 7                                      'set to send 8 bytes
    LOOKUP xcounter,[$ff,$ff,$ff,$04,$05,$00,$00,$00],sdata    'get picture command                                                               '
    GOSUB manualbytespi                                        'send and receive
    IF counter=0 THEN DEBUG CR,"hold 2",CR:PUT CameraQua,CameraBetter:GOTO Takepicture
    text(xcounter) = TempReg3                                  'place in array
    NEXT
'       DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$                                                      'send and receive next one
    HIGH cameraCS                                              'deselect camera
    IF (text(2) = $FF) & (text(3) = $0E) & (text(4) = $04) THEN readydownload
    NEXT
    tempreg0 = 5
    GOTO cameraerror
    '
    '
readydownload:
    LOW cameraCS                                               'endable camera
    FOR xcounter = 0 TO 7                                      'set for 8 bytes
    LOOKUP xcounter,[$ff,$ff,$ff,$04,$05,$00,$00,$00],sdata    'Download command
    GOSUB manualbytespi                                        'send it and read input
    IF counter=0 THEN DEBUG CR,"hold 1",CR:GOTO takepicture
    text(xcounter) = TempReg3                                  'place received data in text array
    NEXT                                                       'get next byte
'      DEBUG CR '$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
    HIGH cameraCS                                              'disable camera select
    TempWord = text(5) + (text(6)*256) + (text(7)*256*256)     'Array has sixe of photo
    '
    'Photo length is in TempWord and camera is set to download the photo
    'Now what to do with the data
    '
'    I2CIN InternI2c, PCF8574address, [TempReg0]         'Get to whole byte
'    TempReg0=TempReg0 & ~Fbacklight                     'set bit low
'    I2COUT InternI2c, PCF8574address, [TempReg0]        'output low led off
    '
    DEBUG "Pic Size: ", DEC TempWord,"  ",HEX4 TempWord,CR     'output size of photo to terminal
    '
    RETURN
    '
    '
    '
    'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
    'Here we output the photo data to the terminal output of the stamp
    'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
    '
downloadphoto:
    '
    DO WHILE (TempWord) > 0
    LOW cameraCS                                     'enable camera
    SHIFTIN cameramiso, cameraclk, LSBFIRST,  [text] 'get the data from the camera
    DEBUG HEX2 text                                  'send it out in Hex fromat
'    SEROUT masterout,Baud9600T,1,[HEX2 text]  '?????????????????????????????????????????
    HIGH cameraCS                                    'deselect the camera to cycle it
    TempWord = TempWord - 1                          'Count the data sent
    LOOP                                             'Loop to finish sending
    LOW camerapower                                  'Finished with camrea, Turn camera off
Photofinish:
    DEBUG CR,"Done",CR
    GOTO ReturnBack                          'return to calling slot and routine

cameraerror:
   DEBUG "CameraError= ",HEX2 TempReg0,CR
   '
   ' Process error recovery here
   '
   GOTO ReturnBack
   '
'***************************************************************************
'***************************************************************************
' Entry -> sdata = byte to send
' Exit <-  TempReg3 = byte received
'
manualbytespi:
  TempReg3 = 0        'returned byte starts all "0"s
  TempReg0 = $80      'set for bit testing and seting start with msb
  '
  ' for hold timeout
  '
  counter = $ff
  '
back2:
  IF counter = 0 THEN DEBUG CR,"hold timed out", CR:RETURN  'hold time out if more than 255 time error
  counter = counter - 1     'dec timeout loop
  IF IN5 = 1 THEN GOTO back2                                           'Wait for camera not busy
  FOR counter = 1 TO 8                                                 'Set for 8 bit shift
  IF sdata & TempReg0 = 0 THEN LOW cameramosi ELSE HIGH cameramosi     'set bit to low
  HIGH cameraclk                                                       'set camera clock to high
  IF IN3 = 1 THEN TempReg3 = TempReg0 | TempReg3                       'set input to high read a one
  TempReg0 = TempReg0 >> 1                                             'shift for next bit
  LOW cameraclk                                                        'clock to low
  NEXT
  RETURN
'
     #ENDIF
    '
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
    '                HEARTBEAT OF THE SYSTEM
    '  This is the Heartbeat to the slave processor
    '       MUST BE EXECUTED APPROX ONCE EVERY 10 SEC OR FASTER OR
    '       THE SYSTEM WILL BE RESET DUE TO NON ATTENTION !!!!!
    '  NOTE: Program called from other slots to vector 0 in this slot will
    '        do a normal slot program return with the information provided
    '        during the vector goto to this slot...
    ' Uses - TempReg0,TempReg2,counter,
'XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
HeartBeatUpdate:
    PUT Reg0low,TempReg0   'Save FOR return
    PUT Reg0high,TempReg2  'Save for return
    PUT Reg1low,counter    'Save for return
    '
    SEROUT internawout,Baud2400T,[$01]     'send request to Slave to give us an update
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] 'get input from slave, timeout NoSlave
    PUT SlaveErr,TempReg0
    '
    TempReg2 = AmbTemperature  'point TempReg2 at low byte of AmbTemperature
    FOR TempReg2 = AmbTemperature TO AmbTemperature+15
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] 'get the byte from the input
    HIGH internawout                                    'reset request data flag
    PUT TempReg2,TempReg0                               'put value into scratchpad ram
    NEXT
    '
    PAUSE 5               '5 millisec so slave and stamp resync if necessary
    '
'*****************************************************
'   Get time from slave
'*****************************************************
'
    SEROUT internawout,Baud2400T,[$03]                   'send gettime Command to Slave
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0]  'wait for input with time out
    PUT SlaveErr,TempReg0
    '
    FOR counter = 0 TO 5    ' to get six bytes from the slave Time
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] 'get the byte from the input
    PUT RTCsec+counter,TempReg0     'Place the time byte in scratchpad for access
    NEXT                            'get the next one
    '
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] '1228 poweron sec
    PUT sMissionsec,TempReg0
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] '1228 poweron sec
    PUT sMissionmin,TempReg0
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] '1228 poweron sec
    PUT sMissionhour,TempReg0
    SERIN internawin,Baud2400T,10000,NoSlave,[TempReg0] '1228 poweron sec
    PUT sMissionday,TempReg0
    '
    STORE DataStorage
    GET sMissionday,TempReg0                            '1228
    WRITE Missionday,TempReg0                           '1228
     DEBUG DEC TempReg0,"D "
    PAUSE 5
    GET sMissionhour,TempReg0                            '1228
    WRITE Missionhour,TempReg0                           '1228
     DEBUG DEC TempReg0,"H "
    PAUSE 5
    GET sMissionmin,TempReg0                            '1228
    WRITE Missionmin,TempReg0                           '1228
     DEBUG DEC TempReg0,"M "
    PAUSE 5
    GET sMissionsec,TempReg0                            '1228
    WRITE Missionsec,TempReg0                           '1228
     DEBUG DEC TempReg0,"S",CR
    PAUSE 5
    HIGH internawout                'reset request data flag
    GET Reg0low,TempReg0            'restore FOR return
    GET Reg0high,TempReg2           'restore for return
    GET Reg1low,counter             'restore for return

    RETURN
    '
    '
NoSlave1:               'slave did not respond to request to send data
   DEBUG CR,"*E1*",CR    'Slave Timeout
   HIGH internawout    'reset send
   RETURN
   '