Note: Descriptions are shown in the official language in which they were submitted.
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
EXTENDABLE TUBE
FIELD OF THE INVENTION
The present invention relates to systems and methods for automatic
insertion of an element into a living organism in vivo and to an extendable
insertable
element and a method of insertion thereof.
REFERENCE TO CO-PENDING APPLICATION
Applicants hereby claim priority of PCT Application No.
PCT/IL01I01121 filed December 5, 2001, entitled "Apparatus For Self Guided
Incubation".
BACKGROUND OF THE INVENTION
The following U.S. Patents are believed to represent the current state of
the art:
6,248,112; 6,236,875; 6,235,038; 6,226,548; 6,211,904; 6,203,497;
6,202,646; 6,196,225; 6,190,395; 6,190,382; 6,189,533; 6,174,281; 6,173,199;
6,167,145; 6.164,277; 6,161,537; 6,152,909; 6,146,402; 6,142,144; 6,135,948;
6,132,372; 6;129,683; 6,096,050; 6,096,050; 6,090,040; 6,083,213; 6,079,731;
6,079,409; 6,053,166; 5,993,424; 5,976,072; 5,971,997; 5,957,844; 5,951,571;
5,951,461; 5,885,248; 5,720,275; 5,704,987; 5,592,939; 5,584,795; 5,506,912;
5,445,161; 5,400,771; 5,347,987; 5,331,967; 5,307,804; 5,257,636; 5,235,970;
5,203,320; 5,188,111; 5,184,603; 5,172,225; 5,109,830; 5,018,509; 4,910,590;
4,672,960; 4,651,746
Reference is also made to: http://www.airwaycam.com/system.html
1
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
SUMMARY OF THE INVENTION
The present invention seeks to provide improved systems and methods
for automatic insertion of an element into a living organism in vivo.
There is thus provided in accordance with a preferred embodiment of the
present invention an automatically operative medical insertion device
including an
insertable element which is adapted to be inserted within a living organism in
vivo, a
surface following element, physically associated with the insertable element
and being
arranged to Follow a physical surface within the living organism in vivo, a
driving
subsystem operative to at least partially automatically direct the insertable
element
along the physical surface and a navigation subsystem operative to control the
driving
subsystem based at least partially on a perceived location of the surface
following
element along a reference pathway stored in the navigation subsystem.
There is also provided in accordance with a preferred embodiment of the
present invention an automatically operative medical insertion method, which
includes
inserting an insertable element within a living organism in vivo, physically
associating a
surface following element twith the insertable element and causing the surface
following
element to follow a physical surface within the living organism in vivo,
directing the
insertable element along the physical surface using a driving subsystem and
controlling
direction of the insertable element based at least partially on a perceived
location of the
surface following element along a reference pathway stored in a navigation
subsystem.
Further in accordance with a preferred embodiment of the present
invention the driving subsystem is operative to fully automatically direct the
insertable
element along the physical surface. Alternatively, the driving subsystem is
operative to
automatically and selectably direct the insertable element along the physical
surface.
Additionally in accordance with a preferred embodiment of the present
invention the navigation subsystem receives surface characteristic information
relating
to the physical surface from the surface following element and employs the
surface
characteristic information to perceive the location of the surface following
element
along the reference pathway.
Preferably, the surface characteristic information includes surface
contour information. Additionally, the surface characteristic information
includes
2
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
surface hardness information. Preferably, the surface contour information is
three-
dimensional. Alternatively, the surface contour information is two-
dimensional.
In accordance with a further preferred embodiment of the present
invention, the insertable element is an endotracheal tube and the physical
surface
includes surfaces of the larynx and trachea. Alternatively, the insertable
element is a
gastroscope and the physical surface includes surfaces of the intestine. In
accordance
with another preferred embodiment, the insertable element is a catheter and
the physical
surface includes interior surfaces of the circulatory system.
Further in accordance with a preferred embodiment of the present
invention the insertion device also includes a reference pathway generator
operative to
image at least a portion of the living organism and to generate the reference
pathway
based at least partially on an image generated thereby.
Preferably, the reference pathway includes a standard contour map of a
portion of the human anatomy. Additionally, the standard contour map is
precisely
adapted to a specific patient. Alternatively, the standard contour map is
automatically
precisely adapted to a specific patient.
Further in accordance with a preferred embodiment of the present
invention the reference pathway is operator adaptable to designate at least
one
impediment.
Additionally in accordance with a preferred embodiment of the present
invention the insertable element includes a housing in which is disposed the
driving
subsystem, a mouthpiece, a cube inserted through the mouthpiece and a flexible
guide
inserted through the tube, the surface following element being mounted at a
front end of
the guide.
Preferably, the mouthpiece includes a curved pipe through which the tube
is inserted. Additionally, the driving subsystem is operative to move the
guide in and-
out of the housing, through the curved pipe and through the tube. Preferably,
the driving
subsystem also operates to selectably bend a front end of the guide.
Additionally or
alternatively, the driving subsystem is operative to move the insertable
element in and
out of the living organism. Additionally, the driving subsystem is also
operative to
selectably bend a front end of the insertable element.
3
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Further in accordance with a preferred embodiment of the present
invention the surface following element includes a tactile sensing element.
Preferably, the surface following element includes a tip sensor including
a tip integrally formed at one end of a short rod having a magnet on its other
end, the
rod extends through the center of a spring disk and is firmly connected
thereto, the
spring disk being mounted on one end of a cylinder whose other end is mounted
on a
Front end of the insertable element.
Further in accordance with a preferred embodiment of the present
invention the tip sensor also includes two Hall effect sensors, which are
mounted inside
the cylinder on a support and in close proximity to the magnet, the Hall
effect sensors
being spaced in the plane of the curvature of the curved pipe. Each Hall
effect sensor
includes electrical terminals operative to provide electric current
representing the
distance of the magnet therefrom. The tip sensor operates such that when a
force is
exerted on the tip along an axis of symmetry of the cylinder, the tip is
pushed against
the spring disk, causing the magnet to approach the Hall effect sensors and
when a force
is exerted on the tip sideways in the plane of the Hall effect sensors, the
tip rotates
around a location where the rod engages the spring disk, causing the magnet to
rotate
away from one of the Hall effect sensors and closer to the other of the Hall
effect
sensors.
Still further in accordance with a preferred embodiment of the present
invention the driving subsystem operates, following partial insertion of the
insertable
element into the oral cavity, to cause the guide to extend in the direction of
the trachea
and bend the guide clockwise until the surface following element engages a
surface of
the tongue, whereby this engagement applies a force to the surface following
element.
Additionally in accordance with a preferred embodiment of the present
invention the navigation subsystem is operative to measure the changes in the
electrical
outputs produced by the Hall effect sensors indicating the direction in which
the tip is
bent.
Moreover in accordance with a preferred embodiment of the present
invention the navigation subsystem operates to sense the position of the tip
and the past
history of tip positions and to determine the location of the tip in the
living organism
and relative to the reference pathway.
4
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
In accordance with yet another preferred embodiment, the navigation
subsystem operates to navigate the tip according to the reference pathway.
Additionally,
the navigation subsystem operates to sense that the tip touches the end of the
trough
beneath the epiglottis. Additionally or alternatively, the navigation
subsystem is
operative to sense that the tip reaches the tip of the epiglottis. In
accordance with
another preferred embodiment; the navigation subsystem operates to sense that
the tip
reached the first cartilage of the trachea. Additionally, the navigation
subsystem
operates to sense that the tip reached the second cartilage of the trachea.
Additionally or
alternatively, the navigation subsystem is operative to sense that the tip
reached the third
cartilage of the trachea. Preferably, the navigation subsystem operates to
load the
reference pathway from a memory.
Further in accozdance with a preferred embodiment of the present
invention the driving subsystem is operative to push the tube forward.
Still further in accordance with a prefezred embodiment of the present
invention the driving subsystem includes a first motor which operates to
selectably
move the insertable element forward or backward, a second motor which operates
to
selectably bend the insertable element and electronic circuitry operative to
control the
first motor, the second motor and the surface following element.
Preferably, the electronic circuitry includes a microprocessor operative to
execute a program, the program operative to control the first and second
motors and the
surface following element and to insert and bend the insertable element inside
the living
organism along the reference pathway.
Further in accordance with a preferred embodiment of the present
invention the driving subsystem is operative to measure the electric current
drawn by at
least one of the first and second motors to evaluate the position of the
surface following
element.
Still further in accordance with a preferred embodiment of the present
invention the reference pathway is operative to be at least partially prepared
before the
insertion process is activated. Preferably, the medical insertion device
includes a
medical imaging system and wherein the medical imaging system is operative to
at least
partially prepare the reference pathway. Preferably, the medical imaging
subsystem
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
includes at least one of an ultrasound scanner, an X-ray imager, a CAT scan
system and
an MRI system.
Further in accordance with a preferred embodiment of the present
invention the medical imaging system operates to prepare the reference pathway
by
marking at least one contour of at least one organ of the living organism.
In accordance with another preferred embodiment, the medical imaging
system operates to prepare the reference pathway by creating an insertion
instruction
table including at least one insertion instruction. Preferably, the insertion
instruction
includes instruction to at least one of extend, retract and bend the
insertable element.
Further in accordance with a preferred embodiment of the present
invention the navigation subsystem is operative to control the driving
subsystem based
at least partially on a perceived location of the surface following element
and according
to the insertion instruction table stored in the navigation subsystem.
Additionally in accordance with a preferred embodiment of the present
invention the operative medical insertion device operates to at least
partially stare a log
of a process of insertion of the insertable element. Additionally, the
operative medical
insertion device transmits the log of a process of insertion of the insertable
element.
Further in accordance with a preferred embodiment of the present
invention the computer operates to aggregate the logs of a process of
insertion of the
insertable element. Additionally, the computer prepares the reference pathway
based at
least partially on the aggregate.
Still further in accordance with a preferred embodiment of the present
invention the computer transmits the reference pathway to the medical
insertion device.
Further in accordance with a preferred embodiment of the present
invention the insertable element includes a guiding element and a guided
element.
Additionally, the driving subsystem operates to direct the guiding element and
the
guided element at least partially together. Additionally or alternatively, the
driving
subsystem is operative to at least partially automatically direct the guide in
a combined
motion comprising a longitudinal motion and lateral motion.
In accordance with yet another preferred embodiment, the mouthpiece
includes a disposable mouthpiece.
In accordance with still another preferred embodiment of the present
6
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
invention, the insertable element is extendable. In accordance with yet
another preferred
embodiment, the insertable element includes a mounting element which is
arranged to
be removably engaged with an intubator assembly and an extendable tube
operatively
associated with the mounting element. Preferably, the extendable tube is
arranged to be
pulled by a flexible guide operated by the intubator assembly.
In accordance with yet another preferred embodiment of the present
invention, the extendable cube includes a coil spring. Additionally or
alternatively, the
extendable tube also includes a forward end member, on a distal end thereof.
Preferably, the forward end member includes a diagonally cut pointed
forward facing tube end surface. Additionally or alternatively, the medical
insertion
device also includes a forward end member mounted inflatable and radially
outwardly
expandable circumferential balloon.
Preferably, the forward end member mounted inflatable and radially
outwardly expandable circumferential balloon receives inflation gas through a
conduit
formed in a wall of the forward end member and continuing through the tube to
a one
way valve.
In accordance with another preferred embodiment, the medical insertion
device also includes a flexible guide having mounted at a distal end thereof a
tip sensor.
Preferably, the flexible guide is formed with an inflatable and radially
outwardly
expandable guide mounted balloon. Additionally, the inflatable and radially
outwardly
expandable guide mounted balloon receives inflation gas through a conduit
formed in
the flexible guide and extending therealong. Preferably, the conduit is
connected to a
source of pressurized inflation gas. Additionally or alternatively, the source
of
pressurized inflation gas is located within the intubator assembly.
Preferably, the
inflation gas comprises pressurized air.
It is appreciated that the distances and angles referenced in the
specification and claims are typical values and should not be construed in any
way as
limiting values.
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
BRIEF DESCRIPTION OF THE DRAWINGS AND APPENDICES
The present invention will be understood and appreciated more fully
from the following detailed description, taken in conjunction with the
drawings and
appendices in which:
Figs. lA to 1L are a series of simplified pictorial illustrations of a process
of employing a preferred embodiment of the present invention for the
intubation of a
human;
Figs. ZA to 2F taken together are a flowchart illustrating a preferred
implementation of the present invention, operative for an intubation process
as shown in
Figs. 1 A to 1 L;
Fig. 3 is a simplified illustration of the internal structure of a preferred
embodiment of the present invention for intubation of a human;
Fig. 4 is a simplified block diagram of a preferred embodiment of the
present invention;
Figs. SA to SH are electrical schematics of a preferred embodiment of the
present invention for incubation of a human;
Figs. 6A to 6K are a series of simplified pictorial illustrations of a
process of employing a preferred embodiment of the present invention for
insertion of
an element into the intestine of a human;
Fig. 7 is a preferred embodiment of a table comprising instruction,
operative in accordance with a preferred embodiment of the present invention,
for
insertion of an element into the intestine of a human as shown in Figs. SA to
SK;
Fig. 8 is a flowchart illustrating a preferred implementation of the present
invention, operative for a process of insertion of an element into the
intestine of a
human as shown in Figs. 6A to 6K;
Figs. 9A to 9F are a series of simplified pictorial illustrations of an
extendable endotracheal tube assembly constructed and operative in accordance
with a
preferred embodiment of the present invention in various operative
orientations;
Figs. l0A to lOG are a series of simplified pictorial illustrations of the
extendable endotracheal tube assembly of Figs. 9A - 9F employed with the
medical
insertion device of Figs. lA - 8 for the intubation of a human;
a
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Figs. 11A to 11F are a series of simplified pictorial illustrations of an
extendable endotracheal tube assembly constructed and operative in accordance
with
another preferred embodiment of the present invention in various operative
orientations;
and
Figs. 12A to 12G are a series of simplified pictorial illustrations of the
extendable endotracheal tube assembly of Figs. 9A - 9F employed with the
medical
insertion device of Figs. lA - 8 for the intubation of a human.
LIST OF APPENDICES
Appendices 1 to 3 are computer listings which, taken together, form a
preferred software embodiment of the present invention.
9
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
Reference is now made to Figs. lA to 1L, which are a series of simplified
pictorial illustrations of a system and methodology for the incubation of a
human in
accordance with a preferred embodiment of the present invention.
It is appreciated that the general configuration of the mouth and trachea
is generally the same for all humans except for differences in scale, such as
between an
infant, a child and an adult. In a preferred implementation of the present
invention, a
standard contour map 10 of the human mouth and trachea is employed. The scale
of the
map 10 may be further precisely adapted to the specific patient, preferably
automatically. Alternatively. the scale of the map 10 is adapted to the
specific patient
semi-automatically. In this alternative the operator can select the scale of
the map 10,
for example by selecting between a child and an adult. Thereafter the scale of
the map
is automatically adapted to size of the specific patient as a part of the
intubation
process. As a further alternative or in addition the operator is enabled to
designate one
or more typical impediments such as: a tumor, a swelling, an infection and an
injury.
Selecting an impediment preferably creates a suitable variation of the general
map 10.
Fig. lA shows the map 10 and the location therein where a tip sensor 11
of an intubator engages the mouth and trachea of the patient. It is a
particular feature of
the present invention that intubation is at least partially automatically
effected by
utilizing the contour map 10 to monitor the progress of tip sensor 11 and thus
to
navigate the intubator accordingly.
As seen in Fig. 1 A, an intubator assembly 12, suitable for the intubation
of a human, is partially inserted into an oral cavity of a patient. The
intubator assembly
12 preferably comprises a housing 14 in which is disposed a guide driver 15, a
mouthpiece 16, a cube 18 inserted through the mouthpiece 16, a flexible guide
20
inserted through the tube 18, and tip sensor 11 mounted at the distal end of
the guide 20.
The mouthpiece 16 preferably comprises a rigid curved pipe 24 through which
the tube
18 is inserted. Preferably the curved pipe 24 comprises a slit 49 on each
side.
Alternatively, the curved pipe 24 is eliminated.
It is appreciated that some of the components comprising the intubator
assembly 12 may be disposable, for example, the tube 18 and the mouthpiece 16.
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
The guide driver 15 is operative to move the guide 20 in and out of the
housing 14, through the curved pipe 24 and through the tube 18. The guide
driver 15 is
also operative to selectably bend the distal end of the guide 20 clockwise and
counterclockwise in the plane of the curvature of the curved pipe 24 in the
sense of Fig.
I A.
Referring now to an enlargement of the tip sensor 11, it is seen that tip
sensor l l preferably comprises a tip 28 preferably integrally formed at one
end of a
short rod 30 having a magnet 32 on its other end. The rod 30 preferably
extends thraugh
the center of a spring disk 34 and is firmly connected thereto. The spring
disk 34 is
preferably mounted on one end of a cylinder 36 whose other end is mounted on
the
distal end of the guide 20. Preferably, the tip sensor 11 also comprises two
Hall effect
sensors, 38 and 40, which are mounted inside the cylinder 36 on a support 41
and in
close proximity to the magnet 32. The Hall effect sensors 38 and 40 are
preferably
spaced in the plane of the curvature of the curved pipe 24. Typically, each
Hall effect
sensor has electrical terminals operative to provide electric current
representing the
distance of the magnet 32 therefrom.
When a force is exerted on the tip 28 along the axis of symmetry 42 of
cylinder 36, the tip 28 is pushed against the spring disk 34, causing the
magnet 32 to
approach the Hall effect sensors 38 and 40. Since the distance between the
magnet 32
and each of the Hall effect sensors 38 and 40 decreases, both Hall effect
sensors 38 and
40 produce an increase in their output electric current. When a force is
exerted on the tip
28 sideways in the plane of the Hall effect sensors 38 and 40, the tip 28
rotates around
the location where the rod 30 engages the spring disk 34, as is shown in Fig.
lA. This
causes the magnet 32 to rotate away from the Hall effect sensor 40 and closer
to the
Hall effect sensor 38. The output electric current of the Hall effect sensor
40 typically
decreases and the output electric current of the Hall effect sensor 38
typically
correspondingly increases. Thus, it may be appreciated that the tip sensor 11
enables
electronic circuitry (not shown) to measure the amplitude and the direction of
force
exerted on the tip 28 in the plane of the Hall effect sensors 38 and 40 and to
compute
the orientation of a surface of a tissue against which the sensor tip 28 is
depressed,
relative to the axis of symmetry 42.
11
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
It is appreciated that sensors other than Hall effect sensors can be used to
measure the direction and the amplitude of the force exerted on the tip 28, or
otherwise
to measure the proximity and the orientation of the adjacent surface.
During automatic operation of the system, following partial insertion of
the intubator assembly 12 into the oral cavity, as shown in Fig. lA, the guide
driver 15
typically causes the guide 20 to extend in the direction of the trachea 44 and
bends the
guide 20 clockwise until the tip 28 engages a surface of the tongue 46. This
engagement
applies a Force to tip 28, which causes the tip to rotate counterclockwise
wherein the
magnet 32 approaches the Hall effect sensor 38. Electronic circuitry (not
shown) inside
the housing 14, which measures the changes in the electrical outputs produced
by the
Hall effect sensors 38 and 40, indicates that the tip 28 is bent clockwise.
By sensing the position of the tip and employing the past history of tip
positions, the system of the present invention determines the location of the
tip sensor
1 I in the oral cavity and relative to the map 10. This location is employed
in order to
navigate the intubator correctly, as described hereinbelow.
Reference is now made to Fig. 1B, which illustrates a further step in the
intubation in accordance with the present invention. Fig. 1B shows the guide
20
extended further and reaching an area between the base of the tongue 46 and
the
epiglottis 48 of the patient.
As seen in Fig. 1C, the guide 20 extends further forward until the tip 28
touches the end of the trough beneath the epiglottis 48.
As seen in Fig. 1D, the guide 20 bends counterclockwise and touches the
bottom surface of the epiglottis 48. Then the guide 20 retracts a little,
while preserving
continuous tactile contact between the tip 28 with the bottom surface of the
epiglottis
48.
As seen in Fig. lE, the guide 20 retracts further until the tip 28 of the tip
sensor 11 reaches the tip 165 of the epiglottis 48 and then the tip 28 loses
tactile contact
with the surface of the tip 165 of the epiglottis 48.
As seen in Fig. 1F, the guide 20 bends further counterclockwise, then
extends forward and then bends clockwise until the tip 28 touches the upper
surface of
the epiglottis 48.
1z
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
As seen in Fig. 1G, the guide 20 extends forward, preserving continuous
tactile contact with the epiglottis 48, until the tip 28 senses the first
trough of the trachea
44.
As seen in Figs. 1H and lI, the guide 20 extends furkher forward until the
tip 28 senses the second trough of the trachea 44.
As seen in Figs. 1J and 1K, the guide 20 extends further forward until the
tip 28 senses the trough of the third cartilage of the trachea 44. Then the
guide 20
further ettends, typically for adults by 5 centimeters, to ensure that the
tube 16 reaches
to the third cartilage.
As seen in Fig. 1 L, the guide driver 15 is pulled out with the guide 20
leaving the mouthpiece 16 and the tube 18 inside the patient's mouth and
trachea 44.
Reference is now made to Figs. 2A to 2F, which, taken together, are a
flowchart of the process of the intubation of a human shown in Figs. lA to 1K.
Fig. 2A and 2B, taken together, correspond to the step of the intubation
process shown in Fig. lA.
In step 100 of Fig. 2A the intubator assembly 12 is set to perform
intubation.
In step 102 the incubator loads an incubation pattern map 10 from its
memory.
In steps 104, 106 and 108 the intubator enables the operator to set the
scale of the incubation pattern map to the corresponding size of the patient
by selecting
between an infant, a child and an adult.
In steps 110, 112 and 114 the incubator enables the operator to adapt the
intubation pattern map 10 to a type of incubation impediment, preferably by
selecting
from a menu. As seen in Fig. 2A the menu typically provides the operator with
four
optional impediments: an infection, a swelling, a tumor and an injury, and a
fifth option
not to select any impediment. It is appreciated that various types of
impediments can be
defined as is typical for a specific organ.
As seen in Fig. 2B, steps 120, 122, 124, 126, 128 and 130 cause the
guide 20 to extend in the direction of the throat and simultaneously bend
clockwise until
the tip sensor is depressed against the surface of the tongue or until
extension and
bending limits are reached. As seen in step 128, the bending limit is
preferably 50
13
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
degrees and the eltension limit is preferably 2 centimeters. If the tip sensor
is depressed,
the scale of the incubation pattern map 10 is preferably updated (step 132) to
match the
particular scale or size of the intubated patient. If at least one of the
extension limit and
the bending limit is reached an error message is displayed (step 134) and the
intubation
process is stopped.
Reference is now made to Fig. 2C, which corresponds to Figs. 1B and
1 C. As illustrated in Fig. 2C, the guide driver 15 performs sequential steps
140, 142,
I44 and 146 in a loop, eltending (step 140) guide 20 further into the
patient's throat and
along the throat surface, following the intubation pattern map 10 and keeping
the tip in
contact with the surface (steps I44, 146). When the output electric currents
from both
Hall effect sensors 38 and 40 increase, the intubator assumes (step 142) that
the tip 28
has reached the end of the trough beneath the epiglottis 48. The point of
engagement
between the tip 28 and the body is designated in Fig. 1C by reference numeral
147. The
scale of the intubation pattern map 10 is then preferably updated to match the
patient's
organ structure (step 148).
Reference is now made to Fig. 2D, which corresponds to Figs. 1D and
1 E. As seen in Fig. 2D the guide driver 15 performs steps 150, 152 and 154 in
a loop,
bending the distal end of the guide 20 counterclockwise until the tip 28
touches the
epiglottis 48, or until a bending limit, preferably of 45 degrees is reached
(step 154) and
the intubation stops (step 156), The preferred point of engagement between the
tip 28
and the surface of the epiglottis is designated in Fig. 1D by reference
numeral 155.
After sensing an engagement between the tip 28 and the surface of the
epiglottis, the
guide driver 15 performs steps 158, 160, 162, and 164 in a loop, retracting
the guide 20
further (step 158), and increasing the bending of the guide 20 (step 164),
until the tip of
the guide reaches the tip of the epiglottis 48, designated in Fig. lE by
reference numeral
165. When the tip 28 reaches the tip of the epiglottis 48, the tip 28 is
released and the
output electric currents from both Hall effect sensors decrease to a minimum.
Preferably
the intubation pattern map 10 is updated (step 166) to match the patient's
organ
structure.
Reference is now made to Fig. 2E, which corresponds to Figs. lE and 1F.
As seen in Fig. 2E, the guide driver 15 causes the guide 20 to move above and
around
the tip of the epiglottis 48 by causing the guide 20 to bend counterclockwise,
preferably
14
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
by 45 degrees, then to move forward down the throat by 5 millimeters and then
to bend
clockwise, preferably by 10 degrees (Step 170), Then the guide driver 15
performs steps
172, 174 and 176 in a loop, bending and extending (step 174) until the tip 28
of the
guide touches the upper surface of the epiglottis 48 or until an extension
limit,
preferably of 1 centimeter, or a bending limit, preferably of 50 degrees, is
reached, and
the intubation is stopped (step 178). A preferred point of engagement between
the tip 28
and the epiglottis is designated in Fig. 1F by reference numeral 177.
Reference is now made to Fig. 2F, which corresponds to Figs. 1G to 1K.
As seen in Fig. 2F, a ''cartilage crest counter N" is first zeroed (step 180).
Then the
guide driver 15, performing steps 182 to 198 in a loop, causes the guide 20 to
move the
sensor tip 11 forward (step 182) along the surface of the trachea 44,
preserving contact
between the tip 28 and the surface of the trachea (steps 186 and 188) by
increasing the
bend (step 188) as needed. Each time a crest (189 in Figs, 1H, lI, 1J) of a
cartilage of
the trachea 44 is located the "cartilage crest counter" is incremented (step
190), the tip
28 is moved about the crest (steps I92, 194, 196 and 198) and the loop process
repeats
until the third cartilage is located. Then the guide 20 further extends,
typically for adults
by 5 centimeters, to ensure that the tube 16 reaches to the third cartilage.
The guide
driver 15 then signals to the operator that the insertion is completed
successfully (step
200).
Reference is now made to Fig. 3, which is a simplified illustration of the
internal structure of a preferred embodiment of the present invention useful
for
intubation of a human. The intubator assembly 12 preferably comprises the
housing 14,
the guide driver 15, the mouthpiece 16, the tube 18, the flexible guide 20
inserted inside
the tube 18 and the tip sensor 11 mounted at the distal end of the guide 20.
Preferably
the mouthpiece comprises a curved pipe 24.
Preferably, the guide driver 15 comprises a first motor 210 that drives a
gearbox 212 that rotates a threaded rod 214. A floating nut 216 is mounted on
the
threaded rod 214. As the motor 210 rotates the threaded rod 214, the floating
nut 216 is
moved forward or backward according to the direction of the rotation. The
floating nut
216 is operative to move a carriage 218 along a bar 220 and thus to push or
pull the
guide 20. When the carriage 218 touches a stopper 222 the stopper 222 moves
with the
carriage 218 along the bar 220 and pushes the tube 18 forward.
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
A second motor 224 is connected to a disk 226 to which two guide
angulation wires 228 are attached at first end thereof. The guide angulation
wires 228
are threaded inside the guide 20 and their other ends are connected to the
distal end of
the guide .just short of the tip sensor 11. When the motor 224 rotates the
disk 226
clockwise one of the wires 228 is pulled and the second wire is loosened. The
wire that
is pulled pulls and bends the distal end of the guide 20 counterclockwise in
the sense of
Fig. 3. Accordingly, when the motor 224 rotates counter-clockwise the second
wire of
the rivo wires 228 is pulled and the first wire is loosened. The wire that is
pulled pulls
and bends the distal end of the guide 20 clockwise in the sense of Fig. 3.
Electronic circuitry 229 is provided within the housing 14 and is
preferably electrically connected to operating switches 230, a display 232,
the motors
210 and 224 and to the Hall effect sensors 38 and 40 (Fig. lA) in the tip
sensor 11.
Preferably, the electronic circuitry 229 also comprises a microprocessor,
operative to
execute a program. The program is preferably adapted to control the switches
230, the
display 232, motors 210 and 224 and the Hall effect sensors 38 and 40 and to
insert and
bend the guide inside a living organism, according to a predefined map until
the tip of
the guide reaches a destination point inside the living organism. Preferably
the program
is operative to cause the tip 28 of the guide 20 to follow a predefined
internal contour of
an organ of the living organism. Preferably program is operative employ
tactile sensing
to measure the position of the tip of the guide relative to the surface organ
of the living
organism.
It is appreciated that the term "microprocessor" also includes inter alia a
''microcontroller".
Electrical batteries (not shown) are preferably provided within the
housing 14 to supply electric power to the electronic circuitry, the tip
sensor 11, the
motors 210 and 224, the display 232 and all other elements of the present
invention that
consume electricifiy. It is appreciated that external sources of electricity
can also be
employed to provide power to the intubator assembly 12.
Communication interface (not shown), preferably employing infra-red
communication technology, is provided to enable communication with external
data
processing equipment.
16
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Preferably, a balloon 234 is provided at the distal end of the tube 18 and
a thin pipe (not shown) is inserted through the pipe 18 and is connected,
through the
side of the pipe, to the balloon. The thin pipe enables an operator to inflate
the balloon
when the distal end of the pipe 18 reaches the appropriate place in the
trachea, thus
securing the distal end of the pipe to the trachea.
Reference is now made to Fig. 4, which is a simplified functional block
diagram of a preferred embodiment of the guide driver 15 described
hereinabove. In
Fig. 4 the guide 20 is driven by two drivers. A longitudinal driver 240
preferably
comprises a motor 210, the gear 212, the threaded rod 214, the floating nut
146 and the
carriage 218 of Fig. 3. A bending guide driver 242 preferably comprises the
motor 224,
the disk 226 and wires 228 (Fig. 3). The longitudinal driver 240 and the
bending guide
driver 242 are controlled by two software driver modules. A longitudinal
software
driver module 244 controls the longitudinal driver 240 and comprises two
functions: an
extend function 246 and a retract function 248. A bending software driver 250
controls
the bending guide driver 242 and comprises two functions: a bend
counterclockwise
function 252 and a bend clockwise function 254. The functions 246, 248, 252
and 254
are operated by a propagation control software module 256.
At the other end of the guide 20, the tip sensor 11 measures the proximity
and orientation of an adjacent surface. In a preferred embodiment of the
present
invention the tip sensor 11 performs the proximity and orientation
measurements by
measuring the force applied to a tactile tip by a surface of an adjacent
tissue. A tip
sensor software driver module 260, operative to receive input signals from the
tip sensor
11, provides two input functions: a counterclockwise tip rotation function 262
and a
clockwise tip rotation function 264. The measurements of the tip positions as
provided
by the tip sensor software driver module 260 are collected and stored by a
sensor log
module 266.
The map 10 is loaded into memory and serves as an updatable map 268.
A comparator 270 compares the accumulated measurements from the tip sensor 11
with
the updated reference map 268. The results of the comparisons are calculated
by an
update scale module 272 to provide a scaling factor that is applied to update
the updated
map 268. Consequently a navigation module 274 employs the updated map
information
to instruct the propagation control 256 to execute the next step of the
insertion program.
17
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
It is appreciated that a measurement of the electric current drawn by at
least one of the longitudinal guide drive and the bending guide drive can also
serve as
an input to the comparator 270 to evaluate the position of the tip sensor.
Reference is now made to Figs. SA to SH, which are, taken together, an
electrical schematic of a preferred embodiment of the present invention useful
for
intubation of a human. Reference is especially made to microprocessor 278,
which is
preferably operative to operate a program to control the elements of the
intubator
assembly 12, such as the operating switches 230, the display 232, the motors
210 and
224 (Fig. 3), and the Hall effect sensors 38 and 40 in the tip sensor 11 (Fig.
lA), and to
perform the incubation process, such as the process shown and described
hereinabove
with reference to Figs. 2A to 2F.
Reference is now made to Figs. 6A to 6K, which are a series of
simplified pictorial illustrations of ten typical steps in a process of
employing a
preferred embodiment of the present invention useful for insertion of an
element into
the intestine of a human.
It is appreciated that some of the organ systems of a living organism are
generally similar up to a scale factor, such as the mouth and trachea system.
Other
organs, such as the intestine system, are generally different from one human
body to the
other. Therefore, in order to employ the present invention to insert a medical
device or
apply a medicine to a specific location within a generally variable organ, a
map of the
organ, at least from the entry point and until the required location, is
prepared before the
insertion process is activated. The required map is preferably prepared by
employing an
appropriate medical imaging system, such as an ultrasound scanner, an x-ray
imager, a
CAT scan system or a MRI system. The map can be a two dimensional map or a
three-
diinensional map as appropriate for the specific organ. Typically for the
intestine system
a three dimensional map is required.
It is appreciated that an inserter according to a preferred embodiment of
the present invention for use in organs that are variable in three dimensions
is similar to
the incubator assembly 12, preferably with the following modifications:
(1) The tube 18 may be replaced with a different insertable device;
(2) An additional guide bending system employing elements similar to
motor 222, disk 224 and wires 226 is added and mounted perpendicularly to the
first
18
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
system of motor 222, disk 224 and wires 26, so that it is possible to bend the
end of the
guide in three dimensions. It is appreciated that three-dimensional
manipulation is
possible also by employing three or more motors; and
(3) The tip sensor 11 preferably comprises four Hall effect sensors to
sense the motion of the tip 28 in three dimensions. It is appreciated that it
is possible to
operate the tip sensor in a three-dimensional space also by employing three
Hall effect
sensors. It is also appreciated that other types of sensors can be employed to
measure
the proximity and orientation of an adjacent surface in three dimensions.
In a preferred embodiment of the present invention, when the guide 20
performs longitudinal motion, such as insertion or retraction, the guide 20
also performs
a small and relatively fast lateral motion. The combined longitudinal and
lateral motions
are useful for sensing the surface of the organ in three dimensions and hence
to better
determine the location of the tip sensor 11 in the organ and relative to the
map 10.
Due to limitations of the graphical representation, a two-dimensional
imaging and map is shown in Figs. 6A to 6K.
As seen in Fig. 6A, a human organ, the intestine in this example, is
imaged, typically by a CAT scan system 280, and an image 282 of the internal
structure
of the organ is produced.
In Fig. 6B the image 282 of the organ is used to create an insertion map
284. Typically the image 282 is displayed on a computer screen (not shown) and
a
pointing device, such as a computer mouse or a light pen, is used to draw a
preferred
path 286 that the tip of the guide is to follow. The path is typically drawn
by marking a
contour of the organ, and optionally marking the guide bending points, as is
shown and
described with reference to Figs. lA to 1 K. Alternatively, a preferred path
is created,
such as path 286, not necessarily continuously following the contours of the
organ. As a
further alternative, the map 10 or the path 286 is converted into a set of
insertion steps
as is shown and described hereinbelow with reference to Fig. 7.
Reference is no4v made to Fig. 7 together with Fig. 8 and with Figs. 6C to
6K. As shown in Fig. 7, a table 290 is provided for storage in a computer
memory and
for processing by a computer processor. The table 290 contains rows 292,
wherein each
row 292, preferably comprises an instruction to perform one step in the
process of
insertion of a medical insertion device into a living organism such as shown
and
19
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
described with reference to Figs. 6C to 6K. Preferably each row 292 contains
the
expected values or the maximal values for the extension of an insertion guide
such as
guide 20, the bending of the insertion guide and the electrical outputs from
the Hall
effect sensors 38 and 40 (Fig. lA). In a preferred embodiment of the present
invention
the row 292 contains five sets of values:
(a) Initial bend 294 contains two values for bending the guide from a
straight position, in two perpendicular planes.
(b) Initial insertion 295 contains a longitudinal value for extending or
retracting the guide in centimeters.
(c) Initial sensor measurements 296 contains expected output values of
four sensors such as four Hall effect sensors, for example, Hall effect
sensors 38 and 40
of Fig. lA. The initial sensors measurements 296 are expected to be measured
by the
time the guide reaches the value of the initial insertion 295.
(d) Insert distance 297 contains a longitudinal value for further
extending or retracting the guide in centimeters. Typically the initial sensor
measurements 296 are expected to be preserved, while the guide is extended or
retracted, by adapting the bending of the guide.
(e) Final sensor measurements 298 contain expected output values of
the four sensors of step (c). The initial sensor measurements 298 are expected
to be
measured by the time the guide reaches the value of the insert distance 297.
It is appreciated that the path drawn in Fig. 6B can be employed to
prepare a table of instructions, such as table 290 of Fig. 7.
Referring to Fig. 8, which is a flowchart illustrating a preferred
implementation of the present invention, operative for a process of insertion
of an
element into the intestine of a human as shown in Figs. 6A to 6K. The
flowchart of Fig.
8 is a preferred embodiment of a program, operative to be executed by a
processor, such
as microprocessor 278 of Fig. 5A, comprised in a preferred embodiment of the
present
invention, for insertion of an element into a living organism, preferably by
employing a
table 290 shown and described with reference to Fig. 7.
The preferred flowchart shown in Fig. 8 starts by loading the table (step
300) such as the map shown in Fig. 7. The program then reads a first row 292
from the
map (step 302) and causes the distal end of the guide 20 to bend according to
the initial
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
bending values 294. Then the program causes the guide 20 to extend or retract
according to the initial insertion distance 295 of the first row in the map.
The program
continues to bend and insert the guide 20 until output values of the sensors
match the
expected initial sensor measurement 296 of the row (steps 304, 306 and 308),
or until a
limit is surpassed, an error message is displayed and the program is stopped
(step 310).
Preferably, the initial values of the sensors are measured and then the
program continues to extend or retract the guide 20 (step 312) until the
sensors produce
the final sensors measurements 298 values (step 314), while keeping in contact
with the
surface (steps 316 and 318) or until at least one of predefined limits is
surpassed (step
320) where the program is stopped (step 310). If the final sensor measurements
298
values are measured the program proceeds to step 320 and Ioops through steps
302 and
320 until all the rows 292 of the table are processed. Then the program
displays an
insertion success message on the display 232 and halts (step 322).
As indicated by row No. 1 of Fig. 7 and Fig. 6C the guide is bent,
preferably by up to 45 degrees, to the Ieft in the plane of Fig. 6C and, while
preserving
contact with the left side of the intestine, is extended up to 5 centimeters
or until the
sensor tip engages the internal surface of the intestine head on at a point in
the map 284
designated by reference numeral 330.
As indicated by row No.2 of Fig. 7 and Fig. 6D the guide is bent by up to
45 degrees to the right in the plane of Fig. 6D and, while preserving contact
with the left
side of the intestine, is extended up to 2.5 centimeters or until the sensor
tip does not
sense the internal surface of the intestine at a point in the map 284
designated by
reference numeral 332.
As indicated by row No.3 of Fig. 7 and Fig. 6E the guide is bent by up to
110 degrees to the left in the plane of Fig. 6E and, while preserving contact
with the left
side of the intestine, is extended by 1 centimeter to a point in the map 284
designated by
reference numeral 334.
In accordance with row 4 of Fig. 7 and Fig. 6F the guide is bent by up to
45 degrees to the right in the plane of Fig. 6F and is extended by 6
centimeter to a point
in the map 284 designated by reference numeral 336.
As indicated by row No.S of Fig. 7 and Fig. 6G the guide is bent by up to
20 degrees to the right in the plane of Fig. 5G and, while preserving contact
with the
21
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
right side of the intestine, is extended by 4 centimeters to a point in the
map 284
designated by reference numeral 338.
As indicated by row No.6 of Fig. 7 and Fig. 6H the guide is bent by up to
-60 degrees to the left in the plane of Fig. 6H and is extended by up to 3
centimeters or
until the sensor tip engages the internal surface of the intestine head on at
a point in the
map 284 designated by reference numeral 340.
As indicated by row No.7 of Fig. 7 and Fig. 6I the guide is bent by up to
45 degrees to the right in the plane of Fig. 6I and is extended by up to 1
centimeter or
until the sensor tip engages the internal surface of the intestine with its
right side in a
point in the map 284 designated by reference numeral 342.
As indicated by row No.8 of Fig. 7 and Fig. 6J the guide is extended by
up to 1 centimeters or until the sensor tip engages the internal surface of
the intestine
with its left side at a point in the map 284 designated by reference numeral
344.
As indicated by row No.9 of Fig. 7 and Fig. 6K the guide is bent by up to
45 degrees to the right in the plane of Fig. 6K and is extended by up to 1
centimeter or
until the sensor tip engages the internal surface of the intestine head on at
a point in the
map 284 designated by reference numeral 346.
In a preferred embodiment of the present invention the system and the
method are operative for automatic operation. Alternatively the present
invention can be
operated manually, by providing to the operator the information collected by
the sensor
log 266 form the tip sensor 11 and enabling the operator to control manually
the guide
20. In another alternative part of the procedure is performed automatically
and another
part is performed manually. For example, the guide 20 may be inserted
automatically
and a medical device, such as the tube 18 may be inserted manually.
It is appreciated that a log of the process of insertion of an insertable
element into a living organism such as a human body is preferably stored in an
internal
memory of the present invention and that this log can be transmitted to a host
computer.
It is appreciated that the host computer can aggregate insertion process logs
and thereby
continuously improve relevant insertion pattern maps such as the standard
contour map
10. Thereafter, from time to time or before starting an insertion process, the
present
invention is capable of loading an updated map such as standard contour map
10.
It is also appreciated that the accumulated logs of processes of insertions
22
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
can be employed to improve the algorithm for processing the maps, such as the
algorithms shown and described with reference to Figs. 2A - 2F and Fig. 8. The
improved algorithm can be transmitted to the present invention as necessary.
Reference is now made to Figs. 9A to 9F, which are a series of simplified
pictorial illustrations of an extendable endotracheal tube assembly
constructed and
operative in accordance with a preferred embodiment of the present invention,
in
various operative orientations.
Turning to Fig. 9A, it is seen that the extendable endotracheal tube
assembly, designated generally by reference numeral 400, preferably comprises
a
mounting element 402 which is arranged to be removably engaged with an
incubator
assembly (not shown) such as intubator assembly 12 (Figs. lA - 1L). Fixed to
or
integrally formed with mounting element 402 is a mouthpiece 404, which is
preferably
integrally formed with a rigid curved pipe 406. Fixedly mounted onto mounting
element
402, interiorly of rigid curved pipe 406, is a mounting base 408 onto which
is, in turn,
mounted, an extendable tube 410, preferably including a coil spring 411,
typically
formed of metal. Fixedly mounted onto a distal end of extendable tube 410
there is
preferably provided a forward end member 412, preferably presenting a
diagonally cut
pointed forward facing tube end surface 414.
Upstream of end surface 414, forward end member 412 is preferably
provided with an inflatable and radially outwardly expandable circumferential
balloon
416, which receives inflation gas, preferably pressurized air, preferably
through a
conduit 418 embedded in a wall of forward end member 412 and continuing
through
tube 410 to a one way valve 419.
It is noted that the extendable endotracheal tube assembly 400 may
comprise an integrally formed mouthpiece assembly and an integrally formed
insertable
extendable tube assembly. The integrally formed mouthpiece assembly may
comprise
the mouthpiece 404 and the rigid curved pipe 406. The integrally formed
extendable
tube assembly may comprise the extendable tube 410, the mounting element 402,
the
mounting base 408, the coil spring 411, the forward end member 412 with the
end
surface 414 and the circumferential balloon 416, the conduit 418 and the one
way valve
419.
Extending slidably through forward end member 412, tube 410,
23
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
mounting base 408 and mounting element 402 is a flexible guide 420, which
preferably
corresponds in function inter alia to guide 20 in the embodiment of Figs. lA -
1L and
preferably has mounted at a distal end thereof a tip 421, which preferably
corresponds
in structure and function inter alia to the tip 28 in the embodiment of Figs.
lA - 1L. Tip
421 forms part of a tip sensor, preferably enclosed in guide 420, which
preferably
corresponds in structure and function inter alia to the tip sensor 11 in the
embodiment of
Figs. lA - 1L.
As distinct from that described hereinabove with reference to Figs. lA -
8. the flexible guide is preferably formed with an inflatable and radially
outwardly
expandable balloon 422, which receives inflation gas, preferably pressurized
air,
preferably through a conduit 424 formed in flexible guide 420 and extending
therealong, preferably to a source of pressurized inflation gas, preferably
located within
the incubator assembly (not shown).
Fig. 9B shows inflation of balloon 422 by means of pressurized air
supplied via conduit 424, causing balloon 422 to tightly engage the interior
of forward
end member 412.
Fig. 9C illustrates extension of tube 410, which is preferably achieved by
forward driven movement of flexible guide 420 in tight engagement with forward
end
member 412, thus pulling forward end member 412 and the distal end of tube 410
forwardly therewith.
Fig. 9D illustrates inflation of balloon 416 by means of pressurized air
through one way valve 419 and conduit 418. As will be described hereinbelow,
this
inflation is employed for sealing the tube 410 within a patient's trachea.
Fig. 9E illustrates deflation of balloon 422 following inflation of balloon
416, corresponding to desired placement and sealing of tube 410 within the
patient's
trachea. Fig. 9F illustrates removal of the flexible guide 420 from the tube
410.
Reference is now made to Figs. l0A to lOG, which are a series of
simplified pictorial illustrations of the extendable endotracheal cube
assembly of Figs.
9A - 9F employed with the medical insertion device of Figs. lA - 8 for the
intubation of
a human.
Turning to Fig. 10A, it is seen that the extendable endotracheal cube
assembly, designated generally by reference numeral 500, preferably comprises
a
24
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
mounting element (not shown) which is arranged to be removably engaged with an
intubator assembly 503 which is preferably similar to intubator assembly 12
(Figs. lA -
1 L) or any other incubator assembly described hereinabove but may
alternatively be any
other suitable intubator assembly. Fixed to or integrally formed with the
mounting
element is a mouthpiece 504, which is preferably integrally formed with a
rigid curved
pipe 506. The extendable entotracheal tube assembly 500 is shown inserted into
a
patient's oral cavity, similar to the placement shown in Fig. lA.
Fixedly mounted onto the mounting element, interiorly of rigid curved
pipe 506, is a mounting base 508 onto which is, in turn, mounted, an
extendable tube
510, preferably including a coil spring 511 (Fig. lOC), typically formed of
metal.
Fixedly mounted onto a distal end of extendable tube 510 there is preferably
provided a
forward end member 512, preferably presenting a diagonally cut pointed forward
facing
tube end surface 514.
Upstream of end surface 514, forward end member 512 is preferably
provided with an inflatable and radially outwardly expandable circumferential
balloon
516, which receives inflation gas, preferably pressurized air, preferably
through a
conduit 518 embedded in a wall of forward end member 512 and continuing
through
tube 510 to a one way valve 519.
It is noted that the extendable endotracheal tube assembly 500 may
comprise a mouthpiece assembly and an extendable tube assembly, which is
inserted
therein. The mouthpiece assembly comprises the mouthpiece 504, which is
integrally
formed with the rigid curved pipe 506. The extendable tube assembly comprises
the
extendable tube 510, which is integrally formed together with the mounting
element, the
mounting base 508, the coil spring 511, the forward end member 512 with the
end
surface 514 and the circumferential balloon 516, the conduit 518 and the one
way valve
519.
Extending slidably through forward end member 512, tube 510,
mounting base 508 and the mounting element is a flexible guide 520, which
preferably
corresponds in function inter alts to guide 20 in the embodiment of Figs. lA -
1L and
preferably has mounted at a distal end thereof a tip, which preferably
corresponds in
structure and function inter alts to the tip 28 in the embodiment of Figs. lA -
1L. The tip
forms part of a tip sensor, preferably enclosed in guide 520, which preferably
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
corresponds in structure and function inter alia to the tip sensor 11 in the
embodiment of
Figs. 1 A - 1 L.
As distinct from that described hereinabove with reference to Figs. lA -
8, the flexible guide is preferably formed with an inflatable and radially
outwardly
expandable balloon 522, which receives inflation gas, preferably pressurized
air,
preferably through a conduit 524 formed in flexible guide 520 and extending
therealong, preferably to a source of pressurized inflation gas preferably
located within
the intubator assembly 503.
The source of pressurized inflation gas may be an automatic
inflatorldeflator 526. Additionally or alternatively, a one way valve 528 may
be
provided for manual inflation. The automatic inflator/deflator 526 may be
fixed within
intubator assembly 503 or alternatively may be mounted therewithin for motion
together
with flexible guide 520.
Fig. lOB shows inflation of balloon 522 by means of pressurized air
supplied via conduit 524, causing balloon 522 to tightly engage the interior
of forward
end member 512.
Fig. 10C illustrates extension of tube 510, which is preferably achieved
by forward driven movement of flexible guide 520 in tight engagement with
forward
end member 512, thus pulling forward end member S I2 and the distal end of
tube 510
forwardly therewith.
Fig. 10D illustrates further extension of tube 510, by forward driven
movement of flexible guide 520 in tight engagement with forward end member
512,
thus pulling forward end member 512 and the distal end of tube 510 forwaxdly
therewith. This further motion is preferably provided based on the navigation
functionality described hereinabove with reference to Figs. lA - 8. It is
appreciated that
the forward driven movement of tube 510 as described hereinabove with
reference to
Figs. lA - 8, may be provided by driven forward motion of the flexible guide
520.
Fig. l0E illustrates inflation of balloon 516 by means of pressurized air
through conduit 518 and one way valve 519. As will be described hereinbelow,
this
inflation is employed for sealing the tube 510 within a patient's trachea.
Fig, lOF illustrates deflation of balloon 522 following inflation of
balloon 516, corresponding to desired placement and sealing of tube 510 within
the
26
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
patient's trachea. Fig. lOG illustrates removal of the flexible guide 520 from
the tube
510.
Reference is now made to Figs. 11A to 11F, which are a series of
simplified pictorial illustrations of an extendable endotracheal tube assembly
constructed and operative in accordance with another preferred embodiment of
the
present invention in various operative orientations.
Turning to Fig. 11A, it is seen that the extendable endotracheal tube
assembly, designated generally by reference numeral 600, preferably comprises
a
mounting element 602 which is arranged to be removably engaged with an
intubator
assembly (not shown) such as intubator assembly 12 (Figs. lA - 1L). Fixed to
or
integrally formed with mounting element 602 is a mouthpiece 604.
Fixedly mounted onto mounting element 602 is a mounting base 608
onto which is, in turn, mounted, an extendable tube 610, preferably including
a coil
spring 611, typically formed of metal. Fixedly mounted onto a distal end of
extendable
tube 610 there is preferably provided a forward end member 612, preferably
presenting
a diagonally cut pointed forward facing tube end surface 614.
Upstream of end surface 614, forward end member 612 is preferably
provided with an inflatable and radially outwardly expandable circumferential
balloon
616, which receives inflation gas, preferably pressurized air, preferably
through a
conduit 618 embedded in a wall of forward end member 612 and continuing
through
tube 610 to a one way valve 619.
It is noted that the extendable endotracheal tube assembly 600,
comprising at least one of mounting element 602, mouthpiece 604, mounting base
608,
cube 610, coil spring 611, forward end member 612, end surface 614,
circumferential
balloon 616, conduit 618 and one way valve 619, may also be integrally formed
as a
unified structure.
Extending slidably through forward end member 612, tube 610,
mounting base 608 and mounting element 602 is a flexible guide 620, which
preferably
corresponds in function inter alia to guide 20 in the embodiment of Figs. lA -
1L and
preferably has mounted at a distal end thereof a tip 621, which preferably
corresponds
in structure and function inter alia to the tip 28 in the embodiment of Figs.
lA - 1L. Tip
621 forms part of a tip sensor (not shown), preferably enclosed in guide 620,
which
27
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
preferably corresponds in structure and function inter alia to the tip sensor
11 in the
embodiment of Figs. 1 A - 1 L.
As distinct from that described hereinabove with reference to Figs. lA -
8, the flexible guide is preferably formed with an inflatable and radially
outwardly
expandable balloon 622, which receives inflation gas, preferably pressurized
air;
preferably through a conduit 624 formed in flexible guide 620 and extending
therealong, preferably to a source of pressurized inflation gas preferably
located within
the incubator assembly (not shown).
Fig. 11B shows inflation of balloon 622 by means of pressurized air
supplied via conduit 624, causing balloon 622 to tightly engage the interior
of forward
end member 612.
Fig. 11C illustrates extension of tube 610, which is preferably achieved
by forward driven movement of flexible guide 620 in tight engagement with
forward
end member 612, thus pulling forward end member 612 and the distal end of tube
610
forwardly therewith.
Fig. 11 D illustrates inflation of balloon 616 by means of pressurized air
through conduit 6I8 and one way valve 619. As will be described hereinbelow,
this
inflation is employed for sealing the tube 610 within a patient's trachea.
Fig. 11 E illustrates deflation of balloon 622 following inflation of
balloon 616, corresponding to desired placement and sealing of tube 610 within
the
patient's trachea. Fig. 11F illustrates removal of the flexible guide 620 from
the tube
610.
Reference is now made to Figs. 12A to 12G, which are a series of
simplified pictorial illustrations of the extendable endotracheal tube
assembly of Figs.
11A - I 1F employed with the medical insertion device of Figs. 1A - 8 for the
intubation
of a human.
Turning to Fig. 12A, it is seen that the extendable endotracheal tube
assembly, designated generally by reference numeral 700, preferably comprises
a
mounting element (not shown) which is arranged to be removably engaged with an
intubator assembly 703 which is preferably similar to incubator assembly I2
(Figs. lA -
1 L) or any other incubator assembly described hereinabove but may
alternatively be any
other suitable intubator assembly. Fixed to or integrally formed with the
mounting
28
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
element is a mouthpiece 704. The extendable entotracheal tube assembly 700 is
shown
inserted into a patient's oral cavity, similar to the placement shown in Fig.
lA.
Fixedly mounted onto the mounting element is a mounting base 708 onto
which is. in turn, mounted; an extendable tube 710, preferably including a
coil spring
711 (Fig. 12C), typically formed of metal. Fixedly mounted onto a distal end
of
e~aendable tube 710 there is preferably provided a forward end member 712,
preferably
presenting a diagonally cut pointed forward facing tube end surface 714.
Upstream of end surface 714, forward end member 712 is preferably
provided with an inflatable and radially outwardly expandable circumferential
balloon
716, which receives inflation gas, preferably pressurized air, preferably
through a
conduit 718 embedded in a wall of forward end member 712 and continuing
through
tube 710 to a one way valve 719.
It is noted that the extendable endotracheal tube assembly 700,
comprising at least one of mounting element, mouthpiece 704, mounting base
708, tube
710, coil spring 711 (Fig. 12C), forward end member 712, end surface 714,
circumferential balloon 716, conduit 718 and one way valve 719, may also be
integrally
formed as a unified structure.
Extending slidably through forward end member 712, tube 710,
mounting base 708 and the mounting element is a flexible guide 720, which
preferably
corresponds in function inter alia to guide 20 in the embodiment of Figs. lA -
1L and
preferably has mounted at a distal end thereof a tip, which preferably
corresponds in
structure and function inter alia to the tip 28 in the embodiment of Figs. lA -
1L. The tip
forms part of a tip sensor, preferably enclosed in guide 720, which preferably
corresponds in structure and function inter alia to the tip sensor 11 in the
embodiment of
Figs. 1 A - 1 L.
As distinct from that described hereinabove with reference to Figs. lA -
8, the flexible guide is preferably formed with an inflatable and radially
outwardly
expandable balloon 722, which receives inflation gas, preferably pressurized
air,
preferably through a conduit 724 formed in flexible guide 720 and extending
therealong, preferably to a source of pressurized inflation gas preferably
located within
the intubator assembly 703.
The source of pressurized inflation gas may be an automatic
29
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
inflator/deflator 726. Additionally or alternatively, a one way valve 728 may
be
provided For manual inflation. The automatic inflatorldeflator 726 may be
fixed within
intubator assembly 703 or alternatively may be mounted therewithin for motion
together
with flexible guide 720.
Fig. 12B shows inflation of balloon 722 by means of pressurized air
supplied via conduit 724, causing balloon 722 to tightly engage the interior
of forward
end member 712.
Fig. 12C illustrates extension of tube 710, which is preferably achieved
by forward driven movement of flexible guide 720 in tight engagement with
forward
end member 712, thus pulling forward end member 712 and the distal end of tube
710
forwardly therewith.
Fig. 12D illustrates further extension of tube 710, by forward driven
movement of flexible guide 720 in tight engagement with forward end member
712,
thus pulling forward end member 712 and the distal end of tube 710 forwardly
therewith. This further motion is preferably provided based on the navigation
functionality described hereinabove with reference to Figs. lA - 8. It is
appreciated that
the forward driven movement of cube 710 as described hereinabove with
reference to
Figs. lA - 8, may be provided by driven forward motion of the flexible guide
720.
Fig. 12E illustrates inflation of balloon 716 by means of pressurized air
through conduit 718 and one way valve 719. As will be described hereinbelow,
this
inflation is employed for sealing the tube 710 within apatient's trachea.
Fig. 12F illustrates deflation of balloon 722 following inflation of
balloon 716, corresponding to desired placement and sealing of tube 710 within
the
patient's trachea. Fig. 12G illustrates removal of the flexible guide 720 from
the cube
710.
Appendices 1 to 3 are software listings of the following computer files:
Appendix 1: containing file intumed.asm.
Appendix 2: containing file c8cdr.inc.
Appendix 3: containing file ram.inc.
The method for providing the software functionality of the
microprocessor 278, in accordance with a preferred embodiment of the present
invention. includes the following steps:
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
1. Provide an Intel compatible computer with a Pentium II CPU or higher,
128MB RAM, a Super VGA monitor and an available serial port.
2. Install Microsoft Windows 95 or Microsoft Windows 98 Operating
System.
3. Install the Testpoint Development kit version 40 available from Capital
Equipment Corporation, 900 Middlesex Turnpike, Building 2, Billereca, MA 0821,
USA.
4. Connect a flash processor loading device COPBEM Flash, COP8 In
Circuit Emulator for Flash Based Families to the serial port of the Intel
compatible
computer. The COP8EM flash processor loading device is available from National
Semiconductors Corp. 2900 Semiconductor Dr., P.O.Box 58090, Santa Clara, CA
95052-8090, USA
5. Place a COP8CDR9HVA8 microcontroller available from National
Semiconductors Corp., 2900 Semiconductor Dr., P.O.Box 58090, Santa Clara, CA
950.2-8090, USA in the COP8EM Flash.
6. Copy the files intumed.asm, c8cdr.inc, and ram.inc, respectively labeled
Appendix l, Appendix 2 and Appendix 3 to a temporary directory.
7. Load the file intumed. asm by using the operating software available with
the COPBEM Flash device from National Semiconductors.
8. To run the intumed.asm; Install the COP8CDR9HVA8 microcontroller in
its socket in the electrical circuit, which detailed electronic schematics are
provided in
Figs. SA to 5H, where the microcontroller is designated by reference numeral
278.
It is appreciated that the software components of the present invention
may, if desired, be implemented in ROM (read-only memory) form. The software
components may, generally, be implemented in hardware, if desired, using
conventional
techniques.
It is appreciated that the particular embodiment implemented by the
Appendix is intended only to provide an extremely detailed disclosure of the
present
invention and is not intended to be limiting.
It is appreciated that various features of the invention which are, for
clarity, described in the contexts of separate embodiments may also be
provided in
combination in a single embodiment. Conversely, various features of the
invention
31
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
which are; for brevity, described in the context of a. single embodiment may
also be
provided separately or in any suitable subcombination.
It will be appreciated by persons skilled in the art that the present
invention is not limited by what has been particularly shown and described
hereinabove.
Rather the scope of the present invention includes both combinations and
subcombinations of the various features described hereinabove as well as
variations and
modifications which would occur to persons skilled in the art upon reading the
specification and which are not in the prior art.
32
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Appendices 1 through 3 are as follows:
Appendix 1
Files: intumed.asm, ram.inc and c8cdr.inc.
#UPPERCASE
verify
.TITLE intumed
.LIST Off ;complete listing. ; X'040
.CONTRL 3 ; 0- disable all code alteration, 3- re-enable code
alteration.
and
incld c8cdr.inc ; File that include all the definitions of cop8cdr.
incld ram.inc ; File that include all the variables, constants, registers
bits definitions.
----------------CONFIGURATION
.sect option,conf
from
db O l ; 5=0 security dis, 2=0 wdog dis, 1=0 halt dis, 0=1 flex.
flex=1 -execution following reset will be from flash memory.
flex=0 -flash memory is erased. execution following reset will be
boot rom with the mictowire plus isp routines.
_____________________________________________
.sect begin_rst,rom,abs=0
reset: rend
~______-_____ Clear memory ___________________
ld s,#0 ; Clean segment0 0-6fH.
ld b,#0 ;
ld a,#06f ; Cleans the memory between
st00: ld [b+],#0 ; b to a
ifgt a,b ;
,jmp st00 ;
(last
LD SP,#Ole ; Stack Pointer in Memory leH. The stack works in LIFO
ld Ole,#OfF ; in first out) with "push a" and "pop a" instructions.
ld Ol f,#Off ; The stack starts from 1 eH until OH.
ld s,#1 ; Clean sl 0-7tH.
ld b,#0 ;
ld a,#07f ; Cleans the memory between
st01: ld [b+],#0 ; b to a
ifgt a,b ;
33
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jmp st01 ;
Id s,#2 ; Clean s2 0-7fl1.
ld b,#0 ;
ld a,#07f ; Cleans the memory between
st02: Id [b+],#0 ; b to a
ifgt a,b ;
jmp st02 ;
packets of
blockes of
Id 05c,#'E' ; when the pc send moving command, the cop8 transmit
Id 05d,#'D' ; information every 160 msec. in every packet We have 10
9 bytes in sl and 10 in s2. At the end of the packet there is 1
byte of check sum and then the 2 bytes of'E','D' to signal
end of transmition.
Id s,#0
--- port definitions --- see ram.inc for bits definitions.
ld pgc,#033; clkdly enabled ; g2=tlb=cha2,g3=tla=chal - inputs
ld pg,#0 ; sk idle phase=0
ld plc,#057
Id pl,#Oaf
Id pbc,#010; b0-3 = a2d(in), b5-7 = limit switches(in)
Id pb,#Of0
ld pac,#Off
Id pa,#03
---- DART initialization ---
Id enu,#0 ; no parity, 8 bit data
Id enur,#0
Id enui,#022 ; 1 stop bit, Asynch. mode,psr+baud
clock
enable receive
int.,disable
trans. int.
ld baud,#4 ; 38400 baud rate.
Id psr,#060 ; IOMHz*2 /(16*(4+1)*6.5)
----- LCD initialization -------------
jsr init_lcd
ld temp,#low(wordmm); type in line 1 of Icd " mm ", in the left side
there is
for
jsr type string0 ; space for 3 digits of mm, and in the right side 3 spaces
direction (+/- up/down) and 2 digits of movement.
ld temp,#low(wordpoweron)
jsr type stringl
----- PWM,TO,interupts initialization -----------
34
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld cntrl,#080 ; timer 1 - pwm mode - stopped.
ld a,#Off ; timer 1 would be used in capture mode, meaning that
pulse
timer 1
angular
control3,4.
x a,tmrllo ; received from linear motor will capture the value of
Id a.#Off ; in timer 1 auto reload A (tlrahi/lo) and pulse from
a,tmrlhi ; motor in B (tlrbhi/lo).
ld t2cntrl,#OaO; timer 2 - pwm toggle mode stopped.
Id t3cntrl,#OaO; timer 3 - pwm toggle mode stopped.
shit t2a,pl ; enable linear motor and lock it by putting 0 in controll,?.
shit t3a,p1 ; enable angular motor and lock it by putting 0 in
sbit t2hs,hstcr
shit t3hs,hstcr
ld cntrl,#060 ; timer 1 - capture mode.
rbit tlpndb,icntrl
shit tlenb,icntrl ; timer 1 - capture mode, t2enB=1
rbit tlpnda,psw
shit tlena,psw ; timer 1 - capture mode, t2enA=1
shit itsel0,itmr; 8,192 inst. cycles - 4,096 m. sec timer 0 interrupts.
rbit tOpnd,icntrl
sbit t0en,icntrl ; start timer0.
---- Program initialization
sbit 7,pls-yl ; pls_y=08000H
over 80 is positive angle and under 80 is negative angel.
ld data_cntr,#21
sbit stop2,aflags
sbit direction,lflags
sbit stopl,lflags
shit en calc,lflags
Id pls xl,#068
sbit limits c_en,limits_flags
shit home_command,buttons_flags
sbit gie,psw ; enable interupts.
jmp main
.*************************************************
.sect pc module,rom
main: ifbit limits_c_en,limits flags
jsr limits_check
ifbit start stop,buttons flags
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jsr autorun states
ifbit stop command,buttons flags
jsr stop operation
ifbit buttons_t_en,buttons_flags
jsr buttons test
ifbit home command,buttons_flags
jsr homed states
ifbit self t_command,buttons flags
jmp self t states
main0: jmp linear states ; linear_states + angular states.
maim: jsrupdatelcd
ifbit a2den,flags2 ; a2d check.
jsr a2d00
ld a,#0
add a,linear stet
add a,ang-stet
add a,autorun_stat
add a,selft stet
add a,home stet
ifeq a,#0
shit enddata,flagsl ; if 2 motors are stopped, set enddata bit to stop
transmitting to PC.
Id a,buttons_flags
and a,#09e ; if one of the commands flags is set, reset enddata bit.
ifgt a,#0
rbit enddata,flagsl
ifbit enddata,flagsl
rbit start,flags 1
ifbit fix_t_en,flags2
jsr data send
,imp mam
.*************************************************
.sect autorun_select,rom,inpage
autorun_states:ld a,autorun_stat
add a,#low(jmp a r stet)
jid ; jmp pcu,[a]
jmp a r stet: .addr
a r0,a _ _ _rl,a r2,a r3,a r4,a r5,a r6,a r7,a r8,a r9,a rl0,a rll,a rl2;,a
rl3,a rl4
36
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a r0: jmp a r stat0
a rl: jmp a r statl
a r2: jmp a r stat2
a r3: jmp a r stat3
a r4: jmp a r stat4
a r5: jmp a r stat5
a r6: jmp a r stat6
a r7: jmp a r stat7
a r8: jmp a r stat8
a r9: jmp a r stat9
a r10:jmp a r statl0
a r j mp a r
11: stat 11
a_r j mp a_r_stat
12: 12
;a jmp a_r_statl3
r13:
;a jmp a r statl4
r14:
end a r stat:ret
.************************************
.sect autorun,rom
a_r stat0:ld autorun_stat,#1
ld home stat,#0
sbit home command,buttons flags
a_r_statl:ifbit home_command,buttons flags
ret
linear motor.
ld linear_stat,# 1 ; move linear forwards lmm.
ld rbytel,#08 ; 0,1,2=0=speedl ; 3=1= direction forwards ; 4=0=
ld rbyte2,#136
Id rbyte3,#0 ; lmm*136pulse per mm =136 pulses.
Id autorun_stat,#2
ld temp,#low(wordautorun)
jsr type stringl
a r statl-l:rbit limits c en,limits flags
rbit stopl,lflags
rbit stuck,flagsl
a_r_statl_2abit fix_t en,flags2
jmp end a r stat
a_r_stat2:ifeq linear stat,#0 ; wait until linear motor complete mission.
jmp a r stat2 0
jmp end a r stat
a_r_stat2_O:Id a,halll
a,zero hl
Id a,hall2
37
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
z a,zero_h2
rbit home,flagsl
ld ang stet,#1 ; move angular down 2000 pulses.
ld rbytel,#010 ; 0,1,2=0= speedl ; 3=0= direction down ; 4=1=
angular motor.
ld rbyte2,#low(2000)
ld rbyte3,#high(2000)
rbit stop2,aflags
ld autorun_stat,#3
rbit stuck,flagsl
jmp a r statl 2
a_r_stat3:ld linear_stat,# 1 ; move linear forwards 40mm.
Id rbytel,#08 ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
Id rbyte2,#low(5440)
ld rbyte3,#high(5440) ; 40mm* 136pulse per mm = 5440.
ld autorun stet,#4
jmp a r statl_l
a r stat4:jsr epi check ; check if epiglotis sensed.
ifbit epi,flagsl
j mp a r stat4_0
ifeq linear_stat,#0 ; wait until linear motor complete mission.
jmp a r stat7 0
jmp end a r stet
a_r_stat4 O:Id linear_stat,#1 ; move linear backwards 6mm.
ld rbytel,#0 ; 0,1,2=0= speedl ; 3=0= direction backwards
4=0= linear motor.
ld rbyte2,#low(816)
ld rbyte3,#high(816); 6mm*136pulse per mm = 816.
ld autorun_stat.#5
jmp a r statl-1
a_r_stat5:ifeq linear stet,#0 ; wait until linear motor complete mission.
jmp a r stat5 0
jmp end a r stet
a_r_stat5_O:ld ang stet,#l ; move angular up 70 pulses.
ld rbytel,#Ol 8 ; 0,1,2=0= speedl ; 3=1= direction up ; 4=1=
angular motor.
ld rbyte2,#70
ld rbyte3,#0
ld autorun stet,#6
rbit stop2,aflags
jmp a r statl 2
38
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a_r_stat6:ifeq ang stet,#0 ; wait until angular motor complete mission.
jmp a r stat6 0
jmp end a r stet
a_r stat6 Orbit epi,flagsl
ld linear stet,#1 ; move linear forwards lOmm.
ld rbytel,#08 ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
Id rbyte2,#low(1360)
ld rbyte3;#high(1360) ; lOmm*136pulse per mm= 1360.
Id autorun stet,#7
_jmp a r~statl_1
a_r_stat7:ifeq linear stet,#0 ; wait until linear motor complete mission.
jmp a r stat7 0
jmp end a'r stet
a_r_stat7 O:Id ang stet,#I ; move angular down 2000 pulses.
ld rbytel,#010 ; 0,1,2=0= speedl ; 3=0= direction down ; 4=1=
angular motor.
ld rbyte2,#low(2000)
ld rbyte3,#high(2000)
ld autorun_stat,#8
rbit stop2,aflags
rbit stuck,llagsl
jmp a r statl 2
a r stat8:;ld linear_stat,#1 ; move linear forwards 50mm.
;ld rbytel,#08 . ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
;ld rbyte2,#low(8160)
;ld rbyte3,#high(8160) ; 50mm*136pulse per mm = 6800.
ld pls cntr0,#low(6800)
ld pls cntrl,#high(6800) ; 50mm*136pulse per mm = 6800.
shit direction,lflags ; turn motor forwards
rbit t2c0,t2cntrl
shit t2a,pl
rbit control2,pa
sbit controll,pa
ld linear stet,#6
rbit en calc,lflags
ld autorun_stat,#9
jmp a r statl-1
a_r_stat9:ifeq linear stet,#0 ; wait until linear motor complete mission.
jmp a r stat9 0
jmp end a r stet
39
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a_r_stat9 O:ld ang stat,#l ; move angular up 2000 pulses.
ld rbytel,#Ol 8 ; 0, I,2=0= speedl ; 3=1= direction up ; 4=1=
angular motor.
Id rbyte2,#low(2000)
Id rbyte3,#high(2000)
Id autorun_stat,#10
rbit stop2,aflags
.j mp a r stat 1 2
a r statl0:;ld linear_stat,#1 ; move linear forwards 70mm.
;ld rbytel,#08 ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
;Id rbyte2,#low(9520)
;ld rbyte3,#high(9520) ; 70mm*136pulse per mm = 9520.
ld pls cntr0,#low(9520)
ld pls cntrl,#high(9520) ; 70mm* 136pulse per mm = 9520.
shit direction,lflags ; turn motor forwards
rbit t2c0,t2cntrl
shit t2a,p1
rbit control2,pa
shit controll,pa
ld linear stat,#6
ld autorun_stat,#11
,jmp a r statl-1
a r statl l :ifeq linear stat,#0 ; wait until linear motor complete mission.
_j mp a r stat 11 0
jmp end a._r stat
a r statl 1 Oabit stop2,aflags
rbit t3c0,t3cntrl
sbit t3a,pl
shit control3,pa ; iurn off motor 2
shit control4,pa
;ld linear_stat,#1 ; move linear forwards SOmm.
;ld rbytel,#08 ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
;ld rbyte2,#low(6800)
;ld rbyte3,#high(6800) ; SOmm*136pulse per mm = 6800.
Id pls cntr0,#low(6800)
Id pls cntrl,#high(6800) ; SOmm* 136pulse per mm = 6800.
Qo
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
sbit direction,lflags ; turn motor forwards
rbit t2c0,t2cnirl
shit t2a,pl
rbit control2,pa
sbit controll,pa
ld linear stat,#6
ld autorun_stat,#12
jmp a r statl_l
a_r statl Z:ifeq linear_stat,#0 ; wait until linear motor complete mission.
j mp a r_stat 12 0
jmp end a r stat
a_r_statl2_O:Id autorun_stat,#0
jsr stop2motors
sbit en calc,lflags
rbit start stop,buttons'flags
rbit stuck,flagsl
Id temp,#Iow(wordinplace)
jsr type stringl
jmp end a r stat
.*************************************************
epi check:;ld a,#4
;ifgt a,pls ~1
;ret
SC
ld a,halll
ifgt a,zero_hl
jmp epi checkO~I
Id a,zero_hl
subc a,halll
,jmp epi check0 2
epi~check0_l:subc a,zero hl
epi check0 2:ifgt a,#20
sbit epi,flagsl
sc
ld a,hall2
ifgt a,zero~h2
jmp epi check0 3
ld a,zero h2
subc a,hall2
jmp epi,check0 4
epi~check0_3aubc a,zero_h2
epi~checl:0_4:ifgt a,#20
shit epi,flagsl
41
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ret
.*************************************************
a
.sect I_s_select,rom,inpage
linear_states:ld a,linear_stat
add a,#low(jmp 1 stat)
jid ; jmp pcu,[a]
jmp I stat: .addr 1 s0,1 sl,l s2,1 s3,1 s4,1 s5,1 s6
I s0: jmp 1 stat0
1 sl: jmp 1 statl
I s2: jmp I stat2
I s3: jmp 1 stat3
I s4: .jmp 1 stat4
1 s5: jmp 1 stat5
1 sE: jmp I stat6
end 1 stat:jmp angular states
.******************~*****************
.sect linear states,rom
1 stat0: ifbit pulse,lflags
jmp 1 stat0_Ol ; the motor made another pulse after stop order.
jmp a 1 stat0
I stat0 Ol :rbit pulse,lflags
1 stat0 02ac
ifbit direction,lflags ; x update
jmp 1 stat0 03 ; x forwards
Id a,pls_xl ; before decreasing pls x, check if pls x>1
ifne a,#0
jmp 1 stat0 02
Id a,pls_x0
ifgt a,#0
j mp I stat0_02
ifeq pls x0,#0
jmp a 1 stat0 ; do not decrease pls x if 0.
Id a,pls x0 ; x downwards
subc a,# 1
x a,pls x0
Id a,pls xl
subc a,#0
x a,plS xl
jmp a 1 stat0
42
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
1 stat0_03:rc ; x forwards
ld a,pls x0
adc a,#1
x a,pls x0
Id a,pls xl
adc a,#0
x a,pls_xl
a 1 stat0:jmp end 1 stat ; ->O
.*******************************************
a
I_statl : ifbit direction,lflags ; check the previous direction.
,jmp 1 statl 02
; the direction was backwards.
ifbit new_direction,rbytel ; check the new direction.
jmp 1 statl O1
jmp 1 stat3
I statl O1:ld nxt 1 stat,#4 ; change direction to forwards.
jmp 1 statl OS
; the direction was forwards.
I_statl 02:ifbit new_direction,rbytel ; check the new direction.
jmp 1 stat4
ld a,pls xl ; before changing diretion to backwards
ifne a,#0 ; check if pls x=0.
jmp 1 statl 04 ; if not then...
ld a,pls x0'
ifne a,#0
jmp 1 statl 04
1 statl 03:1d linear stat,#0 ; if 0 then just stop motor.
shit stopl,lflags ; stop motor 1.
rbit stop,flagsl
sbit limits c en,limits flags
sc
ifbit stop2,aflags
rc
ifc
jmp 1 statl_06
rbit start,flagsl
shit end,flagsl
sbit type end,lcd flags
jmp 1 statl 06
1 statl 04:1d nxt 1 stat,#3 ; stop motor, wait and then
43
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
change direction to backwards.
1_statl~OS:ld linear stet,#2
Id cd_dly,#020
I statl 06:rbit t2c0,t2cntrl
sbit t2a,p1
rbit controll,pa ; stop motor 1.
rbit control2,pa
jmp end 1 stet ; ->O
.*****************~*~*************************************************
l stat2: ifeq cdydly,#0 ; delay before changing direction.
j mp 1 stat2 O l
jmp end 1lstat ; ->O
I stat2 Ol :ld a,nxt 1 stet
x a,linear_stat
jmp end I stet ; ->O
1'stat3: Id a,pls_xl ; the direction is still backwards.
ifne a,#0 ; check if pls x=0
jmp 1 stat3 O1 ; if not then...
Id a,pls 10
ifne a,#0
jmp 1 stat3_Ol
jmp 1 statl_03 ; if 0 then just stop motor and
return to linear stet 0.
I_stat3_Ol:ifbit home_limit,pbi
jmp 1 stat3 02
jmp 1 statl_03
I stat3 02:rbit direction,Iflags ; turn motor backwards.
rbit t2c0,t2cntrl
sbit t2a,p1
rbit controll,pa
sbit control2,pa
rbit t2a,p1
jmp 1 stag02
I stat4: ;Id a,pls-sl ; 255mm*128pulsepermm=7f80H
;ifgt a,#Ofe ; if pls Y>7f00H then stop motorl.
xjmp 1 statl_03
ifbit bottom_limit,pbi
jmp 1 stagOl
jmp 1 statl 03
ld linear stet,#0
sbit stopl,lflags
jmp end 1 stet
I stat4 Ol abit direction,lflags ; turn motor forwards
rbit t2c0,t2cntrl
44
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
sbit t2a,pl
rbit control2,pa
sbit controll,pa
rbit t2a,pl
I stat4 02:1d a,rbyte2 ce update
; distan
s a,pls cntr0
Id a,rbyte3
v a,plslcntrl
Id a,rbytel ; velocity
update
and a,#7
ifne a,#0
jmp 1 stat4_03
Id t_ref0,#Iow(1000) ; 1000 -> SOOu
per pulse
Id t_refl,#high(1000)
jmp end 1 stat4
1 stat4,03:ifne a,#1
jmp 1 stat4_04
ld t red,#low(2000) ; 2000 -> 1000u
per pulse
ld t refl,#high(2000)
jmp end 1 stat4
I stat4_04:ifne a,#2
jmp I stat4_OS
ld t_ref0,#low(3000) ; 3000 -> 1500u
per pulse
Id t refl,#high(3000)
jmp end Ilstat4
I_stat4_OS:ifne a,#3
jmp end 1 stat4
Id t ref0,#low(4000) ; 4000 -> 2000u
per pulse
ld t refl,#high(4000)
end I stat4:
.****************************************************
1 stat5: ifbit t2c0,t2cntrl ; if motor 1 is already on.
jmp a l,stat5
rbit first~ulse,lflags
rbit t2cl,t2cntrl ; turn off the toggle output.
rbit t2a,pl
ld ptlhi,#020
Id pt2hi,#080
ld tmr2lo,#Off
Id tmr2hi,#0ff
ld t2ralo,#Off
Id t2rahi,#Off
ld t2rblo,#Off
Id t2rbhi,#Off
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
rbit t2pndb,t2cntrl
shit t2c0,t2cntrl ; start timer 2 - pwm.
I_stat5 Ol :ifbit t2pndb,t2cntrl
jp 1 stat5_02
jp 1 stat5_O1
I_stat5_02:rbit t2c0,t2cntrl ; stop timer 2 - pwm.
ld tmr2lo,#250 ; 250->t2.
Id tmr2hi,#0
ld t2ralo,#low(400) ; 400->r2a.
id t2rahi,#high(400)
Id t2rblo,#low(600) ; 600->r2b.
Id t2rbhi,#high(600)
rbit t2a,p1
shit t2cl,t2cntrl ; turn on the toggle output.
shit t2c0,t2cntrl ; start timer 2 - pwm.
v rbit stopl,lflags
a 1 stat5:ld a<int cntr
se
subc a,#20
s a,nolpulsetmr
shit limits_c_en,limits_flags
Id linear_stat,#6
ld nit l stat,#0
jmp end 1 stat ; ->O
.*****************************************************************
stat6: ifbit pulse,lflags
jmp 1 stat6_O1
ld a,nolpulsetmr
ifne a,int cntr
jmp 1 stat6_OS
sbit st~pl,lflags
shit stuck,flagsl
jmp 1 stat6 OS
I stat6 01:rbit pulse,lflags
Id a,int_cntr
SC
subc a,#20
x a,nolpulsetmr
shit limits c en,limits_flags
sc i ; dec. pls cntr
ld a,pls_cntr0
subc a,# 1
1 a,pls~cntr0
ld a,pls_cntrl
subs a,#0
46
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
s a;pls cntrl
ld a,pls,cntrl ; check if pls cntz=0
ifne a,#0
jmp 1 stat6 02
ld a,pls cntr0
ifne a,#0
jmp 1 stat6_02
sbit stopl,lflags
1 stat6~02:;ifbit first_pulse,lflags
sbit en calc,lflags
sbit first_pulse,lflags
ifbit direction;lflags ;1 update
,jmp I stat6-04
ld a,pls~tl ; check if pls x>1
ifne a.#0
j mp 1 stat6_03
Id a,pls ~0
ifgt a,#0
jmp 1 stat6_03
Id ply Y0,#0
sbit stopl,lflags
1d nit 1 stat,#0
jmp I stat6 OS
1 stat6 03ac ; x_downwards
ld a,pls x0
subc a,# 1
s a,pls x0
ld a,pls_~1
subc a,#0
x a,pls xl
jmp I stat6 05
l stat6 04:rc ; ~ forwards
ld a,pls x0
adc a,#1
1 a,pls YO
ld a,plslll
adc a,#0
a,pls x1
ifgt a,#086 ; the 1cd can show only 256 mm (_
256*136=34816=08800~I).
shit stopl,lflags
I_stat6_OS:ifbit stopl,lflags
jmp a I stat6
47
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ifbit enl calc,lflags
jsr vyealc
jmp end 1 stet ; ->0
a 1 stat6:rbit t2c0,t2cntrl
sbit t2a,p1
rbit controll,pa ; iurn off motor 2.
rbit control2,pa
ld a,nxtl stet
x a,linear stet
itbit stop2,aflags
jmp a I stat6 0
jmp end_l~stat ; ->0
a~l stat6 Orbit start,flagsl
rbit stop,flagsl
ifbit self t_command,buttons flags
jmp end 1 stet ; ->O
ifbit start_stop,buttons_flags
jmp end 1 stet ; ->0
ifbit home_command,buttons flags
jmp end I stet ; ->0
shit type end,lcd_flags
shit end,flagsl
jmp end I'stat ; ->0
.***************************************************
.sect a_s_select,rom,inpage
angular states:ld a,ang stet
add a,#low(jmp a stet)
jid ; jmp pcu,[a]
jmpla stet: .addr a s0,a sl,a s2,a s3,a s4,a s5,a s6,a s7
a s0: jmp a stat0
a sl: jmp a statl
a s2: ,jmp a
stat2
a s3: jmp a stat3
a s4: jmp a stat4
a s5: j mp a
stat5
a sE: jmp a stat6
a s7: jmp a stat7
end a stat:jmp maim
.************************************
.sect angular_states,rom
a_stat0: ifbit pulseZ,aflags
jmp a stat0 Ol
48
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
_jmp a a stat0
a_stat0 Ol:rbit pulse2,aflags
ifbit direction2,aflags ; y update
jmp a stat0_02
jmp a stat0 03
a stat0_02ac ; y down
ld a,pls_y0
subc a,#1
1 a,pls-y0
ld a,pls_yl
subc a,#0
1 a,pls-yl
jmp a a stat0
a stat0 03:rc ; y up
Id a,pls_y0
adc a,#1
a,pls-y0
ld a,pls-yl
adc a,#0
i a,pls-yl
a a stat0:jmp end a stat ; ->O
.**********************************
a statl:
ld a,pls_yl ; check if the the probe is not too high or to low.
ifgt a,#094
jmp a statl 00
ld a,#066
ifgt a,pls_yl
jmp a statl O1
jmp a statl 03
;a statl OO:ifbit new_direction,rbytel ; if too high enable only down movment.
jmp a statl_02
jmp a statl_03
;a statl Ol :ifbit new direction,rbytel ; if too low enable only up movment.
imp a statl_03
jmp a statl-02
;a statl 02:1d ang_stat,#0 ; just stop motor
ld nlt a stat,#0
sbit stop2,aflags ; stop motor 2.
sbit type end,flags2
jmp a statl 08
49
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a stat1V03:ifbit direction2,aflags ; check the previous direction.
jmp a statl OS
direction.
ifbit new direction,rbytel ; the direction was down-check the new
jmp a statl 04
jmp a stat3
a statl 04:1d nlt a stat,#4 ; stop motor, wait and then change direction to
up.
jmp a statl 07
a statl OS:ifbit new_direction,rbytel ; the direction was up-check the new
direction.
jmp a~stat~l
a statl 06:1d mt a stat,#3 ; stop motor, wait and then change direction to
down.
a_statl 07:1d ang_stat,#2 ; delay for the motor to make a complete stop.
ld cd_dly,# 17
a_statl 08:rbit t3c0.t3cntrl
sbit t3a,p1
shit control3,pa ; stop motor 2.
shit control4,pa
jmp end a stat ; ->0
.*******************~*************************************************
a stat2: ifeq cd_dly,#0 ; delay before changing direction.
jmp a stat2; Ol
jmp end_a stat ; ->O
a_stat2~Ol:ld a,n~t_a_stat
x a,angstat
jmp end a stat ; ->O
.******************~~**************************************************
*
a stat3: rbit direction2,aflags ; turn motor backwards.
rbit t3c0,t3cntrl
sbit t3a,pl
rbit control3,pa
shit control4,pa
rbit t3a,pl
jmp a stag O1
.*******************************************
a_stat~.: sbit direction2,aflags ; turn motor forwards
rbit t3c0,t3cntrl
sbit t3a,p1
rbit control4,pa
sbit control3,pa
rbit t3a,p1
a_stat~ Ol:ld a,rbyte2 ; distance update
1 a,plsy cntr0
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Id a,rbyte3
v a,plsy_cntrl
Id a,rbytel ; velosity update
and a,#7
ifne a,#0
_jmp a stat4_02
ld at_ref0,#low(6000) ; 6000 -> 3000u per pulse
ld at_refl,#high(6000)
jmp end a stat4
a_stat4 02:ifne a,#1
jmp a stat4 03
ld at_ref0,#low(7000) ; 7000 -> 3500u per pulse
ld at_refl,#high(7000)
jmp end a stat4
a_stat4_03:ifne a,#2
jmp a stat4_04
Id at_ref0,#low(8000) ; 8000 -> 4000u per pulse
ld at_refl,#high(8000)
jmp end a stat4
a stat4 04:ifne a,#3 .
jmp end_a stat4
ld at_ref0,#low(9000) ; 9000 -> 4500u per pulse
Id at refl,#high(9000)
end a stat4:ld nit a Stat,#6
.****************************************************
a stat5: ;ifbit t3c0,t3cntrl ; if motor 2 is already on.
xjmp a a stat5
ld aptlhi,#020
ld apt2hi,#080
rbit firsty_pulse,aflags
rbit t3cl,t3cntrl ; turn off the toggle output.
rbit t3a,p1
ld tmr3lo,#Off
ld tmr3hi,#Off
ld t3ralo.#Off
Id t3rahi,#0ff
ld t3rblo,#Off
ld t3rbhi,#Off
rbit t3pndb,t3cntrl
sbit t3c0,t3cntrl ; start timer 3 - pwm.
a_stat5 Ol:ifbit t3pndb,t3cntrl
jp a stat5 02
j p a stat5-O l
51
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a stat5 02:rbit t3c0,t3cntrl ; stop timer 3 - pwm
ld tmr3lo.#250 : 250->t3.
Id tmr3hi,#0
Id t3ralo;#low(500) ; 500->r3a.
ld t3rahi,#high(500)
ld t3rblo,#low(500) ; 500->r3b.
ld t3rbhi,#high(500)
rbit t3a,pl
shit t3cl,t3cntrl ; turn on the toggle output.
sbit t3c0,t3cntrl ; start timer 3 - pwm.
a a stat5:;ld a,int cntr
ac
;subc a,#50
;1 a,noapulsetmr
ld a,n~t a stat
1 a,ang stat
Id nxt a stat,#0
_j mp end a stat ; ->O
.**********************************
a_stat6: ifbit pulse2,aflags
,jmp a stat6 O1
;ld a,noapulsetmr
;ifne a,int cntr
;jmp a stat6_06
;sbit stop2,aflags
;shit stuck,flagsl
_jmp a stat6 06
a_stat6-Ol:rbit pulse2,aflags
;ld a,int cntr
;sc
;subc a,#50
;x a,noapulsetmr
sc ; dec. plsy cntr
ld a,plsy cntr0
subc a,# 1
x a,plsy,cntr0
Id a,plsy_cntrl
subc a#0
x a,plsy cntrl
ld a,plsy_cntrl ; check if plsy_cntr=0
ifne a,#0
.jmp a stat6 02
Id a,plsy cntr0
ifne a,#0
,jmp a stat6 02
shit stop2,aflags
52
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld nxt a stat,#0
a_stat6 02:;ifbit firsty_pulse,aflags
sbit en_calc2,aflags
shit firsty_pulse,aflags
ifbit direction2,aflags ; y update
jmp a stat6 04
ld a,pls_yl ; check if pls_y>6500H
ifgt a,#0 ; 065
jmp a stat6_03
sbit stop2,,aflags
ld n1t a stat,#0
jmp a stat6 06
a stat6 03ac ; y down
ld a,pls_y0
subc a,#1
x a,pls_y0
Id a,pls-yl
subc a,#0
v a,pls-yT
jmp a stat6 06
a_stat6-04:Id a,#Off ; 096
ifgt a,pls_yl
jmp a stat6_05
sbit stop2,aflags
ld nxt a scat,#0
jmp a stat6 06
a stat6 05:rc ; y up
ld a,pls_y0
adc a,#1
1 a,pls-y0
ld a,pls~l
adc a,#0
1 a,pls_yl
a_stat6 06:ifbit stop2,aflags
jmp a a stat6
ifbit enl_calc?;aflags
jsr v2_calc
jmp end a stat ; ->p
a a s tat6:
rbit t3c0,t3cntrl
sbit t3a,p1
53
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
sbit control3,pa ; turn off motor 2
sbit control4,pa
ld a;nlt a stet
a,ang-stet
ifbit stopl,lflags
jmp a a stat6 0
jmp end_a stet ; ->0
e_a_stat6 Orbit start,flagsl
rbit stop,flagsl
ifbit self_t command,buttons flags
jmp -end a stet ; ->p
ifbit start stop,buttons_flags
jmp end a stet ; ->O
ifbit home_command,buttons_flags
jmp end_I stet ; ->O
sbit end,flags 1
sbit type end,lcd_flags
ifbit stuck,flagsl
sbit type stuck,lcd_flags
jmp end a stet ; ->0
.***************************************************
a stat7: ifbit pulse2,aflags
_Imp a stat7_Ol
jmp a a stat7
a_stat7 Ol :rbit pulse2,aflags
ifbit direction2,aflags ; y update
jmp a stat0 03
a_stat7 02ac ; y down
ld a,pls~0
subc a,# 1
1 a,pls~0
ld a,pls-yl
subc a,#0
x a,pls_yl
jmp a a stat7
a stat7 03:rc ; y up
Id a,pls_y0
adc a,#1
a,pls_y0
ld a,pls~l
adc a,#0
1 a,pls~l
54
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a a_stat7:jmp end_a_stat ; ->O
***************************************************
.sect stop-subroutines,rom
stop2motorsabit stopl,lflags ; turn off motor 1
rbit t2c0,t2cntrl
shit t2a,p1
rbit controll,pa
rbit control2,pa
ld linear stet,#0
ld nlt 1 stet,#0
shit stop2,aflags ; turn off motor 2
rbit t3c0,t3cntrl
sbit t3a,p1
shit control3,pa
sbit control4,pa
ld ang stet,#0
ld nYt a stet,#0
ret
stop operation:rbit stop command,buttons flags
jsr stop2motors
sbit en calc,lflags
sbit i-il t en,flags2
rbit enddata,flagsl
rbit start,flagsl
rbit end,flagsl
shit stop,flagsl
sbit type stop,lcd_flags
rbit self_t_command,buttons_flags
ld selft stet,#0
rbit start_stop,buttons flags
ld autorun_stat,#0
rbit home_command~c,buttons_flags
rbit home command,buttons_flags
ld home stet,#0
ret
.***************************************************
.sect s t_select,rom,inpage
self_t_states:ld a,selft_stat
add a,#low(jmp st_stat)
_jid ; jmp pcu,[a]
,imp st stet: .addr s t0,s tl,s t2,s t3,s t4,s t5,s t6
s t0: jmp self test0
s tl: jmp self testl
s t2: jmp self test2
s t3: jmp self test3
s t4: jmp self test4
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
s~t5: jmp self tests
s t6: jmp self test6
end st stat:jmp main0
.************************************
.sect self_test,rom
self_test0:ld temp,#low(wordselftest)
jsr type stringl
ifbit home limit,pbi
jmp self test0 0 ; 1-micro switch open - not in home position.
rbit home command,buttons_flags
ld home_stat,#0
jmp self testl 0 ; 0-micro switch closed - in home position.
self_test0 Oabit home command,buttons_flags
ld home stat,#0
ld selft stat,#1
jmp end st stat
self_testl :ifbit home_command,buttons flags
jmp end st stat
self_testl O:ld linear_stat,#1 ; move linear forwards SOmm.
Id rbytel,#08 ; 0,1,2=0= speedl ; 3=1= direction forwards ; 4=0=
linear motor.
ld rbyte2,#low(6850)
ld rbyte3,#high(6850) ; SOmm*136pulse per mm = 6800.
ld selft stat,#2
self_testl-l:rbit limits c_en,limits_flags
rbit stopl,lflags
self testl,2:jmp end st stat
self test2:ifeq linear_stat,#0 ; wait until linear motor complete mission.
jmp self test2 0
jmp end st stat
self_test2 O:ld ang scat,#1 ; move angular up I50 pulses.
Id rbytel,#018 ; 0,1,2=0= speedl ; 3=1= direction up ; 4=1=
angular motor.
ld rbyte2,#150
Id rbyte3,#0
ld selft_stat.#3
rbit stop2;aflags
shit en_calc2,aflags
jmp self testl 2
self_test3:ifeq ang stat,#0 ; wait until angular motor complete mission.
jmp self test3 0
56
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jmp end st stet
self test3 Orbit en calc2,aflags
Id ang-stet,#1 ; move angular down 400 pulses.
ld rbytel,#010 ; 0,1,2=0= speedl ; 3=0= direction down ; 4=1=
angular motor.
ld rbyte2,#low(300)
ld rbyte3,#high(300)
Id selft stet,#4
rbit stop2,aflags
jmp self testl 2
self_test4:ifeq ang stet,#0 ; wait until angular motor complete mission.
jmp self test4 0
jmp end st stet
self test4-O:Id ang stet,#1 ; move angular again up 150 pulses.
ld rbytel,#018 ; 0,1,2=0=speedl ; 3=1= direction up ; 4=1=
angular motor.
ld rbyte2,#150
Id rbyte3,#0
ld selft stet,#5
rbit stop2,aflags
sbit en_calc2,aflags
jmp self testl 2
self_test5:ifeq ang stet,#0 ; wait until angular motor complete mission.
jmp self tests 0
jmp end st stet
self_test5 Orbit en_calc2,aflags
ld linear stet,#1 ; move linear backwards 50mm.
ld rbytel,#0 ; 0,1,2=0= speedl ; 3=0= direction backwards
4=0= linear motor.
ld rbyte2,#low(6850)
Id rbyte3,#high(6850) ; 50mm*136pulse per mm = 6800.
Id selft stet,#6
jmp self testl-1
self_test6:ifeq linear_stat,#0 ; wait until linear motor complete mission.
jmp self test6 0
jmp end st stet
self_test6 O:ld selft_stat,#0
rbit self t command,buttons flags
57
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
rbit stuck,flagsl
Id temp,#low(wordready)
jsr type~stringl
jmp end st stat
.***************************************************
.sect h_p select,rom,inpage
homerp,states:ld a,home_stat
add a,#low(jmp h stat)
jid ; jmp pcu,ja]
jmp h stag .addr h~p0,h_pI
h_p0: jmp home~p0
h_p 1: jmp homelp 1
.**********************************************************************
*****
.sect home-positioning,rom
home~p0: ifbit home limit,pbi ; 0-micro switch closed - in home position,
jmp home_p0 2 ; 1-micro switch open - not in home position.
jmp home_pl 0
home~a0 2: jsr stop2motors
ld lcd_flags,#0
rbit direction,lflags ; so the bottom wouldn't shut down the motor.
ld linear_stat,#1 ; move linear bach-wards 200mm.
Id rbytel,#0 ; 0,1,2=0= speedl ; 3=0= direction backwards
4=0= linear motor.
ld rbyte2,#low(27200)
ld rbyte3,#high(27200) ; 200mm*136pulse per mm = 27200.
rbit stopl,lflags
sbit fi~_t_en,flags2
rbit start,flagsl
rbit stop,flagsl
rbit end,flagsl
rbit enddata,flagsl
ld home stat,#1
ifbit self t command,buttonslflags
ret
ld temp,#low(wordhome)
jsr type~stringl
horne_pl : ifeq linear_stat,#0 ; wait until linear motor complete mission.
jmp home_p 1 0
ret
58
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
home_pl O:ld home stat,#0
rbit home_command,buttons flags
rbit epi,flagsl
ifbit stuck;flagsl
jmp home~l_1
ld plslx0,#0
Id pls xl,#0
Id pls=y0,#0
Id pls_yl,#080
homepl_l:ifbit self_t_command,buttons flags
ret
ifbit stuck,flagsl
ret
ld temp,#low(wordready)
jsr type stringl
ret
***************************************************
.sect limits_check,rom
limits_check:ld a,pbi ; general limits check (limits = b5,b6,b7).
and a,#060 ; Oe0 - if the angular limit switch is on.
ifne a,#060
jmp limits_check0_0
rbit home,flagsl ; signal to the pc that we are not in home position.
rbit bottom,flagsl ; signal to the pc that we are not in buttom
position.
ret
limits_check0 Oa a,b
ifbit home_limit,b
jmp limits checkl 0
position.
shit home,flagsl ; signal to the pc that we are in home position.
rbit bottom,flagsl ; signal to the pc that we are not in buttom
ifbit direction,lflags
jmp limits_check0~1
sbit stopl,lflags ; turn off motor 1
rbit t2c0,t2cntrl
sbit t2a,pl
rbit controll,pa
rbit control2,pa
ld linear_stat,#0
ifbit stop2,aflags
rbit start,flagsl
Id temp,#low(wordready)
jsr type~stringl
59
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
limits check0
Id pls~ll;#0
Id pls x0,#0
ld pls~0,#0
Id pls~yl,#080
jmp limits check2_1
limits. checkl_O:rbit home,flagsl ; signal to the pc that we are not in home
position.
ifbit bottom_Iimit,b
jmp limits_check2 0
shit bottom,flagsl ~ ; signal to the pc that we are in buttom position.
ifbit direction,lflags
jmp limits_checkl_1
jmp limits,checkl 2
limits checkl_l :jsr stop2motors
rbit start,flagsl
ld temp,#low(wordbottom)
jsr type stringl
limits checkl_2:1d pls_Yl,#066 ; to be calibrated.
Id pls x0,#088
jmp limits_check2 1
limits_check?_O:rbit bottom,flagsl ; signal to the pc that we are not in
buttom
position.
limits_checl:2 1:
;ifbit angular limit,b
ret
.***************************************************
buttons test:rbit buttons t en,buttons flags
ld a,pli
and a,#Oa0
1 a,b
ifeq b,#Oa0
jmp b t0 O1
j mp b~t0 03
b1t0~01: ifeq ritut,#0 ; no key was pressed.
jmp b t0 02
ld a,ritut
dec a
x a,ritut
b t0 02: ld start_stop_cntr,#0
Id home_position cntr,#0
jmp end b~test
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
b_t0_03: ifeq ritut,#0 ; a key was pressed. ritut checks if it is a real press
on
jmp b_tl_00 ; a key, or just a vibration of the key.
b_t0 04: ld ritut,#5
ld start_stop cntr,#0
1d home~osition_cntr,#0
jmp b t0 02
b_tI 00: ifbit start_stop,b
jmp b_t2_00 ; start-stop key was not pressed.
ifbit start stop,buttons flags ; start-stop key was pressed to stop
operatic.
jmp b tl 02
ifbit home_command,buttons_flags
jmp b tl OZ
ifbit self_t_command,buttons_flags
jmp b tl 02
ld a,start stop cntr ; start-stop key was pressed to staxt operation.
me a
s a,start stop cntr
ifgt a,#150
jmp b tl_O1
jmp b t2 00
------------- start/stop autorun key was pressed ------------------
b_tl O1: ifbit start_stop,buttons flags
jmp b tl 02
shit start_stop,buttons_flags ; start button was pressed to start operation.
ld autorun_stat,#0
j mp b t0 04
b_tl_02: sbit stop command,buttons flags; start button was pressed again to
stop
operation.
rbit start_stop,buttons~flags
ld autorun_stat,#0
j mp b t0 04
b_t2_00: ifbit home~osition,b
jmp end b test
Id a,home~position cntr
me a
a,home-position cntr
ifgt a,#150
jmp b t2 Ol
jmp end b test
------------- home positonlself test key was pressed ------------------
b_t2_O1: ifbit home limit,pbi ; 0-micro switch closed - in home position,
jmp b t2 03
61
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
b t2 02: rbit home_command,buttons_flags ; not in home position - go to home
position.
sbit self_t_command,buttons_flags
Id selft stat.#0
shit fl~ t_en,flags2
ld data_cntr.#21
ld save-ptr,#0
ld send~tr,#0
rbit enddata,flagsl
rbit start,flagsl
rbit end,flagsl
rbit stop,flagsl
jmp b t0 04
b t2 03: Id a,pls_~0
ifgt a,#0
jmp b t2 04
ifeq pls 11,#0
jmp b t2 02
b_t2 04: shit home command,buttons_flags ; not in home position - go to home
position.
ld home stat,#0
sbit fib t_en,flags2
Id data cntr,#21
ld save_ptr,#0
Id send_ptr,#0
rbit enddata,flagsl
rbit start,flagsl
rbit end,flagsl
rbit stop,flags 1
jmp b t0 04
end b test:ret
***************************************************
.sect interups,rom,abs=Off;interrupts address
push a
Id a,s
push a
Id a,b
push a
ld a,l
push a
Id a,psw
push a
ld s,#0
ms
end intr: rc
62
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
rbit hc,psw
pop a
and a,#Oc0 ;save only c and he
or a;psw
x a,psw
pop a
x a,x
pop a
x a.b
pop a
x a,s
pop a
reti
.****************************
.sect int_addres,rom,abs=Oleo
.addrw reset ;vis without any interrupt
.addrw reset ;port 1 or wake up interupts
.addrw reset ;t3 b
.addrw reset ;t3 a
.addrw reset ;t2 b
.addrw reset ;t2 a
.addrw trns0 ;transmit
.addrw rec0 ;receive
.addrw reset ;reserved
.addrw reset ;micro wire
.addrw tmrlb ;imrl ;tlb
.addrw tmrl a ;tmrl ;tl a
.addrw tmr0 ;timer0
.addrw reset ;external interrupt-g0
.addrw reset ;reserved
.addrw reset ;software intr interrupt
.************************
.sect timer0,rom
tmr0: rbit tOpnd,icntrl
drsz lcd_cntr ; lcd counter to enable lcd update every O.lsec
(2.~*4msec).
,j mp tmr0_O 1
sbit lcdupdate,tlags2
trnr0 O1: ld a,int cntr ; timer0 interrupts counter, used to help timing
a2d,fix
dec a ; transmit, and other actions according to timer0 cycles.
x a,int_cntr
ifbit O,int cntr; odd - ; enable fix transmit.
jmp trnr0_O11
sbit a2den,flags2 ; even - ; enable a2d.
_i mp tmr0 02
63
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
tmr0_Ol l : sbit fi~_t_enl,flags2
shit buttons t en,buttons flags
tmr0_02: ifbit stopl,lflags
_j mp tmr0 04
ifbit en calc,lflags
_jmp tmr0 03
j mp tmr0 04
tmr0 03: sc ; pt=pt2-ptl =time per pulse
ld a,pt2lo
subc a,ptllo
1 a,ptlo
ld a,pt2hi
subc a,ptlhi
1 a,pthi
sbit enl~calc,lflags
tmr0 04: ifbit stop2,aflags
,j mp tmr0 06
ifbit en calc2,aflags
,jmp tmr0 OS
_j mp tmr0 06
tmr0 O5: sc ; pt=pt2-ptl =time per pulse
ld a,apt2lo
subc a,aptllo
s a,aptlo
Id a,apt2hi
subc a,aptlhi
x a,apthi
shit enl calc2,aflags
tmr0_06:
end tmr0: ld a,cd dly ; delay before changing direction
ifne a,#0
dec a
a,cd_dly
drsz uart_tmr
jmp end~intr
Id rec_stat,#0
_jmp end intr
.***************************************************
.sect timerl,rom
64
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
tmrla: rbit tlc0,cntrl
ifbit tlpnda,psw
jmp tmrlal
j mp end tmr 1 a
tmrlal : rbit tlpnda,psw
Id a,ptllo
x a,pt2lo
ld a,ptl hi
x a,pt2hi
ld a,tlralo
x a,ptllo
Id a,tlrahi
s a,ptlhi
sbit pulse,lflags
end tmrla:jmp end intr
.*******************************************************
tmrlb: rbit tlpndb,icntrl
ld a,aptllo
x a,apt2lo
ld a,aptlhi
x a,apt2hi
ld a,tlrblo
x a,aptllo
ld a,tlrbhi
a,aptlhi
shit pulse2,aflags
end tmrlb:jmp end intr
.*******************************************************
.sect uart transmit,rom,inpage
trns0: Id a,tms_stat
add a,#low(jmp t stat)
jid ; jmp pcu,[a]
jmp t stat: .addr t s0,t sl
t s0: jmp t stat0
t sl: jmp t statl
end t stat:jmp end intr
.***********************************************************
t stat0: rbit eti_enui
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld trns_stat,#0
jmp end t stet
t_statl: ld a,send_ptr
ifgt a,#89 ; 0-89 => 90 bytes
,jmp t statl Ol
ld a,send_ptr
a,b
ld s,#1
id a,[b+]
x a,tbuf
Id s.#0
ld a,b
a,send-ptr
jmp end t stet
t_statl_Ol:ifgt a,# 183 ; 90-179 => 90
bytes+1(buttons flags)+1(t check)+2('ED'[=END])
jmp end t statl
Id a,send_ptr
sc
subc a,#90
1 a,b
ld s,#2
Id a,[b+]
x a_tbuf
Id s,#0
ld a_b
add~a,#90
v a,send-ptr
_jmp end t stet
end_t_statl :ld send_ptr,#0
rb it eti, enui
ld trns_stat,#0
.jmp end t stet
.**************************************************
.sect uart receive,rom,inpage
rec0: Id a,rbuf ; receive interrupt.
1 a,b
ld a,check_sum
add a,b
x a,check sum
Id a,rec_stat
add a,#low(jmp r scat)
66
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jid ; jmp pcu,[a]
jmp r stet: .addr r s0,r sl,r s2,r s3
r~s0: jmp r stat0
r sl: jmp r statl
r s2: jmp r stat2
r s3: jmp r stat3
end r stat:jmp end intr
.***********************************
.sect receive states,rom
r stat0: Id check sum,#0
Id a,b
ifne a,#Of5
j mp a r~stat0
ld rec stet,#1
ld check sum,#0f5
a r_stat0:ld uart_tmr,#Off
jmp end r stet
r statl : Id a,b
ifeq a,#'A' ; (041) ; Advance - moving command.
jmp r stat2 00
ifeq a,#'S' ; Stop command.
jmp r statl O1
ifeq a,#'H' ; Home position command.
jmp r statl 02
ifeq a,#'T' ; Self Test command.
jmp r statl 03
ifeq a,#'0' ; Operate auto run command.
jmp r statl 04
ifeq a,#'P' ; Ping (test communication) command.
jmp r statl_05
ld rec_stat,#0
jmp end r stet
r_statl O1 obit stop command,buttons_flags ; 'S' - Stop.
ld tbytel,#0f5
jmp a r stat2
r_statl_02abit home command,buttons_flags ; 'H' - Home position.
ld home stet,#0
e_r_statl:ld tbytel,#Of5
sbit fit t_en,flags2
ld data cntr,#21
67
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld save_ptr,#0
ld send~tr,#0
rbit enddata,flagsl
rbit start,flagsl
rbit end,flags 1
rbit stop,flags 1
jmp a r stat2
r statl 03 obit self_t_command,buttons_flags ;'T' - SeIf Test.
1d selft stat.#0
jmp a r statl
r_statl 04abit start_stop,buttons_flags ; 'O' - Operate auto run command.
ld autorun_stat.#0
jmp a r statl
r_statl OS:Id tbytel,#Of5 ;'P' - Ping.
ld pb,#Of0
jmp a r stat2
r_stat2 OO:Id rec_stat,#2
Id rbyte num,#4 ; number of bytes to be received
ld receive_ptr,#rbytel
jmp end r stat
r stat2: Id a,receive_ptr ; rbuf -> [receive_ptr]
a a,~
ld a,b ; receive_ptr + 1 -> receive_ptr
x a,[x+]
ld a,~
a,receive_ptr
drsz rbyte num
jmp end_r stat
sbit start,flagsl
rbit stop,flagsl
rbit end,flagsl
sbit fi~_t_en,flags2
ifeq trns stat,# 1
jmp r stat2_Ol
ld data cntr,#21 ; *************
Id save_ptr,#0
ld send~tr,#0
r_stat2 0l:ifbit motor,rbytel ; 0-motorl, 1-motor2.
jmp r stat2 03
Id a,rbyte3 ; motor 1
ifne a,#0
jmp r stat2_OZ
ld a,rbyte2
68
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ifgt a,#0
,Imp r stat2 OZ
sbit stop l ,lflags ; distance=0 ->Stop motor!
rbit start,flagsl
shit end,flags 1
Id nxt_l stat,#0
Id linear stat,#6
jmp r stat2_05
r stat2_02:Id linear_stat.#I
sbit type start,lcd_flags; type'start' at line 2 of lcd.
rbit limits_c_en,limits_flags
rbit enddata,flagsl
rbit stopl,lflags
jmp r stat2 05
r stat2 03:1d a,rbyte3 ; motor 2
ifne a,#0
jmp r stat2 04
Id a,rbyte2
ifgt a,#0
jmp r stat2_04
sbit stop2,aflags ; distance=0 ->Stop motor!!
rbit start,flagsl
sbit end,flagsl
ld nxt a stat,#0
Id ang stat,#6
jmp r stat2 05
r_stat2 04:1d ang stat,# 1 ; motor 2
sbit type start,lcd_flags; type'start' at line 2 of lcd.
rbit enddata,flagsl
rbit stop2,aflags
r stat2 05:Id a,check sum ; load byte to transmit
x a,tbytel
e_r stat2:ld a,tbytel
ifeq trns stat,#0
x a,tbuf
ld rec stat,#0
rbit stuck,flagsl
jmp end r~stat
r stat3: jmp end r stat
.~******************~***********************************
a
.sect datasend,rom
data_send:ifbit ~x_t enl,flags2
jmp d s0
69
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ret
d_s0: rbit ~Y_t_enl,flags2
drsz data_cntr
jmp d sl
transmit s2 and s3
ld a,#I3 ; 13 is the sync. sign.
1 a,tbuf ; then send the data to the computer
ld a,buttons flags
a a,b
ld a,t'check
Id s,#2
x a.05a
ld a,b
a,OSb
ld s,#1
ld a,059
ld s,#0
~. a,0
ifbit enddata,0
ifbit enddata,flagsl
rbit fiY_t en,flags2
ld t check,#0
ld trns stat,#1
Id data cntr,#21
ld save~tr,#0
ld send~tr,#0
sbit eti,enui
jmp end d s
d s 1: ifeq data_cntr,#
ld save~ptr,#0
ld a,#11
ifgt a,data cntr
jmp d s2
ld b,#flagsl ; load data
to stack.
ld a,[b-] ; flagsl
push a
ld a,[b-] ; pls~1
push a
ld a,[b-J ; pls_y0
push a
ld a,[b-] ; pls_xl
push a
ld a,[b-] ; pls_YO
push a
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld a,[b-]; ha112
push a
ld a,[b-]; halll
push a
ld a,[b-]; current2
push a
ld a,[b-]; currentl
push a
Id a,save-ptr; save data from
stack.
s a,b
Id a,b
a a.s
Id s.#1
pop a
x a,[b+]
pop a
1 a,[b+]
pop a
1 a,[b+]
pop a
a,[b+]
pop a
1 a, [b+]
pop a
1 a,[b+]
pop a
x a, [b+]
pop a
1 a,[b+]
pop a
a,[b+]
Id a,t ; compute check
check sum.
a,b
Id a,[1+]=t_check, a =
; b currentl
add a,b
; a =
currentl
+ b
ta,b ;b=a
Id a,[;~+]
add a,b
1 a,b
ld a,[Z+]
add a,b
z a,b
Id a,[i+]
add a,b
x a,b
ld a,[1+]
add a,b
a,b
W
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld a,[~+]
add a,b
x a,b
ld a,[:~+]
add a,b
a,b
Id a,[~c+]
add a,b
r a,b
ld a,[Y+] ; a=flagsl
add a,b ; a= flagsl + b
ld s.#0 : t_check = a
a a,t check
ld a.~
x a,save_ptr
_j mp end d s
d_s2: ld b,#flagsl ; load data to stack.
ld a,[b-]
push a
ld a,[b-]
push a
ld a,[b-]
push a
Id a,[b-]
push a
Id a,[b-]
push a
ld a,[b-]
push a
ld a,[b-]
push a
Id a,[b-]
push a
ld a,[b-]
push a
ld a,save~tr ; save data from stack.
a,b
ld a,b
1 a,;~
ld s,#2
pop a
z a,[b+]
pop a
x ~[b+]
pop a
72
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
a,[b+]
pop
a
z a,[b+]
pop
a
a,[b+]
pop
a
x a,[b+]
pop
a
a, [b+]
pop
a
x a,[b+]
pop
a
x a,[b+]
ld a,t_check ; compute check
sum.
a,b
ld a,[~+]; b=13, a= currentl
add ; a= currentl
a,b + b
xa,b
;b=a
ld a,[~+]
add
a,b
x a,b
ld a,[Y+]
add
a,b
x a,b
ld a,[~+]
add
a,b
a,b
ld a,[~+]
add
a,b
x a,b
ld a,[x+]
add
a,b
a a,b
ld a,[~+]
add
a,b
.
xa,b
ld a,[~+]
add
a,b
x a,b
lda,[:~+]; a=flagsl
add ; a = flags 1
a,b + b
Id s,#0 ; t check = a
1 a,t check
ld a,a
x a,save_ptr
end d s: ret
73
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
.*******************************************************
.sect a2d_converter,rom
a2d00: rbit a2den,flags2 ; the a2d prog. checks halll+2 and currentl+2
ld enad,#082 ; c=>adch8=b0, 2=>psr=1=mclk
divide by 16.
sbit adbsy,enad
a2d01: ifbit adbsy,enad
jmp a2d01
ld a,adrsth
x a,halll
ld enad,#092 ; c=>adch9=bl, 2=>psr=1=mclk
divide by 16.
shit adbsy,enad
a2d02: ifbit adbsy,enad
jmp a2d02
ld a,adrsth
s a,ha112
ld enad,#Oa2 ; c=>adchl0=b2, 2=>psr=1=mclk
divide by 16.
shit adbsy,enad
a2d03: ifbit adbsy,enad
jmp a2d03
ld a,adrsth
x a,currentl
ld enad,#Ob2 ; c=>adchl 1=b3, 2=>psr=1=mclk
divide by 16.
shit adbsy,enad
a2d04: ifbit adbsy,enad
jmp a2d04
ld a,adrsth
y a,current2
ret
.*******************************************************
,
.sect velosity_caculation,rom
v calc: rbit enl calc,lflags
ld a,t ref0
a a,0
ld a,t refl
r a, l
ld a,pthi
ifgt a, l
jmp tooslow
ld a, l
ifgt a,pthi
jmp toofast
ld a,ptlo
ifgt a,0
jmp tooslow
ld a,0
74
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ifgt a,ptlo
jmp toofast
ret ; if they are equal the speed is ok
tooslow: sc ; err= (pt - t_ref) _> (4,5)
ld a,ptlo ; if t2ra + err*k >1000 then pwm=1000 (fastest)
subc a.0
x a,4
ld a,pthi
subc a.l
a a.5 J
ld a,t2ralo
s a,2
ld a,t2rahi
x a.3
jsr mybyk
ld a,0
a,2
ld a,l
x a,3
ld a,4
s a,0
ld a,5
1 a, l
jmp end_v_calc
toofast: sc ; err= (t ref - pt) _> (4,5)
ld a,0 ; if t2rb + err*k >1000 then pwm=0 (slowest)
subc a,ptlo
1 a,4
ld a, l
subc a,pthi
s a,5
Id a,t2rblo
s a,2
Id a_t2rbhi
a,3
jsr mybyk
ld a,4
a,2
ld a,5
a a,3
end v calc:ld b;#t2ralo
ld s,#0
ld a,#1
ld tmr2hi,#2
;loop2: ifgt a,tmr2hi
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jp loop2
ld a,[~+]
1 a,[b+]
Id a,[~+]
x a,[b+]
Id a,[z+]
1 a, [b+]
ld a,[Y]
x a,[b]
~ret
.*******************************************************
v2 calc: rbit enl calc2,aflags
ld a,at ref0
x a.0
Id a.at_refl
x a, l
ld a,apthi
ifgt a, l
,jmp atooslow
ld a, l
ifgt a,apthi
jmp atoofast
ld a,aptlo
ifgt a,0
_jmp atooslow
ld a,0
ifgt a,aptlo
.jmp atoofast
ret ; if they are equal the speed is ok
atooslow: sc ; err= (pt2 - at_ref) _> (~.,5)
ld a,aptlo ; if t3ra + err*k >1000 then pwm=1000 (fastest)
subc a,0
x a,4
ld a,apthi
subc a.l
x a,5
Id a,t3ralo
x a,2
ld a,t3rahi
s a,3
jsr mybyk
ld a,0
1 a,2
ld a, l
z a,3
76
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld a,4
x a,0
Id a.5
s a, l
,jmp end v2 talc
atoofast: sc ; err= (at ref - pt2) _> (4,5)
ld a,0 ; if t3rb + err*k >1000 then pwm=0 (slowest)
subc a,aptlo
1 a,4
ld a,l
subc a,apthi
x a,5
ld a.t3rblo
x a,2
Id a,t3rbhi
a,3
_jsr mybyk
ld a,4
1 a,2
ld a,5
a,3
end v2 calc:ld b,#t3ralo
ld ~,#0
ld a,# 1
ld tmr3hi,#2
;Ioop3: ifgt a,tmr3hi
jp loop3
ld a,[Y+]
t a,[b+]
ld a,[Z+]
x a,[b+]
ld a,[Z+]
s a,[b+]
ld a,[x]
x a,[b]
ret
.*******************************************************
.sect math functions,rom
mybyk: ld cntr,#6 ; div. by 64 (=2~6)
dvby2: rc
ld a,5
rrc a
x a,5
Id a,4
~7
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
rrc a
x a,4
drsz cntr
_jmp dvby2
rc ; 4,5 <- err*k + t2
ld a,4
adc a,2
a,4
ld a.5
adc ~a,3
s a,5
ifeq 5,#0
_jmp lowedge
ld a,5
ifgt a,#high(980)
_jmp highedge
Id a,#high(980)
ifgt a,5
,jmp end_mybyk ; not edge
ld a,4
ifgt a,#low(980)
.jmp highedge
jmp end mybyk ; not edge
highedge: ld 4,#low(980)
ld 5,#high(980)
Id 0,#20
ld 1,#0
ret
lowedge: ld a,4
ifgt a,#20
_jmp end_mybyk
ld 0,#low(980)
ld 1,#high(980)
Id 4.#20
ld 5,#0
ret
end mybykac
ld a,#low(1000)
subc a,4
1 a,~
ld a,#high(1000)
subc a,5
s a, l
7s
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Id a. l
ifgt.a,#0
ret
ld a,0
ifgt a,#20
ret
ld 0,#20
Id 4,#low(980)
Id 5,#high(980)
ret
'****** FDV168 - Fast 16 by 8 division subroutine *******************
490 instruction cycles maximum - 245usec.
dividend in [1,0] (dd) divisor in [3] (dr)
quotient in [1,0] (quot) remainder in [2] (test field)
fdv168: ld cntr,#16 ; load cntr with length of dividend field
ld 2.#0 : clear test field.
fd168s:Id b,#0
fd1681:rc
ld a,[b]
adc a,[b]; left shift dividend
to
x a,[b+]
ld a,[b]
adc a, ; left shift dividend
[b] hi
x a, [b+]
ld a,[b]
adc a,[b]; left shift test field
x a,[b]
ld a,[b+]; test field to acc
ifc ;
test
if bit
shiefted
out of
test
field****
.jp fd168b
sc
subc a,[b]; test subtract divisor
from test field
ifnc ; test if borrow from
subtraction
.jp fdl68t
fd168r:Id b,#2 ; subtraction result to
test field
x a,[b]
ld b.#0
~
0,[b] ; set quotient bit
sbit
drsz cntr; dectement and test cntr
for zero
jp fd1681
ret ;
return
from
subroutine
fdl drsz cntr; dectement and test cntr
68t: for zero
_jp fd168s
ret ~
; return
from
subroutine
fd168b:subc a,[b]; subtract divisor from
test field***
,jp fd168r
79
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
******* BINDEC - Binary to Decimal (packed BCD) **********************
bindec: Id cntr,#8 ; Bindec - Binary to Decimal (packed BCD)
rc ; 856 cycles * 0.5 ~ 428 cycles = 213usec.
ld b,#1 ; binary in 0 => decinmal in 1,2
bd 1: ld [b+],#0
ifbne #3
jmp bdl
bd2: ld b,#0
bd3: ld a,[b]
adc a, [b]
1 a,[b+]
ifbne #1
_jmp bd3
bd4: ld a,[b]
add a,#066
adc a,[b]
dcor a
a,[b+]
ifbne #3
,jmp bd4
drsz cntr
_jmp bd2
ret
.**********************************************
.sect lcd_update,rom
updatelcd:ifbit lcdupdate,flags2
_jmp updatelcd0
ifeq lcd flags,#0
ret
jmp updatelcd4
updatelcd0:rbit lcdupdate,flags2
ld lcd_cntr,#50
ld a,pls s0
x a,0
ld a,pls xl
a, l
ld a,#lpulsepermm ; linear pulses per mm
x a,3
_jsr fdv 168 ; mm = pls_x/linear_pulses-per_mm
_jsr bindec
Id pd,#080 ; cursor home - address 0.
.jsr lcd com
ld a,2
and a,#Of
add a,#'0'
so
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
x a,pd
jsr Icd_dat
ld a, l
swap a
and a,#Of
add a,#'0'
z a,pd
jsr lcd_dat
ld a,l
and a,#Of
add a,#'0'
t a,pd
jsr lcd dat
Id pd,#085 ; cursor address 5.
jsr lcd_com
ifbit epi,flagsl
jmp updatelcd5
ifbit 7,pls_yl
jmp updatelcdl
sc ; angel= - 08000-pls_y
ld a,#0
subc a,pls_y0
a,0
ld a,#080
subc a,pls~l
a, l
ld pd,#'-'
jmp updatelcd2
updatelcdl:ld a,pls-yl ; angel=+ pls_y-08000
and a,#07f
a, l
ld a,pls-y0
1 a,0
Id pd,#'+'
updatelcd2:jsr lcd dat
Id cntr,#3
updatelcd3 : rc
ld a, l
rrc a
s a, l
Id a.0
rrc a
1 a,0
drsz cntr
jmp updateIcd3
81
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ld 1.#0
_jsr bindec
1d a, l
swap a
and a,#Of
add a,#'0'
s a,pd
_jsr lcd_dat
Id a, l
and, a,#Of
add a,#'0'
a,pd
_jsr lcd_dat
_jmp updatelcd4
updatelcd5:ld pd,#'e'
jsr lcd_dat
Id pd,#'p'
jsr lcd_dat
ld pd,#'i'
.jsr 1cd dat
updatelcd4: ifeq lcd~flags,#0
ret
ifbit self_t_command,buttons flags
ld lcd_flags,#0
ifbit start stop,buttons_flags
ld lcd_flags,#0
ifeq lcd flags,#0
ret
ifbit type start,lcd_flags
ld temp,#low(wordstart); type 'start' at line 2 of lcd.
ifbit type end,lcd flags
ld temp,#low(wordend)
ifbit type Stuck,lcd_flags
ld temp,#lowv(wordstuck)
ifbit type stop,lcd flags
ld temp,#low(twordstop)
_jsr type stringl
Id Icd_flags,#0
end updatelcd:ret
.**********************************************
.sect lcd_orders,rom
clean Icd:Id pd,#Ol
a2
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
jsr lcd_com
_jmp de116
ret
.*****************************************
type string0:ld pd,#080 ; type string from the start of line 0.
jsr lcd com
jmp type string
type siringl :Id pd #Oc0 ; type string from the start of line 0.
jsr lcd com
type string:ld a,temp
inc a
x a,temp
jsr get char
ifeq a,#' cr'
ret
x a,pd
jsr lcd_dat
jmp type string
******** subrutine to initialize lcd display
init_lcd: ld a_# 10
init Icdl :jsr de116
dec a
ifne a,#0
jp init Icdl
init lcd2:ld pd,#O1 ;display clear
jsr lcd_com
jsr de116
Id pd,#06 ;increment cursor (cursor moves: left to right)
jsr Icd com
ld pd,#0c ;display on , cursor off
jsr lcd com
ld pd,#03f ;8 bits
jmp Icd com
ret
********** subrutine to transfer command to Icd display
lcd_com: rbit rs,pa ;command
end_com_dai:
sbit cs_Icd,pa
rbit cs_lcd,pa .
Id cntr,# 10
loopl : drsz cntr
jp loopl
83
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ret
********** subrutine to transfer data to lcd display
lcd dat: sbit rs,pa :command
jmp end com dat
.******** delay ****************
de116: ld cntr,#2
de1160: ld temp,#250 ;1.6 msec delay
dell6l : drsz temp
jmp de1161
ld temp,#150
dell62: drsz temp
_jmp dell62
drsz cntr
_jmp de1160
ret
.*****************************************
.sect
string
table,rom,inpage
get char:laid
ret
.*****
ascii
table
*********************
wordmm: . db ' mm @'
wordstart:.db'start cz'
wordstop:. db 'stop @'
wordpoweron:.db'power on@'
wordhome:.db 'home @'
wordstuck:.db'stuck @'
wordend:.db'end @'
wordbottom:.db'bottom @'
wordready:.db'ready @'
wordselftest:.db 'selftest@'
wordautorun:.db'autorun @'
wordinplace:. db 'in place@'
endsect
.END 0
;end of program listing of intumed.asm
84
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Appendix 2
This is c8cdr. inc
************************************************************
*:k*****
This file include cop8cdr.inc, cop8.inc, cop8c3r.inc, 8cdr.chp,
ports. inc(shortcuts).
;port definitions in cop8 with flash
ped =090 ; port a data (output); pe is already taken by parity enable.
pec =091 ; port a configuration
pet =092 ; port a input
pf =094 ; port f data (output)
pfc =095 ; port f configuration
pfi=096 ; port f input
pa =Oa0 ; port a data (output)
pac =Oal ; port a configuration
pat =Oa2 ; port a input
pb =Oa4 ; port b data (output)
pbc =Oa5 ; port b configuration
pbi =Oa6 ; port b input
pl =Od0 ; port 1 data (output)
plc =Odl ; port 1 configuration
pli=Od2 ; port 1 input
pg=Od4 ; port g data (output)
pgc =Od5 ; port g configuration
pgi =Od6 ; port g input
pc =Od8 ; port c data (output)
pcc =Od9 ; port c configuration
pct =Oda ; port c input
pd =Odc ; port d data (output)
This is cop8.inc
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
************************************************************
************~
;* Primary Chip Names with Designators
.************************************************************
*********~**~
ANYCOP = 0
COP912C = 1 ; Basic Family
COP820 = 2
COP840 = 3
COP880 = 4
COP820CJ = 5
COP840CJ = 6
COP8620 = 7
COP8640 = 8
COP8720 = 9
COP8780 = 10
COP943 = l I
COP888CF = 20 ; Feature Family
COP888CG= 21
COP888CL = 22
COP888CS = 23
COP888EG = 24
COP888EK = 25
COPBACC = 26
COP888BC = 27
COP888EB = 28
COP888EW = 29
COP888FH = 30
COP888GD = 31
COP888GG = 32
COP888GW = 33
COP888HG = 34
COP888KG = 35
COP8SAA = 36
COPBSAB = 37
COP8SAC =38
COPBSGR = 39
COPBSGE = 40
COPBSEC = 41
COPBSER = 42
COP8AJC = 43
COP8AKC = 44
------------ Flash based devices from here on
COPBCBR = 60
COPBCCR = 61
COPBCDR = 62
86
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
COPBSBR = 63
COP8SCR = 64
COPBSDR = 65
COPy8 = 99
---------------- End of COPB.INC
.*******************************************************
COPCHIP = COPBCDR ; Chip Definition
This is cop8C3R.inc
PLEASE: Consider update for CBR,CDR, and CCR.
Predeclare I/0 and control registers frequently used by COP8 programmer.
.macro setopt
.mloc sec,wd,halt,flex
.ifb ~1 ; if null
sec 0 ; default value (not
- secure)
.else
sec cz l
-
.
endif
.ifb @2 ; if null
wd 0 ; default value (Watchdog
- enabled)
.else
wd eJr 2
-
.
endif
.if6 cr 3 ; if null
halt 0 ; default value (HALT
- enabled)
.else
halt @3
-
.
endif
.ifb @4 ; if null
flex 1 ; default value (Execute
- from Flash)
.else
flex ~4
-
. f
endi
.sect OPTION, CONF
CONFIG: . db ((sec shI 3 or wd) shl 1 or halt) shl 1 or flex
. endm
. ---------------- End of setecon Macro Definition
87
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
_______________________________________________________________________
; SFR Names and Register Bit Names Agree with the Feature Family User's
Manual Redundant names match corresponding functions on Basic Family
Documentation
PORTED = 0x90:BYTE; Port E Data
PORTEC = Ox91:BYTE; Port E Configuration
PORTEP = Ox92:BYTE; Port E input pins (read
only)
PORTFD = Ox94:BYTE; Port F Data
PORTFC = Ox95:BYTE; Port F Configuration
PORTFP = Ox96:BYTE; Port F input pins (read
only)
PORTAD = 0xA0:BYTE; Port A Data
PORTAC = OxAl :BYTE; Port A Configuration
PORTAP = OxA2:BYTE; Port A input pins (read
only)
PORTBD = OxA4:BYTE; Port B Data
PORTBC = OxAS:BYTE; Port B Configuration
PORTBP = OxA6:BYTE; Port B input pins (read
only)
ISPADLO = OxAB:BYTE; ISP Address Register Low
Byte
ISPADHI - OxA9:BYTE; ISP Address Register High
Byte
ISPRD OsAA:BYTE ; ISP Read Data Register
=
ISPWR OxAB:BYTE ; ISP Write Data Register
=
TTNTA OxAD:BYTE ; High Speed Timers Interrupt
= A
TINTB OxAE:BYTE ; High Speed Timers Interrupt
= B
HSTCR OxAF:BYTE ; High Speed Timers Control
= Register
TMR3L0 = OxBO:BYTE; Timer 3 low byte
TMR3HI = OxBI:BYTE; Timer 3 high byte
T3RAL0 = OxB2:BYTE; Timer 3 RA register low
byte
T3RAHI = 0xB3:BYTE; Timer 3 RA register high
byte
T3RBL0 = OxB4:BYTE; Timer 3 RB register low
byte
T3RBHI = OxBS:BYTE; Timer 3 RB register high
byte
T3CNTRL ; Timer 3 control register
= OxB6:BYTE
TBUF - OxBB:BYTE ; UART transmit buffer
RBUF - 0xB9:BYTE ; UART receive buffer
ENU - OxBA:BYTE ; UART control and status
register
ENUR - OxBB:BYTE; UART receive control and
status reg.
ENUI - OxBC:BYTE ; UART interrupt and clock
source reg.
BAUD - OxBD:BYTE; BAUD register
PSR - OxBE:BYTE ; UART prescaler select
register
TMR2L0 = OxCO:BYTE ; Timer 2 low byte
s8
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
TMR2HI = OxCI:BYTE ; Timer 2 high byte
T2RAL0 = OxC2:BYTE ; Timer 2 RA register low byte
T2RAHI = OxC3:BYTE ; Timer 2 RA register high byte
T2RBL0 = OxC4:BYTE ; Timer 2 RB register low byte
T2RBHI = OxCS:BYTE ; Timer 2 RB register high byte
T2CNTRL = OxC6:BYTE ; Timer 2 control register
Byte
Byte
WDSVR = OxC7:BYTE; Watch dog service register
WKEDG = OxCB:BYTE; MIWU edge select register
WKEN - OxC9:BYTE; MIWU enable register
WKPND = OxCA:BYTE; MIWU pending register
ENAD - OxCB:BYTE ; A/D Converter Control register
ADRSTH = OxCC:BYTE; A/D Converter Result Register
High
ADRSTL - OxCD:BYTE ; A/D Converter Result Register Low
ITMR - OxCF:BYTE ; Idle Timer Control Register
PORTLD = OxDO:BYTE; Port L data
PORTLC = OxDl:BYTE; Port L configuration
PORTLP = OxD2:BYTE; Port L pin
PORTGD = OxD4:BYTE; Port G data
PORTGC = OxDS:BYTE; Port G configuration
PORTGP = OxD6:BYTE; Port G pin
PORTCD = OxD8:BYTE; Port C data
PORTCC = OxD9:BYTE; Port C configuration
PORTCP = OxDA:BYTE; Port C pin
PORTD = OxDG:BYTE; Port D
PGMTIM = OxEl :BYTE; E2 and Flash Write Timing
Register
ISPKEY OxE2:BYTE ; ISP Key Register
=
T1RBL0 = OxE6:BYTE; Timer 1 RB register low
byte
T1RBHI = OxE7:BYTE; Timer 1 RB register high
byte
ICNTRL = OxEB:BYTE; Interrupt control register
SIOR - OxE9:BYTE ; SIO shift register
SIO - OxE9:BYTE ; SIO shift register
TMR1LO = OxEA:BYTE; Timer 1 low byte
TMR1HI = OxEB:BYTE; Timer I high byte
89
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
T1RALO = OYEC:BYTE ; Timer 1 RA register low byte
T1RAHI = OZED:BYTE ; Timer 1 RA register high byte
CNTRL = O~EE:BYTE ; control register
PSW - O~EF:BYTE ; PSW register
BYTECOUNTLO = OxFI:BYTE ; When JSRB Boot Rom used
S - O1FF:BYTE ; Segment register, only COP888CG/CS!
_____________________________________________________.
Bit Constant
Declarations.
----- Alternatection bit definitions
fun on port G
INT - 0 ; Interrupt input
INTR - 0 ; Interrupt input
WDOUT = 1 ; Watchdog output
T1B - 2 ; Timer T1B output
T1A - 3 ; Timer T1A output
SO - 4 ; Seriell output
SK - 5 ; Seriell clock
SI - 6 ; Seriell input
CKO - 7 ; Halt,restart input
;
--- Alternate
function
bit definitions
on port
L
CKX - 1 ; eYt. clock I/O-pin/IJART
TDX - 2 ; transmit data/UART
RDX - 3 ; receive data/UART
T2A - 4 ; Timer T2A output
T2B - 5 ; Tirner T2B output
T3A - 6 ; Timer T3A output
T3B - 7 ; Timer T3B output
Alternate
function
bit definitions
on port
A
ACHO - 0 ; A/D-Channel 0
ACH1 - 1 ; A/D-Channel 1
ACH2 - 2 ; A/D-Channel 2
ACH3 - 3 ; A/D-Channel 3
ACH4 - 4 ; A/D-Channel 4
ACHS - 5 ; A/D-Channel 5
ACH6 - 6 ; A/D-Channel 6
ACH7 - 7 ; A/D-Channel 7
v Alternate
function
bit definitions
on port
B
ACH8 - 0 ; A/D-Channel 8
ACH9 - 1 ; A/D-Channel 9
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ACHlO 2; A/D-Channel 10
-
ACHI I 3; A/D-Channel 11
-
ACH12 4; A/D-Channel 12
-
ACH13 5; A/D-Channel 13
-
MUXOUTN -5 ; A/D Mux Negative
Output
ACH14 6; AID-Channel 14
-
MUXOUTP -5 ; AlD Mux Positive
Output
ACHIS 7; A/D-Channel 15
-
ADIN - ; A/D Converter Input
7
----- Bit definitions CNTRL register
TIC3 - 7 ; Timer 1 mode control
TCI - T1C3 ; COP880/8401820 control
signal name
TIC2 - 6 ; Timer 1 mode control
TC2 - TIC2 ; COP880/8401820 control
signal name
T1C1 - 5 ; Timer 1 mode control
TC3 - T1C1 ; COP880/840/820 control
signal name
TICO - 4 ; Start/Stop timer in modes
1 and 2
Underfiow interrupt pending in
mode 3
TRUN - Tl CO ; COP880/840/820 control
signal name
MSEL - 3 ; Enable Microwire
IEDG - 2 ; Selects external intern. edge
polarity
SL1 - 1 ; Microwire clock divide select
SL0 - 0 ; Microwire clock divide select
;-----
Bit definitions
PSW register
HC - 7 ; Half Historical Redundant
carry flag
C - 6 ; Carry flag
TIPNDA
= 5 ;
Timer
TIA interrupt
pending
TPND - TIPNDA ; Historical Redundant
T1ENA = 4 ; Timer TlA interrupt enable
ENTI - T1ENA ; Historical Redundant
EXPND = 3 ; External interrupt pending
IPND - EXPND ; Historical Redundant
BUSY - 2 ; Microwire busy shifting
EXEN - 1 ; External interurpt enable
ENI - EXEN ; Historical Redundant
GIE - 0 ; Global intern. enable
-----
Bit definitions
ICNTRL
register
LPEN - 6 ; L-Port intern. enable
TOPND = 5 ; Timer TO intern. pending
TOEN - 4 ; Timer TO intern. enable
WPND - 3 ; Microwire intern. pending
WEN - 2 ; Microwire intern. enable
TIPND B = 1 ; Timer TIB intern. pending
flag
TlENB = 0 ; Timer TIB intern. enable
91
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
--- Bit
definitions
T2CNTRL
register
T2C3 - 7 ; Timer T2 mode control
TZC2 - 6 ; Timer T2 mode control
T2C 1 5 ; Timer T2 mode control
-
T2C0 - ~. ; Timer T2A start/stop
T2PNDA = ; Timer T2A intern pending
3 flag
T2ENA = ; Timer T2A intern. enable
2
T2PNDB = ; Timer T2B intern. pending
1 flag
T2ENB = ; Timer T2B intern. enable
0
----- tionsT3CNTRL register
Bit defini
T3C3 - 7 ; Timer T3 mode control
T3C2 - 6 ; Timer T3 mode control
T3C1 - 5 ; Timer T3 mode control
T3C0 - 4 ; Timer T3A start/stop
T3PNDA = ; Timer T3A intern. pending
3 flag
T3ENA = ; Timer T3A intern. enable
2
T3PNDB = ; Timer T3B intern. pending
1 flag
T3ENB = ; Timer T3B intern. enable
0
Bit definitions
HSTCR
register
T9HS - 7 ; Timer T9 High Speed
Enable
TBHS - 6 ; Timer T8 High Speed
Enable
T7HS - 5 ; Timer T7 High Speed
Enable
T6HS - 4 ; Timer T6 High Speed
Enable
TSHS - 3 ; Timer T5 High Speed
Enable
T4HS - 2 ; Timer T4 High Speed
Enable
T3HS - 1 ; Timer T3 High Speed
Enable
T2HS - 0 ; Timer T2 High Speed
Enable
; Bit
definitions
TINTA
register
T9INTA= 7 ; Timer 9 Interrupt A
T8INTA= 6 ; Timer 8 Interrupt A
T7INTA= 5 ; Timer 7 Interrupt A
T6INTA= 4 ; Timer 6 Interrupt A
TS1NTA= 3 ; Timer 5 Interrupt A
T4INTA= 2 ; Timer 4 Interrupt A
T3INTA= 1 ; Timer 3 Interrupt A
Bit definitions
TINTB
register
T9INTB 7 ; Timer 9 Interrupt B
=
T8INTB 6 ; Timer 8 Interrupt B
=
T7INTB 5 ; Timer 7 Interrupt B
=
T6INTB 4 ; Timer 6 Interrupt B
=
TSINTB 3 ; Timer 5 Interrupt B
=
T4INTB 2 ; Timer 4 Interrupt B
=
T3INTB 1 ; Timer 3 Interrupt B
=
92
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
; Bit definitions
ENAD register
ADCH3 = 7 ; A/D Convertor Channel Select
bit 3
ADCH2 = 6 ; A/D Convertor Channel Select
bit 2
ADCHI = 5 ; A/D Convertor Channel Select
bit 1
ADCHO = 4 ; A/D Convertor Channel Select
bit 0
ADMOD = 3 ; A/D Convertor Mode Select
bit
ADMUX - 2 ; A/D Mux Out Control
PSC - 1 ; A/D Convertor Prescale
Select bit
ADBSY= 0 ; A/D Convertor Busy Bit
----- Bit ENU register
definitions
PEN - 7 ; Parity enable
PSEL1 - 6 ; Parity select
PSELO = 5 ; Parity select
XBIT9 = 5 ; 9th transmission bit in
9bit data mode
CHL 1 - 4 ; Select character frame
format
CHLO - 3 ; Select character frame
format
ERR - 2 ; Error flag
RBFL - 1 ; Received character
TBMT - 0 ; Transmited character
;----- Bit deEnitions ENUR register
DOE - 7 ; Data overrun error
FE - 6 ; Framing error
PE - 5 ; Parity error
BD = ; Break Detect
4
RBIT9 3 ; Contains the ninth bit (nine
= bit frame!)
ATTN - ? ; Attention mode
XMTG - 1 ; indicate transmitting mode
RCVG - 0 ; indicate framing error
a
----- ition ENUI register
Bit
defin
STP2 7 ; Select number of stop bits
-
BRK = 6 ; Holds TDX low to Generate
a BREAK
ETDX - 5 ; Select transmit-pin 12
SSEL 4 ; Select UART-mode
-
XRCLK = 3 ; Select clock source for
the receiver
XTCLK = 2 ; Select clock source for
the transmitter
ERI - 1 ; Enable intern. from the receiver
ETI - 0 ; enable intern. from the transmitter
Bit Definitions for ITMR Register
LSON - 7 ; Low Speed Oscillator Enable
HSON - 6 ; High Speed Oscillator Enable
DCEN - 5 ; Dual Clock Enable - Switches TO To
Low Speed Clock
CCKSEL - 4 ; Core Clock Select - Switches Instr
Execution To Low Speed Clock
93
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
ITSEL2 = 2 ; IDLE Timer Period Select bit 2
ITSEL1 = 1 ; IDLE Timer Period Select bit 1
ITSELO = 0 ; IDLE Timer Period Select bit 0
KEY = 0x98 ; Required Value for ISP Key
- End of COP8C3R.INC
********
************************************************************
;This is 8cdr.chip
CHIP 8CDR ; specifies max. ROM address 7FFF
;RAM=1K
this Ele.
;CHIP SPEC (chip table) for COP8CDR9xxxx parts
PLEASE: Consider also update of files for CBR and CCR when modifying
0 value if undefined, address value otherwise
mole - 0
romsize = 0x8000 ; ROM size
ramhiOx6F ; segment 0 high address
=
eelo 0 ; on-chip eerom range
-
eehi 0
-
t3lo OxBO ; timer 3 registers
-
t3hi OxB6
-
comp =0 ; comparator
uartlo- OxB8 ; uart registers
uarthi- OxBE
t2lo OxCO ; timer 2 registers
-
t2hi OxC6
-
wdog - OxC7 ; watch dog service
register
miwulo- OxC8 ; miwu registers
miwuhi- OxCA
a2dlo- OxCB ; ald registers
a2dhi- OxCD
lportlo= OxDO ; 1 port registers
lporthi= OxD2
gportlo= OxD4 ; g port registers
gporthi= OxD6
iport0 ; i port
-
cportlo= OxD8 ; c port
cporthi= OxDA
dportOxDC ; d port
=
eecr 0 ; eerom control register
-
eromdr- 0 ; eerom data register
eearlo- 0 ; eerom address registers
94
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
eearhi - 0
;icntrl - OxE8 ; icntrl register ; already
defined
microwire ; uWire SIO
= OxE9
tlalo - OxE6 ; tl auto ld tlrb
tlahi - 0xE7
tlblo - OxEA ; tl reg
tl bhi - OxED
;cntrl = OxEE ; cntrl reg ; already defined
;psw - OxEF ; psw reg ; already defined
rnlo - OxFO ; RAM reg range
rnhi - OxFF
segramlo = 0x0100; segments low to high
segramhi = Ox077F
cntrl2 - 0
wdogctr =
0
modrel - 0
econ - Ox7FFF ; econ hex-file location
cfgsize = 1 ; econ array cell address.
;family = 0 for basic family, family = 1 for feature family
family - 1
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
Appendix. 3
'************* Constants definitions *******************
lpulsepermm=136 ; 16 * 22 / 2.54 = 138.58 = linear pulse per mm
'************* Register Definitions *****************
f0 =Of0 ; not used
uart_tmr =Ofl ; used as receive watch dog - when 0,
return rec
stat(receiving
state) _
to 0.
rbyte =Of2 ; number of bytes to be received.
num
tbyte_nurn= ; number of bytes to be transmitted.
O f3
temp =Of4 ; used for temporary calculations as
variable or counter.
=Of5 ; not used
cntr =Of6 ; used for temporary calculations as
counter.
lcd_cnir =0fl ; used to refresh lcd every 0.1 sec (according
to timer0 -
25 *4msec)
f8 =0f8 ; not used
data cntr=0~ ; used to count 20 data packets.
fa =Ofa ; not used
fb =Ofb ; riot used
'**********
bits
definitions
*****************
>
rs=2 ; ; determines if the LCD gets command(0}
pa or data(1).
cs_lcd=3 ; ; send the information in the lcd data
pa pins upon rise and
fall( lcd.
/\~ of -
cs
controll=4; ;1
pa
control2=5; ; / control 1+2 determine the direction
pa of motor 1
cantrol3=6; ; \
pa
control4=7; ; J control 3+4 determine the direction
pa of motor 2
;home_position=5;
pI
;start ;
stop=7 pl
home limit=S;
pb
bottom
limit=6
; pb
angular
limit=7;
pb
.*****x~*****~ags ***************************************
direction=0; ; direction of motor 1
lflags
first-pulse=1; ; if set then there was akeady 1 pulse,
lflags
en_calc=2; ; enables calculation of time per pulse.
lflags
en 1 calc=3; ; enables calculation of velosity every.
lflags
stopl=4 ; ; signals that motorl sould be stopped
lflags
pulse=5 ; ; signals that there was a pulse from
lflagsmotor 1
direction2=0; aflags; direction of motor 2
firsty_pulse=1; ; if set then there was already
aflags 1 pulse.
en_calc2=2; aflags; enables calculation of
time per pulse.
enl_calc2=3; aflags; enables calculation of
velosiiy every.
stop2=4 ; aflags; signals that motor2 sould
be stopped
pulse2=5; aflags; signals that there was
a pulse from motor 2
96
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
start=0 ; flagsl; 1 when start command is received, 0
when stop command is
issued.
home=1 ; flagsl; 1 when home micro switch (Normally
Closed) is closed, o
when
open.
bottom=2; flagsl; 1 when bottoming micro switch (NO)
is closed, o when open.
epi=3 ; flagsl; 1 when Epiglottis is sensed.
stop=4 ; flags; 1 when stop command is received, 0
1 when start command is
issued.
end=5 ; flags; 1 when planned mission ends.
1
stuck=6 ; flags; 1 when a motor is stuck.
1
enddata=7; flags; additional bit for the PC to know when
I the micro stops
sending
data.
fist en=0 ; flags2 ; generatl enable for saving and transmitting the blockes
of data.
fix_t_enl=1 ; flags2 ; enable 1 block saving, and set every 8msec by timer0.
a2den=2 ; flags2 ; enables a/d
Icdupdate=3 ; flags2 ; being set every O.lsec by timer 0 to refresh lcd.
type start=0 ; lcd_flags ; if set lcd could type "start" in line2.
type stop=1 ; lcd_flags ; if set lcd sould type "stop" in line2.
type end=2 ; Icd_flags ; if set lcd could type "end" in line2.
type stuck=3 ; lcd flags ; if set lcd could type "stuck" in line2.
new direction=3; rbytel ; the new direction for the motors as received from
the pc.
motor=4 ; rbytel ; 0 - motorl, 1 - motor2.
buttons t en=0 ; buttons flags
home command=1 ; buttons_flags
home coirnnand_pc=2 ; buttons_flags
self_t_command=3 ; buttons flags
stop command=4 ; buttons_flags
home_position=5 ; buttons_flags + pl
start stop=7 ; buttons flags + pl
limits_c_en=0
; limits_flags
to be shifted
if it is
the only
bit in
this byte.
.****** s=0
*******bytes
definitions
***************************
Iflags =020 ; flags that belongs to linear motor (motorl).
aflags =021 ; flags that belongs to angular motor (motor2).
any stat ; angular motor work states.
=022
n1t_a_stat=023; save the next ang stat that come after
a subroutine or an ang stat.
plsy cntr0=024; Isb ; angular distance that motor 2 could
do in start command.
plsy cnirl=025; msb
plc cntr0 ; lsb ; linear distance that motor 1 could
=026 do in start command.
plc cntrl ; msb
=027
linear stat=028
; linear
motor work
states.
97
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
nit_1 stat=029 ; save the next linear_stat that come after a subroutine or an
linear stat.
flags2 =02a ; save flags of lcd, a/d and fix t
en.
cd_d1y =02b _
; delay before changing direction to aloes
the motor to reach a
complete .
stop
rec_stat =02c ; usart receiving work state.
trns stat=02d ; usart transmitting work state.
int~cntr =02e ; counter to help with timming. decreased
by I every 4msec.
currentl =030 ; digital current from motor 1.
current2 =031 ; digital current from motor 2.
hall l =032 ; digital hall senssor from motor 1.
ha112 =033 ; digital hall senssor from motor 2.
pls x0 =034 lsb ; total linear distance in pulses.
;
pls xl =035 ; msb
pls~0 =036 lsb ; total angular distance in pulses.
;
pls-yl =037 ; msb
flagsl =038 ;
t_check =039 ; check sum of 1 packet of 20 blocks of
currentl+...+flagsl
checksum =03a ; check sum of received bytes in 1 command
from the pc.
save_ptr =03b ; pointer to show where the next byte
should be saved in the
packet locksl,s2).
of 20 (s
b
send~tr =03 ; pointer to show from where the next
c byte should be sent in the
packet locksl,s2).
of 20 (s
b
zero_h =03
1 d
zero h2 =03
a
ptl to =040 ; lsb ; save the capture time of motor
1 last pulse.
timer
1 a
pt 1 hi =04 ; msb
I
pt2lo =042 ; lsb ; save the capture time of 1 pulse
before motor 1 last
puts e.
pt2hi =043 ; msb
ptlo =044 ; lsb ; save the time between the last
2 pulses of motor 1.
calculated
in timer0.
pthi =045 ; msb
t ref0 =046 ; lsb ; the desired time between pulses
of motor 1 as received
from the
pc.
t refl =047 ; msb
aptllo =048 ; lsb ; save the capture time of motor
2 last pulse.
timer
1 b
aptl hi =049 ; msb
apt2lo =04a ; lsb ; save the capture time of 1 pulse
before motor 2 last
puts e.
apt2hi =04b ; msb
aptlo =04c ; lsb ; save the time between the last
2 pulses of motor 2.
calculatedmer0.
in ti
98
CA 02469088 2004-06-04
WO 03/047673 PCT/IL02/00347
apthi =04d ; msb
at_ref0 =04e ; lsb ; the desired time between pulses of motor 2 as received
from the pc.
at refl =04f ; msb
receive-pir-050 ; pointer where to store the byte that will be received next,
rbytel=051
rbyte2=052 ; received bytes. .
rhyte3=053 ;
rbyte4=054
rbyte5=055 ;
trns~tr=056 ; pointer where the next byte to be
transmitted is stored.
tbytel=057 ;
tbyte2=058 ; bytes to be transmitted.
tbyte3=05 9 ;
tbyte4=05 a ;
tbyte5=05b ;
tbyte6=05 c ;
tbyte7=05 d ;
packet cntr=05f ; counts the packets that are send every 160msec untill the
micro
returns to work state 0.
limits_flags =060 ; micro(limit) switches - normally closed.
buttons_fiags =061 ; buttons - normally closed.
ritut =062 ; ritut - counter to prevent buttons vibrations, only 3sec push is
considered a prese.
start_stop cnir=063 ; counter of 3 sec.
home_position_cntr=064 ; counter of 3 sec.
selft_stat=065 ; work states of self test.
autorun_sta~066 ; work states of auto run.
Icd_t7ags=067 ; lcd flags - if set, something should be typed.
nolpulsetmr=068 ; timer to turn off motor if no pulses received - assuming the
motor is
stuck.
noapulsetmr=069
home stat=06a ; work states of home position.
99
