WO2003101366A1 - Massage system with feedback - Google Patents

Massage system with feedback Download PDF

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Publication number
WO2003101366A1
WO2003101366A1 PCT/US2003/017542 US0317542W WO03101366A1 WO 2003101366 A1 WO2003101366 A1 WO 2003101366A1 US 0317542 W US0317542 W US 0317542W WO 03101366 A1 WO03101366 A1 WO 03101366A1
Authority
WO
WIPO (PCT)
Prior art keywords
retlw
psw
goto
movwf
movlw
Prior art date
Application number
PCT/US2003/017542
Other languages
French (fr)
Inventor
Alton B. Otis, Jr.
Stanley Cutler
Gayle B. Gerth
Sharyl Canahuati
Original Assignee
Inseat Solutions, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inseat Solutions, Llc filed Critical Inseat Solutions, Llc
Priority to AU2003273278A priority Critical patent/AU2003273278A1/en
Publication of WO2003101366A1 publication Critical patent/WO2003101366A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/24—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles for particular purposes or particular vehicles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/90—Details or parts not otherwise provided for
    • B60N2/976—Details or parts not otherwise provided for massaging systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A61H2201/5015—Control means thereof computer controlled connected to external computer devices or networks using specific interfaces or standards, e.g. USB, serial, parallel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/90—Details or parts not otherwise provided for
    • B60N2002/981—Warning systems, e.g. the seat or seat parts vibrates to warn the passenger when facing a danger

Definitions

  • Appendix A (“EMCPCP.asm” - 53 pages) and Appendix B (“EMCPCP.hex” - 18 pages) which are hard copy printout of the assembly listing and hex listing of the source code for the computer programs that configure the processors in accordance with the present invention.
  • the computer program files contained in Appendix A & B are subject to copyright protection. The copyright owner has no objection to the reproduction of the files or the patent disclosure as filed, but otherwise reserves all copyright rights whatsoever.
  • the present invention relates to a massaging apparatus, and more particularly to an improved massage system with operational feedback and a corresponding protocol for such apparatus.
  • massaging apparatus has produced a variety of products incorporating plural vibration transducers that operate in multiple modes.
  • more sophistication in the massaging and heating of the body is desired, not only as a sales tactic, but also and, perhaps more importantly, as an adjunct to safety systems and medical treatment.
  • the increased sophistication tends to drive up costs, particularly when product variations must be supported by diverse inventories, and new developments make existing products obsolete.
  • a massage system having further improved operating modes with increased utilization of existing inventories and shorter lead times in commercial production of products having greater sophistication.
  • the system be reliable, easy to operate and inexpensive to produce, diagnose problems with and repair.
  • the system may be configured to communicate through a variety of protocols, including a RS-232 serial interface, hardwired serial or parallel ports or wireless protocols.
  • RS-232 serial interface RS-232 serial interface
  • hardwired serial or parallel ports or wireless protocols RS-232 serial interface
  • the present invention provides a computer based massage system utilizing hardwired serial or parallel ports or wireless protocols with operational feedback.
  • the massage units may incorporate small DC motors with eccentric mass elements as the vibratory massaging source. These vibrators may be embedded in a pad upon which the user lies or reclines.
  • the pad may be in the form of a seating surface in an airline seat and may also contain embedded heaters to enhance the massage.
  • the system may be activated via a remote control device containing key switches or push buttons and visual status indicators incorporating an LCD screen.
  • an airline seat may incorporate a plurality of vibrators and heaters.
  • the heaters are located in the center of the shoulder and lower back areas and the vibrators are located in four zones distributed over the body length.
  • Real-time feedback of the vibrating unit's actual operational status to the user and the airline crew through viewable displays is incorporated into the present invention to provide better control and accuracy of the massage system and to alert the user and crew to any malfunctions within the seat.
  • the massaging system includes a plurality of vibrators for deflecting respective regions of a seat where each vibrator is operated with a power signal.
  • a massage module is incorporated into the system and configured with input and output interfaces for communication with the vibrators and external components.
  • External components can include devices such as a user- controlled wand, a data routing unit and an electronic control unit.
  • the module can also monitor the operational status of the vibrators and accordingly report the status as necessary.
  • a series of communication buses may function to link the massage module to the vibrators and to the wand through the data routing unit.
  • the vibrators can be in an array of transducers with a corresponding series of motor drivers incorporated into the massage module.
  • the massaging system includes a plurality of vibrators for vibrating respective regions of a seat. Each region may be configured with a left and right vibrator, each being responsive to a power signal.
  • a massage module may incorporate vibrator-monitoring capabilities along with input and output interfaces for communication with the vibrators and a data routing unit. Massage signals are generated in the wand or other user interface and are sent through a communication bus to a data routing unit. The data routing unit sends the massage signals to the input interface of the massage module to control the module in response to user commands.
  • the massage signals include a plurality of region signals relating to vibrators to be activated and a plurality of mode signals. Vibrator drivers, which are incorporated into the massage module, produce a power signal separately for each of the vibrators.
  • the massage module operates in response to the input elements by powering the vibrators for operation in a plurality of modes.
  • each of a plurality of modes may be activated sequentially and may be automatically terminated upon completion thereof.
  • a second composite mode may then continuously repeat the first composite mode.
  • the signaling can include signals for setting an intensity control value, with the vibrators preferably activated at power levels responsive to the intensity control value in at least some of the modes.
  • the signaling can further include signals for setting a speed control value for determining a rate of sequencing where, during at least one of the composite modes, the duration of operation in sequential activation of modes may be responsive to the speed control value.
  • At least one composite mode for facilitating testing and/or demonstration of the system at variable power levels may also be configured into the system.
  • the mode signals can include a zig-zag signal where the massage module is operative in response to the zig-zag signal for activating alternating left and right vibrators in a sequential manner.
  • the massage module can also be operative in response to repeated occurrences of the zig-zag signal for selectively activating the vibrators in various modes, for example: (1) shoe lace pattern wherein diagonal pairs of the transducers are activated in a repeating pattern; (2) a first alternating zig-zag pattern of left and right transducers in adjacent regions, followed by a second alternating pattern being a mirror image of the first; and (3) an alternating repetitive pattern in one region, the pattern sequentially advancing among the regions.
  • the mode signals can include a circle signal where the massage unit is operative in response to the circle signal for activating an alternating pattern of the vibrators with the pattern periodically advancing in a closed path among the vibrators.
  • the module can also be operative in response to repeated occurrences of the circle signal for selectively activating the vibrators in various modes, for example: (1) a circle pattern wherein the pattern is circular, advancing between the left vibrators in one direction and the right vibrators in the opposite direction; (2) a circle pattern advancing oppositely of the previous pattern; and (3) a figure-eight pattern.
  • the mode signals can include a program signal where the massage module is operative in response to the program signal for setting a relative power level for the vibrators separately for each of the regions in response to the intensity control value and respective of the region signals.
  • the massage module can also be operative in response to repeated occurrences of the program signal in various modes, for example: (1) for changing custom settings of individual regions; (2) for permitting operation in other modes while maintaining relative power levels of the regions corresponding to the custom settings; and (3) for permitting operation in other modes without the custom settings, the custom settings being preserved until being changed following a subsequent occurrence of the program signal.
  • FIGURE 1 is a perspective view of a massaging system of the present invention incorporated into airline seats.
  • FIG. 2 is a schematic of one embodiment of the massage system of the present invention.
  • FIG. 3 is a plan view of a massage module and vibrating units of one embodiment of the massage system of the present invention.
  • FIG. 4 is a circuit diagram detailing the controller portion of a five-zone vibrating unit massage system of the present invention.
  • FIG. 5 is a circuit diagram detailing an electronics module portion of the massage system of FIG. 4.
  • FIG. 6 is a circuit diagram detailing the controller portion of a five-zone vibrating unit massage system further including two heating units in accordance with the present invention.
  • FIG. 7 is a circuit diagram detailing an electronics module portion of the massage system of FIG. 6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • the present invention is directed to a computerized massaging system that provides multiple modes, incorporates feedback capabilities, and that is inexpensive to provide in a number of variants with minimal inventory complexity, with non- enabled features being transparent to users of the system.
  • Communication amongst the various pieces of hardware may be accomplished using a variety of protocols, including hardwired (e.g., RS-232) or wireless systems.
  • RS-232 hardwired
  • wireless systems e.g., RS-232
  • airline-type seats are contemplated to be used in connection with the massage system.
  • a massaging system 10 of the present invention may be incorporated into two side-by-side business class type seats 14a, 14b.
  • the system includes two massage modules 37a, 37b located beneath the bottom cushion of each seat and a series of vibrators 12 incorporated into the bottom cushions 62a, 62b and backrests 64a, 64b.
  • the vibrators are connected to the massage modules through a series of hard- wire connections 48a, 48b, 50a, 50b shown in FIG. 2.
  • Passengers may operate the massage system through a "wand" 36a, 36b.
  • the left wand 36a operates the massage system in the left seat 14a while the right wand 36b operates the massage system in the right seat 14b.
  • the wands incorporate user-friendly features and options such as liquid crystal display (LCD), push buttons, and keys.
  • LCD liquid crystal display
  • Passengers enable massaging by selecting an area of the seat and type of massaging through controls on the wands 36a or 36b.
  • a massage signal corresponding to the passenger's selections is then generated in the wand.
  • This massage signal may be sent from the wand to a data routing unit (DRU) 42a, 42b, which may be located within the passenger's seat.
  • the DRU then routes the massage signal to the massage module 37a, 37b, which may also be located in the lower portion of the passenger seat.
  • the massage module processes the massage signal from the DRU, and activates the vibrators 12 in the seat to massage the passenger according to his selections.
  • An electronic control unit (ECU) 38 may be connected to each of the massage modules 33a, 37b and DRUs 42a, 42b.
  • each seat 14a, 14b has eight vibrators 12 arranged in groups of two for a total of four zones.
  • the zones are divided as follows: a first zone 26a, 26b for the left side and right side of the shoulder area; a second zone 28a, 28b for the left side and right side of the lower back; a third zone 30a, 30b for the left and right hips; and a fourth zone 32a, 32b for the left and right thighs.
  • the heaters can be centrally located in the shoulder and lower back areas 26a, 26b and 28a, 28b.
  • footrests with vibrators may be included. The incorporation of the footrest portion of the seat can add another set of vibrators and therefore another massaging zone to the system.
  • the massage module 37a, 37b operates the series of vibrators 12 in a wide variety of patterns and motions according to user commands and massage system settings.
  • the massage module concurrently monitors the status of each vibrator to determine whether each unit is operating correctly.
  • Electronic monitoring of the vibrators provides valuable diagnostic capabilities and indirectly increases safety by limiting distractions to the crew and passenger during flight.
  • the massage module 37a, 37b of the present invention monitors the current flowing through the massage motors of the vibrators 12 to determine short circuit, stall (over normal current) and open circuit conditions.
  • the massage module also monitors the motor drivers to detect shorts and high leakage conditions.
  • the monitoring algorithm takes into account the pulse width modulation (PWM) drive process and sharing of the current sensing circuits where the left vibrators in each zone share one circuit and the right vibrators share the other circuit.
  • PWM pulse width modulation
  • a separate current sensing circuit is provided for each heater (up to two per system).
  • the massage module monitors the heaters to detect short and open circuit conditions, and monitors the heater drivers to detect short and high leakage conditions.
  • the massage module 37a, 37b also monitors the voltage of the power supplied to the main control board. This is either 12 NDC from an external power source or 12 NDC from an internal power supply that is powered from a 120 VAC external power source.
  • the voltage level is checked for both over and under voltage conditions. Whenever a current or voltage fault is detected, the nature and time of the fault is logged into a non-volatile memory (EEPROM) inside the massage module. If a motor or heater fault occurs, then the associated motor/heater is disabled. If a motor or heater driver fault occurs, then all motors and heaters are disabled. If a sustained over or under voltage fault occurs, then all motors and heaters are disabled. Transient under voltage faults associated with power shutdown are not logged.
  • EEPROM non-volatile memory
  • the massage module further provides commands to read and clear the log contents as part of normal maintenance procedures. Proper use of these commands allows maintenance personnel to rapidly find and replace defective components to minimize system down time.
  • the massage module 37a, 37b of the present invention may also be configured to provide a calibration function.
  • ADC analog-to-digital conversion
  • the massage system 10 of the present invention has all of these capabilities.
  • the ADC inside the massage module uses a precision voltage reference, and the control firmware provides commands to derive and save calibration values under the direction of an external host computer. All calibration values are stored in non-volatile memory inside the massage module.
  • the massage system of the present invention may be provided with a calibration box (not shown) containing precision resistors that replace the motors and heaters, thereby enabling the firmware to accurately calibrate the current sensors.
  • the massage module 37a, 37b can activate the vibrators 12 in a predetermined manner to provide passengers with alertive massaging indicating a situation requiring passengers to fasten seat belts such as during landing and take-offs.
  • the massage system of the present invention is not limited to use and integration with airline systems, but may also be integrated with and interface to other computer controlled systems such as automobiles, trucks, home entertainment, and personal computing workstations.
  • FIG. 2 there is shown a block diagram of the components incorporated into the two airline seats 14a, 14b shown in FIG. 1.
  • the massage modules 37a, 37b may be located beneath the seat bottom cushion and the vibrators 12 may be incorporated in the seat bottom cushion and in the backrest.
  • the ECU 38 in this embodiment is mounted external to the seats.
  • the audio components 44a, 44b and video components 46a, 46b may be mounted in the seats, adjacent or external thereto.
  • the wands 36a, 36b which preferably include user-friendly LCD displays may be attached to the outer surface of the seats removably, providing the passengers with easy control over the massage system and other related features in connection with the seat.
  • the massage modules 37a, 37b are electronically connected to the vibrating units 12 through a first set of links in the form of hardwire connections 48a, 48b, 50a and 50b.
  • the second set of links are in the form of communication interfaces 56a and 56b between the DRUs 42a, 42b and the massage modules and configured as standard RS-232 serial communication ports with cabling suitably compatible to such ports.
  • Connections 48a, 48b link each massage module to zones 1 and 2 (26a, 26b, 28a and 28b) while connections 50a, 50b link the massage modules to zones 3 and 4 (30a, 30b, 32a and 32b).
  • Power to the massage modules is supplied by the ECU 38 through a first power cable 52.
  • a second power cable 54 may be used to provide power one from one massage module to the other.
  • the ECU, audio and video components and the wands may be linked to the DRUs through RS-232 port communication ports, or similar means such as wired or wireless communications.
  • a first (left) massage module 37a is located in the left seat 14a, receives a power input from the ECU 38, and may be configured to distribute power to a second (right) massage unit 37b via a power connector 54.
  • the left massage module 37a is configured to receive a massage signal from a first (left) wand 36a via a first (left) data router 42a.
  • the left massage module 37a is connected through hardwires to the vibrators 70a, 72a, 74a, 76a, 78a, 80a, 82a, 89a located in four massaging zones if the first (left) seat: upper back 26a, lower back 28a, rear seat (near buttocks) 30a, and forward seat (near thighs) 32a.
  • the massage module sends a pulse width modulated signal necessary for vibrator operation. This signal generally varies between the eight vibrators according to the passenger's massage selection.
  • the right massage module 37b is similarly configured so as to receive a massage signal from the second data router 42b, to receive a power signal from the first massage unit 37a and to distribute pulse width modulated signals to the second set of vibrators 70b, 72b, 74b, 76b, 78b, 80b, 82b, 84b located in four massaging zones of the second (right) seat: upper back 26b, lower back 28b, rear seat (near buttocks) 30b, and forward seat (near thighs) 32b.
  • the massage system 10 of the present invention may be configured with ten vibrating units (MEZ1L - MEZ5R) for a single seat 14a or 14b (FIG. 1).
  • a fifth zone is provided for inserting a pair of vibrators 12 into a footrest (not shown) attached to the seat.
  • the massage module 37c includes motor drivers 118 for activating each corresponding vibrator.
  • an alternative embodiment of the present invention includes ten vibrating units (MEZ1L - MEZ5R) and two heater units (HTRE1, HTRE2) for a single seat.
  • the massage module 37d includes motor drivers 120 for activating the vibrators and heater controllers 122 for activating the heaters.
  • the massaging modules preferably incorporate RS-232 serial interface ports for inputs from the data routers and corresponding outputs to the data routers. A protocol for the system is discussed further below.
  • the motor drivers 118, 120 and heater controllers 122 of the massage modules 37c, 37d are directly driven from respective outputs from microprocessors 130, 132 configured within the massage modules.
  • Massage intensity (motor speed) is controlled by pulse width modulation (PWM) of the signals applied to the drivers 118, 120. This, in turn, controls the average power applied to the motor. While a duty cycle range of zero to one hundred percent is possible, other factors limit the range to about sixteen to ninety-eight percent. These factors include motor stalling at low speeds, and subjective evaluation of minimum and maximum intensity levels.
  • the pulse rate modulation frequency is set to between approximately fifty Hz and approximately sixty Hz. In the exemplary implementation of the PWM process as described further below, the frequency preferably is set to 55.56 Hz.
  • Each vibrator 12 is of conventional construction, and may comprise a small DC motor that rotates an eccentric weight, or if desired, a pair of eccentrics at opposite ends of the motor, the vibrators being sometimes referred to herein as motors.
  • the vibrator is caused to vibrate as the eccentric weight rotates. This vibration when felt through the seating surface essentially creates the massaging which the system provides to the passenger. It will also be understood that other forms of vibrators may be used.
  • the hardwire connections 48a, 48b, 50a, 50b provide a power and control link between the massage modules 37a, 37b and the vibrators 70a, 72a, 74a, 76a, 78a, 80a, 82a, 84a, 70b, 72b, 74b, 76b, 78b, 80b, 82b, 84b.
  • the DRUs 42a, 42b may be linked to the massage modules through RS-232 serial communication buses 56a, 56b which permits two-way communication.
  • the wands 36a, 36b also may be linked to the massage modules through RS-232 serial communication buses 66a, 66b.
  • the communication buses between the DRUs, wands and the massage modules may be constructed with standard RS-232 serial port interface cable.
  • a variety of different communication systems can be used, including, but not limited to, hardwired (e.g., parallel port, USB, FIREWIRE - IEEE 1394) and wireless systems (e.g., infrared, microwave, radiofrequency, BLUETOOTH).
  • hardwired e.g., parallel port, USB, FIREWIRE - IEEE 1394
  • wireless systems e.g., infrared, microwave, radiofrequency, BLUETOOTH.
  • the massage system of the present invention may be controlled by an external controller or remote control device (RCD) (e.g., the wands 36a, 36b in FIGS. 1 & 2) via an RS-232 serial port interface connecting the RCD to the DRU 42a, 42b and the DRU to the massage module 37a, 37b.
  • RCD remote control device
  • the protocol assumes a master/slave relationship between the RCD and the massage system with the RCD being the master. Further details are as follows:
  • the protocol uses bidirectional serial communication with RS-232 voltage levels. Data is transmitted as asynchronous bytes with one start bit, eight data bits and one stop bit at a rate of 38.4 Kbps. For multi-byte transmissions, the maximum permitted delay between consecutive bytes is five milliseconds. The receiving party will use this limit to detect incomplete transmissions.
  • the communication cable has the following signals:
  • TXD Transmit data from the RCD
  • RXD Receive data to the RCD
  • the RCD is able to control the massage system and determine its current state to provide flexibility in the design of the RCD user interface. Specific items are as follows: a) Massage Power Control. Commands are provided to turn the massage off, turn it on with a fifteen-minute timeout and turn it on with a thirty- minute timeout. The RCD may use these to implement various styles of power control. Some examples are as follows: i) One key that toggles the system between off and on for fifteen minutes. If the key is held for more than two seconds, then the timeout changes to thirty minutes;
  • Zone Selection Commands are provided to select and deselect each zone.
  • the RCD may use these to implement various styles of zone control. Some examples are as follows: i) One key per zone;
  • iii One key that sequentially and continuously moves through the available zones.
  • d) Massage Intensity Control Commands are provided to incrementally increase and decrease the massage intensity.
  • the RCD may use these to implement various styles of intensity control. Some examples are as follows: i) One key for each of 'N' levels. The RCD executes repeated intensity control commands to adjust the intensity to the selected level; and
  • Heater Control Commands are provided to turn each heater off, on low and on high.
  • the RCD may use these to implement various styles of heater control in systems that include one or more heaters. Some examples are as follows: i) One key per heater that toggles between off, low and high;
  • the system contains a demonstration mode that sequentially presents all of the operating features of the massage unit.
  • the RCD may enable this with a special key or by a hidden key sequence.
  • the RCD may send ASCII or otherwise appropriately coded command packets to the massage system.
  • the maximum inter-byte delay within a packet is preferably less than five milliseconds.
  • the massage system may respond to each command with a status reply.
  • BTFSC STCB 2 BTFSC STCB.l GOTO T2ISG BCF PSW.BSl GOTO T2IE
  • GTCCO RETLW 0 NUL RETLW 0 SOH RETLW 0 STX RETLW 0 ETX RETLW 0 EOT RETLW 0 ENQ RETLW 0 ACK RETLW 0 BEL RETLW 0 BS RETLW 0 HT RETLW 0 LF
  • MOVLW (65536-(PGMSL-2))%256
  • MOVLW (65536-(PGMSL-2))/256
  • ZR GOTO STEH MOVF IOD W ANDLW 07CH XORLW 040H BTFSS PSW .
  • ZR GOTO STEH MOVF IOE W XORLW 000H BTFSC PSW.
  • MSSLA CALL TFAC BTFSS OPCF 7 GOTO MSID BTFSC OPCF, 4 GOTO MSSD BTFSC OPCF, 3 GOTO MSIN BTFSC OPCF, 2 GOTO MSMS BTFSC OPCF.l GOTO MSSL GOTO MSSLA
  • BTFSS OPCF 7 GOTO MSID BTFSC OPCF, 4 GOTO MSSD BTFSC OPCF, 3 GOTO MSIN BTFSC OPCF, 2 GOTO MSMS BTFSC OPCF.l GOTO MSPL BTFSS OPCF.O GOTO MSPLB MOVF R8,W ADDLW -(PLMSL-1) BTFSC PSW,CY MOVLW -PLMSL ADDLW PLMSL GOTO MSPLA PAGE

Abstract

A massaging system (10) including a series of vibrators (12) and heaters located within seating surfaces, a massage module (37a, b) for operating and monitoring the status of vibrators (12), and a communication system connecting the massage unit to one or more external devices capable of sending massage signals and receiving diagnostic information. The communication system may include a variety of protocols, including hardwired (e.g., RS-232) or wireless devices. The massaging system (10) may include and or interface with a variety of external components, including a user­-controlled wand (36a, b), a data router (42a, b) and an electronic control unit (38). The massage module (37a, b) also functions to monitor the vibrators (12) and heaters and reports their operative status to the electronic control unit (38) and/or the user wand (36a, b). A calibration feature may also be programmed into the computer controlled massage system (10).

Description

MASSAGE SYSTEM WITH FEEDBACK
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of U.S. Provisional Application Ser. No. 60/384,976, filed June 3, 2002, the content of which is hereby incorporated herein by reference.
REFERENCE TO COMPUTER PROGRAM LISTING APPENDIX
Attached hereto and incorporated herein are Appendix A ("EMCPCP.asm" - 53 pages) and Appendix B ("EMCPCP.hex" - 18 pages) which are hard copy printout of the assembly listing and hex listing of the source code for the computer programs that configure the processors in accordance with the present invention. The computer program files contained in Appendix A & B are subject to copyright protection. The copyright owner has no objection to the reproduction of the files or the patent disclosure as filed, but otherwise reserves all copyright rights whatsoever.
BACKGROUND OF THE INVENTION
The present invention relates to a massaging apparatus, and more particularly to an improved massage system with operational feedback and a corresponding protocol for such apparatus. Recent developments in massaging apparatus have produced a variety of products incorporating plural vibration transducers that operate in multiple modes. In general, more sophistication in the massaging and heating of the body is desired, not only as a sales tactic, but also and, perhaps more importantly, as an adjunct to safety systems and medical treatment. The increased sophistication tends to drive up costs, particularly when product variations must be supported by diverse inventories, and new developments make existing products obsolete. Thus there is a need for a massage system having further improved operating modes with increased utilization of existing inventories and shorter lead times in commercial production of products having greater sophistication. There is a further need that the system be reliable, easy to operate and inexpensive to produce, diagnose problems with and repair.
Accordingly, there has been a long-standing need to provide a novel massaging apparatus with advanced feedback and diagnostic capabilities that will impart a variety of massaging movements to the occupant of a chair or similar support device such as an airline seat at the neck, shoulders, feet and/or similar areas of the body. Preferably, the system may be configured to communicate through a variety of protocols, including a RS-232 serial interface, hardwired serial or parallel ports or wireless protocols. The present invention satisfies these and other needs.
SUMMARY OF THE INVENTION
The present invention provides a computer based massage system utilizing hardwired serial or parallel ports or wireless protocols with operational feedback. The massage units may incorporate small DC motors with eccentric mass elements as the vibratory massaging source. These vibrators may be embedded in a pad upon which the user lies or reclines. The pad may be in the form of a seating surface in an airline seat and may also contain embedded heaters to enhance the massage. The system may be activated via a remote control device containing key switches or push buttons and visual status indicators incorporating an LCD screen.
In one implementation, an airline seat may incorporate a plurality of vibrators and heaters. Typically, the heaters are located in the center of the shoulder and lower back areas and the vibrators are located in four zones distributed over the body length. Several advantages are derived from this arrangement. Computerizing the various modes and operations facilitates the use of the massaging and heating apparatus. The incorporation of a computerized system benefits the user with a wide variety of massage according to pre-programmed and user selected massaging options. A variety of options for vibrating sources and operating modes may be available with computerized massaging. Further, total operational variety is simpler to obtain through computer programming than manually.
Real-time feedback of the vibrating unit's actual operational status to the user and the airline crew through viewable displays is incorporated into the present invention to provide better control and accuracy of the massage system and to alert the user and crew to any malfunctions within the seat.
In one aspect of the invention, the massaging system includes a plurality of vibrators for deflecting respective regions of a seat where each vibrator is operated with a power signal. A massage module is incorporated into the system and configured with input and output interfaces for communication with the vibrators and external components. External components can include devices such as a user- controlled wand, a data routing unit and an electronic control unit. The module can also monitor the operational status of the vibrators and accordingly report the status as necessary. A series of communication buses may function to link the massage module to the vibrators and to the wand through the data routing unit. The vibrators can be in an array of transducers with a corresponding series of motor drivers incorporated into the massage module.
In a further aspect of the invention, the massaging system includes a plurality of vibrators for vibrating respective regions of a seat. Each region may be configured with a left and right vibrator, each being responsive to a power signal. A massage module may incorporate vibrator-monitoring capabilities along with input and output interfaces for communication with the vibrators and a data routing unit. Massage signals are generated in the wand or other user interface and are sent through a communication bus to a data routing unit. The data routing unit sends the massage signals to the input interface of the massage module to control the module in response to user commands. The massage signals include a plurality of region signals relating to vibrators to be activated and a plurality of mode signals. Vibrator drivers, which are incorporated into the massage module, produce a power signal separately for each of the vibrators. The massage module operates in response to the input elements by powering the vibrators for operation in a plurality of modes.
In a first composite mode, each of a plurality of modes may be activated sequentially and may be automatically terminated upon completion thereof. A second composite mode may then continuously repeat the first composite mode. The signaling can include signals for setting an intensity control value, with the vibrators preferably activated at power levels responsive to the intensity control value in at least some of the modes. The signaling can further include signals for setting a speed control value for determining a rate of sequencing where, during at least one of the composite modes, the duration of operation in sequential activation of modes may be responsive to the speed control value. At least one composite mode for facilitating testing and/or demonstration of the system at variable power levels may also be configured into the system.
Preferably, at least some of the operating modes are altered upon repeated occurrences of the same mode input signals for enhanced control versatility. The mode signals can include a zig-zag signal where the massage module is operative in response to the zig-zag signal for activating alternating left and right vibrators in a sequential manner. The massage module can also be operative in response to repeated occurrences of the zig-zag signal for selectively activating the vibrators in various modes, for example: (1) shoe lace pattern wherein diagonal pairs of the transducers are activated in a repeating pattern; (2) a first alternating zig-zag pattern of left and right transducers in adjacent regions, followed by a second alternating pattern being a mirror image of the first; and (3) an alternating repetitive pattern in one region, the pattern sequentially advancing among the regions.
The mode signals can include a circle signal where the massage unit is operative in response to the circle signal for activating an alternating pattern of the vibrators with the pattern periodically advancing in a closed path among the vibrators. The module can also be operative in response to repeated occurrences of the circle signal for selectively activating the vibrators in various modes, for example: (1) a circle pattern wherein the pattern is circular, advancing between the left vibrators in one direction and the right vibrators in the opposite direction; (2) a circle pattern advancing oppositely of the previous pattern; and (3) a figure-eight pattern.
The mode signals can include a program signal where the massage module is operative in response to the program signal for setting a relative power level for the vibrators separately for each of the regions in response to the intensity control value and respective of the region signals. The massage module can also be operative in response to repeated occurrences of the program signal in various modes, for example: (1) for changing custom settings of individual regions; (2) for permitting operation in other modes while maintaining relative power levels of the regions corresponding to the custom settings; and (3) for permitting operation in other modes without the custom settings, the custom settings being preserved until being changed following a subsequent occurrence of the program signal.
Other features and advantages of the invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the features of the invention. BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a perspective view of a massaging system of the present invention incorporated into airline seats.
FIG. 2 is a schematic of one embodiment of the massage system of the present invention.
FIG. 3 is a plan view of a massage module and vibrating units of one embodiment of the massage system of the present invention.
FIG. 4 is a circuit diagram detailing the controller portion of a five-zone vibrating unit massage system of the present invention.
FIG. 5 is a circuit diagram detailing an electronics module portion of the massage system of FIG. 4.
FIG. 6 is a circuit diagram detailing the controller portion of a five-zone vibrating unit massage system further including two heating units in accordance with the present invention.
FIG. 7 is a circuit diagram detailing an electronics module portion of the massage system of FIG. 6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
The present invention is directed to a computerized massaging system that provides multiple modes, incorporates feedback capabilities, and that is inexpensive to provide in a number of variants with minimal inventory complexity, with non- enabled features being transparent to users of the system. Communication amongst the various pieces of hardware may be accomplished using a variety of protocols, including hardwired (e.g., RS-232) or wireless systems. In one embodiment of the present invention, airline-type seats are contemplated to be used in connection with the massage system.
As shown in FIG. 1, a massaging system 10 of the present invention may be incorporated into two side-by-side business class type seats 14a, 14b. The system includes two massage modules 37a, 37b located beneath the bottom cushion of each seat and a series of vibrators 12 incorporated into the bottom cushions 62a, 62b and backrests 64a, 64b. The vibrators are connected to the massage modules through a series of hard- wire connections 48a, 48b, 50a, 50b shown in FIG. 2. Passengers may operate the massage system through a "wand" 36a, 36b. The left wand 36a operates the massage system in the left seat 14a while the right wand 36b operates the massage system in the right seat 14b. The wands incorporate user-friendly features and options such as liquid crystal display (LCD), push buttons, and keys.
Passengers enable massaging by selecting an area of the seat and type of massaging through controls on the wands 36a or 36b. A massage signal corresponding to the passenger's selections is then generated in the wand. This massage signal may be sent from the wand to a data routing unit (DRU) 42a, 42b, which may be located within the passenger's seat. The DRU then routes the massage signal to the massage module 37a, 37b, which may also be located in the lower portion of the passenger seat. The massage module processes the massage signal from the DRU, and activates the vibrators 12 in the seat to massage the passenger according to his selections. An electronic control unit (ECU) 38 may be connected to each of the massage modules 33a, 37b and DRUs 42a, 42b.
In the exemplary configuration shown in FIG. 1, each seat 14a, 14b has eight vibrators 12 arranged in groups of two for a total of four zones. The zones are divided as follows: a first zone 26a, 26b for the left side and right side of the shoulder area; a second zone 28a, 28b for the left side and right side of the lower back; a third zone 30a, 30b for the left and right hips; and a fourth zone 32a, 32b for the left and right thighs. If heating is included within the seat, the heaters can be centrally located in the shoulder and lower back areas 26a, 26b and 28a, 28b. It will be understood that other groupings and numbers of massage zones are contemplated. For example, in first class type airline seats footrests with vibrators may be included. The incorporation of the footrest portion of the seat can add another set of vibrators and therefore another massaging zone to the system.
The massage module 37a, 37b operates the series of vibrators 12 in a wide variety of patterns and motions according to user commands and massage system settings. The massage module concurrently monitors the status of each vibrator to determine whether each unit is operating correctly. Electronic monitoring of the vibrators provides valuable diagnostic capabilities and indirectly increases safety by limiting distractions to the crew and passenger during flight.
The massage module 37a, 37b of the present invention monitors the current flowing through the massage motors of the vibrators 12 to determine short circuit, stall (over normal current) and open circuit conditions. The massage module also monitors the motor drivers to detect shorts and high leakage conditions. The monitoring algorithm takes into account the pulse width modulation (PWM) drive process and sharing of the current sensing circuits where the left vibrators in each zone share one circuit and the right vibrators share the other circuit. In massage systems of the present invention having heaters, a separate current sensing circuit is provided for each heater (up to two per system). The massage module monitors the heaters to detect short and open circuit conditions, and monitors the heater drivers to detect short and high leakage conditions.
In addition to current monitoring, the massage module 37a, 37b also monitors the voltage of the power supplied to the main control board. This is either 12 NDC from an external power source or 12 NDC from an internal power supply that is powered from a 120 VAC external power source. The voltage level is checked for both over and under voltage conditions. Whenever a current or voltage fault is detected, the nature and time of the fault is logged into a non-volatile memory (EEPROM) inside the massage module. If a motor or heater fault occurs, then the associated motor/heater is disabled. If a motor or heater driver fault occurs, then all motors and heaters are disabled. If a sustained over or under voltage fault occurs, then all motors and heaters are disabled. Transient under voltage faults associated with power shutdown are not logged. Once a motor is disabled, it remains disabled until the unit receives a command to clear all motor faults. If the fault persists, the motor(s) is (are) again disabled until the next fault clear command. The massage module further provides commands to read and clear the log contents as part of normal maintenance procedures. Proper use of these commands allows maintenance personnel to rapidly find and replace defective components to minimize system down time.
The massage module 37a, 37b of the present invention may also be configured to provide a calibration function. To accurately determine current and voltage fault thresholds it is necessary to have a stable precision reference for the analog-to-digital conversion (ADC) process, and to have threshold values derived from a calibration procedure using known reference values. The massage system 10 of the present invention has all of these capabilities. The ADC inside the massage module uses a precision voltage reference, and the control firmware provides commands to derive and save calibration values under the direction of an external host computer. All calibration values are stored in non-volatile memory inside the massage module. To facilitate the calibration process, the massage system of the present invention may be provided with a calibration box (not shown) containing precision resistors that replace the motors and heaters, thereby enabling the firmware to accurately calibrate the current sensors.
Another feature of the current massage system is that a variety of peripheral devices including audio 44a, 44b, video phone 46a, 46b, and other passenger entertainment components are capable of being linked to the data router 42a, 42b and then incorporated into the control of the massage system 10. These options can enable the massage system to coordinate with audio and video performances as well as provide safety enhancements and additional comfort through temperature control. In terms of safety, the massage module 37a, 37b can activate the vibrators 12 in a predetermined manner to provide passengers with alertive massaging indicating a situation requiring passengers to fasten seat belts such as during landing and take-offs. A wide variety of other warning options intended to increase passenger safety can be incorporated into the system. Furthermore, the massage system of the present invention is not limited to use and integration with airline systems, but may also be integrated with and interface to other computer controlled systems such as automobiles, trucks, home entertainment, and personal computing workstations.
Turning to FIG. 2, there is shown a block diagram of the components incorporated into the two airline seats 14a, 14b shown in FIG. 1. As mentioned above, the massage modules 37a, 37b may be located beneath the seat bottom cushion and the vibrators 12 may be incorporated in the seat bottom cushion and in the backrest. The ECU 38 in this embodiment is mounted external to the seats. Similarly, the audio components 44a, 44b and video components 46a, 46b may be mounted in the seats, adjacent or external thereto. The wands 36a, 36b which preferably include user-friendly LCD displays may be attached to the outer surface of the seats removably, providing the passengers with easy control over the massage system and other related features in connection with the seat.
The massage modules 37a, 37b are electronically connected to the vibrating units 12 through a first set of links in the form of hardwire connections 48a, 48b, 50a and 50b. The second set of links are in the form of communication interfaces 56a and 56b between the DRUs 42a, 42b and the massage modules and configured as standard RS-232 serial communication ports with cabling suitably compatible to such ports. Connections 48a, 48b link each massage module to zones 1 and 2 (26a, 26b, 28a and 28b) while connections 50a, 50b link the massage modules to zones 3 and 4 (30a, 30b, 32a and 32b). Power to the massage modules is supplied by the ECU 38 through a first power cable 52. A second power cable 54 may be used to provide power one from one massage module to the other. The ECU, audio and video components and the wands may be linked to the DRUs through RS-232 port communication ports, or similar means such as wired or wireless communications.
A. MASSAGE MODULES
The various massage modules may be identically configured, and their inputs and outputs may be virtually identical. A first (left) massage module 37a is located in the left seat 14a, receives a power input from the ECU 38, and may be configured to distribute power to a second (right) massage unit 37b via a power connector 54. The left massage module 37a is configured to receive a massage signal from a first (left) wand 36a via a first (left) data router 42a. The left massage module 37a is connected through hardwires to the vibrators 70a, 72a, 74a, 76a, 78a, 80a, 82a, 89a located in four massaging zones if the first (left) seat: upper back 26a, lower back 28a, rear seat (near buttocks) 30a, and forward seat (near thighs) 32a. In use, the massage module sends a pulse width modulated signal necessary for vibrator operation. This signal generally varies between the eight vibrators according to the passenger's massage selection. The right massage module 37b is similarly configured so as to receive a massage signal from the second data router 42b, to receive a power signal from the first massage unit 37a and to distribute pulse width modulated signals to the second set of vibrators 70b, 72b, 74b, 76b, 78b, 80b, 82b, 84b located in four massaging zones of the second (right) seat: upper back 26b, lower back 28b, rear seat (near buttocks) 30b, and forward seat (near thighs) 32b.
Referring to FIGS. 3, 4 and 5, the massage system 10 of the present invention may be configured with ten vibrating units (MEZ1L - MEZ5R) for a single seat 14a or 14b (FIG. 1). A fifth zone is provided for inserting a pair of vibrators 12 into a footrest (not shown) attached to the seat. The massage module 37c includes motor drivers 118 for activating each corresponding vibrator. Referring to FIGS. 6 and 7, an alternative embodiment of the present invention includes ten vibrating units (MEZ1L - MEZ5R) and two heater units (HTRE1, HTRE2) for a single seat. The massage module 37d includes motor drivers 120 for activating the vibrators and heater controllers 122 for activating the heaters. The massaging modules preferably incorporate RS-232 serial interface ports for inputs from the data routers and corresponding outputs to the data routers. A protocol for the system is discussed further below.
The motor drivers 118, 120 and heater controllers 122 of the massage modules 37c, 37d are directly driven from respective outputs from microprocessors 130, 132 configured within the massage modules. Massage intensity (motor speed) is controlled by pulse width modulation (PWM) of the signals applied to the drivers 118, 120. This, in turn, controls the average power applied to the motor. While a duty cycle range of zero to one hundred percent is possible, other factors limit the range to about sixteen to ninety-eight percent. These factors include motor stalling at low speeds, and subjective evaluation of minimum and maximum intensity levels. To reduce the audible noise generated by the PWM process, the pulse rate modulation frequency is set to between approximately fifty Hz and approximately sixty Hz. In the exemplary implementation of the PWM process as described further below, the frequency preferably is set to 55.56 Hz.
B. VIBRATORS
Each vibrator 12 is of conventional construction, and may comprise a small DC motor that rotates an eccentric weight, or if desired, a pair of eccentrics at opposite ends of the motor, the vibrators being sometimes referred to herein as motors. Thus, the vibrator is caused to vibrate as the eccentric weight rotates. This vibration when felt through the seating surface essentially creates the massaging which the system provides to the passenger. It will also be understood that other forms of vibrators may be used.
C. POWER AND COMMUNICATION LINKS
As shown in FIG. 2, the hardwire connections 48a, 48b, 50a, 50b provide a power and control link between the massage modules 37a, 37b and the vibrators 70a, 72a, 74a, 76a, 78a, 80a, 82a, 84a, 70b, 72b, 74b, 76b, 78b, 80b, 82b, 84b. The DRUs 42a, 42b may be linked to the massage modules through RS-232 serial communication buses 56a, 56b which permits two-way communication. The wands 36a, 36b also may be linked to the massage modules through RS-232 serial communication buses 66a, 66b. The communication buses between the DRUs, wands and the massage modules may be constructed with standard RS-232 serial port interface cable. In other embodiments, a variety of different communication systems can be used, including, but not limited to, hardwired (e.g., parallel port, USB, FIREWIRE - IEEE 1394) and wireless systems (e.g., infrared, microwave, radiofrequency, BLUETOOTH). D. PROTOCOL
The massage system of the present invention may be controlled by an external controller or remote control device (RCD) (e.g., the wands 36a, 36b in FIGS. 1 & 2) via an RS-232 serial port interface connecting the RCD to the DRU 42a, 42b and the DRU to the massage module 37a, 37b. The protocol assumes a master/slave relationship between the RCD and the massage system with the RCD being the master. Further details are as follows:
1) Communication Link
The protocol uses bidirectional serial communication with RS-232 voltage levels. Data is transmitted as asynchronous bytes with one start bit, eight data bits and one stop bit at a rate of 38.4 Kbps. For multi-byte transmissions, the maximum permitted delay between consecutive bytes is five milliseconds. The receiving party will use this limit to detect incomplete transmissions. The communication cable has the following signals:
TXD Transmit data from the RCD;
RXD Receive data to the RCD;
SGD Signal GROUND (common); and
CGD Chassis GROUND (if different from SGD). 2) User Interface
The RCD is able to control the massage system and determine its current state to provide flexibility in the design of the RCD user interface. Specific items are as follows: a) Massage Power Control. Commands are provided to turn the massage off, turn it on with a fifteen-minute timeout and turn it on with a thirty- minute timeout. The RCD may use these to implement various styles of power control. Some examples are as follows: i) One key that toggles the system between off and on for fifteen minutes. If the key is held for more than two seconds, then the timeout changes to thirty minutes;
ii) One key that toggles the system between off and on for fifteen minutes, off and on for thirty minutes, or through a three step cycle of off, on for fifteen minutes and on for thirty minutes;
iii) Two keys, wherein one key turns the system off and the other key turns the system on for fifteen minutes. A second press of the on key turns the system on for thirty minutes; and
iv) Three keys that individually select off, fifteen •minutes on and thirty minutes on.
b) Zone Selection. Commands are provided to select and deselect each zone. The RCD may use these to implement various styles of zone control. Some examples are as follows: i) One key per zone;
ii) Two keys that move the active zone down or up through the available zones; and
iii) One key that sequentially and continuously moves through the available zones. c) Operating Mode Selection. Commands are provided to select each operating mode in a mutually exclusive manner. The RCD may use these to implement various styles of operating mode control. Some examples are as follows: i) One key per mode;
ii) Two keys which move the operating mode down or up through the available modes; and
iii) One key that sequentially and continuously moves through the available zones.
d) Massage Intensity Control. Commands are provided to incrementally increase and decrease the massage intensity. The RCD may use these to implement various styles of intensity control. Some examples are as follows: i) One key for each of 'N' levels. The RCD executes repeated intensity control commands to adjust the intensity to the selected level; and
ii) Two keys which incrementally increase or decrease the intensity. If either key is held down for more than five hundred ms, then a key- repeat feature automatically changes the intensity at a rate of ten increments per second.
e) Operating Mode Interval Control. Commands are provided to incrementally increase and decrease the interval or rate of cycling (speed) of operating modes with multiple steps. The RCD may use these to implement various styles of interval control. Some examples are as follows: i) One key for each of 'N' levels. The RCD executes repeated speed control commands to adjust the speed to the selected level; and
ii) Two keys which incrementally increase or decrease the speed. If either key is held down for more than five hundred milli-seconds (ms), a key-repeat feature automatically changes the speed at a rate of ten increments per second.
f) Heater Control. Commands are provided to turn each heater off, on low and on high. The RCD may use these to implement various styles of heater control in systems that include one or more heaters. Some examples are as follows: i) One key per heater that toggles between off, low and high;
ii) Three keys per heater that individually select off, low and high; and
iii) One key that sequentially and continuously moves through the available heaters modes.
g) Demonstration Mode Select. The system contains a demonstration mode that sequentially presents all of the operating features of the massage unit. The RCD may enable this with a special key or by a hidden key sequence.
3) Commands
The RCD may send ASCII or otherwise appropriately coded command packets to the massage system. The maximum inter-byte delay within a packet is preferably less than five milliseconds. The massage system may respond to each command with a status reply.
While several particular forms of the invention have been illustrated and described, it will be apparent that various modifications can be made without departing from the spirit and scope of the invention. APPENDIX A
EMCPCP.asm INSEA-64545
INSEAT SOLUTIONS LLC
CA65SI MASSAGE CONTROL PROGRAM
NOVEMBER 6 , 2002
SUBTITL "CA65SI MASSAGE CONTROL PROGRAM" LIST F=INHX8M , N=55 , C=80 LIST P=16F877 , R=DECIMAL
VERSION/REVISION LEVEL PARAMETERS
PDIDC EQU 0100
PDVRL EQU 0003
PAGE
B BAANNKK 00 RREGISTER ADDRESS PARAMETERS
TOV EQU 001H
IOA EQU 005H
IOB EQU 006H
IOC EQU 007H
IOD EQU 008H
IOE EQU 009H
IRl EQU OOCH
IR2 EQU OODH
TIL EQU OOEH
T1H EQU OOFH
TIC EQU 010H
T2V EQU 011H
T2C EQU 012H
SSD EQU 013H
SCl EQU 014H
C1L EQU 015H
ClH EQU 016H
ClC EQU 017H
RRS EQU 018H
RXD EQU 019H
RRD EQU 01AH
C2L EQU 01BH
C2H EQU 01CH
C2C EQU 01DH
ADH EQU 01EH
ADO EQU 01FH
PAGE
BANK 1 REGISTER ADDRESS PARAMETERS
OPT EQU 001H
TSA EQU 005H
TSB EQU 006H
TSC EQU 007H
TSD EQU 008H
TSE EQU 009H
IEl EQU OOCH
I E2 EQU OODH
POS EQU OOEH
SC2 EQU 011H
T2P EQU 012H
SAD EQU 013H
SST EQU 014H
RXS EQU 018H
RBR EQU 019H
ADL EQU 01EH
ADl EQU 01FH
BANK 2 REGISTER ADDRESS PARAMETERS
EDL EQU OOCH EAL EQU OODH
EDH EQU OOEH
EAH EQU OOFH
; BANK 3 REGISTER ADDRESS PARAMETERS
ECl EQU OOCH
EC2 EQU OODH
BANK 0-3 REGISTER ADDRESS PARAMETERS
IAR EQU OOOH
PAR EQU 002H
PSW EQU 003H
FSR EQU 004H
PAH EQU OOAH
ITC EQU OOBH
PAGE
INTERNAL MEMORY PARAMETERS
DBOSA EQU 020H
DB2SA EQU 010H
DBCSA EQU 070H
EEPSL EQU 2056
PGMSL EQU 8192
OPERAND PARAMETER PARAMETERS
W EQU 0
F EQU 1
; PSW REGISTER BIT PARAMETERS
CY EQU 0
ZR EQU 2
BSO EQU 5
BS1 EQU 6
ISl EQU 7
; PAH REGISTER BIT PARAMETERS
PSO EQU 3 PSl EQU 4
FSR REGISTER BIT PARAMETERS
ISO EQU 7 PAGE
; MCU TIMING PARAMETERS
MCICP EQU 500
ADACC EQU (40*1000) /MCICP
; INTERVAL TIMER PARAMETERS
MTDSC EQU 100
MTDOC EQU 1
MTDPT EQU 18
T2IPC EQU (((MTDPT*1000)/MTDSC) *1000)/(4*MCICP)
T2IPT EQU (T2lPC*4*MCICP)/1000
C1IPC EQU (20000*1000)/MCICP
C1IPT EQU (ClIPC*MCICP)/1000000
IT1PC EQU (100/ClIPT)
IT1PT EQU ITlPC*ClIPT
IT2PC EQU (1000/lTlPT)
IT2PT EQU IT2PC-IT1PT IT3PC EQU 60
OPERATING MODE PARAMETERS
OPMUL EQU 6
MASSAGE TIMING PARAMETERS
MPOT1 EQU 15
MPOT2 EQU 30
INTENSITY CONTROL PARAMETERS
Ϊ.NCUL EQU 50
INCLV EQU 24
INCUV EQU 60
DFINL EQU (INCUL*60)/100
SPEED CONTROL PARAMETERS
SPCUL EQU 50
SPCLV EQU 300/ClIPT
DFSPL EQU 25
PAGE
FAULT CONTROL PARAMETERS
PSVCF EQU (30000*1000)/1024
PSHFL EQU (16000*1000)/PSVCF
PSHVL EQU (14000*1000)/PSVCF
PSNVV EQU (12000*1000)/PSVCF
PSLVL EQU (10000*1000)/PSVCF
PSLFL EQU (8000*1000)/PSVCF
PSHLC EQU 4000/MTDPT
MTCSF EQU 65536/((12000*1000)/PSVCF)
MTCCF EQU (1243*1000)/1024
MTSCL EQU (900*1000)/MTCCF
MTSTL EQU (500*1000)/MTCCF
MTOCL EQU (50*1000)/MTCCF
MTDFL EQU (20*1000)/MTCCF
MTSTC EQU 6
MTDFC EQU 200/MTDPT
FLLEC EQU 15
HOST PACKET CONTROL PARAMETERS
(HCIBD EQU 10000/((256*1000)/(2*MCICP))
HBRTC EQU 13
HRDBL EQU 1+8
HXDBL EQU 1+30
PAGE
HOST COMMAND CODE PARAMETERS
CSYC EQU 0
CINQ EQU (CSYC*16)+1
CCFG EQU (CSYC*16)+2
CMRS EQU (CSYC*16)+3
CTMS EQU (CSYC*16)+4
CFLS EQU (CSYC*16)+5
CFLD EQU (CSYC*16)+6
CFLC EQU (CSYC*16)+7
C PW EQU 1
CMPO EQU (CMPW*16)+0
CMPl EQU (CMPW*16)+1
CMP2 EQU (CMPW*16)+2
CMTR EQU (CMPW*16)+3
CHPW EQU 2 CH10 EQU (CHPW*16)+0
CH11 EQU (CHPW*16)+1
CH12 EQU (CHPW*16)+2
CH20 EQU (CHPW*16)+4
CH21 EQU (CHPW*16)+5
CH22 EQU (CHPW*16)+6
CZNC EQU 3
CZ10 EQU (CZNC*16)+0
CZ11 EQU (CZNC*16)+1
CZ20 EQU (CZNC*16)+2
CZ21 EQU (CZNC* 16) +3
CZ30 EQU (CZNC*16)+4
CZ31 EQU (CZNC*16)+5
CZ40 EQU (CZNC*16)+6
CZ41 EQU (CZNC*16)+7
CZ50 EQU (CZNC*16)+8
CZ51 EQU (CZNC*16)+9
CMDC EQU 4
CM01 EQU (CMDC*16)+0
CM02 EQU (CMDC*16)+1
CM03 EQU (CMDC*16)+2
CM04 EQU (CMDC*16)+3
CM05 EQU (CMDC*16)+4
CM06 EQU (CMDC* 16) +5
CM07 EQU (CMDC*16)+6
CM08 EQU (CMDC*16)+7
CM09 EQU (CMDC*16)+8
CM10 EQU (CMDC*16)+9
CRTC EQU 5
CIND EQU (CRTC*16)+0
CINU EQU (CRTC*16)+1
CSPD EQU (CRTC* 16) +2
CSPU EQU (CRTC*16)+3 PAGE
HOST REPLY CODE PARAMETERS
RSST EQU
RSCF EQU '+'
RFLS EQU
RFLD EQU
ZONE : ENABLE PARAMETERS
Z1E EQU 010H
Z2E EQU 008H
Z3E EQU 004H
Z4E EQU 002H
Z5E EQU 001H
EDC COMPUTATION PARAMETERS
EDCPL EQU 084H
EDCPH EQU 008H PAGE
RAM BANK 0 ALLOCATIONS
ORG DBOSA
OPERATION CONTROL FLAGS
OPCF RES 1
COMMUNICATION CONTROL FLAG
CMCF RES 1 ; MOTOR CONTROL FLAGS
MTCF RES 1
; INTERVAL TIMER CONTROL FLAGS
ITCF RES 1
; TIMER 0 CONTROL BUFFER
Figure imgf000024_0001
; TIMER 2 CONTROL BUFFER
T2CB RES 1
; SERIAL INPUT CONTROL BUFFER
SICB RES 3
; SERIAL OUTPUT CONTROL BUFFER
SOCB RES 2
; INTERVAL TIMER CONTROL BUFFER
ITCB RES 3 PAGE
; MOTOR INTENSITY CONTROL BUFFER
MICB RES 1
; MOTOR OUTPUT CONTROL BUFFER
MOCB RES 6
; MASSAGE TIMER BUFFER
MSTB RES 3
; OPERATING MODE CONTROL BUFFER
OMCB RES 1
; MASSAGE ZONE CONTROL BUFFER
MZCB RES 1
; INTENSITY CONTROL BUFFER
INCB RES 1
; SPEED CONTROL BUFFER
SPCB RES 2
; HOST RECEIVE DATA BUFFER
HRDB RES HRDBL -
; END OF BANK 0 ALLOCATIONS
RES 0 PAGE
; RAM BANK 1 ALLOCATIONS ORG DBOSA
HOST TRANSMIT DATA BUFFER
HXDB RES HXDBL
END OF BANK 1 ALLOCATIONS
RES 0
RAM BANK 2 ALLOCATIONS
ORG DBOSA
SELF TEST CONTROL BUFFER
STCB RES 1+1
SELF TEST TIMER BUFFER
STTB RES 4
SELF TEST DELAY BUFFER
STDB RES 1+1+1+1
SELF TEST WORKING BUFFER
STWB RES 1+1+3+3+2
SELF TEST ACCUMULATION BUFFERS
STABO RES 2+((l+2)*4) STABl RES 2+((l+2)*4)
END OF BANK 2 ALLOCATIONS
RES 0
PAGE
RAM BANK 3 ALLOCATIONS
ORG DB2SA
FAULT UPDATE CONTROL BUFFER FUCB RES 1+3
FAULT UPDATE DATA START FUDS RES 0
MOTOR FAULT MASK BUFFER MFMB RES 2
FAULT LOG COUNT BUFFER FLCB RES 2
FAULT LOG ENTRY BUFFER FLEB RES 5*FLLEC
FAULT UPDATE DATA END FUDE RES 0
END OF BANK 3 ALLOCATIONS
RES 0
EEPROM BANK ALLOCATIONS
ORG 0
FAULT DATA BUFFER FLDB RES FUDE-FUDS
END OF EEPROM BANK
RES 0 PAGE
RAM BANK COMMON ALLOCATIONS
ORG DBCSA
WORKING REGISTERS
RO RES 1
Rl RES 1
R2 RES 1
R3 RES 1
R4 RES 1
R5 RES 1
R6 RES 1
R7 RES 1
R8 RES 1
R9 RES 1
RA RES 1
RB RES 1
INTERRUPT PROCESSOR SAVE BUFFER
IPSB RES 4
END OF RAM BANK ALLOCATIONS
RES 0 PAGE
PROGRAM MEMORY PAGE 0 START
ORG OO000H
RESET AND INTERRUPT VECTORS
CLRF ITC CLRF PSW CLRF PAH GOTO POST
TIMER 2 INTERRUPT PROCESSOR START
T2IS MOVWF IPSB SWAPF PSW,W CLRF PSW MOVWF IPSB+1 MOVF PAH,W CLRF PAH MOVWF IPSB+2 MOVF FSR,W MOVWF IPSB+3 BCF IR1,1 BTFSC ITCF,4 GOTO T2ISD BSF ITCF.4 DECFSZ T2CB.F GOTO T2ISB MOVLW 000H ANDWF IOB,F MOVLW OFOH ANDWF IOC.F MOVLW MTDSC MOVWF T2CB BTFSS MTCF.O GOTO T2ISA MOVF MOCB+2,W BSF PSW.BSO BSF PSW,BSl ANDWF MFMB.W BCF PSW.BSO BCF PSW.BSl MOVWF MOCB MOVF MOCB+3.W BSF PSW.BSO BSF PSW.BSl ANDWF MFMB+l.W BCF PSW.BSO BCF PSW.BSl ANDLW OOFH MOVWF MOCB+1 ANDLW 003H IORWF MOCB.W ANDLW 055H BTFSS PSW,ZR BSF MOCB+1, 4 MOVF MOCB+1, W ANDLW 003H IORWF MOCB.W ANDLW OAAH BTFSS PSW,ZR BSF MOCB+1, 5 BCF MTCF.O MOVF MOCB+1, W BSF PSW.BSl BSF STCB.5 BCF STCB,2 ANDLW 030H BTFSS PSW,ZR BSF STCB.2 T2ISA BSF PSW.BSl MOVLW OFCH ANDWF STCB , F MOVLW 010H XORWF STCB.F BTFSC STCB, 7 BSF STCB, 6 MOVLW STABO BTFSC STCB, 4 MOVLW STABl MOVWF FSR • BCF FSR, ISO BSF PSW.ISl BCF PSW.BSl MOVF MOCB.W MOVWF IAR INCF FSR.F MOVF MOCB+1, W MOVWF IAR INCF FSR.F
MOVLW 1+2
CLRF IAR
ADDWF FSR.F
CLRF IAR
ADDWF FSR.F
CLRF IAR
ADDWF FSR.F
CLRF IAR
GOTO T2ISC T2ISB MOVF T2CB.W
XORWF MICB.W
BTFSS PSW.ZR
GOTO T2ISC
MOVF MOCB.W
IORWF IOB.F
MOVF MOCB+1, W
ANDLW OOFH
IORWF IOC.F
SWAPF MOCB+1, W
ANDLW 003H
BSF PSW.BSl
IORWF STCB.F
BCF PSW.BSl T2ISC BSF ADO, 2
GOTO SIFP T2ISD BCF ITCF.4
BTFSS ADO, 5
GOTO T2ISE
MOVLW 0C7H
ANDWF AD0,F
BSF PSW.BSl
MOVLW STAB0+2+((l+2)*0)
BTFSC STCB, 4
MOVLW STABl+2+((l+2)*0)
MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl
MOVLW 1+2
BTFSS STCB.O
BTFSC STCB,1
ADDWF FSR.F
GOTO T2ISG T2ISE BTFSC ADO, 3
GOTO T2ISF
BSF ADO,
BSF PSW.BSl
MOVLW STAB0+2+((l+2)*2)
BTFSC STCB, 4
MOVLW STABl+2+((l+2)*2)
MOVWF FSR
BCF FSR, ISO
BSF PSW,ISl
BTFSC STCB, 2
BTFSC STCB,0
GOTO T2ISG
BCF PSW,BSl
GOTO T2IE T2ISF BCF ADO,
BSF ADO, 5 '
BSF PSW.BSl
MOVLW STAB0+2+((l+2)*3)
BTFSC STCB, 4
MOVLW STABl+2+((l+2)*3)
MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl
BTFSC STCB, 2 BTFSC STCB.l GOTO T2ISG BCF PSW.BSl GOTO T2IE
T2ISG BCF PSW.BSl INCF IAR.F MOVF IAR.W INCF FSR.F BSF PSW.BSO XORLW 1 BTFSS PSW.ZR GOTO T2ISH MOVF ADL.W MOVWF IAR INCF FSR.F BCF PSW.BSO MOVF ADH.W MOVWF IAR GOTO T2IE
T2ISH MOVF ADL.W ADDWF IAR.F INCF FSR.F BTFSC PSW.CY INCF IAR.F BCF PSW.BSO MOVF ADH,W ADDWF IAR.F GOTO T2IE PAGE
SERIAL INPUT FLAG PROCESSOR
SIFP BTFSS IR1.5 GOTO SOFP MOVF RRD.W ANDLW 07FH BCF CMCF,0 BTFSC CMCF.4 GOTO SIFPC BTFSC CMCF,7 GOTO SOFP CALL GTCC XORLW 0 BTFSC PSW.ZR GOTO SIFPE MOVWF HRDB XORLW CFLDAO BTFSS PSW.ZR GOTO SIFPA MOVLW 2 GOTO SIFPB
SIFPA XORLW CTMSΛCFLD BTFSS PSW.ZR GOTO SIFPD MOVLW 8
SIFPB MOVWF SICB
MOVLW HRDB+1 MOVWF SICB+1 BSF CMCF.4 GOTO SIFPF '
SIFPC ADDLW -'0'
BTFSS PSW.CY GOTO SIFPE MOVWF SICB+2 ADDLW -10 BTFSC PSW,CY GOTO SIFPE MOVF SICB+1, W MOVWF FSR BSF FSR, ISO BCF PSW.ISl MOVF SICB+2.W MOVWF IAR INCF SICB+1, F DECFSZ SICB,F GOTO SIFPF BCF CMCF.4
SIFPD BSF CMCF.7 GOTO SOFP
SIFPE BCF CMCF,4 SIFPF CLRF TOV BCF ITC,2 MOVLW HCIBD MOVWF TOCB PAGE
SERIAL OUTPUT FLAG PROCESSOR
SOFP BTFSC CMCF.O BTFSS IRl,4 GOTO TOFP MOVF SOCB+l.W MOVWF FSR BSF FSR, ISO BCF PSW.ISl MOVF IAR.W MOVWF RXD INCF SOCB+l.F DECFSZ SOCB.F GOTO TOFP BCF CMCF.O
TIMER 0 FLAG PROCESSOR
TOFP BTFSC CMCF.4 BTFSS ITC.2 GOTO ClFP BCF ITC,2 DECFSZ TOCB GOTO ClFP BCF CMCF.4 PAGE
COMPARE 1 FLAG PROCESSOR
ClFP BTFSS IRl,2 GOTO T2IE BCF IR1.2 BSF ITCF.O DECFSZ ITCB.F GOTO T2IE MOVLW ITlPC MOVWF ITCB BSF ITCF.l DECFSZ ITCB+l.F GOTO T2IE MOVLW IT2PC MOVWF ITCB+1 BSF ITCF.2 BTFSC ITCF.5 DECFSZ ITCB+2.F GOTO T2IE MOVLW IT3PC MOVWF ITCB+2 BSF PSW.BSl INCF STTB,F MOVF STTB.W ADDLW -100 BTFSS PSW.CY GOTO ClFPA CLRF STTB INCF STTB+1,F MOVF STTB+1,W ADDLW -100 BTFSS PSW.CY GOTO ClFPA CLRF STTB+1 INCF STTB+2.F MOVF STTB+2.W ADDLW -100 BTFSS PSW.CY GOTO ClFPA CLRF STTB+2 INCF STTB+3,F MOVF STTB+3.W ADDLW -100 BTFSS PSW,CY GOTO ClFPA MOVLW 99 MOVWF STTB MOVWF STTB+1 MOVWF STTB+2 MOVWF STTB+3 BCF PSW.BSl BCF ITCF.5
ClFPA: BCF PSW.BSl PAGE
TIMER 2 INTERRUPT PROCESSOR END
T2IE MOVF IPSB+3.W MOVWF FSR MOVF IPSB+2.W MOVWF PAH SWAPF IPSB+l.W MOVWF PSW SWAPF IPSB.F SWAPF IPSB.W RETFIE PAGE
; GET COMMAND CODE SUBROUTINE
GTCC ADDLW GTCC0%256 MOVWF FSR MOVLW GTCCO/256 BTFSC PSW.CY ADDLW 1 MOVWF PAH MOVF FSR.W MOVWF PAR
; GET COMMAND CODE TABLES
GTCCO RETLW 0 NUL RETLW 0 SOH RETLW 0 STX RETLW 0 ETX RETLW 0 EOT RETLW 0 ENQ RETLW 0 ACK RETLW 0 BEL RETLW 0 BS RETLW 0 HT RETLW 0 LF
RETLW 0 VT
RETLW 0 FF
RETLW 0 CR
RETLW 0 SO
RETLW 0 SI
RETLW 0 DLE
RETLW 0 DCl
RETLW 0 DC2
RETLW 0 DC3
RETLW 0 DC4
RETLW 0 NAK
RETLW 0 SYN
RETLW 0 ETB
RETLW 0 CAN
RETLW 0 EM
RETLW 0 SUB
RETLW 0 ESC
RETLW. 0 FS
RETLW 0 GS
RETLW 0 RS
RETLW 0 US
RETLW 0 SP
RETLW CCFG 1
RETLW 0
RETLW CTMS #
RETLW CFLC $
RETLW CMRS %
RETLW 0 &
RETLW 0
RETLW 0 (
RETLW 0 )
RETLW CFLS
RETLW 0 +
RETLW 0
RETLW 0
RETLW 0
RETLW 0 /
RETLW CMPO 0
RETLW CMPl 1
RETLW CMP2 2
RETLW 0 3
RETLW CH10 4
RETLW CHll 5
RETLW CH12 6
RETLW CH20 7
RETLW CH21 8
RETLW CH22 9
RETLW CFLD
RETLW 0
RETLW 0 <
RETLW 0 -=
RETLW 0 >
RETLW CINQ ?
RETLW 0 &
RETLW CZ11 A
RETLW CZ21 B
RETLW CZ31 C
RETLW CZ41 D
RETLW CZ51 ' E
RETLW CM01 F
RETLW CM02 G
RETLW CM03 H
RETLW CM04 I
RETLW CM05 J
RETLW CM06 K
RETLW CM07 L
RETLW CM08 M RETLW CM09 N
RETLW CM10 0
RETLW 0 P
RETLW 0 Q
RETLW 0 R
RETLW 0 S
RETLW 0 T
RETLW 0 U
RETLW 0 V
RETLW CINU w
RETLW CSPU x
RETLW 0 Y
RETLW 0 z
RETLW 0 [
RETLW 0 \
RETLW 0 ]
RETLW 0 Λ
RETLW 0
RETLW 0
RETLW CZ10 a
RETLW CZ20 b
RETLW CZ30 c
RETLW CZ40 d
RETLW CZ50 e
RETLW 0 f
RETLW 0 g
RETLW 0 h
RETLW 0
RETLW 0
RETLW 0
RETLW 0 1
RETLW 0 m
RETLW 0 n
RETLW 0 o
RETLW CMTR P
RETLW 0 q
RETLW 0 r
RETLW 0 s
RETLW 0 t
RETLW 0 u
RETLW 0 V
RETLW CIND w
RETLW CSPD X
RETLW 0 y
RETLW 0 z
RETLW 0 {
RETLW 0
RETLW 0
RETLW 0
RETLW 0 DEL
PAGE
POWER -ON Si
POST CLRF : IOA
CLRF : IOB
MOVLW 040H
MOVWF IOC
MOVLW 040H
MOVWF IOD
CLRF : IOE
CLRF ■ TIC
CLRF • T2C
CLRF SCI
CLRF < C1C
CLRF RRS
CLRF C2C
MOVLW 081H MOVWF ADO
BSF PSW.BSO
MOVLW 080H
MOVWF OPT
CLRF IEl
CLRF IE2
CLRF SC2
CLRF SST
MOVLW 082H
MOVWF ADl
MOVLW 02FH
MOVWF TSA
MOVLW 000H
MOVWF TSB
MOVLW 080H
MOVWF TSC
MOVLW 083H
MOVWF TSD
MOVLW 000H
MOVWF TSE
BSF PSW.BSl
MOVLW 080H
MOVWF ECl
BCF PSW.BSO
CLRF EAL
CLRF EAH
BCF PSW.BSl
MOVLW 0F1H
MOVWF T2V
CLRF TIL
CLRF TlH
MOVLW (65536-(PGMSL-2))%256
MOVWF ClL
MOVLW (65536-(PGMSL-2))/256
MOVWF ClH
POSTA BSF PSW.BSO
BSF PSW.BSl
BSF EC.1,0
NOP
NOP
BCF PSW,BS0
BCF PSW.BSl
MOVLW 16
MOVWF C2H
POSTB MOVF TlH.W
BSF PSW.BSl
XORWF EDL.W
BCF PSW.BSl
MOVWF C2L
BCF PSW.CY
RRF TlL.F
RRF T1H.F
BTFSS C2L,0
GOTO POSTC
MOVLW EDCPL
XORWF T1L.F
MOVLW EDCPH
XORWF TlH.F
POSTC BSF PSW,BSl
RRF EDH.F .
RRF EDL,F
BCF PSW.BSl
DECFSZ C2H,F
GOTO POSTB
BSF PSW,BSl
INCFSZ EAL,F
GOTO POSTD
INCF EAH,F POSTD BCF PSW.BSl INCFSZ ClL,F GOTO POSTA INCFSZ ClH.F GOTO POSTA BSF PSW,BSl BSF PSW.BSO BSF ECl.O NOP NOP
BCF PSW.BSO MOVF EDL.W BCF PSW.BSl XORWF T1H.W BTFSS PSW.ZR GOTO STEH BSF PSW.BSl INCF EAL,F • BSF PSW.BSO BSF ECl.O NOP ' NOP
BCF PSW.BSO MOVF EDL,W BCF PSW,BSl XORWF TlL.W BTFSS PSW,ZR GOTO STEH MOVLW 0E3H MOVWF T2V MOVLW DB2SA MOVWF FSR BCF FSR, ISO BCF PSW.ISl
POSTE MOVF FSR.W ANDLW 07FH ADDLW -DBOSA BTFSS PSW.CY GOTO POSTF MOVLW 088H MOVWF IAR BSF FSR, ISO MOVLW 099H MOVWF IAR BCF FSR, ISO
POSTF BSF PSW.ISl MOVLW OAAH MOVWF IAR BSF FSR, ISO MOVLW OBBH MOVWF IAR BCF FSR, ISO BCF PSW.ISl INCF FSR.F MOVF FSR.W ANDLW 07FH ADDLW -DBCSA BTFSS PSW.CY GOTO POSTE
POSTG MOVLW 066H MOVWF IAR INCF FSR.F BSF FSR, ISO MOVWF IAR INCF FSR.F BCF FSR, ISO BSF PSW.ISl MOVWF IAR INCF FSR.F BSF FSR, ISO MOVWF IAR INCF FSR,F BCF FSR, ISO BCF PSW.ISl MOVF FSR.W ANDLW 07FH BTFSS PSW.ZR GOTO POSTG MOVF DBOSA,W XORLW 088H BTFSS PSW.ZR GOTO STEH MOVF DBCSA.W XORLW 066H BTFSS PSW.ZR GOTO STEH BSF. PSW.BSO MOVF DBOSA, XORLW 099H BTFSS PSW.ZR GOTO STEH MOVF DBCSA.W XORLW 066H BTFSS PSW.ZR GOTO STEH BCF PSW.BSO BSF PSW.BSl MOVF DB2SA.W XORLW OAAH BTFSS PSW,ZR GOTO STEH MOVF DBCSA.W XORLW 066H BTFSS PSW.ZR GOTO STEH BSF PSW.BSO MOVF DB2SA.W XORLW OBBH BTFSS PSW.ZR GOTO STEH MOVF DBCSA.W XORLW 066H BTFSS PSW.ZR GOTO STEH BCF PSW.BSO BCF PSW.BSl MOVLW DB2SA MOVWF FSR BCF FSR, ISO BCF PSW.ISl
POSTH MOVF FSR.W ANDLW 07FH ADDLW -DBOSA BTFSS PSW.CY GOTO POSTI MOVLW 088H XORWF IAR.F BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVLW 099H XORWF IAR.F BTFSS PSW.ZR GOTO STEH BCF FSR, ISO
POSTI BSF PSW.ISl MOVLW 0AAH XORWF IAR.F BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVLW OBBH XORWF IAR.F BTFSS PSW.ZR GOTO STEH BCF FSR, ISO BCF PSW.ISl INCF FSR.F MOVF FSR.W ANDLW 07FH ADDLW -DBCSA BTFSS PSW.CY GOTO POSTH
POSTJ MOVLW 066H XORWF IAR.W BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVLW 066H XORWF IAR.W BTFSS PSW.ZR GOTO STEH BCF FSR, ISO BSF PSW,IS1 MOVLW 066H XORWF IAR.W BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVLW 066H XORWF IAR.W BTFSS PSW.ZR GOTO STEH BCF FSR, ISO BCF PSW.ISl INCF FSR.F MOVF FSR.W ANDLW 07FH BTFSS PSW,ZR GOTO POSTJ MOVLW DB2SA MOVWF FSR BCF FSR, ISO BCF PSW.ISl CLRF C1L
POSTK MOVF FSR.W ANDLW 07FH ADDLW -DBOSA BTFSS PSW.CY GOTO POSTL MOVF ClL.W MOVWF IAR BSF FSR, ISO MOVWF IAR BCF FSR, ISO
POSTL BSF PSW,IS1' MOVF C1L,W MOVWF IAR BSF FSR, ISO MOVWF IAR BCF FSR, ISO BCF PSW.ISl INCF ClL.F INCF FSR.F MOVF FSR.W ANDLW 07FH BTFSS PSW.ZR GOTO POSTK MOVLW DB2SA MOVWF FSR BCF FSR, ISO BCF PSW.ISl CLRF ClL
POSTM MOVF FSR.W ANDLW 07FH ADDLW -DBOSA BTFSS PSW.CY GOTO POSTN MOVF ClL.W XORWF IAR.W BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVF ClL.W XORWF IAR.W BTFSS PSW.ZR GOTO STEH BCF FSR, ISO
POSTN BSF PSW.ISl MOVF ClL.W XORWF IAR.W BTFSS PSW.ZR GOTO STEH BSF FSR, ISO MOVF C1L,W XORWF IAR.W BTFSS PSW.ZR GOTO STEH BCF FSR, ISO BCF PSW.ISl INCF ClL.F INCF FSR.F MOVF FSR.W ANDLW 07FH BTFSS PSW.ZR GOTO POSTM MOVLW 0C7H MOVWF T2V CLRF RO CALL POSTO MOVF PAH.W BCF PAH.PSO BCF PAH.PS1 XORLW 018H BTFSS PSW.ZR GOTO STEH MOVF RO.W XORLW 8 BTFSS PSW.ZR GOTO STEH MOVLW 08FH MOVWF T2V MOVF IOA.W XORLW 000H ' BTFSS PSW.ZR GOTO STEH MOVF IOB.W XORLW 000H BTFSS PSW.ZR GOTO STEH MOVF IOC.W ANDLW 07FH XORLW 040H BTFSS PSW . ZR GOTO STEH MOVF IOD . W ANDLW 07CH XORLW 040H BTFSS PSW . ZR GOTO STEH MOVF IOE . W XORLW 000H BTFSC PSW. ZR GOTO POIN
POWER-ON STACK TEST 0 SUBROUTINE
POSTO CALL POSTI INCF RO.F RETURN PAGE
SELF TEST ERROR HALT ROUTINE
STEH BCF PSW.BSO
BCF PSW.BSl
STEHA COMF T2V.W
MOVWF ClL
STEHB BTFSS C1L.0
BSF IOE.O
MOVLW 200000/1000
MOVWF TlH
STEHC MOVLW 1000/5
MOVWF TlL STEHD NOP
GOTO $+1
GOTO $+1
GOTO $+1
DECFSZ T1L.F
GOTO STEHD
DECFSZ TlH.F
GOTO STEHC
BCF IOE.O
MOVLW 200000/1000
MOVWF TlH
STEHE MOVLW 1000/5
MOVWF TlL STEHF NOP
GOTO $+1
GOTO $+1
GOTO $+1
DECFSZ TlL.F
GOTO STEHF
DECFSZ TlH.F
GOTO STEHE
BCF PSW.CY
RRF ClL.F
MOVF ClL.W
BTFSS PSW.ZR
GOTO STEHB
GOTO STEHA
PAGE
POWER-ON INITIALIZATION ROUTINE
POIN MOVLW 000H MOVWF TIC MOVLW 001H MOVWF T2C MOVLW 000H MOVWF SCI
MOVLW (C1IPC-1) 256
MOVWF ClL
MOVLW (ClIPC-l)/256
MOVWF ClH
MOVLW 00BH
MOVWF ClC
MOVLW 090H
MOVWF RRS
MOVLW 000H
MOVWF C2C
BSF PSW.BSO
MOVLW 002H
MOVWF IEl
MOVLW 000H
MOVWF IE2
MOVLW 000H
MOVWF SC2
MOVLW (T2lPC/2)-l •
MOVWF T2P
MOVLW 000H
MOVWF SST
MOVLW 024H
MOVWF RXS
MOVLW HBRTC-1
MOVWF RBR
BCF PSW.BSO
MOVLW DBOSA
MOVWF FSR
BCF FSR, ISO
BCF PSW.ISl POINA CLRF IAR
INCF FSR.F
BTFSS FSR, ISO
GOTO POINA
MOVLW DBOSA
MOVWF FSR
BSF FSR, ISO
BCF PSW.ISl POINB CLRF IAR
INCF FSR.F
BTFSC FSR, ISO
GOTO POINB
MOVLW DBOSA
MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl POINC CLRF IAR
INCF FSR,F
BTFSS FSR, ISO
GOTO POINC
MOVLW DBOSA
MOVWF FSR
BSF FSR, ISO
BSF PSW.ISl POIND CLRF IAR
INCF FSR.F
BTFSC FSR, ISO
GOTO POIND
MOVLW FUDS'
MOVWF FSR
BSF FSR, ISO
BSF PSW.ISl
BSF PSW.BSO
BSF PSW.BSl
MOVWF FUCB
BCF PSW.BSO
BCF PSW.BSl MOVLW FUDE-FUDS MOVWF R4 BSF PAH.PS1 MOVLW FLDB CALL SEAD POINE BSF PAH.PSl CALL REDB BCF PAH.PSl MOVWF IAR INCF FSR.F DECFSZ R4.F GOTO POINE MOVLW IT1PC MOVWF ITCB MOVLW IT2PC MOVWF ITCB+1 MOVLW IT3PC MOVWF ITCB+2 CLRF ITC CLRF IRl CLRF IR2 BSF TlC.O BSF T2C.2 BSF ITC, 6 BSF ITC, 7 BSF IOE.O BSF IOE.l BSF PAH.PSO GOTO MSIN PAGE
; PROGRAM MEMORY PAGE 0 END
ORG 007FCH
; POWER-ON STACK TEST 1 SUBROUTINE
POSTI BSF PAH.PSO CALL POST2 INCF RO.F RETURN
; PROGRAM MEMORY PAGE 1 START
ORG 00800H
; POWER-ON STACK TEST 2 SUBROUTINE
POST2 CALL POST3 INCF RO.F RETURN PAGE
MASSAGE INITIALIZATION ROUTINE
MSIN BCF PAH.PSO BSF PAH.PSl CALL RSSD BSF PAH.PSO BCF PAH.PSl CALL RSMC BSF IOE.2 CLRF OMCB MOVLW ZlE MOVWF MZCB MOVLW DFINL MOVWF INCB MOVLW DFSPL MOVWF SPCB
MASSAGE IDLE ROUTINE
MSID CALL RSMC CLRF OPCF
MSIDA CALL TFAC
BTFSC OPCF, , 7
GOTO MSMS
BTFSC OPCF, 4
GOTO MSSD
BTFSC OPCF, ,3
GOTO MSIN
GOTO MSIDA
MASSAGE MODE SELECT ROUTINE
MSMS MOVF OMCB.W MOVWF RO BTFSC PSW,ZR GOTO MSSL DECF R0,F BTFSC PSW.ZR GOTO MSPL DECF Rθ,F BTFSC PSW,ZR GOTO MSWV DECF Rθ,F BTFSC PSW.ZR GOTO MSZZ DECF R0,F BTFSC PSW.ZR GOTO MSLS GOTO MSRS PAGE
MASSAGE SELECT MODE ROUTINE
MSSL MOVF MZCB.W MOVWF RO MOVWF Rl CALL STMC
MSSLA CALL TFAC BTFSS OPCF, 7 GOTO MSID BTFSC OPCF, 4 GOTO MSSD BTFSC OPCF, 3 GOTO MSIN BTFSC OPCF, 2 GOTO MSMS BTFSC OPCF.l GOTO MSSL GOTO MSSLA
MASSAGE PULSE MODE ROUTINE
MSPL CALL ISPC MOVLW 0
MSPLA MOVWF R8
ADDLW PLMSO CALL GDMS MOVF MZCB,W ANDWF RO , F ANDWF R1,F CALL STMC
MSPLB CALL TFAC
BTFSS OPCF, 7 GOTO MSID BTFSC OPCF, 4 GOTO MSSD BTFSC OPCF, 3 GOTO MSIN BTFSC OPCF, 2 GOTO MSMS BTFSC OPCF.l GOTO MSPL BTFSS OPCF.O GOTO MSPLB MOVF R8,W ADDLW -(PLMSL-1) BTFSC PSW,CY MOVLW -PLMSL ADDLW PLMSL GOTO MSPLA PAGE
; MASSAGE WAVE MODE ROUTINE
MSWV CALL ISPC
MOVLW 0 MSWVA MOVWF R8
ADDLW WVMSO
CALL GDMS
CALL STMC MSWVB CALL TFAC
BTFSS OPCF, 7
GOTO MSID
BTFSC OPCF, 4
GOTO MSSD
BTFSC OPCF, 3
GOTO MSIN
BTFSC OPCF, 2
GOTO MSMS
BTFSS OPCF.O
GOTO MSWVB
MOVF R8.W
ADDLW -(WVMSL-1)
BTFSC PSW.CY
MOVLW -WVMSL
ADDLW WVMSL
GOTO MSWVA
; MASSAGE ZIGZAG MODE ROUTINE
MSZZ CALL ISPC
MOVLW 0
MSZZA MOVWF R8
ADDLW ZZMSO
CALL GDMS
CALL STMC
MSZZB CALL TFAC
BTFSS OPCF, 7
GOTO MSID
BTFSC OPCF, 4
GOTO MSSD
BTFSC OPCF, 3
GOTO MSIN
BTFSC OPCF, 2
GOTO MSMS
BTFSS OPCF.O
GOTO MSZZB
MOVF R8,W
ADDLW -(ZZMSL-1)
BTFSC PSW,CY
MOVLW -ZZMSL ADDLW ZZMSL GOTO MSZZA PAGE
■ MASSAGE LEFT SELECT MODE ROUTINE
MSLS MOVF MZCB . W
CLRF RO MOVWF Rl GOTO MSRSA
; MASSAGE RIGHT SELECT MODE ROUTINE
MSRS MOVF MZCB . W
MOVWF RO
CLRF Rl MSRSA CALL STMC MSRSB CALL TFAC
BTFSS OPCF, 7
GOTO MSID
BTFSC OPCF, 4
GOTO MSSD
BTFSC OPCF, 3
GOTO MSIN
BTFSC OPCF, 2
GOTO MSMS
BTFSC OPCF.l
GOTO MSRS
GOTO MSRSB
; MASSAGE SHUTDOWN ROUTINE
MSSD BCF IOE.2
CALL RSMC
CLRF OPCF
MOVLW 10
MOVWF OMCB MSSDA CALL TFRS
BTFSC OPCF, 3
GOTO MSIN
GOTO MSSDA
PAGE
; TEST FOR ACTION SUBROUTINE
TFAC BCF OPCF, 2
BCF OPCF.l
BCF OPCF.O
BTFSS CMCF.7
GOTO TFACA
CALL PSCC
CALL PMCC
CALL PZCC
CALL PMPC
CALL PHPC
CALL PRCC
CALL PRNO TFACA CALL UDDV
BCF PAH.PSO
BSF PAH.PSl
CALL UDSD
CALL UDFD
BSF PAH.PSO
BCF PAH.PSl
RETURN
TEST FOR RESET SUBROUTINE TFRS BTFSS CMCF.7 GOTO TFRSA CALL PSCC CALL PRNO
TFRSA BCF PAH.PSO BSF PAH.PSl CALL UDFD BSF PAH.PSO BCF PAH.PSl RETURN
INITIALIZE SPEED CONTROL SUBROUTINE
ISPC CLRF SPCB+1 BCF OPCF.O RETURN PAGE
PROCESS SYSTEM CONTROL COMMAND SUBROUTINE
PSCC BTFSS CMCF.7 RETURN
SWAPF HRDB.W ANDLW OOFH XORLW CSYC BTFSS PSW.ZR RETURN MOVF HRDB.W XORLW CINQ BTFSS PSW.ZR GOTO PSCCA CALL OPSS RETURN
PSCCA XORLW CCFGΛCINQ BTFSS PSW.ZR GOTO PSCCB CALL OPSC RETURN
PSCCB XORLW CMRSΛCCFG BTFSS PSW.ZR GOTO PSCCC BSF OPCF, 3 CALL OPNS RETURN
PSCCC XORLW CTMSΛCMRS BTFSS PSW.ZR GOTO PSCCD MOVLW HRDB+1 CALL GCDV MOVWF R5 MOVLW HRDB+3 CALL GCDV MOVWF R4 MOVLW HRDB+5 CALL GCDV MOVWF R3 MOVLW HRDB+7 CALL GCDV MOVWF R2 BCF ITCF.5 - BSF PSW.BSl MOVWF STTB MOVF R3.W MOVWF STTB+1 MOVF R4.W MOVWF STTB+2 MOVF R5.W MOVWF STTB+3 BCF PSW.BSl MOVLW IT3PC MOVWF ITCB+2 IORWF R4.W IORWF R3.W IORWF R2.W BTFSS PSW.ZR BSF ITCF.5 CALL OPFS RETURN
PSCCD XORLW CFLSΛCTMS BTFSS PSW.ZR GOTO PSCCE CALL OPFS RETURN
PSCCE XORLW CFLDΛCFLS BTFSS PSW.ZR GOTO PSCCF MOVLW HRDB+1 CALL GCDV CALL OPFD RETURN
PSCCF BCF PAH.PSO BSF PAH.PSl CALL RSFD BSF PAH.PSO BCF PAH.PSl BSF MTCF.O CALL OPFS RETURN PAGE
PROCESS MASSAGE POWER COMMAND SUBROUTINE
PMPC BTFSS CMCF.7 RETURN
SWAPF HRDB.W ANDLW OOFH XORLW CMPW BTFSS PSW.ZR RETURN MOVF HRDB.W ANDLW OOFH MOVWF RO MOVLW 0 DECF RO.F BTFSC PSW.ZR MOVLW MPOTl DECF RO.F BTFSC PSW.ZR MOVLW MPOT2 DECF RO.F BTFSC PSW.ZR GOTO PMPCB MOVWF MSTB MOVF MSTB.F BTFSS PSW.ZR GOTO PMPCA CLRF MSTB . CLRF MSTB+1 BCF OPCF, 7 GOTO PMPCC
PMPCA BTFSC OPCF, 7 GOTO PMPCC BSF OPCF, 7
PMPCB CLRF MSTB+1 MOVLW 60 MOVWF MSTB+2 PMPCC CALL OPNS RETURN
; PROCESS HEATER POWER COMMAND SUBROUTINE
PHPC BTFSS CMCF.7 RETURN
SWAPF HRDB.W ANDLW OOFH XORLW CHPW BTFSS PSW.ZR RETURN CALL OPNS RETURN PAGE
; PROCESS MODE CONTROL COMMAND SUBROUTINE
PMCC BTFSS CMCF.7
RETURN
SWAPF HRDB.W
ANDLW OOFH
XORLW CMDC
BTFSS PSW.ZR
RETURN
MOVF HRDB.W
ANDLW OOFH
ADDLW -OPMUL
BTFSC PSW.CY
GOTO PMCCA
ADDLW OPMUL
XORWF OMCB.W
BTFSC PSW.ZR
GOTO PMCCA
XORWF OMCB.F
BSF OPCF, 2 PMCCA CALL OPNS
RETURN
; PROCESS ZONE CONTROL COMMAND SUBROUTINE
PZCC BTFSS CMCF,7
RETURN
SWAPF HRDB.W
ANDLW OOFH
XORLW CZNC
BTFSS PSW.ZR
RETURN
MOVF HRDB.W
ANDLW OOFH
MOVWF RO
BCF PSW.CY
RRF RO.W
BTFSC PSW.CY
GOTO PZCCA
CALL GZEF
ANDWF MZCB.W
BTFSC PSW.ZR
GOTO PZCCC
XORWF MZCB.F
GOTO PZCCB PZCCA CALL GZEF
MOVWF Rl
ANDWF MZCB.W
BTFSS PSW.ZR
GOTO PZCCC
MOVF Rl.W
MOVWF MZCB PZCCB BSF OPCF.l PZCCC CALL OPNS RETURN PAGE
; PROCESS RATE CONTROL COMMAND SUBROUTINE
PRCC BTFSS CMCF.7
RETURN
SWAPF HRDB.W
ANDLW OOFH
XORLW CRTC
BTFSS PSW.ZR
RETURN
MOVF HRDB.W
ANDLW OOFH
MOVWF RO
MOVF RO.F
BTFSS PSW.ZR
GOTO PRCCA
MOVF INCB.W
ADDLW -1
BTFSS PSW.CY
MOVLW 0
MOVWF INCB
GOTO PRCCD PRCCA DECF RO , F
BTFSS PSW.ZR
GOTO PRCCB
MOVF INCB.W
ADDLW -(INCUL-1)
BTFSC PSW.CY
MOVLW -1
ADDLW INCUL
MOVWF INCB
GOTO PRCCD PRCCB DECF RO , F
BTFSS PSW.ZR
GOTO PRCCC
MOVF SPCB.W
ADDLW -1
BTFSS PSW.CY
MOVLW 0
MOVWF SPCB
GOTO PRCCD PRCCC MOVF SPCB.W
ADDLW -(SPCUL-1)
BTFSC PSW.CY
MOVLW -1
ADDLW SPCUL
MOVWF SPCB PRCCD CALL OPNS
RETURN
PAGE
; PROCESS NON-OPERATIVE COMMAND SUBROUTINE
PRNO BTFSC CMCF.7 CALL OPNS RETURN
; UPDATE DYNAMIC VARIABLES SUBROUTINE
UDDV BTFSS ITCF.2 GOTO UDDVA BCF ITCF.2 BTFSC OPCF, 7 DECFSZ MSTB+2 GOTO UDDVA MOVLW 60 MOVWF MSTB+2 INCF MSTB+1, F MOVF MSTB.W SUBWF MSTB+1, W BTFSS PSW.CY GOTO UDDVA CLRF MSTB CLRF MSTB+1 BCF OPCF, 7
UDDVA BTFSS ITCF.O GOTO UDDVB BCF ITCF.O INCF SPCB+l.F MOVF SPCB.W CALL GFSV SUBWF SPCB+l.W BTFSS PSW,CY GOTO UDDVB BSF OPCF.O CLRF SPCB+1
UDDVB MOVF INCB.W CALL GMIV MOVWF MICB RETURN PAGE
GET DYNAMIC MOTOR STATES SUBROUTINE
GDMS MOVWF Rl CALL GRMS MOVWF RO MOVF Rl.W CALL GLMS MOVWF Rl RETURN
RESET/SET MOTOR CONTROL SUBROUTINES
RSMC CLRF RO CLRF Rl
STMC BCF MTCF.O CLRF MOCB+2 CLRF MOCB+3 BTFSC RO.O BSF MOCB+2, 0 BTFSC R1.0 BSF MOCB+2, 1 BTFSC R0.1 BSF MOCB+2, 2 BTFSC Rl,l BSF MOCB+2, 3 BTFSC R0.2 BSF MOCB+2, 4 BTFSC Rl.2 BSF MOCB+2, 5 BTFSC R0.3 BSF MOCB+2, 6 BTFSC Rl.3 BSF MOCB+2, 7 BTFSC R0,4 BSF MOCB+3, 0 BTFSC Rl,4 BSF MOCB+3, 1 BSF MTCF.O RETURN ; INITIAL SPEED TIMER SUBROUTINE
ISPT CLRF SPCB+1 BCF OPCF.O RETURN PAGE
; OUTPUT SYSTEM STATUS SUBROUTINE
OPSS CALL IRPS
MOVLW RSST
CALL SRCD
MOVLW '0'
MOVWF RO
BTFSS OPCF, 7
GOTO OPSSA
INCF R0,F
MOVF MSTB.W
XORLW MPOT1
BTFSS PSW.ZR
INCF RO.F OPSSA MOVF RO.W
CALL SRCD
MOVLW '0'
CALL SRCD
MOVLW '0'
CALL SRCD
MOVLW '0'
CALL SRCD
MOVF MOCB+3,W
CALL SRZD
SWAPF MOCB+2,W
MOVWF RO
RRF R0,F
RRF RO.W
CALL SRZD
SWAPF MOCB+2,W
CALL SRZD
MOVF MOCB+2,W
MOVWF RO
RRF R0,F
RRF RO.W
CALL SRZD
MOVF MOCB+2,W
CALL SRZD
MOVF OMCB.W
ADDLW '0'
ADDLW -('9'+l)
BTFSC PSW.CY
MOVLW 'X'-('9'+l)
ADDLW '9'+l
CALL SRCD
MOVF INCB.W
ADDWF INCB.W
CALL SRND
MOVF SPCB.W
ADDWF SPCB.W
CALL SRND
MOVF MSTB+1,.W
CALL SRND
MOVLW 0
CALL SRND
MOVLW 0
CALL SRND
CALL IRPO
RETURN
PAGE ; OUTPUT SYSTEM CONFIGURATION SUBROUTINE
OPSC CALL IRPS MOVLW RSCF CALL SRCD MOVLW PDIDC/100 CALL SRND MOVLW PDIDC%100 CALL SRND MOVLW PDVRL/100 CALL SRND MOVLW PDVRL%100 CALL SRND MOVLW '7' CALL SRCD MOVLW FLLEC CALL SRND MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '1' CALL SRCD MOVLW '1' CALL SRCD MOVLW '1' CALL SRCD MOVLW '1' CALL SRCD MOVLW '1' CALL SRCD MOVLW '1' CALL SRCD MOVLW '2' CALL SRCD MOVLW '3' CALL SRCD MOVLW '4' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD MOVLW '0' CALL SRCD CALL IRPO RETURN PAGE
; OUTPUT FAULT STATUS SUBROUTINE
OPFS CALL IRPS MOVLW RFLS CALL SRCD BSF PSW.BSl BCF ITC, 7 MOVF STTB.W MOVWF R4 MOVF STTB+1, MOVWF R3 MOVF STTB+2, MOVWF R2 MOVF STTB+3.W BSF ITC, 7 BCF PSW.BSl CALL SRND MOVF R2.W CALL SRND MOVF R3.W CALL SRND MOVF R4,W CALL SRND BSF PSW.BSO BSF PSW.BSl MOVF FLCB+l.W MOVWF R2 MOVF FLCB.W BCF PSW.BSO BCF PSW.BSl CALL SRND MOVF R2.W CALL SRND CALL IRPO RETURN
OUTPUT FAULT DATA SUBROUTINE
OPFD MOVWF RO
MOVLW FLLEC MOVWF Rl CLRF R2 CLRF R3 CLRF R4 CLRF R5 CLRF R6 BSF PSW.BSO BSF PSW.BSl MOVF FLCB.W ADDWF FLCB+l.W BCF PSW.BSO BCF PSW.BSl BTFSC PSW.CY GOTO OPFDA ADDLW -FLLEC BTFSC PSW.CY GOTO OPFDA ADDLW FLLEC MOVWF Rl
OPFDA MOVF Rl.W SUBWF R0,W BTFSC PSW.CY GOTO OPFDB MOVF RO.W ADDWF R0,W MOVWF Rl ADDWF Rl,W ADDWF R0,W ADDLW FLEB MOVWF FSR BSF FSR, ISO BSF PSW.ISl MOVF IAR.W MOVWF R2 INCF FSR.F MOVF IAR.W MOVWF R3 INCF FSR.F MOVF IAR.W MOVWF R4 INCF FSR.F MOVF IAR.W MOVWF R5 INCF FSR.F MOVF IAR.W MOVWF R6
OPFDB CALL IRPS MOVLW RFLD CALL SRCD MOVF R2.W CALL SRND MOVF R3.W CALL SRND MOVF R4.W CALL SRND MOVF R5,W CALL SRND MOVF R6,W CALL SRND CALL IRPO RETURN PAGE
OUTPUT NULL STATUS SUBROUTINE
OPNS BCF CMCF.7 RETURN
GET COMMAND DECIMAL VALUE SUBROUTINE
GCDV MOVWF FSR
BSF FSR, ISO BCF PSW.ISl MOVF IAR.W ADDWF IAR.W MOVWF RO ADDWF RO.W ADDWF IAR.W MOVWF RO ADDWF RO.W INCF FSR.F ADDWF IAR.W RETURN
INITIALIZE REPLY STORE SUBROUTINE
IRPS MOVLW HXDB MOVWF FSR BSF FSR, ISO BCF PSW.ISl RETURN PAGE
STORE REPLY ZONE DATA SUBROUTINE
SRZD ANDLW 003H ADDLW '0' GOTO SRCD
STORE REPLY HEXADECIMAL DATA SUBROUTINE
SRHD MOVWF RO SWAPF R0,W ANDLW OOFH ADDLW -10 BTFSS PSW.CY ADDLW lO+'O'-'A' ADDLW 'A' MOVWF IAR INCF FSR.F MOVF RO.W ANDLW OOFH ADDLW -10 BTFSS PSW.CY ADDLW lO+'O'-'A' ADDLW 'A' GOTO SRCD PAGE
STORE REPLY NUMERIC DATA SUBROUTINE
SRND ADDLW -100
BTFSC PSW, CY
MOVLW -1
ADDLW 100
MOVWF RO
MOVLW 'O'-l
MOVWF Rl
MOVLW -10
SRNDA INCF Rl.F
ADDWF RO.F
BTFSC PSW, CY
GOTO SRNDA
MOVF Rl.W
MOVWF IAR
INCF FSR.F
MOVF RO.W
ADDLW "O'+IO
STORE REPLY CHARACTER DATA SUBROUTINE
SRCD MOVWF IAR INCF FSR.F RETURN
; INITIALIZE REPLY OUTPUT SUBROUTINE
IRPO MOVF FSR.W ANDLW 07FH ADDLW -HXDB MOVWF SOCB MOVLW HXDB MOVWF SOCB+1 BSF CMCF.O BCF CMCF,7 RETURN PAGE
; GET ZONE ENABLE FLAG SUBROUTINE
GZEF ADDLW GZEFO%256 MOVWF FSR MOVLW GZEFO/256 BTFSC PSW,CY ADDLW 1 MOVWF PAH MOVF FSR.W MOVWF PAR
GET ZONE ENABLE FLAG TABLES
GZEFO RETLW Z1E RETLW Z2E RETLW Z3E
RETLW Z4E
RETLW Z5E
PAGE
GET RIGHT MOTOR STATE SUB
GRMS ADDLW GRMS0%256
MOVWF FSR
MOVLW GRMSO/256
BTFSC PSW.CY
ADDLW 1
MOVWF PAH
MOVF FSR,W
MOVWF PAR
GET RIGHT MOTOR STATE TAB
GRMSO EQU $
PLMSO EQU $- -GRMSO
RETLW Z1E+Z2E+Z3E+Z4E+Z5E
RETLW 0
PLMSL EQU ($-GRMS0) -PLMSO
WVMSO EQU $- -GRMSO
RETLW Z1E
RETLW Z2E
RETLW Z3E
RETLW Z4E
RETLW Z5E
RETLW Z4E
RETLW Z3E
RETLW Z2E
WVMSL EQU ($-GRMS0) -WVMSO
ZZMSO EQU $- -GRMSO
RETLW 0
RETLW Z1E
RETLW 0
RETLW Z1E
RETLW 0
RETLW Z1E
RETLW 0
RETLW Z1E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z4E ■
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z5E RETLW 0
RETLW Z5E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
ZZMSL EQU (S-GRMSO)-ZZMSO
GRMSE EQU $- -GRMSO
PAGE
; GET LEFT MOTOR STATE SUBR
GLMS ADDLW GLMS0%256
MOVWF FSR
MOVLW GLMS0/256
BTFSC PSW , CY
ADDLW 1
MOVWF PAH
MOVF FSR.W
MOVWF PAR
; GET LEFT MOTOR STATE TABL
GLMSO EQU $
IF ($-GLMS0)!=PLMSO
ERROR 'PLMSO PHASING'
ENDIF
RETLW Z1E+Z2E+Z3E+Z4E+Z5E
RETLW 0
IF ($-GLMS0) !=WVMSO
ERROR "WVMSO PHASING
ENDIF
RETLW ZlE
RETLW Z2E
RETLW Z3E
RETLW Z4E
RETLW Z5E
RETLW Z4E
RETLW Z3E
RETLW Z2E
IF ($-GLMS0)!=ZZMSO
ERROR "ZZMSO PHASING"
ENDIF
RETLW ZlE RETLW 0
RETLW ZlE
RETLW 0
RETLW ZlE
RETLW 0
RETLW ZlE
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z5E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z4E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z3E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
RETLW Z2E
RETLW 0
IF ($-GLMSO) !=GRMSE
ERROR "GLMSO LENGTH'
ENDIF
PAGE GET MOTOR INTENSITY VALUE SUBROUTINE
GMIV ADDLW GMIV0%256 MOVWF FSR MOVLW GMIV0/256 BTFSC PSW.CY ADDLW 1 MOVWF PAH MOVF FSR.W MOVWF PAR
GET MOTOR INTENSITY VALUE TABLES
GMIVO RETLW INCLV+(((MTDSC-INCLV)*1*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *3*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *5*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*7*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*9*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *11*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *13*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *15*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*17*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*19*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *21*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*23*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*25*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *27*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*29*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*31*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*33*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *35*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *37*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *39*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *41*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *43*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *45*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*47*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *49*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *51*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *53*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *55*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *57*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *59*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *61*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*63*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*65*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *67*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *69*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *71*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *73*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*75*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *77*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*79*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*81*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *83*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*85*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *87*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *89*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*91*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *93*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*95*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV) *97*INCUV)/10000) RETLW INCLV+(((MTDSC-INCLV)*99*INCUV)/10000) IF ($-GMIV0) !=INCUL ERROR "GMIVO LENGTH" ENDIF PAGE ; GET FUNCTION SPEED VALUE SUBROUTINE
GFSV ADDLW GFSV0%256
MOVWF FSR MOVLW GFSV0/256 BTFSC PSW . CY ADDLW 1 MOVWF PAH MOVF FSR . W MOVWF PAR
GET FUNCTION SPEED VALUE TABLES
GFSVO RETLW (SPCLV* 1250)/100 RETLW (SPCLV* 1187)/100 RETLW (SPCLV* 1128)/100 RETLW (SPCLV* 1071)/100 RETLW (SPCLV* 1017)/100 RETLW (SPCLV* 966)/100 RETLW (SPCLV* 917)/100 RETLW (SPCLV* 871)/100 RETLW (SPCLV* 828)/100 RETLW (SPCLV* 786)/100 RETLW (SPCLV* 747)/100 RETLW (SPCLV* 709)/100 RETLW (SPCLV* 673)/100 RETLW (SPCLV* 640)/100 RETLW (SPCLV* 607)/100 RETLW (SPCLV* 577)/100 RETLW (SPCLV* 548)/100 RETLW (SPCLV* 520)/100 RETLW (SPCLV* 494)/100 RETLW (SPCLV* 469)/100 RETLW (SPCLV* 446)/100 RETLW (SPCLV* 423)/100 RETLW (SPCLV* 402)/100 RETLW (SPCLV 382)/100 RETLW (SPCLV* 363)/100 RETLW (SPCLV* 345)/100 RETLW (SPCLV* 327)/100 RETLW (SPCLV* 311)/100 RETLW (SPCLV* 295)/100 RETLW (SPCLV* 280)/100 RETLW (SPCLV* 266)/100 RETLW (SPCLV* 253)/100 RETLW (SPCLV* 240)/100 RETLW (SPCLV* 228)/100 RETLW (SPCLV* 217)/100 RETLW (SPCLV* 206)/100 RETLW (SPCLV* 195)/100 RETLW (SPCLV* 186)/100 RETLW (SPCLV* 176)/100 RETLW (SPCLV* 167)/100 RETLW (SPCLV* 159)/100 RETLW (SPCLV* 15D/100 RETLW (SPCLV* 143)/100 RETLW (SPCLV* 136)/100 RETLW (SPCLV 129)/100 RETLW (SPCLV 123)/100 RETLW (SPCLV* 117)/100 RETLW (SPCLV*llD/100 RETLW (SPCLV* 105)/100 RETLW (SPCLV* 100)/100 IF ($-•GFSVO) ! =SPCUL ERROR "GFSVO LENGTH" ENDIF PAGE ; PROGRAM MEMORY PAGE 1 END
ORG 00FFBH
; POWER-ON STACK TEST 3 SUBROUTINE
POST3 BCF PAH.PSO BSF PAH.PSl CALL POST4 INCF R0,F RETURN
; PROGRAM MEMORY PAGE 2 START
ORG 01000H
; POWER-ON STACK TEST 4 SUBROUTINE
POST4 CALL POST5 INCF R0,F RETURN PAGE
; UPDATE SELF TEST DATA SUBROUTINE
UDSD BSF PSW.BSl
BSF STCB, 7
BTFSS STCB, 6
GOTO UDSDL
BCF STCB, 6
CLRF STCB+1
BTFSS STCB, 5
GOTO UDSDA
BCF STCB, 5
CLRF STDB+2
CLRF STDB+3 UDSDA MOVLW STABO
BTFSS STCB, 4
MOVLW STABl
MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl
BSF PSW.BSO
MOVF IAR.W
ANDWF MFMB.W
MOVWF RO
INCF FSR,F
MOVF IAR.W
ANDWF MFMB+l.W
MOVWF Rl
BCF PSW.BSO
MOVLW 5
MOVWF STWB UDSDB MOVF RO.W
ANDLW 003H
MOVWF STWB+1
BTFSS PSW.ZR
GOTO UDSDC
RRF Rl.F
RRF RO.F "
RRF Rl.F
RRF R0,F
DECFSZ STWB,F
GOTO UDSDB UDSDC MOVLW STABθ+2+((l+2) *0)
CALL CARV
BTFSC PSW.CY
GOTO UDSDG BSF STCB+1,0
CALL CPSF
BTFSC PSW.CY
GOTO UDSDL
MOVLW STWB+2
CALL CMCC
MOVLW (65536- (PSLVL+1))%256
ADDWF R0,W
MOVLW (65536-(PSLVL+l))/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSC PSW.CY
GOTO UDSDD
INCF STDB.F
MOVF STDB.W
ADDLW -PSHLC
BTFSS PSW.CY
GOTO UDSDE
DECF STDB.F
MOVLW 1
CALL SPSF
GOTO UDSDL UDSDD MOVF STDB,W
BTFSS PSW,ZR
DECF STDB,F UDSDE MOVLW (65536-PSHVL)%256
ADDWF RO.W
MOVLW (65536-PSHVL)/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW.CY
GOTO UDSDF
INCF STDB+l.F
MOVF STDB+l.W
ADDLW -PSHLC
BTFSS PSW.CY
GOTO UDSDG
DECF STDB+l.F
MOVLW 2
CALL SPSF
GOTO UDSDL UDSDF MOVF STDB+l.W
BTFSS PSW.ZR
DECF STDB+l.F UDSDG MOVLW STABθ+2+((l+2)*l)
CALL CARV
BTFSC PSW.CY
GOTO UDSDH
BSF STCB+1,1
CALL CPSF
BTFSC PSW.CY
GOTO UDSDL
MOVLW STWB+5
CALL CMCC UDSDH MOVLW STABO+2+((l+2)*2)
CALL CARV '
BTFSC PSW.CY
GOTO UDSD3
BTFSC STWB+1,0
GOTO UDSDI
BTFSS STCB+1,0
GOTO UDSDJ
MOVLW STWB+2
CALL CRMC MOVLW STDB+2
CALL CMDF
BTFSC PSW.CY
GOTO UDSDL
GOTO UDSDD UDSDI BTFSS STCB+1,1
GOTO UDSDJ
MOVLW STWB+5
CALL CRMC
MOVLW 0
CALL CMIF
BTFSC PSW.CY
GOTO UDSDD
MOVLW STDB+2
CALL CMSF UDSDD MOVLW STABθ+2+((l+2)*3)
CALL CARV
BTFSC PSW.CY
GOTO UDSDL
BTFSC STWB+1,1
GOTO UDSDK
BTFSS STCB+1,0
GOTO UDSDL
MOVLW STWB+2
CALL CRMC
MOVLW STDB+3
CALL CMDF
BTFSC PSW.CY
GOTO UDSDL
GOTO UDSDL UDSDK BTFSS STCB+1,1
GOTO UDSDL
MOVLW STWB+5
CALL CRMC
MOVLW 4
CALL CMIF
BTFSC PSW.CY
GOTO UDSDL
MOVLW STDB+3
CALL CMSF UDSDL BCF PSW.BSl
RETURN
PAGE
; UPDATE FAULT DATA SUBROUTINE
UDFD CALL WEDT
BTFSC PSW.CY RETURN BSF PSW.BSO BSF PSW.BSl MOVF FUCB.W MOVWF RO MOVWF FSR BSF FSR, ISO BSF PSW.ISl INCF FUCB.F MOVF FUCB.W ADDLW -FUDE BTFSS PSW.CΫ GOTO UDFDA MOVLW FUDS MOVWF FUCB
UDFDA BCF PSW.BSO BCF PSW.BSl MOVF RO.W ADDLW FLDB-FUDS CALL SEAD CALL REDB XORWF IAR.W BTFSC PSW.ZR RETURN MOVF R0,W ADDLW FLDB-FUDS CALL SEAD MOVF IAR.W GOTO WEDS PAGE
; RESET SELF TEST DATA SUBROUTINE
RSSD BSF PSW.BSl BCF STCB, 7 BCF STCB, 6 CLRF STDB CLRF STDB+1 CLRF STDB+2 CLRF STDB+3 BCF PSW.BSl RETURN
; RESET FAULT DATA SUBROUTINE
RSFD BSF PSW.BSO BSF PSW.BSl MOVLW FUDS MOVWF FUCB CLRF FUCB+1 CLRF FUCB+2 CLRF FUCB+3 BCF ITC, 7 MOVLW OFFH MOVWF MFMB MOVLW OOFH MOVWF MFMB+1 BSF ITC, 7 CLRF FLCB CLRF FLCB+1 BCF PSW.BSO BCF PSW.BSl RETURN PAGE
COMPUTE ADC READING VALUE SUBROUTINE
CARV BTFSS STCB, 4
ADDLW STABl-STABO
MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl
MOVF IAR.W
MOVWF R3
BTFSC PSW.ZR
GOTO CARVC
INCF FSR.F
MOVF IAR.W
MOVWF RO
INCF FSR,F '
MOVF IAR.W
MOVWF Rl
CLRF R2
MOVLW 16
MOVWF R4 CARVA BCF PSW.CY
RLF RO.F
RLF Rl.F RLF R2.F MOVF R3.W SUBWF R2.W BTFSS PSW.CY GOTO CARVB MOVWF R2 BSF RO.O
CARVB DECFSZ R4,F GOTO CARVA BCF PSW.CY RETURN
CARVC BSF PSW.CY RETURN PAGE
; CHECK POWER SUPPLY FAULT SUBROUTINE
CPSF MOVLW (65536-(PSLFL+l))%256
ADDWF R0,W
MOVLW (65536-(PSLFL+l))/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW.CY
GOTO CPSFA
MOVLW (65536~PSHFL)%256
ADDWF R0,W
MOVLW (65536-PSHFL)/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW.CY
RETURN
MOVLW 2
CALL SPSF
GOTO CPSFB CPSFA BCF PSW.BSl
BSF OPCF, 4
BSF PSW . BSl CPSFB BSF PSW . CY
RETURN
PAGE
; COMPUTE MOTOR CURRENT CORRECTION SUBROUTINE
CMCC MOVWF FSR
BCF FSR, ISO BSF PSW.ISl MOVLW PSNVV%256 MOVWF R2 MOVLW PSNVV/256 MOVWF R3 MOVLW 17 MOVWF R4 CLRF IAR
CMCCA MOVF RO.W SUBWF R2,W MOVF Rl,W BTFSS PSW.CY ADDLW 1 SUBWF R3,W BTFSS PSW.CY GOTO CMCCB MOVWF R3 MOVF RO.W SUBWF R2.F BSF PSW.CY
CMCCB RLF IAR.F RLF R5.F RLF R6.F BCF PSW.CY RLF R2.F RLF R3.F DECFSZ R4,F GOTO CMCCA INCF FSR,F MOVF R5,W MOVWF IAR INCF FSR,F MOVF R6.W MOVWF IAR RETURN PAGE
CORRECT MOTOR CURRENT SUBROUTINE
CRMC MOVWF FSR
BCF FSR, ISO BSF PSW.ISl MOVF Rθ,W MOVWF R2 MOVWF STWB+8 MOVF Rl,W MOVWF R3 MOVWF STWB+9 MOVLW 16 MOVWF R4 CLRF RO CLRF Rl
CRMCA BCF PSW.CY BTFSS R2.0 GOTO CRMCC MOVF IAR.W ADDWF RO.F INCF FSR.F MOVF IAR.W DECF FSR.F BTFSC PSW.CY ADDLW 1 BTFSC PSW.CY GOTO CRMCB ADDWF Rl.F GOTO CRMCC
CRMCB ADDWF Rl.F BSF PSW.CY
CRMCC RRF Rl.F RRF RO.F RRF R3.F RRF R2.F DECFSZ R4.F GOTO CRMCA INCF FSR.F INCF FSR.F BTFSS IAR.O RETURN
MOVF STWB+8, W ADDWF RO.F MOVF STWB+9, W BTFSS PSW.CY GOTO CRMCD ADDLW 1 BTFSC PSW.ZR GOTO CRMCE
CRMCD ADDWF Rl.F BTFSS PSW . CY RETURN CRMCE MOVLW 255 MOVWF RO MOVWF Rl RETURN PAGE
'; CHECK MOTOR DRIVER FAULT SUBROUTINE
CMDF MOVWF FSR
BCF FSR , ISO
BSF PSW . ISl
MOVLW (65536-MTDFL)%256
ADDWF R0 , W
MOVLW (65536-MTDFL)/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW.CY
GOTO CMDFA
INCF IAR.F
MOVF IAR.W
ADDLW -MTDFC
BTFSS PSW.CY
RETURN
DECF IAR.F
MOVF FSR.W
ANDLW 07FH
XORLW STDB+2
MOVLW 3
BTFSS PSW.ZR
MOVLW 4
CALL SPSF
BSF PSW.CY
RETURN CMDFA MOVF IAR,W
BTFSS PSW.ZR
DECF IAR.F
BCF PSW.CY
RETURN
PAGE
CHECK MOTOR CURRENT FAULT SUBROUTINE
CMIF MOVWF R2
MOVLW (65536-(MTOCL+l))%256
ADDWF R0,W
MOVLW (65536-(MTOCL+l))/256
BTFSC PSW , CY
ADDLW 1
BTFSS PSW , CY
ADDWF Rl.W
BTFSS PSW.CY
GOTO CMIFA
MOVLW (65536-MTSCL)%256
ADDWF RO.W
MOVLW (65536-MTSCL)/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW , CY
RETURN
MOVLW 2
GOTO CMIFB
CMIFA MOVLW 0 CMIFB MOVWF RO
MOVF R2,W
BTFSS PSW.ZR
GOTO CMIFC
ADDWF R0,W
CALL SRMF
BSF PSW.CY
RETURN CMIFC ADDWF RO.W
CALL SLMF
BSF PSW.CY
RETURN
PAGE
• CHECK MOTOR STALL FAULT SUBROUTINE
CMSF MOVWF FSR
BCF FSR, ISO
BSF PSW.ISl
MOVLW (65536-MTSTL)%256
ADDWF RO.W
MOVLW (65536-MTSTL)/256
BTFSC PSW.CY
ADDLW 1
BTFSS PSW.CY
ADDWF Rl.W
BTFSS PSW.CY
GOTO CMSFB
INCF IAR.F
MOVF IAR.W
ADDLW -MTSTC
BTFSS PSW.CY
RETURN
DECF IAR.F
MOVF FSR.W
ANDLW 07FH
XORLW STDB+2
BTFSS PSW.ZR
GOTO CMSFA
MOVLW 1
GOTO SRMF CMSFA MOVLW 5
GOTO SLMF CMSFB MOVF IAR.W
BTFSS PSW.ZR
DECF IAR.F
RETURN
; STORE POWER SUPPLY FAULT SUBROUTINE
SPSF MOVWF RO
BCF PSW.BSl BSF OPCF, 4 BSF PSW.BSl MOVLW FUCB+1 CALL CFLE BTFSC PSW.CY RETURN CALL AFLE MOVLW FLCB ' GOTO UFLC PAGE
• STORE RIGHT MOTOR FAULT SUBROUTINE
SRMF CALL GMFE
MOVLW FUCB+2 CALL CFLE BTFSC PSW.CY GOTO SRMFA CALL AFLE MOVLW FLCB+1 CALL UFLC
SRMFA MOVLW 001H GOTO SLMFB
STORE LEFT MOTOR FAULT SUBROUTINE
SLMF CALL GMFE
MOVLW FUCB+3 CALL CFLE BTFSC PSW.CY GOTO SLMFA CALL AFLE MOVLW FLCB+1 CALL UFLC
SLMFA MOVLW 002H
SLMFB ANDWF STWB+l.W MOVWF Rl CLRF RO MOVF STWB.W BTFSC PSW.ZR RETURN MOVWF R2 GOTO SLMFD
SLMFC BCF PSW.CY RRF Rl.F RRF RO.F BCF PSW.CY RRF Rl.F RRF RO.F
SLMFD DECFSZ R2 , F GOTO SLMFC BSF PSW.BSO BCF ITC, 7 COMF R0,W ANDWF MFMB,F COMF Rl,W ANDWF MFMB+l.F BCF PSW.BSO BCF PSW.BSl BSF MTCF.O BSF ITC, BSF PSW.BSl RETURN PAGE
GENERATE MOTOR FAULT ENTRY SUBROUTINE
GMFE MOVWF Rθ
MOVF STWB.W ADDWF STWB.W MOVWF Rl ADDWF Rl,W ADDWF STWB,W MOVWF Rl ADDWF Rl,W ADDWF RO.F RETURN
CHECK FAULT LOG ENTRY SUBROUTINE
CFLE MOVWF FSR
BSF FSR, ISO BSF PSW.ISl MOVF IAR.W XORWF RO.W BSF PSW.CY BTFSC PSW.ZR RETURN XORWF IAR.F BCF PSW.CY RETURN PAGE
ADD FAULT LOG ENTRY SUBROUTINE
AFLE BSF PSW.BSO MOVF FLCB.W ADDWF FLCB+1,W BCF PSW.BSO BTFSC PSW.CY RETURN
ADDLW -FLLEC BTFSC PSW.CY RETURN ADDLW FLLEC MOVWF Rl ADDWF Rl.W MOVWF R ADDWF R2.W ADDWF Rl.W ADDLW FLEB MOVWF FSR BSF FSR, ISO BSF PSW.ISl MOVF RO.W MOVWF IAR INCF FSR.F BCF ITC, 7 MOVF STTB+3,W MOVWF IAR INCF FSR,F MOVF STTB+2,W MOVWF IAR INCF FSR.F MOVF STTB+1,W MOVWF IAR INCF FSR.F MOVF STTB.W MOVWF IAR BSF ITC, 7 RETURN
UPDATE FAULT LOG COUNT SUBROUTINE
UFLC MOVWF FSR
BSF FSR, ISO BSF PSW.ISl INCF IAR.F MOVF IAR,W ADDLW -100 BTFSC PSW.CY MOVLW -1 ADDLW 100 MOVWF IAR RETURN PAGE
SET EEPROM ADDRESS SUBROUTINE
SEAD BCF PSW.BSO BSF PSW.BSl MOVWF EAL CLRF EAH BCF PSW.BSl RETURN
; READ EEPROM DATA BYTE SUBROUTINE
REDB BSF PSW.BSO
BSF PSW.BSl BCF ECl,7 BSF ECl,0 BCF PSW.BSO MOVF EDL.W INCF EAL BCF PSW.BSl RETURN PAGE
; WRITE EEPROM DATA START SUBROUTINE
WEDS BCF PSW,BS0
BSF PSW.BSl MOVWF EDL BSF PSW.BSO BCF ECl,7 BCF ITC, 7 BSF ECl,2 MOVLW 055H MOVWF EC2 MOVLW OAAH MOVWF EC2 BSF ECl.l BCF ECl,2 BSF ITC, 7 BCF PSW.BSO BCF PSW.BSl RETURN
; WRITE EEPROM DATA TEST SUBROUTINE
WEDT BSF PSW.BSO
BSF PSW.BSl
BTFSS ECl.l
GOTO WEDTA
BCF PSW.BSO
BCF PSW.BSl
BSF PSW.CY
RETURN WEDTA BSF ECl.O
BCF PSW.BSO
MOVF EDL.W
INCF EAL
BCF PSW.BSl
BCF PSW.CY
RETURN
PAGE
; PROGRAM MEMORY PAGE 2 END
ORG 017 FCH
; POWER-ON STACK TEST 5 SUBROUTINE
POST5 BSF PAH.PSO CALL POST6 INCF RO.F RETURN
'; PROGRAM MEMORY PAGE 3 START ORG 01800H
POWER-ON STACK TEST 6 SUBROUTINE
POST6 CALL POST7 INCF RO.F RETURN PAGE
PROGRAM MEMORY PAGE 3 END
ORG 01FFCH
POWER-ON STACK TEST 7 SUBROUTINE
POST7 INCF RO.F RETURN
PROGRAM MEMORY EDC
RETLW 0 RETLW 0
PROGRAM ID WORDS IDLOCS OFFFFH
1
; CONFIGURATION WORD CONFIG 03D72H
PAGE
; EEPROM CONTENTS
ORG 02100H
DW O00H.O0OH.00OH 000H
DW 000H,000H,000H 000H
DW O00H,0OOH,O00H 000H
DW OO0H,OOOH,0O0H 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH 000H
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW 000H,0OOH,000H OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH
DW OOOH.OOOH.OOOH OOOH DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
DW OOOH OOOH OOOH OOOH
END OF F 3ROGR \M
END
APPENDIX B
E CPOP.hsκ INSEA-64545
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Claims

WHAT IS CLAIMED IS:
1. A computer controlled massaging system, comprising: at least one vibrator; and at least one massage module in electronic communication with each vibrator, the massage module being configured to monitor a current flow to each vibrator.
2. The massaging system of claim 1, further including a communication link between the massage module and at least one external device.
3. The massaging system of claim 2, wherein the communication link between the massage module and at least one external device uses an RS-232 serial communication protocol.
4. The massaging system of claim 3, further including at least one heater.
5. The massaging system of claim 4, wherein each vibrator and each heater are incorporated into at least one user support device.
6. The massaging system of claim 5, wherein at least one vibrator includes four vibrators within a backrest, four vibrators within a seat bottom, and two vibrators within a leg rest.
7. The massaging system of claim 1, wherein each vibrator includes a motor having a mass element, the motor being responsive to a power signal from the massage module.
8. The massaging system of claim 1, wherein the massage module includes programmable and non-volatile memory.
9. The massaging system of claim 1, further including hardwire connections between an external power source and the massage module.
10. The massaging system of claim 2, furtlier including communication buses with serial port interfaces.
11. The massaging system of claim 2, further including communication buses with parallel port interfaces.
12. The massaging system of claim 2, further including means for wireless communication.
13. The massaging system of claim 2, wherein the communication link includes means for interfacing with a user.
14. The massaging system of claim 2, wherein the communication link includes means for interfacing with an external computer system.
15. The massaging system of claim 2, wherein the at least one external device includes a user control wand, a data router and an electronic control unit.
16. The massaging system of claim 1, further including current sensors and means for calibrating the current sensors.
17. A computer controlled massaging system, comprising: a plurality of vibrators; a user control wand; a data router; an external computer system; and a massage module having a microprocessor in electronic communication with each vibrator, the massage module being configured to monitor a current flow to each vibrator and further configured to communicate with the user control wand, the data router and the external computer system using at least one RS-232 serial bus.
18. The massaging system of claim 17, further including at least one heater in electronic communication with the microprocessor.
19. A method of massaging a user, comprising: providing a plurality of vibrators; providing a massage module having a microprocessor in electronic communication with each vibrator, the massage module being configured to provide electric current to each vibrator; providing power to at least one vibrator; monitoring the current flow to each vibrator; and terminating the power supplied to the vibrator when an adverse current condition is detected.
20. The method of claim 19, further comprising providing at least one serial bus configured to communicate with at least one external device.
21. The method of claim 19, further comprising providing at least one serial bus configured to communicate with a user control wand, a data router and an external computer system using an RS-232 protocol.
PCT/US2003/017542 2002-06-03 2003-06-03 Massage system with feedback WO2003101366A1 (en)

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EP1568343A1 (en) * 2004-02-26 2005-08-31 Cliq Ltd Body massager
CN104287937A (en) * 2014-11-14 2015-01-21 张可池 Diagnosis system and control method thereof based on intelligent healthcare chair
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CN111332172A (en) * 2018-12-18 2020-06-26 奥迪股份公司 Massage system for vehicle

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