| /Aparatus/DART01B/SW/1_00/A.BAT |
|---|
| 0,0 → 1,4 |
| call picpgr stop |
| call picpgr erase pic16f88 |
| call picpgr program DART.hex hex pic16f88 |
| call picpgr run |
| /Aparatus/DART01B/SW/1_00/DART.C |
|---|
| 0,0 → 1,415 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include "DART.h" |
| #define BEEP0 PIN_A6 // pipak, prvni vystup |
| #define BEEP1 PIN_A7 // pipak, druhy vystup |
| #define PWM PIN_B3 // PWM vystup pro menic |
| #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| #define MOTOR PIN_B2 // zapinani motoru |
| #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| void InitRS232() |
| // Inicializace HW RS232 |
| { |
| SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| RCSTA=0b10000000; // enable USART |
| TXSTA=0b00100100; // BRGH=1, TX enable |
| } |
| void Putc(char c) |
| // Posilani znaku pres HW RS232 |
| { |
| while(TRMT==0); // cekej na prazdny TX buffer |
| TXREG=c; // predej data |
| } |
| // Globalni promenna pro data posilana na SSP |
| // Nastavuje se funkci MotorPatternSet() |
| // Vyuziva se v prerusovaci rutine IntSSP() |
| unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| void MotorPatternSet(unsigned int Gear) |
| // Na zaklade rychlosti nastavi MotorPattern pro SSP |
| // Rychlost 0 znamena stop, rychlost 8 je maximum |
| { |
| // Tabulka rychlost -> pattern pro SSP |
| unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| // Vyber patternu |
| if (Gear==0) // stav 0 znamena stop |
| { |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // neni preruseni od SSP |
| } |
| else // rizeny vykon |
| { |
| if (Gear>7) // stav 8 a vice znamena plny vykon |
| { |
| Gear=8; // plny plyn |
| } |
| MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| SSPBUF=MotorPattern; // prvni data pro vyslani |
| enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| } |
| } |
| // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| } |
| void MotorSet(unsigned int Gear) |
| // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| // od SSP jednotky |
| // 0 stop |
| // 1-7 pocet 1/8 vykonu |
| // >7 plny vykon |
| { |
| // Nastav PWM pattern |
| MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| // Povol preruseni |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| void InitT0() |
| // Inicializace casovace T0 (cca 1000x za sekundu) |
| { |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| // Globalni promenna pro mereni casu |
| // Nastavuje se procedurou TimeSet() |
| // Testuje se funkci TimeIf() |
| // Modifikuje se pri preruseni od casovace IntTo() |
| unsigned int16 TimeTime; |
| void TimerSet(unsigned int16 Time) |
| // Nastavi casovac na zadany pocet ms |
| // Test uplynuti casu se dela pomoci TimerIf() |
| { |
| // Nastav hodnotu |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| TimeTime=Time; // pri nastavovani hodnoty |
| enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| } |
| int1 TimerIf() |
| // Vraci TRUE pokud casovac jiz dobehl |
| { |
| int1 Flag; // pomocna promenna |
| // Otestuj casovac |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| Flag=(TimeTime==0); // behem testu promenne |
| enable_interrupts(INT_RTCC); // ted uz muze |
| // Navratova hodnota |
| return Flag; // TRUE znamena dobehl casovac |
| } |
| // Globalni promenne pro akceleraci |
| // Nastavuje se metodou MotorStart() |
| // Pouziva se v obsluze preruseni IntT0() |
| unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| unsigned int8 MotorDelay; // spozdeni mezi razenim |
| unsigned int8 MotorGear; // rychlostni stupen |
| void MotorStart(unsigned int8 Delay) |
| // Provede rizeny rozjezd motoru |
| { |
| disable_interrupts(INT_RTCC); |
| MotorGear=1; |
| MotorDelay=Delay; |
| MotorTime=MotorDelay; |
| enable_interrupts(INT_RTCC); |
| MotorPatternSet(1); |
| } |
| #INT_TIMER0 |
| void IntT0() |
| // Preruseni od casovace cca 1000x za sekundu |
| { |
| // Odpocitavani casovace |
| if (TimeTime) TimeTime--; |
| // Obsluha akcelerace |
| if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| { |
| MotorTime=MotorDelay; // znovu nastav casovac |
| MotorGear++; // dalsi rychlost |
| MotorPatternSet(MotorGear); // nastav rychlost |
| } |
| } |
| // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| int8 ReadAD(int8 Ch) |
| { |
| // Pokud merim Vref zapnu si jeho napajeni |
| if (Ch==4) output_high(REFPOWER); |
| // Inicializace a cislo kanalu |
| ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| // Mereni |
| delay_us(50); // doba na prepnuti kanalu |
| ADCON0 |= 4; // start prevodu |
| delay_us(50); // doba na prevod |
| // Vypnu napajeni Vref (vzdycky) |
| output_low(REFPOWER); |
| // Navrat hodnoty |
| return ADRESH; |
| } |
| void main() |
| { |
| unsigned int8 Debug; |
| unsigned int8 i; |
| // Hodiny |
| OSCCON = 0x62; // 4 MHz interni RC oscilator |
| // Digitalni vystupy |
| output_low(PWM); // PWM vystup |
| output_low(MOTOR); // Proud do motoru |
| output_low(REFPOWER); // Napajeni Vref |
| port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| // Watch Dog |
| PSA=0; // preddelic prirazen casovaci |
| WDTCON=0x0E; // Watch Dog cca 130ms |
| // Analogove vstupy |
| ANSEL = 0x1F; // AN0 az AN4 |
| // nastaveni RS232 |
| InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| // Pipnuti (a cekani) |
| for (i=1;i<30;i++) // pocet 1/2 period |
| { |
| int1 beep; // stavova promenna pro pipak |
| output_bit(BEEP0,beep); |
| beep=~beep; |
| output_bit(BEEP1,beep); |
| delay_us(1000); |
| } |
| // Rozhodnuti o rezimu cinnosti |
| Debug=0; |
| if (~input(SW0)) Debug|=1; // precti bit 0 |
| if (~input(SW1)) Debug|=2; // precti bit 1 |
| output_low(SW0); // nastav L aby se snizila spotreba |
| output_low(SW1); // na obou vstupech |
| // Zobrazeni rezimu |
| printf(Putc,"\fMode:%d",Debug); |
| // Inicializace PWM |
| PR2 = 0x1F; // perioda PWM casovace |
| T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| CCPR1L = 0; // na zacatku nulova data |
| output_low(PWM); // PWM vystup |
| // Inicializace casovace |
| InitT0(); // nastav casovac na cca 1ms |
| // Test menice PWM a rozjezdoveho PWM |
| if (Debug==1) |
| { |
| unsigned int8 Data1; // poteniometr P1 = PWM |
| unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // mereni vstupu |
| Data1=ReadAD(0); // nacti parametr pro PWM |
| Data1>>=2; // redukuj rozsah na 0 az 63 |
| Data2=ReadAD(1); // nacti parametr pro rozjezd |
| Data2>>=4; // redukuj rozsah na 0 az 15 |
| // zobrazeni |
| printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| delay_ms(20); |
| // nastaveni parametru PWM |
| CCPR1L = Data1; |
| // nastaveni parametru RUN |
| MotorSet(Data2); |
| } |
| } |
| // Testovani rozjezdu |
| // Zadava se cas mezi stupni razeni pro rozjezd v ms |
| if (Debug==2) |
| { |
| int8 Data; |
| int8 Start; |
| Start=0; // uvodni stav |
| while(1) |
| { |
| // Nacti a zobraz parametr |
| Data=ReadAD(1); // potenciometr P2 = rozjezd |
| printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| delay_ms(10); // prodleva pro terminal |
| // Uvodni pauza |
| if (Start==0) // spousti se 1x na zacatku |
| { |
| Start++; // dalsi stav je cekani |
| TimerSet(2000); // na dokonceni uvodni prodlevy |
| } |
| // Rozjezd |
| if ((Start==1) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"R"); |
| MotorStart(Data); // rozjezd s nastavenim prodlevy |
| TimerSet(2000); // nastav celkovy cas jizdy |
| } |
| // Zastaveni |
| if ((Start==2) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"S"); |
| MotorSet(0); // pokud dobehl casovac zastav motor |
| } |
| // watch dog |
| restart_wdt(); |
| } |
| } |
| // Test nabijeciho algoritmu |
| if (Debug==3) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| // Inicializace stavove promenne |
| PwmOut=0; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| } |
| } |
| // Standardni beh |
| if (Debug==0) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| int1 Run; |
| // Inicializace stavove promenne |
| PwmOut=0; |
| TimerSet(14000); // casovani startu |
| Run=1; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| // rozjezd |
| if (TimerIf()&&Run) |
| { |
| Run=0; |
| MotorStart(65); |
| } |
| } |
| } |
| } |
| /Aparatus/DART01B/SW/1_00/DART.H |
|---|
| 0,0 → 1,10 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include <16F88.h> // standardni definice konstant |
| #include <16F88_Reg.h> // standardni definice vsech FSR |
| #device adc=8 // AD prevodnik jen na 8 bitu |
| #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
| #use delay(clock=xclock,restart_wdt) |
| #fuses INTRC_IO, WDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
| /Aparatus/DART01B/SW/1_00/DART.HEX |
|---|
| 0,0 → 1,124 |
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| :10077000E221F8080319C22BB11CC22BB110413081 |
| :08078000BC00F221642B6300B0 |
| :02400E003C2F45 |
| :00000001FF |
| ;PIC16F88 |
| /Aparatus/DART01B/SW/1_00/DART.LST |
|---|
| 0,0 → 1,1408 |
| CCS PCW C Compiler, Version 3.110, 15448 |
| Filename: c:\miho_dat\dart\dart.LST |
| ROM used: 964 (24%) |
| Largest free fragment is 2048 |
| RAM used: 24 (14%) at main() level |
| 41 (23%) worst case |
| Stack: 6 worst case (3 in main + 3 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 204 |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 21 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 20 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 28 |
| 000C: CLRF 0A |
| 000D: SWAPF 20,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 22 |
| 0010: MOVF 77,W |
| 0011: MOVWF 23 |
| 0012: MOVF 78,W |
| 0013: MOVWF 24 |
| 0014: MOVF 79,W |
| 0015: MOVWF 25 |
| 0016: MOVF 7A,W |
| 0017: MOVWF 26 |
| 0018: MOVF 7B,W |
| 0019: MOVWF 27 |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: MOVLW 8C |
| 001D: MOVWF 04 |
| 001E: BTFSS 00.3 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.3 |
| 0021: GOTO 039 |
| 0022: BTFSS 0B.5 |
| 0023: GOTO 026 |
| 0024: BTFSC 0B.2 |
| 0025: GOTO 03B |
| 0026: MOVF 22,W |
| 0027: MOVWF 04 |
| 0028: MOVF 23,W |
| 0029: MOVWF 77 |
| 002A: MOVF 24,W |
| 002B: MOVWF 78 |
| 002C: MOVF 25,W |
| 002D: MOVWF 79 |
| 002E: MOVF 26,W |
| 002F: MOVWF 7A |
| 0030: MOVF 27,W |
| 0031: MOVWF 7B |
| 0032: MOVF 28,W |
| 0033: MOVWF 0A |
| 0034: SWAPF 21,W |
| 0035: MOVWF 03 |
| 0036: SWAPF 7F,F |
| 0037: SWAPF 7F,W |
| 0038: RETFIE |
| 0039: BCF 0A.3 |
| 003A: GOTO 096 |
| 003B: BCF 0A.3 |
| 003C: GOTO 0C4 |
| .................... // DART01A verze programu 1.00 |
| .................... // (c)miho 2005 |
| .................... |
| .................... #include "DART.h" |
| .................... // DART01A verze programu 1.00 |
| .................... // (c)miho 2005 |
| .................... |
| .................... #include <16F88.h> // standardni definice konstant |
| .................... //////// Header file for the PIC16F88 |
| .................... #device PIC16F88 |
| .................... #list |
| .................... #include <16F88_Reg.h> // standardni definice vsech FSR |
| .................... #list |
| .................... |
| .................... |
| .................... #device adc=8 // AD prevodnik jen na 8 bitu |
| .................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
| .................... #use delay(clock=xclock,restart_wdt) |
| * |
| 00EF: MOVLW 3C |
| 00F0: MOVWF 04 |
| 00F1: MOVF 00,W |
| 00F2: BTFSC 03.2 |
| 00F3: GOTO 105 |
| 00F4: MOVLW 01 |
| 00F5: MOVWF 78 |
| 00F6: MOVLW BF |
| 00F7: MOVWF 77 |
| 00F8: CLRWDT |
| 00F9: DECFSZ 77,F |
| 00FA: GOTO 0F8 |
| 00FB: DECFSZ 78,F |
| 00FC: GOTO 0F6 |
| 00FD: MOVLW 58 |
| 00FE: MOVWF 77 |
| 00FF: DECFSZ 77,F |
| 0100: GOTO 0FF |
| 0101: NOP |
| 0102: CLRWDT |
| 0103: DECFSZ 00,F |
| 0104: GOTO 0F4 |
| 0105: RETLW 00 |
| .................... #fuses INTRC_IO, WDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
| .................... |
| .................... |
| .................... |
| .................... #define BEEP0 PIN_A6 // pipak, prvni vystup |
| .................... #define BEEP1 PIN_A7 // pipak, druhy vystup |
| .................... #define PWM PIN_B3 // PWM vystup pro menic |
| .................... #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| .................... #define MOTOR PIN_B2 // zapinani motoru |
| .................... #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| .................... #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| .................... |
| .................... |
| .................... void InitRS232() |
| .................... // Inicializace HW RS232 |
| .................... { |
| .................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| * |
| 00E3: MOVLW 1A |
| 00E4: BSF 03.5 |
| 00E5: MOVWF 19 |
| .................... RCSTA=0b10000000; // enable USART |
| 00E6: MOVLW 80 |
| 00E7: BCF 03.5 |
| 00E8: MOVWF 18 |
| .................... TXSTA=0b00100100; // BRGH=1, TX enable |
| 00E9: MOVLW 24 |
| 00EA: BSF 03.5 |
| 00EB: MOVWF 18 |
| 00EC: BCF 03.5 |
| 00ED: BCF 0A.3 |
| 00EE: GOTO 228 (RETURN) |
| .................... } |
| .................... |
| .................... |
| .................... void Putc(char c) |
| .................... // Posilani znaku pres HW RS232 |
| .................... { |
| .................... while(TRMT==0); // cekej na prazdny TX buffer |
| * |
| 0106: MOVLW 00 |
| 0107: BSF 03.5 |
| 0108: BTFSC 18.1 |
| 0109: MOVLW 01 |
| 010A: XORLW 00 |
| 010B: BTFSS 03.2 |
| 010C: GOTO 110 |
| 010D: BCF 03.5 |
| 010E: GOTO 106 |
| 010F: BSF 03.5 |
| .................... TXREG=c; // predej data |
| 0110: BCF 03.5 |
| 0111: MOVF 40,W |
| 0112: MOVWF 19 |
| 0113: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... // Globalni promenna pro data posilana na SSP |
| .................... // Nastavuje se funkci MotorPatternSet() |
| .................... // Vyuziva se v prerusovaci rutine IntSSP() |
| .................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| .................... |
| .................... |
| .................... void MotorPatternSet(unsigned int Gear) |
| .................... // Na zaklade rychlosti nastavi MotorPattern pro SSP |
| .................... // Rychlost 0 znamena stop, rychlost 8 je maximum |
| .................... { |
| .................... // Tabulka rychlost -> pattern pro SSP |
| .................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| * |
| 003D: BCF 0A.0 |
| 003E: BCF 0A.1 |
| 003F: BCF 0A.2 |
| 0040: ADDWF 02,F |
| 0041: RETLW 02 |
| 0042: RETLW 06 |
| 0043: RETLW 0E |
| 0044: RETLW 1E |
| 0045: RETLW 3E |
| 0046: RETLW 7E |
| 0047: RETLW FE |
| 0048: RETLW FF |
| .................... |
| .................... // Vyber patternu |
| .................... if (Gear==0) // stav 0 znamena stop |
| * |
| 009B: MOVF 43,F |
| 009C: BTFSS 03.2 |
| 009D: GOTO 0AA |
| .................... { |
| .................... output_low(MOTOR); // klidovy stav |
| 009E: BSF 03.5 |
| 009F: BCF 06.2 |
| 00A0: BCF 03.5 |
| 00A1: BCF 06.2 |
| .................... SSPSTAT = 0; |
| 00A2: BSF 03.5 |
| 00A3: CLRF 14 |
| .................... SSPCON1 = 0; // SPI stop |
| 00A4: BCF 03.5 |
| 00A5: CLRF 14 |
| .................... disable_interrupts(INT_SSP); // neni preruseni od SSP |
| 00A6: BSF 03.5 |
| 00A7: BCF 0C.3 |
| .................... } |
| .................... else // rizeny vykon |
| 00A8: GOTO 0C2 |
| 00A9: BCF 03.5 |
| .................... { |
| .................... if (Gear>7) // stav 8 a vice znamena plny vykon |
| 00AA: MOVF 43,W |
| 00AB: SUBLW 07 |
| 00AC: BTFSC 03.0 |
| 00AD: GOTO 0B0 |
| .................... { |
| .................... Gear=8; // plny plyn |
| 00AE: MOVLW 08 |
| 00AF: MOVWF 43 |
| .................... } |
| .................... |
| .................... MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| 00B0: DECF 43,F |
| 00B1: MOVF 43,W |
| 00B2: CALL 03D |
| 00B3: MOVWF 78 |
| 00B4: MOVWF 29 |
| .................... output_low(MOTOR); // klidovy stav |
| 00B5: BSF 03.5 |
| 00B6: BCF 06.2 |
| 00B7: BCF 03.5 |
| 00B8: BCF 06.2 |
| .................... SSPSTAT = 0; |
| 00B9: BSF 03.5 |
| 00BA: CLRF 14 |
| .................... SSPCON1 = 0x22; // SPI OSC/64 |
| 00BB: MOVLW 22 |
| 00BC: BCF 03.5 |
| 00BD: MOVWF 14 |
| .................... |
| .................... SSPBUF=MotorPattern; // prvni data pro vyslani |
| 00BE: MOVF 29,W |
| 00BF: MOVWF 13 |
| .................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| 00C0: BSF 03.5 |
| 00C1: BSF 0C.3 |
| .................... } |
| 00C2: BCF 03.5 |
| 00C3: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| .................... #INT_SSP |
| .................... void IntSSP() |
| .................... { |
| .................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| * |
| 0096: MOVF 29,W |
| 0097: MOVWF 13 |
| 0098: BCF 0C.3 |
| 0099: BCF 0A.3 |
| 009A: GOTO 026 |
| .................... } |
| .................... |
| .................... |
| .................... void MotorSet(unsigned int Gear) |
| .................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| .................... // od SSP jednotky |
| .................... // 0 stop |
| .................... // 1-7 pocet 1/8 vykonu |
| .................... // >7 plny vykon |
| .................... { |
| * |
| 01CF: MOVF 0B,W |
| 01D0: ANDWF 0B,W |
| 01D1: BCF 0B.7 |
| 01D2: MOVWF 20 |
| .................... // Nastav PWM pattern |
| .................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| 01D3: MOVF 3C,W |
| 01D4: MOVWF 43 |
| 01D5: CALL 09B |
| 01D6: BTFSC 20.7 |
| 01D7: BSF 0B.7 |
| .................... |
| .................... // Povol preruseni |
| .................... enable_interrupts(GLOBAL); // povol preruseni |
| 01D8: MOVLW C0 |
| 01D9: IORWF 0B,F |
| 01DA: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... void InitT0() |
| .................... // Inicializace casovace T0 (cca 1000x za sekundu) |
| .................... { |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| * |
| 016D: BSF 03.5 |
| 016E: MOVF 01,W |
| 016F: ANDLW C0 |
| 0170: IORLW 01 |
| 0171: MOVWF 01 |
| .................... enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| 0172: BCF 03.5 |
| 0173: BSF 0B.5 |
| .................... enable_interrupts(GLOBAL); // povol preruseni |
| 0174: MOVLW C0 |
| 0175: IORWF 0B,F |
| 0176: BCF 0A.3 |
| 0177: GOTO 277 (RETURN) |
| .................... } |
| .................... |
| .................... |
| .................... // Globalni promenna pro mereni casu |
| .................... // Nastavuje se procedurou TimeSet() |
| .................... // Testuje se funkci TimeIf() |
| .................... // Modifikuje se pri preruseni od casovace IntTo() |
| .................... unsigned int16 TimeTime; |
| .................... |
| .................... |
| .................... void TimerSet(unsigned int16 Time) |
| .................... // Nastavi casovac na zadany pocet ms |
| .................... // Test uplynuti casu se dela pomoci TimerIf() |
| .................... { |
| .................... // Nastav hodnotu |
| .................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| * |
| 01DB: BCF 0B.5 |
| .................... TimeTime=Time; // pri nastavovani hodnoty |
| 01DC: MOVF 3D,W |
| 01DD: MOVWF 2B |
| 01DE: MOVF 3C,W |
| 01DF: MOVWF 2A |
| .................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| 01E0: BSF 0B.5 |
| 01E1: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... int1 TimerIf() |
| .................... // Vraci TRUE pokud casovac jiz dobehl |
| .................... { |
| .................... int1 Flag; // pomocna promenna |
| .................... |
| .................... // Otestuj casovac |
| .................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| 01E2: BCF 0B.5 |
| .................... Flag=(TimeTime==0); // behem testu promenne |
| 01E3: MOVF 2A,F |
| 01E4: BTFSS 03.2 |
| 01E5: GOTO 1E9 |
| 01E6: MOVF 2B,F |
| 01E7: BTFSC 03.2 |
| 01E8: GOTO 1EB |
| 01E9: BCF 3C.0 |
| 01EA: GOTO 1EC |
| 01EB: BSF 3C.0 |
| .................... enable_interrupts(INT_RTCC); // ted uz muze |
| 01EC: BSF 0B.5 |
| .................... |
| .................... // Navratova hodnota |
| .................... return Flag; // TRUE znamena dobehl casovac |
| 01ED: MOVLW 00 |
| 01EE: BTFSC 3C.0 |
| 01EF: MOVLW 01 |
| 01F0: MOVWF 78 |
| 01F1: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... // Globalni promenne pro akceleraci |
| .................... // Nastavuje se metodou MotorStart() |
| .................... // Pouziva se v obsluze preruseni IntT0() |
| .................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| .................... unsigned int8 MotorDelay; // spozdeni mezi razenim |
| .................... unsigned int8 MotorGear; // rychlostni stupen |
| .................... |
| .................... |
| .................... void MotorStart(unsigned int8 Delay) |
| .................... // Provede rizeny rozjezd motoru |
| .................... { |
| .................... disable_interrupts(INT_RTCC); |
| 01F2: BCF 0B.5 |
| .................... MotorGear=1; |
| 01F3: MOVLW 01 |
| 01F4: MOVWF 2E |
| .................... MotorDelay=Delay; |
| 01F5: MOVF 3C,W |
| 01F6: MOVWF 2D |
| .................... MotorTime=MotorDelay; |
| 01F7: MOVF 2D,W |
| 01F8: MOVWF 2C |
| .................... enable_interrupts(INT_RTCC); |
| 01F9: BSF 0B.5 |
| 01FA: MOVF 0B,W |
| 01FB: ANDWF 0B,W |
| 01FC: BCF 0B.7 |
| 01FD: MOVWF 20 |
| .................... |
| .................... MotorPatternSet(1); |
| 01FE: MOVLW 01 |
| 01FF: MOVWF 43 |
| 0200: CALL 09B |
| 0201: BTFSC 20.7 |
| 0202: BSF 0B.7 |
| 0203: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... #INT_TIMER0 |
| .................... void IntT0() |
| .................... // Preruseni od casovace cca 1000x za sekundu |
| .................... { |
| .................... // Odpocitavani casovace |
| .................... if (TimeTime) TimeTime--; |
| * |
| 00C4: MOVF 2A,W |
| 00C5: IORWF 2B,W |
| 00C6: BTFSC 03.2 |
| 00C7: GOTO 0CC |
| 00C8: MOVF 2A,W |
| 00C9: BTFSC 03.2 |
| 00CA: DECF 2B,F |
| 00CB: DECF 2A,F |
| .................... |
| .................... // Obsluha akcelerace |
| .................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| 00CC: MOVF 2C,F |
| 00CD: BTFSC 03.2 |
| 00CE: GOTO 0D0 |
| 00CF: DECF 2C,F |
| .................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| 00D0: MOVF 2E,F |
| 00D1: BTFSC 03.2 |
| 00D2: GOTO 0E0 |
| 00D3: MOVF 2E,W |
| 00D4: SUBLW 07 |
| 00D5: BTFSS 03.0 |
| 00D6: GOTO 0E0 |
| 00D7: MOVF 2C,F |
| 00D8: BTFSS 03.2 |
| 00D9: GOTO 0E0 |
| .................... { |
| .................... MotorTime=MotorDelay; // znovu nastav casovac |
| 00DA: MOVF 2D,W |
| 00DB: MOVWF 2C |
| .................... MotorGear++; // dalsi rychlost |
| 00DC: INCF 2E,F |
| .................... MotorPatternSet(MotorGear); // nastav rychlost |
| 00DD: MOVF 2E,W |
| 00DE: MOVWF 43 |
| 00DF: CALL 09B |
| .................... } |
| 00E0: BCF 0B.2 |
| 00E1: BCF 0A.3 |
| 00E2: GOTO 026 |
| .................... } |
| .................... |
| .................... |
| .................... // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| .................... int8 ReadAD(int8 Ch) |
| .................... { |
| .................... // Pokud merim Vref zapnu si jeho napajeni |
| .................... if (Ch==4) output_high(REFPOWER); |
| * |
| 0178: MOVF 3C,W |
| 0179: SUBLW 04 |
| 017A: BTFSS 03.2 |
| 017B: GOTO 180 |
| 017C: BSF 03.5 |
| 017D: BCF 06.1 |
| 017E: BCF 03.5 |
| 017F: BSF 06.1 |
| .................... |
| .................... // Inicializace a cislo kanalu |
| .................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| 0180: MOVLW 30 |
| 0181: BSF 03.5 |
| 0182: MOVWF 1F |
| .................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| 0183: BCF 03.5 |
| 0184: RLF 3C,W |
| 0185: MOVWF 77 |
| 0186: RLF 77,F |
| 0187: RLF 77,F |
| 0188: MOVLW F8 |
| 0189: ANDWF 77,F |
| 018A: MOVF 77,W |
| 018B: ADDLW 41 |
| 018C: MOVWF 1F |
| .................... |
| .................... // Mereni |
| .................... delay_us(50); // doba na prepnuti kanalu |
| 018D: MOVLW 11 |
| 018E: MOVWF 77 |
| 018F: DECFSZ 77,F |
| 0190: GOTO 18F |
| .................... ADCON0 |= 4; // start prevodu |
| 0191: BSF 1F.2 |
| .................... delay_us(50); // doba na prevod |
| 0192: MOVLW 11 |
| 0193: MOVWF 77 |
| 0194: DECFSZ 77,F |
| 0195: GOTO 194 |
| .................... |
| .................... // Vypnu napajeni Vref (vzdycky) |
| .................... output_low(REFPOWER); |
| 0196: BSF 03.5 |
| 0197: BCF 06.1 |
| 0198: BCF 03.5 |
| 0199: BCF 06.1 |
| .................... |
| .................... // Navrat hodnoty |
| .................... return ADRESH; |
| 019A: MOVF 1E,W |
| 019B: MOVWF 78 |
| 019C: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| .................... unsigned int8 Debug; |
| .................... unsigned int8 i; |
| * |
| 0204: CLRF 04 |
| 0205: MOVLW 1F |
| 0206: ANDWF 03,F |
| 0207: BSF 03.5 |
| 0208: CLRF 1F |
| 0209: CLRF 1D |
| 020A: MOVLW 07 |
| 020B: BCF 03.5 |
| 020C: MOVWF 1F |
| .................... |
| .................... // Hodiny |
| .................... OSCCON = 0x62; // 4 MHz interni RC oscilator |
| 020D: MOVLW 62 |
| 020E: BSF 03.5 |
| 020F: MOVWF 0F |
| .................... |
| .................... // Digitalni vystupy |
| .................... output_low(PWM); // PWM vystup |
| 0210: BCF 06.3 |
| 0211: BCF 03.5 |
| 0212: BCF 06.3 |
| .................... output_low(MOTOR); // Proud do motoru |
| 0213: BSF 03.5 |
| 0214: BCF 06.2 |
| 0215: BCF 03.5 |
| 0216: BCF 06.2 |
| .................... output_low(REFPOWER); // Napajeni Vref |
| 0217: BSF 03.5 |
| 0218: BCF 06.1 |
| 0219: BCF 03.5 |
| 021A: BCF 06.1 |
| .................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| 021B: BSF 03.5 |
| 021C: BCF 01.7 |
| .................... |
| .................... // Watch Dog |
| .................... PSA=0; // preddelic prirazen casovaci |
| 021D: BCF 01.3 |
| .................... WDTCON=0x0E; // Watch Dog cca 130ms |
| 021E: MOVLW 0E |
| 021F: BCF 03.5 |
| 0220: BSF 03.6 |
| 0221: MOVWF 05 |
| .................... |
| .................... // Analogove vstupy |
| .................... ANSEL = 0x1F; // AN0 az AN4 |
| 0222: MOVLW 1F |
| 0223: BSF 03.5 |
| 0224: BCF 03.6 |
| 0225: MOVWF 1B |
| .................... |
| .................... // nastaveni RS232 |
| .................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| 0226: BCF 03.5 |
| 0227: GOTO 0E3 |
| .................... |
| .................... // Pipnuti (a cekani) |
| .................... for (i=1;i<30;i++) // pocet 1/2 period |
| 0228: MOVLW 01 |
| 0229: MOVWF 30 |
| 022A: MOVF 30,W |
| 022B: SUBLW 1D |
| 022C: BTFSS 03.0 |
| 022D: GOTO 245 |
| .................... { |
| .................... int1 beep; // stavova promenna pro pipak |
| .................... |
| .................... output_bit(BEEP0,beep); |
| 022E: BTFSC 31.0 |
| 022F: GOTO 232 |
| 0230: BCF 05.6 |
| 0231: GOTO 233 |
| 0232: BSF 05.6 |
| 0233: BSF 03.5 |
| 0234: BCF 05.6 |
| .................... beep=~beep; |
| 0235: MOVLW 01 |
| 0236: BCF 03.5 |
| 0237: XORWF 31,F |
| .................... output_bit(BEEP1,beep); |
| 0238: BTFSC 31.0 |
| 0239: GOTO 23C |
| 023A: BCF 05.7 |
| 023B: GOTO 23D |
| 023C: BSF 05.7 |
| 023D: BSF 03.5 |
| 023E: BCF 05.7 |
| .................... delay_us(1000); |
| 023F: MOVLW 01 |
| 0240: BCF 03.5 |
| 0241: MOVWF 3C |
| 0242: CALL 0EF |
| .................... } |
| 0243: INCF 30,F |
| 0244: GOTO 22A |
| .................... |
| .................... // Rozhodnuti o rezimu cinnosti |
| .................... Debug=0; |
| 0245: CLRF 2F |
| .................... if (~input(SW0)) Debug|=1; // precti bit 0 |
| 0246: BSF 03.5 |
| 0247: BSF 06.7 |
| 0248: BCF 03.5 |
| 0249: BTFSC 06.7 |
| 024A: GOTO 24C |
| 024B: BSF 2F.0 |
| .................... if (~input(SW1)) Debug|=2; // precti bit 1 |
| 024C: BSF 03.5 |
| 024D: BSF 06.6 |
| 024E: BCF 03.5 |
| 024F: BTFSC 06.6 |
| 0250: GOTO 252 |
| 0251: BSF 2F.1 |
| .................... output_low(SW0); // nastav L aby se snizila spotreba |
| 0252: BSF 03.5 |
| 0253: BCF 06.7 |
| 0254: BCF 03.5 |
| 0255: BCF 06.7 |
| .................... output_low(SW1); // na obou vstupech |
| 0256: BSF 03.5 |
| 0257: BCF 06.6 |
| 0258: BCF 03.5 |
| 0259: BCF 06.6 |
| .................... |
| .................... // Zobrazeni rezimu |
| .................... printf(Putc,"\fMode:%d",Debug); |
| * |
| 0049: BCF 0A.0 |
| 004A: BCF 0A.1 |
| 004B: BCF 0A.2 |
| 004C: ADDWF 02,F |
| 004D: RETLW 0C |
| 004E: RETLW 4D |
| 004F: RETLW 6F |
| 0050: RETLW 64 |
| 0051: RETLW 65 |
| 0052: RETLW 3A |
| 0053: RETLW 25 |
| 0054: RETLW 64 |
| 0055: RETLW 00 |
| * |
| 0129: MOVF 3D,W |
| 012A: MOVWF 77 |
| 012B: BTFSC 3D.7 |
| 012C: GOTO 131 |
| 012D: BTFSS 3E.2 |
| 012E: GOTO 13B |
| 012F: MOVLW 20 |
| 0130: GOTO 136 |
| 0131: COMF 77,F |
| 0132: INCF 77,F |
| 0133: MOVF 77,W |
| 0134: MOVWF 3D |
| 0135: MOVLW 2D |
| 0136: MOVWF 78 |
| 0137: MOVWF 40 |
| 0138: CALL 106 |
| 0139: BTFSS 3E.2 |
| 013A: BSF 3E.3 |
| 013B: MOVF 3D,W |
| 013C: MOVWF 40 |
| 013D: MOVLW 64 |
| 013E: MOVWF 41 |
| 013F: CALL 114 |
| 0140: MOVF 77,W |
| 0141: MOVWF 3D |
| 0142: MOVF 78,W |
| 0143: MOVLW 30 |
| 0144: BTFSS 03.2 |
| 0145: GOTO 14D |
| 0146: BTFSC 3E.0 |
| 0147: BSF 3E.3 |
| 0148: BTFSC 3E.3 |
| 0149: GOTO 153 |
| 014A: BTFSC 3E.4 |
| 014B: MOVLW 20 |
| 014C: GOTO 14F |
| 014D: BCF 3E.3 |
| 014E: BCF 3E.4 |
| 014F: ADDWF 78,F |
| 0150: MOVF 78,W |
| 0151: MOVWF 40 |
| 0152: CALL 106 |
| 0153: MOVF 3D,W |
| 0154: MOVWF 40 |
| 0155: MOVLW 0A |
| 0156: MOVWF 41 |
| 0157: CALL 114 |
| 0158: MOVF 77,W |
| 0159: MOVWF 3D |
| 015A: MOVF 78,W |
| 015B: MOVLW 30 |
| 015C: BTFSS 03.2 |
| 015D: GOTO 162 |
| 015E: BTFSC 3E.3 |
| 015F: GOTO 166 |
| 0160: BTFSC 3E.4 |
| 0161: MOVLW 20 |
| 0162: ADDWF 78,F |
| 0163: MOVF 78,W |
| 0164: MOVWF 40 |
| 0165: CALL 106 |
| 0166: MOVLW 30 |
| 0167: ADDWF 3D,F |
| 0168: MOVF 3D,W |
| 0169: MOVWF 40 |
| 016A: CALL 106 |
| 016B: BCF 0A.3 |
| 016C: GOTO 269 (RETURN) |
| * |
| 025A: CLRF 3C |
| 025B: MOVF 3C,W |
| 025C: CALL 049 |
| 025D: INCF 3C,F |
| 025E: MOVWF 40 |
| 025F: CALL 106 |
| 0260: MOVLW 06 |
| 0261: SUBWF 3C,W |
| 0262: BTFSS 03.2 |
| 0263: GOTO 25B |
| 0264: MOVF 2F,W |
| 0265: MOVWF 3D |
| 0266: MOVLW 18 |
| 0267: MOVWF 3E |
| 0268: GOTO 129 |
| .................... |
| .................... // Inicializace PWM |
| .................... PR2 = 0x1F; // perioda PWM casovace |
| 0269: MOVLW 1F |
| 026A: BSF 03.5 |
| 026B: MOVWF 12 |
| .................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| 026C: MOVLW 04 |
| 026D: BCF 03.5 |
| 026E: MOVWF 12 |
| .................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| 026F: MOVLW 0C |
| 0270: MOVWF 17 |
| .................... CCPR1L = 0; // na zacatku nulova data |
| 0271: CLRF 15 |
| .................... output_low(PWM); // PWM vystup |
| 0272: BSF 03.5 |
| 0273: BCF 06.3 |
| 0274: BCF 03.5 |
| 0275: BCF 06.3 |
| .................... |
| .................... // Inicializace casovace |
| .................... InitT0(); // nastav casovac na cca 1ms |
| 0276: GOTO 16D |
| .................... |
| .................... // Test menice PWM a rozjezdoveho PWM |
| .................... if (Debug==1) |
| 0277: DECFSZ 2F,W |
| 0278: GOTO 2B0 |
| .................... { |
| .................... unsigned int8 Data1; // poteniometr P1 = PWM |
| .................... unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| .................... |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 0279: CLRWDT |
| .................... |
| .................... // mereni vstupu |
| .................... Data1=ReadAD(0); // nacti parametr pro PWM |
| 027A: CLRF 3C |
| 027B: CALL 178 |
| 027C: MOVF 78,W |
| 027D: MOVWF 32 |
| .................... Data1>>=2; // redukuj rozsah na 0 az 63 |
| 027E: RRF 32,F |
| 027F: RRF 32,F |
| 0280: MOVLW 3F |
| 0281: ANDWF 32,F |
| .................... Data2=ReadAD(1); // nacti parametr pro rozjezd |
| 0282: MOVLW 01 |
| 0283: MOVWF 3C |
| 0284: CALL 178 |
| 0285: MOVF 78,W |
| 0286: MOVWF 33 |
| .................... Data2>>=4; // redukuj rozsah na 0 az 15 |
| 0287: SWAPF 33,F |
| 0288: MOVLW 0F |
| 0289: ANDWF 33,F |
| .................... |
| .................... // zobrazeni |
| .................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| * |
| 0056: BCF 0A.0 |
| 0057: BCF 0A.1 |
| 0058: BCF 0A.2 |
| 0059: ADDWF 02,F |
| 005A: RETLW 0A |
| 005B: RETLW 50 |
| 005C: RETLW 57 |
| 005D: RETLW 4D |
| 005E: RETLW 3A |
| 005F: RETLW 25 |
| 0060: RETLW 30 |
| 0061: RETLW 33 |
| 0062: RETLW 75 |
| 0063: RETLW 20 |
| 0064: RETLW 52 |
| 0065: RETLW 55 |
| 0066: RETLW 4E |
| 0067: RETLW 3A |
| 0068: RETLW 25 |
| 0069: RETLW 30 |
| 006A: RETLW 33 |
| 006B: RETLW 75 |
| 006C: RETLW 00 |
| * |
| 019D: MOVF 78,W |
| 019E: MOVF 3E,W |
| 019F: MOVWF 40 |
| 01A0: MOVLW 64 |
| 01A1: MOVWF 41 |
| 01A2: CALL 114 |
| 01A3: MOVF 77,W |
| 01A4: MOVWF 3E |
| 01A5: MOVF 78,W |
| 01A6: MOVLW 30 |
| 01A7: BTFSS 03.2 |
| 01A8: GOTO 1B0 |
| 01A9: BTFSC 3F.0 |
| 01AA: BSF 3F.3 |
| 01AB: BTFSC 3F.3 |
| 01AC: GOTO 1B6 |
| 01AD: BTFSC 3F.4 |
| 01AE: MOVLW 20 |
| 01AF: GOTO 1B2 |
| 01B0: BCF 3F.3 |
| 01B1: BCF 3F.4 |
| 01B2: ADDWF 78,F |
| 01B3: MOVF 78,W |
| 01B4: MOVWF 40 |
| 01B5: CALL 106 |
| 01B6: MOVF 3E,W |
| 01B7: MOVWF 40 |
| 01B8: MOVLW 0A |
| 01B9: MOVWF 41 |
| 01BA: CALL 114 |
| 01BB: MOVF 77,W |
| 01BC: MOVWF 3E |
| 01BD: MOVF 78,W |
| 01BE: MOVLW 30 |
| 01BF: BTFSS 03.2 |
| 01C0: GOTO 1C5 |
| 01C1: BTFSC 3F.3 |
| 01C2: GOTO 1C9 |
| 01C3: BTFSC 3F.4 |
| 01C4: MOVLW 20 |
| 01C5: ADDWF 78,F |
| 01C6: MOVF 78,W |
| 01C7: MOVWF 40 |
| 01C8: CALL 106 |
| 01C9: MOVLW 30 |
| 01CA: ADDWF 3E,F |
| 01CB: MOVF 3E,W |
| 01CC: MOVWF 40 |
| 01CD: CALL 106 |
| 01CE: RETLW 00 |
| * |
| 028A: CLRF 3C |
| 028B: MOVF 3C,W |
| 028C: CALL 056 |
| 028D: INCF 3C,F |
| 028E: MOVWF 40 |
| 028F: CALL 106 |
| 0290: MOVLW 05 |
| 0291: SUBWF 3C,W |
| 0292: BTFSS 03.2 |
| 0293: GOTO 28B |
| 0294: MOVF 32,W |
| 0295: MOVWF 3E |
| 0296: CLRF 3F |
| 0297: CALL 19D |
| 0298: MOVLW 09 |
| 0299: MOVWF 3D |
| 029A: MOVF 3D,W |
| 029B: CALL 056 |
| 029C: INCF 3D,F |
| 029D: MOVWF 40 |
| 029E: CALL 106 |
| 029F: MOVLW 0E |
| 02A0: SUBWF 3D,W |
| 02A1: BTFSS 03.2 |
| 02A2: GOTO 29A |
| 02A3: MOVF 33,W |
| 02A4: MOVWF 3E |
| 02A5: CLRF 3F |
| 02A6: CALL 19D |
| .................... delay_ms(20); |
| 02A7: MOVLW 14 |
| 02A8: MOVWF 3C |
| 02A9: CALL 0EF |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... CCPR1L = Data1; |
| 02AA: MOVF 32,W |
| 02AB: MOVWF 15 |
| .................... |
| .................... // nastaveni parametru RUN |
| .................... MotorSet(Data2); |
| 02AC: MOVF 33,W |
| 02AD: MOVWF 3C |
| 02AE: CALL 1CF |
| .................... } |
| 02AF: GOTO 279 |
| .................... } |
| .................... |
| .................... // Testovani rozjezdu |
| .................... // Zadava se cas mezi stupni razeni pro rozjezd v ms |
| .................... if (Debug==2) |
| 02B0: MOVF 2F,W |
| 02B1: SUBLW 02 |
| 02B2: BTFSS 03.2 |
| 02B3: GOTO 300 |
| .................... { |
| .................... int8 Data; |
| .................... int8 Start; |
| .................... |
| .................... Start=0; // uvodni stav |
| 02B4: CLRF 35 |
| .................... while(1) |
| .................... { |
| .................... // Nacti a zobraz parametr |
| .................... Data=ReadAD(1); // potenciometr P2 = rozjezd |
| 02B5: MOVLW 01 |
| 02B6: MOVWF 3C |
| 02B7: CALL 178 |
| 02B8: MOVF 78,W |
| 02B9: MOVWF 34 |
| .................... printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| * |
| 006D: BCF 0A.0 |
| 006E: BCF 0A.1 |
| 006F: BCF 0A.2 |
| 0070: ADDWF 02,F |
| 0071: RETLW 0A |
| 0072: RETLW 52 |
| 0073: RETLW 55 |
| 0074: RETLW 4E |
| 0075: RETLW 3A |
| 0076: RETLW 20 |
| 0077: RETLW 25 |
| 0078: RETLW 33 |
| 0079: RETLW 75 |
| 007A: RETLW 6D |
| 007B: RETLW 73 |
| 007C: RETLW 20 |
| 007D: RETLW 00 |
| * |
| 02BA: CLRF 3C |
| 02BB: MOVF 3C,W |
| 02BC: CALL 06D |
| 02BD: INCF 3C,F |
| 02BE: MOVWF 40 |
| 02BF: CALL 106 |
| 02C0: MOVLW 06 |
| 02C1: SUBWF 3C,W |
| 02C2: BTFSS 03.2 |
| 02C3: GOTO 2BB |
| 02C4: MOVF 34,W |
| 02C5: MOVWF 3E |
| 02C6: MOVLW 10 |
| 02C7: MOVWF 3F |
| 02C8: CALL 19D |
| 02C9: MOVLW 6D |
| 02CA: MOVWF 40 |
| 02CB: CALL 106 |
| 02CC: MOVLW 73 |
| 02CD: MOVWF 40 |
| 02CE: CALL 106 |
| 02CF: MOVLW 20 |
| 02D0: MOVWF 40 |
| 02D1: CALL 106 |
| .................... delay_ms(10); // prodleva pro terminal |
| 02D2: MOVLW 0A |
| 02D3: MOVWF 3C |
| 02D4: CALL 0EF |
| .................... |
| .................... // Uvodni pauza |
| .................... if (Start==0) // spousti se 1x na zacatku |
| 02D5: MOVF 35,F |
| 02D6: BTFSS 03.2 |
| 02D7: GOTO 2DE |
| .................... { |
| .................... Start++; // dalsi stav je cekani |
| 02D8: INCF 35,F |
| .................... TimerSet(2000); // na dokonceni uvodni prodlevy |
| 02D9: MOVLW 07 |
| 02DA: MOVWF 3D |
| 02DB: MOVLW D0 |
| 02DC: MOVWF 3C |
| 02DD: CALL 1DB |
| .................... } |
| .................... |
| .................... // Rozjezd |
| .................... if ((Start==1) && TimerIf()) |
| 02DE: DECFSZ 35,W |
| 02DF: GOTO 2F0 |
| 02E0: CALL 1E2 |
| 02E1: MOVF 78,F |
| 02E2: BTFSC 03.2 |
| 02E3: GOTO 2F0 |
| .................... { |
| .................... Start++; |
| 02E4: INCF 35,F |
| .................... printf(Putc,"R"); |
| 02E5: MOVLW 52 |
| 02E6: MOVWF 40 |
| 02E7: CALL 106 |
| .................... MotorStart(Data); // rozjezd s nastavenim prodlevy |
| 02E8: MOVF 34,W |
| 02E9: MOVWF 3C |
| 02EA: CALL 1F2 |
| .................... |
| .................... TimerSet(2000); // nastav celkovy cas jizdy |
| 02EB: MOVLW 07 |
| 02EC: MOVWF 3D |
| 02ED: MOVLW D0 |
| 02EE: MOVWF 3C |
| 02EF: CALL 1DB |
| .................... } |
| .................... |
| .................... // Zastaveni |
| .................... if ((Start==2) && TimerIf()) |
| 02F0: MOVF 35,W |
| 02F1: SUBLW 02 |
| 02F2: BTFSS 03.2 |
| 02F3: GOTO 2FE |
| 02F4: CALL 1E2 |
| 02F5: MOVF 78,F |
| 02F6: BTFSC 03.2 |
| 02F7: GOTO 2FE |
| .................... { |
| .................... Start++; |
| 02F8: INCF 35,F |
| .................... printf(Putc,"S"); |
| 02F9: MOVLW 53 |
| 02FA: MOVWF 40 |
| 02FB: CALL 106 |
| .................... MotorSet(0); // pokud dobehl casovac zastav motor |
| 02FC: CLRF 3C |
| 02FD: CALL 1CF |
| .................... } |
| .................... |
| .................... // watch dog |
| .................... restart_wdt(); |
| 02FE: CLRWDT |
| .................... } |
| 02FF: GOTO 2B5 |
| .................... } |
| .................... |
| .................... // Test nabijeciho algoritmu |
| .................... if (Debug==3) |
| 0300: MOVF 2F,W |
| 0301: SUBLW 03 |
| 0302: BTFSS 03.2 |
| 0303: GOTO 35A |
| .................... { |
| .................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
| .................... unsigned int8 Req; // pozadovana hodnota z P1 |
| .................... unsigned int8 Vref; // merena hodnota vref |
| .................... |
| .................... // Inicializace stavove promenne |
| .................... PwmOut=0; |
| 0304: CLRF 36 |
| .................... |
| .................... // Hlavni smycka |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 0305: CLRWDT |
| .................... |
| .................... // pozadovana hodnota (potenciometr P1) |
| .................... Req=ReadAD(0); |
| 0306: CLRF 3C |
| 0307: CALL 178 |
| 0308: MOVF 78,W |
| 0309: MOVWF 37 |
| .................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
| 030A: CLRF 3C |
| 030B: CALL 178 |
| 030C: BCF 03.0 |
| 030D: RRF 78,W |
| 030E: MOVWF 77 |
| 030F: ADDLW 32 |
| 0310: MOVWF 37 |
| .................... |
| .................... // napeti na napajeni (vref) |
| .................... Vref=ReadAD(4); |
| 0311: MOVLW 04 |
| 0312: MOVWF 3C |
| 0313: CALL 178 |
| 0314: MOVF 78,W |
| 0315: MOVWF 38 |
| .................... |
| .................... // ricici algoritmus |
| .................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| 0316: MOVF 37,W |
| 0317: SUBWF 38,W |
| 0318: BTFSC 03.0 |
| 0319: GOTO 31F |
| 031A: MOVF 36,W |
| 031B: SUBLW 1D |
| 031C: BTFSS 03.0 |
| 031D: GOTO 31F |
| 031E: INCF 36,F |
| .................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| 031F: MOVF 37,W |
| 0320: SUBWF 38,W |
| 0321: BTFSS 03.0 |
| 0322: GOTO 327 |
| 0323: MOVF 36,F |
| 0324: BTFSC 03.2 |
| 0325: GOTO 327 |
| 0326: DECF 36,F |
| .................... Vref+=10; |
| 0327: MOVLW 0A |
| 0328: ADDWF 38,F |
| .................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| 0329: MOVF 37,W |
| 032A: SUBWF 38,W |
| 032B: BTFSC 03.0 |
| 032C: GOTO 332 |
| 032D: MOVF 36,W |
| 032E: SUBLW 1D |
| 032F: BTFSS 03.0 |
| 0330: GOTO 332 |
| 0331: INCF 36,F |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... if (PwmOut>24) PwmOut=24; // saturace |
| 0332: MOVF 36,W |
| 0333: SUBLW 18 |
| 0334: BTFSC 03.0 |
| 0335: GOTO 338 |
| 0336: MOVLW 18 |
| 0337: MOVWF 36 |
| .................... CCPR1L = PwmOut; // pouziti vystupu |
| 0338: MOVF 36,W |
| 0339: MOVWF 15 |
| .................... |
| .................... // zobrazeni |
| .................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| * |
| 007E: BCF 0A.0 |
| 007F: BCF 0A.1 |
| 0080: BCF 0A.2 |
| 0081: ADDWF 02,F |
| 0082: RETLW 0A |
| 0083: RETLW 41 |
| 0084: RETLW 4C |
| 0085: RETLW 47 |
| 0086: RETLW 3A |
| 0087: RETLW 25 |
| 0088: RETLW 30 |
| 0089: RETLW 33 |
| 008A: RETLW 75 |
| 008B: RETLW 20 |
| 008C: RETLW 25 |
| 008D: RETLW 30 |
| 008E: RETLW 33 |
| 008F: RETLW 75 |
| 0090: RETLW 20 |
| 0091: RETLW 25 |
| 0092: RETLW 30 |
| 0093: RETLW 33 |
| 0094: RETLW 75 |
| 0095: RETLW 00 |
| * |
| 033A: CLRF 3C |
| 033B: MOVF 3C,W |
| 033C: CALL 07E |
| 033D: INCF 3C,F |
| 033E: MOVWF 40 |
| 033F: CALL 106 |
| 0340: MOVLW 05 |
| 0341: SUBWF 3C,W |
| 0342: BTFSS 03.2 |
| 0343: GOTO 33B |
| 0344: MOVF 37,W |
| 0345: MOVWF 3E |
| 0346: CLRF 3F |
| 0347: CALL 19D |
| 0348: MOVLW 20 |
| 0349: MOVWF 40 |
| 034A: CALL 106 |
| 034B: MOVF 38,W |
| 034C: MOVWF 3E |
| 034D: CLRF 3F |
| 034E: CALL 19D |
| 034F: MOVLW 20 |
| 0350: MOVWF 40 |
| 0351: CALL 106 |
| 0352: MOVF 36,W |
| 0353: MOVWF 3E |
| 0354: CLRF 3F |
| 0355: CALL 19D |
| .................... delay_ms(10); |
| 0356: MOVLW 0A |
| 0357: MOVWF 3C |
| 0358: CALL 0EF |
| .................... } |
| 0359: GOTO 305 |
| .................... } |
| .................... |
| .................... // Standardni beh |
| .................... if (Debug==0) |
| 035A: MOVF 2F,F |
| 035B: BTFSS 03.2 |
| 035C: GOTO 3C3 |
| .................... { |
| .................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
| .................... unsigned int8 Req; // pozadovana hodnota z P1 |
| .................... unsigned int8 Vref; // merena hodnota vref |
| .................... int1 Run; |
| .................... |
| .................... // Inicializace stavove promenne |
| .................... PwmOut=0; |
| 035D: CLRF 39 |
| .................... TimerSet(14000); // casovani startu |
| 035E: MOVLW 36 |
| 035F: MOVWF 3D |
| 0360: MOVLW B0 |
| 0361: MOVWF 3C |
| 0362: CALL 1DB |
| .................... Run=1; |
| 0363: BSF 31.1 |
| .................... |
| .................... // Hlavni smycka |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 0364: CLRWDT |
| .................... |
| .................... // pozadovana hodnota (potenciometr P1) |
| .................... Req=ReadAD(0); |
| 0365: CLRF 3C |
| 0366: CALL 178 |
| 0367: MOVF 78,W |
| 0368: MOVWF 3A |
| .................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
| 0369: CLRF 3C |
| 036A: CALL 178 |
| 036B: BCF 03.0 |
| 036C: RRF 78,W |
| 036D: MOVWF 77 |
| 036E: ADDLW 32 |
| 036F: MOVWF 3A |
| .................... |
| .................... // napeti na napajeni (vref) |
| .................... Vref=ReadAD(4); |
| 0370: MOVLW 04 |
| 0371: MOVWF 3C |
| 0372: CALL 178 |
| 0373: MOVF 78,W |
| 0374: MOVWF 3B |
| .................... |
| .................... // ricici algoritmus |
| .................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| 0375: MOVF 3A,W |
| 0376: SUBWF 3B,W |
| 0377: BTFSC 03.0 |
| 0378: GOTO 37E |
| 0379: MOVF 39,W |
| 037A: SUBLW 1D |
| 037B: BTFSS 03.0 |
| 037C: GOTO 37E |
| 037D: INCF 39,F |
| .................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| 037E: MOVF 3A,W |
| 037F: SUBWF 3B,W |
| 0380: BTFSS 03.0 |
| 0381: GOTO 386 |
| 0382: MOVF 39,F |
| 0383: BTFSC 03.2 |
| 0384: GOTO 386 |
| 0385: DECF 39,F |
| .................... Vref+=10; |
| 0386: MOVLW 0A |
| 0387: ADDWF 3B,F |
| .................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| 0388: MOVF 3A,W |
| 0389: SUBWF 3B,W |
| 038A: BTFSC 03.0 |
| 038B: GOTO 391 |
| 038C: MOVF 39,W |
| 038D: SUBLW 1D |
| 038E: BTFSS 03.0 |
| 038F: GOTO 391 |
| 0390: INCF 39,F |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... if (PwmOut>24) PwmOut=24; // saturace |
| 0391: MOVF 39,W |
| 0392: SUBLW 18 |
| 0393: BTFSC 03.0 |
| 0394: GOTO 397 |
| 0395: MOVLW 18 |
| 0396: MOVWF 39 |
| .................... CCPR1L = PwmOut; // pouziti vystupu |
| 0397: MOVF 39,W |
| 0398: MOVWF 15 |
| .................... |
| .................... // zobrazeni |
| .................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| 0399: CLRF 3C |
| 039A: MOVF 3C,W |
| 039B: CALL 07E |
| 039C: INCF 3C,F |
| 039D: MOVWF 40 |
| 039E: CALL 106 |
| 039F: MOVLW 05 |
| 03A0: SUBWF 3C,W |
| 03A1: BTFSS 03.2 |
| 03A2: GOTO 39A |
| 03A3: MOVF 3A,W |
| 03A4: MOVWF 3E |
| 03A5: CLRF 3F |
| 03A6: CALL 19D |
| 03A7: MOVLW 20 |
| 03A8: MOVWF 40 |
| 03A9: CALL 106 |
| 03AA: MOVF 3B,W |
| 03AB: MOVWF 3E |
| 03AC: CLRF 3F |
| 03AD: CALL 19D |
| 03AE: MOVLW 20 |
| 03AF: MOVWF 40 |
| 03B0: CALL 106 |
| 03B1: MOVF 39,W |
| 03B2: MOVWF 3E |
| 03B3: CLRF 3F |
| 03B4: CALL 19D |
| .................... delay_ms(10); |
| 03B5: MOVLW 0A |
| 03B6: MOVWF 3C |
| 03B7: CALL 0EF |
| .................... |
| .................... // rozjezd |
| .................... if (TimerIf()&&Run) |
| 03B8: CALL 1E2 |
| 03B9: MOVF 78,F |
| 03BA: BTFSC 03.2 |
| 03BB: GOTO 3C2 |
| 03BC: BTFSS 31.1 |
| 03BD: GOTO 3C2 |
| .................... { |
| .................... Run=0; |
| 03BE: BCF 31.1 |
| .................... MotorStart(65); |
| 03BF: MOVLW 41 |
| 03C0: MOVWF 3C |
| 03C1: CALL 1F2 |
| .................... } |
| .................... } |
| 03C2: GOTO 364 |
| .................... } |
| .................... } |
| .................... |
| 03C3: SLEEP |
| /Aparatus/DART01B/SW/1_00/DART_.C |
|---|
| 0,0 → 1,430 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include "DART.h" |
| #define BEEP0 PIN_A6 // pipak, prvni vystup |
| #define BEEP1 PIN_A7 // pipak, druhy vystup |
| #define PWM PIN_B3 // PWM vystup pro menic |
| #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| #define MOTOR PIN_B2 // zapinani motoru |
| #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| void InitRS232() |
| // Inicializace HW RS232 (pro ladici vystupy) |
| { |
| SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| RCSTA=0b10000000; // enable USART |
| TXSTA=0b00100100; // BRGH=1, TX enable |
| } |
| void Putc(char c) |
| // Posilani znaku pres HW RS232 |
| { |
| while(TRMT==0); // cekej na prazdny TX buffer |
| TXREG=c; // predej data |
| } |
| // Globalni promenna pro data posilana na SSP |
| // Nastavuje se funkci MotorPatternSet() |
| // Vyuziva se v prerusovaci rutine IntSSP() |
| unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| void MotorPatternSet(unsigned int Gear) |
| // Na zaklade rychlostniho stupne nastavi MotorPattern pro SSP |
| // Rychlost 0 znamena stop, rychlost 8 je maximum |
| { |
| // Tabulka rychlost -> pattern pro SSP |
| unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| // Vyber patternu |
| if (Gear==0) // stav 0 znamena stop |
| { |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // neni preruseni od SSP |
| } |
| else // rizeny vykon |
| { |
| if (Gear>7) // stav 8 a vice znamena plny vykon |
| { |
| Gear=8; // plny plyn |
| } |
| MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| SSPBUF=MotorPattern; // prvni data pro vyslani |
| enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| } |
| } |
| // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| } |
| void MotorSet(unsigned int Gear) |
| // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| // od SSP jednotky |
| // 0 stop |
| // 1-7 pocet 1/8 vykonu |
| // >7 plny vykon |
| { |
| // Nastav PWM pattern |
| MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| // Povol preruseni |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| void InitT0() |
| // Inicializace casovace T0 (cca 1000x za sekundu) |
| { |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| // Globalni promenna pro mereni casu |
| // Nastavuje se procedurou TimeSet() |
| // Testuje se funkci TimeIf() |
| // Modifikuje se pri preruseni od casovace IntTo() |
| unsigned int16 TimeTime; |
| void TimerSet(unsigned int16 Time) |
| // Nastavi casovac na zadany pocet ms |
| // Test uplynuti casu se dela pomoci TimerIf() |
| { |
| // Nastav hodnotu |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| TimeTime=Time; // pri nastavovani hodnoty |
| enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| } |
| int1 TimerIf() |
| // Vraci TRUE pokud casovac jiz dobehl |
| { |
| int1 Flag; // pomocna promenna |
| // Otestuj casovac |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| Flag=(TimeTime==0); // behem testu promenne |
| enable_interrupts(INT_RTCC); // ted uz muze |
| // Navratova hodnota |
| return Flag; // TRUE znamena dobehl casovac |
| } |
| // Globalni promenne pro akceleraci |
| // Nastavuje se metodou MotorStart() |
| // Pouziva se v obsluze preruseni IntT0() |
| unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| unsigned int8 MotorDelay; // spozdeni mezi razenim rychlosti |
| unsigned int8 MotorGear; // rychlostni stupen |
| void MotorStart(unsigned int8 Delay) |
| // Provede rizeny rozjezd motoru |
| // Parametrem je prodleva mezi razenim rychlosti v ms |
| { |
| disable_interrupts(INT_RTCC); |
| MotorGear=1; |
| MotorDelay=Delay; |
| MotorTime=MotorDelay; |
| enable_interrupts(INT_RTCC); |
| MotorPatternSet(1); |
| } |
| #INT_TIMER0 |
| void IntT0() |
| // Preruseni od casovace cca 1000x za sekundu |
| { |
| // Odpocitavani casovace |
| if (TimeTime) TimeTime--; |
| // Obsluha akcelerace |
| if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| { |
| MotorTime=MotorDelay; // znovu nastav casovac |
| MotorGear++; // dalsi rychlost |
| MotorPatternSet(MotorGear); // nastav rychlost |
| } |
| } |
| // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| int8 ReadAD(int8 Ch) |
| { |
| // Pokud merim Vref zapnu si jeho napajeni |
| if (Ch==4) output_high(REFPOWER); |
| // Inicializace a cislo kanalu |
| ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| // Mereni |
| delay_us(50); // doba na prepnuti kanalu |
| ADCON0 |= 4; // start prevodu |
| delay_us(50); // doba na prevod |
| // Vypnu napajeni Vref (vzdycky) |
| output_low(REFPOWER); |
| // Navrat hodnoty |
| return ADRESH; |
| } |
| void main() |
| { |
| unsigned int8 Debug; // Promenna pro rezim cinnosti (stav prepinacu) |
| unsigned int8 i; |
| // Hodiny |
| OSCCON = 0x62; // 4 MHz interni RC oscilator |
| // Digitalni vystupy |
| output_low(PWM); // PWM vystup |
| output_low(MOTOR); // Proud do motoru |
| output_low(REFPOWER); // Napajeni Vref |
| port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| // Watch Dog |
| PSA=0; // preddelic prirazen casovaci |
| WDTCON=0x0E; // Watch Dog cca 130ms |
| // Analogove vstupy |
| ANSEL = 0x1F; // AN0 az AN4 |
| // nastaveni RS232 |
| InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| // Pipnuti (a cekani) |
| for (i=1;i<30;i++) // pocet 1/2 period |
| { |
| int1 beep; // stavova promenna pro pipak |
| output_bit(BEEP0,beep); |
| beep=~beep; |
| output_bit(BEEP1,beep); |
| delay_us(1000); |
| } |
| // Rozhodnuti o rezimu cinnosti (cteni stavu prepinacu) |
| Debug=0; |
| if (~input(SW0)) Debug|=1; // precti bit 0 |
| if (~input(SW1)) Debug|=2; // precti bit 1 |
| output_low(SW0); // nastav L aby se snizila spotreba |
| output_low(SW1); // na obou vstupech |
| // Zobrazeni rezimu (na ladici seriovy vystup) |
| printf(Putc,"\fMode:%d",Debug); |
| // Inicializace PWM |
| PR2 = 0x1F; // perioda PWM casovace |
| T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| CCPR1L = 0; // na zacatku nulova data |
| output_low(PWM); // PWM vystup |
| // Inicializace casovace |
| InitT0(); // nastav casovac na cca 1ms |
| // Test menice PWM a rozjezdoveho PWM |
| // ================================== |
| // P1 nastavuje primo stridu hlavniho PWM menice |
| // P2 nastavuje rychlostni stupen spinace motoru (rychlostni stupne 0-8) |
| // Trvale nacita P1 a P2 a nastavuje podle nich akcni hodnoty menicu |
| if (Debug==1) |
| { |
| unsigned int8 Data1; // poteniometr P1 = PWM |
| unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // mereni vstupu |
| Data1=ReadAD(0); // nacti parametr pro PWM |
| Data1>>=2; // redukuj rozsah na 0 az 63 |
| Data2=ReadAD(1); // nacti parametr pro rozjezd |
| Data2>>=4; // redukuj rozsah na 0 az 15 |
| // zobrazeni |
| printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| delay_ms(20); |
| // nastaveni parametru PWM |
| CCPR1L = Data1; |
| // nastaveni parametru RUN |
| MotorSet(Data2); |
| } |
| } |
| // Testovani rozjezdu |
| // ================== |
| // P2 nastavuje cas mezi stupni razeni pro rozjezd v ms |
| // Po resetu 2 sekundy pocka, 2 sekundy jede a nakonec zastavi motor |
| if (Debug==2) |
| { |
| int8 Data; |
| int8 Start; |
| Start=0; // uvodni stav |
| while(1) |
| { |
| // Nacti a zobraz parametr |
| Data=ReadAD(1); // potenciometr P2 = rozjezd |
| printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| delay_ms(10); // prodleva pro terminal |
| // Uvodni pauza |
| if (Start==0) // spousti se 1x na zacatku |
| { |
| Start++; // dalsi stav je cekani |
| TimerSet(2000); // na dokonceni uvodni prodlevy |
| } |
| // Rozjezd |
| if ((Start==1) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"R"); |
| MotorStart(Data); // rozjezd s nastavenim prodlevy |
| TimerSet(2000); // nastav celkovy cas jizdy |
| } |
| // Zastaveni |
| if ((Start==2) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"S"); |
| MotorSet(0); // pokud dobehl casovac zastav motor |
| } |
| // watch dog |
| restart_wdt(); |
| } |
| } |
| // Test nabijeciho algoritmu |
| // ========================= |
| // P1 nastavuje pozadovane napeti na clancich (meri se Vref vuci napajeni) |
| // Nacitani P1 probiha stale dokola, pro rizeni je pouzit stejny |
| // algoritmus jako pro standardni beh |
| if (Debug==3) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| // Inicializace stavove promenne |
| PwmOut=0; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| } |
| } |
| // Standardni beh |
| // ============== |
| // P1 nastavuje pozadovane napeti na clancich |
| // Po resetu cca 14.5 sekundy akumuluje do kondenzatoru a pak provede |
| // rozjezd motoru. Po celou dobu probiha rizeni zateze slunecnich clanku. |
| if (Debug==0) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| int1 Run; |
| // Inicializace stavove promenne |
| PwmOut=0; |
| TimerSet(14000); // casovani startu |
| Run=1; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| // rozjezd |
| if (TimerIf()&&Run) |
| { |
| Run=0; |
| MotorStart(65); |
| } |
| } |
| } |
| } |
| /Aparatus/DART01B/SW/1_00/LIB/16f88.h |
|---|
| 0,0 → 1,216 |
| //////// Header file for the PIC16F88 |
| #device PIC16F88 |
| #nolist |
| //////// Program memory: 4096x14 Data RAM: 368 Stack: 8 |
| //////// I/O: 16 Analog Pins: 7 |
| //////// Data EEPROM: 256 |
| //////// C Scratch area: 77 ID Location: 2000 |
| // Fuses: |
| // Oscilator: LP - oscilator LP |
| // XT - oscilator XT |
| // HS - oscilator HS |
| // EC_IO - externi vstup, RA6/CLKO je IO port |
| // INTRC - RC oscilator, RA6/CLKO je CLKO, RA7/CLKI je IO port port, |
| // INTRC_IO - RC oscilator, RA6 i RA7 je IO port |
| // RC - ext RC, RA6/CLKO je CLKO |
| // RC_IO - ext RC, RA6 je IO port |
| // Watch: NOWDT - neni watchog |
| // WDT - je watchdog |
| // PUT: NOPUT - neni power up timer |
| // PUT - je power up timer |
| // MCLR: MCLR - RA5/MCLR je MCLR |
| // NOMCLR - RA5/MCLR je IO port |
| // BOR: BROWNOUT - BOR povolen |
| // NOBROWNOUT - BOR zakazan |
| // LVP: LVP - RB3/PGM je PGM |
| // NOLVP - RB3/PGM je IO port |
| // CPD: CPD - je ochrana EEPROM |
| // NOCPD - neni ochrana EEPROM |
| // WRT WRT - zakaz zapisu do pameti programu |
| // NOWRT - povolen zapis do pameti programu |
| // DEBUG: DEBUG - RB6 a RB7 jsou ICD port |
| // NODEBUG - RB6 a RB7 jsou IO port |
| // CCPMX: CCPB0 - CCP/PWM na RB0 |
| // CCPB3 - CCP/PWM na RB3 |
| // CP: PROTECT - pamet programu je chranena |
| // NOPROTECT - pamet programu neni chranena |
| // |
| ////////////////////////////////////////////////////////////////// I/O |
| // Discrete I/O Functions: SET_TRIS_x(), OUTPUT_x(), INPUT_x(), |
| // PORT_B_PULLUPS(), INPUT(), |
| // OUTPUT_LOW(), OUTPUT_HIGH(), |
| // OUTPUT_FLOAT(), OUTPUT_BIT() |
| // Constants used to identify pins in the above are: |
| #define PIN_A0 40 |
| #define PIN_A1 41 |
| #define PIN_A2 42 |
| #define PIN_A3 43 |
| #define PIN_A4 44 |
| #define PIN_A5 45 |
| #define PIN_A6 46 |
| #define PIN_A7 47 |
| #define PIN_B0 48 |
| #define PIN_B1 49 |
| #define PIN_B2 50 |
| #define PIN_B3 51 |
| #define PIN_B4 52 |
| #define PIN_B5 53 |
| #define PIN_B6 54 |
| #define PIN_B7 55 |
| ////////////////////////////////////////////////////////////////// Useful defines |
| #define FALSE 0 |
| #define TRUE 1 |
| #define BYTE int |
| #define BOOLEAN short int |
| #define getc getch |
| #define fgetc getch |
| #define getchar getch |
| #define putc putchar |
| #define fputc putchar |
| #define fgets gets |
| #define fputs puts |
| ////////////////////////////////////////////////////////////////// Control |
| // Control Functions: RESET_CPU(), SLEEP(), RESTART_CAUSE() |
| // Constants returned from RESTART_CAUSE() are: |
| #define WDT_FROM_SLEEP 0 |
| #define WDT_TIMEOUT 8 |
| #define MCLR_FROM_SLEEP 16 |
| #define NORMAL_POWER_UP 24 |
| ////////////////////////////////////////////////////////////////// Timer 0 |
| // Timer 0 (AKA RTCC)Functions: SETUP_COUNTERS() or SETUP_TIMER0(), |
| // SET_TIMER0() or SET_RTCC(), |
| // GET_TIMER0() or GET_RTCC() |
| // Constants used for SETUP_TIMER0() are: |
| #define RTCC_INTERNAL 0 |
| #define RTCC_EXT_L_TO_H 32 |
| #define RTCC_EXT_H_TO_L 48 |
| #define RTCC_DIV_1 8 |
| #define RTCC_DIV_2 0 |
| #define RTCC_DIV_4 1 |
| #define RTCC_DIV_8 2 |
| #define RTCC_DIV_16 3 |
| #define RTCC_DIV_32 4 |
| #define RTCC_DIV_64 5 |
| #define RTCC_DIV_128 6 |
| #define RTCC_DIV_256 7 |
| #define RTCC_8_BIT 0 |
| // Constants used for SETUP_COUNTERS() are the above |
| // constants for the 1st param and the following for |
| // the 2nd param: |
| ////////////////////////////////////////////////////////////////// WDT |
| // Watch Dog Timer Functions: SETUP_WDT() or SETUP_COUNTERS() (see above) |
| // RESTART_WDT() |
| // |
| #define WDT_18MS 8 |
| #define WDT_36MS 9 |
| #define WDT_72MS 10 |
| #define WDT_144MS 11 |
| #define WDT_288MS 12 |
| #define WDT_576MS 13 |
| #define WDT_1152MS 14 |
| #define WDT_2304MS 15 |
| ////////////////////////////////////////////////////////////////// Timer 1 |
| // Timer 1 Functions: SETUP_TIMER_1, GET_TIMER1, SET_TIMER1 |
| // Constants used for SETUP_TIMER_1() are: |
| // (or (via |) together constants from each group) |
| #define T1_DISABLED 0 |
| #define T1_INTERNAL 0x85 |
| #define T1_EXTERNAL 0x87 |
| #define T1_EXTERNAL_SYNC 0x83 |
| #define T1_CLK_OUT 8 |
| #define T1_DIV_BY_1 0 |
| #define T1_DIV_BY_2 0x10 |
| #define T1_DIV_BY_4 0x20 |
| #define T1_DIV_BY_8 0x30 |
| ////////////////////////////////////////////////////////////////// Timer 2 |
| // Timer 2 Functions: SETUP_TIMER_2, GET_TIMER2, SET_TIMER2 |
| // Constants used for SETUP_TIMER_2() are: |
| #define T2_DISABLED 0 |
| #define T2_DIV_BY_1 4 |
| #define T2_DIV_BY_4 5 |
| #define T2_DIV_BY_16 6 |
| ////////////////////////////////////////////////////////////////// CCP |
| // CCP Functions: SETUP_CCPx, SET_PWMx_DUTY |
| // CCP Variables: CCP_x, CCP_x_LOW, CCP_x_HIGH |
| // Constants used for SETUP_CCPx() are: |
| #define CCP_OFF 0 |
| #define CCP_CAPTURE_FE 4 |
| #define CCP_CAPTURE_RE 5 |
| #define CCP_CAPTURE_DIV_4 6 |
| #define CCP_CAPTURE_DIV_16 7 |
| #define CCP_COMPARE_SET_ON_MATCH 8 |
| #define CCP_COMPARE_CLR_ON_MATCH 9 |
| #define CCP_COMPARE_INT 0xA |
| #define CCP_COMPARE_RESET_TIMER 0xB |
| #define CCP_PWM 0xC |
| #define CCP_PWM_PLUS_1 0x1c |
| #define CCP_PWM_PLUS_2 0x2c |
| #define CCP_PWM_PLUS_3 0x3c |
| long CCP_1; |
| #byte CCP_1 = 0x15 |
| #byte CCP_1_LOW= 0x15 |
| #byte CCP_1_HIGH= 0x16 |
| ////////////////////////////////////////////////////////////////// COMP |
| // Comparator Variables: C1OUT, C2OUT |
| // Constants used in setup_comparators() are: |
| #define A0_A3_A1_A2 4 |
| #define A0_A2_A1_A2 3 |
| #define NC_NC_A1_A2 5 |
| #define NC_NC_NC_NC 7 |
| #define A0_VR_A1_VR 2 |
| #define A3_VR_A2_VR 10 |
| #define A0_A2_A1_A2_OUT_ON_A3_A4 6 |
| #define A3_A2_A1_A2 9 |
| //#bit C1OUT = 0x1f.6 |
| //#bit C2OUT = 0x1f.7 |
| ////////////////////////////////////////////////////////////////// VREF |
| // Constants used in setup_vref() are: |
| #define VREF_LOW 0xa0 |
| #define VREF_HIGH 0x80 |
| #define VREF_A2 0x40 |
| ////////////////////////////////////////////////////////////////// INT |
| // Interrupt Functions: ENABLE_INTERRUPTS(), DISABLE_INTERRUPTS(), |
| // EXT_INT_EDGE() |
| // |
| // Constants used in EXT_INT_EDGE() are: |
| #define L_TO_H 0x40 |
| #define H_TO_L 0 |
| // Constants used in ENABLE/DISABLE_INTERRUPTS() are: |
| #define GLOBAL 0x0BC0 |
| #define INT_RTCC 0x0B20 |
| #define INT_RB 0x0B08 |
| #define INT_EXT 0x0B10 |
| #define INT_TBE 0x8C10 |
| #define INT_RDA 0x8C20 |
| #define INT_TIMER1 0x8C01 |
| #define INT_TIMER2 0x8C02 |
| #define INT_CCP1 0x8C04 |
| #define INT_SSP 0x8C08 |
| #define INT_COMP 0x8D40 |
| #define INT_EEPROM 0x8D10 |
| #define INT_TIMER0 0x0B20 |
| #list |
| /Aparatus/DART01B/SW/1_00/LIB/16f88_reg.h |
|---|
| 0,0 → 1,314 |
| #nolist |
| // |
| // Komplete definition of all Special Feature Registers for CCS C compiler |
| // |
| // PIC16F87 |
| // PIC16F88 |
| // |
| // (c)miho 2005 |
| // |
| // History: |
| // |
| // 1.00 First Version, not verified yet |
| // SFR Registers in Memory Bank 0 |
| // |
| #byte INDF = 0x00 |
| #byte TMR0 = 0x01 |
| #byte PCL = 0x02 |
| #byte STATUS = 0x03 |
| #bit IRP = STATUS.7 |
| #bit RP1 = STATUS.6 |
| #bit RP0 = STATUS.5 |
| #bit TO = STATUS.4 |
| #bit PD = STATUS.3 |
| #bit Z = STATUS.2 |
| #bit DC = STATUS.1 |
| #bit C = STATUS.0 |
| #byte FSR = 0x04 |
| #byte PORTA = 0x05 |
| #byte PORTB = 0x06 |
| #byte PCLATH = 0x0A |
| #byte INTCON = 0x0B |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| #byte PIR1 = 0x0C |
| #bit ADIF = PIR1.6 |
| #bit RCIF = PIR1.5 |
| #bit TXIF = PIR1.4 |
| #bit SSPIF = PIR1.3 |
| #bit CCP1IF = PIR1.2 |
| #bit TMR2IF = PIR1.1 |
| #bit TMR1IF = PIR1.0 |
| #byte PIR2 = 0x0D |
| #bit OSFIF = PIR2.7 |
| #bit CMIF = PIR2.6 |
| #bit EEIF = PIR2.4 |
| #byte TMR1L = 0x0E |
| #byte TMR1H = 0x0F |
| #byte T1CON = 0x10 |
| #bit T1RUN = T1CON.6 |
| #bit T1CKPS1 = T1CON.5 |
| #bit T1CKPS0 = T1CON.4 |
| #bit T1OSCEN = T1CON.3 |
| #bit T1SYNC = T1CON.2 |
| #bit TMR1CS = T1CON.1 |
| #bit TMR1ON = T1CON.0 |
| #byte TMR2 = 0x11 |
| #byte T2CON = 0x12 |
| #bit TOUTPS3 = T2CON.6 |
| #bit TOUTPS2 = T2CON.5 |
| #bit TOUTPS1 = T2CON.4 |
| #bit TOUTPS0 = T2CON.3 |
| #bit TMR2ON = T2CON.2 |
| #bit T2CKPS1 = T2CON.1 |
| #bit T2CKPS0 = T2CON.0 |
| #byte SSPBUF = 0x13 |
| #byte SSPCON1 = 0x14 |
| #bit WCOL = SSPCON1.7 |
| #bit SSPOV = SSPCON1.6 |
| #bit SSPEN = SSPCON1.5 |
| #bit CKP = SSPCON1.4 |
| #bit SSPM3 = SSPCON1.3 |
| #bit SSPM2 = SSPCON1.2 |
| #bit SSPM1 = SSPCON1.1 |
| #bit SSPM0 = SSPCON1.0 |
| #byte CCPR1L = 0x15 |
| #byte CCPR1H = 0x16 |
| #byte CCP1CON = 0x17 |
| #bit CCP1X = CCP1CON.5 |
| #bit CCP1Y = CCP1CON.4 |
| #bit CCP1M3 = CCP1CON.3 |
| #bit CCP1M2 = CCP1CON.2 |
| #bit CCP1M1 = CCP1CON.1 |
| #bit CCP1M0 = CCP1CON.0 |
| #byte RCSTA = 0x18 |
| #bit SPEN = RCSTA.7 |
| #bit RX9 = RCSTA.6 |
| #bit SREN = RCSTA.5 |
| #bit CREN = RCSTA.4 |
| #bit ADDEN = RCSTA.3 |
| #bit FERR = RCSTA.2 |
| #bit OERR = RCSTA.1 |
| #bit RX9D = RCSTA.0 |
| #byte TXREG = 0x19 |
| #byte RCREG = 0x1A |
| #byte ADRESH = 0x1E // F88 only |
| #byte ADCON0 = 0x1F // F88 only |
| #bit ADCS1 = ADCON0.7 |
| #bit ADCS0 = ADCON0.6 |
| #bit CHS2 = ADCON0.5 |
| #bit CHS1 = ADCON0.4 |
| #bit CHS0 = ADCON0.3 |
| #bit GO = ADCON0.2 |
| #bit ADON = ADCON0.0 |
| // SFR Registers in Memory Bank 1 |
| // |
| #byte INDF_1 = 0x80 // miror |
| #byte OPTION = 0x81 |
| #bit RBPU = OPTION.7 |
| #bit INTEDG = OPTION.6 |
| #bit T0CS = OPTION.5 |
| #bit T0SE = OPTION.4 |
| #bit PSA = OPTION.3 |
| #bit PS2 = OPTION.2 |
| #bit PS1 = OPTION.1 |
| #bit PS0 = OPTION.0 |
| #byte PCL = 0x82 |
| #byte STATUS_1 = 0x83 // mirror |
| #bit IRP_1 = STATUS_1.7 |
| #bit RP1_1 = STATUS_1.6 |
| #bit RP0_1 = STATUS_1.5 |
| #bit TO_1 = STATUS_1.4 |
| #bit PD_1 = STATUS_1.3 |
| #bit Z_1 = STATUS_1.2 |
| #bit DC_1 = STATUS_1.1 |
| #bit C_1 = STATUS_1.0 |
| #byte FSR = 0x84 |
| #byte TRISA = 0x85 |
| #byte TRISB = 0x86 |
| #byte PCLATH_1 = 0x8A // mirror |
| #byte INTCON_1 = 0x8B // mirror |
| #bit GIE_1 = INTCON_1.7 |
| #bit PEIE_1 = INTCON_1.6 |
| #bit TMR0IE_1 = INTCON_1.5 |
| #bit INT0IE_1 = INTCON_1.4 |
| #bit RBIE_1 = INTCON_1.3 |
| #bit TMR0IF_1 = INTCON_1.2 |
| #bit INT0IF_1 = INTCON_1.1 |
| #bit RBIF_1 = INTCON_1.0 |
| #byte PIE1 = 0x8C |
| #bit ADIE = PIE1.6 |
| #bit RCIE = PIE1.5 |
| #bit TXIE = PIE1.4 |
| #bit SSPIE = PIE1.3 |
| #bit CCP1IE = PIE1.2 |
| #bit TMR2IE = PIE1.1 |
| #bit TMR1IE = PIE1.0 |
| #byte PIE2 = 0x8D |
| #bit OSFIE = PIE2.7 |
| #bit CMIE = PIE2.6 |
| #bit EEIE = PIE2.4 |
| #byte PCON = 0x8E |
| #bit POR = PCON.1 |
| #bit BOR = PCON.0 |
| #byte OSCCON = 0x8F |
| #bit IRCF2 = OSCCON.6 |
| #bit IRCF1 = OSCCON.5 |
| #bit IRCF0 = OSCCON.4 |
| #bit OSTS = OSCCON.3 |
| #bit IOFS = OSCCON.2 |
| #bit SCS1 = OSCCON.1 |
| #bit SCS0 = OSCCON.0 |
| #byte OSCTUNE = 0x90 |
| #bit TUN5 = OSCTUNE.5 |
| #bit TUN4 = OSCTUNE.4 |
| #bit TUN3 = OSCTUNE.3 |
| #bit TUN2 = OSCTUNE.2 |
| #bit TUN1 = OSCTUNE.1 |
| #bit TUN0 = OSCTUNE.0 |
| #byte PR2 = 0x92 |
| #byte SSPADD = 0x93 |
| #byte SSPSTAT = 0x94 |
| #bit SMP = SSPSTAT.7 |
| #bit CKE = SSPSTAT.6 |
| #bit DA = SSPSTAT.5 |
| #bit P = SSPSTAT.4 |
| #bit S = SSPSTAT.3 |
| #bit RW = SSPSTAT.2 |
| #bit UA = SSPSTAT.1 |
| #bit BF = SSPSTAT.0 |
| #byte TXSTA = 0x98 |
| #bit CSRC = TXSTA.7 |
| #bit TX9 = TXSTA.6 |
| #bit TXEN = TXSTA.5 |
| #bit SYNC = TXSTA.4 |
| #bit BRGH = TXSTA.2 |
| #bit TRMT = TXSTA.1 |
| #bit TX9D = TXSTA.0 |
| #byte SPBRG = 0x99 |
| #byte ANSEL = 0x9B // F88 only |
| #bit ANS6 = ANSEL.6 |
| #bit ANS5 = ANSEL.5 |
| #bit ANS4 = ANSEL.4 |
| #bit ANS3 = ANSEL.3 |
| #bit ANS2 = ANSEL.2 |
| #bit ANS1 = ANSEL.1 |
| #bit ANS0 = ANSEL.0 |
| #byte CMCON = 0x9C |
| #bit C2OUT = CMCON.7 |
| #bit C1OUT = CMCON.6 |
| #bit C2INV = CMCON.5 |
| #bit C1INV = CMCON.4 |
| #bit CIS = CMCON.3 |
| #bit CM2 = CMCON.2 |
| #bit CM1 = CMCON.1 |
| #bit CM0 = CMCON.0 |
| #byte CVRCON = 0x9D |
| #bit CVREN = CVRCON.7 |
| #bit CVROE = CVRCON.6 |
| #bit CVRR = CVRCON.5 |
| #bit CVR3 = CVRCON.3 |
| #bit CVR2 = CVRCON.2 |
| #bit CVR1 = CVRCON.1 |
| #bit CVR0 = CVRCON.0 |
| #byte ADRESL = 0x9E // F88 only |
| #byte ADCON1 = 0x9F // F88 only |
| #bit ADFM = ADCON1.7 |
| #bit ADCS2 = ADCON1.6 |
| #bit VCFG1 = ADCON1.5 |
| #bit VCFG0 = ADCON1.4 |
| // SFR Registers in Memory Bank 2 |
| // |
| #byte INDF_2 = 0x100 // mirror |
| #byte TMR0_2 = 0x101 // mirror |
| #byte PCL_2 = 0x102 // mirror |
| #byte STATUS_2 = 0x103 // mirror |
| #bit IRP_2 = STATUS_2.7 |
| #bit RP1_2 = STATUS_2.6 |
| #bit RP0_2 = STATUS_2.5 |
| #bit TO_2 = STATUS_2.4 |
| #bit PD_2 = STATUS_2.3 |
| #bit Z_2 = STATUS_2.2 |
| #bit DC_2 = STATUS_2.1 |
| #bit C_2 = STATUS_2.0 |
| #byte FSR_2 = 0x104 // mirror |
| #byte WDTCON = 0x105 |
| #bit WDTPS3 = WDTCON.4 |
| #bit WDTPS2 = WDTCON.3 |
| #bit WDTPS1 = WDTCON.2 |
| #bit WDTPS0 = WDTCON.1 |
| #bit SWDTEN = WDTCON.0 |
| #byte PORTB_2 = 0x106 // mirror |
| #byte PCLATH_2 = 0x10A // mirror |
| #byte INTCON_2 = 0x10B // mirror |
| #bit GIE_2 = INTCON_2.7 |
| #bit PEIE_2 = INTCON_2.6 |
| #bit TMR0IE_2 = INTCON_2.5 |
| #bit INT0IE_2 = INTCON_2.4 |
| #bit RBIE_2 = INTCON_2.3 |
| #bit TMR0IF_2 = INTCON_2.2 |
| #bit INT0IF_2 = INTCON_2.1 |
| #bit RBIF_2 = INTCON_2.0 |
| #byte EEDATA = 0x10C |
| #byte EEADR = 0x10D |
| #byte EEDATH = 0x10E |
| #byte EEADRH = 0x10F |
| // SFR Registers in Memory Bank 3 |
| // |
| #byte INDF_3 = 0x180 // mirror |
| #byte OPTION_3 = 0x181 // mirror |
| #bit RBPU_3 = OPTION_3.7 |
| #bit INTEDG_3 = OPTION_3.6 |
| #bit T0CS_3 = OPTION_3.5 |
| #bit T0SE_3 = OPTION_3.4 |
| #bit PSA_3 = OPTION_3.3 |
| #bit PS2_3 = OPTION_3.2 |
| #bit PS1_3 = OPTION_3.1 |
| #bit PS0_3 = OPTION_3.0 |
| #byte PCL_3 = 0x182 // mirror |
| #byte STATUS_3 = 0x183 // mirror |
| #bit IRP_3 = STATUS_3.7 |
| #bit RP1_3 = STATUS_3.6 |
| #bit RP0_3 = STATUS_3.5 |
| #bit TO_3 = STATUS_3.4 |
| #bit PD_3 = STATUS_3.3 |
| #bit Z_3 = STATUS_3.2 |
| #bit DC_3 = STATUS_3.1 |
| #bit C_3 = STATUS_3.0 |
| #byte FSR_3 = 0x184 // mirror |
| #byte TRISB_3 = 0x186 // mirror |
| #byte PLATH_3 = 0x18A // mirror |
| #byte INTCON_3 = 0x18B // mirror |
| #bit GIE_3 = INTCON_3.7 |
| #bit PEIE_3 = INTCON_3.6 |
| #bit TMR0IE_3 = INTCON_3.5 |
| #bit INT0IE_3 = INTCON_3.4 |
| #bit RBIE_3 = INTCON_3.3 |
| #bit TMR0IF_3 = INTCON_3.2 |
| #bit INT0IF_3 = INTCON_3.1 |
| #bit RBIF_3 = INTCON_3.0 |
| #byte EECON1 = 0x18C |
| #bit EEPGD = EECON1.7 |
| #bit FREE = EECON1.4 |
| #bit WRERR = EECON1.3 |
| #bit WREN = EECON1.2 |
| #bit WR = EECON1.1 |
| #bit RD = EECON1.0 |
| #byte EECON2 = 0x18D |
| #list |