| 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 |