0,0 → 1,1740 |
CCS PCM C Compiler, Version 3.221, 27853 18-VI-05 13:30 |
|
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST |
|
ROM used: 1441 words (35%) |
Largest free fragment is 2048 |
RAM used: 27 (15%) at main() level |
34 (19%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 2D1 |
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 00.1 |
001F: GOTO 022 |
0020: BTFSC 0C.1 |
0021: GOTO 035 |
0022: MOVF 22,W |
0023: MOVWF 04 |
0024: MOVF 23,W |
0025: MOVWF 77 |
0026: MOVF 24,W |
0027: MOVWF 78 |
0028: MOVF 25,W |
0029: MOVWF 79 |
002A: MOVF 26,W |
002B: MOVWF 7A |
002C: MOVF 27,W |
002D: MOVWF 7B |
002E: MOVF 28,W |
002F: MOVWF 0A |
0030: SWAPF 21,W |
0031: MOVWF 03 |
0032: SWAPF 7F,F |
0033: SWAPF 7F,W |
0034: RETFIE |
0035: BCF 0A.3 |
0036: GOTO 037 |
.................... // Program pro predvadeni schopnosti robota Merkur |
.................... //------------------------------------------------ |
.................... |
.................... #include "tank.h" |
.................... #include <16F88.h> |
.................... //////// Standard Header file for the PIC16F88 device //////////////// |
.................... #device PIC16F88 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
.................... #use delay(clock=4000000) |
* |
0042: MOVLW 12 |
0043: SUBWF 3C,F |
0044: BTFSS 03.0 |
0045: GOTO 054 |
0046: MOVLW 3C |
0047: MOVWF 04 |
0048: MOVLW FC |
0049: ANDWF 00,F |
004A: BCF 03.0 |
004B: RRF 00,F |
004C: RRF 00,F |
004D: MOVF 00,W |
004E: BTFSC 03.2 |
004F: GOTO 054 |
0050: GOTO 052 |
0051: NOP |
0052: DECFSZ 00,F |
0053: GOTO 051 |
0054: RETLW 00 |
* |
0073: MOVLW 37 |
0074: MOVWF 04 |
0075: MOVF 00,W |
0076: BTFSC 03.2 |
0077: GOTO 087 |
0078: MOVLW 01 |
0079: MOVWF 78 |
007A: CLRF 77 |
007B: DECFSZ 77,F |
007C: GOTO 07B |
007D: DECFSZ 78,F |
007E: GOTO 07A |
007F: MOVLW 4A |
0080: MOVWF 77 |
0081: DECFSZ 77,F |
0082: GOTO 081 |
0083: NOP |
0084: NOP |
0085: DECFSZ 00,F |
0086: GOTO 078 |
0087: RETLW 00 |
.................... |
.................... |
.................... |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
.................... unsigned int8 line; // na ktere strane byla detekovana cara |
.................... unsigned int8 speed; // rychlost zataceni |
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
.................... int1 BW; // urcuje, jestli je cara cerno/bila nebo |
.................... // bilo/cerna (true = bila cara, cerny podklad) |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
.................... |
.................... //motory //Napred vypnout potom zapnout! |
.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
.................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
.................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... //cidla |
.................... #define RSENSOR (BW != C2OUT) // Senzory na caru |
.................... #define LSENSOR (BW != C1OUT) |
.................... #define BUMPER sAN2 // Senzor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
.................... #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
.................... |
.................... #define SPEAKER PIN_B0 // vystup pro pipak |
.................... |
.................... #define LED1 PIN_A4 // LEDky |
.................... #define LED2 PIN_A3 |
.................... #define LED3 PIN_A7 |
.................... #define LED4 PIN_A6 |
.................... |
.................... // makro pro PWM |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... |
.................... #int_TIMER2 |
.................... void TIMER2_isr() // obsluha zrychlovani |
.................... { |
.................... if (speed<255) speed++; |
* |
0037: INCFSZ 2B,W |
0038: GOTO 03A |
0039: GOTO 03B |
003A: INCF 2B,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003B: MOVF 2D,W |
003C: SUBLW 40 |
003D: BTFSC 03.0 |
003E: INCF 2D,F |
.................... } |
.................... |
.................... // Primitivni Pipani |
003F: BCF 0C.1 |
0040: BCF 0A.3 |
0041: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0055: MOVF 39,W |
0056: MOVWF 3B |
0057: MOVF 38,W |
0058: MOVWF 3A |
0059: MOVF 3A,F |
005A: BTFSS 03.2 |
005B: GOTO 05F |
005C: MOVF 3B,F |
005D: BTFSC 03.2 |
005E: GOTO 072 |
.................... { |
.................... output_high(SPEAKER); |
005F: BSF 03.5 |
0060: BCF 06.0 |
0061: BCF 03.5 |
0062: BSF 06.0 |
.................... delay_us(period); |
0063: MOVF 36,W |
0064: MOVWF 3C |
0065: CALL 042 |
.................... output_low(SPEAKER); |
0066: BSF 03.5 |
0067: BCF 06.0 |
0068: BCF 03.5 |
0069: BCF 06.0 |
.................... delay_us(period); |
006A: MOVF 36,W |
006B: MOVWF 3C |
006C: CALL 042 |
.................... } |
006D: MOVF 3A,W |
006E: BTFSC 03.2 |
006F: DECF 3B,F |
0070: DECF 3A,F |
0071: GOTO 059 |
.................... } |
0072: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
0088: BSF 03.5 |
0089: BSF 06.3 |
008A: BCF 03.5 |
008B: BTFSS 06.3 |
008C: GOTO 1B3 |
.................... for (n=500; n<800; n+=100) |
008D: MOVLW 01 |
008E: MOVWF 35 |
008F: MOVLW F4 |
0090: MOVWF 34 |
0091: MOVF 35,W |
0092: SUBLW 03 |
0093: BTFSS 03.0 |
0094: GOTO 0A9 |
0095: BTFSS 03.2 |
0096: GOTO 09B |
0097: MOVF 34,W |
0098: SUBLW 1F |
0099: BTFSS 03.0 |
009A: GOTO 0A9 |
.................... { |
.................... beep(n,n); //beep UP |
009B: MOVF 35,W |
009C: MOVWF 37 |
009D: MOVF 34,W |
009E: MOVWF 36 |
009F: MOVF 35,W |
00A0: MOVWF 39 |
00A1: MOVF 34,W |
00A2: MOVWF 38 |
00A3: CALL 055 |
.................... }; |
00A4: MOVLW 64 |
00A5: ADDWF 34,F |
00A6: BTFSC 03.0 |
00A7: INCF 35,F |
00A8: GOTO 091 |
.................... Delay_ms(1000); |
00A9: MOVLW 04 |
00AA: MOVWF 36 |
00AB: MOVLW FA |
00AC: MOVWF 37 |
00AD: CALL 073 |
00AE: DECFSZ 36,F |
00AF: GOTO 0AB |
.................... //zastav vse |
.................... STOPL; STOPR; |
00B0: BSF 03.5 |
00B1: BCF 06.6 |
00B2: BCF 03.5 |
00B3: BCF 06.6 |
00B4: BSF 03.5 |
00B5: BCF 06.7 |
00B6: BCF 03.5 |
00B7: BCF 06.7 |
00B8: BSF 03.5 |
00B9: BCF 06.4 |
00BA: BCF 03.5 |
00BB: BCF 06.4 |
00BC: BSF 03.5 |
00BD: BCF 06.5 |
00BE: BCF 03.5 |
00BF: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00C0: BSF 03.5 |
00C1: BCF 06.5 |
00C2: BCF 03.5 |
00C3: BCF 06.5 |
00C4: BSF 03.5 |
00C5: BCF 06.4 |
00C6: BCF 03.5 |
00C7: BSF 06.4 |
00C8: MOVLW 04 |
00C9: MOVWF 36 |
00CA: MOVLW FA |
00CB: MOVWF 37 |
00CC: CALL 073 |
00CD: DECFSZ 36,F |
00CE: GOTO 0CA |
00CF: BSF 03.5 |
00D0: BCF 06.4 |
00D1: BCF 03.5 |
00D2: BCF 06.4 |
00D3: BSF 03.5 |
00D4: BCF 06.5 |
00D5: BCF 03.5 |
00D6: BCF 06.5 |
00D7: MOVLW 04 |
00D8: MOVWF 36 |
00D9: MOVLW FA |
00DA: MOVWF 37 |
00DB: CALL 073 |
00DC: DECFSZ 36,F |
00DD: GOTO 0D9 |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00DE: BSF 03.5 |
00DF: BCF 06.4 |
00E0: BCF 03.5 |
00E1: BCF 06.4 |
00E2: BSF 03.5 |
00E3: BCF 06.5 |
00E4: BCF 03.5 |
00E5: BSF 06.5 |
00E6: MOVLW 04 |
00E7: MOVWF 36 |
00E8: MOVLW FA |
00E9: MOVWF 37 |
00EA: CALL 073 |
00EB: DECFSZ 36,F |
00EC: GOTO 0E8 |
00ED: BSF 03.5 |
00EE: BCF 06.4 |
00EF: BCF 03.5 |
00F0: BCF 06.4 |
00F1: BSF 03.5 |
00F2: BCF 06.5 |
00F3: BCF 03.5 |
00F4: BCF 06.5 |
00F5: MOVLW 04 |
00F6: MOVWF 36 |
00F7: MOVLW FA |
00F8: MOVWF 37 |
00F9: CALL 073 |
00FA: DECFSZ 36,F |
00FB: GOTO 0F7 |
.................... Beep(880,100); Delay_ms(1000); |
00FC: MOVLW 03 |
00FD: MOVWF 37 |
00FE: MOVLW 70 |
00FF: MOVWF 36 |
0100: CLRF 39 |
0101: MOVLW 64 |
0102: MOVWF 38 |
0103: CALL 055 |
0104: MOVLW 04 |
0105: MOVWF 36 |
0106: MOVLW FA |
0107: MOVWF 37 |
0108: CALL 073 |
0109: DECFSZ 36,F |
010A: GOTO 106 |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
010B: BSF 03.5 |
010C: BCF 06.7 |
010D: BCF 03.5 |
010E: BCF 06.7 |
010F: BSF 03.5 |
0110: BCF 06.6 |
0111: BCF 03.5 |
0112: BSF 06.6 |
0113: MOVLW 04 |
0114: MOVWF 36 |
0115: MOVLW FA |
0116: MOVWF 37 |
0117: CALL 073 |
0118: DECFSZ 36,F |
0119: GOTO 115 |
011A: BSF 03.5 |
011B: BCF 06.6 |
011C: BCF 03.5 |
011D: BCF 06.6 |
011E: BSF 03.5 |
011F: BCF 06.7 |
0120: BCF 03.5 |
0121: BCF 06.7 |
0122: MOVLW 04 |
0123: MOVWF 36 |
0124: MOVLW FA |
0125: MOVWF 37 |
0126: CALL 073 |
0127: DECFSZ 36,F |
0128: GOTO 124 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0129: BSF 03.5 |
012A: BCF 06.6 |
012B: BCF 03.5 |
012C: BCF 06.6 |
012D: BSF 03.5 |
012E: BCF 06.7 |
012F: BCF 03.5 |
0130: BSF 06.7 |
0131: MOVLW 04 |
0132: MOVWF 36 |
0133: MOVLW FA |
0134: MOVWF 37 |
0135: CALL 073 |
0136: DECFSZ 36,F |
0137: GOTO 133 |
0138: BSF 03.5 |
0139: BCF 06.6 |
013A: BCF 03.5 |
013B: BCF 06.6 |
013C: BSF 03.5 |
013D: BCF 06.7 |
013E: BCF 03.5 |
013F: BCF 06.7 |
0140: MOVLW 04 |
0141: MOVWF 36 |
0142: MOVLW FA |
0143: MOVWF 37 |
0144: CALL 073 |
0145: DECFSZ 36,F |
0146: GOTO 142 |
.................... Beep(880,100); Delay_ms(1000); |
0147: MOVLW 03 |
0148: MOVWF 37 |
0149: MOVLW 70 |
014A: MOVWF 36 |
014B: CLRF 39 |
014C: MOVLW 64 |
014D: MOVWF 38 |
014E: CALL 055 |
014F: MOVLW 04 |
0150: MOVWF 36 |
0151: MOVLW FA |
0152: MOVWF 37 |
0153: CALL 073 |
0154: DECFSZ 36,F |
0155: GOTO 151 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0156: BSF 03.5 |
0157: BCF 06.7 |
0158: BCF 03.5 |
0159: BCF 06.7 |
015A: BSF 03.5 |
015B: BCF 06.6 |
015C: BCF 03.5 |
015D: BSF 06.6 |
015E: BSF 03.5 |
015F: BCF 06.5 |
0160: BCF 03.5 |
0161: BCF 06.5 |
0162: BSF 03.5 |
0163: BCF 06.4 |
0164: BCF 03.5 |
0165: BSF 06.4 |
0166: MOVLW 04 |
0167: MOVWF 36 |
0168: MOVLW FA |
0169: MOVWF 37 |
016A: CALL 073 |
016B: DECFSZ 36,F |
016C: GOTO 168 |
016D: BSF 03.5 |
016E: BCF 06.6 |
016F: BCF 03.5 |
0170: BCF 06.6 |
0171: BSF 03.5 |
0172: BCF 06.7 |
0173: BCF 03.5 |
0174: BCF 06.7 |
0175: BSF 03.5 |
0176: BCF 06.4 |
0177: BCF 03.5 |
0178: BCF 06.4 |
0179: BSF 03.5 |
017A: BCF 06.5 |
017B: BCF 03.5 |
017C: BCF 06.5 |
017D: MOVLW 04 |
017E: MOVWF 36 |
017F: MOVLW FA |
0180: MOVWF 37 |
0181: CALL 073 |
0182: DECFSZ 36,F |
0183: GOTO 17F |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0184: BSF 03.5 |
0185: BCF 06.6 |
0186: BCF 03.5 |
0187: BCF 06.6 |
0188: BSF 03.5 |
0189: BCF 06.7 |
018A: BCF 03.5 |
018B: BSF 06.7 |
018C: BSF 03.5 |
018D: BCF 06.4 |
018E: BCF 03.5 |
018F: BCF 06.4 |
0190: BSF 03.5 |
0191: BCF 06.5 |
0192: BCF 03.5 |
0193: BSF 06.5 |
0194: MOVLW 04 |
0195: MOVWF 36 |
0196: MOVLW FA |
0197: MOVWF 37 |
0198: CALL 073 |
0199: DECFSZ 36,F |
019A: GOTO 196 |
019B: BSF 03.5 |
019C: BCF 06.6 |
019D: BCF 03.5 |
019E: BCF 06.6 |
019F: BSF 03.5 |
01A0: BCF 06.7 |
01A1: BCF 03.5 |
01A2: BCF 06.7 |
01A3: BSF 03.5 |
01A4: BCF 06.4 |
01A5: BCF 03.5 |
01A6: BCF 06.4 |
01A7: BSF 03.5 |
01A8: BCF 06.5 |
01A9: BCF 03.5 |
01AA: BCF 06.5 |
01AB: MOVLW 04 |
01AC: MOVWF 36 |
01AD: MOVLW FA |
01AE: MOVWF 37 |
01AF: CALL 073 |
01B0: DECFSZ 36,F |
01B1: GOTO 1AD |
.................... }; |
01B2: GOTO 088 |
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
.................... { |
01B3: BSF 03.5 |
01B4: BSF 06.2 |
01B5: BCF 03.5 |
01B6: BTFSS 06.2 |
01B7: GOTO 1F6 |
.................... if (RSENSOR) beep(1000,200); |
01B8: CLRF 77 |
01B9: BSF 03.5 |
01BA: BTFSC 1C.7 |
01BB: BSF 77.0 |
01BC: BCF 03.5 |
01BD: MOVF 2F,W |
01BE: XORWF 77,W |
01BF: ANDLW 01 |
01C0: BTFSC 03.2 |
01C1: GOTO 1CA |
01C2: MOVLW 03 |
01C3: MOVWF 37 |
01C4: MOVLW E8 |
01C5: MOVWF 36 |
01C6: CLRF 39 |
01C7: MOVLW C8 |
01C8: MOVWF 38 |
01C9: CALL 055 |
.................... Delay_ms(200); |
01CA: MOVLW C8 |
01CB: MOVWF 37 |
01CC: CALL 073 |
.................... if (LSENSOR) beep(2000,300); |
01CD: CLRF 77 |
01CE: BSF 03.5 |
01CF: BTFSC 1C.6 |
01D0: BSF 77.0 |
01D1: BCF 03.5 |
01D2: MOVF 2F,W |
01D3: XORWF 77,W |
01D4: ANDLW 01 |
01D5: BTFSC 03.2 |
01D6: GOTO 1E0 |
01D7: MOVLW 07 |
01D8: MOVWF 37 |
01D9: MOVLW D0 |
01DA: MOVWF 36 |
01DB: MOVLW 01 |
01DC: MOVWF 39 |
01DD: MOVLW 2C |
01DE: MOVWF 38 |
01DF: CALL 055 |
.................... Delay_ms(200); |
01E0: MOVLW C8 |
01E1: MOVWF 37 |
01E2: CALL 073 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
01E3: BTFSC 1F.2 |
01E4: GOTO 1E3 |
01E5: MOVF 1E,W |
01E6: SUBLW 7F |
01E7: BTFSS 03.0 |
01E8: GOTO 1F2 |
01E9: MOVLW 0B |
01EA: MOVWF 37 |
01EB: MOVLW B8 |
01EC: MOVWF 36 |
01ED: MOVLW 01 |
01EE: MOVWF 39 |
01EF: MOVLW 90 |
01F0: MOVWF 38 |
01F1: CALL 055 |
.................... Delay_ms(200); |
01F2: MOVLW C8 |
01F3: MOVWF 37 |
01F4: CALL 073 |
.................... }; |
01F5: GOTO 1B3 |
.................... } |
01F6: BCF 0A.3 |
01F7: GOTO 378 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void OtocSe() // otoci se zpet, kdyz je prekazka |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL; BR; // cukni zpatky |
01F8: BSF 03.5 |
01F9: BCF 06.6 |
01FA: BCF 03.5 |
01FB: BCF 06.6 |
01FC: BSF 03.5 |
01FD: BCF 06.7 |
01FE: BCF 03.5 |
01FF: BSF 06.7 |
0200: BSF 03.5 |
0201: BCF 06.4 |
0202: BCF 03.5 |
0203: BCF 06.4 |
0204: BSF 03.5 |
0205: BCF 06.5 |
0206: BCF 03.5 |
0207: BSF 06.5 |
.................... Delay_ms(200); |
0208: MOVLW C8 |
0209: MOVWF 37 |
020A: CALL 073 |
.................... STOPR;STOPL; |
020B: BSF 03.5 |
020C: BCF 06.4 |
020D: BCF 03.5 |
020E: BCF 06.4 |
020F: BSF 03.5 |
0210: BCF 06.5 |
0211: BCF 03.5 |
0212: BCF 06.5 |
0213: BSF 03.5 |
0214: BCF 06.6 |
0215: BCF 03.5 |
0216: BCF 06.6 |
0217: BSF 03.5 |
0218: BCF 06.7 |
0219: BCF 03.5 |
021A: BCF 06.7 |
.................... beep(800,400); |
021B: MOVLW 03 |
021C: MOVWF 37 |
021D: MOVLW 20 |
021E: MOVWF 36 |
021F: MOVLW 01 |
0220: MOVWF 39 |
0221: MOVLW 90 |
0222: MOVWF 38 |
0223: CALL 055 |
.................... beep(2000,1000); |
0224: MOVLW 07 |
0225: MOVWF 37 |
0226: MOVLW D0 |
0227: MOVWF 36 |
0228: MOVLW 03 |
0229: MOVWF 39 |
022A: MOVLW E8 |
022B: MOVWF 38 |
022C: CALL 055 |
.................... output_low(LED4); |
022D: BSF 03.5 |
022E: BCF 05.6 |
022F: BCF 03.5 |
0230: BCF 05.6 |
.................... beep(900,400); |
0231: MOVLW 03 |
0232: MOVWF 37 |
0233: MOVLW 84 |
0234: MOVWF 36 |
0235: MOVLW 01 |
0236: MOVWF 39 |
0237: MOVLW 90 |
0238: MOVWF 38 |
0239: CALL 055 |
.................... output_low(LED1); |
023A: BSF 03.5 |
023B: BCF 05.4 |
023C: BCF 03.5 |
023D: BCF 05.4 |
.................... |
.................... BR; FL; Delay_ms(100); // otoc se 30° do prava |
023E: BSF 03.5 |
023F: BCF 06.4 |
0240: BCF 03.5 |
0241: BCF 06.4 |
0242: BSF 03.5 |
0243: BCF 06.5 |
0244: BCF 03.5 |
0245: BSF 06.5 |
0246: BSF 03.5 |
0247: BCF 06.7 |
0248: BCF 03.5 |
0249: BCF 06.7 |
024A: BSF 03.5 |
024B: BCF 06.6 |
024C: BCF 03.5 |
024D: BSF 06.6 |
024E: MOVLW 64 |
024F: MOVWF 37 |
0250: CALL 073 |
.................... STOPL; STOPR; |
0251: BSF 03.5 |
0252: BCF 06.6 |
0253: BCF 03.5 |
0254: BCF 06.6 |
0255: BSF 03.5 |
0256: BCF 06.7 |
0257: BCF 03.5 |
0258: BCF 06.7 |
0259: BSF 03.5 |
025A: BCF 06.4 |
025B: BCF 03.5 |
025C: BCF 06.4 |
025D: BSF 03.5 |
025E: BCF 06.5 |
025F: BCF 03.5 |
0260: BCF 06.5 |
.................... beep(1000,1000); |
0261: MOVLW 03 |
0262: MOVWF 37 |
0263: MOVLW E8 |
0264: MOVWF 36 |
0265: MOVLW 03 |
0266: MOVWF 39 |
0267: MOVLW E8 |
0268: MOVWF 38 |
0269: CALL 055 |
.................... output_low(LED3); |
026A: BSF 03.5 |
026B: BCF 05.7 |
026C: BCF 03.5 |
026D: BCF 05.7 |
.................... |
.................... BR; FL; |
026E: BSF 03.5 |
026F: BCF 06.4 |
0270: BCF 03.5 |
0271: BCF 06.4 |
0272: BSF 03.5 |
0273: BCF 06.5 |
0274: BCF 03.5 |
0275: BSF 06.5 |
0276: BSF 03.5 |
0277: BCF 06.7 |
0278: BCF 03.5 |
0279: BCF 06.7 |
027A: BSF 03.5 |
027B: BCF 06.6 |
027C: BCF 03.5 |
027D: BSF 06.6 |
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
027E: MOVLW 9C |
027F: MOVWF 35 |
0280: MOVLW 40 |
0281: MOVWF 34 |
0282: MOVF 34,F |
0283: BTFSS 03.2 |
0284: GOTO 288 |
0285: MOVF 35,F |
0286: BTFSC 03.2 |
0287: GOTO 2B0 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0288: CLRF 77 |
0289: BSF 03.5 |
028A: BTFSC 1C.7 |
028B: BSF 77.0 |
028C: BCF 03.5 |
028D: MOVF 2F,W |
028E: XORWF 77,W |
028F: ANDLW 01 |
0290: BTFSS 03.2 |
0291: GOTO 294 |
0292: MOVLW 00 |
0293: GOTO 295 |
0294: MOVLW 01 |
0295: MOVWF 2A |
.................... line |= LSENSOR << 1; |
0296: CLRF 77 |
0297: BSF 03.5 |
0298: BTFSC 1C.6 |
0299: BSF 77.0 |
029A: BCF 03.5 |
029B: MOVF 2F,W |
029C: XORWF 77,W |
029D: ANDLW 01 |
029E: BTFSS 03.2 |
029F: GOTO 2A2 |
02A0: MOVLW 00 |
02A1: GOTO 2A3 |
02A2: MOVLW 01 |
02A3: MOVWF 77 |
02A4: BCF 03.0 |
02A5: RLF 77,F |
02A6: MOVF 77,W |
02A7: IORWF 2A,F |
.................... if (line!=0) break; |
02A8: MOVF 2A,F |
02A9: BTFSS 03.2 |
02AA: GOTO 2B0 |
.................... } |
02AB: MOVF 34,W |
02AC: BTFSC 03.2 |
02AD: DECF 35,F |
02AE: DECF 34,F |
02AF: GOTO 282 |
.................... STOPR; STOPL; |
02B0: BSF 03.5 |
02B1: BCF 06.4 |
02B2: BCF 03.5 |
02B3: BCF 06.4 |
02B4: BSF 03.5 |
02B5: BCF 06.5 |
02B6: BCF 03.5 |
02B7: BCF 06.5 |
02B8: BSF 03.5 |
02B9: BCF 06.6 |
02BA: BCF 03.5 |
02BB: BCF 06.6 |
02BC: BSF 03.5 |
02BD: BCF 06.7 |
02BE: BCF 03.5 |
02BF: BCF 06.7 |
.................... output_high(LED1); output_high(LED3); output_high(LED4); |
02C0: BSF 03.5 |
02C1: BCF 05.4 |
02C2: BCF 03.5 |
02C3: BSF 05.4 |
02C4: BSF 03.5 |
02C5: BCF 05.7 |
02C6: BCF 03.5 |
02C7: BSF 05.7 |
02C8: BSF 03.5 |
02C9: BCF 05.6 |
02CA: BCF 03.5 |
02CB: BSF 05.6 |
.................... |
.................... line=L; // caru jsme prejeli, tak je vlevo |
02CC: MOVLW 02 |
02CD: MOVWF 2A |
.................... cirkus=0; |
02CE: CLRF 2E |
.................... } |
02CF: BCF 0A.3 |
02D0: GOTO 3F1 (RETURN) |
.................... |
.................... |
.................... void main() |
.................... { |
02D1: CLRF 04 |
02D2: MOVLW 1F |
02D3: ANDWF 03,F |
02D4: BSF 03.5 |
02D5: BCF 1F.4 |
02D6: BCF 1F.5 |
02D7: MOVF 1B,W |
02D8: ANDLW 80 |
02D9: MOVWF 1B |
02DA: MOVLW 07 |
02DB: MOVWF 1C |
02DC: MOVF 1C,W |
02DD: BCF 03.5 |
02DE: BCF 0D.6 |
02DF: MOVLW 60 |
02E0: BSF 03.5 |
02E1: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... unsigned int16 i; |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
02E2: BCF 06.6 |
02E3: BCF 03.5 |
02E4: BCF 06.6 |
02E5: BSF 03.5 |
02E6: BCF 06.7 |
02E7: BCF 03.5 |
02E8: BCF 06.7 |
02E9: BSF 03.5 |
02EA: BCF 06.4 |
02EB: BCF 03.5 |
02EC: BCF 06.4 |
02ED: BSF 03.5 |
02EE: BCF 06.5 |
02EF: BCF 03.5 |
02F0: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
02F1: MOVLW 62 |
02F2: BSF 03.5 |
02F3: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
02F4: BCF 01.7 |
.................... setup_spi(FALSE); |
02F5: BCF 03.5 |
02F6: BCF 14.5 |
02F7: BSF 03.5 |
02F8: BCF 06.2 |
02F9: BSF 06.1 |
02FA: BCF 06.4 |
02FB: MOVLW 00 |
02FC: BCF 03.5 |
02FD: MOVWF 14 |
02FE: BSF 03.5 |
02FF: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
0300: MOVF 01,W |
0301: ANDLW C7 |
0302: IORLW 08 |
0303: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
0304: MOVLW 48 |
0305: MOVWF 78 |
0306: IORLW 05 |
0307: BCF 03.5 |
0308: MOVWF 12 |
0309: MOVLW FF |
030A: BSF 03.5 |
030B: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
030C: BCF 1F.4 |
030D: BCF 1F.5 |
030E: MOVF 1B,W |
030F: ANDLW 80 |
0310: IORLW 04 |
0311: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0312: BCF 1F.6 |
0313: BCF 03.5 |
0314: BSF 1F.6 |
0315: BSF 1F.7 |
0316: BSF 03.5 |
0317: BCF 1F.7 |
0318: BCF 03.5 |
0319: BSF 1F.0 |
.................... set_adc_channel(2); |
031A: MOVLW 10 |
031B: MOVWF 78 |
031C: MOVF 1F,W |
031D: ANDLW C7 |
031E: IORWF 78,W |
031F: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
0320: MOVLW 85 |
0321: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
0322: BSF 03.5 |
0323: BSF 06.3 |
0324: MOVLW 0B |
0325: BCF 03.5 |
0326: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
0327: CLRF 16 |
0328: MOVLW 07 |
0329: MOVWF 15 |
.................... |
.................... output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
032A: BSF 03.5 |
032B: BCF 05.4 |
032C: BCF 03.5 |
032D: BCF 05.4 |
032E: BSF 03.5 |
032F: BCF 05.3 |
0330: BCF 03.5 |
0331: BCF 05.3 |
0332: BSF 03.5 |
0333: BCF 05.7 |
0334: BCF 03.5 |
0335: BCF 05.7 |
0336: BSF 03.5 |
0337: BCF 05.6 |
0338: BCF 03.5 |
0339: BCF 05.6 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
033A: MOVLW 02 |
033B: BSF 03.5 |
033C: MOVWF 1C |
033D: MOVF 05,W |
033E: IORLW 03 |
033F: MOVWF 05 |
0340: MOVLW 03 |
0341: MOVWF 77 |
0342: DECFSZ 77,F |
0343: GOTO 342 |
0344: MOVF 1C,W |
0345: BCF 03.5 |
0346: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
0347: MOVLW 8F |
0348: BSF 03.5 |
0349: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
034A: MOVLW 03 |
034B: BCF 03.5 |
034C: MOVWF 37 |
034D: MOVLW E8 |
034E: MOVWF 36 |
034F: CLRF 39 |
0350: MOVLW C8 |
0351: MOVWF 38 |
0352: CALL 055 |
.................... Delay_ms(50); |
0353: MOVLW 32 |
0354: MOVWF 37 |
0355: CALL 073 |
.................... Beep(1000,200); |
0356: MOVLW 03 |
0357: MOVWF 37 |
0358: MOVLW E8 |
0359: MOVWF 36 |
035A: CLRF 39 |
035B: MOVLW C8 |
035C: MOVWF 38 |
035D: CALL 055 |
.................... Delay_ms(1000); // 1s |
035E: MOVLW 04 |
035F: MOVWF 34 |
0360: MOVLW FA |
0361: MOVWF 37 |
0362: CALL 073 |
0363: DECFSZ 34,F |
0364: GOTO 360 |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0365: BSF 03.5 |
0366: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
0367: MOVLW C0 |
0368: BCF 03.5 |
0369: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
036A: MOVLW 03 |
036B: MOVWF 29 |
.................... line=S; |
036C: MOVWF 2A |
.................... last=S; |
036D: MOVWF 2C |
.................... cirkus=0; |
036E: CLRF 2E |
.................... // movement=S; |
.................... speed=FW_POMALU; |
036F: MOVLW AA |
0370: MOVWF 2B |
.................... |
.................... BW=input(BARVY); // Jaka ma byt barva cary? |
0371: BSF 03.5 |
0372: BSF 06.1 |
0373: BCF 03.5 |
0374: BCF 2F.0 |
0375: BTFSC 06.1 |
0376: BSF 2F.0 |
.................... diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
0377: GOTO 088 |
.................... Delay_ms(500); |
0378: MOVLW 02 |
0379: MOVWF 34 |
037A: MOVLW FA |
037B: MOVWF 37 |
037C: CALL 073 |
037D: DECFSZ 34,F |
037E: GOTO 37A |
.................... |
.................... output_high(LED1); Beep(1000,200); Delay_ms(500); |
037F: BSF 03.5 |
0380: BCF 05.4 |
0381: BCF 03.5 |
0382: BSF 05.4 |
0383: MOVLW 03 |
0384: MOVWF 37 |
0385: MOVLW E8 |
0386: MOVWF 36 |
0387: CLRF 39 |
0388: MOVLW C8 |
0389: MOVWF 38 |
038A: CALL 055 |
038B: MOVLW 02 |
038C: MOVWF 34 |
038D: MOVLW FA |
038E: MOVWF 37 |
038F: CALL 073 |
0390: DECFSZ 34,F |
0391: GOTO 38D |
.................... output_high(LED2); Beep(1000,200); Delay_ms(500); |
0392: BSF 03.5 |
0393: BCF 05.3 |
0394: BCF 03.5 |
0395: BSF 05.3 |
0396: MOVLW 03 |
0397: MOVWF 37 |
0398: MOVLW E8 |
0399: MOVWF 36 |
039A: CLRF 39 |
039B: MOVLW C8 |
039C: MOVWF 38 |
039D: CALL 055 |
039E: MOVLW 02 |
039F: MOVWF 34 |
03A0: MOVLW FA |
03A1: MOVWF 37 |
03A2: CALL 073 |
03A3: DECFSZ 34,F |
03A4: GOTO 3A0 |
.................... output_high(LED3); Beep(1000,200); Delay_ms(500); |
03A5: BSF 03.5 |
03A6: BCF 05.7 |
03A7: BCF 03.5 |
03A8: BSF 05.7 |
03A9: MOVLW 03 |
03AA: MOVWF 37 |
03AB: MOVLW E8 |
03AC: MOVWF 36 |
03AD: CLRF 39 |
03AE: MOVLW C8 |
03AF: MOVWF 38 |
03B0: CALL 055 |
03B1: MOVLW 02 |
03B2: MOVWF 34 |
03B3: MOVLW FA |
03B4: MOVWF 37 |
03B5: CALL 073 |
03B6: DECFSZ 34,F |
03B7: GOTO 3B3 |
.................... output_high(LED4); Beep(1000,200); Delay_ms(500); |
03B8: BSF 03.5 |
03B9: BCF 05.6 |
03BA: BCF 03.5 |
03BB: BSF 05.6 |
03BC: MOVLW 03 |
03BD: MOVWF 37 |
03BE: MOVLW E8 |
03BF: MOVWF 36 |
03C0: CLRF 39 |
03C1: MOVLW C8 |
03C2: MOVWF 38 |
03C3: CALL 055 |
03C4: MOVLW 02 |
03C5: MOVWF 34 |
03C6: MOVLW FA |
03C7: MOVWF 37 |
03C8: CALL 073 |
03C9: DECFSZ 34,F |
03CA: GOTO 3C6 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
03CB: CLRF 77 |
03CC: BSF 03.5 |
03CD: BTFSC 1C.7 |
03CE: BSF 77.0 |
03CF: BCF 03.5 |
03D0: MOVF 2F,W |
03D1: XORWF 77,W |
03D2: ANDLW 01 |
03D3: BTFSS 03.2 |
03D4: GOTO 3D7 |
03D5: MOVLW 00 |
03D6: GOTO 3D8 |
03D7: MOVLW 01 |
03D8: MOVWF 29 |
.................... sensors |= LSENSOR << 1; |
03D9: CLRF 77 |
03DA: BSF 03.5 |
03DB: BTFSC 1C.6 |
03DC: BSF 77.0 |
03DD: BCF 03.5 |
03DE: MOVF 2F,W |
03DF: XORWF 77,W |
03E0: ANDLW 01 |
03E1: BTFSS 03.2 |
03E2: GOTO 3E5 |
03E3: MOVLW 00 |
03E4: GOTO 3E6 |
03E5: MOVLW 01 |
03E6: MOVWF 77 |
03E7: BCF 03.0 |
03E8: RLF 77,F |
03E9: MOVF 77,W |
03EA: IORWF 29,F |
.................... |
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
03EB: BTFSC 1F.2 |
03EC: GOTO 3EB |
03ED: MOVF 1E,W |
03EE: SUBLW 7F |
03EF: BTFSC 03.0 |
03F0: GOTO 1F8 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
03F1: MOVF 29,W |
03F2: XORLW 03 |
03F3: BTFSC 03.2 |
03F4: GOTO 3FC |
03F5: XORLW 01 |
03F6: BTFSC 03.2 |
03F7: GOTO 431 |
03F8: XORLW 03 |
03F9: BTFSC 03.2 |
03FA: GOTO 468 |
03FB: GOTO 49F |
.................... case S: // rovne |
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
03FC: MOVF 01,W |
03FD: MOVWF 34 |
03FE: MOVLW BE |
03FF: ADDWF 2D,W |
0400: SUBWF 34,W |
0401: BTFSC 03.2 |
0402: GOTO 405 |
0403: BTFSC 03.0 |
0404: GOTO 40E |
0405: BSF 03.5 |
0406: BCF 06.7 |
0407: BCF 03.5 |
0408: BCF 06.7 |
0409: BSF 03.5 |
040A: BCF 06.6 |
040B: BCF 03.5 |
040C: BSF 06.6 |
040D: GOTO 416 |
040E: BSF 03.5 |
040F: BCF 06.6 |
0410: BCF 03.5 |
0411: BCF 06.6 |
0412: BSF 03.5 |
0413: BCF 06.7 |
0414: BCF 03.5 |
0415: BCF 06.7 |
0416: MOVF 01,W |
0417: MOVWF 34 |
0418: MOVLW BE |
0419: ADDWF 2D,W |
041A: SUBWF 34,W |
041B: BTFSC 03.2 |
041C: GOTO 41F |
041D: BTFSC 03.0 |
041E: GOTO 428 |
041F: BSF 03.5 |
0420: BCF 06.5 |
0421: BCF 03.5 |
0422: BCF 06.5 |
0423: BSF 03.5 |
0424: BCF 06.4 |
0425: BCF 03.5 |
0426: BSF 06.4 |
0427: GOTO 430 |
0428: BSF 03.5 |
0429: BCF 06.4 |
042A: BCF 03.5 |
042B: BCF 06.4 |
042C: BSF 03.5 |
042D: BCF 06.5 |
042E: BCF 03.5 |
042F: BCF 06.5 |
.................... continue; |
0430: GOTO 3CB |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
0431: MOVF 01,W |
0432: MOVWF 34 |
0433: MOVLW AA |
0434: ADDWF 2D,W |
0435: SUBWF 34,W |
0436: BTFSC 03.2 |
0437: GOTO 43A |
0438: BTFSC 03.0 |
0439: GOTO 443 |
043A: BSF 03.5 |
043B: BCF 06.7 |
043C: BCF 03.5 |
043D: BCF 06.7 |
043E: BSF 03.5 |
043F: BCF 06.6 |
0440: BCF 03.5 |
0441: BSF 06.6 |
0442: GOTO 44B |
0443: BSF 03.5 |
0444: BCF 06.6 |
0445: BCF 03.5 |
0446: BCF 06.6 |
0447: BSF 03.5 |
0448: BCF 06.7 |
0449: BCF 03.5 |
044A: BCF 06.7 |
044B: MOVF 01,W |
044C: MOVWF 34 |
044D: MOVLW BE |
044E: ADDWF 2D,W |
044F: SUBWF 34,W |
0450: BTFSC 03.2 |
0451: GOTO 454 |
0452: BTFSC 03.0 |
0453: GOTO 45D |
0454: BSF 03.5 |
0455: BCF 06.5 |
0456: BCF 03.5 |
0457: BCF 06.5 |
0458: BSF 03.5 |
0459: BCF 06.4 |
045A: BCF 03.5 |
045B: BSF 06.4 |
045C: GOTO 465 |
045D: BSF 03.5 |
045E: BCF 06.4 |
045F: BCF 03.5 |
0460: BCF 06.4 |
0461: BSF 03.5 |
0462: BCF 06.5 |
0463: BCF 03.5 |
0464: BCF 06.5 |
.................... line=L; |
0465: MOVLW 02 |
0466: MOVWF 2A |
.................... continue; |
0467: GOTO 3CB |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
0468: MOVF 01,W |
0469: MOVWF 34 |
046A: MOVLW AA |
046B: ADDWF 2D,W |
046C: SUBWF 34,W |
046D: BTFSC 03.2 |
046E: GOTO 471 |
046F: BTFSC 03.0 |
0470: GOTO 47A |
0471: BSF 03.5 |
0472: BCF 06.5 |
0473: BCF 03.5 |
0474: BCF 06.5 |
0475: BSF 03.5 |
0476: BCF 06.4 |
0477: BCF 03.5 |
0478: BSF 06.4 |
0479: GOTO 482 |
047A: BSF 03.5 |
047B: BCF 06.4 |
047C: BCF 03.5 |
047D: BCF 06.4 |
047E: BSF 03.5 |
047F: BCF 06.5 |
0480: BCF 03.5 |
0481: BCF 06.5 |
0482: MOVF 01,W |
0483: MOVWF 34 |
0484: MOVLW BE |
0485: ADDWF 2D,W |
0486: SUBWF 34,W |
0487: BTFSC 03.2 |
0488: GOTO 48B |
0489: BTFSC 03.0 |
048A: GOTO 494 |
048B: BSF 03.5 |
048C: BCF 06.7 |
048D: BCF 03.5 |
048E: BCF 06.7 |
048F: BSF 03.5 |
0490: BCF 06.6 |
0491: BCF 03.5 |
0492: BSF 06.6 |
0493: GOTO 49C |
0494: BSF 03.5 |
0495: BCF 06.6 |
0496: BCF 03.5 |
0497: BCF 06.6 |
0498: BSF 03.5 |
0499: BCF 06.7 |
049A: BCF 03.5 |
049B: BCF 06.7 |
.................... line=R; |
049C: MOVLW 01 |
049D: MOVWF 2A |
.................... continue; |
049E: GOTO 3CB |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... }; |
.................... rovinka=0; |
049F: CLRF 2D |
.................... |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
04A0: MOVF 2A,W |
04A1: SUBWF 2C,W |
04A2: BTFSC 03.2 |
04A3: GOTO 560 |
.................... // tak zabrzdi |
.................... { |
.................... output_bit(LED1, !input(LED1)); |
04A4: BSF 03.5 |
04A5: BSF 05.4 |
04A6: BCF 03.5 |
04A7: BTFSS 05.4 |
04A8: GOTO 4AB |
04A9: BCF 05.4 |
04AA: GOTO 4AC |
04AB: BSF 05.4 |
04AC: BSF 03.5 |
04AD: BCF 05.4 |
.................... last=line; |
04AE: BCF 03.5 |
04AF: MOVF 2A,W |
04B0: MOVWF 2C |
.................... speed=FW_ZATACKA; |
04B1: MOVLW C8 |
04B2: MOVWF 2B |
.................... cirkus++; |
04B3: INCF 2E,F |
.................... if (cirkus>8) |
04B4: MOVF 2E,W |
04B5: SUBLW 08 |
04B6: BTFSC 03.0 |
04B7: GOTO 560 |
.................... { |
.................... STOPL; STOPR; |
04B8: BSF 03.5 |
04B9: BCF 06.6 |
04BA: BCF 03.5 |
04BB: BCF 06.6 |
04BC: BSF 03.5 |
04BD: BCF 06.7 |
04BE: BCF 03.5 |
04BF: BCF 06.7 |
04C0: BSF 03.5 |
04C1: BCF 06.4 |
04C2: BCF 03.5 |
04C3: BCF 06.4 |
04C4: BSF 03.5 |
04C5: BCF 06.5 |
04C6: BCF 03.5 |
04C7: BCF 06.5 |
.................... cirkus=0; |
04C8: CLRF 2E |
.................... disable_interrupts(GLOBAL); |
04C9: BCF 0B.6 |
04CA: BCF 0B.7 |
04CB: BTFSC 0B.7 |
04CC: GOTO 4CA |
.................... beep(1000,400); |
04CD: MOVLW 03 |
04CE: MOVWF 37 |
04CF: MOVLW E8 |
04D0: MOVWF 36 |
04D1: MOVLW 01 |
04D2: MOVWF 39 |
04D3: MOVLW 90 |
04D4: MOVWF 38 |
04D5: CALL 055 |
.................... for(n=3000; n>3950; n--) beep(n,10); |
04D6: MOVLW 0B |
04D7: MOVWF 31 |
04D8: MOVLW B8 |
04D9: MOVWF 30 |
04DA: MOVF 31,W |
04DB: SUBLW 0E |
04DC: BTFSC 03.0 |
04DD: GOTO 4F2 |
04DE: XORLW FF |
04DF: BTFSS 03.2 |
04E0: GOTO 4E5 |
04E1: MOVF 30,W |
04E2: SUBLW 6E |
04E3: BTFSC 03.0 |
04E4: GOTO 4F2 |
04E5: MOVF 31,W |
04E6: MOVWF 37 |
04E7: MOVF 30,W |
04E8: MOVWF 36 |
04E9: CLRF 39 |
04EA: MOVLW 0A |
04EB: MOVWF 38 |
04EC: CALL 055 |
04ED: MOVF 30,W |
04EE: BTFSC 03.2 |
04EF: DECF 31,F |
04F0: DECF 30,F |
04F1: GOTO 4DA |
.................... output_low(LED1); |
04F2: BSF 03.5 |
04F3: BCF 05.4 |
04F4: BCF 03.5 |
04F5: BCF 05.4 |
.................... beep(2000,200); |
04F6: MOVLW 07 |
04F7: MOVWF 37 |
04F8: MOVLW D0 |
04F9: MOVWF 36 |
04FA: CLRF 39 |
04FB: MOVLW C8 |
04FC: MOVWF 38 |
04FD: CALL 055 |
.................... beep(900,400); |
04FE: MOVLW 03 |
04FF: MOVWF 37 |
0500: MOVLW 84 |
0501: MOVWF 36 |
0502: MOVLW 01 |
0503: MOVWF 39 |
0504: MOVLW 90 |
0505: MOVWF 38 |
0506: CALL 055 |
.................... for(n=2950; n<3000; n++) beep(n,10); |
0507: MOVLW 0B |
0508: MOVWF 31 |
0509: MOVLW 86 |
050A: MOVWF 30 |
050B: MOVF 31,W |
050C: SUBLW 0B |
050D: BTFSS 03.0 |
050E: GOTO 521 |
050F: BTFSS 03.2 |
0510: GOTO 515 |
0511: MOVF 30,W |
0512: SUBLW B7 |
0513: BTFSS 03.0 |
0514: GOTO 521 |
0515: MOVF 31,W |
0516: MOVWF 37 |
0517: MOVF 30,W |
0518: MOVWF 36 |
0519: CLRF 39 |
051A: MOVLW 0A |
051B: MOVWF 38 |
051C: CALL 055 |
051D: INCF 30,F |
051E: BTFSC 03.2 |
051F: INCF 31,F |
0520: GOTO 50B |
.................... output_low(LED2); |
0521: BSF 03.5 |
0522: BCF 05.3 |
0523: BCF 03.5 |
0524: BCF 05.3 |
.................... output_high(LED1); |
0525: BSF 03.5 |
0526: BCF 05.4 |
0527: BCF 03.5 |
0528: BSF 05.4 |
.................... beep(4000,400); |
0529: MOVLW 0F |
052A: MOVWF 37 |
052B: MOVLW A0 |
052C: MOVWF 36 |
052D: MOVLW 01 |
052E: MOVWF 39 |
052F: MOVLW 90 |
0530: MOVWF 38 |
0531: CALL 055 |
.................... beep(1000,100); |
0532: MOVLW 03 |
0533: MOVWF 37 |
0534: MOVLW E8 |
0535: MOVWF 36 |
0536: CLRF 39 |
0537: MOVLW 64 |
0538: MOVWF 38 |
0539: CALL 055 |
.................... output_low(LED3); |
053A: BSF 03.5 |
053B: BCF 05.7 |
053C: BCF 03.5 |
053D: BCF 05.7 |
.................... beep(3000,400); |
053E: MOVLW 0B |
053F: MOVWF 37 |
0540: MOVLW B8 |
0541: MOVWF 36 |
0542: MOVLW 01 |
0543: MOVWF 39 |
0544: MOVLW 90 |
0545: MOVWF 38 |
0546: CALL 055 |
.................... Delay_ms(1000); |
0547: MOVLW 04 |
0548: MOVWF 34 |
0549: MOVLW FA |
054A: MOVWF 37 |
054B: CALL 073 |
054C: DECFSZ 34,F |
054D: GOTO 549 |
.................... output_high(LED1); output_high(LED2); |
054E: BSF 03.5 |
054F: BCF 05.4 |
0550: BCF 03.5 |
0551: BSF 05.4 |
0552: BSF 03.5 |
0553: BCF 05.3 |
0554: BCF 03.5 |
0555: BSF 05.3 |
.................... output_high(LED3); output_high(LED4); |
0556: BSF 03.5 |
0557: BCF 05.7 |
0558: BCF 03.5 |
0559: BSF 05.7 |
055A: BSF 03.5 |
055B: BCF 05.6 |
055C: BCF 03.5 |
055D: BSF 05.6 |
.................... enable_interrupts(GLOBAL); |
055E: MOVLW C0 |
055F: IORWF 0B,F |
.................... } |
.................... }; |
.................... |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
0560: MOVF 2A,W |
0561: SUBLW 02 |
0562: BTFSS 03.2 |
0563: GOTO 582 |
.................... { |
.................... STOPL; |
0564: BSF 03.5 |
0565: BCF 06.6 |
0566: BCF 03.5 |
0567: BCF 06.6 |
0568: BSF 03.5 |
0569: BCF 06.7 |
056A: BCF 03.5 |
056B: BCF 06.7 |
.................... GO(R, F, speed); |
056C: MOVF 01,W |
056D: SUBWF 2B,W |
056E: BTFSS 03.0 |
056F: GOTO 579 |
0570: BSF 03.5 |
0571: BCF 06.5 |
0572: BCF 03.5 |
0573: BCF 06.5 |
0574: BSF 03.5 |
0575: BCF 06.4 |
0576: BCF 03.5 |
0577: BSF 06.4 |
0578: GOTO 581 |
0579: BSF 03.5 |
057A: BCF 06.4 |
057B: BCF 03.5 |
057C: BCF 06.4 |
057D: BSF 03.5 |
057E: BCF 06.5 |
057F: BCF 03.5 |
0580: BCF 06.5 |
.................... } |
.................... else |
0581: GOTO 59F |
.................... { |
.................... STOPR; |
0582: BSF 03.5 |
0583: BCF 06.4 |
0584: BCF 03.5 |
0585: BCF 06.4 |
0586: BSF 03.5 |
0587: BCF 06.5 |
0588: BCF 03.5 |
0589: BCF 06.5 |
.................... GO(L, F, speed); |
058A: MOVF 01,W |
058B: SUBWF 2B,W |
058C: BTFSS 03.0 |
058D: GOTO 597 |
058E: BSF 03.5 |
058F: BCF 06.7 |
0590: BCF 03.5 |
0591: BCF 06.7 |
0592: BSF 03.5 |
0593: BCF 06.6 |
0594: BCF 03.5 |
0595: BSF 06.6 |
0596: GOTO 59F |
0597: BSF 03.5 |
0598: BCF 06.6 |
0599: BCF 03.5 |
059A: BCF 06.6 |
059B: BSF 03.5 |
059C: BCF 06.7 |
059D: BCF 03.5 |
059E: BCF 06.7 |
.................... } |
.................... |
.................... } // while(true) |
059F: GOTO 3CB |
.................... } |
.................... |
.................... |
05A0: SLEEP |
|
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |