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/Designs/ROBOTS/Merkur/SW/turn_R/AX25.c
0,0 → 1,135
#nolist
//#define PTT PIN_A2 // PTT control
//#define TXo PIN_C0 // To the transmitter modulator
#define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500
#define TAILH delay_us(78)
#define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500
#define TAILL delay_us(345)
#byte STATUS = 3 // CPUs status register
 
byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60,
'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,
0x03, 0xF0};
 
boolean bit;
int fcslo, fcshi; // variabloes for calculating FCS (CRC)
int stuff; // stuff counter for extra 0
int flag_flag; // if it is sending flag (7E)
int fcs_flag; // if it is sending Frame Check Sequence
int i; // for for
 
void flipout() //flips the state of output pin a_1
{
stuff = 0; //since this is a 0, reset the stuff counter
if (bit)
{
bit=FALSE; //if the state of the pin was low, make it high.
}
else
{
bit=TRUE; //if the state of the pin was high make it low
}
}
 
void fcsbit(byte tbyte)
{
#asm
BCF STATUS,0
RRF fcshi,F // rotates the entire 16 bits
RRF fcslo,F // to the right
#endasm
if (((STATUS & 0x01)^(tbyte)) ==0x01)
{
fcshi = fcshi^0x84;
fcslo = fcslo^0x08;
}
}
 
void SendBit ()
{
if (bit)
{
output_high(TXo);
PERIODAH;
output_low(TXo);
PERIODAH;
output_high(TXo);
PERIODAH;
output_low(TXo);
TAILH;
}
else
{
output_high(TXo);
PERIODAL;
output_low(TXo);
TAILL;
};
}
 
void SendByte (byte inbyte)
{
int k, bt;
 
for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte
{
bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte)
if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this
//is not a flag or fcs byte
if (bt == 0)
{
flipout();
} // if this bit is a zero, flip the output state
else
{ //otherwise if it is a 1, do the following:
if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's
if ((flag_flag == FALSE) & (stuff == 5))
{ //stuff an extra 0, if 5 1's in a row
SendBit();
flipout(); //flip the output state to stuff a 0
}//end of if
}//end of else
// delay_us(850); //introduces a delay that creates 1200 baud
SendBit();
inbyte = inbyte>>1; //go to the next bit in the byte
}//end of for
}//end of SendByte
 
void SendPacket(char *data)
{
bit=FALSE;
 
fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF
stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5
// it is time to stuff a 0.
 
// output_low(PTT); // Blinking LED
// delay_ms(1000);
// output_high(PTT);
 
flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise.
fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.
 
for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay
//each flag takes approx 6.7 ms
flag_flag = FALSE; //done sending flags
 
for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes
 
for(i=0; 0 != *data; i++)
{
SendByte(*data); //send the packet bytes
data++;
};
 
fcs_flag = TRUE; //about to send the FCS bytes
fcslo =fcslo^0xff; //must XOR them with FF before sending
fcshi = fcshi^0xff;
SendByte(fcslo); //send the low byte of fcs
SendByte(fcshi); //send the high byte of fcs
fcs_flag = FALSE; //done sending FCS
flag_flag = TRUE; //about to send flags
SendByte(0x7e); // Send a flag to end packet
}
 
#list
/Designs/ROBOTS/Merkur/SW/turn_R/tank.BAK
0,0 → 1,339
#include "tank.h"
 
#define DEBUG
 
#define TXo PIN_A3 // To the transmitter modulator
#include "AX25.c" // podprogram pro prenos telemetrie
 
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 rovinka; // pocitadlo pro zjisteni rovneho useku
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
unsigned int8 movement; // obsahuje aktualni smer zataceni
unsigned int8 dira; // pocita dobu po kterou je ztracena cara
 
// Konstanty pro dynamiku pohybu
#define T_DIRA 120 // po jakem case zataceni se detekuje dira
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku
#define FW_POMALU 230 // trochu mimo caru vnitrni pas
#define FW_ZATACKA 240 // rychlost vnejsiho kola pri zataceni
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry
#define PRES_DIRU 300
#define MAX_ROVINKA (255-FW_STREDNE)
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
#define BUMPER_TRESHOLD 128
#define CIK_CAK 30000
#define T_CIHLA 50 // perioda detekce cihly
 
//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 C2OUT // Senzory na caru
#define LSENSOR C1OUT
#define BUMPER PIN_A4 // Senzor na cihlu
 
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
 
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak
#DEFINE SOUND_LO PIN_A7
 
char AXstring[40]; // Buffer pro prenos telemetrie
 
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
 
#int_TIMER2
void TIMER2_isr()
{
if (speed<255) speed+=INC_SPEED;
if (rovinka<MAX_ROVINKA) rovinka++;
if (dira<=T_DIRA) dira++;
}
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
unsigned int16 nn;
 
for(nn=length; nn>0; nn--)
{
output_high(SOUND_HI);output_low(SOUND_LO);
delay_us(period);
output_high(SOUND_LO);output_low(SOUND_HI);
delay_us(period);
}
}
/******************************************************************************/
void diagnostika()
{
unsigned int16 n;
 
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
{
for (n=500; n<800; n+=100)
{
beep(n,n); //beep UP
};
Delay_ms(1000);
//zastav vse
STOPL; STOPR;
//pravy pas
FR; Delay_ms(1000); STOPR; Delay_ms(1000);
BR; Delay_ms(1000); STOPR; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//levy pas
FL; Delay_ms(1000); STOPL; Delay_ms(1000);
BL; Delay_ms(1000); STOPL; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//oba pasy
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
};
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
{
if (RSENSOR) beep(900,500);
if (LSENSOR) beep(800,500);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);
};
}
///////////////////////////////////////////////////////////////////////////////
void cikcak()
{
unsigned int16 n;
sem1:
n=CIK_CAK;
while (0==RSENSOR||LSENSOR) // zkontroluj caru
{
if (n==CIK_CAK) // zmen smer zataceni
{
n=0;
switch(movement)
{
case L:
FL;BR;
movement=R;
break;
case R:
FR;BL;
movement=L;
break;
case S:
FL;BR;
movement=R;
n=CIK_CAK/2;
break;
}
}
n++;
}
STOPL;STOPR;
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line==0) goto sem1;
// nasli jsme caru
line=S;
}
///////////////////////////////////////////////////////////////////////////////
void objizdka() // objede cihlu
{
unsigned int16 n;
 
BL;BR;Delay_ms(150);
STOPR;STOPL;
beep(900,1000);
// movement=S;
// cikcak();
 
BR; FL; Delay_ms(270); // otoc se 70° do prava
 
FR; FL; Delay_ms(700); // popojed rovne
 
BL; Delay_ms(30); // otoc se 90° do leva
STOPL; FR; Delay_ms(500);
 
FR; FL; Delay_ms(100); // popojed rovne na slepo
for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) {Delay_ms(150); break;}
// Delay_ms(1);
}
 
BR; FL; // otoc se 60° do prava
for(n=40000;n>0;n--)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
// Delay_ms(1);
}
STOPR; STOPL;
 
movement=L; //R;
cikcak();
dira=0;
}
///////////////////////////////////////////////////////////////////////////////
void prejeddiru() // vyresi diru
{
unsigned int16 n;
unsigned int8 speed_dira;
 
STOPL;STOPR;
speed_dira=speed;
beep(1000,500);
switch (movement) //vrat se zpet na caru
{
case L:
for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}
STOPL;STOPR;
break;
case R:
for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}
STOPL;STOPR;
break;
case S:
goto sem;
break;
}
beep(1000,500);
 
/*line=0;
FR; BL; Delay_ms(400); // otoc se na caru
beep(1000,500);
while(line==0)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
}
FL;BR; Delay_ms(60); // zabrzdi
STOPL; STOPR;
 
FL; BR; Delay_ms(700); // otacka 180 deg
STOPL; STOPR;*/
 
FR;FL; //popojed rovne
for(n=PRES_DIRU;n>0;n--)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
Delay_ms(1);
}
sem:
STOPL; STOPR;
movement=S;
cikcak(); // najdi caru
dira=0;
}
///////////////////////////////////////////////////////////////////////////////
void main()
{
unsigned int16 n; // pro FOR
 
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
 
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
 
port_b_pullups(TRUE); // pullups pro piano na diagnostiku
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
 
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
// preruseni kazdych 10ms
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(2);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
setup_ccp1(CCP_COMPARE_RESET_TIMER);
CCP_1=(2^10)-1; // prevod kazdou 1ms
 
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
 
Beep(1000,200); //double beep
Delay_ms(50);
Beep(1000,200);
Delay_ms(1000); // 1s
 
// povoleni rizeni rychlosti zataceni pres preruseni
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
 
/*---------------------------------------------------------------------------*/
sensors=S;
line=S;
last=S;
movement=S;
speed=FW_POMALU;
 
diagnostika();
//cikcak(); // toc se, abys nasel caru
Delay_ms(500);
Beep(1000,200);
Delay_ms(500);
 
while(true) // hlavni smycka (jizda podle cary)
{
sensors = RSENSOR; // cteni senzoru na caru
sensors |= LSENSOR << 1;
 
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();
 
switch (sensors) // zatacej podle toho, kde vidis caru
{
case S: // rovne
FL; FR; // pokud se jede dlouho rovne, tak pridej
dira=0;
movement=S;
continue;
case L: // trochu vlevo
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
line=L;
dira=0;
movement=L;
continue;
case R: // trochu vpravo
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
line=R;
dira=0;
movement=R;
continue;
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
}
rovinka=0;
if (dira>=T_DIRA) prejeddiru();
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi
{
last=line;
speed=FW_ZATACKA;
}
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
{
STOPL;
GO(R, F, speed);
movement=L;
}
else
{
STOPR;
GO(L, F, speed);
movement=R;
}
} // while(true)
}
 
/Designs/ROBOTS/Merkur/SW/turn_R/tank.HEX
0,0 → 1,202
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;PIC16F88
/Designs/ROBOTS/Merkur/SW/turn_R/tank.LST
0,0 → 1,1932
CCS PCM C Compiler, Version 3.221, 27853 27-IV-05 14:16
 
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST
 
ROM used: 1587 words (39%)
Largest free fragment is 2048
RAM used: 87 (50%) at main() level
98 (56%) worst case
Stack: 4 worst case (3 in main + 1 for interrupts)
 
*
0000: MOVLW 00
0001: MOVWF 0A
0002: GOTO 472
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
.................... #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)
*
0047: MOVLW 12
0048: BSF 03.5
0049: SUBWF 22,F
004A: BTFSS 03.0
004B: GOTO 05A
004C: MOVLW A2
004D: MOVWF 04
004E: MOVLW FC
004F: ANDWF 00,F
0050: BCF 03.0
0051: RRF 00,F
0052: RRF 00,F
0053: MOVF 00,W
0054: BTFSC 03.2
0055: GOTO 05A
0056: GOTO 058
0057: NOP
0058: DECFSZ 00,F
0059: GOTO 057
005A: BCF 03.5
005B: RETLW 00
*
0088: MOVLW 74
0089: MOVWF 04
008A: MOVF 00,W
008B: BTFSC 03.2
008C: GOTO 09C
008D: MOVLW 01
008E: MOVWF 78
008F: CLRF 77
0090: DECFSZ 77,F
0091: GOTO 090
0092: DECFSZ 78,F
0093: GOTO 08F
0094: MOVLW 4A
0095: MOVWF 77
0096: DECFSZ 77,F
0097: GOTO 096
0098: NOP
0099: NOP
009A: DECFSZ 00,F
009B: GOTO 08D
009C: RETLW 00
....................
....................
....................
.................... #define DEBUG
....................
.................... #define TXo PIN_A3 // To the transmitter modulator
.................... #include "AX25.c" // podprogram pro prenos telemetrie
.................... #list
....................
....................
.................... 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 rovinka; // pocitadlo pro zjisteni rovneho useku
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
.................... unsigned int8 movement; // obsahuje aktualni smer zataceni
.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara
....................
.................... // Konstanty pro dynamiku pohybu
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira
.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku
.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas
.................... #define FW_ZATACKA 240 // rychlost vnejsiho kola pri zataceni
.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry
.................... #define PRES_DIRU 300
.................... #define MAX_ROVINKA (255-FW_STREDNE)
.................... #define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
.................... #define BUMPER_TRESHOLD 128
.................... #define CIK_CAK 30000
.................... #define T_CIHLA 50 // perioda detekce cihly
....................
.................... //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 C2OUT // Senzory na caru
.................... #define LSENSOR C1OUT
.................... #define BUMPER PIN_A4 // Senzor na cihlu
....................
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
....................
.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak
.................... #DEFINE SOUND_LO PIN_A7
....................
.................... char AXstring[40]; // Buffer pro prenos telemetrie
....................
.................... // makro pro PWM
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \
.................... {direction##motor;} else {stop##motor;}
....................
.................... #int_TIMER2
.................... void TIMER2_isr()
.................... {
.................... if (speed<255) speed+=INC_SPEED;
*
0037: INCFSZ 42,W
0038: GOTO 03A
0039: GOTO 03C
003A: MOVLW 01
003B: ADDWF 42,F
.................... if (rovinka<MAX_ROVINKA) rovinka++;
003C: MOVF 43,W
003D: SUBLW 0E
003E: BTFSC 03.0
003F: INCF 43,F
.................... if (dira<=T_DIRA) dira++;
0040: MOVF 46,W
0041: SUBLW 78
0042: BTFSC 03.0
0043: INCF 46,F
.................... }
.................... // Primitivni Pipani
0044: BCF 0C.1
0045: BCF 0A.3
0046: GOTO 022
.................... void beep(unsigned int16 period, unsigned int16 length)
.................... {
.................... unsigned int16 nn;
....................
.................... for(nn=length; nn>0; nn--)
*
005C: MOVF 7D,W
005D: BSF 03.5
005E: MOVWF 21
005F: MOVF 7C,W
0060: MOVWF 20
0061: MOVF 20,F
0062: BTFSS 03.2
0063: GOTO 067
0064: MOVF 21,F
0065: BTFSC 03.2
0066: GOTO 086
.................... {
.................... output_high(SOUND_HI);output_low(SOUND_LO);
0067: BCF 05.6
0068: BCF 03.5
0069: BSF 05.6
006A: BSF 03.5
006B: BCF 05.7
006C: BCF 03.5
006D: BCF 05.7
.................... delay_us(period);
006E: MOVF 74,W
006F: BSF 03.5
0070: MOVWF 22
0071: BCF 03.5
0072: CALL 047
.................... output_high(SOUND_LO);output_low(SOUND_HI);
0073: BSF 03.5
0074: BCF 05.7
0075: BCF 03.5
0076: BSF 05.7
0077: BSF 03.5
0078: BCF 05.6
0079: BCF 03.5
007A: BCF 05.6
.................... delay_us(period);
007B: MOVF 74,W
007C: BSF 03.5
007D: MOVWF 22
007E: BCF 03.5
007F: CALL 047
.................... }
0080: BSF 03.5
0081: MOVF 20,W
0082: BTFSC 03.2
0083: DECF 21,F
0084: DECF 20,F
0085: GOTO 061
.................... }
0086: BCF 03.5
0087: RETLW 00
.................... /******************************************************************************/
.................... void diagnostika()
.................... {
.................... unsigned int16 n;
....................
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
.................... {
*
009D: BSF 03.5
009E: BSF 06.3
009F: BCF 03.5
00A0: BTFSS 06.3
00A1: GOTO 1C8
.................... for (n=500; n<800; n+=100)
00A2: MOVLW 01
00A3: MOVWF 72
00A4: MOVLW F4
00A5: MOVWF 71
00A6: MOVF 72,W
00A7: SUBLW 03
00A8: BTFSS 03.0
00A9: GOTO 0BE
00AA: BTFSS 03.2
00AB: GOTO 0B0
00AC: MOVF 71,W
00AD: SUBLW 1F
00AE: BTFSS 03.0
00AF: GOTO 0BE
.................... {
.................... beep(n,n); //beep UP
00B0: MOVF 72,W
00B1: MOVWF 75
00B2: MOVF 71,W
00B3: MOVWF 74
00B4: MOVF 72,W
00B5: MOVWF 7D
00B6: MOVF 71,W
00B7: MOVWF 7C
00B8: CALL 05C
.................... };
00B9: MOVLW 64
00BA: ADDWF 71,F
00BB: BTFSC 03.0
00BC: INCF 72,F
00BD: GOTO 0A6
.................... Delay_ms(1000);
00BE: MOVLW 04
00BF: MOVWF 73
00C0: MOVLW FA
00C1: MOVWF 74
00C2: CALL 088
00C3: DECFSZ 73,F
00C4: GOTO 0C0
.................... //zastav vse
.................... STOPL; STOPR;
00C5: BSF 03.5
00C6: BCF 06.6
00C7: BCF 03.5
00C8: BCF 06.6
00C9: BSF 03.5
00CA: BCF 06.7
00CB: BCF 03.5
00CC: BCF 06.7
00CD: BSF 03.5
00CE: BCF 06.4
00CF: BCF 03.5
00D0: BCF 06.4
00D1: BSF 03.5
00D2: BCF 06.5
00D3: BCF 03.5
00D4: BCF 06.5
.................... //pravy pas
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);
00D5: BSF 03.5
00D6: BCF 06.5
00D7: BCF 03.5
00D8: BCF 06.5
00D9: BSF 03.5
00DA: BCF 06.4
00DB: BCF 03.5
00DC: BSF 06.4
00DD: MOVLW 04
00DE: MOVWF 73
00DF: MOVLW FA
00E0: MOVWF 74
00E1: CALL 088
00E2: DECFSZ 73,F
00E3: GOTO 0DF
00E4: BSF 03.5
00E5: BCF 06.4
00E6: BCF 03.5
00E7: BCF 06.4
00E8: BSF 03.5
00E9: BCF 06.5
00EA: BCF 03.5
00EB: BCF 06.5
00EC: MOVLW 04
00ED: MOVWF 73
00EE: MOVLW FA
00EF: MOVWF 74
00F0: CALL 088
00F1: DECFSZ 73,F
00F2: GOTO 0EE
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);
00F3: BSF 03.5
00F4: BCF 06.4
00F5: BCF 03.5
00F6: BCF 06.4
00F7: BSF 03.5
00F8: BCF 06.5
00F9: BCF 03.5
00FA: BSF 06.5
00FB: MOVLW 04
00FC: MOVWF 73
00FD: MOVLW FA
00FE: MOVWF 74
00FF: CALL 088
0100: DECFSZ 73,F
0101: GOTO 0FD
0102: BSF 03.5
0103: BCF 06.4
0104: BCF 03.5
0105: BCF 06.4
0106: BSF 03.5
0107: BCF 06.5
0108: BCF 03.5
0109: BCF 06.5
010A: MOVLW 04
010B: MOVWF 73
010C: MOVLW FA
010D: MOVWF 74
010E: CALL 088
010F: DECFSZ 73,F
0110: GOTO 10C
.................... Beep(880,100); Delay_ms(1000);
0111: MOVLW 03
0112: MOVWF 75
0113: MOVLW 70
0114: MOVWF 74
0115: CLRF 7D
0116: MOVLW 64
0117: MOVWF 7C
0118: CALL 05C
0119: MOVLW 04
011A: MOVWF 73
011B: MOVLW FA
011C: MOVWF 74
011D: CALL 088
011E: DECFSZ 73,F
011F: GOTO 11B
.................... //levy pas
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);
0120: BSF 03.5
0121: BCF 06.7
0122: BCF 03.5
0123: BCF 06.7
0124: BSF 03.5
0125: BCF 06.6
0126: BCF 03.5
0127: BSF 06.6
0128: MOVLW 04
0129: MOVWF 73
012A: MOVLW FA
012B: MOVWF 74
012C: CALL 088
012D: DECFSZ 73,F
012E: GOTO 12A
012F: BSF 03.5
0130: BCF 06.6
0131: BCF 03.5
0132: BCF 06.6
0133: BSF 03.5
0134: BCF 06.7
0135: BCF 03.5
0136: BCF 06.7
0137: MOVLW 04
0138: MOVWF 73
0139: MOVLW FA
013A: MOVWF 74
013B: CALL 088
013C: DECFSZ 73,F
013D: GOTO 139
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);
013E: BSF 03.5
013F: BCF 06.6
0140: BCF 03.5
0141: BCF 06.6
0142: BSF 03.5
0143: BCF 06.7
0144: BCF 03.5
0145: BSF 06.7
0146: MOVLW 04
0147: MOVWF 73
0148: MOVLW FA
0149: MOVWF 74
014A: CALL 088
014B: DECFSZ 73,F
014C: GOTO 148
014D: BSF 03.5
014E: BCF 06.6
014F: BCF 03.5
0150: BCF 06.6
0151: BSF 03.5
0152: BCF 06.7
0153: BCF 03.5
0154: BCF 06.7
0155: MOVLW 04
0156: MOVWF 73
0157: MOVLW FA
0158: MOVWF 74
0159: CALL 088
015A: DECFSZ 73,F
015B: GOTO 157
.................... Beep(880,100); Delay_ms(1000);
015C: MOVLW 03
015D: MOVWF 75
015E: MOVLW 70
015F: MOVWF 74
0160: CLRF 7D
0161: MOVLW 64
0162: MOVWF 7C
0163: CALL 05C
0164: MOVLW 04
0165: MOVWF 73
0166: MOVLW FA
0167: MOVWF 74
0168: CALL 088
0169: DECFSZ 73,F
016A: GOTO 166
.................... //oba pasy
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
016B: BSF 03.5
016C: BCF 06.7
016D: BCF 03.5
016E: BCF 06.7
016F: BSF 03.5
0170: BCF 06.6
0171: BCF 03.5
0172: BSF 06.6
0173: BSF 03.5
0174: BCF 06.5
0175: BCF 03.5
0176: BCF 06.5
0177: BSF 03.5
0178: BCF 06.4
0179: BCF 03.5
017A: BSF 06.4
017B: MOVLW 04
017C: MOVWF 73
017D: MOVLW FA
017E: MOVWF 74
017F: CALL 088
0180: DECFSZ 73,F
0181: GOTO 17D
0182: BSF 03.5
0183: BCF 06.6
0184: BCF 03.5
0185: BCF 06.6
0186: BSF 03.5
0187: BCF 06.7
0188: BCF 03.5
0189: BCF 06.7
018A: BSF 03.5
018B: BCF 06.4
018C: BCF 03.5
018D: BCF 06.4
018E: BSF 03.5
018F: BCF 06.5
0190: BCF 03.5
0191: BCF 06.5
0192: MOVLW 04
0193: MOVWF 73
0194: MOVLW FA
0195: MOVWF 74
0196: CALL 088
0197: DECFSZ 73,F
0198: GOTO 194
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
0199: BSF 03.5
019A: BCF 06.6
019B: BCF 03.5
019C: BCF 06.6
019D: BSF 03.5
019E: BCF 06.7
019F: BCF 03.5
01A0: BSF 06.7
01A1: BSF 03.5
01A2: BCF 06.4
01A3: BCF 03.5
01A4: BCF 06.4
01A5: BSF 03.5
01A6: BCF 06.5
01A7: BCF 03.5
01A8: BSF 06.5
01A9: MOVLW 04
01AA: MOVWF 73
01AB: MOVLW FA
01AC: MOVWF 74
01AD: CALL 088
01AE: DECFSZ 73,F
01AF: GOTO 1AB
01B0: BSF 03.5
01B1: BCF 06.6
01B2: BCF 03.5
01B3: BCF 06.6
01B4: BSF 03.5
01B5: BCF 06.7
01B6: BCF 03.5
01B7: BCF 06.7
01B8: BSF 03.5
01B9: BCF 06.4
01BA: BCF 03.5
01BB: BCF 06.4
01BC: BSF 03.5
01BD: BCF 06.5
01BE: BCF 03.5
01BF: BCF 06.5
01C0: MOVLW 04
01C1: MOVWF 73
01C2: MOVLW FA
01C3: MOVWF 74
01C4: CALL 088
01C5: DECFSZ 73,F
01C6: GOTO 1C2
.................... };
01C7: GOTO 09D
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
.................... {
01C8: BSF 03.5
01C9: BSF 06.2
01CA: BCF 03.5
01CB: BTFSS 06.2
01CC: GOTO 1FB
.................... if (RSENSOR) beep(900,500);
01CD: BSF 03.5
01CE: BTFSS 1C.7
01CF: GOTO 1DB
01D0: MOVLW 03
01D1: MOVWF 75
01D2: MOVLW 84
01D3: MOVWF 74
01D4: MOVLW 01
01D5: MOVWF 7D
01D6: MOVLW F4
01D7: MOVWF 7C
01D8: BCF 03.5
01D9: CALL 05C
01DA: BSF 03.5
.................... if (LSENSOR) beep(800,500);
01DB: BTFSS 1C.6
01DC: GOTO 1E8
01DD: MOVLW 03
01DE: MOVWF 75
01DF: MOVLW 20
01E0: MOVWF 74
01E1: MOVLW 01
01E2: MOVWF 7D
01E3: MOVLW F4
01E4: MOVWF 7C
01E5: BCF 03.5
01E6: CALL 05C
01E7: BSF 03.5
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);
01E8: BCF 03.5
01E9: BTFSS 1F.2
01EA: GOTO 1ED
01EB: BSF 03.5
01EC: GOTO 1E8
01ED: MOVF 1E,W
01EE: SUBLW 7F
01EF: BTFSS 03.0
01F0: GOTO 1FA
01F1: MOVLW 03
01F2: MOVWF 75
01F3: MOVLW E8
01F4: MOVWF 74
01F5: MOVLW 01
01F6: MOVWF 7D
01F7: MOVLW F4
01F8: MOVWF 7C
01F9: CALL 05C
.................... };
01FA: GOTO 1C8
.................... }
01FB: BCF 0A.3
01FC: GOTO 520 (RETURN)
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void cikcak()
.................... {
.................... unsigned int16 n;
.................... sem1:
.................... n=CIK_CAK;
01FD: MOVLW 75
01FE: MOVWF 75
01FF: MOVLW 30
0200: MOVWF 74
.................... while (0==RSENSOR||LSENSOR) // zkontroluj caru
.................... {
0201: MOVLW 00
0202: BSF 03.5
0203: BTFSC 1C.7
0204: MOVLW 01
0205: XORLW 00
0206: BTFSC 03.2
0207: GOTO 20A
0208: BTFSS 1C.6
0209: GOTO 264
.................... if (n==CIK_CAK) // zmen smer zataceni
020A: MOVF 74,W
020B: SUBLW 30
020C: BTFSS 03.2
020D: GOTO 25E
020E: MOVF 75,W
020F: SUBLW 75
0210: BTFSS 03.2
0211: GOTO 25E
.................... {
.................... n=0;
0212: CLRF 75
0213: CLRF 74
.................... switch(movement)
.................... {
0214: BCF 03.5
0215: MOVF 45,W
0216: XORLW 02
0217: BTFSC 03.2
0218: GOTO 220
0219: XORLW 03
021A: BTFSC 03.2
021B: GOTO 233
021C: XORLW 02
021D: BTFSC 03.2
021E: GOTO 246
021F: GOTO 25D
.................... case L:
.................... FL;BR;
0220: BSF 03.5
0221: BCF 06.7
0222: BCF 03.5
0223: BCF 06.7
0224: BSF 03.5
0225: BCF 06.6
0226: BCF 03.5
0227: BSF 06.6
0228: BSF 03.5
0229: BCF 06.4
022A: BCF 03.5
022B: BCF 06.4
022C: BSF 03.5
022D: BCF 06.5
022E: BCF 03.5
022F: BSF 06.5
.................... movement=R;
0230: MOVLW 01
0231: MOVWF 45
.................... break;
0232: GOTO 25D
.................... case R:
.................... FR;BL;
0233: BSF 03.5
0234: BCF 06.5
0235: BCF 03.5
0236: BCF 06.5
0237: BSF 03.5
0238: BCF 06.4
0239: BCF 03.5
023A: BSF 06.4
023B: BSF 03.5
023C: BCF 06.6
023D: BCF 03.5
023E: BCF 06.6
023F: BSF 03.5
0240: BCF 06.7
0241: BCF 03.5
0242: BSF 06.7
.................... movement=L;
0243: MOVLW 02
0244: MOVWF 45
.................... break;
0245: GOTO 25D
.................... case S:
.................... FL;BR;
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: BSF 03.5
024F: BCF 06.4
0250: BCF 03.5
0251: BCF 06.4
0252: BSF 03.5
0253: BCF 06.5
0254: BCF 03.5
0255: BSF 06.5
.................... movement=R;
0256: MOVLW 01
0257: MOVWF 45
.................... n=CIK_CAK/2;
0258: MOVLW 3A
0259: MOVWF 75
025A: MOVLW 98
025B: MOVWF 74
.................... break;
025C: GOTO 25D
025D: BSF 03.5
.................... }
.................... }
.................... n++;
025E: INCF 74,F
025F: BTFSC 03.2
0260: INCF 75,F
.................... }
0261: BCF 03.5
0262: GOTO 201
0263: BSF 03.5
.................... STOPL;STOPR;
0264: BCF 06.6
0265: BCF 03.5
0266: BCF 06.6
0267: BSF 03.5
0268: BCF 06.7
0269: BCF 03.5
026A: BCF 06.7
026B: BSF 03.5
026C: BCF 06.4
026D: BCF 03.5
026E: BCF 06.4
026F: BSF 03.5
0270: BCF 06.5
0271: BCF 03.5
0272: BCF 06.5
.................... line = RSENSOR; // cteni senzoru na caru
0273: CLRF 41
0274: BSF 03.5
0275: BTFSS 1C.7
0276: GOTO 27A
0277: BCF 03.5
0278: INCF 41,F
0279: BSF 03.5
.................... line |= LSENSOR << 1;
027A: MOVLW 00
027B: BTFSC 1C.6
027C: MOVLW 01
027D: MOVWF 77
027E: BCF 03.0
027F: RLF 77,F
0280: MOVF 77,W
0281: BCF 03.5
0282: IORWF 41,F
.................... if (line==0) goto sem1;
0283: MOVF 41,F
0284: BTFSC 03.2
0285: GOTO 1FD
.................... // nasli jsme caru
.................... line=S;
0286: MOVLW 03
0287: MOVWF 41
.................... }
0288: RETLW 00
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void objizdka() // objede cihlu
.................... {
.................... unsigned int16 n;
....................
.................... BL;BR;Delay_ms(150);
0289: BSF 03.5
028A: BCF 06.6
028B: BCF 03.5
028C: BCF 06.6
028D: BSF 03.5
028E: BCF 06.7
028F: BCF 03.5
0290: BSF 06.7
0291: BSF 03.5
0292: BCF 06.4
0293: BCF 03.5
0294: BCF 06.4
0295: BSF 03.5
0296: BCF 06.5
0297: BCF 03.5
0298: BSF 06.5
0299: MOVLW 96
029A: MOVWF 74
029B: CALL 088
.................... STOPR;STOPL;
029C: BSF 03.5
029D: BCF 06.4
029E: BCF 03.5
029F: BCF 06.4
02A0: BSF 03.5
02A1: BCF 06.5
02A2: BCF 03.5
02A3: BCF 06.5
02A4: BSF 03.5
02A5: BCF 06.6
02A6: BCF 03.5
02A7: BCF 06.6
02A8: BSF 03.5
02A9: BCF 06.7
02AA: BCF 03.5
02AB: BCF 06.7
.................... beep(900,1000);
02AC: MOVLW 03
02AD: MOVWF 75
02AE: MOVLW 84
02AF: MOVWF 74
02B0: MOVLW 03
02B1: MOVWF 7D
02B2: MOVLW E8
02B3: MOVWF 7C
02B4: CALL 05C
.................... // movement=S;
.................... // cikcak();
....................
.................... BR; FL; Delay_ms(270); // otoc se 70° do prava
02B5: BSF 03.5
02B6: BCF 06.4
02B7: BCF 03.5
02B8: BCF 06.4
02B9: BSF 03.5
02BA: BCF 06.5
02BB: BCF 03.5
02BC: BSF 06.5
02BD: BSF 03.5
02BE: BCF 06.7
02BF: BCF 03.5
02C0: BCF 06.7
02C1: BSF 03.5
02C2: BCF 06.6
02C3: BCF 03.5
02C4: BSF 06.6
02C5: MOVLW 02
02C6: MOVWF 73
02C7: MOVLW 87
02C8: MOVWF 74
02C9: CALL 088
02CA: DECFSZ 73,F
02CB: GOTO 2C7
....................
.................... FR; FL; Delay_ms(500); // popojed rovne
02CC: BSF 03.5
02CD: BCF 06.5
02CE: BCF 03.5
02CF: BCF 06.5
02D0: BSF 03.5
02D1: BCF 06.4
02D2: BCF 03.5
02D3: BSF 06.4
02D4: BSF 03.5
02D5: BCF 06.7
02D6: BCF 03.5
02D7: BCF 06.7
02D8: BSF 03.5
02D9: BCF 06.6
02DA: BCF 03.5
02DB: BSF 06.6
02DC: MOVLW 02
02DD: MOVWF 73
02DE: MOVLW FA
02DF: MOVWF 74
02E0: CALL 088
02E1: DECFSZ 73,F
02E2: GOTO 2DE
....................
.................... BL; Delay_ms(30); // otoc se 90° do leva
02E3: BSF 03.5
02E4: BCF 06.6
02E5: BCF 03.5
02E6: BCF 06.6
02E7: BSF 03.5
02E8: BCF 06.7
02E9: BCF 03.5
02EA: BSF 06.7
02EB: MOVLW 1E
02EC: MOVWF 74
02ED: CALL 088
.................... STOPL; FR; Delay_ms(500);
02EE: BSF 03.5
02EF: BCF 06.6
02F0: BCF 03.5
02F1: BCF 06.6
02F2: BSF 03.5
02F3: BCF 06.7
02F4: BCF 03.5
02F5: BCF 06.7
02F6: BSF 03.5
02F7: BCF 06.5
02F8: BCF 03.5
02F9: BCF 06.5
02FA: BSF 03.5
02FB: BCF 06.4
02FC: BCF 03.5
02FD: BSF 06.4
02FE: MOVLW 02
02FF: MOVWF 73
0300: MOVLW FA
0301: MOVWF 74
0302: CALL 088
0303: DECFSZ 73,F
0304: GOTO 300
....................
.................... FR; FL; Delay_ms(100); // popojed rovne na slepo
0305: BSF 03.5
0306: BCF 06.5
0307: BCF 03.5
0308: BCF 06.5
0309: BSF 03.5
030A: BCF 06.4
030B: BCF 03.5
030C: BSF 06.4
030D: BSF 03.5
030E: BCF 06.7
030F: BCF 03.5
0310: BCF 06.7
0311: BSF 03.5
0312: BCF 06.6
0313: BCF 03.5
0314: BSF 06.6
0315: MOVLW 64
0316: MOVWF 74
0317: CALL 088
.................... for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru
0318: MOVLW 9C
0319: MOVWF 72
031A: MOVLW 40
031B: MOVWF 71
031C: MOVF 71,F
031D: BTFSS 03.2
031E: GOTO 322
031F: MOVF 72,F
0320: BTFSC 03.2
0321: GOTO 33E
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
0322: CLRF 41
0323: BSF 03.5
0324: BTFSS 1C.7
0325: GOTO 329
0326: BCF 03.5
0327: INCF 41,F
0328: BSF 03.5
.................... line |= LSENSOR << 1;
0329: MOVLW 00
032A: BTFSC 1C.6
032B: MOVLW 01
032C: MOVWF 77
032D: BCF 03.0
032E: RLF 77,F
032F: MOVF 77,W
0330: BCF 03.5
0331: IORWF 41,F
.................... if (line!=0) {Delay_ms(150); break;}
0332: MOVF 41,F
0333: BTFSC 03.2
0334: GOTO 339
0335: MOVLW 96
0336: MOVWF 74
0337: CALL 088
0338: GOTO 33E
.................... // Delay_ms(1);
.................... }
0339: MOVF 71,W
033A: BTFSC 03.2
033B: DECF 72,F
033C: DECF 71,F
033D: GOTO 31C
....................
.................... BR; FL; // otoc se 60° do prava
033E: BSF 03.5
033F: BCF 06.4
0340: BCF 03.5
0341: BCF 06.4
0342: BSF 03.5
0343: BCF 06.5
0344: BCF 03.5
0345: BSF 06.5
0346: BSF 03.5
0347: BCF 06.7
0348: BCF 03.5
0349: BCF 06.7
034A: BSF 03.5
034B: BCF 06.6
034C: BCF 03.5
034D: BSF 06.6
.................... for(n=40000;n>0;n--)
034E: MOVLW 9C
034F: MOVWF 72
0350: MOVLW 40
0351: MOVWF 71
0352: MOVF 71,F
0353: BTFSS 03.2
0354: GOTO 358
0355: MOVF 72,F
0356: BTFSC 03.2
0357: GOTO 370
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
0358: CLRF 41
0359: BSF 03.5
035A: BTFSS 1C.7
035B: GOTO 35F
035C: BCF 03.5
035D: INCF 41,F
035E: BSF 03.5
.................... line |= LSENSOR << 1;
035F: MOVLW 00
0360: BTFSC 1C.6
0361: MOVLW 01
0362: MOVWF 77
0363: BCF 03.0
0364: RLF 77,F
0365: MOVF 77,W
0366: BCF 03.5
0367: IORWF 41,F
.................... if (line!=0) break;
0368: MOVF 41,F
0369: BTFSS 03.2
036A: GOTO 370
.................... // Delay_ms(1);
.................... }
036B: MOVF 71,W
036C: BTFSC 03.2
036D: DECF 72,F
036E: DECF 71,F
036F: GOTO 352
.................... STOPR; STOPL;
0370: BSF 03.5
0371: BCF 06.4
0372: BCF 03.5
0373: BCF 06.4
0374: BSF 03.5
0375: BCF 06.5
0376: BCF 03.5
0377: BCF 06.5
0378: BSF 03.5
0379: BCF 06.6
037A: BCF 03.5
037B: BCF 06.6
037C: BSF 03.5
037D: BCF 06.7
037E: BCF 03.5
037F: BCF 06.7
....................
.................... movement=L; //R;
0380: MOVLW 02
0381: MOVWF 45
.................... cikcak();
0382: CALL 1FD
.................... dira=0;
0383: CLRF 46
.................... }
0384: BCF 0A.3
0385: GOTO 550 (RETURN)
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void prejeddiru() // vyresi diru
.................... {
.................... unsigned int16 n;
.................... unsigned int8 speed_dira;
....................
.................... STOPL;STOPR;
0386: BSF 03.5
0387: BCF 06.6
0388: BCF 03.5
0389: BCF 06.6
038A: BSF 03.5
038B: BCF 06.7
038C: BCF 03.5
038D: BCF 06.7
038E: BSF 03.5
038F: BCF 06.4
0390: BCF 03.5
0391: BCF 06.4
0392: BSF 03.5
0393: BCF 06.5
0394: BCF 03.5
0395: BCF 06.5
.................... speed_dira=speed;
0396: MOVF 42,W
0397: MOVWF 73
.................... beep(1000,500);
0398: MOVLW 03
0399: MOVWF 75
039A: MOVLW E8
039B: MOVWF 74
039C: MOVLW 01
039D: MOVWF 7D
039E: MOVLW F4
039F: MOVWF 7C
03A0: CALL 05C
.................... switch (movement) //vrat se zpet na caru
.................... {
03A1: MOVF 45,W
03A2: XORLW 02
03A3: BTFSC 03.2
03A4: GOTO 3AC
03A5: XORLW 03
03A6: BTFSC 03.2
03A7: GOTO 3E4
03A8: XORLW 02
03A9: BTFSC 03.2
03AA: GOTO 41C
03AB: GOTO 41E
.................... case L:
.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}
03AC: MOVLW 02
03AD: MOVWF 72
03AE: MOVLW EE
03AF: MOVWF 71
03B0: MOVF 71,F
03B1: BTFSS 03.2
03B2: GOTO 3B6
03B3: MOVF 72,F
03B4: BTFSC 03.2
03B5: GOTO 3D3
03B6: MOVF 01,W
03B7: SUBWF 73,W
03B8: BTFSS 03.0
03B9: GOTO 3C3
03BA: BSF 03.5
03BB: BCF 06.4
03BC: BCF 03.5
03BD: BCF 06.4
03BE: BSF 03.5
03BF: BCF 06.5
03C0: BCF 03.5
03C1: BSF 06.5
03C2: GOTO 3CB
03C3: BSF 03.5
03C4: BCF 06.4
03C5: BCF 03.5
03C6: BCF 06.4
03C7: BSF 03.5
03C8: BCF 06.5
03C9: BCF 03.5
03CA: BCF 06.5
03CB: MOVLW 01
03CC: MOVWF 74
03CD: CALL 088
03CE: MOVF 71,W
03CF: BTFSC 03.2
03D0: DECF 72,F
03D1: DECF 71,F
03D2: GOTO 3B0
.................... STOPL;STOPR;
03D3: BSF 03.5
03D4: BCF 06.6
03D5: BCF 03.5
03D6: BCF 06.6
03D7: BSF 03.5
03D8: BCF 06.7
03D9: BCF 03.5
03DA: BCF 06.7
03DB: BSF 03.5
03DC: BCF 06.4
03DD: BCF 03.5
03DE: BCF 06.4
03DF: BSF 03.5
03E0: BCF 06.5
03E1: BCF 03.5
03E2: BCF 06.5
.................... break;
03E3: GOTO 41E
.................... case R:
.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}
03E4: MOVLW 02
03E5: MOVWF 72
03E6: MOVLW EE
03E7: MOVWF 71
03E8: MOVF 71,F
03E9: BTFSS 03.2
03EA: GOTO 3EE
03EB: MOVF 72,F
03EC: BTFSC 03.2
03ED: GOTO 40B
03EE: MOVF 01,W
03EF: SUBWF 73,W
03F0: BTFSS 03.0
03F1: GOTO 3FB
03F2: BSF 03.5
03F3: BCF 06.6
03F4: BCF 03.5
03F5: BCF 06.6
03F6: BSF 03.5
03F7: BCF 06.7
03F8: BCF 03.5
03F9: BSF 06.7
03FA: GOTO 403
03FB: BSF 03.5
03FC: BCF 06.6
03FD: BCF 03.5
03FE: BCF 06.6
03FF: BSF 03.5
0400: BCF 06.7
0401: BCF 03.5
0402: BCF 06.7
0403: MOVLW 01
0404: MOVWF 74
0405: CALL 088
0406: MOVF 71,W
0407: BTFSC 03.2
0408: DECF 72,F
0409: DECF 71,F
040A: GOTO 3E8
.................... STOPL;STOPR;
040B: BSF 03.5
040C: BCF 06.6
040D: BCF 03.5
040E: BCF 06.6
040F: BSF 03.5
0410: BCF 06.7
0411: BCF 03.5
0412: BCF 06.7
0413: BSF 03.5
0414: BCF 06.4
0415: BCF 03.5
0416: BCF 06.4
0417: BSF 03.5
0418: BCF 06.5
0419: BCF 03.5
041A: BCF 06.5
.................... break;
041B: GOTO 41E
.................... case S:
.................... goto sem;
041C: GOTO 45C
.................... break;
041D: GOTO 41E
.................... }
.................... beep(1000,500);
041E: MOVLW 03
041F: MOVWF 75
0420: MOVLW E8
0421: MOVWF 74
0422: MOVLW 01
0423: MOVWF 7D
0424: MOVLW F4
0425: MOVWF 7C
0426: CALL 05C
....................
.................... /*line=0;
.................... FR; BL; Delay_ms(400); // otoc se na caru
.................... beep(1000,500);
.................... while(line==0)
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
.................... line |= LSENSOR << 1;
.................... }
.................... FL;BR; Delay_ms(60); // zabrzdi
.................... STOPL; STOPR;
....................
.................... FL; BR; Delay_ms(700); // otacka 180 deg
.................... STOPL; STOPR;*/
....................
.................... FR;FL; //popojed rovne
0427: BSF 03.5
0428: BCF 06.5
0429: BCF 03.5
042A: BCF 06.5
042B: BSF 03.5
042C: BCF 06.4
042D: BCF 03.5
042E: BSF 06.4
042F: BSF 03.5
0430: BCF 06.7
0431: BCF 03.5
0432: BCF 06.7
0433: BSF 03.5
0434: BCF 06.6
0435: BCF 03.5
0436: BSF 06.6
.................... for(n=PRES_DIRU;n>0;n--)
0437: MOVLW 01
0438: MOVWF 72
0439: MOVLW 2C
043A: MOVWF 71
043B: MOVF 71,F
043C: BTFSS 03.2
043D: GOTO 441
043E: MOVF 72,F
043F: BTFSC 03.2
0440: GOTO 45C
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
0441: CLRF 41
0442: BSF 03.5
0443: BTFSS 1C.7
0444: GOTO 448
0445: BCF 03.5
0446: INCF 41,F
0447: BSF 03.5
.................... line |= LSENSOR << 1;
0448: MOVLW 00
0449: BTFSC 1C.6
044A: MOVLW 01
044B: MOVWF 77
044C: BCF 03.0
044D: RLF 77,F
044E: MOVF 77,W
044F: BCF 03.5
0450: IORWF 41,F
.................... if (line!=0) break;
0451: MOVF 41,F
0452: BTFSS 03.2
0453: GOTO 45C
.................... Delay_ms(1);
0454: MOVLW 01
0455: MOVWF 74
0456: CALL 088
.................... }
0457: MOVF 71,W
0458: BTFSC 03.2
0459: DECF 72,F
045A: DECF 71,F
045B: GOTO 43B
.................... sem:
.................... STOPL; STOPR;
045C: BSF 03.5
045D: BCF 06.6
045E: BCF 03.5
045F: BCF 06.6
0460: BSF 03.5
0461: BCF 06.7
0462: BCF 03.5
0463: BCF 06.7
0464: BSF 03.5
0465: BCF 06.4
0466: BCF 03.5
0467: BCF 06.4
0468: BSF 03.5
0469: BCF 06.5
046A: BCF 03.5
046B: BCF 06.5
.................... movement=S;
046C: MOVLW 03
046D: MOVWF 45
.................... cikcak(); // najdi caru
046E: CALL 1FD
.................... dira=0;
046F: CLRF 46
.................... }
0470: BCF 0A.3
0471: GOTO 5E6 (RETURN)
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void main()
.................... {
0472: CLRF 04
0473: MOVLW 1F
0474: ANDWF 03,F
0475: BSF 03.5
0476: BCF 1F.4
0477: BCF 1F.5
0478: MOVF 1B,W
0479: ANDLW 80
047A: MOVWF 1B
047B: MOVLW 07
047C: MOVWF 1C
047D: MOVF 1C,W
047E: BCF 03.5
047F: BCF 0D.6
0480: MOVLW 60
0481: BSF 03.5
0482: MOVWF 0F
.................... unsigned int16 n; // pro FOR
....................
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
*
049F: BSF 03.5
04A0: BCF 06.6
04A1: BCF 03.5
04A2: BCF 06.6
04A3: BSF 03.5
04A4: BCF 06.7
04A5: BCF 03.5
04A6: BCF 06.7
04A7: BSF 03.5
04A8: BCF 06.4
04A9: BCF 03.5
04AA: BCF 06.4
04AB: BSF 03.5
04AC: BCF 06.5
04AD: BCF 03.5
04AE: BCF 06.5
....................
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
04AF: MOVLW 62
04B0: BSF 03.5
04B1: MOVWF 0F
....................
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku
04B2: BCF 01.7
.................... setup_spi(FALSE);
04B3: BCF 03.5
04B4: BCF 14.5
04B5: BSF 03.5
04B6: BCF 06.2
04B7: BSF 06.1
04B8: BCF 06.4
04B9: MOVLW 00
04BA: BCF 03.5
04BB: MOVWF 14
04BC: BSF 03.5
04BD: MOVWF 14
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
04BE: MOVF 01,W
04BF: ANDLW C7
04C0: IORLW 08
04C1: MOVWF 01
....................
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
04C2: MOVLW 48
04C3: MOVWF 78
04C4: IORLW 05
04C5: BCF 03.5
04C6: MOVWF 12
04C7: MOVLW FF
04C8: BSF 03.5
04C9: MOVWF 12
.................... // preruseni kazdych 10ms
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
04CA: BCF 1F.4
04CB: BCF 1F.5
04CC: MOVF 1B,W
04CD: ANDLW 80
04CE: IORLW 04
04CF: MOVWF 1B
.................... setup_adc(ADC_CLOCK_INTERNAL);
04D0: BCF 1F.6
04D1: BCF 03.5
04D2: BSF 1F.6
04D3: BSF 1F.7
04D4: BSF 03.5
04D5: BCF 1F.7
04D6: BCF 03.5
04D7: BSF 1F.0
.................... set_adc_channel(2);
04D8: MOVLW 10
04D9: MOVWF 78
04DA: MOVF 1F,W
04DB: ANDLW C7
04DC: IORWF 78,W
04DD: MOVWF 1F
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
04DE: MOVLW 85
04DF: MOVWF 10
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);
04E0: BSF 03.5
04E1: BSF 06.3
04E2: MOVLW 0B
04E3: BCF 03.5
04E4: MOVWF 17
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms
04E5: CLRF 16
04E6: MOVLW 07
04E7: MOVWF 15
....................
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
04E8: MOVLW 02
04E9: BSF 03.5
04EA: MOVWF 1C
04EB: MOVF 05,W
04EC: IORLW 03
04ED: MOVWF 05
04EE: MOVLW 03
04EF: MOVWF 77
04F0: DECFSZ 77,F
04F1: GOTO 4F0
04F2: MOVF 1C,W
04F3: BCF 03.5
04F4: BCF 0D.6
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
04F5: MOVLW 86
04F6: BSF 03.5
04F7: MOVWF 1D
....................
.................... Beep(1000,200); //double beep
04F8: MOVLW 03
04F9: MOVWF 75
04FA: MOVLW E8
04FB: MOVWF 74
04FC: CLRF 7D
04FD: MOVLW C8
04FE: MOVWF 7C
04FF: BCF 03.5
0500: CALL 05C
.................... Delay_ms(50);
0501: MOVLW 32
0502: MOVWF 74
0503: CALL 088
.................... Beep(1000,200);
0504: MOVLW 03
0505: MOVWF 75
0506: MOVLW E8
0507: MOVWF 74
0508: CLRF 7D
0509: MOVLW C8
050A: MOVWF 7C
050B: CALL 05C
.................... Delay_ms(1000); // 1s
050C: MOVLW 04
050D: MOVWF 71
050E: MOVLW FA
050F: MOVWF 74
0510: CALL 088
0511: DECFSZ 71,F
0512: GOTO 50E
....................
.................... // povoleni rizeni rychlosti zataceni pres preruseni
.................... enable_interrupts(INT_TIMER2);
0513: BSF 03.5
0514: BSF 0C.1
.................... enable_interrupts(GLOBAL);
0515: MOVLW C0
0516: BCF 03.5
0517: IORWF 0B,F
....................
.................... /*---------------------------------------------------------------------------*/
.................... sensors=S;
0518: MOVLW 03
0519: MOVWF 40
.................... line=S;
051A: MOVWF 41
.................... last=S;
051B: MOVWF 44
.................... movement=S;
051C: MOVWF 45
.................... speed=FW_POMALU;
051D: MOVLW E6
051E: MOVWF 42
....................
.................... diagnostika();
051F: GOTO 09D
.................... //cikcak(); // toc se, abys nasel caru
.................... Delay_ms(500);
0520: MOVLW 02
0521: MOVWF 71
0522: MOVLW FA
0523: MOVWF 74
0524: CALL 088
0525: DECFSZ 71,F
0526: GOTO 522
.................... Beep(1000,200);
0527: MOVLW 03
0528: MOVWF 75
0529: MOVLW E8
052A: MOVWF 74
052B: CLRF 7D
052C: MOVLW C8
052D: MOVWF 7C
052E: CALL 05C
.................... Delay_ms(500);
052F: MOVLW 02
0530: MOVWF 71
0531: MOVLW FA
0532: MOVWF 74
0533: CALL 088
0534: DECFSZ 71,F
0535: GOTO 531
....................
.................... while(true) // hlavni smycka (jizda podle cary)
.................... {
.................... sensors = RSENSOR; // cteni senzoru na caru
0536: CLRF 40
0537: BSF 03.5
0538: BTFSS 1C.7
0539: GOTO 53D
053A: BCF 03.5
053B: INCF 40,F
053C: BSF 03.5
.................... sensors |= LSENSOR << 1;
053D: MOVLW 00
053E: BTFSC 1C.6
053F: MOVLW 01
0540: MOVWF 77
0541: BCF 03.0
0542: RLF 77,F
0543: MOVF 77,W
0544: BCF 03.5
0545: IORWF 40,F
....................
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();
0546: BTFSC 1F.2
0547: GOTO 546
0548: MOVF 1E,W
0549: SUBLW 7F
054A: BTFSS 03.0
054B: GOTO 550
054C: MOVF 46,W
054D: SUBLW 32
054E: BTFSC 03.0
054F: GOTO 289
....................
.................... switch (sensors) // zatacej podle toho, kde vidis caru
.................... {
0550: MOVF 40,W
0551: XORLW 03
0552: BTFSC 03.2
0553: GOTO 55B
0554: XORLW 01
0555: BTFSC 03.2
0556: GOTO 56F
0557: XORLW 03
0558: BTFSC 03.2
0559: GOTO 5A8
055A: GOTO 5E1
.................... case S: // rovne
.................... FL; FR; // pokud se jede dlouho rovne, tak pridej
055B: BSF 03.5
055C: BCF 06.7
055D: BCF 03.5
055E: BCF 06.7
055F: BSF 03.5
0560: BCF 06.6
0561: BCF 03.5
0562: BSF 06.6
0563: BSF 03.5
0564: BCF 06.5
0565: BCF 03.5
0566: BCF 06.5
0567: BSF 03.5
0568: BCF 06.4
0569: BCF 03.5
056A: BSF 06.4
.................... dira=0;
056B: CLRF 46
.................... movement=S;
056C: MOVLW 03
056D: MOVWF 45
.................... continue;
056E: GOTO 536
.................... case L: // trochu vlevo
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
056F: MOVF 01,W
0570: MOVWF 71
0571: MOVLW E6
0572: ADDWF 43,W
0573: SUBWF 71,W
0574: BTFSC 03.2
0575: GOTO 578
0576: BTFSC 03.0
0577: GOTO 581
0578: BSF 03.5
0579: BCF 06.7
057A: BCF 03.5
057B: BCF 06.7
057C: BSF 03.5
057D: BCF 06.6
057E: BCF 03.5
057F: BSF 06.6
0580: GOTO 589
0581: BSF 03.5
0582: BCF 06.6
0583: BCF 03.5
0584: BCF 06.6
0585: BSF 03.5
0586: BCF 06.7
0587: BCF 03.5
0588: BCF 06.7
0589: MOVF 01,W
058A: MOVWF 71
058B: MOVLW F0
058C: ADDWF 43,W
058D: SUBWF 71,W
058E: BTFSC 03.2
058F: GOTO 592
0590: BTFSC 03.0
0591: GOTO 59B
0592: BSF 03.5
0593: BCF 06.5
0594: BCF 03.5
0595: BCF 06.5
0596: BSF 03.5
0597: BCF 06.4
0598: BCF 03.5
0599: BSF 06.4
059A: GOTO 5A3
059B: BSF 03.5
059C: BCF 06.4
059D: BCF 03.5
059E: BCF 06.4
059F: BSF 03.5
05A0: BCF 06.5
05A1: BCF 03.5
05A2: BCF 06.5
.................... line=L;
05A3: MOVLW 02
05A4: MOVWF 41
.................... dira=0;
05A5: CLRF 46
.................... movement=L;
05A6: MOVWF 45
.................... continue;
05A7: GOTO 536
.................... case R: // trochu vpravo
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
05A8: MOVF 01,W
05A9: MOVWF 71
05AA: MOVLW E6
05AB: ADDWF 43,W
05AC: SUBWF 71,W
05AD: BTFSC 03.2
05AE: GOTO 5B1
05AF: BTFSC 03.0
05B0: GOTO 5BA
05B1: BSF 03.5
05B2: BCF 06.5
05B3: BCF 03.5
05B4: BCF 06.5
05B5: BSF 03.5
05B6: BCF 06.4
05B7: BCF 03.5
05B8: BSF 06.4
05B9: GOTO 5C2
05BA: BSF 03.5
05BB: BCF 06.4
05BC: BCF 03.5
05BD: BCF 06.4
05BE: BSF 03.5
05BF: BCF 06.5
05C0: BCF 03.5
05C1: BCF 06.5
05C2: MOVF 01,W
05C3: MOVWF 71
05C4: MOVLW F0
05C5: ADDWF 43,W
05C6: SUBWF 71,W
05C7: BTFSC 03.2
05C8: GOTO 5CB
05C9: BTFSC 03.0
05CA: GOTO 5D4
05CB: BSF 03.5
05CC: BCF 06.7
05CD: BCF 03.5
05CE: BCF 06.7
05CF: BSF 03.5
05D0: BCF 06.6
05D1: BCF 03.5
05D2: BSF 06.6
05D3: GOTO 5DC
05D4: BSF 03.5
05D5: BCF 06.6
05D6: BCF 03.5
05D7: BCF 06.6
05D8: BSF 03.5
05D9: BCF 06.7
05DA: BCF 03.5
05DB: BCF 06.7
.................... line=R;
05DC: MOVLW 01
05DD: MOVWF 41
.................... dira=0;
05DE: CLRF 46
.................... movement=R;
05DF: MOVWF 45
.................... continue;
05E0: GOTO 536
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
.................... }
.................... rovinka=0;
05E1: CLRF 43
.................... if (dira>=T_DIRA) prejeddiru();
05E2: MOVF 46,W
05E3: SUBLW 77
05E4: BTFSS 03.0
05E5: GOTO 386
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi
05E6: MOVF 41,W
05E7: SUBWF 44,W
05E8: BTFSC 03.2
05E9: GOTO 5EE
.................... {
.................... last=line;
05EA: MOVF 41,W
05EB: MOVWF 44
.................... speed=FW_ZATACKA;
05EC: MOVLW F0
05ED: MOVWF 42
.................... }
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
05EE: MOVF 41,W
05EF: SUBLW 02
05F0: BTFSS 03.2
05F1: GOTO 612
.................... {
.................... STOPL;
05F2: BSF 03.5
05F3: BCF 06.6
05F4: BCF 03.5
05F5: BCF 06.6
05F6: BSF 03.5
05F7: BCF 06.7
05F8: BCF 03.5
05F9: BCF 06.7
.................... GO(R, F, speed);
05FA: MOVF 01,W
05FB: SUBWF 42,W
05FC: BTFSS 03.0
05FD: GOTO 607
05FE: BSF 03.5
05FF: BCF 06.5
0600: BCF 03.5
0601: BCF 06.5
0602: BSF 03.5
0603: BCF 06.4
0604: BCF 03.5
0605: BSF 06.4
0606: GOTO 60F
0607: BSF 03.5
0608: BCF 06.4
0609: BCF 03.5
060A: BCF 06.4
060B: BSF 03.5
060C: BCF 06.5
060D: BCF 03.5
060E: BCF 06.5
.................... movement=L;
060F: MOVLW 02
0610: MOVWF 45
.................... }
.................... else
0611: GOTO 631
.................... {
.................... STOPR;
0612: BSF 03.5
0613: BCF 06.4
0614: BCF 03.5
0615: BCF 06.4
0616: BSF 03.5
0617: BCF 06.5
0618: BCF 03.5
0619: BCF 06.5
.................... GO(L, F, speed);
061A: MOVF 01,W
061B: SUBWF 42,W
061C: BTFSS 03.0
061D: GOTO 627
061E: BSF 03.5
061F: BCF 06.7
0620: BCF 03.5
0621: BCF 06.7
0622: BSF 03.5
0623: BCF 06.6
0624: BCF 03.5
0625: BSF 06.6
0626: GOTO 62F
0627: BSF 03.5
0628: BCF 06.6
0629: BCF 03.5
062A: BCF 06.6
062B: BSF 03.5
062C: BCF 06.7
062D: BCF 03.5
062E: BCF 06.7
.................... movement=R;
062F: MOVLW 01
0630: MOVWF 45
.................... }
.................... } // while(true)
0631: GOTO 536
.................... }
....................
....................
0632: SLEEP
 
Configuration Fuses:
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
Word 2: 3FFC NOFCMEN NOIESO
/Designs/ROBOTS/Merkur/SW/turn_R/tank.PJT
0,0 → 1,40
[PROJECT]
Target=tank.HEX
Development_Mode=
Processor=0x688F
ToolSuite=CCS
 
[Directories]
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS;
Library=
LinkerScript=
 
[Target Data]
FileList=tank.c;
BuildTool=C-COMPILER
OptionString=+FM
AdditionalOptionString=
BuildRequired=1
 
[tank.c]
Type=4
Path=
FileList=
BuildTool=
OptionString=
AdditionalOptionString=
 
[mru-list]
1=tank.c
 
[Windows]
0=0000 tank.c 0 0 796 451 3 0
 
[Opened Files]
1=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c
2=C:\Program Files\PICC\devices\16F88.h
3=
4=C:\Program Files\PICC\devices\16F88.h
5=
6=
7=
/Designs/ROBOTS/Merkur/SW/turn_R/tank.SYM
0,0 → 1,88
003 STATUS
015-016 CCP_1
015 CCP_1_LOW
016 CCP_1_HIGH
020 @INTERRUPT_AREA
021 @INTERRUPT_AREA
022 @INTERRUPT_AREA
023 @INTERRUPT_AREA
024 @INTERRUPT_AREA
025 @INTERRUPT_AREA
026 @INTERRUPT_AREA
027 @INTERRUPT_AREA
028 @INTERRUPT_AREA
029-038 SendData
039.0 bit
03A fcslo
03B fcshi
03C stuff
03D flag_flag
03E fcs_flag
03F i
040 sensors
041 line
042 speed
043 rovinka
044 last
045 movement
046 dira
047-06E AXstring
06F-070 main.n
071-072 objizdka.n
071-072 diagnostika.n
071-072 prejeddiru.n
071 main.@SCRATCH
073 prejeddiru.speed_dira
073 diagnostika.@SCRATCH
073 objizdka.@SCRATCH
074-075 beep.period
074 @delay_ms1.P1
074-075 cikcak.n
074 prejeddiru.@SCRATCH
076 cikcak.@SCRATCH
077 @SCRATCH
078 @SCRATCH
078 _RETURN_
079 @SCRATCH
07A @SCRATCH
07B @SCRATCH
07C-07D beep.length
09C.6 C1OUT
09C.7 C2OUT
0A0-0A1 beep.nn
0A2 @delay_us1.P1
 
0088 @delay_ms1
0047 @delay_us1
0037 TIMER2_isr
005C beep
009D diagnostika
01FD cikcak
0289 objizdka
0386 prejeddiru
0472 main
0472 @cinit
01FD sem1
045C sem
 
Project Files:
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h
C:\Program Files\PICC\devices\16F88.h
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\AX25.c
 
Compiler Settings:
Processor: PIC16F88
Pointer Size: 8
ADC Range: 0-255
Opt Level: 9
Short,Int,Long: 1,8,16
 
Output Files:
Errors: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.err
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.HEX
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.SYM
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.cof
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.tre
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.sta
/Designs/ROBOTS/Merkur/SW/turn_R/tank.c
0,0 → 1,339
#include "tank.h"
 
#define DEBUG
 
#define TXo PIN_A3 // To the transmitter modulator
#include "AX25.c" // podprogram pro prenos telemetrie
 
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 rovinka; // pocitadlo pro zjisteni rovneho useku
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
unsigned int8 movement; // obsahuje aktualni smer zataceni
unsigned int8 dira; // pocita dobu po kterou je ztracena cara
 
// Konstanty pro dynamiku pohybu
#define T_DIRA 120 // po jakem case zataceni se detekuje dira
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku
#define FW_POMALU 230 // trochu mimo caru vnitrni pas
#define FW_ZATACKA 240 // rychlost vnejsiho kola pri zataceni
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry
#define PRES_DIRU 300
#define MAX_ROVINKA (255-FW_STREDNE)
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
#define BUMPER_TRESHOLD 128
#define CIK_CAK 30000
#define T_CIHLA 50 // perioda detekce cihly
 
//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 C2OUT // Senzory na caru
#define LSENSOR C1OUT
#define BUMPER PIN_A4 // Senzor na cihlu
 
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
 
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak
#DEFINE SOUND_LO PIN_A7
 
char AXstring[40]; // Buffer pro prenos telemetrie
 
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
 
#int_TIMER2
void TIMER2_isr()
{
if (speed<255) speed+=INC_SPEED;
if (rovinka<MAX_ROVINKA) rovinka++;
if (dira<=T_DIRA) dira++;
}
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
unsigned int16 nn;
 
for(nn=length; nn>0; nn--)
{
output_high(SOUND_HI);output_low(SOUND_LO);
delay_us(period);
output_high(SOUND_LO);output_low(SOUND_HI);
delay_us(period);
}
}
/******************************************************************************/
void diagnostika()
{
unsigned int16 n;
 
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
{
for (n=500; n<800; n+=100)
{
beep(n,n); //beep UP
};
Delay_ms(1000);
//zastav vse
STOPL; STOPR;
//pravy pas
FR; Delay_ms(1000); STOPR; Delay_ms(1000);
BR; Delay_ms(1000); STOPR; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//levy pas
FL; Delay_ms(1000); STOPL; Delay_ms(1000);
BL; Delay_ms(1000); STOPL; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//oba pasy
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
};
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
{
if (RSENSOR) beep(900,500);
if (LSENSOR) beep(800,500);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);
};
}
///////////////////////////////////////////////////////////////////////////////
void cikcak()
{
unsigned int16 n;
sem1:
n=CIK_CAK;
while (0==RSENSOR||LSENSOR) // zkontroluj caru
{
if (n==CIK_CAK) // zmen smer zataceni
{
n=0;
switch(movement)
{
case L:
FL;BR;
movement=R;
break;
case R:
FR;BL;
movement=L;
break;
case S:
FL;BR;
movement=R;
n=CIK_CAK/2;
break;
}
}
n++;
}
STOPL;STOPR;
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line==0) goto sem1;
// nasli jsme caru
line=S;
}
///////////////////////////////////////////////////////////////////////////////
void objizdka() // objede cihlu
{
unsigned int16 n;
 
BL;BR;Delay_ms(150);
STOPR;STOPL;
beep(900,1000);
// movement=S;
// cikcak();
 
BR; FL; Delay_ms(270); // otoc se 70° do prava
 
FR; FL; Delay_ms(500); // popojed rovne
 
BL; Delay_ms(30); // otoc se 90° do leva
STOPL; FR; Delay_ms(500);
 
FR; FL; Delay_ms(100); // popojed rovne na slepo
for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) {Delay_ms(150); break;}
// Delay_ms(1);
}
 
BR; FL; // otoc se 60° do prava
for(n=40000;n>0;n--)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
// Delay_ms(1);
}
STOPR; STOPL;
 
movement=L; //R;
cikcak();
dira=0;
}
///////////////////////////////////////////////////////////////////////////////
void prejeddiru() // vyresi diru
{
unsigned int16 n;
unsigned int8 speed_dira;
 
STOPL;STOPR;
speed_dira=speed;
beep(1000,500);
switch (movement) //vrat se zpet na caru
{
case L:
for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}
STOPL;STOPR;
break;
case R:
for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}
STOPL;STOPR;
break;
case S:
goto sem;
break;
}
beep(1000,500);
 
/*line=0;
FR; BL; Delay_ms(400); // otoc se na caru
beep(1000,500);
while(line==0)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
}
FL;BR; Delay_ms(60); // zabrzdi
STOPL; STOPR;
 
FL; BR; Delay_ms(700); // otacka 180 deg
STOPL; STOPR;*/
 
FR;FL; //popojed rovne
for(n=PRES_DIRU;n>0;n--)
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
Delay_ms(1);
}
sem:
STOPL; STOPR;
movement=S;
cikcak(); // najdi caru
dira=0;
}
///////////////////////////////////////////////////////////////////////////////
void main()
{
unsigned int16 n; // pro FOR
 
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
 
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
 
port_b_pullups(TRUE); // pullups pro piano na diagnostiku
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
 
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
// preruseni kazdych 10ms
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(2);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
setup_ccp1(CCP_COMPARE_RESET_TIMER);
CCP_1=(2^10)-1; // prevod kazdou 1ms
 
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
 
Beep(1000,200); //double beep
Delay_ms(50);
Beep(1000,200);
Delay_ms(1000); // 1s
 
// povoleni rizeni rychlosti zataceni pres preruseni
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
 
/*---------------------------------------------------------------------------*/
sensors=S;
line=S;
last=S;
movement=S;
speed=FW_POMALU;
 
diagnostika();
//cikcak(); // toc se, abys nasel caru
Delay_ms(500);
Beep(1000,200);
Delay_ms(500);
 
while(true) // hlavni smycka (jizda podle cary)
{
sensors = RSENSOR; // cteni senzoru na caru
sensors |= LSENSOR << 1;
 
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();
 
switch (sensors) // zatacej podle toho, kde vidis caru
{
case S: // rovne
FL; FR; // pokud se jede dlouho rovne, tak pridej
dira=0;
movement=S;
continue;
case L: // trochu vlevo
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
line=L;
dira=0;
movement=L;
continue;
case R: // trochu vpravo
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
line=R;
dira=0;
movement=R;
continue;
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
}
rovinka=0;
if (dira>=T_DIRA) prejeddiru();
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi
{
last=line;
speed=FW_ZATACKA;
}
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
{
STOPL;
GO(R, F, speed);
movement=L;
}
else
{
STOPR;
GO(L, F, speed);
movement=R;
}
} // while(true)
}
 
/Designs/ROBOTS/Merkur/SW/turn_R/tank.cof
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Designs/ROBOTS/Merkur/SW/turn_R/tank.err
0,0 → 1,0
No Errors
/Designs/ROBOTS/Merkur/SW/turn_R/tank.h
0,0 → 1,5
#include <16F88.h>
#device adc=8
#fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO
#use delay(clock=4000000)
 
/Designs/ROBOTS/Merkur/SW/turn_R/tank.sta
0,0 → 1,38
 
ROM used: 1587 (39%)
1587 (39%) including unused fragments
 
2 Average locations per line
4 Average locations per statement
 
RAM used: 87 (50%) at main() level
98 (56%) worst case
 
Lines Stmts % Files
----- ----- --- -----
340 357 84 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h
275 0 0 C:\Program Files\PICC\devices\16F88.h
136 67 9 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\AX25.c
----- -----
1514 848 Total
 
Page ROM % RAM Functions:
---- --- --- --- ----------
0 21 1 1 @delay_ms1
0 21 1 1 @delay_us1
0 16 1 0 TIMER2_isr
0 44 3 6 beep
0 352 22 3 diagnostika
0 140 9 3 cikcak
0 253 16 3 objizdka
0 236 15 4 prejeddiru
0 449 28 3 main
 
Segment Used Free
--------- ---- ----
00000-00003 4 0
00004-00036 51 0
00037-007FF 1532 461
00800-00FFF 0 2048
 
/Designs/ROBOTS/Merkur/SW/turn_R/tank.tre
0,0 → 1,74
ÀÄtank
ÃÄmain 0/449 Ram=3
³ ÃÄ??0??
³ ÃÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄdiagnostika 0/352 Ram=3
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄobjizdka 0/253 Ram=3
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/44 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÀÄcikcak 0/140 Ram=3
³ ÀÄprejeddiru 0/236 Ram=4
³ ÃÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/44 Ram=6
³ ³ ÃÄ@delay_us1 0/21 Ram=1
³ ³ ÀÄ@delay_us1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÀÄcikcak 0/140 Ram=3
ÀÄTIMER2_isr 0/16 Ram=0