| 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 |