| 0,0 → 1,1497 |
|---|
| CCS PCM C Compiler, Version 3.221, 27853 20-V-05 13:52 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST |
| |
| ROM used: 1232 words (30%) |
| Largest free fragment is 2048 |
| RAM used: 65 (37%) at main() level |
| 73 (42%) worst case |
| Stack: 4 worst case (3 in main + 1 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 28E |
| 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) |
| * |
| 0042: MOVLW 12 |
| 0043: SUBWF 63,F |
| 0044: BTFSS 03.0 |
| 0045: GOTO 054 |
| 0046: MOVLW 63 |
| 0047: MOVWF 04 |
| 0048: MOVLW FC |
| 0049: ANDWF 00,F |
| 004A: BCF 03.0 |
| 004B: RRF 00,F |
| 004C: RRF 00,F |
| 004D: MOVF 00,W |
| 004E: BTFSC 03.2 |
| 004F: GOTO 054 |
| 0050: GOTO 052 |
| 0051: NOP |
| 0052: DECFSZ 00,F |
| 0053: GOTO 051 |
| 0054: RETLW 00 |
| * |
| 007B: MOVLW 5E |
| 007C: MOVWF 04 |
| 007D: MOVF 00,W |
| 007E: BTFSC 03.2 |
| 007F: GOTO 08F |
| 0080: MOVLW 01 |
| 0081: MOVWF 78 |
| 0082: CLRF 77 |
| 0083: DECFSZ 77,F |
| 0084: GOTO 083 |
| 0085: DECFSZ 78,F |
| 0086: GOTO 082 |
| 0087: MOVLW 4A |
| 0088: MOVWF 77 |
| 0089: DECFSZ 77,F |
| 008A: GOTO 089 |
| 008B: NOP |
| 008C: NOP |
| 008D: DECFSZ 00,F |
| 008E: GOTO 080 |
| 008F: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| .................... unsigned int8 line; // na ktere strane byla detekovana cara |
| .................... unsigned int8 speed; // rychlost zataceni |
| .................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| .................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
| .................... int cirkus; |
| .................... |
| .................... // Konstanty pro dynamiku pohybu |
| .................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
| .................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
| .................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| .................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
| .................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| .................... #define MAX_ROVINKA (255-FW_STREDNE) |
| .................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| .................... #define BUMPER_TRESHOLD 128 |
| .................... |
| .................... //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++; |
| * |
| 0037: INCFSZ 2B,W |
| 0038: GOTO 03A |
| 0039: GOTO 03B |
| 003A: INCF 2B,F |
| .................... if (rovinka<MAX_ROVINKA) rovinka++; |
| 003B: MOVF 2D,W |
| 003C: SUBLW 40 |
| 003D: BTFSC 03.0 |
| 003E: INCF 2D,F |
| .................... } |
| .................... // Primitivni Pipani |
| 003F: BCF 0C.1 |
| 0040: BCF 0A.3 |
| 0041: GOTO 022 |
| .................... void beep(unsigned int16 period, unsigned int16 length) |
| .................... { |
| .................... unsigned int16 nn; |
| .................... |
| .................... for(nn=length; nn>0; nn--) |
| * |
| 0055: MOVF 60,W |
| 0056: MOVWF 62 |
| 0057: MOVF 5F,W |
| 0058: MOVWF 61 |
| 0059: MOVF 61,F |
| 005A: BTFSS 03.2 |
| 005B: GOTO 05F |
| 005C: MOVF 62,F |
| 005D: BTFSC 03.2 |
| 005E: GOTO 07A |
| .................... { |
| .................... output_high(SOUND_HI);output_low(SOUND_LO); |
| 005F: BSF 03.5 |
| 0060: BCF 05.6 |
| 0061: BCF 03.5 |
| 0062: BSF 05.6 |
| 0063: BSF 03.5 |
| 0064: BCF 05.7 |
| 0065: BCF 03.5 |
| 0066: BCF 05.7 |
| .................... delay_us(period); |
| 0067: MOVF 5D,W |
| 0068: MOVWF 63 |
| 0069: CALL 042 |
| .................... output_high(SOUND_LO);output_low(SOUND_HI); |
| 006A: BSF 03.5 |
| 006B: BCF 05.7 |
| 006C: BCF 03.5 |
| 006D: BSF 05.7 |
| 006E: BSF 03.5 |
| 006F: BCF 05.6 |
| 0070: BCF 03.5 |
| 0071: BCF 05.6 |
| .................... delay_us(period); |
| 0072: MOVF 5D,W |
| 0073: MOVWF 63 |
| 0074: CALL 042 |
| .................... } |
| 0075: MOVF 61,W |
| 0076: BTFSC 03.2 |
| 0077: DECF 62,F |
| 0078: DECF 61,F |
| 0079: GOTO 059 |
| .................... } |
| 007A: RETLW 00 |
| .................... /******************************************************************************/ |
| .................... void diagnostika() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| .................... { |
| * |
| 0090: BSF 03.5 |
| 0091: BSF 06.3 |
| 0092: BCF 03.5 |
| 0093: BTFSS 06.3 |
| 0094: GOTO 1BB |
| .................... for (n=500; n<800; n+=100) |
| 0095: MOVLW 01 |
| 0096: MOVWF 5C |
| 0097: MOVLW F4 |
| 0098: MOVWF 5B |
| 0099: MOVF 5C,W |
| 009A: SUBLW 03 |
| 009B: BTFSS 03.0 |
| 009C: GOTO 0B1 |
| 009D: BTFSS 03.2 |
| 009E: GOTO 0A3 |
| 009F: MOVF 5B,W |
| 00A0: SUBLW 1F |
| 00A1: BTFSS 03.0 |
| 00A2: GOTO 0B1 |
| .................... { |
| .................... beep(n,n); //beep UP |
| 00A3: MOVF 5C,W |
| 00A4: MOVWF 5E |
| 00A5: MOVF 5B,W |
| 00A6: MOVWF 5D |
| 00A7: MOVF 5C,W |
| 00A8: MOVWF 60 |
| 00A9: MOVF 5B,W |
| 00AA: MOVWF 5F |
| 00AB: CALL 055 |
| .................... }; |
| 00AC: MOVLW 64 |
| 00AD: ADDWF 5B,F |
| 00AE: BTFSC 03.0 |
| 00AF: INCF 5C,F |
| 00B0: GOTO 099 |
| .................... Delay_ms(1000); |
| 00B1: MOVLW 04 |
| 00B2: MOVWF 5D |
| 00B3: MOVLW FA |
| 00B4: MOVWF 5E |
| 00B5: CALL 07B |
| 00B6: DECFSZ 5D,F |
| 00B7: GOTO 0B3 |
| .................... //zastav vse |
| .................... STOPL; STOPR; |
| 00B8: BSF 03.5 |
| 00B9: BCF 06.6 |
| 00BA: BCF 03.5 |
| 00BB: BCF 06.6 |
| 00BC: BSF 03.5 |
| 00BD: BCF 06.7 |
| 00BE: BCF 03.5 |
| 00BF: BCF 06.7 |
| 00C0: BSF 03.5 |
| 00C1: BCF 06.4 |
| 00C2: BCF 03.5 |
| 00C3: BCF 06.4 |
| 00C4: BSF 03.5 |
| 00C5: BCF 06.5 |
| 00C6: BCF 03.5 |
| 00C7: BCF 06.5 |
| .................... //pravy pas |
| .................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00C8: BSF 03.5 |
| 00C9: BCF 06.5 |
| 00CA: BCF 03.5 |
| 00CB: BCF 06.5 |
| 00CC: BSF 03.5 |
| 00CD: BCF 06.4 |
| 00CE: BCF 03.5 |
| 00CF: BSF 06.4 |
| 00D0: MOVLW 04 |
| 00D1: MOVWF 5D |
| 00D2: MOVLW FA |
| 00D3: MOVWF 5E |
| 00D4: CALL 07B |
| 00D5: DECFSZ 5D,F |
| 00D6: GOTO 0D2 |
| 00D7: BSF 03.5 |
| 00D8: BCF 06.4 |
| 00D9: BCF 03.5 |
| 00DA: BCF 06.4 |
| 00DB: BSF 03.5 |
| 00DC: BCF 06.5 |
| 00DD: BCF 03.5 |
| 00DE: BCF 06.5 |
| 00DF: MOVLW 04 |
| 00E0: MOVWF 5D |
| 00E1: MOVLW FA |
| 00E2: MOVWF 5E |
| 00E3: CALL 07B |
| 00E4: DECFSZ 5D,F |
| 00E5: GOTO 0E1 |
| .................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00E6: BSF 03.5 |
| 00E7: BCF 06.4 |
| 00E8: BCF 03.5 |
| 00E9: BCF 06.4 |
| 00EA: BSF 03.5 |
| 00EB: BCF 06.5 |
| 00EC: BCF 03.5 |
| 00ED: BSF 06.5 |
| 00EE: MOVLW 04 |
| 00EF: MOVWF 5D |
| 00F0: MOVLW FA |
| 00F1: MOVWF 5E |
| 00F2: CALL 07B |
| 00F3: DECFSZ 5D,F |
| 00F4: GOTO 0F0 |
| 00F5: BSF 03.5 |
| 00F6: BCF 06.4 |
| 00F7: BCF 03.5 |
| 00F8: BCF 06.4 |
| 00F9: BSF 03.5 |
| 00FA: BCF 06.5 |
| 00FB: BCF 03.5 |
| 00FC: BCF 06.5 |
| 00FD: MOVLW 04 |
| 00FE: MOVWF 5D |
| 00FF: MOVLW FA |
| 0100: MOVWF 5E |
| 0101: CALL 07B |
| 0102: DECFSZ 5D,F |
| 0103: GOTO 0FF |
| .................... Beep(880,100); Delay_ms(1000); |
| 0104: MOVLW 03 |
| 0105: MOVWF 5E |
| 0106: MOVLW 70 |
| 0107: MOVWF 5D |
| 0108: CLRF 60 |
| 0109: MOVLW 64 |
| 010A: MOVWF 5F |
| 010B: CALL 055 |
| 010C: MOVLW 04 |
| 010D: MOVWF 5D |
| 010E: MOVLW FA |
| 010F: MOVWF 5E |
| 0110: CALL 07B |
| 0111: DECFSZ 5D,F |
| 0112: GOTO 10E |
| .................... //levy pas |
| .................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0113: BSF 03.5 |
| 0114: BCF 06.7 |
| 0115: BCF 03.5 |
| 0116: BCF 06.7 |
| 0117: BSF 03.5 |
| 0118: BCF 06.6 |
| 0119: BCF 03.5 |
| 011A: BSF 06.6 |
| 011B: MOVLW 04 |
| 011C: MOVWF 5D |
| 011D: MOVLW FA |
| 011E: MOVWF 5E |
| 011F: CALL 07B |
| 0120: DECFSZ 5D,F |
| 0121: GOTO 11D |
| 0122: BSF 03.5 |
| 0123: BCF 06.6 |
| 0124: BCF 03.5 |
| 0125: BCF 06.6 |
| 0126: BSF 03.5 |
| 0127: BCF 06.7 |
| 0128: BCF 03.5 |
| 0129: BCF 06.7 |
| 012A: MOVLW 04 |
| 012B: MOVWF 5D |
| 012C: MOVLW FA |
| 012D: MOVWF 5E |
| 012E: CALL 07B |
| 012F: DECFSZ 5D,F |
| 0130: GOTO 12C |
| .................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0131: BSF 03.5 |
| 0132: BCF 06.6 |
| 0133: BCF 03.5 |
| 0134: BCF 06.6 |
| 0135: BSF 03.5 |
| 0136: BCF 06.7 |
| 0137: BCF 03.5 |
| 0138: BSF 06.7 |
| 0139: MOVLW 04 |
| 013A: MOVWF 5D |
| 013B: MOVLW FA |
| 013C: MOVWF 5E |
| 013D: CALL 07B |
| 013E: DECFSZ 5D,F |
| 013F: GOTO 13B |
| 0140: BSF 03.5 |
| 0141: BCF 06.6 |
| 0142: BCF 03.5 |
| 0143: BCF 06.6 |
| 0144: BSF 03.5 |
| 0145: BCF 06.7 |
| 0146: BCF 03.5 |
| 0147: BCF 06.7 |
| 0148: MOVLW 04 |
| 0149: MOVWF 5D |
| 014A: MOVLW FA |
| 014B: MOVWF 5E |
| 014C: CALL 07B |
| 014D: DECFSZ 5D,F |
| 014E: GOTO 14A |
| .................... Beep(880,100); Delay_ms(1000); |
| 014F: MOVLW 03 |
| 0150: MOVWF 5E |
| 0151: MOVLW 70 |
| 0152: MOVWF 5D |
| 0153: CLRF 60 |
| 0154: MOVLW 64 |
| 0155: MOVWF 5F |
| 0156: CALL 055 |
| 0157: MOVLW 04 |
| 0158: MOVWF 5D |
| 0159: MOVLW FA |
| 015A: MOVWF 5E |
| 015B: CALL 07B |
| 015C: DECFSZ 5D,F |
| 015D: GOTO 159 |
| .................... //oba pasy |
| .................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 015E: BSF 03.5 |
| 015F: BCF 06.7 |
| 0160: BCF 03.5 |
| 0161: BCF 06.7 |
| 0162: BSF 03.5 |
| 0163: BCF 06.6 |
| 0164: BCF 03.5 |
| 0165: BSF 06.6 |
| 0166: BSF 03.5 |
| 0167: BCF 06.5 |
| 0168: BCF 03.5 |
| 0169: BCF 06.5 |
| 016A: BSF 03.5 |
| 016B: BCF 06.4 |
| 016C: BCF 03.5 |
| 016D: BSF 06.4 |
| 016E: MOVLW 04 |
| 016F: MOVWF 5D |
| 0170: MOVLW FA |
| 0171: MOVWF 5E |
| 0172: CALL 07B |
| 0173: DECFSZ 5D,F |
| 0174: GOTO 170 |
| 0175: BSF 03.5 |
| 0176: BCF 06.6 |
| 0177: BCF 03.5 |
| 0178: BCF 06.6 |
| 0179: BSF 03.5 |
| 017A: BCF 06.7 |
| 017B: BCF 03.5 |
| 017C: BCF 06.7 |
| 017D: BSF 03.5 |
| 017E: BCF 06.4 |
| 017F: BCF 03.5 |
| 0180: BCF 06.4 |
| 0181: BSF 03.5 |
| 0182: BCF 06.5 |
| 0183: BCF 03.5 |
| 0184: BCF 06.5 |
| 0185: MOVLW 04 |
| 0186: MOVWF 5D |
| 0187: MOVLW FA |
| 0188: MOVWF 5E |
| 0189: CALL 07B |
| 018A: DECFSZ 5D,F |
| 018B: GOTO 187 |
| .................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 018C: BSF 03.5 |
| 018D: BCF 06.6 |
| 018E: BCF 03.5 |
| 018F: BCF 06.6 |
| 0190: BSF 03.5 |
| 0191: BCF 06.7 |
| 0192: BCF 03.5 |
| 0193: BSF 06.7 |
| 0194: BSF 03.5 |
| 0195: BCF 06.4 |
| 0196: BCF 03.5 |
| 0197: BCF 06.4 |
| 0198: BSF 03.5 |
| 0199: BCF 06.5 |
| 019A: BCF 03.5 |
| 019B: BSF 06.5 |
| 019C: MOVLW 04 |
| 019D: MOVWF 5D |
| 019E: MOVLW FA |
| 019F: MOVWF 5E |
| 01A0: CALL 07B |
| 01A1: DECFSZ 5D,F |
| 01A2: GOTO 19E |
| 01A3: BSF 03.5 |
| 01A4: BCF 06.6 |
| 01A5: BCF 03.5 |
| 01A6: BCF 06.6 |
| 01A7: BSF 03.5 |
| 01A8: BCF 06.7 |
| 01A9: BCF 03.5 |
| 01AA: BCF 06.7 |
| 01AB: BSF 03.5 |
| 01AC: BCF 06.4 |
| 01AD: BCF 03.5 |
| 01AE: BCF 06.4 |
| 01AF: BSF 03.5 |
| 01B0: BCF 06.5 |
| 01B1: BCF 03.5 |
| 01B2: BCF 06.5 |
| 01B3: MOVLW 04 |
| 01B4: MOVWF 5D |
| 01B5: MOVLW FA |
| 01B6: MOVWF 5E |
| 01B7: CALL 07B |
| 01B8: DECFSZ 5D,F |
| 01B9: GOTO 1B5 |
| .................... }; |
| 01BA: GOTO 090 |
| .................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
| .................... { |
| 01BB: BSF 03.5 |
| 01BC: BSF 06.2 |
| 01BD: BCF 03.5 |
| 01BE: BTFSS 06.2 |
| 01BF: GOTO 1EE |
| .................... if (RSENSOR) beep(1000,1000); |
| 01C0: BSF 03.5 |
| 01C1: BTFSC 1C.7 |
| 01C2: GOTO 1CE |
| 01C3: MOVLW 03 |
| 01C4: BCF 03.5 |
| 01C5: MOVWF 5E |
| 01C6: MOVLW E8 |
| 01C7: MOVWF 5D |
| 01C8: MOVLW 03 |
| 01C9: MOVWF 60 |
| 01CA: MOVLW E8 |
| 01CB: MOVWF 5F |
| 01CC: CALL 055 |
| 01CD: BSF 03.5 |
| .................... if (LSENSOR) beep(2000,2000); |
| 01CE: BTFSC 1C.6 |
| 01CF: GOTO 1DB |
| 01D0: MOVLW 07 |
| 01D1: BCF 03.5 |
| 01D2: MOVWF 5E |
| 01D3: MOVLW D0 |
| 01D4: MOVWF 5D |
| 01D5: MOVLW 07 |
| 01D6: MOVWF 60 |
| 01D7: MOVLW D0 |
| 01D8: MOVWF 5F |
| 01D9: CALL 055 |
| 01DA: BSF 03.5 |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000); |
| 01DB: BCF 03.5 |
| 01DC: BTFSS 1F.2 |
| 01DD: GOTO 1E0 |
| 01DE: BSF 03.5 |
| 01DF: GOTO 1DB |
| 01E0: MOVF 1E,W |
| 01E1: SUBLW 7F |
| 01E2: BTFSS 03.0 |
| 01E3: GOTO 1ED |
| 01E4: MOVLW 0B |
| 01E5: MOVWF 5E |
| 01E6: MOVLW B8 |
| 01E7: MOVWF 5D |
| 01E8: MOVLW 0B |
| 01E9: MOVWF 60 |
| 01EA: MOVLW B8 |
| 01EB: MOVWF 5F |
| 01EC: CALL 055 |
| .................... }; |
| 01ED: GOTO 1BB |
| .................... } |
| 01EE: BCF 0A.3 |
| 01EF: GOTO 31F (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void OtocSe() // otoci se zpet, kdyz je prekazka |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... BR;BL; |
| 01F0: BSF 03.5 |
| 01F1: BCF 06.4 |
| 01F2: BCF 03.5 |
| 01F3: BCF 06.4 |
| 01F4: BSF 03.5 |
| 01F5: BCF 06.5 |
| 01F6: BCF 03.5 |
| 01F7: BSF 06.5 |
| 01F8: BSF 03.5 |
| 01F9: BCF 06.6 |
| 01FA: BCF 03.5 |
| 01FB: BCF 06.6 |
| 01FC: BSF 03.5 |
| 01FD: BCF 06.7 |
| 01FE: BCF 03.5 |
| 01FF: BSF 06.7 |
| .................... beep(800,400); |
| 0200: MOVLW 03 |
| 0201: MOVWF 5E |
| 0202: MOVLW 20 |
| 0203: MOVWF 5D |
| 0204: MOVLW 01 |
| 0205: MOVWF 60 |
| 0206: MOVLW 90 |
| 0207: MOVWF 5F |
| 0208: CALL 055 |
| .................... beep(2000,1000); |
| 0209: MOVLW 07 |
| 020A: MOVWF 5E |
| 020B: MOVLW D0 |
| 020C: MOVWF 5D |
| 020D: MOVLW 03 |
| 020E: MOVWF 60 |
| 020F: MOVLW E8 |
| 0210: MOVWF 5F |
| 0211: CALL 055 |
| .................... beep(900,400); |
| 0212: MOVLW 03 |
| 0213: MOVWF 5E |
| 0214: MOVLW 84 |
| 0215: MOVWF 5D |
| 0216: MOVLW 01 |
| 0217: MOVWF 60 |
| 0218: MOVLW 90 |
| 0219: MOVWF 5F |
| 021A: CALL 055 |
| .................... |
| .................... BR; FL; Delay_ms(50); // otoc se 30° do prava |
| 021B: BSF 03.5 |
| 021C: BCF 06.4 |
| 021D: BCF 03.5 |
| 021E: BCF 06.4 |
| 021F: BSF 03.5 |
| 0220: BCF 06.5 |
| 0221: BCF 03.5 |
| 0222: BSF 06.5 |
| 0223: BSF 03.5 |
| 0224: BCF 06.7 |
| 0225: BCF 03.5 |
| 0226: BCF 06.7 |
| 0227: BSF 03.5 |
| 0228: BCF 06.6 |
| 0229: BCF 03.5 |
| 022A: BSF 06.6 |
| 022B: MOVLW 32 |
| 022C: MOVWF 5E |
| 022D: CALL 07B |
| .................... STOPL; STOPR; |
| 022E: BSF 03.5 |
| 022F: BCF 06.6 |
| 0230: BCF 03.5 |
| 0231: BCF 06.6 |
| 0232: BSF 03.5 |
| 0233: BCF 06.7 |
| 0234: BCF 03.5 |
| 0235: BCF 06.7 |
| 0236: BSF 03.5 |
| 0237: BCF 06.4 |
| 0238: BCF 03.5 |
| 0239: BCF 06.4 |
| 023A: BSF 03.5 |
| 023B: BCF 06.5 |
| 023C: BCF 03.5 |
| 023D: BCF 06.5 |
| .................... beep(1000,1000); |
| 023E: MOVLW 03 |
| 023F: MOVWF 5E |
| 0240: MOVLW E8 |
| 0241: MOVWF 5D |
| 0242: MOVLW 03 |
| 0243: MOVWF 60 |
| 0244: MOVLW E8 |
| 0245: MOVWF 5F |
| 0246: CALL 055 |
| .................... |
| .................... BR; FL; |
| 0247: BSF 03.5 |
| 0248: BCF 06.4 |
| 0249: BCF 03.5 |
| 024A: BCF 06.4 |
| 024B: BSF 03.5 |
| 024C: BCF 06.5 |
| 024D: BCF 03.5 |
| 024E: BSF 06.5 |
| 024F: BSF 03.5 |
| 0250: BCF 06.7 |
| 0251: BCF 03.5 |
| 0252: BCF 06.7 |
| 0253: BSF 03.5 |
| 0254: BCF 06.6 |
| 0255: BCF 03.5 |
| 0256: BSF 06.6 |
| .................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
| 0257: MOVLW 9C |
| 0258: MOVWF 5C |
| 0259: MOVLW 40 |
| 025A: MOVWF 5B |
| 025B: MOVF 5B,F |
| 025C: BTFSS 03.2 |
| 025D: GOTO 261 |
| 025E: MOVF 5C,F |
| 025F: BTFSC 03.2 |
| 0260: GOTO 279 |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0261: CLRF 2A |
| 0262: BSF 03.5 |
| 0263: BTFSC 1C.7 |
| 0264: GOTO 268 |
| 0265: BCF 03.5 |
| 0266: INCF 2A,F |
| 0267: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0268: MOVLW 00 |
| 0269: BTFSS 1C.6 |
| 026A: MOVLW 01 |
| 026B: MOVWF 77 |
| 026C: BCF 03.0 |
| 026D: RLF 77,F |
| 026E: MOVF 77,W |
| 026F: BCF 03.5 |
| 0270: IORWF 2A,F |
| .................... if (line!=0) break; |
| 0271: MOVF 2A,F |
| 0272: BTFSS 03.2 |
| 0273: GOTO 279 |
| .................... } |
| 0274: MOVF 5B,W |
| 0275: BTFSC 03.2 |
| 0276: DECF 5C,F |
| 0277: DECF 5B,F |
| 0278: GOTO 25B |
| .................... STOPR; STOPL; |
| 0279: BSF 03.5 |
| 027A: BCF 06.4 |
| 027B: BCF 03.5 |
| 027C: BCF 06.4 |
| 027D: BSF 03.5 |
| 027E: BCF 06.5 |
| 027F: BCF 03.5 |
| 0280: BCF 06.5 |
| 0281: BSF 03.5 |
| 0282: BCF 06.6 |
| 0283: BCF 03.5 |
| 0284: BCF 06.6 |
| 0285: BSF 03.5 |
| 0286: BCF 06.7 |
| 0287: BCF 03.5 |
| 0288: BCF 06.7 |
| .................... |
| .................... line=L; // caru jsme prejeli, tak je vlevo |
| 0289: MOVLW 02 |
| 028A: MOVWF 2A |
| .................... cirkus=0; |
| 028B: CLRF 2E |
| .................... } |
| 028C: BCF 0A.3 |
| 028D: GOTO 34B (RETURN) |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| 028E: CLRF 04 |
| 028F: MOVLW 1F |
| 0290: ANDWF 03,F |
| 0291: BSF 03.5 |
| 0292: BCF 1F.4 |
| 0293: BCF 1F.5 |
| 0294: MOVF 1B,W |
| 0295: ANDLW 80 |
| 0296: MOVWF 1B |
| 0297: MOVLW 07 |
| 0298: MOVWF 1C |
| 0299: MOVF 1C,W |
| 029A: BCF 03.5 |
| 029B: BCF 0D.6 |
| 029C: MOVLW 60 |
| 029D: BSF 03.5 |
| 029E: MOVWF 0F |
| .................... unsigned int16 n; // pro FOR |
| .................... unsigned int16 i; |
| .................... |
| .................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| 029F: BCF 06.6 |
| 02A0: BCF 03.5 |
| 02A1: BCF 06.6 |
| 02A2: BSF 03.5 |
| 02A3: BCF 06.7 |
| 02A4: BCF 03.5 |
| 02A5: BCF 06.7 |
| 02A6: BSF 03.5 |
| 02A7: BCF 06.4 |
| 02A8: BCF 03.5 |
| 02A9: BCF 06.4 |
| 02AA: BSF 03.5 |
| 02AB: BCF 06.5 |
| 02AC: BCF 03.5 |
| 02AD: BCF 06.5 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| 02AE: MOVLW 62 |
| 02AF: BSF 03.5 |
| 02B0: MOVWF 0F |
| .................... |
| .................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| 02B1: BCF 01.7 |
| .................... setup_spi(FALSE); |
| 02B2: BCF 03.5 |
| 02B3: BCF 14.5 |
| 02B4: BSF 03.5 |
| 02B5: BCF 06.2 |
| 02B6: BSF 06.1 |
| 02B7: BCF 06.4 |
| 02B8: MOVLW 00 |
| 02B9: BCF 03.5 |
| 02BA: MOVWF 14 |
| 02BB: BSF 03.5 |
| 02BC: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| 02BD: MOVF 01,W |
| 02BE: ANDLW C7 |
| 02BF: IORLW 08 |
| 02C0: MOVWF 01 |
| .................... |
| .................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| 02C1: MOVLW 48 |
| 02C2: MOVWF 78 |
| 02C3: IORLW 05 |
| 02C4: BCF 03.5 |
| 02C5: MOVWF 12 |
| 02C6: MOVLW FF |
| 02C7: BSF 03.5 |
| 02C8: MOVWF 12 |
| .................... // preruseni kazdych 10ms |
| .................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| 02C9: BCF 1F.4 |
| 02CA: BCF 1F.5 |
| 02CB: MOVF 1B,W |
| 02CC: ANDLW 80 |
| 02CD: IORLW 04 |
| 02CE: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 02CF: BCF 1F.6 |
| 02D0: BCF 03.5 |
| 02D1: BSF 1F.6 |
| 02D2: BSF 1F.7 |
| 02D3: BSF 03.5 |
| 02D4: BCF 1F.7 |
| 02D5: BCF 03.5 |
| 02D6: BSF 1F.0 |
| .................... set_adc_channel(2); |
| 02D7: MOVLW 10 |
| 02D8: MOVWF 78 |
| 02D9: MOVF 1F,W |
| 02DA: ANDLW C7 |
| 02DB: IORWF 78,W |
| 02DC: MOVWF 1F |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| 02DD: MOVLW 85 |
| 02DE: MOVWF 10 |
| .................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| 02DF: BSF 03.5 |
| 02E0: BSF 06.3 |
| 02E1: MOVLW 0B |
| 02E2: BCF 03.5 |
| 02E3: MOVWF 17 |
| .................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
| 02E4: CLRF 16 |
| 02E5: MOVLW 07 |
| 02E6: MOVWF 15 |
| .................... |
| .................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| 02E7: MOVLW 02 |
| 02E8: BSF 03.5 |
| 02E9: MOVWF 1C |
| 02EA: MOVF 05,W |
| 02EB: IORLW 03 |
| 02EC: MOVWF 05 |
| 02ED: MOVLW 03 |
| 02EE: MOVWF 77 |
| 02EF: DECFSZ 77,F |
| 02F0: GOTO 2EF |
| 02F1: MOVF 1C,W |
| 02F2: BCF 03.5 |
| 02F3: BCF 0D.6 |
| .................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| 02F4: MOVLW 8F |
| 02F5: BSF 03.5 |
| 02F6: MOVWF 1D |
| .................... |
| .................... Beep(1000,200); //double beep |
| 02F7: MOVLW 03 |
| 02F8: BCF 03.5 |
| 02F9: MOVWF 5E |
| 02FA: MOVLW E8 |
| 02FB: MOVWF 5D |
| 02FC: CLRF 60 |
| 02FD: MOVLW C8 |
| 02FE: MOVWF 5F |
| 02FF: CALL 055 |
| .................... Delay_ms(50); |
| 0300: MOVLW 32 |
| 0301: MOVWF 5E |
| 0302: CALL 07B |
| .................... Beep(1000,200); |
| 0303: MOVLW 03 |
| 0304: MOVWF 5E |
| 0305: MOVLW E8 |
| 0306: MOVWF 5D |
| 0307: CLRF 60 |
| 0308: MOVLW C8 |
| 0309: MOVWF 5F |
| 030A: CALL 055 |
| .................... Delay_ms(1000); // 1s |
| 030B: MOVLW 04 |
| 030C: MOVWF 5B |
| 030D: MOVLW FA |
| 030E: MOVWF 5E |
| 030F: CALL 07B |
| 0310: DECFSZ 5B,F |
| 0311: GOTO 30D |
| .................... |
| .................... // povoleni rizeni rychlosti zataceni pres preruseni |
| .................... enable_interrupts(INT_TIMER2); |
| 0312: BSF 03.5 |
| 0313: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 0314: MOVLW C0 |
| 0315: BCF 03.5 |
| 0316: IORWF 0B,F |
| .................... |
| .................... /*---------------------------------------------------------------------------*/ |
| .................... sensors=S; |
| 0317: MOVLW 03 |
| 0318: MOVWF 29 |
| .................... line=S; |
| 0319: MOVWF 2A |
| .................... last=S; |
| 031A: MOVWF 2C |
| .................... cirkus=0; |
| 031B: CLRF 2E |
| .................... // movement=S; |
| .................... speed=FW_POMALU; |
| 031C: MOVLW AA |
| 031D: MOVWF 2B |
| .................... |
| .................... diagnostika(); |
| 031E: GOTO 090 |
| .................... Delay_ms(500); |
| 031F: MOVLW 02 |
| 0320: MOVWF 5B |
| 0321: MOVLW FA |
| 0322: MOVWF 5E |
| 0323: CALL 07B |
| 0324: DECFSZ 5B,F |
| 0325: GOTO 321 |
| .................... Beep(1000,200); |
| 0326: MOVLW 03 |
| 0327: MOVWF 5E |
| 0328: MOVLW E8 |
| 0329: MOVWF 5D |
| 032A: CLRF 60 |
| 032B: MOVLW C8 |
| 032C: MOVWF 5F |
| 032D: CALL 055 |
| .................... Delay_ms(500); |
| 032E: MOVLW 02 |
| 032F: MOVWF 5B |
| 0330: MOVLW FA |
| 0331: MOVWF 5E |
| 0332: CALL 07B |
| 0333: DECFSZ 5B,F |
| 0334: GOTO 330 |
| .................... |
| .................... while(true) // hlavni smycka (jizda podle cary) |
| .................... { |
| .................... sensors = RSENSOR; // cteni senzoru na caru |
| 0335: CLRF 29 |
| 0336: BSF 03.5 |
| 0337: BTFSC 1C.7 |
| 0338: GOTO 33C |
| 0339: BCF 03.5 |
| 033A: INCF 29,F |
| 033B: BSF 03.5 |
| .................... sensors |= LSENSOR << 1; |
| 033C: MOVLW 00 |
| 033D: BTFSS 1C.6 |
| 033E: MOVLW 01 |
| 033F: MOVWF 77 |
| 0340: BCF 03.0 |
| 0341: RLF 77,F |
| 0342: MOVF 77,W |
| 0343: BCF 03.5 |
| 0344: IORWF 29,F |
| .................... |
| .................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
| 0345: BTFSC 1F.2 |
| 0346: GOTO 345 |
| 0347: MOVF 1E,W |
| 0348: SUBLW 7F |
| 0349: BTFSC 03.0 |
| 034A: GOTO 1F0 |
| .................... |
| .................... switch (sensors) // zatacej podle toho, kde vidis caru |
| .................... { |
| 034B: MOVF 29,W |
| 034C: XORLW 03 |
| 034D: BTFSC 03.2 |
| 034E: GOTO 356 |
| 034F: XORLW 01 |
| 0350: BTFSC 03.2 |
| 0351: GOTO 38B |
| 0352: XORLW 03 |
| 0353: BTFSC 03.2 |
| 0354: GOTO 3C2 |
| 0355: GOTO 3F9 |
| .................... case S: // rovne |
| .................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 0356: MOVF 01,W |
| 0357: MOVWF 5B |
| 0358: MOVLW BE |
| 0359: ADDWF 2D,W |
| 035A: SUBWF 5B,W |
| 035B: BTFSC 03.2 |
| 035C: GOTO 35F |
| 035D: BTFSC 03.0 |
| 035E: GOTO 368 |
| 035F: BSF 03.5 |
| 0360: BCF 06.7 |
| 0361: BCF 03.5 |
| 0362: BCF 06.7 |
| 0363: BSF 03.5 |
| 0364: BCF 06.6 |
| 0365: BCF 03.5 |
| 0366: BSF 06.6 |
| 0367: GOTO 370 |
| 0368: BSF 03.5 |
| 0369: BCF 06.6 |
| 036A: BCF 03.5 |
| 036B: BCF 06.6 |
| 036C: BSF 03.5 |
| 036D: BCF 06.7 |
| 036E: BCF 03.5 |
| 036F: BCF 06.7 |
| 0370: MOVF 01,W |
| 0371: MOVWF 5B |
| 0372: MOVLW BE |
| 0373: ADDWF 2D,W |
| 0374: SUBWF 5B,W |
| 0375: BTFSC 03.2 |
| 0376: GOTO 379 |
| 0377: BTFSC 03.0 |
| 0378: GOTO 382 |
| 0379: BSF 03.5 |
| 037A: BCF 06.5 |
| 037B: BCF 03.5 |
| 037C: BCF 06.5 |
| 037D: BSF 03.5 |
| 037E: BCF 06.4 |
| 037F: BCF 03.5 |
| 0380: BSF 06.4 |
| 0381: GOTO 38A |
| 0382: BSF 03.5 |
| 0383: BCF 06.4 |
| 0384: BCF 03.5 |
| 0385: BCF 06.4 |
| 0386: BSF 03.5 |
| 0387: BCF 06.5 |
| 0388: BCF 03.5 |
| 0389: BCF 06.5 |
| .................... continue; |
| 038A: GOTO 335 |
| .................... case L: // trochu vlevo |
| .................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 038B: MOVF 01,W |
| 038C: MOVWF 5B |
| 038D: MOVLW AA |
| 038E: ADDWF 2D,W |
| 038F: SUBWF 5B,W |
| 0390: BTFSC 03.2 |
| 0391: GOTO 394 |
| 0392: BTFSC 03.0 |
| 0393: GOTO 39D |
| 0394: BSF 03.5 |
| 0395: BCF 06.7 |
| 0396: BCF 03.5 |
| 0397: BCF 06.7 |
| 0398: BSF 03.5 |
| 0399: BCF 06.6 |
| 039A: BCF 03.5 |
| 039B: BSF 06.6 |
| 039C: GOTO 3A5 |
| 039D: BSF 03.5 |
| 039E: BCF 06.6 |
| 039F: BCF 03.5 |
| 03A0: BCF 06.6 |
| 03A1: BSF 03.5 |
| 03A2: BCF 06.7 |
| 03A3: BCF 03.5 |
| 03A4: BCF 06.7 |
| 03A5: MOVF 01,W |
| 03A6: MOVWF 5B |
| 03A7: MOVLW BE |
| 03A8: ADDWF 2D,W |
| 03A9: SUBWF 5B,W |
| 03AA: BTFSC 03.2 |
| 03AB: GOTO 3AE |
| 03AC: BTFSC 03.0 |
| 03AD: GOTO 3B7 |
| 03AE: BSF 03.5 |
| 03AF: BCF 06.5 |
| 03B0: BCF 03.5 |
| 03B1: BCF 06.5 |
| 03B2: BSF 03.5 |
| 03B3: BCF 06.4 |
| 03B4: BCF 03.5 |
| 03B5: BSF 06.4 |
| 03B6: GOTO 3BF |
| 03B7: BSF 03.5 |
| 03B8: BCF 06.4 |
| 03B9: BCF 03.5 |
| 03BA: BCF 06.4 |
| 03BB: BSF 03.5 |
| 03BC: BCF 06.5 |
| 03BD: BCF 03.5 |
| 03BE: BCF 06.5 |
| .................... line=L; |
| 03BF: MOVLW 02 |
| 03C0: MOVWF 2A |
| .................... continue; |
| 03C1: GOTO 335 |
| .................... case R: // trochu vpravo |
| .................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| 03C2: MOVF 01,W |
| 03C3: MOVWF 5B |
| 03C4: MOVLW AA |
| 03C5: ADDWF 2D,W |
| 03C6: SUBWF 5B,W |
| 03C7: BTFSC 03.2 |
| 03C8: GOTO 3CB |
| 03C9: BTFSC 03.0 |
| 03CA: GOTO 3D4 |
| 03CB: BSF 03.5 |
| 03CC: BCF 06.5 |
| 03CD: BCF 03.5 |
| 03CE: BCF 06.5 |
| 03CF: BSF 03.5 |
| 03D0: BCF 06.4 |
| 03D1: BCF 03.5 |
| 03D2: BSF 06.4 |
| 03D3: GOTO 3DC |
| 03D4: BSF 03.5 |
| 03D5: BCF 06.4 |
| 03D6: BCF 03.5 |
| 03D7: BCF 06.4 |
| 03D8: BSF 03.5 |
| 03D9: BCF 06.5 |
| 03DA: BCF 03.5 |
| 03DB: BCF 06.5 |
| 03DC: MOVF 01,W |
| 03DD: MOVWF 5B |
| 03DE: MOVLW BE |
| 03DF: ADDWF 2D,W |
| 03E0: SUBWF 5B,W |
| 03E1: BTFSC 03.2 |
| 03E2: GOTO 3E5 |
| 03E3: BTFSC 03.0 |
| 03E4: GOTO 3EE |
| 03E5: BSF 03.5 |
| 03E6: BCF 06.7 |
| 03E7: BCF 03.5 |
| 03E8: BCF 06.7 |
| 03E9: BSF 03.5 |
| 03EA: BCF 06.6 |
| 03EB: BCF 03.5 |
| 03EC: BSF 06.6 |
| 03ED: GOTO 3F6 |
| 03EE: BSF 03.5 |
| 03EF: BCF 06.6 |
| 03F0: BCF 03.5 |
| 03F1: BCF 06.6 |
| 03F2: BSF 03.5 |
| 03F3: BCF 06.7 |
| 03F4: BCF 03.5 |
| 03F5: BCF 06.7 |
| .................... line=R; |
| 03F6: MOVLW 01 |
| 03F7: MOVWF 2A |
| .................... continue; |
| 03F8: GOTO 335 |
| .................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| .................... }; |
| .................... rovinka=0; |
| 03F9: CLRF 2D |
| .................... |
| .................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| 03FA: MOVF 2A,W |
| 03FB: SUBWF 2C,W |
| 03FC: BTFSC 03.2 |
| 03FD: GOTO 48F |
| .................... { |
| .................... last=line; |
| 03FE: MOVF 2A,W |
| 03FF: MOVWF 2C |
| .................... speed=FW_ZATACKA; |
| 0400: MOVLW C8 |
| 0401: MOVWF 2B |
| .................... cirkus++; |
| 0402: INCF 2E,F |
| .................... if (cirkus>10) |
| 0403: MOVF 2E,W |
| 0404: SUBLW 0A |
| 0405: BTFSC 03.0 |
| 0406: GOTO 48F |
| .................... { |
| .................... STOPL; STOPR; |
| 0407: BSF 03.5 |
| 0408: BCF 06.6 |
| 0409: BCF 03.5 |
| 040A: BCF 06.6 |
| 040B: BSF 03.5 |
| 040C: BCF 06.7 |
| 040D: BCF 03.5 |
| 040E: BCF 06.7 |
| 040F: BSF 03.5 |
| 0410: BCF 06.4 |
| 0411: BCF 03.5 |
| 0412: BCF 06.4 |
| 0413: BSF 03.5 |
| 0414: BCF 06.5 |
| 0415: BCF 03.5 |
| 0416: BCF 06.5 |
| .................... cirkus=0; |
| 0417: CLRF 2E |
| .................... disable_interrupts(GLOBAL); |
| 0418: BCF 0B.6 |
| 0419: BCF 0B.7 |
| 041A: BTFSC 0B.7 |
| 041B: GOTO 419 |
| .................... beep(1000,400); |
| 041C: MOVLW 03 |
| 041D: MOVWF 5E |
| 041E: MOVLW E8 |
| 041F: MOVWF 5D |
| 0420: MOVLW 01 |
| 0421: MOVWF 60 |
| 0422: MOVLW 90 |
| 0423: MOVWF 5F |
| 0424: CALL 055 |
| .................... for(n=3000; n>3950; n--) beep(n,10); |
| 0425: MOVLW 0B |
| 0426: MOVWF 58 |
| 0427: MOVLW B8 |
| 0428: MOVWF 57 |
| 0429: MOVF 58,W |
| 042A: SUBLW 0E |
| 042B: BTFSC 03.0 |
| 042C: GOTO 441 |
| 042D: XORLW FF |
| 042E: BTFSS 03.2 |
| 042F: GOTO 434 |
| 0430: MOVF 57,W |
| 0431: SUBLW 6E |
| 0432: BTFSC 03.0 |
| 0433: GOTO 441 |
| 0434: MOVF 58,W |
| 0435: MOVWF 5E |
| 0436: MOVF 57,W |
| 0437: MOVWF 5D |
| 0438: CLRF 60 |
| 0439: MOVLW 0A |
| 043A: MOVWF 5F |
| 043B: CALL 055 |
| 043C: MOVF 57,W |
| 043D: BTFSC 03.2 |
| 043E: DECF 58,F |
| 043F: DECF 57,F |
| 0440: GOTO 429 |
| .................... beep(2000,200); |
| 0441: MOVLW 07 |
| 0442: MOVWF 5E |
| 0443: MOVLW D0 |
| 0444: MOVWF 5D |
| 0445: CLRF 60 |
| 0446: MOVLW C8 |
| 0447: MOVWF 5F |
| 0448: CALL 055 |
| .................... beep(900,400); |
| 0449: MOVLW 03 |
| 044A: MOVWF 5E |
| 044B: MOVLW 84 |
| 044C: MOVWF 5D |
| 044D: MOVLW 01 |
| 044E: MOVWF 60 |
| 044F: MOVLW 90 |
| 0450: MOVWF 5F |
| 0451: CALL 055 |
| .................... for(n=2950; n<3000; n++) beep(n,10); |
| 0452: MOVLW 0B |
| 0453: MOVWF 58 |
| 0454: MOVLW 86 |
| 0455: MOVWF 57 |
| 0456: MOVF 58,W |
| 0457: SUBLW 0B |
| 0458: BTFSS 03.0 |
| 0459: GOTO 46C |
| 045A: BTFSS 03.2 |
| 045B: GOTO 460 |
| 045C: MOVF 57,W |
| 045D: SUBLW B7 |
| 045E: BTFSS 03.0 |
| 045F: GOTO 46C |
| 0460: MOVF 58,W |
| 0461: MOVWF 5E |
| 0462: MOVF 57,W |
| 0463: MOVWF 5D |
| 0464: CLRF 60 |
| 0465: MOVLW 0A |
| 0466: MOVWF 5F |
| 0467: CALL 055 |
| 0468: INCF 57,F |
| 0469: BTFSC 03.2 |
| 046A: INCF 58,F |
| 046B: GOTO 456 |
| .................... beep(4000,400); |
| 046C: MOVLW 0F |
| 046D: MOVWF 5E |
| 046E: MOVLW A0 |
| 046F: MOVWF 5D |
| 0470: MOVLW 01 |
| 0471: MOVWF 60 |
| 0472: MOVLW 90 |
| 0473: MOVWF 5F |
| 0474: CALL 055 |
| .................... beep(1000,100); |
| 0475: MOVLW 03 |
| 0476: MOVWF 5E |
| 0477: MOVLW E8 |
| 0478: MOVWF 5D |
| 0479: CLRF 60 |
| 047A: MOVLW 64 |
| 047B: MOVWF 5F |
| 047C: CALL 055 |
| .................... beep(3000,400); |
| 047D: MOVLW 0B |
| 047E: MOVWF 5E |
| 047F: MOVLW B8 |
| 0480: MOVWF 5D |
| 0481: MOVLW 01 |
| 0482: MOVWF 60 |
| 0483: MOVLW 90 |
| 0484: MOVWF 5F |
| 0485: CALL 055 |
| .................... Delay_ms(1000); |
| 0486: MOVLW 04 |
| 0487: MOVWF 5B |
| 0488: MOVLW FA |
| 0489: MOVWF 5E |
| 048A: CALL 07B |
| 048B: DECFSZ 5B,F |
| 048C: GOTO 488 |
| .................... enable_interrupts(GLOBAL); |
| 048D: MOVLW C0 |
| 048E: IORWF 0B,F |
| .................... } |
| .................... }; |
| .................... |
| .................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| 048F: MOVF 2A,W |
| 0490: SUBLW 02 |
| 0491: BTFSS 03.2 |
| 0492: GOTO 4B1 |
| .................... { |
| .................... STOPL; |
| 0493: BSF 03.5 |
| 0494: BCF 06.6 |
| 0495: BCF 03.5 |
| 0496: BCF 06.6 |
| 0497: BSF 03.5 |
| 0498: BCF 06.7 |
| 0499: BCF 03.5 |
| 049A: BCF 06.7 |
| .................... GO(R, F, speed); |
| 049B: MOVF 01,W |
| 049C: SUBWF 2B,W |
| 049D: BTFSS 03.0 |
| 049E: GOTO 4A8 |
| 049F: BSF 03.5 |
| 04A0: BCF 06.5 |
| 04A1: BCF 03.5 |
| 04A2: BCF 06.5 |
| 04A3: BSF 03.5 |
| 04A4: BCF 06.4 |
| 04A5: BCF 03.5 |
| 04A6: BSF 06.4 |
| 04A7: GOTO 4B0 |
| 04A8: BSF 03.5 |
| 04A9: BCF 06.4 |
| 04AA: BCF 03.5 |
| 04AB: BCF 06.4 |
| 04AC: BSF 03.5 |
| 04AD: BCF 06.5 |
| 04AE: BCF 03.5 |
| 04AF: BCF 06.5 |
| .................... } |
| .................... else |
| 04B0: GOTO 4CE |
| .................... { |
| .................... STOPR; |
| 04B1: BSF 03.5 |
| 04B2: BCF 06.4 |
| 04B3: BCF 03.5 |
| 04B4: BCF 06.4 |
| 04B5: BSF 03.5 |
| 04B6: BCF 06.5 |
| 04B7: BCF 03.5 |
| 04B8: BCF 06.5 |
| .................... GO(L, F, speed); |
| 04B9: MOVF 01,W |
| 04BA: SUBWF 2B,W |
| 04BB: BTFSS 03.0 |
| 04BC: GOTO 4C6 |
| 04BD: BSF 03.5 |
| 04BE: BCF 06.7 |
| 04BF: BCF 03.5 |
| 04C0: BCF 06.7 |
| 04C1: BSF 03.5 |
| 04C2: BCF 06.6 |
| 04C3: BCF 03.5 |
| 04C4: BSF 06.6 |
| 04C5: GOTO 4CE |
| 04C6: BSF 03.5 |
| 04C7: BCF 06.6 |
| 04C8: BCF 03.5 |
| 04C9: BCF 06.6 |
| 04CA: BSF 03.5 |
| 04CB: BCF 06.7 |
| 04CC: BCF 03.5 |
| 04CD: BCF 06.7 |
| .................... } |
| .................... } // while(true) |
| 04CE: GOTO 335 |
| .................... } |
| .................... |
| 04CF: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |