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CCS PCM C Compiler, Version 3.221, 27853 18-IX-05 10:59 |
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CCS PCM C Compiler, Version 3.221, 27853 18-IX-05 10:59 |
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Filename: D:\MLAB\_Z\DART01B\SW\1_02\DART.LST |
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Filename: D:\MLAB\_Z\DART01B\SW\1_02\DART.LST |
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ROM used: 1098 words (27%) |
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ROM used: 1098 words (27%) |
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Largest free fragment is 2048 |
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Largest free fragment is 2048 |
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RAM used: 25 (14%) at main() level |
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RAM used: 25 (14%) at main() level |
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43 (25%) worst case |
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43 (25%) worst case |
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Stack: 6 worst case (3 in main + 3 for interrupts) |
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Stack: 6 worst case (3 in main + 3 for interrupts) |
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|
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|
11 |
* |
11 |
* |
12 |
0000: MOVLW 00 |
12 |
0000: MOVLW 00 |
13 |
0001: MOVWF 0A |
13 |
0001: MOVWF 0A |
14 |
0002: GOTO 25F |
14 |
0002: GOTO 25F |
15 |
0003: NOP |
15 |
0003: NOP |
16 |
0004: MOVWF 7F |
16 |
0004: MOVWF 7F |
17 |
0005: SWAPF 03,W |
17 |
0005: SWAPF 03,W |
18 |
0006: CLRF 03 |
18 |
0006: CLRF 03 |
19 |
0007: MOVWF 21 |
19 |
0007: MOVWF 21 |
20 |
0008: MOVF 7F,W |
20 |
0008: MOVF 7F,W |
21 |
0009: MOVWF 20 |
21 |
0009: MOVWF 20 |
22 |
000A: MOVF 0A,W |
22 |
000A: MOVF 0A,W |
23 |
000B: MOVWF 28 |
23 |
000B: MOVWF 28 |
24 |
000C: CLRF 0A |
24 |
000C: CLRF 0A |
25 |
000D: SWAPF 20,F |
25 |
000D: SWAPF 20,F |
26 |
000E: MOVF 04,W |
26 |
000E: MOVF 04,W |
27 |
000F: MOVWF 22 |
27 |
000F: MOVWF 22 |
28 |
0010: MOVF 77,W |
28 |
0010: MOVF 77,W |
29 |
0011: MOVWF 23 |
29 |
0011: MOVWF 23 |
30 |
0012: MOVF 78,W |
30 |
0012: MOVF 78,W |
31 |
0013: MOVWF 24 |
31 |
0013: MOVWF 24 |
32 |
0014: MOVF 79,W |
32 |
0014: MOVF 79,W |
33 |
0015: MOVWF 25 |
33 |
0015: MOVWF 25 |
34 |
0016: MOVF 7A,W |
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0016: MOVF 7A,W |
35 |
0017: MOVWF 26 |
35 |
0017: MOVWF 26 |
36 |
0018: MOVF 7B,W |
36 |
0018: MOVF 7B,W |
37 |
0019: MOVWF 27 |
37 |
0019: MOVWF 27 |
38 |
001A: BCF 03.7 |
38 |
001A: BCF 03.7 |
39 |
001B: BCF 03.5 |
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001B: BCF 03.5 |
40 |
001C: MOVLW 8C |
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001C: MOVLW 8C |
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001D: MOVWF 04 |
41 |
001D: MOVWF 04 |
42 |
001E: BTFSS 00.3 |
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001E: BTFSS 00.3 |
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001F: GOTO 022 |
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001F: GOTO 022 |
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0020: BTFSC 0C.3 |
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0020: BTFSC 0C.3 |
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0021: GOTO 039 |
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0021: GOTO 039 |
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0022: BTFSS 0B.5 |
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0022: BTFSS 0B.5 |
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0023: GOTO 026 |
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0023: GOTO 026 |
48 |
0024: BTFSC 0B.2 |
48 |
0024: BTFSC 0B.2 |
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0025: GOTO 03B |
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0025: GOTO 03B |
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0026: MOVF 22,W |
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0026: MOVF 22,W |
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0027: MOVWF 04 |
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0027: MOVWF 04 |
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0028: MOVF 23,W |
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0028: MOVF 23,W |
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0029: MOVWF 77 |
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0029: MOVWF 77 |
54 |
002A: MOVF 24,W |
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002A: MOVF 24,W |
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002B: MOVWF 78 |
55 |
002B: MOVWF 78 |
56 |
002C: MOVF 25,W |
56 |
002C: MOVF 25,W |
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002D: MOVWF 79 |
57 |
002D: MOVWF 79 |
58 |
002E: MOVF 26,W |
58 |
002E: MOVF 26,W |
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002F: MOVWF 7A |
59 |
002F: MOVWF 7A |
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0030: MOVF 27,W |
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0030: MOVF 27,W |
61 |
0031: MOVWF 7B |
61 |
0031: MOVWF 7B |
62 |
0032: MOVF 28,W |
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0032: MOVF 28,W |
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0033: MOVWF 0A |
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0033: MOVWF 0A |
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0034: SWAPF 21,W |
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0034: SWAPF 21,W |
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0035: MOVWF 03 |
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0035: MOVWF 03 |
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0036: SWAPF 7F,F |
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0036: SWAPF 7F,F |
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0037: SWAPF 7F,W |
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0037: SWAPF 7F,W |
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0038: RETFIE |
68 |
0038: RETFIE |
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0039: BCF 0A.3 |
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0039: BCF 0A.3 |
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003A: GOTO 0A5 |
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003A: GOTO 0A5 |
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003B: BCF 0A.3 |
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003B: BCF 0A.3 |
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003C: GOTO 0D3 |
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003C: GOTO 0D3 |
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.................... // DART01A verze programu 1.02 |
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.................... // DART01A verze programu 1.02 |
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.................... // (c)miho 2005 |
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.................... // (c)miho 2005 |
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.................... // |
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.................... // |
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.................... // 1.00 Uvodni verze |
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.................... // 1.00 Uvodni verze |
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.................... // 1.01 Doplneno nasatvovani parametru rozjezdu P2 u standardniho algoritmu |
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.................... // 1.01 Doplneno nasatvovani parametru rozjezdu P2 u standardniho algoritmu |
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.................... // 1.02 Doplnena deaktivace vyvodu pro LED (LED tato verze programu nepouziva) |
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.................... // 1.02 Doplnena deaktivace vyvodu pro LED (LED tato verze programu nepouziva) |
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.................... |
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.................... |
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.................... #include "DART.h" |
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.................... #include "DART.h" |
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.................... // DART01A verze programu 1.00 |
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.................... // DART01A verze programu 1.00 |
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.................... // (c)miho 2005 |
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.................... // (c)miho 2005 |
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.................... |
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.................... |
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.................... #include <16F88.h> // standardni definice konstant |
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.................... #include <16F88.h> // standardni definice konstant |
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.................... //////// Header file for the PIC16F88 |
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.................... //////// Header file for the PIC16F88 |
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.................... #device PIC16F88 |
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.................... #device PIC16F88 |
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.................... #list |
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.................... #list |
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.................... #include <16F88_Reg.h> // standardni definice vsech FSR |
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.................... #include <16F88_Reg.h> // standardni definice vsech FSR |
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.................... #list |
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.................... #list |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... #device adc=8 // AD prevodnik jen na 8 bitu |
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.................... #device adc=8 // AD prevodnik jen na 8 bitu |
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.................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
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.................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
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.................... #use delay(clock=xclock,restart_wdt) |
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.................... #use delay(clock=xclock,restart_wdt) |
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* |
95 |
* |
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00FD: MOVLW 11 |
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00FD: MOVLW 11 |
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00FE: SUBWF 3F,F |
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00FE: SUBWF 3F,F |
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00FF: BTFSS 03.0 |
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00FF: BTFSS 03.0 |
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0100: GOTO 10F |
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0100: GOTO 10F |
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0101: MOVLW 3F |
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0101: MOVLW 3F |
101 |
0102: MOVWF 04 |
101 |
0102: MOVWF 04 |
102 |
0103: MOVLW FC |
102 |
0103: MOVLW FC |
103 |
0104: ANDWF 00,F |
103 |
0104: ANDWF 00,F |
104 |
0105: BCF 03.0 |
104 |
0105: BCF 03.0 |
105 |
0106: RRF 00,F |
105 |
0106: RRF 00,F |
106 |
0107: RRF 00,F |
106 |
0107: RRF 00,F |
107 |
0108: MOVF 00,W |
107 |
0108: MOVF 00,W |
108 |
0109: BTFSC 03.2 |
108 |
0109: BTFSC 03.2 |
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010A: GOTO 10F |
109 |
010A: GOTO 10F |
110 |
010B: GOTO 10D |
110 |
010B: GOTO 10D |
111 |
010C: CLRWDT |
111 |
010C: CLRWDT |
112 |
010D: DECFSZ 00,F |
112 |
010D: DECFSZ 00,F |
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010E: GOTO 10C |
113 |
010E: GOTO 10C |
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010F: BCF 0A.3 |
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010F: BCF 0A.3 |
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0110: GOTO 2AA (RETURN) |
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0110: GOTO 2AA (RETURN) |
116 |
* |
116 |
* |
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020D: MOVLW 3E |
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020D: MOVLW 3E |
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020E: MOVWF 04 |
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020E: MOVWF 04 |
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020F: MOVF 00,W |
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020F: MOVF 00,W |
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0210: BTFSC 03.2 |
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0210: BTFSC 03.2 |
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0211: GOTO 223 |
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0211: GOTO 223 |
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0212: MOVLW 01 |
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0212: MOVLW 01 |
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0213: MOVWF 78 |
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0213: MOVWF 78 |
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0214: MOVLW BF |
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0214: MOVLW BF |
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0215: MOVWF 77 |
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0215: MOVWF 77 |
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0216: CLRWDT |
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0216: CLRWDT |
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0217: DECFSZ 77,F |
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0217: DECFSZ 77,F |
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0218: GOTO 216 |
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0218: GOTO 216 |
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0219: DECFSZ 78,F |
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0219: DECFSZ 78,F |
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021A: GOTO 214 |
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021A: GOTO 214 |
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021B: MOVLW 58 |
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021B: MOVLW 58 |
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021C: MOVWF 77 |
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021C: MOVWF 77 |
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021D: DECFSZ 77,F |
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021D: DECFSZ 77,F |
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021E: GOTO 21D |
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021E: GOTO 21D |
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021F: NOP |
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021F: NOP |
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0220: CLRWDT |
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0220: CLRWDT |
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0221: DECFSZ 00,F |
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0221: DECFSZ 00,F |
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0222: GOTO 212 |
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0222: GOTO 212 |
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0223: RETLW 00 |
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0223: RETLW 00 |
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.................... #fuses INTRC_IO, WDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
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.................... #fuses INTRC_IO, WDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... #define BEEP0 PIN_A6 // pipak, prvni vystup |
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.................... #define BEEP0 PIN_A6 // pipak, prvni vystup |
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.................... #define BEEP1 PIN_A7 // pipak, druhy vystup |
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.................... #define BEEP1 PIN_A7 // pipak, druhy vystup |
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.................... #define PWM PIN_B3 // PWM vystup pro menic |
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.................... #define PWM PIN_B3 // PWM vystup pro menic |
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.................... #define REFPOWER PIN_B1 // napajeni zdroje Vref |
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.................... #define REFPOWER PIN_B1 // napajeni zdroje Vref |
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.................... #define MOTOR PIN_B2 // zapinani motoru |
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.................... #define MOTOR PIN_B2 // zapinani motoru |
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.................... #define SW0 PIN_B7 // konfiguracni prepinac 0 |
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.................... #define SW0 PIN_B7 // konfiguracni prepinac 0 |
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.................... #define SW1 PIN_B6 // konfiguracni prepinac 1 |
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.................... #define SW1 PIN_B6 // konfiguracni prepinac 1 |
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.................... #define LED PIN_B4 // dioda LED v elektornice DART01B |
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.................... #define LED PIN_B4 // dioda LED v elektornice DART01B |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... void InitRS232() |
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.................... void InitRS232() |
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.................... // Inicializace HW RS232 (pro ladici vystupy) |
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.................... // Inicializace HW RS232 (pro ladici vystupy) |
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.................... { |
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.................... { |
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.................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
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.................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
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* |
158 |
* |
159 |
00F1: MOVLW 1A |
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00F1: MOVLW 1A |
160 |
00F2: BSF 03.5 |
160 |
00F2: BSF 03.5 |
161 |
00F3: MOVWF 19 |
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00F3: MOVWF 19 |
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.................... RCSTA=0b10000000; // enable USART |
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.................... RCSTA=0b10000000; // enable USART |
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00F4: MOVLW 80 |
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00F4: MOVLW 80 |
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00F5: BCF 03.5 |
164 |
00F5: BCF 03.5 |
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00F6: MOVWF 18 |
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00F6: MOVWF 18 |
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.................... TXSTA=0b00100100; // BRGH=1, TX enable |
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.................... TXSTA=0b00100100; // BRGH=1, TX enable |
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00F7: MOVLW 24 |
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00F7: MOVLW 24 |
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00F8: BSF 03.5 |
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00F8: BSF 03.5 |
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00F9: MOVWF 18 |
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00F9: MOVWF 18 |
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.................... } |
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.................... } |
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00FA: BCF 03.5 |
171 |
00FA: BCF 03.5 |
172 |
00FB: BCF 0A.3 |
172 |
00FB: BCF 0A.3 |
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00FC: GOTO 28C (RETURN) |
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00FC: GOTO 28C (RETURN) |
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.................... |
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.................... |
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.................... |
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.................... |
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.................... void Putc(char c) |
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.................... void Putc(char c) |
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.................... // Posilani znaku pres HW RS232 |
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.................... // Posilani znaku pres HW RS232 |
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.................... { |
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.................... { |
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.................... while(TRMT==0); // cekej na prazdny TX buffer |
179 |
.................... while(TRMT==0); // cekej na prazdny TX buffer |
180 |
* |
180 |
* |
181 |
0111: BSF 03.5 |
181 |
0111: BSF 03.5 |
182 |
0112: BTFSC 18.1 |
182 |
0112: BTFSC 18.1 |
183 |
0113: GOTO 116 |
183 |
0113: GOTO 116 |
184 |
0114: BCF 03.5 |
184 |
0114: BCF 03.5 |
185 |
0115: GOTO 111 |
185 |
0115: GOTO 111 |
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.................... TXREG=c; // predej data |
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.................... TXREG=c; // predej data |
187 |
0116: BCF 03.5 |
187 |
0116: BCF 03.5 |
188 |
0117: MOVF 42,W |
188 |
0117: MOVF 42,W |
189 |
0118: MOVWF 19 |
189 |
0118: MOVWF 19 |
190 |
.................... } |
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.................... } |
191 |
0119: RETLW 00 |
191 |
0119: RETLW 00 |
192 |
.................... |
192 |
.................... |
193 |
.................... |
193 |
.................... |
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.................... // Globalni promenna pro data posilana na SSP |
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.................... // Globalni promenna pro data posilana na SSP |
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.................... // Nastavuje se funkci MotorPatternSet() |
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.................... // Nastavuje se funkci MotorPatternSet() |
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.................... // Vyuziva se v prerusovaci rutine IntSSP() |
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.................... // Vyuziva se v prerusovaci rutine IntSSP() |
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.................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
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.................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
198 |
.................... |
198 |
.................... |
199 |
.................... |
199 |
.................... |
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.................... void MotorPatternSet(unsigned int Gear) |
200 |
.................... void MotorPatternSet(unsigned int Gear) |
201 |
.................... // Na zaklade rychlostniho stupne nastavi MotorPattern pro SSP |
201 |
.................... // Na zaklade rychlostniho stupne nastavi MotorPattern pro SSP |
202 |
.................... // Rychlost 0 znamena stop, rychlost 8 je maximum |
202 |
.................... // Rychlost 0 znamena stop, rychlost 8 je maximum |
203 |
.................... { |
203 |
.................... { |
204 |
.................... // Tabulka rychlost -> pattern pro SSP |
204 |
.................... // Tabulka rychlost -> pattern pro SSP |
205 |
.................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
205 |
.................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
206 |
.................... |
206 |
.................... |
207 |
.................... // Vyber patternu |
207 |
.................... // Vyber patternu |
208 |
.................... if (Gear==0) // stav 0 znamena stop |
208 |
.................... if (Gear==0) // stav 0 znamena stop |
209 |
* |
209 |
* |
210 |
00AA: MOVF 45,F |
210 |
00AA: MOVF 45,F |
211 |
00AB: BTFSS 03.2 |
211 |
00AB: BTFSS 03.2 |
212 |
00AC: GOTO 0B9 |
212 |
00AC: GOTO 0B9 |
213 |
.................... { |
213 |
.................... { |
214 |
.................... output_low(MOTOR); // klidovy stav |
214 |
.................... output_low(MOTOR); // klidovy stav |
215 |
00AD: BSF 03.5 |
215 |
00AD: BSF 03.5 |
216 |
00AE: BCF 06.2 |
216 |
00AE: BCF 06.2 |
217 |
00AF: BCF 03.5 |
217 |
00AF: BCF 03.5 |
218 |
00B0: BCF 06.2 |
218 |
00B0: BCF 06.2 |
219 |
.................... SSPSTAT = 0; |
219 |
.................... SSPSTAT = 0; |
220 |
00B1: BSF 03.5 |
220 |
00B1: BSF 03.5 |
221 |
00B2: CLRF 14 |
221 |
00B2: CLRF 14 |
222 |
.................... SSPCON1 = 0; // SPI stop |
222 |
.................... SSPCON1 = 0; // SPI stop |
223 |
00B3: BCF 03.5 |
223 |
00B3: BCF 03.5 |
224 |
00B4: CLRF 14 |
224 |
00B4: CLRF 14 |
225 |
.................... disable_interrupts(INT_SSP); // neni preruseni od SSP |
225 |
.................... disable_interrupts(INT_SSP); // neni preruseni od SSP |
226 |
00B5: BSF 03.5 |
226 |
00B5: BSF 03.5 |
227 |
00B6: BCF 0C.3 |
227 |
00B6: BCF 0C.3 |
228 |
.................... } |
228 |
.................... } |
229 |
.................... else // rizeny vykon |
229 |
.................... else // rizeny vykon |
230 |
00B7: GOTO 0D1 |
230 |
00B7: GOTO 0D1 |
231 |
00B8: BCF 03.5 |
231 |
00B8: BCF 03.5 |
232 |
.................... { |
232 |
.................... { |
233 |
.................... if (Gear>7) // stav 8 a vice znamena plny vykon |
233 |
.................... if (Gear>7) // stav 8 a vice znamena plny vykon |
234 |
00B9: MOVF 45,W |
234 |
00B9: MOVF 45,W |
235 |
00BA: SUBLW 07 |
235 |
00BA: SUBLW 07 |
236 |
00BB: BTFSC 03.0 |
236 |
00BB: BTFSC 03.0 |
237 |
00BC: GOTO 0BF |
237 |
00BC: GOTO 0BF |
238 |
.................... { |
238 |
.................... { |
239 |
.................... Gear=8; // plny plyn |
239 |
.................... Gear=8; // plny plyn |
240 |
00BD: MOVLW 08 |
240 |
00BD: MOVLW 08 |
241 |
00BE: MOVWF 45 |
241 |
00BE: MOVWF 45 |
242 |
.................... } |
242 |
.................... } |
243 |
.................... |
243 |
.................... |
244 |
.................... MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
244 |
.................... MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
245 |
00BF: DECF 45,F |
245 |
00BF: DECF 45,F |
246 |
00C0: MOVF 45,W |
246 |
00C0: MOVF 45,W |
247 |
00C1: CALL 03D |
247 |
00C1: CALL 03D |
248 |
00C2: MOVWF 78 |
248 |
00C2: MOVWF 78 |
249 |
00C3: MOVWF 2A |
249 |
00C3: MOVWF 2A |
250 |
.................... output_low(MOTOR); // klidovy stav |
250 |
.................... output_low(MOTOR); // klidovy stav |
251 |
00C4: BSF 03.5 |
251 |
00C4: BSF 03.5 |
252 |
00C5: BCF 06.2 |
252 |
00C5: BCF 06.2 |
253 |
00C6: BCF 03.5 |
253 |
00C6: BCF 03.5 |
254 |
00C7: BCF 06.2 |
254 |
00C7: BCF 06.2 |
255 |
.................... SSPSTAT = 0; |
255 |
.................... SSPSTAT = 0; |
256 |
00C8: BSF 03.5 |
256 |
00C8: BSF 03.5 |
257 |
00C9: CLRF 14 |
257 |
00C9: CLRF 14 |
258 |
.................... SSPCON1 = 0x22; // SPI OSC/64 |
258 |
.................... SSPCON1 = 0x22; // SPI OSC/64 |
259 |
00CA: MOVLW 22 |
259 |
00CA: MOVLW 22 |
260 |
00CB: BCF 03.5 |
260 |
00CB: BCF 03.5 |
261 |
00CC: MOVWF 14 |
261 |
00CC: MOVWF 14 |
262 |
.................... |
262 |
.................... |
263 |
.................... SSPBUF=MotorPattern; // prvni data pro vyslani |
263 |
.................... SSPBUF=MotorPattern; // prvni data pro vyslani |
264 |
00CD: MOVF 2A,W |
264 |
00CD: MOVF 2A,W |
265 |
00CE: MOVWF 13 |
265 |
00CE: MOVWF 13 |
266 |
.................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
266 |
.................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
267 |
00CF: BSF 03.5 |
267 |
00CF: BSF 03.5 |
268 |
00D0: BSF 0C.3 |
268 |
00D0: BSF 0C.3 |
269 |
.................... } |
269 |
.................... } |
270 |
.................... } |
270 |
.................... } |
271 |
00D1: BCF 03.5 |
271 |
00D1: BCF 03.5 |
272 |
00D2: RETLW 00 |
272 |
00D2: RETLW 00 |
273 |
.................... |
273 |
.................... |
274 |
.................... |
274 |
.................... |
275 |
.................... // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
275 |
.................... // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
276 |
.................... #INT_SSP |
276 |
.................... #INT_SSP |
277 |
.................... void IntSSP() |
277 |
.................... void IntSSP() |
278 |
.................... { |
278 |
.................... { |
279 |
.................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
279 |
.................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
280 |
* |
280 |
* |
281 |
00A5: MOVF 2A,W |
281 |
00A5: MOVF 2A,W |
282 |
00A6: MOVWF 13 |
282 |
00A6: MOVWF 13 |
283 |
.................... } |
283 |
.................... } |
284 |
.................... |
284 |
.................... |
285 |
.................... |
285 |
.................... |
286 |
00A7: BCF 0C.3 |
286 |
00A7: BCF 0C.3 |
287 |
00A8: BCF 0A.3 |
287 |
00A8: BCF 0A.3 |
288 |
00A9: GOTO 026 |
288 |
00A9: GOTO 026 |
289 |
.................... void MotorSet(unsigned int Gear) |
289 |
.................... void MotorSet(unsigned int Gear) |
290 |
* |
290 |
* |
291 |
0224: CLRF 29 |
291 |
0224: CLRF 29 |
292 |
0225: BTFSC 0B.7 |
292 |
0225: BTFSC 0B.7 |
293 |
0226: BSF 29.7 |
293 |
0226: BSF 29.7 |
294 |
0227: BCF 0B.7 |
294 |
0227: BCF 0B.7 |
295 |
.................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
295 |
.................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
296 |
.................... // od SSP jednotky |
296 |
.................... // od SSP jednotky |
297 |
.................... // 0 stop |
297 |
.................... // 0 stop |
298 |
.................... // 1-7 pocet 1/8 vykonu |
298 |
.................... // 1-7 pocet 1/8 vykonu |
299 |
.................... // >7 plny vykon |
299 |
.................... // >7 plny vykon |
300 |
.................... { |
300 |
.................... { |
301 |
.................... // Nastav PWM pattern |
301 |
.................... // Nastav PWM pattern |
302 |
.................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
302 |
.................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
303 |
0228: MOVF 3E,W |
303 |
0228: MOVF 3E,W |
304 |
0229: MOVWF 45 |
304 |
0229: MOVWF 45 |
305 |
022A: CALL 0AA |
305 |
022A: CALL 0AA |
306 |
022B: BTFSC 29.7 |
306 |
022B: BTFSC 29.7 |
307 |
022C: BSF 0B.7 |
307 |
022C: BSF 0B.7 |
308 |
.................... |
308 |
.................... |
309 |
.................... // Povol preruseni |
309 |
.................... // Povol preruseni |
310 |
.................... enable_interrupts(GLOBAL); // povol preruseni |
310 |
.................... enable_interrupts(GLOBAL); // povol preruseni |
311 |
022D: MOVLW C0 |
311 |
022D: MOVLW C0 |
312 |
022E: IORWF 0B,F |
312 |
022E: IORWF 0B,F |
313 |
.................... } |
313 |
.................... } |
314 |
022F: RETLW 00 |
314 |
022F: RETLW 00 |
315 |
.................... |
315 |
.................... |
316 |
.................... |
316 |
.................... |
317 |
.................... void InitT0() |
317 |
.................... void InitT0() |
318 |
.................... // Inicializace casovace T0 (cca 1000x za sekundu) |
318 |
.................... // Inicializace casovace T0 (cca 1000x za sekundu) |
319 |
.................... { |
319 |
.................... { |
320 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
320 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
321 |
* |
321 |
* |
322 |
018A: BSF 03.5 |
322 |
018A: BSF 03.5 |
323 |
018B: MOVF 01,W |
323 |
018B: MOVF 01,W |
324 |
018C: ANDLW C0 |
324 |
018C: ANDLW C0 |
325 |
018D: IORLW 01 |
325 |
018D: IORLW 01 |
326 |
018E: MOVWF 01 |
326 |
018E: MOVWF 01 |
327 |
.................... enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
327 |
.................... enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
328 |
018F: BCF 03.5 |
328 |
018F: BCF 03.5 |
329 |
0190: BSF 0B.5 |
329 |
0190: BSF 0B.5 |
330 |
.................... enable_interrupts(GLOBAL); // povol preruseni |
330 |
.................... enable_interrupts(GLOBAL); // povol preruseni |
331 |
0191: MOVLW C0 |
331 |
0191: MOVLW C0 |
332 |
0192: IORWF 0B,F |
332 |
0192: IORWF 0B,F |
333 |
.................... } |
333 |
.................... } |
334 |
0193: BCF 0A.3 |
334 |
0193: BCF 0A.3 |
335 |
0194: GOTO 2DF (RETURN) |
335 |
0194: GOTO 2DF (RETURN) |
336 |
.................... |
336 |
.................... |
337 |
.................... |
337 |
.................... |
338 |
.................... // Globalni promenna pro mereni casu |
338 |
.................... // Globalni promenna pro mereni casu |
339 |
.................... // Nastavuje se procedurou TimeSet() |
339 |
.................... // Nastavuje se procedurou TimeSet() |
340 |
.................... // Testuje se funkci TimeIf() |
340 |
.................... // Testuje se funkci TimeIf() |
341 |
.................... // Modifikuje se pri preruseni od casovace IntTo() |
341 |
.................... // Modifikuje se pri preruseni od casovace IntTo() |
342 |
.................... unsigned int16 TimeTime; |
342 |
.................... unsigned int16 TimeTime; |
343 |
.................... |
343 |
.................... |
344 |
.................... |
344 |
.................... |
345 |
.................... void TimerSet(unsigned int16 Time) |
345 |
.................... void TimerSet(unsigned int16 Time) |
346 |
.................... // Nastavi casovac na zadany pocet ms |
346 |
.................... // Nastavi casovac na zadany pocet ms |
347 |
.................... // Test uplynuti casu se dela pomoci TimerIf() |
347 |
.................... // Test uplynuti casu se dela pomoci TimerIf() |
348 |
.................... { |
348 |
.................... { |
349 |
.................... // Nastav hodnotu |
349 |
.................... // Nastav hodnotu |
350 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
350 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
351 |
* |
351 |
* |
352 |
0230: BCF 0B.5 |
352 |
0230: BCF 0B.5 |
353 |
.................... TimeTime=Time; // pri nastavovani hodnoty |
353 |
.................... TimeTime=Time; // pri nastavovani hodnoty |
354 |
0231: MOVF 3F,W |
354 |
0231: MOVF 3F,W |
355 |
0232: MOVWF 2C |
355 |
0232: MOVWF 2C |
356 |
0233: MOVF 3E,W |
356 |
0233: MOVF 3E,W |
357 |
0234: MOVWF 2B |
357 |
0234: MOVWF 2B |
358 |
.................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
358 |
.................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
359 |
0235: BSF 0B.5 |
359 |
0235: BSF 0B.5 |
360 |
.................... } |
360 |
.................... } |
361 |
0236: RETLW 00 |
361 |
0236: RETLW 00 |
362 |
.................... |
362 |
.................... |
363 |
.................... |
363 |
.................... |
364 |
.................... int1 TimerIf() |
364 |
.................... int1 TimerIf() |
365 |
.................... // Vraci TRUE pokud casovac jiz dobehl |
365 |
.................... // Vraci TRUE pokud casovac jiz dobehl |
366 |
.................... { |
366 |
.................... { |
367 |
.................... int1 Flag; // pomocna promenna |
367 |
.................... int1 Flag; // pomocna promenna |
368 |
.................... |
368 |
.................... |
369 |
.................... // Otestuj casovac |
369 |
.................... // Otestuj casovac |
370 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
370 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
371 |
0237: BCF 0B.5 |
371 |
0237: BCF 0B.5 |
372 |
.................... Flag=(TimeTime==0); // behem testu promenne |
372 |
.................... Flag=(TimeTime==0); // behem testu promenne |
373 |
0238: MOVF 2B,F |
373 |
0238: MOVF 2B,F |
374 |
0239: BTFSS 03.2 |
374 |
0239: BTFSS 03.2 |
375 |
023A: GOTO 23E |
375 |
023A: GOTO 23E |
376 |
023B: MOVF 2C,F |
376 |
023B: MOVF 2C,F |
377 |
023C: BTFSC 03.2 |
377 |
023C: BTFSC 03.2 |
378 |
023D: GOTO 240 |
378 |
023D: GOTO 240 |
379 |
023E: MOVLW 00 |
379 |
023E: MOVLW 00 |
380 |
023F: GOTO 241 |
380 |
023F: GOTO 241 |
381 |
0240: MOVLW 01 |
381 |
0240: MOVLW 01 |
382 |
0241: MOVWF 78 |
382 |
0241: MOVWF 78 |
383 |
0242: BTFSC 78.0 |
383 |
0242: BTFSC 78.0 |
384 |
0243: GOTO 246 |
384 |
0243: GOTO 246 |
385 |
0244: BCF 3E.0 |
385 |
0244: BCF 3E.0 |
386 |
0245: GOTO 247 |
386 |
0245: GOTO 247 |
387 |
0246: BSF 3E.0 |
387 |
0246: BSF 3E.0 |
388 |
.................... enable_interrupts(INT_RTCC); // ted uz muze |
388 |
.................... enable_interrupts(INT_RTCC); // ted uz muze |
389 |
0247: BSF 0B.5 |
389 |
0247: BSF 0B.5 |
390 |
.................... |
390 |
.................... |
391 |
.................... // Navratova hodnota |
391 |
.................... // Navratova hodnota |
392 |
.................... return Flag; // TRUE znamena dobehl casovac |
392 |
.................... return Flag; // TRUE znamena dobehl casovac |
393 |
0248: MOVLW 00 |
393 |
0248: MOVLW 00 |
394 |
0249: BTFSC 3E.0 |
394 |
0249: BTFSC 3E.0 |
395 |
024A: MOVLW 01 |
395 |
024A: MOVLW 01 |
396 |
024B: MOVWF 78 |
396 |
024B: MOVWF 78 |
397 |
.................... } |
397 |
.................... } |
398 |
024C: RETLW 00 |
398 |
024C: RETLW 00 |
399 |
.................... |
399 |
.................... |
400 |
.................... |
400 |
.................... |
401 |
.................... // Globalni promenne pro akceleraci |
401 |
.................... // Globalni promenne pro akceleraci |
402 |
.................... // Nastavuje se metodou MotorStart() |
402 |
.................... // Nastavuje se metodou MotorStart() |
403 |
.................... // Pouziva se v obsluze preruseni IntT0() |
403 |
.................... // Pouziva se v obsluze preruseni IntT0() |
404 |
.................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
404 |
.................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
405 |
.................... unsigned int8 MotorDelay; // spozdeni mezi razenim rychlosti |
405 |
.................... unsigned int8 MotorDelay; // spozdeni mezi razenim rychlosti |
406 |
.................... unsigned int8 MotorGear; // rychlostni stupen |
406 |
.................... unsigned int8 MotorGear; // rychlostni stupen |
407 |
.................... |
407 |
.................... |
408 |
.................... |
408 |
.................... |
409 |
.................... void MotorStart(unsigned int8 Delay) |
409 |
.................... void MotorStart(unsigned int8 Delay) |
410 |
.................... // Provede rizeny rozjezd motoru |
410 |
.................... // Provede rizeny rozjezd motoru |
411 |
.................... // Parametrem je prodleva mezi razenim rychlosti v ms |
411 |
.................... // Parametrem je prodleva mezi razenim rychlosti v ms |
412 |
.................... { |
412 |
.................... { |
413 |
.................... disable_interrupts(INT_RTCC); |
413 |
.................... disable_interrupts(INT_RTCC); |
414 |
024D: BCF 0B.5 |
414 |
024D: BCF 0B.5 |
415 |
.................... MotorGear=1; |
415 |
.................... MotorGear=1; |
416 |
024E: MOVLW 01 |
416 |
024E: MOVLW 01 |
417 |
024F: MOVWF 2F |
417 |
024F: MOVWF 2F |
418 |
.................... MotorDelay=Delay; |
418 |
.................... MotorDelay=Delay; |
419 |
0250: MOVF 3E,W |
419 |
0250: MOVF 3E,W |
420 |
0251: MOVWF 2E |
420 |
0251: MOVWF 2E |
421 |
.................... MotorTime=MotorDelay; |
421 |
.................... MotorTime=MotorDelay; |
422 |
0252: MOVF 2E,W |
422 |
0252: MOVF 2E,W |
423 |
0253: MOVWF 2D |
423 |
0253: MOVWF 2D |
424 |
.................... enable_interrupts(INT_RTCC); |
424 |
.................... enable_interrupts(INT_RTCC); |
425 |
0254: BSF 0B.5 |
425 |
0254: BSF 0B.5 |
426 |
0255: CLRF 29 |
426 |
0255: CLRF 29 |
427 |
0256: BTFSC 0B.7 |
427 |
0256: BTFSC 0B.7 |
428 |
0257: BSF 29.7 |
428 |
0257: BSF 29.7 |
429 |
0258: BCF 0B.7 |
429 |
0258: BCF 0B.7 |
430 |
.................... |
430 |
.................... |
431 |
.................... MotorPatternSet(1); |
431 |
.................... MotorPatternSet(1); |
432 |
0259: MOVLW 01 |
432 |
0259: MOVLW 01 |
433 |
025A: MOVWF 45 |
433 |
025A: MOVWF 45 |
434 |
025B: CALL 0AA |
434 |
025B: CALL 0AA |
435 |
025C: BTFSC 29.7 |
435 |
025C: BTFSC 29.7 |
436 |
025D: BSF 0B.7 |
436 |
025D: BSF 0B.7 |
437 |
.................... } |
437 |
.................... } |
438 |
025E: RETLW 00 |
438 |
025E: RETLW 00 |
439 |
.................... |
439 |
.................... |
440 |
.................... |
440 |
.................... |
441 |
.................... #INT_TIMER0 |
441 |
.................... #INT_TIMER0 |
442 |
.................... void IntT0() |
442 |
.................... void IntT0() |
443 |
.................... // Preruseni od casovace cca 1000x za sekundu |
443 |
.................... // Preruseni od casovace cca 1000x za sekundu |
444 |
.................... { |
444 |
.................... { |
445 |
.................... // Odpocitavani casovace |
445 |
.................... // Odpocitavani casovace |
446 |
.................... if (TimeTime) TimeTime--; |
446 |
.................... if (TimeTime) TimeTime--; |
447 |
* |
447 |
* |
448 |
00D3: MOVF 2B,W |
448 |
00D3: MOVF 2B,W |
449 |
00D4: IORWF 2C,W |
449 |
00D4: IORWF 2C,W |
450 |
00D5: BTFSC 03.2 |
450 |
00D5: BTFSC 03.2 |
451 |
00D6: GOTO 0DB |
451 |
00D6: GOTO 0DB |
452 |
00D7: MOVF 2B,W |
452 |
00D7: MOVF 2B,W |
453 |
00D8: BTFSC 03.2 |
453 |
00D8: BTFSC 03.2 |
454 |
00D9: DECF 2C,F |
454 |
00D9: DECF 2C,F |
455 |
00DA: DECF 2B,F |
455 |
00DA: DECF 2B,F |
456 |
.................... |
456 |
.................... |
457 |
.................... // Obsluha akcelerace |
457 |
.................... // Obsluha akcelerace |
458 |
.................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
458 |
.................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
459 |
00DB: MOVF 2D,F |
459 |
00DB: MOVF 2D,F |
460 |
00DC: BTFSS 03.2 |
460 |
00DC: BTFSS 03.2 |
461 |
00DD: DECF 2D,F |
461 |
00DD: DECF 2D,F |
462 |
.................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
462 |
.................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
463 |
00DE: MOVF 2F,F |
463 |
00DE: MOVF 2F,F |
464 |
00DF: BTFSC 03.2 |
464 |
00DF: BTFSC 03.2 |
465 |
00E0: GOTO 0EE |
465 |
00E0: GOTO 0EE |
466 |
00E1: MOVF 2F,W |
466 |
00E1: MOVF 2F,W |
467 |
00E2: SUBLW 07 |
467 |
00E2: SUBLW 07 |
468 |
00E3: BTFSS 03.0 |
468 |
00E3: BTFSS 03.0 |
469 |
00E4: GOTO 0EE |
469 |
00E4: GOTO 0EE |
470 |
00E5: MOVF 2D,F |
470 |
00E5: MOVF 2D,F |
471 |
00E6: BTFSS 03.2 |
471 |
00E6: BTFSS 03.2 |
472 |
00E7: GOTO 0EE |
472 |
00E7: GOTO 0EE |
473 |
.................... { |
473 |
.................... { |
474 |
.................... MotorTime=MotorDelay; // znovu nastav casovac |
474 |
.................... MotorTime=MotorDelay; // znovu nastav casovac |
475 |
00E8: MOVF 2E,W |
475 |
00E8: MOVF 2E,W |
476 |
00E9: MOVWF 2D |
476 |
00E9: MOVWF 2D |
477 |
.................... MotorGear++; // dalsi rychlost |
477 |
.................... MotorGear++; // dalsi rychlost |
478 |
00EA: INCF 2F,F |
478 |
00EA: INCF 2F,F |
479 |
.................... MotorPatternSet(MotorGear); // nastav rychlost |
479 |
.................... MotorPatternSet(MotorGear); // nastav rychlost |
480 |
00EB: MOVF 2F,W |
480 |
00EB: MOVF 2F,W |
481 |
00EC: MOVWF 45 |
481 |
00EC: MOVWF 45 |
482 |
00ED: CALL 0AA |
482 |
00ED: CALL 0AA |
483 |
.................... } |
483 |
.................... } |
484 |
.................... } |
484 |
.................... } |
485 |
.................... |
485 |
.................... |
486 |
.................... |
486 |
.................... |
487 |
.................... // Cteni dat z AD prevodniku, zadava se cislo kanalu |
487 |
.................... // Cteni dat z AD prevodniku, zadava se cislo kanalu |
488 |
00EE: BCF 0B.2 |
488 |
00EE: BCF 0B.2 |
489 |
00EF: BCF 0A.3 |
489 |
00EF: BCF 0A.3 |
490 |
00F0: GOTO 026 |
490 |
00F0: GOTO 026 |
491 |
.................... int8 ReadAD(int8 Ch) |
491 |
.................... int8 ReadAD(int8 Ch) |
492 |
.................... { |
492 |
.................... { |
493 |
.................... // Pokud merim Vref zapnu si jeho napajeni |
493 |
.................... // Pokud merim Vref zapnu si jeho napajeni |
494 |
.................... if (Ch==4) output_high(REFPOWER); |
494 |
.................... if (Ch==4) output_high(REFPOWER); |
495 |
* |
495 |
* |
496 |
0195: MOVF 3E,W |
496 |
0195: MOVF 3E,W |
497 |
0196: SUBLW 04 |
497 |
0196: SUBLW 04 |
498 |
0197: BTFSS 03.2 |
498 |
0197: BTFSS 03.2 |
499 |
0198: GOTO 19D |
499 |
0198: GOTO 19D |
500 |
0199: BSF 03.5 |
500 |
0199: BSF 03.5 |
501 |
019A: BCF 06.1 |
501 |
019A: BCF 06.1 |
502 |
019B: BCF 03.5 |
502 |
019B: BCF 03.5 |
503 |
019C: BSF 06.1 |
503 |
019C: BSF 06.1 |
504 |
.................... |
504 |
.................... |
505 |
.................... // Inicializace a cislo kanalu |
505 |
.................... // Inicializace a cislo kanalu |
506 |
.................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
506 |
.................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
507 |
019D: MOVLW 30 |
507 |
019D: MOVLW 30 |
508 |
019E: BSF 03.5 |
508 |
019E: BSF 03.5 |
509 |
019F: MOVWF 1F |
509 |
019F: MOVWF 1F |
510 |
.................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
510 |
.................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
511 |
01A0: BCF 03.5 |
511 |
01A0: BCF 03.5 |
512 |
01A1: RLF 3E,W |
512 |
01A1: RLF 3E,W |
513 |
01A2: MOVWF 77 |
513 |
01A2: MOVWF 77 |
514 |
01A3: RLF 77,F |
514 |
01A3: RLF 77,F |
515 |
01A4: RLF 77,F |
515 |
01A4: RLF 77,F |
516 |
01A5: MOVLW F8 |
516 |
01A5: MOVLW F8 |
517 |
01A6: ANDWF 77,F |
517 |
01A6: ANDWF 77,F |
518 |
01A7: MOVF 77,W |
518 |
01A7: MOVF 77,W |
519 |
01A8: ADDLW 41 |
519 |
01A8: ADDLW 41 |
520 |
01A9: MOVWF 1F |
520 |
01A9: MOVWF 1F |
521 |
.................... |
521 |
.................... |
522 |
.................... // Mereni |
522 |
.................... // Mereni |
523 |
.................... delay_us(50); // doba na prepnuti kanalu |
523 |
.................... delay_us(50); // doba na prepnuti kanalu |
524 |
01AA: CLRWDT |
524 |
01AA: CLRWDT |
525 |
01AB: MOVLW 10 |
525 |
01AB: MOVLW 10 |
526 |
01AC: MOVWF 77 |
526 |
01AC: MOVWF 77 |
527 |
01AD: DECFSZ 77,F |
527 |
01AD: DECFSZ 77,F |
528 |
01AE: GOTO 1AD |
528 |
01AE: GOTO 1AD |
529 |
01AF: NOP |
529 |
01AF: NOP |
530 |
01B0: NOP |
530 |
01B0: NOP |
531 |
.................... ADCON0 |= 4; // start prevodu |
531 |
.................... ADCON0 |= 4; // start prevodu |
532 |
01B1: BSF 1F.2 |
532 |
01B1: BSF 1F.2 |
533 |
.................... delay_us(50); // doba na prevod |
533 |
.................... delay_us(50); // doba na prevod |
534 |
01B2: CLRWDT |
534 |
01B2: CLRWDT |
535 |
01B3: MOVLW 10 |
535 |
01B3: MOVLW 10 |
536 |
01B4: MOVWF 77 |
536 |
01B4: MOVWF 77 |
537 |
01B5: DECFSZ 77,F |
537 |
01B5: DECFSZ 77,F |
538 |
01B6: GOTO 1B5 |
538 |
01B6: GOTO 1B5 |
539 |
01B7: NOP |
539 |
01B7: NOP |
540 |
01B8: NOP |
540 |
01B8: NOP |
541 |
.................... |
541 |
.................... |
542 |
.................... // Vypnu napajeni Vref (vzdycky) |
542 |
.................... // Vypnu napajeni Vref (vzdycky) |
543 |
.................... output_low(REFPOWER); |
543 |
.................... output_low(REFPOWER); |
544 |
01B9: BSF 03.5 |
544 |
01B9: BSF 03.5 |
545 |
01BA: BCF 06.1 |
545 |
01BA: BCF 06.1 |
546 |
01BB: BCF 03.5 |
546 |
01BB: BCF 03.5 |
547 |
01BC: BCF 06.1 |
547 |
01BC: BCF 06.1 |
548 |
.................... |
548 |
.................... |
549 |
.................... // Navrat hodnoty |
549 |
.................... // Navrat hodnoty |
550 |
.................... return ADRESH; |
550 |
.................... return ADRESH; |
551 |
01BD: MOVF 1E,W |
551 |
01BD: MOVF 1E,W |
552 |
01BE: MOVWF 78 |
552 |
01BE: MOVWF 78 |
553 |
.................... } |
553 |
.................... } |
554 |
01BF: RETLW 00 |
554 |
01BF: RETLW 00 |
555 |
.................... |
555 |
.................... |
556 |
.................... |
556 |
.................... |
557 |
.................... void main() |
557 |
.................... void main() |
558 |
.................... { |
558 |
.................... { |
559 |
* |
559 |
* |
560 |
025F: CLRF 04 |
560 |
025F: CLRF 04 |
561 |
0260: MOVLW 1F |
561 |
0260: MOVLW 1F |
562 |
0261: ANDWF 03,F |
562 |
0261: ANDWF 03,F |
563 |
0262: BSF 03.5 |
563 |
0262: BSF 03.5 |
564 |
0263: BCF 1F.4 |
564 |
0263: BCF 1F.4 |
565 |
0264: BCF 1F.5 |
565 |
0264: BCF 1F.5 |
566 |
0265: MOVF 1B,W |
566 |
0265: MOVF 1B,W |
567 |
0266: ANDLW 80 |
567 |
0266: ANDLW 80 |
568 |
0267: MOVWF 1B |
568 |
0267: MOVWF 1B |
569 |
0268: MOVLW 07 |
569 |
0268: MOVLW 07 |
570 |
0269: MOVWF 1C |
570 |
0269: MOVWF 1C |
571 |
026A: MOVF 1C,W |
571 |
026A: MOVF 1C,W |
572 |
026B: BCF 03.5 |
572 |
026B: BCF 03.5 |
573 |
026C: BCF 0D.6 |
573 |
026C: BCF 0D.6 |
574 |
.................... unsigned int8 Debug; // Promenna pro rezim cinnosti (stav prepinacu) |
574 |
.................... unsigned int8 Debug; // Promenna pro rezim cinnosti (stav prepinacu) |
575 |
.................... unsigned int8 i; |
575 |
.................... unsigned int8 i; |
576 |
.................... |
576 |
.................... |
577 |
.................... // Hodiny |
577 |
.................... // Hodiny |
578 |
.................... OSCCON = 0x62; // 4 MHz interni RC oscilator |
578 |
.................... OSCCON = 0x62; // 4 MHz interni RC oscilator |
579 |
026D: MOVLW 62 |
579 |
026D: MOVLW 62 |
580 |
026E: BSF 03.5 |
580 |
026E: BSF 03.5 |
581 |
026F: MOVWF 0F |
581 |
026F: MOVWF 0F |
582 |
.................... |
582 |
.................... |
583 |
.................... // Digitalni vystupy |
583 |
.................... // Digitalni vystupy |
584 |
.................... output_low(PWM); // PWM vystup |
584 |
.................... output_low(PWM); // PWM vystup |
585 |
0270: BCF 06.3 |
585 |
0270: BCF 06.3 |
586 |
0271: BCF 03.5 |
586 |
0271: BCF 03.5 |
587 |
0272: BCF 06.3 |
587 |
0272: BCF 06.3 |
588 |
.................... output_low(MOTOR); // Proud do motoru |
588 |
.................... output_low(MOTOR); // Proud do motoru |
589 |
0273: BSF 03.5 |
589 |
0273: BSF 03.5 |
590 |
0274: BCF 06.2 |
590 |
0274: BCF 06.2 |
591 |
0275: BCF 03.5 |
591 |
0275: BCF 03.5 |
592 |
0276: BCF 06.2 |
592 |
0276: BCF 06.2 |
593 |
.................... output_low(REFPOWER); // Napajeni Vref |
593 |
.................... output_low(REFPOWER); // Napajeni Vref |
594 |
0277: BSF 03.5 |
594 |
0277: BSF 03.5 |
595 |
0278: BCF 06.1 |
595 |
0278: BCF 06.1 |
596 |
0279: BCF 03.5 |
596 |
0279: BCF 03.5 |
597 |
027A: BCF 06.1 |
597 |
027A: BCF 06.1 |
598 |
.................... output_low(LED); // LED dioda nesviti |
598 |
.................... output_low(LED); // LED dioda nesviti |
599 |
027B: BSF 03.5 |
599 |
027B: BSF 03.5 |
600 |
027C: BCF 06.4 |
600 |
027C: BCF 06.4 |
601 |
027D: BCF 03.5 |
601 |
027D: BCF 03.5 |
602 |
027E: BCF 06.4 |
602 |
027E: BCF 06.4 |
603 |
.................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
603 |
.................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
604 |
027F: BSF 03.5 |
604 |
027F: BSF 03.5 |
605 |
0280: BCF 01.7 |
605 |
0280: BCF 01.7 |
606 |
.................... |
606 |
.................... |
607 |
.................... // Watch Dog |
607 |
.................... // Watch Dog |
608 |
.................... PSA=0; // preddelic prirazen casovaci |
608 |
.................... PSA=0; // preddelic prirazen casovaci |
609 |
0281: BCF 01.3 |
609 |
0281: BCF 01.3 |
610 |
.................... WDTCON=0x0E; // Watch Dog cca 130ms |
610 |
.................... WDTCON=0x0E; // Watch Dog cca 130ms |
611 |
0282: MOVLW 0E |
611 |
0282: MOVLW 0E |
612 |
0283: BCF 03.5 |
612 |
0283: BCF 03.5 |
613 |
0284: BSF 03.6 |
613 |
0284: BSF 03.6 |
614 |
0285: MOVWF 05 |
614 |
0285: MOVWF 05 |
615 |
.................... |
615 |
.................... |
616 |
.................... // Analogove vstupy |
616 |
.................... // Analogove vstupy |
617 |
.................... ANSEL = 0x1F; // AN0 az AN4 |
617 |
.................... ANSEL = 0x1F; // AN0 az AN4 |
618 |
0286: MOVLW 1F |
618 |
0286: MOVLW 1F |
619 |
0287: BSF 03.5 |
619 |
0287: BSF 03.5 |
620 |
0288: BCF 03.6 |
620 |
0288: BCF 03.6 |
621 |
0289: MOVWF 1B |
621 |
0289: MOVWF 1B |
622 |
.................... |
622 |
.................... |
623 |
.................... // nastaveni RS232 |
623 |
.................... // nastaveni RS232 |
624 |
.................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
624 |
.................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
625 |
028A: BCF 03.5 |
625 |
028A: BCF 03.5 |
626 |
028B: GOTO 0F1 |
626 |
028B: GOTO 0F1 |
627 |
.................... |
627 |
.................... |
628 |
.................... // Pipnuti (a cekani) |
628 |
.................... // Pipnuti (a cekani) |
629 |
.................... for (i=1;i<30;i++) // pocet 1/2 period |
629 |
.................... for (i=1;i<30;i++) // pocet 1/2 period |
630 |
028C: MOVLW 01 |
630 |
028C: MOVLW 01 |
631 |
028D: MOVWF 31 |
631 |
028D: MOVWF 31 |
632 |
028E: MOVF 31,W |
632 |
028E: MOVF 31,W |
633 |
028F: SUBLW 1D |
633 |
028F: SUBLW 1D |
634 |
0290: BTFSS 03.0 |
634 |
0290: BTFSS 03.0 |
635 |
0291: GOTO 2AE |
635 |
0291: GOTO 2AE |
636 |
.................... { |
636 |
.................... { |
637 |
.................... int1 beep; // stavova promenna pro pipak |
637 |
.................... int1 beep; // stavova promenna pro pipak |
638 |
.................... |
638 |
.................... |
639 |
.................... output_bit(BEEP0,beep); |
639 |
.................... output_bit(BEEP0,beep); |
640 |
0292: BTFSC 32.0 |
640 |
0292: BTFSC 32.0 |
641 |
0293: GOTO 296 |
641 |
0293: GOTO 296 |
642 |
0294: BCF 05.6 |
642 |
0294: BCF 05.6 |
643 |
0295: GOTO 297 |
643 |
0295: GOTO 297 |
644 |
0296: BSF 05.6 |
644 |
0296: BSF 05.6 |
645 |
0297: BSF 03.5 |
645 |
0297: BSF 03.5 |
646 |
0298: BCF 05.6 |
646 |
0298: BCF 05.6 |
647 |
.................... beep=~beep; |
647 |
.................... beep=~beep; |
648 |
0299: MOVLW 01 |
648 |
0299: MOVLW 01 |
649 |
029A: BCF 03.5 |
649 |
029A: BCF 03.5 |
650 |
029B: XORWF 32,F |
650 |
029B: XORWF 32,F |
651 |
.................... output_bit(BEEP1,beep); |
651 |
.................... output_bit(BEEP1,beep); |
652 |
029C: BTFSC 32.0 |
652 |
029C: BTFSC 32.0 |
653 |
029D: GOTO 2A0 |
653 |
029D: GOTO 2A0 |
654 |
029E: BCF 05.7 |
654 |
029E: BCF 05.7 |
655 |
029F: GOTO 2A1 |
655 |
029F: GOTO 2A1 |
656 |
02A0: BSF 05.7 |
656 |
02A0: BSF 05.7 |
657 |
02A1: BSF 03.5 |
657 |
02A1: BSF 03.5 |
658 |
02A2: BCF 05.7 |
658 |
02A2: BCF 05.7 |
659 |
.................... delay_us(1000); |
659 |
.................... delay_us(1000); |
660 |
02A3: CLRWDT |
660 |
02A3: CLRWDT |
661 |
02A4: MOVLW 09 |
661 |
02A4: MOVLW 09 |
662 |
02A5: BCF 03.5 |
662 |
02A5: BCF 03.5 |
663 |
02A6: MOVWF 3E |
663 |
02A6: MOVWF 3E |
664 |
02A7: MOVLW 6C |
664 |
02A7: MOVLW 6C |
665 |
02A8: MOVWF 3F |
665 |
02A8: MOVWF 3F |
666 |
02A9: GOTO 0FD |
666 |
02A9: GOTO 0FD |
667 |
02AA: DECFSZ 3E,F |
667 |
02AA: DECFSZ 3E,F |
668 |
02AB: GOTO 2A7 |
668 |
02AB: GOTO 2A7 |
669 |
.................... } |
669 |
.................... } |
670 |
02AC: INCF 31,F |
670 |
02AC: INCF 31,F |
671 |
02AD: GOTO 28E |
671 |
02AD: GOTO 28E |
672 |
.................... |
672 |
.................... |
673 |
.................... // Rozhodnuti o rezimu cinnosti (cteni stavu prepinacu) |
673 |
.................... // Rozhodnuti o rezimu cinnosti (cteni stavu prepinacu) |
674 |
.................... Debug=0; |
674 |
.................... Debug=0; |
675 |
02AE: CLRF 30 |
675 |
02AE: CLRF 30 |
676 |
.................... if (~input(SW0)) Debug|=1; // precti bit 0 |
676 |
.................... if (~input(SW0)) Debug|=1; // precti bit 0 |
677 |
02AF: BSF 03.5 |
677 |
02AF: BSF 03.5 |
678 |
02B0: BSF 06.7 |
678 |
02B0: BSF 06.7 |
679 |
02B1: BCF 03.5 |
679 |
02B1: BCF 03.5 |
680 |
02B2: BTFSS 06.7 |
680 |
02B2: BTFSS 06.7 |
681 |
02B3: BSF 30.0 |
681 |
02B3: BSF 30.0 |
682 |
.................... if (~input(SW1)) Debug|=2; // precti bit 1 |
682 |
.................... if (~input(SW1)) Debug|=2; // precti bit 1 |
683 |
02B4: BSF 03.5 |
683 |
02B4: BSF 03.5 |
684 |
02B5: BSF 06.6 |
684 |
02B5: BSF 06.6 |
685 |
02B6: BCF 03.5 |
685 |
02B6: BCF 03.5 |
686 |
02B7: BTFSS 06.6 |
686 |
02B7: BTFSS 06.6 |
687 |
02B8: BSF 30.1 |
687 |
02B8: BSF 30.1 |
688 |
.................... output_low(SW0); // nastav L aby se snizila spotreba |
688 |
.................... output_low(SW0); // nastav L aby se snizila spotreba |
689 |
02B9: BSF 03.5 |
689 |
02B9: BSF 03.5 |
690 |
02BA: BCF 06.7 |
690 |
02BA: BCF 06.7 |
691 |
02BB: BCF 03.5 |
691 |
02BB: BCF 03.5 |
692 |
02BC: BCF 06.7 |
692 |
02BC: BCF 06.7 |
693 |
.................... output_low(SW1); // na obou vstupech |
693 |
.................... output_low(SW1); // na obou vstupech |
694 |
02BD: BSF 03.5 |
694 |
02BD: BSF 03.5 |
695 |
02BE: BCF 06.6 |
695 |
02BE: BCF 06.6 |
696 |
02BF: BCF 03.5 |
696 |
02BF: BCF 03.5 |
697 |
02C0: BCF 06.6 |
697 |
02C0: BCF 06.6 |
698 |
.................... |
698 |
.................... |
699 |
.................... // Zobrazeni rezimu (na ladici seriovy vystup) |
699 |
.................... // Zobrazeni rezimu (na ladici seriovy vystup) |
700 |
.................... printf(Putc,"\fMode:%d",Debug); |
700 |
.................... printf(Putc,"\fMode:%d",Debug); |
701 |
02C1: CLRF 3E |
701 |
02C1: CLRF 3E |
702 |
02C2: MOVF 3E,W |
702 |
02C2: MOVF 3E,W |
703 |
02C3: CALL 049 |
703 |
02C3: CALL 049 |
704 |
02C4: INCF 3E,F |
704 |
02C4: INCF 3E,F |
705 |
02C5: MOVWF 77 |
705 |
02C5: MOVWF 77 |
706 |
02C6: MOVWF 42 |
706 |
02C6: MOVWF 42 |
707 |
02C7: CALL 111 |
707 |
02C7: CALL 111 |
708 |
02C8: MOVLW 06 |
708 |
02C8: MOVLW 06 |
709 |
02C9: SUBWF 3E,W |
709 |
02C9: SUBWF 3E,W |
710 |
02CA: BTFSS 03.2 |
710 |
02CA: BTFSS 03.2 |
711 |
02CB: GOTO 2C2 |
711 |
02CB: GOTO 2C2 |
712 |
02CC: MOVF 30,W |
712 |
02CC: MOVF 30,W |
713 |
02CD: MOVWF 3F |
713 |
02CD: MOVWF 3F |
714 |
02CE: MOVLW 18 |
714 |
02CE: MOVLW 18 |
715 |
02CF: MOVWF 40 |
715 |
02CF: MOVWF 40 |
716 |
02D0: GOTO 12F |
716 |
02D0: GOTO 12F |
717 |
.................... |
717 |
.................... |
718 |
.................... // Inicializace PWM |
718 |
.................... // Inicializace PWM |
719 |
.................... PR2 = 0x1F; // perioda PWM casovace |
719 |
.................... PR2 = 0x1F; // perioda PWM casovace |
720 |
02D1: MOVLW 1F |
720 |
02D1: MOVLW 1F |
721 |
02D2: BSF 03.5 |
721 |
02D2: BSF 03.5 |
722 |
02D3: MOVWF 12 |
722 |
02D3: MOVWF 12 |
723 |
.................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
723 |
.................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
724 |
02D4: MOVLW 04 |
724 |
02D4: MOVLW 04 |
725 |
02D5: BCF 03.5 |
725 |
02D5: BCF 03.5 |
726 |
02D6: MOVWF 12 |
726 |
02D6: MOVWF 12 |
727 |
.................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
727 |
.................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
728 |
02D7: MOVLW 0C |
728 |
02D7: MOVLW 0C |
729 |
02D8: MOVWF 17 |
729 |
02D8: MOVWF 17 |
730 |
.................... CCPR1L = 0; // na zacatku nulova data |
730 |
.................... CCPR1L = 0; // na zacatku nulova data |
731 |
02D9: CLRF 15 |
731 |
02D9: CLRF 15 |
732 |
.................... output_low(PWM); // PWM vystup |
732 |
.................... output_low(PWM); // PWM vystup |
733 |
02DA: BSF 03.5 |
733 |
02DA: BSF 03.5 |
734 |
02DB: BCF 06.3 |
734 |
02DB: BCF 06.3 |
735 |
02DC: BCF 03.5 |
735 |
02DC: BCF 03.5 |
736 |
02DD: BCF 06.3 |
736 |
02DD: BCF 06.3 |
737 |
.................... |
737 |
.................... |
738 |
.................... // Inicializace casovace |
738 |
.................... // Inicializace casovace |
739 |
.................... InitT0(); // nastav casovac na cca 1ms |
739 |
.................... InitT0(); // nastav casovac na cca 1ms |
740 |
02DE: GOTO 18A |
740 |
02DE: GOTO 18A |
741 |
.................... |
741 |
.................... |
742 |
.................... // ALG=1 Test menice PWM a rozjezdoveho PWM |
742 |
.................... // ALG=1 Test menice PWM a rozjezdoveho PWM |
743 |
.................... // ======================================== |
743 |
.................... // ======================================== |
744 |
.................... // P1 nastavuje primo stridu hlavniho PWM menice |
744 |
.................... // P1 nastavuje primo stridu hlavniho PWM menice |
745 |
.................... // P2 nastavuje rychlostni stupen spinace motoru (rychlostni stupne 0-8) |
745 |
.................... // P2 nastavuje rychlostni stupen spinace motoru (rychlostni stupne 0-8) |
746 |
.................... // Trvale nacita P1 a P2 a nastavuje podle nich akcni hodnoty menicu |
746 |
.................... // Trvale nacita P1 a P2 a nastavuje podle nich akcni hodnoty menicu |
747 |
.................... if (Debug==1) |
747 |
.................... if (Debug==1) |
748 |
02DF: DECFSZ 30,W |
748 |
02DF: DECFSZ 30,W |
749 |
02E0: GOTO 31A |
749 |
02E0: GOTO 31A |
750 |
.................... { |
750 |
.................... { |
751 |
.................... unsigned int8 Data1; // poteniometr P1 = PWM |
751 |
.................... unsigned int8 Data1; // poteniometr P1 = PWM |
752 |
.................... unsigned int8 Data2; // poteniometr P2 = Rozjezd |
752 |
.................... unsigned int8 Data2; // poteniometr P2 = Rozjezd |
753 |
.................... |
753 |
.................... |
754 |
.................... while (1) |
754 |
.................... while (1) |
755 |
.................... { |
755 |
.................... { |
756 |
.................... // watch dog |
756 |
.................... // watch dog |
757 |
.................... restart_wdt(); |
757 |
.................... restart_wdt(); |
758 |
02E1: CLRWDT |
758 |
02E1: CLRWDT |
759 |
.................... |
759 |
.................... |
760 |
.................... // mereni vstupu |
760 |
.................... // mereni vstupu |
761 |
.................... Data1=ReadAD(0); // nacti parametr pro PWM |
761 |
.................... Data1=ReadAD(0); // nacti parametr pro PWM |
762 |
02E2: CLRF 3E |
762 |
02E2: CLRF 3E |
763 |
02E3: CALL 195 |
763 |
02E3: CALL 195 |
764 |
02E4: MOVF 78,W |
764 |
02E4: MOVF 78,W |
765 |
02E5: MOVWF 33 |
765 |
02E5: MOVWF 33 |
766 |
.................... Data1>>=2; // redukuj rozsah na 0 az 63 |
766 |
.................... Data1>>=2; // redukuj rozsah na 0 az 63 |
767 |
02E6: RRF 33,F |
767 |
02E6: RRF 33,F |
768 |
02E7: RRF 33,F |
768 |
02E7: RRF 33,F |
769 |
02E8: MOVLW 3F |
769 |
02E8: MOVLW 3F |
770 |
02E9: ANDWF 33,F |
770 |
02E9: ANDWF 33,F |
771 |
.................... Data2=ReadAD(1); // nacti parametr pro rozjezd |
771 |
.................... Data2=ReadAD(1); // nacti parametr pro rozjezd |
772 |
02EA: MOVLW 01 |
772 |
02EA: MOVLW 01 |
773 |
02EB: MOVWF 3E |
773 |
02EB: MOVWF 3E |
774 |
02EC: CALL 195 |
774 |
02EC: CALL 195 |
775 |
02ED: MOVF 78,W |
775 |
02ED: MOVF 78,W |
776 |
02EE: MOVWF 34 |
776 |
02EE: MOVWF 34 |
777 |
.................... Data2>>=4; // redukuj rozsah na 0 az 15 |
777 |
.................... Data2>>=4; // redukuj rozsah na 0 az 15 |
778 |
02EF: SWAPF 34,F |
778 |
02EF: SWAPF 34,F |
779 |
02F0: MOVLW 0F |
779 |
02F0: MOVLW 0F |
780 |
02F1: ANDWF 34,F |
780 |
02F1: ANDWF 34,F |
781 |
.................... |
781 |
.................... |
782 |
.................... // zobrazeni |
782 |
.................... // zobrazeni |
783 |
.................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
783 |
.................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
784 |
02F2: CLRF 3E |
784 |
02F2: CLRF 3E |
785 |
02F3: MOVF 3E,W |
785 |
02F3: MOVF 3E,W |
786 |
02F4: CALL 056 |
786 |
02F4: CALL 056 |
787 |
02F5: INCF 3E,F |
787 |
02F5: INCF 3E,F |
788 |
02F6: MOVWF 77 |
788 |
02F6: MOVWF 77 |
789 |
02F7: MOVWF 42 |
789 |
02F7: MOVWF 42 |
790 |
02F8: CALL 111 |
790 |
02F8: CALL 111 |
791 |
02F9: MOVLW 05 |
791 |
02F9: MOVLW 05 |
792 |
02FA: SUBWF 3E,W |
792 |
02FA: SUBWF 3E,W |
793 |
02FB: BTFSS 03.2 |
793 |
02FB: BTFSS 03.2 |
794 |
02FC: GOTO 2F3 |
794 |
02FC: GOTO 2F3 |
795 |
02FD: MOVF 33,W |
795 |
02FD: MOVF 33,W |
796 |
02FE: MOVWF 40 |
796 |
02FE: MOVWF 40 |
797 |
02FF: CLRF 41 |
797 |
02FF: CLRF 41 |
798 |
0300: CALL 1C0 |
798 |
0300: CALL 1C0 |
799 |
0301: MOVLW 09 |
799 |
0301: MOVLW 09 |
800 |
0302: MOVWF 3F |
800 |
0302: MOVWF 3F |
801 |
0303: MOVF 3F,W |
801 |
0303: MOVF 3F,W |
802 |
0304: CALL 056 |
802 |
0304: CALL 056 |
803 |
0305: INCF 3F,F |
803 |
0305: INCF 3F,F |
804 |
0306: MOVWF 77 |
804 |
0306: MOVWF 77 |
805 |
0307: MOVWF 42 |
805 |
0307: MOVWF 42 |
806 |
0308: CALL 111 |
806 |
0308: CALL 111 |
807 |
0309: MOVLW 0E |
807 |
0309: MOVLW 0E |
808 |
030A: SUBWF 3F,W |
808 |
030A: SUBWF 3F,W |
809 |
030B: BTFSS 03.2 |
809 |
030B: BTFSS 03.2 |
810 |
030C: GOTO 303 |
810 |
030C: GOTO 303 |
811 |
030D: MOVF 34,W |
811 |
030D: MOVF 34,W |
812 |
030E: MOVWF 40 |
812 |
030E: MOVWF 40 |
813 |
030F: CLRF 41 |
813 |
030F: CLRF 41 |
814 |
0310: CALL 1C0 |
814 |
0310: CALL 1C0 |
815 |
.................... delay_ms(20); |
815 |
.................... delay_ms(20); |
816 |
0311: MOVLW 14 |
816 |
0311: MOVLW 14 |
817 |
0312: MOVWF 3E |
817 |
0312: MOVWF 3E |
818 |
0313: CALL 20D |
818 |
0313: CALL 20D |
819 |
.................... |
819 |
.................... |
820 |
.................... // nastaveni parametru PWM |
820 |
.................... // nastaveni parametru PWM |
821 |
.................... CCPR1L = Data1; |
821 |
.................... CCPR1L = Data1; |
822 |
0314: MOVF 33,W |
822 |
0314: MOVF 33,W |
823 |
0315: MOVWF 15 |
823 |
0315: MOVWF 15 |
824 |
.................... |
824 |
.................... |
825 |
.................... // nastaveni parametru RUN |
825 |
.................... // nastaveni parametru RUN |
826 |
.................... MotorSet(Data2); |
826 |
.................... MotorSet(Data2); |
827 |
0316: MOVF 34,W |
827 |
0316: MOVF 34,W |
828 |
0317: MOVWF 3E |
828 |
0317: MOVWF 3E |
829 |
0318: CALL 224 |
829 |
0318: CALL 224 |
830 |
.................... } |
830 |
.................... } |
831 |
0319: GOTO 2E1 |
831 |
0319: GOTO 2E1 |
832 |
.................... } |
832 |
.................... } |
833 |
.................... |
833 |
.................... |
834 |
.................... // ALG=2 Testovani rozjezdu |
834 |
.................... // ALG=2 Testovani rozjezdu |
835 |
.................... // ======================== |
835 |
.................... // ======================== |
836 |
.................... // P2 nastavuje cas mezi stupni razeni pro rozjezd v ms |
836 |
.................... // P2 nastavuje cas mezi stupni razeni pro rozjezd v ms |
837 |
.................... // Po resetu 2 sekundy pocka, 2 sekundy jede a nakonec zastavi motor |
837 |
.................... // Po resetu 2 sekundy pocka, 2 sekundy jede a nakonec zastavi motor |
838 |
.................... if (Debug==2) |
838 |
.................... if (Debug==2) |
839 |
031A: MOVF 30,W |
839 |
031A: MOVF 30,W |
840 |
031B: SUBLW 02 |
840 |
031B: SUBLW 02 |
841 |
031C: BTFSS 03.2 |
841 |
031C: BTFSS 03.2 |
842 |
031D: GOTO 36B |
842 |
031D: GOTO 36B |
843 |
.................... { |
843 |
.................... { |
844 |
.................... int8 Data; |
844 |
.................... int8 Data; |
845 |
.................... int8 Start; |
845 |
.................... int8 Start; |
846 |
.................... |
846 |
.................... |
847 |
.................... Start=0; // uvodni stav |
847 |
.................... Start=0; // uvodni stav |
848 |
031E: CLRF 36 |
848 |
031E: CLRF 36 |
849 |
.................... while(1) |
849 |
.................... while(1) |
850 |
.................... { |
850 |
.................... { |
851 |
.................... // Nacti a zobraz parametr |
851 |
.................... // Nacti a zobraz parametr |
852 |
.................... Data=ReadAD(1); // potenciometr P2 = rozjezd |
852 |
.................... Data=ReadAD(1); // potenciometr P2 = rozjezd |
853 |
031F: MOVLW 01 |
853 |
031F: MOVLW 01 |
854 |
0320: MOVWF 3E |
854 |
0320: MOVWF 3E |
855 |
0321: CALL 195 |
855 |
0321: CALL 195 |
856 |
0322: MOVF 78,W |
856 |
0322: MOVF 78,W |
857 |
0323: MOVWF 35 |
857 |
0323: MOVWF 35 |
858 |
.................... printf(Putc,"\nRUN:%3ums ",Data); // zobraz |
858 |
.................... printf(Putc,"\nRUN:%3ums ",Data); // zobraz |
859 |
0324: CLRF 3E |
859 |
0324: CLRF 3E |
860 |
0325: MOVF 3E,W |
860 |
0325: MOVF 3E,W |
861 |
0326: CALL 06D |
861 |
0326: CALL 06D |
862 |
0327: INCF 3E,F |
862 |
0327: INCF 3E,F |
863 |
0328: MOVWF 77 |
863 |
0328: MOVWF 77 |
864 |
0329: MOVWF 42 |
864 |
0329: MOVWF 42 |
865 |
032A: CALL 111 |
865 |
032A: CALL 111 |
866 |
032B: MOVLW 05 |
866 |
032B: MOVLW 05 |
867 |
032C: SUBWF 3E,W |
867 |
032C: SUBWF 3E,W |
868 |
032D: BTFSS 03.2 |
868 |
032D: BTFSS 03.2 |
869 |
032E: GOTO 325 |
869 |
032E: GOTO 325 |
870 |
032F: MOVF 35,W |
870 |
032F: MOVF 35,W |
871 |
0330: MOVWF 40 |
871 |
0330: MOVWF 40 |
872 |
0331: MOVLW 10 |
872 |
0331: MOVLW 10 |
873 |
0332: MOVWF 41 |
873 |
0332: MOVWF 41 |
874 |
0333: CALL 1C0 |
874 |
0333: CALL 1C0 |
875 |
0334: MOVLW 6D |
875 |
0334: MOVLW 6D |
876 |
0335: MOVWF 42 |
876 |
0335: MOVWF 42 |
877 |
0336: CALL 111 |
877 |
0336: CALL 111 |
878 |
0337: MOVLW 73 |
878 |
0337: MOVLW 73 |
879 |
0338: MOVWF 42 |
879 |
0338: MOVWF 42 |
880 |
0339: CALL 111 |
880 |
0339: CALL 111 |
881 |
033A: MOVLW 20 |
881 |
033A: MOVLW 20 |
882 |
033B: MOVWF 42 |
882 |
033B: MOVWF 42 |
883 |
033C: CALL 111 |
883 |
033C: CALL 111 |
884 |
.................... delay_ms(10); // prodleva pro terminal |
884 |
.................... delay_ms(10); // prodleva pro terminal |
885 |
033D: MOVLW 0A |
885 |
033D: MOVLW 0A |
886 |
033E: MOVWF 3E |
886 |
033E: MOVWF 3E |
887 |
033F: CALL 20D |
887 |
033F: CALL 20D |
888 |
.................... |
888 |
.................... |
889 |
.................... // Uvodni pauza |
889 |
.................... // Uvodni pauza |
890 |
.................... if (Start==0) // spousti se 1x na zacatku |
890 |
.................... if (Start==0) // spousti se 1x na zacatku |
891 |
0340: MOVF 36,F |
891 |
0340: MOVF 36,F |
892 |
0341: BTFSS 03.2 |
892 |
0341: BTFSS 03.2 |
893 |
0342: GOTO 349 |
893 |
0342: GOTO 349 |
894 |
.................... { |
894 |
.................... { |
895 |
.................... Start++; // dalsi stav je cekani |
895 |
.................... Start++; // dalsi stav je cekani |
896 |
0343: INCF 36,F |
896 |
0343: INCF 36,F |
897 |
.................... TimerSet(2000); // na dokonceni uvodni prodlevy |
897 |
.................... TimerSet(2000); // na dokonceni uvodni prodlevy |
898 |
0344: MOVLW 07 |
898 |
0344: MOVLW 07 |
899 |
0345: MOVWF 3F |
899 |
0345: MOVWF 3F |
900 |
0346: MOVLW D0 |
900 |
0346: MOVLW D0 |
901 |
0347: MOVWF 3E |
901 |
0347: MOVWF 3E |
902 |
0348: CALL 230 |
902 |
0348: CALL 230 |
903 |
.................... } |
903 |
.................... } |
904 |
.................... |
904 |
.................... |
905 |
.................... // Rozjezd |
905 |
.................... // Rozjezd |
906 |
.................... if ((Start==1) && TimerIf()) |
906 |
.................... if ((Start==1) && TimerIf()) |
907 |
0349: DECFSZ 36,W |
907 |
0349: DECFSZ 36,W |
908 |
034A: GOTO 35B |
908 |
034A: GOTO 35B |
909 |
034B: CALL 237 |
909 |
034B: CALL 237 |
910 |
034C: MOVF 78,F |
910 |
034C: MOVF 78,F |
911 |
034D: BTFSC 03.2 |
911 |
034D: BTFSC 03.2 |
912 |
034E: GOTO 35B |
912 |
034E: GOTO 35B |
913 |
.................... { |
913 |
.................... { |
914 |
.................... Start++; |
914 |
.................... Start++; |
915 |
034F: INCF 36,F |
915 |
034F: INCF 36,F |
916 |
.................... printf(Putc,"R"); |
916 |
.................... printf(Putc,"R"); |
917 |
0350: MOVLW 52 |
917 |
0350: MOVLW 52 |
918 |
0351: MOVWF 42 |
918 |
0351: MOVWF 42 |
919 |
0352: CALL 111 |
919 |
0352: CALL 111 |
920 |
.................... MotorStart(Data); // rozjezd s nastavenim prodlevy |
920 |
.................... MotorStart(Data); // rozjezd s nastavenim prodlevy |
921 |
0353: MOVF 35,W |
921 |
0353: MOVF 35,W |
922 |
0354: MOVWF 3E |
922 |
0354: MOVWF 3E |
923 |
0355: CALL 24D |
923 |
0355: CALL 24D |
924 |
.................... |
924 |
.................... |
925 |
.................... TimerSet(2000); // nastav celkovy cas jizdy |
925 |
.................... TimerSet(2000); // nastav celkovy cas jizdy |
926 |
0356: MOVLW 07 |
926 |
0356: MOVLW 07 |
927 |
0357: MOVWF 3F |
927 |
0357: MOVWF 3F |
928 |
0358: MOVLW D0 |
928 |
0358: MOVLW D0 |
929 |
0359: MOVWF 3E |
929 |
0359: MOVWF 3E |
930 |
035A: CALL 230 |
930 |
035A: CALL 230 |
931 |
.................... } |
931 |
.................... } |
932 |
.................... |
932 |
.................... |
933 |
.................... // Zastaveni |
933 |
.................... // Zastaveni |
934 |
.................... if ((Start==2) && TimerIf()) |
934 |
.................... if ((Start==2) && TimerIf()) |
935 |
035B: MOVF 36,W |
935 |
035B: MOVF 36,W |
936 |
035C: SUBLW 02 |
936 |
035C: SUBLW 02 |
937 |
035D: BTFSS 03.2 |
937 |
035D: BTFSS 03.2 |
938 |
035E: GOTO 369 |
938 |
035E: GOTO 369 |
939 |
035F: CALL 237 |
939 |
035F: CALL 237 |
940 |
0360: MOVF 78,F |
940 |
0360: MOVF 78,F |
941 |
0361: BTFSC 03.2 |
941 |
0361: BTFSC 03.2 |
942 |
0362: GOTO 369 |
942 |
0362: GOTO 369 |
943 |
.................... { |
943 |
.................... { |
944 |
.................... Start++; |
944 |
.................... Start++; |
945 |
0363: INCF 36,F |
945 |
0363: INCF 36,F |
946 |
.................... printf(Putc,"S"); |
946 |
.................... printf(Putc,"S"); |
947 |
0364: MOVLW 53 |
947 |
0364: MOVLW 53 |
948 |
0365: MOVWF 42 |
948 |
0365: MOVWF 42 |
949 |
0366: CALL 111 |
949 |
0366: CALL 111 |
950 |
.................... MotorSet(0); // pokud dobehl casovac zastav motor |
950 |
.................... MotorSet(0); // pokud dobehl casovac zastav motor |
951 |
0367: CLRF 3E |
951 |
0367: CLRF 3E |
952 |
0368: CALL 224 |
952 |
0368: CALL 224 |
953 |
.................... } |
953 |
.................... } |
954 |
.................... |
954 |
.................... |
955 |
.................... // watch dog |
955 |
.................... // watch dog |
956 |
.................... restart_wdt(); |
956 |
.................... restart_wdt(); |
957 |
0369: CLRWDT |
957 |
0369: CLRWDT |
958 |
.................... } |
958 |
.................... } |
959 |
036A: GOTO 31F |
959 |
036A: GOTO 31F |
960 |
.................... } |
960 |
.................... } |
961 |
.................... |
961 |
.................... |
962 |
.................... // ALG=3 Test nabijeciho algoritmu |
962 |
.................... // ALG=3 Test nabijeciho algoritmu |
963 |
.................... // =============================== |
963 |
.................... // =============================== |
964 |
.................... // P1 nastavuje pozadovane napeti na clancich (meri se Vref vuci napajeni) |
964 |
.................... // P1 nastavuje pozadovane napeti na clancich (meri se Vref vuci napajeni) |
965 |
.................... // Nacitani P1 probiha stale dokola, pro rizeni je pouzit stejny |
965 |
.................... // Nacitani P1 probiha stale dokola, pro rizeni je pouzit stejny |
966 |
.................... // algoritmus jako pro standardni jizdu |
966 |
.................... // algoritmus jako pro standardni jizdu |
967 |
.................... if (Debug==3) |
967 |
.................... if (Debug==3) |
968 |
036B: MOVF 30,W |
968 |
036B: MOVF 30,W |
969 |
036C: SUBLW 03 |
969 |
036C: SUBLW 03 |
970 |
036D: BTFSS 03.2 |
970 |
036D: BTFSS 03.2 |
971 |
036E: GOTO 3C2 |
971 |
036E: GOTO 3C2 |
972 |
.................... { |
972 |
.................... { |
973 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
973 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
974 |
.................... unsigned int8 Req; // pozadovana hodnota z P1 |
974 |
.................... unsigned int8 Req; // pozadovana hodnota z P1 |
975 |
.................... unsigned int8 Vref; // merena hodnota vref |
975 |
.................... unsigned int8 Vref; // merena hodnota vref |
976 |
.................... |
976 |
.................... |
977 |
.................... // Inicializace stavove promenne |
977 |
.................... // Inicializace stavove promenne |
978 |
.................... PwmOut=0; |
978 |
.................... PwmOut=0; |
979 |
036F: CLRF 37 |
979 |
036F: CLRF 37 |
980 |
.................... |
980 |
.................... |
981 |
.................... // Hlavni smycka |
981 |
.................... // Hlavni smycka |
982 |
.................... while (1) |
982 |
.................... while (1) |
983 |
.................... { |
983 |
.................... { |
984 |
.................... // watch dog |
984 |
.................... // watch dog |
985 |
.................... restart_wdt(); |
985 |
.................... restart_wdt(); |
986 |
0370: CLRWDT |
986 |
0370: CLRWDT |
987 |
.................... |
987 |
.................... |
988 |
.................... // pozadovana hodnota (potenciometr P1) |
988 |
.................... // pozadovana hodnota (potenciometr P1) |
989 |
.................... Req=ReadAD(0); |
989 |
.................... Req=ReadAD(0); |
990 |
0371: CLRF 3E |
990 |
0371: CLRF 3E |
991 |
0372: CALL 195 |
991 |
0372: CALL 195 |
992 |
0373: MOVF 78,W |
992 |
0373: MOVF 78,W |
993 |
0374: MOVWF 38 |
993 |
0374: MOVWF 38 |
994 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
994 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
995 |
0375: CLRF 3E |
995 |
0375: CLRF 3E |
996 |
0376: CALL 195 |
996 |
0376: CALL 195 |
997 |
0377: BCF 03.0 |
997 |
0377: BCF 03.0 |
998 |
0378: RRF 78,W |
998 |
0378: RRF 78,W |
999 |
0379: ADDLW 32 |
999 |
0379: ADDLW 32 |
1000 |
037A: MOVWF 38 |
1000 |
037A: MOVWF 38 |
1001 |
.................... |
1001 |
.................... |
1002 |
.................... // napeti na napajeni (vref) |
1002 |
.................... // napeti na napajeni (vref) |
1003 |
.................... Vref=ReadAD(4); |
1003 |
.................... Vref=ReadAD(4); |
1004 |
037B: MOVLW 04 |
1004 |
037B: MOVLW 04 |
1005 |
037C: MOVWF 3E |
1005 |
037C: MOVWF 3E |
1006 |
037D: CALL 195 |
1006 |
037D: CALL 195 |
1007 |
037E: MOVF 78,W |
1007 |
037E: MOVF 78,W |
1008 |
037F: MOVWF 39 |
1008 |
037F: MOVWF 39 |
1009 |
.................... |
1009 |
.................... |
1010 |
.................... // ricici algoritmus |
1010 |
.................... // ricici algoritmus |
1011 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
1011 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
1012 |
0380: MOVF 38,W |
1012 |
0380: MOVF 38,W |
1013 |
0381: SUBWF 39,W |
1013 |
0381: SUBWF 39,W |
1014 |
0382: BTFSC 03.0 |
1014 |
0382: BTFSC 03.0 |
1015 |
0383: GOTO 388 |
1015 |
0383: GOTO 388 |
1016 |
0384: MOVF 37,W |
1016 |
0384: MOVF 37,W |
1017 |
0385: SUBLW 1D |
1017 |
0385: SUBLW 1D |
1018 |
0386: BTFSC 03.0 |
1018 |
0386: BTFSC 03.0 |
1019 |
0387: INCF 37,F |
1019 |
0387: INCF 37,F |
1020 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
1020 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
1021 |
0388: MOVF 38,W |
1021 |
0388: MOVF 38,W |
1022 |
0389: SUBWF 39,W |
1022 |
0389: SUBWF 39,W |
1023 |
038A: BTFSS 03.0 |
1023 |
038A: BTFSS 03.0 |
1024 |
038B: GOTO 38F |
1024 |
038B: GOTO 38F |
1025 |
038C: MOVF 37,F |
1025 |
038C: MOVF 37,F |
1026 |
038D: BTFSS 03.2 |
1026 |
038D: BTFSS 03.2 |
1027 |
038E: DECF 37,F |
1027 |
038E: DECF 37,F |
1028 |
.................... Vref+=10; |
1028 |
.................... Vref+=10; |
1029 |
038F: MOVLW 0A |
1029 |
038F: MOVLW 0A |
1030 |
0390: ADDWF 39,F |
1030 |
0390: ADDWF 39,F |
1031 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
1031 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
1032 |
0391: MOVF 38,W |
1032 |
0391: MOVF 38,W |
1033 |
0392: SUBWF 39,W |
1033 |
0392: SUBWF 39,W |
1034 |
0393: BTFSC 03.0 |
1034 |
0393: BTFSC 03.0 |
1035 |
0394: GOTO 399 |
1035 |
0394: GOTO 399 |
1036 |
0395: MOVF 37,W |
1036 |
0395: MOVF 37,W |
1037 |
0396: SUBLW 1D |
1037 |
0396: SUBLW 1D |
1038 |
0397: BTFSC 03.0 |
1038 |
0397: BTFSC 03.0 |
1039 |
0398: INCF 37,F |
1039 |
0398: INCF 37,F |
1040 |
.................... |
1040 |
.................... |
1041 |
.................... // nastaveni parametru PWM |
1041 |
.................... // nastaveni parametru PWM |
1042 |
.................... if (PwmOut>24) PwmOut=24; // saturace |
1042 |
.................... if (PwmOut>24) PwmOut=24; // saturace |
1043 |
0399: MOVF 37,W |
1043 |
0399: MOVF 37,W |
1044 |
039A: SUBLW 18 |
1044 |
039A: SUBLW 18 |
1045 |
039B: BTFSC 03.0 |
1045 |
039B: BTFSC 03.0 |
1046 |
039C: GOTO 39F |
1046 |
039C: GOTO 39F |
1047 |
039D: MOVLW 18 |
1047 |
039D: MOVLW 18 |
1048 |
039E: MOVWF 37 |
1048 |
039E: MOVWF 37 |
1049 |
.................... CCPR1L = PwmOut; // pouziti vystupu |
1049 |
.................... CCPR1L = PwmOut; // pouziti vystupu |
1050 |
039F: MOVF 37,W |
1050 |
039F: MOVF 37,W |
1051 |
03A0: MOVWF 15 |
1051 |
03A0: MOVWF 15 |
1052 |
.................... |
1052 |
.................... |
1053 |
.................... // zobrazeni |
1053 |
.................... // zobrazeni |
1054 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
1054 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
1055 |
03A1: CLRF 3E |
1055 |
03A1: CLRF 3E |
1056 |
03A2: MOVF 3E,W |
1056 |
03A2: MOVF 3E,W |
1057 |
03A3: CALL 07D |
1057 |
03A3: CALL 07D |
1058 |
03A4: INCF 3E,F |
1058 |
03A4: INCF 3E,F |
1059 |
03A5: MOVWF 77 |
1059 |
03A5: MOVWF 77 |
1060 |
03A6: MOVWF 42 |
1060 |
03A6: MOVWF 42 |
1061 |
03A7: CALL 111 |
1061 |
03A7: CALL 111 |
1062 |
03A8: MOVLW 05 |
1062 |
03A8: MOVLW 05 |
1063 |
03A9: SUBWF 3E,W |
1063 |
03A9: SUBWF 3E,W |
1064 |
03AA: BTFSS 03.2 |
1064 |
03AA: BTFSS 03.2 |
1065 |
03AB: GOTO 3A2 |
1065 |
03AB: GOTO 3A2 |
1066 |
03AC: MOVF 38,W |
1066 |
03AC: MOVF 38,W |
1067 |
03AD: MOVWF 40 |
1067 |
03AD: MOVWF 40 |
1068 |
03AE: CLRF 41 |
1068 |
03AE: CLRF 41 |
1069 |
03AF: CALL 1C0 |
1069 |
03AF: CALL 1C0 |
1070 |
03B0: MOVLW 20 |
1070 |
03B0: MOVLW 20 |
1071 |
03B1: MOVWF 42 |
1071 |
03B1: MOVWF 42 |
1072 |
03B2: CALL 111 |
1072 |
03B2: CALL 111 |
1073 |
03B3: MOVF 39,W |
1073 |
03B3: MOVF 39,W |
1074 |
03B4: MOVWF 40 |
1074 |
03B4: MOVWF 40 |
1075 |
03B5: CLRF 41 |
1075 |
03B5: CLRF 41 |
1076 |
03B6: CALL 1C0 |
1076 |
03B6: CALL 1C0 |
1077 |
03B7: MOVLW 20 |
1077 |
03B7: MOVLW 20 |
1078 |
03B8: MOVWF 42 |
1078 |
03B8: MOVWF 42 |
1079 |
03B9: CALL 111 |
1079 |
03B9: CALL 111 |
1080 |
03BA: MOVF 37,W |
1080 |
03BA: MOVF 37,W |
1081 |
03BB: MOVWF 40 |
1081 |
03BB: MOVWF 40 |
1082 |
03BC: CLRF 41 |
1082 |
03BC: CLRF 41 |
1083 |
03BD: CALL 1C0 |
1083 |
03BD: CALL 1C0 |
1084 |
.................... delay_ms(10); |
1084 |
.................... delay_ms(10); |
1085 |
03BE: MOVLW 0A |
1085 |
03BE: MOVLW 0A |
1086 |
03BF: MOVWF 3E |
1086 |
03BF: MOVWF 3E |
1087 |
03C0: CALL 20D |
1087 |
03C0: CALL 20D |
1088 |
.................... } |
1088 |
.................... } |
1089 |
03C1: GOTO 370 |
1089 |
03C1: GOTO 370 |
1090 |
.................... } |
1090 |
.................... } |
1091 |
.................... |
1091 |
.................... |
1092 |
.................... // ALG=0 Standardni jizda |
1092 |
.................... // ALG=0 Standardni jizda |
1093 |
.................... // ====================== |
1093 |
.................... // ====================== |
1094 |
.................... // P1 nastavuje pozadovane napeti na clancich |
1094 |
.................... // P1 nastavuje pozadovane napeti na clancich |
1095 |
.................... // P2 nastavuje prodlevu razeni pri rozjezdu, nacita se jen 1x na zacatku |
1095 |
.................... // P2 nastavuje prodlevu razeni pri rozjezdu, nacita se jen 1x na zacatku |
1096 |
.................... // Po resetu cca 14.5 sekundy akumuluje do kondenzatoru a pak provede |
1096 |
.................... // Po resetu cca 14.5 sekundy akumuluje do kondenzatoru a pak provede |
1097 |
.................... // rozjezd motoru. Po celou dobu probiha rizeni zateze slunecnich clanku. |
1097 |
.................... // rozjezd motoru. Po celou dobu probiha rizeni zateze slunecnich clanku. |
1098 |
.................... // Parametry P1 a P2 jsou chapany stejne jako v algoritmech 2 a 3. |
1098 |
.................... // Parametry P1 a P2 jsou chapany stejne jako v algoritmech 2 a 3. |
1099 |
.................... if (Debug==0) |
1099 |
.................... if (Debug==0) |
1100 |
03C2: MOVF 30,F |
1100 |
03C2: MOVF 30,F |
1101 |
03C3: BTFSS 03.2 |
1101 |
03C3: BTFSS 03.2 |
1102 |
03C4: GOTO 449 |
1102 |
03C4: GOTO 449 |
1103 |
.................... { |
1103 |
.................... { |
1104 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
1104 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
1105 |
.................... unsigned int8 Req; // pozadovana hodnota z P1 |
1105 |
.................... unsigned int8 Req; // pozadovana hodnota z P1 |
1106 |
.................... unsigned int8 Vref; // merena hodnota vref |
1106 |
.................... unsigned int8 Vref; // merena hodnota vref |
1107 |
.................... int8 Delay; // pozadovana honota prodlevy razeni z P2 |
1107 |
.................... int8 Delay; // pozadovana honota prodlevy razeni z P2 |
1108 |
.................... int1 Run; |
1108 |
.................... int1 Run; |
1109 |
.................... |
1109 |
.................... |
1110 |
.................... // Nacti parametr rozjezdu |
1110 |
.................... // Nacti parametr rozjezdu |
1111 |
.................... Delay=ReadAD(1); // potenciometr P2 = rozjezd |
1111 |
.................... Delay=ReadAD(1); // potenciometr P2 = rozjezd |
1112 |
03C5: MOVLW 01 |
1112 |
03C5: MOVLW 01 |
1113 |
03C6: MOVWF 3E |
1113 |
03C6: MOVWF 3E |
1114 |
03C7: CALL 195 |
1114 |
03C7: CALL 195 |
1115 |
03C8: MOVF 78,W |
1115 |
03C8: MOVF 78,W |
1116 |
03C9: MOVWF 3D |
1116 |
03C9: MOVWF 3D |
1117 |
.................... printf(Putc," RUN:%3ums ",Delay); // zobraz |
1117 |
.................... printf(Putc," RUN:%3ums ",Delay); // zobraz |
1118 |
03CA: CLRF 3E |
1118 |
03CA: CLRF 3E |
1119 |
03CB: MOVF 3E,W |
1119 |
03CB: MOVF 3E,W |
1120 |
03CC: CALL 095 |
1120 |
03CC: CALL 095 |
1121 |
03CD: INCF 3E,F |
1121 |
03CD: INCF 3E,F |
1122 |
03CE: MOVWF 77 |
1122 |
03CE: MOVWF 77 |
1123 |
03CF: MOVWF 42 |
1123 |
03CF: MOVWF 42 |
1124 |
03D0: CALL 111 |
1124 |
03D0: CALL 111 |
1125 |
03D1: MOVLW 05 |
1125 |
03D1: MOVLW 05 |
1126 |
03D2: SUBWF 3E,W |
1126 |
03D2: SUBWF 3E,W |
1127 |
03D3: BTFSS 03.2 |
1127 |
03D3: BTFSS 03.2 |
1128 |
03D4: GOTO 3CB |
1128 |
03D4: GOTO 3CB |
1129 |
03D5: MOVF 3D,W |
1129 |
03D5: MOVF 3D,W |
1130 |
03D6: MOVWF 40 |
1130 |
03D6: MOVWF 40 |
1131 |
03D7: MOVLW 10 |
1131 |
03D7: MOVLW 10 |
1132 |
03D8: MOVWF 41 |
1132 |
03D8: MOVWF 41 |
1133 |
03D9: CALL 1C0 |
1133 |
03D9: CALL 1C0 |
1134 |
03DA: MOVLW 6D |
1134 |
03DA: MOVLW 6D |
1135 |
03DB: MOVWF 42 |
1135 |
03DB: MOVWF 42 |
1136 |
03DC: CALL 111 |
1136 |
03DC: CALL 111 |
1137 |
03DD: MOVLW 73 |
1137 |
03DD: MOVLW 73 |
1138 |
03DE: MOVWF 42 |
1138 |
03DE: MOVWF 42 |
1139 |
03DF: CALL 111 |
1139 |
03DF: CALL 111 |
1140 |
03E0: MOVLW 20 |
1140 |
03E0: MOVLW 20 |
1141 |
03E1: MOVWF 42 |
1141 |
03E1: MOVWF 42 |
1142 |
03E2: CALL 111 |
1142 |
03E2: CALL 111 |
1143 |
.................... delay_ms(10); // prodleva pro terminal |
1143 |
.................... delay_ms(10); // prodleva pro terminal |
1144 |
03E3: MOVLW 0A |
1144 |
03E3: MOVLW 0A |
1145 |
03E4: MOVWF 3E |
1145 |
03E4: MOVWF 3E |
1146 |
03E5: CALL 20D |
1146 |
03E5: CALL 20D |
1147 |
.................... |
1147 |
.................... |
1148 |
.................... // Inicializace stavove promenne |
1148 |
.................... // Inicializace stavove promenne |
1149 |
.................... PwmOut=0; |
1149 |
.................... PwmOut=0; |
1150 |
03E6: CLRF 3A |
1150 |
03E6: CLRF 3A |
1151 |
.................... TimerSet(14000); // casovani startu |
1151 |
.................... TimerSet(14000); // casovani startu |
1152 |
03E7: MOVLW 36 |
1152 |
03E7: MOVLW 36 |
1153 |
03E8: MOVWF 3F |
1153 |
03E8: MOVWF 3F |
1154 |
03E9: MOVLW B0 |
1154 |
03E9: MOVLW B0 |
1155 |
03EA: MOVWF 3E |
1155 |
03EA: MOVWF 3E |
1156 |
03EB: CALL 230 |
1156 |
03EB: CALL 230 |
1157 |
.................... Run=1; |
1157 |
.................... Run=1; |
1158 |
03EC: BSF 32.1 |
1158 |
03EC: BSF 32.1 |
1159 |
.................... |
1159 |
.................... |
1160 |
.................... // Hlavni smycka |
1160 |
.................... // Hlavni smycka |
1161 |
.................... while (1) |
1161 |
.................... while (1) |
1162 |
.................... { |
1162 |
.................... { |
1163 |
.................... // watch dog |
1163 |
.................... // watch dog |
1164 |
.................... restart_wdt(); |
1164 |
.................... restart_wdt(); |
1165 |
03ED: CLRWDT |
1165 |
03ED: CLRWDT |
1166 |
.................... |
1166 |
.................... |
1167 |
.................... // pozadovana hodnota (potenciometr P1) |
1167 |
.................... // pozadovana hodnota (potenciometr P1) |
1168 |
.................... Req=ReadAD(0); |
1168 |
.................... Req=ReadAD(0); |
1169 |
03EE: CLRF 3E |
1169 |
03EE: CLRF 3E |
1170 |
03EF: CALL 195 |
1170 |
03EF: CALL 195 |
1171 |
03F0: MOVF 78,W |
1171 |
03F0: MOVF 78,W |
1172 |
03F1: MOVWF 3B |
1172 |
03F1: MOVWF 3B |
1173 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
1173 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
1174 |
03F2: CLRF 3E |
1174 |
03F2: CLRF 3E |
1175 |
03F3: CALL 195 |
1175 |
03F3: CALL 195 |
1176 |
03F4: BCF 03.0 |
1176 |
03F4: BCF 03.0 |
1177 |
03F5: RRF 78,W |
1177 |
03F5: RRF 78,W |
1178 |
03F6: ADDLW 32 |
1178 |
03F6: ADDLW 32 |
1179 |
03F7: MOVWF 3B |
1179 |
03F7: MOVWF 3B |
1180 |
.................... |
1180 |
.................... |
1181 |
.................... // napeti na napajeni (vref) |
1181 |
.................... // napeti na napajeni (vref) |
1182 |
.................... Vref=ReadAD(4); |
1182 |
.................... Vref=ReadAD(4); |
1183 |
03F8: MOVLW 04 |
1183 |
03F8: MOVLW 04 |
1184 |
03F9: MOVWF 3E |
1184 |
03F9: MOVWF 3E |
1185 |
03FA: CALL 195 |
1185 |
03FA: CALL 195 |
1186 |
03FB: MOVF 78,W |
1186 |
03FB: MOVF 78,W |
1187 |
03FC: MOVWF 3C |
1187 |
03FC: MOVWF 3C |
1188 |
.................... |
1188 |
.................... |
1189 |
.................... // ricici algoritmus |
1189 |
.................... // ricici algoritmus |
1190 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
1190 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
1191 |
03FD: MOVF 3B,W |
1191 |
03FD: MOVF 3B,W |
1192 |
03FE: SUBWF 3C,W |
1192 |
03FE: SUBWF 3C,W |
1193 |
03FF: BTFSC 03.0 |
1193 |
03FF: BTFSC 03.0 |
1194 |
0400: GOTO 405 |
1194 |
0400: GOTO 405 |
1195 |
0401: MOVF 3A,W |
1195 |
0401: MOVF 3A,W |
1196 |
0402: SUBLW 1D |
1196 |
0402: SUBLW 1D |
1197 |
0403: BTFSC 03.0 |
1197 |
0403: BTFSC 03.0 |
1198 |
0404: INCF 3A,F |
1198 |
0404: INCF 3A,F |
1199 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
1199 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
1200 |
0405: MOVF 3B,W |
1200 |
0405: MOVF 3B,W |
1201 |
0406: SUBWF 3C,W |
1201 |
0406: SUBWF 3C,W |
1202 |
0407: BTFSS 03.0 |
1202 |
0407: BTFSS 03.0 |
1203 |
0408: GOTO 40C |
1203 |
0408: GOTO 40C |
1204 |
0409: MOVF 3A,F |
1204 |
0409: MOVF 3A,F |
1205 |
040A: BTFSS 03.2 |
1205 |
040A: BTFSS 03.2 |
1206 |
040B: DECF 3A,F |
1206 |
040B: DECF 3A,F |
1207 |
.................... Vref+=10; |
1207 |
.................... Vref+=10; |
1208 |
040C: MOVLW 0A |
1208 |
040C: MOVLW 0A |
1209 |
040D: ADDWF 3C,F |
1209 |
040D: ADDWF 3C,F |
1210 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
1210 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
1211 |
040E: MOVF 3B,W |
1211 |
040E: MOVF 3B,W |
1212 |
040F: SUBWF 3C,W |
1212 |
040F: SUBWF 3C,W |
1213 |
0410: BTFSC 03.0 |
1213 |
0410: BTFSC 03.0 |
1214 |
0411: GOTO 416 |
1214 |
0411: GOTO 416 |
1215 |
0412: MOVF 3A,W |
1215 |
0412: MOVF 3A,W |
1216 |
0413: SUBLW 1D |
1216 |
0413: SUBLW 1D |
1217 |
0414: BTFSC 03.0 |
1217 |
0414: BTFSC 03.0 |
1218 |
0415: INCF 3A,F |
1218 |
0415: INCF 3A,F |
1219 |
.................... |
1219 |
.................... |
1220 |
.................... // nastaveni parametru PWM |
1220 |
.................... // nastaveni parametru PWM |
1221 |
.................... if (PwmOut>24) PwmOut=24; // saturace |
1221 |
.................... if (PwmOut>24) PwmOut=24; // saturace |
1222 |
0416: MOVF 3A,W |
1222 |
0416: MOVF 3A,W |
1223 |
0417: SUBLW 18 |
1223 |
0417: SUBLW 18 |
1224 |
0418: BTFSC 03.0 |
1224 |
0418: BTFSC 03.0 |
1225 |
0419: GOTO 41C |
1225 |
0419: GOTO 41C |
1226 |
041A: MOVLW 18 |
1226 |
041A: MOVLW 18 |
1227 |
041B: MOVWF 3A |
1227 |
041B: MOVWF 3A |
1228 |
.................... CCPR1L = PwmOut; // pouziti vystupu |
1228 |
.................... CCPR1L = PwmOut; // pouziti vystupu |
1229 |
041C: MOVF 3A,W |
1229 |
041C: MOVF 3A,W |
1230 |
041D: MOVWF 15 |
1230 |
041D: MOVWF 15 |
1231 |
.................... |
1231 |
.................... |
1232 |
.................... // zobrazeni |
1232 |
.................... // zobrazeni |
1233 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
1233 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
1234 |
041E: CLRF 3E |
1234 |
041E: CLRF 3E |
1235 |
041F: MOVF 3E,W |
1235 |
041F: MOVF 3E,W |
1236 |
0420: CALL 07D |
1236 |
0420: CALL 07D |
1237 |
0421: INCF 3E,F |
1237 |
0421: INCF 3E,F |
1238 |
0422: MOVWF 77 |
1238 |
0422: MOVWF 77 |
1239 |
0423: MOVWF 42 |
1239 |
0423: MOVWF 42 |
1240 |
0424: CALL 111 |
1240 |
0424: CALL 111 |
1241 |
0425: MOVLW 05 |
1241 |
0425: MOVLW 05 |
1242 |
0426: SUBWF 3E,W |
1242 |
0426: SUBWF 3E,W |
1243 |
0427: BTFSS 03.2 |
1243 |
0427: BTFSS 03.2 |
1244 |
0428: GOTO 41F |
1244 |
0428: GOTO 41F |
1245 |
0429: MOVF 3B,W |
1245 |
0429: MOVF 3B,W |
1246 |
042A: MOVWF 40 |
1246 |
042A: MOVWF 40 |
1247 |
042B: CLRF 41 |
1247 |
042B: CLRF 41 |
1248 |
042C: CALL 1C0 |
1248 |
042C: CALL 1C0 |
1249 |
042D: MOVLW 20 |
1249 |
042D: MOVLW 20 |
1250 |
042E: MOVWF 42 |
1250 |
042E: MOVWF 42 |
1251 |
042F: CALL 111 |
1251 |
042F: CALL 111 |
1252 |
0430: MOVF 3C,W |
1252 |
0430: MOVF 3C,W |
1253 |
0431: MOVWF 40 |
1253 |
0431: MOVWF 40 |
1254 |
0432: CLRF 41 |
1254 |
0432: CLRF 41 |
1255 |
0433: CALL 1C0 |
1255 |
0433: CALL 1C0 |
1256 |
0434: MOVLW 20 |
1256 |
0434: MOVLW 20 |
1257 |
0435: MOVWF 42 |
1257 |
0435: MOVWF 42 |
1258 |
0436: CALL 111 |
1258 |
0436: CALL 111 |
1259 |
0437: MOVF 3A,W |
1259 |
0437: MOVF 3A,W |
1260 |
0438: MOVWF 40 |
1260 |
0438: MOVWF 40 |
1261 |
0439: CLRF 41 |
1261 |
0439: CLRF 41 |
1262 |
043A: CALL 1C0 |
1262 |
043A: CALL 1C0 |
1263 |
.................... delay_ms(10); |
1263 |
.................... delay_ms(10); |
1264 |
043B: MOVLW 0A |
1264 |
043B: MOVLW 0A |
1265 |
043C: MOVWF 3E |
1265 |
043C: MOVWF 3E |
1266 |
043D: CALL 20D |
1266 |
043D: CALL 20D |
1267 |
.................... |
1267 |
.................... |
1268 |
.................... // rozjezd |
1268 |
.................... // rozjezd |
1269 |
.................... if (TimerIf()&&Run) |
1269 |
.................... if (TimerIf()&&Run) |
1270 |
043E: CALL 237 |
1270 |
043E: CALL 237 |
1271 |
043F: MOVF 78,F |
1271 |
043F: MOVF 78,F |
1272 |
0440: BTFSC 03.2 |
1272 |
0440: BTFSC 03.2 |
1273 |
0441: GOTO 448 |
1273 |
0441: GOTO 448 |
1274 |
0442: BTFSS 32.1 |
1274 |
0442: BTFSS 32.1 |
1275 |
0443: GOTO 448 |
1275 |
0443: GOTO 448 |
1276 |
.................... { |
1276 |
.................... { |
1277 |
.................... Run=0; |
1277 |
.................... Run=0; |
1278 |
0444: BCF 32.1 |
1278 |
0444: BCF 32.1 |
1279 |
.................... MotorStart(Delay); // prodleva razeni z P2 |
1279 |
.................... MotorStart(Delay); // prodleva razeni z P2 |
1280 |
0445: MOVF 3D,W |
1280 |
0445: MOVF 3D,W |
1281 |
0446: MOVWF 3E |
1281 |
0446: MOVWF 3E |
1282 |
0447: CALL 24D |
1282 |
0447: CALL 24D |
1283 |
.................... } |
1283 |
.................... } |
1284 |
.................... } |
1284 |
.................... } |
1285 |
0448: GOTO 3ED |
1285 |
0448: GOTO 3ED |
1286 |
.................... } |
1286 |
.................... } |
1287 |
.................... } |
1287 |
.................... } |
1288 |
.................... |
1288 |
.................... |
1289 |
0449: SLEEP |
1289 |
0449: SLEEP |
1290 |
|
1290 |
|
1291 |
Configuration Fuses: |
1291 |
Configuration Fuses: |
1292 |
Word 1: 2F3C WDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IO |
1292 |
Word 1: 2F3C WDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IO |
1293 |
Word 2: 3FFF FCMEN IESO |
1293 |
Word 2: 3FFF FCMEN IESO |