WebSVN – svnkaklik – Blame – //programy/C/PIC/motory/krokac/KROKAC.LST

Rev	Author	Line No.	Line
6	kaklik	1	`CCS PCM C Compiler, Version 3.234, 27853 16-X-05 21:12`
		2
		3	`Filename: C:\MIHO_DAT\KROKAC\krokac.LST`
		4
		5	`ROM used: 321 words (8%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 21 (12%) at main() level`
		8	`24 (14%) worst case`
		9	`Stack: 3 worst case (1 in main + 2 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 098`
		15	`0003: NOP`
		16	`0004: MOVWF 7F`
		17	`0005: SWAPF 03,W`
		18	`0006: CLRF 03`
		19	`0007: MOVWF 21`
		20	`0008: MOVF 7F,W`
		21	`0009: MOVWF 20`
		22	`000A: MOVF 0A,W`
		23	`000B: MOVWF 28`
		24	`000C: CLRF 0A`
		25	`000D: SWAPF 20,F`
		26	`000E: MOVF 04,W`
		27	`000F: MOVWF 22`
		28	`0010: MOVF 77,W`
		29	`0011: MOVWF 23`
		30	`0012: MOVF 78,W`
		31	`0013: MOVWF 24`
		32	`0014: MOVF 79,W`
		33	`0015: MOVWF 25`
		34	`0016: MOVF 7A,W`
		35	`0017: MOVWF 26`
		36	`0018: MOVF 7B,W`
		37	`0019: MOVWF 27`
		38	`001A: BCF 03.7`
		39	`001B: BCF 03.5`
		40	`001C: MOVLW 8C`
		41	`001D: MOVWF 04`
		42	`001E: BTFSS 00.1`
		43	`001F: GOTO 022`
		44	`0020: BTFSC 0C.1`
		45	`0021: GOTO 035`
		46	`0022: MOVF 22,W`
		47	`0023: MOVWF 04`
		48	`0024: MOVF 23,W`
		49	`0025: MOVWF 77`
		50	`0026: MOVF 24,W`
		51	`0027: MOVWF 78`
		52	`0028: MOVF 25,W`
		53	`0029: MOVWF 79`
		54	`002A: MOVF 26,W`
		55	`002B: MOVWF 7A`
		56	`002C: MOVF 27,W`
		57	`002D: MOVWF 7B`
		58	`002E: MOVF 28,W`
		59	`002F: MOVWF 0A`
		60	`0030: SWAPF 21,W`
		61	`0031: MOVWF 03`
		62	`0032: SWAPF 7F,F`
		63	`0033: SWAPF 7F,W`
		64	`0034: RETFIE`
		65	`0035: BCF 0A.3`
		66	`0036: GOTO 043`
		67	`.................... #include "C:\MIHO_DAT\KROKAC\krokac.h"`
		68	`.................... #include <16F88.h>`
		69	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		70	`.................... #device PIC16F88`
		71	`.................... #list`
		72	`....................`
		73	`.................... //#device ICD=TRUE`
		74	`.................... #device adc=8`
		75	`....................`
		76	`.................... #FUSES NOWDT //No Watch Dog Timer`
		77	`.................... #FUSES RC //Resistor/Capacitor Osc with CLKOUT`
		78	`.................... #FUSES NOPUT //No Power Up Timer`
		79	`.................... #FUSES MCLR //Master Clear pin enabled`
		80	`.................... #FUSES NOBROWNOUT //No brownout reset`
		81	`.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O`
		82	`.................... #FUSES NOCPD //No EE protection`
		83	`.................... #FUSES NOWRT //Program memory not write protected`
		84	`.................... //#FUSES DEBUG //Debug mode for use with ICD`
		85	`.................... #FUSES NOPROTECT //Code not protected from reading`
		86	`.................... #FUSES FCMEN //Fail-safe clock monitor enabled`
		87	`.................... #FUSES IESO //Internal External Switch Over mode enabled`
		88	`....................`
		89	`.................... #use delay(clock=4000000)`
		90	`*`
		91	`0082: MOVLW 31`
		92	`0083: MOVWF 04`
		93	`0084: MOVF 00,W`
		94	`0085: BTFSC 03.2`
		95	`0086: GOTO 096`
		96	`0087: MOVLW 01`
		97	`0088: MOVWF 78`
		98	`0089: CLRF 77`
		99	`008A: DECFSZ 77,F`
		100	`008B: GOTO 08A`
		101	`008C: DECFSZ 78,F`
		102	`008D: GOTO 089`
		103	`008E: MOVLW 4A`
		104	`008F: MOVWF 77`
		105	`0090: DECFSZ 77,F`
		106	`0091: GOTO 090`
		107	`0092: NOP`
		108	`0093: NOP`
		109	`0094: DECFSZ 00,F`
		110	`0095: GOTO 087`
		111	`0096: BCF 0A.3`
		112	`0097: GOTO 130 (RETURN)`
		113	`.................... #define MOTORA PIN_B0`
		114	`.................... #define MOTORB PIN_B1`
		115	`.................... #define MOTORC PIN_B2`
		116	`.................... #define MOTORD PIN_B3`
		117	`....................`
		118	`....................`
		119	`....................`
		120	`....................`
		121	`.................... unsigned int StepState; // Vnitrni promenna kroku`
		122	`.................... signed int StepDirection; // Smer +1/0/-1`
		123	`....................`
		124	`.................... byte const StepTab[8]={ // Tabulka pro krokovy motor`
		125	`.................... 0b0001, // 0`
		126	`.................... 0b0101, // 1`
		127	`.................... 0b0100, // 2`
		128	`.................... 0b0110, // 3`
		129	`.................... 0b0010, // 4`
		130	`.................... 0b1010, // 5`
		131	`.................... 0b1000 // 6`
		132	`.................... 0b1001, // 7`
		133	`.................... };`
		134	`....................`
		135	`.................... #INT_TIMER2`
		136	`.................... void StepNext()`
		137	`.................... {`
		138	`.................... unsigned int i;`
		139	`....................`
		140	`.................... StepState+=StepDirection; // posun se na dalsi krok`
		141	`*`
		142	`0043: MOVF 2A,W`
		143	`0044: ADDWF 29,W`
		144	`0045: MOVWF 29`
		145	`.................... i=StepState&0b111; // vezmi spodni 3 bity stavu`
		146	`0046: MOVF 29,W`
		147	`0047: ANDLW 07`
		148	`0048: MOVWF 32`
		149	`.................... i=StepTab[i]; // prekoduj pomoci tabulky`
		150	`0049: MOVF 32,W`
		151	`004A: CALL 037`
		152	`004B: MOVWF 78`
		153	`004C: MOVWF 32`
		154	`.................... output_bit(MOTORA,i&0b0001); // aktivuj jednotlive vystupy`
		155	`004D: BTFSC 32.0`
		156	`004E: GOTO 051`
		157	`004F: BCF 06.0`
		158	`0050: GOTO 052`
		159	`0051: BSF 06.0`
		160	`0052: BSF 03.5`
		161	`0053: BCF 06.0`
		162	`.................... output_bit(MOTORB,i&0b0010);`
		163	`0054: BCF 03.5`
		164	`0055: BTFSC 32.1`
		165	`0056: GOTO 059`
		166	`0057: BCF 06.1`
		167	`0058: GOTO 05A`
		168	`0059: BSF 06.1`
		169	`005A: BSF 03.5`
		170	`005B: BCF 06.1`
		171	`.................... output_bit(MOTORC,i&0b0100);`
		172	`005C: BCF 03.5`
		173	`005D: BTFSC 32.2`
		174	`005E: GOTO 061`
		175	`005F: BCF 06.2`
		176	`0060: GOTO 062`
		177	`0061: BSF 06.2`
		178	`0062: BSF 03.5`
		179	`0063: BCF 06.2`
		180	`.................... output_bit(MOTORD,i&0b1000);`
		181	`0064: BCF 03.5`
		182	`0065: BTFSC 32.3`
		183	`0066: GOTO 069`
		184	`0067: BCF 06.3`
		185	`0068: GOTO 06A`
		186	`0069: BSF 06.3`
		187	`006A: BSF 03.5`
		188	`006B: BCF 06.3`
		189	`.................... }`
		190	`....................`
		191	`....................`
		192	`006C: BCF 03.5`
		193	`006D: BCF 0C.1`
		194	`006E: BCF 0A.3`
		195	`006F: GOTO 022`
		196	`.................... void StepSetDirection(signed int Direction)`
		197	`.................... {`
		198	`.................... if(Direction> 1) Direction= 1;`
		199	`0070: BTFSC 30.7`
		200	`0071: GOTO 078`
		201	`0072: MOVF 30,W`
		202	`0073: SUBLW 01`
		203	`0074: BTFSC 03.0`
		204	`0075: GOTO 078`
		205	`0076: MOVLW 01`
		206	`0077: MOVWF 30`
		207	`.................... if(Direction<-1) Direction=-1;`
		208	`0078: MOVF 30,W`
		209	`0079: XORLW 80`
		210	`007A: SUBLW 7E`
		211	`007B: BTFSS 03.0`
		212	`007C: GOTO 07F`
		213	`007D: MOVLW FF`
		214	`007E: MOVWF 30`
		215	`.................... StepDirection=Direction;`
		216	`007F: MOVF 30,W`
		217	`0080: MOVWF 2A`
		218	`.................... }`
		219	`0081: RETLW 00`
		220	`....................`
		221	`....................`
		222	`.................... void StepSetTime(unsigned int16 Time)`
		223	`.................... {`
		224	`....................`
		225	`.................... }`
		226	`....................`
		227	`.................... void Delay(unsigned int16 Time)`
		228	`.................... {`
		229	`.................... while(Time>255) {Time-=256;delay_us(256);};`
		230	`.................... if(Time!=0) delay_us(Time);`
		231	`.................... }`
		232	`....................`
		233	`....................`
		234	`.................... void main()`
		235	`.................... {`
		236	`*`
		237	`0098: CLRF 04`
		238	`0099: MOVLW 1F`
		239	`009A: ANDWF 03,F`
		240	`009B: BSF 03.5`
		241	`009C: BCF 1F.4`
		242	`009D: BCF 1F.5`
		243	`009E: MOVF 1B,W`
		244	`009F: ANDLW 80`
		245	`00A0: MOVWF 1B`
		246	`00A1: MOVLW 07`
		247	`00A2: MOVWF 1C`
		248	`00A3: MOVF 1C,W`
		249	`00A4: BCF 03.5`
		250	`00A5: BCF 0D.6`
		251	`.................... unsigned int16 T;`
		252	`.................... unsigned long int i;`
		253	`....................`
		254	`.................... // Nastav pracovni frekvenci procesoru`
		255	`.................... setup_oscillator(OSC_4MHZ);`
		256	`00A6: MOVLW 60`
		257	`00A7: BSF 03.5`
		258	`00A8: MOVWF 0F`
		259	`....................`
		260	`.................... // Vypni motorovy vystup`
		261	`.................... output_low(MOTORA);`
		262	`00A9: BCF 06.0`
		263	`00AA: BCF 03.5`
		264	`00AB: BCF 06.0`
		265	`.................... output_low(MOTORB);`
		266	`00AC: BSF 03.5`
		267	`00AD: BCF 06.1`
		268	`00AE: BCF 03.5`
		269	`00AF: BCF 06.1`
		270	`.................... output_low(MOTORC);`
		271	`00B0: BSF 03.5`
		272	`00B1: BCF 06.2`
		273	`00B2: BCF 03.5`
		274	`00B3: BCF 06.2`
		275	`.................... output_low(MOTORD);`
		276	`00B4: BSF 03.5`
		277	`00B5: BCF 06.3`
		278	`00B6: BCF 03.5`
		279	`00B7: BCF 06.3`
		280	`....................`
		281	`.................... // Vstupy s pull-up odporem`
		282	`.................... port_b_pullups(TRUE);`
		283	`00B8: BSF 03.5`
		284	`00B9: BCF 01.7`
		285	`....................`
		286	`.................... // Inicializace A/D prevodniku`
		287	`.................... setup_adc_ports(sAN0\|VSS_VDD);`
		288	`00BA: BCF 1F.4`
		289	`00BB: BCF 1F.5`
		290	`00BC: MOVF 1B,W`
		291	`00BD: ANDLW 80`
		292	`00BE: IORLW 01`
		293	`00BF: MOVWF 1B`
		294	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		295	`00C0: BCF 1F.6`
		296	`00C1: BCF 03.5`
		297	`00C2: BSF 1F.6`
		298	`00C3: BSF 1F.7`
		299	`00C4: BSF 03.5`
		300	`00C5: BCF 1F.7`
		301	`00C6: BCF 03.5`
		302	`00C7: BSF 1F.0`
		303	`.................... set_adc_channel(0);`
		304	`00C8: MOVLW 00`
		305	`00C9: MOVWF 78`
		306	`00CA: MOVF 1F,W`
		307	`00CB: ANDLW C7`
		308	`00CC: IORWF 78,W`
		309	`00CD: MOVWF 1F`
		310	`....................`
		311	`.................... // Dalsi inicializace`
		312	`.................... setup_spi(FALSE);`
		313	`00CE: BCF 14.5`
		314	`00CF: BSF 03.5`
		315	`00D0: BCF 06.2`
		316	`00D1: BSF 06.1`
		317	`00D2: BCF 06.4`
		318	`00D3: MOVLW 00`
		319	`00D4: BCF 03.5`
		320	`00D5: MOVWF 14`
		321	`00D6: BSF 03.5`
		322	`00D7: MOVWF 14`
		323	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		324	`00D8: MOVF 01,W`
		325	`00D9: ANDLW C7`
		326	`00DA: IORLW 08`
		327	`00DB: MOVWF 01`
		328	`.................... setup_timer_1(T1_DISABLED);`
		329	`00DC: BCF 03.5`
		330	`00DD: CLRF 10`
		331	`.................... setup_comparator(NC_NC_NC_NC);`
		332	`00DE: MOVLW 07`
		333	`00DF: BSF 03.5`
		334	`00E0: MOVWF 1C`
		335	`00E1: MOVF 05,W`
		336	`00E2: MOVLW 03`
		337	`00E3: MOVWF 77`
		338	`00E4: DECFSZ 77,F`
		339	`00E5: GOTO 0E4`
		340	`00E6: MOVF 1C,W`
		341	`00E7: BCF 03.5`
		342	`00E8: BCF 0D.6`
		343	`.................... setup_vref(FALSE);`
		344	`00E9: BSF 03.5`
		345	`00EA: CLRF 1D`
		346	`....................`
		347	`.................... // Inicializace stavovych promennych`
		348	`.................... StepState=0;`
		349	`00EB: BCF 03.5`
		350	`00EC: CLRF 29`
		351	`....................`
		352	`.................... // Nastaveni casovace`
		353	`.................... setup_timer_2(T2_DIV_BY_16,0xFF,1);`
		354	`00ED: MOVLW 00`
		355	`00EE: MOVWF 78`
		356	`00EF: IORLW 06`
		357	`00F0: MOVWF 12`
		358	`00F1: MOVLW FF`
		359	`00F2: BSF 03.5`
		360	`00F3: MOVWF 12`
		361	`....................`
		362	`.................... // Nastveni preruseni od casovace`
		363	`.................... enable_interrupts(global);`
		364	`00F4: MOVLW C0`
		365	`00F5: BCF 03.5`
		366	`00F6: IORWF 0B,F`
		367	`.................... enable_interrupts(int_timer2);`
		368	`00F7: BSF 03.5`
		369	`00F8: BSF 0C.1`
		370	`....................`
		371	`.................... for(;;)`
		372	`.................... {`
		373	`....................`
		374	`.................... T=read_adc(ADC_READ_ONLY); // Prectu hodnotu`
		375	`00F9: BCF 03.5`
		376	`00FA: BTFSS 1F.2`
		377	`00FB: GOTO 0FE`
		378	`00FC: BSF 03.5`
		379	`00FD: GOTO 0F9`
		380	`00FE: MOVF 1E,W`
		381	`00FF: CLRF 2C`
		382	`0100: MOVWF 2B`
		383	`.................... read_adc(ADC_START_ONLY); // Ostartuji dalsi prevod (na pozadi)`
		384	`0101: BSF 1F.2`
		385	`....................`
		386	`.................... //setup_timer_2(T2_DIV_BY_16,T,1);`
		387	`.................... if(T>0) *0x92=T; // Preload register casovace`
		388	`0102: MOVF 2B,F`
		389	`0103: BTFSS 03.2`
		390	`0104: GOTO 108`
		391	`0105: MOVF 2C,F`
		392	`0106: BTFSC 03.2`
		393	`0107: GOTO 10C`
		394	`0108: MOVF 2B,W`
		395	`0109: BSF 03.5`
		396	`010A: MOVWF 12`
		397	`010B: BCF 03.5`
		398	`....................`
		399	`.................... // Podle prepinacu se hybu`
		400	`.................... if(input(PIN_B5))`
		401	`010C: BSF 03.5`
		402	`010D: BSF 06.5`
		403	`010E: BCF 03.5`
		404	`010F: BTFSS 06.5`
		405	`0110: GOTO 11E`
		406	`.................... {`
		407	`.................... if(input(PIN_B4)) StepSetDirection(1); else StepSetDirection(-1);`
		408	`0111: BSF 03.5`
		409	`0112: BSF 06.4`
		410	`0113: BCF 03.5`
		411	`0114: BTFSS 06.4`
		412	`0115: GOTO 11A`
		413	`0116: MOVLW 01`
		414	`0117: MOVWF 30`
		415	`0118: CALL 070`
		416	`0119: GOTO 11D`
		417	`011A: MOVLW FF`
		418	`011B: MOVWF 30`
		419	`011C: CALL 070`
		420	`.................... }`
		421	`.................... else`
		422	`011D: GOTO 13E`
		423	`.................... { int1 x; // pomocna promenna aby se volalo spozdeni jen 1x`
		424	`.................... if (StepState>230) {`
		425	`011E: MOVF 29,W`
		426	`011F: SUBLW E6`
		427	`0120: BTFSC 03.0`
		428	`0121: GOTO 136`
		429	`.................... if (!input(PIN_B4) && (x))`
		430	`0122: BSF 03.5`
		431	`0123: BSF 06.4`
		432	`0124: BCF 03.5`
		433	`0125: BTFSC 06.4`
		434	`0126: GOTO 133`
		435	`0127: BTFSS 2F.0`
		436	`0128: GOTO 133`
		437	`.................... {`
		438	`.................... StepSetDirection(0);`
		439	`0129: CLRF 30`
		440	`012A: CALL 070`
		441	`.................... delay_ms(500);`
		442	`012B: MOVLW 02`
		443	`012C: MOVWF 30`
		444	`012D: MOVLW FA`
		445	`012E: MOVWF 31`
		446	`012F: GOTO 082`
		447	`0130: DECFSZ 30,F`
		448	`0131: GOTO 12D`
		449	`.................... x=0;`
		450	`0132: BCF 2F.0`
		451	`.................... };`
		452	`.................... StepSetDirection(-1);`
		453	`0133: MOVLW FF`
		454	`0134: MOVWF 30`
		455	`0135: CALL 070`
		456	`.................... }`
		457	`.................... if (StepState<30) {`
		458	`0136: MOVF 29,W`
		459	`0137: SUBLW 1D`
		460	`0138: BTFSS 03.0`
		461	`0139: GOTO 13E`
		462	`.................... StepSetDirection( 1);`
		463	`013A: MOVLW 01`
		464	`013B: MOVWF 30`
		465	`013C: CALL 070`
		466	`.................... x=1;`
		467	`013D: BSF 2F.0`
		468	`.................... }`
		469	`.................... }`
		470	`.................... //StepDirection=2;`
		471	`.................... //for(i=0;i<800;i++)`
		472	`.................... //{`
		473	`.................... // StepNext();`
		474	`.................... // Delay(T);`
		475	`.................... //}`
		476	`.................... //delay_ms(10);`
		477	`.................... //StepDirection=-1;`
		478	`.................... //for(i=0;i<800;i++)`
		479	`.................... //{`
		480	`.................... // StepNext();`
		481	`.................... // Delay(T);`
		482	`.................... //}`
		483	`.................... //delay_ms(10);`
		484	`....................`
		485	`.................... } // Cyklus for`
		486	`013E: BSF 03.5`
		487	`013F: GOTO 0F9`
		488	`....................`
		489	`.................... }`
		490	`....................`
		491	`0140: SLEEP`
		492
		493	`Configuration Fuses:`
		494	`Word 1: 3F3B NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT RC`
		495	`Word 2: 3FFF FCMEN IESO`

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