WebSVN – svnkaklik – Blame – /roboti/3Orbis/bak/02/master/main.LST

Rev	Author	Line No.	Line
1	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 01-IV-06 23:13`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst`
		4
		5	`ROM used: 582 words (14%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 35 (20%) at main() level`
		8	`38 (22%) 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 18F`
		15	`0003: NOP`
		16	`.................... #include ".\main.h"`
		17	`.................... #include <16F88.h>`
		18	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		19	`.................... #device PIC16F88`
		20	`.................... #list`
		21	`....................`
		22	`.................... #device adc=8`
		23	`....................`
		24	`.................... #FUSES NOWDT //No Watch Dog Timer`
		25	`.................... #FUSES INTRC_IO`
		26	`.................... #FUSES NOPUT //No Power Up Timer`
		27	`.................... #FUSES MCLR //Master Clear pin enabled`
		28	`.................... #FUSES BROWNOUT //Reset when brownout detected`
		29	`.................... #FUSES LVP //Low Voltage Programming on B3(PIC16) or B5(PIC18)`
		30	`.................... #FUSES NOCPD //No EE protection`
		31	`.................... #FUSES NOWRT //Program memory not write protected`
		32	`.................... #FUSES NODEBUG //No Debug mode for ICD`
		33	`.................... #FUSES NOPROTECT //Code not protected from reading`
		34	`.................... #FUSES FCMEN //Fail-safe clock monitor enabled`
		35	`.................... #FUSES IESO //Internal External Switch Over mode enabled`
		36	`....................`
		37	`.................... #use delay(clock=8000000,RESTART_WDT)`
		38	`000E: MOVLW 3F`
		39	`000F: MOVWF 04`
		40	`0010: MOVF 00,W`
		41	`0011: BTFSC 03.2`
		42	`0012: GOTO 025`
		43	`0013: MOVLW 02`
		44	`0014: MOVWF 78`
		45	`0015: MOVLW BF`
		46	`0016: MOVWF 77`
		47	`0017: CLRWDT`
		48	`0018: DECFSZ 77,F`
		49	`0019: GOTO 017`
		50	`001A: DECFSZ 78,F`
		51	`001B: GOTO 015`
		52	`001C: MOVLW 96`
		53	`001D: MOVWF 77`
		54	`001E: DECFSZ 77,F`
		55	`001F: GOTO 01E`
		56	`0020: NOP`
		57	`0021: NOP`
		58	`0022: CLRWDT`
		59	`0023: DECFSZ 00,F`
		60	`0024: GOTO 013`
		61	`0025: BCF 0A.3`
		62	`0026: GOTO 040 (RETURN)`
		63	`0027: MOVLW 08`
		64	`0028: SUBWF 3F,F`
		65	`0029: BTFSS 03.0`
		66	`002A: GOTO 036`
		67	`002B: MOVLW 3F`
		68	`002C: MOVWF 04`
		69	`002D: BCF 03.0`
		70	`002E: RRF 00,F`
		71	`002F: MOVF 00,W`
		72	`0030: BTFSC 03.2`
		73	`0031: GOTO 036`
		74	`0032: GOTO 034`
		75	`0033: CLRWDT`
		76	`0034: DECFSZ 00,F`
		77	`0035: GOTO 033`
		78	`0036: BCF 0A.3`
		79	`0037: GOTO 043 (RETURN)`
		80	`....................`
		81	`....................`
		82	`....................`
		83	`.................... #use rtos (timer=2, minor_cycle=2ms)`
		84	`....................`
		85	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		86	`.................... unsigned int8 line; // na ktere strane byla detekovana cara`
		87	`.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		88	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		89	`....................`
		90	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		91	`.................... signed int16 Rmotor; // a pravem motoru`
		92	`....................`
		93	`.................... #define LMAX 190 // maximalni zatoceni doleva`
		94	`.................... #define RMAX 60 // maximalni zatoceni doprava`
		95	`.................... #define STRED 128 // sredni poloha zadniho kolecka`
		96	`....................`
		97	`.................... // servo`
		98	`.................... #define SERVO PIN_A2`
		99	`....................`
		100	`.................... //motory`
		101	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		102	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		103	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		104	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		105	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		106	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		107	`....................`
		108	`.................... //HID`
		109	`.................... #define LED1 PIN_B1 //oranzova`
		110	`.................... #define LED2 PIN_B2 //zluta`
		111	`....................`
		112	`.................... #define STROBE PIN_B0`
		113	`.................... //#define SW1 PIN_A2 // Motory On/off`
		114	`....................`
		115	`.................... // makro pro PWM`
		116	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		117	`.................... {direction##motor;} else {stop##motor;}`
		118	`....................`
		119	`....................`
		120	`.................... ////////////////////////////////////////////////////////////////////////////////`
		121	`.................... ////////////////////////////////////////////////////////////////////////////////`
		122	`.................... /*`
		123	`.................... void diagnostika()`
		124	`.................... {`
		125	`.................... if(input(SW1))STOPR;STOPL;While(TRUE);`
		126	`.................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2);`
		127	`.................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1);`
		128	`.................... }`
		129	`.................... */`
		130	`.................... ////////////////////////////////////////////////////////////////////////////////`
		131	`.................... #task (rate=16ms,max=2ms)`
		132	`.................... void zatoc() // ridi servo ktere otaci kolem`
		133	`.................... {`
		134	`.................... unsigned int8 n;`
		135	`.................... output_high(SERVO);`
		136	`0038: BSF 03.5`
		137	`0039: BCF 05.2`
		138	`003A: BCF 03.5`
		139	`003B: BSF 05.2`
		140	`.................... delay_us(1200);`
		141	`003C: CLRWDT`
		142	`003D: MOVLW 01`
		143	`003E: MOVWF 3F`
		144	`003F: GOTO 00E`
		145	`0040: MOVLW C7`
		146	`0041: MOVWF 3F`
		147	`0042: GOTO 027`
		148	`.................... for(n=uhel; n>0; n--);`
		149	`0043: MOVF 24,W`
		150	`0044: MOVWF 3E`
		151	`0045: MOVF 3E,F`
		152	`0046: BTFSC 03.2`
		153	`0047: GOTO 04A`
		154	`0048: DECF 3E,F`
		155	`0049: GOTO 045`
		156	`.................... output_low(SERVO);`
		157	`004A: BSF 03.5`
		158	`004B: BCF 05.2`
		159	`004C: BCF 03.5`
		160	`004D: BCF 05.2`
		161	`.................... }`
		162	`004E: MOVLW 38`
		163	`004F: MOVWF 2E`
		164	`0050: MOVLW 00`
		165	`0051: MOVWF 2F`
		166	`0052: BCF 0A.3`
		167	`0053: GOTO 236`
		168	`0054: RETLW 00`
		169	`....................`
		170	`.................... ////////////////////////////////////////////////////////////////////////////////`
		171	`.................... #task (rate=2ms, max=500us)`
		172	`.................... void motory() // umoznuje nezavisle rizeni vykonu na obou motorech`
		173	`.................... {`
		174	`....................`
		175	`.................... if(Rmotor>0) //pravy motor`
		176	`0055: BTFSC 28.7`
		177	`0056: GOTO 07D`
		178	`0057: MOVF 28,F`
		179	`0058: BTFSS 03.2`
		180	`0059: GOTO 05E`
		181	`005A: MOVF 27,W`
		182	`005B: SUBLW 00`
		183	`005C: BTFSC 03.0`
		184	`005D: GOTO 07D`
		185	`.................... {`
		186	`.................... GO(R, F, Rmotor);`
		187	`005E: MOVF 01,W`
		188	`005F: BTFSS 00.7`
		189	`0060: GOTO 064`
		190	`0061: BTFSS 28.7`
		191	`0062: GOTO 06C`
		192	`0063: GOTO 066`
		193	`0064: BTFSC 28.7`
		194	`0065: GOTO 075`
		195	`0066: MOVF 28,F`
		196	`0067: BTFSS 03.2`
		197	`0068: GOTO 06C`
		198	`0069: SUBWF 27,W`
		199	`006A: BTFSS 03.0`
		200	`006B: GOTO 075`
		201	`006C: BSF 03.5`
		202	`006D: BCF 05.7`
		203	`006E: BCF 03.5`
		204	`006F: BCF 05.7`
		205	`0070: BSF 03.5`
		206	`0071: BCF 05.6`
		207	`0072: BCF 03.5`
		208	`0073: BSF 05.6`
		209	`0074: GOTO 07D`
		210	`0075: BSF 03.5`
		211	`0076: BCF 05.6`
		212	`0077: BCF 03.5`
		213	`0078: BCF 05.6`
		214	`0079: BSF 03.5`
		215	`007A: BCF 05.7`
		216	`007B: BCF 03.5`
		217	`007C: BCF 05.7`
		218	`.................... }`
		219	`....................`
		220	`.................... if(Rmotor==0) STOPR;`
		221	`007D: MOVF 27,F`
		222	`007E: BTFSS 03.2`
		223	`007F: GOTO 087`
		224	`0080: MOVF 28,F`
		225	`0081: BTFSS 03.2`
		226	`0082: GOTO 087`
		227	`0083: BSF 03.5`
		228	`0084: BCF 05.6`
		229	`0085: BCF 03.5`
		230	`0086: BCF 05.6`
		231	`0087: BSF 03.5`
		232	`0088: BCF 05.7`
		233	`0089: BCF 03.5`
		234	`008A: BCF 05.7`
		235	`....................`
		236	`.................... if(Rmotor<0)`
		237	`008B: BTFSS 28.7`
		238	`008C: GOTO 0BD`
		239	`.................... {`
		240	`.................... GO(R, B, abs(Rmotor));`
		241	`008D: MOVF 01,W`
		242	`008E: MOVWF 40`
		243	`008F: MOVF 28,W`
		244	`0090: MOVWF 7A`
		245	`0091: MOVF 27,W`
		246	`0092: BTFSS 28.7`
		247	`0093: GOTO 09D`
		248	`0094: MOVF 27,W`
		249	`0095: SUBLW 00`
		250	`0096: MOVWF 77`
		251	`0097: CLRF 7A`
		252	`0098: MOVF 28,W`
		253	`0099: BTFSS 03.0`
		254	`009A: INCFSZ 28,W`
		255	`009B: SUBWF 7A,F`
		256	`009C: MOVF 77,W`
		257	`009D: MOVWF 78`
		258	`009E: BTFSS 40.7`
		259	`009F: GOTO 0A3`
		260	`00A0: BTFSS 7A.7`
		261	`00A1: GOTO 0AC`
		262	`00A2: GOTO 0A5`
		263	`00A3: BTFSC 7A.7`
		264	`00A4: GOTO 0B5`
		265	`00A5: MOVF 7A,F`
		266	`00A6: BTFSS 03.2`
		267	`00A7: GOTO 0AC`
		268	`00A8: MOVF 40,W`
		269	`00A9: SUBWF 78,W`
		270	`00AA: BTFSS 03.0`
		271	`00AB: GOTO 0B5`
		272	`00AC: BSF 03.5`
		273	`00AD: BCF 05.6`
		274	`00AE: BCF 03.5`
		275	`00AF: BCF 05.6`
		276	`00B0: BSF 03.5`
		277	`00B1: BCF 05.7`
		278	`00B2: BCF 03.5`
		279	`00B3: BSF 05.7`
		280	`00B4: GOTO 0BD`
		281	`00B5: BSF 03.5`
		282	`00B6: BCF 05.6`
		283	`00B7: BCF 03.5`
		284	`00B8: BCF 05.6`
		285	`00B9: BSF 03.5`
		286	`00BA: BCF 05.7`
		287	`00BB: BCF 03.5`
		288	`00BC: BCF 05.7`
		289	`.................... }`
		290	`....................`
		291	`.................... if(Lmotor>0) // levy motor`
		292	`00BD: BTFSC 26.7`
		293	`00BE: GOTO 0E5`
		294	`00BF: MOVF 26,F`
		295	`00C0: BTFSS 03.2`
		296	`00C1: GOTO 0C6`
		297	`00C2: MOVF 25,W`
		298	`00C3: SUBLW 00`
		299	`00C4: BTFSC 03.0`
		300	`00C5: GOTO 0E5`
		301	`.................... {`
		302	`.................... GO(L, F, Lmotor);`
		303	`00C6: MOVF 01,W`
		304	`00C7: BTFSS 00.7`
		305	`00C8: GOTO 0CC`
		306	`00C9: BTFSS 26.7`
		307	`00CA: GOTO 0D4`
		308	`00CB: GOTO 0CE`
		309	`00CC: BTFSC 26.7`
		310	`00CD: GOTO 0DD`
		311	`00CE: MOVF 26,F`
		312	`00CF: BTFSS 03.2`
		313	`00D0: GOTO 0D4`
		314	`00D1: SUBWF 25,W`
		315	`00D2: BTFSS 03.0`
		316	`00D3: GOTO 0DD`
		317	`00D4: BSF 03.5`
		318	`00D5: BCF 05.1`
		319	`00D6: BCF 03.5`
		320	`00D7: BCF 05.1`
		321	`00D8: BSF 03.5`
		322	`00D9: BCF 05.0`
		323	`00DA: BCF 03.5`
		324	`00DB: BSF 05.0`
		325	`00DC: GOTO 0E5`
		326	`00DD: BSF 03.5`
		327	`00DE: BCF 05.0`
		328	`00DF: BCF 03.5`
		329	`00E0: BCF 05.0`
		330	`00E1: BSF 03.5`
		331	`00E2: BCF 05.1`
		332	`00E3: BCF 03.5`
		333	`00E4: BCF 05.1`
		334	`.................... }`
		335	`....................`
		336	`.................... if(Lmotor==0) STOPL;`
		337	`00E5: MOVF 25,F`
		338	`00E6: BTFSS 03.2`
		339	`00E7: GOTO 0EF`
		340	`00E8: MOVF 26,F`
		341	`00E9: BTFSS 03.2`
		342	`00EA: GOTO 0EF`
		343	`00EB: BSF 03.5`
		344	`00EC: BCF 05.0`
		345	`00ED: BCF 03.5`
		346	`00EE: BCF 05.0`
		347	`00EF: BSF 03.5`
		348	`00F0: BCF 05.1`
		349	`00F1: BCF 03.5`
		350	`00F2: BCF 05.1`
		351	`....................`
		352	`.................... if(Lmotor<0)`
		353	`00F3: BTFSS 26.7`
		354	`00F4: GOTO 125`
		355	`.................... {`
		356	`.................... GO(L, B, abs(Lmotor));`
		357	`00F5: MOVF 01,W`
		358	`00F6: MOVWF 40`
		359	`00F7: MOVF 26,W`
		360	`00F8: MOVWF 7A`
		361	`00F9: MOVF 25,W`
		362	`00FA: BTFSS 26.7`
		363	`00FB: GOTO 105`
		364	`00FC: MOVF 25,W`
		365	`00FD: SUBLW 00`
		366	`00FE: MOVWF 77`
		367	`00FF: CLRF 7A`
		368	`0100: MOVF 26,W`
		369	`0101: BTFSS 03.0`
		370	`0102: INCFSZ 26,W`
		371	`0103: SUBWF 7A,F`
		372	`0104: MOVF 77,W`
		373	`0105: MOVWF 78`
		374	`0106: BTFSS 40.7`
		375	`0107: GOTO 10B`
		376	`0108: BTFSS 7A.7`
		377	`0109: GOTO 114`
		378	`010A: GOTO 10D`
		379	`010B: BTFSC 7A.7`
		380	`010C: GOTO 11D`
		381	`010D: MOVF 7A,F`
		382	`010E: BTFSS 03.2`
		383	`010F: GOTO 114`
		384	`0110: MOVF 40,W`
		385	`0111: SUBWF 78,W`
		386	`0112: BTFSS 03.0`
		387	`0113: GOTO 11D`
		388	`0114: BSF 03.5`
		389	`0115: BCF 05.0`
		390	`0116: BCF 03.5`
		391	`0117: BCF 05.0`
		392	`0118: BSF 03.5`
		393	`0119: BCF 05.1`
		394	`011A: BCF 03.5`
		395	`011B: BSF 05.1`
		396	`011C: GOTO 125`
		397	`011D: BSF 03.5`
		398	`011E: BCF 05.0`
		399	`011F: BCF 03.5`
		400	`0120: BCF 05.0`
		401	`0121: BSF 03.5`
		402	`0122: BCF 05.1`
		403	`0123: BCF 03.5`
		404	`0124: BCF 05.1`
		405	`.................... }`
		406	`.................... }`
		407	`0125: MOVLW 55`
		408	`0126: MOVWF 35`
		409	`0127: MOVLW 00`
		410	`0128: MOVWF 36`
		411	`0129: BCF 0A.3`
		412	`012A: GOTO 236`
		413	`012B: RETLW 00`
		414	`.................... ////////////////////////////////////////////////////////////////////////////////`
		415	`.................... #task (rate=4ms, max=500us, queue=0)`
		416	`.................... void rizeni()`
		417	`.................... {`
		418	`.................... rizeni:`
		419	`....................`
		420	`.................... sensors = spi_read(0); // cteni senzoru na caru`
		421	`012C: MOVF 13,W`
		422	`012D: CLRF 13`
		423	`012E: BSF 03.5`
		424	`012F: BTFSC 14.0`
		425	`0130: GOTO 133`
		426	`0131: BCF 03.5`
		427	`0132: GOTO 12E`
		428	`0133: BCF 03.5`
		429	`0134: MOVF 13,W`
		430	`0135: MOVWF 21`
		431	`.................... output_high(STROBE);`
		432	`0136: BSF 03.5`
		433	`0137: BCF 06.0`
		434	`0138: BCF 03.5`
		435	`0139: BSF 06.0`
		436	`.................... output_low(STROBE);`
		437	`013A: BSF 03.5`
		438	`013B: BCF 06.0`
		439	`013C: BCF 03.5`
		440	`013D: BCF 06.0`
		441	`....................`
		442	`.................... if(bit_test(sensors,0)) //*......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		443	`013E: BTFSS 21.0`
		444	`013F: GOTO 148`
		445	`.................... {`
		446	`.................... uhel=LMAX;`
		447	`0140: MOVLW BE`
		448	`0141: MOVWF 24`
		449	`.................... Lmotor=0;Rmotor=127;`
		450	`0142: CLRF 26`
		451	`0143: CLRF 25`
		452	`0144: CLRF 28`
		453	`0145: MOVLW 7F`
		454	`0146: MOVWF 27`
		455	`.................... goto rizeni;`
		456	`0147: GOTO 12C`
		457	`.................... }`
		458	`.................... if(bit_test(sensors,6)) //......*//`
		459	`0148: BTFSS 21.6`
		460	`0149: GOTO 152`
		461	`.................... {`
		462	`.................... uhel=RMAX;`
		463	`014A: MOVLW 3C`
		464	`014B: MOVWF 24`
		465	`.................... Rmotor=0;Lmotor=127;`
		466	`014C: CLRF 28`
		467	`014D: CLRF 27`
		468	`014E: CLRF 26`
		469	`014F: MOVLW 7F`
		470	`0150: MOVWF 25`
		471	`.................... goto rizeni;`
		472	`0151: GOTO 12C`
		473	`.................... }`
		474	`.................... if(bit_test(sensors,1)) //.*.....//`
		475	`0152: BTFSS 21.1`
		476	`0153: GOTO 15D`
		477	`.................... {`
		478	`.................... uhel=STRED+30;`
		479	`0154: MOVLW 9E`
		480	`0155: MOVWF 24`
		481	`.................... Lmotor=70;Rmotor=127;`
		482	`0156: CLRF 26`
		483	`0157: MOVLW 46`
		484	`0158: MOVWF 25`
		485	`0159: CLRF 28`
		486	`015A: MOVLW 7F`
		487	`015B: MOVWF 27`
		488	`.................... goto rizeni;`
		489	`015C: GOTO 12C`
		490	`.................... }`
		491	`.................... if(bit_test(sensors,5)) //.....*.//`
		492	`015D: BTFSS 21.5`
		493	`015E: GOTO 168`
		494	`.................... {`
		495	`.................... uhel=STRED-30;`
		496	`015F: MOVLW 62`
		497	`0160: MOVWF 24`
		498	`.................... Rmotor=70;Lmotor=127;`
		499	`0161: CLRF 28`
		500	`0162: MOVLW 46`
		501	`0163: MOVWF 27`
		502	`0164: CLRF 26`
		503	`0165: MOVLW 7F`
		504	`0166: MOVWF 25`
		505	`.................... goto rizeni;`
		506	`0167: GOTO 12C`
		507	`.................... }`
		508	`.................... if(bit_test(sensors,2)) //..*....//`
		509	`0168: BTFSS 21.2`
		510	`0169: GOTO 173`
		511	`.................... {`
		512	`.................... uhel=STRED+20;`
		513	`016A: MOVLW 94`
		514	`016B: MOVWF 24`
		515	`.................... Lmotor=90;Rmotor=127;`
		516	`016C: CLRF 26`
		517	`016D: MOVLW 5A`
		518	`016E: MOVWF 25`
		519	`016F: CLRF 28`
		520	`0170: MOVLW 7F`
		521	`0171: MOVWF 27`
		522	`.................... goto rizeni;`
		523	`0172: GOTO 12C`
		524	`.................... }`
		525	`.................... if(bit_test(sensors,4)) //....*..//`
		526	`0173: BTFSS 21.4`
		527	`0174: GOTO 17E`
		528	`.................... {`
		529	`.................... uhel=STRED-20;`
		530	`0175: MOVLW 6C`
		531	`0176: MOVWF 24`
		532	`.................... Rmotor=90;Lmotor=127;`
		533	`0177: CLRF 28`
		534	`0178: MOVLW 5A`
		535	`0179: MOVWF 27`
		536	`017A: CLRF 26`
		537	`017B: MOVLW 7F`
		538	`017C: MOVWF 25`
		539	`.................... goto rizeni;`
		540	`017D: GOTO 12C`
		541	`.................... }`
		542	`.................... if(bit_test(sensors,3)) //...*...//`
		543	`017E: BTFSS 21.3`
		544	`017F: GOTO 188`
		545	`.................... {`
		546	`.................... uhel=STRED;`
		547	`0180: MOVLW 80`
		548	`0181: MOVWF 24`
		549	`.................... Lmotor=100;Rmotor=100;`
		550	`0182: CLRF 26`
		551	`0183: MOVLW 64`
		552	`0184: MOVWF 25`
		553	`0185: CLRF 28`
		554	`0186: MOVWF 27`
		555	`.................... goto rizeni;`
		556	`0187: GOTO 12C`
		557	`.................... }`
		558	`....................`
		559	`.................... /*STOPL;STOPR;`
		560	`.................... if(bit_test(sensors,7))`
		561	`.................... {`
		562	`....................`
		563	`.................... }*/`
		564	`.................... }`
		565	`0188: MOVLW 2C`
		566	`0189: MOVWF 3C`
		567	`018A: MOVLW 01`
		568	`018B: MOVWF 3D`
		569	`018C: BCF 0A.3`
		570	`018D: GOTO 236`
		571	`018E: RETLW 00`
		572	`.................... ////////////////////////////////////////////////////////////////////////////////`
		573	`.................... void main()`
		574	`.................... {`
		575	`018F: CLRF 04`
		576	`0190: MOVLW 1F`
		577	`0191: ANDWF 03,F`
		578	`0192: MOVLW 70`
		579	`0193: BSF 03.5`
		580	`0194: MOVWF 0F`
		581	`0195: BCF 1F.4`
		582	`0196: BCF 1F.5`
		583	`0197: MOVF 1B,W`
		584	`0198: ANDLW 80`
		585	`0199: MOVWF 1B`
		586	`019A: MOVLW 07`
		587	`019B: MOVWF 1C`
		588	`.................... setup_adc_ports(NO_ANALOGS);`
		589	`019C: BCF 1F.4`
		590	`019D: BCF 1F.5`
		591	`019E: MOVF 1B,W`
		592	`019F: ANDLW 80`
		593	`01A0: MOVWF 1B`
		594	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		595	`01A1: BCF 1F.6`
		596	`01A2: BCF 03.5`
		597	`01A3: BSF 1F.6`
		598	`01A4: BSF 1F.7`
		599	`01A5: BSF 03.5`
		600	`01A6: BCF 1F.7`
		601	`01A7: BCF 03.5`
		602	`01A8: BSF 1F.0`
		603	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_4);`
		604	`01A9: BCF 14.5`
		605	`01AA: BSF 03.5`
		606	`01AB: BCF 06.2`
		607	`01AC: BSF 06.1`
		608	`01AD: BCF 06.4`
		609	`01AE: MOVLW 30`
		610	`01AF: BCF 03.5`
		611	`01B0: MOVWF 14`
		612	`01B1: MOVLW 00`
		613	`01B2: BSF 03.5`
		614	`01B3: MOVWF 14`
		615	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		616	`01B4: MOVF 01,W`
		617	`01B5: ANDLW C7`
		618	`01B6: IORLW 08`
		619	`01B7: MOVWF 01`
		620	`.................... setup_timer_1(T1_DISABLED);`
		621	`01B8: BCF 03.5`
		622	`01B9: CLRF 10`
		623	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		624	`01BA: MOVLW 72`
		625	`01BB: BSF 03.5`
		626	`01BC: MOVWF 0F`
		627	`.................... // set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu`
		628	`.................... // setup_ccp1(CCP_PWM);`
		629	`.................... // setup_timer_2(T2_DIV_BY_16,200,1); // perioda`
		630	`.................... // setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		631	`....................`
		632	`.................... STOPR; STOPL;`
		633	`01BD: BCF 05.6`
		634	`01BE: BCF 03.5`
		635	`01BF: BCF 05.6`
		636	`01C0: BSF 03.5`
		637	`01C1: BCF 05.7`
		638	`01C2: BCF 03.5`
		639	`01C3: BCF 05.7`
		640	`01C4: BSF 03.5`
		641	`01C5: BCF 05.0`
		642	`01C6: BCF 03.5`
		643	`01C7: BCF 05.0`
		644	`01C8: BSF 03.5`
		645	`01C9: BCF 05.1`
		646	`01CA: BCF 03.5`
		647	`01CB: BCF 05.1`
		648	`.................... uhel=STRED;`
		649	`01CC: MOVLW 80`
		650	`01CD: MOVWF 24`
		651	`.................... // diagnostika();`
		652	`.................... Lmotor=0;`
		653	`01CE: CLRF 26`
		654	`01CF: CLRF 25`
		655	`.................... Rmotor=0;`
		656	`01D0: CLRF 28`
		657	`01D1: CLRF 27`
		658	`.................... rtos_run();`
		659	`01D2: CLRF 29`
		660	`01D3: CLRF 2B`
		661	`01D4: MOVLW 08`
		662	`01D5: MOVWF 2A`
		663	`01D6: CLRF 2D`
		664	`01D7: MOVLW 01`
		665	`01D8: MOVWF 2C`
		666	`01D9: MOVLW 38`
		667	`01DA: MOVWF 2E`
		668	`01DB: MOVLW 00`
		669	`01DC: MOVWF 2F`
		670	`01DD: CLRF 30`
		671	`01DE: CLRF 32`
		672	`01DF: MOVLW 01`
		673	`01E0: MOVWF 31`
		674	`01E1: CLRF 34`
		675	`01E2: CLRF 33`
		676	`01E3: MOVLW 55`
		677	`01E4: MOVWF 35`
		678	`01E5: MOVLW 00`
		679	`01E6: MOVWF 36`
		680	`01E7: CLRF 37`
		681	`01E8: CLRF 39`
		682	`01E9: MOVLW 02`
		683	`01EA: MOVWF 38`
		684	`01EB: CLRF 3B`
		685	`01EC: CLRF 3A`
		686	`01ED: MOVLW 2C`
		687	`01EE: MOVWF 3C`
		688	`01EF: MOVLW 01`
		689	`01F0: MOVWF 3D`
		690	`01F1: CLRF 20`
		691	`01F2: MOVLW 00`
		692	`01F3: MOVWF 78`
		693	`01F4: IORLW 06`
		694	`01F5: MOVWF 12`
		695	`01F6: MOVLW FA`
		696	`01F7: BSF 03.5`
		697	`01F8: MOVWF 12`
		698	`01F9: BCF 03.5`
		699	`01FA: BCF 0C.1`
		700	`01FB: MOVLW 00`
		701	`01FC: MOVWF 78`
		702	`01FD: IORLW 06`
		703	`01FE: MOVWF 12`
		704	`01FF: MOVLW FA`
		705	`0200: BSF 03.5`
		706	`0201: MOVWF 12`
		707	`0202: BCF 03.5`
		708	`0203: BCF 0C.1`
		709	`0204: BCF 03.0`
		710	`0205: RLF 20,W`
		711	`0206: MOVWF 77`
		712	`0207: CALL 004`
		713	`0208: MOVWF 79`
		714	`0209: MOVLW 01`
		715	`020A: ADDWF 77,W`
		716	`020B: CALL 004`
		717	`020C: MOVWF 7A`
		718	`020D: MOVF 79,W`
		719	`020E: MOVWF 04`
		720	`020F: MOVF 00,W`
		721	`0210: MOVWF 79`
		722	`0211: INCF 04,F`
		723	`0212: MOVF 00,W`
		724	`0213: MOVWF 77`
		725	`0214: INCF 04,F`
		726	`0215: MOVF 00,W`
		727	`0216: MOVWF 78`
		728	`0217: INCF 04,F`
		729	`0218: INCF 00,F`
		730	`0219: MOVF 00,W`
		731	`021A: MOVWF 7A`
		732	`021B: BTFSS 03.2`
		733	`021C: GOTO 220`
		734	`021D: INCF 04,F`
		735	`021E: INCF 00,F`
		736	`021F: DECF 04,F`
		737	`0220: INCF 04,F`
		738	`0221: MOVF 00,W`
		739	`0222: SUBWF 78,W`
		740	`0223: BTFSS 03.2`
		741	`0224: GOTO 238`
		742	`0225: MOVF 77,W`
		743	`0226: SUBWF 7A,W`
		744	`0227: BTFSS 03.2`
		745	`0228: GOTO 238`
		746	`0229: DECF 04,F`
		747	`022A: CLRF 00`
		748	`022B: INCF 04,F`
		749	`022C: CLRF 00`
		750	`022D: INCF 04,F`
		751	`022E: BTFSC 79.7`
		752	`022F: GOTO 238`
		753	`0230: INCF 04,F`
		754	`0231: MOVF 00,W`
		755	`0232: MOVWF 0A`
		756	`0233: DECF 04,F`
		757	`0234: MOVF 00,W`
		758	`0235: MOVWF 02`
		759	`0236: BCF 03.5`
		760	`0237: BCF 03.6`
		761	`0238: INCF 20,F`
		762	`0239: MOVLW 03`
		763	`023A: SUBWF 20,W`
		764	`023B: BTFSS 03.2`
		765	`023C: GOTO 204`
		766	`023D: CLRF 20`
		767	`023E: BTFSS 0C.1`
		768	`023F: GOTO 242`
		769	`0240: BSF 03.5`
		770	`0241: GOTO 202`
		771	`0242: GOTO 23E`
		772	`0243: MOVLW FF`
		773	`0244: MOVWF 20`
		774	`....................`
		775	`.................... }`
		776	`0245: SLEEP`
		777
		778	`Configuration Fuses:`
		779	`Word 1: 3FF8 NOWDT NOPUT MCLR BROWNOUT LVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		780	`Word 2: 3FFF FCMEN IESO`

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