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318 kaklik 1 
;/////////////////////////////////////////////////////////////////////////////////
2 
;// Code Generator: BoostBasic Compiler - http://www.sourceboost.com
3 
;// Version       : 6.70
4 
;// License Type  : Pro License
5 
;// Limitations   : PIC18 max code size:Unlimited, max RAM banks:Unlimited
6 
;/////////////////////////////////////////////////////////////////////////////////
7 
 
8 
	include "P18F252.inc"
325 kaklik 9 
__HEAPSTART                      EQU	0x0000000F ; Start address of heap
318 kaklik 10 
__HEAPEND                        EQU	0x000005FF ; End address of heap
11 
gbl_status                       EQU	0x00000FD8 ; bytes:1
12 
gbl_prodl                        EQU	0x00000FF3 ; bytes:1
13 
gbl_prodh                        EQU	0x00000FF4 ; bytes:1
14 
gbl_porta                        EQU	0x00000F80 ; bytes:1
15 
gbl_portb                        EQU	0x00000F81 ; bytes:1
16 
gbl_portc                        EQU	0x00000F82 ; bytes:1
17 
gbl_lata                         EQU	0x00000F89 ; bytes:1
18 
gbl_latb                         EQU	0x00000F8A ; bytes:1
19 
gbl_latc                         EQU	0x00000F8B ; bytes:1
20 
gbl_trisa                        EQU	0x00000F92 ; bytes:1
21 
gbl_trisb                        EQU	0x00000F93 ; bytes:1
22 
gbl_trisc                        EQU	0x00000F94 ; bytes:1
23 
gbl_pie1                         EQU	0x00000F9D ; bytes:1
24 
gbl_pir1                         EQU	0x00000F9E ; bytes:1
25 
gbl_ipr1                         EQU	0x00000F9F ; bytes:1
26 
gbl_pie2                         EQU	0x00000FA0 ; bytes:1
27 
gbl_pir2                         EQU	0x00000FA1 ; bytes:1
28 
gbl_ipr2                         EQU	0x00000FA2 ; bytes:1
29 
gbl_eecon1                       EQU	0x00000FA6 ; bytes:1
30 
gbl_eecon2                       EQU	0x00000FA7 ; bytes:1
31 
gbl_eedata                       EQU	0x00000FA8 ; bytes:1
32 
gbl_eeadr                        EQU	0x00000FA9 ; bytes:1
33 
gbl_rcsta                        EQU	0x00000FAB ; bytes:1
34 
gbl_txsta                        EQU	0x00000FAC ; bytes:1
35 
gbl_txreg                        EQU	0x00000FAD ; bytes:1
36 
gbl_rcreg                        EQU	0x00000FAE ; bytes:1
37 
gbl_spbrg                        EQU	0x00000FAF ; bytes:1
38 
gbl_t3con                        EQU	0x00000FB1 ; bytes:1
39 
gbl_tmr3l                        EQU	0x00000FB2 ; bytes:1
40 
gbl_tmr3h                        EQU	0x00000FB3 ; bytes:1
41 
gbl_ccp2con                      EQU	0x00000FBA ; bytes:1
42 
gbl_ccpr2l                       EQU	0x00000FBB ; bytes:1
43 
gbl_ccpr2h                       EQU	0x00000FBC ; bytes:1
44 
gbl_ccp1con                      EQU	0x00000FBD ; bytes:1
45 
gbl_ccpr1l                       EQU	0x00000FBE ; bytes:1
46 
gbl_ccpr1h                       EQU	0x00000FBF ; bytes:1
47 
gbl_adcon1                       EQU	0x00000FC1 ; bytes:1
48 
gbl_adcon0                       EQU	0x00000FC2 ; bytes:1
49 
gbl_adresl                       EQU	0x00000FC3 ; bytes:1
50 
gbl_adresh                       EQU	0x00000FC4 ; bytes:1
51 
gbl_sspcon2                      EQU	0x00000FC5 ; bytes:1
52 
gbl_sspcon1                      EQU	0x00000FC6 ; bytes:1
53 
gbl_sspstat                      EQU	0x00000FC7 ; bytes:1
54 
gbl_sspadd                       EQU	0x00000FC8 ; bytes:1
55 
gbl_sspbuf                       EQU	0x00000FC9 ; bytes:1
56 
gbl_t2con                        EQU	0x00000FCA ; bytes:1
57 
gbl_pr2                          EQU	0x00000FCB ; bytes:1
58 
gbl_tmr2                         EQU	0x00000FCC ; bytes:1
59 
gbl_t1con                        EQU	0x00000FCD ; bytes:1
60 
gbl_tmr1l                        EQU	0x00000FCE ; bytes:1
61 
gbl_tmr1h                        EQU	0x00000FCF ; bytes:1
62 
gbl_rcon                         EQU	0x00000FD0 ; bytes:1
63 
gbl_wdtcon                       EQU	0x00000FD1 ; bytes:1
64 
gbl_lvdcon                       EQU	0x00000FD2 ; bytes:1
65 
gbl_osccon                       EQU	0x00000FD3 ; bytes:1
66 
gbl_t0con                        EQU	0x00000FD5 ; bytes:1
67 
gbl_tmr0l                        EQU	0x00000FD6 ; bytes:1
68 
gbl_tmr0h                        EQU	0x00000FD7 ; bytes:1
69 
gbl_fsr2l                        EQU	0x00000FD9 ; bytes:1
70 
gbl_fsr2h                        EQU	0x00000FDA ; bytes:1
71 
gbl_plusw2                       EQU	0x00000FDB ; bytes:1
72 
gbl_preinc2                      EQU	0x00000FDC ; bytes:1
73 
gbl_postdec2                     EQU	0x00000FDD ; bytes:1
74 
gbl_postinc2                     EQU	0x00000FDE ; bytes:1
75 
gbl_indf2                        EQU	0x00000FDF ; bytes:1
76 
gbl_bsr                          EQU	0x00000FE0 ; bytes:1
77 
gbl_fsr1l                        EQU	0x00000FE1 ; bytes:1
78 
gbl_fsr1h                        EQU	0x00000FE2 ; bytes:1
79 
gbl_plusw1                       EQU	0x00000FE3 ; bytes:1
80 
gbl_preinc1                      EQU	0x00000FE4 ; bytes:1
81 
gbl_postdec1                     EQU	0x00000FE5 ; bytes:1
82 
gbl_postinc1                     EQU	0x00000FE6 ; bytes:1
83 
gbl_indf1                        EQU	0x00000FE7 ; bytes:1
84 
gbl_wreg                         EQU	0x00000FE8 ; bytes:1
85 
gbl_fsr0l                        EQU	0x00000FE9 ; bytes:1
86 
gbl_fsr0h                        EQU	0x00000FEA ; bytes:1
87 
gbl_plusw0                       EQU	0x00000FEB ; bytes:1
88 
gbl_preinc0                      EQU	0x00000FEC ; bytes:1
89 
gbl_postdec0                     EQU	0x00000FED ; bytes:1
90 
gbl_postinc0                     EQU	0x00000FEE ; bytes:1
91 
gbl_indf0                        EQU	0x00000FEF ; bytes:1
92 
gbl_intcon3                      EQU	0x00000FF0 ; bytes:1
93 
gbl_intcon2                      EQU	0x00000FF1 ; bytes:1
94 
gbl_intcon                       EQU	0x00000FF2 ; bytes:1
95 
gbl_tablat                       EQU	0x00000FF5 ; bytes:1
96 
gbl_tblptrl                      EQU	0x00000FF6 ; bytes:1
97 
gbl_tblptrh                      EQU	0x00000FF7 ; bytes:1
98 
gbl_tblptru                      EQU	0x00000FF8 ; bytes:1
99 
gbl_pcl                          EQU	0x00000FF9 ; bytes:1
100 
gbl_pclath                       EQU	0x00000FFA ; bytes:1
101 
gbl_pclatu                       EQU	0x00000FFB ; bytes:1
102 
gbl_stkptr                       EQU	0x00000FFC ; bytes:1
103 
gbl_tosl                         EQU	0x00000FFD ; bytes:1
104 
gbl_tosh                         EQU	0x00000FFE ; bytes:1
105 
gbl_tosu                         EQU	0x00000FFF ; bytes:1
325 kaklik 106 
CompTempVarRet489                EQU	0x0000000D ; bytes:1
107 
send_00000_arg_c                 EQU	0x0000000D ; bytes:1
318 kaklik 108 
main_1_motors                    EQU	0x00000001 ; bytes:1
109 
main_1_sensors                   EQU	0x00000002 ; bytes:1
322 kaklik 110 
main_1_leds                      EQU	0x00000003 ; bytes:1
324 kaklik 111 
main_1_count                     EQU	0x00000004 ; bytes:4
325 kaklik 112 
main_1_cas                       EQU	0x00000008 ; bytes:4
113 
CompTempVar491                   EQU	0x0000000C ; bytes:1
114 
CompTempVar492                   EQU	0x0000000D ; bytes:1
115 
CompTempVar496                   EQU	0x0000000E ; bytes:1
318 kaklik 116 
	ORG 0x00000200
117 
	GOTO	_startup
118 
	ORG 0x00000204
322 kaklik 119 
send_00000
120 
; { send ; function begin
121 
label268438562
122 
	BTFSS gbl_pir1,4
123 
	BRA	label268438562
124 
	MOVF send_00000_arg_c, W
125 
	MOVWF gbl_txreg
126 
	RETURN
127 
; } send function end
128 
 
129 
	ORG 0x0000020E
318 kaklik 130 
receive_00000
131 
; { receive ; function begin
132 
	BTFSS gbl_rcsta,1
322 kaklik 133 
	BRA	label268438551
318 kaklik 134 
	BCF gbl_rcsta,4
135 
	BSF gbl_rcsta,4
322 kaklik 136 
label268438551
318 kaklik 137 
	BTFSS gbl_pir1,5
322 kaklik 138 
	BRA	label268438551
318 kaklik 139 
	MOVF gbl_rcreg, W
140 
	MOVWF CompTempVarRet489
141 
	RETURN
142 
; } receive function end
143 
 
144 
	ORG 0x00000220
145 
main
146 
; { main ; function begin
147 
	SETF gbl_lata
148 
	CLRF gbl_latb
149 
	SETF gbl_latc
150 
	MOVLW 0xF0
151 
	MOVWF gbl_trisa
152 
	MOVLW 0x3F
153 
	MOVWF gbl_trisb
154 
	MOVLW 0x9F
155 
	MOVWF gbl_trisc
156 
	MOVLW 0xC6
157 
	MOVWF gbl_adcon1
158 
	MOVLW 0xC0
159 
	MOVWF gbl_adcon0
160 
	MOVLW 0x40
161 
	MOVWF gbl_spbrg
162 
	MOVLW 0xFB
163 
	ANDWF gbl_txsta, W
164 
	MOVWF gbl_txsta
165 
	MOVLW 0x20
166 
	IORWF gbl_txsta, W
167 
	MOVWF gbl_txsta
168 
	MOVLW 0x10
169 
	IORWF gbl_rcsta, W
170 
	MOVWF gbl_rcsta
171 
	MOVLW 0x80
172 
	IORWF gbl_rcsta, W
173 
	MOVWF gbl_rcsta
174 
	CLRF main_1_motors
325 kaklik 175 
label268438599
322 kaklik 176 
	BTFSC gbl_portb,0
325 kaklik 177 
	BRA	label268438599
322 kaklik 178 
	MOVLW 0xF0
179 
	MOVWF main_1_leds
180 
	MOVLW 0x80
181 
	MOVWF main_1_count
324 kaklik 182 
	MOVLW 0x1A
183 
	MOVWF main_1_count+D'1'
184 
	MOVLW 0x06
185 
	MOVWF main_1_count+D'2'
186 
	CLRF main_1_count+D'3'
325 kaklik 187 
label268438604
324 kaklik 188 
	MOVF main_1_count+D'3', W
189 
	SUBLW 0x00
325 kaklik 190 
	BNZ	label268438605
324 kaklik 191 
	MOVF main_1_count+D'2', W
192 
	SUBLW 0x00
325 kaklik 193 
	BNZ	label268438605
324 kaklik 194 
	MOVF main_1_count+D'1', W
195 
	SUBLW 0x00
325 kaklik 196 
	BNZ	label268438605
322 kaklik 197 
	MOVF main_1_count, W
198 
	SUBLW 0x00
325 kaklik 199 
label268438605
324 kaklik 200 
	BTFSC main_1_count+D'3',7
201 
	BSF STATUS,C
325 kaklik 202 
	BC	label268438609
324 kaklik 203 
	MOVLW 0x01
204 
	SUBWF main_1_count, W
205 
	MOVWF CompTempVar492
206 
	MOVLW 0x00
207 
	MOVWF CompTempVar496
208 
	BTFSS STATUS,C
209 
	INCFSZ CompTempVar496, W
210 
	SUBWF main_1_count+D'1', F
211 
	MOVLW 0x00
212 
	MOVWF CompTempVar496
213 
	BTFSS STATUS,C
214 
	INCFSZ CompTempVar496, W
215 
	SUBWF main_1_count+D'2', F
216 
	MOVLW 0x00
217 
	MOVWF CompTempVar496
218 
	BTFSS STATUS,C
219 
	INCFSZ CompTempVar496, W
220 
	SUBWF main_1_count+D'3', F
221 
	MOVF CompTempVar492, W
322 kaklik 222 
	MOVWF main_1_count
324 kaklik 223 
	MOVLW 0x00
224 
	SUBWF main_1_count+D'3', W
325 kaklik 225 
	BNZ	label268438621
324 kaklik 226 
	MOVLW 0x04
227 
	SUBWF main_1_count+D'2', W
325 kaklik 228 
	BNZ	label268438621
324 kaklik 229 
	MOVLW 0x93
230 
	SUBWF main_1_count+D'1', W
325 kaklik 231 
	BNZ	label268438621
324 kaklik 232 
	MOVLW 0xE0
233 
	SUBWF main_1_count, W
325 kaklik 234 
label268438621
235 
	BNC	label4026532557
324 kaklik 236 
	BTFSS main_1_count+D'3',7
325 kaklik 237 
	BRA	label268438625
238 
label4026532557
322 kaklik 239 
	MOVLW 0x01
240 
	IORWF main_1_leds, W
241 
	MOVWF main_1_leds
325 kaklik 242 
label268438625
324 kaklik 243 
	MOVLW 0x00
244 
	SUBWF main_1_count+D'3', W
325 kaklik 245 
	BNZ	label268438627
324 kaklik 246 
	MOVLW 0x03
247 
	SUBWF main_1_count+D'2', W
325 kaklik 248 
	BNZ	label268438627
324 kaklik 249 
	MOVLW 0x0D
250 
	SUBWF main_1_count+D'1', W
325 kaklik 251 
	BNZ	label268438627
324 kaklik 252 
	MOVLW 0x40
253 
	SUBWF main_1_count, W
325 kaklik 254 
label268438627
255 
	BNC	label4026532558
324 kaklik 256 
	BTFSS main_1_count+D'3',7
325 kaklik 257 
	BRA	label268438631
258 
label4026532558
322 kaklik 259 
	MOVLW 0x02
260 
	IORWF main_1_leds, W
261 
	MOVWF main_1_leds
325 kaklik 262 
label268438631
324 kaklik 263 
	MOVLW 0x00
264 
	SUBWF main_1_count+D'3', W
325 kaklik 265 
	BNZ	label268438633
324 kaklik 266 
	MOVLW 0x01
267 
	SUBWF main_1_count+D'2', W
325 kaklik 268 
	BNZ	label268438633
324 kaklik 269 
	MOVLW 0x86
270 
	SUBWF main_1_count+D'1', W
325 kaklik 271 
	BNZ	label268438633
324 kaklik 272 
	MOVLW 0xA0
273 
	SUBWF main_1_count, W
325 kaklik 274 
label268438633
275 
	BNC	label4026532559
324 kaklik 276 
	BTFSS main_1_count+D'3',7
325 kaklik 277 
	BRA	label268438637
278 
label4026532559
322 kaklik 279 
	MOVLW 0x04
280 
	IORWF main_1_leds, W
281 
	MOVWF main_1_leds
325 kaklik 282 
label268438637
322 kaklik 283 
	MOVF main_1_leds, W
318 kaklik 284 
	MOVWF gbl_lata
325 kaklik 285 
	BRA	label268438604
286 
label268438609
322 kaklik 287 
	SETF gbl_lata
325 kaklik 288 
label268438641
289 
	CLRF main_1_cas
290 
	CLRF main_1_cas+D'1'
291 
	CLRF main_1_cas+D'2'
292 
	CLRF main_1_cas+D'3'
318 kaklik 293 
	SETF main_1_sensors
294 
	CALL receive_00000
295 
	MOVF CompTempVarRet489, W
296 
	MOVWF main_1_sensors
321 kaklik 297 
	CLRF CompTempVar491
298 
	BTFSS main_1_sensors,1
325 kaklik 299 
	BRA	label268438647
321 kaklik 300 
	BTFSS main_1_sensors,0
325 kaklik 301 
	BRA	label268438647
321 kaklik 302 
	INCF CompTempVar491, F
325 kaklik 303 
label268438647
321 kaklik 304 
	MOVF CompTempVar491, F
325 kaklik 305 
	BNZ	label268438648
321 kaklik 306 
	MOVLW 0x77
307 
	MOVWF main_1_motors
325 kaklik 308 
label268438648
318 kaklik 309 
	BTFSC main_1_sensors,2
325 kaklik 310 
	BRA	label268438651
311 
	MOVLW 0x00
312 
	SUBWF main_1_cas+D'3', W
313 
	BNZ	label268438653
314 
	MOVLW 0x06
315 
	SUBWF main_1_cas+D'2', W
316 
	BNZ	label268438653
317 
	MOVLW 0x1A
318 
	SUBWF main_1_cas+D'1', W
319 
	BNZ	label268438653
320 
	MOVLW 0x80
321 
	SUBWF main_1_cas, W
322 
label268438653
323 
	BNC	label4026532563
324 
	BTFSS main_1_cas+D'3',7
325 
	BRA	label4026532566
326 
label4026532563
327 
	INCF main_1_cas, F
328 
	BTFSC STATUS,Z
329 
	INCF main_1_cas+D'1', F
330 
	BTFSC STATUS,Z
331 
	INCF main_1_cas+D'2', F
332 
	BTFSC STATUS,Z
333 
	INCF main_1_cas+D'3', F
334 
label4026532566
335 
	CLRF main_1_cas
336 
	CLRF main_1_cas+D'1'
337 
	CLRF main_1_cas+D'2'
338 
	CLRF main_1_cas+D'3'
321 kaklik 339 
	MOVLW 0xF7
340 
	MOVWF main_1_motors
325 kaklik 341 
label268438651
318 kaklik 342 
	BTFSC main_1_sensors,3
325 kaklik 343 
	BRA	label268438668
344 
	MOVLW 0x00
345 
	SUBWF main_1_cas+D'3', W
346 
	BNZ	label268438670
347 
	MOVLW 0x06
348 
	SUBWF main_1_cas+D'2', W
349 
	BNZ	label268438670
350 
	MOVLW 0x1A
351 
	SUBWF main_1_cas+D'1', W
352 
	BNZ	label268438670
353 
	MOVLW 0x80
354 
	SUBWF main_1_cas, W
355 
label268438670
356 
	BNC	label4026532568
357 
	BTFSS main_1_cas+D'3',7
358 
	BRA	label4026532571
359 
label4026532568
360 
	INCF main_1_cas, F
361 
	BTFSC STATUS,Z
362 
	INCF main_1_cas+D'1', F
363 
	BTFSC STATUS,Z
364 
	INCF main_1_cas+D'2', F
365 
	BTFSC STATUS,Z
366 
	INCF main_1_cas+D'3', F
367 
label4026532571
368 
	CLRF main_1_cas
369 
	CLRF main_1_cas+D'1'
370 
	CLRF main_1_cas+D'2'
371 
	CLRF main_1_cas+D'3'
321 kaklik 372 
	MOVLW 0x7F
373 
	MOVWF main_1_motors
325 kaklik 374 
label268438668
375 
	INCF main_1_cas, F
376 
	BTFSC STATUS,Z
377 
	INCF main_1_cas+D'1', F
378 
	BTFSC STATUS,Z
379 
	INCF main_1_cas+D'2', F
380 
	BTFSC STATUS,Z
381 
	INCF main_1_cas+D'3', F
321 kaklik 382 
	MOVF main_1_sensors, W
318 kaklik 383 
	MOVWF gbl_lata
384 
	MOVF main_1_motors, W
385 
	MOVWF send_00000_arg_c
386 
	CALL send_00000
325 kaklik 387 
	BRA	label268438641
318 kaklik 388 
; } main function end
389 
 
325 kaklik 390 
	ORG 0x000003D6
318 kaklik 391 
_startup
392 
	GOTO	main
393 
	ORG 0x00300000
394 
	DW 0xFEFF
395 
	DW 0xFEF6
396 
	ORG 0x00300004
397 
	DW 0xFEFF
398 
	DW 0xFFFB
399 
	ORG 0x00300008
400 
	DW 0x3FF0
401 
	DW 0x9FFF
402 
	DW 0xBFFF
403 
	END