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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"
324 kaklik 9 
__HEAPSTART                      EQU	0x0000000B ; 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
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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
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gbl_indf2                        EQU	0x00000FDF ; bytes:1
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gbl_bsr                          EQU	0x00000FE0 ; bytes:1
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gbl_fsr1l                        EQU	0x00000FE1 ; bytes:1
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gbl_fsr1h                        EQU	0x00000FE2 ; bytes:1
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gbl_plusw1                       EQU	0x00000FE3 ; bytes:1
80 
gbl_preinc1                      EQU	0x00000FE4 ; bytes:1
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gbl_postdec1                     EQU	0x00000FE5 ; bytes:1
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gbl_postinc1                     EQU	0x00000FE6 ; bytes:1
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gbl_indf1                        EQU	0x00000FE7 ; bytes:1
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gbl_wreg                         EQU	0x00000FE8 ; bytes:1
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gbl_fsr0l                        EQU	0x00000FE9 ; bytes:1
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gbl_fsr0h                        EQU	0x00000FEA ; bytes:1
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gbl_plusw0                       EQU	0x00000FEB ; bytes:1
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gbl_preinc0                      EQU	0x00000FEC ; bytes:1
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gbl_postdec0                     EQU	0x00000FED ; bytes:1
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gbl_postinc0                     EQU	0x00000FEE ; bytes:1
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gbl_indf0                        EQU	0x00000FEF ; bytes:1
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gbl_intcon3                      EQU	0x00000FF0 ; bytes:1
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gbl_intcon2                      EQU	0x00000FF1 ; bytes:1
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gbl_intcon                       EQU	0x00000FF2 ; bytes:1
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gbl_tablat                       EQU	0x00000FF5 ; bytes:1
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gbl_tblptrl                      EQU	0x00000FF6 ; bytes:1
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gbl_tblptrh                      EQU	0x00000FF7 ; bytes:1
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gbl_tblptru                      EQU	0x00000FF8 ; bytes:1
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gbl_pcl                          EQU	0x00000FF9 ; bytes:1
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gbl_pclath                       EQU	0x00000FFA ; bytes:1
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gbl_pclatu                       EQU	0x00000FFB ; bytes:1
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gbl_stkptr                       EQU	0x00000FFC ; bytes:1
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gbl_tosl                         EQU	0x00000FFD ; bytes:1
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gbl_tosh                         EQU	0x00000FFE ; bytes:1
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gbl_tosu                         EQU	0x00000FFF ; bytes:1
324 kaklik 106 
CompTempVarRet489                EQU	0x00000009 ; bytes:1
107 
send_00000_arg_c                 EQU	0x00000009 ; 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
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CompTempVar491                   EQU	0x00000008 ; bytes:1
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CompTempVar492                   EQU	0x00000009 ; bytes:1
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CompTempVar496                   EQU	0x0000000A ; bytes:1
318 kaklik 115 
	ORG 0x00000200
116 
	GOTO	_startup
117 
	ORG 0x00000204
322 kaklik 118 
send_00000
119 
; { send ; function begin
120 
label268438562
121 
	BTFSS gbl_pir1,4
122 
	BRA	label268438562
123 
	MOVF send_00000_arg_c, W
124 
	MOVWF gbl_txreg
125 
	RETURN
126 
; } send function end
127 
 
128 
	ORG 0x0000020E
318 kaklik 129 
receive_00000
130 
; { receive ; function begin
131 
	BTFSS gbl_rcsta,1
322 kaklik 132 
	BRA	label268438551
318 kaklik 133 
	BCF gbl_rcsta,4
134 
	BSF gbl_rcsta,4
322 kaklik 135 
label268438551
318 kaklik 136 
	BTFSS gbl_pir1,5
322 kaklik 137 
	BRA	label268438551
318 kaklik 138 
	MOVF gbl_rcreg, W
139 
	MOVWF CompTempVarRet489
140 
	RETURN
141 
; } receive function end
142 
 
143 
	ORG 0x00000220
144 
main
145 
; { main ; function begin
146 
	SETF gbl_lata
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	CLRF gbl_latb
148 
	SETF gbl_latc
149 
	MOVLW 0xF0
150 
	MOVWF gbl_trisa
151 
	MOVLW 0x3F
152 
	MOVWF gbl_trisb
153 
	MOVLW 0x9F
154 
	MOVWF gbl_trisc
155 
	MOVLW 0xC6
156 
	MOVWF gbl_adcon1
157 
	MOVLW 0xC0
158 
	MOVWF gbl_adcon0
159 
	MOVLW 0x40
160 
	MOVWF gbl_spbrg
161 
	MOVLW 0xFB
162 
	ANDWF gbl_txsta, W
163 
	MOVWF gbl_txsta
164 
	MOVLW 0x20
165 
	IORWF gbl_txsta, W
166 
	MOVWF gbl_txsta
167 
	MOVLW 0x10
168 
	IORWF gbl_rcsta, W
169 
	MOVWF gbl_rcsta
170 
	MOVLW 0x80
171 
	IORWF gbl_rcsta, W
172 
	MOVWF gbl_rcsta
173 
	CLRF main_1_motors
322 kaklik 174 
label268438598
175 
	BTFSC gbl_portb,0
176 
	BRA	label268438598
177 
	MOVLW 0xF0
178 
	MOVWF main_1_leds
179 
	MOVLW 0x80
180 
	MOVWF main_1_count
324 kaklik 181 
	MOVLW 0x1A
182 
	MOVWF main_1_count+D'1'
183 
	MOVLW 0x06
184 
	MOVWF main_1_count+D'2'
185 
	CLRF main_1_count+D'3'
322 kaklik 186 
label268438603
324 kaklik 187 
	MOVF main_1_count+D'3', W
188 
	SUBLW 0x00
189 
	BNZ	label268438604
190 
	MOVF main_1_count+D'2', W
191 
	SUBLW 0x00
192 
	BNZ	label268438604
193 
	MOVF main_1_count+D'1', W
194 
	SUBLW 0x00
195 
	BNZ	label268438604
322 kaklik 196 
	MOVF main_1_count, W
197 
	SUBLW 0x00
324 kaklik 198 
label268438604
199 
	BTFSC main_1_count+D'3',7
200 
	BSF STATUS,C
201 
	BC	label268438608
202 
	MOVLW 0x01
203 
	SUBWF main_1_count, W
204 
	MOVWF CompTempVar492
205 
	MOVLW 0x00
206 
	MOVWF CompTempVar496
207 
	BTFSS STATUS,C
208 
	INCFSZ CompTempVar496, W
209 
	SUBWF main_1_count+D'1', F
210 
	MOVLW 0x00
211 
	MOVWF CompTempVar496
212 
	BTFSS STATUS,C
213 
	INCFSZ CompTempVar496, W
214 
	SUBWF main_1_count+D'2', F
215 
	MOVLW 0x00
216 
	MOVWF CompTempVar496
217 
	BTFSS STATUS,C
218 
	INCFSZ CompTempVar496, W
219 
	SUBWF main_1_count+D'3', F
220 
	MOVF CompTempVar492, W
322 kaklik 221 
	MOVWF main_1_count
324 kaklik 222 
	MOVLW 0x00
223 
	SUBWF main_1_count+D'3', W
224 
	BNZ	label268438620
225 
	MOVLW 0x04
226 
	SUBWF main_1_count+D'2', W
227 
	BNZ	label268438620
228 
	MOVLW 0x93
229 
	SUBWF main_1_count+D'1', W
230 
	BNZ	label268438620
231 
	MOVLW 0xE0
232 
	SUBWF main_1_count, W
233 
label268438620
234 
	BNC	label4026532500
235 
	BTFSS main_1_count+D'3',7
236 
	BRA	label268438624
237 
label4026532500
322 kaklik 238 
	MOVLW 0x01
239 
	IORWF main_1_leds, W
240 
	MOVWF main_1_leds
324 kaklik 241 
label268438624
242 
	MOVLW 0x00
243 
	SUBWF main_1_count+D'3', W
244 
	BNZ	label268438626
245 
	MOVLW 0x03
246 
	SUBWF main_1_count+D'2', W
247 
	BNZ	label268438626
248 
	MOVLW 0x0D
249 
	SUBWF main_1_count+D'1', W
250 
	BNZ	label268438626
251 
	MOVLW 0x40
252 
	SUBWF main_1_count, W
253 
label268438626
254 
	BNC	label4026532501
255 
	BTFSS main_1_count+D'3',7
256 
	BRA	label268438630
257 
label4026532501
322 kaklik 258 
	MOVLW 0x02
259 
	IORWF main_1_leds, W
260 
	MOVWF main_1_leds
324 kaklik 261 
label268438630
262 
	MOVLW 0x00
263 
	SUBWF main_1_count+D'3', W
264 
	BNZ	label268438632
265 
	MOVLW 0x01
266 
	SUBWF main_1_count+D'2', W
267 
	BNZ	label268438632
268 
	MOVLW 0x86
269 
	SUBWF main_1_count+D'1', W
270 
	BNZ	label268438632
271 
	MOVLW 0xA0
272 
	SUBWF main_1_count, W
273 
label268438632
274 
	BNC	label4026532502
275 
	BTFSS main_1_count+D'3',7
276 
	BRA	label268438636
277 
label4026532502
322 kaklik 278 
	MOVLW 0x04
279 
	IORWF main_1_leds, W
280 
	MOVWF main_1_leds
324 kaklik 281 
label268438636
322 kaklik 282 
	MOVF main_1_leds, W
318 kaklik 283 
	MOVWF gbl_lata
322 kaklik 284 
	BRA	label268438603
324 kaklik 285 
label268438608
322 kaklik 286 
	SETF gbl_lata
324 kaklik 287 
label268438640
318 kaklik 288 
	SETF main_1_sensors
289 
	CALL receive_00000
290 
	MOVF CompTempVarRet489, W
291 
	MOVWF main_1_sensors
321 kaklik 292 
	CLRF CompTempVar491
293 
	BTFSS main_1_sensors,1
324 kaklik 294 
	BRA	label268438645
321 kaklik 295 
	BTFSS main_1_sensors,0
324 kaklik 296 
	BRA	label268438645
321 kaklik 297 
	INCF CompTempVar491, F
324 kaklik 298 
label268438645
321 kaklik 299 
	MOVF CompTempVar491, F
324 kaklik 300 
	BNZ	label268438646
321 kaklik 301 
	MOVLW 0x77
302 
	MOVWF main_1_motors
324 kaklik 303 
label268438646
318 kaklik 304 
	BTFSC main_1_sensors,2
324 kaklik 305 
	BRA	label268438649
321 kaklik 306 
	MOVLW 0xF7
307 
	MOVWF main_1_motors
324 kaklik 308 
label268438649
318 kaklik 309 
	BTFSC main_1_sensors,3
324 kaklik 310 
	BRA	label268438652
321 kaklik 311 
	MOVLW 0x7F
312 
	MOVWF main_1_motors
324 kaklik 313 
label268438652
321 kaklik 314 
	MOVF main_1_sensors, W
318 kaklik 315 
	MOVWF gbl_lata
316 
	MOVF main_1_motors, W
317 
	MOVWF send_00000_arg_c
318 
	CALL send_00000
324 kaklik 319 
	BRA	label268438640
318 kaklik 320 
; } main function end
321 
 
324 kaklik 322 
	ORG 0x0000035C
318 kaklik 323 
_startup
324 
	GOTO	main
325 
	ORG 0x00300000
326 
	DW 0xFEFF
327 
	DW 0xFEF6
328 
	ORG 0x00300004
329 
	DW 0xFEFF
330 
	DW 0xFFFB
331 
	ORG 0x00300008
332 
	DW 0x3FF0
333 
	DW 0x9FFF
334 
	DW 0xBFFF
335 
	END