WebSVN – svnkaklik – Blame – /roboti/Robiada/2007/SW/robot/robot.casm

Rev	Author	Line No.	Line
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	`'robot`
		9
		10	`'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`
		11
		12
		13	`#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H`
		14	`#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L`
		15	`#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`
		16	`#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H`
		17	`#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L`
		18	`#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L`
		19	`#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H`
		20	`#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L`
		21	`#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H`
		22	`#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L`
		23	`#pragma DATA _CONFIG7H, _EBTRB_ON_7H`
		24
		25	`#pragma CLOCK_FREQ 40000000`
		26
		27	`Function receive() As Byte`
		28
		29	`If ( (rcsta.OERR = 1) ) Then`
322	kaklik	30	`020E A2AB BTFSS gbl_rcsta,1`
		31	`0210 D002 BRA label268438551`
		32	`0216 label268438551`
318	kaklik	33
		34	`rcsta.CREN = 0`
322	kaklik	35	`0212 98AB BCF gbl_rcsta,4`
318	kaklik	36
		37	`rcsta.CREN = 1`
322	kaklik	38	`0214 88AB BSF gbl_rcsta,4`
318	kaklik	39
		40	`End If`
		41	`Do While (pir1.RCIF = 0)`
322	kaklik	42	`0216 AA9E BTFSS gbl_pir1,5`
		43	`0218 D7FE BRA label268438551`
318	kaklik	44
		45	`Loop`
		46	`receive = rcreg`
322	kaklik	47	`021A 50AE MOVF gbl_rcreg, W`
		48	`021C 6E07 MOVWF CompTempVarRet489`
318	kaklik	49
		50
		51	`End Function`
322	kaklik	52	`021E 0012 RETURN`
318	kaklik	53
		54
		55	`Sub send(c As Byte)`
		56
		57	`Do while (pir1 & (1 << TXIF)) = 0 Loop`
322	kaklik	58	`0204 label268438562`
		59	`0204 A89E BTFSS gbl_pir1,4`
		60	`0206 D7FE BRA label268438562`
318	kaklik	61
		62	`txreg = c`
322	kaklik	63	`0208 5007 MOVF send_00000_arg_c, W`
		64	`020A 6EAD MOVWF gbl_txreg`
318	kaklik	65
		66	`End Sub`
322	kaklik	67	`020C 0012 RETURN`
318	kaklik	68
		69
		70	`Sub main()`
		71
		72	`Dim motors As Byte`
		73	`Dim sensors As Byte`
		74	`Dim buttons As Byte`
322	kaklik	75	`Dim leds As Byte`
		76	`Dim count As word`
318	kaklik	77	`Dim i As Long`
		78
		79	`'NASTAVENI IO`
		80	`lata=0xFF`
322	kaklik	81	`0220 6889 SETF gbl_lata`
318	kaklik	82
		83	`latb=0`
322	kaklik	84	`0222 6A8A CLRF gbl_latb`
318	kaklik	85
		86	`latc=0xFF`
322	kaklik	87	`0224 688B SETF gbl_latc`
318	kaklik	88
		89	`trisa=0xF0`
322	kaklik	90	`0226 0EF0 MOVLW 0xF0`
		91	`0228 6E92 MOVWF gbl_trisa`
318	kaklik	92
		93	`trisb=0x3F`
322	kaklik	94	`022A 0E3F MOVLW 0x3F`
		95	`022C 6E93 MOVWF gbl_trisb`
318	kaklik	96
		97	`trisc=0x9F`
322	kaklik	98	`022E 0E9F MOVLW 0x9F`
		99	`0230 6E94 MOVWF gbl_trisc`
318	kaklik	100
		101
		102	`'VYPNOUT ADC`
		103	`adcon1=0xC6`
322	kaklik	104	`0232 0EC6 MOVLW 0xC6`
		105	`0234 6EC1 MOVWF gbl_adcon1`
318	kaklik	106
		107	`adcon0=0xC0`
322	kaklik	108	`0236 0EC0 MOVLW 0xC0`
		109	`0238 6EC2 MOVWF gbl_adcon0`
318	kaklik	110
		111
		112	`'UART 9600bps`
		113	`spbrg=64`
322	kaklik	114	`023A 0E40 MOVLW 0x40`
		115	`023C 6EAF MOVWF gbl_spbrg`
318	kaklik	116
		117	`txsta = txsta & ~(1 << BRGH)`
322	kaklik	118	`023E 0EFB MOVLW 0xFB`
		119	`0240 14AC ANDWF gbl_txsta, W`
		120	`0242 6EAC MOVWF gbl_txsta`
318	kaklik	121
		122	`txsta = txsta \| (1 << TXEN)`
322	kaklik	123	`0244 0E20 MOVLW 0x20`
		124	`0246 10AC IORWF gbl_txsta, W`
		125	`0248 6EAC MOVWF gbl_txsta`
318	kaklik	126
		127	`rcsta = rcsta \| (1 << CREN)`
322	kaklik	128	`024A 0E10 MOVLW 0x10`
		129	`024C 10AB IORWF gbl_rcsta, W`
		130	`024E 6EAB MOVWF gbl_rcsta`
318	kaklik	131
		132	`rcsta = rcsta \| (1 << SPEN)`
322	kaklik	133	`0250 0E80 MOVLW 0x80`
		134	`0252 10AB IORWF gbl_rcsta, W`
		135	`0254 6EAB MOVWF gbl_rcsta`
318	kaklik	136
		137
321	kaklik	138	`motors = 0x00`
322	kaklik	139	`0256 6A01 CLRF main_1_motors`
321	kaklik	140
322	kaklik	141
		142	`do while (portb.0 = 1)`
		143	`0258 label268438598`
		144	`0258 B081 BTFSC gbl_portb,0`
		145	`025A D7FE BRA label268438598`
318	kaklik	146
322	kaklik	147	`loop`
318	kaklik	148
322	kaklik	149	`leds = 0xF0`
		150	`025C 0EF0 MOVLW 0xF0`
		151	`025E 6E03 MOVWF main_1_leds`
318	kaklik	152
322	kaklik	153	`count = 400000`
		154	`0260 0E80 MOVLW 0x80`
		155	`0262 6E04 MOVWF main_1_count`
		156	`0264 0E1A MOVLW 0x1A`
		157	`0266 6E05 MOVWF main_1_count+D'1'`
318	kaklik	158
322	kaklik	159
		160	`do while (count > 0)`
		161	`0268 label268438603`
		162	`0268 5004 MOVF main_1_count, W`
		163	`026A 0800 SUBLW 0x00`
		164	`026C B0D8 BTFSC STATUS,C`
		165	`026E 5005 MOVF main_1_count+D'1', W`
		166	`0270 E013 BZ label268438605`
318	kaklik	167
322	kaklik	168	`count = count -1`
		169	`0272 0E01 MOVLW 0x01`
		170	`0274 5C04 SUBWF main_1_count, W`
		171	`0276 6E07 MOVWF CompTempVar492`
		172	`0278 A0D8 BTFSS STATUS,C`
		173	`027A 0605 DECF main_1_count+D'1', F`
		174	`027C 5007 MOVF CompTempVar492, W`
		175	`027E 6E04 MOVWF main_1_count`
318	kaklik	176
322	kaklik	177
		178	`if count < 300000 then`
		179	`leds = leds \| 1`
		180	`0280 0E01 MOVLW 0x01`
		181	`0282 1003 IORWF main_1_leds, W`
		182	`0284 6E03 MOVWF main_1_leds`
318	kaklik	183
322	kaklik	184	`end if`
		185	`if count < 200000 then`
		186	`leds = leds \| 2`
		187	`0286 0E02 MOVLW 0x02`
		188	`0288 1003 IORWF main_1_leds, W`
		189	`028A 6E03 MOVWF main_1_leds`
318	kaklik	190
322	kaklik	191	`end if`
		192	`if count < 100000 then`
		193	`leds = leds \| 4`
		194	`028C 0E04 MOVLW 0x04`
		195	`028E 1003 IORWF main_1_leds, W`
		196	`0290 6E03 MOVWF main_1_leds`
318	kaklik	197
322	kaklik	198	`end if`
		199	`lata = leds`
		200	`0292 5003 MOVF main_1_leds, W`
		201	`0294 6E89 MOVWF gbl_lata`
318	kaklik	202
322	kaklik	203	`loop`
		204	`0296 D7E8 BRA label268438603`
		205	`0298 label268438605`
318	kaklik	206
322	kaklik	207	`leds = 0xFF`
		208	`0298 6803 SETF main_1_leds`
318	kaklik	209
322	kaklik	210	`lata = 0xFF`
		211	`029A 6889 SETF gbl_lata`
318	kaklik	212
322	kaklik	213
318	kaklik	214
321	kaklik	215	`Do while 1`
322	kaklik	216	`029C label268438623`
318	kaklik	217
		218
321	kaklik	219	`sensors =0xFF`
322	kaklik	220	`029C 6802 SETF main_1_sensors`
318	kaklik	221
321	kaklik	222	`sensors = Call receive() 'prijmi stav cidel senzoru`
322	kaklik	223	`029E EC07F001 CALL receive_00000`
		224	`02A2 5007 MOVF CompTempVarRet489, W`
		225	`02A4 6E02 MOVWF main_1_sensors`
318	kaklik	226
		227
321	kaklik	228	`If (!((sensors.0) and (sensors.1))) Then`
322	kaklik	229	`02A6 6A06 CLRF CompTempVar491`
		230	`02A8 A202 BTFSS main_1_sensors,1`
		231	`02AA D003 BRA label268438628`
		232	`02AC A002 BTFSS main_1_sensors,0`
		233	`02AE D001 BRA label268438628`
		234	`02B0 2A06 INCF CompTempVar491, F`
		235	`02B2 label268438628`
		236	`02B2 5206 MOVF CompTempVar491, F`
		237	`02B4 E102 BNZ label268438629`
		238	`02BA label268438629`
318	kaklik	239
321	kaklik	240	`motors = 0x77`
322	kaklik	241	`02B6 0E77 MOVLW 0x77`
		242	`02B8 6E01 MOVWF main_1_motors`
318	kaklik	243
321	kaklik	244	`End If`
		245
		246	`If (!(sensors.2)) Then`
322	kaklik	247	`02BA B402 BTFSC main_1_sensors,2`
		248	`02BC D002 BRA label268438632`
		249	`02C2 label268438632`
318	kaklik	250
321	kaklik	251	`motors = 0xF7`
322	kaklik	252	`02BE 0EF7 MOVLW 0xF7`
		253	`02C0 6E01 MOVWF main_1_motors`
318	kaklik	254
321	kaklik	255	`End If`
318	kaklik	256
321	kaklik	257	`If (!(sensors.3)) Then`
322	kaklik	258	`02C2 B602 BTFSC main_1_sensors,3`
		259	`02C4 D002 BRA label268438635`
		260	`02CA label268438635`
318	kaklik	261
321	kaklik	262	`motors = 0x7F`
322	kaklik	263	`02C6 0E7F MOVLW 0x7F`
		264	`02C8 6E01 MOVWF main_1_motors`
318	kaklik	265
321	kaklik	266	`End If`
		267
		268	`lata = sensors`
322	kaklik	269	`02CA 5002 MOVF main_1_sensors, W`
		270	`02CC 6E89 MOVWF gbl_lata`
318	kaklik	271
321	kaklik	272	`call send(motors)`
322	kaklik	273	`02CE 5001 MOVF main_1_motors, W`
		274	`02D0 6E07 MOVWF send_00000_arg_c`
		275	`02D2 EC02F001 CALL send_00000`
318	kaklik	276
		277
321	kaklik	278	`Loop`
322	kaklik	279	`02D6 D7E2 BRA label268438623`
318	kaklik	280
321	kaklik	281
		282	`End Sub`
318	kaklik	283
		284
321	kaklik	285	`////////////////////////////////////////`
		286	`// Code with no source :-)`
		287	`////////////////////////////////////////`
322	kaklik	288	`0200 EF6CF001 GOTO _startup`
318	kaklik	289
		290
322	kaklik	291	`02D8 _startup`
		292	`02D8 EF10F001 GOTO main`
318	kaklik	293
		294	`300000 FEFF DW 0xFEFF`
		295	`300002 FEF6 DW 0xFEF6`
		296	`300004 FEFF DW 0xFEFF`
		297	`300006 FFFB DW 0xFFFB`
		298	`300008 3FF0 DW 0x3FF0`
		299	`30000A 9FFF DW 0x9FFF`
		300	`30000C BFFF DW 0xBFFF`

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