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`
324	kaklik	48	`021C 6E09 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`
324	kaklik	63	`0208 5009 MOVF send_00000_arg_c, W`
322	kaklik	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`
324	kaklik	76	`Dim count As Long`
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`
324	kaklik	156	`0264 0E1A MOVLW 0x1A`
		157	`0266 6E05 MOVWF main_1_count+D'1'`
		158	`0268 0E06 MOVLW 0x06`
		159	`026A 6E06 MOVWF main_1_count+D'2'`
		160	`026C 6A07 CLRF main_1_count+D'3'`
318	kaklik	161
322	kaklik	162
		163	`do while (count > 0)`
324	kaklik	164	`026E label268438603`
		165	`026E 5007 MOVF main_1_count+D'3', W`
		166	`0270 0800 SUBLW 0x00`
		167	`0272 E108 BNZ label268438604`
		168	`0274 5006 MOVF main_1_count+D'2', W`
		169	`0276 0800 SUBLW 0x00`
		170	`0278 E105 BNZ label268438604`
		171	`027A 5005 MOVF main_1_count+D'1', W`
		172	`027C 0800 SUBLW 0x00`
		173	`027E E102 BNZ label268438604`
		174	`0280 5004 MOVF main_1_count, W`
		175	`0282 0800 SUBLW 0x00`
		176	`0284 label268438604`
		177	`0284 BE07 BTFSC main_1_count+D'3',7`
		178	`0286 80D8 BSF STATUS,C`
		179	`0288 E24A BC label268438608`
318	kaklik	180
322	kaklik	181	`count = count -1`
324	kaklik	182	`028A 0E01 MOVLW 0x01`
		183	`028C 5C04 SUBWF main_1_count, W`
		184	`028E 6E09 MOVWF CompTempVar492`
		185	`0290 0E00 MOVLW 0x00`
		186	`0292 6E0A MOVWF CompTempVar496`
		187	`0294 A0D8 BTFSS STATUS,C`
		188	`0296 3C0A INCFSZ CompTempVar496, W`
		189	`0298 5E05 SUBWF main_1_count+D'1', F`
		190	`029A 0E00 MOVLW 0x00`
		191	`029C 6E0A MOVWF CompTempVar496`
		192	`029E A0D8 BTFSS STATUS,C`
		193	`02A0 3C0A INCFSZ CompTempVar496, W`
		194	`02A2 5E06 SUBWF main_1_count+D'2', F`
		195	`02A4 0E00 MOVLW 0x00`
		196	`02A6 6E0A MOVWF CompTempVar496`
		197	`02A8 A0D8 BTFSS STATUS,C`
		198	`02AA 3C0A INCFSZ CompTempVar496, W`
		199	`02AC 5E07 SUBWF main_1_count+D'3', F`
		200	`02AE 5009 MOVF CompTempVar492, W`
		201	`02B0 6E04 MOVWF main_1_count`
318	kaklik	202
322	kaklik	203
		204	`if count < 300000 then`
324	kaklik	205	`02B2 0E00 MOVLW 0x00`
		206	`02B4 5C07 SUBWF main_1_count+D'3', W`
		207	`02B6 E108 BNZ label268438620`
		208	`02B8 0E04 MOVLW 0x04`
		209	`02BA 5C06 SUBWF main_1_count+D'2', W`
		210	`02BC E105 BNZ label268438620`
		211	`02BE 0E93 MOVLW 0x93`
		212	`02C0 5C05 SUBWF main_1_count+D'1', W`
		213	`02C2 E102 BNZ label268438620`
		214	`02C4 0EE0 MOVLW 0xE0`
		215	`02C6 5C04 SUBWF main_1_count, W`
		216	`02C8 label268438620`
		217	`02C8 E302 BNC label4026532500`
		218	`02CA AE07 BTFSS main_1_count+D'3',7`
		219	`02CC D003 BRA label268438624`
		220	`02CE label4026532500`
		221	`02D4 label268438624`
		222
322	kaklik	223	`leds = leds \| 1`
324	kaklik	224	`02CE 0E01 MOVLW 0x01`
		225	`02D0 1003 IORWF main_1_leds, W`
		226	`02D2 6E03 MOVWF main_1_leds`
318	kaklik	227
322	kaklik	228	`end if`
		229	`if count < 200000 then`
324	kaklik	230	`02D4 0E00 MOVLW 0x00`
		231	`02D6 5C07 SUBWF main_1_count+D'3', W`
		232	`02D8 E108 BNZ label268438626`
		233	`02DA 0E03 MOVLW 0x03`
		234	`02DC 5C06 SUBWF main_1_count+D'2', W`
		235	`02DE E105 BNZ label268438626`
		236	`02E0 0E0D MOVLW 0x0D`
		237	`02E2 5C05 SUBWF main_1_count+D'1', W`
		238	`02E4 E102 BNZ label268438626`
		239	`02E6 0E40 MOVLW 0x40`
		240	`02E8 5C04 SUBWF main_1_count, W`
		241	`02EA label268438626`
		242	`02EA E302 BNC label4026532501`
		243	`02EC AE07 BTFSS main_1_count+D'3',7`
		244	`02EE D003 BRA label268438630`
		245	`02F0 label4026532501`
		246	`02F6 label268438630`
		247
322	kaklik	248	`leds = leds \| 2`
324	kaklik	249	`02F0 0E02 MOVLW 0x02`
		250	`02F2 1003 IORWF main_1_leds, W`
		251	`02F4 6E03 MOVWF main_1_leds`
318	kaklik	252
322	kaklik	253	`end if`
		254	`if count < 100000 then`
324	kaklik	255	`02F6 0E00 MOVLW 0x00`
		256	`02F8 5C07 SUBWF main_1_count+D'3', W`
		257	`02FA E108 BNZ label268438632`
		258	`02FC 0E01 MOVLW 0x01`
		259	`02FE 5C06 SUBWF main_1_count+D'2', W`
		260	`0300 E105 BNZ label268438632`
		261	`0302 0E86 MOVLW 0x86`
		262	`0304 5C05 SUBWF main_1_count+D'1', W`
		263	`0306 E102 BNZ label268438632`
		264	`0308 0EA0 MOVLW 0xA0`
		265	`030A 5C04 SUBWF main_1_count, W`
		266	`030C label268438632`
		267	`030C E302 BNC label4026532502`
		268	`030E AE07 BTFSS main_1_count+D'3',7`
		269	`0310 D003 BRA label268438636`
		270	`0312 label4026532502`
		271	`0318 label268438636`
		272
322	kaklik	273	`leds = leds \| 4`
324	kaklik	274	`0312 0E04 MOVLW 0x04`
		275	`0314 1003 IORWF main_1_leds, W`
		276	`0316 6E03 MOVWF main_1_leds`
318	kaklik	277
322	kaklik	278	`end if`
		279	`lata = leds`
324	kaklik	280	`0318 5003 MOVF main_1_leds, W`
		281	`031A 6E89 MOVWF gbl_lata`
318	kaklik	282
322	kaklik	283	`loop`
324	kaklik	284	`031C D7A8 BRA label268438603`
		285	`031E label268438608`
318	kaklik	286
322	kaklik	287	`lata = 0xFF`
324	kaklik	288	`031E 6889 SETF gbl_lata`
318	kaklik	289
322	kaklik	290
318	kaklik	291
321	kaklik	292	`Do while 1`
324	kaklik	293	`0320 label268438640`
318	kaklik	294
		295
321	kaklik	296	`sensors =0xFF`
324	kaklik	297	`0320 6802 SETF main_1_sensors`
318	kaklik	298
321	kaklik	299	`sensors = Call receive() 'prijmi stav cidel senzoru`
324	kaklik	300	`0322 EC07F001 CALL receive_00000`
		301	`0326 5009 MOVF CompTempVarRet489, W`
		302	`0328 6E02 MOVWF main_1_sensors`
318	kaklik	303
		304
321	kaklik	305	`If (!((sensors.0) and (sensors.1))) Then`
324	kaklik	306	`032A 6A08 CLRF CompTempVar491`
		307	`032C A202 BTFSS main_1_sensors,1`
		308	`032E D003 BRA label268438645`
		309	`0330 A002 BTFSS main_1_sensors,0`
		310	`0332 D001 BRA label268438645`
		311	`0334 2A08 INCF CompTempVar491, F`
		312	`0336 label268438645`
		313	`0336 5208 MOVF CompTempVar491, F`
		314	`0338 E102 BNZ label268438646`
		315	`033E label268438646`
318	kaklik	316
321	kaklik	317	`motors = 0x77`
324	kaklik	318	`033A 0E77 MOVLW 0x77`
		319	`033C 6E01 MOVWF main_1_motors`
318	kaklik	320
321	kaklik	321	`End If`
		322
		323	`If (!(sensors.2)) Then`
324	kaklik	324	`033E B402 BTFSC main_1_sensors,2`
		325	`0340 D002 BRA label268438649`
		326	`0346 label268438649`
318	kaklik	327
321	kaklik	328	`motors = 0xF7`
324	kaklik	329	`0342 0EF7 MOVLW 0xF7`
		330	`0344 6E01 MOVWF main_1_motors`
318	kaklik	331
321	kaklik	332	`End If`
318	kaklik	333
321	kaklik	334	`If (!(sensors.3)) Then`
324	kaklik	335	`0346 B602 BTFSC main_1_sensors,3`
		336	`0348 D002 BRA label268438652`
		337	`034E label268438652`
318	kaklik	338
321	kaklik	339	`motors = 0x7F`
324	kaklik	340	`034A 0E7F MOVLW 0x7F`
		341	`034C 6E01 MOVWF main_1_motors`
318	kaklik	342
321	kaklik	343	`End If`
		344
		345	`lata = sensors`
324	kaklik	346	`034E 5002 MOVF main_1_sensors, W`
		347	`0350 6E89 MOVWF gbl_lata`
318	kaklik	348
321	kaklik	349	`call send(motors)`
324	kaklik	350	`0352 5001 MOVF main_1_motors, W`
		351	`0354 6E09 MOVWF send_00000_arg_c`
		352	`0356 EC02F001 CALL send_00000`
318	kaklik	353
		354
321	kaklik	355	`Loop`
324	kaklik	356	`035A D7E2 BRA label268438640`
318	kaklik	357
321	kaklik	358
		359	`End Sub`
318	kaklik	360
		361
321	kaklik	362	`////////////////////////////////////////`
		363	`// Code with no source :-)`
		364	`////////////////////////////////////////`
324	kaklik	365	`0200 EFAEF001 GOTO _startup`
318	kaklik	366
		367
324	kaklik	368	`035C _startup`
		369	`035C EF10F001 GOTO main`
318	kaklik	370
		371	`300000 FEFF DW 0xFEFF`
		372	`300002 FEF6 DW 0xFEF6`
		373	`300004 FEFF DW 0xFEFF`
		374	`300006 FFFB DW 0xFFFB`
		375	`300008 3FF0 DW 0x3FF0`
		376	`30000A 9FFF DW 0x9FFF`
		377	`30000C BFFF DW 0xBFFF`

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.casm – Rev 324