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`
321	kaklik	30	`0204 A2AB BTFSS gbl_rcsta,1`
		31	`0206 D002 BRA label268438550`
		32	`020C label268438550`
318	kaklik	33
		34	`rcsta.CREN = 0`
321	kaklik	35	`0208 98AB BCF gbl_rcsta,4`
318	kaklik	36
		37	`rcsta.CREN = 1`
321	kaklik	38	`020A 88AB BSF gbl_rcsta,4`
318	kaklik	39
		40	`End If`
		41	`Do While (pir1.RCIF = 0)`
321	kaklik	42	`020C AA9E BTFSS gbl_pir1,5`
		43	`020E D7FE BRA label268438550`
318	kaklik	44
		45	`Loop`
		46	`receive = rcreg`
321	kaklik	47	`0210 50AE MOVF gbl_rcreg, W`
		48	`0212 6E07 MOVWF CompTempVarRet489`
318	kaklik	49
		50
		51	`End Function`
321	kaklik	52	`0214 0012 RETURN`
318	kaklik	53
		54
		55	`Sub send(c As Byte)`
		56
		57	`Do while (pir1 & (1 << TXIF)) = 0 Loop`
321	kaklik	58	`0216 label268438561`
		59	`0216 A89E BTFSS gbl_pir1,4`
		60	`0218 D7FE BRA label268438561`
318	kaklik	61
		62	`txreg = c`
321	kaklik	63	`021A 5004 MOVF send_00000_arg_c, W`
		64	`021C 6EAD MOVWF gbl_txreg`
318	kaklik	65
		66	`End Sub`
321	kaklik	67	`021E 0012 RETURN`
318	kaklik	68
		69
321	kaklik	70	`Sub delay(cas As Byte)`
		71
		72	`Dim i As Byte`
		73	`Dim x As Byte`
		74	`Do while i <= cas`
		75	`0220 label268438570`
		76	`0220 5005 MOVF delay_00000_1_i, W`
		77	`0222 5C04 SUBWF delay_00000_arg_cas, W`
		78	`0224 A0D8 BTFSS STATUS,C`
		79
		80	`Do While x <= 100`
		81	`0228 5006 MOVF delay_00000_1_x, W`
		82	`022A 0864 SUBLW 0x64`
		83	`022C E305 BNC label268438574`
		84
		85	`Call receive()`
		86	`022E EC02F001 CALL receive_00000`
		87
		88	`x=x+1`
		89	`0232 2806 INCF delay_00000_1_x, W`
		90	`0234 6E06 MOVWF delay_00000_1_x`
		91
		92	`loop`
		93	`0236 D7F8 BRA label4026532417`
		94	`0238 label268438574`
		95
		96	`i=i+1`
		97	`0238 2805 INCF delay_00000_1_i, W`
		98	`023A 6E05 MOVWF delay_00000_1_i`
		99
		100	`loop`
		101	`023C D7F1 BRA label268438570`
		102
		103
		104	`End Sub`
		105	`0226 0012 RETURN`
		106	`0228 label4026532417`
		107
		108
318	kaklik	109	`Sub main()`
		110
		111	`Dim motors As Byte`
		112	`Dim sensors As Byte`
		113	`Dim buttons As Byte`
		114	`Dim i As Long`
		115
		116	`'NASTAVENI IO`
		117	`lata=0xFF`
321	kaklik	118	`023E 6889 SETF gbl_lata`
318	kaklik	119
		120	`latb=0`
321	kaklik	121	`0240 6A8A CLRF gbl_latb`
318	kaklik	122
		123	`latc=0xFF`
321	kaklik	124	`0242 688B SETF gbl_latc`
318	kaklik	125
		126	`trisa=0xF0`
321	kaklik	127	`0244 0EF0 MOVLW 0xF0`
		128	`0246 6E92 MOVWF gbl_trisa`
318	kaklik	129
		130	`trisb=0x3F`
321	kaklik	131	`0248 0E3F MOVLW 0x3F`
		132	`024A 6E93 MOVWF gbl_trisb`
318	kaklik	133
		134	`trisc=0x9F`
321	kaklik	135	`024C 0E9F MOVLW 0x9F`
		136	`024E 6E94 MOVWF gbl_trisc`
318	kaklik	137
		138
		139	`'VYPNOUT ADC`
		140	`adcon1=0xC6`
321	kaklik	141	`0250 0EC6 MOVLW 0xC6`
		142	`0252 6EC1 MOVWF gbl_adcon1`
318	kaklik	143
		144	`adcon0=0xC0`
321	kaklik	145	`0254 0EC0 MOVLW 0xC0`
		146	`0256 6EC2 MOVWF gbl_adcon0`
318	kaklik	147
		148
		149	`'UART 9600bps`
		150	`spbrg=64`
321	kaklik	151	`0258 0E40 MOVLW 0x40`
		152	`025A 6EAF MOVWF gbl_spbrg`
318	kaklik	153
		154	`txsta = txsta & ~(1 << BRGH)`
321	kaklik	155	`025C 0EFB MOVLW 0xFB`
		156	`025E 14AC ANDWF gbl_txsta, W`
		157	`0260 6EAC MOVWF gbl_txsta`
318	kaklik	158
		159	`txsta = txsta \| (1 << TXEN)`
321	kaklik	160	`0262 0E20 MOVLW 0x20`
		161	`0264 10AC IORWF gbl_txsta, W`
		162	`0266 6EAC MOVWF gbl_txsta`
318	kaklik	163
		164	`rcsta = rcsta \| (1 << CREN)`
321	kaklik	165	`0268 0E10 MOVLW 0x10`
		166	`026A 10AB IORWF gbl_rcsta, W`
		167	`026C 6EAB MOVWF gbl_rcsta`
318	kaklik	168
		169	`rcsta = rcsta \| (1 << SPEN)`
321	kaklik	170	`026E 0E80 MOVLW 0x80`
		171	`0270 10AB IORWF gbl_rcsta, W`
		172	`0272 6EAB MOVWF gbl_rcsta`
318	kaklik	173
		174
321	kaklik	175	`motors = 0x00`
		176	`0274 6A01 CLRF main_1_motors`
		177
318	kaklik	178
321	kaklik	179	`lata = 0x0E`
		180	`0276 0E0E MOVLW 0x0E`
		181	`0278 6E89 MOVWF gbl_lata`
318	kaklik	182
321	kaklik	183	`Call delay(200)`
		184	`027A 0EC8 MOVLW 0xC8`
		185	`027C 6E04 MOVWF delay_00000_arg_cas`
		186	`027E EC10F001 CALL delay_00000`
318	kaklik	187
321	kaklik	188	`lata = 0x0D`
		189	`0282 0E0D MOVLW 0x0D`
		190	`0284 6E89 MOVWF gbl_lata`
318	kaklik	191
321	kaklik	192	`Call delay(200)`
		193	`0286 0EC8 MOVLW 0xC8`
		194	`0288 6E04 MOVWF delay_00000_arg_cas`
		195	`028A EC10F001 CALL delay_00000`
318	kaklik	196
321	kaklik	197	`lata = 0x0B`
		198	`028E 0E0B MOVLW 0x0B`
		199	`0290 6E89 MOVWF gbl_lata`
318	kaklik	200
321	kaklik	201	`Call delay(200)`
		202	`0292 0EC8 MOVLW 0xC8`
		203	`0294 6E04 MOVWF delay_00000_arg_cas`
		204	`0296 EC10F001 CALL delay_00000`
318	kaklik	205
321	kaklik	206	`lata = 0x07`
		207	`029A 0E07 MOVLW 0x07`
		208	`029C 6E89 MOVWF gbl_lata`
318	kaklik	209
321	kaklik	210	`Call delay(200)`
		211	`029E 0EC8 MOVLW 0xC8`
		212	`02A0 6E04 MOVWF delay_00000_arg_cas`
		213	`02A2 EC10F001 CALL delay_00000`
318	kaklik	214
		215
321	kaklik	216	`motors = 0x77`
		217	`02A6 0E77 MOVLW 0x77`
		218	`02A8 6E01 MOVWF main_1_motors`
318	kaklik	219
		220
321	kaklik	221	`Call delay(100)`
		222	`02AA 0E64 MOVLW 0x64`
		223	`02AC 6E04 MOVWF delay_00000_arg_cas`
		224	`02AE EC10F001 CALL delay_00000`
318	kaklik	225
		226
		227
321	kaklik	228	`Do while 1`
		229	`02B2 label268438640`
318	kaklik	230
		231
321	kaklik	232	`sensors =0xFF`
		233	`02B2 6802 SETF main_1_sensors`
318	kaklik	234
321	kaklik	235	`sensors = Call receive() 'prijmi stav cidel senzoru`
		236	`02B4 EC02F001 CALL receive_00000`
		237	`02B8 5007 MOVF CompTempVarRet489, W`
		238	`02BA 6E02 MOVWF main_1_sensors`
318	kaklik	239
		240
321	kaklik	241	`If (!((sensors.0) and (sensors.1))) Then`
		242	`02BC 6A03 CLRF CompTempVar491`
		243	`02BE A202 BTFSS main_1_sensors,1`
		244	`02C0 D003 BRA label268438645`
		245	`02C2 A002 BTFSS main_1_sensors,0`
		246	`02C4 D001 BRA label268438645`
		247	`02C6 2A03 INCF CompTempVar491, F`
		248	`02C8 label268438645`
		249	`02C8 5203 MOVF CompTempVar491, F`
		250	`02CA E102 BNZ label268438646`
		251	`02D0 label268438646`
318	kaklik	252
321	kaklik	253	`motors = 0x77`
		254	`02CC 0E77 MOVLW 0x77`
		255	`02CE 6E01 MOVWF main_1_motors`
318	kaklik	256
321	kaklik	257	`End If`
		258
		259	`If (!(sensors.2)) Then`
		260	`02D0 B402 BTFSC main_1_sensors,2`
		261	`02D2 D002 BRA label268438649`
		262	`02D8 label268438649`
318	kaklik	263
321	kaklik	264	`motors = 0xF7`
		265	`02D4 0EF7 MOVLW 0xF7`
		266	`02D6 6E01 MOVWF main_1_motors`
318	kaklik	267
321	kaklik	268	`End If`
318	kaklik	269
321	kaklik	270	`If (!(sensors.3)) Then`
		271	`02D8 B602 BTFSC main_1_sensors,3`
		272	`02DA D002 BRA label268438652`
		273	`02E0 label268438652`
318	kaklik	274
321	kaklik	275	`motors = 0x7F`
		276	`02DC 0E7F MOVLW 0x7F`
		277	`02DE 6E01 MOVWF main_1_motors`
318	kaklik	278
321	kaklik	279	`End If`
		280
		281	`lata = sensors`
		282	`02E0 5002 MOVF main_1_sensors, W`
		283	`02E2 6E89 MOVWF gbl_lata`
318	kaklik	284
321	kaklik	285	`call send(motors)`
		286	`02E4 5001 MOVF main_1_motors, W`
		287	`02E6 6E04 MOVWF send_00000_arg_c`
		288	`02E8 EC0BF001 CALL send_00000`
318	kaklik	289
		290
321	kaklik	291	`Loop`
		292	`02EC D7E2 BRA label268438640`
318	kaklik	293
321	kaklik	294
		295	`End Sub`
318	kaklik	296
		297
321	kaklik	298	`////////////////////////////////////////`
		299	`// Code with no source :-)`
		300	`////////////////////////////////////////`
		301	`0200 EF77F001 GOTO _startup`
318	kaklik	302
		303
		304
		305
		306
		307
		308
321	kaklik	309	`02EE _startup`
		310	`02EE EF1FF001 GOTO main`
318	kaklik	311
		312	`300000 FEFF DW 0xFEFF`
		313	`300002 FEF6 DW 0xFEF6`
		314	`300004 FEFF DW 0xFEFF`
		315	`300006 FFFB DW 0xFFFB`
		316	`300008 3FF0 DW 0x3FF0`
		317	`30000A 9FFF DW 0x9FFF`
		318	`30000C BFFF DW 0xBFFF`

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.casm @ 369 – Rev 321