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`
325	kaklik	48	`021C 6E0D 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`
325	kaklik	63	`0208 500D 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`
325	kaklik	77	`Dim cas As Long`
318	kaklik	78	`Dim i As Long`
		79
		80	`'NASTAVENI IO`
		81	`lata=0xFF`
322	kaklik	82	`0220 6889 SETF gbl_lata`
318	kaklik	83
		84	`latb=0`
322	kaklik	85	`0222 6A8A CLRF gbl_latb`
318	kaklik	86
		87	`latc=0xFF`
322	kaklik	88	`0224 688B SETF gbl_latc`
318	kaklik	89
		90	`trisa=0xF0`
322	kaklik	91	`0226 0EF0 MOVLW 0xF0`
		92	`0228 6E92 MOVWF gbl_trisa`
318	kaklik	93
		94	`trisb=0x3F`
322	kaklik	95	`022A 0E3F MOVLW 0x3F`
		96	`022C 6E93 MOVWF gbl_trisb`
318	kaklik	97
		98	`trisc=0x9F`
322	kaklik	99	`022E 0E9F MOVLW 0x9F`
		100	`0230 6E94 MOVWF gbl_trisc`
318	kaklik	101
		102
		103	`'VYPNOUT ADC`
		104	`adcon1=0xC6`
322	kaklik	105	`0232 0EC6 MOVLW 0xC6`
		106	`0234 6EC1 MOVWF gbl_adcon1`
318	kaklik	107
		108	`adcon0=0xC0`
322	kaklik	109	`0236 0EC0 MOVLW 0xC0`
		110	`0238 6EC2 MOVWF gbl_adcon0`
318	kaklik	111
		112
		113	`'UART 9600bps`
		114	`spbrg=64`
322	kaklik	115	`023A 0E40 MOVLW 0x40`
		116	`023C 6EAF MOVWF gbl_spbrg`
318	kaklik	117
		118	`txsta = txsta & ~(1 << BRGH)`
322	kaklik	119	`023E 0EFB MOVLW 0xFB`
		120	`0240 14AC ANDWF gbl_txsta, W`
		121	`0242 6EAC MOVWF gbl_txsta`
318	kaklik	122
		123	`txsta = txsta \| (1 << TXEN)`
322	kaklik	124	`0244 0E20 MOVLW 0x20`
		125	`0246 10AC IORWF gbl_txsta, W`
		126	`0248 6EAC MOVWF gbl_txsta`
318	kaklik	127
		128	`rcsta = rcsta \| (1 << CREN)`
322	kaklik	129	`024A 0E10 MOVLW 0x10`
		130	`024C 10AB IORWF gbl_rcsta, W`
		131	`024E 6EAB MOVWF gbl_rcsta`
318	kaklik	132
		133	`rcsta = rcsta \| (1 << SPEN)`
322	kaklik	134	`0250 0E80 MOVLW 0x80`
		135	`0252 10AB IORWF gbl_rcsta, W`
		136	`0254 6EAB MOVWF gbl_rcsta`
318	kaklik	137
		138
321	kaklik	139	`motors = 0x00`
322	kaklik	140	`0256 6A01 CLRF main_1_motors`
321	kaklik	141
322	kaklik	142
		143	`do while (portb.0 = 1)`
325	kaklik	144	`0258 label268438599`
322	kaklik	145	`0258 B081 BTFSC gbl_portb,0`
325	kaklik	146	`025A D7FE BRA label268438599`
318	kaklik	147
322	kaklik	148	`loop`
318	kaklik	149
322	kaklik	150	`leds = 0xF0`
		151	`025C 0EF0 MOVLW 0xF0`
		152	`025E 6E03 MOVWF main_1_leds`
318	kaklik	153
322	kaklik	154	`count = 400000`
		155	`0260 0E80 MOVLW 0x80`
		156	`0262 6E04 MOVWF main_1_count`
324	kaklik	157	`0264 0E1A MOVLW 0x1A`
		158	`0266 6E05 MOVWF main_1_count+D'1'`
		159	`0268 0E06 MOVLW 0x06`
		160	`026A 6E06 MOVWF main_1_count+D'2'`
		161	`026C 6A07 CLRF main_1_count+D'3'`
318	kaklik	162
322	kaklik	163
		164	`do while (count > 0)`
325	kaklik	165	`026E label268438604`
324	kaklik	166	`026E 5007 MOVF main_1_count+D'3', W`
		167	`0270 0800 SUBLW 0x00`
325	kaklik	168	`0272 E108 BNZ label268438605`
324	kaklik	169	`0274 5006 MOVF main_1_count+D'2', W`
		170	`0276 0800 SUBLW 0x00`
325	kaklik	171	`0278 E105 BNZ label268438605`
324	kaklik	172	`027A 5005 MOVF main_1_count+D'1', W`
		173	`027C 0800 SUBLW 0x00`
325	kaklik	174	`027E E102 BNZ label268438605`
324	kaklik	175	`0280 5004 MOVF main_1_count, W`
		176	`0282 0800 SUBLW 0x00`
325	kaklik	177	`0284 label268438605`
324	kaklik	178	`0284 BE07 BTFSC main_1_count+D'3',7`
		179	`0286 80D8 BSF STATUS,C`
325	kaklik	180	`0288 E24A BC label268438609`
318	kaklik	181
322	kaklik	182	`count = count -1`
324	kaklik	183	`028A 0E01 MOVLW 0x01`
		184	`028C 5C04 SUBWF main_1_count, W`
325	kaklik	185	`028E 6E0D MOVWF CompTempVar492`
324	kaklik	186	`0290 0E00 MOVLW 0x00`
325	kaklik	187	`0292 6E0E MOVWF CompTempVar496`
324	kaklik	188	`0294 A0D8 BTFSS STATUS,C`
325	kaklik	189	`0296 3C0E INCFSZ CompTempVar496, W`
324	kaklik	190	`0298 5E05 SUBWF main_1_count+D'1', F`
		191	`029A 0E00 MOVLW 0x00`
325	kaklik	192	`029C 6E0E MOVWF CompTempVar496`
324	kaklik	193	`029E A0D8 BTFSS STATUS,C`
325	kaklik	194	`02A0 3C0E INCFSZ CompTempVar496, W`
324	kaklik	195	`02A2 5E06 SUBWF main_1_count+D'2', F`
		196	`02A4 0E00 MOVLW 0x00`
325	kaklik	197	`02A6 6E0E MOVWF CompTempVar496`
324	kaklik	198	`02A8 A0D8 BTFSS STATUS,C`
325	kaklik	199	`02AA 3C0E INCFSZ CompTempVar496, W`
324	kaklik	200	`02AC 5E07 SUBWF main_1_count+D'3', F`
325	kaklik	201	`02AE 500D MOVF CompTempVar492, W`
324	kaklik	202	`02B0 6E04 MOVWF main_1_count`
318	kaklik	203
322	kaklik	204
		205	`if count < 300000 then`
324	kaklik	206	`02B2 0E00 MOVLW 0x00`
		207	`02B4 5C07 SUBWF main_1_count+D'3', W`
325	kaklik	208	`02B6 E108 BNZ label268438621`
324	kaklik	209	`02B8 0E04 MOVLW 0x04`
		210	`02BA 5C06 SUBWF main_1_count+D'2', W`
325	kaklik	211	`02BC E105 BNZ label268438621`
324	kaklik	212	`02BE 0E93 MOVLW 0x93`
		213	`02C0 5C05 SUBWF main_1_count+D'1', W`
325	kaklik	214	`02C2 E102 BNZ label268438621`
324	kaklik	215	`02C4 0EE0 MOVLW 0xE0`
		216	`02C6 5C04 SUBWF main_1_count, W`
325	kaklik	217	`02C8 label268438621`
		218	`02C8 E302 BNC label4026532557`
324	kaklik	219	`02CA AE07 BTFSS main_1_count+D'3',7`
325	kaklik	220	`02CC D003 BRA label268438625`
		221	`02CE label4026532557`
		222	`02D4 label268438625`
324	kaklik	223
322	kaklik	224	`leds = leds \| 1`
324	kaklik	225	`02CE 0E01 MOVLW 0x01`
		226	`02D0 1003 IORWF main_1_leds, W`
		227	`02D2 6E03 MOVWF main_1_leds`
318	kaklik	228
322	kaklik	229	`end if`
		230	`if count < 200000 then`
324	kaklik	231	`02D4 0E00 MOVLW 0x00`
		232	`02D6 5C07 SUBWF main_1_count+D'3', W`
325	kaklik	233	`02D8 E108 BNZ label268438627`
324	kaklik	234	`02DA 0E03 MOVLW 0x03`
		235	`02DC 5C06 SUBWF main_1_count+D'2', W`
325	kaklik	236	`02DE E105 BNZ label268438627`
324	kaklik	237	`02E0 0E0D MOVLW 0x0D`
		238	`02E2 5C05 SUBWF main_1_count+D'1', W`
325	kaklik	239	`02E4 E102 BNZ label268438627`
324	kaklik	240	`02E6 0E40 MOVLW 0x40`
		241	`02E8 5C04 SUBWF main_1_count, W`
325	kaklik	242	`02EA label268438627`
		243	`02EA E302 BNC label4026532558`
324	kaklik	244	`02EC AE07 BTFSS main_1_count+D'3',7`
325	kaklik	245	`02EE D003 BRA label268438631`
		246	`02F0 label4026532558`
		247	`02F6 label268438631`
324	kaklik	248
322	kaklik	249	`leds = leds \| 2`
324	kaklik	250	`02F0 0E02 MOVLW 0x02`
		251	`02F2 1003 IORWF main_1_leds, W`
		252	`02F4 6E03 MOVWF main_1_leds`
318	kaklik	253
322	kaklik	254	`end if`
		255	`if count < 100000 then`
324	kaklik	256	`02F6 0E00 MOVLW 0x00`
		257	`02F8 5C07 SUBWF main_1_count+D'3', W`
325	kaklik	258	`02FA E108 BNZ label268438633`
324	kaklik	259	`02FC 0E01 MOVLW 0x01`
		260	`02FE 5C06 SUBWF main_1_count+D'2', W`
325	kaklik	261	`0300 E105 BNZ label268438633`
324	kaklik	262	`0302 0E86 MOVLW 0x86`
		263	`0304 5C05 SUBWF main_1_count+D'1', W`
325	kaklik	264	`0306 E102 BNZ label268438633`
324	kaklik	265	`0308 0EA0 MOVLW 0xA0`
		266	`030A 5C04 SUBWF main_1_count, W`
325	kaklik	267	`030C label268438633`
		268	`030C E302 BNC label4026532559`
324	kaklik	269	`030E AE07 BTFSS main_1_count+D'3',7`
325	kaklik	270	`0310 D003 BRA label268438637`
		271	`0312 label4026532559`
		272	`0318 label268438637`
324	kaklik	273
322	kaklik	274	`leds = leds \| 4`
324	kaklik	275	`0312 0E04 MOVLW 0x04`
		276	`0314 1003 IORWF main_1_leds, W`
		277	`0316 6E03 MOVWF main_1_leds`
318	kaklik	278
322	kaklik	279	`end if`
		280	`lata = leds`
324	kaklik	281	`0318 5003 MOVF main_1_leds, W`
		282	`031A 6E89 MOVWF gbl_lata`
318	kaklik	283
322	kaklik	284	`loop`
325	kaklik	285	`031C D7A8 BRA label268438604`
		286	`031E label268438609`
318	kaklik	287
322	kaklik	288	`lata = 0xFF`
324	kaklik	289	`031E 6889 SETF gbl_lata`
318	kaklik	290
322	kaklik	291
318	kaklik	292
321	kaklik	293	`Do while 1`
325	kaklik	294	`0320 label268438641`
318	kaklik	295
325	kaklik	296	`cas = 0`
		297	`0320 6A08 CLRF main_1_cas`
		298	`0322 6A09 CLRF main_1_cas+D'1'`
		299	`0324 6A0A CLRF main_1_cas+D'2'`
		300	`0326 6A0B CLRF main_1_cas+D'3'`
318	kaklik	301
321	kaklik	302	`sensors =0xFF`
325	kaklik	303	`0328 6802 SETF main_1_sensors`
318	kaklik	304
321	kaklik	305	`sensors = Call receive() 'prijmi stav cidel senzoru`
325	kaklik	306	`032A EC07F001 CALL receive_00000`
		307	`032E 500D MOVF CompTempVarRet489, W`
		308	`0330 6E02 MOVWF main_1_sensors`
318	kaklik	309
		310
321	kaklik	311	`If (!((sensors.0) and (sensors.1))) Then`
325	kaklik	312	`0332 6A0C CLRF CompTempVar491`
		313	`0334 A202 BTFSS main_1_sensors,1`
		314	`0336 D003 BRA label268438647`
		315	`0338 A002 BTFSS main_1_sensors,0`
		316	`033A D001 BRA label268438647`
		317	`033C 2A0C INCF CompTempVar491, F`
		318	`033E label268438647`
		319	`033E 520C MOVF CompTempVar491, F`
		320	`0340 E102 BNZ label268438648`
		321	`0346 label268438648`
318	kaklik	322
321	kaklik	323	`motors = 0x77`
325	kaklik	324	`0342 0E77 MOVLW 0x77`
		325	`0344 6E01 MOVWF main_1_motors`
318	kaklik	326
321	kaklik	327	`End If`
		328
		329	`If (!(sensors.2)) Then`
325	kaklik	330	`0346 B402 BTFSC main_1_sensors,2`
		331	`0348 D01B BRA label268438651`
		332	`0380 label268438651`
318	kaklik	333
325	kaklik	334	`If cas< 400000 Then`
		335	`034A 0E00 MOVLW 0x00`
		336	`034C 5C0B SUBWF main_1_cas+D'3', W`
		337	`034E E108 BNZ label268438653`
		338	`0350 0E06 MOVLW 0x06`
		339	`0352 5C0A SUBWF main_1_cas+D'2', W`
		340	`0354 E105 BNZ label268438653`
		341	`0356 0E1A MOVLW 0x1A`
		342	`0358 5C09 SUBWF main_1_cas+D'1', W`
		343	`035A E102 BNZ label268438653`
		344	`035C 0E80 MOVLW 0x80`
		345	`035E 5C08 SUBWF main_1_cas, W`
		346	`0360 label268438653`
		347	`0360 E302 BNC label4026532563`
		348	`0362 AE0B BTFSS main_1_cas+D'3',7`
		349	`0364 D007 BRA label4026532566`
		350	`0366 label4026532563`
		351
		352	`cas = cas + 1`
		353	`0366 2A08 INCF main_1_cas, F`
		354	`0368 B4D8 BTFSC STATUS,Z`
		355	`036A 2A09 INCF main_1_cas+D'1', F`
		356	`036C B4D8 BTFSC STATUS,Z`
		357	`036E 2A0A INCF main_1_cas+D'2', F`
		358	`0370 B4D8 BTFSC STATUS,Z`
		359	`0372 2A0B INCF main_1_cas+D'3', F`
		360	`0374 label4026532566`
		361
		362	`End If`
		363	`cas = 0`
		364	`0374 6A08 CLRF main_1_cas`
		365	`0376 6A09 CLRF main_1_cas+D'1'`
		366	`0378 6A0A CLRF main_1_cas+D'2'`
		367	`037A 6A0B CLRF main_1_cas+D'3'`
		368
321	kaklik	369	`motors = 0xF7`
325	kaklik	370	`037C 0EF7 MOVLW 0xF7`
		371	`037E 6E01 MOVWF main_1_motors`
318	kaklik	372
321	kaklik	373	`End If`
318	kaklik	374
321	kaklik	375	`If (!(sensors.3)) Then`
325	kaklik	376	`0380 B602 BTFSC main_1_sensors,3`
		377	`0382 D01B BRA label268438668`
		378	`03BA label268438668`
318	kaklik	379
325	kaklik	380	`If cas< 400000 Then`
		381	`0384 0E00 MOVLW 0x00`
		382	`0386 5C0B SUBWF main_1_cas+D'3', W`
		383	`0388 E108 BNZ label268438670`
		384	`038A 0E06 MOVLW 0x06`
		385	`038C 5C0A SUBWF main_1_cas+D'2', W`
		386	`038E E105 BNZ label268438670`
		387	`0390 0E1A MOVLW 0x1A`
		388	`0392 5C09 SUBWF main_1_cas+D'1', W`
		389	`0394 E102 BNZ label268438670`
		390	`0396 0E80 MOVLW 0x80`
		391	`0398 5C08 SUBWF main_1_cas, W`
		392	`039A label268438670`
		393	`039A E302 BNC label4026532568`
		394	`039C AE0B BTFSS main_1_cas+D'3',7`
		395	`039E D007 BRA label4026532571`
		396	`03A0 label4026532568`
		397
		398	`cas = cas + 1`
		399	`03A0 2A08 INCF main_1_cas, F`
		400	`03A2 B4D8 BTFSC STATUS,Z`
		401	`03A4 2A09 INCF main_1_cas+D'1', F`
		402	`03A6 B4D8 BTFSC STATUS,Z`
		403	`03A8 2A0A INCF main_1_cas+D'2', F`
		404	`03AA B4D8 BTFSC STATUS,Z`
		405	`03AC 2A0B INCF main_1_cas+D'3', F`
		406	`03AE label4026532571`
		407
		408	`End If`
		409	`cas = 0`
		410	`03AE 6A08 CLRF main_1_cas`
		411	`03B0 6A09 CLRF main_1_cas+D'1'`
		412	`03B2 6A0A CLRF main_1_cas+D'2'`
		413	`03B4 6A0B CLRF main_1_cas+D'3'`
		414
321	kaklik	415	`motors = 0x7F`
325	kaklik	416	`03B6 0E7F MOVLW 0x7F`
		417	`03B8 6E01 MOVWF main_1_motors`
318	kaklik	418
321	kaklik	419	`End If`
325	kaklik	420
		421	`cas = cas+1`
		422	`03BA 2A08 INCF main_1_cas, F`
		423	`03BC B4D8 BTFSC STATUS,Z`
		424	`03BE 2A09 INCF main_1_cas+D'1', F`
		425	`03C0 B4D8 BTFSC STATUS,Z`
		426	`03C2 2A0A INCF main_1_cas+D'2', F`
		427	`03C4 B4D8 BTFSC STATUS,Z`
		428	`03C6 2A0B INCF main_1_cas+D'3', F`
		429
321	kaklik	430	`lata = sensors`
325	kaklik	431	`03C8 5002 MOVF main_1_sensors, W`
		432	`03CA 6E89 MOVWF gbl_lata`
318	kaklik	433
321	kaklik	434	`call send(motors)`
325	kaklik	435	`03CC 5001 MOVF main_1_motors, W`
		436	`03CE 6E0D MOVWF send_00000_arg_c`
		437	`03D0 EC02F001 CALL send_00000`
318	kaklik	438
		439
321	kaklik	440	`Loop`
325	kaklik	441	`03D4 D7A5 BRA label268438641`
318	kaklik	442
321	kaklik	443
		444	`End Sub`
318	kaklik	445
		446
321	kaklik	447	`////////////////////////////////////////`
		448	`// Code with no source :-)`
		449	`////////////////////////////////////////`
325	kaklik	450	`0200 EFEBF001 GOTO _startup`
318	kaklik	451
		452
325	kaklik	453	`03D6 _startup`
		454	`03D6 EF10F001 GOTO main`
318	kaklik	455
		456	`300000 FEFF DW 0xFEFF`
		457	`300002 FEF6 DW 0xFEF6`
		458	`300004 FEFF DW 0xFEFF`
		459	`300006 FFFB DW 0xFFFB`
		460	`300008 3FF0 DW 0x3FF0`
		461	`30000A 9FFF DW 0x9FFF`
		462	`30000C BFFF DW 0xBFFF`

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.casm @ 374 – Rev