WebSVN – svnkaklik – Blame – /roboti/auto/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCW C Compiler, Version 3.110, 15448`
		2
		3	`Filename: d:\@kaklik\programy\pic_c\robot\auto\main.LST`
		4
		5	`ROM used: 188 (18%)`
		6	`Largest free fragment is 836`
		7	`RAM used: 4 (11%) at main() level`
		8	`5 (14%) worst case`
		9	`Stack: 2 locations`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 071`
		15	`0003: NOP`
		16	`.................... #include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h"`
		17	`.................... #include <16C84.h>`
		18	`.................... //////// Standard Header file for the PIC16C84 device ////////////////`
		19	`.................... #device PIC16C84`
		20	`.................... #list`
		21	`....................`
		22	`.................... #use delay(clock=4000000)`
		23	`0004: MOVLW 10`
		24	`0005: MOVWF 04`
		25	`0006: MOVF 00,W`
		26	`0007: BTFSC 03.2`
		27	`0008: GOTO 018`
		28	`0009: MOVLW 01`
		29	`000A: MOVWF 0D`
		30	`000B: CLRF 0C`
		31	`000C: DECFSZ 0C,F`
		32	`000D: GOTO 00C`
		33	`000E: DECFSZ 0D,F`
		34	`000F: GOTO 00B`
		35	`0010: MOVLW 4A`
		36	`0011: MOVWF 0C`
		37	`0012: DECFSZ 0C,F`
		38	`0013: GOTO 012`
		39	`0014: NOP`
		40	`0015: NOP`
		41	`0016: DECFSZ 00,F`
		42	`0017: GOTO 009`
		43	`0018: RETLW 00`
		44	`.................... #fuses XT,NOWDT`
		45	`....................`
		46	`....................`
		47	`....................`
		48	`.................... #DEFINE CIDLO1L PIN_B0`
		49	`.................... #DEFINE CIDLO1R PIN_B1`
		50	`.................... #DEFINE CIDLO2L PIN_B2`
		51	`.................... #DEFINE CIDLO2R PIN_B3`
		52	`....................`
		53	`.................... #DEFINE RELE1 PIN_B5`
		54	`.................... #DEFINE RELE2 PIN_B6`
		55	`.................... #DEFINE MOTOR1 PIN_B4`
		56	`.................... #DEFINE MOTOR2 PIN_A0`
		57	`.................... #DEFINE MOTOR2a PIN_A1`
		58	`....................`
		59	`.................... #DEFINE LASER PIN_A2`
		60	`....................`
		61	`.................... #DEFINE L 0`
		62	`.................... #DEFINE R 1`
		63	`....................`
		64	`.................... int cara;`
		65	`.................... int movement;`
		66	`....................`
		67	`.................... void left()`
		68	`.................... {`
		69	`.................... output_high(RELE1);`
		70	`*`
		71	`0041: BSF 03.5`
		72	`0042: BCF 06.5`
		73	`0043: BCF 03.5`
		74	`0044: BSF 06.5`
		75	`.................... output_high(RELE2);`
		76	`0045: BSF 03.5`
		77	`0046: BCF 06.6`
		78	`0047: BCF 03.5`
		79	`0048: BSF 06.6`
		80	`.................... delay_ms(100);`
		81	`0049: MOVLW 64`
		82	`004A: MOVWF 10`
		83	`004B: CALL 004`
		84	`.................... output_high(MOTOR1);`
		85	`004C: BSF 03.5`
		86	`004D: BCF 06.4`
		87	`004E: BCF 03.5`
		88	`004F: BSF 06.4`
		89	`.................... output_high(MOTOR2);`
		90	`0050: BSF 03.5`
		91	`0051: BCF 05.0`
		92	`0052: BCF 03.5`
		93	`0053: BSF 05.0`
		94	`.................... output_high(MOTOR2a);`
		95	`0054: BSF 03.5`
		96	`0055: BCF 05.1`
		97	`0056: BCF 03.5`
		98	`0057: BSF 05.1`
		99	`0058: GOTO 0A4 (RETURN)`
		100	`.................... }`
		101	`....................`
		102	`.................... void right()`
		103	`.................... {`
		104	`.................... output_low(RELE1);`
		105	`0059: BSF 03.5`
		106	`005A: BCF 06.5`
		107	`005B: BCF 03.5`
		108	`005C: BCF 06.5`
		109	`.................... output_low(RELE2);`
		110	`005D: BSF 03.5`
		111	`005E: BCF 06.6`
		112	`005F: BCF 03.5`
		113	`0060: BCF 06.6`
		114	`.................... delay_ms(100);`
		115	`0061: MOVLW 64`
		116	`0062: MOVWF 10`
		117	`0063: CALL 004`
		118	`.................... output_high(MOTOR1);`
		119	`0064: BSF 03.5`
		120	`0065: BCF 06.4`
		121	`0066: BCF 03.5`
		122	`0067: BSF 06.4`
		123	`.................... output_high(MOTOR2);`
		124	`0068: BSF 03.5`
		125	`0069: BCF 05.0`
		126	`006A: BCF 03.5`
		127	`006B: BSF 05.0`
		128	`.................... output_high(MOTOR2a);`
		129	`006C: BSF 03.5`
		130	`006D: BCF 05.1`
		131	`006E: BCF 03.5`
		132	`006F: BSF 05.1`
		133	`0070: GOTO 0B1 (RETURN)`
		134	`.................... }`
		135	`....................`
		136	`.................... void rovne()`
		137	`.................... {`
		138	`.................... output_low(RELE1); // oba motory vpred`
		139	`*`
		140	`0029: BSF 03.5`
		141	`002A: BCF 06.5`
		142	`002B: BCF 03.5`
		143	`002C: BCF 06.5`
		144	`.................... output_high(RELE2);`
		145	`002D: BSF 03.5`
		146	`002E: BCF 06.6`
		147	`002F: BCF 03.5`
		148	`0030: BSF 06.6`
		149	`.................... delay_ms(100);`
		150	`0031: MOVLW 64`
		151	`0032: MOVWF 10`
		152	`0033: CALL 004`
		153	`.................... output_high(MOTOR1);`
		154	`0034: BSF 03.5`
		155	`0035: BCF 06.4`
		156	`0036: BCF 03.5`
		157	`0037: BSF 06.4`
		158	`.................... output_high(MOTOR2);`
		159	`0038: BSF 03.5`
		160	`0039: BCF 05.0`
		161	`003A: BCF 03.5`
		162	`003B: BSF 05.0`
		163	`.................... output_high(MOTOR2a);`
		164	`003C: BSF 03.5`
		165	`003D: BCF 05.1`
		166	`003E: BCF 03.5`
		167	`003F: BSF 05.1`
		168	`0040: RETLW 00`
		169	`.................... }`
		170	`....................`
		171	`.................... void stop()`
		172	`.................... {`
		173	`.................... output_low(MOTOR1);`
		174	`*`
		175	`0019: BSF 03.5`
		176	`001A: BCF 06.4`
		177	`001B: BCF 03.5`
		178	`001C: BCF 06.4`
		179	`.................... output_low(MOTOR2);`
		180	`001D: BSF 03.5`
		181	`001E: BCF 05.0`
		182	`001F: BCF 03.5`
		183	`0020: BCF 05.0`
		184	`.................... output_low(MOTOR2a);`
		185	`0021: BSF 03.5`
		186	`0022: BCF 05.1`
		187	`0023: BCF 03.5`
		188	`0024: BCF 05.1`
		189	`.................... delay_ms(100);`
		190	`0025: MOVLW 64`
		191	`0026: MOVWF 10`
		192	`0027: CALL 004`
		193	`0028: RETLW 00`
		194	`.................... }`
		195	`....................`
		196	`....................`
		197	`.................... void main()`
		198	`.................... {`
		199	`*`
		200	`0071: CLRF 04`
		201	`0072: MOVLW 1F`
		202	`0073: ANDWF 03,F`
		203	`.................... cara=L;`
		204	`0074: CLRF 0E`
		205	`.................... movement=R;`
		206	`0075: MOVLW 01`
		207	`0076: MOVWF 0F`
		208	`.................... output_low(RELE1); // oba motory vpred`
		209	`0077: BSF 03.5`
		210	`0078: BCF 06.5`
		211	`0079: BCF 03.5`
		212	`007A: BCF 06.5`
		213	`.................... output_high(RELE2);`
		214	`007B: BSF 03.5`
		215	`007C: BCF 06.6`
		216	`007D: BCF 03.5`
		217	`007E: BSF 06.6`
		218	`.................... delay_ms(100);`
		219	`007F: MOVLW 64`
		220	`0080: MOVWF 10`
		221	`0081: CALL 004`
		222	`.................... while (true)`
		223	`.................... {`
		224	`.................... if (!input(CIDLO1R)) cara=R; // cara vpravo`
		225	`0082: BSF 03.5`
		226	`0083: BSF 06.1`
		227	`0084: BCF 03.5`
		228	`0085: BTFSC 06.1`
		229	`0086: GOTO 089`
		230	`0087: MOVLW 01`
		231	`0088: MOVWF 0E`
		232	`.................... if (!input(CIDLO1L)) cara=L; // cara vlevo`
		233	`0089: BSF 03.5`
		234	`008A: BSF 06.0`
		235	`008B: BCF 03.5`
		236	`008C: BTFSC 06.0`
		237	`008D: GOTO 08F`
		238	`008E: CLRF 0E`
		239	`....................`
		240	`....................`
		241	`.................... if (cara != movement)`
		242	`008F: MOVF 0F,W`
		243	`0090: SUBWF 0E,W`
		244	`0091: BTFSC 03.2`
		245	`0092: GOTO 0B4`
		246	`.................... {`
		247	`.................... switch(cara)`
		248	`0093: MOVF 0E,W`
		249	`0094: ADDLW FE`
		250	`0095: BTFSC 03.0`
		251	`0096: GOTO 0B4`
		252	`0097: ADDLW 02`
		253	`0098: GOTO 0B6`
		254	`.................... {`
		255	`.................... case L:`
		256	`.................... output_high(LASER);`
		257	`0099: BSF 03.5`
		258	`009A: BCF 05.2`
		259	`009B: BCF 03.5`
		260	`009C: BSF 05.2`
		261	`.................... stop();`
		262	`009D: CALL 019`
		263	`.................... rovne();`
		264	`009E: CALL 029`
		265	`.................... delay_ms(100);`
		266	`009F: MOVLW 64`
		267	`00A0: MOVWF 10`
		268	`00A1: CALL 004`
		269	`.................... stop();`
		270	`00A2: CALL 019`
		271	`.................... left();`
		272	`00A3: GOTO 041`
		273	`.................... movement=L;`
		274	`00A4: CLRF 0F`
		275	`.................... break;`
		276	`00A5: GOTO 0B4`
		277	`....................`
		278	`.................... case R:`
		279	`.................... stop();`
		280	`00A6: CALL 019`
		281	`.................... rovne();`
		282	`00A7: CALL 029`
		283	`.................... delay_ms(100);`
		284	`00A8: MOVLW 64`
		285	`00A9: MOVWF 10`
		286	`00AA: CALL 004`
		287	`.................... output_low(LASER);`
		288	`00AB: BSF 03.5`
		289	`00AC: BCF 05.2`
		290	`00AD: BCF 03.5`
		291	`00AE: BCF 05.2`
		292	`.................... stop();`
		293	`00AF: CALL 019`
		294	`.................... right();`
		295	`00B0: GOTO 059`
		296	`.................... movement=R;`
		297	`00B1: MOVLW 01`
		298	`00B2: MOVWF 0F`
		299	`.................... break;`
		300	`00B3: GOTO 0B4`
		301	`.................... }`
		302	`*`
		303	`00B6: BCF 0A.0`
		304	`00B7: BCF 0A.1`
		305	`00B8: BCF 0A.2`
		306	`00B9: ADDWF 02,F`
		307	`00BA: GOTO 099`
		308	`00BB: GOTO 0A6`
		309	`.................... }`
		310	`.................... }`
		311	`*`
		312	`00B4: GOTO 082`
		313	`.................... }`
		314	`....................`
		315	`00B5: SLEEP`

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