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kaklik |
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CCS PCM C Compiler, Version 3.245, 27853 16-IV-06 23:31
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Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst
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ROM used: 282 words (7%)
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Largest free fragment is 2048
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RAM used: 12 (7%) at main() level
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12 (7%) worst case
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Stack: 0 locations
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*
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0000: MOVLW 00
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0001: MOVWF 0A
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0002: GOTO 004
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0003: NOP
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.................... #include ".\cidla.h"
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.................... #include <16F88.h>
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.................... //////// Standard Header file for the PIC16F88 device ////////////////
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.................... #device PIC16F88
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.................... #list
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....................
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.................... #device adc=8
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.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO
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.................... #use delay(clock=4000000,RESTART_WDT)
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....................
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....................
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.................... //#include <stdlib.h>
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....................
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.................... #use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt)
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....................
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.................... #define IRRX PIN_B0
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....................
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.................... #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila
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.................... #define TRESHOLD_MIN 40
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.................... #define CIHLA 50 // doba, po kterou musi byt detekovana cihla
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....................
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.................... unsigned int8 radius; // co cidla vidi
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.................... unsigned int8 last_radius; // rozsah
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.................... unsigned int8 last_cidla; // co cidla videla minule
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.................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla
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....................
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.................... //tuning
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.................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM
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....................
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.................... //Vystup PWM je na PIN_B3
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.................... ////////////////////////////////////////////////////////////////////////////////
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.................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni
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.................... {
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.................... unsigned int8 i,n;
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.................... for(n=0;n<=3;n++)
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.................... {
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.................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani
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.................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani
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.................... }
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.................... }
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.................... */
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.................... ////////////////////////////////////////////////////////////////////////////////
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.................... void main()
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.................... {
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0004: CLRF 04
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0005: MOVLW 1F
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0006: ANDWF 03,F
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0007: MOVLW 60
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0008: BSF 03.5
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0009: MOVWF 0F
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000A: BCF 06.1
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000B: BCF 03.5
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000C: BSF 06.1
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000D: BSF 03.5
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000E: BCF 1F.4
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000F: BCF 1F.5
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0010: MOVF 1B,W
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0011: ANDLW 80
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0012: MOVWF 1B
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0013: MOVLW 07
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0014: MOVWF 1C
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.................... int8 cidla;
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.................... unsigned int8 a;
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.................... unsigned int8 n;
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....................
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.................... setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD);
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0015: BCF 1F.4
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0016: BCF 1F.5
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0017: MOVF 1B,W
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0018: ANDLW 80
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0019: IORLW 7F
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001A: MOVWF 1B
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.................... setup_adc(ADC_CLOCK_INTERNAL);
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001B: BCF 1F.6
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001C: BCF 03.5
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001D: BSF 1F.6
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001E: BSF 1F.7
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001F: BSF 03.5
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0020: BCF 1F.7
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0021: BCF 03.5
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0022: BSF 1F.0
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.................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED);
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0023: BCF 14.5
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0024: BSF 03.5
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0025: BCF 06.2
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0026: BSF 06.1
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0027: BSF 06.4
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0028: MOVLW 35
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0029: BCF 03.5
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002A: MOVWF 14
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002B: MOVLW 40
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002C: BSF 03.5
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002D: MOVWF 14
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.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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002E: MOVF 01,W
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002F: ANDLW C7
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0030: IORLW 08
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0031: MOVWF 01
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.................... setup_timer_1(T1_DISABLED);
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0032: BCF 03.5
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0033: CLRF 10
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.................... setup_timer_2(T2_DISABLED,0,1);
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0034: MOVLW 00
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0035: MOVWF 78
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0036: MOVWF 12
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0037: MOVLW 00
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0038: BSF 03.5
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0039: MOVWF 12
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.................... setup_comparator(NC_NC_NC_NC);
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003A: MOVLW 07
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003B: MOVWF 1C
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003C: MOVF 05,W
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128 |
003D: CLRWDT
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003E: MOVLW 02
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003F: MOVWF 77
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0040: DECFSZ 77,F
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0041: GOTO 040
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0042: NOP
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0043: NOP
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0044: MOVF 1C,W
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0045: BCF 03.5
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0046: BCF 0D.6
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.................... setup_vref(FALSE);
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139 |
0047: BSF 03.5
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140 |
0048: CLRF 1D
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141 |
....................
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.................... last_radius=0b00001000; // minimalni rozsah snimani od stredu
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143 |
0049: MOVLW 08
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004A: BCF 03.5
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004B: MOVWF 21
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.................... last_cidla=0b00001000;
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147 |
004C: MOVWF 22
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....................
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.................... shure=0;
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004D: CLRF 23
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....................
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.................... while(true)
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.................... {
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.................... set_adc_channel(0);
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004E: MOVLW 00
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004F: MOVWF 78
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0050: MOVF 1F,W
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0051: ANDLW C7
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0052: IORWF 78,W
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0053: MOVWF 1F
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.................... cidla=0;
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162 |
0054: CLRF 24
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.................... Delay_us(10);
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0055: CLRWDT
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0056: MOVLW 02
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0057: MOVWF 77
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0058: DECFSZ 77,F
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0059: GOTO 058
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005A: NOP
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005B: NOP
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171 |
.................... a=read_adc();
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005C: BSF 1F.2
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173 |
005D: BTFSC 1F.2
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005E: GOTO 05D
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175 |
005F: MOVF 1E,W
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176 |
0060: MOVWF 25
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....................
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.................... set_adc_channel(1);
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179 |
0061: MOVLW 08
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0062: MOVWF 78
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181 |
0063: MOVF 1F,W
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182 |
0064: ANDLW C7
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0065: IORWF 78,W
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0066: MOVWF 1F
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.................... if(a<TRESHOLD_MAX) //hystereze cidel
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186 |
0067: MOVF 25,W
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187 |
0068: SUBLW 3B
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188 |
0069: BTFSS 03.0
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006A: GOTO 074
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.................... {
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191 |
.................... if(a>TRESHOLD_MIN)
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192 |
006B: MOVF 25,W
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193 |
006C: SUBLW 28
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194 |
006D: BTFSC 03.0
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006E: GOTO 073
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.................... {
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.................... cidla |= (last_cidla & 0b00000001);
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198 |
006F: MOVF 22,W
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199 |
0070: ANDLW 01
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0071: IORWF 24,F
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.................... }
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202 |
.................... else cidla |= 0b00000001;
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203 |
0072: GOTO 074
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0073: BSF 24.0
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.................... }
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....................
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207 |
.................... a=read_adc();
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208 |
0074: BSF 1F.2
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209 |
0075: BTFSC 1F.2
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210 |
0076: GOTO 075
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211 |
0077: MOVF 1E,W
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212 |
0078: MOVWF 25
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213 |
....................
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214 |
.................... set_adc_channel(2);
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215 |
0079: MOVLW 10
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007A: MOVWF 78
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217 |
007B: MOVF 1F,W
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218 |
007C: ANDLW C7
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219 |
007D: IORWF 78,W
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220 |
007E: MOVWF 1F
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221 |
.................... if(a<TRESHOLD_MAX)
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222 |
007F: MOVF 25,W
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223 |
0080: SUBLW 3B
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224 |
0081: BTFSS 03.0
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225 |
0082: GOTO 08C
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226 |
.................... {
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227 |
.................... if(a>TRESHOLD_MIN)
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228 |
0083: MOVF 25,W
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229 |
0084: SUBLW 28
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230 |
0085: BTFSC 03.0
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231 |
0086: GOTO 08B
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232 |
.................... {
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233 |
.................... cidla |= (last_cidla & 0b00000010);
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234 |
0087: MOVF 22,W
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235 |
0088: ANDLW 02
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236 |
0089: IORWF 24,F
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237 |
.................... }
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238 |
.................... else cidla |= 0b00000010;
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239 |
008A: GOTO 08C
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240 |
008B: BSF 24.1
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241 |
.................... }
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242 |
....................
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243 |
.................... a=read_adc();
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244 |
008C: BSF 1F.2
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245 |
008D: BTFSC 1F.2
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246 |
008E: GOTO 08D
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247 |
008F: MOVF 1E,W
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248 |
0090: MOVWF 25
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249 |
....................
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250 |
.................... set_adc_channel(3);
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251 |
0091: MOVLW 18
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252 |
0092: MOVWF 78
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253 |
0093: MOVF 1F,W
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254 |
0094: ANDLW C7
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255 |
0095: IORWF 78,W
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256 |
0096: MOVWF 1F
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257 |
.................... if(a<TRESHOLD_MAX)
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258 |
0097: MOVF 25,W
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259 |
0098: SUBLW 3B
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260 |
0099: BTFSS 03.0
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261 |
009A: GOTO 0A4
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262 |
.................... {
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263 |
.................... if(a>TRESHOLD_MIN)
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264 |
009B: MOVF 25,W
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265 |
009C: SUBLW 28
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266 |
009D: BTFSC 03.0
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267 |
009E: GOTO 0A3
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268 |
.................... {
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269 |
.................... cidla |= (last_cidla & 0b00000100);
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270 |
009F: MOVF 22,W
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271 |
00A0: ANDLW 04
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272 |
00A1: IORWF 24,F
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273 |
.................... }
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274 |
.................... else cidla |= 0b00000100;
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275 |
00A2: GOTO 0A4
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276 |
00A3: BSF 24.2
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277 |
.................... }
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278 |
....................
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279 |
.................... a=read_adc();
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280 |
00A4: BSF 1F.2
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281 |
00A5: BTFSC 1F.2
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282 |
00A6: GOTO 0A5
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283 |
00A7: MOVF 1E,W
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284 |
00A8: MOVWF 25
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285 |
....................
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286 |
.................... set_adc_channel(4);
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287 |
00A9: MOVLW 20
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288 |
00AA: MOVWF 78
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289 |
00AB: MOVF 1F,W
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290 |
00AC: ANDLW C7
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291 |
00AD: IORWF 78,W
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292 |
00AE: MOVWF 1F
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293 |
.................... if(a<TRESHOLD_MAX)
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294 |
00AF: MOVF 25,W
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295 |
00B0: SUBLW 3B
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296 |
00B1: BTFSS 03.0
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297 |
00B2: GOTO 0BC
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298 |
.................... {
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299 |
.................... if(a>TRESHOLD_MIN)
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300 |
00B3: MOVF 25,W
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301 |
00B4: SUBLW 28
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302 |
00B5: BTFSC 03.0
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303 |
00B6: GOTO 0BB
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304 |
.................... {
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305 |
.................... cidla |= (last_cidla & 0b00001000);
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306 |
00B7: MOVF 22,W
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307 |
00B8: ANDLW 08
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308 |
00B9: IORWF 24,F
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309 |
.................... }
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310 |
.................... else cidla |= 0b00001000;
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311 |
00BA: GOTO 0BC
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312 |
00BB: BSF 24.3
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313 |
.................... }
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314 |
.................... a=read_adc();
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315 |
00BC: BSF 1F.2
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316 |
00BD: BTFSC 1F.2
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317 |
00BE: GOTO 0BD
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318 |
00BF: MOVF 1E,W
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319 |
00C0: MOVWF 25
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320 |
....................
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321 |
.................... set_adc_channel(5);
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322 |
00C1: MOVLW 28
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323 |
00C2: MOVWF 78
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324 |
00C3: MOVF 1F,W
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325 |
00C4: ANDLW C7
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326 |
00C5: IORWF 78,W
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327 |
00C6: MOVWF 1F
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328 |
....................
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329 |
.................... if(a<TRESHOLD_MAX)
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330 |
00C7: MOVF 25,W
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331 |
00C8: SUBLW 3B
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332 |
00C9: BTFSS 03.0
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333 |
00CA: GOTO 0D4
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334 |
.................... {
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335 |
.................... if(a>TRESHOLD_MIN)
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336 |
00CB: MOVF 25,W
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337 |
00CC: SUBLW 28
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338 |
00CD: BTFSC 03.0
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339 |
00CE: GOTO 0D3
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340 |
.................... {
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341 |
.................... cidla |= (last_cidla & 0b00010000);
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342 |
00CF: MOVF 22,W
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343 |
00D0: ANDLW 10
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344 |
00D1: IORWF 24,F
|
|
|
345 |
.................... }
|
|
|
346 |
.................... else cidla |= 0b00010000;
|
|
|
347 |
00D2: GOTO 0D4
|
|
|
348 |
00D3: BSF 24.4
|
|
|
349 |
.................... }
|
|
|
350 |
.................... a=read_adc();
|
|
|
351 |
00D4: BSF 1F.2
|
|
|
352 |
00D5: BTFSC 1F.2
|
|
|
353 |
00D6: GOTO 0D5
|
|
|
354 |
00D7: MOVF 1E,W
|
|
|
355 |
00D8: MOVWF 25
|
|
|
356 |
....................
|
|
|
357 |
.................... set_adc_channel(6);
|
|
|
358 |
00D9: MOVLW 30
|
|
|
359 |
00DA: MOVWF 78
|
|
|
360 |
00DB: MOVF 1F,W
|
|
|
361 |
00DC: ANDLW C7
|
|
|
362 |
00DD: IORWF 78,W
|
|
|
363 |
00DE: MOVWF 1F
|
|
|
364 |
.................... if(a<TRESHOLD_MAX)
|
|
|
365 |
00DF: MOVF 25,W
|
|
|
366 |
00E0: SUBLW 3B
|
|
|
367 |
00E1: BTFSS 03.0
|
|
|
368 |
00E2: GOTO 0EC
|
|
|
369 |
.................... {
|
|
|
370 |
.................... if(a>TRESHOLD_MIN)
|
|
|
371 |
00E3: MOVF 25,W
|
|
|
372 |
00E4: SUBLW 28
|
|
|
373 |
00E5: BTFSC 03.0
|
|
|
374 |
00E6: GOTO 0EB
|
|
|
375 |
.................... {
|
|
|
376 |
.................... cidla |= (last_cidla & 0b00100000);
|
|
|
377 |
00E7: MOVF 22,W
|
|
|
378 |
00E8: ANDLW 20
|
|
|
379 |
00E9: IORWF 24,F
|
|
|
380 |
.................... }
|
|
|
381 |
.................... else cidla |= 0b00100000;
|
|
|
382 |
00EA: GOTO 0EC
|
|
|
383 |
00EB: BSF 24.5
|
|
|
384 |
.................... }
|
|
|
385 |
.................... a=read_adc();
|
|
|
386 |
00EC: BSF 1F.2
|
|
|
387 |
00ED: BTFSC 1F.2
|
|
|
388 |
00EE: GOTO 0ED
|
|
|
389 |
00EF: MOVF 1E,W
|
|
|
390 |
00F0: MOVWF 25
|
|
|
391 |
....................
|
|
|
392 |
.................... if(a<TRESHOLD_MAX)
|
|
|
393 |
00F1: MOVF 25,W
|
|
|
394 |
00F2: SUBLW 3B
|
|
|
395 |
00F3: BTFSS 03.0
|
|
|
396 |
00F4: GOTO 0FE
|
|
|
397 |
.................... {
|
|
|
398 |
.................... if(a>TRESHOLD_MIN)
|
|
|
399 |
00F5: MOVF 25,W
|
|
|
400 |
00F6: SUBLW 28
|
|
|
401 |
00F7: BTFSC 03.0
|
|
|
402 |
00F8: GOTO 0FD
|
|
|
403 |
.................... {
|
|
|
404 |
.................... cidla |=(last_cidla & 0b01000000);
|
|
|
405 |
00F9: MOVF 22,W
|
|
|
406 |
00FA: ANDLW 40
|
|
|
407 |
00FB: IORWF 24,F
|
|
|
408 |
.................... }
|
|
|
409 |
.................... else cidla |= 0b01000000;
|
|
|
410 |
00FC: GOTO 0FE
|
|
|
411 |
00FD: BSF 24.6
|
|
|
412 |
.................... }
|
|
|
413 |
....................
|
|
|
414 |
.................... last_cidla=cidla;
|
|
|
415 |
00FE: MOVF 24,W
|
|
|
416 |
00FF: MOVWF 22
|
|
|
417 |
....................
|
|
|
418 |
.................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};
|
|
|
419 |
0100: BSF 03.5
|
|
|
420 |
0101: BSF 06.0
|
|
|
421 |
0102: BCF 03.5
|
|
|
422 |
0103: BTFSC 06.0
|
|
|
423 |
0104: GOTO 10A
|
|
|
424 |
0105: INCFSZ 23,W
|
|
|
425 |
0106: GOTO 108
|
|
|
426 |
0107: GOTO 109
|
|
|
427 |
0108: INCF 23,F
|
|
|
428 |
0109: GOTO 10B
|
|
|
429 |
010A: CLRF 23
|
|
|
430 |
.................... if (shure>CIHLA) cidla|=0b10000000;
|
|
|
431 |
010B: MOVF 23,W
|
|
|
432 |
010C: SUBLW 32
|
|
|
433 |
010D: BTFSS 03.0
|
|
|
434 |
010E: BSF 24.7
|
|
|
435 |
....................
|
|
|
436 |
.................... cidla=~cidla;
|
|
|
437 |
010F: COMF 24,F
|
|
|
438 |
.................... spi_write(cidla);
|
|
|
439 |
0110: MOVF 24,W
|
|
|
440 |
0111: MOVWF 13
|
|
|
441 |
0112: BSF 03.5
|
|
|
442 |
0113: BTFSC 14.0
|
|
|
443 |
0114: GOTO 117
|
|
|
444 |
0115: BCF 03.5
|
|
|
445 |
0116: GOTO 112
|
|
|
446 |
.................... }
|
|
|
447 |
0117: BCF 03.5
|
|
|
448 |
0118: GOTO 04E
|
|
|
449 |
.................... }
|
|
|
450 |
0119: SLEEP
|
|
|
451 |
|
|
|
452 |
Configuration Fuses:
|
|
|
453 |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
|
|
|
454 |
Word 2: 3FFC NOFCMEN NOIESO
|