WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/cidla/cidla.LST

Rev	Author	Line No.	Line
66	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 05-XI-06 20:45`
2	kaklik	2
66	kaklik	3	`Filename: D:\KAKLIK\projekty\roboti\istrobot\3Orbis\cidla\cidla.lst`
2	kaklik	4
		5	`ROM used: 548 words (13%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 12 (7%) at main() level`
		8	`17 (10%) worst case`
		9	`Stack: 2 locations`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 0B1`
		15	`0003: NOP`
		16	`.................... #include ".\cidla.h"`
		17	`.................... #include <16F88.h>`
		18	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		19	`.................... #device PIC16F88`
		20	`.................... #list`
		21	`....................`
		22	`.................... #device adc=8`
		23	`.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO`
		24	`.................... #use delay(clock=4000000,RESTART_WDT)`
		25	`*`
		26	`002A: MOVLW 27`
		27	`002B: MOVWF 04`
		28	`002C: MOVF 00,W`
		29	`002D: BTFSC 03.2`
		30	`002E: GOTO 040`
		31	`002F: MOVLW 01`
		32	`0030: MOVWF 78`
		33	`0031: MOVLW BF`
		34	`0032: MOVWF 77`
		35	`0033: CLRWDT`
		36	`0034: DECFSZ 77,F`
		37	`0035: GOTO 033`
		38	`0036: DECFSZ 78,F`
		39	`0037: GOTO 031`
		40	`0038: MOVLW 4A`
		41	`0039: MOVWF 77`
		42	`003A: DECFSZ 77,F`
		43	`003B: GOTO 03A`
		44	`003C: NOP`
		45	`003D: CLRWDT`
		46	`003E: DECFSZ 00,F`
		47	`003F: GOTO 02F`
		48	`0040: RETLW 00`
		49	`....................`
		50	`....................`
		51	`.................... //#include <stdlib.h>`
		52	`....................`
		53	`.................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt)`
		54	`0041: BSF 03.5`
		55	`0042: BCF 06.3`
		56	`0043: BCF 03.5`
		57	`0044: BCF 06.3`
		58	`0045: MOVLW 08`
		59	`0046: MOVWF 78`
		60	`0047: NOP`
		61	`0048: NOP`
		62	`0049: NOP`
		63	`004A: BSF 78.7`
		64	`004B: GOTO 05B`
		65	`004C: BCF 78.7`
		66	`004D: RRF 29,F`
		67	`004E: BTFSC 03.0`
		68	`004F: BSF 06.3`
		69	`0050: BTFSS 03.0`
		70	`0051: BCF 06.3`
		71	`0052: BSF 78.6`
		72	`0053: GOTO 05B`
		73	`0054: BCF 78.6`
		74	`0055: DECFSZ 78,F`
		75	`0056: GOTO 04D`
		76	`0057: NOP`
		77	`0058: NOP`
		78	`0059: NOP`
		79	`005A: BSF 06.3`
		80	`005B: MOVLW 1C`
		81	`005C: MOVWF 04`
		82	`005D: DECFSZ 04,F`
		83	`005E: GOTO 05D`
		84	`005F: NOP`
		85	`0060: NOP`
		86	`0061: CLRWDT`
		87	`0062: BTFSC 78.7`
		88	`0063: GOTO 04C`
		89	`0064: BTFSC 78.6`
		90	`0065: GOTO 054`
		91	`0066: RETLW 00`
		92	`....................`
		93	`.................... #define IRRX PIN_B0`
		94	`....................`
		95	`.................... #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila`
		96	`.................... #define TRESHOLD_MIN 50`
		97	`.................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla`
		98	`....................`
		99	`.................... unsigned int8 last_radius; // rozsah`
		100	`.................... unsigned int8 last_cidla; // co cidla videla minule`
		101	`.................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla`
		102	`....................`
		103	`.................... //tuning`
		104	`.................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM`
		105	`....................`
		106	`.................... //Vystup PWM je na PIN_B3`
		107	`.................... ////////////////////////////////////////////////////////////////////////////////`
		108	`.................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni`
		109	`.................... {`
		110	`.................... unsigned int8 i,n;`
		111	`.................... for(n=0;n<=3;n++)`
		112	`.................... {`
		113	`.................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani`
		114	`.................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani`
		115	`.................... }`
		116	`.................... }`
		117	`.................... */`
		118	`.................... ////////////////////////////////////////////////////////////////////////////////`
		119	`.................... void main()`
		120	`.................... {`
		121	`*`
		122	`00B1: CLRF 04`
		123	`00B2: MOVLW 1F`
		124	`00B3: ANDWF 03,F`
		125	`00B4: MOVLW 60`
		126	`00B5: BSF 03.5`
		127	`00B6: MOVWF 0F`
		128	`00B7: BCF 06.3`
		129	`00B8: BCF 03.5`
		130	`00B9: BSF 06.3`
		131	`00BA: BSF 03.5`
		132	`00BB: BCF 1F.4`
		133	`00BC: BCF 1F.5`
		134	`00BD: MOVF 1B,W`
		135	`00BE: ANDLW 80`
		136	`00BF: MOVWF 1B`
		137	`00C0: MOVLW 07`
		138	`00C1: MOVWF 1C`
		139	`.................... int8 cidla;`
		140	`.................... unsigned int8 a;`
		141	`.................... unsigned int8 n;`
		142	`....................`
		143	`.................... setup_adc_ports(sAN0\|sAN1\|sAN2\|sAN3\|sAN4\|sAN5\|sAN6\|VSS_VDD);`
		144	`00C2: BCF 1F.4`
		145	`00C3: BCF 1F.5`
		146	`00C4: MOVF 1B,W`
		147	`00C5: ANDLW 80`
		148	`00C6: IORLW 7F`
		149	`00C7: MOVWF 1B`
		150	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		151	`00C8: BCF 1F.6`
		152	`00C9: BCF 03.5`
		153	`00CA: BSF 1F.6`
		154	`00CB: BSF 1F.7`
		155	`00CC: BSF 03.5`
		156	`00CD: BCF 1F.7`
		157	`00CE: BCF 03.5`
		158	`00CF: BSF 1F.0`
		159	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		160	`00D0: BSF 03.5`
		161	`00D1: MOVF 01,W`
		162	`00D2: ANDLW C7`
		163	`00D3: IORLW 08`
		164	`00D4: MOVWF 01`
		165	`.................... setup_timer_1(T1_DISABLED);`
		166	`00D5: BCF 03.5`
		167	`00D6: CLRF 10`
		168	`.................... setup_timer_2(T2_DISABLED,0,1);`
		169	`00D7: MOVLW 00`
		170	`00D8: MOVWF 78`
		171	`00D9: MOVWF 12`
		172	`00DA: MOVLW 00`
		173	`00DB: BSF 03.5`
		174	`00DC: MOVWF 12`
		175	`.................... setup_comparator(NC_NC_NC_NC);`
		176	`00DD: MOVLW 07`
		177	`00DE: MOVWF 1C`
		178	`00DF: MOVF 05,W`
		179	`00E0: CLRWDT`
		180	`00E1: MOVLW 02`
		181	`00E2: MOVWF 77`
		182	`00E3: DECFSZ 77,F`
		183	`00E4: GOTO 0E3`
		184	`00E5: NOP`
		185	`00E6: NOP`
		186	`00E7: MOVF 1C,W`
		187	`00E8: BCF 03.5`
		188	`00E9: BCF 0D.6`
		189	`.................... setup_vref(FALSE);`
		190	`00EA: BSF 03.5`
		191	`00EB: CLRF 1D`
		192	`....................`
		193	`.................... Delay_ms(500);`
		194	`00EC: MOVLW 02`
		195	`00ED: BCF 03.5`
		196	`00EE: MOVWF 26`
		197	`00EF: MOVLW FA`
		198	`00F0: MOVWF 27`
		199	`00F1: CALL 02A`
		200	`00F2: DECFSZ 26,F`
		201	`00F3: GOTO 0EF`
		202	`.................... setup_spi(SPI_SLAVE\|SPI_H_TO_L\|SPI_SS_DISABLED);`
		203	`00F4: BCF 14.5`
		204	`00F5: BSF 03.5`
		205	`00F6: BCF 06.2`
		206	`00F7: BSF 06.1`
		207	`00F8: BSF 06.4`
		208	`00F9: MOVLW 35`
		209	`00FA: BCF 03.5`
		210	`00FB: MOVWF 14`
		211	`00FC: MOVLW 40`
		212	`00FD: BSF 03.5`
		213	`00FE: MOVWF 14`
		214	`....................`
		215	`.................... // diagnostika`
		216	`.................... printf("\n\r");`
		217	`00FF: BCF 03.5`
		218	`0100: CLRF 26`
		219	`0101: MOVF 26,W`
		220	`0102: CALL 004`
		221	`0103: IORLW 00`
		222	`0104: BTFSC 03.2`
		223	`0105: GOTO 10A`
		224	`0106: INCF 26,F`
		225	`0107: MOVWF 29`
		226	`0108: CALL 041`
		227	`0109: GOTO 101`
		228	`.................... Delay_ms(100);`
		229	`010A: MOVLW 64`
		230	`010B: MOVWF 27`
		231	`010C: CALL 02A`
		232	`.................... printf("***\n\r");`
		233	`010D: CLRF 26`
		234	`010E: MOVF 26,W`
		235	`010F: CALL 00B`
		236	`0110: IORLW 00`
		237	`0111: BTFSC 03.2`
		238	`0112: GOTO 117`
		239	`0113: INCF 26,F`
		240	`0114: MOVWF 29`
		241	`0115: CALL 041`
		242	`0116: GOTO 10E`
		243	`.................... Delay_ms(100);`
		244	`0117: MOVLW 64`
		245	`0118: MOVWF 27`
		246	`0119: CALL 02A`
		247	`.................... for (n=0; n<=6; n++)`
		248	`011A: CLRF 25`
		249	`011B: MOVF 25,W`
		250	`011C: SUBLW 06`
		251	`011D: BTFSS 03.0`
		252	`011E: GOTO 157`
		253	`.................... {`
		254	`.................... set_adc_channel(n);`
		255	`011F: RLF 25,W`
		256	`0120: MOVWF 77`
		257	`0121: RLF 77,F`
		258	`0122: RLF 77,F`
		259	`0123: MOVLW F8`
		260	`0124: ANDWF 77,F`
		261	`0125: MOVF 1F,W`
		262	`0126: ANDLW C7`
		263	`0127: IORWF 77,W`
		264	`0128: MOVWF 1F`
		265	`.................... Delay_ms(100);`
		266	`0129: MOVLW 64`
		267	`012A: MOVWF 27`
		268	`012B: CALL 02A`
		269	`.................... a=read_adc();`
		270	`012C: BSF 1F.2`
		271	`012D: BTFSC 1F.2`
		272	`012E: GOTO 12D`
		273	`012F: MOVF 1E,W`
		274	`0130: MOVWF 24`
		275	`.................... printf("sensor %u - %u\n\r",n,a);`
		276	`0131: CLRF 26`
		277	`0132: MOVF 26,W`
		278	`0133: CALL 015`
		279	`0134: INCF 26,F`
		280	`0135: MOVWF 77`
		281	`0136: MOVWF 29`
		282	`0137: CALL 041`
		283	`0138: MOVLW 07`
		284	`0139: SUBWF 26,W`
		285	`013A: BTFSS 03.2`
		286	`013B: GOTO 132`
		287	`013C: MOVF 25,W`
		288	`013D: MOVWF 27`
		289	`013E: MOVLW 1B`
		290	`013F: MOVWF 28`
		291	`0140: CALL 07C`
		292	`0141: MOVLW 20`
		293	`0142: MOVWF 29`
		294	`0143: CALL 041`
		295	`0144: MOVLW 2D`
		296	`0145: MOVWF 29`
		297	`0146: CALL 041`
		298	`0147: MOVLW 20`
		299	`0148: MOVWF 29`
		300	`0149: CALL 041`
		301	`014A: MOVF 24,W`
		302	`014B: MOVWF 27`
		303	`014C: MOVLW 1B`
		304	`014D: MOVWF 28`
		305	`014E: CALL 07C`
		306	`014F: MOVLW 0A`
		307	`0150: MOVWF 29`
		308	`0151: CALL 041`
		309	`0152: MOVLW 0D`
		310	`0153: MOVWF 29`
		311	`0154: CALL 041`
		312	`.................... }`
		313	`0155: INCF 25,F`
		314	`0156: GOTO 11B`
		315	`....................`
		316	`.................... shure=0;`
		317	`0157: CLRF 22`
		318	`.................... while(true)`
		319	`.................... {`
		320	`.................... set_adc_channel(0);`
		321	`0158: MOVLW 00`
		322	`0159: MOVWF 78`
		323	`015A: MOVF 1F,W`
		324	`015B: ANDLW C7`
		325	`015C: IORWF 78,W`
		326	`015D: MOVWF 1F`
		327	`.................... cidla=0;`
		328	`015E: CLRF 23`
		329	`.................... Delay_us(10);`
		330	`015F: CLRWDT`
		331	`0160: MOVLW 02`
		332	`0161: MOVWF 77`
		333	`0162: DECFSZ 77,F`
		334	`0163: GOTO 162`
		335	`0164: NOP`
		336	`0165: NOP`
		337	`.................... a=read_adc();`
		338	`0166: BSF 1F.2`
		339	`0167: BTFSC 1F.2`
		340	`0168: GOTO 167`
		341	`0169: MOVF 1E,W`
		342	`016A: MOVWF 24`
		343	`....................`
		344	`.................... set_adc_channel(1);`
		345	`016B: MOVLW 08`
		346	`016C: MOVWF 78`
		347	`016D: MOVF 1F,W`
		348	`016E: ANDLW C7`
		349	`016F: IORWF 78,W`
		350	`0170: MOVWF 1F`
		351	`.................... if(a<TRESHOLD_MAX) //hystereze cidel`
		352	`0171: MOVF 24,W`
		353	`0172: SUBLW 45`
		354	`0173: BTFSS 03.0`
		355	`0174: GOTO 17E`
		356	`.................... {`
		357	`.................... if(a>TRESHOLD_MIN)`
		358	`0175: MOVF 24,W`
		359	`0176: SUBLW 32`
		360	`0177: BTFSC 03.0`
		361	`0178: GOTO 17D`
		362	`.................... {`
		363	`.................... cidla \|= (last_cidla & 0b00000001);`
		364	`0179: MOVF 21,W`
		365	`017A: ANDLW 01`
		366	`017B: IORWF 23,F`
		367	`.................... }`
		368	`.................... else cidla \|= 0b00000001;`
		369	`017C: GOTO 17E`
		370	`017D: BSF 23.0`
		371	`.................... }`
		372	`....................`
		373	`.................... a=read_adc();`
		374	`017E: BSF 1F.2`
		375	`017F: BTFSC 1F.2`
		376	`0180: GOTO 17F`
		377	`0181: MOVF 1E,W`
		378	`0182: MOVWF 24`
		379	`....................`
		380	`.................... set_adc_channel(2);`
		381	`0183: MOVLW 10`
		382	`0184: MOVWF 78`
		383	`0185: MOVF 1F,W`
		384	`0186: ANDLW C7`
		385	`0187: IORWF 78,W`
		386	`0188: MOVWF 1F`
		387	`.................... if(a<TRESHOLD_MAX)`
		388	`0189: MOVF 24,W`
		389	`018A: SUBLW 45`
		390	`018B: BTFSS 03.0`
		391	`018C: GOTO 196`
		392	`.................... {`
		393	`.................... if(a>TRESHOLD_MIN)`
		394	`018D: MOVF 24,W`
		395	`018E: SUBLW 32`
		396	`018F: BTFSC 03.0`
		397	`0190: GOTO 195`
		398	`.................... {`
		399	`.................... cidla \|= (last_cidla & 0b00000010);`
		400	`0191: MOVF 21,W`
		401	`0192: ANDLW 02`
		402	`0193: IORWF 23,F`
		403	`.................... }`
		404	`.................... else cidla \|= 0b00000010;`
		405	`0194: GOTO 196`
		406	`0195: BSF 23.1`
		407	`.................... }`
		408	`....................`
		409	`.................... a=read_adc();`
		410	`0196: BSF 1F.2`
		411	`0197: BTFSC 1F.2`
		412	`0198: GOTO 197`
		413	`0199: MOVF 1E,W`
		414	`019A: MOVWF 24`
		415	`....................`
		416	`.................... set_adc_channel(3);`
		417	`019B: MOVLW 18`
		418	`019C: MOVWF 78`
		419	`019D: MOVF 1F,W`
		420	`019E: ANDLW C7`
		421	`019F: IORWF 78,W`
		422	`01A0: MOVWF 1F`
		423	`.................... if(a<TRESHOLD_MAX)`
		424	`01A1: MOVF 24,W`
		425	`01A2: SUBLW 45`
		426	`01A3: BTFSS 03.0`
		427	`01A4: GOTO 1AE`
		428	`.................... {`
		429	`.................... if(a>TRESHOLD_MIN)`
		430	`01A5: MOVF 24,W`
		431	`01A6: SUBLW 32`
		432	`01A7: BTFSC 03.0`
		433	`01A8: GOTO 1AD`
		434	`.................... {`
		435	`.................... cidla \|= (last_cidla & 0b00000100);`
		436	`01A9: MOVF 21,W`
		437	`01AA: ANDLW 04`
		438	`01AB: IORWF 23,F`
		439	`.................... }`
		440	`.................... else cidla \|= 0b00000100;`
		441	`01AC: GOTO 1AE`
		442	`01AD: BSF 23.2`
		443	`.................... }`
		444	`....................`
		445	`.................... a=read_adc();`
		446	`01AE: BSF 1F.2`
		447	`01AF: BTFSC 1F.2`
		448	`01B0: GOTO 1AF`
		449	`01B1: MOVF 1E,W`
		450	`01B2: MOVWF 24`
		451	`....................`
		452	`.................... set_adc_channel(4);`
		453	`01B3: MOVLW 20`
		454	`01B4: MOVWF 78`
		455	`01B5: MOVF 1F,W`
		456	`01B6: ANDLW C7`
		457	`01B7: IORWF 78,W`
		458	`01B8: MOVWF 1F`
		459	`.................... if(a<TRESHOLD_MAX)`
		460	`01B9: MOVF 24,W`
		461	`01BA: SUBLW 45`
		462	`01BB: BTFSS 03.0`
		463	`01BC: GOTO 1C6`
		464	`.................... {`
		465	`.................... if(a>TRESHOLD_MIN)`
		466	`01BD: MOVF 24,W`
		467	`01BE: SUBLW 32`
		468	`01BF: BTFSC 03.0`
		469	`01C0: GOTO 1C5`
		470	`.................... {`
		471	`.................... cidla \|= (last_cidla & 0b00001000);`
		472	`01C1: MOVF 21,W`
		473	`01C2: ANDLW 08`
		474	`01C3: IORWF 23,F`
		475	`.................... }`
		476	`.................... else cidla \|= 0b00001000;`
		477	`01C4: GOTO 1C6`
		478	`01C5: BSF 23.3`
		479	`.................... }`
		480	`.................... a=read_adc();`
		481	`01C6: BSF 1F.2`
		482	`01C7: BTFSC 1F.2`
		483	`01C8: GOTO 1C7`
		484	`01C9: MOVF 1E,W`
		485	`01CA: MOVWF 24`
		486	`....................`
		487	`.................... set_adc_channel(5);`
		488	`01CB: MOVLW 28`
		489	`01CC: MOVWF 78`
		490	`01CD: MOVF 1F,W`
		491	`01CE: ANDLW C7`
		492	`01CF: IORWF 78,W`
		493	`01D0: MOVWF 1F`
		494	`....................`
		495	`.................... if(a<TRESHOLD_MAX)`
		496	`01D1: MOVF 24,W`
		497	`01D2: SUBLW 45`
		498	`01D3: BTFSS 03.0`
		499	`01D4: GOTO 1DE`
		500	`.................... {`
		501	`.................... if(a>TRESHOLD_MIN)`
		502	`01D5: MOVF 24,W`
		503	`01D6: SUBLW 32`
		504	`01D7: BTFSC 03.0`
		505	`01D8: GOTO 1DD`
		506	`.................... {`
		507	`.................... cidla \|= (last_cidla & 0b00010000);`
		508	`01D9: MOVF 21,W`
		509	`01DA: ANDLW 10`
		510	`01DB: IORWF 23,F`
		511	`.................... }`
		512	`.................... else cidla \|= 0b00010000;`
		513	`01DC: GOTO 1DE`
		514	`01DD: BSF 23.4`
		515	`.................... }`
		516	`.................... a=read_adc();`
		517	`01DE: BSF 1F.2`
		518	`01DF: BTFSC 1F.2`
		519	`01E0: GOTO 1DF`
		520	`01E1: MOVF 1E,W`
		521	`01E2: MOVWF 24`
		522	`....................`
		523	`.................... set_adc_channel(6);`
		524	`01E3: MOVLW 30`
		525	`01E4: MOVWF 78`
		526	`01E5: MOVF 1F,W`
		527	`01E6: ANDLW C7`
		528	`01E7: IORWF 78,W`
		529	`01E8: MOVWF 1F`
		530	`.................... if(a<TRESHOLD_MAX)`
		531	`01E9: MOVF 24,W`
		532	`01EA: SUBLW 45`
		533	`01EB: BTFSS 03.0`
		534	`01EC: GOTO 1F6`
		535	`.................... {`
		536	`.................... if(a>TRESHOLD_MIN)`
		537	`01ED: MOVF 24,W`
		538	`01EE: SUBLW 32`
		539	`01EF: BTFSC 03.0`
		540	`01F0: GOTO 1F5`
		541	`.................... {`
		542	`.................... cidla \|= (last_cidla & 0b00100000);`
		543	`01F1: MOVF 21,W`
		544	`01F2: ANDLW 20`
		545	`01F3: IORWF 23,F`
		546	`.................... }`
		547	`.................... else cidla \|= 0b00100000;`
		548	`01F4: GOTO 1F6`
		549	`01F5: BSF 23.5`
		550	`.................... }`
		551	`.................... a=read_adc();`
		552	`01F6: BSF 1F.2`
		553	`01F7: BTFSC 1F.2`
		554	`01F8: GOTO 1F7`
		555	`01F9: MOVF 1E,W`
		556	`01FA: MOVWF 24`
		557	`....................`
		558	`.................... if(a<TRESHOLD_MAX)`
		559	`01FB: MOVF 24,W`
		560	`01FC: SUBLW 45`
		561	`01FD: BTFSS 03.0`
		562	`01FE: GOTO 208`
		563	`.................... {`
		564	`.................... if(a>TRESHOLD_MIN)`
		565	`01FF: MOVF 24,W`
		566	`0200: SUBLW 32`
		567	`0201: BTFSC 03.0`
		568	`0202: GOTO 207`
		569	`.................... {`
		570	`.................... cidla \|=(last_cidla & 0b01000000);`
		571	`0203: MOVF 21,W`
		572	`0204: ANDLW 40`
		573	`0205: IORWF 23,F`
		574	`.................... }`
		575	`.................... else cidla \|= 0b01000000;`
		576	`0206: GOTO 208`
		577	`0207: BSF 23.6`
		578	`.................... }`
		579	`....................`
		580	`.................... last_cidla=cidla;`
		581	`0208: MOVF 23,W`
		582	`0209: MOVWF 21`
		583	`....................`
		584	`.................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};`
		585	`020A: BSF 03.5`
		586	`020B: BSF 06.0`
		587	`020C: BCF 03.5`
		588	`020D: BTFSC 06.0`
		589	`020E: GOTO 214`
		590	`020F: INCFSZ 22,W`
		591	`0210: GOTO 212`
		592	`0211: GOTO 213`
		593	`0212: INCF 22,F`
		594	`0213: GOTO 215`
		595	`0214: CLRF 22`
		596	`.................... if (shure>CIHLA) cidla\|=0b10000000;`
		597	`0215: MOVF 22,W`
		598	`0216: SUBLW 0A`
		599	`0217: BTFSS 03.0`
		600	`0218: BSF 23.7`
		601	`....................`
		602	`.................... cidla=~cidla;`
		603	`0219: COMF 23,F`
		604	`.................... spi_write(cidla);`
		605	`021A: MOVF 23,W`
		606	`021B: MOVWF 13`
		607	`021C: BSF 03.5`
		608	`021D: BTFSC 14.0`
		609	`021E: GOTO 221`
		610	`021F: BCF 03.5`
		611	`0220: GOTO 21C`
		612	`.................... }`
		613	`0221: BCF 03.5`
		614	`0222: GOTO 158`
		615	`.................... }`
		616	`0223: SLEEP`
		617
		618	`Configuration Fuses:`
		619	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		620	`Word 2: 3FFC NOFCMEN NOIESO`

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(root)/roboti/istrobot/3Orbis/cidla/cidla.LST – Rev 399