WebSVN – svnkaklik – Blame – /roboti/istrobot/laserus/88/laser.lst

Rev	Author	Line No.	Line
135	kakl	1	`CCS PCM C Compiler, Version 3.245, 27853 22-I-07 23:13`
		2
		3	`Filename: C:\PIC\laserus\laser.lst`
		4
		5	`ROM used: 326 words (8%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 19 (11%) at main() level`
		8	`26 (15%) worst case`
		9	`Stack: 2 worst case (1 in main + 1 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 0E7`
		15	`0003: NOP`
		16	`0004: MOVWF 7F`
		17	`0005: SWAPF 03,W`
		18	`0006: CLRF 03`
		19	`0007: MOVWF 21`
		20	`0008: MOVF 7F,W`
		21	`0009: MOVWF 20`
		22	`000A: MOVF 0A,W`
		23	`000B: MOVWF 28`
		24	`000C: CLRF 0A`
		25	`000D: SWAPF 20,F`
		26	`000E: MOVF 04,W`
		27	`000F: MOVWF 22`
		28	`0010: MOVF 77,W`
		29	`0011: MOVWF 23`
		30	`0012: MOVF 78,W`
		31	`0013: MOVWF 24`
		32	`0014: MOVF 79,W`
		33	`0015: MOVWF 25`
		34	`0016: MOVF 7A,W`
		35	`0017: MOVWF 26`
		36	`0018: MOVF 7B,W`
		37	`0019: MOVWF 27`
		38	`001A: BCF 03.7`
		39	`001B: BCF 03.5`
		40	`001C: BTFSS 0B.4`
		41	`001D: GOTO 020`
		42	`001E: BTFSC 0B.1`
		43	`001F: GOTO 033`
		44	`0020: MOVF 22,W`
		45	`0021: MOVWF 04`
		46	`0022: MOVF 23,W`
		47	`0023: MOVWF 77`
		48	`0024: MOVF 24,W`
		49	`0025: MOVWF 78`
		50	`0026: MOVF 25,W`
		51	`0027: MOVWF 79`
		52	`0028: MOVF 26,W`
		53	`0029: MOVWF 7A`
		54	`002A: MOVF 27,W`
		55	`002B: MOVWF 7B`
		56	`002C: MOVF 28,W`
		57	`002D: MOVWF 0A`
		58	`002E: SWAPF 21,W`
		59	`002F: MOVWF 03`
		60	`0030: SWAPF 7F,F`
		61	`0031: SWAPF 7F,W`
		62	`0032: RETFIE`
		63	`0033: BCF 0A.3`
		64	`0034: GOTO 035`
		65	`.................... #include "laser.h"`
		66	`.................... #include <16F88.h>`
		67	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		68	`.................... #device PIC16F88`
		69	`.................... #list`
		70	`....................`
		71	`.................... #device adc=8`
		72	`....................`
		73	`.................... #FUSES NOWDT //No Watch Dog Timer`
		74	`.................... #FUSES XT //Crystal osc <= 4mhz`
		75	`.................... #FUSES NOPUT //No Power Up Timer`
		76	`.................... #FUSES MCLR //Master Clear pin enabled`
		77	`.................... #FUSES NOBROWNOUT //No brownout reset`
		78	`.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O`
		79	`.................... #FUSES NOCPD //No EE protection`
		80	`.................... #FUSES NOWRT //Program memory not write protected`
		81	`.................... #FUSES NODEBUG //No Debug mode for ICD`
		82	`.................... #FUSES NOPROTECT //Code not protected from reading`
		83	`.................... #FUSES NOFCMEN //Fail-safe clock monitor disabled`
		84	`.................... #FUSES NOIESO //Internal External Switch Over mode disabled`
		85	`....................`
		86	`.................... #use delay(clock=4000000)`
		87	`*`
		88	`00D2: MOVLW 2B`
		89	`00D3: MOVWF 04`
		90	`00D4: MOVF 00,W`
		91	`00D5: BTFSC 03.2`
		92	`00D6: GOTO 0E6`
		93	`00D7: MOVLW 01`
		94	`00D8: MOVWF 78`
		95	`00D9: CLRF 77`
		96	`00DA: DECFSZ 77,F`
		97	`00DB: GOTO 0DA`
		98	`00DC: DECFSZ 78,F`
		99	`00DD: GOTO 0D9`
		100	`00DE: MOVLW 4A`
		101	`00DF: MOVWF 77`
		102	`00E0: DECFSZ 77,F`
		103	`00E1: GOTO 0E0`
		104	`00E2: NOP`
		105	`00E3: NOP`
		106	`00E4: DECFSZ 00,F`
		107	`00E5: GOTO 0D7`
		108	`00E6: RETLW 00`
		109	`....................`
		110	`....................`
		111	`.................... #include "16F88_Reg.H"`
		112	`.................... // Komplete definition of all Special Feature Registers`
		113	`.................... // of PIC16F87 and PIC16F88`
		114	`.................... // (c)miho 2005`
		115	`....................`
		116	`.................... #list`
		117	`....................`
		118	`....................`
		119	`.................... #define SERVO PIN_B5 // Vystup pro rizeni serva`
		120	`.................... #define LASER PIN_B4 // Vstup pro cteni laseru`
		121	`....................`
		122	`.................... // kroutitka`
		123	`.................... #define CERVENA 0 // AN0`
		124	`.................... #define CERNA 1 // AN1`
		125	`.................... //#define ZELENA 3 // AN3`
		126	`.................... //#define MODRA 4 // AN4`
		127	`....................`
		128	`.................... //#define OFFSET 100 // Predni kolecko vprostred pri care vprostred`
		129	`.................... //#define HYSTERESE 3 // Rozdil mezi behem tam a zpet`
		130	`....................`
		131	`.................... boolean edge;`
		132	`.................... int8 uhel;`
		133	`....................`
		134	`.................... #int_EXT`
		135	`.................... EXT_isr()`
		136	`.................... {`
		137	`.................... int n, t1, t2, t;`
		138	`....................`
		139	`.................... set_timer0(0); // Vynulovani casovace pro 2ms`
		140	`*`
		141	`0035: CLRF 01`
		142	`.................... output_high(SERVO);`
		143	`0036: BSF 03.5`
		144	`0037: BCF 06.5`
		145	`0038: BCF 03.5`
		146	`0039: BSF 06.5`
		147	`.................... while(get_timer0()<(1000/256)); // Ceka 1ms`
		148	`003A: MOVF 01,W`
		149	`003B: SUBLW 02`
		150	`003C: BTFSC 03.0`
		151	`003D: GOTO 03A`
		152	`.................... for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu`
		153	`003E: MOVF 2A,W`
		154	`003F: MOVWF 2E`
		155	`0040: MOVF 2E,F`
		156	`0041: BTFSC 03.2`
		157	`0042: GOTO 048`
		158	`0043: NOP`
		159	`0044: NOP`
		160	`0045: NOP`
		161	`0046: DECF 2E,F`
		162	`0047: GOTO 040`
		163	`.................... output_low(SERVO);`
		164	`0048: BSF 03.5`
		165	`0049: BCF 06.5`
		166	`004A: BCF 03.5`
		167	`004B: BCF 06.5`
		168	`.................... while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat`
		169	`004C: MOVF 01,W`
		170	`004D: SUBLW 0A`
		171	`004E: BTFSC 03.0`
		172	`004F: GOTO 04C`
		173	`....................`
		174	`.................... set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary`
		175	`0050: CLRF 01`
		176	`.................... if(edge) // Zrcatko prejizdelo tam nebo zpet?`
		177	`0051: BTFSS 29.0`
		178	`0052: GOTO 092`
		179	`.................... {`
		180	`.................... edge=false;`
		181	`0053: BCF 29.0`
		182	`.................... ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany`
		183	`0054: BSF 03.5`
		184	`0055: BCF 01.6`
		185	`.................... INT0IF_1=0; // Povoleni dalsiho preruseni`
		186	`0056: BCF 0B.1`
		187	`.................... enable_interrupts(INT_EXT);`
		188	`0057: BCF 03.5`
		189	`0058: BSF 0B.4`
		190	`.................... enable_interrupts(GLOBAL);`
		191	`0059: MOVLW C0`
		192	`005A: IORWF 0B,F`
		193	`.................... // do`
		194	`.................... {`
		195	`.................... while(0==input(LASER)); // Ceka na detekci cary`
		196	`005B: BSF 03.5`
		197	`005C: BSF 06.4`
		198	`005D: MOVLW 00`
		199	`005E: BCF 03.5`
		200	`005F: BTFSC 06.4`
		201	`0060: MOVLW 01`
		202	`0061: XORLW 00`
		203	`0062: BTFSC 03.2`
		204	`0063: GOTO 05B`
		205	`.................... // output_high(SERVO);`
		206	`.................... t1=get_timer0(); // Poznamena cas nabezne hrany`
		207	`0064: MOVF 01,W`
		208	`0065: MOVWF 2F`
		209	`.................... while(1==input(LASER)); // Ceka az zkonci cara`
		210	`0066: BSF 03.5`
		211	`0067: BSF 06.4`
		212	`0068: MOVLW 00`
		213	`0069: BCF 03.5`
		214	`006A: BTFSC 06.4`
		215	`006B: MOVLW 01`
		216	`006C: SUBLW 01`
		217	`006D: BTFSC 03.2`
		218	`006E: GOTO 066`
		219	`.................... // output_low(SERVO);`
		220	`.................... t2=get_timer0(); // Poznamena cas sestupne hrany`
		221	`006F: MOVF 01,W`
		222	`0070: MOVWF 30`
		223	`.................... t=t2-t1;`
		224	`0071: MOVF 2F,W`
		225	`0072: SUBWF 30,W`
		226	`0073: MOVWF 31`
		227	`.................... } //while((t<5) \|\| (t>7)); // Cara je detekovana, kdyz trva mezi xx ms`
		228	`.................... if ((t>3) && (t<8)) uhel=(160-(read_adc()>>2))-t1;`
		229	`0074: MOVF 31,W`
		230	`0075: SUBLW 03`
		231	`0076: BTFSC 03.0`
		232	`0077: GOTO 08B`
		233	`0078: MOVF 31,W`
		234	`0079: SUBLW 07`
		235	`007A: BTFSS 03.0`
		236	`007B: GOTO 08B`
		237	`007C: BSF 1F.2`
		238	`007D: BTFSC 1F.2`
		239	`007E: GOTO 07D`
		240	`007F: MOVF 1E,W`
		241	`0080: MOVWF 77`
		242	`0081: RRF 77,F`
		243	`0082: RRF 77,F`
		244	`0083: MOVLW 3F`
		245	`0084: ANDWF 77,F`
		246	`0085: MOVF 77,W`
		247	`0086: SUBLW A0`
		248	`0087: MOVWF 78`
		249	`0088: MOVF 2F,W`
		250	`0089: SUBWF 78,W`
		251	`008A: MOVWF 2A`
		252	`.................... set_adc_channel(1);`
		253	`008B: MOVLW 08`
		254	`008C: MOVWF 78`
		255	`008D: MOVF 1F,W`
		256	`008E: ANDLW C7`
		257	`008F: IORWF 78,W`
		258	`0090: MOVWF 1F`
		259	`.................... }`
		260	`.................... else`
		261	`0091: GOTO 0CE`
		262	`.................... {`
		263	`.................... edge=true;`
		264	`0092: BSF 29.0`
		265	`.................... ext_int_edge(L_TO_H);`
		266	`0093: BSF 03.5`
		267	`0094: BSF 01.6`
		268	`.................... INT0IF_1=0; // Povoleni dalsiho preruseni`
		269	`0095: BCF 0B.1`
		270	`.................... enable_interrupts(INT_EXT);`
		271	`0096: BCF 03.5`
		272	`0097: BSF 0B.4`
		273	`.................... enable_interrupts(GLOBAL);`
		274	`0098: MOVLW C0`
		275	`0099: IORWF 0B,F`
		276	`.................... // do`
		277	`.................... {`
		278	`.................... while(0==input(LASER)); // Ceka na detekci cary`
		279	`009A: BSF 03.5`
		280	`009B: BSF 06.4`
		281	`009C: MOVLW 00`
		282	`009D: BCF 03.5`
		283	`009E: BTFSC 06.4`
		284	`009F: MOVLW 01`
		285	`00A0: XORLW 00`
		286	`00A1: BTFSC 03.2`
		287	`00A2: GOTO 09A`
		288	`.................... t1=get_timer0(); // Poznamena cas nabezne hrany`
		289	`00A3: MOVF 01,W`
		290	`00A4: MOVWF 2F`
		291	`.................... while(1==input(LASER)); // Ceka az zkonci cara`
		292	`00A5: BSF 03.5`
		293	`00A6: BSF 06.4`
		294	`00A7: MOVLW 00`
		295	`00A8: BCF 03.5`
		296	`00A9: BTFSC 06.4`
		297	`00AA: MOVLW 01`
		298	`00AB: SUBLW 01`
		299	`00AC: BTFSC 03.2`
		300	`00AD: GOTO 0A5`
		301	`.................... t2=get_timer0(); // Poznamena cas sestupne hrany`
		302	`00AE: MOVF 01,W`
		303	`00AF: MOVWF 30`
		304	`.................... t=t2-t1;`
		305	`00B0: MOVF 2F,W`
		306	`00B1: SUBWF 30,W`
		307	`00B2: MOVWF 31`
		308	`.................... } //while((t<5) \|\| (t>7)); // Cara je detekovana, kdyz trva mezi xx ms`
		309	`.................... if ((t>3) && (t<8)) uhel=((read_adc()>>2)+32)+t1;`
		310	`00B3: MOVF 31,W`
		311	`00B4: SUBLW 03`
		312	`00B5: BTFSC 03.0`
		313	`00B6: GOTO 0C8`
		314	`00B7: MOVF 31,W`
		315	`00B8: SUBLW 07`
		316	`00B9: BTFSS 03.0`
		317	`00BA: GOTO 0C8`
		318	`00BB: BSF 1F.2`
		319	`00BC: BTFSC 1F.2`
		320	`00BD: GOTO 0BC`
		321	`00BE: MOVF 1E,W`
		322	`00BF: MOVWF 77`
		323	`00C0: RRF 77,F`
		324	`00C1: RRF 77,F`
		325	`00C2: MOVLW 3F`
		326	`00C3: ANDWF 77,F`
		327	`00C4: MOVF 77,W`
		328	`00C5: ADDLW 20`
		329	`00C6: ADDWF 2F,W`
		330	`00C7: MOVWF 2A`
		331	`.................... set_adc_channel(0);`
		332	`00C8: MOVLW 00`
		333	`00C9: MOVWF 78`
		334	`00CA: MOVF 1F,W`
		335	`00CB: ANDLW C7`
		336	`00CC: IORWF 78,W`
		337	`00CD: MOVWF 1F`
		338	`.................... }`
		339	`.................... while(true);`
		340	`00CE: GOTO 0CE`
		341	`.................... }`
		342	`....................`
		343	`....................`
		344	`....................`
		345	`00CF: BCF 0B.1`
		346	`00D0: BCF 0A.3`
		347	`00D1: GOTO 020`
		348	`.................... void main()`
		349	`.................... {`
		350	`*`
		351	`00E7: CLRF 04`
		352	`00E8: MOVLW 1F`
		353	`00E9: ANDWF 03,F`
		354	`00EA: BSF 03.5`
		355	`00EB: BCF 1F.4`
		356	`00EC: BCF 1F.5`
		357	`00ED: MOVF 1B,W`
		358	`00EE: ANDLW 80`
		359	`00EF: MOVWF 1B`
		360	`00F0: MOVLW 07`
		361	`00F1: MOVWF 1C`
		362	`.................... setup_adc_ports(sAN0\|sAN1\|VSS_VDD); // AD pro kroutitka`
		363	`00F2: BCF 1F.4`
		364	`00F3: BCF 1F.5`
		365	`00F4: MOVF 1B,W`
		366	`00F5: ANDLW 80`
		367	`00F6: IORLW 03`
		368	`00F7: MOVWF 1B`
		369	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		370	`00F8: BCF 1F.6`
		371	`00F9: BCF 03.5`
		372	`00FA: BSF 1F.6`
		373	`00FB: BSF 1F.7`
		374	`00FC: BSF 03.5`
		375	`00FD: BCF 1F.7`
		376	`00FE: BCF 03.5`
		377	`00FF: BSF 1F.0`
		378	`.................... setup_spi(FALSE);`
		379	`0100: BCF 14.5`
		380	`0101: BSF 03.5`
		381	`0102: BCF 06.2`
		382	`0103: BSF 06.1`
		383	`0104: BCF 06.4`
		384	`0105: MOVLW 00`
		385	`0106: BCF 03.5`
		386	`0107: MOVWF 14`
		387	`0108: BSF 03.5`
		388	`0109: MOVWF 14`
		389	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_256);`
		390	`010A: MOVF 01,W`
		391	`010B: ANDLW C0`
		392	`010C: IORLW 07`
		393	`010D: MOVWF 01`
		394	`.................... setup_timer_1(T1_DISABLED);`
		395	`010E: BCF 03.5`
		396	`010F: CLRF 10`
		397	`.................... setup_timer_2(T2_DISABLED,0,1);`
		398	`0110: MOVLW 00`
		399	`0111: MOVWF 78`
		400	`0112: MOVWF 12`
		401	`0113: MOVLW 00`
		402	`0114: BSF 03.5`
		403	`0115: MOVWF 12`
		404	`.................... setup_comparator(NC_NC_NC_NC);`
		405	`0116: MOVLW 07`
		406	`0117: MOVWF 1C`
		407	`0118: MOVF 05,W`
		408	`0119: MOVLW 03`
		409	`011A: MOVWF 77`
		410	`011B: DECFSZ 77,F`
		411	`011C: GOTO 11B`
		412	`011D: MOVF 1C,W`
		413	`011E: BCF 03.5`
		414	`011F: BCF 0D.6`
		415	`.................... setup_vref(FALSE);`
		416	`0120: BSF 03.5`
		417	`0121: CLRF 1D`
		418	`.................... setup_oscillator(False);`
		419	`0122: CLRF 0F`
		420	`0123: MOVF 0F,W`
		421	`....................`
		422	`.................... delay_ms(100);`
		423	`0124: MOVLW 64`
		424	`0125: BCF 03.5`
		425	`0126: MOVWF 2B`
		426	`0127: CALL 0D2`
		427	`.................... set_adc_channel(0);`
		428	`0128: MOVLW 00`
		429	`0129: MOVWF 78`
		430	`012A: MOVF 1F,W`
		431	`012B: ANDLW C7`
		432	`012C: IORWF 78,W`
		433	`012D: MOVWF 1F`
		434	`.................... Delay_ms(1);`
		435	`012E: MOVLW 01`
		436	`012F: MOVWF 2B`
		437	`0130: CALL 0D2`
		438	`....................`
		439	`.................... ext_int_edge(L_TO_H);`
		440	`0131: BSF 03.5`
		441	`0132: BSF 01.6`
		442	`.................... edge=true;`
		443	`0133: BCF 03.5`
		444	`0134: BSF 29.0`
		445	`.................... uhel=((read_adc()>>2)+32)+30;;`
		446	`0135: BSF 1F.2`
		447	`0136: BTFSC 1F.2`
		448	`0137: GOTO 136`
		449	`0138: MOVF 1E,W`
		450	`0139: MOVWF 77`
		451	`013A: RRF 77,F`
		452	`013B: RRF 77,F`
		453	`013C: MOVLW 3F`
		454	`013D: ANDWF 77,F`
		455	`013E: MOVF 77,W`
		456	`013F: ADDLW 20`
		457	`0140: ADDLW 1E`
		458	`0141: MOVWF 2A`
		459	`.................... enable_interrupts(INT_EXT);`
		460	`0142: BSF 0B.4`
		461	`.................... enable_interrupts(GLOBAL);`
		462	`0143: MOVLW C0`
		463	`0144: IORWF 0B,F`
		464	`.................... }`
		465	`0145: SLEEP`
		466
		467	`Configuration Fuses:`
		468	`Word 1: 3F29 XT NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT`
		469	`Word 2: 3FFC NOFCMEN NOIESO`

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