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2 kaklik 1
CCS PCM C Compiler, Version 3.221, 27853               18-VI-05 13:30
2
 
3
               Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST
4
 
5
               ROM used: 1441 words (35%)
6
                         Largest free fragment is 2048
7
               RAM used: 27 (15%) at main() level
8
                         34 (19%) worst case
9
               Stack:    4 worst case (3 in main + 1 for interrupts)
10
 
11
*
12
0000:  MOVLW  00
13
0001:  MOVWF  0A
14
0002:  GOTO   2D1
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:  MOVLW  8C
41
001D:  MOVWF  04
42
001E:  BTFSS  00.1
43
001F:  GOTO   022
44
0020:  BTFSC  0C.1
45
0021:  GOTO   035
46
0022:  MOVF   22,W
47
0023:  MOVWF  04
48
0024:  MOVF   23,W
49
0025:  MOVWF  77
50
0026:  MOVF   24,W
51
0027:  MOVWF  78
52
0028:  MOVF   25,W
53
0029:  MOVWF  79
54
002A:  MOVF   26,W
55
002B:  MOVWF  7A
56
002C:  MOVF   27,W
57
002D:  MOVWF  7B
58
002E:  MOVF   28,W
59
002F:  MOVWF  0A
60
0030:  SWAPF  21,W
61
0031:  MOVWF  03
62
0032:  SWAPF  7F,F
63
0033:  SWAPF  7F,W
64
0034:  RETFIE
65
0035:  BCF    0A.3
66
0036:  GOTO   037
67
....................  // Program pro predvadeni schopnosti robota Merkur  
68
.................... //------------------------------------------------  
69
....................   
70
.................... #include "tank.h" 
71
....................  #include <16F88.h> 
72
....................  //////// Standard Header file for the PIC16F88 device ////////////////  
73
.................... #device PIC16F88  
74
.................... #list  
75
....................  
76
.................... #device adc=8  
77
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO  
78
.................... #use delay(clock=4000000)  
79
*
80
0042:  MOVLW  12
81
0043:  SUBWF  3C,F
82
0044:  BTFSS  03.0
83
0045:  GOTO   054
84
0046:  MOVLW  3C
85
0047:  MOVWF  04
86
0048:  MOVLW  FC
87
0049:  ANDWF  00,F
88
004A:  BCF    03.0
89
004B:  RRF    00,F
90
004C:  RRF    00,F
91
004D:  MOVF   00,W
92
004E:  BTFSC  03.2
93
004F:  GOTO   054
94
0050:  GOTO   052
95
0051:  NOP
96
0052:  DECFSZ 00,F
97
0053:  GOTO   051
98
0054:  RETLW  00
99
*
100
0073:  MOVLW  37
101
0074:  MOVWF  04
102
0075:  MOVF   00,W
103
0076:  BTFSC  03.2
104
0077:  GOTO   087
105
0078:  MOVLW  01
106
0079:  MOVWF  78
107
007A:  CLRF   77
108
007B:  DECFSZ 77,F
109
007C:  GOTO   07B
110
007D:  DECFSZ 78,F
111
007E:  GOTO   07A
112
007F:  MOVLW  4A
113
0080:  MOVWF  77
114
0081:  DECFSZ 77,F
115
0082:  GOTO   081
116
0083:  NOP
117
0084:  NOP
118
0085:  DECFSZ 00,F
119
0086:  GOTO   078
120
0087:  RETLW  00
121
....................   
122
....................  
123
....................   
124
.................... unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru  
125
.................... unsigned int8 line;           // na ktere strane byla detekovana cara  
126
.................... unsigned int8 speed;          // rychlost zataceni  
127
.................... unsigned int8 last;           // kde byla cara, kdyz byly minule cidla mimo  
128
.................... unsigned int8 rovinka;        // pocitadlo pro zjisteni rovneho useku  
129
.................... int cirkus;                   // pocitadlo, po kolika akcich se ma delat cirkus  
130
.................... int1 BW;                      // urcuje, jestli je cara cerno/bila nebo  
131
....................                               // bilo/cerna (true = bila cara, cerny podklad)  
132
....................   
133
.................... // Konstanty pro dynamiku pohybu  
134
.................... #define T_DIRA       120      // po jakem case zataceni se detekuje dira  
135
.................... #define FW_POMALU    170      // trochu mimo caru vnitrni pas  
136
.................... #define FW_ZATACKA   200      // rychlost vnejsiho kola pri zataceni  
137
.................... #define FW_STREDNE   190      // trochu mimo caru vnejsi pas  
138
.................... #define COUVANI      750      // couvnuti zpet na caru, po detekci diry  
139
.................... #define MAX_ROVINKA  (255-FW_STREDNE)  
140
.................... #define TRESHOLD     15       // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd  
141
.................... #define BUMPER_TRESHOLD 128   // rozhodovaci uroven cidla na prekazku  
142
....................   
143
.................... //motory            //Napred vypnout potom zapnout!  
144
.................... #define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred  
145
.................... #define FL         output_low(PIN_B7); output_high(PIN_B6)  
146
.................... #define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad  
147
.................... #define BL         output_low(PIN_B6); output_high(PIN_B7)  
148
.................... #define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav  
149
.................... #define STOPL      output_low(PIN_B6);output_low(PIN_B7)  
150
....................   
151
.................... #define L 0b10  // left  
152
.................... #define R 0b01  // right  
153
.................... #define S 0b11  // straight  
154
....................   
155
.................... //cidla  
156
.................... #define RSENSOR    (BW != C2OUT)      // Senzory na caru  
157
.................... #define LSENSOR    (BW != C1OUT)  
158
.................... #define BUMPER     sAN2     // Senzor na cihlu  
159
....................   
160
.................... #define DIAG_SERVO      PIN_B3   // Propojka pro diagnosticky mod  
161
.................... #define DIAG_SENSORS    PIN_B2   // Propojka pro diagnosticky mod  
162
.................... #define BARVY           PIN_B1   // Propojka pro nastaveni barvy cary  
163
....................   
164
.................... #define SPEAKER   PIN_B0     // vystup pro pipak  
165
....................   
166
.................... #define LED1   PIN_A4   // LEDky  
167
.................... #define LED2   PIN_A3  
168
.................... #define LED3   PIN_A7  
169
.................... #define LED4   PIN_A6  
170
....................   
171
.................... // makro pro PWM  
172
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \  
173
.................... {direction##motor;} else {stop##motor;}  
174
....................   
175
.................... #int_TIMER2  
176
.................... void TIMER2_isr()  // obsluha zrychlovani  
177
.................... {  
178
....................    if (speed<255) speed++;  
179
*
180
0037:  INCFSZ 2B,W
181
0038:  GOTO   03A
182
0039:  GOTO   03B
183
003A:  INCF   2B,F
184
....................    if (rovinka<MAX_ROVINKA) rovinka++;  
185
003B:  MOVF   2D,W
186
003C:  SUBLW  40
187
003D:  BTFSC  03.0
188
003E:  INCF   2D,F
189
.................... }  
190
....................   
191
.................... // Primitivni Pipani  
192
003F:  BCF    0C.1
193
0040:  BCF    0A.3
194
0041:  GOTO   022
195
.................... void beep(unsigned int16 period, unsigned int16 length)  
196
.................... {  
197
....................    unsigned int16 nn;  
198
....................   
199
....................    for(nn=length; nn>0; nn--)  
200
*
201
0055:  MOVF   39,W
202
0056:  MOVWF  3B
203
0057:  MOVF   38,W
204
0058:  MOVWF  3A
205
0059:  MOVF   3A,F
206
005A:  BTFSS  03.2
207
005B:  GOTO   05F
208
005C:  MOVF   3B,F
209
005D:  BTFSC  03.2
210
005E:  GOTO   072
211
....................    {  
212
....................      output_high(SPEAKER);  
213
005F:  BSF    03.5
214
0060:  BCF    06.0
215
0061:  BCF    03.5
216
0062:  BSF    06.0
217
....................      delay_us(period);  
218
0063:  MOVF   36,W
219
0064:  MOVWF  3C
220
0065:  CALL   042
221
....................      output_low(SPEAKER);  
222
0066:  BSF    03.5
223
0067:  BCF    06.0
224
0068:  BCF    03.5
225
0069:  BCF    06.0
226
....................      delay_us(period);  
227
006A:  MOVF   36,W
228
006B:  MOVWF  3C
229
006C:  CALL   042
230
....................    }  
231
006D:  MOVF   3A,W
232
006E:  BTFSC  03.2
233
006F:  DECF   3B,F
234
0070:  DECF   3A,F
235
0071:  GOTO   059
236
.................... }  
237
0072:  RETLW  00
238
.................... /******************************************************************************/  
239
.................... void diagnostika()  
240
.................... {  
241
....................    unsigned int16 n;  
242
....................   
243
....................    while (input(DIAG_SERVO))   // Propojka, ktera spousti diagnostiku  
244
....................    {  
245
*
246
0088:  BSF    03.5
247
0089:  BSF    06.3
248
008A:  BCF    03.5
249
008B:  BTFSS  06.3
250
008C:  GOTO   1B3
251
....................       for (n=500; n<800; n+=100)  
252
008D:  MOVLW  01
253
008E:  MOVWF  35
254
008F:  MOVLW  F4
255
0090:  MOVWF  34
256
0091:  MOVF   35,W
257
0092:  SUBLW  03
258
0093:  BTFSS  03.0
259
0094:  GOTO   0A9
260
0095:  BTFSS  03.2
261
0096:  GOTO   09B
262
0097:  MOVF   34,W
263
0098:  SUBLW  1F
264
0099:  BTFSS  03.0
265
009A:  GOTO   0A9
266
....................       {  
267
....................          beep(n,n); //beep UP  
268
009B:  MOVF   35,W
269
009C:  MOVWF  37
270
009D:  MOVF   34,W
271
009E:  MOVWF  36
272
009F:  MOVF   35,W
273
00A0:  MOVWF  39
274
00A1:  MOVF   34,W
275
00A2:  MOVWF  38
276
00A3:  CALL   055
277
....................       };  
278
00A4:  MOVLW  64
279
00A5:  ADDWF  34,F
280
00A6:  BTFSC  03.0
281
00A7:  INCF   35,F
282
00A8:  GOTO   091
283
....................       Delay_ms(1000);  
284
00A9:  MOVLW  04
285
00AA:  MOVWF  36
286
00AB:  MOVLW  FA
287
00AC:  MOVWF  37
288
00AD:  CALL   073
289
00AE:  DECFSZ 36,F
290
00AF:  GOTO   0AB
291
....................       //zastav vse  
292
....................       STOPL; STOPR;  
293
00B0:  BSF    03.5
294
00B1:  BCF    06.6
295
00B2:  BCF    03.5
296
00B3:  BCF    06.6
297
00B4:  BSF    03.5
298
00B5:  BCF    06.7
299
00B6:  BCF    03.5
300
00B7:  BCF    06.7
301
00B8:  BSF    03.5
302
00B9:  BCF    06.4
303
00BA:  BCF    03.5
304
00BB:  BCF    06.4
305
00BC:  BSF    03.5
306
00BD:  BCF    06.5
307
00BE:  BCF    03.5
308
00BF:  BCF    06.5
309
....................       //pravy pas  
310
....................       FR; Delay_ms(1000); STOPR; Delay_ms(1000);  
311
00C0:  BSF    03.5
312
00C1:  BCF    06.5
313
00C2:  BCF    03.5
314
00C3:  BCF    06.5
315
00C4:  BSF    03.5
316
00C5:  BCF    06.4
317
00C6:  BCF    03.5
318
00C7:  BSF    06.4
319
00C8:  MOVLW  04
320
00C9:  MOVWF  36
321
00CA:  MOVLW  FA
322
00CB:  MOVWF  37
323
00CC:  CALL   073
324
00CD:  DECFSZ 36,F
325
00CE:  GOTO   0CA
326
00CF:  BSF    03.5
327
00D0:  BCF    06.4
328
00D1:  BCF    03.5
329
00D2:  BCF    06.4
330
00D3:  BSF    03.5
331
00D4:  BCF    06.5
332
00D5:  BCF    03.5
333
00D6:  BCF    06.5
334
00D7:  MOVLW  04
335
00D8:  MOVWF  36
336
00D9:  MOVLW  FA
337
00DA:  MOVWF  37
338
00DB:  CALL   073
339
00DC:  DECFSZ 36,F
340
00DD:  GOTO   0D9
341
....................       BR; Delay_ms(1000); STOPR; Delay_ms(1000);  
342
00DE:  BSF    03.5
343
00DF:  BCF    06.4
344
00E0:  BCF    03.5
345
00E1:  BCF    06.4
346
00E2:  BSF    03.5
347
00E3:  BCF    06.5
348
00E4:  BCF    03.5
349
00E5:  BSF    06.5
350
00E6:  MOVLW  04
351
00E7:  MOVWF  36
352
00E8:  MOVLW  FA
353
00E9:  MOVWF  37
354
00EA:  CALL   073
355
00EB:  DECFSZ 36,F
356
00EC:  GOTO   0E8
357
00ED:  BSF    03.5
358
00EE:  BCF    06.4
359
00EF:  BCF    03.5
360
00F0:  BCF    06.4
361
00F1:  BSF    03.5
362
00F2:  BCF    06.5
363
00F3:  BCF    03.5
364
00F4:  BCF    06.5
365
00F5:  MOVLW  04
366
00F6:  MOVWF  36
367
00F7:  MOVLW  FA
368
00F8:  MOVWF  37
369
00F9:  CALL   073
370
00FA:  DECFSZ 36,F
371
00FB:  GOTO   0F7
372
....................       Beep(880,100); Delay_ms(1000);  
373
00FC:  MOVLW  03
374
00FD:  MOVWF  37
375
00FE:  MOVLW  70
376
00FF:  MOVWF  36
377
0100:  CLRF   39
378
0101:  MOVLW  64
379
0102:  MOVWF  38
380
0103:  CALL   055
381
0104:  MOVLW  04
382
0105:  MOVWF  36
383
0106:  MOVLW  FA
384
0107:  MOVWF  37
385
0108:  CALL   073
386
0109:  DECFSZ 36,F
387
010A:  GOTO   106
388
....................       //levy pas  
389
....................       FL; Delay_ms(1000); STOPL; Delay_ms(1000);  
390
010B:  BSF    03.5
391
010C:  BCF    06.7
392
010D:  BCF    03.5
393
010E:  BCF    06.7
394
010F:  BSF    03.5
395
0110:  BCF    06.6
396
0111:  BCF    03.5
397
0112:  BSF    06.6
398
0113:  MOVLW  04
399
0114:  MOVWF  36
400
0115:  MOVLW  FA
401
0116:  MOVWF  37
402
0117:  CALL   073
403
0118:  DECFSZ 36,F
404
0119:  GOTO   115
405
011A:  BSF    03.5
406
011B:  BCF    06.6
407
011C:  BCF    03.5
408
011D:  BCF    06.6
409
011E:  BSF    03.5
410
011F:  BCF    06.7
411
0120:  BCF    03.5
412
0121:  BCF    06.7
413
0122:  MOVLW  04
414
0123:  MOVWF  36
415
0124:  MOVLW  FA
416
0125:  MOVWF  37
417
0126:  CALL   073
418
0127:  DECFSZ 36,F
419
0128:  GOTO   124
420
....................       BL; Delay_ms(1000); STOPL; Delay_ms(1000);  
421
0129:  BSF    03.5
422
012A:  BCF    06.6
423
012B:  BCF    03.5
424
012C:  BCF    06.6
425
012D:  BSF    03.5
426
012E:  BCF    06.7
427
012F:  BCF    03.5
428
0130:  BSF    06.7
429
0131:  MOVLW  04
430
0132:  MOVWF  36
431
0133:  MOVLW  FA
432
0134:  MOVWF  37
433
0135:  CALL   073
434
0136:  DECFSZ 36,F
435
0137:  GOTO   133
436
0138:  BSF    03.5
437
0139:  BCF    06.6
438
013A:  BCF    03.5
439
013B:  BCF    06.6
440
013C:  BSF    03.5
441
013D:  BCF    06.7
442
013E:  BCF    03.5
443
013F:  BCF    06.7
444
0140:  MOVLW  04
445
0141:  MOVWF  36
446
0142:  MOVLW  FA
447
0143:  MOVWF  37
448
0144:  CALL   073
449
0145:  DECFSZ 36,F
450
0146:  GOTO   142
451
....................       Beep(880,100); Delay_ms(1000);  
452
0147:  MOVLW  03
453
0148:  MOVWF  37
454
0149:  MOVLW  70
455
014A:  MOVWF  36
456
014B:  CLRF   39
457
014C:  MOVLW  64
458
014D:  MOVWF  38
459
014E:  CALL   055
460
014F:  MOVLW  04
461
0150:  MOVWF  36
462
0151:  MOVLW  FA
463
0152:  MOVWF  37
464
0153:  CALL   073
465
0154:  DECFSZ 36,F
466
0155:  GOTO   151
467
....................       //oba pasy  
468
....................       FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  
469
0156:  BSF    03.5
470
0157:  BCF    06.7
471
0158:  BCF    03.5
472
0159:  BCF    06.7
473
015A:  BSF    03.5
474
015B:  BCF    06.6
475
015C:  BCF    03.5
476
015D:  BSF    06.6
477
015E:  BSF    03.5
478
015F:  BCF    06.5
479
0160:  BCF    03.5
480
0161:  BCF    06.5
481
0162:  BSF    03.5
482
0163:  BCF    06.4
483
0164:  BCF    03.5
484
0165:  BSF    06.4
485
0166:  MOVLW  04
486
0167:  MOVWF  36
487
0168:  MOVLW  FA
488
0169:  MOVWF  37
489
016A:  CALL   073
490
016B:  DECFSZ 36,F
491
016C:  GOTO   168
492
016D:  BSF    03.5
493
016E:  BCF    06.6
494
016F:  BCF    03.5
495
0170:  BCF    06.6
496
0171:  BSF    03.5
497
0172:  BCF    06.7
498
0173:  BCF    03.5
499
0174:  BCF    06.7
500
0175:  BSF    03.5
501
0176:  BCF    06.4
502
0177:  BCF    03.5
503
0178:  BCF    06.4
504
0179:  BSF    03.5
505
017A:  BCF    06.5
506
017B:  BCF    03.5
507
017C:  BCF    06.5
508
017D:  MOVLW  04
509
017E:  MOVWF  36
510
017F:  MOVLW  FA
511
0180:  MOVWF  37
512
0181:  CALL   073
513
0182:  DECFSZ 36,F
514
0183:  GOTO   17F
515
....................       BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  
516
0184:  BSF    03.5
517
0185:  BCF    06.6
518
0186:  BCF    03.5
519
0187:  BCF    06.6
520
0188:  BSF    03.5
521
0189:  BCF    06.7
522
018A:  BCF    03.5
523
018B:  BSF    06.7
524
018C:  BSF    03.5
525
018D:  BCF    06.4
526
018E:  BCF    03.5
527
018F:  BCF    06.4
528
0190:  BSF    03.5
529
0191:  BCF    06.5
530
0192:  BCF    03.5
531
0193:  BSF    06.5
532
0194:  MOVLW  04
533
0195:  MOVWF  36
534
0196:  MOVLW  FA
535
0197:  MOVWF  37
536
0198:  CALL   073
537
0199:  DECFSZ 36,F
538
019A:  GOTO   196
539
019B:  BSF    03.5
540
019C:  BCF    06.6
541
019D:  BCF    03.5
542
019E:  BCF    06.6
543
019F:  BSF    03.5
544
01A0:  BCF    06.7
545
01A1:  BCF    03.5
546
01A2:  BCF    06.7
547
01A3:  BSF    03.5
548
01A4:  BCF    06.4
549
01A5:  BCF    03.5
550
01A6:  BCF    06.4
551
01A7:  BSF    03.5
552
01A8:  BCF    06.5
553
01A9:  BCF    03.5
554
01AA:  BCF    06.5
555
01AB:  MOVLW  04
556
01AC:  MOVWF  36
557
01AD:  MOVLW  FA
558
01AE:  MOVWF  37
559
01AF:  CALL   073
560
01B0:  DECFSZ 36,F
561
01B1:  GOTO   1AD
562
....................    };  
563
01B2:  GOTO   088
564
....................    while (input(DIAG_SENSORS))         // spusteni diagnostiky cidel  
565
....................    {  
566
01B3:  BSF    03.5
567
01B4:  BSF    06.2
568
01B5:  BCF    03.5
569
01B6:  BTFSS  06.2
570
01B7:  GOTO   1F6
571
....................       if (RSENSOR) beep(1000,200);  
572
01B8:  CLRF   77
573
01B9:  BSF    03.5
574
01BA:  BTFSC  1C.7
575
01BB:  BSF    77.0
576
01BC:  BCF    03.5
577
01BD:  MOVF   2F,W
578
01BE:  XORWF  77,W
579
01BF:  ANDLW  01
580
01C0:  BTFSC  03.2
581
01C1:  GOTO   1CA
582
01C2:  MOVLW  03
583
01C3:  MOVWF  37
584
01C4:  MOVLW  E8
585
01C5:  MOVWF  36
586
01C6:  CLRF   39
587
01C7:  MOVLW  C8
588
01C8:  MOVWF  38
589
01C9:  CALL   055
590
....................       Delay_ms(200);  
591
01CA:  MOVLW  C8
592
01CB:  MOVWF  37
593
01CC:  CALL   073
594
....................       if (LSENSOR) beep(2000,300);  
595
01CD:  CLRF   77
596
01CE:  BSF    03.5
597
01CF:  BTFSC  1C.6
598
01D0:  BSF    77.0
599
01D1:  BCF    03.5
600
01D2:  MOVF   2F,W
601
01D3:  XORWF  77,W
602
01D4:  ANDLW  01
603
01D5:  BTFSC  03.2
604
01D6:  GOTO   1E0
605
01D7:  MOVLW  07
606
01D8:  MOVWF  37
607
01D9:  MOVLW  D0
608
01DA:  MOVWF  36
609
01DB:  MOVLW  01
610
01DC:  MOVWF  39
611
01DD:  MOVLW  2C
612
01DE:  MOVWF  38
613
01DF:  CALL   055
614
....................       Delay_ms(200);  
615
01E0:  MOVLW  C8
616
01E1:  MOVWF  37
617
01E2:  CALL   073
618
....................       if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);  
619
01E3:  BTFSC  1F.2
620
01E4:  GOTO   1E3
621
01E5:  MOVF   1E,W
622
01E6:  SUBLW  7F
623
01E7:  BTFSS  03.0
624
01E8:  GOTO   1F2
625
01E9:  MOVLW  0B
626
01EA:  MOVWF  37
627
01EB:  MOVLW  B8
628
01EC:  MOVWF  36
629
01ED:  MOVLW  01
630
01EE:  MOVWF  39
631
01EF:  MOVLW  90
632
01F0:  MOVWF  38
633
01F1:  CALL   055
634
....................       Delay_ms(200);  
635
01F2:  MOVLW  C8
636
01F3:  MOVWF  37
637
01F4:  CALL   073
638
....................    };  
639
01F5:  GOTO   1B3
640
.................... }  
641
01F6:  BCF    0A.3
642
01F7:  GOTO   378 (RETURN)
643
.................... ///////////////////////////////////////////////////////////////////////////////  
644
.................... void OtocSe()                     // otoci se zpet, kdyz je prekazka  
645
.................... {  
646
....................    unsigned int16 n;  
647
....................   
648
....................    BL; BR;                    // cukni zpatky  
649
01F8:  BSF    03.5
650
01F9:  BCF    06.6
651
01FA:  BCF    03.5
652
01FB:  BCF    06.6
653
01FC:  BSF    03.5
654
01FD:  BCF    06.7
655
01FE:  BCF    03.5
656
01FF:  BSF    06.7
657
0200:  BSF    03.5
658
0201:  BCF    06.4
659
0202:  BCF    03.5
660
0203:  BCF    06.4
661
0204:  BSF    03.5
662
0205:  BCF    06.5
663
0206:  BCF    03.5
664
0207:  BSF    06.5
665
....................    Delay_ms(200);  
666
0208:  MOVLW  C8
667
0209:  MOVWF  37
668
020A:  CALL   073
669
.................... 	STOPR;STOPL;  
670
020B:  BSF    03.5
671
020C:  BCF    06.4
672
020D:  BCF    03.5
673
020E:  BCF    06.4
674
020F:  BSF    03.5
675
0210:  BCF    06.5
676
0211:  BCF    03.5
677
0212:  BCF    06.5
678
0213:  BSF    03.5
679
0214:  BCF    06.6
680
0215:  BCF    03.5
681
0216:  BCF    06.6
682
0217:  BSF    03.5
683
0218:  BCF    06.7
684
0219:  BCF    03.5
685
021A:  BCF    06.7
686
.................... 	beep(800,400);  
687
021B:  MOVLW  03
688
021C:  MOVWF  37
689
021D:  MOVLW  20
690
021E:  MOVWF  36
691
021F:  MOVLW  01
692
0220:  MOVWF  39
693
0221:  MOVLW  90
694
0222:  MOVWF  38
695
0223:  CALL   055
696
.................... 	beep(2000,1000);  
697
0224:  MOVLW  07
698
0225:  MOVWF  37
699
0226:  MOVLW  D0
700
0227:  MOVWF  36
701
0228:  MOVLW  03
702
0229:  MOVWF  39
703
022A:  MOVLW  E8
704
022B:  MOVWF  38
705
022C:  CALL   055
706
....................    output_low(LED4);  
707
022D:  BSF    03.5
708
022E:  BCF    05.6
709
022F:  BCF    03.5
710
0230:  BCF    05.6
711
.................... 	beep(900,400);  
712
0231:  MOVLW  03
713
0232:  MOVWF  37
714
0233:  MOVLW  84
715
0234:  MOVWF  36
716
0235:  MOVLW  01
717
0236:  MOVWF  39
718
0237:  MOVLW  90
719
0238:  MOVWF  38
720
0239:  CALL   055
721
....................    output_low(LED1);  
722
023A:  BSF    03.5
723
023B:  BCF    05.4
724
023C:  BCF    03.5
725
023D:  BCF    05.4
726
....................   
727
....................    BR; FL; Delay_ms(100);           // otoc se 30° do prava  
728
023E:  BSF    03.5
729
023F:  BCF    06.4
730
0240:  BCF    03.5
731
0241:  BCF    06.4
732
0242:  BSF    03.5
733
0243:  BCF    06.5
734
0244:  BCF    03.5
735
0245:  BSF    06.5
736
0246:  BSF    03.5
737
0247:  BCF    06.7
738
0248:  BCF    03.5
739
0249:  BCF    06.7
740
024A:  BSF    03.5
741
024B:  BCF    06.6
742
024C:  BCF    03.5
743
024D:  BSF    06.6
744
024E:  MOVLW  64
745
024F:  MOVWF  37
746
0250:  CALL   073
747
....................    STOPL; STOPR;  
748
0251:  BSF    03.5
749
0252:  BCF    06.6
750
0253:  BCF    03.5
751
0254:  BCF    06.6
752
0255:  BSF    03.5
753
0256:  BCF    06.7
754
0257:  BCF    03.5
755
0258:  BCF    06.7
756
0259:  BSF    03.5
757
025A:  BCF    06.4
758
025B:  BCF    03.5
759
025C:  BCF    06.4
760
025D:  BSF    03.5
761
025E:  BCF    06.5
762
025F:  BCF    03.5
763
0260:  BCF    06.5
764
....................    beep(1000,1000);  
765
0261:  MOVLW  03
766
0262:  MOVWF  37
767
0263:  MOVLW  E8
768
0264:  MOVWF  36
769
0265:  MOVLW  03
770
0266:  MOVWF  39
771
0267:  MOVLW  E8
772
0268:  MOVWF  38
773
0269:  CALL   055
774
....................    output_low(LED3);  
775
026A:  BSF    03.5
776
026B:  BCF    05.7
777
026C:  BCF    03.5
778
026D:  BCF    05.7
779
....................   
780
....................    BR; FL;  
781
026E:  BSF    03.5
782
026F:  BCF    06.4
783
0270:  BCF    03.5
784
0271:  BCF    06.4
785
0272:  BSF    03.5
786
0273:  BCF    06.5
787
0274:  BCF    03.5
788
0275:  BSF    06.5
789
0276:  BSF    03.5
790
0277:  BCF    06.7
791
0278:  BCF    03.5
792
0279:  BCF    06.7
793
027A:  BSF    03.5
794
027B:  BCF    06.6
795
027C:  BCF    03.5
796
027D:  BSF    06.6
797
....................    for(n=40000;n>0;n--)               // toc se, dokud nenarazis na caru  
798
027E:  MOVLW  9C
799
027F:  MOVWF  35
800
0280:  MOVLW  40
801
0281:  MOVWF  34
802
0282:  MOVF   34,F
803
0283:  BTFSS  03.2
804
0284:  GOTO   288
805
0285:  MOVF   35,F
806
0286:  BTFSC  03.2
807
0287:  GOTO   2B0
808
....................    {  
809
....................       line = RSENSOR;         // cteni senzoru na caru  
810
0288:  CLRF   77
811
0289:  BSF    03.5
812
028A:  BTFSC  1C.7
813
028B:  BSF    77.0
814
028C:  BCF    03.5
815
028D:  MOVF   2F,W
816
028E:  XORWF  77,W
817
028F:  ANDLW  01
818
0290:  BTFSS  03.2
819
0291:  GOTO   294
820
0292:  MOVLW  00
821
0293:  GOTO   295
822
0294:  MOVLW  01
823
0295:  MOVWF  2A
824
....................       line |= LSENSOR << 1;  
825
0296:  CLRF   77
826
0297:  BSF    03.5
827
0298:  BTFSC  1C.6
828
0299:  BSF    77.0
829
029A:  BCF    03.5
830
029B:  MOVF   2F,W
831
029C:  XORWF  77,W
832
029D:  ANDLW  01
833
029E:  BTFSS  03.2
834
029F:  GOTO   2A2
835
02A0:  MOVLW  00
836
02A1:  GOTO   2A3
837
02A2:  MOVLW  01
838
02A3:  MOVWF  77
839
02A4:  BCF    03.0
840
02A5:  RLF    77,F
841
02A6:  MOVF   77,W
842
02A7:  IORWF  2A,F
843
....................       if (line!=0) break;  
844
02A8:  MOVF   2A,F
845
02A9:  BTFSS  03.2
846
02AA:  GOTO   2B0
847
....................    }  
848
02AB:  MOVF   34,W
849
02AC:  BTFSC  03.2
850
02AD:  DECF   35,F
851
02AE:  DECF   34,F
852
02AF:  GOTO   282
853
....................    STOPR; STOPL;  
854
02B0:  BSF    03.5
855
02B1:  BCF    06.4
856
02B2:  BCF    03.5
857
02B3:  BCF    06.4
858
02B4:  BSF    03.5
859
02B5:  BCF    06.5
860
02B6:  BCF    03.5
861
02B7:  BCF    06.5
862
02B8:  BSF    03.5
863
02B9:  BCF    06.6
864
02BA:  BCF    03.5
865
02BB:  BCF    06.6
866
02BC:  BSF    03.5
867
02BD:  BCF    06.7
868
02BE:  BCF    03.5
869
02BF:  BCF    06.7
870
....................    output_high(LED1); output_high(LED3); output_high(LED4);  
871
02C0:  BSF    03.5
872
02C1:  BCF    05.4
873
02C2:  BCF    03.5
874
02C3:  BSF    05.4
875
02C4:  BSF    03.5
876
02C5:  BCF    05.7
877
02C6:  BCF    03.5
878
02C7:  BSF    05.7
879
02C8:  BSF    03.5
880
02C9:  BCF    05.6
881
02CA:  BCF    03.5
882
02CB:  BSF    05.6
883
....................   
884
....................    line=L; // caru jsme prejeli, tak je vlevo  
885
02CC:  MOVLW  02
886
02CD:  MOVWF  2A
887
....................    cirkus=0;  
888
02CE:  CLRF   2E
889
.................... }  
890
02CF:  BCF    0A.3
891
02D0:  GOTO   3F1 (RETURN)
892
....................   
893
....................   
894
.................... void main()  
895
.................... {  
896
02D1:  CLRF   04
897
02D2:  MOVLW  1F
898
02D3:  ANDWF  03,F
899
02D4:  BSF    03.5
900
02D5:  BCF    1F.4
901
02D6:  BCF    1F.5
902
02D7:  MOVF   1B,W
903
02D8:  ANDLW  80
904
02D9:  MOVWF  1B
905
02DA:  MOVLW  07
906
02DB:  MOVWF  1C
907
02DC:  MOVF   1C,W
908
02DD:  BCF    03.5
909
02DE:  BCF    0D.6
910
02DF:  MOVLW  60
911
02E0:  BSF    03.5
912
02E1:  MOVWF  0F
913
....................    unsigned int16 n; // pro FOR  
914
....................    unsigned int16 i;  
915
....................   
916
....................    STOPL; STOPR;     // prepne vystupy na ovladani motoru na output a zastavi  
917
02E2:  BCF    06.6
918
02E3:  BCF    03.5
919
02E4:  BCF    06.6
920
02E5:  BSF    03.5
921
02E6:  BCF    06.7
922
02E7:  BCF    03.5
923
02E8:  BCF    06.7
924
02E9:  BSF    03.5
925
02EA:  BCF    06.4
926
02EB:  BCF    03.5
927
02EC:  BCF    06.4
928
02ED:  BSF    03.5
929
02EE:  BCF    06.5
930
02EF:  BCF    03.5
931
02F0:  BCF    06.5
932
....................   
933
....................    setup_oscillator(OSC_4MHZ|OSC_INTRC);     // 4 MHz interni RC oscilator  
934
02F1:  MOVLW  62
935
02F2:  BSF    03.5
936
02F3:  MOVWF  0F
937
....................   
938
....................    port_b_pullups(TRUE);      // pullups pro piano na diagnostiku  
939
02F4:  BCF    01.7
940
....................    setup_spi(FALSE);  
941
02F5:  BCF    03.5
942
02F6:  BCF    14.5
943
02F7:  BSF    03.5
944
02F8:  BCF    06.2
945
02F9:  BSF    06.1
946
02FA:  BCF    06.4
947
02FB:  MOVLW  00
948
02FC:  BCF    03.5
949
02FD:  MOVWF  14
950
02FE:  BSF    03.5
951
02FF:  MOVWF  14
952
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);  // Casovac pro PWM  
953
0300:  MOVF   01,W
954
0301:  ANDLW  C7
955
0302:  IORLW  08
956
0303:  MOVWF  01
957
....................   
958
....................    setup_timer_2(T2_DIV_BY_4,255,10);    // Casovac pro regulaci  
959
0304:  MOVLW  48
960
0305:  MOVWF  78
961
0306:  IORLW  05
962
0307:  BCF    03.5
963
0308:  MOVWF  12
964
0309:  MOVLW  FF
965
030A:  BSF    03.5
966
030B:  MOVWF  12
967
....................                                          // preruseni kazdych 10ms  
968
....................    setup_adc_ports(BUMPER|VSS_VDD);      // nastaveni A/D prevodniku pro naraznik  
969
030C:  BCF    1F.4
970
030D:  BCF    1F.5
971
030E:  MOVF   1B,W
972
030F:  ANDLW  80
973
0310:  IORLW  04
974
0311:  MOVWF  1B
975
....................    setup_adc(ADC_CLOCK_INTERNAL);  
976
0312:  BCF    1F.6
977
0313:  BCF    03.5
978
0314:  BSF    1F.6
979
0315:  BSF    1F.7
980
0316:  BSF    03.5
981
0317:  BCF    1F.7
982
0318:  BCF    03.5
983
0319:  BSF    1F.0
984
....................    set_adc_channel(2);  
985
031A:  MOVLW  10
986
031B:  MOVWF  78
987
031C:  MOVF   1F,W
988
031D:  ANDLW  C7
989
031E:  IORWF  78,W
990
031F:  MOVWF  1F
991
....................    setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);   // Casovac pro naraznik  
992
0320:  MOVLW  85
993
0321:  MOVWF  10
994
....................    setup_ccp1(CCP_COMPARE_RESET_TIMER);  
995
0322:  BSF    03.5
996
0323:  BSF    06.3
997
0324:  MOVLW  0B
998
0325:  BCF    03.5
999
0326:  MOVWF  17
1000
....................    CCP_1=(2^10)-1;                        // prevod kazdou 1ms  
1001
0327:  CLRF   16
1002
0328:  MOVLW  07
1003
0329:  MOVWF  15
1004
....................   
1005
....................    output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);  
1006
032A:  BSF    03.5
1007
032B:  BCF    05.4
1008
032C:  BCF    03.5
1009
032D:  BCF    05.4
1010
032E:  BSF    03.5
1011
032F:  BCF    05.3
1012
0330:  BCF    03.5
1013
0331:  BCF    05.3
1014
0332:  BSF    03.5
1015
0333:  BCF    05.7
1016
0334:  BCF    03.5
1017
0335:  BCF    05.7
1018
0336:  BSF    03.5
1019
0337:  BCF    05.6
1020
0338:  BCF    03.5
1021
0339:  BCF    05.6
1022
....................   
1023
....................    setup_comparator(A0_VR_A1_VR);   // inicializace komparatoru pro cidla cary  
1024
033A:  MOVLW  02
1025
033B:  BSF    03.5
1026
033C:  MOVWF  1C
1027
033D:  MOVF   05,W
1028
033E:  IORLW  03
1029
033F:  MOVWF  05
1030
0340:  MOVLW  03
1031
0341:  MOVWF  77
1032
0342:  DECFSZ 77,F
1033
0343:  GOTO   342
1034
0344:  MOVF   1C,W
1035
0345:  BCF    03.5
1036
0346:  BCF    0D.6
1037
....................    setup_vref(VREF_HIGH|TRESHOLD);        // 32 kroku od 0.25 do 0.75 Vdd  
1038
0347:  MOVLW  8F
1039
0348:  BSF    03.5
1040
0349:  MOVWF  1D
1041
....................   
1042
....................    Beep(1000,200);     //double beep  
1043
034A:  MOVLW  03
1044
034B:  BCF    03.5
1045
034C:  MOVWF  37
1046
034D:  MOVLW  E8
1047
034E:  MOVWF  36
1048
034F:  CLRF   39
1049
0350:  MOVLW  C8
1050
0351:  MOVWF  38
1051
0352:  CALL   055
1052
....................    Delay_ms(50);  
1053
0353:  MOVLW  32
1054
0354:  MOVWF  37
1055
0355:  CALL   073
1056
....................    Beep(1000,200);  
1057
0356:  MOVLW  03
1058
0357:  MOVWF  37
1059
0358:  MOVLW  E8
1060
0359:  MOVWF  36
1061
035A:  CLRF   39
1062
035B:  MOVLW  C8
1063
035C:  MOVWF  38
1064
035D:  CALL   055
1065
....................    Delay_ms(1000);      // 1s  
1066
035E:  MOVLW  04
1067
035F:  MOVWF  34
1068
0360:  MOVLW  FA
1069
0361:  MOVWF  37
1070
0362:  CALL   073
1071
0363:  DECFSZ 34,F
1072
0364:  GOTO   360
1073
....................   
1074
....................    // povoleni rizeni rychlosti zataceni pres preruseni  
1075
....................    enable_interrupts(INT_TIMER2);  
1076
0365:  BSF    03.5
1077
0366:  BSF    0C.1
1078
....................    enable_interrupts(GLOBAL);  
1079
0367:  MOVLW  C0
1080
0368:  BCF    03.5
1081
0369:  IORWF  0B,F
1082
....................   
1083
.................... /*---------------------------------------------------------------------------*/  
1084
....................    sensors=S;  
1085
036A:  MOVLW  03
1086
036B:  MOVWF  29
1087
....................    line=S;  
1088
036C:  MOVWF  2A
1089
....................    last=S;  
1090
036D:  MOVWF  2C
1091
....................    cirkus=0;  
1092
036E:  CLRF   2E
1093
.................... //   movement=S;  
1094
....................    speed=FW_POMALU;  
1095
036F:  MOVLW  AA
1096
0370:  MOVWF  2B
1097
....................   
1098
....................    BW=input(BARVY);     // Jaka ma byt barva cary? 
1099
0371:  BSF    03.5
1100
0372:  BSF    06.1
1101
0373:  BCF    03.5
1102
0374:  BCF    2F.0
1103
0375:  BTFSC  06.1
1104
0376:  BSF    2F.0
1105
....................    diagnostika();       // Zkus, jestli nekdo nechce, diagnostiku  
1106
0377:  GOTO   088
1107
....................    Delay_ms(500);  
1108
0378:  MOVLW  02
1109
0379:  MOVWF  34
1110
037A:  MOVLW  FA
1111
037B:  MOVWF  37
1112
037C:  CALL   073
1113
037D:  DECFSZ 34,F
1114
037E:  GOTO   37A
1115
....................   
1116
....................    output_high(LED1); Beep(1000,200); Delay_ms(500);  
1117
037F:  BSF    03.5
1118
0380:  BCF    05.4
1119
0381:  BCF    03.5
1120
0382:  BSF    05.4
1121
0383:  MOVLW  03
1122
0384:  MOVWF  37
1123
0385:  MOVLW  E8
1124
0386:  MOVWF  36
1125
0387:  CLRF   39
1126
0388:  MOVLW  C8
1127
0389:  MOVWF  38
1128
038A:  CALL   055
1129
038B:  MOVLW  02
1130
038C:  MOVWF  34
1131
038D:  MOVLW  FA
1132
038E:  MOVWF  37
1133
038F:  CALL   073
1134
0390:  DECFSZ 34,F
1135
0391:  GOTO   38D
1136
....................    output_high(LED2); Beep(1000,200); Delay_ms(500);  
1137
0392:  BSF    03.5
1138
0393:  BCF    05.3
1139
0394:  BCF    03.5
1140
0395:  BSF    05.3
1141
0396:  MOVLW  03
1142
0397:  MOVWF  37
1143
0398:  MOVLW  E8
1144
0399:  MOVWF  36
1145
039A:  CLRF   39
1146
039B:  MOVLW  C8
1147
039C:  MOVWF  38
1148
039D:  CALL   055
1149
039E:  MOVLW  02
1150
039F:  MOVWF  34
1151
03A0:  MOVLW  FA
1152
03A1:  MOVWF  37
1153
03A2:  CALL   073
1154
03A3:  DECFSZ 34,F
1155
03A4:  GOTO   3A0
1156
....................    output_high(LED3); Beep(1000,200); Delay_ms(500);  
1157
03A5:  BSF    03.5
1158
03A6:  BCF    05.7
1159
03A7:  BCF    03.5
1160
03A8:  BSF    05.7
1161
03A9:  MOVLW  03
1162
03AA:  MOVWF  37
1163
03AB:  MOVLW  E8
1164
03AC:  MOVWF  36
1165
03AD:  CLRF   39
1166
03AE:  MOVLW  C8
1167
03AF:  MOVWF  38
1168
03B0:  CALL   055
1169
03B1:  MOVLW  02
1170
03B2:  MOVWF  34
1171
03B3:  MOVLW  FA
1172
03B4:  MOVWF  37
1173
03B5:  CALL   073
1174
03B6:  DECFSZ 34,F
1175
03B7:  GOTO   3B3
1176
....................    output_high(LED4); Beep(1000,200); Delay_ms(500);  
1177
03B8:  BSF    03.5
1178
03B9:  BCF    05.6
1179
03BA:  BCF    03.5
1180
03BB:  BSF    05.6
1181
03BC:  MOVLW  03
1182
03BD:  MOVWF  37
1183
03BE:  MOVLW  E8
1184
03BF:  MOVWF  36
1185
03C0:  CLRF   39
1186
03C1:  MOVLW  C8
1187
03C2:  MOVWF  38
1188
03C3:  CALL   055
1189
03C4:  MOVLW  02
1190
03C5:  MOVWF  34
1191
03C6:  MOVLW  FA
1192
03C7:  MOVWF  37
1193
03C8:  CALL   073
1194
03C9:  DECFSZ 34,F
1195
03CA:  GOTO   3C6
1196
....................   
1197
....................    while(true)       // hlavni smycka (jizda podle cary)  
1198
....................    {  
1199
....................       sensors = RSENSOR;         // cteni senzoru na caru  
1200
03CB:  CLRF   77
1201
03CC:  BSF    03.5
1202
03CD:  BTFSC  1C.7
1203
03CE:  BSF    77.0
1204
03CF:  BCF    03.5
1205
03D0:  MOVF   2F,W
1206
03D1:  XORWF  77,W
1207
03D2:  ANDLW  01
1208
03D3:  BTFSS  03.2
1209
03D4:  GOTO   3D7
1210
03D5:  MOVLW  00
1211
03D6:  GOTO   3D8
1212
03D7:  MOVLW  01
1213
03D8:  MOVWF  29
1214
....................       sensors |= LSENSOR << 1;  
1215
03D9:  CLRF   77
1216
03DA:  BSF    03.5
1217
03DB:  BTFSC  1C.6
1218
03DC:  BSF    77.0
1219
03DD:  BCF    03.5
1220
03DE:  MOVF   2F,W
1221
03DF:  XORWF  77,W
1222
03E0:  ANDLW  01
1223
03E1:  BTFSS  03.2
1224
03E2:  GOTO   3E5
1225
03E3:  MOVLW  00
1226
03E4:  GOTO   3E6
1227
03E5:  MOVLW  01
1228
03E6:  MOVWF  77
1229
03E7:  BCF    03.0
1230
03E8:  RLF    77,F
1231
03E9:  MOVF   77,W
1232
03EA:  IORWF  29,F
1233
....................   
1234
....................       if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();  
1235
03EB:  BTFSC  1F.2
1236
03EC:  GOTO   3EB
1237
03ED:  MOVF   1E,W
1238
03EE:  SUBLW  7F
1239
03EF:  BTFSC  03.0
1240
03F0:  GOTO   1F8
1241
....................   
1242
....................       switch (sensors)  // zatacej podle toho, kde vidis caru  
1243
....................       {  
1244
03F1:  MOVF   29,W
1245
03F2:  XORLW  03
1246
03F3:  BTFSC  03.2
1247
03F4:  GOTO   3FC
1248
03F5:  XORLW  01
1249
03F6:  BTFSC  03.2
1250
03F7:  GOTO   431
1251
03F8:  XORLW  03
1252
03F9:  BTFSC  03.2
1253
03FA:  GOTO   468
1254
03FB:  GOTO   49F
1255
....................          case S:                          // rovne  
1256
....................             GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);  
1257
03FC:  MOVF   01,W
1258
03FD:  MOVWF  34
1259
03FE:  MOVLW  BE
1260
03FF:  ADDWF  2D,W
1261
0400:  SUBWF  34,W
1262
0401:  BTFSC  03.2
1263
0402:  GOTO   405
1264
0403:  BTFSC  03.0
1265
0404:  GOTO   40E
1266
0405:  BSF    03.5
1267
0406:  BCF    06.7
1268
0407:  BCF    03.5
1269
0408:  BCF    06.7
1270
0409:  BSF    03.5
1271
040A:  BCF    06.6
1272
040B:  BCF    03.5
1273
040C:  BSF    06.6
1274
040D:  GOTO   416
1275
040E:  BSF    03.5
1276
040F:  BCF    06.6
1277
0410:  BCF    03.5
1278
0411:  BCF    06.6
1279
0412:  BSF    03.5
1280
0413:  BCF    06.7
1281
0414:  BCF    03.5
1282
0415:  BCF    06.7
1283
0416:  MOVF   01,W
1284
0417:  MOVWF  34
1285
0418:  MOVLW  BE
1286
0419:  ADDWF  2D,W
1287
041A:  SUBWF  34,W
1288
041B:  BTFSC  03.2
1289
041C:  GOTO   41F
1290
041D:  BTFSC  03.0
1291
041E:  GOTO   428
1292
041F:  BSF    03.5
1293
0420:  BCF    06.5
1294
0421:  BCF    03.5
1295
0422:  BCF    06.5
1296
0423:  BSF    03.5
1297
0424:  BCF    06.4
1298
0425:  BCF    03.5
1299
0426:  BSF    06.4
1300
0427:  GOTO   430
1301
0428:  BSF    03.5
1302
0429:  BCF    06.4
1303
042A:  BCF    03.5
1304
042B:  BCF    06.4
1305
042C:  BSF    03.5
1306
042D:  BCF    06.5
1307
042E:  BCF    03.5
1308
042F:  BCF    06.5
1309
....................             continue;  
1310
0430:  GOTO   3CB
1311
....................          case L:                          // trochu vlevo  
1312
....................             GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);  
1313
0431:  MOVF   01,W
1314
0432:  MOVWF  34
1315
0433:  MOVLW  AA
1316
0434:  ADDWF  2D,W
1317
0435:  SUBWF  34,W
1318
0436:  BTFSC  03.2
1319
0437:  GOTO   43A
1320
0438:  BTFSC  03.0
1321
0439:  GOTO   443
1322
043A:  BSF    03.5
1323
043B:  BCF    06.7
1324
043C:  BCF    03.5
1325
043D:  BCF    06.7
1326
043E:  BSF    03.5
1327
043F:  BCF    06.6
1328
0440:  BCF    03.5
1329
0441:  BSF    06.6
1330
0442:  GOTO   44B
1331
0443:  BSF    03.5
1332
0444:  BCF    06.6
1333
0445:  BCF    03.5
1334
0446:  BCF    06.6
1335
0447:  BSF    03.5
1336
0448:  BCF    06.7
1337
0449:  BCF    03.5
1338
044A:  BCF    06.7
1339
044B:  MOVF   01,W
1340
044C:  MOVWF  34
1341
044D:  MOVLW  BE
1342
044E:  ADDWF  2D,W
1343
044F:  SUBWF  34,W
1344
0450:  BTFSC  03.2
1345
0451:  GOTO   454
1346
0452:  BTFSC  03.0
1347
0453:  GOTO   45D
1348
0454:  BSF    03.5
1349
0455:  BCF    06.5
1350
0456:  BCF    03.5
1351
0457:  BCF    06.5
1352
0458:  BSF    03.5
1353
0459:  BCF    06.4
1354
045A:  BCF    03.5
1355
045B:  BSF    06.4
1356
045C:  GOTO   465
1357
045D:  BSF    03.5
1358
045E:  BCF    06.4
1359
045F:  BCF    03.5
1360
0460:  BCF    06.4
1361
0461:  BSF    03.5
1362
0462:  BCF    06.5
1363
0463:  BCF    03.5
1364
0464:  BCF    06.5
1365
....................             line=L;  
1366
0465:  MOVLW  02
1367
0466:  MOVWF  2A
1368
....................             continue;  
1369
0467:  GOTO   3CB
1370
....................          case R:                          // trochu vpravo  
1371
....................             GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);  
1372
0468:  MOVF   01,W
1373
0469:  MOVWF  34
1374
046A:  MOVLW  AA
1375
046B:  ADDWF  2D,W
1376
046C:  SUBWF  34,W
1377
046D:  BTFSC  03.2
1378
046E:  GOTO   471
1379
046F:  BTFSC  03.0
1380
0470:  GOTO   47A
1381
0471:  BSF    03.5
1382
0472:  BCF    06.5
1383
0473:  BCF    03.5
1384
0474:  BCF    06.5
1385
0475:  BSF    03.5
1386
0476:  BCF    06.4
1387
0477:  BCF    03.5
1388
0478:  BSF    06.4
1389
0479:  GOTO   482
1390
047A:  BSF    03.5
1391
047B:  BCF    06.4
1392
047C:  BCF    03.5
1393
047D:  BCF    06.4
1394
047E:  BSF    03.5
1395
047F:  BCF    06.5
1396
0480:  BCF    03.5
1397
0481:  BCF    06.5
1398
0482:  MOVF   01,W
1399
0483:  MOVWF  34
1400
0484:  MOVLW  BE
1401
0485:  ADDWF  2D,W
1402
0486:  SUBWF  34,W
1403
0487:  BTFSC  03.2
1404
0488:  GOTO   48B
1405
0489:  BTFSC  03.0
1406
048A:  GOTO   494
1407
048B:  BSF    03.5
1408
048C:  BCF    06.7
1409
048D:  BCF    03.5
1410
048E:  BCF    06.7
1411
048F:  BSF    03.5
1412
0490:  BCF    06.6
1413
0491:  BCF    03.5
1414
0492:  BSF    06.6
1415
0493:  GOTO   49C
1416
0494:  BSF    03.5
1417
0495:  BCF    06.6
1418
0496:  BCF    03.5
1419
0497:  BCF    06.6
1420
0498:  BSF    03.5
1421
0499:  BCF    06.7
1422
049A:  BCF    03.5
1423
049B:  BCF    06.7
1424
....................             line=R;  
1425
049C:  MOVLW  01
1426
049D:  MOVWF  2A
1427
....................             continue;  
1428
049E:  GOTO   3CB
1429
....................          default:       // kdyz jsou obe cidla mimo caru, tak pokracuj dal  
1430
....................       };  
1431
....................       rovinka=0;  
1432
049F:  CLRF   2D
1433
....................   
1434
....................       if (last!=line)   // pokud si prejel caru z jedne strany na druhou stranu,  
1435
04A0:  MOVF   2A,W
1436
04A1:  SUBWF  2C,W
1437
04A2:  BTFSC  03.2
1438
04A3:  GOTO   560
1439
....................                         // tak zabrzdi  
1440
....................       {  
1441
....................          output_bit(LED1, !input(LED1));  
1442
04A4:  BSF    03.5
1443
04A5:  BSF    05.4
1444
04A6:  BCF    03.5
1445
04A7:  BTFSS  05.4
1446
04A8:  GOTO   4AB
1447
04A9:  BCF    05.4
1448
04AA:  GOTO   4AC
1449
04AB:  BSF    05.4
1450
04AC:  BSF    03.5
1451
04AD:  BCF    05.4
1452
....................          last=line;  
1453
04AE:  BCF    03.5
1454
04AF:  MOVF   2A,W
1455
04B0:  MOVWF  2C
1456
....................          speed=FW_ZATACKA;  
1457
04B1:  MOVLW  C8
1458
04B2:  MOVWF  2B
1459
....................          cirkus++;  
1460
04B3:  INCF   2E,F
1461
....................          if (cirkus>8)  
1462
04B4:  MOVF   2E,W
1463
04B5:  SUBLW  08
1464
04B6:  BTFSC  03.0
1465
04B7:  GOTO   560
1466
....................          {  
1467
....................             STOPL; STOPR;  
1468
04B8:  BSF    03.5
1469
04B9:  BCF    06.6
1470
04BA:  BCF    03.5
1471
04BB:  BCF    06.6
1472
04BC:  BSF    03.5
1473
04BD:  BCF    06.7
1474
04BE:  BCF    03.5
1475
04BF:  BCF    06.7
1476
04C0:  BSF    03.5
1477
04C1:  BCF    06.4
1478
04C2:  BCF    03.5
1479
04C3:  BCF    06.4
1480
04C4:  BSF    03.5
1481
04C5:  BCF    06.5
1482
04C6:  BCF    03.5
1483
04C7:  BCF    06.5
1484
....................             cirkus=0;  
1485
04C8:  CLRF   2E
1486
....................             disable_interrupts(GLOBAL);  
1487
04C9:  BCF    0B.6
1488
04CA:  BCF    0B.7
1489
04CB:  BTFSC  0B.7
1490
04CC:  GOTO   4CA
1491
....................             beep(1000,400);  
1492
04CD:  MOVLW  03
1493
04CE:  MOVWF  37
1494
04CF:  MOVLW  E8
1495
04D0:  MOVWF  36
1496
04D1:  MOVLW  01
1497
04D2:  MOVWF  39
1498
04D3:  MOVLW  90
1499
04D4:  MOVWF  38
1500
04D5:  CALL   055
1501
....................             for(n=3000; n>3950; n--) beep(n,10);  
1502
04D6:  MOVLW  0B
1503
04D7:  MOVWF  31
1504
04D8:  MOVLW  B8
1505
04D9:  MOVWF  30
1506
04DA:  MOVF   31,W
1507
04DB:  SUBLW  0E
1508
04DC:  BTFSC  03.0
1509
04DD:  GOTO   4F2
1510
04DE:  XORLW  FF
1511
04DF:  BTFSS  03.2
1512
04E0:  GOTO   4E5
1513
04E1:  MOVF   30,W
1514
04E2:  SUBLW  6E
1515
04E3:  BTFSC  03.0
1516
04E4:  GOTO   4F2
1517
04E5:  MOVF   31,W
1518
04E6:  MOVWF  37
1519
04E7:  MOVF   30,W
1520
04E8:  MOVWF  36
1521
04E9:  CLRF   39
1522
04EA:  MOVLW  0A
1523
04EB:  MOVWF  38
1524
04EC:  CALL   055
1525
04ED:  MOVF   30,W
1526
04EE:  BTFSC  03.2
1527
04EF:  DECF   31,F
1528
04F0:  DECF   30,F
1529
04F1:  GOTO   4DA
1530
....................             output_low(LED1);  
1531
04F2:  BSF    03.5
1532
04F3:  BCF    05.4
1533
04F4:  BCF    03.5
1534
04F5:  BCF    05.4
1535
....................       	   beep(2000,200);  
1536
04F6:  MOVLW  07
1537
04F7:  MOVWF  37
1538
04F8:  MOVLW  D0
1539
04F9:  MOVWF  36
1540
04FA:  CLRF   39
1541
04FB:  MOVLW  C8
1542
04FC:  MOVWF  38
1543
04FD:  CALL   055
1544
.................... 	         beep(900,400);  
1545
04FE:  MOVLW  03
1546
04FF:  MOVWF  37
1547
0500:  MOVLW  84
1548
0501:  MOVWF  36
1549
0502:  MOVLW  01
1550
0503:  MOVWF  39
1551
0504:  MOVLW  90
1552
0505:  MOVWF  38
1553
0506:  CALL   055
1554
....................             for(n=2950; n<3000; n++) beep(n,10);  
1555
0507:  MOVLW  0B
1556
0508:  MOVWF  31
1557
0509:  MOVLW  86
1558
050A:  MOVWF  30
1559
050B:  MOVF   31,W
1560
050C:  SUBLW  0B
1561
050D:  BTFSS  03.0
1562
050E:  GOTO   521
1563
050F:  BTFSS  03.2
1564
0510:  GOTO   515
1565
0511:  MOVF   30,W
1566
0512:  SUBLW  B7
1567
0513:  BTFSS  03.0
1568
0514:  GOTO   521
1569
0515:  MOVF   31,W
1570
0516:  MOVWF  37
1571
0517:  MOVF   30,W
1572
0518:  MOVWF  36
1573
0519:  CLRF   39
1574
051A:  MOVLW  0A
1575
051B:  MOVWF  38
1576
051C:  CALL   055
1577
051D:  INCF   30,F
1578
051E:  BTFSC  03.2
1579
051F:  INCF   31,F
1580
0520:  GOTO   50B
1581
....................             output_low(LED2);  
1582
0521:  BSF    03.5
1583
0522:  BCF    05.3
1584
0523:  BCF    03.5
1585
0524:  BCF    05.3
1586
....................             output_high(LED1);  
1587
0525:  BSF    03.5
1588
0526:  BCF    05.4
1589
0527:  BCF    03.5
1590
0528:  BSF    05.4
1591
....................             beep(4000,400);  
1592
0529:  MOVLW  0F
1593
052A:  MOVWF  37
1594
052B:  MOVLW  A0
1595
052C:  MOVWF  36
1596
052D:  MOVLW  01
1597
052E:  MOVWF  39
1598
052F:  MOVLW  90
1599
0530:  MOVWF  38
1600
0531:  CALL   055
1601
....................       	   beep(1000,100);  
1602
0532:  MOVLW  03
1603
0533:  MOVWF  37
1604
0534:  MOVLW  E8
1605
0535:  MOVWF  36
1606
0536:  CLRF   39
1607
0537:  MOVLW  64
1608
0538:  MOVWF  38
1609
0539:  CALL   055
1610
....................             output_low(LED3);  
1611
053A:  BSF    03.5
1612
053B:  BCF    05.7
1613
053C:  BCF    03.5
1614
053D:  BCF    05.7
1615
.................... 	         beep(3000,400);  
1616
053E:  MOVLW  0B
1617
053F:  MOVWF  37
1618
0540:  MOVLW  B8
1619
0541:  MOVWF  36
1620
0542:  MOVLW  01
1621
0543:  MOVWF  39
1622
0544:  MOVLW  90
1623
0545:  MOVWF  38
1624
0546:  CALL   055
1625
....................             Delay_ms(1000);  
1626
0547:  MOVLW  04
1627
0548:  MOVWF  34
1628
0549:  MOVLW  FA
1629
054A:  MOVWF  37
1630
054B:  CALL   073
1631
054C:  DECFSZ 34,F
1632
054D:  GOTO   549
1633
....................             output_high(LED1); output_high(LED2);  
1634
054E:  BSF    03.5
1635
054F:  BCF    05.4
1636
0550:  BCF    03.5
1637
0551:  BSF    05.4
1638
0552:  BSF    03.5
1639
0553:  BCF    05.3
1640
0554:  BCF    03.5
1641
0555:  BSF    05.3
1642
....................             output_high(LED3); output_high(LED4);  
1643
0556:  BSF    03.5
1644
0557:  BCF    05.7
1645
0558:  BCF    03.5
1646
0559:  BSF    05.7
1647
055A:  BSF    03.5
1648
055B:  BCF    05.6
1649
055C:  BCF    03.5
1650
055D:  BSF    05.6
1651
....................             enable_interrupts(GLOBAL);  
1652
055E:  MOVLW  C0
1653
055F:  IORWF  0B,F
1654
....................          }  
1655
....................       };  
1656
....................   
1657
....................       if (L==line)  // kdyz jsou obe cidla mimo caru, zatoc na caru  
1658
0560:  MOVF   2A,W
1659
0561:  SUBLW  02
1660
0562:  BTFSS  03.2
1661
0563:  GOTO   582
1662
....................       {  
1663
....................          STOPL;  
1664
0564:  BSF    03.5
1665
0565:  BCF    06.6
1666
0566:  BCF    03.5
1667
0567:  BCF    06.6
1668
0568:  BSF    03.5
1669
0569:  BCF    06.7
1670
056A:  BCF    03.5
1671
056B:  BCF    06.7
1672
....................          GO(R, F, speed);  
1673
056C:  MOVF   01,W
1674
056D:  SUBWF  2B,W
1675
056E:  BTFSS  03.0
1676
056F:  GOTO   579
1677
0570:  BSF    03.5
1678
0571:  BCF    06.5
1679
0572:  BCF    03.5
1680
0573:  BCF    06.5
1681
0574:  BSF    03.5
1682
0575:  BCF    06.4
1683
0576:  BCF    03.5
1684
0577:  BSF    06.4
1685
0578:  GOTO   581
1686
0579:  BSF    03.5
1687
057A:  BCF    06.4
1688
057B:  BCF    03.5
1689
057C:  BCF    06.4
1690
057D:  BSF    03.5
1691
057E:  BCF    06.5
1692
057F:  BCF    03.5
1693
0580:  BCF    06.5
1694
....................       }  
1695
....................       else  
1696
0581:  GOTO   59F
1697
....................       {  
1698
....................          STOPR;  
1699
0582:  BSF    03.5
1700
0583:  BCF    06.4
1701
0584:  BCF    03.5
1702
0585:  BCF    06.4
1703
0586:  BSF    03.5
1704
0587:  BCF    06.5
1705
0588:  BCF    03.5
1706
0589:  BCF    06.5
1707
....................          GO(L, F, speed);  
1708
058A:  MOVF   01,W
1709
058B:  SUBWF  2B,W
1710
058C:  BTFSS  03.0
1711
058D:  GOTO   597
1712
058E:  BSF    03.5
1713
058F:  BCF    06.7
1714
0590:  BCF    03.5
1715
0591:  BCF    06.7
1716
0592:  BSF    03.5
1717
0593:  BCF    06.6
1718
0594:  BCF    03.5
1719
0595:  BSF    06.6
1720
0596:  GOTO   59F
1721
0597:  BSF    03.5
1722
0598:  BCF    06.6
1723
0599:  BCF    03.5
1724
059A:  BCF    06.6
1725
059B:  BSF    03.5
1726
059C:  BCF    06.7
1727
059D:  BCF    03.5
1728
059E:  BCF    06.7
1729
....................       }  
1730
....................   
1731
....................    } // while(true)  
1732
059F:  GOTO   3CB
1733
.................... }  
1734
....................   
1735
....................  
1736
05A0:  SLEEP
1737
 
1738
Configuration Fuses:
1739
   Word  1: 3F38   NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
1740
   Word  2: 3FFC   NOFCMEN NOIESO