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kaklik |
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CCS PCM C Compiler, Version 3.221, 27853 21-VIII-05 18:18
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Filename: C:\PIC\jump\miho\DART.LST
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ROM used: 834 words (20%)
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Largest free fragment is 2048
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RAM used: 25 (14%) at main() level
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42 (24%) worst case
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Stack: 6 worst case (3 in main + 3 for interrupts)
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10 |
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11 |
*
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12 |
0000: MOVLW 00
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0001: MOVWF 0A
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14 |
0002: GOTO 1C8
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0003: NOP
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16 |
0004: MOVWF 7F
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17 |
0005: SWAPF 03,W
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18 |
0006: CLRF 03
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19 |
0007: MOVWF 21
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20 |
0008: MOVF 7F,W
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21 |
0009: MOVWF 20
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22 |
000A: MOVF 0A,W
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23 |
000B: MOVWF 28
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24 |
000C: CLRF 0A
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25 |
000D: SWAPF 20,F
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26 |
000E: MOVF 04,W
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27 |
000F: MOVWF 22
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28 |
0010: MOVF 77,W
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0011: MOVWF 23
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30 |
0012: MOVF 78,W
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31 |
0013: MOVWF 24
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32 |
0014: MOVF 79,W
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33 |
0015: MOVWF 25
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34 |
0016: MOVF 7A,W
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0017: MOVWF 26
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0018: MOVF 7B,W
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0019: MOVWF 27
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001A: BCF 03.7
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001B: BCF 03.5
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001C: MOVLW 8C
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001D: MOVWF 04
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001E: BTFSS 00.3
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001F: GOTO 022
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0020: BTFSC 0C.3
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0021: GOTO 039
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0022: BTFSS 0B.5
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0023: GOTO 026
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0024: BTFSC 0B.2
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0025: GOTO 03B
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0026: MOVF 22,W
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0027: MOVWF 04
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0028: MOVF 23,W
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0029: MOVWF 77
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002A: MOVF 24,W
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002B: MOVWF 78
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002C: MOVF 25,W
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002D: MOVWF 79
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002E: MOVF 26,W
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59 |
002F: MOVWF 7A
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0030: MOVF 27,W
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0031: MOVWF 7B
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0032: MOVF 28,W
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0033: MOVWF 0A
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0034: SWAPF 21,W
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0035: MOVWF 03
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66 |
0036: SWAPF 7F,F
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67 |
0037: SWAPF 7F,W
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68 |
0038: RETFIE
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69 |
0039: BCF 0A.3
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70 |
003A: GOTO 089
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003B: BCF 0A.3
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003C: GOTO 0B7
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.................... // DART01A verze programu 1.00
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.................... // (c)miho 2005
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....................
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.................... #include "DART.h"
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.................... // DART01A verze programu 1.00
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.................... // (c)miho 2005
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....................
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.................... #include ".\lib\16F88.h" // standardni definice konstant
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.................... //////// Header file for the PIC16F88
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.................... #device PIC16F88
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.................... #list
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.................... #include ".\lib\16F88_Reg.h" // standardni definice vsech FSR
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.................... #list
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86 |
....................
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....................
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.................... #device adc=8 // AD prevodnik jen na 8 bitu
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.................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi
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90 |
.................... #use delay(clock=xclock,restart_wdt)
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91 |
0176: MOVLW 3D
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0177: MOVWF 04
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0178: MOVF 00,W
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0179: BTFSC 03.2
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017A: GOTO 18C
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96 |
017B: MOVLW 01
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017C: MOVWF 78
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98 |
017D: MOVLW BF
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017E: MOVWF 77
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100 |
017F: CLRWDT
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101 |
0180: DECFSZ 77,F
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102 |
0181: GOTO 17F
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103 |
0182: DECFSZ 78,F
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104 |
0183: GOTO 17D
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105 |
0184: MOVLW 58
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106 |
0185: MOVWF 77
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107 |
0186: DECFSZ 77,F
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108 |
0187: GOTO 186
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109 |
0188: NOP
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110 |
0189: CLRWDT
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111 |
018A: DECFSZ 00,F
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112 |
018B: GOTO 17B
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113 |
018C: RETLW 00
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114 |
.................... #fuses INTRC_IO, NOWDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3
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....................
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116 |
....................
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117 |
....................
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118 |
.................... #define BEEP0 PIN_A6 // pipak, prvni vystup
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119 |
.................... #define BEEP1 PIN_A7 // pipak, druhy vystup
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120 |
.................... #define PWM PIN_B3 // PWM vystup pro menic
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121 |
.................... #define REFPOWER PIN_B1 // napajeni zdroje Vref
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122 |
.................... #define MOTOR PIN_B2 // zapinani motoru
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123 |
.................... #define SW0 PIN_B7 // konfiguracni prepinac 0
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124 |
.................... #define SW1 PIN_B6 // konfiguracni prepinac 1
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125 |
....................
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126 |
....................
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127 |
.................... void InitRS232()
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128 |
.................... // Inicializace HW RS232
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.................... {
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130 |
.................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd
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131 |
.................... RCSTA=0b10000000; // enable USART
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132 |
.................... TXSTA=0b00100100; // BRGH=1, TX enable
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.................... }
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....................
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135 |
....................
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136 |
.................... void Putc(char c)
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137 |
.................... // Posilani znaku pres HW RS232
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138 |
.................... {
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139 |
.................... while(TRMT==0); // cekej na prazdny TX buffer
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140 |
*
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141 |
010B: BSF 03.5
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142 |
010C: BTFSC 18.1
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143 |
010D: GOTO 110
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144 |
010E: BCF 03.5
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145 |
010F: GOTO 10B
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146 |
.................... TXREG=c; // predej data
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147 |
0110: BCF 03.5
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148 |
0111: MOVF 41,W
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149 |
0112: MOVWF 19
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.................... }
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151 |
0113: RETLW 00
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152 |
....................
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153 |
....................
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.................... // Globalni promenna pro data posilana na SSP
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.................... // Nastavuje se funkci MotorPatternSet()
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156 |
.................... // Vyuziva se v prerusovaci rutine IntSSP()
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.................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku
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....................
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....................
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.................... void MotorPatternSet(unsigned int Gear)
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.................... // Na zaklade rychlosti nastavi MotorPattern pro SSP
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162 |
.................... // Rychlost 0 znamena stop, rychlost 8 je maximum
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.................... {
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.................... // Tabulka rychlost -> pattern pro SSP
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.................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff};
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....................
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.................... // Vyber patternu
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.................... if (Gear==0) // stav 0 znamena stop
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*
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170 |
008E: MOVF 44,F
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171 |
008F: BTFSS 03.2
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172 |
0090: GOTO 09D
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.................... {
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.................... output_low(MOTOR); // klidovy stav
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175 |
0091: BSF 03.5
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176 |
0092: BCF 06.2
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177 |
0093: BCF 03.5
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178 |
0094: BCF 06.2
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.................... SSPSTAT = 0;
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180 |
0095: BSF 03.5
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181 |
0096: CLRF 14
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182 |
.................... SSPCON1 = 0; // SPI stop
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183 |
0097: BCF 03.5
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184 |
0098: CLRF 14
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185 |
.................... disable_interrupts(INT_SSP); // neni preruseni od SSP
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186 |
0099: BSF 03.5
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187 |
009A: BCF 0C.3
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.................... }
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.................... else // rizeny vykon
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009B: GOTO 0B5
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191 |
009C: BCF 03.5
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.................... {
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.................... if (Gear>7) // stav 8 a vice znamena plny vykon
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194 |
009D: MOVF 44,W
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195 |
009E: SUBLW 07
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196 |
009F: BTFSC 03.0
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00A0: GOTO 0A3
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198 |
.................... {
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199 |
.................... Gear=8; // plny plyn
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200 |
00A1: MOVLW 08
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201 |
00A2: MOVWF 44
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.................... }
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203 |
....................
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204 |
.................... MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP
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205 |
00A3: DECF 44,F
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206 |
00A4: MOVF 44,W
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207 |
00A5: CALL 03D
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208 |
00A6: MOVWF 78
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209 |
00A7: MOVWF 2A
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210 |
.................... output_low(MOTOR); // klidovy stav
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211 |
00A8: BSF 03.5
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212 |
00A9: BCF 06.2
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213 |
00AA: BCF 03.5
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214 |
00AB: BCF 06.2
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215 |
.................... SSPSTAT = 0;
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216 |
00AC: BSF 03.5
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217 |
00AD: CLRF 14
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218 |
.................... SSPCON1 = 0x22; // SPI OSC/64
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219 |
00AE: MOVLW 22
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220 |
00AF: BCF 03.5
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221 |
00B0: MOVWF 14
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222 |
....................
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223 |
.................... SSPBUF=MotorPattern; // prvni data pro vyslani
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224 |
00B1: MOVF 2A,W
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225 |
00B2: MOVWF 13
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226 |
.................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP
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227 |
00B3: BSF 03.5
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228 |
00B4: BSF 0C.3
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229 |
.................... }
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230 |
.................... }
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231 |
00B5: BCF 03.5
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232 |
00B6: RETLW 00
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233 |
....................
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234 |
....................
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235 |
.................... // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP.
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236 |
.................... #INT_SSP
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237 |
.................... void IntSSP()
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238 |
.................... {
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239 |
.................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP
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240 |
*
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241 |
0089: MOVF 2A,W
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242 |
008A: MOVWF 13
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243 |
.................... }
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244 |
....................
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245 |
....................
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246 |
008B: BCF 0C.3
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247 |
008C: BCF 0A.3
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248 |
008D: GOTO 026
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249 |
.................... void MotorSet(unsigned int Gear)
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250 |
*
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251 |
018D: CLRF 29
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252 |
018E: BTFSC 0B.7
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253 |
018F: BSF 29.7
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254 |
0190: BCF 0B.7
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255 |
.................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim
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256 |
.................... // od SSP jednotky
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257 |
.................... // 0 stop
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258 |
.................... // 1-7 pocet 1/8 vykonu
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259 |
.................... // >7 plny vykon
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260 |
.................... {
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261 |
.................... // Nastav PWM pattern
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262 |
.................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP
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263 |
0191: MOVF 3D,W
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264 |
0192: MOVWF 44
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265 |
0193: CALL 08E
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266 |
0194: BTFSC 29.7
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267 |
0195: BSF 0B.7
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268 |
....................
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269 |
.................... // Povol preruseni
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270 |
.................... enable_interrupts(GLOBAL); // povol preruseni
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271 |
0196: MOVLW C0
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272 |
0197: IORWF 0B,F
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273 |
.................... }
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274 |
0198: RETLW 00
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275 |
....................
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276 |
....................
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277 |
.................... void InitT0()
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278 |
.................... // Inicializace casovace T0 (cca 1000x za sekundu)
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279 |
.................... {
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280 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4
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281 |
*
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282 |
00D5: BSF 03.5
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283 |
00D6: MOVF 01,W
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284 |
00D7: ANDLW C0
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285 |
00D8: IORLW 01
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286 |
00D9: MOVWF 01
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287 |
.................... enable_interrupts(INT_RTCC); // generuj preruseni od T0
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288 |
00DA: BCF 03.5
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289 |
00DB: BSF 0B.5
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290 |
.................... enable_interrupts(GLOBAL); // povol preruseni
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291 |
00DC: MOVLW C0
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292 |
00DD: IORWF 0B,F
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293 |
.................... }
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294 |
00DE: BCF 0A.3
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295 |
00DF: GOTO 1EF (RETURN)
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296 |
....................
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297 |
....................
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298 |
.................... // Globalni promenna pro mereni casu
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299 |
.................... // Nastavuje se procedurou TimeSet()
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300 |
.................... // Testuje se funkci TimeIf()
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301 |
.................... // Modifikuje se pri preruseni od casovace IntTo()
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302 |
.................... unsigned int16 TimeTime;
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303 |
....................
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304 |
....................
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305 |
.................... void TimerSet(unsigned int16 Time)
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306 |
.................... // Nastavi casovac na zadany pocet ms
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307 |
.................... // Test uplynuti casu se dela pomoci TimerIf()
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308 |
.................... {
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309 |
.................... // Nastav hodnotu
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310 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni
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311 |
*
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312 |
0199: BCF 0B.5
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313 |
.................... TimeTime=Time; // pri nastavovani hodnoty
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314 |
019A: MOVF 3E,W
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315 |
019B: MOVWF 2C
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316 |
019C: MOVF 3D,W
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317 |
019D: MOVWF 2B
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318 |
.................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu)
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319 |
019E: BSF 0B.5
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320 |
.................... }
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321 |
019F: RETLW 00
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322 |
....................
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323 |
....................
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324 |
.................... int1 TimerIf()
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325 |
.................... // Vraci TRUE pokud casovac jiz dobehl
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326 |
.................... {
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327 |
.................... int1 Flag; // pomocna promenna
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328 |
....................
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329 |
.................... // Otestuj casovac
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330 |
.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni
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331 |
01A0: BCF 0B.5
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332 |
.................... Flag=(TimeTime==0); // behem testu promenne
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333 |
01A1: MOVF 2B,F
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334 |
01A2: BTFSS 03.2
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335 |
01A3: GOTO 1A7
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336 |
01A4: MOVF 2C,F
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337 |
01A5: BTFSC 03.2
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|
338 |
01A6: GOTO 1A9
|
|
|
339 |
01A7: MOVLW 00
|
|
|
340 |
01A8: GOTO 1AA
|
|
|
341 |
01A9: MOVLW 01
|
|
|
342 |
01AA: MOVWF 78
|
|
|
343 |
01AB: BTFSC 78.0
|
|
|
344 |
01AC: GOTO 1AF
|
|
|
345 |
01AD: BCF 3D.0
|
|
|
346 |
01AE: GOTO 1B0
|
|
|
347 |
01AF: BSF 3D.0
|
|
|
348 |
.................... enable_interrupts(INT_RTCC); // ted uz muze
|
|
|
349 |
01B0: BSF 0B.5
|
|
|
350 |
....................
|
|
|
351 |
.................... // Navratova hodnota
|
|
|
352 |
.................... return Flag; // TRUE znamena dobehl casovac
|
|
|
353 |
01B1: MOVLW 00
|
|
|
354 |
01B2: BTFSC 3D.0
|
|
|
355 |
01B3: MOVLW 01
|
|
|
356 |
01B4: MOVWF 78
|
|
|
357 |
.................... }
|
|
|
358 |
01B5: RETLW 00
|
|
|
359 |
....................
|
|
|
360 |
....................
|
|
|
361 |
.................... // Globalni promenne pro akceleraci
|
|
|
362 |
.................... // Nastavuje se metodou MotorStart()
|
|
|
363 |
.................... // Pouziva se v obsluze preruseni IntT0()
|
|
|
364 |
.................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd
|
|
|
365 |
.................... unsigned int8 MotorDelay; // spozdeni mezi razenim
|
|
|
366 |
.................... unsigned int8 MotorGear; // rychlostni stupen
|
|
|
367 |
....................
|
|
|
368 |
....................
|
|
|
369 |
.................... void MotorStart(unsigned int8 Delay)
|
|
|
370 |
.................... // Provede rizeny rozjezd motoru
|
|
|
371 |
.................... {
|
|
|
372 |
.................... disable_interrupts(INT_RTCC);
|
|
|
373 |
01B6: BCF 0B.5
|
|
|
374 |
.................... MotorGear=1;
|
|
|
375 |
01B7: MOVLW 01
|
|
|
376 |
01B8: MOVWF 2F
|
|
|
377 |
.................... MotorDelay=Delay;
|
|
|
378 |
01B9: MOVF 3D,W
|
|
|
379 |
01BA: MOVWF 2E
|
|
|
380 |
.................... MotorTime=MotorDelay;
|
|
|
381 |
01BB: MOVF 2E,W
|
|
|
382 |
01BC: MOVWF 2D
|
|
|
383 |
.................... enable_interrupts(INT_RTCC);
|
|
|
384 |
01BD: BSF 0B.5
|
|
|
385 |
01BE: CLRF 29
|
|
|
386 |
01BF: BTFSC 0B.7
|
|
|
387 |
01C0: BSF 29.7
|
|
|
388 |
01C1: BCF 0B.7
|
|
|
389 |
....................
|
|
|
390 |
.................... MotorPatternSet(1);
|
|
|
391 |
01C2: MOVLW 01
|
|
|
392 |
01C3: MOVWF 44
|
|
|
393 |
01C4: CALL 08E
|
|
|
394 |
01C5: BTFSC 29.7
|
|
|
395 |
01C6: BSF 0B.7
|
|
|
396 |
.................... }
|
|
|
397 |
01C7: RETLW 00
|
|
|
398 |
....................
|
|
|
399 |
....................
|
|
|
400 |
.................... #INT_TIMER0
|
|
|
401 |
.................... void IntT0()
|
|
|
402 |
.................... // Preruseni od casovace cca 1000x za sekundu
|
|
|
403 |
.................... {
|
|
|
404 |
.................... // Odpocitavani casovace
|
|
|
405 |
.................... if (TimeTime) TimeTime--;
|
|
|
406 |
*
|
|
|
407 |
00B7: MOVF 2B,W
|
|
|
408 |
00B8: IORWF 2C,W
|
|
|
409 |
00B9: BTFSC 03.2
|
|
|
410 |
00BA: GOTO 0BF
|
|
|
411 |
00BB: MOVF 2B,W
|
|
|
412 |
00BC: BTFSC 03.2
|
|
|
413 |
00BD: DECF 2C,F
|
|
|
414 |
00BE: DECF 2B,F
|
|
|
415 |
....................
|
|
|
416 |
.................... // Obsluha akcelerace
|
|
|
417 |
.................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu
|
|
|
418 |
00BF: MOVF 2D,F
|
|
|
419 |
00C0: BTFSS 03.2
|
|
|
420 |
00C1: DECF 2D,F
|
|
|
421 |
.................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen
|
|
|
422 |
00C2: MOVF 2F,F
|
|
|
423 |
00C3: BTFSC 03.2
|
|
|
424 |
00C4: GOTO 0D2
|
|
|
425 |
00C5: MOVF 2F,W
|
|
|
426 |
00C6: SUBLW 07
|
|
|
427 |
00C7: BTFSS 03.0
|
|
|
428 |
00C8: GOTO 0D2
|
|
|
429 |
00C9: MOVF 2D,F
|
|
|
430 |
00CA: BTFSS 03.2
|
|
|
431 |
00CB: GOTO 0D2
|
|
|
432 |
.................... {
|
|
|
433 |
.................... MotorTime=MotorDelay; // znovu nastav casovac
|
|
|
434 |
00CC: MOVF 2E,W
|
|
|
435 |
00CD: MOVWF 2D
|
|
|
436 |
.................... MotorGear++; // dalsi rychlost
|
|
|
437 |
00CE: INCF 2F,F
|
|
|
438 |
.................... MotorPatternSet(MotorGear); // nastav rychlost
|
|
|
439 |
00CF: MOVF 2F,W
|
|
|
440 |
00D0: MOVWF 44
|
|
|
441 |
00D1: CALL 08E
|
|
|
442 |
.................... }
|
|
|
443 |
.................... }
|
|
|
444 |
....................
|
|
|
445 |
....................
|
|
|
446 |
.................... // Cteni dat z AD prevodniku, zadava se cislo kanalu
|
|
|
447 |
00D2: BCF 0B.2
|
|
|
448 |
00D3: BCF 0A.3
|
|
|
449 |
00D4: GOTO 026
|
|
|
450 |
.................... int8 ReadAD(int8 Ch)
|
|
|
451 |
.................... {
|
|
|
452 |
.................... // Pokud merim Vref zapnu si jeho napajeni
|
|
|
453 |
.................... if (Ch==4) output_high(REFPOWER);
|
|
|
454 |
*
|
|
|
455 |
00E0: MOVF 3D,W
|
|
|
456 |
00E1: SUBLW 04
|
|
|
457 |
00E2: BTFSS 03.2
|
|
|
458 |
00E3: GOTO 0E8
|
|
|
459 |
00E4: BSF 03.5
|
|
|
460 |
00E5: BCF 06.1
|
|
|
461 |
00E6: BCF 03.5
|
|
|
462 |
00E7: BSF 06.1
|
|
|
463 |
....................
|
|
|
464 |
.................... // Inicializace a cislo kanalu
|
|
|
465 |
.................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify
|
|
|
466 |
00E8: MOVLW 30
|
|
|
467 |
00E9: BSF 03.5
|
|
|
468 |
00EA: MOVWF 1F
|
|
|
469 |
.................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu
|
|
|
470 |
00EB: BCF 03.5
|
|
|
471 |
00EC: RLF 3D,W
|
|
|
472 |
00ED: MOVWF 77
|
|
|
473 |
00EE: RLF 77,F
|
|
|
474 |
00EF: RLF 77,F
|
|
|
475 |
00F0: MOVLW F8
|
|
|
476 |
00F1: ANDWF 77,F
|
|
|
477 |
00F2: MOVF 77,W
|
|
|
478 |
00F3: ADDLW 41
|
|
|
479 |
00F4: MOVWF 1F
|
|
|
480 |
....................
|
|
|
481 |
.................... // Mereni
|
|
|
482 |
.................... delay_us(50); // doba na prepnuti kanalu
|
|
|
483 |
00F5: CLRWDT
|
|
|
484 |
00F6: MOVLW 10
|
|
|
485 |
00F7: MOVWF 77
|
|
|
486 |
00F8: DECFSZ 77,F
|
|
|
487 |
00F9: GOTO 0F8
|
|
|
488 |
00FA: NOP
|
|
|
489 |
00FB: NOP
|
|
|
490 |
.................... ADCON0 |= 4; // start prevodu
|
|
|
491 |
00FC: BSF 1F.2
|
|
|
492 |
.................... delay_us(50); // doba na prevod
|
|
|
493 |
00FD: CLRWDT
|
|
|
494 |
00FE: MOVLW 10
|
|
|
495 |
00FF: MOVWF 77
|
|
|
496 |
0100: DECFSZ 77,F
|
|
|
497 |
0101: GOTO 100
|
|
|
498 |
0102: NOP
|
|
|
499 |
0103: NOP
|
|
|
500 |
....................
|
|
|
501 |
.................... // Vypnu napajeni Vref (vzdycky)
|
|
|
502 |
.................... output_low(REFPOWER);
|
|
|
503 |
0104: BSF 03.5
|
|
|
504 |
0105: BCF 06.1
|
|
|
505 |
0106: BCF 03.5
|
|
|
506 |
0107: BCF 06.1
|
|
|
507 |
....................
|
|
|
508 |
.................... // Navrat hodnoty
|
|
|
509 |
.................... return ADRESH;
|
|
|
510 |
0108: MOVF 1E,W
|
|
|
511 |
0109: MOVWF 78
|
|
|
512 |
.................... }
|
|
|
513 |
010A: RETLW 00
|
|
|
514 |
....................
|
|
|
515 |
....................
|
|
|
516 |
.................... void main()
|
|
|
517 |
.................... {
|
|
|
518 |
*
|
|
|
519 |
01C8: CLRF 04
|
|
|
520 |
01C9: MOVLW 1F
|
|
|
521 |
01CA: ANDWF 03,F
|
|
|
522 |
01CB: BSF 03.5
|
|
|
523 |
01CC: BCF 1F.4
|
|
|
524 |
01CD: BCF 1F.5
|
|
|
525 |
01CE: MOVF 1B,W
|
|
|
526 |
01CF: ANDLW 80
|
|
|
527 |
01D0: MOVWF 1B
|
|
|
528 |
01D1: MOVLW 07
|
|
|
529 |
01D2: MOVWF 1C
|
|
|
530 |
01D3: MOVF 05,W
|
|
|
531 |
01D4: CLRWDT
|
|
|
532 |
01D5: MOVF 1C,W
|
|
|
533 |
01D6: BCF 03.5
|
|
|
534 |
01D7: BCF 0D.6
|
|
|
535 |
.................... unsigned int8 Debug;
|
|
|
536 |
.................... unsigned int8 i;
|
|
|
537 |
....................
|
|
|
538 |
.................... // Hodiny
|
|
|
539 |
.................... OSCCON = 0x62; // 4 MHz interni RC oscilator
|
|
|
540 |
01D8: MOVLW 62
|
|
|
541 |
01D9: BSF 03.5
|
|
|
542 |
01DA: MOVWF 0F
|
|
|
543 |
.................... /*
|
|
|
544 |
.................... // Digitalni vystupy
|
|
|
545 |
.................... output_low(PWM); // PWM vystup
|
|
|
546 |
.................... output_low(MOTOR); // Proud do motoru
|
|
|
547 |
.................... output_low(REFPOWER); // Napajeni Vref
|
|
|
548 |
.................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B
|
|
|
549 |
....................
|
|
|
550 |
.................... // Watch Dog
|
|
|
551 |
.................... PSA=0; // preddelic prirazen casovaci
|
|
|
552 |
.................... WDTCON=0x0E; // Watch Dog cca 130ms
|
|
|
553 |
.................... // Analogove vstupy
|
|
|
554 |
.................... ANSEL = 0x1F; // AN0 az AN4
|
|
|
555 |
....................
|
|
|
556 |
.................... // nastaveni RS232
|
|
|
557 |
.................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms)
|
|
|
558 |
....................
|
|
|
559 |
.................... // Pipnuti (a cekani)
|
|
|
560 |
.................... for (i=1;i<30;i++) // pocet 1/2 period
|
|
|
561 |
.................... {
|
|
|
562 |
.................... int1 beep; // stavova promenna pro pipak
|
|
|
563 |
....................
|
|
|
564 |
.................... output_bit(BEEP0,beep);
|
|
|
565 |
.................... beep=~beep;
|
|
|
566 |
.................... output_bit(BEEP1,beep);
|
|
|
567 |
.................... delay_us(1000);
|
|
|
568 |
.................... }
|
|
|
569 |
....................
|
|
|
570 |
.................... // Rozhodnuti o rezimu cinnosti
|
|
|
571 |
.................... Debug=0;
|
|
|
572 |
.................... if (~input(SW0)) Debug|=1; // precti bit 0
|
|
|
573 |
.................... if (~input(SW1)) Debug|=2; // precti bit 1
|
|
|
574 |
.................... output_low(SW0); // nastav L aby se snizila spotreba
|
|
|
575 |
.................... output_low(SW1); // na obou vstupech
|
|
|
576 |
....................
|
|
|
577 |
.................... // Zobrazeni rezimu
|
|
|
578 |
.................... printf(Putc,"\fMode:%d",Debug);
|
|
|
579 |
.................... */
|
|
|
580 |
.................... // Inicializace PWM
|
|
|
581 |
.................... PR2 = 0x1F; // perioda PWM casovace
|
|
|
582 |
01DB: MOVLW 1F
|
|
|
583 |
01DC: MOVWF 12
|
|
|
584 |
.................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu
|
|
|
585 |
01DD: MOVLW 04
|
|
|
586 |
01DE: BCF 03.5
|
|
|
587 |
01DF: MOVWF 12
|
|
|
588 |
.................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove
|
|
|
589 |
01E0: MOVLW 0C
|
|
|
590 |
01E1: MOVWF 17
|
|
|
591 |
.................... CCPR1L = 0; // na zacatku nulova data
|
|
|
592 |
01E2: CLRF 15
|
|
|
593 |
.................... output_low(PWM); // PWM vystup
|
|
|
594 |
01E3: BSF 03.5
|
|
|
595 |
01E4: BCF 06.3
|
|
|
596 |
01E5: BCF 03.5
|
|
|
597 |
01E6: BCF 06.3
|
|
|
598 |
....................
|
|
|
599 |
.................... //!!!KAKL
|
|
|
600 |
.................... CCPR1L = 20; // pouziti vystupu
|
|
|
601 |
01E7: MOVLW 14
|
|
|
602 |
01E8: MOVWF 15
|
|
|
603 |
.................... disable_interrupts(GLOBAL);
|
|
|
604 |
01E9: BCF 0B.6
|
|
|
605 |
01EA: BCF 0B.7
|
|
|
606 |
01EB: BTFSC 0B.7
|
|
|
607 |
01EC: GOTO 1EA
|
|
|
608 |
.................... while(true);
|
|
|
609 |
01ED: GOTO 1ED
|
|
|
610 |
....................
|
|
|
611 |
.................... // Inicializace casovace
|
|
|
612 |
.................... InitT0(); // nastav casovac na cca 1ms
|
|
|
613 |
01EE: GOTO 0D5
|
|
|
614 |
....................
|
|
|
615 |
.................... //!!!KAKL
|
|
|
616 |
.................... Debug=3;
|
|
|
617 |
01EF: MOVLW 03
|
|
|
618 |
01F0: MOVWF 30
|
|
|
619 |
....................
|
|
|
620 |
.................... // Test menice PWM a rozjezdoveho PWM
|
|
|
621 |
.................... if (Debug==1)
|
|
|
622 |
01F1: DECFSZ 30,W
|
|
|
623 |
01F2: GOTO 22C
|
|
|
624 |
.................... {
|
|
|
625 |
.................... unsigned int8 Data1; // poteniometr P1 = PWM
|
|
|
626 |
.................... unsigned int8 Data2; // poteniometr P2 = Rozjezd
|
|
|
627 |
....................
|
|
|
628 |
.................... while (1)
|
|
|
629 |
.................... {
|
|
|
630 |
.................... // watch dog
|
|
|
631 |
.................... restart_wdt();
|
|
|
632 |
01F3: CLRWDT
|
|
|
633 |
....................
|
|
|
634 |
.................... // mereni vstupu
|
|
|
635 |
.................... Data1=ReadAD(0); // nacti parametr pro PWM
|
|
|
636 |
01F4: CLRF 3D
|
|
|
637 |
01F5: CALL 0E0
|
|
|
638 |
01F6: MOVF 78,W
|
|
|
639 |
01F7: MOVWF 32
|
|
|
640 |
.................... Data1>>=2; // redukuj rozsah na 0 az 63
|
|
|
641 |
01F8: RRF 32,F
|
|
|
642 |
01F9: RRF 32,F
|
|
|
643 |
01FA: MOVLW 3F
|
|
|
644 |
01FB: ANDWF 32,F
|
|
|
645 |
.................... Data2=ReadAD(1); // nacti parametr pro rozjezd
|
|
|
646 |
01FC: MOVLW 01
|
|
|
647 |
01FD: MOVWF 3D
|
|
|
648 |
01FE: CALL 0E0
|
|
|
649 |
01FF: MOVF 78,W
|
|
|
650 |
0200: MOVWF 33
|
|
|
651 |
.................... Data2>>=4; // redukuj rozsah na 0 az 15
|
|
|
652 |
0201: SWAPF 33,F
|
|
|
653 |
0202: MOVLW 0F
|
|
|
654 |
0203: ANDWF 33,F
|
|
|
655 |
....................
|
|
|
656 |
.................... // zobrazeni
|
|
|
657 |
.................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2);
|
|
|
658 |
0204: CLRF 3D
|
|
|
659 |
0205: MOVF 3D,W
|
|
|
660 |
0206: CALL 049
|
|
|
661 |
0207: INCF 3D,F
|
|
|
662 |
0208: MOVWF 77
|
|
|
663 |
0209: MOVWF 41
|
|
|
664 |
020A: CALL 10B
|
|
|
665 |
020B: MOVLW 05
|
|
|
666 |
020C: SUBWF 3D,W
|
|
|
667 |
020D: BTFSS 03.2
|
|
|
668 |
020E: GOTO 205
|
|
|
669 |
020F: MOVF 32,W
|
|
|
670 |
0210: MOVWF 3F
|
|
|
671 |
0211: CLRF 40
|
|
|
672 |
0212: CALL 129
|
|
|
673 |
0213: MOVLW 09
|
|
|
674 |
0214: MOVWF 3E
|
|
|
675 |
0215: MOVF 3E,W
|
|
|
676 |
0216: CALL 049
|
|
|
677 |
0217: INCF 3E,F
|
|
|
678 |
0218: MOVWF 77
|
|
|
679 |
0219: MOVWF 41
|
|
|
680 |
021A: CALL 10B
|
|
|
681 |
021B: MOVLW 0E
|
|
|
682 |
021C: SUBWF 3E,W
|
|
|
683 |
021D: BTFSS 03.2
|
|
|
684 |
021E: GOTO 215
|
|
|
685 |
021F: MOVF 33,W
|
|
|
686 |
0220: MOVWF 3F
|
|
|
687 |
0221: CLRF 40
|
|
|
688 |
0222: CALL 129
|
|
|
689 |
.................... delay_ms(20);
|
|
|
690 |
0223: MOVLW 14
|
|
|
691 |
0224: MOVWF 3D
|
|
|
692 |
0225: CALL 176
|
|
|
693 |
....................
|
|
|
694 |
.................... // nastaveni parametru PWM
|
|
|
695 |
.................... CCPR1L = Data1;
|
|
|
696 |
0226: MOVF 32,W
|
|
|
697 |
0227: MOVWF 15
|
|
|
698 |
....................
|
|
|
699 |
.................... // nastaveni parametru RUN
|
|
|
700 |
.................... MotorSet(Data2);
|
|
|
701 |
0228: MOVF 33,W
|
|
|
702 |
0229: MOVWF 3D
|
|
|
703 |
022A: CALL 18D
|
|
|
704 |
.................... }
|
|
|
705 |
022B: GOTO 1F3
|
|
|
706 |
.................... }
|
|
|
707 |
....................
|
|
|
708 |
.................... // Testovani rozjezdu
|
|
|
709 |
.................... // Zadava se cas mezi stupni razeni pro rozjezd v ms
|
|
|
710 |
.................... if (Debug==2)
|
|
|
711 |
022C: MOVF 30,W
|
|
|
712 |
022D: SUBLW 02
|
|
|
713 |
022E: BTFSS 03.2
|
|
|
714 |
022F: GOTO 27D
|
|
|
715 |
.................... {
|
|
|
716 |
.................... int8 Data;
|
|
|
717 |
.................... int8 Start;
|
|
|
718 |
....................
|
|
|
719 |
.................... Start=0; // uvodni stav
|
|
|
720 |
0230: CLRF 35
|
|
|
721 |
.................... while(1)
|
|
|
722 |
.................... {
|
|
|
723 |
.................... // Nacti a zobraz parametr
|
|
|
724 |
.................... Data=ReadAD(1); // potenciometr P2 = rozjezd
|
|
|
725 |
0231: MOVLW 01
|
|
|
726 |
0232: MOVWF 3D
|
|
|
727 |
0233: CALL 0E0
|
|
|
728 |
0234: MOVF 78,W
|
|
|
729 |
0235: MOVWF 34
|
|
|
730 |
.................... printf(Putc,"\nRUN: %3ums ",Data); // zobraz
|
|
|
731 |
0236: CLRF 3D
|
|
|
732 |
0237: MOVF 3D,W
|
|
|
733 |
0238: CALL 060
|
|
|
734 |
0239: INCF 3D,F
|
|
|
735 |
023A: MOVWF 77
|
|
|
736 |
023B: MOVWF 41
|
|
|
737 |
023C: CALL 10B
|
|
|
738 |
023D: MOVLW 06
|
|
|
739 |
023E: SUBWF 3D,W
|
|
|
740 |
023F: BTFSS 03.2
|
|
|
741 |
0240: GOTO 237
|
|
|
742 |
0241: MOVF 34,W
|
|
|
743 |
0242: MOVWF 3F
|
|
|
744 |
0243: MOVLW 10
|
|
|
745 |
0244: MOVWF 40
|
|
|
746 |
0245: CALL 129
|
|
|
747 |
0246: MOVLW 6D
|
|
|
748 |
0247: MOVWF 41
|
|
|
749 |
0248: CALL 10B
|
|
|
750 |
0249: MOVLW 73
|
|
|
751 |
024A: MOVWF 41
|
|
|
752 |
024B: CALL 10B
|
|
|
753 |
024C: MOVLW 20
|
|
|
754 |
024D: MOVWF 41
|
|
|
755 |
024E: CALL 10B
|
|
|
756 |
.................... delay_ms(10); // prodleva pro terminal
|
|
|
757 |
024F: MOVLW 0A
|
|
|
758 |
0250: MOVWF 3D
|
|
|
759 |
0251: CALL 176
|
|
|
760 |
....................
|
|
|
761 |
.................... // Uvodni pauza
|
|
|
762 |
.................... if (Start==0) // spousti se 1x na zacatku
|
|
|
763 |
0252: MOVF 35,F
|
|
|
764 |
0253: BTFSS 03.2
|
|
|
765 |
0254: GOTO 25B
|
|
|
766 |
.................... {
|
|
|
767 |
.................... Start++; // dalsi stav je cekani
|
|
|
768 |
0255: INCF 35,F
|
|
|
769 |
.................... TimerSet(2000); // na dokonceni uvodni prodlevy
|
|
|
770 |
0256: MOVLW 07
|
|
|
771 |
0257: MOVWF 3E
|
|
|
772 |
0258: MOVLW D0
|
|
|
773 |
0259: MOVWF 3D
|
|
|
774 |
025A: CALL 199
|
|
|
775 |
.................... }
|
|
|
776 |
....................
|
|
|
777 |
.................... // Rozjezd
|
|
|
778 |
.................... if ((Start==1) && TimerIf())
|
|
|
779 |
025B: DECFSZ 35,W
|
|
|
780 |
025C: GOTO 26D
|
|
|
781 |
025D: CALL 1A0
|
|
|
782 |
025E: MOVF 78,F
|
|
|
783 |
025F: BTFSC 03.2
|
|
|
784 |
0260: GOTO 26D
|
|
|
785 |
.................... {
|
|
|
786 |
.................... Start++;
|
|
|
787 |
0261: INCF 35,F
|
|
|
788 |
.................... printf(Putc,"R");
|
|
|
789 |
0262: MOVLW 52
|
|
|
790 |
0263: MOVWF 41
|
|
|
791 |
0264: CALL 10B
|
|
|
792 |
.................... MotorStart(Data); // rozjezd s nastavenim prodlevy
|
|
|
793 |
0265: MOVF 34,W
|
|
|
794 |
0266: MOVWF 3D
|
|
|
795 |
0267: CALL 1B6
|
|
|
796 |
....................
|
|
|
797 |
.................... TimerSet(2000); // nastav celkovy cas jizdy
|
|
|
798 |
0268: MOVLW 07
|
|
|
799 |
0269: MOVWF 3E
|
|
|
800 |
026A: MOVLW D0
|
|
|
801 |
026B: MOVWF 3D
|
|
|
802 |
026C: CALL 199
|
|
|
803 |
.................... }
|
|
|
804 |
....................
|
|
|
805 |
.................... // Zastaveni
|
|
|
806 |
.................... if ((Start==2) && TimerIf())
|
|
|
807 |
026D: MOVF 35,W
|
|
|
808 |
026E: SUBLW 02
|
|
|
809 |
026F: BTFSS 03.2
|
|
|
810 |
0270: GOTO 27B
|
|
|
811 |
0271: CALL 1A0
|
|
|
812 |
0272: MOVF 78,F
|
|
|
813 |
0273: BTFSC 03.2
|
|
|
814 |
0274: GOTO 27B
|
|
|
815 |
.................... {
|
|
|
816 |
.................... Start++;
|
|
|
817 |
0275: INCF 35,F
|
|
|
818 |
.................... printf(Putc,"S");
|
|
|
819 |
0276: MOVLW 53
|
|
|
820 |
0277: MOVWF 41
|
|
|
821 |
0278: CALL 10B
|
|
|
822 |
.................... MotorSet(0); // pokud dobehl casovac zastav motor
|
|
|
823 |
0279: CLRF 3D
|
|
|
824 |
027A: CALL 18D
|
|
|
825 |
.................... }
|
|
|
826 |
....................
|
|
|
827 |
.................... // watch dog
|
|
|
828 |
.................... restart_wdt();
|
|
|
829 |
027B: CLRWDT
|
|
|
830 |
.................... }
|
|
|
831 |
027C: GOTO 231
|
|
|
832 |
.................... }
|
|
|
833 |
....................
|
|
|
834 |
.................... // Test nabijeciho algoritmu
|
|
|
835 |
.................... if (Debug==3)
|
|
|
836 |
027D: MOVF 30,W
|
|
|
837 |
027E: SUBLW 03
|
|
|
838 |
027F: BTFSS 03.2
|
|
|
839 |
0280: GOTO 2DB
|
|
|
840 |
.................... {
|
|
|
841 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM
|
|
|
842 |
.................... unsigned int8 Req; // pozadovana hodnota z P1
|
|
|
843 |
.................... unsigned int8 Vref; // merena hodnota vref
|
|
|
844 |
....................
|
|
|
845 |
.................... // Inicializace stavove promenne
|
|
|
846 |
.................... PwmOut=0;
|
|
|
847 |
0281: CLRF 36
|
|
|
848 |
....................
|
|
|
849 |
.................... // Hlavni smycka
|
|
|
850 |
.................... while (1)
|
|
|
851 |
.................... {
|
|
|
852 |
.................... // watch dog
|
|
|
853 |
.................... restart_wdt();
|
|
|
854 |
0282: CLRWDT
|
|
|
855 |
....................
|
|
|
856 |
.................... // pozadovana hodnota (potenciometr P1)
|
|
|
857 |
.................... Req=ReadAD(0);
|
|
|
858 |
0283: CLRF 3D
|
|
|
859 |
0284: CALL 0E0
|
|
|
860 |
0285: MOVF 78,W
|
|
|
861 |
0286: MOVWF 37
|
|
|
862 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177
|
|
|
863 |
0287: CLRF 3D
|
|
|
864 |
0288: CALL 0E0
|
|
|
865 |
0289: BCF 03.0
|
|
|
866 |
028A: RRF 78,W
|
|
|
867 |
028B: ADDLW 32
|
|
|
868 |
028C: MOVWF 37
|
|
|
869 |
....................
|
|
|
870 |
.................... // napeti na napajeni (vref)
|
|
|
871 |
.................... Vref=ReadAD(4);
|
|
|
872 |
028D: MOVLW 04
|
|
|
873 |
028E: MOVWF 3D
|
|
|
874 |
028F: CALL 0E0
|
|
|
875 |
0290: MOVF 78,W
|
|
|
876 |
0291: MOVWF 38
|
|
|
877 |
....................
|
|
|
878 |
.................... // ricici algoritmus
|
|
|
879 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++;
|
|
|
880 |
0292: MOVF 37,W
|
|
|
881 |
0293: SUBWF 38,W
|
|
|
882 |
0294: BTFSC 03.0
|
|
|
883 |
0295: GOTO 29A
|
|
|
884 |
0296: MOVF 36,W
|
|
|
885 |
0297: SUBLW 1D
|
|
|
886 |
0298: BTFSC 03.0
|
|
|
887 |
0299: INCF 36,F
|
|
|
888 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--;
|
|
|
889 |
029A: MOVF 37,W
|
|
|
890 |
029B: SUBWF 38,W
|
|
|
891 |
029C: BTFSS 03.0
|
|
|
892 |
029D: GOTO 2A1
|
|
|
893 |
029E: MOVF 36,F
|
|
|
894 |
029F: BTFSS 03.2
|
|
|
895 |
02A0: DECF 36,F
|
|
|
896 |
.................... Vref+=10;
|
|
|
897 |
02A1: MOVLW 0A
|
|
|
898 |
02A2: ADDWF 38,F
|
|
|
899 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu
|
|
|
900 |
02A3: MOVF 37,W
|
|
|
901 |
02A4: SUBWF 38,W
|
|
|
902 |
02A5: BTFSC 03.0
|
|
|
903 |
02A6: GOTO 2AB
|
|
|
904 |
02A7: MOVF 36,W
|
|
|
905 |
02A8: SUBLW 1D
|
|
|
906 |
02A9: BTFSC 03.0
|
|
|
907 |
02AA: INCF 36,F
|
|
|
908 |
....................
|
|
|
909 |
.................... // nastaveni parametru PWM
|
|
|
910 |
.................... if (PwmOut>24) PwmOut=24; // saturace
|
|
|
911 |
02AB: MOVF 36,W
|
|
|
912 |
02AC: SUBLW 18
|
|
|
913 |
02AD: BTFSC 03.0
|
|
|
914 |
02AE: GOTO 2B1
|
|
|
915 |
02AF: MOVLW 18
|
|
|
916 |
02B0: MOVWF 36
|
|
|
917 |
.................... //!!!KAKL
|
|
|
918 |
.................... PwmOut=20;
|
|
|
919 |
02B1: MOVLW 14
|
|
|
920 |
02B2: MOVWF 36
|
|
|
921 |
.................... CCPR1L = PwmOut; // pouziti vystupu
|
|
|
922 |
02B3: MOVF 36,W
|
|
|
923 |
02B4: MOVWF 15
|
|
|
924 |
.................... disable_interrupts(GLOBAL);
|
|
|
925 |
02B5: BCF 0B.6
|
|
|
926 |
02B6: BCF 0B.7
|
|
|
927 |
02B7: BTFSC 0B.7
|
|
|
928 |
02B8: GOTO 2B6
|
|
|
929 |
.................... while(true);
|
|
|
930 |
02B9: GOTO 2B9
|
|
|
931 |
.................... // zobrazeni
|
|
|
932 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut);
|
|
|
933 |
02BA: CLRF 3D
|
|
|
934 |
02BB: MOVF 3D,W
|
|
|
935 |
02BC: CALL 071
|
|
|
936 |
02BD: INCF 3D,F
|
|
|
937 |
02BE: MOVWF 77
|
|
|
938 |
02BF: MOVWF 41
|
|
|
939 |
02C0: CALL 10B
|
|
|
940 |
02C1: MOVLW 05
|
|
|
941 |
02C2: SUBWF 3D,W
|
|
|
942 |
02C3: BTFSS 03.2
|
|
|
943 |
02C4: GOTO 2BB
|
|
|
944 |
02C5: MOVF 37,W
|
|
|
945 |
02C6: MOVWF 3F
|
|
|
946 |
02C7: CLRF 40
|
|
|
947 |
02C8: CALL 129
|
|
|
948 |
02C9: MOVLW 20
|
|
|
949 |
02CA: MOVWF 41
|
|
|
950 |
02CB: CALL 10B
|
|
|
951 |
02CC: MOVF 38,W
|
|
|
952 |
02CD: MOVWF 3F
|
|
|
953 |
02CE: CLRF 40
|
|
|
954 |
02CF: CALL 129
|
|
|
955 |
02D0: MOVLW 20
|
|
|
956 |
02D1: MOVWF 41
|
|
|
957 |
02D2: CALL 10B
|
|
|
958 |
02D3: MOVF 36,W
|
|
|
959 |
02D4: MOVWF 3F
|
|
|
960 |
02D5: CLRF 40
|
|
|
961 |
02D6: CALL 129
|
|
|
962 |
.................... delay_ms(10);
|
|
|
963 |
02D7: MOVLW 0A
|
|
|
964 |
02D8: MOVWF 3D
|
|
|
965 |
02D9: CALL 176
|
|
|
966 |
.................... }
|
|
|
967 |
02DA: GOTO 282
|
|
|
968 |
.................... }
|
|
|
969 |
....................
|
|
|
970 |
.................... // Standardni beh
|
|
|
971 |
.................... if (Debug==0)
|
|
|
972 |
02DB: MOVF 30,F
|
|
|
973 |
02DC: BTFSS 03.2
|
|
|
974 |
02DD: GOTO 341
|
|
|
975 |
.................... {
|
|
|
976 |
.................... unsigned int8 PwmOut; // akcni hodnota pro PWM
|
|
|
977 |
.................... unsigned int8 Req; // pozadovana hodnota z P1
|
|
|
978 |
.................... unsigned int8 Vref; // merena hodnota vref
|
|
|
979 |
.................... int1 Run;
|
|
|
980 |
....................
|
|
|
981 |
.................... // Inicializace stavove promenne
|
|
|
982 |
.................... PwmOut=0;
|
|
|
983 |
02DE: CLRF 39
|
|
|
984 |
.................... TimerSet(14000); // casovani startu
|
|
|
985 |
02DF: MOVLW 36
|
|
|
986 |
02E0: MOVWF 3E
|
|
|
987 |
02E1: MOVLW B0
|
|
|
988 |
02E2: MOVWF 3D
|
|
|
989 |
02E3: CALL 199
|
|
|
990 |
.................... Run=1;
|
|
|
991 |
02E4: BSF 3C.0
|
|
|
992 |
....................
|
|
|
993 |
.................... // Hlavni smycka
|
|
|
994 |
.................... while (1)
|
|
|
995 |
.................... {
|
|
|
996 |
.................... // watch dog
|
|
|
997 |
.................... restart_wdt();
|
|
|
998 |
02E5: CLRWDT
|
|
|
999 |
....................
|
|
|
1000 |
.................... // pozadovana hodnota (potenciometr P1)
|
|
|
1001 |
.................... Req=ReadAD(0);
|
|
|
1002 |
02E6: CLRF 3D
|
|
|
1003 |
02E7: CALL 0E0
|
|
|
1004 |
02E8: MOVF 78,W
|
|
|
1005 |
02E9: MOVWF 3A
|
|
|
1006 |
.................... Req=50+(ReadAD(0)>>1); // 50 az 177
|
|
|
1007 |
02EA: CLRF 3D
|
|
|
1008 |
02EB: CALL 0E0
|
|
|
1009 |
02EC: BCF 03.0
|
|
|
1010 |
02ED: RRF 78,W
|
|
|
1011 |
02EE: ADDLW 32
|
|
|
1012 |
02EF: MOVWF 3A
|
|
|
1013 |
....................
|
|
|
1014 |
.................... // napeti na napajeni (vref)
|
|
|
1015 |
.................... Vref=ReadAD(4);
|
|
|
1016 |
02F0: MOVLW 04
|
|
|
1017 |
02F1: MOVWF 3D
|
|
|
1018 |
02F2: CALL 0E0
|
|
|
1019 |
02F3: MOVF 78,W
|
|
|
1020 |
02F4: MOVWF 3B
|
|
|
1021 |
....................
|
|
|
1022 |
.................... // ricici algoritmus
|
|
|
1023 |
.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++;
|
|
|
1024 |
02F5: MOVF 3A,W
|
|
|
1025 |
02F6: SUBWF 3B,W
|
|
|
1026 |
02F7: BTFSC 03.0
|
|
|
1027 |
02F8: GOTO 2FD
|
|
|
1028 |
02F9: MOVF 39,W
|
|
|
1029 |
02FA: SUBLW 1D
|
|
|
1030 |
02FB: BTFSC 03.0
|
|
|
1031 |
02FC: INCF 39,F
|
|
|
1032 |
.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--;
|
|
|
1033 |
02FD: MOVF 3A,W
|
|
|
1034 |
02FE: SUBWF 3B,W
|
|
|
1035 |
02FF: BTFSS 03.0
|
|
|
1036 |
0300: GOTO 304
|
|
|
1037 |
0301: MOVF 39,F
|
|
|
1038 |
0302: BTFSS 03.2
|
|
|
1039 |
0303: DECF 39,F
|
|
|
1040 |
.................... Vref+=10;
|
|
|
1041 |
0304: MOVLW 0A
|
|
|
1042 |
0305: ADDWF 3B,F
|
|
|
1043 |
.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu
|
|
|
1044 |
0306: MOVF 3A,W
|
|
|
1045 |
0307: SUBWF 3B,W
|
|
|
1046 |
0308: BTFSC 03.0
|
|
|
1047 |
0309: GOTO 30E
|
|
|
1048 |
030A: MOVF 39,W
|
|
|
1049 |
030B: SUBLW 1D
|
|
|
1050 |
030C: BTFSC 03.0
|
|
|
1051 |
030D: INCF 39,F
|
|
|
1052 |
....................
|
|
|
1053 |
.................... // nastaveni parametru PWM
|
|
|
1054 |
.................... if (PwmOut>24) PwmOut=24; // saturace
|
|
|
1055 |
030E: MOVF 39,W
|
|
|
1056 |
030F: SUBLW 18
|
|
|
1057 |
0310: BTFSC 03.0
|
|
|
1058 |
0311: GOTO 314
|
|
|
1059 |
0312: MOVLW 18
|
|
|
1060 |
0313: MOVWF 39
|
|
|
1061 |
.................... CCPR1L = PwmOut; // pouziti vystupu
|
|
|
1062 |
0314: MOVF 39,W
|
|
|
1063 |
0315: MOVWF 15
|
|
|
1064 |
....................
|
|
|
1065 |
.................... // zobrazeni
|
|
|
1066 |
.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut);
|
|
|
1067 |
0316: CLRF 3D
|
|
|
1068 |
0317: MOVF 3D,W
|
|
|
1069 |
0318: CALL 071
|
|
|
1070 |
0319: INCF 3D,F
|
|
|
1071 |
031A: MOVWF 77
|
|
|
1072 |
031B: MOVWF 41
|
|
|
1073 |
031C: CALL 10B
|
|
|
1074 |
031D: MOVLW 05
|
|
|
1075 |
031E: SUBWF 3D,W
|
|
|
1076 |
031F: BTFSS 03.2
|
|
|
1077 |
0320: GOTO 317
|
|
|
1078 |
0321: MOVF 3A,W
|
|
|
1079 |
0322: MOVWF 3F
|
|
|
1080 |
0323: CLRF 40
|
|
|
1081 |
0324: CALL 129
|
|
|
1082 |
0325: MOVLW 20
|
|
|
1083 |
0326: MOVWF 41
|
|
|
1084 |
0327: CALL 10B
|
|
|
1085 |
0328: MOVF 3B,W
|
|
|
1086 |
0329: MOVWF 3F
|
|
|
1087 |
032A: CLRF 40
|
|
|
1088 |
032B: CALL 129
|
|
|
1089 |
032C: MOVLW 20
|
|
|
1090 |
032D: MOVWF 41
|
|
|
1091 |
032E: CALL 10B
|
|
|
1092 |
032F: MOVF 39,W
|
|
|
1093 |
0330: MOVWF 3F
|
|
|
1094 |
0331: CLRF 40
|
|
|
1095 |
0332: CALL 129
|
|
|
1096 |
.................... delay_ms(10);
|
|
|
1097 |
0333: MOVLW 0A
|
|
|
1098 |
0334: MOVWF 3D
|
|
|
1099 |
0335: CALL 176
|
|
|
1100 |
....................
|
|
|
1101 |
.................... // rozjezd
|
|
|
1102 |
.................... if (TimerIf()&&Run)
|
|
|
1103 |
0336: CALL 1A0
|
|
|
1104 |
0337: MOVF 78,F
|
|
|
1105 |
0338: BTFSC 03.2
|
|
|
1106 |
0339: GOTO 340
|
|
|
1107 |
033A: BTFSS 3C.0
|
|
|
1108 |
033B: GOTO 340
|
|
|
1109 |
.................... {
|
|
|
1110 |
.................... Run=0;
|
|
|
1111 |
033C: BCF 3C.0
|
|
|
1112 |
.................... MotorStart(65);
|
|
|
1113 |
033D: MOVLW 41
|
|
|
1114 |
033E: MOVWF 3D
|
|
|
1115 |
033F: CALL 1B6
|
|
|
1116 |
.................... }
|
|
|
1117 |
.................... }
|
|
|
1118 |
0340: GOTO 2E5
|
|
|
1119 |
.................... }
|
|
|
1120 |
.................... }
|
|
|
1121 |
....................
|
|
|
1122 |
0341: SLEEP
|
|
|
1123 |
|
|
|
1124 |
Configuration Fuses:
|
|
|
1125 |
Word 1: 2F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IO
|
|
|
1126 |
Word 2: 3FFF FCMEN IESO
|