WebSVN – svnkaklik – Blame – /schemata/prenos/letadlo/SW/prijimac/ostra_bez_ladicich_impulsu/zaloha/05/MAIN.LST

Rev	Author	Line No.	Line
6	kaklik	1	`CCS PCW C Compiler, Version 3.110, 15448`
		2
		3	`Filename: d:\@kaklik\programy\pic_c\prenos\letadlo\prijimac\main.LST`
		4
		5	`ROM used: 687 (67%)`
		6	`Largest free fragment is 337`
		7	`RAM used: 12 (18%) at main() level`
		8	`25 (37%) worst case`
		9	`Stack: 5 locations`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 1CE`
		15	`0003: NOP`
		16	`.................... // Prijimac`
		17	`....................`
		18	`.................... #DEFINE DEBUG PIN_A2 // ladici pomocne synchronizacni impulzy`
		19	`....................`
		20	`.................... #include "main.h"`
		21	`.................... #include <16F84.h>`
		22	`.................... //////// Standard Header file for the PIC16F84 device ////////////////`
		23	`.................... #device PIC16F84`
		24	`.................... #list`
		25	`....................`
		26	`.................... #use delay(clock=4000000)`
		27	`*`
		28	`0015: MOVLW 1C`
		29	`0016: MOVWF 04`
		30	`0017: MOVF 00,W`
		31	`0018: BTFSC 03.2`
		32	`0019: GOTO 029`
		33	`001A: MOVLW 01`
		34	`001B: MOVWF 0D`
		35	`001C: CLRF 0C`
		36	`001D: DECFSZ 0C,F`
		37	`001E: GOTO 01D`
		38	`001F: DECFSZ 0D,F`
		39	`0020: GOTO 01C`
		40	`0021: MOVLW 4A`
		41	`0022: MOVWF 0C`
		42	`0023: DECFSZ 0C,F`
		43	`0024: GOTO 023`
		44	`0025: NOP`
		45	`0026: NOP`
		46	`0027: DECFSZ 00,F`
		47	`0028: GOTO 01A`
		48	`0029: RETLW 00`
		49	`.................... #fuses XT,NOWDT,PUT`
		50	`....................`
		51	`....................`
		52	`.................... #include "..\common.h"`
		53	`.................... #DEFINE OSA_X 1 // adresy os`
		54	`.................... #DEFINE OSA_Y 2`
		55	`.................... #DEFINE TLs 3`
		56	`.................... #DEFINE IMPULS 250 // sirka impulsu`
		57	`.................... #DEFINE SYNC_NIBBLE 0b1111 // magiske cislo sync niblu`
		58	`....................`
		59	`....................`
		60	`.................... #DEFINE LCD_RS PIN_B1 // rizeni registru LCD displeje`
		61	`.................... #DEFINE LCD_E PIN_B0 // enable LCD displeje`
		62	`.................... #DEFINE LCD_DATA_LSB PIN_B2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou)`
		63	`.................... #INCLUDE "MYLCD.C"`
		64	`.................... // LCD modul pro ovladani dvouradkoveho LCD modulu se standardnim Hitachi radicem`
		65	`.................... // (c)miho 2002`
		66	`.................... //`
		67	`.................... // Historie:`
		68	`.................... //`
		69	`.................... // 0.0 Uvodni verze se snadnou definici portu LCD displeje`
		70	`.................... //`
		71	`.................... //`
		72	`.................... // Funkce:`
		73	`.................... //`
		74	`.................... // lcd_init() inicializuje LCD displej a porty, nutno volat jako prvni`
		75	`.................... //`
		76	`.................... // lcd_putc(c) zapis snaku do lcd displeje, zpracovava nasledujici ridici znaky`
		77	`.................... // \f = \x0C - nova stranka - smazani displeje`
		78	`.................... // \n = \x0A - odradkovani (prechod na druhou radku)`
		79	`.................... // \b = \x08 - backspace - posunuti kurzoru o 1 pozici zpet`
		80	`.................... // \r = \x0D - goto home to position 1,1`
		81	`.................... // \0 .. \7 - definovatelne znaky v pozicich 0 az 7 v CGRAM`
		82	`.................... // \20 .. \27 - alternativne zapsane znaky (oktalove) v pozicich 0 az 7 CGRAM`
		83	`.................... // Pozor na to, ze funkce printf konci tisk pokud narazi na \0 (konec retezce)`
		84	`.................... //`
		85	`.................... // lcd_gotoxy(x,y) presune kurzor na uvedenou adresu`
		86	`.................... // nekontroluje parametry`
		87	`.................... //`
		88	`.................... // lcd_cursor_on zapne kurzor`
		89	`.................... // lcd_cursor_off vypne kurzor`
		90	`.................... //`
		91	`.................... // lcd_define_char(Index, Def) Makro, ktere definuje znaky od pozice Index obsahem definicniho`
		92	`.................... // retezce Def. Kazdych 8 znaku retezce Def definuje dalsi znak v CGRAM.`
		93	`.................... // Kapacita CGRAM je celkem 8 znaku s indexem 0 az 7.`
		94	`.................... // Na konci se provede lcd_gotoxy(1,1).`
		95	`.................... // Na konci teto knihovny je priklad pouziti definovanych znaku`
		96	`.................... //`
		97	`.................... // Definice portu:`
		98	`.................... //`
		99	`.................... // #DEFINE LCD_RS PIN_B2 // rizeni registru LCD displeje`
		100	`.................... // #DEFINE LCD_E PIN_B1 // enable LCD displeje`
		101	`.................... // #DEFINE LCD_DATA_LSB PIN_C2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou)`
		102	`....................`
		103	`....................`
		104	`....................`
		105	`....................`
		106	`.................... // Privatni sekce, cist jen v pripade, ze neco nefunguje`
		107	`....................`
		108	`....................`
		109	`....................`
		110	`....................`
		111	`.................... // Generovane defince portu pro ucely teto knihovny aby kod generoval spravne IO operace a soucasne`
		112	`.................... // bylo mozne jednoduse deklarovat pripojene piny LCD displeje pri pouziti teto knihovny. Problem spociva`
		113	`.................... // v tom, ze se musi spravne ridit smery portu a soucasne datovy port zabira jen 4 bity ze zadaneho portu`
		114	`.................... //`
		115	`.................... #DEFINE LCD_SHIFT (LCD_DATA_LSB&7) // pocet bitu posuvu dataoveho kanalu v datovem portu`
		116	`.................... #DEFINE LCD_PORT (LCD_DATA_LSB>>3) // adresa LCD datoveho portu`
		117	`.................... #DEFINE LCD_TRIS (LCD_PORT+0x80) // adresa prislusneho TRIS registru`
		118	`.................... #DEFINE LCD_MASK (0xF<<LCD_SHIFT) // maska platnych bitu`
		119	`.................... //`
		120	`.................... #IF LCD_SHIFT>4 // kontrola mezi`
		121	`.................... #ERROR LCD data port LSB bit not in range 0..4`
		122	`.................... #ENDIF`
		123	`....................`
		124	`....................`
		125	`.................... // Definice konstant pro LCD display`
		126	`.................... //`
		127	`.................... #define LCD_CURSOR_ON_ 0x0E // kurzor jako blikajici radka pod znakem`
		128	`.................... #define LCD_CURSOR_OFF_ 0x0C // zadny kurzor`
		129	`.................... #define LCD_LINE_2 0x40 // adresa 1. znaku 2. radky`
		130	`....................`
		131	`....................`
		132	`.................... // Definice rezimu LCD displeje`
		133	`.................... //`
		134	`.................... BYTE const LCD_INIT_STRING[4] =`
		135	`.................... {`
		136	`.................... 0x28, // intrfejs 4 bity, 2 radky, font 5x7`
		137	`.................... LCD_CURSOR_OFF_, // display on, kurzor off,`
		138	`.................... 0x01, // clear displeje`
		139	`.................... 0x06 // inkrement pozice kurzoru (posun kurzoru doprava)`
		140	`.................... };`
		141	`*`
		142	`0004: BCF 0A.0`
		143	`0005: BCF 0A.1`
		144	`0006: BCF 0A.2`
		145	`0007: ADDWF 02,F`
		146	`0008: RETLW 28`
		147	`0009: RETLW 0C`
		148	`000A: RETLW 01`
		149	`000B: RETLW 06`
		150	`....................`
		151	`....................`
		152	`.................... // Odesle nibble do displeje (posle data a klikne signalem e)`
		153	`.................... //`
		154	`.................... void lcd_send_nibble( BYTE n )`
		155	`.................... {`
		156	`.................... LCD_PORT = (LCD_PORT & ~LCD_MASK) \| ((n << LCD_SHIFT) & LCD_MASK); // nastav datove bity portu a ostatni zachovej`
		157	`*`
		158	`002A: MOVF 06,W`
		159	`002B: ANDLW C3`
		160	`002C: MOVWF 23`
		161	`002D: RLF 22,W`
		162	`002E: MOVWF 0C`
		163	`002F: RLF 0C,F`
		164	`0030: MOVLW FC`
		165	`0031: ANDWF 0C,F`
		166	`0032: MOVF 0C,W`
		167	`0033: ANDLW 3C`
		168	`0034: IORWF 23,W`
		169	`0035: MOVWF 06`
		170	`.................... output_bit(LCD_E,1); // vzestupna hrana`
		171	`0036: BSF 06.0`
		172	`0037: BSF 03.5`
		173	`0038: BCF 06.0`
		174	`.................... delay_us(1); // pockej alespon 450ns od e nebo alespon 195ns od dat`
		175	`0039: NOP`
		176	`.................... output_bit(LCD_E,0); // sestupna hrana (minimalni perioda e je 1us)`
		177	`003A: BCF 03.5`
		178	`003B: BCF 06.0`
		179	`003C: BSF 03.5`
		180	`003D: BCF 06.0`
		181	`003E: BCF 03.5`
		182	`003F: RETLW 00`
		183	`.................... }`
		184	`....................`
		185	`....................`
		186	`.................... // Odesle bajt do registru LCD`
		187	`.................... //`
		188	`.................... // Pokud je Adr=0 .. instrukcni registr`
		189	`.................... // Pokud je Adr=1 .. datovy registr`
		190	`.................... //`
		191	`.................... void lcd_send_byte( BOOLEAN Adr, BYTE n )`
		192	`.................... {`
		193	`.................... output_bit(LCD_RS,Adr); // vyber registr`
		194	`0040: MOVF 20,F`
		195	`0041: BTFSS 03.2`
		196	`0042: GOTO 045`
		197	`0043: BCF 06.1`
		198	`0044: GOTO 046`
		199	`0045: BSF 06.1`
		200	`0046: BSF 03.5`
		201	`0047: BCF 06.1`
		202	`.................... swap(n);`
		203	`0048: BCF 03.5`
		204	`0049: SWAPF 21,F`
		205	`.................... lcd_send_nibble(n); // posli horni pulku bajtu`
		206	`004A: MOVF 21,W`
		207	`004B: MOVWF 22`
		208	`004C: CALL 02A`
		209	`.................... swap(n);`
		210	`004D: SWAPF 21,F`
		211	`.................... lcd_send_nibble(n); // posli spodni pulku bajtu`
		212	`004E: MOVF 21,W`
		213	`004F: MOVWF 22`
		214	`0050: CALL 02A`
		215	`.................... delay_us(40); // minimalni doba na provedeni prikazu`
		216	`0051: MOVLW 0D`
		217	`0052: MOVWF 0C`
		218	`0053: DECFSZ 0C,F`
		219	`0054: GOTO 053`
		220	`0055: RETLW 00`
		221	`.................... }`
		222	`....................`
		223	`....................`
		224	`.................... // Provede inicializaci LCD displeje, smaze obsah a nastavi mod displeje`
		225	`.................... //`
		226	`.................... // Tato procedura se musi volat pred pouzitim ostatnich lcd_ procedur`
		227	`.................... //`
		228	`.................... void lcd_init()`
		229	`.................... {`
		230	`....................`
		231	`.................... int i; // pocitadlo cyklu`
		232	`....................`
		233	`.................... delay_ms(20); // spozdeni pro provedeni startu displeje po zapnuti napajeni`
		234	`0056: MOVLW 14`
		235	`0057: MOVWF 1C`
		236	`0058: CALL 015`
		237	`....................`
		238	`.................... LCD_TRIS = LCD_TRIS & ~LCD_MASK; // nuluj odpovidajici bity tris registru datoveho portu LCD`
		239	`0059: MOVLW C3`
		240	`005A: BSF 03.5`
		241	`005B: ANDWF 06,F`
		242	`....................`
		243	`.................... output_bit(LCD_RS,0); // nastav jako vystup a nastav klidovy stav`
		244	`005C: BCF 03.5`
		245	`005D: BCF 06.1`
		246	`005E: BSF 03.5`
		247	`005F: BCF 06.1`
		248	`.................... output_bit(LCD_E,0); // nastav jako vystup a nastav klidovy stav`
		249	`0060: BCF 03.5`
		250	`0061: BCF 06.0`
		251	`0062: BSF 03.5`
		252	`0063: BCF 06.0`
		253	`....................`
		254	`.................... for (i=0; i<3; i++) // nastav lcd do rezimu 8 bitu sbernice`
		255	`0064: BCF 03.5`
		256	`0065: CLRF 19`
		257	`0066: MOVF 19,W`
		258	`0067: SUBLW 02`
		259	`0068: BTFSS 03.0`
		260	`0069: GOTO 072`
		261	`.................... {`
		262	`.................... delay_ms(2); // muze byt rozdelany prenos dat (2x 4 bity) nebo pomaly povel`
		263	`006A: MOVLW 02`
		264	`006B: MOVWF 1C`
		265	`006C: CALL 015`
		266	`.................... lcd_send_nibble(3); // rezim 8 bitu`
		267	`006D: MOVLW 03`
		268	`006E: MOVWF 22`
		269	`006F: CALL 02A`
		270	`.................... }`
		271	`0070: INCF 19,F`
		272	`0071: GOTO 066`
		273	`....................`
		274	`.................... delay_us(40); // cas na zpracovani`
		275	`0072: MOVLW 0D`
		276	`0073: MOVWF 0C`
		277	`0074: DECFSZ 0C,F`
		278	`0075: GOTO 074`
		279	`.................... lcd_send_nibble(2); // nastav rezim 4 bitu (plati od nasledujiciho prenosu)`
		280	`0076: MOVLW 02`
		281	`0077: MOVWF 22`
		282	`0078: CALL 02A`
		283	`.................... delay_us(40); // cas na zpracovani`
		284	`0079: MOVLW 0D`
		285	`007A: MOVWF 0C`
		286	`007B: DECFSZ 0C,F`
		287	`007C: GOTO 07B`
		288	`....................`
		289	`.................... for (i=0;i<3;i++) // proved inicializaci (nastaveni modu, smazani apod)`
		290	`007D: CLRF 19`
		291	`007E: MOVF 19,W`
		292	`007F: SUBLW 02`
		293	`0080: BTFSS 03.0`
		294	`0081: GOTO 08E`
		295	`.................... {`
		296	`.................... lcd_send_byte(0,LCD_INIT_STRING[i]);`
		297	`0082: MOVF 19,W`
		298	`0083: CALL 004`
		299	`0084: MOVWF 1A`
		300	`0085: CLRF 20`
		301	`0086: MOVF 1A,W`
		302	`0087: MOVWF 21`
		303	`0088: CALL 040`
		304	`.................... delay_ms(2);`
		305	`0089: MOVLW 02`
		306	`008A: MOVWF 1C`
		307	`008B: CALL 015`
		308	`.................... }`
		309	`008C: INCF 19,F`
		310	`008D: GOTO 07E`
		311	`008E: GOTO 1D2 (RETURN)`
		312	`.................... }`
		313	`....................`
		314	`....................`
		315	`.................... // Proved presun kurzoru`
		316	`.................... //`
		317	`.................... // Pozice 1.1 je domu`
		318	`.................... //`
		319	`.................... void lcd_gotoxy( BYTE x, BYTE y)`
		320	`.................... {`
		321	`....................`
		322	`.................... BYTE Adr;`
		323	`....................`
		324	`.................... Adr=x-1;`
		325	`008F: MOVLW 01`
		326	`0090: SUBWF 1C,W`
		327	`0091: MOVWF 1E`
		328	`.................... if(y==2)`
		329	`0092: MOVF 1D,W`
		330	`0093: SUBLW 02`
		331	`0094: BTFSS 03.2`
		332	`0095: GOTO 098`
		333	`.................... Adr+=LCD_LINE_2;`
		334	`0096: MOVLW 40`
		335	`0097: ADDWF 1E,F`
		336	`....................`
		337	`.................... lcd_send_byte(0,0x80\|Adr);`
		338	`0098: MOVF 1E,W`
		339	`0099: IORLW 80`
		340	`009A: MOVWF 1F`
		341	`009B: CLRF 20`
		342	`009C: MOVF 1F,W`
		343	`009D: MOVWF 21`
		344	`009E: CALL 040`
		345	`009F: RETLW 00`
		346	`.................... }`
		347	`....................`
		348	`....................`
		349	`.................... // Zapis znaku na displej, zpracovani ridicich znaku`
		350	`.................... //`
		351	`.................... void lcd_putc( char c)`
		352	`.................... {`
		353	`....................`
		354	`.................... switch (c)`
		355	`00A0: MOVF 1B,W`
		356	`00A1: MOVWF 0C`
		357	`00A2: MOVLW 0C`
		358	`00A3: SUBWF 0C,W`
		359	`00A4: BTFSC 03.2`
		360	`00A5: GOTO 0B3`
		361	`00A6: MOVLW 0A`
		362	`00A7: SUBWF 0C,W`
		363	`00A8: BTFSC 03.2`
		364	`00A9: GOTO 0BB`
		365	`00AA: MOVLW 0D`
		366	`00AB: SUBWF 0C,W`
		367	`00AC: BTFSC 03.2`
		368	`00AD: GOTO 0C1`
		369	`00AE: MOVLW 08`
		370	`00AF: SUBWF 0C,W`
		371	`00B0: BTFSC 03.2`
		372	`00B1: GOTO 0C6`
		373	`00B2: GOTO 0CB`
		374	`.................... {`
		375	`.................... case '\f' : lcd_send_byte(0,1); // smaz displej`
		376	`00B3: CLRF 20`
		377	`00B4: MOVLW 01`
		378	`00B5: MOVWF 21`
		379	`00B6: CALL 040`
		380	`.................... delay_ms(2);`
		381	`00B7: MOVLW 02`
		382	`00B8: MOVWF 1C`
		383	`00B9: CALL 015`
		384	`.................... break;`
		385	`00BA: GOTO 0D7`
		386	`.................... case '\n' : lcd_gotoxy(1,2); break; // presun se na 1. znak 2. radky`
		387	`00BB: MOVLW 01`
		388	`00BC: MOVWF 1C`
		389	`00BD: MOVLW 02`
		390	`00BE: MOVWF 1D`
		391	`00BF: CALL 08F`
		392	`00C0: GOTO 0D7`
		393	`.................... case '\r' : lcd_gotoxy(1,1); break; // presun home`
		394	`00C1: MOVLW 01`
		395	`00C2: MOVWF 1C`
		396	`00C3: MOVWF 1D`
		397	`00C4: CALL 08F`
		398	`00C5: GOTO 0D7`
		399	`.................... case '\b' : lcd_send_byte(0,0x10); break; // posun kurzor o 1 zpet`
		400	`00C6: CLRF 20`
		401	`00C7: MOVLW 10`
		402	`00C8: MOVWF 21`
		403	`00C9: CALL 040`
		404	`00CA: GOTO 0D7`
		405	`.................... default : if (c<0x20) c&=0x7; // preklopeni definovatelnych znaku na rozsah 0 az 0x1F`
		406	`00CB: MOVF 1B,W`
		407	`00CC: SUBLW 1F`
		408	`00CD: BTFSS 03.0`
		409	`00CE: GOTO 0D1`
		410	`00CF: MOVLW 07`
		411	`00D0: ANDWF 1B,F`
		412	`.................... lcd_send_byte(1,c); break; // zapis znak`
		413	`00D1: MOVLW 01`
		414	`00D2: MOVWF 20`
		415	`00D3: MOVF 1B,W`
		416	`00D4: MOVWF 21`
		417	`00D5: CALL 040`
		418	`00D6: GOTO 0D7`
		419	`.................... }`
		420	`00D7: RETLW 00`
		421	`.................... }`
		422	`....................`
		423	`....................`
		424	`.................... // Zapni kurzor`
		425	`.................... //`
		426	`.................... void lcd_cursor_on()`
		427	`.................... {`
		428	`.................... lcd_send_byte(0,LCD_CURSOR_ON_);`
		429	`.................... }`
		430	`....................`
		431	`....................`
		432	`.................... // Vypni kurzor`
		433	`.................... //`
		434	`.................... void lcd_cursor_off()`
		435	`.................... {`
		436	`.................... lcd_send_byte(0,LCD_CURSOR_OFF_);`
		437	`.................... }`
		438	`....................`
		439	`....................`
		440	`.................... // Definice vlastnich fontu`
		441	`.................... //`
		442	`.................... // Vlastnich definic muze byt jen 8 do pozic 0 az 7 pameti CGRAM radice lcd displeje`
		443	`.................... // Pro snadne definovani jsou pripraveny nasledujici definice a na konci souboru je uveden`
		444	`.................... // priklad pouziti definovanych znaku.`
		445	`....................`
		446	`....................`
		447	`.................... // Pomocna procedura pro posilani ridicich dat do radice displeje`
		448	`.................... //`
		449	`.................... void lcd_putc2(int Data)`
		450	`.................... {`
		451	`.................... lcd_send_byte(1,Data);`
		452	`.................... }`
		453	`....................`
		454	`....................`
		455	`.................... // Pomocne definice pro programovani obsahu CGRAM`
		456	`.................... //`
		457	`.................... #DEFINE lcd_define_start(Code) lcd_send_byte(0,0x40+(Code<<3)); delay_ms(2)`
		458	`.................... #DEFINE lcd_define_def(String) printf(lcd_putc2,String);`
		459	`.................... #DEFINE lcd_define_end() lcd_send_byte(0,3); delay_ms(2)`
		460	`....................`
		461	`....................`
		462	`.................... // Vlastni vykonne makro pro definovani fontu do pozice Index CGRAM s definicnim retezcem Def`
		463	`.................... //`
		464	`.................... #DEFINE lcd_define_char(Index, Def) lcd_define_start(Index); lcd_define_def(Def); lcd_define_end();`
		465	`....................`
		466	`....................`
		467	`.................... // Pripravene definice fontu vybranych znaku`
		468	`.................... // V tabulce nesmi byt 00 (konec retezce v printf()), misto toho davame 80`
		469	`.................... //`
		470	`.................... #DEFINE LCD_CHAR_BAT100 "\x0E\x1F\x1F\x1F\x1F\x1F\x1F\x1F" /* symbol plne baterie */`
		471	`.................... #DEFINE LCD_CHAR_BAT50 "\x0E\x1F\x11\x11\x13\x17\x1F\x1F" /* symbol polovicni baterie */`
		472	`.................... #DEFINE LCD_CHAR_BAT0 "\x0E\x1F\x11\x11\x11\x11\x11\x1F" /* symbol vybite baterie */`
		473	`.................... #DEFINE LCD_CHAR_LUA "\x04\x0E\x11\x11\x1F\x11\x11\x80" /* A s carkou */`
		474	`.................... #DEFINE LCD_CHAR_LLA "\x01\x02\x0E\x01\x1F\x11\x0F\x80" /* a s carkou */`
		475	`.................... #DEFINE LCD_CHAR_HUC "\x0A\x0E\x11\x10\x10\x11\x0E\x80" /* C s hackem */`
		476	`.................... #DEFINE LCD_CHAR_HLC "\x0A\x04\x0E\x10\x10\x11\x0E\x80" /* c s hackem */`
		477	`.................... #DEFINE LCD_CHAR_HUD "\x0A\x1C\x12\x11\x11\x12\x1C\x80" /* D s hackem */`
		478	`.................... #DEFINE LCD_CHAR_HLD "\x05\x03\x0D\x13\x11\x11\x0F\x80" /* d s hackem */`
		479	`.................... #DEFINE LCD_CHAR_LUE "\x04\x1F\x10\x10\x1E\x10\x1F\x80" /* E s carkou */`
		480	`.................... #DEFINE LCD_CHAR_LLE "\x01\x02\x0E\x11\x1F\x10\x0E\x80" /* e s carkou */`
		481	`.................... #DEFINE LCD_CHAR_HUE "\x0A\x1F\x10\x1E\x10\x10\x1F\x80" /* E s hackem */`
		482	`.................... #DEFINE LCD_CHAR_HLE "\x0A\x04\x0E\x11\x1F\x10\x0E\x80" /* e s hackem */`
		483	`.................... #DEFINE LCD_CHAR_LUI "\x04\x0E\x04\x04\x04\x04\x0E\x80" /* I s carkou */`
		484	`.................... #DEFINE LCD_CHAR_LLI "\x02\x04\x80\x0C\x04\x04\x0E\x80" /* i s carkou */`
		485	`.................... #DEFINE LCD_CHAR_HUN "\x0A\x15\x11\x19\x15\x13\x11\x80" /* N s hackem */`
		486	`.................... #DEFINE LCD_CHAR_HLN "\x0A\x04\x16\x19\x11\x11\x11\x80" /* n s hackem */`
		487	`.................... #DEFINE LCD_CHAR_LUO "\x04\x0E\x11\x11\x11\x11\x0E\x80" /* O s carkou */`
		488	`.................... #DEFINE LCD_CHAR_LLO "\x02\x04\x0E\x11\x11\x11\x0E\x80" /* o s carkou */`
		489	`.................... #DEFINE LCD_CHAR_HUR "\x0A\x1E\x11\x1E\x14\x12\x11\x80" /* R s hackem */`
		490	`.................... #DEFINE LCD_CHAR_HLR "\x0A\x04\x16\x19\x10\x10\x10\x80" /* r s hackem */`
		491	`.................... #DEFINE LCD_CHAR_HUS "\x0A\x0F\x10\x0E\x01\x01\x1E\x80" /* S s hackem */`
		492	`.................... #DEFINE LCD_CHAR_HLS "\x0A\x04\x0E\x10\x0E\x01\x1E\x80" /* s s hackem */`
		493	`.................... #DEFINE LCD_CHAR_HUT "\x0A\x1F\x04\x04\x04\x04\x04\x80" /* T s hackem */`
		494	`.................... #DEFINE LCD_CHAR_HLT "\x0A\x0C\x1C\x08\x08\x09\x06\x80" /* t s hackem */`
		495	`.................... #DEFINE LCD_CHAR_LUU "\x02\x15\x11\x11\x11\x11\x0E\x80" /* U s carkou */`
		496	`.................... #DEFINE LCD_CHAR_LLU "\x02\x04\x11\x11\x11\x13\x0D\x80" /* u s carkou */`
		497	`.................... #DEFINE LCD_CHAR_CUU "\x06\x17\x11\x11\x11\x11\x0E\x80" /* U s krouzkem */`
		498	`.................... #DEFINE LCD_CHAR_CLU "\x06\x06\x11\x11\x11\x11\x0E\x80" /* u s krouzkem */`
		499	`.................... #DEFINE LCD_CHAR_LUY "\x02\x15\x11\x0A\x04\x04\x04\x80" /* Y s carkou */`
		500	`.................... #DEFINE LCD_CHAR_LLY "\x02\x04\x11\x11\x0F\x01\x0E\x80" /* y s carkou */`
		501	`.................... #DEFINE LCD_CHAR_HUZ "\x0A\x1F\x01\x02\x04\x08\x1F\x80" /* Z s hackem */`
		502	`.................... #DEFINE LCD_CHAR_HLZ "\x0A\x04\x1F\x02\x04\x08\x1F\x80" /* z s hackem */`
		503	`....................`
		504	`....................`
		505	`.................... // Priklad pouziti definovanych znaku`
		506	`.................... //`
		507	`.................... //`
		508	`.................... //void lcd_sample()`
		509	`.................... //{`
		510	`.................... // lcd_define_char(0,LCD_CHAR_BAT50); // Priklad definice znaku baterie do pozice 0`
		511	`.................... // lcd_define_char(2,LCD_CHAR_HLE LCD_CHAR_LUI); // Priklad definice znaku e s hackem a I s carkou od pozice 2`
		512	`.................... // // vsimnete si, ze neni carka mezi retezci s definici (oba retezce definuji`
		513	`.................... // // jediny definicni retezec)`
		514	`.................... // printf(lcd_putc,"\fZnaky:\20\22\23"); // priklad vypisu znaku z pozice 0, 2 a 3`
		515	`.................... // delay_ms(1000);`
		516	`.................... // lcd_define_char(0,LCD_CHAR_BAT0); // Predefinovani tvaru znaku v pozici 0`
		517	`.................... // delay_ms(1000);`
		518	`.................... //}`
		519	`....................`
		520	`....................`
		521	`.................... #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac`
		522	`.................... #DEFINE SERVO_X PIN_A0 // pin na ktery je pripojeno servo`
		523	`.................... #DEFINE SERVO_Y PIN_A1`
		524	`....................`
		525	`....................`
		526	`.................... // Prijme datovy nibble vcetne zasynchronizovani`
		527	`.................... // Chybi dodelat timeout`
		528	`.................... int8 prijmi_nibble(int8* datovy, int8* data)`
		529	`.................... {`
		530	`.................... int8 i;`
		531	`....................`
		532	`.................... #IFDEF DEBUG`
		533	`.................... int1 tmp;`
		534	`.................... #ENDIF`
		535	`....................`
		536	`.................... *data=0;`
		537	`00D8: MOVF 1E,W`
		538	`00D9: MOVWF 04`
		539	`00DA: CLRF 00`
		540	`....................`
		541	`.................... // Cekam na dlouhou nulu`
		542	`.................... for (i=4; i>0; i--)`
		543	`00DB: MOVLW 04`
		544	`00DC: MOVWF 1F`
		545	`00DD: MOVF 1F,F`
		546	`00DE: BTFSC 03.2`
		547	`00DF: GOTO 0EE`
		548	`.................... {`
		549	`.................... if (input(PRIJIMAC)) i=4;`
		550	`00E0: BSF 03.5`
		551	`00E1: BSF 05.3`
		552	`00E2: BCF 03.5`
		553	`00E3: BTFSS 05.3`
		554	`00E4: GOTO 0E7`
		555	`00E5: MOVLW 04`
		556	`00E6: MOVWF 1F`
		557	`.................... delay_us(IMPULS/2);`
		558	`00E7: MOVLW 29`
		559	`00E8: MOVWF 0C`
		560	`00E9: DECFSZ 0C,F`
		561	`00EA: GOTO 0E9`
		562	`00EB: NOP`
		563	`.................... }`
		564	`00EC: DECF 1F,F`
		565	`00ED: GOTO 0DD`
		566	`....................`
		567	`.................... // Cekam na jednicku (start ramce)`
		568	`.................... for (; !input(PRIJIMAC); )`
		569	`00EE: BSF 03.5`
		570	`00EF: BSF 05.3`
		571	`00F0: BCF 03.5`
		572	`00F1: BTFSS 05.3`
		573	`.................... {`
		574	`.................... }`
		575	`00F2: GOTO 0EE`
		576	`....................`
		577	`.................... // Ctu typ nibblu`
		578	`.................... delay_us(2IMPULS+2IMPULS/3);`
		579	`00F3: MOVLW DD`
		580	`00F4: MOVWF 0C`
		581	`00F5: DECFSZ 0C,F`
		582	`00F6: GOTO 0F5`
		583	`00F7: NOP`
		584	`00F8: NOP`
		585	`.................... *datovy=input(PRIJIMAC);`
		586	`00F9: MOVF 1D,W`
		587	`00FA: MOVWF 04`
		588	`00FB: BSF 03.5`
		589	`00FC: BSF 05.3`
		590	`00FD: MOVLW 00`
		591	`00FE: BCF 03.5`
		592	`00FF: BTFSC 05.3`
		593	`0100: MOVLW 01`
		594	`0101: MOVWF 00`
		595	`....................`
		596	`.................... // Prenasim bity`
		597	`.................... for (i=0; i<4; i++)`
		598	`0102: CLRF 1F`
		599	`0103: MOVF 1F,W`
		600	`0104: SUBLW 03`
		601	`0105: BTFSS 03.0`
		602	`0106: GOTO 128`
		603	`.................... {`
		604	`.................... delay_us(2*IMPULS);`
		605	`0107: MOVLW A6`
		606	`0108: MOVWF 0C`
		607	`0109: DECFSZ 0C,F`
		608	`010A: GOTO 109`
		609	`010B: NOP`
		610	`.................... *data >>= 1;`
		611	`010C: MOVF 1E,W`
		612	`010D: MOVWF 04`
		613	`010E: BCF 03.0`
		614	`010F: RRF 00,W`
		615	`0110: MOVWF 0C`
		616	`0111: MOVWF 00`
		617	`.................... if (input(PRIJIMAC)) *data +=0b1000;`
		618	`0112: BSF 03.5`
		619	`0113: BSF 05.3`
		620	`0114: BCF 03.5`
		621	`0115: BTFSS 05.3`
		622	`0116: GOTO 11C`
		623	`0117: MOVF 1E,W`
		624	`0118: MOVWF 04`
		625	`0119: MOVLW 08`
		626	`011A: ADDWF 00,W`
		627	`011B: MOVWF 00`
		628	`....................`
		629	`.................... #IFDEF DEBUG`
		630	`.................... output_bit(DEBUG,tmp);`
		631	`011C: BTFSC 20.0`
		632	`011D: GOTO 120`
		633	`011E: BCF 05.2`
		634	`011F: GOTO 121`
		635	`0120: BSF 05.2`
		636	`0121: BSF 03.5`
		637	`0122: BCF 05.2`
		638	`.................... tmp=!tmp;`
		639	`0123: MOVLW 01`
		640	`0124: BCF 03.5`
		641	`0125: XORWF 20,F`
		642	`.................... #ELSE`
		643	`.................... delay_us(20);`
		644	`.................... #ENDIF`
		645	`.................... }`
		646	`0126: INCF 1F,F`
		647	`0127: GOTO 103`
		648	`....................`
		649	`.................... return FALSE;`
		650	`0128: MOVLW 00`
		651	`0129: MOVWF 0D`
		652	`012A: RETLW 00`
		653	`.................... }`
		654	`....................`
		655	`....................`
		656	`.................... // Prijme datovy ramec`
		657	`.................... // Pokud nastane chyba vraci TRUE`
		658	`.................... int8 prijmi_ramec(int8* kanal, int8* data)`
		659	`.................... {`
		660	`.................... int8 datovy;`
		661	`.................... int8 suma;`
		662	`....................`
		663	`.................... // Cekej na synchronizacni nibble`
		664	`.................... do`
		665	`.................... {`
		666	`.................... if (prijmi_nibble(&datovy, data)) return 1; // chyba timout`
		667	`012B: MOVLW 1B`
		668	`012C: MOVWF 1D`
		669	`012D: MOVF 1A,W`
		670	`012E: MOVWF 1E`
		671	`012F: CALL 0D8`
		672	`0130: MOVF 0D,F`
		673	`0131: BTFSC 03.2`
		674	`0132: GOTO 136`
		675	`0133: MOVLW 01`
		676	`0134: MOVWF 0D`
		677	`0135: GOTO 186`
		678	`.................... }`
		679	`.................... while(datovy);`
		680	`0136: MOVF 1B,F`
		681	`0137: BTFSS 03.2`
		682	`0138: GOTO 12B`
		683	`....................`
		684	`.................... // Zkontroluj magickou hodnotu`
		685	`.................... if (*data != SYNC_NIBBLE) return 2; // chyba magickeho kodu ramce`
		686	`0139: MOVF 1A,W`
		687	`013A: MOVWF 04`
		688	`013B: MOVF 00,W`
		689	`013C: SUBLW 0F`
		690	`013D: BTFSC 03.2`
		691	`013E: GOTO 142`
		692	`013F: MOVLW 02`
		693	`0140: MOVWF 0D`
		694	`0141: GOTO 186`
		695	`....................`
		696	`.................... // Prijmi cislo kanalu`
		697	`.................... if (prijmi_nibble(&datovy, kanal)) return 1; // chyba timeout`
		698	`0142: MOVLW 1B`
		699	`0143: MOVWF 1D`
		700	`0144: MOVF 19,W`
		701	`0145: MOVWF 1E`
		702	`0146: CALL 0D8`
		703	`0147: MOVF 0D,F`
		704	`0148: BTFSC 03.2`
		705	`0149: GOTO 14D`
		706	`014A: MOVLW 01`
		707	`014B: MOVWF 0D`
		708	`014C: GOTO 186`
		709	`.................... if (!datovy) return 3; // chyba typu nibblu`
		710	`014D: MOVF 1B,F`
		711	`014E: BTFSS 03.2`
		712	`014F: GOTO 153`
		713	`0150: MOVLW 03`
		714	`0151: MOVWF 0D`
		715	`0152: GOTO 186`
		716	`....................`
		717	`.................... // Prijmi data`
		718	`.................... if (prijmi_nibble(&datovy, data)) return 1; // chyba timeout`
		719	`0153: MOVLW 1B`
		720	`0154: MOVWF 1D`
		721	`0155: MOVF 1A,W`
		722	`0156: MOVWF 1E`
		723	`0157: CALL 0D8`
		724	`0158: MOVF 0D,F`
		725	`0159: BTFSC 03.2`
		726	`015A: GOTO 15E`
		727	`015B: MOVLW 01`
		728	`015C: MOVWF 0D`
		729	`015D: GOTO 186`
		730	`.................... if (!datovy) return 3; // chyba typu nibblu`
		731	`015E: MOVF 1B,F`
		732	`015F: BTFSS 03.2`
		733	`0160: GOTO 164`
		734	`0161: MOVLW 03`
		735	`0162: MOVWF 0D`
		736	`0163: GOTO 186`
		737	`....................`
		738	`.................... // Prijmi zabezpeceni`
		739	`.................... if (prijmi_nibble(&datovy, &suma)) return 1; // chyba timeout`
		740	`0164: MOVLW 1B`
		741	`0165: MOVWF 1D`
		742	`0166: MOVLW 1C`
		743	`0167: MOVWF 1E`
		744	`0168: CALL 0D8`
		745	`0169: MOVF 0D,F`
		746	`016A: BTFSC 03.2`
		747	`016B: GOTO 16F`
		748	`016C: MOVLW 01`
		749	`016D: MOVWF 0D`
		750	`016E: GOTO 186`
		751	`.................... if (!datovy) return 3; // chyba typu nibblu`
		752	`016F: MOVF 1B,F`
		753	`0170: BTFSS 03.2`
		754	`0171: GOTO 175`
		755	`0172: MOVLW 03`
		756	`0173: MOVWF 0D`
		757	`0174: GOTO 186`
		758	`....................`
		759	`.................... // Zkontroluj kontrolni soucet`
		760	`....................`
		761	`....................`
		762	`.................... //lcd_gotoxy(1,1);`
		763	`.................... //printf(lcd_putc,"R:%3U %3U %3U ",kanal,data,suma);`
		764	`.................... //delay_ms(1000);`
		765	`....................`
		766	`....................`
		767	`.................... if (((kanal+data) & 0b1111) != suma) return 3; // chyba kontrolniho souctu`
		768	`0175: MOVF 19,W`
		769	`0176: MOVWF 04`
		770	`0177: MOVF 00,W`
		771	`0178: MOVWF 1D`
		772	`0179: MOVF 1A,W`
		773	`017A: MOVWF 04`
		774	`017B: MOVF 00,W`
		775	`017C: ADDWF 1D,W`
		776	`017D: ANDLW 0F`
		777	`017E: SUBWF 1C,W`
		778	`017F: BTFSC 03.2`
		779	`0180: GOTO 184`
		780	`0181: MOVLW 03`
		781	`0182: MOVWF 0D`
		782	`0183: GOTO 186`
		783	`....................`
		784	`.................... return 0;`
		785	`0184: MOVLW 00`
		786	`0185: MOVWF 0D`
		787	`0186: GOTO 1FA (RETURN)`
		788	`.................... }`
		789	`....................`
		790	`....................`
		791	`....................`
		792	`.................... int8 x,y;`
		793	`.................... int8 xc,yc; // pocitadla aktualizace x a y`
		794	`.................... int e1,e2,e3,e4; // pocitadla chyb - ladici`
		795	`....................`
		796	`.................... void main()`
		797	`.................... {`
		798	`*`
		799	`01CE: CLRF 04`
		800	`01CF: MOVLW 1F`
		801	`01D0: ANDWF 03,F`
		802	`.................... lcd_init(); // zinicializuj LCD display`
		803	`01D1: GOTO 056`
		804	`.................... delay_ms(5);`
		805	`01D2: MOVLW 05`
		806	`01D3: MOVWF 1C`
		807	`01D4: CALL 015`
		808	`.................... printf(lcd_putc,"Ahoj...");`
		809	`*`
		810	`000C: BCF 0A.0`
		811	`000D: BCF 0A.1`
		812	`000E: BCF 0A.2`
		813	`000F: ADDWF 02,F`
		814	`0010: RETLW 41`
		815	`0011: RETLW 68`
		816	`0012: RETLW 6F`
		817	`0013: RETLW 6A`
		818	`0014: RETLW 00`
		819	`*`
		820	`01D5: CLRF 19`
		821	`01D6: MOVF 19,W`
		822	`01D7: CALL 00C`
		823	`01D8: INCF 19,F`
		824	`01D9: MOVWF 1B`
		825	`01DA: CALL 0A0`
		826	`01DB: MOVLW 04`
		827	`01DC: SUBWF 19,W`
		828	`01DD: BTFSS 03.2`
		829	`01DE: GOTO 1D6`
		830	`01DF: MOVLW 03`
		831	`01E0: MOVWF 1A`
		832	`01E1: MOVLW 2E`
		833	`01E2: MOVWF 1B`
		834	`01E3: CALL 0A0`
		835	`01E4: DECFSZ 1A,F`
		836	`01E5: GOTO 1E1`
		837	`.................... delay_ms(300);`
		838	`01E6: MOVLW 02`
		839	`01E7: MOVWF 19`
		840	`01E8: MOVLW 96`
		841	`01E9: MOVWF 1C`
		842	`01EA: CALL 015`
		843	`01EB: DECFSZ 19,F`
		844	`01EC: GOTO 1E8`
		845	`....................`
		846	`.................... x = 0;`
		847	`01ED: CLRF 0E`
		848	`.................... y = 0;`
		849	`01EE: CLRF 0F`
		850	`.................... xc=0;`
		851	`01EF: CLRF 10`
		852	`.................... yc=0;`
		853	`01F0: CLRF 11`
		854	`.................... e1=0;`
		855	`01F1: CLRF 12`
		856	`.................... e2=0;`
		857	`01F2: CLRF 13`
		858	`.................... e3=0;`
		859	`01F3: CLRF 14`
		860	`.................... e4=0;`
		861	`01F4: CLRF 15`
		862	`....................`
		863	`.................... while (true)`
		864	`.................... {`
		865	`.................... int8 kanal, data, e;`
		866	`.................... /* int8 kanal, data, suma;`
		867	`.................... int1 tmp;`
		868	`.................... int8 datovy;`
		869	`....................`
		870	`.................... decoder:`
		871	`....................`
		872	`.................... if (prijmi_nibble(&datovy,&kanal)) goto decoder;`
		873	`.................... if (datovy) goto decoder;`
		874	`....................`
		875	`.................... // if (kanal!=15) {e1++; goto decoder;};`
		876	`.................... if (prijmi_nibble(&datovy, &kanal)) goto decoder; // nacti identifikator osy`
		877	`....................`
		878	`.................... if (prijmi_nibble(&datovy, &data)) goto decoder; // nacti 1. nibble; pri chybe zacni znovu`
		879	`.................... if (prijmi_nibble(&datovy, &suma)) goto decoder; // nacti 2. nibble; pri chybe zacni znovu`
		880	`.................... if (((kanal+data) & 0b1111) != suma) {e1++; goto decoder;} // zacni znovu, pokud jsou ruzne nibble`
		881	`....................`
		882	`.................... */`
		883	`.................... e = prijmi_ramec(&kanal,&data);`
		884	`01F5: MOVLW 16`
		885	`01F6: MOVWF 19`
		886	`01F7: MOVLW 17`
		887	`01F8: MOVWF 1A`
		888	`01F9: GOTO 12B`
		889	`01FA: MOVF 0D,W`
		890	`01FB: MOVWF 18`
		891	`.................... //lcd_gotoxy(1,1);`
		892	`.................... //printf(lcd_putc,"Q:%3U %3U %3U ",kanal,data,e);`
		893	`.................... //delay_ms(1000);`
		894	`.................... if (!e)`
		895	`01FC: MOVF 18,F`
		896	`01FD: BTFSS 03.2`
		897	`01FE: GOTO 210`
		898	`.................... switch (kanal) // rozeskoc se podle adresy osy`
		899	`01FF: MOVLW 01`
		900	`0200: SUBWF 16,W`
		901	`0201: ADDLW FD`
		902	`0202: BTFSC 03.0`
		903	`0203: GOTO 210`
		904	`0204: ADDLW 03`
		905	`0205: GOTO 2A8`
		906	`.................... {`
		907	`.................... case OSA_X:`
		908	`.................... {`
		909	`.................... x=data;`
		910	`0206: MOVF 17,W`
		911	`0207: MOVWF 0E`
		912	`.................... xc++;`
		913	`0208: INCF 10,F`
		914	`.................... break;`
		915	`0209: GOTO 210`
		916	`.................... };`
		917	`.................... case OSA_Y:`
		918	`.................... {`
		919	`.................... y=data;`
		920	`020A: MOVF 17,W`
		921	`020B: MOVWF 0F`
		922	`.................... yc++;`
		923	`020C: INCF 11,F`
		924	`.................... break;`
		925	`020D: GOTO 210`
		926	`.................... };`
		927	`.................... case TLs:`
		928	`.................... {`
		929	`.................... e4++;`
		930	`020E: INCF 15,F`
		931	`.................... break;`
		932	`020F: GOTO 210`
		933	`.................... };`
		934	`.................... };`
		935	`*`
		936	`02A8: BCF 0A.0`
		937	`02A9: BSF 0A.1`
		938	`02AA: BCF 0A.2`
		939	`02AB: ADDWF 02,F`
		940	`02AC: GOTO 206`
		941	`02AD: GOTO 20A`
		942	`02AE: GOTO 20E`
		943	`....................`
		944	`.................... // ladici vypisy`
		945	`.................... lcd_gotoxy(1,1); // vytiskni X a Y`
		946	`*`
		947	`0210: MOVLW 01`
		948	`0211: MOVWF 1C`
		949	`0212: MOVWF 1D`
		950	`0213: CALL 08F`
		951	`.................... printf(lcd_putc,"X%2U %3U%3U%3U ", x, xc, e1, e);`
		952	`*`
		953	`019C: MOVF 0D,W`
		954	`019D: MOVF 19,W`
		955	`019E: MOVWF 1B`
		956	`019F: MOVLW 64`
		957	`01A0: MOVWF 1C`
		958	`01A1: CALL 187`
		959	`01A2: MOVF 0C,W`
		960	`01A3: MOVWF 19`
		961	`01A4: MOVF 0D,W`
		962	`01A5: MOVLW 30`
		963	`01A6: BTFSS 03.2`
		964	`01A7: GOTO 1AF`
		965	`01A8: BTFSC 1A.0`
		966	`01A9: BSF 1A.3`
		967	`01AA: BTFSC 1A.3`
		968	`01AB: GOTO 1B5`
		969	`01AC: BTFSC 1A.4`
		970	`01AD: MOVLW 20`
		971	`01AE: GOTO 1B1`
		972	`01AF: BCF 1A.3`
		973	`01B0: BCF 1A.4`
		974	`01B1: ADDWF 0D,F`
		975	`01B2: MOVF 0D,W`
		976	`01B3: MOVWF 1B`
		977	`01B4: CALL 0A0`
		978	`01B5: MOVF 19,W`
		979	`01B6: MOVWF 1B`
		980	`01B7: MOVLW 0A`
		981	`01B8: MOVWF 1C`
		982	`01B9: CALL 187`
		983	`01BA: MOVF 0C,W`
		984	`01BB: MOVWF 19`
		985	`01BC: MOVF 0D,W`
		986	`01BD: MOVLW 30`
		987	`01BE: BTFSS 03.2`
		988	`01BF: GOTO 1C4`
		989	`01C0: BTFSC 1A.3`
		990	`01C1: GOTO 1C8`
		991	`01C2: BTFSC 1A.4`
		992	`01C3: MOVLW 20`
		993	`01C4: ADDWF 0D,F`
		994	`01C5: MOVF 0D,W`
		995	`01C6: MOVWF 1B`
		996	`01C7: CALL 0A0`
		997	`01C8: MOVLW 30`
		998	`01C9: ADDWF 19,F`
		999	`01CA: MOVF 19,W`
		1000	`01CB: MOVWF 1B`
		1001	`01CC: CALL 0A0`
		1002	`01CD: RETLW 00`
		1003	`*`
		1004	`0214: MOVLW 58`
		1005	`0215: MOVWF 1B`
		1006	`0216: CALL 0A0`
		1007	`0217: MOVF 0E,W`
		1008	`0218: MOVWF 19`
		1009	`0219: MOVLW 11`
		1010	`021A: MOVWF 1A`
		1011	`021B: CALL 19C`
		1012	`021C: MOVLW 20`
		1013	`021D: MOVWF 1B`
		1014	`021E: CALL 0A0`
		1015	`021F: MOVF 10,W`
		1016	`0220: MOVWF 19`
		1017	`0221: MOVLW 10`
		1018	`0222: MOVWF 1A`
		1019	`0223: CALL 19C`
		1020	`0224: MOVF 12,W`
		1021	`0225: MOVWF 19`
		1022	`0226: MOVLW 10`
		1023	`0227: MOVWF 1A`
		1024	`0228: CALL 19C`
		1025	`0229: MOVF 18,W`
		1026	`022A: MOVWF 19`
		1027	`022B: MOVLW 10`
		1028	`022C: MOVWF 1A`
		1029	`022D: CALL 19C`
		1030	`022E: MOVLW 20`
		1031	`022F: MOVWF 1B`
		1032	`0230: CALL 0A0`
		1033	`0231: MOVLW 20`
		1034	`0232: MOVWF 1B`
		1035	`0233: CALL 0A0`
		1036	`.................... lcd_gotoxy(1,2);`
		1037	`0234: MOVLW 01`
		1038	`0235: MOVWF 1C`
		1039	`0236: MOVLW 02`
		1040	`0237: MOVWF 1D`
		1041	`0238: CALL 08F`
		1042	`.................... printf(lcd_putc,"Y%2U %3U%3U%3U ", y, yc, e3, data);`
		1043	`0239: MOVLW 59`
		1044	`023A: MOVWF 1B`
		1045	`023B: CALL 0A0`
		1046	`023C: MOVF 0F,W`
		1047	`023D: MOVWF 19`
		1048	`023E: MOVLW 11`
		1049	`023F: MOVWF 1A`
		1050	`0240: CALL 19C`
		1051	`0241: MOVLW 20`
		1052	`0242: MOVWF 1B`
		1053	`0243: CALL 0A0`
		1054	`0244: MOVF 11,W`
		1055	`0245: MOVWF 19`
		1056	`0246: MOVLW 10`
		1057	`0247: MOVWF 1A`
		1058	`0248: CALL 19C`
		1059	`0249: MOVF 14,W`
		1060	`024A: MOVWF 19`
		1061	`024B: MOVLW 10`
		1062	`024C: MOVWF 1A`
		1063	`024D: CALL 19C`
		1064	`024E: MOVF 17,W`
		1065	`024F: MOVWF 19`
		1066	`0250: MOVLW 10`
		1067	`0251: MOVWF 1A`
		1068	`0252: CALL 19C`
		1069	`0253: MOVLW 20`
		1070	`0254: MOVWF 1B`
		1071	`0255: CALL 0A0`
		1072	`0256: MOVLW 20`
		1073	`0257: MOVWF 1B`
		1074	`0258: CALL 0A0`
		1075	`....................`
		1076	`.................... // ovladani serv`
		1077	`.................... output_high(SERVO_X);`
		1078	`0259: BSF 03.5`
		1079	`025A: BCF 05.0`
		1080	`025B: BCF 03.5`
		1081	`025C: BSF 05.0`
		1082	`.................... delay_ms(1);`
		1083	`025D: MOVLW 01`
		1084	`025E: MOVWF 1C`
		1085	`025F: CALL 015`
		1086	`.................... for (data=x; data--; data>0)`
		1087	`0260: MOVF 0E,W`
		1088	`0261: MOVWF 17`
		1089	`0262: MOVF 17,W`
		1090	`0263: DECF 17,F`
		1091	`0264: XORLW 00`
		1092	`0265: BTFSC 03.2`
		1093	`0266: GOTO 271`
		1094	`.................... delay_us(65);`
		1095	`0267: MOVLW 15`
		1096	`0268: MOVWF 0C`
		1097	`0269: DECFSZ 0C,F`
		1098	`026A: GOTO 269`
		1099	`026B: NOP`
		1100	`026C: MOVF 17,F`
		1101	`026D: BTFSS 03.2`
		1102	`026E: GOTO 270`
		1103	`026F: MOVLW 00`
		1104	`0270: GOTO 262`
		1105	`.................... output_low(SERVO_X);`
		1106	`0271: BSF 03.5`
		1107	`0272: BCF 05.0`
		1108	`0273: BCF 03.5`
		1109	`0274: BCF 05.0`
		1110	`....................`
		1111	`.................... output_high(SERVO_Y);`
		1112	`0275: BSF 03.5`
		1113	`0276: BCF 05.1`
		1114	`0277: BCF 03.5`
		1115	`0278: BSF 05.1`
		1116	`.................... delay_ms(1);`
		1117	`0279: MOVLW 01`
		1118	`027A: MOVWF 1C`
		1119	`027B: CALL 015`
		1120	`.................... for (data=y; data--; data>0)`
		1121	`027C: MOVF 0F,W`
		1122	`027D: MOVWF 17`
		1123	`027E: MOVF 17,W`
		1124	`027F: DECF 17,F`
		1125	`0280: XORLW 00`
		1126	`0281: BTFSC 03.2`
		1127	`0282: GOTO 28D`
		1128	`.................... delay_us(65);`
		1129	`0283: MOVLW 15`
		1130	`0284: MOVWF 0C`
		1131	`0285: DECFSZ 0C,F`
		1132	`0286: GOTO 285`
		1133	`0287: NOP`
		1134	`0288: MOVF 17,F`
		1135	`0289: BTFSS 03.2`
		1136	`028A: GOTO 28C`
		1137	`028B: MOVLW 00`
		1138	`028C: GOTO 27E`
		1139	`.................... output_low(SERVO_Y);`
		1140	`028D: BSF 03.5`
		1141	`028E: BCF 05.1`
		1142	`028F: BCF 03.5`
		1143	`0290: BCF 05.1`
		1144	`....................`
		1145	`.................... for (data=30-x-y; data--; data>0)`
		1146	`0291: MOVF 0E,W`
		1147	`0292: SUBLW 1E`
		1148	`0293: MOVWF 0D`
		1149	`0294: MOVF 0F,W`
		1150	`0295: SUBWF 0D,W`
		1151	`0296: MOVWF 17`
		1152	`0297: MOVF 17,W`
		1153	`0298: DECF 17,F`
		1154	`0299: XORLW 00`
		1155	`029A: BTFSC 03.2`
		1156	`029B: GOTO 2A6`
		1157	`.................... delay_us(65);`
		1158	`029C: MOVLW 15`
		1159	`029D: MOVWF 0C`
		1160	`029E: DECFSZ 0C,F`
		1161	`029F: GOTO 29E`
		1162	`02A0: NOP`
		1163	`02A1: MOVF 17,F`
		1164	`02A2: BTFSS 03.2`
		1165	`02A3: GOTO 2A5`
		1166	`02A4: MOVLW 00`
		1167	`02A5: GOTO 297`
		1168	`....................`
		1169	`.................... }`
		1170	`02A6: GOTO 1F5`
		1171	`.................... }`
		1172	`....................`
		1173	`02A7: SLEEP`
		1174	`....................`
		1175	`....................`

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