| 0,0 → 1,495 |
|---|
| CCS PCM C Compiler, Version 3.234, 27853 16-X-05 21:12 |
| |
| Filename: C:\MIHO_DAT\KROKAC\krokac.LST |
| |
| ROM used: 321 words (8%) |
| Largest free fragment is 2048 |
| RAM used: 21 (12%) at main() level |
| 24 (14%) worst case |
| Stack: 3 worst case (1 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 098 |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 21 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 20 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 28 |
| 000C: CLRF 0A |
| 000D: SWAPF 20,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 22 |
| 0010: MOVF 77,W |
| 0011: MOVWF 23 |
| 0012: MOVF 78,W |
| 0013: MOVWF 24 |
| 0014: MOVF 79,W |
| 0015: MOVWF 25 |
| 0016: MOVF 7A,W |
| 0017: MOVWF 26 |
| 0018: MOVF 7B,W |
| 0019: MOVWF 27 |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: MOVLW 8C |
| 001D: MOVWF 04 |
| 001E: BTFSS 00.1 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.1 |
| 0021: GOTO 035 |
| 0022: MOVF 22,W |
| 0023: MOVWF 04 |
| 0024: MOVF 23,W |
| 0025: MOVWF 77 |
| 0026: MOVF 24,W |
| 0027: MOVWF 78 |
| 0028: MOVF 25,W |
| 0029: MOVWF 79 |
| 002A: MOVF 26,W |
| 002B: MOVWF 7A |
| 002C: MOVF 27,W |
| 002D: MOVWF 7B |
| 002E: MOVF 28,W |
| 002F: MOVWF 0A |
| 0030: SWAPF 21,W |
| 0031: MOVWF 03 |
| 0032: SWAPF 7F,F |
| 0033: SWAPF 7F,W |
| 0034: RETFIE |
| 0035: BCF 0A.3 |
| 0036: GOTO 043 |
| .................... #include "C:\MIHO_DAT\KROKAC\krokac.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... //#device ICD=TRUE |
| .................... #device adc=8 |
| .................... |
| .................... #FUSES NOWDT //No Watch Dog Timer |
| .................... #FUSES RC //Resistor/Capacitor Osc with CLKOUT |
| .................... #FUSES NOPUT //No Power Up Timer |
| .................... #FUSES MCLR //Master Clear pin enabled |
| .................... #FUSES NOBROWNOUT //No brownout reset |
| .................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| .................... #FUSES NOCPD //No EE protection |
| .................... #FUSES NOWRT //Program memory not write protected |
| .................... //#FUSES DEBUG //Debug mode for use with ICD |
| .................... #FUSES NOPROTECT //Code not protected from reading |
| .................... #FUSES FCMEN //Fail-safe clock monitor enabled |
| .................... #FUSES IESO //Internal External Switch Over mode enabled |
| .................... |
| .................... #use delay(clock=4000000) |
| * |
| 0082: MOVLW 31 |
| 0083: MOVWF 04 |
| 0084: MOVF 00,W |
| 0085: BTFSC 03.2 |
| 0086: GOTO 096 |
| 0087: MOVLW 01 |
| 0088: MOVWF 78 |
| 0089: CLRF 77 |
| 008A: DECFSZ 77,F |
| 008B: GOTO 08A |
| 008C: DECFSZ 78,F |
| 008D: GOTO 089 |
| 008E: MOVLW 4A |
| 008F: MOVWF 77 |
| 0090: DECFSZ 77,F |
| 0091: GOTO 090 |
| 0092: NOP |
| 0093: NOP |
| 0094: DECFSZ 00,F |
| 0095: GOTO 087 |
| 0096: BCF 0A.3 |
| 0097: GOTO 130 (RETURN) |
| .................... #define MOTORA PIN_B0 |
| .................... #define MOTORB PIN_B1 |
| .................... #define MOTORC PIN_B2 |
| .................... #define MOTORD PIN_B3 |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... unsigned int StepState; // Vnitrni promenna kroku |
| .................... signed int StepDirection; // Smer +1/0/-1 |
| .................... |
| .................... byte const StepTab[8]={ // Tabulka pro krokovy motor |
| .................... 0b0001, // 0 |
| .................... 0b0101, // 1 |
| .................... 0b0100, // 2 |
| .................... 0b0110, // 3 |
| .................... 0b0010, // 4 |
| .................... 0b1010, // 5 |
| .................... 0b1000 // 6 |
| .................... 0b1001, // 7 |
| .................... }; |
| .................... |
| .................... #INT_TIMER2 |
| .................... void StepNext() |
| .................... { |
| .................... unsigned int i; |
| .................... |
| .................... StepState+=StepDirection; // posun se na dalsi krok |
| * |
| 0043: MOVF 2A,W |
| 0044: ADDWF 29,W |
| 0045: MOVWF 29 |
| .................... i=StepState&0b111; // vezmi spodni 3 bity stavu |
| 0046: MOVF 29,W |
| 0047: ANDLW 07 |
| 0048: MOVWF 32 |
| .................... i=StepTab[i]; // prekoduj pomoci tabulky |
| 0049: MOVF 32,W |
| 004A: CALL 037 |
| 004B: MOVWF 78 |
| 004C: MOVWF 32 |
| .................... output_bit(MOTORA,i&0b0001); // aktivuj jednotlive vystupy |
| 004D: BTFSC 32.0 |
| 004E: GOTO 051 |
| 004F: BCF 06.0 |
| 0050: GOTO 052 |
| 0051: BSF 06.0 |
| 0052: BSF 03.5 |
| 0053: BCF 06.0 |
| .................... output_bit(MOTORB,i&0b0010); |
| 0054: BCF 03.5 |
| 0055: BTFSC 32.1 |
| 0056: GOTO 059 |
| 0057: BCF 06.1 |
| 0058: GOTO 05A |
| 0059: BSF 06.1 |
| 005A: BSF 03.5 |
| 005B: BCF 06.1 |
| .................... output_bit(MOTORC,i&0b0100); |
| 005C: BCF 03.5 |
| 005D: BTFSC 32.2 |
| 005E: GOTO 061 |
| 005F: BCF 06.2 |
| 0060: GOTO 062 |
| 0061: BSF 06.2 |
| 0062: BSF 03.5 |
| 0063: BCF 06.2 |
| .................... output_bit(MOTORD,i&0b1000); |
| 0064: BCF 03.5 |
| 0065: BTFSC 32.3 |
| 0066: GOTO 069 |
| 0067: BCF 06.3 |
| 0068: GOTO 06A |
| 0069: BSF 06.3 |
| 006A: BSF 03.5 |
| 006B: BCF 06.3 |
| .................... } |
| .................... |
| .................... |
| 006C: BCF 03.5 |
| 006D: BCF 0C.1 |
| 006E: BCF 0A.3 |
| 006F: GOTO 022 |
| .................... void StepSetDirection(signed int Direction) |
| .................... { |
| .................... if(Direction> 1) Direction= 1; |
| 0070: BTFSC 30.7 |
| 0071: GOTO 078 |
| 0072: MOVF 30,W |
| 0073: SUBLW 01 |
| 0074: BTFSC 03.0 |
| 0075: GOTO 078 |
| 0076: MOVLW 01 |
| 0077: MOVWF 30 |
| .................... if(Direction<-1) Direction=-1; |
| 0078: MOVF 30,W |
| 0079: XORLW 80 |
| 007A: SUBLW 7E |
| 007B: BTFSS 03.0 |
| 007C: GOTO 07F |
| 007D: MOVLW FF |
| 007E: MOVWF 30 |
| .................... StepDirection=Direction; |
| 007F: MOVF 30,W |
| 0080: MOVWF 2A |
| .................... } |
| 0081: RETLW 00 |
| .................... |
| .................... |
| .................... void StepSetTime(unsigned int16 Time) |
| .................... { |
| .................... |
| .................... } |
| .................... |
| .................... void Delay(unsigned int16 Time) |
| .................... { |
| .................... while(Time>255) {Time-=256;delay_us(256);}; |
| .................... if(Time!=0) delay_us(Time); |
| .................... } |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| * |
| 0098: CLRF 04 |
| 0099: MOVLW 1F |
| 009A: ANDWF 03,F |
| 009B: BSF 03.5 |
| 009C: BCF 1F.4 |
| 009D: BCF 1F.5 |
| 009E: MOVF 1B,W |
| 009F: ANDLW 80 |
| 00A0: MOVWF 1B |
| 00A1: MOVLW 07 |
| 00A2: MOVWF 1C |
| 00A3: MOVF 1C,W |
| 00A4: BCF 03.5 |
| 00A5: BCF 0D.6 |
| .................... unsigned int16 T; |
| .................... unsigned long int i; |
| .................... |
| .................... // Nastav pracovni frekvenci procesoru |
| .................... setup_oscillator(OSC_4MHZ); |
| 00A6: MOVLW 60 |
| 00A7: BSF 03.5 |
| 00A8: MOVWF 0F |
| .................... |
| .................... // Vypni motorovy vystup |
| .................... output_low(MOTORA); |
| 00A9: BCF 06.0 |
| 00AA: BCF 03.5 |
| 00AB: BCF 06.0 |
| .................... output_low(MOTORB); |
| 00AC: BSF 03.5 |
| 00AD: BCF 06.1 |
| 00AE: BCF 03.5 |
| 00AF: BCF 06.1 |
| .................... output_low(MOTORC); |
| 00B0: BSF 03.5 |
| 00B1: BCF 06.2 |
| 00B2: BCF 03.5 |
| 00B3: BCF 06.2 |
| .................... output_low(MOTORD); |
| 00B4: BSF 03.5 |
| 00B5: BCF 06.3 |
| 00B6: BCF 03.5 |
| 00B7: BCF 06.3 |
| .................... |
| .................... // Vstupy s pull-up odporem |
| .................... port_b_pullups(TRUE); |
| 00B8: BSF 03.5 |
| 00B9: BCF 01.7 |
| .................... |
| .................... // Inicializace A/D prevodniku |
| .................... setup_adc_ports(sAN0|VSS_VDD); |
| 00BA: BCF 1F.4 |
| 00BB: BCF 1F.5 |
| 00BC: MOVF 1B,W |
| 00BD: ANDLW 80 |
| 00BE: IORLW 01 |
| 00BF: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00C0: BCF 1F.6 |
| 00C1: BCF 03.5 |
| 00C2: BSF 1F.6 |
| 00C3: BSF 1F.7 |
| 00C4: BSF 03.5 |
| 00C5: BCF 1F.7 |
| 00C6: BCF 03.5 |
| 00C7: BSF 1F.0 |
| .................... set_adc_channel(0); |
| 00C8: MOVLW 00 |
| 00C9: MOVWF 78 |
| 00CA: MOVF 1F,W |
| 00CB: ANDLW C7 |
| 00CC: IORWF 78,W |
| 00CD: MOVWF 1F |
| .................... |
| .................... // Dalsi inicializace |
| .................... setup_spi(FALSE); |
| 00CE: BCF 14.5 |
| 00CF: BSF 03.5 |
| 00D0: BCF 06.2 |
| 00D1: BSF 06.1 |
| 00D2: BCF 06.4 |
| 00D3: MOVLW 00 |
| 00D4: BCF 03.5 |
| 00D5: MOVWF 14 |
| 00D6: BSF 03.5 |
| 00D7: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00D8: MOVF 01,W |
| 00D9: ANDLW C7 |
| 00DA: IORLW 08 |
| 00DB: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 00DC: BCF 03.5 |
| 00DD: CLRF 10 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00DE: MOVLW 07 |
| 00DF: BSF 03.5 |
| 00E0: MOVWF 1C |
| 00E1: MOVF 05,W |
| 00E2: MOVLW 03 |
| 00E3: MOVWF 77 |
| 00E4: DECFSZ 77,F |
| 00E5: GOTO 0E4 |
| 00E6: MOVF 1C,W |
| 00E7: BCF 03.5 |
| 00E8: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00E9: BSF 03.5 |
| 00EA: CLRF 1D |
| .................... |
| .................... // Inicializace stavovych promennych |
| .................... StepState=0; |
| 00EB: BCF 03.5 |
| 00EC: CLRF 29 |
| .................... |
| .................... // Nastaveni casovace |
| .................... setup_timer_2(T2_DIV_BY_16,0xFF,1); |
| 00ED: MOVLW 00 |
| 00EE: MOVWF 78 |
| 00EF: IORLW 06 |
| 00F0: MOVWF 12 |
| 00F1: MOVLW FF |
| 00F2: BSF 03.5 |
| 00F3: MOVWF 12 |
| .................... |
| .................... // Nastveni preruseni od casovace |
| .................... enable_interrupts(global); |
| 00F4: MOVLW C0 |
| 00F5: BCF 03.5 |
| 00F6: IORWF 0B,F |
| .................... enable_interrupts(int_timer2); |
| 00F7: BSF 03.5 |
| 00F8: BSF 0C.1 |
| .................... |
| .................... for(;;) |
| .................... { |
| .................... |
| .................... T=read_adc(ADC_READ_ONLY); // Prectu hodnotu |
| 00F9: BCF 03.5 |
| 00FA: BTFSS 1F.2 |
| 00FB: GOTO 0FE |
| 00FC: BSF 03.5 |
| 00FD: GOTO 0F9 |
| 00FE: MOVF 1E,W |
| 00FF: CLRF 2C |
| 0100: MOVWF 2B |
| .................... read_adc(ADC_START_ONLY); // Ostartuji dalsi prevod (na pozadi) |
| 0101: BSF 1F.2 |
| .................... |
| .................... //setup_timer_2(T2_DIV_BY_16,T,1); |
| .................... if(T>0) *0x92=T; // Preload register casovace |
| 0102: MOVF 2B,F |
| 0103: BTFSS 03.2 |
| 0104: GOTO 108 |
| 0105: MOVF 2C,F |
| 0106: BTFSC 03.2 |
| 0107: GOTO 10C |
| 0108: MOVF 2B,W |
| 0109: BSF 03.5 |
| 010A: MOVWF 12 |
| 010B: BCF 03.5 |
| .................... |
| .................... // Podle prepinacu se hybu |
| .................... if(input(PIN_B5)) |
| 010C: BSF 03.5 |
| 010D: BSF 06.5 |
| 010E: BCF 03.5 |
| 010F: BTFSS 06.5 |
| 0110: GOTO 11E |
| .................... { |
| .................... if(input(PIN_B4)) StepSetDirection(1); else StepSetDirection(-1); |
| 0111: BSF 03.5 |
| 0112: BSF 06.4 |
| 0113: BCF 03.5 |
| 0114: BTFSS 06.4 |
| 0115: GOTO 11A |
| 0116: MOVLW 01 |
| 0117: MOVWF 30 |
| 0118: CALL 070 |
| 0119: GOTO 11D |
| 011A: MOVLW FF |
| 011B: MOVWF 30 |
| 011C: CALL 070 |
| .................... } |
| .................... else |
| 011D: GOTO 13E |
| .................... { int1 x; // pomocna promenna aby se volalo spozdeni jen 1x |
| .................... if (StepState>230) { |
| 011E: MOVF 29,W |
| 011F: SUBLW E6 |
| 0120: BTFSC 03.0 |
| 0121: GOTO 136 |
| .................... if (!input(PIN_B4) && (x)) |
| 0122: BSF 03.5 |
| 0123: BSF 06.4 |
| 0124: BCF 03.5 |
| 0125: BTFSC 06.4 |
| 0126: GOTO 133 |
| 0127: BTFSS 2F.0 |
| 0128: GOTO 133 |
| .................... { |
| .................... StepSetDirection(0); |
| 0129: CLRF 30 |
| 012A: CALL 070 |
| .................... delay_ms(500); |
| 012B: MOVLW 02 |
| 012C: MOVWF 30 |
| 012D: MOVLW FA |
| 012E: MOVWF 31 |
| 012F: GOTO 082 |
| 0130: DECFSZ 30,F |
| 0131: GOTO 12D |
| .................... x=0; |
| 0132: BCF 2F.0 |
| .................... }; |
| .................... StepSetDirection(-1); |
| 0133: MOVLW FF |
| 0134: MOVWF 30 |
| 0135: CALL 070 |
| .................... } |
| .................... if (StepState<30) { |
| 0136: MOVF 29,W |
| 0137: SUBLW 1D |
| 0138: BTFSS 03.0 |
| 0139: GOTO 13E |
| .................... StepSetDirection( 1); |
| 013A: MOVLW 01 |
| 013B: MOVWF 30 |
| 013C: CALL 070 |
| .................... x=1; |
| 013D: BSF 2F.0 |
| .................... } |
| .................... } |
| .................... //StepDirection=2; |
| .................... //for(i=0;i<800;i++) |
| .................... //{ |
| .................... // StepNext(); |
| .................... // Delay(T); |
| .................... //} |
| .................... //delay_ms(10); |
| .................... //StepDirection=-1; |
| .................... //for(i=0;i<800;i++) |
| .................... //{ |
| .................... // StepNext(); |
| .................... // Delay(T); |
| .................... //} |
| .................... //delay_ms(10); |
| .................... |
| .................... } // Cyklus for |
| 013E: BSF 03.5 |
| 013F: GOTO 0F9 |
| .................... |
| .................... } |
| .................... |
| 0140: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F3B NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT RC |
| Word 2: 3FFF FCMEN IESO |