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/roboti/Robiada/2007/SW/robot/_.obj
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svn:mime-type = application/octet-stream
/roboti/Robiada/2007/SW/robot/robot.asm
6,7 → 6,7
;/////////////////////////////////////////////////////////////////////////////////
 
include "P18F252.inc"
__HEAPSTART EQU 0x0000000B ; Start address of heap
__HEAPSTART EQU 0x0000000F ; Start address of heap
__HEAPEND EQU 0x000005FF ; End address of heap
gbl_status EQU 0x00000FD8 ; bytes:1
gbl_prodl EQU 0x00000FF3 ; bytes:1
103,15 → 103,16
gbl_tosl EQU 0x00000FFD ; bytes:1
gbl_tosh EQU 0x00000FFE ; bytes:1
gbl_tosu EQU 0x00000FFF ; bytes:1
CompTempVarRet489 EQU 0x00000009 ; bytes:1
send_00000_arg_c EQU 0x00000009 ; bytes:1
CompTempVarRet489 EQU 0x0000000D ; bytes:1
send_00000_arg_c EQU 0x0000000D ; bytes:1
main_1_motors EQU 0x00000001 ; bytes:1
main_1_sensors EQU 0x00000002 ; bytes:1
main_1_leds EQU 0x00000003 ; bytes:1
main_1_count EQU 0x00000004 ; bytes:4
CompTempVar491 EQU 0x00000008 ; bytes:1
CompTempVar492 EQU 0x00000009 ; bytes:1
CompTempVar496 EQU 0x0000000A ; bytes:1
main_1_cas EQU 0x00000008 ; bytes:4
CompTempVar491 EQU 0x0000000C ; bytes:1
CompTempVar492 EQU 0x0000000D ; bytes:1
CompTempVar496 EQU 0x0000000E ; bytes:1
ORG 0x00000200
GOTO _startup
ORG 0x00000204
171,9 → 172,9
IORWF gbl_rcsta, W
MOVWF gbl_rcsta
CLRF main_1_motors
label268438598
label268438599
BTFSC gbl_portb,0
BRA label268438598
BRA label268438599
MOVLW 0xF0
MOVWF main_1_leds
MOVLW 0x80
183,22 → 184,22
MOVLW 0x06
MOVWF main_1_count+D'2'
CLRF main_1_count+D'3'
label268438603
label268438604
MOVF main_1_count+D'3', W
SUBLW 0x00
BNZ label268438604
BNZ label268438605
MOVF main_1_count+D'2', W
SUBLW 0x00
BNZ label268438604
BNZ label268438605
MOVF main_1_count+D'1', W
SUBLW 0x00
BNZ label268438604
BNZ label268438605
MOVF main_1_count, W
SUBLW 0x00
label268438604
label268438605
BTFSC main_1_count+D'3',7
BSF STATUS,C
BC label268438608
BC label268438609
MOVLW 0x01
SUBWF main_1_count, W
MOVWF CompTempVar492
221,70 → 222,74
MOVWF main_1_count
MOVLW 0x00
SUBWF main_1_count+D'3', W
BNZ label268438620
BNZ label268438621
MOVLW 0x04
SUBWF main_1_count+D'2', W
BNZ label268438620
BNZ label268438621
MOVLW 0x93
SUBWF main_1_count+D'1', W
BNZ label268438620
BNZ label268438621
MOVLW 0xE0
SUBWF main_1_count, W
label268438620
BNC label4026532500
label268438621
BNC label4026532557
BTFSS main_1_count+D'3',7
BRA label268438624
label4026532500
BRA label268438625
label4026532557
MOVLW 0x01
IORWF main_1_leds, W
MOVWF main_1_leds
label268438624
label268438625
MOVLW 0x00
SUBWF main_1_count+D'3', W
BNZ label268438626
BNZ label268438627
MOVLW 0x03
SUBWF main_1_count+D'2', W
BNZ label268438626
BNZ label268438627
MOVLW 0x0D
SUBWF main_1_count+D'1', W
BNZ label268438626
BNZ label268438627
MOVLW 0x40
SUBWF main_1_count, W
label268438626
BNC label4026532501
label268438627
BNC label4026532558
BTFSS main_1_count+D'3',7
BRA label268438630
label4026532501
BRA label268438631
label4026532558
MOVLW 0x02
IORWF main_1_leds, W
MOVWF main_1_leds
label268438630
label268438631
MOVLW 0x00
SUBWF main_1_count+D'3', W
BNZ label268438632
BNZ label268438633
MOVLW 0x01
SUBWF main_1_count+D'2', W
BNZ label268438632
BNZ label268438633
MOVLW 0x86
SUBWF main_1_count+D'1', W
BNZ label268438632
BNZ label268438633
MOVLW 0xA0
SUBWF main_1_count, W
label268438632
BNC label4026532502
label268438633
BNC label4026532559
BTFSS main_1_count+D'3',7
BRA label268438636
label4026532502
BRA label268438637
label4026532559
MOVLW 0x04
IORWF main_1_leds, W
MOVWF main_1_leds
label268438636
label268438637
MOVF main_1_leds, W
MOVWF gbl_lata
BRA label268438603
label268438608
BRA label268438604
label268438609
SETF gbl_lata
label268438640
label268438641
CLRF main_1_cas
CLRF main_1_cas+D'1'
CLRF main_1_cas+D'2'
CLRF main_1_cas+D'3'
SETF main_1_sensors
CALL receive_00000
MOVF CompTempVarRet489, W
291,35 → 296,98
MOVWF main_1_sensors
CLRF CompTempVar491
BTFSS main_1_sensors,1
BRA label268438645
BRA label268438647
BTFSS main_1_sensors,0
BRA label268438645
BRA label268438647
INCF CompTempVar491, F
label268438645
label268438647
MOVF CompTempVar491, F
BNZ label268438646
BNZ label268438648
MOVLW 0x77
MOVWF main_1_motors
label268438646
label268438648
BTFSC main_1_sensors,2
BRA label268438649
BRA label268438651
MOVLW 0x00
SUBWF main_1_cas+D'3', W
BNZ label268438653
MOVLW 0x06
SUBWF main_1_cas+D'2', W
BNZ label268438653
MOVLW 0x1A
SUBWF main_1_cas+D'1', W
BNZ label268438653
MOVLW 0x80
SUBWF main_1_cas, W
label268438653
BNC label4026532563
BTFSS main_1_cas+D'3',7
BRA label4026532566
label4026532563
INCF main_1_cas, F
BTFSC STATUS,Z
INCF main_1_cas+D'1', F
BTFSC STATUS,Z
INCF main_1_cas+D'2', F
BTFSC STATUS,Z
INCF main_1_cas+D'3', F
label4026532566
CLRF main_1_cas
CLRF main_1_cas+D'1'
CLRF main_1_cas+D'2'
CLRF main_1_cas+D'3'
MOVLW 0xF7
MOVWF main_1_motors
label268438649
label268438651
BTFSC main_1_sensors,3
BRA label268438652
BRA label268438668
MOVLW 0x00
SUBWF main_1_cas+D'3', W
BNZ label268438670
MOVLW 0x06
SUBWF main_1_cas+D'2', W
BNZ label268438670
MOVLW 0x1A
SUBWF main_1_cas+D'1', W
BNZ label268438670
MOVLW 0x80
SUBWF main_1_cas, W
label268438670
BNC label4026532568
BTFSS main_1_cas+D'3',7
BRA label4026532571
label4026532568
INCF main_1_cas, F
BTFSC STATUS,Z
INCF main_1_cas+D'1', F
BTFSC STATUS,Z
INCF main_1_cas+D'2', F
BTFSC STATUS,Z
INCF main_1_cas+D'3', F
label4026532571
CLRF main_1_cas
CLRF main_1_cas+D'1'
CLRF main_1_cas+D'2'
CLRF main_1_cas+D'3'
MOVLW 0x7F
MOVWF main_1_motors
label268438652
label268438668
INCF main_1_cas, F
BTFSC STATUS,Z
INCF main_1_cas+D'1', F
BTFSC STATUS,Z
INCF main_1_cas+D'2', F
BTFSC STATUS,Z
INCF main_1_cas+D'3', F
MOVF main_1_sensors, W
MOVWF gbl_lata
MOVF main_1_motors, W
MOVWF send_00000_arg_c
CALL send_00000
BRA label268438640
BRA label268438641
; } main function end
 
ORG 0x0000035C
ORG 0x000003D6
_startup
GOTO main
ORG 0x00300000
/roboti/Robiada/2007/SW/robot/robot.bas
39,6 → 39,7
Dim buttons As Byte
Dim leds As Byte
Dim count As Long
Dim cas As Long
Dim i As Long
 
'NASTAVENI IO
86,7 → 87,7
 
Do while 1
 
cas = 0
sensors =0xFF
sensors = Call receive() 'prijmi stav cidel senzoru
95,13 → 96,22
End If
If (!(sensors.2)) Then
If cas< 400000 Then
cas = cas + 1
End If
cas = 0
motors = 0xF7
End If
If (!(sensors.3)) Then
If cas< 400000 Then
cas = cas + 1
End If
cas = 0
motors = 0x7F
End If
cas = cas+1
lata = sensors
call send(motors)
/roboti/Robiada/2007/SW/robot/robot.brws
10,6 → 10,7
adresl C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 732;" d
bsr C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 760;" d
buttons C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 39;" d
cas C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 42;" d
ccp1con C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 727;" d
ccp2con C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 724;" d
ccpr1h C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 729;" d
27,7 → 28,7
fsr1l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 761;" d
fsr2h C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 754;" d
fsr2l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 753;" d
i C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 42;" d
i C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 43;" d
indf0 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 775;" d
indf1 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 767;" d
indf2 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 759;" d
/roboti/Robiada/2007/SW/robot/robot.casm
45,7 → 45,7
Loop
receive = rcreg
021A 50AE MOVF gbl_rcreg, W
021C 6E09 MOVWF CompTempVarRet489
021C 6E0D MOVWF CompTempVarRet489
 
End Function
60,7 → 60,7
0206 D7FE BRA label268438562
 
txreg = c
0208 5009 MOVF send_00000_arg_c, W
0208 500D MOVF send_00000_arg_c, W
020A 6EAD MOVWF gbl_txreg
 
End Sub
74,6 → 74,7
Dim buttons As Byte
Dim leds As Byte
Dim count As Long
Dim cas As Long
Dim i As Long
 
'NASTAVENI IO
140,9 → 141,9
 
do while (portb.0 = 1)
0258 label268438598
0258 label268438599
0258 B081 BTFSC gbl_portb,0
025A D7FE BRA label268438598
025A D7FE BRA label268438599
 
loop
 
161,43 → 162,43
 
do while (count > 0)
026E label268438603
026E label268438604
026E 5007 MOVF main_1_count+D'3', W
0270 0800 SUBLW 0x00
0272 E108 BNZ label268438604
0272 E108 BNZ label268438605
0274 5006 MOVF main_1_count+D'2', W
0276 0800 SUBLW 0x00
0278 E105 BNZ label268438604
0278 E105 BNZ label268438605
027A 5005 MOVF main_1_count+D'1', W
027C 0800 SUBLW 0x00
027E E102 BNZ label268438604
027E E102 BNZ label268438605
0280 5004 MOVF main_1_count, W
0282 0800 SUBLW 0x00
0284 label268438604
0284 label268438605
0284 BE07 BTFSC main_1_count+D'3',7
0286 80D8 BSF STATUS,C
0288 E24A BC label268438608
0288 E24A BC label268438609
 
count = count -1
028A 0E01 MOVLW 0x01
028C 5C04 SUBWF main_1_count, W
028E 6E09 MOVWF CompTempVar492
028E 6E0D MOVWF CompTempVar492
0290 0E00 MOVLW 0x00
0292 6E0A MOVWF CompTempVar496
0292 6E0E MOVWF CompTempVar496
0294 A0D8 BTFSS STATUS,C
0296 3C0A INCFSZ CompTempVar496, W
0296 3C0E INCFSZ CompTempVar496, W
0298 5E05 SUBWF main_1_count+D'1', F
029A 0E00 MOVLW 0x00
029C 6E0A MOVWF CompTempVar496
029C 6E0E MOVWF CompTempVar496
029E A0D8 BTFSS STATUS,C
02A0 3C0A INCFSZ CompTempVar496, W
02A0 3C0E INCFSZ CompTempVar496, W
02A2 5E06 SUBWF main_1_count+D'2', F
02A4 0E00 MOVLW 0x00
02A6 6E0A MOVWF CompTempVar496
02A6 6E0E MOVWF CompTempVar496
02A8 A0D8 BTFSS STATUS,C
02AA 3C0A INCFSZ CompTempVar496, W
02AA 3C0E INCFSZ CompTempVar496, W
02AC 5E07 SUBWF main_1_count+D'3', F
02AE 5009 MOVF CompTempVar492, W
02AE 500D MOVF CompTempVar492, W
02B0 6E04 MOVWF main_1_count
 
204,21 → 205,21
if count < 300000 then
02B2 0E00 MOVLW 0x00
02B4 5C07 SUBWF main_1_count+D'3', W
02B6 E108 BNZ label268438620
02B6 E108 BNZ label268438621
02B8 0E04 MOVLW 0x04
02BA 5C06 SUBWF main_1_count+D'2', W
02BC E105 BNZ label268438620
02BC E105 BNZ label268438621
02BE 0E93 MOVLW 0x93
02C0 5C05 SUBWF main_1_count+D'1', W
02C2 E102 BNZ label268438620
02C2 E102 BNZ label268438621
02C4 0EE0 MOVLW 0xE0
02C6 5C04 SUBWF main_1_count, W
02C8 label268438620
02C8 E302 BNC label4026532500
02C8 label268438621
02C8 E302 BNC label4026532557
02CA AE07 BTFSS main_1_count+D'3',7
02CC D003 BRA label268438624
02CE label4026532500
02D4 label268438624
02CC D003 BRA label268438625
02CE label4026532557
02D4 label268438625
 
leds = leds | 1
02CE 0E01 MOVLW 0x01
229,21 → 230,21
if count < 200000 then
02D4 0E00 MOVLW 0x00
02D6 5C07 SUBWF main_1_count+D'3', W
02D8 E108 BNZ label268438626
02D8 E108 BNZ label268438627
02DA 0E03 MOVLW 0x03
02DC 5C06 SUBWF main_1_count+D'2', W
02DE E105 BNZ label268438626
02DE E105 BNZ label268438627
02E0 0E0D MOVLW 0x0D
02E2 5C05 SUBWF main_1_count+D'1', W
02E4 E102 BNZ label268438626
02E4 E102 BNZ label268438627
02E6 0E40 MOVLW 0x40
02E8 5C04 SUBWF main_1_count, W
02EA label268438626
02EA E302 BNC label4026532501
02EA label268438627
02EA E302 BNC label4026532558
02EC AE07 BTFSS main_1_count+D'3',7
02EE D003 BRA label268438630
02F0 label4026532501
02F6 label268438630
02EE D003 BRA label268438631
02F0 label4026532558
02F6 label268438631
 
leds = leds | 2
02F0 0E02 MOVLW 0x02
254,21 → 255,21
if count < 100000 then
02F6 0E00 MOVLW 0x00
02F8 5C07 SUBWF main_1_count+D'3', W
02FA E108 BNZ label268438632
02FA E108 BNZ label268438633
02FC 0E01 MOVLW 0x01
02FE 5C06 SUBWF main_1_count+D'2', W
0300 E105 BNZ label268438632
0300 E105 BNZ label268438633
0302 0E86 MOVLW 0x86
0304 5C05 SUBWF main_1_count+D'1', W
0306 E102 BNZ label268438632
0306 E102 BNZ label268438633
0308 0EA0 MOVLW 0xA0
030A 5C04 SUBWF main_1_count, W
030C label268438632
030C E302 BNC label4026532502
030C label268438633
030C E302 BNC label4026532559
030E AE07 BTFSS main_1_count+D'3',7
0310 D003 BRA label268438636
0312 label4026532502
0318 label268438636
0310 D003 BRA label268438637
0312 label4026532559
0318 label268438637
 
leds = leds | 4
0312 0E04 MOVLW 0x04
281,8 → 282,8
031A 6E89 MOVWF gbl_lata
 
loop
031C D7A8 BRA label268438603
031E label268438608
031C D7A8 BRA label268438604
031E label268438609
 
lata = 0xFF
031E 6889 SETF gbl_lata
290,70 → 291,154
 
Do while 1
0320 label268438640
0320 label268438641
 
cas = 0
0320 6A08 CLRF main_1_cas
0322 6A09 CLRF main_1_cas+D'1'
0324 6A0A CLRF main_1_cas+D'2'
0326 6A0B CLRF main_1_cas+D'3'
 
sensors =0xFF
0320 6802 SETF main_1_sensors
0328 6802 SETF main_1_sensors
 
sensors = Call receive() 'prijmi stav cidel senzoru
0322 EC07F001 CALL receive_00000
0326 5009 MOVF CompTempVarRet489, W
0328 6E02 MOVWF main_1_sensors
032A EC07F001 CALL receive_00000
032E 500D MOVF CompTempVarRet489, W
0330 6E02 MOVWF main_1_sensors
 
If (!((sensors.0) and (sensors.1))) Then
032A 6A08 CLRF CompTempVar491
032C A202 BTFSS main_1_sensors,1
032E D003 BRA label268438645
0330 A002 BTFSS main_1_sensors,0
0332 D001 BRA label268438645
0334 2A08 INCF CompTempVar491, F
0336 label268438645
0336 5208 MOVF CompTempVar491, F
0338 E102 BNZ label268438646
033E label268438646
0332 6A0C CLRF CompTempVar491
0334 A202 BTFSS main_1_sensors,1
0336 D003 BRA label268438647
0338 A002 BTFSS main_1_sensors,0
033A D001 BRA label268438647
033C 2A0C INCF CompTempVar491, F
033E label268438647
033E 520C MOVF CompTempVar491, F
0340 E102 BNZ label268438648
0346 label268438648
 
motors = 0x77
033A 0E77 MOVLW 0x77
033C 6E01 MOVWF main_1_motors
0342 0E77 MOVLW 0x77
0344 6E01 MOVWF main_1_motors
 
End If
If (!(sensors.2)) Then
033E B402 BTFSC main_1_sensors,2
0340 D002 BRA label268438649
0346 label268438649
0346 B402 BTFSC main_1_sensors,2
0348 D01B BRA label268438651
0380 label268438651
 
If cas< 400000 Then
034A 0E00 MOVLW 0x00
034C 5C0B SUBWF main_1_cas+D'3', W
034E E108 BNZ label268438653
0350 0E06 MOVLW 0x06
0352 5C0A SUBWF main_1_cas+D'2', W
0354 E105 BNZ label268438653
0356 0E1A MOVLW 0x1A
0358 5C09 SUBWF main_1_cas+D'1', W
035A E102 BNZ label268438653
035C 0E80 MOVLW 0x80
035E 5C08 SUBWF main_1_cas, W
0360 label268438653
0360 E302 BNC label4026532563
0362 AE0B BTFSS main_1_cas+D'3',7
0364 D007 BRA label4026532566
0366 label4026532563
 
cas = cas + 1
0366 2A08 INCF main_1_cas, F
0368 B4D8 BTFSC STATUS,Z
036A 2A09 INCF main_1_cas+D'1', F
036C B4D8 BTFSC STATUS,Z
036E 2A0A INCF main_1_cas+D'2', F
0370 B4D8 BTFSC STATUS,Z
0372 2A0B INCF main_1_cas+D'3', F
0374 label4026532566
 
End If
cas = 0
0374 6A08 CLRF main_1_cas
0376 6A09 CLRF main_1_cas+D'1'
0378 6A0A CLRF main_1_cas+D'2'
037A 6A0B CLRF main_1_cas+D'3'
 
motors = 0xF7
0342 0EF7 MOVLW 0xF7
0344 6E01 MOVWF main_1_motors
037C 0EF7 MOVLW 0xF7
037E 6E01 MOVWF main_1_motors
 
End If
If (!(sensors.3)) Then
0346 B602 BTFSC main_1_sensors,3
0348 D002 BRA label268438652
034E label268438652
0380 B602 BTFSC main_1_sensors,3
0382 D01B BRA label268438668
03BA label268438668
 
If cas< 400000 Then
0384 0E00 MOVLW 0x00
0386 5C0B SUBWF main_1_cas+D'3', W
0388 E108 BNZ label268438670
038A 0E06 MOVLW 0x06
038C 5C0A SUBWF main_1_cas+D'2', W
038E E105 BNZ label268438670
0390 0E1A MOVLW 0x1A
0392 5C09 SUBWF main_1_cas+D'1', W
0394 E102 BNZ label268438670
0396 0E80 MOVLW 0x80
0398 5C08 SUBWF main_1_cas, W
039A label268438670
039A E302 BNC label4026532568
039C AE0B BTFSS main_1_cas+D'3',7
039E D007 BRA label4026532571
03A0 label4026532568
 
cas = cas + 1
03A0 2A08 INCF main_1_cas, F
03A2 B4D8 BTFSC STATUS,Z
03A4 2A09 INCF main_1_cas+D'1', F
03A6 B4D8 BTFSC STATUS,Z
03A8 2A0A INCF main_1_cas+D'2', F
03AA B4D8 BTFSC STATUS,Z
03AC 2A0B INCF main_1_cas+D'3', F
03AE label4026532571
 
End If
cas = 0
03AE 6A08 CLRF main_1_cas
03B0 6A09 CLRF main_1_cas+D'1'
03B2 6A0A CLRF main_1_cas+D'2'
03B4 6A0B CLRF main_1_cas+D'3'
 
motors = 0x7F
034A 0E7F MOVLW 0x7F
034C 6E01 MOVWF main_1_motors
03B6 0E7F MOVLW 0x7F
03B8 6E01 MOVWF main_1_motors
 
End If
cas = cas+1
03BA 2A08 INCF main_1_cas, F
03BC B4D8 BTFSC STATUS,Z
03BE 2A09 INCF main_1_cas+D'1', F
03C0 B4D8 BTFSC STATUS,Z
03C2 2A0A INCF main_1_cas+D'2', F
03C4 B4D8 BTFSC STATUS,Z
03C6 2A0B INCF main_1_cas+D'3', F
 
lata = sensors
034E 5002 MOVF main_1_sensors, W
0350 6E89 MOVWF gbl_lata
03C8 5002 MOVF main_1_sensors, W
03CA 6E89 MOVWF gbl_lata
 
call send(motors)
0352 5001 MOVF main_1_motors, W
0354 6E09 MOVWF send_00000_arg_c
0356 EC02F001 CALL send_00000
03CC 5001 MOVF main_1_motors, W
03CE 6E0D MOVWF send_00000_arg_c
03D0 EC02F001 CALL send_00000
 
Loop
035A D7E2 BRA label268438640
03D4 D7A5 BRA label268438641
 
End Sub
362,11 → 447,11
////////////////////////////////////////
// Code with no source :-)
////////////////////////////////////////
0200 EFAEF001 GOTO _startup
0200 EFEBF001 GOTO _startup
 
 
035C _startup
035C EF10F001 GOTO main
03D6 _startup
03D6 EF10F001 GOTO main
 
300000 FEFF DW 0xFEFF
300002 FEF6 DW 0xFEF6
/roboti/Robiada/2007/SW/robot/robot.cof
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
/roboti/Robiada/2007/SW/robot/robot.hex
1,6 → 1,6
:020000040000FA
:10020000AEEF01F09EA8FED70950AD6E1200ABA272
:1002100002D0AB98AB889EAAFED7AE50096E1200F2
:10020000EBEF01F09EA8FED70D50AD6E1200ABA231
:1002100002D0AB98AB889EAAFED7AE500D6E1200EE
:1002200089688A6A8B68F00E926E3F0E936E9F0EFD
:10023000946EC60EC16EC00EC26E400EAF6EFB0E47
:10024000AC14AC6E200EAC10AC6E100EAB10AB6EDE
7,9 → 7,9
:10025000800EAB10AB6E016A81B0FED7F00E036E5C
:10026000800E046E1A0E056E060E066E076A0750A3
:10027000000808E10650000805E10550000802E109
:100280000450000807BED8804AE2010E045C096EE3
:10029000000E0A6ED8A00A3C055E000E0A6ED8A0B9
:1002A0000A3C065E000E0A6ED8A00A3C075E0950A2
:100280000450000807BED8804AE2010E045C0D6EDF
:10029000000E0E6ED8A00E3C055E000E0E6ED8A0AD
:1002A0000E3C065E000E0E6ED8A00E3C075E0D5092
:1002B000046E000E075C08E1040E065C05E1930E77
:1002C000055C02E1E00E045C02E307AE03D0010E20
:1002D0000310036E000E075C08E1030E065C05E1E7
17,10 → 17,18
:1002F000020E0310036E000E075C08E1010E065C9F
:1003000005E1860E055C02E1A00E045C02E307AE87
:1003100003D0040E0310036E0350896EA8D78968BA
:10032000026807EC01F00950026E086A02A203D0CD
:1003300002A001D0082A085202E1770E016E02B431
:1003400002D0F70E016E02B602D07F0E016E02508F
:10035000896E0150096E02EC01F0E2D710EF01F056
:10032000086A096A0A6A0B6A026807EC01F00D5054
:10033000026E0C6A02A203D002A001D00C2A0C5259
:1003400002E1770E016E02B41BD0000E0B5C08E1D7
:10035000060E0A5C05E11A0E095C02E1800E085CDB
:1003600002E30BAE07D0082AD8B4092AD8B40A2A67
:10037000D8B40B2A086A096A0A6A0B6AF70E016E7A
:1003800002B61BD0000E0B5C08E1060E0A5C05E10C
:100390001A0E095C02E1800E085C02E30BAE07D086
:1003A000082AD8B4092AD8B40A2AD8B40B2A086A69
:1003B000096A0A6A0B6A7F0E016E082AD8B4092AF4
:1003C000D8B40A2AD8B40B2A0250896E01500D6E97
:0A03D00002EC01F0A5D710EF01F0D8
:020000040030CA
:0E000000FFFEF6FEFFFEFBFFF03FFF9FFFBF7F
:00000001FF
/roboti/Robiada/2007/SW/robot/robot.lst
6,7 → 6,7
;/////////////////////////////////////////////////////////////////////////////////
 
ORG 0x00000200
0200 EFAEF001 GOTO _startup
0200 EFEBF001 GOTO _startup
ORG 0x00000204
0204 send_00000
0204 ; { send ; function begin
13,7 → 13,7
0204 label268438562
0204 A89E BTFSS gbl_pir1,4
0206 D7FE BRA label268438562
0208 5009 MOVF send_00000_arg_c, W
0208 500D MOVF send_00000_arg_c, W
020A 6EAD MOVWF gbl_txreg
020C 0012 RETURN
020E ; } send function end
29,7 → 29,7
0216 AA9E BTFSS gbl_pir1,5
0218 D7FE BRA label268438551
021A 50AE MOVF gbl_rcreg, W
021C 6E09 MOVWF CompTempVarRet489
021C 6E0D MOVWF CompTempVarRet489
021E 0012 RETURN
0220 ; } receive function end
 
64,9 → 64,9
0252 10AB IORWF gbl_rcsta, W
0254 6EAB MOVWF gbl_rcsta
0256 6A01 CLRF main_1_motors
0258 label268438598
0258 label268438599
0258 B081 BTFSC gbl_portb,0
025A D7FE BRA label268438598
025A D7FE BRA label268438599
025C 0EF0 MOVLW 0xF0
025E 6E03 MOVWF main_1_leds
0260 0E80 MOVLW 0x80
76,145 → 76,212
0268 0E06 MOVLW 0x06
026A 6E06 MOVWF main_1_count+D'2'
026C 6A07 CLRF main_1_count+D'3'
026E label268438603
026E label268438604
026E 5007 MOVF main_1_count+D'3', W
0270 0800 SUBLW 0x00
0272 E108 BNZ label268438604
0272 E108 BNZ label268438605
0274 5006 MOVF main_1_count+D'2', W
0276 0800 SUBLW 0x00
0278 E105 BNZ label268438604
0278 E105 BNZ label268438605
027A 5005 MOVF main_1_count+D'1', W
027C 0800 SUBLW 0x00
027E E102 BNZ label268438604
027E E102 BNZ label268438605
0280 5004 MOVF main_1_count, W
0282 0800 SUBLW 0x00
0284 label268438604
0284 label268438605
0284 BE07 BTFSC main_1_count+D'3',7
0286 80D8 BSF STATUS,C
0288 E24A BC label268438608
0288 E24A BC label268438609
028A 0E01 MOVLW 0x01
028C 5C04 SUBWF main_1_count, W
028E 6E09 MOVWF CompTempVar492
028E 6E0D MOVWF CompTempVar492
0290 0E00 MOVLW 0x00
0292 6E0A MOVWF CompTempVar496
0292 6E0E MOVWF CompTempVar496
0294 A0D8 BTFSS STATUS,C
0296 3C0A INCFSZ CompTempVar496, W
0296 3C0E INCFSZ CompTempVar496, W
0298 5E05 SUBWF main_1_count+D'1', F
029A 0E00 MOVLW 0x00
029C 6E0A MOVWF CompTempVar496
029C 6E0E MOVWF CompTempVar496
029E A0D8 BTFSS STATUS,C
02A0 3C0A INCFSZ CompTempVar496, W
02A0 3C0E INCFSZ CompTempVar496, W
02A2 5E06 SUBWF main_1_count+D'2', F
02A4 0E00 MOVLW 0x00
02A6 6E0A MOVWF CompTempVar496
02A6 6E0E MOVWF CompTempVar496
02A8 A0D8 BTFSS STATUS,C
02AA 3C0A INCFSZ CompTempVar496, W
02AA 3C0E INCFSZ CompTempVar496, W
02AC 5E07 SUBWF main_1_count+D'3', F
02AE 5009 MOVF CompTempVar492, W
02AE 500D MOVF CompTempVar492, W
02B0 6E04 MOVWF main_1_count
02B2 0E00 MOVLW 0x00
02B4 5C07 SUBWF main_1_count+D'3', W
02B6 E108 BNZ label268438620
02B6 E108 BNZ label268438621
02B8 0E04 MOVLW 0x04
02BA 5C06 SUBWF main_1_count+D'2', W
02BC E105 BNZ label268438620
02BC E105 BNZ label268438621
02BE 0E93 MOVLW 0x93
02C0 5C05 SUBWF main_1_count+D'1', W
02C2 E102 BNZ label268438620
02C2 E102 BNZ label268438621
02C4 0EE0 MOVLW 0xE0
02C6 5C04 SUBWF main_1_count, W
02C8 label268438620
02C8 E302 BNC label4026532500
02C8 label268438621
02C8 E302 BNC label4026532557
02CA AE07 BTFSS main_1_count+D'3',7
02CC D003 BRA label268438624
02CE label4026532500
02CC D003 BRA label268438625
02CE label4026532557
02CE 0E01 MOVLW 0x01
02D0 1003 IORWF main_1_leds, W
02D2 6E03 MOVWF main_1_leds
02D4 label268438624
02D4 label268438625
02D4 0E00 MOVLW 0x00
02D6 5C07 SUBWF main_1_count+D'3', W
02D8 E108 BNZ label268438626
02D8 E108 BNZ label268438627
02DA 0E03 MOVLW 0x03
02DC 5C06 SUBWF main_1_count+D'2', W
02DE E105 BNZ label268438626
02DE E105 BNZ label268438627
02E0 0E0D MOVLW 0x0D
02E2 5C05 SUBWF main_1_count+D'1', W
02E4 E102 BNZ label268438626
02E4 E102 BNZ label268438627
02E6 0E40 MOVLW 0x40
02E8 5C04 SUBWF main_1_count, W
02EA label268438626
02EA E302 BNC label4026532501
02EA label268438627
02EA E302 BNC label4026532558
02EC AE07 BTFSS main_1_count+D'3',7
02EE D003 BRA label268438630
02F0 label4026532501
02EE D003 BRA label268438631
02F0 label4026532558
02F0 0E02 MOVLW 0x02
02F2 1003 IORWF main_1_leds, W
02F4 6E03 MOVWF main_1_leds
02F6 label268438630
02F6 label268438631
02F6 0E00 MOVLW 0x00
02F8 5C07 SUBWF main_1_count+D'3', W
02FA E108 BNZ label268438632
02FA E108 BNZ label268438633
02FC 0E01 MOVLW 0x01
02FE 5C06 SUBWF main_1_count+D'2', W
0300 E105 BNZ label268438632
0300 E105 BNZ label268438633
0302 0E86 MOVLW 0x86
0304 5C05 SUBWF main_1_count+D'1', W
0306 E102 BNZ label268438632
0306 E102 BNZ label268438633
0308 0EA0 MOVLW 0xA0
030A 5C04 SUBWF main_1_count, W
030C label268438632
030C E302 BNC label4026532502
030C label268438633
030C E302 BNC label4026532559
030E AE07 BTFSS main_1_count+D'3',7
0310 D003 BRA label268438636
0312 label4026532502
0310 D003 BRA label268438637
0312 label4026532559
0312 0E04 MOVLW 0x04
0314 1003 IORWF main_1_leds, W
0316 6E03 MOVWF main_1_leds
0318 label268438636
0318 label268438637
0318 5003 MOVF main_1_leds, W
031A 6E89 MOVWF gbl_lata
031C D7A8 BRA label268438603
031E label268438608
031C D7A8 BRA label268438604
031E label268438609
031E 6889 SETF gbl_lata
0320 label268438640
0320 6802 SETF main_1_sensors
0322 EC07F001 CALL receive_00000
0326 5009 MOVF CompTempVarRet489, W
0328 6E02 MOVWF main_1_sensors
032A 6A08 CLRF CompTempVar491
032C A202 BTFSS main_1_sensors,1
032E D003 BRA label268438645
0330 A002 BTFSS main_1_sensors,0
0332 D001 BRA label268438645
0334 2A08 INCF CompTempVar491, F
0336 label268438645
0336 5208 MOVF CompTempVar491, F
0338 E102 BNZ label268438646
033A 0E77 MOVLW 0x77
033C 6E01 MOVWF main_1_motors
033E label268438646
033E B402 BTFSC main_1_sensors,2
0340 D002 BRA label268438649
0342 0EF7 MOVLW 0xF7
0320 label268438641
0320 6A08 CLRF main_1_cas
0322 6A09 CLRF main_1_cas+D'1'
0324 6A0A CLRF main_1_cas+D'2'
0326 6A0B CLRF main_1_cas+D'3'
0328 6802 SETF main_1_sensors
032A EC07F001 CALL receive_00000
032E 500D MOVF CompTempVarRet489, W
0330 6E02 MOVWF main_1_sensors
0332 6A0C CLRF CompTempVar491
0334 A202 BTFSS main_1_sensors,1
0336 D003 BRA label268438647
0338 A002 BTFSS main_1_sensors,0
033A D001 BRA label268438647
033C 2A0C INCF CompTempVar491, F
033E label268438647
033E 520C MOVF CompTempVar491, F
0340 E102 BNZ label268438648
0342 0E77 MOVLW 0x77
0344 6E01 MOVWF main_1_motors
0346 label268438649
0346 B602 BTFSC main_1_sensors,3
0348 D002 BRA label268438652
034A 0E7F MOVLW 0x7F
034C 6E01 MOVWF main_1_motors
034E label268438652
034E 5002 MOVF main_1_sensors, W
0350 6E89 MOVWF gbl_lata
0352 5001 MOVF main_1_motors, W
0354 6E09 MOVWF send_00000_arg_c
0356 EC02F001 CALL send_00000
035A D7E2 BRA label268438640
035C ; } main function end
0346 label268438648
0346 B402 BTFSC main_1_sensors,2
0348 D01B BRA label268438651
034A 0E00 MOVLW 0x00
034C 5C0B SUBWF main_1_cas+D'3', W
034E E108 BNZ label268438653
0350 0E06 MOVLW 0x06
0352 5C0A SUBWF main_1_cas+D'2', W
0354 E105 BNZ label268438653
0356 0E1A MOVLW 0x1A
0358 5C09 SUBWF main_1_cas+D'1', W
035A E102 BNZ label268438653
035C 0E80 MOVLW 0x80
035E 5C08 SUBWF main_1_cas, W
0360 label268438653
0360 E302 BNC label4026532563
0362 AE0B BTFSS main_1_cas+D'3',7
0364 D007 BRA label4026532566
0366 label4026532563
0366 2A08 INCF main_1_cas, F
0368 B4D8 BTFSC STATUS,Z
036A 2A09 INCF main_1_cas+D'1', F
036C B4D8 BTFSC STATUS,Z
036E 2A0A INCF main_1_cas+D'2', F
0370 B4D8 BTFSC STATUS,Z
0372 2A0B INCF main_1_cas+D'3', F
0374 label4026532566
0374 6A08 CLRF main_1_cas
0376 6A09 CLRF main_1_cas+D'1'
0378 6A0A CLRF main_1_cas+D'2'
037A 6A0B CLRF main_1_cas+D'3'
037C 0EF7 MOVLW 0xF7
037E 6E01 MOVWF main_1_motors
0380 label268438651
0380 B602 BTFSC main_1_sensors,3
0382 D01B BRA label268438668
0384 0E00 MOVLW 0x00
0386 5C0B SUBWF main_1_cas+D'3', W
0388 E108 BNZ label268438670
038A 0E06 MOVLW 0x06
038C 5C0A SUBWF main_1_cas+D'2', W
038E E105 BNZ label268438670
0390 0E1A MOVLW 0x1A
0392 5C09 SUBWF main_1_cas+D'1', W
0394 E102 BNZ label268438670
0396 0E80 MOVLW 0x80
0398 5C08 SUBWF main_1_cas, W
039A label268438670
039A E302 BNC label4026532568
039C AE0B BTFSS main_1_cas+D'3',7
039E D007 BRA label4026532571
03A0 label4026532568
03A0 2A08 INCF main_1_cas, F
03A2 B4D8 BTFSC STATUS,Z
03A4 2A09 INCF main_1_cas+D'1', F
03A6 B4D8 BTFSC STATUS,Z
03A8 2A0A INCF main_1_cas+D'2', F
03AA B4D8 BTFSC STATUS,Z
03AC 2A0B INCF main_1_cas+D'3', F
03AE label4026532571
03AE 6A08 CLRF main_1_cas
03B0 6A09 CLRF main_1_cas+D'1'
03B2 6A0A CLRF main_1_cas+D'2'
03B4 6A0B CLRF main_1_cas+D'3'
03B6 0E7F MOVLW 0x7F
03B8 6E01 MOVWF main_1_motors
03BA label268438668
03BA 2A08 INCF main_1_cas, F
03BC B4D8 BTFSC STATUS,Z
03BE 2A09 INCF main_1_cas+D'1', F
03C0 B4D8 BTFSC STATUS,Z
03C2 2A0A INCF main_1_cas+D'2', F
03C4 B4D8 BTFSC STATUS,Z
03C6 2A0B INCF main_1_cas+D'3', F
03C8 5002 MOVF main_1_sensors, W
03CA 6E89 MOVWF gbl_lata
03CC 5001 MOVF main_1_motors, W
03CE 6E0D MOVWF send_00000_arg_c
03D0 EC02F001 CALL send_00000
03D4 D7A5 BRA label268438641
03D6 ; } main function end
 
ORG 0x0000035C
035C _startup
035C EF10F001 GOTO main
ORG 0x000003D6
03D6 _startup
03D6 EF10F001 GOTO main
ORG 0x00300000
300000 FEFF DW 0xFEFF
300002 FEF6 DW 0xFEF6
/roboti/Robiada/2007/SW/robot/robot.stat
3,6 → 3,6
#GLOBAL:"global",line = 0,ram = 0.0,rom = 0;
receive(void):"robot.bas",line = 21,ram = 1.0,rom = 18;
send(unsigned char):"robot.bas",line = 32,ram = 0.0,rom = 10;
main(void):"robot.bas",line = 45,ram = 10.4,rom = 316;
main(void):"robot.bas",line = 46,ram = 14.4,rom = 438;
_startup(void):"NoSourceFile",line = 0,ram = 0.0,rom = 4;
#HEAP_BLOCK: 0, 11, 1525;
#HEAP_BLOCK: 0, 15, 1521;