| /roboti/Robiada/2007/SW/robot/_.obj |
|---|
| Cannot display: file marked as a binary type. |
| 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; |