| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.BAK |
|---|
| 0,0 → 1,146 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 40 |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>100) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.HEX |
|---|
| 0,0 → 1,39 |
| :1000000000308A000428000084011F30830560301E |
| :1000100083168F0086108312861483161F129F1278 |
| :100020001B0880399B0007309C001F129F121B0881 |
| :1000300080397F389B001F1383121F179F17831669 |
| :100040009F1383121F14941283160611861406162A |
| :100050003530831294004030831694000108C7396C |
| :1000600008388100831290010030F80092000030BF |
| :100070008316920007309C00050864000230F700E8 |
| :10008000F70B4028000000001C0883120D13831694 |
| :100090009D0108308312A100A200A3010030F800E6 |
| :1000A0001F08C73978049F00A40164000230F700DC |
| :1000B000F70B5828000000001F151F195D281E08A7 |
| :1000C000A5000830F8001F08C73978049F002508EC |
| :1000D0003B3C031C74282508283C0318732822087D |
| :1000E0000139A404742824141F151F1975281E082B |
| :1000F000A5001030F8001F08C73978049F002508B4 |
| :100100003B3C031C8C282508283C03188B2822081C |
| :100110000239A4048C28A4141F151F198D281E0849 |
| :10012000A5001830F8001F08C73978049F0025087B |
| :100130003B3C031CA4282508283C0318A3282208BC |
| :100140000439A404A42824151F151F19A5281E0866 |
| :10015000A5002030F8001F08C73978049F00250843 |
| :100160003B3C031CBC282508283C0318BB2822085C |
| :100170000839A404BC28A4151F151F19BD281E0882 |
| :10018000A5002830F8001F08C73978049F0025080B |
| :100190003B3C031CD4282508283C0318D3282208FC |
| :1001A0001039A404D42824161F151F19D5281E0899 |
| :1001B000A5003030F8001F08C73978049F002508D3 |
| :1001C0003B3C031CEC282508283C0318EB2822089C |
| :1001D0002039A404EC28A4161F151F19ED281E08A9 |
| :1001E000A50025083B3C031CFE282508283C0318D5 |
| :1001F000FD2822084039A404FE2824172408A20060 |
| :1002000083160614831206180A29230F08290929C0 |
| :10021000A30A0B29A30123080A3C031CA417A40961 |
| :1002200024089300831614181729831212298312A5 |
| :040230004E286300F1 |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.LST |
|---|
| 0,0 → 1,454 |
| CCS PCM C Compiler, Version 3.245, 27853 15-IV-06 16:26 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| ROM used: 282 words (7%) |
| Largest free fragment is 2048 |
| RAM used: 12 (7%) at main() level |
| 12 (7%) worst case |
| Stack: 0 locations |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 004 |
| 0003: NOP |
| .................... #include ".\cidla.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| .................... #use delay(clock=4000000,RESTART_WDT) |
| .................... |
| .................... |
| .................... //#include <stdlib.h> |
| .................... |
| .................... #use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt) |
| .................... |
| .................... #define IRRX PIN_B0 |
| .................... |
| .................... #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila |
| .................... #define TRESHOLD_MIN 40 |
| .................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| .................... |
| .................... unsigned int8 radius; // co cidla vidi |
| .................... unsigned int8 last_radius; // rozsah |
| .................... unsigned int8 last_cidla; // co cidla videla minule |
| .................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| .................... |
| .................... //tuning |
| .................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| .................... |
| .................... //Vystup PWM je na PIN_B3 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| .................... { |
| .................... unsigned int8 i,n; |
| .................... for(n=0;n<=3;n++) |
| .................... { |
| .................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| .................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| .................... } |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 0004: CLRF 04 |
| 0005: MOVLW 1F |
| 0006: ANDWF 03,F |
| 0007: MOVLW 60 |
| 0008: BSF 03.5 |
| 0009: MOVWF 0F |
| 000A: BCF 06.1 |
| 000B: BCF 03.5 |
| 000C: BSF 06.1 |
| 000D: BSF 03.5 |
| 000E: BCF 1F.4 |
| 000F: BCF 1F.5 |
| 0010: MOVF 1B,W |
| 0011: ANDLW 80 |
| 0012: MOVWF 1B |
| 0013: MOVLW 07 |
| 0014: MOVWF 1C |
| .................... int8 cidla; |
| .................... unsigned int8 a; |
| .................... unsigned int8 n; |
| .................... |
| .................... setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| 0015: BCF 1F.4 |
| 0016: BCF 1F.5 |
| 0017: MOVF 1B,W |
| 0018: ANDLW 80 |
| 0019: IORLW 7F |
| 001A: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 001B: BCF 1F.6 |
| 001C: BCF 03.5 |
| 001D: BSF 1F.6 |
| 001E: BSF 1F.7 |
| 001F: BSF 03.5 |
| 0020: BCF 1F.7 |
| 0021: BCF 03.5 |
| 0022: BSF 1F.0 |
| .................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| 0023: BCF 14.5 |
| 0024: BSF 03.5 |
| 0025: BCF 06.2 |
| 0026: BSF 06.1 |
| 0027: BSF 06.4 |
| 0028: MOVLW 35 |
| 0029: BCF 03.5 |
| 002A: MOVWF 14 |
| 002B: MOVLW 40 |
| 002C: BSF 03.5 |
| 002D: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 002E: MOVF 01,W |
| 002F: ANDLW C7 |
| 0030: IORLW 08 |
| 0031: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 0032: BCF 03.5 |
| 0033: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 0034: MOVLW 00 |
| 0035: MOVWF 78 |
| 0036: MOVWF 12 |
| 0037: MOVLW 00 |
| 0038: BSF 03.5 |
| 0039: MOVWF 12 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 003A: MOVLW 07 |
| 003B: MOVWF 1C |
| 003C: MOVF 05,W |
| 003D: CLRWDT |
| 003E: MOVLW 02 |
| 003F: MOVWF 77 |
| 0040: DECFSZ 77,F |
| 0041: GOTO 040 |
| 0042: NOP |
| 0043: NOP |
| 0044: MOVF 1C,W |
| 0045: BCF 03.5 |
| 0046: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 0047: BSF 03.5 |
| 0048: CLRF 1D |
| .................... |
| .................... last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| 0049: MOVLW 08 |
| 004A: BCF 03.5 |
| 004B: MOVWF 21 |
| .................... last_cidla=0b00001000; |
| 004C: MOVWF 22 |
| .................... |
| .................... shure=0; |
| 004D: CLRF 23 |
| .................... |
| .................... while(true) |
| .................... { |
| .................... set_adc_channel(0); |
| 004E: MOVLW 00 |
| 004F: MOVWF 78 |
| 0050: MOVF 1F,W |
| 0051: ANDLW C7 |
| 0052: IORWF 78,W |
| 0053: MOVWF 1F |
| .................... cidla=0; |
| 0054: CLRF 24 |
| .................... Delay_us(10); |
| 0055: CLRWDT |
| 0056: MOVLW 02 |
| 0057: MOVWF 77 |
| 0058: DECFSZ 77,F |
| 0059: GOTO 058 |
| 005A: NOP |
| 005B: NOP |
| .................... a=read_adc(); |
| 005C: BSF 1F.2 |
| 005D: BTFSC 1F.2 |
| 005E: GOTO 05D |
| 005F: MOVF 1E,W |
| 0060: MOVWF 25 |
| .................... |
| .................... set_adc_channel(1); |
| 0061: MOVLW 08 |
| 0062: MOVWF 78 |
| 0063: MOVF 1F,W |
| 0064: ANDLW C7 |
| 0065: IORWF 78,W |
| 0066: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) //hystereze cidel |
| 0067: MOVF 25,W |
| 0068: SUBLW 3B |
| 0069: BTFSS 03.0 |
| 006A: GOTO 074 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 006B: MOVF 25,W |
| 006C: SUBLW 28 |
| 006D: BTFSC 03.0 |
| 006E: GOTO 073 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000001); |
| 006F: MOVF 22,W |
| 0070: ANDLW 01 |
| 0071: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000001; |
| 0072: GOTO 074 |
| 0073: BSF 24.0 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0074: BSF 1F.2 |
| 0075: BTFSC 1F.2 |
| 0076: GOTO 075 |
| 0077: MOVF 1E,W |
| 0078: MOVWF 25 |
| .................... |
| .................... set_adc_channel(2); |
| 0079: MOVLW 10 |
| 007A: MOVWF 78 |
| 007B: MOVF 1F,W |
| 007C: ANDLW C7 |
| 007D: IORWF 78,W |
| 007E: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 007F: MOVF 25,W |
| 0080: SUBLW 3B |
| 0081: BTFSS 03.0 |
| 0082: GOTO 08C |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 0083: MOVF 25,W |
| 0084: SUBLW 28 |
| 0085: BTFSC 03.0 |
| 0086: GOTO 08B |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000010); |
| 0087: MOVF 22,W |
| 0088: ANDLW 02 |
| 0089: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000010; |
| 008A: GOTO 08C |
| 008B: BSF 24.1 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 008C: BSF 1F.2 |
| 008D: BTFSC 1F.2 |
| 008E: GOTO 08D |
| 008F: MOVF 1E,W |
| 0090: MOVWF 25 |
| .................... |
| .................... set_adc_channel(3); |
| 0091: MOVLW 18 |
| 0092: MOVWF 78 |
| 0093: MOVF 1F,W |
| 0094: ANDLW C7 |
| 0095: IORWF 78,W |
| 0096: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 0097: MOVF 25,W |
| 0098: SUBLW 3B |
| 0099: BTFSS 03.0 |
| 009A: GOTO 0A4 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 009B: MOVF 25,W |
| 009C: SUBLW 28 |
| 009D: BTFSC 03.0 |
| 009E: GOTO 0A3 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000100); |
| 009F: MOVF 22,W |
| 00A0: ANDLW 04 |
| 00A1: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000100; |
| 00A2: GOTO 0A4 |
| 00A3: BSF 24.2 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 00A4: BSF 1F.2 |
| 00A5: BTFSC 1F.2 |
| 00A6: GOTO 0A5 |
| 00A7: MOVF 1E,W |
| 00A8: MOVWF 25 |
| .................... |
| .................... set_adc_channel(4); |
| 00A9: MOVLW 20 |
| 00AA: MOVWF 78 |
| 00AB: MOVF 1F,W |
| 00AC: ANDLW C7 |
| 00AD: IORWF 78,W |
| 00AE: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 00AF: MOVF 25,W |
| 00B0: SUBLW 3B |
| 00B1: BTFSS 03.0 |
| 00B2: GOTO 0BC |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 00B3: MOVF 25,W |
| 00B4: SUBLW 28 |
| 00B5: BTFSC 03.0 |
| 00B6: GOTO 0BB |
| .................... { |
| .................... cidla |= (last_cidla & 0b00001000); |
| 00B7: MOVF 22,W |
| 00B8: ANDLW 08 |
| 00B9: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00001000; |
| 00BA: GOTO 0BC |
| 00BB: BSF 24.3 |
| .................... } |
| .................... a=read_adc(); |
| 00BC: BSF 1F.2 |
| 00BD: BTFSC 1F.2 |
| 00BE: GOTO 0BD |
| 00BF: MOVF 1E,W |
| 00C0: MOVWF 25 |
| .................... |
| .................... set_adc_channel(5); |
| 00C1: MOVLW 28 |
| 00C2: MOVWF 78 |
| 00C3: MOVF 1F,W |
| 00C4: ANDLW C7 |
| 00C5: IORWF 78,W |
| 00C6: MOVWF 1F |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 00C7: MOVF 25,W |
| 00C8: SUBLW 3B |
| 00C9: BTFSS 03.0 |
| 00CA: GOTO 0D4 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 00CB: MOVF 25,W |
| 00CC: SUBLW 28 |
| 00CD: BTFSC 03.0 |
| 00CE: GOTO 0D3 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00010000); |
| 00CF: MOVF 22,W |
| 00D0: ANDLW 10 |
| 00D1: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00010000; |
| 00D2: GOTO 0D4 |
| 00D3: BSF 24.4 |
| .................... } |
| .................... a=read_adc(); |
| 00D4: BSF 1F.2 |
| 00D5: BTFSC 1F.2 |
| 00D6: GOTO 0D5 |
| 00D7: MOVF 1E,W |
| 00D8: MOVWF 25 |
| .................... |
| .................... set_adc_channel(6); |
| 00D9: MOVLW 30 |
| 00DA: MOVWF 78 |
| 00DB: MOVF 1F,W |
| 00DC: ANDLW C7 |
| 00DD: IORWF 78,W |
| 00DE: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 00DF: MOVF 25,W |
| 00E0: SUBLW 3B |
| 00E1: BTFSS 03.0 |
| 00E2: GOTO 0EC |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 00E3: MOVF 25,W |
| 00E4: SUBLW 28 |
| 00E5: BTFSC 03.0 |
| 00E6: GOTO 0EB |
| .................... { |
| .................... cidla |= (last_cidla & 0b00100000); |
| 00E7: MOVF 22,W |
| 00E8: ANDLW 20 |
| 00E9: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00100000; |
| 00EA: GOTO 0EC |
| 00EB: BSF 24.5 |
| .................... } |
| .................... a=read_adc(); |
| 00EC: BSF 1F.2 |
| 00ED: BTFSC 1F.2 |
| 00EE: GOTO 0ED |
| 00EF: MOVF 1E,W |
| 00F0: MOVWF 25 |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 00F1: MOVF 25,W |
| 00F2: SUBLW 3B |
| 00F3: BTFSS 03.0 |
| 00F4: GOTO 0FE |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 00F5: MOVF 25,W |
| 00F6: SUBLW 28 |
| 00F7: BTFSC 03.0 |
| 00F8: GOTO 0FD |
| .................... { |
| .................... cidla |=(last_cidla & 0b01000000); |
| 00F9: MOVF 22,W |
| 00FA: ANDLW 40 |
| 00FB: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b01000000; |
| 00FC: GOTO 0FE |
| 00FD: BSF 24.6 |
| .................... } |
| .................... |
| .................... last_cidla=cidla; |
| 00FE: MOVF 24,W |
| 00FF: MOVWF 22 |
| .................... |
| .................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| 0100: BSF 03.5 |
| 0101: BSF 06.0 |
| 0102: BCF 03.5 |
| 0103: BTFSC 06.0 |
| 0104: GOTO 10A |
| 0105: INCFSZ 23,W |
| 0106: GOTO 108 |
| 0107: GOTO 109 |
| 0108: INCF 23,F |
| 0109: GOTO 10B |
| 010A: CLRF 23 |
| .................... if (shure>CIHLA) cidla|=0b10000000; |
| 010B: MOVF 23,W |
| 010C: SUBLW 0A |
| 010D: BTFSS 03.0 |
| 010E: BSF 24.7 |
| .................... |
| .................... cidla=~cidla; |
| 010F: COMF 24,F |
| .................... spi_write(cidla); |
| 0110: MOVF 24,W |
| 0111: MOVWF 13 |
| 0112: BSF 03.5 |
| 0113: BTFSC 14.0 |
| 0114: GOTO 117 |
| 0115: BCF 03.5 |
| 0116: GOTO 112 |
| .................... } |
| 0117: BCF 03.5 |
| 0118: GOTO 04E |
| .................... } |
| 0119: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.PJT |
|---|
| 0,0 → 1,44 |
| [PROJECT] |
| Target=cidla.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [cidla.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=cidla.c |
| [Windows] |
| 0=0000 cidla.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=C:\Program Files\PICC\drivers\stdlib.h |
| 4=C:\Program Files\PICC\drivers\stddef.h |
| 5=C:\Program Files\PICC\drivers\string.h |
| 6=C:\Program Files\PICC\drivers\ctype.h |
| 7=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 8= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.SYM |
|---|
| 0,0 → 1,45 |
| 015-016 CCP_1 |
| 015 CCP_1_LOW |
| 016 CCP_1_HIGH |
| 020 radius |
| 021 last_radius |
| 022 last_cidla |
| 023 shure |
| 024 main.cidla |
| 025 main.a |
| 026 main.n |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0004 main |
| 0004 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| C:\Program Files\PICC\devices\16F88.h |
| Units: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.hex |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sym |
| List: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sta |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.c |
|---|
| 0,0 → 1,147 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 40 |
| #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>CIHLA) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.err |
|---|
| 0,0 → 1,2 |
| No Errors |
| 0 Errors, 0 Warnings. |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.h |
|---|
| 0,0 → 1,5 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| #use delay(clock=4000000,RESTART_WDT) |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.sta |
|---|
| 0,0 → 1,28 |
| ROM used: 282 (7%) |
| 282 (7%) including unused fragments |
| 1 Average locations per line |
| 3 Average locations per statement |
| RAM used: 12 (7%) at main() level |
| 12 (7%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 148 83 100 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 279 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 866 166 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 278 99 3 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 278 1766 |
| 00800-00FFF 0 2048 |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/cidla.tre |
|---|
| 0,0 → 1,3 |
| ÀÄcidla |
| ÀÄmain 0/278 Ram=3 |
| ÀÄ??0?? |
| /roboti/3Orbis/bak/04 posledni RTOS/cidla/macro.ini |
|---|
| --- main/main.BAK (nonexistent) |
| +++ main/main.BAK (revision 1) |
| @@ -0,0 +1,268 @@ |
| +#include ".\main.h" |
| + |
| +#use rtos (timer=2, minor_cycle=2ms) |
| + |
| +#define STRED 128 // sredni poloha zadniho kolecka |
| +#define BEAR1 12 // 3 stupne zataceni |
| +#define BEAR2 34 |
| +#define BEAR3 70 |
| +#define SPEEDMAX 120 // maximalni rychlost |
| + |
| +#define L 1 |
| +#define S 2 |
| +#define R 0 |
| + |
| +// servo |
| +#define SERVO PIN_A2 |
| + |
| +// IR |
| +#define IRTX PIN_B2 |
| + |
| +//motory |
| +#define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred |
| +#define FL output_low(PIN_A1); output_high(PIN_A0) |
| +#define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad |
| +#define BL output_low(PIN_A0); output_high(PIN_A1) |
| +#define STOPR output_low(PIN_A6);output_low(PIN_A7) |
| +#define STOPL output_low(PIN_A0);output_low(PIN_A1) |
| + |
| +//HID |
| +#define LED1 PIN_B1 //oranzova |
| +#define LED2 PIN_B2 //zluta |
| + |
| +#define STROBE PIN_B0 |
| +//#define SW1 PIN_A2 // Motory On/off |
| + |
| +unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| +unsigned int8 line; // na ktere strane byla detekovana cara |
| +//unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| +unsigned int8 uhel; // urcuje aktualni uhel zataceni |
| +//unsigned int8 speed; // maximalni povolena rychlost |
| +unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
| + |
| +signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| +signed int16 Rmotor; // a pravem motoru |
| + |
| +// makro pro PWM |
| +#define GO(motor, direction, power) if(get_timer0()<=power) \ |
| +{direction##motor;} else {stop##motor;} |
| + |
| +//////////////////////////////////////////////////////////////////////////////// |
| +//////////////////////////////////////////////////////////////////////////////// |
| +/* |
| +void diagnostika() |
| +{ |
| + if(input(SW1))STOPR;STOPL;While(TRUE); |
| +// if(LSENSOR==true) output_high(LED2); else output_low(LED2); |
| +// if(RSENSOR==true) output_high(LED1); else output_low(LED1); |
| +} |
| +*/ |
| +//////////////////////////////////////////////////////////////////////////////// |
| +#task (rate=18ms,max=2ms) |
| +void zatoc() // ridi servo ktere otaci kolem |
| +{ |
| + unsigned int8 n; |
| + |
| + output_high(SERVO); |
| + delay_us(1100); |
| + for(n=uhel; n>0; n--); |
| + output_low(SERVO); |
| +} |
| + |
| +//////////////////////////////////////////////////////////////////////////////// |
| +void diag() // ridi servo ktere otaci kolem |
| +{ |
| + unsigned int8 n; |
| + |
| + output_high(SERVO); |
| + delay_us(1100); |
| + for(n=uhel; n>0; n--); |
| + output_low(SERVO); |
| +} |
| + |
| +//////////////////////////////////////////////////////////////////////////////// |
| +short int IRcheck() // potvrdi detekci cihly |
| +{ |
| + output_high(IRTX); // vypne vysilac IR |
| + |
| + output_low(STROBE); |
| + sensors = spi_read(0); // cteni senzoru |
| + output_high(STROBE); |
| + |
| + if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| + { |
| + output_low(IRTX); // zapne vysilac IR |
| + |
| + output_low(STROBE); |
| + sensors = spi_read(0); // cteni senzoru |
| + output_high(STROBE); |
| + |
| + if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| + { |
| + output_high(IRTX); // vypne vysilac IR |
| + |
| + output_low(STROBE); |
| + sensors = spi_read(0); // cteni senzoru |
| + output_high(STROBE); |
| + |
| + if(bit_test(sensors,7)) return 1; // |
| + |
| + else return 0; // vrat 0 kdyz je ruseni |
| + } |
| + else return 0; // vrat 0 kdyz to nebyla cihla |
| + } |
| + else return 0; // vrat 0 kdyz je detekovano ruseni |
| +} |
| +//////////////////////////////////////////////////////////////////////////////// |
| +/* |
| +#task (rate=4ms, max=20us) |
| +void rychlost() |
| +{ |
| + if(speed<255) speed++; |
| +} |
| +*/ |
| +//////////////////////////////////////////////////////////////////////////////// |
| +#task (rate=2ms, max=1ms) |
| +void rizeni() |
| +{ |
| + unsigned int16 n; |
| + unsigned int8 i; |
| + |
| + GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory |
| + |
| + delay_us(500); |
| + |
| + output_low(STROBE); |
| + sensors = spi_read(0); // cteni senzoru |
| + sensors=~sensors; |
| + output_high(STROBE); |
| + |
| + i=0; // havarijni kod |
| + for (n=0; n<=6; n++) |
| + { |
| + if(bit_test(sensors,n)) i++; |
| + } |
| + if (i>3) rtos_terminate(); // zastavi, kdyz je cerno pod vice nez tremi cidly |
| + |
| + |
| + if(bit_test(sensors,3)) //...|...// |
| + { |
| + uhel=STRED; |
| + Lmotor=SPEEDMAX; |
| + Rmotor=SPEEDMAX; |
| + line=S; |
| + if (rovinka<255) rovinka++; |
| + return; |
| + } |
| + |
| + if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| + { |
| + uhel=STRED-BEAR3; |
| + Lmotor=0; |
| + Rmotor=SPEEDMAX; |
| + line=L; |
| + return; |
| + } |
| + |
| + if(bit_test(sensors,6)) //......|// |
| + { |
| + uhel=STRED+BEAR3; |
| + Rmotor=0; |
| + Lmotor=SPEEDMAX; |
| + line=R; |
| + return; |
| + |
| + } |
| + |
| + if(bit_test(sensors,1)) //.|.....// |
| + { |
| + uhel=STRED-BEAR2; |
| + Lmotor=SPEEDMAX-50; |
| + Rmotor=SPEEDMAX; |
| + line=S; |
| + return; |
| + } |
| + |
| + if(bit_test(sensors,5)) //.....|.// |
| + { |
| + uhel=STRED+BEAR2; |
| + Rmotor=SPEEDMAX-50; |
| + Lmotor=SPEEDMAX; |
| + line=S; |
| + return; |
| + } |
| + |
| + if (bit_test(sensors,2)) //..|....// |
| + { |
| + uhel=STRED-BEAR1; |
| + Lmotor=SPEEDMAX; |
| + Rmotor=SPEEDMAX; |
| + line=S; |
| + if (rovinka<255) rovinka++; |
| + return; |
| + } |
| + |
| + if (bit_test(sensors,4)) //....|..// |
| + { |
| + uhel=STRED+BEAR1; |
| + Rmotor=SPEEDMAX; |
| + Lmotor=SPEEDMAX; |
| + line=S; |
| + if (rovinka<255) rovinka++; |
| + return; |
| + } |
| + |
| + if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate |
| + { |
| + if (rovinka>250) |
| + { |
| + BL; BR; |
| + for(n=1; n<(60); n++) {rtos_yield(); delay_us(500);}; |
| + }; |
| + rovinka=0; |
| + } |
| + |
| + if(bit_test(sensors,7)) // zjisti jestli neni cihla |
| + { |
| + rtos_terminate(); |
| + } |
| +} |
| + |
| + |
| + |
| +//////////////////////////////////////////////////////////////////////////////// |
| +void main() |
| +{ |
| + unsigned int16 i; |
| + unsigned int8 last; |
| + |
| + setup_adc_ports(NO_ANALOGS); |
| + setup_adc(ADC_CLOCK_INTERNAL); |
| + setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
| + setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| + setup_timer_1(T1_DISABLED); |
| + setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| + |
| + STOPR; STOPL; // zastav motory |
| + Lmotor=0;Rmotor=0; |
| + |
| + uhel=STRED; // nastav zadni kolecko na stred |
| + rovinka=0; |
| + |
| + output_low(IRTX); // zapni IR vysilac |
| + |
| + for(i=0;i<100;i++) // pockej, nez se zadni kolecko vystredi |
| + { |
| + diag(); |
| + delay_ms(16); |
| + } |
| +// diagnostika(); |
| + |
| + while(true) |
| + { |
| + rtos_run(); |
| + STOPR; |
| + STOPL; |
| + while(true); |
| + } |
| +} |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.HEX |
|---|
| 0,0 → 1,78 |
| :1000000000308A00822900000A108A100A11820733 |
| :1000100029340034303400343D30840000080319A2 |
| :1000200023280230F800BF30F7006400F70B1528D2 |
| :10003000F80B13289630F700F70B1C28000000007F |
| :100040006400800B112800340830C202031C3328DE |
| :10005000423084000310800C000803193328312833 |
| :100060006400800B302800348316051183120515B7 |
| :1000700064000130BD000C206330C200242023083E |
| :10008000BC00BC0803194628BC034128831605118F |
| :10009000831205113430AE000030AF008A11342ACB |
| :1000A00000340108801F5728A61F5F285928A61B67 |
| :1000B0006828A608031D5F282502031C68288316EC |
| :1000C000851083128510831605108312051470287D |
| :1000D0008316051083120510831685108312851070 |
| :1000E0000108801F7628A81F7E287828A81B87284B |
| :1000F000A808031D7E282702031C87288316851362 |
| :100100008312851383160513831205178F28831610 |
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| ;PIC16F88 |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.LST |
|---|
| 0,0 → 1,899 |
| CCS PCM C Compiler, Version 3.245, 27853 15-IV-06 16:28 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| ROM used: 598 words (15%) |
| Largest free fragment is 2048 |
| RAM used: 31 (18%) at main() level |
| 40 (23%) worst case |
| Stack: 4 worst case (2 in main + 2 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 182 |
| 0003: NOP |
| .................... #include ".\main.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... |
| .................... #FUSES NOWDT //No Watch Dog Timer |
| .................... #FUSES INTRC_IO |
| .................... #FUSES NOPUT //No Power Up Timer |
| .................... #FUSES MCLR //Master Clear pin enabled |
| .................... #FUSES NOBROWNOUT //Reset when brownout detected |
| .................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18) |
| .................... #FUSES NOCPD //No EE protection |
| .................... #FUSES NOWRT //Program memory not write protected |
| .................... #FUSES NODEBUG //No Debug mode for ICD |
| .................... #FUSES NOPROTECT //Code not protected from reading |
| .................... #FUSES NOFCMEN //Fail-safe clock monitor enabled |
| .................... #FUSES NOIESO //Internal External Switch Over mode enabled |
| .................... |
| .................... #use delay(clock=8000000,RESTART_WDT) |
| 000C: MOVLW 3D |
| 000D: MOVWF 04 |
| 000E: MOVF 00,W |
| 000F: BTFSC 03.2 |
| 0010: GOTO 023 |
| 0011: MOVLW 02 |
| 0012: MOVWF 78 |
| 0013: MOVLW BF |
| 0014: MOVWF 77 |
| 0015: CLRWDT |
| 0016: DECFSZ 77,F |
| 0017: GOTO 015 |
| 0018: DECFSZ 78,F |
| 0019: GOTO 013 |
| 001A: MOVLW 96 |
| 001B: MOVWF 77 |
| 001C: DECFSZ 77,F |
| 001D: GOTO 01C |
| 001E: NOP |
| 001F: NOP |
| 0020: CLRWDT |
| 0021: DECFSZ 00,F |
| 0022: GOTO 011 |
| 0023: RETLW 00 |
| 0024: MOVLW 08 |
| 0025: SUBWF 42,F |
| 0026: BTFSS 03.0 |
| 0027: GOTO 033 |
| 0028: MOVLW 42 |
| 0029: MOVWF 04 |
| 002A: BCF 03.0 |
| 002B: RRF 00,F |
| 002C: MOVF 00,W |
| 002D: BTFSC 03.2 |
| 002E: GOTO 033 |
| 002F: GOTO 031 |
| 0030: CLRWDT |
| 0031: DECFSZ 00,F |
| 0032: GOTO 030 |
| 0033: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #use rtos (timer=2, minor_cycle=2ms) |
| .................... |
| .................... #define STRED 128 // sredni poloha zadniho kolecka |
| .................... #define BEAR1 12 // 3 stupne zataceni |
| .................... #define BEAR2 34 |
| .................... #define BEAR3 70 |
| .................... #define SPEEDMAX 120 // maximalni rychlost |
| .................... |
| .................... #define L 1 |
| .................... #define S 2 |
| .................... #define R 0 |
| .................... |
| .................... // servo |
| .................... #define SERVO PIN_A2 |
| .................... |
| .................... // IR |
| .................... #define IRTX PIN_B2 |
| .................... |
| .................... //motory |
| .................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred |
| .................... #define FL output_low(PIN_A1); output_high(PIN_A0) |
| .................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad |
| .................... #define BL output_low(PIN_A0); output_high(PIN_A1) |
| .................... #define STOPR output_low(PIN_A6);output_low(PIN_A7) |
| .................... #define STOPL output_low(PIN_A0);output_low(PIN_A1) |
| .................... |
| .................... //HID |
| .................... #define LED1 PIN_B1 //oranzova |
| .................... #define LED2 PIN_B2 //zluta |
| .................... |
| .................... #define STROBE PIN_B0 |
| .................... //#define SW1 PIN_A2 // Motory On/off |
| .................... |
| .................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| .................... unsigned int8 line; // na ktere strane byla detekovana cara |
| .................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| .................... unsigned int8 uhel; // urcuje aktualni uhel zataceni |
| .................... //unsigned int8 speed; // maximalni povolena rychlost |
| .................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
| .................... |
| .................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| .................... signed int16 Rmotor; // a pravem motoru |
| .................... |
| .................... // makro pro PWM |
| .................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| .................... {direction##motor;} else {stop##motor;} |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... /* |
| .................... void diagnostika() |
| .................... { |
| .................... if(input(SW1))STOPR;STOPL;While(TRUE); |
| .................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2); |
| .................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1); |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #task (rate=18ms,max=2ms) |
| .................... void zatoc() // ridi servo ktere otaci kolem |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| 0034: BSF 03.5 |
| 0035: BCF 05.2 |
| 0036: BCF 03.5 |
| 0037: BSF 05.2 |
| .................... delay_us(1100); |
| 0038: CLRWDT |
| 0039: MOVLW 01 |
| 003A: MOVWF 3D |
| 003B: CALL 00C |
| 003C: MOVLW 63 |
| 003D: MOVWF 42 |
| 003E: CALL 024 |
| .................... for(n=uhel; n>0; n--); |
| 003F: MOVF 23,W |
| 0040: MOVWF 3C |
| 0041: MOVF 3C,F |
| 0042: BTFSC 03.2 |
| 0043: GOTO 046 |
| 0044: DECF 3C,F |
| 0045: GOTO 041 |
| .................... output_low(SERVO); |
| 0046: BSF 03.5 |
| 0047: BCF 05.2 |
| 0048: BCF 03.5 |
| 0049: BCF 05.2 |
| .................... } |
| 004A: MOVLW 34 |
| 004B: MOVWF 2E |
| 004C: MOVLW 00 |
| 004D: MOVWF 2F |
| 004E: BCF 0A.3 |
| 004F: GOTO 234 |
| 0050: RETLW 00 |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void diag() // ridi servo ktere otaci kolem |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 016A: BSF 03.5 |
| 016B: BCF 05.2 |
| 016C: BCF 03.5 |
| 016D: BSF 05.2 |
| .................... delay_us(1100); |
| 016E: CLRWDT |
| 016F: MOVLW 01 |
| 0170: MOVWF 3D |
| 0171: CALL 00C |
| 0172: MOVLW 63 |
| 0173: MOVWF 42 |
| 0174: CALL 024 |
| .................... for(n=uhel; n>0; n--); |
| 0175: MOVF 23,W |
| 0176: MOVWF 3A |
| 0177: MOVF 3A,F |
| 0178: BTFSC 03.2 |
| 0179: GOTO 17C |
| 017A: DECF 3A,F |
| 017B: GOTO 177 |
| .................... output_low(SERVO); |
| 017C: BSF 03.5 |
| 017D: BCF 05.2 |
| 017E: BCF 03.5 |
| 017F: BCF 05.2 |
| .................... } |
| 0180: BCF 0A.3 |
| 0181: GOTO 1D4 (RETURN) |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... short int IRcheck() // potvrdi detekci cihly |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... output_high(STROBE); |
| .................... |
| .................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| .................... { |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... output_high(STROBE); |
| .................... |
| .................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... output_high(STROBE); |
| .................... |
| .................... if(bit_test(sensors,7)) return 1; // |
| .................... |
| .................... else return 0; // vrat 0 kdyz je ruseni |
| .................... } |
| .................... else return 0; // vrat 0 kdyz to nebyla cihla |
| .................... } |
| .................... else return 0; // vrat 0 kdyz je detekovano ruseni |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... /* |
| .................... #task (rate=4ms, max=20us) |
| .................... void rychlost() |
| .................... { |
| .................... if(speed<255) speed++; |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #task (rate=2ms, max=1ms) |
| .................... void rizeni() |
| .................... { |
| .................... unsigned int16 n; |
| .................... unsigned int8 i; |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory |
| * |
| 0051: MOVF 01,W |
| 0052: BTFSS 00.7 |
| 0053: GOTO 057 |
| 0054: BTFSS 26.7 |
| 0055: GOTO 05F |
| 0056: GOTO 059 |
| 0057: BTFSC 26.7 |
| 0058: GOTO 068 |
| 0059: MOVF 26,F |
| 005A: BTFSS 03.2 |
| 005B: GOTO 05F |
| 005C: SUBWF 25,W |
| 005D: BTFSS 03.0 |
| 005E: GOTO 068 |
| 005F: BSF 03.5 |
| 0060: BCF 05.1 |
| 0061: BCF 03.5 |
| 0062: BCF 05.1 |
| 0063: BSF 03.5 |
| 0064: BCF 05.0 |
| 0065: BCF 03.5 |
| 0066: BSF 05.0 |
| 0067: GOTO 070 |
| 0068: BSF 03.5 |
| 0069: BCF 05.0 |
| 006A: BCF 03.5 |
| 006B: BCF 05.0 |
| 006C: BSF 03.5 |
| 006D: BCF 05.1 |
| 006E: BCF 03.5 |
| 006F: BCF 05.1 |
| 0070: MOVF 01,W |
| 0071: BTFSS 00.7 |
| 0072: GOTO 076 |
| 0073: BTFSS 28.7 |
| 0074: GOTO 07E |
| 0075: GOTO 078 |
| 0076: BTFSC 28.7 |
| 0077: GOTO 087 |
| 0078: MOVF 28,F |
| 0079: BTFSS 03.2 |
| 007A: GOTO 07E |
| 007B: SUBWF 27,W |
| 007C: BTFSS 03.0 |
| 007D: GOTO 087 |
| 007E: BSF 03.5 |
| 007F: BCF 05.7 |
| 0080: BCF 03.5 |
| 0081: BCF 05.7 |
| 0082: BSF 03.5 |
| 0083: BCF 05.6 |
| 0084: BCF 03.5 |
| 0085: BSF 05.6 |
| 0086: GOTO 08F |
| 0087: BSF 03.5 |
| 0088: BCF 05.6 |
| 0089: BCF 03.5 |
| 008A: BCF 05.6 |
| 008B: BSF 03.5 |
| 008C: BCF 05.7 |
| 008D: BCF 03.5 |
| 008E: BCF 05.7 |
| .................... |
| .................... delay_us(500); |
| 008F: CLRWDT |
| 0090: MOVLW 02 |
| 0091: MOVWF 41 |
| 0092: MOVLW F7 |
| 0093: MOVWF 42 |
| 0094: CALL 024 |
| 0095: DECFSZ 41,F |
| 0096: GOTO 092 |
| .................... |
| .................... output_low(STROBE); |
| 0097: BSF 03.5 |
| 0098: BCF 06.0 |
| 0099: BCF 03.5 |
| 009A: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 009B: MOVF 13,W |
| 009C: CLRF 13 |
| 009D: BSF 03.5 |
| 009E: BTFSC 14.0 |
| 009F: GOTO 0A2 |
| 00A0: BCF 03.5 |
| 00A1: GOTO 09D |
| 00A2: BCF 03.5 |
| 00A3: MOVF 13,W |
| 00A4: MOVWF 21 |
| .................... sensors=~sensors; |
| 00A5: COMF 21,F |
| .................... output_high(STROBE); |
| 00A6: BSF 03.5 |
| 00A7: BCF 06.0 |
| 00A8: BCF 03.5 |
| 00A9: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 00AA: CLRF 40 |
| .................... for (n=0; n<=6; n++) |
| 00AB: CLRF 3F |
| 00AC: CLRF 3E |
| 00AD: MOVF 3F,F |
| 00AE: BTFSS 03.2 |
| 00AF: GOTO 0C4 |
| 00B0: MOVF 3E,W |
| 00B1: SUBLW 06 |
| 00B2: BTFSS 03.0 |
| 00B3: GOTO 0C4 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 00B4: MOVF 21,W |
| 00B5: MOVWF 77 |
| 00B6: MOVF 3E,W |
| 00B7: MOVWF 78 |
| 00B8: BTFSC 03.2 |
| 00B9: GOTO 0BE |
| 00BA: BCF 03.0 |
| 00BB: RRF 77,F |
| 00BC: DECFSZ 78,F |
| 00BD: GOTO 0BA |
| 00BE: BTFSC 77.0 |
| 00BF: INCF 40,F |
| .................... } |
| 00C0: INCF 3E,F |
| 00C1: BTFSC 03.2 |
| 00C2: INCF 3F,F |
| 00C3: GOTO 0AD |
| .................... if (i>3) rtos_terminate(); // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 00C4: MOVF 40,W |
| 00C5: SUBLW 03 |
| 00C6: BTFSS 03.0 |
| 00C7: GOTO 241 |
| .................... |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 00C8: BTFSS 21.3 |
| 00C9: GOTO 0D8 |
| .................... { |
| .................... uhel=STRED; |
| 00CA: MOVLW 80 |
| 00CB: MOVWF 23 |
| .................... Lmotor=SPEEDMAX; |
| 00CC: CLRF 26 |
| 00CD: MOVLW 78 |
| 00CE: MOVWF 25 |
| .................... Rmotor=SPEEDMAX; |
| 00CF: CLRF 28 |
| 00D0: MOVWF 27 |
| .................... line=S; |
| 00D1: MOVLW 02 |
| 00D2: MOVWF 22 |
| .................... if (rovinka<255) rovinka++; |
| 00D3: INCFSZ 24,W |
| 00D4: GOTO 0D6 |
| 00D5: GOTO 0D7 |
| 00D6: INCF 24,F |
| .................... return; |
| 00D7: GOTO 163 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 00D8: BTFSS 21.0 |
| 00D9: GOTO 0E4 |
| .................... { |
| .................... uhel=STRED-BEAR3; |
| 00DA: MOVLW 3A |
| 00DB: MOVWF 23 |
| .................... Lmotor=0; |
| 00DC: CLRF 26 |
| 00DD: CLRF 25 |
| .................... Rmotor=SPEEDMAX; |
| 00DE: CLRF 28 |
| 00DF: MOVLW 78 |
| 00E0: MOVWF 27 |
| .................... line=L; |
| 00E1: MOVLW 01 |
| 00E2: MOVWF 22 |
| .................... return; |
| 00E3: GOTO 163 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 00E4: BTFSS 21.6 |
| 00E5: GOTO 0EF |
| .................... { |
| .................... uhel=STRED+BEAR3; |
| 00E6: MOVLW C6 |
| 00E7: MOVWF 23 |
| .................... Rmotor=0; |
| 00E8: CLRF 28 |
| 00E9: CLRF 27 |
| .................... Lmotor=SPEEDMAX; |
| 00EA: CLRF 26 |
| 00EB: MOVLW 78 |
| 00EC: MOVWF 25 |
| .................... line=R; |
| 00ED: CLRF 22 |
| .................... return; |
| 00EE: GOTO 163 |
| .................... |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 00EF: BTFSS 21.1 |
| 00F0: GOTO 0FC |
| .................... { |
| .................... uhel=STRED-BEAR2; |
| 00F1: MOVLW 5E |
| 00F2: MOVWF 23 |
| .................... Lmotor=SPEEDMAX-50; |
| 00F3: CLRF 26 |
| 00F4: MOVLW 46 |
| 00F5: MOVWF 25 |
| .................... Rmotor=SPEEDMAX; |
| 00F6: CLRF 28 |
| 00F7: MOVLW 78 |
| 00F8: MOVWF 27 |
| .................... line=S; |
| 00F9: MOVLW 02 |
| 00FA: MOVWF 22 |
| .................... return; |
| 00FB: GOTO 163 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 00FC: BTFSS 21.5 |
| 00FD: GOTO 109 |
| .................... { |
| .................... uhel=STRED+BEAR2; |
| 00FE: MOVLW A2 |
| 00FF: MOVWF 23 |
| .................... Rmotor=SPEEDMAX-50; |
| 0100: CLRF 28 |
| 0101: MOVLW 46 |
| 0102: MOVWF 27 |
| .................... Lmotor=SPEEDMAX; |
| 0103: CLRF 26 |
| 0104: MOVLW 78 |
| 0105: MOVWF 25 |
| .................... line=S; |
| 0106: MOVLW 02 |
| 0107: MOVWF 22 |
| .................... return; |
| 0108: GOTO 163 |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 0109: BTFSS 21.2 |
| 010A: GOTO 119 |
| .................... { |
| .................... uhel=STRED-BEAR1; |
| 010B: MOVLW 74 |
| 010C: MOVWF 23 |
| .................... Lmotor=SPEEDMAX; |
| 010D: CLRF 26 |
| 010E: MOVLW 78 |
| 010F: MOVWF 25 |
| .................... Rmotor=SPEEDMAX; |
| 0110: CLRF 28 |
| 0111: MOVWF 27 |
| .................... line=S; |
| 0112: MOVLW 02 |
| 0113: MOVWF 22 |
| .................... if (rovinka<255) rovinka++; |
| 0114: INCFSZ 24,W |
| 0115: GOTO 117 |
| 0116: GOTO 118 |
| 0117: INCF 24,F |
| .................... return; |
| 0118: GOTO 163 |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 0119: BTFSS 21.4 |
| 011A: GOTO 129 |
| .................... { |
| .................... uhel=STRED+BEAR1; |
| 011B: MOVLW 8C |
| 011C: MOVWF 23 |
| .................... Rmotor=SPEEDMAX; |
| 011D: CLRF 28 |
| 011E: MOVLW 78 |
| 011F: MOVWF 27 |
| .................... Lmotor=SPEEDMAX; |
| 0120: CLRF 26 |
| 0121: MOVWF 25 |
| .................... line=S; |
| 0122: MOVLW 02 |
| 0123: MOVWF 22 |
| .................... if (rovinka<255) rovinka++; |
| 0124: INCFSZ 24,W |
| 0125: GOTO 127 |
| 0126: GOTO 128 |
| 0127: INCF 24,F |
| .................... return; |
| 0128: GOTO 163 |
| .................... } |
| .................... |
| .................... if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate |
| 0129: DECFSZ 22,W |
| 012A: GOTO 12C |
| 012B: GOTO 12F |
| 012C: MOVF 22,F |
| 012D: BTFSS 03.2 |
| 012E: GOTO 160 |
| .................... { |
| .................... if (rovinka>250) |
| 012F: MOVF 24,W |
| 0130: SUBLW FA |
| 0131: BTFSC 03.0 |
| 0132: GOTO 15F |
| .................... { |
| .................... BL; BR; |
| 0133: BSF 03.5 |
| 0134: BCF 05.0 |
| 0135: BCF 03.5 |
| 0136: BCF 05.0 |
| 0137: BSF 03.5 |
| 0138: BCF 05.1 |
| 0139: BCF 03.5 |
| 013A: BSF 05.1 |
| 013B: BSF 03.5 |
| 013C: BCF 05.6 |
| 013D: BCF 03.5 |
| 013E: BCF 05.6 |
| 013F: BSF 03.5 |
| 0140: BCF 05.7 |
| 0141: BCF 03.5 |
| 0142: BSF 05.7 |
| .................... for(n=1; n<(60); n++) {rtos_yield(); delay_us(500);}; |
| 0143: CLRF 3F |
| 0144: MOVLW 01 |
| 0145: MOVWF 3E |
| 0146: MOVF 3F,F |
| 0147: BTFSS 03.2 |
| 0148: GOTO 15F |
| 0149: MOVF 3E,W |
| 014A: SUBLW 3B |
| 014B: BTFSS 03.0 |
| 014C: GOTO 15F |
| 014D: MOVLW 53 |
| 014E: MOVWF 35 |
| 014F: MOVLW 01 |
| 0150: MOVWF 36 |
| 0151: BCF 0A.3 |
| 0152: GOTO 234 |
| 0153: CLRWDT |
| 0154: MOVLW 02 |
| 0155: MOVWF 41 |
| 0156: MOVLW F7 |
| 0157: MOVWF 42 |
| 0158: CALL 024 |
| 0159: DECFSZ 41,F |
| 015A: GOTO 156 |
| 015B: INCF 3E,F |
| 015C: BTFSC 03.2 |
| 015D: INCF 3F,F |
| 015E: GOTO 146 |
| .................... }; |
| .................... rovinka=0; |
| 015F: CLRF 24 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,7)) // zjisti jestli neni cihla |
| 0160: BTFSS 21.7 |
| 0161: GOTO 163 |
| .................... { |
| .................... rtos_terminate(); |
| 0162: GOTO 241 |
| .................... } |
| .................... } |
| 0163: MOVLW 51 |
| 0164: MOVWF 35 |
| 0165: MOVLW 00 |
| 0166: MOVWF 36 |
| 0167: BCF 0A.3 |
| 0168: GOTO 234 |
| 0169: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| * |
| 0182: CLRF 04 |
| 0183: MOVLW 1F |
| 0184: ANDWF 03,F |
| 0185: MOVLW 70 |
| 0186: BSF 03.5 |
| 0187: MOVWF 0F |
| 0188: BCF 1F.4 |
| 0189: BCF 1F.5 |
| 018A: MOVF 1B,W |
| 018B: ANDLW 80 |
| 018C: MOVWF 1B |
| 018D: MOVLW 07 |
| 018E: MOVWF 1C |
| .................... unsigned int16 i; |
| .................... unsigned int8 last; |
| .................... |
| .................... setup_adc_ports(NO_ANALOGS); |
| 018F: BCF 1F.4 |
| 0190: BCF 1F.5 |
| 0191: MOVF 1B,W |
| 0192: ANDLW 80 |
| 0193: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0194: BCF 1F.6 |
| 0195: BCF 03.5 |
| 0196: BSF 1F.6 |
| 0197: BSF 1F.7 |
| 0198: BSF 03.5 |
| 0199: BCF 1F.7 |
| 019A: BCF 03.5 |
| 019B: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
| 019C: BCF 14.5 |
| 019D: BSF 03.5 |
| 019E: BCF 06.2 |
| 019F: BSF 06.1 |
| 01A0: BCF 06.4 |
| 01A1: MOVLW 30 |
| 01A2: BCF 03.5 |
| 01A3: MOVWF 14 |
| 01A4: MOVLW 00 |
| 01A5: BSF 03.5 |
| 01A6: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 01A7: MOVF 01,W |
| 01A8: ANDLW C7 |
| 01A9: IORLW 08 |
| 01AA: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 01AB: BCF 03.5 |
| 01AC: CLRF 10 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 01AD: MOVLW 72 |
| 01AE: BSF 03.5 |
| 01AF: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 01B0: BCF 05.6 |
| 01B1: BCF 03.5 |
| 01B2: BCF 05.6 |
| 01B3: BSF 03.5 |
| 01B4: BCF 05.7 |
| 01B5: BCF 03.5 |
| 01B6: BCF 05.7 |
| 01B7: BSF 03.5 |
| 01B8: BCF 05.0 |
| 01B9: BCF 03.5 |
| 01BA: BCF 05.0 |
| 01BB: BSF 03.5 |
| 01BC: BCF 05.1 |
| 01BD: BCF 03.5 |
| 01BE: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 01BF: CLRF 26 |
| 01C0: CLRF 25 |
| 01C1: CLRF 28 |
| 01C2: CLRF 27 |
| .................... |
| .................... uhel=STRED; // nastav zadni kolecko na stred |
| 01C3: MOVLW 80 |
| 01C4: MOVWF 23 |
| .................... rovinka=0; |
| 01C5: CLRF 24 |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 01C6: BSF 03.5 |
| 01C7: BCF 06.2 |
| 01C8: BCF 03.5 |
| 01C9: BCF 06.2 |
| .................... |
| .................... for(i=0;i<100;i++) // pockej, nez se zadni kolecko vystredi |
| 01CA: CLRF 38 |
| 01CB: CLRF 37 |
| 01CC: MOVF 38,F |
| 01CD: BTFSS 03.2 |
| 01CE: GOTO 1DB |
| 01CF: MOVF 37,W |
| 01D0: SUBLW 63 |
| 01D1: BTFSS 03.0 |
| 01D2: GOTO 1DB |
| .................... { |
| .................... diag(); |
| 01D3: GOTO 16A |
| .................... delay_ms(16); |
| 01D4: MOVLW 10 |
| 01D5: MOVWF 3D |
| 01D6: CALL 00C |
| .................... } |
| 01D7: INCF 37,F |
| 01D8: BTFSC 03.2 |
| 01D9: INCF 38,F |
| 01DA: GOTO 1CC |
| .................... // diagnostika(); |
| .................... |
| .................... while(true) |
| .................... { |
| .................... rtos_run(); |
| 01DB: CLRF 29 |
| 01DC: CLRF 2B |
| 01DD: MOVLW 09 |
| 01DE: MOVWF 2A |
| 01DF: CLRF 2D |
| 01E0: CLRF 2C |
| 01E1: MOVLW 34 |
| 01E2: MOVWF 2E |
| 01E3: MOVLW 00 |
| 01E4: MOVWF 2F |
| 01E5: CLRF 30 |
| 01E6: CLRF 32 |
| 01E7: MOVLW 01 |
| 01E8: MOVWF 31 |
| 01E9: CLRF 34 |
| 01EA: CLRF 33 |
| 01EB: MOVLW 51 |
| 01EC: MOVWF 35 |
| 01ED: MOVLW 00 |
| 01EE: MOVWF 36 |
| 01EF: CLRF 20 |
| 01F0: MOVLW 00 |
| 01F1: MOVWF 78 |
| 01F2: IORLW 06 |
| 01F3: MOVWF 12 |
| 01F4: MOVLW FA |
| 01F5: BSF 03.5 |
| 01F6: MOVWF 12 |
| 01F7: BCF 03.5 |
| 01F8: BCF 0C.1 |
| 01F9: MOVLW 00 |
| 01FA: MOVWF 78 |
| 01FB: IORLW 06 |
| 01FC: MOVWF 12 |
| 01FD: MOVLW FA |
| 01FE: BSF 03.5 |
| 01FF: MOVWF 12 |
| 0200: BCF 03.5 |
| 0201: BCF 0C.1 |
| 0202: BCF 03.0 |
| 0203: RLF 20,W |
| 0204: MOVWF 77 |
| 0205: CALL 004 |
| 0206: MOVWF 79 |
| 0207: MOVLW 01 |
| 0208: ADDWF 77,W |
| 0209: CALL 004 |
| 020A: MOVWF 7A |
| 020B: MOVF 79,W |
| 020C: MOVWF 04 |
| 020D: MOVF 00,W |
| 020E: MOVWF 79 |
| 020F: INCF 04,F |
| 0210: MOVF 00,W |
| 0211: MOVWF 77 |
| 0212: INCF 04,F |
| 0213: MOVF 00,W |
| 0214: MOVWF 78 |
| 0215: INCF 04,F |
| 0216: INCF 00,F |
| 0217: MOVF 00,W |
| 0218: MOVWF 7A |
| 0219: BTFSS 03.2 |
| 021A: GOTO 21E |
| 021B: INCF 04,F |
| 021C: INCF 00,F |
| 021D: DECF 04,F |
| 021E: INCF 04,F |
| 021F: MOVF 00,W |
| 0220: SUBWF 78,W |
| 0221: BTFSS 03.2 |
| 0222: GOTO 236 |
| 0223: MOVF 77,W |
| 0224: SUBWF 7A,W |
| 0225: BTFSS 03.2 |
| 0226: GOTO 236 |
| 0227: DECF 04,F |
| 0228: CLRF 00 |
| 0229: INCF 04,F |
| 022A: CLRF 00 |
| 022B: INCF 04,F |
| 022C: BTFSC 79.7 |
| 022D: GOTO 236 |
| 022E: INCF 04,F |
| 022F: MOVF 00,W |
| 0230: MOVWF 0A |
| 0231: DECF 04,F |
| 0232: MOVF 00,W |
| 0233: MOVWF 02 |
| 0234: BCF 03.5 |
| 0235: BCF 03.6 |
| 0236: INCF 20,F |
| 0237: MOVLW 02 |
| 0238: SUBWF 20,W |
| 0239: BTFSS 03.2 |
| 023A: GOTO 202 |
| 023B: CLRF 20 |
| 023C: BTFSS 0C.1 |
| 023D: GOTO 240 |
| 023E: BSF 03.5 |
| 023F: GOTO 200 |
| 0240: GOTO 23C |
| 0241: MOVLW FF |
| 0242: MOVWF 20 |
| .................... STOPR; |
| 0243: BSF 03.5 |
| 0244: BCF 05.6 |
| 0245: BCF 03.5 |
| 0246: BCF 05.6 |
| 0247: BSF 03.5 |
| 0248: BCF 05.7 |
| 0249: BCF 03.5 |
| 024A: BCF 05.7 |
| .................... STOPL; |
| 024B: BSF 03.5 |
| 024C: BCF 05.0 |
| 024D: BCF 03.5 |
| 024E: BCF 05.0 |
| 024F: BSF 03.5 |
| 0250: BCF 05.1 |
| 0251: BCF 03.5 |
| 0252: BCF 05.1 |
| .................... while(true); |
| 0253: GOTO 253 |
| .................... } |
| 0254: GOTO 1DB |
| .................... } |
| 0255: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.PJT |
|---|
| 0,0 → 1,41 |
| [PROJECT] |
| Target=main.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [main.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=main.c |
| [Windows] |
| 0=0000 main.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| 4= |
| 5= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c (main) |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.SYM |
|---|
| 0,0 → 1,83 |
| 015 CCP_1_LOW |
| 015-016 CCP_1 |
| 016 CCP_1_HIGH |
| 020 @CURRENT_TASK |
| 021 sensors |
| 022 line |
| 023 uhel |
| 024 rovinka |
| 025-026 Lmotor |
| 027-028 Rmotor |
| 029-02F @TASKINFO1_2_2_0_0 |
| 030-036 @TASKINFO2_2_2_0_0 |
| 037-038 main.i |
| 039 main.last |
| 03A diag.n |
| 03C zatoc.n |
| 03D @delay_ms1.P1 |
| 03E-03F rizeni.n |
| 040 rizeni.i |
| 041 rizeni.@SCRATCH |
| 042 @delay_us1.P1 |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 000C @delay_ms1 |
| 0024 @delay_us1 |
| 0034 zatoc |
| 016A diag |
| 0051 rizeni |
| 0182 main |
| 0004 @const10176 |
| 0182 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| C:\Program Files\PICC\devices\16F88.h |
| Units: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c (main) |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Task Schedule: |
| 2, ms zatoc |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| 1, ms rizeni |
| Sync to next 2, ms |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.hex |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.sym |
| List: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.sta |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.c |
|---|
| 0,0 → 1,275 |
| #include ".\main.h" |
| #use rtos (timer=2, minor_cycle=2ms) |
| #define STRED 128 // sredni poloha zadniho kolecka |
| #define BEAR1 12 // 3 stupne zataceni |
| #define BEAR2 34 |
| #define BEAR3 70 |
| #define SPEEDMAX 120 // maximalni rychlost |
| #define L 1 |
| #define S 2 |
| #define R 0 |
| // servo |
| #define SERVO PIN_A2 |
| // IR |
| #define IRTX PIN_B2 |
| //motory |
| #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred |
| #define FL output_low(PIN_A1); output_high(PIN_A0) |
| #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad |
| #define BL output_low(PIN_A0); output_high(PIN_A1) |
| #define STOPR output_low(PIN_A6);output_low(PIN_A7) |
| #define STOPL output_low(PIN_A0);output_low(PIN_A1) |
| //HID |
| #define LED1 PIN_B1 //oranzova |
| #define LED2 PIN_B2 //zluta |
| #define STROBE PIN_B0 |
| //#define SW1 PIN_A2 // Motory On/off |
| unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| unsigned int8 line; // na ktere strane byla detekovana cara |
| //unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| unsigned int8 uhel; // urcuje aktualni uhel zataceni |
| //unsigned int8 speed; // maximalni povolena rychlost |
| unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
| signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| signed int16 Rmotor; // a pravem motoru |
| // makro pro PWM |
| #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| {direction##motor;} else {stop##motor;} |
| //////////////////////////////////////////////////////////////////////////////// |
| //////////////////////////////////////////////////////////////////////////////// |
| /* |
| void diagnostika() |
| { |
| if(input(SW1))STOPR;STOPL;While(TRUE); |
| // if(LSENSOR==true) output_high(LED2); else output_low(LED2); |
| // if(RSENSOR==true) output_high(LED1); else output_low(LED1); |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| #task (rate=18ms,max=2ms) |
| void zatoc() // ridi servo ktere otaci kolem |
| { |
| unsigned int8 n; |
| output_high(SERVO); |
| delay_us(1100); |
| for(n=uhel; n>0; n--); |
| output_low(SERVO); |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void diag() // ridi servo ktere otaci kolem |
| { |
| unsigned int8 n; |
| output_high(SERVO); |
| delay_us(1100); |
| for(n=uhel; n>0; n--); |
| output_low(SERVO); |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| short int IRcheck() // potvrdi detekci cihly |
| { |
| output_high(IRTX); // vypne vysilac IR |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| output_high(STROBE); |
| if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| { |
| output_low(IRTX); // zapne vysilac IR |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| output_high(STROBE); |
| if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| { |
| output_high(IRTX); // vypne vysilac IR |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| output_high(STROBE); |
| if(bit_test(sensors,7)) return 1; // |
| else return 0; // vrat 0 kdyz je ruseni |
| } |
| else return 0; // vrat 0 kdyz to nebyla cihla |
| } |
| else return 0; // vrat 0 kdyz je detekovano ruseni |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void ojizdka() |
| { |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| /* |
| #task (rate=4ms, max=20us) |
| void rychlost() |
| { |
| if(speed<255) speed++; |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| #task (rate=2ms, max=1ms) |
| void rizeni() |
| { |
| unsigned int16 n; |
| unsigned int8 i; |
| GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory |
| delay_us(500); |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); |
| i=0; // havarijni kod |
| for (n=0; n<=6; n++) |
| { |
| if(bit_test(sensors,n)) i++; |
| } |
| if (i>3) rtos_terminate(); // zastavi, kdyz je cerno pod vice nez tremi cidly |
| if(bit_test(sensors,3)) //...|...// |
| { |
| uhel=STRED; |
| Lmotor=SPEEDMAX; |
| Rmotor=SPEEDMAX; |
| line=S; |
| if (rovinka<255) rovinka++; |
| return; |
| } |
| if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| { |
| uhel=STRED-BEAR3; |
| Lmotor=0; |
| Rmotor=SPEEDMAX; |
| line=L; |
| return; |
| } |
| if(bit_test(sensors,6)) //......|// |
| { |
| uhel=STRED+BEAR3; |
| Rmotor=0; |
| Lmotor=SPEEDMAX; |
| line=R; |
| return; |
| } |
| if(bit_test(sensors,1)) //.|.....// |
| { |
| uhel=STRED-BEAR2; |
| Lmotor=SPEEDMAX-50; |
| Rmotor=SPEEDMAX; |
| line=S; |
| return; |
| } |
| if(bit_test(sensors,5)) //.....|.// |
| { |
| uhel=STRED+BEAR2; |
| Rmotor=SPEEDMAX-50; |
| Lmotor=SPEEDMAX; |
| line=S; |
| return; |
| } |
| if (bit_test(sensors,2)) //..|....// |
| { |
| uhel=STRED-BEAR1; |
| Lmotor=SPEEDMAX; |
| Rmotor=SPEEDMAX; |
| line=S; |
| if (rovinka<255) rovinka++; |
| return; |
| } |
| if (bit_test(sensors,4)) //....|..// |
| { |
| uhel=STRED+BEAR1; |
| Rmotor=SPEEDMAX; |
| Lmotor=SPEEDMAX; |
| line=S; |
| if (rovinka<255) rovinka++; |
| return; |
| } |
| if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate |
| { |
| if (rovinka>250) |
| { |
| BL; BR; |
| for(n=1; n<(60); n++) {rtos_yield(); delay_us(500);}; |
| }; |
| rovinka=0; |
| } |
| if(bit_test(sensors,7)) // zjisti jestli neni cihla |
| { |
| rtos_terminate(); |
| } |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int16 i; |
| unsigned int8 last; |
| setup_adc_ports(NO_ANALOGS); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| STOPR; STOPL; // zastav motory |
| Lmotor=0;Rmotor=0; |
| uhel=STRED; // nastav zadni kolecko na stred |
| rovinka=0; |
| output_low(IRTX); // zapni IR vysilac |
| for(i=0;i<100;i++) // pockej, nez se zadni kolecko vystredi |
| { |
| diag(); |
| delay_ms(16); |
| } |
| // diagnostika(); |
| while(true) |
| { |
| rtos_run(); |
| STOPR; |
| STOPL; |
| If(IRcheck()) objizdka(); |
| while(true); |
| } |
| } |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.err |
|---|
| 0,0 → 1,2 |
| No Errors |
| 0 Errors, 0 Warnings. |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES INTRC_IO |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //Reset when brownout detected |
| #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18) |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor enabled |
| #FUSES NOIESO //Internal External Switch Over mode enabled |
| #use delay(clock=8000000,RESTART_WDT) |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.sta |
|---|
| 0,0 → 1,34 |
| ROM used: 598 (15%) |
| 598 (15%) including unused fragments |
| 1 Average locations per line |
| 4 Average locations per statement |
| RAM used: 31 (18%) at main() level |
| 40 (23%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 269 160 100 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| 19 0 0 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| 279 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 1134 320 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 24 4 1 @delay_ms1 |
| 0 16 3 1 @delay_us1 |
| 0 29 5 1 zatoc |
| 0 24 4 1 diag |
| 0 281 47 4 rizeni |
| 0 212 35 3 main |
| 0 8 1 0 @const10176 |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 594 1450 |
| 00800-00FFF 0 2048 |
| /roboti/3Orbis/bak/04 posledni RTOS/main/main.tre |
|---|
| 0,0 → 1,15 |
| ÀÄmain |
| ÃÄmain 0/212 Ram=3 |
| ³ ÃÄ??0?? |
| ³ ÃÄdiag 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/16 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@const10176 0/8 Ram=0 |
| ³ ÀÄ@const10176 0/8 Ram=0 |
| ÃÄzatoc 0/29 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÀÄ@delay_us1 0/16 Ram=1 |
| ÀÄrizeni 0/281 Ram=4 |
| ÃÄ@delay_us1 0/16 Ram=1 |
| ÀÄ@delay_us1 0/16 Ram=1 |