| 0,0 → 1,454 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 16-IV-06 23:31 |
| |
| 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 50 // 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 32 |
| 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 |