| 27,351 → 27,288 |
|---|
| Function receive() As Byte |
| |
| If ( (rcsta.OERR = 1) ) Then |
| 020E A2AB BTFSS gbl_rcsta,1 |
| 0210 D002 BRA label268438550 |
| 0216 label268438550 |
| 0204 A2AB BTFSS gbl_rcsta,1 |
| 0206 D002 BRA label268438550 |
| 020C label268438550 |
| |
| rcsta.CREN = 0 |
| 0212 98AB BCF gbl_rcsta,4 |
| 0208 98AB BCF gbl_rcsta,4 |
| |
| rcsta.CREN = 1 |
| 0214 88AB BSF gbl_rcsta,4 |
| 020A 88AB BSF gbl_rcsta,4 |
| |
| End If |
| Do While (pir1.RCIF = 0) |
| 0216 AA9E BTFSS gbl_pir1,5 |
| 0218 D7FE BRA label268438550 |
| 020C AA9E BTFSS gbl_pir1,5 |
| 020E D7FE BRA label268438550 |
| |
| Loop |
| receive = rcreg |
| 021A 50AE MOVF gbl_rcreg, W |
| 021C 6E0A MOVWF CompTempVarRet489 |
| 0210 50AE MOVF gbl_rcreg, W |
| 0212 6E07 MOVWF CompTempVarRet489 |
| |
| |
| End Function |
| 021E 0012 RETURN |
| 0214 0012 RETURN |
| |
| |
| Sub send(c As Byte) |
| |
| Do while (pir1 & (1 << TXIF)) = 0 Loop |
| 0204 label268438561 |
| 0204 A89E BTFSS gbl_pir1,4 |
| 0206 D7FE BRA label268438561 |
| 0216 label268438561 |
| 0216 A89E BTFSS gbl_pir1,4 |
| 0218 D7FE BRA label268438561 |
| |
| txreg = c |
| 0208 500A MOVF send_00000_arg_c, W |
| 020A 6EAD MOVWF gbl_txreg |
| 021A 5004 MOVF send_00000_arg_c, W |
| 021C 6EAD MOVWF gbl_txreg |
| |
| End Sub |
| 020C 0012 RETURN |
| 021E 0012 RETURN |
| |
| |
| Sub delay(cas As Byte) |
| |
| Dim i As Byte |
| Dim x As Byte |
| Do while i <= cas |
| 0220 label268438570 |
| 0220 5005 MOVF delay_00000_1_i, W |
| 0222 5C04 SUBWF delay_00000_arg_cas, W |
| 0224 A0D8 BTFSS STATUS,C |
| |
| Do While x <= 100 |
| 0228 5006 MOVF delay_00000_1_x, W |
| 022A 0864 SUBLW 0x64 |
| 022C E305 BNC label268438574 |
| |
| Call receive() |
| 022E EC02F001 CALL receive_00000 |
| |
| x=x+1 |
| 0232 2806 INCF delay_00000_1_x, W |
| 0234 6E06 MOVWF delay_00000_1_x |
| |
| loop |
| 0236 D7F8 BRA label4026532417 |
| 0238 label268438574 |
| |
| i=i+1 |
| 0238 2805 INCF delay_00000_1_i, W |
| 023A 6E05 MOVWF delay_00000_1_i |
| |
| loop |
| 023C D7F1 BRA label268438570 |
| |
| |
| End Sub |
| 0226 0012 RETURN |
| 0228 label4026532417 |
| |
| |
| Sub main() |
| |
| Dim motors As Byte |
| Dim sensors As Byte |
| Dim leds As Byte |
| Dim leds1 As Byte |
| Dim buttons As Byte |
| Dim i As Long |
| |
| 'NASTAVENI IO |
| lata=0xFF |
| 0220 6889 SETF gbl_lata |
| 023E 6889 SETF gbl_lata |
| |
| latb=0 |
| 0222 6A8A CLRF gbl_latb |
| 0240 6A8A CLRF gbl_latb |
| |
| latc=0xFF |
| 0224 688B SETF gbl_latc |
| 0242 688B SETF gbl_latc |
| |
| trisa=0xF0 |
| 0226 0EF0 MOVLW 0xF0 |
| 0228 6E92 MOVWF gbl_trisa |
| 0244 0EF0 MOVLW 0xF0 |
| 0246 6E92 MOVWF gbl_trisa |
| |
| trisb=0x3F |
| 022A 0E3F MOVLW 0x3F |
| 022C 6E93 MOVWF gbl_trisb |
| 0248 0E3F MOVLW 0x3F |
| 024A 6E93 MOVWF gbl_trisb |
| |
| trisc=0x9F |
| 022E 0E9F MOVLW 0x9F |
| 0230 6E94 MOVWF gbl_trisc |
| 024C 0E9F MOVLW 0x9F |
| 024E 6E94 MOVWF gbl_trisc |
| |
| |
| 'VYPNOUT ADC |
| adcon1=0xC6 |
| 0232 0EC6 MOVLW 0xC6 |
| 0234 6EC1 MOVWF gbl_adcon1 |
| 0250 0EC6 MOVLW 0xC6 |
| 0252 6EC1 MOVWF gbl_adcon1 |
| |
| adcon0=0xC0 |
| 0236 0EC0 MOVLW 0xC0 |
| 0238 6EC2 MOVWF gbl_adcon0 |
| 0254 0EC0 MOVLW 0xC0 |
| 0256 6EC2 MOVWF gbl_adcon0 |
| |
| |
| 'UART 9600bps |
| spbrg=64 |
| 023A 0E40 MOVLW 0x40 |
| 023C 6EAF MOVWF gbl_spbrg |
| 0258 0E40 MOVLW 0x40 |
| 025A 6EAF MOVWF gbl_spbrg |
| |
| txsta = txsta & ~(1 << BRGH) |
| 023E 0EFB MOVLW 0xFB |
| 0240 14AC ANDWF gbl_txsta, W |
| 0242 6EAC MOVWF gbl_txsta |
| 025C 0EFB MOVLW 0xFB |
| 025E 14AC ANDWF gbl_txsta, W |
| 0260 6EAC MOVWF gbl_txsta |
| |
| txsta = txsta | (1 << TXEN) |
| 0244 0E20 MOVLW 0x20 |
| 0246 10AC IORWF gbl_txsta, W |
| 0248 6EAC MOVWF gbl_txsta |
| 0262 0E20 MOVLW 0x20 |
| 0264 10AC IORWF gbl_txsta, W |
| 0266 6EAC MOVWF gbl_txsta |
| |
| rcsta = rcsta | (1 << CREN) |
| 024A 0E10 MOVLW 0x10 |
| 024C 10AB IORWF gbl_rcsta, W |
| 024E 6EAB MOVWF gbl_rcsta |
| 0268 0E10 MOVLW 0x10 |
| 026A 10AB IORWF gbl_rcsta, W |
| 026C 6EAB MOVWF gbl_rcsta |
| |
| rcsta = rcsta | (1 << SPEN) |
| 0250 0E80 MOVLW 0x80 |
| 0252 10AB IORWF gbl_rcsta, W |
| 0254 6EAB MOVWF gbl_rcsta |
| 026E 0E80 MOVLW 0x80 |
| 0270 10AB IORWF gbl_rcsta, W |
| 0272 6EAB MOVWF gbl_rcsta |
| |
| |
| motors = 0x00 |
| 0274 6A01 CLRF main_1_motors |
| |
| |
| leds = 0xFF |
| 0256 6803 SETF main_1_leds |
| lata = 0x0E |
| 0276 0E0E MOVLW 0x0E |
| 0278 6E89 MOVWF gbl_lata |
| |
| leds1 = 0x0F |
| 0258 0E0F MOVLW 0x0F |
| 025A 6E04 MOVWF main_1_leds1 |
| Call delay(200) |
| 027A 0EC8 MOVLW 0xC8 |
| 027C 6E04 MOVWF delay_00000_arg_cas |
| 027E EC10F001 CALL delay_00000 |
| |
| lata = 0x0D |
| 0282 0E0D MOVLW 0x0D |
| 0284 6E89 MOVWF gbl_lata |
| |
| motors = 0x00 |
| 025C 6A01 CLRF main_1_motors |
| Call delay(200) |
| 0286 0EC8 MOVLW 0xC8 |
| 0288 6E04 MOVWF delay_00000_arg_cas |
| 028A EC10F001 CALL delay_00000 |
| |
| |
| Do while 1 |
| 025E label268438595 |
| lata = 0x0B |
| 028E 0E0B MOVLW 0x0B |
| 0290 6E89 MOVWF gbl_lata |
| |
| |
| buttons = portb |
| 025E 5081 MOVF gbl_portb, W |
| 0260 6E05 MOVWF main_1_buttons |
| Call delay(200) |
| 0292 0EC8 MOVLW 0xC8 |
| 0294 6E04 MOVWF delay_00000_arg_cas |
| 0296 EC10F001 CALL delay_00000 |
| |
| |
| If (buttons.1)=0 Then |
| 0262 B205 BTFSC main_1_buttons,1 |
| 0264 D022 BRA label268438598 |
| 02AA label268438598 |
| lata = 0x07 |
| 029A 0E07 MOVLW 0x07 |
| 029C 6E89 MOVWF gbl_lata |
| |
| i=0 |
| 0266 6A06 CLRF main_1_i |
| 0268 6A07 CLRF main_1_i+D'1' |
| 026A 6A08 CLRF main_1_i+D'2' |
| 026C 6A09 CLRF main_1_i+D'3' |
| Call delay(200) |
| 029E 0EC8 MOVLW 0xC8 |
| 02A0 6E04 MOVWF delay_00000_arg_cas |
| 02A2 EC10F001 CALL delay_00000 |
| |
| leds1 = leds1 - 1 |
| 026E 0404 DECF main_1_leds1, W |
| 0270 6E04 MOVWF main_1_leds1 |
| |
| lata = leds1 |
| 0272 5004 MOVF main_1_leds1, W |
| 0274 6E89 MOVWF gbl_lata |
| motors = 0x77 |
| 02A6 0E77 MOVLW 0x77 |
| 02A8 6E01 MOVWF main_1_motors |
| |
| Do while i <= 500000 |
| 0276 label268438603 |
| 0276 5009 MOVF main_1_i+D'3', W |
| 0278 0800 SUBLW 0x00 |
| 027A E108 BNZ label268438604 |
| 027C 5008 MOVF main_1_i+D'2', W |
| 027E 0807 SUBLW 0x07 |
| 0280 E105 BNZ label268438604 |
| 0282 5007 MOVF main_1_i+D'1', W |
| 0284 08A1 SUBLW 0xA1 |
| 0286 E102 BNZ label268438604 |
| 0288 5006 MOVF main_1_i, W |
| 028A 0820 SUBLW 0x20 |
| 028C label268438604 |
| 028C E202 BC label4026532463 |
| 028E AE09 BTFSS main_1_i+D'3',7 |
| 0290 D008 BRA label268438608 |
| 0292 label4026532463 |
| |
| i=i+1 |
| 0292 2A06 INCF main_1_i, F |
| 0294 B4D8 BTFSC STATUS,Z |
| 0296 2A07 INCF main_1_i+D'1', F |
| 0298 B4D8 BTFSC STATUS,Z |
| 029A 2A08 INCF main_1_i+D'2', F |
| 029C B4D8 BTFSC STATUS,Z |
| 029E 2A09 INCF main_1_i+D'3', F |
| Call delay(100) |
| 02AA 0E64 MOVLW 0x64 |
| 02AC 6E04 MOVWF delay_00000_arg_cas |
| 02AE EC10F001 CALL delay_00000 |
| |
| loop |
| 02A0 D7EA BRA label268438603 |
| 02A2 label268438608 |
| |
| motors = motors + 0x11 |
| 02A2 0E11 MOVLW 0x11 |
| 02A4 2401 ADDWF main_1_motors, W |
| 02A6 6E01 MOVWF main_1_motors |
| |
| |
| elseif (buttons.4)=0 Then |
| 02A8 D023 BRA label268438619 |
| 02AA B805 BTFSC main_1_buttons,4 |
| 02AC D021 BRA label268438619 |
| 02F0 label268438619 |
| Do while 1 |
| 02B2 label268438640 |
| |
| i=0 |
| 02AE 6A06 CLRF main_1_i |
| 02B0 6A07 CLRF main_1_i+D'1' |
| 02B2 6A08 CLRF main_1_i+D'2' |
| 02B4 6A09 CLRF main_1_i+D'3' |
| |
| leds1 = leds1 + 1 |
| 02B6 2804 INCF main_1_leds1, W |
| 02B8 6E04 MOVWF main_1_leds1 |
| sensors =0xFF |
| 02B2 6802 SETF main_1_sensors |
| |
| lata = leds1 |
| 02BA 5004 MOVF main_1_leds1, W |
| 02BC 6E89 MOVWF gbl_lata |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| 02B4 EC02F001 CALL receive_00000 |
| 02B8 5007 MOVF CompTempVarRet489, W |
| 02BA 6E02 MOVWF main_1_sensors |
| |
| Do while i <= 500000 |
| 02BE label268438624 |
| 02BE 5009 MOVF main_1_i+D'3', W |
| 02C0 0800 SUBLW 0x00 |
| 02C2 E108 BNZ label268438625 |
| 02C4 5008 MOVF main_1_i+D'2', W |
| 02C6 0807 SUBLW 0x07 |
| 02C8 E105 BNZ label268438625 |
| 02CA 5007 MOVF main_1_i+D'1', W |
| 02CC 08A1 SUBLW 0xA1 |
| 02CE E102 BNZ label268438625 |
| 02D0 5006 MOVF main_1_i, W |
| 02D2 0820 SUBLW 0x20 |
| 02D4 label268438625 |
| 02D4 E202 BC label4026532468 |
| 02D6 AE09 BTFSS main_1_i+D'3',7 |
| 02D8 D008 BRA label268438629 |
| 02DA label4026532468 |
| |
| i=i+1 |
| 02DA 2A06 INCF main_1_i, F |
| 02DC B4D8 BTFSC STATUS,Z |
| 02DE 2A07 INCF main_1_i+D'1', F |
| 02E0 B4D8 BTFSC STATUS,Z |
| 02E2 2A08 INCF main_1_i+D'2', F |
| 02E4 B4D8 BTFSC STATUS,Z |
| 02E6 2A09 INCF main_1_i+D'3', F |
| |
| loop |
| 02E8 D7EA BRA label268438624 |
| 02EA label268438629 |
| |
| motors = motors - 0x11 |
| 02EA 0E11 MOVLW 0x11 |
| 02EC 5C01 SUBWF main_1_motors, W |
| 02EE 6E01 MOVWF main_1_motors |
| |
| End If |
| |
| leds = 0xFF |
| 02F0 6803 SETF main_1_leds |
| If (!((sensors.0) and (sensors.1))) Then |
| 02BC 6A03 CLRF CompTempVar491 |
| 02BE A202 BTFSS main_1_sensors,1 |
| 02C0 D003 BRA label268438645 |
| 02C2 A002 BTFSS main_1_sensors,0 |
| 02C4 D001 BRA label268438645 |
| 02C6 2A03 INCF CompTempVar491, F |
| 02C8 label268438645 |
| 02C8 5203 MOVF CompTempVar491, F |
| 02CA E102 BNZ label268438646 |
| 02D0 label268438646 |
| |
| sensors =0xFF |
| 02F2 6802 SETF main_1_sensors |
| motors = 0x77 |
| 02CC 0E77 MOVLW 0x77 |
| 02CE 6E01 MOVWF main_1_motors |
| |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| 02F4 EC07F001 CALL receive_00000 |
| 02F8 500A MOVF CompTempVarRet489, W |
| 02FA 6E02 MOVWF main_1_sensors |
| End If |
| |
| If (!(sensors.2)) Then |
| 02D0 B402 BTFSC main_1_sensors,2 |
| 02D2 D002 BRA label268438649 |
| 02D8 label268438649 |
| |
| 'Bity v bajtu sensors |
| 'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI |
| 'prislusny bit v nule znamena aktivni senzor |
| If (sensors.0)=0 Then |
| 02FC B002 BTFSC main_1_sensors,0 |
| 02FE D003 BRA label268438643 |
| 0306 label268438643 |
| motors = 0xF7 |
| 02D4 0EF7 MOVLW 0xF7 |
| 02D6 6E01 MOVWF main_1_motors |
| |
| 'pravy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 1) 'led sviti, kdyz se ji bit znuluje |
| 0300 0EFD MOVLW 0xFD |
| 0302 1403 ANDWF main_1_leds, W |
| 0304 6E03 MOVWF main_1_leds |
| |
| End If |
| End If |
| |
| If (sensors.1)=0 Then |
| 0306 B202 BTFSC main_1_sensors,1 |
| 0308 D003 BRA label268438646 |
| 0310 label268438646 |
| If (!(sensors.3)) Then |
| 02D8 B602 BTFSC main_1_sensors,3 |
| 02DA D002 BRA label268438652 |
| 02E0 label268438652 |
| |
| 'levy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 2) 'led sviti, kdyz se ji bit znuluje |
| 030A 0EFB MOVLW 0xFB |
| 030C 1403 ANDWF main_1_leds, W |
| 030E 6E03 MOVWF main_1_leds |
| motors = 0x7F |
| 02DC 0E7F MOVLW 0x7F |
| 02DE 6E01 MOVWF main_1_motors |
| |
| End If |
| End If |
| |
| lata = sensors |
| 02E0 5002 MOVF main_1_sensors, W |
| 02E2 6E89 MOVWF gbl_lata |
| |
| If (sensors.2)=0 Then |
| 0310 B402 BTFSC main_1_sensors,2 |
| 0312 D003 BRA label268438649 |
| 031A label268438649 |
| call send(motors) |
| 02E4 5001 MOVF main_1_motors, W |
| 02E6 6E04 MOVWF send_00000_arg_c |
| 02E8 EC0BF001 CALL send_00000 |
| |
| 'pravy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 0) 'led sviti, kdyz se ji bit znuluje |
| 0314 0EFE MOVLW 0xFE |
| 0316 1403 ANDWF main_1_leds, W |
| 0318 6E03 MOVWF main_1_leds |
| |
| End If |
| |
| If (sensors.3)=0 Then |
| 031A B602 BTFSC main_1_sensors,3 |
| 031C D003 BRA label268438652 |
| 0324 label268438652 |
| Loop |
| 02EC D7E2 BRA label268438640 |
| |
| 'levy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 3) 'led sviti, kdyz se ji bit znuluje |
| 031E 0EF7 MOVLW 0xF7 |
| 0320 1403 ANDWF main_1_leds, W |
| 0322 6E03 MOVWF main_1_leds |
| |
| End Sub |
| |
| End If |
| |
| |
| lata = leds |
| 0324 5003 MOVF main_1_leds, W |
| 0326 6E89 MOVWF gbl_lata |
| |
| call send(motors) |
| 0328 5001 MOVF main_1_motors, W |
| 032A 6E0A MOVWF send_00000_arg_c |
| 032C EC02F001 CALL send_00000 |
| //////////////////////////////////////// |
| // Code with no source :-) |
| //////////////////////////////////////// |
| 0200 EF77F001 GOTO _startup |
| |
| |
| |
| Loop |
| 0330 D796 BRA label268438595 |
| |
| |
| |
| End Sub |
| |
| |
| //////////////////////////////////////// |
| // Code with no source :-) |
| //////////////////////////////////////// |
| 0200 EF99F001 GOTO _startup |
| |
| 02EE _startup |
| 02EE EF1FF001 GOTO main |
| |
| 0332 _startup |
| 0332 EF10F001 GOTO main |
| |
| 300000 FEFF DW 0xFEFF |
| 300002 FEF6 DW 0xFEF6 |
| 300004 FEFF DW 0xFEFF |