0,0 → 1,381 |
;///////////////////////////////////////////////////////////////////////////////// |
;// Code Generator: BoostBasic Compiler - http://www.sourceboost.com |
;// Version : 6.70 |
;// License Type : Pro License |
;// Limitations : PIC18 max code size:Unlimited, max RAM banks:Unlimited |
;///////////////////////////////////////////////////////////////////////////////// |
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'robot |
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'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H |
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#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H |
#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L |
#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H |
#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H |
#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L |
#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L |
#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H |
#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L |
#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H |
#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L |
#pragma DATA _CONFIG7H, _EBTRB_ON_7H |
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#pragma CLOCK_FREQ 40000000 |
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Function receive() As Byte |
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If ( (rcsta.OERR = 1) ) Then |
020E A2AB BTFSS gbl_rcsta,1 |
0210 D002 BRA label268438550 |
0216 label268438550 |
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rcsta.CREN = 0 |
0212 98AB BCF gbl_rcsta,4 |
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rcsta.CREN = 1 |
0214 88AB BSF gbl_rcsta,4 |
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End If |
Do While (pir1.RCIF = 0) |
0216 AA9E BTFSS gbl_pir1,5 |
0218 D7FE BRA label268438550 |
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Loop |
receive = rcreg |
021A 50AE MOVF gbl_rcreg, W |
021C 6E0A MOVWF CompTempVarRet489 |
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End Function |
021E 0012 RETURN |
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Sub send(c As Byte) |
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Do while (pir1 & (1 << TXIF)) = 0 Loop |
0204 label268438561 |
0204 A89E BTFSS gbl_pir1,4 |
0206 D7FE BRA label268438561 |
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txreg = c |
0208 500A MOVF send_00000_arg_c, W |
020A 6EAD MOVWF gbl_txreg |
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End Sub |
020C 0012 RETURN |
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Sub main() |
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Dim motors As Byte |
Dim sensors As Byte |
Dim leds As Byte |
Dim leds1 As Byte |
Dim buttons As Byte |
Dim i As Long |
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'NASTAVENI IO |
lata=0xFF |
0220 6889 SETF gbl_lata |
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latb=0 |
0222 6A8A CLRF gbl_latb |
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latc=0xFF |
0224 688B SETF gbl_latc |
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trisa=0xF0 |
0226 0EF0 MOVLW 0xF0 |
0228 6E92 MOVWF gbl_trisa |
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trisb=0x3F |
022A 0E3F MOVLW 0x3F |
022C 6E93 MOVWF gbl_trisb |
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trisc=0x9F |
022E 0E9F MOVLW 0x9F |
0230 6E94 MOVWF gbl_trisc |
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'VYPNOUT ADC |
adcon1=0xC6 |
0232 0EC6 MOVLW 0xC6 |
0234 6EC1 MOVWF gbl_adcon1 |
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adcon0=0xC0 |
0236 0EC0 MOVLW 0xC0 |
0238 6EC2 MOVWF gbl_adcon0 |
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'UART 9600bps |
spbrg=64 |
023A 0E40 MOVLW 0x40 |
023C 6EAF MOVWF gbl_spbrg |
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txsta = txsta & ~(1 << BRGH) |
023E 0EFB MOVLW 0xFB |
0240 14AC ANDWF gbl_txsta, W |
0242 6EAC MOVWF gbl_txsta |
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txsta = txsta | (1 << TXEN) |
0244 0E20 MOVLW 0x20 |
0246 10AC IORWF gbl_txsta, W |
0248 6EAC MOVWF gbl_txsta |
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rcsta = rcsta | (1 << CREN) |
024A 0E10 MOVLW 0x10 |
024C 10AB IORWF gbl_rcsta, W |
024E 6EAB MOVWF gbl_rcsta |
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rcsta = rcsta | (1 << SPEN) |
0250 0E80 MOVLW 0x80 |
0252 10AB IORWF gbl_rcsta, W |
0254 6EAB MOVWF gbl_rcsta |
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leds = 0xFF |
0256 6803 SETF main_1_leds |
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leds1 = 0x0F |
0258 0E0F MOVLW 0x0F |
025A 6E04 MOVWF main_1_leds1 |
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motors = 0x00 |
025C 6A01 CLRF main_1_motors |
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Do while 1 |
025E label268438595 |
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buttons = portb |
025E 5081 MOVF gbl_portb, W |
0260 6E05 MOVWF main_1_buttons |
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If (buttons.1)=0 Then |
0262 B205 BTFSC main_1_buttons,1 |
0264 D022 BRA label268438598 |
02AA label268438598 |
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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' |
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leds1 = leds1 - 1 |
026E 0404 DECF main_1_leds1, W |
0270 6E04 MOVWF main_1_leds1 |
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lata = leds1 |
0272 5004 MOVF main_1_leds1, W |
0274 6E89 MOVWF gbl_lata |
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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 |
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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 |
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loop |
02A0 D7EA BRA label268438603 |
02A2 label268438608 |
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motors = motors + 0x11 |
02A2 0E11 MOVLW 0x11 |
02A4 2401 ADDWF main_1_motors, W |
02A6 6E01 MOVWF main_1_motors |
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elseif (buttons.4)=0 Then |
02A8 D023 BRA label268438619 |
02AA B805 BTFSC main_1_buttons,4 |
02AC D021 BRA label268438619 |
02F0 label268438619 |
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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' |
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leds1 = leds1 + 1 |
02B6 2804 INCF main_1_leds1, W |
02B8 6E04 MOVWF main_1_leds1 |
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lata = leds1 |
02BA 5004 MOVF main_1_leds1, W |
02BC 6E89 MOVWF gbl_lata |
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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 |
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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 |
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loop |
02E8 D7EA BRA label268438624 |
02EA label268438629 |
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motors = motors - 0x11 |
02EA 0E11 MOVLW 0x11 |
02EC 5C01 SUBWF main_1_motors, W |
02EE 6E01 MOVWF main_1_motors |
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End If |
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leds = 0xFF |
02F0 6803 SETF main_1_leds |
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sensors =0xFF |
02F2 6802 SETF main_1_sensors |
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sensors = Call receive() 'prijmi stav cidel senzoru |
02F4 EC07F001 CALL receive_00000 |
02F8 500A MOVF CompTempVarRet489, W |
02FA 6E02 MOVWF main_1_sensors |
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'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 |
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'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 |
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End If |
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If (sensors.1)=0 Then |
0306 B202 BTFSC main_1_sensors,1 |
0308 D003 BRA label268438646 |
0310 label268438646 |
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'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 |
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End If |
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If (sensors.2)=0 Then |
0310 B402 BTFSC main_1_sensors,2 |
0312 D003 BRA label268438649 |
031A label268438649 |
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'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 |
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End If |
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If (sensors.3)=0 Then |
031A B602 BTFSC main_1_sensors,3 |
031C D003 BRA label268438652 |
0324 label268438652 |
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'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 |
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End If |
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lata = leds |
0324 5003 MOVF main_1_leds, W |
0326 6E89 MOVWF gbl_lata |
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call send(motors) |
0328 5001 MOVF main_1_motors, W |
032A 6E0A MOVWF send_00000_arg_c |
032C EC02F001 CALL send_00000 |
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Loop |
0330 D796 BRA label268438595 |
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End Sub |
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//////////////////////////////////////// |
// Code with no source :-) |
//////////////////////////////////////// |
0200 EF99F001 GOTO _startup |
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0332 _startup |
0332 EF10F001 GOTO main |
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300000 FEFF DW 0xFEFF |
300002 FEF6 DW 0xFEF6 |
300004 FEFF DW 0xFEFF |
300006 FFFB DW 0xFFFB |
300008 3FF0 DW 0x3FF0 |
30000A 9FFF DW 0x9FFF |
30000C BFFF DW 0xBFFF |
Property changes: |
Added: svn:executable |
+* |
\ No newline at end of property |