| 0,0 → 1,780 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 01-IV-06 23:13 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| |
| ROM used: 582 words (14%) |
| Largest free fragment is 2048 |
| RAM used: 35 (20%) at main() level |
| 38 (22%) worst case |
| Stack: 3 worst case (1 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 18F |
| 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 BROWNOUT //Reset when brownout detected |
| .................... #FUSES LVP //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 FCMEN //Fail-safe clock monitor enabled |
| .................... #FUSES IESO //Internal External Switch Over mode enabled |
| .................... |
| .................... #use delay(clock=8000000,RESTART_WDT) |
| 000E: MOVLW 3F |
| 000F: MOVWF 04 |
| 0010: MOVF 00,W |
| 0011: BTFSC 03.2 |
| 0012: GOTO 025 |
| 0013: MOVLW 02 |
| 0014: MOVWF 78 |
| 0015: MOVLW BF |
| 0016: MOVWF 77 |
| 0017: CLRWDT |
| 0018: DECFSZ 77,F |
| 0019: GOTO 017 |
| 001A: DECFSZ 78,F |
| 001B: GOTO 015 |
| 001C: MOVLW 96 |
| 001D: MOVWF 77 |
| 001E: DECFSZ 77,F |
| 001F: GOTO 01E |
| 0020: NOP |
| 0021: NOP |
| 0022: CLRWDT |
| 0023: DECFSZ 00,F |
| 0024: GOTO 013 |
| 0025: BCF 0A.3 |
| 0026: GOTO 040 (RETURN) |
| 0027: MOVLW 08 |
| 0028: SUBWF 3F,F |
| 0029: BTFSS 03.0 |
| 002A: GOTO 036 |
| 002B: MOVLW 3F |
| 002C: MOVWF 04 |
| 002D: BCF 03.0 |
| 002E: RRF 00,F |
| 002F: MOVF 00,W |
| 0030: BTFSC 03.2 |
| 0031: GOTO 036 |
| 0032: GOTO 034 |
| 0033: CLRWDT |
| 0034: DECFSZ 00,F |
| 0035: GOTO 033 |
| 0036: BCF 0A.3 |
| 0037: GOTO 043 (RETURN) |
| .................... |
| .................... |
| .................... |
| .................... #use rtos (timer=2, minor_cycle=2ms) |
| .................... |
| .................... 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 |
| .................... |
| .................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| .................... signed int16 Rmotor; // a pravem motoru |
| .................... |
| .................... #define LMAX 190 // maximalni zatoceni doleva |
| .................... #define RMAX 60 // maximalni zatoceni doprava |
| .................... #define STRED 128 // sredni poloha zadniho kolecka |
| .................... |
| .................... // servo |
| .................... #define SERVO PIN_A2 |
| .................... |
| .................... //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 |
| .................... |
| .................... // 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=16ms,max=2ms) |
| .................... void zatoc() // ridi servo ktere otaci kolem |
| .................... { |
| .................... unsigned int8 n; |
| .................... output_high(SERVO); |
| 0038: BSF 03.5 |
| 0039: BCF 05.2 |
| 003A: BCF 03.5 |
| 003B: BSF 05.2 |
| .................... delay_us(1200); |
| 003C: CLRWDT |
| 003D: MOVLW 01 |
| 003E: MOVWF 3F |
| 003F: GOTO 00E |
| 0040: MOVLW C7 |
| 0041: MOVWF 3F |
| 0042: GOTO 027 |
| .................... for(n=uhel; n>0; n--); |
| 0043: MOVF 24,W |
| 0044: MOVWF 3E |
| 0045: MOVF 3E,F |
| 0046: BTFSC 03.2 |
| 0047: GOTO 04A |
| 0048: DECF 3E,F |
| 0049: GOTO 045 |
| .................... output_low(SERVO); |
| 004A: BSF 03.5 |
| 004B: BCF 05.2 |
| 004C: BCF 03.5 |
| 004D: BCF 05.2 |
| .................... } |
| 004E: MOVLW 38 |
| 004F: MOVWF 2E |
| 0050: MOVLW 00 |
| 0051: MOVWF 2F |
| 0052: BCF 0A.3 |
| 0053: GOTO 236 |
| 0054: RETLW 00 |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #task (rate=2ms, max=500us) |
| .................... void motory() // umoznuje nezavisle rizeni vykonu na obou motorech |
| .................... { |
| .................... |
| .................... if(Rmotor>0) //pravy motor |
| 0055: BTFSC 28.7 |
| 0056: GOTO 07D |
| 0057: MOVF 28,F |
| 0058: BTFSS 03.2 |
| 0059: GOTO 05E |
| 005A: MOVF 27,W |
| 005B: SUBLW 00 |
| 005C: BTFSC 03.0 |
| 005D: GOTO 07D |
| .................... { |
| .................... GO(R, F, Rmotor); |
| 005E: MOVF 01,W |
| 005F: BTFSS 00.7 |
| 0060: GOTO 064 |
| 0061: BTFSS 28.7 |
| 0062: GOTO 06C |
| 0063: GOTO 066 |
| 0064: BTFSC 28.7 |
| 0065: GOTO 075 |
| 0066: MOVF 28,F |
| 0067: BTFSS 03.2 |
| 0068: GOTO 06C |
| 0069: SUBWF 27,W |
| 006A: BTFSS 03.0 |
| 006B: GOTO 075 |
| 006C: BSF 03.5 |
| 006D: BCF 05.7 |
| 006E: BCF 03.5 |
| 006F: BCF 05.7 |
| 0070: BSF 03.5 |
| 0071: BCF 05.6 |
| 0072: BCF 03.5 |
| 0073: BSF 05.6 |
| 0074: GOTO 07D |
| 0075: BSF 03.5 |
| 0076: BCF 05.6 |
| 0077: BCF 03.5 |
| 0078: BCF 05.6 |
| 0079: BSF 03.5 |
| 007A: BCF 05.7 |
| 007B: BCF 03.5 |
| 007C: BCF 05.7 |
| .................... } |
| .................... |
| .................... if(Rmotor==0) STOPR; |
| 007D: MOVF 27,F |
| 007E: BTFSS 03.2 |
| 007F: GOTO 087 |
| 0080: MOVF 28,F |
| 0081: BTFSS 03.2 |
| 0082: GOTO 087 |
| 0083: BSF 03.5 |
| 0084: BCF 05.6 |
| 0085: BCF 03.5 |
| 0086: BCF 05.6 |
| 0087: BSF 03.5 |
| 0088: BCF 05.7 |
| 0089: BCF 03.5 |
| 008A: BCF 05.7 |
| .................... |
| .................... if(Rmotor<0) |
| 008B: BTFSS 28.7 |
| 008C: GOTO 0BD |
| .................... { |
| .................... GO(R, B, abs(Rmotor)); |
| 008D: MOVF 01,W |
| 008E: MOVWF 40 |
| 008F: MOVF 28,W |
| 0090: MOVWF 7A |
| 0091: MOVF 27,W |
| 0092: BTFSS 28.7 |
| 0093: GOTO 09D |
| 0094: MOVF 27,W |
| 0095: SUBLW 00 |
| 0096: MOVWF 77 |
| 0097: CLRF 7A |
| 0098: MOVF 28,W |
| 0099: BTFSS 03.0 |
| 009A: INCFSZ 28,W |
| 009B: SUBWF 7A,F |
| 009C: MOVF 77,W |
| 009D: MOVWF 78 |
| 009E: BTFSS 40.7 |
| 009F: GOTO 0A3 |
| 00A0: BTFSS 7A.7 |
| 00A1: GOTO 0AC |
| 00A2: GOTO 0A5 |
| 00A3: BTFSC 7A.7 |
| 00A4: GOTO 0B5 |
| 00A5: MOVF 7A,F |
| 00A6: BTFSS 03.2 |
| 00A7: GOTO 0AC |
| 00A8: MOVF 40,W |
| 00A9: SUBWF 78,W |
| 00AA: BTFSS 03.0 |
| 00AB: GOTO 0B5 |
| 00AC: BSF 03.5 |
| 00AD: BCF 05.6 |
| 00AE: BCF 03.5 |
| 00AF: BCF 05.6 |
| 00B0: BSF 03.5 |
| 00B1: BCF 05.7 |
| 00B2: BCF 03.5 |
| 00B3: BSF 05.7 |
| 00B4: GOTO 0BD |
| 00B5: BSF 03.5 |
| 00B6: BCF 05.6 |
| 00B7: BCF 03.5 |
| 00B8: BCF 05.6 |
| 00B9: BSF 03.5 |
| 00BA: BCF 05.7 |
| 00BB: BCF 03.5 |
| 00BC: BCF 05.7 |
| .................... } |
| .................... |
| .................... if(Lmotor>0) // levy motor |
| 00BD: BTFSC 26.7 |
| 00BE: GOTO 0E5 |
| 00BF: MOVF 26,F |
| 00C0: BTFSS 03.2 |
| 00C1: GOTO 0C6 |
| 00C2: MOVF 25,W |
| 00C3: SUBLW 00 |
| 00C4: BTFSC 03.0 |
| 00C5: GOTO 0E5 |
| .................... { |
| .................... GO(L, F, Lmotor); |
| 00C6: MOVF 01,W |
| 00C7: BTFSS 00.7 |
| 00C8: GOTO 0CC |
| 00C9: BTFSS 26.7 |
| 00CA: GOTO 0D4 |
| 00CB: GOTO 0CE |
| 00CC: BTFSC 26.7 |
| 00CD: GOTO 0DD |
| 00CE: MOVF 26,F |
| 00CF: BTFSS 03.2 |
| 00D0: GOTO 0D4 |
| 00D1: SUBWF 25,W |
| 00D2: BTFSS 03.0 |
| 00D3: GOTO 0DD |
| 00D4: BSF 03.5 |
| 00D5: BCF 05.1 |
| 00D6: BCF 03.5 |
| 00D7: BCF 05.1 |
| 00D8: BSF 03.5 |
| 00D9: BCF 05.0 |
| 00DA: BCF 03.5 |
| 00DB: BSF 05.0 |
| 00DC: GOTO 0E5 |
| 00DD: BSF 03.5 |
| 00DE: BCF 05.0 |
| 00DF: BCF 03.5 |
| 00E0: BCF 05.0 |
| 00E1: BSF 03.5 |
| 00E2: BCF 05.1 |
| 00E3: BCF 03.5 |
| 00E4: BCF 05.1 |
| .................... } |
| .................... |
| .................... if(Lmotor==0) STOPL; |
| 00E5: MOVF 25,F |
| 00E6: BTFSS 03.2 |
| 00E7: GOTO 0EF |
| 00E8: MOVF 26,F |
| 00E9: BTFSS 03.2 |
| 00EA: GOTO 0EF |
| 00EB: BSF 03.5 |
| 00EC: BCF 05.0 |
| 00ED: BCF 03.5 |
| 00EE: BCF 05.0 |
| 00EF: BSF 03.5 |
| 00F0: BCF 05.1 |
| 00F1: BCF 03.5 |
| 00F2: BCF 05.1 |
| .................... |
| .................... if(Lmotor<0) |
| 00F3: BTFSS 26.7 |
| 00F4: GOTO 125 |
| .................... { |
| .................... GO(L, B, abs(Lmotor)); |
| 00F5: MOVF 01,W |
| 00F6: MOVWF 40 |
| 00F7: MOVF 26,W |
| 00F8: MOVWF 7A |
| 00F9: MOVF 25,W |
| 00FA: BTFSS 26.7 |
| 00FB: GOTO 105 |
| 00FC: MOVF 25,W |
| 00FD: SUBLW 00 |
| 00FE: MOVWF 77 |
| 00FF: CLRF 7A |
| 0100: MOVF 26,W |
| 0101: BTFSS 03.0 |
| 0102: INCFSZ 26,W |
| 0103: SUBWF 7A,F |
| 0104: MOVF 77,W |
| 0105: MOVWF 78 |
| 0106: BTFSS 40.7 |
| 0107: GOTO 10B |
| 0108: BTFSS 7A.7 |
| 0109: GOTO 114 |
| 010A: GOTO 10D |
| 010B: BTFSC 7A.7 |
| 010C: GOTO 11D |
| 010D: MOVF 7A,F |
| 010E: BTFSS 03.2 |
| 010F: GOTO 114 |
| 0110: MOVF 40,W |
| 0111: SUBWF 78,W |
| 0112: BTFSS 03.0 |
| 0113: GOTO 11D |
| 0114: BSF 03.5 |
| 0115: BCF 05.0 |
| 0116: BCF 03.5 |
| 0117: BCF 05.0 |
| 0118: BSF 03.5 |
| 0119: BCF 05.1 |
| 011A: BCF 03.5 |
| 011B: BSF 05.1 |
| 011C: GOTO 125 |
| 011D: BSF 03.5 |
| 011E: BCF 05.0 |
| 011F: BCF 03.5 |
| 0120: BCF 05.0 |
| 0121: BSF 03.5 |
| 0122: BCF 05.1 |
| 0123: BCF 03.5 |
| 0124: BCF 05.1 |
| .................... } |
| .................... } |
| 0125: MOVLW 55 |
| 0126: MOVWF 35 |
| 0127: MOVLW 00 |
| 0128: MOVWF 36 |
| 0129: BCF 0A.3 |
| 012A: GOTO 236 |
| 012B: RETLW 00 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #task (rate=4ms, max=500us, queue=0) |
| .................... void rizeni() |
| .................... { |
| .................... rizeni: |
| .................... |
| .................... sensors = spi_read(0); // cteni senzoru na caru |
| 012C: MOVF 13,W |
| 012D: CLRF 13 |
| 012E: BSF 03.5 |
| 012F: BTFSC 14.0 |
| 0130: GOTO 133 |
| 0131: BCF 03.5 |
| 0132: GOTO 12E |
| 0133: BCF 03.5 |
| 0134: MOVF 13,W |
| 0135: MOVWF 21 |
| .................... output_high(STROBE); |
| 0136: BSF 03.5 |
| 0137: BCF 06.0 |
| 0138: BCF 03.5 |
| 0139: BSF 06.0 |
| .................... output_low(STROBE); |
| 013A: BSF 03.5 |
| 013B: BCF 06.0 |
| 013C: BCF 03.5 |
| 013D: BCF 06.0 |
| .................... |
| .................... if(bit_test(sensors,0)) //*......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 013E: BTFSS 21.0 |
| 013F: GOTO 148 |
| .................... { |
| .................... uhel=LMAX; |
| 0140: MOVLW BE |
| 0141: MOVWF 24 |
| .................... Lmotor=0;Rmotor=127; |
| 0142: CLRF 26 |
| 0143: CLRF 25 |
| 0144: CLRF 28 |
| 0145: MOVLW 7F |
| 0146: MOVWF 27 |
| .................... goto rizeni; |
| 0147: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,6)) //......*// |
| 0148: BTFSS 21.6 |
| 0149: GOTO 152 |
| .................... { |
| .................... uhel=RMAX; |
| 014A: MOVLW 3C |
| 014B: MOVWF 24 |
| .................... Rmotor=0;Lmotor=127; |
| 014C: CLRF 28 |
| 014D: CLRF 27 |
| 014E: CLRF 26 |
| 014F: MOVLW 7F |
| 0150: MOVWF 25 |
| .................... goto rizeni; |
| 0151: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,1)) //.*.....// |
| 0152: BTFSS 21.1 |
| 0153: GOTO 15D |
| .................... { |
| .................... uhel=STRED+30; |
| 0154: MOVLW 9E |
| 0155: MOVWF 24 |
| .................... Lmotor=70;Rmotor=127; |
| 0156: CLRF 26 |
| 0157: MOVLW 46 |
| 0158: MOVWF 25 |
| 0159: CLRF 28 |
| 015A: MOVLW 7F |
| 015B: MOVWF 27 |
| .................... goto rizeni; |
| 015C: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,5)) //.....*.// |
| 015D: BTFSS 21.5 |
| 015E: GOTO 168 |
| .................... { |
| .................... uhel=STRED-30; |
| 015F: MOVLW 62 |
| 0160: MOVWF 24 |
| .................... Rmotor=70;Lmotor=127; |
| 0161: CLRF 28 |
| 0162: MOVLW 46 |
| 0163: MOVWF 27 |
| 0164: CLRF 26 |
| 0165: MOVLW 7F |
| 0166: MOVWF 25 |
| .................... goto rizeni; |
| 0167: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,2)) //..*....// |
| 0168: BTFSS 21.2 |
| 0169: GOTO 173 |
| .................... { |
| .................... uhel=STRED+20; |
| 016A: MOVLW 94 |
| 016B: MOVWF 24 |
| .................... Lmotor=90;Rmotor=127; |
| 016C: CLRF 26 |
| 016D: MOVLW 5A |
| 016E: MOVWF 25 |
| 016F: CLRF 28 |
| 0170: MOVLW 7F |
| 0171: MOVWF 27 |
| .................... goto rizeni; |
| 0172: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,4)) //....*..// |
| 0173: BTFSS 21.4 |
| 0174: GOTO 17E |
| .................... { |
| .................... uhel=STRED-20; |
| 0175: MOVLW 6C |
| 0176: MOVWF 24 |
| .................... Rmotor=90;Lmotor=127; |
| 0177: CLRF 28 |
| 0178: MOVLW 5A |
| 0179: MOVWF 27 |
| 017A: CLRF 26 |
| 017B: MOVLW 7F |
| 017C: MOVWF 25 |
| .................... goto rizeni; |
| 017D: GOTO 12C |
| .................... } |
| .................... if(bit_test(sensors,3)) //...*...// |
| 017E: BTFSS 21.3 |
| 017F: GOTO 188 |
| .................... { |
| .................... uhel=STRED; |
| 0180: MOVLW 80 |
| 0181: MOVWF 24 |
| .................... Lmotor=100;Rmotor=100; |
| 0182: CLRF 26 |
| 0183: MOVLW 64 |
| 0184: MOVWF 25 |
| 0185: CLRF 28 |
| 0186: MOVWF 27 |
| .................... goto rizeni; |
| 0187: GOTO 12C |
| .................... } |
| .................... |
| .................... /*STOPL;STOPR; |
| .................... if(bit_test(sensors,7)) |
| .................... { |
| .................... |
| .................... }*/ |
| .................... } |
| 0188: MOVLW 2C |
| 0189: MOVWF 3C |
| 018A: MOVLW 01 |
| 018B: MOVWF 3D |
| 018C: BCF 0A.3 |
| 018D: GOTO 236 |
| 018E: RETLW 00 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 018F: CLRF 04 |
| 0190: MOVLW 1F |
| 0191: ANDWF 03,F |
| 0192: MOVLW 70 |
| 0193: BSF 03.5 |
| 0194: MOVWF 0F |
| 0195: BCF 1F.4 |
| 0196: BCF 1F.5 |
| 0197: MOVF 1B,W |
| 0198: ANDLW 80 |
| 0199: MOVWF 1B |
| 019A: MOVLW 07 |
| 019B: MOVWF 1C |
| .................... setup_adc_ports(NO_ANALOGS); |
| 019C: BCF 1F.4 |
| 019D: BCF 1F.5 |
| 019E: MOVF 1B,W |
| 019F: ANDLW 80 |
| 01A0: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 01A1: BCF 1F.6 |
| 01A2: BCF 03.5 |
| 01A3: BSF 1F.6 |
| 01A4: BSF 1F.7 |
| 01A5: BSF 03.5 |
| 01A6: BCF 1F.7 |
| 01A7: BCF 03.5 |
| 01A8: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
| 01A9: BCF 14.5 |
| 01AA: BSF 03.5 |
| 01AB: BCF 06.2 |
| 01AC: BSF 06.1 |
| 01AD: BCF 06.4 |
| 01AE: MOVLW 30 |
| 01AF: BCF 03.5 |
| 01B0: MOVWF 14 |
| 01B1: MOVLW 00 |
| 01B2: BSF 03.5 |
| 01B3: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 01B4: MOVF 01,W |
| 01B5: ANDLW C7 |
| 01B6: IORLW 08 |
| 01B7: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 01B8: BCF 03.5 |
| 01B9: CLRF 10 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 01BA: MOVLW 72 |
| 01BB: BSF 03.5 |
| 01BC: MOVWF 0F |
| .................... // set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| .................... // setup_ccp1(CCP_PWM); |
| .................... // setup_timer_2(T2_DIV_BY_16,200,1); // perioda |
| .................... // setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| .................... |
| .................... STOPR; STOPL; |
| 01BD: BCF 05.6 |
| 01BE: BCF 03.5 |
| 01BF: BCF 05.6 |
| 01C0: BSF 03.5 |
| 01C1: BCF 05.7 |
| 01C2: BCF 03.5 |
| 01C3: BCF 05.7 |
| 01C4: BSF 03.5 |
| 01C5: BCF 05.0 |
| 01C6: BCF 03.5 |
| 01C7: BCF 05.0 |
| 01C8: BSF 03.5 |
| 01C9: BCF 05.1 |
| 01CA: BCF 03.5 |
| 01CB: BCF 05.1 |
| .................... uhel=STRED; |
| 01CC: MOVLW 80 |
| 01CD: MOVWF 24 |
| .................... // diagnostika(); |
| .................... Lmotor=0; |
| 01CE: CLRF 26 |
| 01CF: CLRF 25 |
| .................... Rmotor=0; |
| 01D0: CLRF 28 |
| 01D1: CLRF 27 |
| .................... rtos_run(); |
| 01D2: CLRF 29 |
| 01D3: CLRF 2B |
| 01D4: MOVLW 08 |
| 01D5: MOVWF 2A |
| 01D6: CLRF 2D |
| 01D7: MOVLW 01 |
| 01D8: MOVWF 2C |
| 01D9: MOVLW 38 |
| 01DA: MOVWF 2E |
| 01DB: MOVLW 00 |
| 01DC: MOVWF 2F |
| 01DD: CLRF 30 |
| 01DE: CLRF 32 |
| 01DF: MOVLW 01 |
| 01E0: MOVWF 31 |
| 01E1: CLRF 34 |
| 01E2: CLRF 33 |
| 01E3: MOVLW 55 |
| 01E4: MOVWF 35 |
| 01E5: MOVLW 00 |
| 01E6: MOVWF 36 |
| 01E7: CLRF 37 |
| 01E8: CLRF 39 |
| 01E9: MOVLW 02 |
| 01EA: MOVWF 38 |
| 01EB: CLRF 3B |
| 01EC: CLRF 3A |
| 01ED: MOVLW 2C |
| 01EE: MOVWF 3C |
| 01EF: MOVLW 01 |
| 01F0: MOVWF 3D |
| 01F1: CLRF 20 |
| 01F2: MOVLW 00 |
| 01F3: MOVWF 78 |
| 01F4: IORLW 06 |
| 01F5: MOVWF 12 |
| 01F6: MOVLW FA |
| 01F7: BSF 03.5 |
| 01F8: MOVWF 12 |
| 01F9: BCF 03.5 |
| 01FA: BCF 0C.1 |
| 01FB: MOVLW 00 |
| 01FC: MOVWF 78 |
| 01FD: IORLW 06 |
| 01FE: MOVWF 12 |
| 01FF: MOVLW FA |
| 0200: BSF 03.5 |
| 0201: MOVWF 12 |
| 0202: BCF 03.5 |
| 0203: BCF 0C.1 |
| 0204: BCF 03.0 |
| 0205: RLF 20,W |
| 0206: MOVWF 77 |
| 0207: CALL 004 |
| 0208: MOVWF 79 |
| 0209: MOVLW 01 |
| 020A: ADDWF 77,W |
| 020B: CALL 004 |
| 020C: MOVWF 7A |
| 020D: MOVF 79,W |
| 020E: MOVWF 04 |
| 020F: MOVF 00,W |
| 0210: MOVWF 79 |
| 0211: INCF 04,F |
| 0212: MOVF 00,W |
| 0213: MOVWF 77 |
| 0214: INCF 04,F |
| 0215: MOVF 00,W |
| 0216: MOVWF 78 |
| 0217: INCF 04,F |
| 0218: INCF 00,F |
| 0219: MOVF 00,W |
| 021A: MOVWF 7A |
| 021B: BTFSS 03.2 |
| 021C: GOTO 220 |
| 021D: INCF 04,F |
| 021E: INCF 00,F |
| 021F: DECF 04,F |
| 0220: INCF 04,F |
| 0221: MOVF 00,W |
| 0222: SUBWF 78,W |
| 0223: BTFSS 03.2 |
| 0224: GOTO 238 |
| 0225: MOVF 77,W |
| 0226: SUBWF 7A,W |
| 0227: BTFSS 03.2 |
| 0228: GOTO 238 |
| 0229: DECF 04,F |
| 022A: CLRF 00 |
| 022B: INCF 04,F |
| 022C: CLRF 00 |
| 022D: INCF 04,F |
| 022E: BTFSC 79.7 |
| 022F: GOTO 238 |
| 0230: INCF 04,F |
| 0231: MOVF 00,W |
| 0232: MOVWF 0A |
| 0233: DECF 04,F |
| 0234: MOVF 00,W |
| 0235: MOVWF 02 |
| 0236: BCF 03.5 |
| 0237: BCF 03.6 |
| 0238: INCF 20,F |
| 0239: MOVLW 03 |
| 023A: SUBWF 20,W |
| 023B: BTFSS 03.2 |
| 023C: GOTO 204 |
| 023D: CLRF 20 |
| 023E: BTFSS 0C.1 |
| 023F: GOTO 242 |
| 0240: BSF 03.5 |
| 0241: GOTO 202 |
| 0242: GOTO 23E |
| 0243: MOVLW FF |
| 0244: MOVWF 20 |
| .................... |
| .................... } |
| 0245: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3FF8 NOWDT NOPUT MCLR BROWNOUT LVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFF FCMEN IESO |