0,0 → 1,664 |
CCS PCM C Compiler, Version 3.245, 27853 03-IV-06 20:04 |
|
Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
|
ROM used: 463 words (11%) |
Largest free fragment is 2048 |
RAM used: 30 (17%) at main() level |
36 (21%) worst case |
Stack: 4 worst case (2 in main + 2 for interrupts) |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 112 |
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 3C |
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 3E,F |
0026: BTFSS 03.0 |
0027: GOTO 033 |
0028: MOVLW 3E |
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) |
.................... |
.................... 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 STRED 128 // sredni poloha zadniho kolecka |
.................... #define BEAR1 20 // 3 stupne zataceni |
.................... #define BEAR2 40 |
.................... #define BEAR3 60 |
.................... // 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); |
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 3C |
003B: CALL 00C |
003C: MOVLW 63 |
003D: MOVWF 3E |
003E: CALL 024 |
.................... for(n=uhel; n>0; n--); |
003F: MOVF 24,W |
0040: MOVWF 3B |
0041: MOVF 3B,F |
0042: BTFSC 03.2 |
0043: GOTO 046 |
0044: DECF 3B,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 1BF |
0050: RETLW 00 |
.................... |
.................... |
.................... void diag() // ridi servo ktere otaci kolem |
.................... { |
.................... unsigned int8 n; |
.................... |
.................... output_high(SERVO); |
* |
00FA: BSF 03.5 |
00FB: BCF 05.2 |
00FC: BCF 03.5 |
00FD: BSF 05.2 |
.................... delay_us(1100); |
00FE: CLRWDT |
00FF: MOVLW 01 |
0100: MOVWF 3C |
0101: CALL 00C |
0102: MOVLW 63 |
0103: MOVWF 3E |
0104: CALL 024 |
.................... for(n=uhel; n>0; n--); |
0105: MOVF 24,W |
0106: MOVWF 39 |
0107: MOVF 39,F |
0108: BTFSC 03.2 |
0109: GOTO 10C |
010A: DECF 39,F |
010B: GOTO 107 |
.................... output_low(SERVO); |
010C: BSF 03.5 |
010D: BCF 05.2 |
010E: BCF 03.5 |
010F: BCF 05.2 |
.................... } |
0110: BCF 0A.3 |
0111: GOTO 15B (RETURN) |
.................... |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... #task (rate=2ms, max=1ms) |
.................... void rizeni() |
.................... { |
.................... GO(L,F,Lmotor);GO(R,F,Rmotor); |
* |
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 3D |
0092: MOVLW F7 |
0093: MOVWF 3E |
0094: CALL 024 |
0095: DECFSZ 3D,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 na caru |
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 |
.................... output_high(STROBE); |
00A5: BSF 03.5 |
00A6: BCF 06.0 |
00A7: BCF 03.5 |
00A8: BSF 06.0 |
.................... |
.................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
00A9: BTFSS 21.0 |
00AA: GOTO 0B3 |
.................... { |
.................... uhel=STRED+BEAR3; |
00AB: MOVLW BC |
00AC: MOVWF 24 |
.................... Lmotor=0;Rmotor=190; |
00AD: CLRF 26 |
00AE: CLRF 25 |
00AF: CLRF 28 |
00B0: MOVLW BE |
00B1: MOVWF 27 |
.................... return; |
00B2: GOTO 0F3 |
.................... } |
.................... |
.................... if(bit_test(sensors,6)) //......|// |
00B3: BTFSS 21.6 |
00B4: GOTO 0BD |
.................... { |
.................... Rmotor=0;Lmotor=190; |
00B5: CLRF 28 |
00B6: CLRF 27 |
00B7: CLRF 26 |
00B8: MOVLW BE |
00B9: MOVWF 25 |
.................... uhel=STRED-BEAR3; |
00BA: MOVLW 44 |
00BB: MOVWF 24 |
.................... return; |
00BC: GOTO 0F3 |
.................... |
.................... } |
.................... |
.................... if(bit_test(sensors,1)) //.|.....// |
00BD: BTFSS 21.1 |
00BE: GOTO 0C8 |
.................... { |
.................... uhel=STRED+BEAR2; |
00BF: MOVLW A8 |
00C0: MOVWF 24 |
.................... Lmotor=150;Rmotor=190; |
00C1: CLRF 26 |
00C2: MOVLW 96 |
00C3: MOVWF 25 |
00C4: CLRF 28 |
00C5: MOVLW BE |
00C6: MOVWF 27 |
.................... return; |
00C7: GOTO 0F3 |
.................... } |
.................... |
.................... if(bit_test(sensors,5)) //.....|.// |
00C8: BTFSS 21.5 |
00C9: GOTO 0D3 |
.................... { |
.................... uhel=STRED-BEAR2; |
00CA: MOVLW 58 |
00CB: MOVWF 24 |
.................... Rmotor=150;Lmotor=190; |
00CC: CLRF 28 |
00CD: MOVLW 96 |
00CE: MOVWF 27 |
00CF: CLRF 26 |
00D0: MOVLW BE |
00D1: MOVWF 25 |
.................... return; |
00D2: GOTO 0F3 |
.................... } |
.................... |
.................... if (bit_test(sensors,2)) //..|....// |
00D3: BTFSS 21.2 |
00D4: GOTO 0DE |
.................... { |
.................... uhel=STRED+BEAR1; |
00D5: MOVLW 94 |
00D6: MOVWF 24 |
.................... Lmotor=150;Rmotor=190; |
00D7: CLRF 26 |
00D8: MOVLW 96 |
00D9: MOVWF 25 |
00DA: CLRF 28 |
00DB: MOVLW BE |
00DC: MOVWF 27 |
.................... return; |
00DD: GOTO 0F3 |
.................... } |
.................... |
.................... if (bit_test(sensors,4)) //....|..// |
00DE: BTFSS 21.4 |
00DF: GOTO 0E9 |
.................... { |
.................... uhel=STRED-BEAR1; |
00E0: MOVLW 6C |
00E1: MOVWF 24 |
.................... Rmotor=150;Lmotor=190; |
00E2: CLRF 28 |
00E3: MOVLW 96 |
00E4: MOVWF 27 |
00E5: CLRF 26 |
00E6: MOVLW BE |
00E7: MOVWF 25 |
.................... return; |
00E8: GOTO 0F3 |
.................... } |
.................... |
.................... if(bit_test(sensors,3)) //...|...// |
00E9: BTFSS 21.3 |
00EA: GOTO 0F3 |
.................... { |
.................... uhel=STRED; |
00EB: MOVLW 80 |
00EC: MOVWF 24 |
.................... Lmotor=190;Rmotor=190; |
00ED: CLRF 26 |
00EE: MOVLW BE |
00EF: MOVWF 25 |
00F0: CLRF 28 |
00F1: MOVWF 27 |
.................... return; |
00F2: GOTO 0F3 |
.................... } |
.................... |
.................... /*STOPL;STOPR; |
.................... if(bit_test(sensors,7)) |
.................... { |
.................... |
.................... }*/ |
.................... } |
00F3: MOVLW 51 |
00F4: MOVWF 35 |
00F5: MOVLW 00 |
00F6: MOVWF 36 |
00F7: BCF 0A.3 |
00F8: GOTO 1BF |
00F9: RETLW 00 |
.................... |
.................... |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
* |
0112: CLRF 04 |
0113: MOVLW 1F |
0114: ANDWF 03,F |
0115: MOVLW 70 |
0116: BSF 03.5 |
0117: MOVWF 0F |
0118: BCF 1F.4 |
0119: BCF 1F.5 |
011A: MOVF 1B,W |
011B: ANDLW 80 |
011C: MOVWF 1B |
011D: MOVLW 07 |
011E: MOVWF 1C |
.................... unsigned int16 i; |
.................... |
.................... setup_adc_ports(NO_ANALOGS); |
011F: BCF 1F.4 |
0120: BCF 1F.5 |
0121: MOVF 1B,W |
0122: ANDLW 80 |
0123: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0124: BCF 1F.6 |
0125: BCF 03.5 |
0126: BSF 1F.6 |
0127: BSF 1F.7 |
0128: BSF 03.5 |
0129: BCF 1F.7 |
012A: BCF 03.5 |
012B: BSF 1F.0 |
.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
012C: BCF 14.5 |
012D: BSF 03.5 |
012E: BCF 06.2 |
012F: BSF 06.1 |
0130: BCF 06.4 |
0131: MOVLW 30 |
0132: BCF 03.5 |
0133: MOVWF 14 |
0134: MOVLW 00 |
0135: BSF 03.5 |
0136: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
0137: MOVF 01,W |
0138: ANDLW C7 |
0139: IORLW 08 |
013A: MOVWF 01 |
.................... setup_timer_1(T1_DISABLED); |
013B: BCF 03.5 |
013C: CLRF 10 |
.................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
013D: MOVLW 72 |
013E: BSF 03.5 |
013F: MOVWF 0F |
.................... |
.................... STOPR; STOPL; |
0140: BCF 05.6 |
0141: BCF 03.5 |
0142: BCF 05.6 |
0143: BSF 03.5 |
0144: BCF 05.7 |
0145: BCF 03.5 |
0146: BCF 05.7 |
0147: BSF 03.5 |
0148: BCF 05.0 |
0149: BCF 03.5 |
014A: BCF 05.0 |
014B: BSF 03.5 |
014C: BCF 05.1 |
014D: BCF 03.5 |
014E: BCF 05.1 |
.................... uhel=STRED; |
014F: MOVLW 80 |
0150: MOVWF 24 |
.................... |
.................... for(i=0;i<100;i++) |
0151: CLRF 38 |
0152: CLRF 37 |
0153: MOVF 38,F |
0154: BTFSS 03.2 |
0155: GOTO 162 |
0156: MOVF 37,W |
0157: SUBLW 63 |
0158: BTFSS 03.0 |
0159: GOTO 162 |
.................... { |
.................... diag(); |
015A: GOTO 0FA |
.................... delay_ms(16); |
015B: MOVLW 10 |
015C: MOVWF 3C |
015D: CALL 00C |
.................... } |
015E: INCF 37,F |
015F: BTFSC 03.2 |
0160: INCF 38,F |
0161: GOTO 153 |
.................... // diagnostika(); |
.................... Lmotor=0; |
0162: CLRF 26 |
0163: CLRF 25 |
.................... Rmotor=0; |
0164: CLRF 28 |
0165: CLRF 27 |
.................... rtos_run(); |
0166: CLRF 29 |
0167: CLRF 2B |
0168: MOVLW 08 |
0169: MOVWF 2A |
016A: CLRF 2D |
016B: CLRF 2C |
016C: MOVLW 34 |
016D: MOVWF 2E |
016E: MOVLW 00 |
016F: MOVWF 2F |
0170: CLRF 30 |
0171: CLRF 32 |
0172: MOVLW 01 |
0173: MOVWF 31 |
0174: CLRF 34 |
0175: CLRF 33 |
0176: MOVLW 51 |
0177: MOVWF 35 |
0178: MOVLW 00 |
0179: MOVWF 36 |
017A: CLRF 20 |
017B: MOVLW 00 |
017C: MOVWF 78 |
017D: IORLW 06 |
017E: MOVWF 12 |
017F: MOVLW FA |
0180: BSF 03.5 |
0181: MOVWF 12 |
0182: BCF 03.5 |
0183: BCF 0C.1 |
0184: MOVLW 00 |
0185: MOVWF 78 |
0186: IORLW 06 |
0187: MOVWF 12 |
0188: MOVLW FA |
0189: BSF 03.5 |
018A: MOVWF 12 |
018B: BCF 03.5 |
018C: BCF 0C.1 |
018D: BCF 03.0 |
018E: RLF 20,W |
018F: MOVWF 77 |
0190: CALL 004 |
0191: MOVWF 79 |
0192: MOVLW 01 |
0193: ADDWF 77,W |
0194: CALL 004 |
0195: MOVWF 7A |
0196: MOVF 79,W |
0197: MOVWF 04 |
0198: MOVF 00,W |
0199: MOVWF 79 |
019A: INCF 04,F |
019B: MOVF 00,W |
019C: MOVWF 77 |
019D: INCF 04,F |
019E: MOVF 00,W |
019F: MOVWF 78 |
01A0: INCF 04,F |
01A1: INCF 00,F |
01A2: MOVF 00,W |
01A3: MOVWF 7A |
01A4: BTFSS 03.2 |
01A5: GOTO 1A9 |
01A6: INCF 04,F |
01A7: INCF 00,F |
01A8: DECF 04,F |
01A9: INCF 04,F |
01AA: MOVF 00,W |
01AB: SUBWF 78,W |
01AC: BTFSS 03.2 |
01AD: GOTO 1C1 |
01AE: MOVF 77,W |
01AF: SUBWF 7A,W |
01B0: BTFSS 03.2 |
01B1: GOTO 1C1 |
01B2: DECF 04,F |
01B3: CLRF 00 |
01B4: INCF 04,F |
01B5: CLRF 00 |
01B6: INCF 04,F |
01B7: BTFSC 79.7 |
01B8: GOTO 1C1 |
01B9: INCF 04,F |
01BA: MOVF 00,W |
01BB: MOVWF 0A |
01BC: DECF 04,F |
01BD: MOVF 00,W |
01BE: MOVWF 02 |
01BF: BCF 03.5 |
01C0: BCF 03.6 |
01C1: INCF 20,F |
01C2: MOVLW 02 |
01C3: SUBWF 20,W |
01C4: BTFSS 03.2 |
01C5: GOTO 18D |
01C6: CLRF 20 |
01C7: BTFSS 0C.1 |
01C8: GOTO 1CB |
01C9: BSF 03.5 |
01CA: GOTO 18B |
01CB: GOTO 1C7 |
01CC: MOVLW FF |
01CD: MOVWF 20 |
.................... |
.................... } |
01CE: SLEEP |
|
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |