| 0,0 → 1,1192 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 17-IV-06 12:46 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| |
| ROM used: 849 words (21%) |
| Largest free fragment is 2048 |
| RAM used: 27 (15%) at main() level |
| 34 (19%) worst case |
| Stack: 4 worst case (2 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 1E3 |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 21 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 20 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 28 |
| 000C: CLRF 0A |
| 000D: SWAPF 20,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 22 |
| 0010: MOVF 77,W |
| 0011: MOVWF 23 |
| 0012: MOVF 78,W |
| 0013: MOVWF 24 |
| 0014: MOVF 79,W |
| 0015: MOVWF 25 |
| 0016: MOVF 7A,W |
| 0017: MOVWF 26 |
| 0018: MOVF 7B,W |
| 0019: MOVWF 27 |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: MOVLW 8C |
| 001D: MOVWF 04 |
| 001E: BTFSS 00.1 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.1 |
| 0021: GOTO 035 |
| 0022: MOVF 22,W |
| 0023: MOVWF 04 |
| 0024: MOVF 23,W |
| 0025: MOVWF 77 |
| 0026: MOVF 24,W |
| 0027: MOVWF 78 |
| 0028: MOVF 25,W |
| 0029: MOVWF 79 |
| 002A: MOVF 26,W |
| 002B: MOVWF 7A |
| 002C: MOVF 27,W |
| 002D: MOVWF 7B |
| 002E: MOVF 28,W |
| 002F: MOVWF 0A |
| 0030: SWAPF 21,W |
| 0031: MOVWF 03 |
| 0032: SWAPF 7F,F |
| 0033: SWAPF 7F,W |
| 0034: RETFIE |
| 0035: BCF 0A.3 |
| 0036: GOTO 047 |
| .................... #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) |
| 0037: MOVLW 08 |
| 0038: SUBWF 3C,F |
| 0039: BTFSS 03.0 |
| 003A: GOTO 046 |
| 003B: MOVLW 3C |
| 003C: MOVWF 04 |
| 003D: BCF 03.0 |
| 003E: RRF 00,F |
| 003F: MOVF 00,W |
| 0040: BTFSC 03.2 |
| 0041: GOTO 046 |
| 0042: GOTO 044 |
| 0043: CLRWDT |
| 0044: DECFSZ 00,F |
| 0045: GOTO 043 |
| 0046: RETLW 00 |
| * |
| 0065: MOVLW 39 |
| 0066: MOVWF 04 |
| 0067: MOVF 00,W |
| 0068: BTFSC 03.2 |
| 0069: GOTO 07C |
| 006A: MOVLW 02 |
| 006B: MOVWF 78 |
| 006C: MOVLW BF |
| 006D: MOVWF 77 |
| 006E: CLRWDT |
| 006F: DECFSZ 77,F |
| 0070: GOTO 06E |
| 0071: DECFSZ 78,F |
| 0072: GOTO 06C |
| 0073: MOVLW 96 |
| 0074: MOVWF 77 |
| 0075: DECFSZ 77,F |
| 0076: GOTO 075 |
| 0077: NOP |
| 0078: NOP |
| 0079: CLRWDT |
| 007A: DECFSZ 00,F |
| 007B: GOTO 06A |
| 007C: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define KOLMO1 225 // predni kolecko sroubem dopredu |
| .................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu |
| .................... #define STRED 128 // sredni poloha zataceciho kolecka |
| .................... #define BEAR1 12 // 3 stupne zataceni |
| .................... #define BEAR2 34 |
| .................... #define BEAR3 55 |
| .................... #define SPEEDMAX 140 // maximalni rychlost |
| .................... |
| .................... #define L 1 // cara vlevo |
| .................... #define S 2 // casa mezi sensory |
| .................... #define R 0 // cara vpravo |
| .................... |
| .................... // servo |
| .................... #define SERVO PIN_A2 |
| .................... |
| .................... // IR |
| .................... #define IRTX PIN_B2 |
| .................... #define CIHLA PIN_A3 |
| .................... |
| .................... //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 |
| .................... |
| .................... 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 |
| .................... //unsigned int8 speed; // maximalni povolena rychlost |
| .................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
| .................... |
| .................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| .................... signed int16 Rmotor; // a pravem motoru |
| .................... |
| .................... // makro pro PWM pro motory |
| .................... #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); |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #int_TIMER2 |
| .................... TIMER2_isr() // ovladani serva |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 0047: BSF 03.5 |
| 0048: BCF 05.2 |
| 0049: BCF 03.5 |
| 004A: BSF 05.2 |
| .................... delay_us(1000); |
| 004B: CLRWDT |
| 004C: MOVLW 09 |
| 004D: MOVWF 3B |
| 004E: MOVLW 6D |
| 004F: MOVWF 3C |
| 0050: CALL 037 |
| 0051: DECFSZ 3B,F |
| 0052: GOTO 04E |
| .................... for(n=uhel; n>0; n--) Delay_us(2); |
| 0053: MOVF 2C,W |
| 0054: MOVWF 3A |
| 0055: MOVF 3A,F |
| 0056: BTFSC 03.2 |
| 0057: GOTO 05E |
| 0058: CLRWDT |
| 0059: NOP |
| 005A: NOP |
| 005B: NOP |
| 005C: DECF 3A,F |
| 005D: GOTO 055 |
| .................... output_low(SERVO); |
| 005E: BSF 03.5 |
| 005F: BCF 05.2 |
| 0060: BCF 03.5 |
| 0061: BCF 05.2 |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 0062: BCF 0C.1 |
| 0063: BCF 0A.3 |
| 0064: GOTO 022 |
| .................... short int IRcheck() // potvrdi detekci cihly |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| .................... { |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla |
| .................... } |
| .................... }; |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... return 0; // vrat 0, kdyz je detekovano ruseni |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() |
| .................... { |
| .................... int8 shure=0; |
| * |
| 007D: CLRF 35 |
| .................... unsigned int16 n; |
| .................... |
| .................... BR;BL; |
| 007E: BSF 03.5 |
| 007F: BCF 05.6 |
| 0080: BCF 03.5 |
| 0081: BCF 05.6 |
| 0082: BSF 03.5 |
| 0083: BCF 05.7 |
| 0084: BCF 03.5 |
| 0085: BSF 05.7 |
| 0086: BSF 03.5 |
| 0087: BCF 05.0 |
| 0088: BCF 03.5 |
| 0089: BCF 05.0 |
| 008A: BSF 03.5 |
| 008B: BCF 05.1 |
| 008C: BCF 03.5 |
| 008D: BSF 05.1 |
| .................... Delay_ms(400); |
| 008E: MOVLW 02 |
| 008F: MOVWF 38 |
| 0090: MOVLW C8 |
| 0091: MOVWF 39 |
| 0092: CALL 065 |
| 0093: DECFSZ 38,F |
| 0094: GOTO 090 |
| .................... STOPR;STOPL; |
| 0095: BSF 03.5 |
| 0096: BCF 05.6 |
| 0097: BCF 03.5 |
| 0098: BCF 05.6 |
| 0099: BSF 03.5 |
| 009A: BCF 05.7 |
| 009B: BCF 03.5 |
| 009C: BCF 05.7 |
| 009D: BSF 03.5 |
| 009E: BCF 05.0 |
| 009F: BCF 03.5 |
| 00A0: BCF 05.0 |
| 00A1: BSF 03.5 |
| 00A2: BCF 05.1 |
| 00A3: BCF 03.5 |
| 00A4: BCF 05.1 |
| .................... |
| .................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota |
| 00A5: MOVLW E1 |
| 00A6: MOVWF 2C |
| .................... Delay_ms(100); |
| 00A7: MOVLW 64 |
| 00A8: MOVWF 39 |
| 00A9: CALL 065 |
| .................... BL;FR; |
| 00AA: BSF 03.5 |
| 00AB: BCF 05.0 |
| 00AC: BCF 03.5 |
| 00AD: BCF 05.0 |
| 00AE: BSF 03.5 |
| 00AF: BCF 05.1 |
| 00B0: BCF 03.5 |
| 00B1: BSF 05.1 |
| 00B2: BSF 03.5 |
| 00B3: BCF 05.7 |
| 00B4: BCF 03.5 |
| 00B5: BCF 05.7 |
| 00B6: BSF 03.5 |
| 00B7: BCF 05.6 |
| 00B8: BCF 03.5 |
| 00B9: BSF 05.6 |
| .................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle |
| 00BA: MOVLW C8 |
| 00BB: MOVWF 39 |
| 00BC: CALL 065 |
| .................... |
| .................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru |
| .................... { |
| 00BD: BTFSS 2A.7 |
| 00BE: GOTO 0CE |
| .................... sensors = spi_read(0); // cteni senzoru |
| 00BF: MOVF 13,W |
| 00C0: CLRF 13 |
| 00C1: BSF 03.5 |
| 00C2: BTFSC 14.0 |
| 00C3: GOTO 0C6 |
| 00C4: BCF 03.5 |
| 00C5: GOTO 0C1 |
| 00C6: BCF 03.5 |
| 00C7: MOVF 13,W |
| 00C8: MOVWF 2A |
| .................... sensors=~sensors; |
| 00C9: COMF 2A,F |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| 00CA: MOVLW 04 |
| 00CB: MOVWF 39 |
| 00CC: CALL 065 |
| .................... } |
| 00CD: GOTO 0BD |
| .................... STOPL; STOPR; |
| 00CE: BSF 03.5 |
| 00CF: BCF 05.0 |
| 00D0: BCF 03.5 |
| 00D1: BCF 05.0 |
| 00D2: BSF 03.5 |
| 00D3: BCF 05.1 |
| 00D4: BCF 03.5 |
| 00D5: BCF 05.1 |
| 00D6: BSF 03.5 |
| 00D7: BCF 05.6 |
| 00D8: BCF 03.5 |
| 00D9: BCF 05.6 |
| 00DA: BSF 03.5 |
| 00DB: BCF 05.7 |
| 00DC: BCF 03.5 |
| 00DD: BCF 05.7 |
| .................... |
| .................... for (n=0;n<1500;n++) // vystred se na hranu cihly |
| 00DE: CLRF 37 |
| 00DF: CLRF 36 |
| 00E0: MOVF 37,W |
| 00E1: SUBLW 05 |
| 00E2: BTFSS 03.0 |
| 00E3: GOTO 117 |
| 00E4: BTFSS 03.2 |
| 00E5: GOTO 0EA |
| 00E6: MOVF 36,W |
| 00E7: SUBLW DB |
| 00E8: BTFSS 03.0 |
| 00E9: GOTO 117 |
| .................... { |
| .................... if(!input(CIHLA)) {BL; FR;} else {FL; BR;}; |
| 00EA: BSF 03.5 |
| 00EB: BSF 05.3 |
| 00EC: BCF 03.5 |
| 00ED: BTFSC 05.3 |
| 00EE: GOTO 100 |
| 00EF: BSF 03.5 |
| 00F0: BCF 05.0 |
| 00F1: BCF 03.5 |
| 00F2: BCF 05.0 |
| 00F3: BSF 03.5 |
| 00F4: BCF 05.1 |
| 00F5: BCF 03.5 |
| 00F6: BSF 05.1 |
| 00F7: BSF 03.5 |
| 00F8: BCF 05.7 |
| 00F9: BCF 03.5 |
| 00FA: BCF 05.7 |
| 00FB: BSF 03.5 |
| 00FC: BCF 05.6 |
| 00FD: BCF 03.5 |
| 00FE: BSF 05.6 |
| 00FF: GOTO 110 |
| 0100: BSF 03.5 |
| 0101: BCF 05.1 |
| 0102: BCF 03.5 |
| 0103: BCF 05.1 |
| 0104: BSF 03.5 |
| 0105: BCF 05.0 |
| 0106: BCF 03.5 |
| 0107: BSF 05.0 |
| 0108: BSF 03.5 |
| 0109: BCF 05.6 |
| 010A: BCF 03.5 |
| 010B: BCF 05.6 |
| 010C: BSF 03.5 |
| 010D: BCF 05.7 |
| 010E: BCF 03.5 |
| 010F: BSF 05.7 |
| .................... delay_ms(1); |
| 0110: MOVLW 01 |
| 0111: MOVWF 39 |
| 0112: CALL 065 |
| .................... } |
| 0113: INCF 36,F |
| 0114: BTFSC 03.2 |
| 0115: INCF 37,F |
| 0116: GOTO 0E0 |
| .................... STOPR;STOPL; |
| 0117: BSF 03.5 |
| 0118: BCF 05.6 |
| 0119: BCF 03.5 |
| 011A: BCF 05.6 |
| 011B: BSF 03.5 |
| 011C: BCF 05.7 |
| 011D: BCF 03.5 |
| 011E: BCF 05.7 |
| 011F: BSF 03.5 |
| 0120: BCF 05.0 |
| 0121: BCF 03.5 |
| 0122: BCF 05.0 |
| 0123: BSF 03.5 |
| 0124: BCF 05.1 |
| 0125: BCF 03.5 |
| 0126: BCF 05.1 |
| .................... |
| .................... uhel=STRED; // dopredu |
| 0127: MOVLW 80 |
| 0128: MOVWF 2C |
| .................... delay_ms(100); |
| 0129: MOVLW 64 |
| 012A: MOVWF 39 |
| 012B: CALL 065 |
| .................... FR; FL; |
| 012C: BSF 03.5 |
| 012D: BCF 05.7 |
| 012E: BCF 03.5 |
| 012F: BCF 05.7 |
| 0130: BSF 03.5 |
| 0131: BCF 05.6 |
| 0132: BCF 03.5 |
| 0133: BSF 05.6 |
| 0134: BSF 03.5 |
| 0135: BCF 05.1 |
| 0136: BCF 03.5 |
| 0137: BCF 05.1 |
| 0138: BSF 03.5 |
| 0139: BCF 05.0 |
| 013A: BCF 03.5 |
| 013B: BSF 05.0 |
| .................... delay_ms(500); |
| 013C: MOVLW 02 |
| 013D: MOVWF 38 |
| 013E: MOVLW FA |
| 013F: MOVWF 39 |
| 0140: CALL 065 |
| 0141: DECFSZ 38,F |
| 0142: GOTO 13E |
| .................... BL;BR; |
| 0143: BSF 03.5 |
| 0144: BCF 05.0 |
| 0145: BCF 03.5 |
| 0146: BCF 05.0 |
| 0147: BSF 03.5 |
| 0148: BCF 05.1 |
| 0149: BCF 03.5 |
| 014A: BSF 05.1 |
| 014B: BSF 03.5 |
| 014C: BCF 05.6 |
| 014D: BCF 03.5 |
| 014E: BCF 05.6 |
| 014F: BSF 03.5 |
| 0150: BCF 05.7 |
| 0151: BCF 03.5 |
| 0152: BSF 05.7 |
| .................... delay_ms(200); |
| 0153: MOVLW C8 |
| 0154: MOVWF 39 |
| 0155: CALL 065 |
| .................... STOPL;STOPR; |
| 0156: BSF 03.5 |
| 0157: BCF 05.0 |
| 0158: BCF 03.5 |
| 0159: BCF 05.0 |
| 015A: BSF 03.5 |
| 015B: BCF 05.1 |
| 015C: BCF 03.5 |
| 015D: BCF 05.1 |
| 015E: BSF 03.5 |
| 015F: BCF 05.6 |
| 0160: BCF 03.5 |
| 0161: BCF 05.6 |
| 0162: BSF 03.5 |
| 0163: BCF 05.7 |
| 0164: BCF 03.5 |
| 0165: BCF 05.7 |
| .................... |
| .................... uhel=STRED+BEAR3; // doprava |
| 0166: MOVLW B7 |
| 0167: MOVWF 2C |
| .................... delay_ms(100); |
| 0168: MOVLW 64 |
| 0169: MOVWF 39 |
| 016A: CALL 065 |
| .................... FL; |
| 016B: BSF 03.5 |
| 016C: BCF 05.1 |
| 016D: BCF 03.5 |
| 016E: BCF 05.1 |
| 016F: BSF 03.5 |
| 0170: BCF 05.0 |
| 0171: BCF 03.5 |
| 0172: BSF 05.0 |
| .................... delay_ms(200); |
| 0173: MOVLW C8 |
| 0174: MOVWF 39 |
| 0175: CALL 065 |
| .................... uhel=STRED+BEAR2; // min doprava |
| 0176: MOVLW A2 |
| 0177: MOVWF 2C |
| .................... FL;FR; |
| 0178: BSF 03.5 |
| 0179: BCF 05.1 |
| 017A: BCF 03.5 |
| 017B: BCF 05.1 |
| 017C: BSF 03.5 |
| 017D: BCF 05.0 |
| 017E: BCF 03.5 |
| 017F: BSF 05.0 |
| 0180: BSF 03.5 |
| 0181: BCF 05.7 |
| 0182: BCF 03.5 |
| 0183: BCF 05.7 |
| 0184: BSF 03.5 |
| 0185: BCF 05.6 |
| 0186: BCF 03.5 |
| 0187: BSF 05.6 |
| .................... delay_ms(200); |
| 0188: MOVLW C8 |
| 0189: MOVWF 39 |
| 018A: CALL 065 |
| .................... uhel=STRED+BEAR1; // jeste min doprava |
| 018B: MOVLW 8C |
| 018C: MOVWF 2C |
| .................... FL;FR; |
| 018D: BSF 03.5 |
| 018E: BCF 05.1 |
| 018F: BCF 03.5 |
| 0190: BCF 05.1 |
| 0191: BSF 03.5 |
| 0192: BCF 05.0 |
| 0193: BCF 03.5 |
| 0194: BSF 05.0 |
| 0195: BSF 03.5 |
| 0196: BCF 05.7 |
| 0197: BCF 03.5 |
| 0198: BCF 05.7 |
| 0199: BSF 03.5 |
| 019A: BCF 05.6 |
| 019B: BCF 03.5 |
| 019C: BSF 05.6 |
| .................... delay_ms(200); |
| 019D: MOVLW C8 |
| 019E: MOVWF 39 |
| 019F: CALL 065 |
| .................... uhel=STRED; // rovne |
| 01A0: MOVLW 80 |
| 01A1: MOVWF 2C |
| .................... FL;FR; |
| 01A2: BSF 03.5 |
| 01A3: BCF 05.1 |
| 01A4: BCF 03.5 |
| 01A5: BCF 05.1 |
| 01A6: BSF 03.5 |
| 01A7: BCF 05.0 |
| 01A8: BCF 03.5 |
| 01A9: BSF 05.0 |
| 01AA: BSF 03.5 |
| 01AB: BCF 05.7 |
| 01AC: BCF 03.5 |
| 01AD: BCF 05.7 |
| 01AE: BSF 03.5 |
| 01AF: BCF 05.6 |
| 01B0: BCF 03.5 |
| 01B1: BSF 05.6 |
| .................... delay_ms(100); |
| 01B2: MOVLW 64 |
| 01B3: MOVWF 39 |
| 01B4: CALL 065 |
| .................... While((sensors & 0b01111111)!=0) //dokud neni cara |
| .................... { |
| 01B5: MOVF 2A,W |
| 01B6: ANDLW 7F |
| 01B7: BTFSC 03.2 |
| 01B8: GOTO 1C8 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 01B9: MOVF 13,W |
| 01BA: CLRF 13 |
| 01BB: BSF 03.5 |
| 01BC: BTFSC 14.0 |
| 01BD: GOTO 1C0 |
| 01BE: BCF 03.5 |
| 01BF: GOTO 1BB |
| 01C0: BCF 03.5 |
| 01C1: MOVF 13,W |
| 01C2: MOVWF 2A |
| .................... sensors=~sensors; |
| 01C3: COMF 2A,F |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| 01C4: MOVLW 04 |
| 01C5: MOVWF 39 |
| 01C6: CALL 065 |
| .................... } |
| 01C7: GOTO 1B5 |
| .................... BL; BR; |
| 01C8: BSF 03.5 |
| 01C9: BCF 05.0 |
| 01CA: BCF 03.5 |
| 01CB: BCF 05.0 |
| 01CC: BSF 03.5 |
| 01CD: BCF 05.1 |
| 01CE: BCF 03.5 |
| 01CF: BSF 05.1 |
| 01D0: BSF 03.5 |
| 01D1: BCF 05.6 |
| 01D2: BCF 03.5 |
| 01D3: BCF 05.6 |
| 01D4: BSF 03.5 |
| 01D5: BCF 05.7 |
| 01D6: BCF 03.5 |
| 01D7: BSF 05.7 |
| .................... delay_ms(400); |
| 01D8: MOVLW 02 |
| 01D9: MOVWF 38 |
| 01DA: MOVLW C8 |
| 01DB: MOVWF 39 |
| 01DC: CALL 065 |
| 01DD: DECFSZ 38,F |
| 01DE: GOTO 1DA |
| .................... |
| .................... uhel=STRED-BEAR3; // doleva |
| 01DF: MOVLW 49 |
| 01E0: MOVWF 2C |
| .................... } |
| 01E1: BCF 0A.3 |
| 01E2: GOTO 2D1 (RETURN) |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 01E3: CLRF 04 |
| 01E4: MOVLW 1F |
| 01E5: ANDWF 03,F |
| 01E6: MOVLW 70 |
| 01E7: BSF 03.5 |
| 01E8: MOVWF 0F |
| 01E9: BCF 1F.4 |
| 01EA: BCF 1F.5 |
| 01EB: MOVF 1B,W |
| 01EC: ANDLW 80 |
| 01ED: MOVWF 1B |
| 01EE: MOVLW 07 |
| 01EF: MOVWF 1C |
| .................... |
| .................... unsigned int16 n; |
| .................... unsigned int8 i; |
| .................... |
| .................... setup_adc_ports(NO_ANALOGS); |
| 01F0: BCF 1F.4 |
| 01F1: BCF 1F.5 |
| 01F2: MOVF 1B,W |
| 01F3: ANDLW 80 |
| 01F4: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 01F5: BCF 1F.6 |
| 01F6: BCF 03.5 |
| 01F7: BSF 1F.6 |
| 01F8: BSF 1F.7 |
| 01F9: BSF 03.5 |
| 01FA: BCF 1F.7 |
| 01FB: BCF 03.5 |
| 01FC: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); |
| 01FD: BCF 14.5 |
| 01FE: BSF 03.5 |
| 01FF: BCF 06.2 |
| 0200: BSF 06.1 |
| 0201: BCF 06.4 |
| 0202: MOVLW 30 |
| 0203: BCF 03.5 |
| 0204: MOVWF 14 |
| 0205: MOVLW 00 |
| 0206: BSF 03.5 |
| 0207: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 0208: MOVF 01,W |
| 0209: ANDLW C7 |
| 020A: IORLW 08 |
| 020B: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 020C: BCF 03.5 |
| 020D: CLRF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 020E: MOVLW 78 |
| 020F: MOVWF 78 |
| 0210: IORLW 06 |
| 0211: MOVWF 12 |
| 0212: MOVLW 8C |
| 0213: BSF 03.5 |
| 0214: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 0215: MOVLW 72 |
| 0216: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 0217: BCF 05.6 |
| 0218: BCF 03.5 |
| 0219: BCF 05.6 |
| 021A: BSF 03.5 |
| 021B: BCF 05.7 |
| 021C: BCF 03.5 |
| 021D: BCF 05.7 |
| 021E: BSF 03.5 |
| 021F: BCF 05.0 |
| 0220: BCF 03.5 |
| 0221: BCF 05.0 |
| 0222: BSF 03.5 |
| 0223: BCF 05.1 |
| 0224: BCF 03.5 |
| 0225: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 0226: CLRF 2F |
| 0227: CLRF 2E |
| 0228: CLRF 31 |
| 0229: CLRF 30 |
| .................... |
| .................... uhel=STRED; // nastav zadni kolecko na stred |
| 022A: MOVLW 80 |
| 022B: MOVWF 2C |
| .................... rovinka=0; |
| 022C: CLRF 2D |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 022D: BSF 03.5 |
| 022E: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 022F: MOVLW C0 |
| 0230: BCF 03.5 |
| 0231: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 0232: BSF 03.5 |
| 0233: BCF 06.2 |
| 0234: BCF 03.5 |
| 0235: BCF 06.2 |
| .................... |
| .................... delay_ms(1000); |
| 0236: MOVLW 04 |
| 0237: MOVWF 35 |
| 0238: MOVLW FA |
| 0239: MOVWF 39 |
| 023A: CALL 065 |
| 023B: DECFSZ 35,F |
| 023C: GOTO 238 |
| .................... |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory |
| 023D: MOVF 01,W |
| 023E: BTFSS 00.7 |
| 023F: GOTO 243 |
| 0240: BTFSS 2F.7 |
| 0241: GOTO 24B |
| 0242: GOTO 245 |
| 0243: BTFSC 2F.7 |
| 0244: GOTO 254 |
| 0245: MOVF 2F,F |
| 0246: BTFSS 03.2 |
| 0247: GOTO 24B |
| 0248: SUBWF 2E,W |
| 0249: BTFSS 03.0 |
| 024A: GOTO 254 |
| 024B: BSF 03.5 |
| 024C: BCF 05.1 |
| 024D: BCF 03.5 |
| 024E: BCF 05.1 |
| 024F: BSF 03.5 |
| 0250: BCF 05.0 |
| 0251: BCF 03.5 |
| 0252: BSF 05.0 |
| 0253: GOTO 25C |
| 0254: BSF 03.5 |
| 0255: BCF 05.0 |
| 0256: BCF 03.5 |
| 0257: BCF 05.0 |
| 0258: BSF 03.5 |
| 0259: BCF 05.1 |
| 025A: BCF 03.5 |
| 025B: BCF 05.1 |
| 025C: MOVF 01,W |
| 025D: BTFSS 00.7 |
| 025E: GOTO 262 |
| 025F: BTFSS 31.7 |
| 0260: GOTO 26A |
| 0261: GOTO 264 |
| 0262: BTFSC 31.7 |
| 0263: GOTO 273 |
| 0264: MOVF 31,F |
| 0265: BTFSS 03.2 |
| 0266: GOTO 26A |
| 0267: SUBWF 30,W |
| 0268: BTFSS 03.0 |
| 0269: GOTO 273 |
| 026A: BSF 03.5 |
| 026B: BCF 05.7 |
| 026C: BCF 03.5 |
| 026D: BCF 05.7 |
| 026E: BSF 03.5 |
| 026F: BCF 05.6 |
| 0270: BCF 03.5 |
| 0271: BSF 05.6 |
| 0272: GOTO 27B |
| 0273: BSF 03.5 |
| 0274: BCF 05.6 |
| 0275: BCF 03.5 |
| 0276: BCF 05.6 |
| 0277: BSF 03.5 |
| 0278: BCF 05.7 |
| 0279: BCF 03.5 |
| 027A: BCF 05.7 |
| .................... |
| .................... delay_us(1500); |
| 027B: CLRWDT |
| 027C: MOVLW 01 |
| 027D: MOVWF 39 |
| 027E: CALL 065 |
| 027F: MOVLW 02 |
| 0280: MOVWF 35 |
| 0281: CLRF 29 |
| 0282: BTFSC 0B.7 |
| 0283: BSF 29.7 |
| 0284: BCF 0B.7 |
| 0285: MOVLW F7 |
| 0286: MOVWF 3C |
| 0287: CALL 037 |
| 0288: BTFSC 29.7 |
| 0289: BSF 0B.7 |
| 028A: DECFSZ 35,F |
| 028B: GOTO 281 |
| .................... |
| .................... output_low(STROBE); |
| 028C: BSF 03.5 |
| 028D: BCF 06.0 |
| 028E: BCF 03.5 |
| 028F: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0290: MOVF 13,W |
| 0291: CLRF 13 |
| 0292: BSF 03.5 |
| 0293: BTFSC 14.0 |
| 0294: GOTO 297 |
| 0295: BCF 03.5 |
| 0296: GOTO 292 |
| 0297: BCF 03.5 |
| 0298: MOVF 13,W |
| 0299: MOVWF 2A |
| .................... sensors=~sensors; |
| 029A: COMF 2A,F |
| .................... output_high(STROBE); |
| 029B: BSF 03.5 |
| 029C: BCF 06.0 |
| 029D: BCF 03.5 |
| 029E: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 029F: CLRF 34 |
| .................... for (n=0; n<=6; n++) |
| 02A0: CLRF 33 |
| 02A1: CLRF 32 |
| 02A2: MOVF 33,F |
| 02A3: BTFSS 03.2 |
| 02A4: GOTO 2B9 |
| 02A5: MOVF 32,W |
| 02A6: SUBLW 06 |
| 02A7: BTFSS 03.0 |
| 02A8: GOTO 2B9 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 02A9: MOVF 2A,W |
| 02AA: MOVWF 77 |
| 02AB: MOVF 32,W |
| 02AC: MOVWF 78 |
| 02AD: BTFSC 03.2 |
| 02AE: GOTO 2B3 |
| 02AF: BCF 03.0 |
| 02B0: RRF 77,F |
| 02B1: DECFSZ 78,F |
| 02B2: GOTO 2AF |
| 02B3: BTFSC 77.0 |
| 02B4: INCF 34,F |
| .................... } |
| 02B5: INCF 32,F |
| 02B6: BTFSC 03.2 |
| 02B7: INCF 33,F |
| 02B8: GOTO 2A2 |
| .................... if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 02B9: MOVF 34,W |
| 02BA: SUBLW 03 |
| 02BB: BTFSC 03.0 |
| 02BC: GOTO 2CE |
| 02BD: BSF 03.5 |
| 02BE: BCF 05.6 |
| 02BF: BCF 03.5 |
| 02C0: BCF 05.6 |
| 02C1: BSF 03.5 |
| 02C2: BCF 05.7 |
| 02C3: BCF 03.5 |
| 02C4: BCF 05.7 |
| 02C5: BSF 03.5 |
| 02C6: BCF 05.0 |
| 02C7: BCF 03.5 |
| 02C8: BCF 05.0 |
| 02C9: BSF 03.5 |
| 02CA: BCF 05.1 |
| 02CB: BCF 03.5 |
| 02CC: BCF 05.1 |
| 02CD: GOTO 2BD |
| .................... |
| .................... if(bit_test(sensors,7)) // detekce dihly |
| 02CE: BTFSS 2A.7 |
| 02CF: GOTO 2D1 |
| .................... { |
| .................... objizdka(); |
| 02D0: GOTO 07D |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 02D1: BTFSS 2A.3 |
| 02D2: GOTO 2E1 |
| .................... { |
| .................... uhel=STRED; |
| 02D3: MOVLW 80 |
| 02D4: MOVWF 2C |
| .................... Lmotor=SPEEDMAX; |
| 02D5: CLRF 2F |
| 02D6: MOVLW 8C |
| 02D7: MOVWF 2E |
| .................... Rmotor=SPEEDMAX; |
| 02D8: CLRF 31 |
| 02D9: MOVWF 30 |
| .................... line=S; |
| 02DA: MOVLW 02 |
| 02DB: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 02DC: INCFSZ 2D,W |
| 02DD: GOTO 2DF |
| 02DE: GOTO 2E0 |
| 02DF: INCF 2D,F |
| .................... continue; |
| 02E0: GOTO 23D |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 02E1: BTFSS 2A.0 |
| 02E2: GOTO 2ED |
| .................... { |
| .................... uhel=STRED-BEAR3; |
| 02E3: MOVLW 49 |
| 02E4: MOVWF 2C |
| .................... Lmotor=0; |
| 02E5: CLRF 2F |
| 02E6: CLRF 2E |
| .................... Rmotor=SPEEDMAX; |
| 02E7: CLRF 31 |
| 02E8: MOVLW 8C |
| 02E9: MOVWF 30 |
| .................... line=L; |
| 02EA: MOVLW 01 |
| 02EB: MOVWF 2B |
| .................... continue; |
| 02EC: GOTO 23D |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 02ED: BTFSS 2A.6 |
| 02EE: GOTO 2F8 |
| .................... { |
| .................... uhel=STRED+BEAR3; |
| 02EF: MOVLW B7 |
| 02F0: MOVWF 2C |
| .................... Rmotor=0; |
| 02F1: CLRF 31 |
| 02F2: CLRF 30 |
| .................... Lmotor=SPEEDMAX; |
| 02F3: CLRF 2F |
| 02F4: MOVLW 8C |
| 02F5: MOVWF 2E |
| .................... line=R; |
| 02F6: CLRF 2B |
| .................... continue; |
| 02F7: GOTO 23D |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 02F8: BTFSS 2A.1 |
| 02F9: GOTO 305 |
| .................... { |
| .................... uhel=STRED-BEAR2; |
| 02FA: MOVLW 5E |
| 02FB: MOVWF 2C |
| .................... Lmotor=SPEEDMAX-50; |
| 02FC: CLRF 2F |
| 02FD: MOVLW 5A |
| 02FE: MOVWF 2E |
| .................... Rmotor=SPEEDMAX; |
| 02FF: CLRF 31 |
| 0300: MOVLW 8C |
| 0301: MOVWF 30 |
| .................... line=S; |
| 0302: MOVLW 02 |
| 0303: MOVWF 2B |
| .................... continue; |
| 0304: GOTO 23D |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 0305: BTFSS 2A.5 |
| 0306: GOTO 312 |
| .................... { |
| .................... uhel=STRED+BEAR2; |
| 0307: MOVLW A2 |
| 0308: MOVWF 2C |
| .................... Rmotor=SPEEDMAX-50; |
| 0309: CLRF 31 |
| 030A: MOVLW 5A |
| 030B: MOVWF 30 |
| .................... Lmotor=SPEEDMAX; |
| 030C: CLRF 2F |
| 030D: MOVLW 8C |
| 030E: MOVWF 2E |
| .................... line=S; |
| 030F: MOVLW 02 |
| 0310: MOVWF 2B |
| .................... continue; |
| 0311: GOTO 23D |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 0312: BTFSS 2A.2 |
| 0313: GOTO 322 |
| .................... { |
| .................... uhel=STRED-BEAR1; |
| 0314: MOVLW 74 |
| 0315: MOVWF 2C |
| .................... Lmotor=SPEEDMAX; |
| 0316: CLRF 2F |
| 0317: MOVLW 8C |
| 0318: MOVWF 2E |
| .................... Rmotor=SPEEDMAX; |
| 0319: CLRF 31 |
| 031A: MOVWF 30 |
| .................... line=S; |
| 031B: MOVLW 02 |
| 031C: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 031D: INCFSZ 2D,W |
| 031E: GOTO 320 |
| 031F: GOTO 321 |
| 0320: INCF 2D,F |
| .................... continue; |
| 0321: GOTO 23D |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 0322: BTFSS 2A.4 |
| 0323: GOTO 331 |
| .................... { |
| .................... uhel=STRED+BEAR1; |
| 0324: MOVLW 8C |
| 0325: MOVWF 2C |
| .................... Rmotor=SPEEDMAX; |
| 0326: CLRF 31 |
| 0327: MOVWF 30 |
| .................... Lmotor=SPEEDMAX; |
| 0328: CLRF 2F |
| 0329: MOVWF 2E |
| .................... line=S; |
| 032A: MOVLW 02 |
| 032B: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 032C: INCFSZ 2D,W |
| 032D: GOTO 32F |
| 032E: GOTO 330 |
| 032F: INCF 2D,F |
| .................... continue; |
| 0330: GOTO 23D |
| .................... } |
| .................... |
| .................... if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate |
| 0331: DECFSZ 2B,W |
| 0332: GOTO 334 |
| 0333: GOTO 337 |
| 0334: MOVF 2B,F |
| 0335: BTFSS 03.2 |
| 0336: GOTO 34F |
| .................... { |
| .................... if (rovinka>250) |
| 0337: MOVF 2D,W |
| 0338: SUBLW FA |
| 0339: BTFSC 03.0 |
| 033A: GOTO 34E |
| .................... { |
| .................... BL; BR; |
| 033B: BSF 03.5 |
| 033C: BCF 05.0 |
| 033D: BCF 03.5 |
| 033E: BCF 05.0 |
| 033F: BSF 03.5 |
| 0340: BCF 05.1 |
| 0341: BCF 03.5 |
| 0342: BSF 05.1 |
| 0343: BSF 03.5 |
| 0344: BCF 05.6 |
| 0345: BCF 03.5 |
| 0346: BCF 05.6 |
| 0347: BSF 03.5 |
| 0348: BCF 05.7 |
| 0349: BCF 03.5 |
| 034A: BSF 05.7 |
| .................... Delay_ms(100); |
| 034B: MOVLW 64 |
| 034C: MOVWF 39 |
| 034D: CALL 065 |
| .................... }; |
| .................... rovinka=0; |
| 034E: CLRF 2D |
| .................... }; |
| .................... |
| .................... } |
| 034F: GOTO 23D |
| .................... } |
| 0350: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |