| 0,0 → 1,1093 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 22-IV-06 16:00 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| |
| ROM used: 666 words (16%) |
| Largest free fragment is 2048 |
| RAM used: 32 (18%) at main() level |
| 35 (20%) worst case |
| Stack: 3 worst case (1 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 089 |
| 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 00.0 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.0 |
| 0021: GOTO 03B |
| 0022: MOVLW 8C |
| 0023: MOVWF 04 |
| 0024: BTFSS 00.1 |
| 0025: GOTO 028 |
| 0026: BTFSC 0C.1 |
| 0027: GOTO 03D |
| 0028: MOVF 22,W |
| 0029: MOVWF 04 |
| 002A: MOVF 23,W |
| 002B: MOVWF 77 |
| 002C: MOVF 24,W |
| 002D: MOVWF 78 |
| 002E: MOVF 25,W |
| 002F: MOVWF 79 |
| 0030: MOVF 26,W |
| 0031: MOVWF 7A |
| 0032: MOVF 27,W |
| 0033: MOVWF 7B |
| 0034: MOVF 28,W |
| 0035: MOVWF 0A |
| 0036: SWAPF 21,W |
| 0037: MOVWF 03 |
| 0038: SWAPF 7F,F |
| 0039: SWAPF 7F,W |
| 003A: RETFIE |
| 003B: BCF 0A.3 |
| 003C: GOTO 03F |
| 003D: BCF 0A.3 |
| 003E: GOTO 053 |
| .................... #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) |
| * |
| 0043: MOVLW 08 |
| 0044: SUBWF 3D,F |
| 0045: BTFSS 03.0 |
| 0046: GOTO 052 |
| 0047: MOVLW 3D |
| 0048: MOVWF 04 |
| 0049: BCF 03.0 |
| 004A: RRF 00,F |
| 004B: MOVF 00,W |
| 004C: BTFSC 03.2 |
| 004D: GOTO 052 |
| 004E: GOTO 050 |
| 004F: CLRWDT |
| 0050: DECFSZ 00,F |
| 0051: GOTO 04F |
| 0052: RETLW 00 |
| * |
| 0071: MOVLW 3A |
| 0072: MOVWF 04 |
| 0073: MOVF 00,W |
| 0074: BTFSC 03.2 |
| 0075: GOTO 088 |
| 0076: MOVLW 02 |
| 0077: MOVWF 78 |
| 0078: MOVLW BF |
| 0079: MOVWF 77 |
| 007A: CLRWDT |
| 007B: DECFSZ 77,F |
| 007C: GOTO 07A |
| 007D: DECFSZ 78,F |
| 007E: GOTO 078 |
| 007F: MOVLW 96 |
| 0080: MOVWF 77 |
| 0081: DECFSZ 77,F |
| 0082: GOTO 081 |
| 0083: NOP |
| 0084: NOP |
| 0085: CLRWDT |
| 0086: DECFSZ 00,F |
| 0087: GOTO 076 |
| 0088: 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 6//10 // 3 stupne zataceni |
| .................... #define BEAR2 10//27 |
| .................... #define BEAR3 40 |
| .................... #define SPEEDMAX 160 // ANSMANN=140; GP=120; maximalni rozumna rychlost |
| .................... #define R17 255 // X nasobek rozumne rychlosti |
| .................... #define DOZNIVANI 10 |
| .................... #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 |
| .................... |
| .................... short int preteceni; // flag preteceni timeru1 |
| .................... |
| .................... 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_TIMER1 |
| .................... TIMER1_isr() |
| .................... { |
| .................... preteceni = true; |
| * |
| 003F: BSF 2F.0 |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 0040: BCF 0C.0 |
| 0041: BCF 0A.3 |
| 0042: GOTO 028 |
| .................... #int_TIMER2 |
| .................... TIMER2_isr() // ovladani serva |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 0053: BSF 03.5 |
| 0054: BCF 05.2 |
| 0055: BCF 03.5 |
| 0056: BSF 05.2 |
| .................... delay_us(1000); |
| 0057: CLRWDT |
| 0058: MOVLW 09 |
| 0059: MOVWF 3C |
| 005A: MOVLW 6D |
| 005B: MOVWF 3D |
| 005C: CALL 043 |
| 005D: DECFSZ 3C,F |
| 005E: GOTO 05A |
| .................... for(n=uhel; n>0; n--) Delay_us(2); |
| 005F: MOVF 2C,W |
| 0060: MOVWF 3B |
| 0061: MOVF 3B,F |
| 0062: BTFSC 03.2 |
| 0063: GOTO 06A |
| 0064: CLRWDT |
| 0065: NOP |
| 0066: NOP |
| 0067: NOP |
| 0068: DECF 3B,F |
| 0069: GOTO 061 |
| .................... output_low(SERVO); |
| 006A: BSF 03.5 |
| 006B: BCF 05.2 |
| 006C: BCF 03.5 |
| 006D: BCF 05.2 |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 006E: BCF 0C.1 |
| 006F: BCF 0A.3 |
| 0070: GOTO 028 |
| .................... 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; |
| .................... unsigned int16 n; |
| .................... |
| .................... BR;BL; |
| .................... Delay_ms(400); |
| .................... STOPR;STOPL; |
| .................... |
| .................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota |
| .................... Delay_ms(100); |
| .................... BL;FR; |
| .................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle |
| .................... |
| .................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru |
| .................... { |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| .................... } |
| .................... STOPL; STOPR; |
| .................... |
| .................... for (n=0;n<1500;n++) // vystred se na hranu cihly |
| .................... { |
| .................... if(!input(CIHLA)) {BL; FR;} else {FL; BR;}; |
| .................... delay_ms(1); |
| .................... } |
| .................... STOPR;STOPL; |
| .................... |
| .................... uhel=STRED; // dopredu |
| .................... delay_ms(100); |
| .................... FR; FL; |
| .................... delay_ms(500); |
| .................... BL;BR; |
| .................... delay_ms(200); |
| .................... STOPL;STOPR; |
| .................... |
| .................... uhel=STRED+BEAR3; // doprava |
| .................... delay_ms(100); |
| .................... FL; |
| .................... delay_ms(200); |
| .................... uhel=STRED+BEAR2; // min doprava |
| .................... FL;FR; |
| .................... delay_ms(200); |
| .................... uhel=STRED+BEAR1; // jeste min doprava |
| .................... FL;FR; |
| .................... delay_ms(200); |
| .................... uhel=STRED; // rovne |
| .................... FL;FR; |
| .................... delay_ms(100); |
| .................... While((sensors & 0b01111111)!=0) //dokud neni cara |
| .................... { |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| .................... } |
| .................... BL; BR; |
| .................... delay_ms(400); |
| .................... |
| .................... uhel=STRED-BEAR3; // doleva |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| * |
| 0089: CLRF 04 |
| 008A: MOVLW 1F |
| 008B: ANDWF 03,F |
| 008C: MOVLW 70 |
| 008D: BSF 03.5 |
| 008E: MOVWF 0F |
| 008F: BCF 1F.4 |
| 0090: BCF 1F.5 |
| 0091: MOVF 1B,W |
| 0092: ANDLW 80 |
| 0093: MOVWF 1B |
| 0094: MOVLW 07 |
| 0095: MOVWF 1C |
| .................... |
| .................... unsigned int8 n; |
| .................... unsigned int8 i,v; |
| .................... unsigned int8 last_sensors; |
| .................... unsigned int8 j=0; |
| 0096: BCF 03.5 |
| 0097: CLRF 38 |
| .................... |
| .................... setup_adc_ports(NO_ANALOGS); |
| 0098: BSF 03.5 |
| 0099: BCF 1F.4 |
| 009A: BCF 1F.5 |
| 009B: MOVF 1B,W |
| 009C: ANDLW 80 |
| 009D: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 009E: BCF 1F.6 |
| 009F: BCF 03.5 |
| 00A0: BSF 1F.6 |
| 00A1: BSF 1F.7 |
| 00A2: BSF 03.5 |
| 00A3: BCF 1F.7 |
| 00A4: BCF 03.5 |
| 00A5: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| 00A6: BCF 14.5 |
| 00A7: BSF 03.5 |
| 00A8: BCF 06.2 |
| 00A9: BSF 06.1 |
| 00AA: BCF 06.4 |
| 00AB: MOVLW 31 |
| 00AC: BCF 03.5 |
| 00AD: MOVWF 14 |
| 00AE: MOVLW 00 |
| 00AF: BSF 03.5 |
| 00B0: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00B1: MOVF 01,W |
| 00B2: ANDLW C7 |
| 00B3: IORLW 08 |
| 00B4: MOVWF 01 |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_8); |
| 00B5: MOVLW B5 |
| 00B6: BCF 03.5 |
| 00B7: MOVWF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 00B8: MOVLW 78 |
| 00B9: MOVWF 78 |
| 00BA: IORLW 06 |
| 00BB: MOVWF 12 |
| 00BC: MOVLW 8C |
| 00BD: BSF 03.5 |
| 00BE: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 00BF: MOVLW 72 |
| 00C0: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 00C1: BCF 05.6 |
| 00C2: BCF 03.5 |
| 00C3: BCF 05.6 |
| 00C4: BSF 03.5 |
| 00C5: BCF 05.7 |
| 00C6: BCF 03.5 |
| 00C7: BCF 05.7 |
| 00C8: BSF 03.5 |
| 00C9: BCF 05.0 |
| 00CA: BCF 03.5 |
| 00CB: BCF 05.0 |
| 00CC: BSF 03.5 |
| 00CD: BCF 05.1 |
| 00CE: BCF 03.5 |
| 00CF: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 00D0: CLRF 31 |
| 00D1: CLRF 30 |
| 00D2: CLRF 33 |
| 00D3: CLRF 32 |
| .................... |
| .................... uhel = STRED; // nastav zadni kolecko na stred |
| 00D4: MOVLW 80 |
| 00D5: MOVWF 2C |
| .................... rovinka = 0; |
| 00D6: CLRF 2E |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 00D7: BSF 03.5 |
| 00D8: BSF 0C.1 |
| .................... enable_interrupts(INT_TIMER1); |
| 00D9: BSF 0C.0 |
| .................... enable_interrupts(GLOBAL); |
| 00DA: MOVLW C0 |
| 00DB: BCF 03.5 |
| 00DC: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 00DD: BSF 03.5 |
| 00DE: BCF 06.2 |
| 00DF: BCF 03.5 |
| 00E0: BCF 06.2 |
| .................... |
| .................... delay_ms(1000); |
| 00E1: MOVLW 04 |
| 00E2: MOVWF 39 |
| 00E3: MOVLW FA |
| 00E4: MOVWF 3A |
| 00E5: CALL 071 |
| 00E6: DECFSZ 39,F |
| 00E7: GOTO 0E3 |
| .................... |
| .................... //!!!! |
| .................... speed=SPEEDMAX; |
| 00E8: MOVLW A0 |
| 00E9: MOVWF 2D |
| .................... |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 00EA: MOVF 01,W |
| 00EB: BTFSS 00.7 |
| 00EC: GOTO 0F0 |
| 00ED: BTFSS 31.7 |
| 00EE: GOTO 0F8 |
| 00EF: GOTO 0F2 |
| 00F0: BTFSC 31.7 |
| 00F1: GOTO 101 |
| 00F2: MOVF 31,F |
| 00F3: BTFSS 03.2 |
| 00F4: GOTO 0F8 |
| 00F5: SUBWF 30,W |
| 00F6: BTFSS 03.0 |
| 00F7: GOTO 101 |
| 00F8: BSF 03.5 |
| 00F9: BCF 05.1 |
| 00FA: BCF 03.5 |
| 00FB: BCF 05.1 |
| 00FC: BSF 03.5 |
| 00FD: BCF 05.0 |
| 00FE: BCF 03.5 |
| 00FF: BSF 05.0 |
| 0100: GOTO 109 |
| 0101: BSF 03.5 |
| 0102: BCF 05.0 |
| 0103: BCF 03.5 |
| 0104: BCF 05.0 |
| 0105: BSF 03.5 |
| 0106: BCF 05.1 |
| 0107: BCF 03.5 |
| 0108: BCF 05.1 |
| 0109: MOVF 01,W |
| 010A: BTFSS 00.7 |
| 010B: GOTO 10F |
| 010C: BTFSS 33.7 |
| 010D: GOTO 117 |
| 010E: GOTO 111 |
| 010F: BTFSC 33.7 |
| 0110: GOTO 120 |
| 0111: MOVF 33,F |
| 0112: BTFSS 03.2 |
| 0113: GOTO 117 |
| 0114: SUBWF 32,W |
| 0115: BTFSS 03.0 |
| 0116: GOTO 120 |
| 0117: BSF 03.5 |
| 0118: BCF 05.7 |
| 0119: BCF 03.5 |
| 011A: BCF 05.7 |
| 011B: BSF 03.5 |
| 011C: BCF 05.6 |
| 011D: BCF 03.5 |
| 011E: BSF 05.6 |
| 011F: GOTO 128 |
| 0120: BSF 03.5 |
| 0121: BCF 05.6 |
| 0122: BCF 03.5 |
| 0123: BCF 05.6 |
| 0124: BSF 03.5 |
| 0125: BCF 05.7 |
| 0126: BCF 03.5 |
| 0127: BCF 05.7 |
| .................... |
| .................... delay_us(1500); // cekani na SLAVE, nez pripravi data od cidel |
| 0128: CLRWDT |
| 0129: MOVLW 01 |
| 012A: MOVWF 3A |
| 012B: CALL 071 |
| 012C: MOVLW 02 |
| 012D: MOVWF 39 |
| 012E: CLRF 29 |
| 012F: BTFSC 0B.7 |
| 0130: BSF 29.7 |
| 0131: BCF 0B.7 |
| 0132: MOVLW F7 |
| 0133: MOVWF 3D |
| 0134: CALL 043 |
| 0135: BTFSC 29.7 |
| 0136: BSF 0B.7 |
| 0137: DECFSZ 39,F |
| 0138: GOTO 12E |
| .................... |
| .................... last_sensors = sensors; |
| 0139: MOVF 2A,W |
| 013A: MOVWF 37 |
| .................... j++; |
| 013B: INCF 38,F |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 013C: BSF 03.5 |
| 013D: BCF 06.0 |
| 013E: BCF 03.5 |
| 013F: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0140: MOVF 13,W |
| 0141: CLRF 13 |
| 0142: BSF 03.5 |
| 0143: BTFSC 14.0 |
| 0144: GOTO 147 |
| 0145: BCF 03.5 |
| 0146: GOTO 142 |
| 0147: BCF 03.5 |
| 0148: MOVF 13,W |
| 0149: MOVWF 2A |
| .................... sensors=~sensors; |
| 014A: COMF 2A,F |
| .................... output_high(STROBE); // zobraz data na posuvnem registru |
| 014B: BSF 03.5 |
| 014C: BCF 06.0 |
| 014D: BCF 03.5 |
| 014E: BSF 06.0 |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... if(false == preteceni) |
| 014F: MOVLW 00 |
| 0150: BTFSC 2F.0 |
| 0151: MOVLW 01 |
| 0152: XORLW 00 |
| 0153: BTFSS 03.2 |
| 0154: GOTO 16B |
| .................... { |
| .................... v = 255 - (get_timer1() >> 8); |
| 0155: MOVF 0F,W |
| 0156: MOVWF 7A |
| 0157: MOVF 0E,W |
| 0158: MOVWF 77 |
| 0159: MOVF 0F,W |
| 015A: SUBWF 7A,W |
| 015B: BTFSS 03.2 |
| 015C: GOTO 155 |
| 015D: MOVF 77,W |
| 015E: MOVWF 39 |
| 015F: MOVF 7A,W |
| 0160: MOVWF 3A |
| 0161: MOVF 3A,W |
| 0162: CLRF 7A |
| 0163: SUBLW FF |
| 0164: MOVWF 36 |
| .................... v >>= 3; |
| 0165: RRF 36,F |
| 0166: RRF 36,F |
| 0167: RRF 36,F |
| 0168: MOVLW 1F |
| 0169: ANDWF 36,F |
| .................... } |
| .................... else |
| 016A: GOTO 16D |
| .................... { |
| .................... v=0; |
| 016B: CLRF 36 |
| .................... preteceni=false; |
| 016C: BCF 2F.0 |
| .................... } |
| .................... |
| .................... |
| .................... |
| .................... i=0; // havarijni kod |
| 016D: CLRF 35 |
| .................... for (n=0; n<=6; n++) |
| 016E: CLRF 34 |
| 016F: MOVF 34,W |
| 0170: SUBLW 06 |
| 0171: BTFSS 03.0 |
| 0172: GOTO 181 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 0173: MOVF 2A,W |
| 0174: MOVWF 77 |
| 0175: MOVF 34,W |
| 0176: MOVWF 78 |
| 0177: BTFSC 03.2 |
| 0178: GOTO 17D |
| 0179: BCF 03.0 |
| 017A: RRF 77,F |
| 017B: DECFSZ 78,F |
| 017C: GOTO 179 |
| 017D: BTFSC 77.0 |
| 017E: INCF 35,F |
| .................... } |
| 017F: INCF 34,F |
| 0180: GOTO 16F |
| .................... if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 0181: MOVF 35,W |
| 0182: SUBLW 03 |
| 0183: BTFSC 03.0 |
| 0184: GOTO 196 |
| 0185: BSF 03.5 |
| 0186: BCF 05.6 |
| 0187: BCF 03.5 |
| 0188: BCF 05.6 |
| 0189: BSF 03.5 |
| 018A: BCF 05.7 |
| 018B: BCF 03.5 |
| 018C: BCF 05.7 |
| 018D: BSF 03.5 |
| 018E: BCF 05.0 |
| 018F: BCF 03.5 |
| 0190: BCF 05.0 |
| 0191: BSF 03.5 |
| 0192: BCF 05.1 |
| 0193: BCF 03.5 |
| 0194: BCF 05.1 |
| 0195: GOTO 185 |
| .................... |
| .................... |
| .................... |
| .................... if(bit_test(sensors,7)) // detekce cihly |
| 0196: BTFSS 2A.7 |
| 0197: GOTO 198 |
| .................... { |
| .................... //!!! objizdka(); // objede cihlu |
| .................... } |
| .................... |
| .................... |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 0198: BTFSS 2A.3 |
| 0199: GOTO 1AF |
| .................... { |
| .................... uhel=STRED; |
| 019A: MOVLW 80 |
| 019B: MOVWF 2C |
| .................... Lmotor=speed; |
| 019C: CLRF 7A |
| 019D: MOVF 2D,W |
| 019E: MOVWF 30 |
| 019F: MOVF 7A,W |
| 01A0: MOVWF 31 |
| .................... Rmotor=speed; |
| 01A1: CLRF 7A |
| 01A2: MOVF 2D,W |
| 01A3: MOVWF 32 |
| 01A4: MOVF 7A,W |
| 01A5: MOVWF 33 |
| .................... line=S; |
| 01A6: MOVLW 02 |
| 01A7: MOVWF 2B |
| .................... set_timer1(0); |
| 01A8: CLRF 0F |
| 01A9: CLRF 0E |
| .................... if (rovinka < 255) rovinka++; |
| 01AA: INCFSZ 2E,W |
| 01AB: GOTO 1AD |
| 01AC: GOTO 1AE |
| 01AD: INCF 2E,F |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 01AE: GOTO 0EA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 01AF: BTFSS 2A.0 |
| 01B0: GOTO 1CD |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED - BEAR3 - v; |
| 01B1: MOVF 37,W |
| 01B2: SUBWF 2A,W |
| 01B3: BTFSC 03.2 |
| 01B4: GOTO 1B8 |
| 01B5: MOVF 36,W |
| 01B6: SUBLW 58 |
| 01B7: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 01B8: MOVF 38,W |
| 01B9: SUBLW 09 |
| 01BA: BTFSC 03.0 |
| 01BB: GOTO 1C1 |
| .................... { |
| .................... j=0; |
| 01BC: CLRF 38 |
| .................... if(uhel<STRED - BEAR3) uhel++; |
| 01BD: MOVF 2C,W |
| 01BE: SUBLW 57 |
| 01BF: BTFSC 03.0 |
| 01C0: INCF 2C,F |
| .................... } |
| .................... Lmotor=0; |
| 01C1: CLRF 31 |
| 01C2: CLRF 30 |
| .................... Rmotor=speed; |
| 01C3: CLRF 7A |
| 01C4: MOVF 2D,W |
| 01C5: MOVWF 32 |
| 01C6: MOVF 7A,W |
| 01C7: MOVWF 33 |
| .................... line=L; |
| 01C8: MOVLW 01 |
| 01C9: MOVWF 2B |
| .................... set_timer1(0); |
| 01CA: CLRF 0F |
| 01CB: CLRF 0E |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 01CC: GOTO 0EA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 01CD: BTFSS 2A.6 |
| 01CE: GOTO 1EA |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED + BEAR3 + v; |
| 01CF: MOVF 37,W |
| 01D0: SUBWF 2A,W |
| 01D1: BTFSC 03.2 |
| 01D2: GOTO 1D6 |
| 01D3: MOVLW A8 |
| 01D4: ADDWF 36,W |
| 01D5: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 01D6: MOVF 38,W |
| 01D7: SUBLW 09 |
| 01D8: BTFSC 03.0 |
| 01D9: GOTO 1DF |
| .................... { |
| .................... j=0; |
| 01DA: CLRF 38 |
| .................... if(uhel>STRED + BEAR3) uhel--; |
| 01DB: MOVF 2C,W |
| 01DC: SUBLW A8 |
| 01DD: BTFSS 03.0 |
| 01DE: DECF 2C,F |
| .................... } |
| .................... Rmotor=0; |
| 01DF: CLRF 33 |
| 01E0: CLRF 32 |
| .................... Lmotor=speed; |
| 01E1: CLRF 7A |
| 01E2: MOVF 2D,W |
| 01E3: MOVWF 30 |
| 01E4: MOVF 7A,W |
| 01E5: MOVWF 31 |
| .................... line=R; |
| 01E6: CLRF 2B |
| .................... set_timer1(0); |
| 01E7: CLRF 0F |
| 01E8: CLRF 0E |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 01E9: GOTO 0EA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 01EA: BTFSS 2A.1 |
| 01EB: GOTO 20C |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED - BEAR2 - v; |
| 01EC: MOVF 37,W |
| 01ED: SUBWF 2A,W |
| 01EE: BTFSC 03.2 |
| 01EF: GOTO 1F3 |
| 01F0: MOVF 36,W |
| 01F1: SUBLW 76 |
| 01F2: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 01F3: MOVF 38,W |
| 01F4: SUBLW 09 |
| 01F5: BTFSC 03.0 |
| 01F6: GOTO 1FC |
| .................... { |
| .................... j=0; |
| 01F7: CLRF 38 |
| .................... if(uhel<STRED - BEAR2) uhel++; |
| 01F8: MOVF 2C,W |
| 01F9: SUBLW 75 |
| 01FA: BTFSC 03.0 |
| 01FB: INCF 2C,F |
| .................... } |
| .................... Lmotor=speed-50; |
| 01FC: MOVLW 32 |
| 01FD: SUBWF 2D,W |
| 01FE: CLRF 7A |
| 01FF: MOVWF 30 |
| 0200: MOVF 7A,W |
| 0201: MOVWF 31 |
| .................... Rmotor=speed; |
| 0202: CLRF 7A |
| 0203: MOVF 2D,W |
| 0204: MOVWF 32 |
| 0205: MOVF 7A,W |
| 0206: MOVWF 33 |
| .................... line=S; |
| 0207: MOVLW 02 |
| 0208: MOVWF 2B |
| .................... set_timer1(0); |
| 0209: CLRF 0F |
| 020A: CLRF 0E |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 020B: GOTO 0EA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 020C: BTFSS 2A.5 |
| 020D: GOTO 22E |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED + BEAR2 + v; |
| 020E: MOVF 37,W |
| 020F: SUBWF 2A,W |
| 0210: BTFSC 03.2 |
| 0211: GOTO 215 |
| 0212: MOVLW 8A |
| 0213: ADDWF 36,W |
| 0214: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 0215: MOVF 38,W |
| 0216: SUBLW 09 |
| 0217: BTFSC 03.0 |
| 0218: GOTO 21E |
| .................... { |
| .................... j=0; |
| 0219: CLRF 38 |
| .................... if(uhel>STRED + BEAR2) uhel--; |
| 021A: MOVF 2C,W |
| 021B: SUBLW 8A |
| 021C: BTFSS 03.0 |
| 021D: DECF 2C,F |
| .................... } |
| .................... Rmotor=speed-50; |
| 021E: MOVLW 32 |
| 021F: SUBWF 2D,W |
| 0220: CLRF 7A |
| 0221: MOVWF 32 |
| 0222: MOVF 7A,W |
| 0223: MOVWF 33 |
| .................... Lmotor=speed; |
| 0224: CLRF 7A |
| 0225: MOVF 2D,W |
| 0226: MOVWF 30 |
| 0227: MOVF 7A,W |
| 0228: MOVWF 31 |
| .................... line=S; |
| 0229: MOVLW 02 |
| 022A: MOVWF 2B |
| .................... set_timer1(0); |
| 022B: CLRF 0F |
| 022C: CLRF 0E |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 022D: GOTO 0EA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 022E: BTFSS 2A.2 |
| 022F: GOTO 253 |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED - BEAR1 - v; |
| 0230: MOVF 37,W |
| 0231: SUBWF 2A,W |
| 0232: BTFSC 03.2 |
| 0233: GOTO 237 |
| 0234: MOVF 36,W |
| 0235: SUBLW 7A |
| 0236: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 0237: MOVF 38,W |
| 0238: SUBLW 09 |
| 0239: BTFSC 03.0 |
| 023A: GOTO 240 |
| .................... { |
| .................... if(uhel<STRED - BEAR1)uhel++; |
| 023B: MOVF 2C,W |
| 023C: SUBLW 79 |
| 023D: BTFSC 03.0 |
| 023E: INCF 2C,F |
| .................... j=0; |
| 023F: CLRF 38 |
| .................... } |
| .................... Lmotor=speed; |
| 0240: CLRF 7A |
| 0241: MOVF 2D,W |
| 0242: MOVWF 30 |
| 0243: MOVF 7A,W |
| 0244: MOVWF 31 |
| .................... Rmotor=speed; |
| 0245: CLRF 7A |
| 0246: MOVF 2D,W |
| 0247: MOVWF 32 |
| 0248: MOVF 7A,W |
| 0249: MOVWF 33 |
| .................... line=S; |
| 024A: MOVLW 02 |
| 024B: MOVWF 2B |
| .................... set_timer1(0); |
| 024C: CLRF 0F |
| 024D: CLRF 0E |
| .................... if (rovinka<255) rovinka++; |
| 024E: INCFSZ 2E,W |
| 024F: GOTO 251 |
| 0250: GOTO 252 |
| 0251: INCF 2E,F |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 0252: GOTO 0EA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 0253: BTFSS 2A.4 |
| 0254: GOTO 278 |
| .................... { |
| .................... if(sensors != last_sensors) uhel=STRED + BEAR1 + v; |
| 0255: MOVF 37,W |
| 0256: SUBWF 2A,W |
| 0257: BTFSC 03.2 |
| 0258: GOTO 25C |
| 0259: MOVLW 86 |
| 025A: ADDWF 36,W |
| 025B: MOVWF 2C |
| .................... if(j>=DOZNIVANI) |
| 025C: MOVF 38,W |
| 025D: SUBLW 09 |
| 025E: BTFSC 03.0 |
| 025F: GOTO 265 |
| .................... { |
| .................... j=0; |
| 0260: CLRF 38 |
| .................... if(uhel>STRED + BEAR1) uhel--; |
| 0261: MOVF 2C,W |
| 0262: SUBLW 86 |
| 0263: BTFSS 03.0 |
| 0264: DECF 2C,F |
| .................... } |
| .................... Rmotor=speed; |
| 0265: CLRF 7A |
| 0266: MOVF 2D,W |
| 0267: MOVWF 32 |
| 0268: MOVF 7A,W |
| 0269: MOVWF 33 |
| .................... Lmotor=speed; |
| 026A: CLRF 7A |
| 026B: MOVF 2D,W |
| 026C: MOVWF 30 |
| 026D: MOVF 7A,W |
| 026E: MOVWF 31 |
| .................... line=S; |
| 026F: MOVLW 02 |
| 0270: MOVWF 2B |
| .................... set_timer1(0); |
| 0271: CLRF 0F |
| 0272: CLRF 0E |
| .................... if (rovinka<255) rovinka++; |
| 0273: INCFSZ 2E,W |
| 0274: GOTO 276 |
| 0275: GOTO 277 |
| 0276: INCF 2E,F |
| .................... // if (speed > SPEEDMAX) speed--; |
| .................... continue; |
| 0277: GOTO 0EA |
| .................... } |
| .................... |
| .................... if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate |
| 0278: DECFSZ 2B,W |
| 0279: GOTO 27B |
| 027A: GOTO 27E |
| 027B: MOVF 2B,F |
| 027C: BTFSS 03.2 |
| 027D: GOTO 298 |
| .................... { |
| .................... if (rovinka>250) |
| 027E: MOVF 2E,W |
| 027F: SUBLW FA |
| 0280: BTFSC 03.0 |
| 0281: GOTO 295 |
| .................... { |
| .................... BL; BR; |
| 0282: BSF 03.5 |
| 0283: BCF 05.0 |
| 0284: BCF 03.5 |
| 0285: BCF 05.0 |
| 0286: BSF 03.5 |
| 0287: BCF 05.1 |
| 0288: BCF 03.5 |
| 0289: BSF 05.1 |
| 028A: BSF 03.5 |
| 028B: BCF 05.6 |
| 028C: BCF 03.5 |
| 028D: BCF 05.6 |
| 028E: BSF 03.5 |
| 028F: BCF 05.7 |
| 0290: BCF 03.5 |
| 0291: BSF 05.7 |
| .................... Delay_ms(100); |
| 0292: MOVLW 64 |
| 0293: MOVWF 3A |
| 0294: CALL 071 |
| .................... }; |
| .................... rovinka=0; |
| 0295: CLRF 2E |
| .................... speed=SPEEDMAX; |
| 0296: MOVLW A0 |
| 0297: MOVWF 2D |
| .................... }; |
| .................... } |
| 0298: GOTO 0EA |
| .................... } |
| 0299: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |