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/roboti/istrobot/3Orbis/bak/07 1.funkcni/master/main.LST
0,0 → 1,1355
CCS PCM C Compiler, Version 3.245, 27853 22-IV-06 23:50
 
Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst
 
ROM used: 960 words (23%)
Largest free fragment is 2048
RAM used: 30 (17%) at main() level
37 (21%) worst case
Stack: 4 worst case (2 in main + 2 for interrupts)
 
*
0000: MOVLW 00
0001: MOVWF 0A
0002: GOTO 212
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 3F,F
0045: BTFSS 03.0
0046: GOTO 052
0047: MOVLW 3F
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 3C
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 10//10 // 3 stupne zataceni
.................... #define BEAR2 25//27
.................... #define BEAR3 45
.................... #define SPEEDMAX 140 // ANSMANN=140; GP=120; maximalni rozumna rychlost
.................... #define R17 255 // X nasobek rozumne rychlosti
.................... #define DOZNIVANI 10
.................... #define L1 1 // cara vlevo
.................... #define L2 2 // cara vlevo
.................... #define L3 3 // cara vlevo
.................... #define S 0 // casa mezi sensory
.................... #define R1 -1 // cara vpravo
.................... #define R2 -2 // cara vpravo
.................... #define R3 -3 // 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
.................... signed int8 line = S; // na ktere strane byla detekovana cara
*
021F: BCF 03.5
0220: CLRF 2B
.................... //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 3E
005A: MOVLW 6D
005B: MOVWF 3F
005C: CALL 043
005D: DECFSZ 3E,F
005E: GOTO 05A
.................... for(n=uhel; n>0; n--) Delay_us(2);
005F: MOVF 2C,W
0060: MOVWF 3D
0061: MOVF 3D,F
0062: BTFSC 03.2
0063: GOTO 06A
0064: CLRWDT
0065: NOP
0066: NOP
0067: NOP
0068: DECF 3D,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;
*
0089: CLRF 38
.................... unsigned int16 n;
....................
.................... BR;BL;
008A: BSF 03.5
008B: BCF 05.6
008C: BCF 03.5
008D: BCF 05.6
008E: BSF 03.5
008F: BCF 05.7
0090: BCF 03.5
0091: BSF 05.7
0092: BSF 03.5
0093: BCF 05.0
0094: BCF 03.5
0095: BCF 05.0
0096: BSF 03.5
0097: BCF 05.1
0098: BCF 03.5
0099: BSF 05.1
.................... Delay_ms(400);
009A: MOVLW 02
009B: MOVWF 3B
009C: MOVLW C8
009D: MOVWF 3C
009E: CALL 071
009F: DECFSZ 3B,F
00A0: GOTO 09C
.................... STOPR;STOPL;
00A1: BSF 03.5
00A2: BCF 05.6
00A3: BCF 03.5
00A4: BCF 05.6
00A5: BSF 03.5
00A6: BCF 05.7
00A7: BCF 03.5
00A8: BCF 05.7
00A9: BSF 03.5
00AA: BCF 05.0
00AB: BCF 03.5
00AC: BCF 05.0
00AD: BSF 03.5
00AE: BCF 05.1
00AF: BCF 03.5
00B0: BCF 05.1
....................
.................... // toceni na miste dokud nezmizi cihla
.................... //------------------------------------
.................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota
00B1: MOVLW E1
00B2: MOVWF 2C
.................... Delay_ms(100);
00B3: MOVLW 64
00B4: MOVWF 3C
00B5: CALL 071
.................... BL;FR;
00B6: BSF 03.5
00B7: BCF 05.0
00B8: BCF 03.5
00B9: BCF 05.0
00BA: BSF 03.5
00BB: BCF 05.1
00BC: BCF 03.5
00BD: BSF 05.1
00BE: BSF 03.5
00BF: BCF 05.7
00C0: BCF 03.5
00C1: BCF 05.7
00C2: BSF 03.5
00C3: BCF 05.6
00C4: BCF 03.5
00C5: BSF 05.6
.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle
00C6: MOVLW C8
00C7: MOVWF 3C
00C8: CALL 071
....................
.................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru
.................... {
00C9: BTFSS 2A.7
00CA: GOTO 0DA
.................... sensors = spi_read(0); // cteni senzoru
00CB: MOVF 13,W
00CC: CLRF 13
00CD: BSF 03.5
00CE: BTFSC 14.0
00CF: GOTO 0D2
00D0: BCF 03.5
00D1: GOTO 0CD
00D2: BCF 03.5
00D3: MOVF 13,W
00D4: MOVWF 2A
.................... sensors=~sensors;
00D5: COMF 2A,F
.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel
00D6: MOVLW 04
00D7: MOVWF 3C
00D8: CALL 071
.................... }
00D9: GOTO 0C9
.................... STOPL; STOPR;
00DA: BSF 03.5
00DB: BCF 05.0
00DC: BCF 03.5
00DD: BCF 05.0
00DE: BSF 03.5
00DF: BCF 05.1
00E0: BCF 03.5
00E1: BCF 05.1
00E2: BSF 03.5
00E3: BCF 05.6
00E4: BCF 03.5
00E5: BCF 05.6
00E6: BSF 03.5
00E7: BCF 05.7
00E8: BCF 03.5
00E9: BCF 05.7
....................
.................... for (n=0;n<1000;n++) // vystred se na hranu cihly
00EA: CLRF 3A
00EB: CLRF 39
00EC: MOVF 3A,W
00ED: SUBLW 03
00EE: BTFSS 03.0
00EF: GOTO 157
00F0: BTFSS 03.2
00F1: GOTO 0F6
00F2: MOVF 39,W
00F3: SUBLW E7
00F4: BTFSS 03.0
00F5: GOTO 157
.................... {
.................... if(!input(CIHLA))
00F6: BSF 03.5
00F7: BSF 05.3
00F8: BCF 03.5
00F9: BTFSC 05.3
00FA: GOTO 126
.................... {
.................... // BL; FR;
.................... GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor
00FB: MOVF 01,W
00FC: SUBLW B4
00FD: BTFSS 03.0
00FE: GOTO 108
00FF: BSF 03.5
0100: BCF 05.0
0101: BCF 03.5
0102: BCF 05.0
0103: BSF 03.5
0104: BCF 05.1
0105: BCF 03.5
0106: BSF 05.1
0107: GOTO 110
0108: BSF 03.5
0109: BCF 05.0
010A: BCF 03.5
010B: BCF 05.0
010C: BSF 03.5
010D: BCF 05.1
010E: BCF 03.5
010F: BCF 05.1
0110: MOVF 01,W
0111: SUBLW A0
0112: BTFSS 03.0
0113: GOTO 11D
0114: BSF 03.5
0115: BCF 05.7
0116: BCF 03.5
0117: BCF 05.7
0118: BSF 03.5
0119: BCF 05.6
011A: BCF 03.5
011B: BSF 05.6
011C: GOTO 125
011D: BSF 03.5
011E: BCF 05.6
011F: BCF 03.5
0120: BCF 05.6
0121: BSF 03.5
0122: BCF 05.7
0123: BCF 03.5
0124: BCF 05.7
.................... } else
0125: GOTO 150
.................... {
.................... // FL; BR;
.................... GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor
0126: MOVF 01,W
0127: SUBLW B4
0128: BTFSS 03.0
0129: GOTO 133
012A: BSF 03.5
012B: BCF 05.1
012C: BCF 03.5
012D: BCF 05.1
012E: BSF 03.5
012F: BCF 05.0
0130: BCF 03.5
0131: BSF 05.0
0132: GOTO 13B
0133: BSF 03.5
0134: BCF 05.0
0135: BCF 03.5
0136: BCF 05.0
0137: BSF 03.5
0138: BCF 05.1
0139: BCF 03.5
013A: BCF 05.1
013B: MOVF 01,W
013C: SUBLW A0
013D: BTFSS 03.0
013E: GOTO 148
013F: BSF 03.5
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: BSF 05.7
0147: GOTO 150
0148: BSF 03.5
0149: BCF 05.6
014A: BCF 03.5
014B: BCF 05.6
014C: BSF 03.5
014D: BCF 05.7
014E: BCF 03.5
014F: BCF 05.7
.................... };
.................... delay_ms(1);
0150: MOVLW 01
0151: MOVWF 3C
0152: CALL 071
.................... }
0153: INCF 39,F
0154: BTFSC 03.2
0155: INCF 3A,F
0156: GOTO 0EC
.................... STOPR;STOPL;
0157: BSF 03.5
0158: BCF 05.6
0159: BCF 03.5
015A: BCF 05.6
015B: BSF 03.5
015C: BCF 05.7
015D: BCF 03.5
015E: BCF 05.7
015F: BSF 03.5
0160: BCF 05.0
0161: BCF 03.5
0162: BCF 05.0
0163: BSF 03.5
0164: BCF 05.1
0165: BCF 03.5
0166: BCF 05.1
....................
.................... uhel=STRED; // dopredu
0167: MOVLW 80
0168: MOVWF 2C
.................... delay_ms(100);
0169: MOVLW 64
016A: MOVWF 3C
016B: CALL 071
.................... FR; FL;
016C: BSF 03.5
016D: BCF 05.7
016E: BCF 03.5
016F: BCF 05.7
0170: BSF 03.5
0171: BCF 05.6
0172: BCF 03.5
0173: BSF 05.6
0174: BSF 03.5
0175: BCF 05.1
0176: BCF 03.5
0177: BCF 05.1
0178: BSF 03.5
0179: BCF 05.0
017A: BCF 03.5
017B: BSF 05.0
.................... delay_ms(500);
017C: MOVLW 02
017D: MOVWF 3B
017E: MOVLW FA
017F: MOVWF 3C
0180: CALL 071
0181: DECFSZ 3B,F
0182: GOTO 17E
.................... BL;BR;
0183: BSF 03.5
0184: BCF 05.0
0185: BCF 03.5
0186: BCF 05.0
0187: BSF 03.5
0188: BCF 05.1
0189: BCF 03.5
018A: BSF 05.1
018B: BSF 03.5
018C: BCF 05.6
018D: BCF 03.5
018E: BCF 05.6
018F: BSF 03.5
0190: BCF 05.7
0191: BCF 03.5
0192: BSF 05.7
.................... delay_ms(200);
0193: MOVLW C8
0194: MOVWF 3C
0195: CALL 071
.................... STOPL;STOPR;
0196: BSF 03.5
0197: BCF 05.0
0198: BCF 03.5
0199: BCF 05.0
019A: BSF 03.5
019B: BCF 05.1
019C: BCF 03.5
019D: BCF 05.1
019E: BSF 03.5
019F: BCF 05.6
01A0: BCF 03.5
01A1: BCF 05.6
01A2: BSF 03.5
01A3: BCF 05.7
01A4: BCF 03.5
01A5: BCF 05.7
....................
.................... uhel=STRED+BEAR3; // doprava
01A6: MOVLW AD
01A7: MOVWF 2C
.................... delay_ms(100);
01A8: MOVLW 64
01A9: MOVWF 3C
01AA: CALL 071
.................... FL;
01AB: BSF 03.5
01AC: BCF 05.1
01AD: BCF 03.5
01AE: BCF 05.1
01AF: BSF 03.5
01B0: BCF 05.0
01B1: BCF 03.5
01B2: BSF 05.0
.................... delay_ms(400);
01B3: MOVLW 02
01B4: MOVWF 3B
01B5: MOVLW C8
01B6: MOVWF 3C
01B7: CALL 071
01B8: DECFSZ 3B,F
01B9: GOTO 1B5
.................... uhel=STRED+BEAR2; // min doprava
01BA: MOVLW 99
01BB: MOVWF 2C
.................... FL;FR;
01BC: BSF 03.5
01BD: BCF 05.1
01BE: BCF 03.5
01BF: BCF 05.1
01C0: BSF 03.5
01C1: BCF 05.0
01C2: BCF 03.5
01C3: BSF 05.0
01C4: BSF 03.5
01C5: BCF 05.7
01C6: BCF 03.5
01C7: BCF 05.7
01C8: BSF 03.5
01C9: BCF 05.6
01CA: BCF 03.5
01CB: BSF 05.6
.................... delay_ms(100);
01CC: MOVLW 64
01CD: MOVWF 3C
01CE: CALL 071
.................... uhel=STRED+BEAR1; // jeste min doprava
01CF: MOVLW 8A
01D0: MOVWF 2C
.................... FL;FR;
01D1: BSF 03.5
01D2: BCF 05.1
01D3: BCF 03.5
01D4: BCF 05.1
01D5: BSF 03.5
01D6: BCF 05.0
01D7: BCF 03.5
01D8: BSF 05.0
01D9: BSF 03.5
01DA: BCF 05.7
01DB: BCF 03.5
01DC: BCF 05.7
01DD: BSF 03.5
01DE: BCF 05.6
01DF: BCF 03.5
01E0: BSF 05.6
.................... delay_ms(200);
01E1: MOVLW C8
01E2: MOVWF 3C
01E3: CALL 071
.................... /*
.................... uhel=STRED; // rovne
.................... delay_ms(100);
.................... FL;FR;
.................... delay_ms(100);
.................... */
.................... While((sensors & 0b01111111)!=0) //dokud neni cara
.................... {
01E4: MOVF 2A,W
01E5: ANDLW 7F
01E6: BTFSC 03.2
01E7: GOTO 1F7
.................... sensors = spi_read(0); // cteni senzoru
01E8: MOVF 13,W
01E9: CLRF 13
01EA: BSF 03.5
01EB: BTFSC 14.0
01EC: GOTO 1EF
01ED: BCF 03.5
01EE: GOTO 1EA
01EF: BCF 03.5
01F0: MOVF 13,W
01F1: MOVWF 2A
.................... sensors=~sensors;
01F2: COMF 2A,F
.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel
01F3: MOVLW 04
01F4: MOVWF 3C
01F5: CALL 071
.................... }
01F6: GOTO 1E4
.................... BL; BR;
01F7: BSF 03.5
01F8: BCF 05.0
01F9: BCF 03.5
01FA: BCF 05.0
01FB: BSF 03.5
01FC: BCF 05.1
01FD: BCF 03.5
01FE: BSF 05.1
01FF: BSF 03.5
0200: BCF 05.6
0201: BCF 03.5
0202: BCF 05.6
0203: BSF 03.5
0204: BCF 05.7
0205: BCF 03.5
0206: BSF 05.7
.................... delay_ms(400);
0207: MOVLW 02
0208: MOVWF 3B
0209: MOVLW C8
020A: MOVWF 3C
020B: CALL 071
020C: DECFSZ 3B,F
020D: GOTO 209
....................
.................... uhel=STRED-BEAR3; // doleva
020E: MOVLW 53
020F: MOVWF 2C
.................... }
0210: BCF 0A.3
0211: GOTO 317 (RETURN)
....................
.................... ////////////////////////////////////////////////////////////////////////////////
.................... void main()
.................... {
0212: CLRF 04
0213: MOVLW 1F
0214: ANDWF 03,F
0215: MOVLW 70
0216: BSF 03.5
0217: MOVWF 0F
0218: BCF 1F.4
0219: BCF 1F.5
021A: MOVF 1B,W
021B: ANDLW 80
021C: MOVWF 1B
021D: MOVLW 07
021E: MOVWF 1C
....................
.................... unsigned int8 n;
.................... unsigned int8 i,v;
.................... unsigned int8 last_sensors;
....................
.................... setup_adc_ports(NO_ANALOGS);
*
0221: BSF 03.5
0222: BCF 1F.4
0223: BCF 1F.5
0224: MOVF 1B,W
0225: ANDLW 80
0226: MOVWF 1B
.................... setup_adc(ADC_CLOCK_INTERNAL);
0227: BCF 1F.6
0228: BCF 03.5
0229: BSF 1F.6
022A: BSF 1F.7
022B: BSF 03.5
022C: BCF 1F.7
022D: BCF 03.5
022E: BSF 1F.0
.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);
022F: BCF 14.5
0230: BSF 03.5
0231: BCF 06.2
0232: BSF 06.1
0233: BCF 06.4
0234: MOVLW 31
0235: BCF 03.5
0236: MOVWF 14
0237: MOVLW 00
0238: BSF 03.5
0239: MOVWF 14
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
023A: MOVF 01,W
023B: ANDLW C7
023C: IORLW 08
023D: MOVWF 01
.................... // setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
.................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8);
023E: MOVLW 30
023F: BCF 03.5
0240: MOVWF 10
.................... setup_timer_2(T2_DIV_BY_16,140,16);
0241: MOVLW 78
0242: MOVWF 78
0243: IORLW 06
0244: MOVWF 12
0245: MOVLW 8C
0246: BSF 03.5
0247: MOVWF 12
.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);
0248: MOVLW 72
0249: MOVWF 0F
....................
.................... STOPR; STOPL; // zastav motory
024A: BCF 05.6
024B: BCF 03.5
024C: BCF 05.6
024D: BSF 03.5
024E: BCF 05.7
024F: BCF 03.5
0250: BCF 05.7
0251: BSF 03.5
0252: BCF 05.0
0253: BCF 03.5
0254: BCF 05.0
0255: BSF 03.5
0256: BCF 05.1
0257: BCF 03.5
0258: BCF 05.1
.................... Lmotor=0;Rmotor=0;
0259: CLRF 31
025A: CLRF 30
025B: CLRF 33
025C: CLRF 32
....................
.................... uhel = STRED; // nastav zadni kolecko na stred
025D: MOVLW 80
025E: MOVWF 2C
.................... rovinka = 0;
025F: CLRF 2E
....................
.................... enable_interrupts(INT_TIMER2);
0260: BSF 03.5
0261: BSF 0C.1
.................... // enable_interrupts(INT_TIMER1);
.................... enable_interrupts(GLOBAL);
0262: MOVLW C0
0263: BCF 03.5
0264: IORWF 0B,F
....................
.................... output_low(IRTX); // zapni IR vysilac
0265: BSF 03.5
0266: BCF 06.2
0267: BCF 03.5
0268: BCF 06.2
....................
.................... delay_ms(1000);
0269: MOVLW 04
026A: MOVWF 38
026B: MOVLW FA
026C: MOVWF 3C
026D: CALL 071
026E: DECFSZ 38,F
026F: GOTO 26B
....................
.................... //!!!!
.................... speed=SPEEDMAX;
0270: MOVLW 8C
0271: MOVWF 2D
....................
.................... while(true)
.................... {
....................
.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor
0272: MOVF 01,W
0273: BTFSS 00.7
0274: GOTO 278
0275: BTFSS 31.7
0276: GOTO 280
0277: GOTO 27A
0278: BTFSC 31.7
0279: GOTO 289
027A: MOVF 31,F
027B: BTFSS 03.2
027C: GOTO 280
027D: SUBWF 30,W
027E: BTFSS 03.0
027F: GOTO 289
0280: BSF 03.5
0281: BCF 05.1
0282: BCF 03.5
0283: BCF 05.1
0284: BSF 03.5
0285: BCF 05.0
0286: BCF 03.5
0287: BSF 05.0
0288: GOTO 291
0289: BSF 03.5
028A: BCF 05.0
028B: BCF 03.5
028C: BCF 05.0
028D: BSF 03.5
028E: BCF 05.1
028F: BCF 03.5
0290: BCF 05.1
0291: MOVF 01,W
0292: BTFSS 00.7
0293: GOTO 297
0294: BTFSS 33.7
0295: GOTO 29F
0296: GOTO 299
0297: BTFSC 33.7
0298: GOTO 2A8
0299: MOVF 33,F
029A: BTFSS 03.2
029B: GOTO 29F
029C: SUBWF 32,W
029D: BTFSS 03.0
029E: GOTO 2A8
029F: BSF 03.5
02A0: BCF 05.7
02A1: BCF 03.5
02A2: BCF 05.7
02A3: BSF 03.5
02A4: BCF 05.6
02A5: BCF 03.5
02A6: BSF 05.6
02A7: GOTO 2B0
02A8: BSF 03.5
02A9: BCF 05.6
02AA: BCF 03.5
02AB: BCF 05.6
02AC: BSF 03.5
02AD: BCF 05.7
02AE: BCF 03.5
02AF: BCF 05.7
....................
.................... delay_us(1500); // cekani na SLAVE, nez pripravi data od cidel
02B0: CLRWDT
02B1: MOVLW 01
02B2: MOVWF 3C
02B3: CALL 071
02B4: MOVLW 02
02B5: MOVWF 38
02B6: CLRF 29
02B7: BTFSC 0B.7
02B8: BSF 29.7
02B9: BCF 0B.7
02BA: MOVLW F7
02BB: MOVWF 3F
02BC: CALL 043
02BD: BTFSC 29.7
02BE: BSF 0B.7
02BF: DECFSZ 38,F
02C0: GOTO 2B6
....................
.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru
02C1: BSF 03.5
02C2: BCF 06.0
02C3: BCF 03.5
02C4: BCF 06.0
.................... sensors = spi_read(0); // cteni senzoru
02C5: MOVF 13,W
02C6: CLRF 13
02C7: BSF 03.5
02C8: BTFSC 14.0
02C9: GOTO 2CC
02CA: BCF 03.5
02CB: GOTO 2C7
02CC: BCF 03.5
02CD: MOVF 13,W
02CE: MOVWF 2A
.................... sensors=~sensors;
02CF: COMF 2A,F
.................... output_high(STROBE); // zobraz data na posuvnem registru
02D0: BSF 03.5
02D1: BCF 06.0
02D2: BCF 03.5
02D3: BSF 06.0
....................
.................... i=0; // havarijni kod
02D4: CLRF 35
.................... for (n=0; n<=6; n++)
02D5: CLRF 34
02D6: MOVF 34,W
02D7: SUBLW 06
02D8: BTFSS 03.0
02D9: GOTO 2E8
.................... {
.................... if(bit_test(sensors,n)) i++;
02DA: MOVF 2A,W
02DB: MOVWF 77
02DC: MOVF 34,W
02DD: MOVWF 78
02DE: BTFSC 03.2
02DF: GOTO 2E4
02E0: BCF 03.0
02E1: RRF 77,F
02E2: DECFSZ 78,F
02E3: GOTO 2E0
02E4: BTFSC 77.0
02E5: INCF 35,F
.................... }
02E6: INCF 34,F
02E7: GOTO 2D6
.................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly
02E8: MOVF 35,W
02E9: SUBLW 03
02EA: BTFSC 03.0
02EB: GOTO 314
.................... {
.................... BL; BR;
02EC: BSF 03.5
02ED: BCF 05.0
02EE: BCF 03.5
02EF: BCF 05.0
02F0: BSF 03.5
02F1: BCF 05.1
02F2: BCF 03.5
02F3: BSF 05.1
02F4: BSF 03.5
02F5: BCF 05.6
02F6: BCF 03.5
02F7: BCF 05.6
02F8: BSF 03.5
02F9: BCF 05.7
02FA: BCF 03.5
02FB: BSF 05.7
.................... delay_ms(300);
02FC: MOVLW 02
02FD: MOVWF 38
02FE: MOVLW 96
02FF: MOVWF 3C
0300: CALL 071
0301: DECFSZ 38,F
0302: GOTO 2FE
.................... STOPR; STOPL;
0303: BSF 03.5
0304: BCF 05.6
0305: BCF 03.5
0306: BCF 05.6
0307: BSF 03.5
0308: BCF 05.7
0309: BCF 03.5
030A: BCF 05.7
030B: BSF 03.5
030C: BCF 05.0
030D: BCF 03.5
030E: BCF 05.0
030F: BSF 03.5
0310: BCF 05.1
0311: BCF 03.5
0312: BCF 05.1
.................... While(true);
0313: GOTO 313
.................... };
....................
.................... if(bit_test(sensors,7)) // detekce cihly
0314: BTFSS 2A.7
0315: GOTO 317
.................... {
.................... objizdka(); // objede cihlu
0316: GOTO 089
.................... }
....................
....................
.................... if(bit_test(sensors,3)) //...|...//
0317: BTFSS 2A.3
0318: GOTO 32B
.................... {
.................... uhel=STRED;
0319: MOVLW 80
031A: MOVWF 2C
.................... Lmotor=speed;
031B: CLRF 7A
031C: MOVF 2D,W
031D: MOVWF 30
031E: MOVF 7A,W
031F: MOVWF 31
.................... Rmotor=speed;
0320: CLRF 7A
0321: MOVF 2D,W
0322: MOVWF 32
0323: MOVF 7A,W
0324: MOVWF 33
.................... line=S;
0325: CLRF 2B
.................... // set_timer1(0);
.................... if (rovinka < 255) rovinka++;
0326: INCFSZ 2E,W
0327: GOTO 329
0328: GOTO 32A
0329: INCF 2E,F
.................... continue;
032A: GOTO 272
.................... }
....................
.................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu
032B: BTFSS 2A.0
032C: GOTO 339
.................... {
.................... uhel=STRED - BEAR3;
032D: MOVLW 53
032E: MOVWF 2C
.................... Lmotor=0;
032F: CLRF 31
0330: CLRF 30
.................... Rmotor=speed;
0331: CLRF 7A
0332: MOVF 2D,W
0333: MOVWF 32
0334: MOVF 7A,W
0335: MOVWF 33
.................... line=L3;
0336: MOVLW 03
0337: MOVWF 2B
.................... // set_timer1(0);
.................... continue;
0338: GOTO 272
.................... }
....................
.................... if(bit_test(sensors,6)) //......|//
0339: BTFSS 2A.6
033A: GOTO 347
.................... {
.................... uhel=STRED + BEAR3;
033B: MOVLW AD
033C: MOVWF 2C
.................... Rmotor=0;
033D: CLRF 33
033E: CLRF 32
.................... Lmotor=speed;
033F: CLRF 7A
0340: MOVF 2D,W
0341: MOVWF 30
0342: MOVF 7A,W
0343: MOVWF 31
.................... line=R3;
0344: MOVLW FD
0345: MOVWF 2B
.................... // set_timer1(0);
.................... continue;
0346: GOTO 272
.................... }
....................
.................... if(bit_test(sensors,1)) //.|.....//
0347: BTFSS 2A.1
0348: GOTO 359
.................... {
.................... uhel=STRED - BEAR2;
0349: MOVLW 67
034A: MOVWF 2C
.................... Lmotor=speed-50;
034B: MOVLW 32
034C: SUBWF 2D,W
034D: CLRF 7A
034E: MOVWF 30
034F: MOVF 7A,W
0350: MOVWF 31
.................... Rmotor=speed;
0351: CLRF 7A
0352: MOVF 2D,W
0353: MOVWF 32
0354: MOVF 7A,W
0355: MOVWF 33
.................... line=L2;
0356: MOVLW 02
0357: MOVWF 2B
.................... // set_timer1(0);
.................... continue;
0358: GOTO 272
.................... }
....................
.................... if(bit_test(sensors,5)) //.....|.//
0359: BTFSS 2A.5
035A: GOTO 36B
.................... {
.................... uhel=STRED + BEAR2;
035B: MOVLW 99
035C: MOVWF 2C
.................... Rmotor=speed-50;
035D: MOVLW 32
035E: SUBWF 2D,W
035F: CLRF 7A
0360: MOVWF 32
0361: MOVF 7A,W
0362: MOVWF 33
.................... Lmotor=speed;
0363: CLRF 7A
0364: MOVF 2D,W
0365: MOVWF 30
0366: MOVF 7A,W
0367: MOVWF 31
.................... line=R2;
0368: MOVLW FE
0369: MOVWF 2B
.................... // set_timer1(0);
.................... continue;
036A: GOTO 272
.................... }
....................
.................... if (bit_test(sensors,2)) //..|....//
036B: BTFSS 2A.2
036C: GOTO 380
.................... {
.................... uhel=STRED - BEAR1;
036D: MOVLW 76
036E: MOVWF 2C
.................... Lmotor=speed;
036F: CLRF 7A
0370: MOVF 2D,W
0371: MOVWF 30
0372: MOVF 7A,W
0373: MOVWF 31
.................... Rmotor=speed;
0374: CLRF 7A
0375: MOVF 2D,W
0376: MOVWF 32
0377: MOVF 7A,W
0378: MOVWF 33
.................... line=L1;
0379: MOVLW 01
037A: MOVWF 2B
.................... // set_timer1(0);
.................... if (rovinka<255) rovinka++;
037B: INCFSZ 2E,W
037C: GOTO 37E
037D: GOTO 37F
037E: INCF 2E,F
.................... continue;
037F: GOTO 272
.................... }
....................
.................... if (bit_test(sensors,4)) //....|..//
0380: BTFSS 2A.4
0381: GOTO 395
.................... {
.................... uhel=STRED + BEAR1;
0382: MOVLW 8A
0383: MOVWF 2C
.................... Rmotor=speed;
0384: CLRF 7A
0385: MOVF 2D,W
0386: MOVWF 32
0387: MOVF 7A,W
0388: MOVWF 33
.................... Lmotor=speed;
0389: CLRF 7A
038A: MOVF 2D,W
038B: MOVWF 30
038C: MOVF 7A,W
038D: MOVWF 31
.................... line=R1;
038E: MOVLW FF
038F: MOVWF 2B
.................... // set_timer1(0);
.................... if (rovinka<255) rovinka++;
0390: INCFSZ 2E,W
0391: GOTO 393
0392: GOTO 394
0393: INCF 2E,F
.................... continue;
0394: GOTO 272
.................... }
....................
....................
.................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate
0395: MOVF 2B,W
0396: SUBLW 03
0397: BTFSC 03.2
0398: GOTO 39D
0399: MOVF 2B,W
039A: SUBLW FD
039B: BTFSS 03.2
039C: GOTO 3BE
.................... {
.................... if (rovinka>50)
039D: MOVF 2E,W
039E: SUBLW 32
039F: BTFSC 03.0
03A0: GOTO 3BB
.................... {
.................... BL; BR;
03A1: BSF 03.5
03A2: BCF 05.0
03A3: BCF 03.5
03A4: BCF 05.0
03A5: BSF 03.5
03A6: BCF 05.1
03A7: BCF 03.5
03A8: BSF 05.1
03A9: BSF 03.5
03AA: BCF 05.6
03AB: BCF 03.5
03AC: BCF 05.6
03AD: BSF 03.5
03AE: BCF 05.7
03AF: BCF 03.5
03B0: BSF 05.7
.................... Delay_ms(100);
03B1: MOVLW 64
03B2: MOVWF 3C
03B3: CALL 071
.................... if (rovinka>250) delay_ms(50);
03B4: MOVF 2E,W
03B5: SUBLW FA
03B6: BTFSC 03.0
03B7: GOTO 3BB
03B8: MOVLW 32
03B9: MOVWF 3C
03BA: CALL 071
.................... };
.................... rovinka=0;
03BB: CLRF 2E
.................... speed=SPEEDMAX;
03BC: MOVLW 8C
03BD: MOVWF 2D
.................... };
.................... }
03BE: GOTO 272
.................... }
03BF: SLEEP
 
Configuration Fuses:
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
Word 2: 3FFC NOFCMEN NOIESO