| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.BAK |
|---|
| 0,0 → 1,159 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 40 |
| #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| // diagnostika |
| printf("\n\r"); |
| Delay_ms(100); |
| printf("***\n\r"); |
| Delay_ms(100); |
| for (n=0; n<=6; n++) |
| { |
| set_adc_channel(n); |
| Delay_ms(100); |
| a=read_adc(); |
| printf("sensor %u - %u\n\r",n,a); |
| } |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>CIHLA) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.HEX |
|---|
| 0,0 → 1,71 |
| :1000000000308A00B12800000A108A100A11820705 |
| :100010000A340D3400340A108A100A1182072A3477 |
| :100020002A342A340A340D3400340A108A100A1192 |
| :100030008207733465346E3473346F347234203411 |
| :100040002534753420342D342034253475340A3465 |
| :100050000D34003483168611831286110830F8009F |
| :10006000000000000000F8174428F813AA0C031839 |
| :100070008615031C8611781744287813F80B362848 |
| :1000800000000000000086151C308400840B462808 |
| :10009000000000006400F81B3528781B3D28003460 |
| :1000A000273084000008031966280130F800BF30AB |
| :1000B000F7006400F70B5928F80B57284A30F7006F |
| :1000C000F70B602800006400800B552800342B08D3 |
| :1000D000F8012A0203186F282A08F7007B28F70185 |
| :1000E0000830AC00AA0DF70D2B0877020318F700B3 |
| :1000F000F80DAC0B7228003478082808AA00643088 |
| :10010000AB0067207708A80078083030031D8F28DF |
| :10011000A91C9628A9199628291A20309228A911D5 |
| :1001200029122914F8077808AA002A202808AA000A |
| :100130000A30AB0067207708A80078083030031D2C |
| :10014000A728A919AB28291CAB28291A2030F807A1 |
| :100150007808AA002A203030A8072808AA002A20F8 |
| :10016000003484011F308305603083168F008611B0 |
| :100170008312861583161F129F121B0880399B005D |
| :1001800007309C001F129F121B0880397F389B008C |
| :100190001F1383121F179F1783169F1383121F1499 |
| :1001A00094128316061186140616353083129400B5 |
| :1001B0004030831694000108C73908388100831243 |
| :1001C00090010030F8009200003083169200073052 |
| :1001D0009C00050864000230F700F70BED280000D2 |
| :1001E00000001C0883120D1383169D010830831232 |
| :1001F000A100A200A7012708042000380319042940 |
| :10020000A70AAA002A20FB286430A7005020A701D3 |
| :1002100027080B20003803191129A70AAA002A2051 |
| :1002200008296430A7005020A6012608063C031CBC |
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| :10024000C73977049F006430A70050201F151F197D |
| :1002500027291E08A500A70127081520A70AF700CF |
| :10026000AA002A2007302702031D2C292608A800EF |
| :100270001B30A9007C202030AA002A202D30AA00A3 |
| :100280002A202030AA002A202508A8001B30A90017 |
| :100290007C200A30AA002A200D30AA002A20A60AB3 |
| :1002A0001529A3010030F8001F08C73978049F0002 |
| :1002B000A40164000230F700F70B5C290000000085 |
| :1002C0001F151F1961291E08A5000830F8001F0816 |
| :1002D000C73978049F002508453C031C7829250868 |
| :1002E000323C0318772922080139A4047829241400 |
| :1002F0001F151F1979291E08A5001030F8001F08C6 |
| :10030000C73978049F002508453C031C902925081F |
| :10031000323C03188F2922080239A4049029A4141E |
| :100320001F151F1991291E08A5001830F8001F0875 |
| :10033000C73978049F002508453C031CA8292508D7 |
| :10034000323C0318A72922080439A404A82924153B |
| :100350001F151F19A9291E08A5002030F8001F0825 |
| :10036000C73978049F002508453C031CC02925088F |
| :10037000323C0318BF2922080839A404C029A41557 |
| :100380001F151F19C1291E08A5002830F8001F08D5 |
| :10039000C73978049F002508453C031CD829250847 |
| :1003A000323C0318D72922081039A404D82924166E |
| :1003B0001F151F19D9291E08A5003030F8001F0885 |
| :1003C000C73978049F002508453C031CF0292508FF |
| :1003D000323C0318EF2922082039A404F029A4167E |
| :1003E0001F151F19F1291E08A5002508453C031CEF |
| :1003F000022A2508323C0318012A22084039A404A5 |
| :10040000022A24172408A200831606148312061851 |
| :100410000E2A230F0C2A0D2AA30A0F2AA301230850 |
| :100420000A3C031CA417A40924089300831614187B |
| :0C0430001B2A8312162A83125229630033 |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.LST |
|---|
| 0,0 → 1,617 |
| CCS PCM C Compiler, Version 3.245, 27853 23-IV-06 01:20 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| ROM used: 542 words (13%) |
| Largest free fragment is 2048 |
| RAM used: 13 (7%) at main() level |
| 18 (10%) worst case |
| Stack: 2 locations |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 0B1 |
| 0003: NOP |
| .................... #include ".\cidla.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| .................... #use delay(clock=4000000,RESTART_WDT) |
| * |
| 0050: MOVLW 27 |
| 0051: MOVWF 04 |
| 0052: MOVF 00,W |
| 0053: BTFSC 03.2 |
| 0054: GOTO 066 |
| 0055: MOVLW 01 |
| 0056: MOVWF 78 |
| 0057: MOVLW BF |
| 0058: MOVWF 77 |
| 0059: CLRWDT |
| 005A: DECFSZ 77,F |
| 005B: GOTO 059 |
| 005C: DECFSZ 78,F |
| 005D: GOTO 057 |
| 005E: MOVLW 4A |
| 005F: MOVWF 77 |
| 0060: DECFSZ 77,F |
| 0061: GOTO 060 |
| 0062: NOP |
| 0063: CLRWDT |
| 0064: DECFSZ 00,F |
| 0065: GOTO 055 |
| 0066: RETLW 00 |
| .................... |
| .................... |
| .................... //#include <stdlib.h> |
| .................... |
| .................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| * |
| 002A: BSF 03.5 |
| 002B: BCF 06.3 |
| 002C: BCF 03.5 |
| 002D: BCF 06.3 |
| 002E: MOVLW 08 |
| 002F: MOVWF 78 |
| 0030: NOP |
| 0031: NOP |
| 0032: NOP |
| 0033: BSF 78.7 |
| 0034: GOTO 044 |
| 0035: BCF 78.7 |
| 0036: RRF 2A,F |
| 0037: BTFSC 03.0 |
| 0038: BSF 06.3 |
| 0039: BTFSS 03.0 |
| 003A: BCF 06.3 |
| 003B: BSF 78.6 |
| 003C: GOTO 044 |
| 003D: BCF 78.6 |
| 003E: DECFSZ 78,F |
| 003F: GOTO 036 |
| 0040: NOP |
| 0041: NOP |
| 0042: NOP |
| 0043: BSF 06.3 |
| 0044: MOVLW 1C |
| 0045: MOVWF 04 |
| 0046: DECFSZ 04,F |
| 0047: GOTO 046 |
| 0048: NOP |
| 0049: NOP |
| 004A: CLRWDT |
| 004B: BTFSC 78.7 |
| 004C: GOTO 035 |
| 004D: BTFSC 78.6 |
| 004E: GOTO 03D |
| 004F: RETLW 00 |
| .................... |
| .................... #define IRRX PIN_B0 |
| .................... |
| .................... #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila |
| .................... #define TRESHOLD_MIN 50 |
| .................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| .................... |
| .................... unsigned int8 radius; // co cidla vidi |
| .................... unsigned int8 last_radius; // rozsah |
| .................... unsigned int8 last_cidla; // co cidla videla minule |
| .................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| .................... |
| .................... //tuning |
| .................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| .................... |
| .................... //Vystup PWM je na PIN_B3 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| .................... { |
| .................... unsigned int8 i,n; |
| .................... for(n=0;n<=3;n++) |
| .................... { |
| .................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| .................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| .................... } |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| * |
| 00B1: CLRF 04 |
| 00B2: MOVLW 1F |
| 00B3: ANDWF 03,F |
| 00B4: MOVLW 60 |
| 00B5: BSF 03.5 |
| 00B6: MOVWF 0F |
| 00B7: BCF 06.3 |
| 00B8: BCF 03.5 |
| 00B9: BSF 06.3 |
| 00BA: BSF 03.5 |
| 00BB: BCF 1F.4 |
| 00BC: BCF 1F.5 |
| 00BD: MOVF 1B,W |
| 00BE: ANDLW 80 |
| 00BF: MOVWF 1B |
| 00C0: MOVLW 07 |
| 00C1: MOVWF 1C |
| .................... int8 cidla; |
| .................... unsigned int8 a; |
| .................... unsigned int8 n; |
| .................... |
| .................... setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| 00C2: BCF 1F.4 |
| 00C3: BCF 1F.5 |
| 00C4: MOVF 1B,W |
| 00C5: ANDLW 80 |
| 00C6: IORLW 7F |
| 00C7: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00C8: BCF 1F.6 |
| 00C9: BCF 03.5 |
| 00CA: BSF 1F.6 |
| 00CB: BSF 1F.7 |
| 00CC: BSF 03.5 |
| 00CD: BCF 1F.7 |
| 00CE: BCF 03.5 |
| 00CF: BSF 1F.0 |
| .................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| 00D0: BCF 14.5 |
| 00D1: BSF 03.5 |
| 00D2: BCF 06.2 |
| 00D3: BSF 06.1 |
| 00D4: BSF 06.4 |
| 00D5: MOVLW 35 |
| 00D6: BCF 03.5 |
| 00D7: MOVWF 14 |
| 00D8: MOVLW 40 |
| 00D9: BSF 03.5 |
| 00DA: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00DB: MOVF 01,W |
| 00DC: ANDLW C7 |
| 00DD: IORLW 08 |
| 00DE: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 00DF: BCF 03.5 |
| 00E0: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 00E1: MOVLW 00 |
| 00E2: MOVWF 78 |
| 00E3: MOVWF 12 |
| 00E4: MOVLW 00 |
| 00E5: BSF 03.5 |
| 00E6: MOVWF 12 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00E7: MOVLW 07 |
| 00E8: MOVWF 1C |
| 00E9: MOVF 05,W |
| 00EA: CLRWDT |
| 00EB: MOVLW 02 |
| 00EC: MOVWF 77 |
| 00ED: DECFSZ 77,F |
| 00EE: GOTO 0ED |
| 00EF: NOP |
| 00F0: NOP |
| 00F1: MOVF 1C,W |
| 00F2: BCF 03.5 |
| 00F3: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00F4: BSF 03.5 |
| 00F5: CLRF 1D |
| .................... |
| .................... last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| 00F6: MOVLW 08 |
| 00F7: BCF 03.5 |
| 00F8: MOVWF 21 |
| .................... last_cidla=0b00001000; |
| 00F9: MOVWF 22 |
| .................... |
| .................... // diagnostika |
| .................... printf("\n\r"); |
| 00FA: CLRF 27 |
| 00FB: MOVF 27,W |
| 00FC: CALL 004 |
| 00FD: IORLW 00 |
| 00FE: BTFSC 03.2 |
| 00FF: GOTO 104 |
| 0100: INCF 27,F |
| 0101: MOVWF 2A |
| 0102: CALL 02A |
| 0103: GOTO 0FB |
| .................... Delay_ms(100); |
| 0104: MOVLW 64 |
| 0105: MOVWF 27 |
| 0106: CALL 050 |
| .................... printf("***\n\r"); |
| 0107: CLRF 27 |
| 0108: MOVF 27,W |
| 0109: CALL 00B |
| 010A: IORLW 00 |
| 010B: BTFSC 03.2 |
| 010C: GOTO 111 |
| 010D: INCF 27,F |
| 010E: MOVWF 2A |
| 010F: CALL 02A |
| 0110: GOTO 108 |
| .................... Delay_ms(100); |
| 0111: MOVLW 64 |
| 0112: MOVWF 27 |
| 0113: CALL 050 |
| .................... for (n=0; n<=6; n++) |
| 0114: CLRF 26 |
| 0115: MOVF 26,W |
| 0116: SUBLW 06 |
| 0117: BTFSS 03.0 |
| 0118: GOTO 151 |
| .................... { |
| .................... set_adc_channel(n); |
| 0119: RLF 26,W |
| 011A: MOVWF 77 |
| 011B: RLF 77,F |
| 011C: RLF 77,F |
| 011D: MOVLW F8 |
| 011E: ANDWF 77,F |
| 011F: MOVF 1F,W |
| 0120: ANDLW C7 |
| 0121: IORWF 77,W |
| 0122: MOVWF 1F |
| .................... Delay_ms(100); |
| 0123: MOVLW 64 |
| 0124: MOVWF 27 |
| 0125: CALL 050 |
| .................... a=read_adc(); |
| 0126: BSF 1F.2 |
| 0127: BTFSC 1F.2 |
| 0128: GOTO 127 |
| 0129: MOVF 1E,W |
| 012A: MOVWF 25 |
| .................... printf("sensor %u - %u\n\r",n,a); |
| 012B: CLRF 27 |
| 012C: MOVF 27,W |
| 012D: CALL 015 |
| 012E: INCF 27,F |
| 012F: MOVWF 77 |
| 0130: MOVWF 2A |
| 0131: CALL 02A |
| 0132: MOVLW 07 |
| 0133: SUBWF 27,W |
| 0134: BTFSS 03.2 |
| 0135: GOTO 12C |
| 0136: MOVF 26,W |
| 0137: MOVWF 28 |
| 0138: MOVLW 1B |
| 0139: MOVWF 29 |
| 013A: CALL 07C |
| 013B: MOVLW 20 |
| 013C: MOVWF 2A |
| 013D: CALL 02A |
| 013E: MOVLW 2D |
| 013F: MOVWF 2A |
| 0140: CALL 02A |
| 0141: MOVLW 20 |
| 0142: MOVWF 2A |
| 0143: CALL 02A |
| 0144: MOVF 25,W |
| 0145: MOVWF 28 |
| 0146: MOVLW 1B |
| 0147: MOVWF 29 |
| 0148: CALL 07C |
| 0149: MOVLW 0A |
| 014A: MOVWF 2A |
| 014B: CALL 02A |
| 014C: MOVLW 0D |
| 014D: MOVWF 2A |
| 014E: CALL 02A |
| .................... } |
| 014F: INCF 26,F |
| 0150: GOTO 115 |
| .................... |
| .................... shure=0; |
| 0151: CLRF 23 |
| .................... while(true) |
| .................... { |
| .................... set_adc_channel(0); |
| 0152: MOVLW 00 |
| 0153: MOVWF 78 |
| 0154: MOVF 1F,W |
| 0155: ANDLW C7 |
| 0156: IORWF 78,W |
| 0157: MOVWF 1F |
| .................... cidla=0; |
| 0158: CLRF 24 |
| .................... Delay_us(10); |
| 0159: CLRWDT |
| 015A: MOVLW 02 |
| 015B: MOVWF 77 |
| 015C: DECFSZ 77,F |
| 015D: GOTO 15C |
| 015E: NOP |
| 015F: NOP |
| .................... a=read_adc(); |
| 0160: BSF 1F.2 |
| 0161: BTFSC 1F.2 |
| 0162: GOTO 161 |
| 0163: MOVF 1E,W |
| 0164: MOVWF 25 |
| .................... |
| .................... set_adc_channel(1); |
| 0165: MOVLW 08 |
| 0166: MOVWF 78 |
| 0167: MOVF 1F,W |
| 0168: ANDLW C7 |
| 0169: IORWF 78,W |
| 016A: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) //hystereze cidel |
| 016B: MOVF 25,W |
| 016C: SUBLW 45 |
| 016D: BTFSS 03.0 |
| 016E: GOTO 178 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 016F: MOVF 25,W |
| 0170: SUBLW 32 |
| 0171: BTFSC 03.0 |
| 0172: GOTO 177 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000001); |
| 0173: MOVF 22,W |
| 0174: ANDLW 01 |
| 0175: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000001; |
| 0176: GOTO 178 |
| 0177: BSF 24.0 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0178: BSF 1F.2 |
| 0179: BTFSC 1F.2 |
| 017A: GOTO 179 |
| 017B: MOVF 1E,W |
| 017C: MOVWF 25 |
| .................... |
| .................... set_adc_channel(2); |
| 017D: MOVLW 10 |
| 017E: MOVWF 78 |
| 017F: MOVF 1F,W |
| 0180: ANDLW C7 |
| 0181: IORWF 78,W |
| 0182: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 0183: MOVF 25,W |
| 0184: SUBLW 45 |
| 0185: BTFSS 03.0 |
| 0186: GOTO 190 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 0187: MOVF 25,W |
| 0188: SUBLW 32 |
| 0189: BTFSC 03.0 |
| 018A: GOTO 18F |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000010); |
| 018B: MOVF 22,W |
| 018C: ANDLW 02 |
| 018D: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000010; |
| 018E: GOTO 190 |
| 018F: BSF 24.1 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0190: BSF 1F.2 |
| 0191: BTFSC 1F.2 |
| 0192: GOTO 191 |
| 0193: MOVF 1E,W |
| 0194: MOVWF 25 |
| .................... |
| .................... set_adc_channel(3); |
| 0195: MOVLW 18 |
| 0196: MOVWF 78 |
| 0197: MOVF 1F,W |
| 0198: ANDLW C7 |
| 0199: IORWF 78,W |
| 019A: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 019B: MOVF 25,W |
| 019C: SUBLW 45 |
| 019D: BTFSS 03.0 |
| 019E: GOTO 1A8 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 019F: MOVF 25,W |
| 01A0: SUBLW 32 |
| 01A1: BTFSC 03.0 |
| 01A2: GOTO 1A7 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000100); |
| 01A3: MOVF 22,W |
| 01A4: ANDLW 04 |
| 01A5: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000100; |
| 01A6: GOTO 1A8 |
| 01A7: BSF 24.2 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 01A8: BSF 1F.2 |
| 01A9: BTFSC 1F.2 |
| 01AA: GOTO 1A9 |
| 01AB: MOVF 1E,W |
| 01AC: MOVWF 25 |
| .................... |
| .................... set_adc_channel(4); |
| 01AD: MOVLW 20 |
| 01AE: MOVWF 78 |
| 01AF: MOVF 1F,W |
| 01B0: ANDLW C7 |
| 01B1: IORWF 78,W |
| 01B2: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01B3: MOVF 25,W |
| 01B4: SUBLW 45 |
| 01B5: BTFSS 03.0 |
| 01B6: GOTO 1C0 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01B7: MOVF 25,W |
| 01B8: SUBLW 32 |
| 01B9: BTFSC 03.0 |
| 01BA: GOTO 1BF |
| .................... { |
| .................... cidla |= (last_cidla & 0b00001000); |
| 01BB: MOVF 22,W |
| 01BC: ANDLW 08 |
| 01BD: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00001000; |
| 01BE: GOTO 1C0 |
| 01BF: BSF 24.3 |
| .................... } |
| .................... a=read_adc(); |
| 01C0: BSF 1F.2 |
| 01C1: BTFSC 1F.2 |
| 01C2: GOTO 1C1 |
| 01C3: MOVF 1E,W |
| 01C4: MOVWF 25 |
| .................... |
| .................... set_adc_channel(5); |
| 01C5: MOVLW 28 |
| 01C6: MOVWF 78 |
| 01C7: MOVF 1F,W |
| 01C8: ANDLW C7 |
| 01C9: IORWF 78,W |
| 01CA: MOVWF 1F |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01CB: MOVF 25,W |
| 01CC: SUBLW 45 |
| 01CD: BTFSS 03.0 |
| 01CE: GOTO 1D8 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01CF: MOVF 25,W |
| 01D0: SUBLW 32 |
| 01D1: BTFSC 03.0 |
| 01D2: GOTO 1D7 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00010000); |
| 01D3: MOVF 22,W |
| 01D4: ANDLW 10 |
| 01D5: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00010000; |
| 01D6: GOTO 1D8 |
| 01D7: BSF 24.4 |
| .................... } |
| .................... a=read_adc(); |
| 01D8: BSF 1F.2 |
| 01D9: BTFSC 1F.2 |
| 01DA: GOTO 1D9 |
| 01DB: MOVF 1E,W |
| 01DC: MOVWF 25 |
| .................... |
| .................... set_adc_channel(6); |
| 01DD: MOVLW 30 |
| 01DE: MOVWF 78 |
| 01DF: MOVF 1F,W |
| 01E0: ANDLW C7 |
| 01E1: IORWF 78,W |
| 01E2: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01E3: MOVF 25,W |
| 01E4: SUBLW 45 |
| 01E5: BTFSS 03.0 |
| 01E6: GOTO 1F0 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01E7: MOVF 25,W |
| 01E8: SUBLW 32 |
| 01E9: BTFSC 03.0 |
| 01EA: GOTO 1EF |
| .................... { |
| .................... cidla |= (last_cidla & 0b00100000); |
| 01EB: MOVF 22,W |
| 01EC: ANDLW 20 |
| 01ED: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00100000; |
| 01EE: GOTO 1F0 |
| 01EF: BSF 24.5 |
| .................... } |
| .................... a=read_adc(); |
| 01F0: BSF 1F.2 |
| 01F1: BTFSC 1F.2 |
| 01F2: GOTO 1F1 |
| 01F3: MOVF 1E,W |
| 01F4: MOVWF 25 |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01F5: MOVF 25,W |
| 01F6: SUBLW 45 |
| 01F7: BTFSS 03.0 |
| 01F8: GOTO 202 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01F9: MOVF 25,W |
| 01FA: SUBLW 32 |
| 01FB: BTFSC 03.0 |
| 01FC: GOTO 201 |
| .................... { |
| .................... cidla |=(last_cidla & 0b01000000); |
| 01FD: MOVF 22,W |
| 01FE: ANDLW 40 |
| 01FF: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b01000000; |
| 0200: GOTO 202 |
| 0201: BSF 24.6 |
| .................... } |
| .................... |
| .................... last_cidla=cidla; |
| 0202: MOVF 24,W |
| 0203: MOVWF 22 |
| .................... |
| .................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| 0204: BSF 03.5 |
| 0205: BSF 06.0 |
| 0206: BCF 03.5 |
| 0207: BTFSC 06.0 |
| 0208: GOTO 20E |
| 0209: INCFSZ 23,W |
| 020A: GOTO 20C |
| 020B: GOTO 20D |
| 020C: INCF 23,F |
| 020D: GOTO 20F |
| 020E: CLRF 23 |
| .................... if (shure>CIHLA) cidla|=0b10000000; |
| 020F: MOVF 23,W |
| 0210: SUBLW 0A |
| 0211: BTFSS 03.0 |
| 0212: BSF 24.7 |
| .................... |
| .................... cidla=~cidla; |
| 0213: COMF 24,F |
| .................... spi_write(cidla); |
| 0214: MOVF 24,W |
| 0215: MOVWF 13 |
| 0216: BSF 03.5 |
| 0217: BTFSC 14.0 |
| 0218: GOTO 21B |
| 0219: BCF 03.5 |
| 021A: GOTO 216 |
| .................... } |
| 021B: BCF 03.5 |
| 021C: GOTO 152 |
| .................... } |
| 021D: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.PJT |
|---|
| 0,0 → 1,44 |
| [PROJECT] |
| Target=cidla.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [cidla.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=cidla.c |
| [Windows] |
| 0=0000 cidla.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=C:\Program Files\PICC\drivers\stdlib.h |
| 4=C:\Program Files\PICC\drivers\stddef.h |
| 5=C:\Program Files\PICC\drivers\string.h |
| 6=C:\Program Files\PICC\drivers\ctype.h |
| 7=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 8= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.SYM |
|---|
| 0,0 → 1,60 |
| 015 CCP_1_LOW |
| 015-016 CCP_1 |
| 016 CCP_1_HIGH |
| 020 radius |
| 021 last_radius |
| 022 last_cidla |
| 023 shure |
| 024 main.cidla |
| 025 main.a |
| 026 main.n |
| 027 @delay_ms1.P1 |
| 027 main.@SCRATCH |
| 028 @PRINTF_U_9600_51_41.P1 |
| 029 @PRINTF_U_9600_51_41.P1 |
| 02A @PUTCHAR_1_.P1 |
| 02A @DIV88.P2 |
| 02B @DIV88.P1 |
| 02C @DIV88.@SCRATCH |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0050 @delay_ms1 |
| 002A @PUTCHAR_1_ |
| 00B1 main |
| 0004 @const10061 |
| 000B @const10066 |
| 0015 @const10079 |
| 0067 @DIV88 |
| 007C @PRINTF_U_9600_51_41 |
| 00B1 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| C:\Program Files\PICC\devices\16F88.h |
| Units: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.hex |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sym |
| List: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sta |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.c |
|---|
| 0,0 → 1,159 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 50 |
| #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| // diagnostika |
| printf("\n\r"); |
| Delay_ms(100); |
| printf("***\n\r"); |
| Delay_ms(100); |
| for (n=0; n<=6; n++) |
| { |
| set_adc_channel(n); |
| Delay_ms(100); |
| a=read_adc(); |
| printf("sensor %u - %u\n\r",n,a); |
| } |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>CIHLA) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.err |
|---|
| 0,0 → 1,2 |
| No Errors |
| 0 Errors, 0 Warnings. |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.h |
|---|
| 0,0 → 1,5 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| #use delay(clock=4000000,RESTART_WDT) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.sta |
|---|
| 0,0 → 1,35 |
| ROM used: 542 (13%) |
| 542 (13%) including unused fragments |
| 1 Average locations per line |
| 6 Average locations per statement |
| RAM used: 13 (7%) at main() level |
| 18 (10%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 160 93 100 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 279 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 890 186 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 23 4 1 @delay_ms1 |
| 0 38 7 1 @PUTCHAR_1_ |
| 0 365 67 4 main |
| 0 7 1 0 @const10061 |
| 0 10 2 0 @const10066 |
| 0 21 4 0 @const10079 |
| 0 21 4 3 @DIV88 |
| 0 53 10 2 @PRINTF_U_9600_51_41 |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 538 1506 |
| 00800-00FFF 0 2048 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.tre |
|---|
| 0,0 → 1,29 |
| ÀÄcidla |
| ÀÄmain 0/365 Ram=4 |
| ÃÄ??0?? |
| ÃÄ@const10061 0/7 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@const10066 0/10 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@const10079 0/21 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PRINTF_U_9600_51_41 0/53 Ram=2 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PRINTF_U_9600_51_41 0/53 Ram=2 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/macro.ini |
|---|