| 0,0 → 1,620 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 24-IV-06 23:56 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| |
| ROM used: 548 words (13%) |
| Largest free fragment is 2048 |
| RAM used: 12 (7%) at main() level |
| 17 (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) |
| * |
| 002A: MOVLW 27 |
| 002B: MOVWF 04 |
| 002C: MOVF 00,W |
| 002D: BTFSC 03.2 |
| 002E: GOTO 040 |
| 002F: MOVLW 01 |
| 0030: MOVWF 78 |
| 0031: MOVLW BF |
| 0032: MOVWF 77 |
| 0033: CLRWDT |
| 0034: DECFSZ 77,F |
| 0035: GOTO 033 |
| 0036: DECFSZ 78,F |
| 0037: GOTO 031 |
| 0038: MOVLW 4A |
| 0039: MOVWF 77 |
| 003A: DECFSZ 77,F |
| 003B: GOTO 03A |
| 003C: NOP |
| 003D: CLRWDT |
| 003E: DECFSZ 00,F |
| 003F: GOTO 02F |
| 0040: RETLW 00 |
| .................... |
| .................... |
| .................... //#include <stdlib.h> |
| .................... |
| .................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| 0041: BSF 03.5 |
| 0042: BCF 06.3 |
| 0043: BCF 03.5 |
| 0044: BCF 06.3 |
| 0045: MOVLW 08 |
| 0046: MOVWF 78 |
| 0047: NOP |
| 0048: NOP |
| 0049: NOP |
| 004A: BSF 78.7 |
| 004B: GOTO 05B |
| 004C: BCF 78.7 |
| 004D: RRF 29,F |
| 004E: BTFSC 03.0 |
| 004F: BSF 06.3 |
| 0050: BTFSS 03.0 |
| 0051: BCF 06.3 |
| 0052: BSF 78.6 |
| 0053: GOTO 05B |
| 0054: BCF 78.6 |
| 0055: DECFSZ 78,F |
| 0056: GOTO 04D |
| 0057: NOP |
| 0058: NOP |
| 0059: NOP |
| 005A: BSF 06.3 |
| 005B: MOVLW 1C |
| 005C: MOVWF 04 |
| 005D: DECFSZ 04,F |
| 005E: GOTO 05D |
| 005F: NOP |
| 0060: NOP |
| 0061: CLRWDT |
| 0062: BTFSC 78.7 |
| 0063: GOTO 04C |
| 0064: BTFSC 78.6 |
| 0065: GOTO 054 |
| 0066: 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 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_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00D0: BSF 03.5 |
| 00D1: MOVF 01,W |
| 00D2: ANDLW C7 |
| 00D3: IORLW 08 |
| 00D4: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 00D5: BCF 03.5 |
| 00D6: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 00D7: MOVLW 00 |
| 00D8: MOVWF 78 |
| 00D9: MOVWF 12 |
| 00DA: MOVLW 00 |
| 00DB: BSF 03.5 |
| 00DC: MOVWF 12 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00DD: MOVLW 07 |
| 00DE: MOVWF 1C |
| 00DF: MOVF 05,W |
| 00E0: CLRWDT |
| 00E1: MOVLW 02 |
| 00E2: MOVWF 77 |
| 00E3: DECFSZ 77,F |
| 00E4: GOTO 0E3 |
| 00E5: NOP |
| 00E6: NOP |
| 00E7: MOVF 1C,W |
| 00E8: BCF 03.5 |
| 00E9: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00EA: BSF 03.5 |
| 00EB: CLRF 1D |
| .................... |
| .................... Delay_ms(500); |
| 00EC: MOVLW 02 |
| 00ED: BCF 03.5 |
| 00EE: MOVWF 26 |
| 00EF: MOVLW FA |
| 00F0: MOVWF 27 |
| 00F1: CALL 02A |
| 00F2: DECFSZ 26,F |
| 00F3: GOTO 0EF |
| .................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| 00F4: BCF 14.5 |
| 00F5: BSF 03.5 |
| 00F6: BCF 06.2 |
| 00F7: BSF 06.1 |
| 00F8: BSF 06.4 |
| 00F9: MOVLW 35 |
| 00FA: BCF 03.5 |
| 00FB: MOVWF 14 |
| 00FC: MOVLW 40 |
| 00FD: BSF 03.5 |
| 00FE: MOVWF 14 |
| .................... |
| .................... // diagnostika |
| .................... printf("\n\r"); |
| 00FF: BCF 03.5 |
| 0100: CLRF 26 |
| 0101: MOVF 26,W |
| 0102: CALL 004 |
| 0103: IORLW 00 |
| 0104: BTFSC 03.2 |
| 0105: GOTO 10A |
| 0106: INCF 26,F |
| 0107: MOVWF 29 |
| 0108: CALL 041 |
| 0109: GOTO 101 |
| .................... Delay_ms(100); |
| 010A: MOVLW 64 |
| 010B: MOVWF 27 |
| 010C: CALL 02A |
| .................... printf("***\n\r"); |
| 010D: CLRF 26 |
| 010E: MOVF 26,W |
| 010F: CALL 00B |
| 0110: IORLW 00 |
| 0111: BTFSC 03.2 |
| 0112: GOTO 117 |
| 0113: INCF 26,F |
| 0114: MOVWF 29 |
| 0115: CALL 041 |
| 0116: GOTO 10E |
| .................... Delay_ms(100); |
| 0117: MOVLW 64 |
| 0118: MOVWF 27 |
| 0119: CALL 02A |
| .................... for (n=0; n<=6; n++) |
| 011A: CLRF 25 |
| 011B: MOVF 25,W |
| 011C: SUBLW 06 |
| 011D: BTFSS 03.0 |
| 011E: GOTO 157 |
| .................... { |
| .................... set_adc_channel(n); |
| 011F: RLF 25,W |
| 0120: MOVWF 77 |
| 0121: RLF 77,F |
| 0122: RLF 77,F |
| 0123: MOVLW F8 |
| 0124: ANDWF 77,F |
| 0125: MOVF 1F,W |
| 0126: ANDLW C7 |
| 0127: IORWF 77,W |
| 0128: MOVWF 1F |
| .................... Delay_ms(100); |
| 0129: MOVLW 64 |
| 012A: MOVWF 27 |
| 012B: CALL 02A |
| .................... a=read_adc(); |
| 012C: BSF 1F.2 |
| 012D: BTFSC 1F.2 |
| 012E: GOTO 12D |
| 012F: MOVF 1E,W |
| 0130: MOVWF 24 |
| .................... printf("sensor %u - %u\n\r",n,a); |
| 0131: CLRF 26 |
| 0132: MOVF 26,W |
| 0133: CALL 015 |
| 0134: INCF 26,F |
| 0135: MOVWF 77 |
| 0136: MOVWF 29 |
| 0137: CALL 041 |
| 0138: MOVLW 07 |
| 0139: SUBWF 26,W |
| 013A: BTFSS 03.2 |
| 013B: GOTO 132 |
| 013C: MOVF 25,W |
| 013D: MOVWF 27 |
| 013E: MOVLW 1B |
| 013F: MOVWF 28 |
| 0140: CALL 07C |
| 0141: MOVLW 20 |
| 0142: MOVWF 29 |
| 0143: CALL 041 |
| 0144: MOVLW 2D |
| 0145: MOVWF 29 |
| 0146: CALL 041 |
| 0147: MOVLW 20 |
| 0148: MOVWF 29 |
| 0149: CALL 041 |
| 014A: MOVF 24,W |
| 014B: MOVWF 27 |
| 014C: MOVLW 1B |
| 014D: MOVWF 28 |
| 014E: CALL 07C |
| 014F: MOVLW 0A |
| 0150: MOVWF 29 |
| 0151: CALL 041 |
| 0152: MOVLW 0D |
| 0153: MOVWF 29 |
| 0154: CALL 041 |
| .................... } |
| 0155: INCF 25,F |
| 0156: GOTO 11B |
| .................... |
| .................... shure=0; |
| 0157: CLRF 22 |
| .................... while(true) |
| .................... { |
| .................... set_adc_channel(0); |
| 0158: MOVLW 00 |
| 0159: MOVWF 78 |
| 015A: MOVF 1F,W |
| 015B: ANDLW C7 |
| 015C: IORWF 78,W |
| 015D: MOVWF 1F |
| .................... cidla=0; |
| 015E: CLRF 23 |
| .................... Delay_us(10); |
| 015F: CLRWDT |
| 0160: MOVLW 02 |
| 0161: MOVWF 77 |
| 0162: DECFSZ 77,F |
| 0163: GOTO 162 |
| 0164: NOP |
| 0165: NOP |
| .................... a=read_adc(); |
| 0166: BSF 1F.2 |
| 0167: BTFSC 1F.2 |
| 0168: GOTO 167 |
| 0169: MOVF 1E,W |
| 016A: MOVWF 24 |
| .................... |
| .................... set_adc_channel(1); |
| 016B: MOVLW 08 |
| 016C: MOVWF 78 |
| 016D: MOVF 1F,W |
| 016E: ANDLW C7 |
| 016F: IORWF 78,W |
| 0170: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) //hystereze cidel |
| 0171: MOVF 24,W |
| 0172: SUBLW 45 |
| 0173: BTFSS 03.0 |
| 0174: GOTO 17E |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 0175: MOVF 24,W |
| 0176: SUBLW 32 |
| 0177: BTFSC 03.0 |
| 0178: GOTO 17D |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000001); |
| 0179: MOVF 21,W |
| 017A: ANDLW 01 |
| 017B: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00000001; |
| 017C: GOTO 17E |
| 017D: BSF 23.0 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 017E: BSF 1F.2 |
| 017F: BTFSC 1F.2 |
| 0180: GOTO 17F |
| 0181: MOVF 1E,W |
| 0182: MOVWF 24 |
| .................... |
| .................... set_adc_channel(2); |
| 0183: MOVLW 10 |
| 0184: MOVWF 78 |
| 0185: MOVF 1F,W |
| 0186: ANDLW C7 |
| 0187: IORWF 78,W |
| 0188: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 0189: MOVF 24,W |
| 018A: SUBLW 45 |
| 018B: BTFSS 03.0 |
| 018C: GOTO 196 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 018D: MOVF 24,W |
| 018E: SUBLW 32 |
| 018F: BTFSC 03.0 |
| 0190: GOTO 195 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000010); |
| 0191: MOVF 21,W |
| 0192: ANDLW 02 |
| 0193: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00000010; |
| 0194: GOTO 196 |
| 0195: BSF 23.1 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0196: BSF 1F.2 |
| 0197: BTFSC 1F.2 |
| 0198: GOTO 197 |
| 0199: MOVF 1E,W |
| 019A: MOVWF 24 |
| .................... |
| .................... set_adc_channel(3); |
| 019B: MOVLW 18 |
| 019C: MOVWF 78 |
| 019D: MOVF 1F,W |
| 019E: ANDLW C7 |
| 019F: IORWF 78,W |
| 01A0: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01A1: MOVF 24,W |
| 01A2: SUBLW 45 |
| 01A3: BTFSS 03.0 |
| 01A4: GOTO 1AE |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01A5: MOVF 24,W |
| 01A6: SUBLW 32 |
| 01A7: BTFSC 03.0 |
| 01A8: GOTO 1AD |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000100); |
| 01A9: MOVF 21,W |
| 01AA: ANDLW 04 |
| 01AB: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00000100; |
| 01AC: GOTO 1AE |
| 01AD: BSF 23.2 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 01AE: BSF 1F.2 |
| 01AF: BTFSC 1F.2 |
| 01B0: GOTO 1AF |
| 01B1: MOVF 1E,W |
| 01B2: MOVWF 24 |
| .................... |
| .................... set_adc_channel(4); |
| 01B3: MOVLW 20 |
| 01B4: MOVWF 78 |
| 01B5: MOVF 1F,W |
| 01B6: ANDLW C7 |
| 01B7: IORWF 78,W |
| 01B8: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01B9: MOVF 24,W |
| 01BA: SUBLW 45 |
| 01BB: BTFSS 03.0 |
| 01BC: GOTO 1C6 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01BD: MOVF 24,W |
| 01BE: SUBLW 32 |
| 01BF: BTFSC 03.0 |
| 01C0: GOTO 1C5 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00001000); |
| 01C1: MOVF 21,W |
| 01C2: ANDLW 08 |
| 01C3: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00001000; |
| 01C4: GOTO 1C6 |
| 01C5: BSF 23.3 |
| .................... } |
| .................... a=read_adc(); |
| 01C6: BSF 1F.2 |
| 01C7: BTFSC 1F.2 |
| 01C8: GOTO 1C7 |
| 01C9: MOVF 1E,W |
| 01CA: MOVWF 24 |
| .................... |
| .................... set_adc_channel(5); |
| 01CB: MOVLW 28 |
| 01CC: MOVWF 78 |
| 01CD: MOVF 1F,W |
| 01CE: ANDLW C7 |
| 01CF: IORWF 78,W |
| 01D0: MOVWF 1F |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01D1: MOVF 24,W |
| 01D2: SUBLW 45 |
| 01D3: BTFSS 03.0 |
| 01D4: GOTO 1DE |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01D5: MOVF 24,W |
| 01D6: SUBLW 32 |
| 01D7: BTFSC 03.0 |
| 01D8: GOTO 1DD |
| .................... { |
| .................... cidla |= (last_cidla & 0b00010000); |
| 01D9: MOVF 21,W |
| 01DA: ANDLW 10 |
| 01DB: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00010000; |
| 01DC: GOTO 1DE |
| 01DD: BSF 23.4 |
| .................... } |
| .................... a=read_adc(); |
| 01DE: BSF 1F.2 |
| 01DF: BTFSC 1F.2 |
| 01E0: GOTO 1DF |
| 01E1: MOVF 1E,W |
| 01E2: MOVWF 24 |
| .................... |
| .................... set_adc_channel(6); |
| 01E3: MOVLW 30 |
| 01E4: MOVWF 78 |
| 01E5: MOVF 1F,W |
| 01E6: ANDLW C7 |
| 01E7: IORWF 78,W |
| 01E8: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01E9: MOVF 24,W |
| 01EA: SUBLW 45 |
| 01EB: BTFSS 03.0 |
| 01EC: GOTO 1F6 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01ED: MOVF 24,W |
| 01EE: SUBLW 32 |
| 01EF: BTFSC 03.0 |
| 01F0: GOTO 1F5 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00100000); |
| 01F1: MOVF 21,W |
| 01F2: ANDLW 20 |
| 01F3: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b00100000; |
| 01F4: GOTO 1F6 |
| 01F5: BSF 23.5 |
| .................... } |
| .................... a=read_adc(); |
| 01F6: BSF 1F.2 |
| 01F7: BTFSC 1F.2 |
| 01F8: GOTO 1F7 |
| 01F9: MOVF 1E,W |
| 01FA: MOVWF 24 |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01FB: MOVF 24,W |
| 01FC: SUBLW 45 |
| 01FD: BTFSS 03.0 |
| 01FE: GOTO 208 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01FF: MOVF 24,W |
| 0200: SUBLW 32 |
| 0201: BTFSC 03.0 |
| 0202: GOTO 207 |
| .................... { |
| .................... cidla |=(last_cidla & 0b01000000); |
| 0203: MOVF 21,W |
| 0204: ANDLW 40 |
| 0205: IORWF 23,F |
| .................... } |
| .................... else cidla |= 0b01000000; |
| 0206: GOTO 208 |
| 0207: BSF 23.6 |
| .................... } |
| .................... |
| .................... last_cidla=cidla; |
| 0208: MOVF 23,W |
| 0209: MOVWF 21 |
| .................... |
| .................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| 020A: BSF 03.5 |
| 020B: BSF 06.0 |
| 020C: BCF 03.5 |
| 020D: BTFSC 06.0 |
| 020E: GOTO 214 |
| 020F: INCFSZ 22,W |
| 0210: GOTO 212 |
| 0211: GOTO 213 |
| 0212: INCF 22,F |
| 0213: GOTO 215 |
| 0214: CLRF 22 |
| .................... if (shure>CIHLA) cidla|=0b10000000; |
| 0215: MOVF 22,W |
| 0216: SUBLW 0A |
| 0217: BTFSS 03.0 |
| 0218: BSF 23.7 |
| .................... |
| .................... cidla=~cidla; |
| 0219: COMF 23,F |
| .................... spi_write(cidla); |
| 021A: MOVF 23,W |
| 021B: MOVWF 13 |
| 021C: BSF 03.5 |
| 021D: BTFSC 14.0 |
| 021E: GOTO 221 |
| 021F: BCF 03.5 |
| 0220: GOTO 21C |
| .................... } |
| 0221: BCF 03.5 |
| 0222: GOTO 158 |
| .................... } |
| 0223: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |