| 0,0 → 1,528 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 27-I-07 23:47 |
| |
| Filename: C:\PIC\laserus\873\laserus.lst |
| |
| ROM used: 358 words (9%) |
| Largest free fragment is 2048 |
| RAM used: 23 (12%) at main() level |
| 29 (15%) worst case |
| Stack: 2 worst case (1 in main + 1 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 0E3 |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 26 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 25 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 2D |
| 000C: CLRF 0A |
| 000D: SWAPF 25,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 27 |
| 0010: MOVF 20,W |
| 0011: MOVWF 28 |
| 0012: MOVF 21,W |
| 0013: MOVWF 29 |
| 0014: MOVF 22,W |
| 0015: MOVWF 2A |
| 0016: MOVF 23,W |
| 0017: MOVWF 2B |
| 0018: MOVF 24,W |
| 0019: MOVWF 2C |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: BTFSS 0B.4 |
| 001D: GOTO 020 |
| 001E: BTFSC 0B.1 |
| 001F: GOTO 033 |
| 0020: MOVF 27,W |
| 0021: MOVWF 04 |
| 0022: MOVF 28,W |
| 0023: MOVWF 20 |
| 0024: MOVF 29,W |
| 0025: MOVWF 21 |
| 0026: MOVF 2A,W |
| 0027: MOVWF 22 |
| 0028: MOVF 2B,W |
| 0029: MOVWF 23 |
| 002A: MOVF 2C,W |
| 002B: MOVWF 24 |
| 002C: MOVF 2D,W |
| 002D: MOVWF 0A |
| 002E: SWAPF 26,W |
| 002F: MOVWF 03 |
| 0030: SWAPF 7F,F |
| 0031: SWAPF 7F,W |
| 0032: RETFIE |
| 0033: BCF 0A.3 |
| 0034: GOTO 035 |
| .................... #include "laserus.h" |
| .................... #include <16F873.h> |
| .................... //////// Standard Header file for the PIC16F873 device //////////////// |
| .................... #device PIC16F873 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... |
| .................... #FUSES NOWDT //No Watch Dog Timer |
| .................... #FUSES XT //Crystal osc <= 4mhz |
| .................... #FUSES NOPUT //No Power Up Timer |
| .................... #FUSES NOPROTECT //Code not protected from reading |
| .................... #FUSES NOBROWNOUT //No brownout reset |
| .................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| .................... #FUSES NOCPD //No EE protection |
| .................... #FUSES NOWRT //Program memory not write protected |
| .................... #FUSES NODEBUG //No Debug mode for ICD |
| .................... |
| .................... #use delay(clock=4000000) |
| * |
| 00CE: MOVLW 35 |
| 00CF: MOVWF 04 |
| 00D0: MOVF 00,W |
| 00D1: BTFSC 03.2 |
| 00D2: GOTO 0E2 |
| 00D3: MOVLW 01 |
| 00D4: MOVWF 21 |
| 00D5: CLRF 20 |
| 00D6: DECFSZ 20,F |
| 00D7: GOTO 0D6 |
| 00D8: DECFSZ 21,F |
| 00D9: GOTO 0D5 |
| 00DA: MOVLW 4A |
| 00DB: MOVWF 20 |
| 00DC: DECFSZ 20,F |
| 00DD: GOTO 0DC |
| 00DE: NOP |
| 00DF: NOP |
| 00E0: DECFSZ 00,F |
| 00E1: GOTO 0D3 |
| 00E2: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define SERVO PIN_B5 // Vystup pro rizeni serva |
| .................... #define LASER PIN_B4 // Vstup pro cteni laseru |
| .................... |
| .................... #define MOT_DIR_L PIN_C0 // Rizeni smeru otaceni motoru |
| .................... #define MOT_DIR_R PIN_C3 |
| .................... |
| .................... // kroutitka |
| .................... #define CERVENA 0 // AN0 |
| .................... #define CERNA 1 // AN1 |
| .................... //#define ZELENA 3 // AN3 |
| .................... //#define MODRA 4 // AN4 |
| .................... |
| .................... #byte INTCON = 0x0B // Interrupt configuration register |
| .................... #bit GIE = INTCON.7 |
| .................... #bit PEIE = INTCON.6 |
| .................... #bit TMR0IE = INTCON.5 |
| .................... #bit INT0IE = INTCON.4 |
| .................... #bit RBIE = INTCON.3 |
| .................... #bit TMR0IF = INTCON.2 |
| .................... #bit INT0IF = INTCON.1 |
| .................... #bit RBIF = INTCON.0 |
| .................... |
| .................... boolean edge; |
| .................... int8 uhel, olduhel; |
| .................... int16 uhel16; |
| .................... |
| .................... #int_EXT |
| .................... EXT_isr() |
| .................... { |
| .................... int n, t1, t2, t; |
| .................... |
| .................... set_timer0(0); // Vynulovani casovace pro 2ms |
| * |
| 0035: CLRF 01 |
| .................... output_high(SERVO); |
| 0036: BSF 03.5 |
| 0037: BCF 06.5 |
| 0038: BCF 03.5 |
| 0039: BSF 06.5 |
| .................... while(get_timer0()<(1000/256)); // Ceka 1ms |
| 003A: MOVF 01,W |
| 003B: SUBLW 02 |
| 003C: BTFSC 03.0 |
| 003D: GOTO 03A |
| .................... for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu |
| 003E: MOVF 2F,W |
| 003F: MOVWF 37 |
| 0040: MOVF 37,F |
| 0041: BTFSC 03.2 |
| 0042: GOTO 048 |
| 0043: NOP |
| 0044: NOP |
| 0045: NOP |
| 0046: DECF 37,F |
| 0047: GOTO 040 |
| .................... output_low(SERVO); |
| 0048: BSF 03.5 |
| 0049: BCF 06.5 |
| 004A: BCF 03.5 |
| 004B: BCF 06.5 |
| .................... while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat |
| 004C: MOVF 01,W |
| 004D: SUBLW 0A |
| 004E: BTFSC 03.0 |
| 004F: GOTO 04C |
| .................... |
| .................... set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary |
| 0050: CLRF 01 |
| .................... if(edge) // Zrcatko prejizdelo tam nebo zpet? |
| 0051: BTFSS 2E.0 |
| 0052: GOTO 094 |
| .................... { |
| .................... edge=false; |
| 0053: BCF 2E.0 |
| .................... ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany |
| 0054: BSF 03.5 |
| 0055: BCF 01.6 |
| .................... INT0IF=0; // Povoleni dalsiho preruseni |
| 0056: BCF 03.5 |
| 0057: BCF 0B.1 |
| .................... enable_interrupts(INT_EXT); |
| 0058: BSF 0B.4 |
| .................... enable_interrupts(GLOBAL); |
| 0059: MOVLW C0 |
| 005A: IORWF 0B,F |
| .................... // do |
| .................... { |
| .................... while(0==input(LASER)); // Ceka na detekci cary |
| 005B: BSF 03.5 |
| 005C: BSF 06.4 |
| 005D: MOVLW 00 |
| 005E: BCF 03.5 |
| 005F: BTFSC 06.4 |
| 0060: MOVLW 01 |
| 0061: XORLW 00 |
| 0062: BTFSC 03.2 |
| 0063: GOTO 05B |
| .................... // output_high(SERVO); |
| .................... t1=get_timer0(); // Poznamena cas nabezne hrany |
| 0064: MOVF 01,W |
| 0065: MOVWF 38 |
| .................... while(1==input(LASER)); // Ceka az zkonci cara |
| 0066: BSF 03.5 |
| 0067: BSF 06.4 |
| 0068: MOVLW 00 |
| 0069: BCF 03.5 |
| 006A: BTFSC 06.4 |
| 006B: MOVLW 01 |
| 006C: SUBLW 01 |
| 006D: BTFSC 03.2 |
| 006E: GOTO 066 |
| .................... // output_low(SERVO); |
| .................... t2=get_timer0(); // Poznamena cas sestupne hrany |
| 006F: MOVF 01,W |
| 0070: MOVWF 39 |
| .................... t=t2-t1; |
| 0071: MOVF 38,W |
| 0072: SUBWF 39,W |
| 0073: MOVWF 3A |
| .................... } while((t<3) || (t>20)); // Cara je detekovana, kdyz trva mezi xx ms |
| 0074: MOVF 3A,W |
| 0075: SUBLW 02 |
| 0076: BTFSC 03.0 |
| 0077: GOTO 074 |
| 0078: MOVF 3A,W |
| 0079: SUBLW 14 |
| 007A: BTFSS 03.0 |
| 007B: GOTO 074 |
| .................... // if ((t>3) && (t<20)) uhel=(160-(read_adc()>>2))-t1; |
| .................... // if (abs(olduhel-uhel)<40) |
| .................... { |
| .................... uhel=(160-(read_adc()>>2))-t1; |
| 007C: BSF 1F.2 |
| 007D: BTFSC 1F.2 |
| 007E: GOTO 07D |
| 007F: MOVF 1E,W |
| 0080: MOVWF 20 |
| 0081: RRF 20,F |
| 0082: RRF 20,F |
| 0083: MOVLW 3F |
| 0084: ANDWF 20,F |
| 0085: MOVF 20,W |
| 0086: SUBLW A0 |
| 0087: MOVWF 21 |
| 0088: MOVF 38,W |
| 0089: SUBWF 21,W |
| 008A: MOVWF 2F |
| .................... olduhel=uhel; |
| 008B: MOVF 2F,W |
| 008C: MOVWF 30 |
| .................... }; |
| .................... // uhel16=uhel; |
| .................... // set_pwm1_duty(250-(uhel16<<2)); // Elektronicky diferencial |
| .................... // set_pwm2_duty((uhel16)); |
| .................... set_adc_channel(CERNA); |
| 008D: MOVLW 08 |
| 008E: MOVWF 21 |
| 008F: MOVF 1F,W |
| 0090: ANDLW C7 |
| 0091: IORWF 21,W |
| 0092: MOVWF 1F |
| .................... } |
| .................... else |
| 0093: GOTO 0CA |
| .................... { |
| .................... edge=true; |
| 0094: BSF 2E.0 |
| .................... ext_int_edge(L_TO_H); // Pristi inerrupt bude od opacne hrany |
| 0095: BSF 03.5 |
| 0096: BSF 01.6 |
| .................... INT0IF=0; // Povoleni dalsiho preruseni |
| 0097: BCF 03.5 |
| 0098: BCF 0B.1 |
| .................... enable_interrupts(INT_EXT); |
| 0099: BSF 0B.4 |
| .................... enable_interrupts(GLOBAL); |
| 009A: MOVLW C0 |
| 009B: IORWF 0B,F |
| .................... // do |
| .................... { |
| .................... while(0==input(LASER)); // Ceka na detekci cary |
| 009C: BSF 03.5 |
| 009D: BSF 06.4 |
| 009E: MOVLW 00 |
| 009F: BCF 03.5 |
| 00A0: BTFSC 06.4 |
| 00A1: MOVLW 01 |
| 00A2: XORLW 00 |
| 00A3: BTFSC 03.2 |
| 00A4: GOTO 09C |
| .................... t1=get_timer0(); // Poznamena cas nabezne hrany |
| 00A5: MOVF 01,W |
| 00A6: MOVWF 38 |
| .................... while(1==input(LASER)); // Ceka az zkonci cara |
| 00A7: BSF 03.5 |
| 00A8: BSF 06.4 |
| 00A9: MOVLW 00 |
| 00AA: BCF 03.5 |
| 00AB: BTFSC 06.4 |
| 00AC: MOVLW 01 |
| 00AD: SUBLW 01 |
| 00AE: BTFSC 03.2 |
| 00AF: GOTO 0A7 |
| .................... t2=get_timer0(); // Poznamena cas sestupne hrany |
| 00B0: MOVF 01,W |
| 00B1: MOVWF 39 |
| .................... t=t2-t1; |
| 00B2: MOVF 38,W |
| 00B3: SUBWF 39,W |
| 00B4: MOVWF 3A |
| .................... } while((t<3) || (t>20)); // Cara je detekovana, kdyz trva mezi xx ms |
| 00B5: MOVF 3A,W |
| 00B6: SUBLW 02 |
| 00B7: BTFSC 03.0 |
| 00B8: GOTO 0B5 |
| 00B9: MOVF 3A,W |
| 00BA: SUBLW 14 |
| 00BB: BTFSS 03.0 |
| 00BC: GOTO 0B5 |
| .................... if (abs(olduhel-uhel)<40) |
| 00BD: MOVF 2F,W |
| 00BE: SUBWF 30,W |
| 00BF: MOVWF 3B |
| 00C0: MOVF 3B,W |
| 00C1: SUBLW 27 |
| 00C2: BTFSS 03.0 |
| 00C3: GOTO 0C4 |
| .................... { |
| .................... // uhel=((read_adc()>>2)+32)+t1; |
| .................... // olduhel=uhel; |
| .................... }; |
| .................... set_adc_channel(CERVENA); |
| 00C4: MOVLW 00 |
| 00C5: MOVWF 21 |
| 00C6: MOVF 1F,W |
| 00C7: ANDLW C7 |
| 00C8: IORWF 21,W |
| 00C9: MOVWF 1F |
| .................... } |
| .................... while(true); |
| 00CA: GOTO 0CA |
| .................... } |
| .................... |
| .................... |
| .................... |
| 00CB: BCF 0B.1 |
| 00CC: BCF 0A.3 |
| 00CD: GOTO 020 |
| .................... void main() |
| .................... { |
| * |
| 00E3: CLRF 04 |
| 00E4: MOVLW 1F |
| 00E5: ANDWF 03,F |
| 00E6: BSF 03.5 |
| 00E7: BSF 1F.0 |
| 00E8: BSF 1F.1 |
| 00E9: BSF 1F.2 |
| 00EA: BCF 1F.3 |
| .................... |
| .................... setup_adc_ports(ALL_ANALOG); // Analogove vstupy pro cteni trimru |
| * |
| 00EE: BSF 03.5 |
| 00EF: BCF 1F.0 |
| 00F0: BCF 1F.1 |
| 00F1: BCF 1F.2 |
| 00F2: BCF 1F.3 |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00F3: BCF 03.5 |
| 00F4: BSF 1F.6 |
| 00F5: BSF 1F.7 |
| 00F6: BSF 03.5 |
| 00F7: BCF 1F.7 |
| 00F8: BCF 03.5 |
| 00F9: BSF 1F.0 |
| .................... setup_spi(FALSE); |
| * |
| 00EB: MOVLW FF |
| 00EC: BCF 03.5 |
| 00ED: MOVWF 33 |
| * |
| 00FA: BCF 14.5 |
| 00FB: BCF 33.5 |
| 00FC: MOVF 33,W |
| 00FD: BSF 03.5 |
| 00FE: MOVWF 07 |
| 00FF: BCF 03.5 |
| 0100: BSF 33.4 |
| 0101: MOVF 33,W |
| 0102: BSF 03.5 |
| 0103: MOVWF 07 |
| 0104: BCF 03.5 |
| 0105: BCF 33.3 |
| 0106: MOVF 33,W |
| 0107: BSF 03.5 |
| 0108: MOVWF 07 |
| 0109: MOVLW 00 |
| 010A: BCF 03.5 |
| 010B: MOVWF 14 |
| 010C: BSF 03.5 |
| 010D: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); // Casovac pro cteni laseru |
| 010E: MOVF 01,W |
| 010F: ANDLW C0 |
| 0110: IORLW 07 |
| 0111: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 0112: BCF 03.5 |
| 0113: CLRF 10 |
| .................... setup_timer_2(T2_DIV_BY_4,255,1); // Casovac pro PWM cca 900Hz |
| 0114: MOVLW 00 |
| 0115: MOVWF 21 |
| 0116: IORLW 05 |
| 0117: MOVWF 12 |
| 0118: MOVLW FF |
| 0119: BSF 03.5 |
| 011A: MOVWF 12 |
| .................... setup_ccp1(CCP_PWM); // Nastaveni PWM pro diferencial RC1, RC2 |
| 011B: BCF 03.5 |
| 011C: BCF 33.2 |
| 011D: MOVF 33,W |
| 011E: BSF 03.5 |
| 011F: MOVWF 07 |
| 0120: BCF 03.5 |
| 0121: BCF 07.2 |
| 0122: MOVLW 0C |
| 0123: MOVWF 17 |
| .................... setup_ccp2(CCP_PWM); |
| 0124: BCF 33.1 |
| 0125: MOVF 33,W |
| 0126: BSF 03.5 |
| 0127: MOVWF 07 |
| 0128: BCF 03.5 |
| 0129: BCF 07.1 |
| 012A: MOVLW 0C |
| 012B: MOVWF 1D |
| .................... |
| .................... set_pwm1_duty(90); // Zastaveni PWM |
| 012C: MOVLW 5A |
| 012D: MOVWF 15 |
| .................... set_pwm2_duty(90); |
| 012E: MOVWF 1B |
| .................... |
| .................... delay_ms(100); |
| 012F: MOVLW 64 |
| 0130: MOVWF 35 |
| 0131: CALL 0CE |
| .................... set_adc_channel(CERVENA); |
| 0132: MOVLW 00 |
| 0133: MOVWF 21 |
| 0134: MOVF 1F,W |
| 0135: ANDLW C7 |
| 0136: IORWF 21,W |
| 0137: MOVWF 1F |
| .................... Delay_ms(1); |
| 0138: MOVLW 01 |
| 0139: MOVWF 35 |
| 013A: CALL 0CE |
| .................... |
| .................... ext_int_edge(L_TO_H); |
| 013B: BSF 03.5 |
| 013C: BSF 01.6 |
| .................... edge=true; |
| 013D: BCF 03.5 |
| 013E: BSF 2E.0 |
| .................... uhel=((read_adc()>>2)+32)+30; |
| 013F: BSF 1F.2 |
| 0140: BTFSC 1F.2 |
| 0141: GOTO 140 |
| 0142: MOVF 1E,W |
| 0143: MOVWF 20 |
| 0144: RRF 20,F |
| 0145: RRF 20,F |
| 0146: MOVLW 3F |
| 0147: ANDWF 20,F |
| 0148: MOVF 20,W |
| 0149: ADDLW 20 |
| 014A: ADDLW 1E |
| 014B: MOVWF 2F |
| .................... olduhel=uhel; |
| 014C: MOVF 2F,W |
| 014D: MOVWF 30 |
| .................... |
| .................... enable_interrupts(INT_EXT); |
| 014E: BSF 0B.4 |
| .................... enable_interrupts(GLOBAL); |
| 014F: MOVLW C0 |
| 0150: IORWF 0B,F |
| .................... |
| .................... delay_ms(1000); |
| 0151: MOVLW 04 |
| 0152: MOVWF 34 |
| 0153: MOVLW FA |
| 0154: MOVWF 35 |
| 0155: CALL 0CE |
| 0156: DECFSZ 34,F |
| 0157: GOTO 153 |
| .................... |
| .................... output_high(MOT_DIR_L); // Oba motory vpred |
| 0158: BCF 33.0 |
| 0159: MOVF 33,W |
| 015A: BSF 03.5 |
| 015B: MOVWF 07 |
| 015C: BCF 03.5 |
| 015D: BSF 07.0 |
| .................... output_high(MOT_DIR_R); |
| 015E: BCF 33.3 |
| 015F: MOVF 33,W |
| 0160: BSF 03.5 |
| 0161: MOVWF 07 |
| 0162: BCF 03.5 |
| 0163: BSF 07.3 |
| .................... |
| .................... while(true); |
| 0164: GOTO 164 |
| .................... } |
| 0165: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F39 XT NOWDT NOPUT NOPROTECT NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG |