| 0,0 → 1,469 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 22-I-07 23:13 |
| |
| Filename: C:\PIC\laserus\laser.lst |
| |
| ROM used: 326 words (8%) |
| Largest free fragment is 2048 |
| RAM used: 19 (11%) at main() level |
| 26 (15%) worst case |
| Stack: 2 worst case (1 in main + 1 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 0E7 |
| 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: BTFSS 0B.4 |
| 001D: GOTO 020 |
| 001E: BTFSC 0B.1 |
| 001F: GOTO 033 |
| 0020: MOVF 22,W |
| 0021: MOVWF 04 |
| 0022: MOVF 23,W |
| 0023: MOVWF 77 |
| 0024: MOVF 24,W |
| 0025: MOVWF 78 |
| 0026: MOVF 25,W |
| 0027: MOVWF 79 |
| 0028: MOVF 26,W |
| 0029: MOVWF 7A |
| 002A: MOVF 27,W |
| 002B: MOVWF 7B |
| 002C: MOVF 28,W |
| 002D: MOVWF 0A |
| 002E: SWAPF 21,W |
| 002F: MOVWF 03 |
| 0030: SWAPF 7F,F |
| 0031: SWAPF 7F,W |
| 0032: RETFIE |
| 0033: BCF 0A.3 |
| 0034: GOTO 035 |
| .................... #include "laser.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... |
| .................... #FUSES NOWDT //No Watch Dog Timer |
| .................... #FUSES XT //Crystal osc <= 4mhz |
| .................... #FUSES NOPUT //No Power Up Timer |
| .................... #FUSES MCLR //Master Clear pin enabled |
| .................... #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 |
| .................... #FUSES NOPROTECT //Code not protected from reading |
| .................... #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| .................... #FUSES NOIESO //Internal External Switch Over mode disabled |
| .................... |
| .................... #use delay(clock=4000000) |
| * |
| 00D2: MOVLW 2B |
| 00D3: MOVWF 04 |
| 00D4: MOVF 00,W |
| 00D5: BTFSC 03.2 |
| 00D6: GOTO 0E6 |
| 00D7: MOVLW 01 |
| 00D8: MOVWF 78 |
| 00D9: CLRF 77 |
| 00DA: DECFSZ 77,F |
| 00DB: GOTO 0DA |
| 00DC: DECFSZ 78,F |
| 00DD: GOTO 0D9 |
| 00DE: MOVLW 4A |
| 00DF: MOVWF 77 |
| 00E0: DECFSZ 77,F |
| 00E1: GOTO 0E0 |
| 00E2: NOP |
| 00E3: NOP |
| 00E4: DECFSZ 00,F |
| 00E5: GOTO 0D7 |
| 00E6: RETLW 00 |
| .................... |
| .................... |
| .................... #include "16F88_Reg.H" |
| .................... // Komplete definition of all Special Feature Registers |
| .................... // of PIC16F87 and PIC16F88 |
| .................... // (c)miho 2005 |
| .................... |
| .................... #list |
| .................... |
| .................... |
| .................... #define SERVO PIN_B5 // Vystup pro rizeni serva |
| .................... #define LASER PIN_B4 // Vstup pro cteni laseru |
| .................... |
| .................... // kroutitka |
| .................... #define CERVENA 0 // AN0 |
| .................... #define CERNA 1 // AN1 |
| .................... //#define ZELENA 3 // AN3 |
| .................... //#define MODRA 4 // AN4 |
| .................... |
| .................... //#define OFFSET 100 // Predni kolecko vprostred pri care vprostred |
| .................... //#define HYSTERESE 3 // Rozdil mezi behem tam a zpet |
| .................... |
| .................... boolean edge; |
| .................... int8 uhel; |
| .................... |
| .................... #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 2A,W |
| 003F: MOVWF 2E |
| 0040: MOVF 2E,F |
| 0041: BTFSC 03.2 |
| 0042: GOTO 048 |
| 0043: NOP |
| 0044: NOP |
| 0045: NOP |
| 0046: DECF 2E,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 29.0 |
| 0052: GOTO 092 |
| .................... { |
| .................... edge=false; |
| 0053: BCF 29.0 |
| .................... ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany |
| 0054: BSF 03.5 |
| 0055: BCF 01.6 |
| .................... INT0IF_1=0; // Povoleni dalsiho preruseni |
| 0056: BCF 0B.1 |
| .................... enable_interrupts(INT_EXT); |
| 0057: BCF 03.5 |
| 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 2F |
| .................... 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 30 |
| .................... t=t2-t1; |
| 0071: MOVF 2F,W |
| 0072: SUBWF 30,W |
| 0073: MOVWF 31 |
| .................... } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms |
| .................... if ((t>3) && (t<8)) uhel=(160-(read_adc()>>2))-t1; |
| 0074: MOVF 31,W |
| 0075: SUBLW 03 |
| 0076: BTFSC 03.0 |
| 0077: GOTO 08B |
| 0078: MOVF 31,W |
| 0079: SUBLW 07 |
| 007A: BTFSS 03.0 |
| 007B: GOTO 08B |
| 007C: BSF 1F.2 |
| 007D: BTFSC 1F.2 |
| 007E: GOTO 07D |
| 007F: MOVF 1E,W |
| 0080: MOVWF 77 |
| 0081: RRF 77,F |
| 0082: RRF 77,F |
| 0083: MOVLW 3F |
| 0084: ANDWF 77,F |
| 0085: MOVF 77,W |
| 0086: SUBLW A0 |
| 0087: MOVWF 78 |
| 0088: MOVF 2F,W |
| 0089: SUBWF 78,W |
| 008A: MOVWF 2A |
| .................... set_adc_channel(1); |
| 008B: MOVLW 08 |
| 008C: MOVWF 78 |
| 008D: MOVF 1F,W |
| 008E: ANDLW C7 |
| 008F: IORWF 78,W |
| 0090: MOVWF 1F |
| .................... } |
| .................... else |
| 0091: GOTO 0CE |
| .................... { |
| .................... edge=true; |
| 0092: BSF 29.0 |
| .................... ext_int_edge(L_TO_H); |
| 0093: BSF 03.5 |
| 0094: BSF 01.6 |
| .................... INT0IF_1=0; // Povoleni dalsiho preruseni |
| 0095: BCF 0B.1 |
| .................... enable_interrupts(INT_EXT); |
| 0096: BCF 03.5 |
| 0097: BSF 0B.4 |
| .................... enable_interrupts(GLOBAL); |
| 0098: MOVLW C0 |
| 0099: IORWF 0B,F |
| .................... // do |
| .................... { |
| .................... while(0==input(LASER)); // Ceka na detekci cary |
| 009A: BSF 03.5 |
| 009B: BSF 06.4 |
| 009C: MOVLW 00 |
| 009D: BCF 03.5 |
| 009E: BTFSC 06.4 |
| 009F: MOVLW 01 |
| 00A0: XORLW 00 |
| 00A1: BTFSC 03.2 |
| 00A2: GOTO 09A |
| .................... t1=get_timer0(); // Poznamena cas nabezne hrany |
| 00A3: MOVF 01,W |
| 00A4: MOVWF 2F |
| .................... while(1==input(LASER)); // Ceka az zkonci cara |
| 00A5: BSF 03.5 |
| 00A6: BSF 06.4 |
| 00A7: MOVLW 00 |
| 00A8: BCF 03.5 |
| 00A9: BTFSC 06.4 |
| 00AA: MOVLW 01 |
| 00AB: SUBLW 01 |
| 00AC: BTFSC 03.2 |
| 00AD: GOTO 0A5 |
| .................... t2=get_timer0(); // Poznamena cas sestupne hrany |
| 00AE: MOVF 01,W |
| 00AF: MOVWF 30 |
| .................... t=t2-t1; |
| 00B0: MOVF 2F,W |
| 00B1: SUBWF 30,W |
| 00B2: MOVWF 31 |
| .................... } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms |
| .................... if ((t>3) && (t<8)) uhel=((read_adc()>>2)+32)+t1; |
| 00B3: MOVF 31,W |
| 00B4: SUBLW 03 |
| 00B5: BTFSC 03.0 |
| 00B6: GOTO 0C8 |
| 00B7: MOVF 31,W |
| 00B8: SUBLW 07 |
| 00B9: BTFSS 03.0 |
| 00BA: GOTO 0C8 |
| 00BB: BSF 1F.2 |
| 00BC: BTFSC 1F.2 |
| 00BD: GOTO 0BC |
| 00BE: MOVF 1E,W |
| 00BF: MOVWF 77 |
| 00C0: RRF 77,F |
| 00C1: RRF 77,F |
| 00C2: MOVLW 3F |
| 00C3: ANDWF 77,F |
| 00C4: MOVF 77,W |
| 00C5: ADDLW 20 |
| 00C6: ADDWF 2F,W |
| 00C7: MOVWF 2A |
| .................... set_adc_channel(0); |
| 00C8: MOVLW 00 |
| 00C9: MOVWF 78 |
| 00CA: MOVF 1F,W |
| 00CB: ANDLW C7 |
| 00CC: IORWF 78,W |
| 00CD: MOVWF 1F |
| .................... } |
| .................... while(true); |
| 00CE: GOTO 0CE |
| .................... } |
| .................... |
| .................... |
| .................... |
| 00CF: BCF 0B.1 |
| 00D0: BCF 0A.3 |
| 00D1: GOTO 020 |
| .................... void main() |
| .................... { |
| * |
| 00E7: CLRF 04 |
| 00E8: MOVLW 1F |
| 00E9: ANDWF 03,F |
| 00EA: BSF 03.5 |
| 00EB: BCF 1F.4 |
| 00EC: BCF 1F.5 |
| 00ED: MOVF 1B,W |
| 00EE: ANDLW 80 |
| 00EF: MOVWF 1B |
| 00F0: MOVLW 07 |
| 00F1: MOVWF 1C |
| .................... setup_adc_ports(sAN0|sAN1|VSS_VDD); // AD pro kroutitka |
| 00F2: BCF 1F.4 |
| 00F3: BCF 1F.5 |
| 00F4: MOVF 1B,W |
| 00F5: ANDLW 80 |
| 00F6: IORLW 03 |
| 00F7: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00F8: BCF 1F.6 |
| 00F9: BCF 03.5 |
| 00FA: BSF 1F.6 |
| 00FB: BSF 1F.7 |
| 00FC: BSF 03.5 |
| 00FD: BCF 1F.7 |
| 00FE: BCF 03.5 |
| 00FF: BSF 1F.0 |
| .................... setup_spi(FALSE); |
| 0100: BCF 14.5 |
| 0101: BSF 03.5 |
| 0102: BCF 06.2 |
| 0103: BSF 06.1 |
| 0104: BCF 06.4 |
| 0105: MOVLW 00 |
| 0106: BCF 03.5 |
| 0107: MOVWF 14 |
| 0108: BSF 03.5 |
| 0109: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| 010A: MOVF 01,W |
| 010B: ANDLW C0 |
| 010C: IORLW 07 |
| 010D: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 010E: BCF 03.5 |
| 010F: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 0110: MOVLW 00 |
| 0111: MOVWF 78 |
| 0112: MOVWF 12 |
| 0113: MOVLW 00 |
| 0114: BSF 03.5 |
| 0115: MOVWF 12 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 0116: MOVLW 07 |
| 0117: MOVWF 1C |
| 0118: MOVF 05,W |
| 0119: MOVLW 03 |
| 011A: MOVWF 77 |
| 011B: DECFSZ 77,F |
| 011C: GOTO 11B |
| 011D: MOVF 1C,W |
| 011E: BCF 03.5 |
| 011F: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 0120: BSF 03.5 |
| 0121: CLRF 1D |
| .................... setup_oscillator(False); |
| 0122: CLRF 0F |
| 0123: MOVF 0F,W |
| .................... |
| .................... delay_ms(100); |
| 0124: MOVLW 64 |
| 0125: BCF 03.5 |
| 0126: MOVWF 2B |
| 0127: CALL 0D2 |
| .................... set_adc_channel(0); |
| 0128: MOVLW 00 |
| 0129: MOVWF 78 |
| 012A: MOVF 1F,W |
| 012B: ANDLW C7 |
| 012C: IORWF 78,W |
| 012D: MOVWF 1F |
| .................... Delay_ms(1); |
| 012E: MOVLW 01 |
| 012F: MOVWF 2B |
| 0130: CALL 0D2 |
| .................... |
| .................... ext_int_edge(L_TO_H); |
| 0131: BSF 03.5 |
| 0132: BSF 01.6 |
| .................... edge=true; |
| 0133: BCF 03.5 |
| 0134: BSF 29.0 |
| .................... uhel=((read_adc()>>2)+32)+30;; |
| 0135: BSF 1F.2 |
| 0136: BTFSC 1F.2 |
| 0137: GOTO 136 |
| 0138: MOVF 1E,W |
| 0139: MOVWF 77 |
| 013A: RRF 77,F |
| 013B: RRF 77,F |
| 013C: MOVLW 3F |
| 013D: ANDWF 77,F |
| 013E: MOVF 77,W |
| 013F: ADDLW 20 |
| 0140: ADDLW 1E |
| 0141: MOVWF 2A |
| .................... enable_interrupts(INT_EXT); |
| 0142: BSF 0B.4 |
| .................... enable_interrupts(GLOBAL); |
| 0143: MOVLW C0 |
| 0144: IORWF 0B,F |
| .................... } |
| 0145: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F29 XT NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT |
| Word 2: 3FFC NOFCMEN NOIESO |