| /roboti/istrobot/laserus/SW/PIC/873/Reg.H |
|---|
| 0,0 → 1,298 |
| // Komplete definition of all Special Feature Registers |
| // of PIC16F87 and PIC16F88 |
| // (c)miho 2005 |
| #nolist |
| // SFR Registers in Memory Bank 0 |
| #byte INDF = 0x00 |
| #byte TMR0 = 0x01 |
| #byte PCL = 0x02 |
| #byte STATUS = 0x03 |
| #bit IRP = STATUS.7 |
| #bit RP1 = STATUS.6 |
| #bit RP0 = STATUS.5 |
| #bit TO = STATUS.4 |
| #bit PD = STATUS.3 |
| #bit Z = STATUS.2 |
| #bit DC = STATUS.1 |
| #bit C = STATUS.0 |
| #byte FSR = 0x04 |
| #byte PORTA = 0x05 |
| #byte PORTB = 0x06 |
| #byte PCLATH = 0x0A |
| #byte INTCON = 0x0B |
| #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 |
| #byte PIR1 = 0x0C |
| #bit ADIF = PIR1.6 |
| #bit RCIF = PIR1.5 |
| #bit TXIF = PIR1.4 |
| #bit SSPIF = PIR1.3 |
| #bit CCP1IF = PIR1.2 |
| #bit TMR2IF = PIR1.1 |
| #bit TMR1IF = PIR1.0 |
| #byte PIR2 = 0x0D |
| #bit OSFIF = PIR2.7 |
| #bit CMIF = PIR2.6 |
| #bit EEIF = PIR2.4 |
| #byte TMR1L = 0x0E |
| #byte TMR1H = 0x0F |
| #byte T1CON = 0x10 |
| #bit T1RUN = T1CON.6 |
| #bit T1CKPS1 = T1CON.5 |
| #bit T1CKPS0 = T1CON.4 |
| #bit T1OSCEN = T1CON.3 |
| #bit T1SYNC = T1CON.2 |
| #bit TMR1CS = T1CON.1 |
| #bit TMR1ON = T1CON.0 |
| #byte TMR2 = 0x11 |
| #byte T2CON = 0x12 |
| #bit TOUTPS3 = T2CON.6 |
| #bit TOUTPS2 = T2CON.5 |
| #bit TOUTPS1 = T2CON.4 |
| #bit TOUTPS0 = T2CON.3 |
| #bit TMR2ON = T2CON.2 |
| #bit T2CKPS1 = T2CON.1 |
| #bit T2CKPS0 = T2CON.0 |
| #byte SSPBUF = 0x13 |
| #byte SSPCON1 = 0x14 |
| #bit WCOL = SSPCON1.7 |
| #bit SSPOV = SSPCON1.6 |
| #bit SSPEN = SSPCON1.5 |
| #bit CKP = SSPCON1.4 |
| #bit SSPM3 = SSPCON1.3 |
| #bit SSPM2 = SSPCON1.2 |
| #bit SSPM1 = SSPCON1.1 |
| #bit SSPM0 = SSPCON1.0 |
| #byte CCPR1L = 0x15 |
| #byte CCPR1H = 0x16 |
| #byte CCP1CON = 0x17 |
| #bit CCP1X = CCP1CON.5 |
| #bit CCP1Y = CCP1CON.4 |
| #bit CCP1M3 = CCP1CON.3 |
| #bit CCP1M2 = CCP1CON.2 |
| #bit CCP1M1 = CCP1CON.1 |
| #bit CCP1M0 = CCP1CON.0 |
| #byte RCSTA = 0x18 |
| #bit SPEN = RCSTA.7 |
| #bit RX9 = RCSTA.6 |
| #bit SREN = RCSTA.5 |
| #bit CREN = RCSTA.4 |
| #bit ADDEN = RCSTA.3 |
| #bit FERR = RCSTA.2 |
| #bit OERR = RCSTA.1 |
| #bit RX9D = RCSTA.0 |
| #byte TXREG = 0x19 |
| #byte RCREG = 0x1A |
| #byte ADRESH = 0x1E // F88 only |
| #byte ADCON0 = 0x1F // F88 only |
| #bit ADCS1 = ADCON0.7 |
| #bit ADCS0 = ADCON0.6 |
| #bit CHS2 = ADCON0.5 |
| #bit CHS1 = ADCON0.4 |
| #bit CHS0 = ADCON0.3 |
| #bit GO = ADCON0.2 |
| #bit ADON = ADCON0.0 |
| // SFR Registers in Memory Bank 1 |
| #byte INDF_1 = 0x80 // miror |
| #byte OPTION = 0x81 |
| #bit RBPU = OPTION.7 |
| #bit INTEDG = OPTION.6 |
| #bit T0CS = OPTION.5 |
| #bit T0SE = OPTION.4 |
| #bit PSA = OPTION.3 |
| #bit PS2 = OPTION.2 |
| #bit PS1 = OPTION.1 |
| #bit PS0 = OPTION.0 |
| #byte PCL = 0x82 |
| #byte STATUS_1 = 0x83 // mirror |
| #bit IRP_1 = STATUS_1.7 |
| #bit RP1_1 = STATUS_1.6 |
| #bit RP0_1 = STATUS_1.5 |
| #bit TO_1 = STATUS_1.4 |
| #bit PD_1 = STATUS_1.3 |
| #bit Z_1 = STATUS_1.2 |
| #bit DC_1 = STATUS_1.1 |
| #bit C_1 = STATUS_1.0 |
| #byte FSR = 0x84 |
| #byte TRISA = 0x85 |
| #byte TRISB = 0x86 |
| #byte PCLATH_1 = 0x8A // mirror |
| #byte INTCON_1 = 0x8B // mirror |
| #bit GIE_1 = INTCON_1.7 |
| #bit PEIE_1 = INTCON_1.6 |
| #bit TMR0IE_1 = INTCON_1.5 |
| #bit INT0IE_1 = INTCON_1.4 |
| #bit RBIE_1 = INTCON_1.3 |
| #bit TMR0IF_1 = INTCON_1.2 |
| #bit INT0IF_1 = INTCON_1.1 |
| #bit RBIF_1 = INTCON_1.0 |
| #byte PIE1 = 0x8C |
| #bit ADIE = PIE1.6 |
| #bit RCIE = PIE1.5 |
| #bit TXIE = PIE1.4 |
| #bit SSPIE = PIE1.3 |
| #bit CCP1IE = PIE1.2 |
| #bit TMR2IE = PIE1.1 |
| #bit TMR1IE = PIE1.0 |
| #byte PIE2 = 0x8D |
| #bit OSFIE = PIE2.7 |
| #bit CMIE = PIE2.6 |
| #bit EEIE = PIE2.4 |
| #byte PCON = 0x8E |
| #bit POR = PCON.1 |
| #bit BOR = PCON.0 |
| #byte OSCCON = 0x8F |
| #bit IRCF2 = OSCCON.6 |
| #bit IRCF1 = OSCCON.5 |
| #bit IRCF0 = OSCCON.4 |
| #bit OSTS = OSCCON.3 |
| #bit IOFS = OSCCON.2 |
| #bit SCS1 = OSCCON.1 |
| #bit SCS0 = OSCCON.0 |
| #byte OSCTUNE = 0x90 |
| #bit TUN5 = OSCTUNE.5 |
| #bit TUN4 = OSCTUNE.4 |
| #bit TUN3 = OSCTUNE.3 |
| #bit TUN2 = OSCTUNE.2 |
| #bit TUN1 = OSCTUNE.1 |
| #bit TUN0 = OSCTUNE.0 |
| #byte PR2 = 0x92 |
| #byte SSPADD = 0x93 |
| #byte SSPSTAT = 0x94 |
| #bit SMP = SSPSTAT.7 |
| #bit CKE = SSPSTAT.6 |
| #bit DA = SSPSTAT.5 |
| #bit P = SSPSTAT.4 |
| #bit S = SSPSTAT.3 |
| #bit RW = SSPSTAT.2 |
| #bit UA = SSPSTAT.1 |
| #bit BF = SSPSTAT.0 |
| #byte TXSTA = 0x98 |
| #bit CSRC = TXSTA.7 |
| #bit TX9 = TXSTA.6 |
| #bit TXEN = TXSTA.5 |
| #bit SYNC = TXSTA.4 |
| #bit BRGH = TXSTA.2 |
| #bit TRMT = TXSTA.1 |
| #bit TX9D = TXSTA.0 |
| #byte SPBRG = 0x99 |
| #byte ANSEL = 0x9B // F88 only |
| #bit ANS6 = ANSEL.6 |
| #bit ANS5 = ANSEL.5 |
| #bit ANS4 = ANSEL.4 |
| #bit ANS3 = ANSEL.3 |
| #bit ANS2 = ANSEL.2 |
| #bit ANS1 = ANSEL.1 |
| #bit ANS0 = ANSEL.0 |
| #byte CMCON = 0x9C |
| // #bit C2OUT = CMCON.7 |
| // #bit C1OUT = CMCON.6 |
| #bit C2INV = CMCON.5 |
| #bit C1INV = CMCON.4 |
| #bit CIS = CMCON.3 |
| #bit CM2 = CMCON.2 |
| #bit CM1 = CMCON.1 |
| #bit CM0 = CMCON.0 |
| #byte CVRCON = 0x9D |
| #bit CVREN = CVRCON.7 |
| #bit CVROE = CVRCON.6 |
| #bit CVRR = CVRCON.5 |
| #bit CVR3 = CVRCON.3 |
| #bit CVR2 = CVRCON.2 |
| #bit CVR1 = CVRCON.1 |
| #bit CVR0 = CVRCON.0 |
| #byte ADRESL = 0x9E // F88 only |
| #byte ADCON1 = 0x9F // F88 only |
| #bit ADFM = ADCON1.7 |
| #bit ADCS2 = ADCON1.6 |
| #bit VCFG1 = ADCON1.5 |
| #bit VCFG0 = ADCON1.4 |
| // SFR Registers in Memory Bank 2 |
| #byte INDF_2 = 0x100 // mirror |
| #byte TMR0_2 = 0x101 // mirror |
| #byte PCL_2 = 0x102 // mirror |
| #byte STATUS_2 = 0x103 // mirror |
| #bit IRP_2 = STATUS_2.7 |
| #bit RP1_2 = STATUS_2.6 |
| #bit RP0_2 = STATUS_2.5 |
| #bit TO_2 = STATUS_2.4 |
| #bit PD_2 = STATUS_2.3 |
| #bit Z_2 = STATUS_2.2 |
| #bit DC_2 = STATUS_2.1 |
| #bit C_2 = STATUS_2.0 |
| #byte FSR_2 = 0x104 // mirror |
| #byte WDTCON = 0x105 |
| #bit WDTPS3 = WDTCON.4 |
| #bit WDTPS2 = WDTCON.3 |
| #bit WDTPS1 = WDTCON.2 |
| #bit WDTPS0 = WDTCON.1 |
| #bit SWDTEN = WDTCON.0 |
| #byte PORTB_2 = 0x106 // mirror |
| #byte PCLATH_2 = 0x10A // mirror |
| #byte INTCON_2 = 0x10B // mirror |
| #bit GIE_2 = INTCON_2.7 |
| #bit PEIE_2 = INTCON_2.6 |
| #bit TMR0IE_2 = INTCON_2.5 |
| #bit INT0IE_2 = INTCON_2.4 |
| #bit RBIE_2 = INTCON_2.3 |
| #bit TMR0IF_2 = INTCON_2.2 |
| #bit INT0IF_2 = INTCON_2.1 |
| #bit RBIF_2 = INTCON_2.0 |
| #byte EEDATA = 0x10C |
| #byte EEADR = 0x10D |
| #byte EEDATH = 0x10E |
| #byte EEADRH = 0x10F |
| // SFR Registers in Memory Bank 3 |
| #byte INDF_3 = 0x180 // mirror |
| #byte OPTION_3 = 0x181 // mirror |
| #bit RBPU_3 = OPTION_3.7 |
| #bit INTEDG_3 = OPTION_3.6 |
| #bit T0CS_3 = OPTION_3.5 |
| #bit T0SE_3 = OPTION_3.4 |
| #bit PSA_3 = OPTION_3.3 |
| #bit PS2_3 = OPTION_3.2 |
| #bit PS1_3 = OPTION_3.1 |
| #bit PS0_3 = OPTION_3.0 |
| #byte PCL_3 = 0x182 // mirror |
| #byte STATUS_3 = 0x183 // mirror |
| #bit IRP_3 = STATUS_3.7 |
| #bit RP1_3 = STATUS_3.6 |
| #bit RP0_3 = STATUS_3.5 |
| #bit TO_3 = STATUS_3.4 |
| #bit PD_3 = STATUS_3.3 |
| #bit Z_3 = STATUS_3.2 |
| #bit DC_3 = STATUS_3.1 |
| #bit C_3 = STATUS_3.0 |
| #byte FSR_3 = 0x184 // mirror |
| #byte TRISB_3 = 0x186 // mirror |
| #byte PLATH_3 = 0x18A // mirror |
| #byte INTCON_3 = 0x18B // mirror |
| #bit GIE_3 = INTCON_3.7 |
| #bit PEIE_3 = INTCON_3.6 |
| #bit TMR0IE_3 = INTCON_3.5 |
| #bit INT0IE_3 = INTCON_3.4 |
| #bit RBIE_3 = INTCON_3.3 |
| #bit TMR0IF_3 = INTCON_3.2 |
| #bit INT0IF_3 = INTCON_3.1 |
| #bit RBIF_3 = INTCON_3.0 |
| #byte EECON1 = 0x18C |
| #bit EEPGD = EECON1.7 |
| #bit FREE = EECON1.4 |
| #bit WRERR = EECON1.3 |
| #bit WREN = EECON1.2 |
| #bit WR = EECON1.1 |
| #bit RD = EECON1.0 |
| #byte EECON2 = 0x18D |
| #list |
| /roboti/istrobot/laserus/SW/PIC/873/laserus.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=laserus.HEX |
| Development_Mode= |
| Processor=0x873F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\PIC\laserus\873\laserus.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [laserus.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=laserus.c |
| [Windows] |
| 0=0000 laserus.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\PIC\laserus\873\laserus.c |
| 2=C:\PIC\laserus\873\laserus.h |
| 3=C:\Program Files\PICC\devices\16F873.h |
| 4= |
| [Units] |
| Count=1 |
| 1=C:\PIC\laserus\873\laserus.c (main) |
| /roboti/istrobot/laserus/SW/PIC/873/laserus.c |
|---|
| 0,0 → 1,130 |
| #include "laserus.h" |
| #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 |
| output_high(SERVO); |
| while(get_timer0()<(1000/256)); // Ceka 1ms |
| for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu |
| output_low(SERVO); |
| while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat |
| set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary |
| if(edge) // Zrcatko prejizdelo tam nebo zpet? |
| { |
| edge=false; |
| ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany |
| INT0IF=0; // Povoleni dalsiho preruseni |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| // do |
| { |
| while(0==input(LASER)); // Ceka na detekci cary |
| // output_high(SERVO); |
| t1=get_timer0(); // Poznamena cas nabezne hrany |
| while(1==input(LASER)); // Ceka az zkonci cara |
| // output_low(SERVO); |
| t2=get_timer0(); // Poznamena cas sestupne hrany |
| t=t2-t1; |
| } while((t<3) || (t>20)); // Cara je detekovana, kdyz trva mezi xx ms |
| // if ((t>3) && (t<20)) uhel=(160-(read_adc()>>2))-t1; |
| // if (abs(olduhel-uhel)<40) |
| { |
| uhel=(160-(read_adc()>>2))-t1; |
| olduhel=uhel; |
| }; |
| // uhel16=uhel; |
| // set_pwm1_duty(250-(uhel16<<2)); // Elektronicky diferencial |
| // set_pwm2_duty((uhel16)); |
| set_adc_channel(CERNA); |
| } |
| else |
| { |
| edge=true; |
| ext_int_edge(L_TO_H); // Pristi inerrupt bude od opacne hrany |
| INT0IF=0; // Povoleni dalsiho preruseni |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| // do |
| { |
| while(0==input(LASER)); // Ceka na detekci cary |
| t1=get_timer0(); // Poznamena cas nabezne hrany |
| while(1==input(LASER)); // Ceka az zkonci cara |
| t2=get_timer0(); // Poznamena cas sestupne hrany |
| t=t2-t1; |
| } while((t<3) || (t>20)); // Cara je detekovana, kdyz trva mezi xx ms |
| if (abs(olduhel-uhel)<40) |
| { |
| // uhel=((read_adc()>>2)+32)+t1; |
| // olduhel=uhel; |
| }; |
| set_adc_channel(CERVENA); |
| } |
| while(true); |
| } |
| void main() |
| { |
| setup_adc_ports(ALL_ANALOG); // Analogove vstupy pro cteni trimru |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); // Casovac pro cteni laseru |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DIV_BY_4,255,1); // Casovac pro PWM cca 900Hz |
| setup_ccp1(CCP_PWM); // Nastaveni PWM pro diferencial RC1, RC2 |
| setup_ccp2(CCP_PWM); |
| set_pwm1_duty(90); // Zastaveni PWM |
| set_pwm2_duty(90); |
| delay_ms(100); |
| set_adc_channel(CERVENA); |
| Delay_ms(1); |
| ext_int_edge(L_TO_H); |
| edge=true; |
| uhel=((read_adc()>>2)+32)+30; |
| olduhel=uhel; |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| delay_ms(1000); |
| output_high(MOT_DIR_L); // Oba motory vpred |
| output_high(MOT_DIR_R); |
| while(true); |
| } |
| /roboti/istrobot/laserus/SW/PIC/873/laserus.h |
|---|
| 0,0 → 1,15 |
| #include <16F873.h> |
| #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) |
| /roboti/istrobot/laserus/SW/PIC/88/16F88_Reg.H |
|---|
| 0,0 → 1,298 |
| // Komplete definition of all Special Feature Registers |
| // of PIC16F87 and PIC16F88 |
| // (c)miho 2005 |
| #nolist |
| // SFR Registers in Memory Bank 0 |
| #byte INDF = 0x00 |
| #byte TMR0 = 0x01 |
| #byte PCL = 0x02 |
| #byte STATUS = 0x03 |
| #bit IRP = STATUS.7 |
| #bit RP1 = STATUS.6 |
| #bit RP0 = STATUS.5 |
| #bit TO = STATUS.4 |
| #bit PD = STATUS.3 |
| #bit Z = STATUS.2 |
| #bit DC = STATUS.1 |
| #bit C = STATUS.0 |
| #byte FSR = 0x04 |
| #byte PORTA = 0x05 |
| #byte PORTB = 0x06 |
| #byte PCLATH = 0x0A |
| #byte INTCON = 0x0B |
| #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 |
| #byte PIR1 = 0x0C |
| #bit ADIF = PIR1.6 |
| #bit RCIF = PIR1.5 |
| #bit TXIF = PIR1.4 |
| #bit SSPIF = PIR1.3 |
| #bit CCP1IF = PIR1.2 |
| #bit TMR2IF = PIR1.1 |
| #bit TMR1IF = PIR1.0 |
| #byte PIR2 = 0x0D |
| #bit OSFIF = PIR2.7 |
| #bit CMIF = PIR2.6 |
| #bit EEIF = PIR2.4 |
| #byte TMR1L = 0x0E |
| #byte TMR1H = 0x0F |
| #byte T1CON = 0x10 |
| #bit T1RUN = T1CON.6 |
| #bit T1CKPS1 = T1CON.5 |
| #bit T1CKPS0 = T1CON.4 |
| #bit T1OSCEN = T1CON.3 |
| #bit T1SYNC = T1CON.2 |
| #bit TMR1CS = T1CON.1 |
| #bit TMR1ON = T1CON.0 |
| #byte TMR2 = 0x11 |
| #byte T2CON = 0x12 |
| #bit TOUTPS3 = T2CON.6 |
| #bit TOUTPS2 = T2CON.5 |
| #bit TOUTPS1 = T2CON.4 |
| #bit TOUTPS0 = T2CON.3 |
| #bit TMR2ON = T2CON.2 |
| #bit T2CKPS1 = T2CON.1 |
| #bit T2CKPS0 = T2CON.0 |
| #byte SSPBUF = 0x13 |
| #byte SSPCON1 = 0x14 |
| #bit WCOL = SSPCON1.7 |
| #bit SSPOV = SSPCON1.6 |
| #bit SSPEN = SSPCON1.5 |
| #bit CKP = SSPCON1.4 |
| #bit SSPM3 = SSPCON1.3 |
| #bit SSPM2 = SSPCON1.2 |
| #bit SSPM1 = SSPCON1.1 |
| #bit SSPM0 = SSPCON1.0 |
| #byte CCPR1L = 0x15 |
| #byte CCPR1H = 0x16 |
| #byte CCP1CON = 0x17 |
| #bit CCP1X = CCP1CON.5 |
| #bit CCP1Y = CCP1CON.4 |
| #bit CCP1M3 = CCP1CON.3 |
| #bit CCP1M2 = CCP1CON.2 |
| #bit CCP1M1 = CCP1CON.1 |
| #bit CCP1M0 = CCP1CON.0 |
| #byte RCSTA = 0x18 |
| #bit SPEN = RCSTA.7 |
| #bit RX9 = RCSTA.6 |
| #bit SREN = RCSTA.5 |
| #bit CREN = RCSTA.4 |
| #bit ADDEN = RCSTA.3 |
| #bit FERR = RCSTA.2 |
| #bit OERR = RCSTA.1 |
| #bit RX9D = RCSTA.0 |
| #byte TXREG = 0x19 |
| #byte RCREG = 0x1A |
| #byte ADRESH = 0x1E // F88 only |
| #byte ADCON0 = 0x1F // F88 only |
| #bit ADCS1 = ADCON0.7 |
| #bit ADCS0 = ADCON0.6 |
| #bit CHS2 = ADCON0.5 |
| #bit CHS1 = ADCON0.4 |
| #bit CHS0 = ADCON0.3 |
| #bit GO = ADCON0.2 |
| #bit ADON = ADCON0.0 |
| // SFR Registers in Memory Bank 1 |
| #byte INDF_1 = 0x80 // miror |
| #byte OPTION = 0x81 |
| #bit RBPU = OPTION.7 |
| #bit INTEDG = OPTION.6 |
| #bit T0CS = OPTION.5 |
| #bit T0SE = OPTION.4 |
| #bit PSA = OPTION.3 |
| #bit PS2 = OPTION.2 |
| #bit PS1 = OPTION.1 |
| #bit PS0 = OPTION.0 |
| #byte PCL = 0x82 |
| #byte STATUS_1 = 0x83 // mirror |
| #bit IRP_1 = STATUS_1.7 |
| #bit RP1_1 = STATUS_1.6 |
| #bit RP0_1 = STATUS_1.5 |
| #bit TO_1 = STATUS_1.4 |
| #bit PD_1 = STATUS_1.3 |
| #bit Z_1 = STATUS_1.2 |
| #bit DC_1 = STATUS_1.1 |
| #bit C_1 = STATUS_1.0 |
| #byte FSR = 0x84 |
| #byte TRISA = 0x85 |
| #byte TRISB = 0x86 |
| #byte PCLATH_1 = 0x8A // mirror |
| #byte INTCON_1 = 0x8B // mirror |
| #bit GIE_1 = INTCON_1.7 |
| #bit PEIE_1 = INTCON_1.6 |
| #bit TMR0IE_1 = INTCON_1.5 |
| #bit INT0IE_1 = INTCON_1.4 |
| #bit RBIE_1 = INTCON_1.3 |
| #bit TMR0IF_1 = INTCON_1.2 |
| #bit INT0IF_1 = INTCON_1.1 |
| #bit RBIF_1 = INTCON_1.0 |
| #byte PIE1 = 0x8C |
| #bit ADIE = PIE1.6 |
| #bit RCIE = PIE1.5 |
| #bit TXIE = PIE1.4 |
| #bit SSPIE = PIE1.3 |
| #bit CCP1IE = PIE1.2 |
| #bit TMR2IE = PIE1.1 |
| #bit TMR1IE = PIE1.0 |
| #byte PIE2 = 0x8D |
| #bit OSFIE = PIE2.7 |
| #bit CMIE = PIE2.6 |
| #bit EEIE = PIE2.4 |
| #byte PCON = 0x8E |
| #bit POR = PCON.1 |
| #bit BOR = PCON.0 |
| #byte OSCCON = 0x8F |
| #bit IRCF2 = OSCCON.6 |
| #bit IRCF1 = OSCCON.5 |
| #bit IRCF0 = OSCCON.4 |
| #bit OSTS = OSCCON.3 |
| #bit IOFS = OSCCON.2 |
| #bit SCS1 = OSCCON.1 |
| #bit SCS0 = OSCCON.0 |
| #byte OSCTUNE = 0x90 |
| #bit TUN5 = OSCTUNE.5 |
| #bit TUN4 = OSCTUNE.4 |
| #bit TUN3 = OSCTUNE.3 |
| #bit TUN2 = OSCTUNE.2 |
| #bit TUN1 = OSCTUNE.1 |
| #bit TUN0 = OSCTUNE.0 |
| #byte PR2 = 0x92 |
| #byte SSPADD = 0x93 |
| #byte SSPSTAT = 0x94 |
| #bit SMP = SSPSTAT.7 |
| #bit CKE = SSPSTAT.6 |
| #bit DA = SSPSTAT.5 |
| #bit P = SSPSTAT.4 |
| #bit S = SSPSTAT.3 |
| #bit RW = SSPSTAT.2 |
| #bit UA = SSPSTAT.1 |
| #bit BF = SSPSTAT.0 |
| #byte TXSTA = 0x98 |
| #bit CSRC = TXSTA.7 |
| #bit TX9 = TXSTA.6 |
| #bit TXEN = TXSTA.5 |
| #bit SYNC = TXSTA.4 |
| #bit BRGH = TXSTA.2 |
| #bit TRMT = TXSTA.1 |
| #bit TX9D = TXSTA.0 |
| #byte SPBRG = 0x99 |
| #byte ANSEL = 0x9B // F88 only |
| #bit ANS6 = ANSEL.6 |
| #bit ANS5 = ANSEL.5 |
| #bit ANS4 = ANSEL.4 |
| #bit ANS3 = ANSEL.3 |
| #bit ANS2 = ANSEL.2 |
| #bit ANS1 = ANSEL.1 |
| #bit ANS0 = ANSEL.0 |
| #byte CMCON = 0x9C |
| // #bit C2OUT = CMCON.7 |
| // #bit C1OUT = CMCON.6 |
| #bit C2INV = CMCON.5 |
| #bit C1INV = CMCON.4 |
| #bit CIS = CMCON.3 |
| #bit CM2 = CMCON.2 |
| #bit CM1 = CMCON.1 |
| #bit CM0 = CMCON.0 |
| #byte CVRCON = 0x9D |
| #bit CVREN = CVRCON.7 |
| #bit CVROE = CVRCON.6 |
| #bit CVRR = CVRCON.5 |
| #bit CVR3 = CVRCON.3 |
| #bit CVR2 = CVRCON.2 |
| #bit CVR1 = CVRCON.1 |
| #bit CVR0 = CVRCON.0 |
| #byte ADRESL = 0x9E // F88 only |
| #byte ADCON1 = 0x9F // F88 only |
| #bit ADFM = ADCON1.7 |
| #bit ADCS2 = ADCON1.6 |
| #bit VCFG1 = ADCON1.5 |
| #bit VCFG0 = ADCON1.4 |
| // SFR Registers in Memory Bank 2 |
| #byte INDF_2 = 0x100 // mirror |
| #byte TMR0_2 = 0x101 // mirror |
| #byte PCL_2 = 0x102 // mirror |
| #byte STATUS_2 = 0x103 // mirror |
| #bit IRP_2 = STATUS_2.7 |
| #bit RP1_2 = STATUS_2.6 |
| #bit RP0_2 = STATUS_2.5 |
| #bit TO_2 = STATUS_2.4 |
| #bit PD_2 = STATUS_2.3 |
| #bit Z_2 = STATUS_2.2 |
| #bit DC_2 = STATUS_2.1 |
| #bit C_2 = STATUS_2.0 |
| #byte FSR_2 = 0x104 // mirror |
| #byte WDTCON = 0x105 |
| #bit WDTPS3 = WDTCON.4 |
| #bit WDTPS2 = WDTCON.3 |
| #bit WDTPS1 = WDTCON.2 |
| #bit WDTPS0 = WDTCON.1 |
| #bit SWDTEN = WDTCON.0 |
| #byte PORTB_2 = 0x106 // mirror |
| #byte PCLATH_2 = 0x10A // mirror |
| #byte INTCON_2 = 0x10B // mirror |
| #bit GIE_2 = INTCON_2.7 |
| #bit PEIE_2 = INTCON_2.6 |
| #bit TMR0IE_2 = INTCON_2.5 |
| #bit INT0IE_2 = INTCON_2.4 |
| #bit RBIE_2 = INTCON_2.3 |
| #bit TMR0IF_2 = INTCON_2.2 |
| #bit INT0IF_2 = INTCON_2.1 |
| #bit RBIF_2 = INTCON_2.0 |
| #byte EEDATA = 0x10C |
| #byte EEADR = 0x10D |
| #byte EEDATH = 0x10E |
| #byte EEADRH = 0x10F |
| // SFR Registers in Memory Bank 3 |
| #byte INDF_3 = 0x180 // mirror |
| #byte OPTION_3 = 0x181 // mirror |
| #bit RBPU_3 = OPTION_3.7 |
| #bit INTEDG_3 = OPTION_3.6 |
| #bit T0CS_3 = OPTION_3.5 |
| #bit T0SE_3 = OPTION_3.4 |
| #bit PSA_3 = OPTION_3.3 |
| #bit PS2_3 = OPTION_3.2 |
| #bit PS1_3 = OPTION_3.1 |
| #bit PS0_3 = OPTION_3.0 |
| #byte PCL_3 = 0x182 // mirror |
| #byte STATUS_3 = 0x183 // mirror |
| #bit IRP_3 = STATUS_3.7 |
| #bit RP1_3 = STATUS_3.6 |
| #bit RP0_3 = STATUS_3.5 |
| #bit TO_3 = STATUS_3.4 |
| #bit PD_3 = STATUS_3.3 |
| #bit Z_3 = STATUS_3.2 |
| #bit DC_3 = STATUS_3.1 |
| #bit C_3 = STATUS_3.0 |
| #byte FSR_3 = 0x184 // mirror |
| #byte TRISB_3 = 0x186 // mirror |
| #byte PLATH_3 = 0x18A // mirror |
| #byte INTCON_3 = 0x18B // mirror |
| #bit GIE_3 = INTCON_3.7 |
| #bit PEIE_3 = INTCON_3.6 |
| #bit TMR0IE_3 = INTCON_3.5 |
| #bit INT0IE_3 = INTCON_3.4 |
| #bit RBIE_3 = INTCON_3.3 |
| #bit TMR0IF_3 = INTCON_3.2 |
| #bit INT0IF_3 = INTCON_3.1 |
| #bit RBIF_3 = INTCON_3.0 |
| #byte EECON1 = 0x18C |
| #bit EEPGD = EECON1.7 |
| #bit FREE = EECON1.4 |
| #bit WRERR = EECON1.3 |
| #bit WREN = EECON1.2 |
| #bit WR = EECON1.1 |
| #bit RD = EECON1.0 |
| #byte EECON2 = 0x18D |
| #list |
| /roboti/istrobot/laserus/SW/PIC/88/laser.PJT |
|---|
| 0,0 → 1,41 |
| [PROJECT] |
| Target=laser.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\PIC\laserus\laser.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [laser.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=laser.c |
| [Windows] |
| 0=0000 laser.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\PIC\laserus\laser.c |
| 2=C:\PIC\laserus\laser.h |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4=C:\PIC\laserus\16F88_Reg.H |
| 5= |
| [Units] |
| Count=1 |
| 1=C:\PIC\laserus\laser.c (main) |
| /roboti/istrobot/laserus/SW/PIC/88/laser.c |
|---|
| 0,0 → 1,96 |
| #include "laser.h" |
| #include "16F88_Reg.H" |
| #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 |
| output_high(SERVO); |
| while(get_timer0()<(1000/256)); // Ceka 1ms |
| for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu |
| output_low(SERVO); |
| while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat |
| set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary |
| if(edge) // Zrcatko prejizdelo tam nebo zpet? |
| { |
| edge=false; |
| ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany |
| INT0IF_1=0; // Povoleni dalsiho preruseni |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| // do |
| { |
| while(0==input(LASER)); // Ceka na detekci cary |
| // output_high(SERVO); |
| t1=get_timer0(); // Poznamena cas nabezne hrany |
| while(1==input(LASER)); // Ceka az zkonci cara |
| // output_low(SERVO); |
| t2=get_timer0(); // Poznamena cas sestupne hrany |
| t=t2-t1; |
| } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms |
| if ((t>3) && (t<8)) uhel=(160-(read_adc()>>2))-t1; |
| set_adc_channel(1); |
| } |
| else |
| { |
| edge=true; |
| ext_int_edge(L_TO_H); |
| INT0IF_1=0; // Povoleni dalsiho preruseni |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| // do |
| { |
| while(0==input(LASER)); // Ceka na detekci cary |
| t1=get_timer0(); // Poznamena cas nabezne hrany |
| while(1==input(LASER)); // Ceka az zkonci cara |
| t2=get_timer0(); // Poznamena cas sestupne hrany |
| t=t2-t1; |
| } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms |
| if ((t>3) && (t<8)) uhel=((read_adc()>>2)+32)+t1; |
| set_adc_channel(0); |
| } |
| while(true); |
| } |
| void main() |
| { |
| setup_adc_ports(sAN0|sAN1|VSS_VDD); // AD pro kroutitka |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(False); |
| delay_ms(100); |
| set_adc_channel(0); |
| Delay_ms(1); |
| ext_int_edge(L_TO_H); |
| edge=true; |
| uhel=((read_adc()>>2)+32)+30;; |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| } |
| /roboti/istrobot/laserus/SW/PIC/88/laser.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #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) |