0,0 → 1,1497 |
CCS PCM C Compiler, Version 3.221, 27853 20-V-05 13:52 |
|
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST |
|
ROM used: 1232 words (30%) |
Largest free fragment is 2048 |
RAM used: 65 (37%) at main() level |
73 (42%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 28E |
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: MOVLW 8C |
001D: MOVWF 04 |
001E: BTFSS 00.1 |
001F: GOTO 022 |
0020: BTFSC 0C.1 |
0021: GOTO 035 |
0022: MOVF 22,W |
0023: MOVWF 04 |
0024: MOVF 23,W |
0025: MOVWF 77 |
0026: MOVF 24,W |
0027: MOVWF 78 |
0028: MOVF 25,W |
0029: MOVWF 79 |
002A: MOVF 26,W |
002B: MOVWF 7A |
002C: MOVF 27,W |
002D: MOVWF 7B |
002E: MOVF 28,W |
002F: MOVWF 0A |
0030: SWAPF 21,W |
0031: MOVWF 03 |
0032: SWAPF 7F,F |
0033: SWAPF 7F,W |
0034: RETFIE |
0035: BCF 0A.3 |
0036: GOTO 037 |
.................... #include "tank.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) |
* |
0042: MOVLW 12 |
0043: SUBWF 63,F |
0044: BTFSS 03.0 |
0045: GOTO 054 |
0046: MOVLW 63 |
0047: MOVWF 04 |
0048: MOVLW FC |
0049: ANDWF 00,F |
004A: BCF 03.0 |
004B: RRF 00,F |
004C: RRF 00,F |
004D: MOVF 00,W |
004E: BTFSC 03.2 |
004F: GOTO 054 |
0050: GOTO 052 |
0051: NOP |
0052: DECFSZ 00,F |
0053: GOTO 051 |
0054: RETLW 00 |
* |
007B: MOVLW 5E |
007C: MOVWF 04 |
007D: MOVF 00,W |
007E: BTFSC 03.2 |
007F: GOTO 08F |
0080: MOVLW 01 |
0081: MOVWF 78 |
0082: CLRF 77 |
0083: DECFSZ 77,F |
0084: GOTO 083 |
0085: DECFSZ 78,F |
0086: GOTO 082 |
0087: MOVLW 4A |
0088: MOVWF 77 |
0089: DECFSZ 77,F |
008A: GOTO 089 |
008B: NOP |
008C: NOP |
008D: DECFSZ 00,F |
008E: GOTO 080 |
008F: RETLW 00 |
.................... |
.................... |
.................... |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
.................... unsigned int8 line; // na ktere strane byla detekovana cara |
.................... unsigned int8 speed; // rychlost zataceni |
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... int cirkus; |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... |
.................... //motory //Napred vypnout potom zapnout! |
.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
.................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
.................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... //cidla |
.................... #define RSENSOR !C2OUT // Senzory na caru |
.................... #define LSENSOR !C1OUT |
.................... #define BUMPER PIN_A4 // Senzor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
.................... |
.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
.................... #DEFINE SOUND_LO PIN_A7 |
.................... |
.................... char AXstring[40]; // Buffer pro prenos telemetrie |
.................... |
.................... // makro pro PWM |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... |
.................... #int_TIMER2 |
.................... void TIMER2_isr() |
.................... { |
.................... if (speed<255) speed++; |
* |
0037: INCFSZ 2B,W |
0038: GOTO 03A |
0039: GOTO 03B |
003A: INCF 2B,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003B: MOVF 2D,W |
003C: SUBLW 40 |
003D: BTFSC 03.0 |
003E: INCF 2D,F |
.................... } |
.................... // Primitivni Pipani |
003F: BCF 0C.1 |
0040: BCF 0A.3 |
0041: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0055: MOVF 60,W |
0056: MOVWF 62 |
0057: MOVF 5F,W |
0058: MOVWF 61 |
0059: MOVF 61,F |
005A: BTFSS 03.2 |
005B: GOTO 05F |
005C: MOVF 62,F |
005D: BTFSC 03.2 |
005E: GOTO 07A |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
005F: BSF 03.5 |
0060: BCF 05.6 |
0061: BCF 03.5 |
0062: BSF 05.6 |
0063: BSF 03.5 |
0064: BCF 05.7 |
0065: BCF 03.5 |
0066: BCF 05.7 |
.................... delay_us(period); |
0067: MOVF 5D,W |
0068: MOVWF 63 |
0069: CALL 042 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
006A: BSF 03.5 |
006B: BCF 05.7 |
006C: BCF 03.5 |
006D: BSF 05.7 |
006E: BSF 03.5 |
006F: BCF 05.6 |
0070: BCF 03.5 |
0071: BCF 05.6 |
.................... delay_us(period); |
0072: MOVF 5D,W |
0073: MOVWF 63 |
0074: CALL 042 |
.................... } |
0075: MOVF 61,W |
0076: BTFSC 03.2 |
0077: DECF 62,F |
0078: DECF 61,F |
0079: GOTO 059 |
.................... } |
007A: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
0090: BSF 03.5 |
0091: BSF 06.3 |
0092: BCF 03.5 |
0093: BTFSS 06.3 |
0094: GOTO 1BB |
.................... for (n=500; n<800; n+=100) |
0095: MOVLW 01 |
0096: MOVWF 5C |
0097: MOVLW F4 |
0098: MOVWF 5B |
0099: MOVF 5C,W |
009A: SUBLW 03 |
009B: BTFSS 03.0 |
009C: GOTO 0B1 |
009D: BTFSS 03.2 |
009E: GOTO 0A3 |
009F: MOVF 5B,W |
00A0: SUBLW 1F |
00A1: BTFSS 03.0 |
00A2: GOTO 0B1 |
.................... { |
.................... beep(n,n); //beep UP |
00A3: MOVF 5C,W |
00A4: MOVWF 5E |
00A5: MOVF 5B,W |
00A6: MOVWF 5D |
00A7: MOVF 5C,W |
00A8: MOVWF 60 |
00A9: MOVF 5B,W |
00AA: MOVWF 5F |
00AB: CALL 055 |
.................... }; |
00AC: MOVLW 64 |
00AD: ADDWF 5B,F |
00AE: BTFSC 03.0 |
00AF: INCF 5C,F |
00B0: GOTO 099 |
.................... Delay_ms(1000); |
00B1: MOVLW 04 |
00B2: MOVWF 5D |
00B3: MOVLW FA |
00B4: MOVWF 5E |
00B5: CALL 07B |
00B6: DECFSZ 5D,F |
00B7: GOTO 0B3 |
.................... //zastav vse |
.................... STOPL; STOPR; |
00B8: BSF 03.5 |
00B9: BCF 06.6 |
00BA: BCF 03.5 |
00BB: BCF 06.6 |
00BC: BSF 03.5 |
00BD: BCF 06.7 |
00BE: BCF 03.5 |
00BF: BCF 06.7 |
00C0: BSF 03.5 |
00C1: BCF 06.4 |
00C2: BCF 03.5 |
00C3: BCF 06.4 |
00C4: BSF 03.5 |
00C5: BCF 06.5 |
00C6: BCF 03.5 |
00C7: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00C8: BSF 03.5 |
00C9: BCF 06.5 |
00CA: BCF 03.5 |
00CB: BCF 06.5 |
00CC: BSF 03.5 |
00CD: BCF 06.4 |
00CE: BCF 03.5 |
00CF: BSF 06.4 |
00D0: MOVLW 04 |
00D1: MOVWF 5D |
00D2: MOVLW FA |
00D3: MOVWF 5E |
00D4: CALL 07B |
00D5: DECFSZ 5D,F |
00D6: GOTO 0D2 |
00D7: BSF 03.5 |
00D8: BCF 06.4 |
00D9: BCF 03.5 |
00DA: BCF 06.4 |
00DB: BSF 03.5 |
00DC: BCF 06.5 |
00DD: BCF 03.5 |
00DE: BCF 06.5 |
00DF: MOVLW 04 |
00E0: MOVWF 5D |
00E1: MOVLW FA |
00E2: MOVWF 5E |
00E3: CALL 07B |
00E4: DECFSZ 5D,F |
00E5: GOTO 0E1 |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00E6: BSF 03.5 |
00E7: BCF 06.4 |
00E8: BCF 03.5 |
00E9: BCF 06.4 |
00EA: BSF 03.5 |
00EB: BCF 06.5 |
00EC: BCF 03.5 |
00ED: BSF 06.5 |
00EE: MOVLW 04 |
00EF: MOVWF 5D |
00F0: MOVLW FA |
00F1: MOVWF 5E |
00F2: CALL 07B |
00F3: DECFSZ 5D,F |
00F4: GOTO 0F0 |
00F5: BSF 03.5 |
00F6: BCF 06.4 |
00F7: BCF 03.5 |
00F8: BCF 06.4 |
00F9: BSF 03.5 |
00FA: BCF 06.5 |
00FB: BCF 03.5 |
00FC: BCF 06.5 |
00FD: MOVLW 04 |
00FE: MOVWF 5D |
00FF: MOVLW FA |
0100: MOVWF 5E |
0101: CALL 07B |
0102: DECFSZ 5D,F |
0103: GOTO 0FF |
.................... Beep(880,100); Delay_ms(1000); |
0104: MOVLW 03 |
0105: MOVWF 5E |
0106: MOVLW 70 |
0107: MOVWF 5D |
0108: CLRF 60 |
0109: MOVLW 64 |
010A: MOVWF 5F |
010B: CALL 055 |
010C: MOVLW 04 |
010D: MOVWF 5D |
010E: MOVLW FA |
010F: MOVWF 5E |
0110: CALL 07B |
0111: DECFSZ 5D,F |
0112: GOTO 10E |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0113: BSF 03.5 |
0114: BCF 06.7 |
0115: BCF 03.5 |
0116: BCF 06.7 |
0117: BSF 03.5 |
0118: BCF 06.6 |
0119: BCF 03.5 |
011A: BSF 06.6 |
011B: MOVLW 04 |
011C: MOVWF 5D |
011D: MOVLW FA |
011E: MOVWF 5E |
011F: CALL 07B |
0120: DECFSZ 5D,F |
0121: GOTO 11D |
0122: BSF 03.5 |
0123: BCF 06.6 |
0124: BCF 03.5 |
0125: BCF 06.6 |
0126: BSF 03.5 |
0127: BCF 06.7 |
0128: BCF 03.5 |
0129: BCF 06.7 |
012A: MOVLW 04 |
012B: MOVWF 5D |
012C: MOVLW FA |
012D: MOVWF 5E |
012E: CALL 07B |
012F: DECFSZ 5D,F |
0130: GOTO 12C |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0131: BSF 03.5 |
0132: BCF 06.6 |
0133: BCF 03.5 |
0134: BCF 06.6 |
0135: BSF 03.5 |
0136: BCF 06.7 |
0137: BCF 03.5 |
0138: BSF 06.7 |
0139: MOVLW 04 |
013A: MOVWF 5D |
013B: MOVLW FA |
013C: MOVWF 5E |
013D: CALL 07B |
013E: DECFSZ 5D,F |
013F: GOTO 13B |
0140: BSF 03.5 |
0141: BCF 06.6 |
0142: BCF 03.5 |
0143: BCF 06.6 |
0144: BSF 03.5 |
0145: BCF 06.7 |
0146: BCF 03.5 |
0147: BCF 06.7 |
0148: MOVLW 04 |
0149: MOVWF 5D |
014A: MOVLW FA |
014B: MOVWF 5E |
014C: CALL 07B |
014D: DECFSZ 5D,F |
014E: GOTO 14A |
.................... Beep(880,100); Delay_ms(1000); |
014F: MOVLW 03 |
0150: MOVWF 5E |
0151: MOVLW 70 |
0152: MOVWF 5D |
0153: CLRF 60 |
0154: MOVLW 64 |
0155: MOVWF 5F |
0156: CALL 055 |
0157: MOVLW 04 |
0158: MOVWF 5D |
0159: MOVLW FA |
015A: MOVWF 5E |
015B: CALL 07B |
015C: DECFSZ 5D,F |
015D: GOTO 159 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
015E: BSF 03.5 |
015F: BCF 06.7 |
0160: BCF 03.5 |
0161: BCF 06.7 |
0162: BSF 03.5 |
0163: BCF 06.6 |
0164: BCF 03.5 |
0165: BSF 06.6 |
0166: BSF 03.5 |
0167: BCF 06.5 |
0168: BCF 03.5 |
0169: BCF 06.5 |
016A: BSF 03.5 |
016B: BCF 06.4 |
016C: BCF 03.5 |
016D: BSF 06.4 |
016E: MOVLW 04 |
016F: MOVWF 5D |
0170: MOVLW FA |
0171: MOVWF 5E |
0172: CALL 07B |
0173: DECFSZ 5D,F |
0174: GOTO 170 |
0175: BSF 03.5 |
0176: BCF 06.6 |
0177: BCF 03.5 |
0178: BCF 06.6 |
0179: BSF 03.5 |
017A: BCF 06.7 |
017B: BCF 03.5 |
017C: BCF 06.7 |
017D: BSF 03.5 |
017E: BCF 06.4 |
017F: BCF 03.5 |
0180: BCF 06.4 |
0181: BSF 03.5 |
0182: BCF 06.5 |
0183: BCF 03.5 |
0184: BCF 06.5 |
0185: MOVLW 04 |
0186: MOVWF 5D |
0187: MOVLW FA |
0188: MOVWF 5E |
0189: CALL 07B |
018A: DECFSZ 5D,F |
018B: GOTO 187 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
018C: BSF 03.5 |
018D: BCF 06.6 |
018E: BCF 03.5 |
018F: BCF 06.6 |
0190: BSF 03.5 |
0191: BCF 06.7 |
0192: BCF 03.5 |
0193: BSF 06.7 |
0194: BSF 03.5 |
0195: BCF 06.4 |
0196: BCF 03.5 |
0197: BCF 06.4 |
0198: BSF 03.5 |
0199: BCF 06.5 |
019A: BCF 03.5 |
019B: BSF 06.5 |
019C: MOVLW 04 |
019D: MOVWF 5D |
019E: MOVLW FA |
019F: MOVWF 5E |
01A0: CALL 07B |
01A1: DECFSZ 5D,F |
01A2: GOTO 19E |
01A3: BSF 03.5 |
01A4: BCF 06.6 |
01A5: BCF 03.5 |
01A6: BCF 06.6 |
01A7: BSF 03.5 |
01A8: BCF 06.7 |
01A9: BCF 03.5 |
01AA: BCF 06.7 |
01AB: BSF 03.5 |
01AC: BCF 06.4 |
01AD: BCF 03.5 |
01AE: BCF 06.4 |
01AF: BSF 03.5 |
01B0: BCF 06.5 |
01B1: BCF 03.5 |
01B2: BCF 06.5 |
01B3: MOVLW 04 |
01B4: MOVWF 5D |
01B5: MOVLW FA |
01B6: MOVWF 5E |
01B7: CALL 07B |
01B8: DECFSZ 5D,F |
01B9: GOTO 1B5 |
.................... }; |
01BA: GOTO 090 |
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
.................... { |
01BB: BSF 03.5 |
01BC: BSF 06.2 |
01BD: BCF 03.5 |
01BE: BTFSS 06.2 |
01BF: GOTO 1EE |
.................... if (RSENSOR) beep(1000,1000); |
01C0: BSF 03.5 |
01C1: BTFSC 1C.7 |
01C2: GOTO 1CE |
01C3: MOVLW 03 |
01C4: BCF 03.5 |
01C5: MOVWF 5E |
01C6: MOVLW E8 |
01C7: MOVWF 5D |
01C8: MOVLW 03 |
01C9: MOVWF 60 |
01CA: MOVLW E8 |
01CB: MOVWF 5F |
01CC: CALL 055 |
01CD: BSF 03.5 |
.................... if (LSENSOR) beep(2000,2000); |
01CE: BTFSC 1C.6 |
01CF: GOTO 1DB |
01D0: MOVLW 07 |
01D1: BCF 03.5 |
01D2: MOVWF 5E |
01D3: MOVLW D0 |
01D4: MOVWF 5D |
01D5: MOVLW 07 |
01D6: MOVWF 60 |
01D7: MOVLW D0 |
01D8: MOVWF 5F |
01D9: CALL 055 |
01DA: BSF 03.5 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000); |
01DB: BCF 03.5 |
01DC: BTFSS 1F.2 |
01DD: GOTO 1E0 |
01DE: BSF 03.5 |
01DF: GOTO 1DB |
01E0: MOVF 1E,W |
01E1: SUBLW 7F |
01E2: BTFSS 03.0 |
01E3: GOTO 1ED |
01E4: MOVLW 0B |
01E5: MOVWF 5E |
01E6: MOVLW B8 |
01E7: MOVWF 5D |
01E8: MOVLW 0B |
01E9: MOVWF 60 |
01EA: MOVLW B8 |
01EB: MOVWF 5F |
01EC: CALL 055 |
.................... }; |
01ED: GOTO 1BB |
.................... } |
01EE: BCF 0A.3 |
01EF: GOTO 31F (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void OtocSe() // otoci se zpet, kdyz je prekazka |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BR;BL; |
01F0: BSF 03.5 |
01F1: BCF 06.4 |
01F2: BCF 03.5 |
01F3: BCF 06.4 |
01F4: BSF 03.5 |
01F5: BCF 06.5 |
01F6: BCF 03.5 |
01F7: BSF 06.5 |
01F8: BSF 03.5 |
01F9: BCF 06.6 |
01FA: BCF 03.5 |
01FB: BCF 06.6 |
01FC: BSF 03.5 |
01FD: BCF 06.7 |
01FE: BCF 03.5 |
01FF: BSF 06.7 |
.................... beep(800,400); |
0200: MOVLW 03 |
0201: MOVWF 5E |
0202: MOVLW 20 |
0203: MOVWF 5D |
0204: MOVLW 01 |
0205: MOVWF 60 |
0206: MOVLW 90 |
0207: MOVWF 5F |
0208: CALL 055 |
.................... beep(2000,1000); |
0209: MOVLW 07 |
020A: MOVWF 5E |
020B: MOVLW D0 |
020C: MOVWF 5D |
020D: MOVLW 03 |
020E: MOVWF 60 |
020F: MOVLW E8 |
0210: MOVWF 5F |
0211: CALL 055 |
.................... beep(900,400); |
0212: MOVLW 03 |
0213: MOVWF 5E |
0214: MOVLW 84 |
0215: MOVWF 5D |
0216: MOVLW 01 |
0217: MOVWF 60 |
0218: MOVLW 90 |
0219: MOVWF 5F |
021A: CALL 055 |
.................... |
.................... BR; FL; Delay_ms(50); // otoc se 30° do prava |
021B: BSF 03.5 |
021C: BCF 06.4 |
021D: BCF 03.5 |
021E: BCF 06.4 |
021F: BSF 03.5 |
0220: BCF 06.5 |
0221: BCF 03.5 |
0222: BSF 06.5 |
0223: BSF 03.5 |
0224: BCF 06.7 |
0225: BCF 03.5 |
0226: BCF 06.7 |
0227: BSF 03.5 |
0228: BCF 06.6 |
0229: BCF 03.5 |
022A: BSF 06.6 |
022B: MOVLW 32 |
022C: MOVWF 5E |
022D: CALL 07B |
.................... STOPL; STOPR; |
022E: BSF 03.5 |
022F: BCF 06.6 |
0230: BCF 03.5 |
0231: BCF 06.6 |
0232: BSF 03.5 |
0233: BCF 06.7 |
0234: BCF 03.5 |
0235: BCF 06.7 |
0236: BSF 03.5 |
0237: BCF 06.4 |
0238: BCF 03.5 |
0239: BCF 06.4 |
023A: BSF 03.5 |
023B: BCF 06.5 |
023C: BCF 03.5 |
023D: BCF 06.5 |
.................... beep(1000,1000); |
023E: MOVLW 03 |
023F: MOVWF 5E |
0240: MOVLW E8 |
0241: MOVWF 5D |
0242: MOVLW 03 |
0243: MOVWF 60 |
0244: MOVLW E8 |
0245: MOVWF 5F |
0246: CALL 055 |
.................... |
.................... BR; FL; |
0247: BSF 03.5 |
0248: BCF 06.4 |
0249: BCF 03.5 |
024A: BCF 06.4 |
024B: BSF 03.5 |
024C: BCF 06.5 |
024D: BCF 03.5 |
024E: BSF 06.5 |
024F: BSF 03.5 |
0250: BCF 06.7 |
0251: BCF 03.5 |
0252: BCF 06.7 |
0253: BSF 03.5 |
0254: BCF 06.6 |
0255: BCF 03.5 |
0256: BSF 06.6 |
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
0257: MOVLW 9C |
0258: MOVWF 5C |
0259: MOVLW 40 |
025A: MOVWF 5B |
025B: MOVF 5B,F |
025C: BTFSS 03.2 |
025D: GOTO 261 |
025E: MOVF 5C,F |
025F: BTFSC 03.2 |
0260: GOTO 279 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0261: CLRF 2A |
0262: BSF 03.5 |
0263: BTFSC 1C.7 |
0264: GOTO 268 |
0265: BCF 03.5 |
0266: INCF 2A,F |
0267: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0268: MOVLW 00 |
0269: BTFSS 1C.6 |
026A: MOVLW 01 |
026B: MOVWF 77 |
026C: BCF 03.0 |
026D: RLF 77,F |
026E: MOVF 77,W |
026F: BCF 03.5 |
0270: IORWF 2A,F |
.................... if (line!=0) break; |
0271: MOVF 2A,F |
0272: BTFSS 03.2 |
0273: GOTO 279 |
.................... } |
0274: MOVF 5B,W |
0275: BTFSC 03.2 |
0276: DECF 5C,F |
0277: DECF 5B,F |
0278: GOTO 25B |
.................... STOPR; STOPL; |
0279: BSF 03.5 |
027A: BCF 06.4 |
027B: BCF 03.5 |
027C: BCF 06.4 |
027D: BSF 03.5 |
027E: BCF 06.5 |
027F: BCF 03.5 |
0280: BCF 06.5 |
0281: BSF 03.5 |
0282: BCF 06.6 |
0283: BCF 03.5 |
0284: BCF 06.6 |
0285: BSF 03.5 |
0286: BCF 06.7 |
0287: BCF 03.5 |
0288: BCF 06.7 |
.................... |
.................... line=L; // caru jsme prejeli, tak je vlevo |
0289: MOVLW 02 |
028A: MOVWF 2A |
.................... cirkus=0; |
028B: CLRF 2E |
.................... } |
028C: BCF 0A.3 |
028D: GOTO 34B (RETURN) |
.................... |
.................... |
.................... void main() |
.................... { |
028E: CLRF 04 |
028F: MOVLW 1F |
0290: ANDWF 03,F |
0291: BSF 03.5 |
0292: BCF 1F.4 |
0293: BCF 1F.5 |
0294: MOVF 1B,W |
0295: ANDLW 80 |
0296: MOVWF 1B |
0297: MOVLW 07 |
0298: MOVWF 1C |
0299: MOVF 1C,W |
029A: BCF 03.5 |
029B: BCF 0D.6 |
029C: MOVLW 60 |
029D: BSF 03.5 |
029E: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... unsigned int16 i; |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
029F: BCF 06.6 |
02A0: BCF 03.5 |
02A1: BCF 06.6 |
02A2: BSF 03.5 |
02A3: BCF 06.7 |
02A4: BCF 03.5 |
02A5: BCF 06.7 |
02A6: BSF 03.5 |
02A7: BCF 06.4 |
02A8: BCF 03.5 |
02A9: BCF 06.4 |
02AA: BSF 03.5 |
02AB: BCF 06.5 |
02AC: BCF 03.5 |
02AD: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
02AE: MOVLW 62 |
02AF: BSF 03.5 |
02B0: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
02B1: BCF 01.7 |
.................... setup_spi(FALSE); |
02B2: BCF 03.5 |
02B3: BCF 14.5 |
02B4: BSF 03.5 |
02B5: BCF 06.2 |
02B6: BSF 06.1 |
02B7: BCF 06.4 |
02B8: MOVLW 00 |
02B9: BCF 03.5 |
02BA: MOVWF 14 |
02BB: BSF 03.5 |
02BC: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
02BD: MOVF 01,W |
02BE: ANDLW C7 |
02BF: IORLW 08 |
02C0: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
02C1: MOVLW 48 |
02C2: MOVWF 78 |
02C3: IORLW 05 |
02C4: BCF 03.5 |
02C5: MOVWF 12 |
02C6: MOVLW FF |
02C7: BSF 03.5 |
02C8: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
02C9: BCF 1F.4 |
02CA: BCF 1F.5 |
02CB: MOVF 1B,W |
02CC: ANDLW 80 |
02CD: IORLW 04 |
02CE: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
02CF: BCF 1F.6 |
02D0: BCF 03.5 |
02D1: BSF 1F.6 |
02D2: BSF 1F.7 |
02D3: BSF 03.5 |
02D4: BCF 1F.7 |
02D5: BCF 03.5 |
02D6: BSF 1F.0 |
.................... set_adc_channel(2); |
02D7: MOVLW 10 |
02D8: MOVWF 78 |
02D9: MOVF 1F,W |
02DA: ANDLW C7 |
02DB: IORWF 78,W |
02DC: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
02DD: MOVLW 85 |
02DE: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
02DF: BSF 03.5 |
02E0: BSF 06.3 |
02E1: MOVLW 0B |
02E2: BCF 03.5 |
02E3: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
02E4: CLRF 16 |
02E5: MOVLW 07 |
02E6: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
02E7: MOVLW 02 |
02E8: BSF 03.5 |
02E9: MOVWF 1C |
02EA: MOVF 05,W |
02EB: IORLW 03 |
02EC: MOVWF 05 |
02ED: MOVLW 03 |
02EE: MOVWF 77 |
02EF: DECFSZ 77,F |
02F0: GOTO 2EF |
02F1: MOVF 1C,W |
02F2: BCF 03.5 |
02F3: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
02F4: MOVLW 8F |
02F5: BSF 03.5 |
02F6: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
02F7: MOVLW 03 |
02F8: BCF 03.5 |
02F9: MOVWF 5E |
02FA: MOVLW E8 |
02FB: MOVWF 5D |
02FC: CLRF 60 |
02FD: MOVLW C8 |
02FE: MOVWF 5F |
02FF: CALL 055 |
.................... Delay_ms(50); |
0300: MOVLW 32 |
0301: MOVWF 5E |
0302: CALL 07B |
.................... Beep(1000,200); |
0303: MOVLW 03 |
0304: MOVWF 5E |
0305: MOVLW E8 |
0306: MOVWF 5D |
0307: CLRF 60 |
0308: MOVLW C8 |
0309: MOVWF 5F |
030A: CALL 055 |
.................... Delay_ms(1000); // 1s |
030B: MOVLW 04 |
030C: MOVWF 5B |
030D: MOVLW FA |
030E: MOVWF 5E |
030F: CALL 07B |
0310: DECFSZ 5B,F |
0311: GOTO 30D |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0312: BSF 03.5 |
0313: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
0314: MOVLW C0 |
0315: BCF 03.5 |
0316: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
0317: MOVLW 03 |
0318: MOVWF 29 |
.................... line=S; |
0319: MOVWF 2A |
.................... last=S; |
031A: MOVWF 2C |
.................... cirkus=0; |
031B: CLRF 2E |
.................... // movement=S; |
.................... speed=FW_POMALU; |
031C: MOVLW AA |
031D: MOVWF 2B |
.................... |
.................... diagnostika(); |
031E: GOTO 090 |
.................... Delay_ms(500); |
031F: MOVLW 02 |
0320: MOVWF 5B |
0321: MOVLW FA |
0322: MOVWF 5E |
0323: CALL 07B |
0324: DECFSZ 5B,F |
0325: GOTO 321 |
.................... Beep(1000,200); |
0326: MOVLW 03 |
0327: MOVWF 5E |
0328: MOVLW E8 |
0329: MOVWF 5D |
032A: CLRF 60 |
032B: MOVLW C8 |
032C: MOVWF 5F |
032D: CALL 055 |
.................... Delay_ms(500); |
032E: MOVLW 02 |
032F: MOVWF 5B |
0330: MOVLW FA |
0331: MOVWF 5E |
0332: CALL 07B |
0333: DECFSZ 5B,F |
0334: GOTO 330 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
0335: CLRF 29 |
0336: BSF 03.5 |
0337: BTFSC 1C.7 |
0338: GOTO 33C |
0339: BCF 03.5 |
033A: INCF 29,F |
033B: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
033C: MOVLW 00 |
033D: BTFSS 1C.6 |
033E: MOVLW 01 |
033F: MOVWF 77 |
0340: BCF 03.0 |
0341: RLF 77,F |
0342: MOVF 77,W |
0343: BCF 03.5 |
0344: IORWF 29,F |
.................... |
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
0345: BTFSC 1F.2 |
0346: GOTO 345 |
0347: MOVF 1E,W |
0348: SUBLW 7F |
0349: BTFSC 03.0 |
034A: GOTO 1F0 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
034B: MOVF 29,W |
034C: XORLW 03 |
034D: BTFSC 03.2 |
034E: GOTO 356 |
034F: XORLW 01 |
0350: BTFSC 03.2 |
0351: GOTO 38B |
0352: XORLW 03 |
0353: BTFSC 03.2 |
0354: GOTO 3C2 |
0355: GOTO 3F9 |
.................... case S: // rovne |
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
0356: MOVF 01,W |
0357: MOVWF 5B |
0358: MOVLW BE |
0359: ADDWF 2D,W |
035A: SUBWF 5B,W |
035B: BTFSC 03.2 |
035C: GOTO 35F |
035D: BTFSC 03.0 |
035E: GOTO 368 |
035F: BSF 03.5 |
0360: BCF 06.7 |
0361: BCF 03.5 |
0362: BCF 06.7 |
0363: BSF 03.5 |
0364: BCF 06.6 |
0365: BCF 03.5 |
0366: BSF 06.6 |
0367: GOTO 370 |
0368: BSF 03.5 |
0369: BCF 06.6 |
036A: BCF 03.5 |
036B: BCF 06.6 |
036C: BSF 03.5 |
036D: BCF 06.7 |
036E: BCF 03.5 |
036F: BCF 06.7 |
0370: MOVF 01,W |
0371: MOVWF 5B |
0372: MOVLW BE |
0373: ADDWF 2D,W |
0374: SUBWF 5B,W |
0375: BTFSC 03.2 |
0376: GOTO 379 |
0377: BTFSC 03.0 |
0378: GOTO 382 |
0379: BSF 03.5 |
037A: BCF 06.5 |
037B: BCF 03.5 |
037C: BCF 06.5 |
037D: BSF 03.5 |
037E: BCF 06.4 |
037F: BCF 03.5 |
0380: BSF 06.4 |
0381: GOTO 38A |
0382: BSF 03.5 |
0383: BCF 06.4 |
0384: BCF 03.5 |
0385: BCF 06.4 |
0386: BSF 03.5 |
0387: BCF 06.5 |
0388: BCF 03.5 |
0389: BCF 06.5 |
.................... continue; |
038A: GOTO 335 |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
038B: MOVF 01,W |
038C: MOVWF 5B |
038D: MOVLW AA |
038E: ADDWF 2D,W |
038F: SUBWF 5B,W |
0390: BTFSC 03.2 |
0391: GOTO 394 |
0392: BTFSC 03.0 |
0393: GOTO 39D |
0394: BSF 03.5 |
0395: BCF 06.7 |
0396: BCF 03.5 |
0397: BCF 06.7 |
0398: BSF 03.5 |
0399: BCF 06.6 |
039A: BCF 03.5 |
039B: BSF 06.6 |
039C: GOTO 3A5 |
039D: BSF 03.5 |
039E: BCF 06.6 |
039F: BCF 03.5 |
03A0: BCF 06.6 |
03A1: BSF 03.5 |
03A2: BCF 06.7 |
03A3: BCF 03.5 |
03A4: BCF 06.7 |
03A5: MOVF 01,W |
03A6: MOVWF 5B |
03A7: MOVLW BE |
03A8: ADDWF 2D,W |
03A9: SUBWF 5B,W |
03AA: BTFSC 03.2 |
03AB: GOTO 3AE |
03AC: BTFSC 03.0 |
03AD: GOTO 3B7 |
03AE: BSF 03.5 |
03AF: BCF 06.5 |
03B0: BCF 03.5 |
03B1: BCF 06.5 |
03B2: BSF 03.5 |
03B3: BCF 06.4 |
03B4: BCF 03.5 |
03B5: BSF 06.4 |
03B6: GOTO 3BF |
03B7: BSF 03.5 |
03B8: BCF 06.4 |
03B9: BCF 03.5 |
03BA: BCF 06.4 |
03BB: BSF 03.5 |
03BC: BCF 06.5 |
03BD: BCF 03.5 |
03BE: BCF 06.5 |
.................... line=L; |
03BF: MOVLW 02 |
03C0: MOVWF 2A |
.................... continue; |
03C1: GOTO 335 |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
03C2: MOVF 01,W |
03C3: MOVWF 5B |
03C4: MOVLW AA |
03C5: ADDWF 2D,W |
03C6: SUBWF 5B,W |
03C7: BTFSC 03.2 |
03C8: GOTO 3CB |
03C9: BTFSC 03.0 |
03CA: GOTO 3D4 |
03CB: BSF 03.5 |
03CC: BCF 06.5 |
03CD: BCF 03.5 |
03CE: BCF 06.5 |
03CF: BSF 03.5 |
03D0: BCF 06.4 |
03D1: BCF 03.5 |
03D2: BSF 06.4 |
03D3: GOTO 3DC |
03D4: BSF 03.5 |
03D5: BCF 06.4 |
03D6: BCF 03.5 |
03D7: BCF 06.4 |
03D8: BSF 03.5 |
03D9: BCF 06.5 |
03DA: BCF 03.5 |
03DB: BCF 06.5 |
03DC: MOVF 01,W |
03DD: MOVWF 5B |
03DE: MOVLW BE |
03DF: ADDWF 2D,W |
03E0: SUBWF 5B,W |
03E1: BTFSC 03.2 |
03E2: GOTO 3E5 |
03E3: BTFSC 03.0 |
03E4: GOTO 3EE |
03E5: BSF 03.5 |
03E6: BCF 06.7 |
03E7: BCF 03.5 |
03E8: BCF 06.7 |
03E9: BSF 03.5 |
03EA: BCF 06.6 |
03EB: BCF 03.5 |
03EC: BSF 06.6 |
03ED: GOTO 3F6 |
03EE: BSF 03.5 |
03EF: BCF 06.6 |
03F0: BCF 03.5 |
03F1: BCF 06.6 |
03F2: BSF 03.5 |
03F3: BCF 06.7 |
03F4: BCF 03.5 |
03F5: BCF 06.7 |
.................... line=R; |
03F6: MOVLW 01 |
03F7: MOVWF 2A |
.................... continue; |
03F8: GOTO 335 |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... }; |
.................... rovinka=0; |
03F9: CLRF 2D |
.................... |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
03FA: MOVF 2A,W |
03FB: SUBWF 2C,W |
03FC: BTFSC 03.2 |
03FD: GOTO 48F |
.................... { |
.................... last=line; |
03FE: MOVF 2A,W |
03FF: MOVWF 2C |
.................... speed=FW_ZATACKA; |
0400: MOVLW C8 |
0401: MOVWF 2B |
.................... cirkus++; |
0402: INCF 2E,F |
.................... if (cirkus>10) |
0403: MOVF 2E,W |
0404: SUBLW 0A |
0405: BTFSC 03.0 |
0406: GOTO 48F |
.................... { |
.................... STOPL; STOPR; |
0407: BSF 03.5 |
0408: BCF 06.6 |
0409: BCF 03.5 |
040A: BCF 06.6 |
040B: BSF 03.5 |
040C: BCF 06.7 |
040D: BCF 03.5 |
040E: BCF 06.7 |
040F: BSF 03.5 |
0410: BCF 06.4 |
0411: BCF 03.5 |
0412: BCF 06.4 |
0413: BSF 03.5 |
0414: BCF 06.5 |
0415: BCF 03.5 |
0416: BCF 06.5 |
.................... cirkus=0; |
0417: CLRF 2E |
.................... disable_interrupts(GLOBAL); |
0418: BCF 0B.6 |
0419: BCF 0B.7 |
041A: BTFSC 0B.7 |
041B: GOTO 419 |
.................... beep(1000,400); |
041C: MOVLW 03 |
041D: MOVWF 5E |
041E: MOVLW E8 |
041F: MOVWF 5D |
0420: MOVLW 01 |
0421: MOVWF 60 |
0422: MOVLW 90 |
0423: MOVWF 5F |
0424: CALL 055 |
.................... for(n=3000; n>3950; n--) beep(n,10); |
0425: MOVLW 0B |
0426: MOVWF 58 |
0427: MOVLW B8 |
0428: MOVWF 57 |
0429: MOVF 58,W |
042A: SUBLW 0E |
042B: BTFSC 03.0 |
042C: GOTO 441 |
042D: XORLW FF |
042E: BTFSS 03.2 |
042F: GOTO 434 |
0430: MOVF 57,W |
0431: SUBLW 6E |
0432: BTFSC 03.0 |
0433: GOTO 441 |
0434: MOVF 58,W |
0435: MOVWF 5E |
0436: MOVF 57,W |
0437: MOVWF 5D |
0438: CLRF 60 |
0439: MOVLW 0A |
043A: MOVWF 5F |
043B: CALL 055 |
043C: MOVF 57,W |
043D: BTFSC 03.2 |
043E: DECF 58,F |
043F: DECF 57,F |
0440: GOTO 429 |
.................... beep(2000,200); |
0441: MOVLW 07 |
0442: MOVWF 5E |
0443: MOVLW D0 |
0444: MOVWF 5D |
0445: CLRF 60 |
0446: MOVLW C8 |
0447: MOVWF 5F |
0448: CALL 055 |
.................... beep(900,400); |
0449: MOVLW 03 |
044A: MOVWF 5E |
044B: MOVLW 84 |
044C: MOVWF 5D |
044D: MOVLW 01 |
044E: MOVWF 60 |
044F: MOVLW 90 |
0450: MOVWF 5F |
0451: CALL 055 |
.................... for(n=2950; n<3000; n++) beep(n,10); |
0452: MOVLW 0B |
0453: MOVWF 58 |
0454: MOVLW 86 |
0455: MOVWF 57 |
0456: MOVF 58,W |
0457: SUBLW 0B |
0458: BTFSS 03.0 |
0459: GOTO 46C |
045A: BTFSS 03.2 |
045B: GOTO 460 |
045C: MOVF 57,W |
045D: SUBLW B7 |
045E: BTFSS 03.0 |
045F: GOTO 46C |
0460: MOVF 58,W |
0461: MOVWF 5E |
0462: MOVF 57,W |
0463: MOVWF 5D |
0464: CLRF 60 |
0465: MOVLW 0A |
0466: MOVWF 5F |
0467: CALL 055 |
0468: INCF 57,F |
0469: BTFSC 03.2 |
046A: INCF 58,F |
046B: GOTO 456 |
.................... beep(4000,400); |
046C: MOVLW 0F |
046D: MOVWF 5E |
046E: MOVLW A0 |
046F: MOVWF 5D |
0470: MOVLW 01 |
0471: MOVWF 60 |
0472: MOVLW 90 |
0473: MOVWF 5F |
0474: CALL 055 |
.................... beep(1000,100); |
0475: MOVLW 03 |
0476: MOVWF 5E |
0477: MOVLW E8 |
0478: MOVWF 5D |
0479: CLRF 60 |
047A: MOVLW 64 |
047B: MOVWF 5F |
047C: CALL 055 |
.................... beep(3000,400); |
047D: MOVLW 0B |
047E: MOVWF 5E |
047F: MOVLW B8 |
0480: MOVWF 5D |
0481: MOVLW 01 |
0482: MOVWF 60 |
0483: MOVLW 90 |
0484: MOVWF 5F |
0485: CALL 055 |
.................... Delay_ms(1000); |
0486: MOVLW 04 |
0487: MOVWF 5B |
0488: MOVLW FA |
0489: MOVWF 5E |
048A: CALL 07B |
048B: DECFSZ 5B,F |
048C: GOTO 488 |
.................... enable_interrupts(GLOBAL); |
048D: MOVLW C0 |
048E: IORWF 0B,F |
.................... } |
.................... }; |
.................... |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
048F: MOVF 2A,W |
0490: SUBLW 02 |
0491: BTFSS 03.2 |
0492: GOTO 4B1 |
.................... { |
.................... STOPL; |
0493: BSF 03.5 |
0494: BCF 06.6 |
0495: BCF 03.5 |
0496: BCF 06.6 |
0497: BSF 03.5 |
0498: BCF 06.7 |
0499: BCF 03.5 |
049A: BCF 06.7 |
.................... GO(R, F, speed); |
049B: MOVF 01,W |
049C: SUBWF 2B,W |
049D: BTFSS 03.0 |
049E: GOTO 4A8 |
049F: BSF 03.5 |
04A0: BCF 06.5 |
04A1: BCF 03.5 |
04A2: BCF 06.5 |
04A3: BSF 03.5 |
04A4: BCF 06.4 |
04A5: BCF 03.5 |
04A6: BSF 06.4 |
04A7: GOTO 4B0 |
04A8: BSF 03.5 |
04A9: BCF 06.4 |
04AA: BCF 03.5 |
04AB: BCF 06.4 |
04AC: BSF 03.5 |
04AD: BCF 06.5 |
04AE: BCF 03.5 |
04AF: BCF 06.5 |
.................... } |
.................... else |
04B0: GOTO 4CE |
.................... { |
.................... STOPR; |
04B1: BSF 03.5 |
04B2: BCF 06.4 |
04B3: BCF 03.5 |
04B4: BCF 06.4 |
04B5: BSF 03.5 |
04B6: BCF 06.5 |
04B7: BCF 03.5 |
04B8: BCF 06.5 |
.................... GO(L, F, speed); |
04B9: MOVF 01,W |
04BA: SUBWF 2B,W |
04BB: BTFSS 03.0 |
04BC: GOTO 4C6 |
04BD: BSF 03.5 |
04BE: BCF 06.7 |
04BF: BCF 03.5 |
04C0: BCF 06.7 |
04C1: BSF 03.5 |
04C2: BCF 06.6 |
04C3: BCF 03.5 |
04C4: BSF 06.6 |
04C5: GOTO 4CE |
04C6: BSF 03.5 |
04C7: BCF 06.6 |
04C8: BCF 03.5 |
04C9: BCF 06.6 |
04CA: BSF 03.5 |
04CB: BCF 06.7 |
04CC: BCF 03.5 |
04CD: BCF 06.7 |
.................... } |
.................... } // while(true) |
04CE: GOTO 335 |
.................... } |
.................... |
04CF: SLEEP |
|
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |