| 0,0 → 1,2130 |
|---|
| CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 01:36 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.LST |
| |
| ROM used: 2140 words (52%) |
| Largest free fragment is 1570 |
| RAM used: 89 (51%) at main() level |
| 101 (58%) worst case |
| Stack: 4 worst case (3 in main + 1 for interrupts) |
| |
| * |
| 0000: MOVLW 08 |
| 0001: MOVWF 0A |
| 0002: GOTO 000 |
| 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 049 |
| .................... #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) |
| * |
| 005C: MOVLW 12 |
| 005D: BSF 03.5 |
| 005E: SUBWF 24,F |
| 005F: BTFSS 03.0 |
| 0060: GOTO 06F |
| 0061: MOVLW A4 |
| 0062: MOVWF 04 |
| 0063: MOVLW FC |
| 0064: ANDWF 00,F |
| 0065: BCF 03.0 |
| 0066: RRF 00,F |
| 0067: RRF 00,F |
| 0068: MOVF 00,W |
| 0069: BTFSC 03.2 |
| 006A: GOTO 06F |
| 006B: GOTO 06D |
| 006C: NOP |
| 006D: DECFSZ 00,F |
| 006E: GOTO 06C |
| 006F: BCF 03.5 |
| 0070: RETLW 00 |
| * |
| 009D: MOVLW 7D |
| 009E: MOVWF 04 |
| 009F: MOVF 00,W |
| 00A0: BTFSC 03.2 |
| 00A1: GOTO 0B1 |
| 00A2: MOVLW 01 |
| 00A3: MOVWF 78 |
| 00A4: CLRF 77 |
| 00A5: DECFSZ 77,F |
| 00A6: GOTO 0A5 |
| 00A7: DECFSZ 78,F |
| 00A8: GOTO 0A4 |
| 00A9: MOVLW 4A |
| 00AA: MOVWF 77 |
| 00AB: DECFSZ 77,F |
| 00AC: GOTO 0AB |
| 00AD: NOP |
| 00AE: NOP |
| 00AF: DECFSZ 00,F |
| 00B0: GOTO 0A2 |
| 00B1: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define DEBUG |
| .................... |
| .................... #define TXo PIN_A3 // To the transmitter modulator |
| .................... #include "AX25.c" // podprogram pro prenos telemetrie |
| .................... #list |
| .................... |
| .................... |
| .................... 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 rovinka; // pocitadlo pro zjisteni rovneho useku |
| .................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| .................... unsigned int8 movement; // obsahuje aktualni smer zataceni |
| .................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| .................... unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla |
| .................... |
| .................... // Konstanty pro dynamiku pohybu |
| .................... #define T_DIRA 85 // po jakem case zataceni se detekuje dira |
| .................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
| .................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas |
| .................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| .................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
| .................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
| .................... #define PRES_DIRU 150 |
| .................... #define MAX_ROVINKA (255-FW_STREDNE) |
| .................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| .................... #define BUMPER_TRESHOLD 128 |
| .................... #define CIK_CAK 20000 |
| .................... #define T_CIHLA 100 // perioda detekce cihly |
| .................... |
| .................... //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+=INC_SPEED; |
| * |
| 0049: INCFSZ 42,W |
| 004A: GOTO 04C |
| 004B: GOTO 04E |
| 004C: MOVLW 01 |
| 004D: ADDWF 42,F |
| .................... if (rovinka<MAX_ROVINKA) rovinka++; |
| 004E: MOVF 43,W |
| 004F: SUBLW 0E |
| 0050: BTFSC 03.0 |
| 0051: INCF 43,F |
| .................... if (dira<=T_DIRA) dira++; |
| 0052: MOVF 46,W |
| 0053: SUBLW 55 |
| 0054: BTFSC 03.0 |
| 0055: INCF 46,F |
| .................... if (cihla>0) cihla--; |
| 0056: MOVF 47,F |
| 0057: BTFSS 03.2 |
| 0058: DECF 47,F |
| .................... } |
| .................... // Primitivni Pipani |
| 0059: BCF 0C.1 |
| 005A: BCF 0A.3 |
| 005B: GOTO 022 |
| .................... void beep(unsigned int16 period, unsigned int16 length) |
| .................... { |
| .................... unsigned int16 nn; |
| .................... |
| .................... for(nn=length; nn>0; nn--) |
| * |
| 0071: BSF 03.5 |
| 0072: MOVF 21,W |
| 0073: MOVWF 23 |
| 0074: MOVF 20,W |
| 0075: MOVWF 22 |
| 0076: MOVF 22,F |
| 0077: BTFSS 03.2 |
| 0078: GOTO 07C |
| 0079: MOVF 23,F |
| 007A: BTFSC 03.2 |
| 007B: GOTO 09B |
| .................... { |
| .................... output_high(SOUND_HI);output_low(SOUND_LO); |
| 007C: BCF 05.6 |
| 007D: BCF 03.5 |
| 007E: BSF 05.6 |
| 007F: BSF 03.5 |
| 0080: BCF 05.7 |
| 0081: BCF 03.5 |
| 0082: BCF 05.7 |
| .................... delay_us(period); |
| 0083: MOVF 7C,W |
| 0084: BSF 03.5 |
| 0085: MOVWF 24 |
| 0086: BCF 03.5 |
| 0087: CALL 05C |
| .................... output_high(SOUND_LO);output_low(SOUND_HI); |
| 0088: BSF 03.5 |
| 0089: BCF 05.7 |
| 008A: BCF 03.5 |
| 008B: BSF 05.7 |
| 008C: BSF 03.5 |
| 008D: BCF 05.6 |
| 008E: BCF 03.5 |
| 008F: BCF 05.6 |
| .................... delay_us(period); |
| 0090: MOVF 7C,W |
| 0091: BSF 03.5 |
| 0092: MOVWF 24 |
| 0093: BCF 03.5 |
| 0094: CALL 05C |
| .................... } |
| 0095: BSF 03.5 |
| 0096: MOVF 22,W |
| 0097: BTFSC 03.2 |
| 0098: DECF 23,F |
| 0099: DECF 22,F |
| 009A: GOTO 076 |
| .................... } |
| 009B: BCF 03.5 |
| 009C: RETLW 00 |
| .................... /******************************************************************************/ |
| .................... void diagnostika() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| .................... { |
| * |
| 01D1: BSF 03.5 |
| 01D2: BSF 06.3 |
| 01D3: BCF 03.5 |
| 01D4: BTFSS 06.3 |
| 01D5: GOTO 302 |
| .................... for (n=500; n<800; n+=100) |
| 01D6: MOVLW 01 |
| 01D7: MOVWF 74 |
| 01D8: MOVLW F4 |
| 01D9: MOVWF 73 |
| 01DA: MOVF 74,W |
| 01DB: SUBLW 03 |
| 01DC: BTFSS 03.0 |
| 01DD: GOTO 1F4 |
| 01DE: BTFSS 03.2 |
| 01DF: GOTO 1E4 |
| 01E0: MOVF 73,W |
| 01E1: SUBLW 1F |
| 01E2: BTFSS 03.0 |
| 01E3: GOTO 1F4 |
| .................... { |
| .................... beep(n,n); //beep UP |
| 01E4: MOVF 74,W |
| 01E5: MOVWF 7D |
| 01E6: MOVF 73,W |
| 01E7: MOVWF 7C |
| 01E8: MOVF 74,W |
| 01E9: BSF 03.5 |
| 01EA: MOVWF 21 |
| 01EB: MOVF 73,W |
| 01EC: MOVWF 20 |
| 01ED: BCF 03.5 |
| 01EE: CALL 071 |
| .................... }; |
| 01EF: MOVLW 64 |
| 01F0: ADDWF 73,F |
| 01F1: BTFSC 03.0 |
| 01F2: INCF 74,F |
| 01F3: GOTO 1DA |
| .................... Delay_ms(1000); |
| 01F4: MOVLW 04 |
| 01F5: MOVWF 7C |
| 01F6: MOVLW FA |
| 01F7: MOVWF 7D |
| 01F8: CALL 09D |
| 01F9: DECFSZ 7C,F |
| 01FA: GOTO 1F6 |
| .................... //zastav vse |
| .................... STOPL; STOPR; |
| 01FB: BSF 03.5 |
| 01FC: BCF 06.6 |
| 01FD: BCF 03.5 |
| 01FE: BCF 06.6 |
| 01FF: BSF 03.5 |
| 0200: BCF 06.7 |
| 0201: BCF 03.5 |
| 0202: BCF 06.7 |
| 0203: BSF 03.5 |
| 0204: BCF 06.4 |
| 0205: BCF 03.5 |
| 0206: BCF 06.4 |
| 0207: BSF 03.5 |
| 0208: BCF 06.5 |
| 0209: BCF 03.5 |
| 020A: BCF 06.5 |
| .................... //pravy pas |
| .................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 020B: BSF 03.5 |
| 020C: BCF 06.5 |
| 020D: BCF 03.5 |
| 020E: BCF 06.5 |
| 020F: BSF 03.5 |
| 0210: BCF 06.4 |
| 0211: BCF 03.5 |
| 0212: BSF 06.4 |
| 0213: MOVLW 04 |
| 0214: MOVWF 7C |
| 0215: MOVLW FA |
| 0216: MOVWF 7D |
| 0217: CALL 09D |
| 0218: DECFSZ 7C,F |
| 0219: GOTO 215 |
| 021A: BSF 03.5 |
| 021B: BCF 06.4 |
| 021C: BCF 03.5 |
| 021D: BCF 06.4 |
| 021E: BSF 03.5 |
| 021F: BCF 06.5 |
| 0220: BCF 03.5 |
| 0221: BCF 06.5 |
| 0222: MOVLW 04 |
| 0223: MOVWF 7C |
| 0224: MOVLW FA |
| 0225: MOVWF 7D |
| 0226: CALL 09D |
| 0227: DECFSZ 7C,F |
| 0228: GOTO 224 |
| .................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 0229: BSF 03.5 |
| 022A: BCF 06.4 |
| 022B: BCF 03.5 |
| 022C: BCF 06.4 |
| 022D: BSF 03.5 |
| 022E: BCF 06.5 |
| 022F: BCF 03.5 |
| 0230: BSF 06.5 |
| 0231: MOVLW 04 |
| 0232: MOVWF 7C |
| 0233: MOVLW FA |
| 0234: MOVWF 7D |
| 0235: CALL 09D |
| 0236: DECFSZ 7C,F |
| 0237: GOTO 233 |
| 0238: BSF 03.5 |
| 0239: BCF 06.4 |
| 023A: BCF 03.5 |
| 023B: BCF 06.4 |
| 023C: BSF 03.5 |
| 023D: BCF 06.5 |
| 023E: BCF 03.5 |
| 023F: BCF 06.5 |
| 0240: MOVLW 04 |
| 0241: MOVWF 7C |
| 0242: MOVLW FA |
| 0243: MOVWF 7D |
| 0244: CALL 09D |
| 0245: DECFSZ 7C,F |
| 0246: GOTO 242 |
| .................... Beep(880,100); Delay_ms(1000); |
| 0247: MOVLW 03 |
| 0248: MOVWF 7D |
| 0249: MOVLW 70 |
| 024A: MOVWF 7C |
| 024B: BSF 03.5 |
| 024C: CLRF 21 |
| 024D: MOVLW 64 |
| 024E: MOVWF 20 |
| 024F: BCF 03.5 |
| 0250: CALL 071 |
| 0251: MOVLW 04 |
| 0252: MOVWF 7C |
| 0253: MOVLW FA |
| 0254: MOVWF 7D |
| 0255: CALL 09D |
| 0256: DECFSZ 7C,F |
| 0257: GOTO 253 |
| .................... //levy pas |
| .................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0258: BSF 03.5 |
| 0259: BCF 06.7 |
| 025A: BCF 03.5 |
| 025B: BCF 06.7 |
| 025C: BSF 03.5 |
| 025D: BCF 06.6 |
| 025E: BCF 03.5 |
| 025F: BSF 06.6 |
| 0260: MOVLW 04 |
| 0261: MOVWF 7C |
| 0262: MOVLW FA |
| 0263: MOVWF 7D |
| 0264: CALL 09D |
| 0265: DECFSZ 7C,F |
| 0266: GOTO 262 |
| 0267: BSF 03.5 |
| 0268: BCF 06.6 |
| 0269: BCF 03.5 |
| 026A: BCF 06.6 |
| 026B: BSF 03.5 |
| 026C: BCF 06.7 |
| 026D: BCF 03.5 |
| 026E: BCF 06.7 |
| 026F: MOVLW 04 |
| 0270: MOVWF 7C |
| 0271: MOVLW FA |
| 0272: MOVWF 7D |
| 0273: CALL 09D |
| 0274: DECFSZ 7C,F |
| 0275: GOTO 271 |
| .................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0276: BSF 03.5 |
| 0277: BCF 06.6 |
| 0278: BCF 03.5 |
| 0279: BCF 06.6 |
| 027A: BSF 03.5 |
| 027B: BCF 06.7 |
| 027C: BCF 03.5 |
| 027D: BSF 06.7 |
| 027E: MOVLW 04 |
| 027F: MOVWF 7C |
| 0280: MOVLW FA |
| 0281: MOVWF 7D |
| 0282: CALL 09D |
| 0283: DECFSZ 7C,F |
| 0284: GOTO 280 |
| 0285: BSF 03.5 |
| 0286: BCF 06.6 |
| 0287: BCF 03.5 |
| 0288: BCF 06.6 |
| 0289: BSF 03.5 |
| 028A: BCF 06.7 |
| 028B: BCF 03.5 |
| 028C: BCF 06.7 |
| 028D: MOVLW 04 |
| 028E: MOVWF 7C |
| 028F: MOVLW FA |
| 0290: MOVWF 7D |
| 0291: CALL 09D |
| 0292: DECFSZ 7C,F |
| 0293: GOTO 28F |
| .................... Beep(880,100); Delay_ms(1000); |
| 0294: MOVLW 03 |
| 0295: MOVWF 7D |
| 0296: MOVLW 70 |
| 0297: MOVWF 7C |
| 0298: BSF 03.5 |
| 0299: CLRF 21 |
| 029A: MOVLW 64 |
| 029B: MOVWF 20 |
| 029C: BCF 03.5 |
| 029D: CALL 071 |
| 029E: MOVLW 04 |
| 029F: MOVWF 7C |
| 02A0: MOVLW FA |
| 02A1: MOVWF 7D |
| 02A2: CALL 09D |
| 02A3: DECFSZ 7C,F |
| 02A4: GOTO 2A0 |
| .................... //oba pasy |
| .................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 02A5: BSF 03.5 |
| 02A6: BCF 06.7 |
| 02A7: BCF 03.5 |
| 02A8: BCF 06.7 |
| 02A9: BSF 03.5 |
| 02AA: BCF 06.6 |
| 02AB: BCF 03.5 |
| 02AC: BSF 06.6 |
| 02AD: BSF 03.5 |
| 02AE: BCF 06.5 |
| 02AF: BCF 03.5 |
| 02B0: BCF 06.5 |
| 02B1: BSF 03.5 |
| 02B2: BCF 06.4 |
| 02B3: BCF 03.5 |
| 02B4: BSF 06.4 |
| 02B5: MOVLW 04 |
| 02B6: MOVWF 7C |
| 02B7: MOVLW FA |
| 02B8: MOVWF 7D |
| 02B9: CALL 09D |
| 02BA: DECFSZ 7C,F |
| 02BB: GOTO 2B7 |
| 02BC: BSF 03.5 |
| 02BD: BCF 06.6 |
| 02BE: BCF 03.5 |
| 02BF: BCF 06.6 |
| 02C0: BSF 03.5 |
| 02C1: BCF 06.7 |
| 02C2: BCF 03.5 |
| 02C3: BCF 06.7 |
| 02C4: BSF 03.5 |
| 02C5: BCF 06.4 |
| 02C6: BCF 03.5 |
| 02C7: BCF 06.4 |
| 02C8: BSF 03.5 |
| 02C9: BCF 06.5 |
| 02CA: BCF 03.5 |
| 02CB: BCF 06.5 |
| 02CC: MOVLW 04 |
| 02CD: MOVWF 7C |
| 02CE: MOVLW FA |
| 02CF: MOVWF 7D |
| 02D0: CALL 09D |
| 02D1: DECFSZ 7C,F |
| 02D2: GOTO 2CE |
| .................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 02D3: BSF 03.5 |
| 02D4: BCF 06.6 |
| 02D5: BCF 03.5 |
| 02D6: BCF 06.6 |
| 02D7: BSF 03.5 |
| 02D8: BCF 06.7 |
| 02D9: BCF 03.5 |
| 02DA: BSF 06.7 |
| 02DB: BSF 03.5 |
| 02DC: BCF 06.4 |
| 02DD: BCF 03.5 |
| 02DE: BCF 06.4 |
| 02DF: BSF 03.5 |
| 02E0: BCF 06.5 |
| 02E1: BCF 03.5 |
| 02E2: BSF 06.5 |
| 02E3: MOVLW 04 |
| 02E4: MOVWF 7C |
| 02E5: MOVLW FA |
| 02E6: MOVWF 7D |
| 02E7: CALL 09D |
| 02E8: DECFSZ 7C,F |
| 02E9: GOTO 2E5 |
| 02EA: BSF 03.5 |
| 02EB: BCF 06.6 |
| 02EC: BCF 03.5 |
| 02ED: BCF 06.6 |
| 02EE: BSF 03.5 |
| 02EF: BCF 06.7 |
| 02F0: BCF 03.5 |
| 02F1: BCF 06.7 |
| 02F2: BSF 03.5 |
| 02F3: BCF 06.4 |
| 02F4: BCF 03.5 |
| 02F5: BCF 06.4 |
| 02F6: BSF 03.5 |
| 02F7: BCF 06.5 |
| 02F8: BCF 03.5 |
| 02F9: BCF 06.5 |
| 02FA: MOVLW 04 |
| 02FB: MOVWF 7C |
| 02FC: MOVLW FA |
| 02FD: MOVWF 7D |
| 02FE: CALL 09D |
| 02FF: DECFSZ 7C,F |
| 0300: GOTO 2FC |
| .................... }; |
| 0301: GOTO 1D1 |
| .................... while (input(DIAG_SENSORS)) |
| .................... { |
| 0302: BSF 03.5 |
| 0303: BSF 06.2 |
| 0304: BCF 03.5 |
| 0305: BTFSS 06.2 |
| 0306: GOTO 3C2 |
| .................... int ls, rs; |
| .................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
| 0307: BSF 03.5 |
| 0308: BSF 05.4 |
| 0309: BCF 03.5 |
| 030A: BTFSC 05.4 |
| 030B: GOTO 31A |
| 030C: MOVLW 04 |
| 030D: MOVWF 7D |
| 030E: MOVLW 4C |
| 030F: MOVWF 7C |
| 0310: BSF 03.5 |
| 0311: CLRF 21 |
| 0312: MOVLW 64 |
| 0313: MOVWF 20 |
| 0314: BCF 03.5 |
| 0315: CALL 071 |
| 0316: MOVLW 32 |
| 0317: MOVWF 7D |
| 0318: CALL 09D |
| 0319: GOTO 307 |
| .................... set_adc_channel(RSENSOR); |
| 031A: MOVLW 00 |
| 031B: BSF 03.5 |
| 031C: BTFSC 1C.7 |
| 031D: MOVLW 01 |
| 031E: MOVWF 7C |
| 031F: RLF 7C,W |
| 0320: MOVWF 77 |
| 0321: RLF 77,F |
| 0322: RLF 77,F |
| 0323: MOVLW F8 |
| 0324: ANDWF 77,F |
| 0325: BCF 03.5 |
| 0326: MOVF 1F,W |
| 0327: ANDLW C7 |
| 0328: IORWF 77,W |
| 0329: MOVWF 1F |
| .................... Delay_us(20); |
| 032A: MOVLW 06 |
| 032B: MOVWF 77 |
| 032C: DECFSZ 77,F |
| 032D: GOTO 32C |
| 032E: NOP |
| .................... rs=read_adc(); |
| 032F: BSF 1F.2 |
| 0330: BTFSC 1F.2 |
| 0331: GOTO 330 |
| 0332: MOVF 1E,W |
| 0333: MOVWF 76 |
| .................... set_adc_channel(LSENSOR); |
| 0334: MOVLW 00 |
| 0335: BSF 03.5 |
| 0336: BTFSC 1C.6 |
| 0337: MOVLW 01 |
| 0338: MOVWF 7C |
| 0339: RLF 7C,W |
| 033A: MOVWF 77 |
| 033B: RLF 77,F |
| 033C: RLF 77,F |
| 033D: MOVLW F8 |
| 033E: ANDWF 77,F |
| 033F: BCF 03.5 |
| 0340: MOVF 1F,W |
| 0341: ANDLW C7 |
| 0342: IORWF 77,W |
| 0343: MOVWF 1F |
| .................... Delay_us(20); |
| 0344: MOVLW 06 |
| 0345: MOVWF 77 |
| 0346: DECFSZ 77,F |
| 0347: GOTO 346 |
| 0348: NOP |
| .................... ls=read_adc(); |
| 0349: BSF 1F.2 |
| 034A: BTFSC 1F.2 |
| 034B: GOTO 34A |
| 034C: MOVF 1E,W |
| 034D: MOVWF 75 |
| .................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
| 034E: MOVLW 48 |
| 034F: MOVWF 70 |
| 0350: MOVLW 4C |
| 0351: BSF 03.5 |
| 0352: MOVWF 20 |
| 0353: BCF 03.5 |
| 0354: CALL 0B2 |
| 0355: MOVLW 3A |
| 0356: BSF 03.5 |
| 0357: MOVWF 20 |
| 0358: BCF 03.5 |
| 0359: CALL 0B2 |
| 035A: MOVLW 20 |
| 035B: BSF 03.5 |
| 035C: MOVWF 20 |
| 035D: BCF 03.5 |
| 035E: CALL 0B2 |
| 035F: MOVF 75,W |
| 0360: MOVWF 7D |
| 0361: MOVLW 18 |
| 0362: MOVWF 7E |
| 0363: CALL 0D3 |
| 0364: MOVLW 05 |
| 0365: MOVWF 7C |
| 0366: MOVF 7C,W |
| 0367: CALL 037 |
| 0368: INCF 7C,F |
| 0369: MOVWF 77 |
| 036A: BSF 03.5 |
| 036B: MOVWF 20 |
| 036C: BCF 03.5 |
| 036D: CALL 0B2 |
| 036E: MOVLW 0A |
| 036F: SUBWF 7C,W |
| 0370: BTFSS 03.2 |
| 0371: GOTO 366 |
| 0372: MOVF 76,W |
| 0373: MOVWF 7D |
| 0374: MOVLW 18 |
| 0375: MOVWF 7E |
| 0376: CALL 0D3 |
| * |
| 082D: CLRF 70 |
| .................... SendPacket(&AXstring[0]); |
| * |
| 0377: MOVLW 48 |
| 0378: MOVWF 7C |
| .................... delay_ms(1000); |
| * |
| 03BA: MOVLW 04 |
| 03BB: MOVWF 7C |
| 03BC: MOVLW FA |
| 03BD: MOVWF 7D |
| 03BE: CALL 09D |
| 03BF: DECFSZ 7C,F |
| 03C0: GOTO 3BC |
| .................... }; |
| 03C1: GOTO 302 |
| .................... } |
| 03C2: BSF 0A.3 |
| 03C3: GOTO 0BA (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void cikcak() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 03C4: CLRF 41 |
| 03C5: BSF 03.5 |
| 03C6: BTFSS 1C.7 |
| 03C7: GOTO 3CB |
| 03C8: BCF 03.5 |
| 03C9: INCF 41,F |
| 03CA: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 03CB: MOVLW 00 |
| 03CC: BTFSC 1C.6 |
| 03CD: MOVLW 01 |
| 03CE: MOVWF 77 |
| 03CF: BCF 03.0 |
| 03D0: RLF 77,F |
| 03D1: MOVF 77,W |
| 03D2: BCF 03.5 |
| 03D3: IORWF 41,F |
| .................... if (line!=0) return; |
| 03D4: MOVF 41,F |
| 03D5: BTFSS 03.2 |
| 03D6: GOTO 4B1 |
| .................... |
| .................... n=0; |
| 03D7: CLRF 76 |
| 03D8: CLRF 75 |
| .................... switch(movement) // podivej se na druhou stranu nez se jelo |
| .................... { |
| 03D9: MOVF 45,W |
| 03DA: XORLW 02 |
| 03DB: BTFSC 03.2 |
| 03DC: GOTO 3E4 |
| 03DD: XORLW 03 |
| 03DE: BTFSC 03.2 |
| 03DF: GOTO 3F7 |
| 03E0: XORLW 02 |
| 03E1: BTFSC 03.2 |
| 03E2: GOTO 40A |
| 03E3: GOTO 421 |
| .................... case L: |
| .................... FL;BR; |
| 03E4: BSF 03.5 |
| 03E5: BCF 06.7 |
| 03E6: BCF 03.5 |
| 03E7: BCF 06.7 |
| 03E8: BSF 03.5 |
| 03E9: BCF 06.6 |
| 03EA: BCF 03.5 |
| 03EB: BSF 06.6 |
| 03EC: BSF 03.5 |
| 03ED: BCF 06.4 |
| 03EE: BCF 03.5 |
| 03EF: BCF 06.4 |
| 03F0: BSF 03.5 |
| 03F1: BCF 06.5 |
| 03F2: BCF 03.5 |
| 03F3: BSF 06.5 |
| .................... movement=R; |
| 03F4: MOVLW 01 |
| 03F5: MOVWF 45 |
| .................... break; |
| 03F6: GOTO 421 |
| .................... case R: |
| .................... FR;BL; |
| 03F7: BSF 03.5 |
| 03F8: BCF 06.5 |
| 03F9: BCF 03.5 |
| 03FA: BCF 06.5 |
| 03FB: BSF 03.5 |
| 03FC: BCF 06.4 |
| 03FD: BCF 03.5 |
| 03FE: BSF 06.4 |
| 03FF: BSF 03.5 |
| 0400: BCF 06.6 |
| 0401: BCF 03.5 |
| 0402: BCF 06.6 |
| 0403: BSF 03.5 |
| 0404: BCF 06.7 |
| 0405: BCF 03.5 |
| 0406: BSF 06.7 |
| .................... movement=L; |
| 0407: MOVLW 02 |
| 0408: MOVWF 45 |
| .................... break; |
| 0409: GOTO 421 |
| .................... case S: |
| .................... FL;BR; |
| 040A: BSF 03.5 |
| 040B: BCF 06.7 |
| 040C: BCF 03.5 |
| 040D: BCF 06.7 |
| 040E: BSF 03.5 |
| 040F: BCF 06.6 |
| 0410: BCF 03.5 |
| 0411: BSF 06.6 |
| 0412: BSF 03.5 |
| 0413: BCF 06.4 |
| 0414: BCF 03.5 |
| 0415: BCF 06.4 |
| 0416: BSF 03.5 |
| 0417: BCF 06.5 |
| 0418: BCF 03.5 |
| 0419: BSF 06.5 |
| .................... movement=R; |
| 041A: MOVLW 01 |
| 041B: MOVWF 45 |
| .................... n=CIK_CAK/2; |
| 041C: MOVLW 27 |
| 041D: MOVWF 76 |
| 041E: MOVLW 10 |
| 041F: MOVWF 75 |
| .................... break; |
| 0420: GOTO 421 |
| .................... } |
| .................... while (0==(RSENSOR|LSENSOR)) // zkontroluj caru |
| .................... { |
| 0421: MOVLW 00 |
| 0422: BSF 03.5 |
| 0423: BTFSC 1C.7 |
| 0424: MOVLW 01 |
| 0425: MOVWF 7C |
| 0426: MOVLW 00 |
| 0427: BTFSC 1C.6 |
| 0428: MOVLW 01 |
| 0429: IORWF 7C,W |
| 042A: XORLW 00 |
| 042B: BTFSS 03.2 |
| 042C: GOTO 46D |
| .................... if (n==CIK_CAK) // zmen smer zataceni |
| 042D: MOVF 75,W |
| 042E: SUBLW 20 |
| 042F: BTFSS 03.2 |
| 0430: GOTO 467 |
| 0431: MOVF 76,W |
| 0432: SUBLW 4E |
| 0433: BTFSS 03.2 |
| 0434: GOTO 467 |
| .................... { |
| .................... n=0; |
| 0435: CLRF 76 |
| 0436: CLRF 75 |
| .................... switch(movement) |
| .................... { |
| 0437: BCF 03.5 |
| 0438: MOVF 45,W |
| 0439: XORLW 02 |
| 043A: BTFSC 03.2 |
| 043B: GOTO 440 |
| 043C: XORLW 03 |
| 043D: BTFSC 03.2 |
| 043E: GOTO 453 |
| 043F: GOTO 466 |
| .................... case L: |
| .................... FL;BR; |
| 0440: BSF 03.5 |
| 0441: BCF 06.7 |
| 0442: BCF 03.5 |
| 0443: BCF 06.7 |
| 0444: BSF 03.5 |
| 0445: BCF 06.6 |
| 0446: BCF 03.5 |
| 0447: BSF 06.6 |
| 0448: BSF 03.5 |
| 0449: BCF 06.4 |
| 044A: BCF 03.5 |
| 044B: BCF 06.4 |
| 044C: BSF 03.5 |
| 044D: BCF 06.5 |
| 044E: BCF 03.5 |
| 044F: BSF 06.5 |
| .................... movement=R; |
| 0450: MOVLW 01 |
| 0451: MOVWF 45 |
| .................... break; |
| 0452: GOTO 466 |
| .................... case R: |
| .................... FR;BL; |
| 0453: BSF 03.5 |
| 0454: BCF 06.5 |
| 0455: BCF 03.5 |
| 0456: BCF 06.5 |
| 0457: BSF 03.5 |
| 0458: BCF 06.4 |
| 0459: BCF 03.5 |
| 045A: BSF 06.4 |
| 045B: BSF 03.5 |
| 045C: BCF 06.6 |
| 045D: BCF 03.5 |
| 045E: BCF 06.6 |
| 045F: BSF 03.5 |
| 0460: BCF 06.7 |
| 0461: BCF 03.5 |
| 0462: BSF 06.7 |
| .................... movement=L; |
| 0463: MOVLW 02 |
| 0464: MOVWF 45 |
| .................... break; |
| 0465: GOTO 466 |
| 0466: BSF 03.5 |
| .................... } |
| .................... } |
| .................... n++; |
| 0467: INCF 75,F |
| 0468: BTFSC 03.2 |
| 0469: INCF 76,F |
| .................... } |
| 046A: BCF 03.5 |
| 046B: GOTO 421 |
| 046C: BSF 03.5 |
| .................... switch(movement) |
| .................... { |
| 046D: BCF 03.5 |
| 046E: MOVF 45,W |
| 046F: XORLW 02 |
| 0470: BTFSC 03.2 |
| 0471: GOTO 476 |
| 0472: XORLW 03 |
| 0473: BTFSC 03.2 |
| 0474: GOTO 489 |
| 0475: GOTO 49C |
| .................... case L: |
| .................... FL;BR; |
| 0476: BSF 03.5 |
| 0477: BCF 06.7 |
| 0478: BCF 03.5 |
| 0479: BCF 06.7 |
| 047A: BSF 03.5 |
| 047B: BCF 06.6 |
| 047C: BCF 03.5 |
| 047D: BSF 06.6 |
| 047E: BSF 03.5 |
| 047F: BCF 06.4 |
| 0480: BCF 03.5 |
| 0481: BCF 06.4 |
| 0482: BSF 03.5 |
| 0483: BCF 06.5 |
| 0484: BCF 03.5 |
| 0485: BSF 06.5 |
| .................... movement=R; |
| 0486: MOVLW 01 |
| 0487: MOVWF 45 |
| .................... break; |
| 0488: GOTO 49C |
| .................... case R: |
| .................... FR;BL; |
| 0489: BSF 03.5 |
| 048A: BCF 06.5 |
| 048B: BCF 03.5 |
| 048C: BCF 06.5 |
| 048D: BSF 03.5 |
| 048E: BCF 06.4 |
| 048F: BCF 03.5 |
| 0490: BSF 06.4 |
| 0491: BSF 03.5 |
| 0492: BCF 06.6 |
| 0493: BCF 03.5 |
| 0494: BCF 06.6 |
| 0495: BSF 03.5 |
| 0496: BCF 06.7 |
| 0497: BCF 03.5 |
| 0498: BSF 06.7 |
| .................... movement=L; |
| 0499: MOVLW 02 |
| 049A: MOVWF 45 |
| .................... break; |
| 049B: GOTO 49C |
| .................... } |
| .................... Delay_ms(50); |
| 049C: MOVLW 32 |
| 049D: MOVWF 7D |
| 049E: CALL 09D |
| .................... STOPL;STOPR; // nasli jsme caru |
| 049F: BSF 03.5 |
| 04A0: BCF 06.6 |
| 04A1: BCF 03.5 |
| 04A2: BCF 06.6 |
| 04A3: BSF 03.5 |
| 04A4: BCF 06.7 |
| 04A5: BCF 03.5 |
| 04A6: BCF 06.7 |
| 04A7: BSF 03.5 |
| 04A8: BCF 06.4 |
| 04A9: BCF 03.5 |
| 04AA: BCF 06.4 |
| 04AB: BSF 03.5 |
| 04AC: BCF 06.5 |
| 04AD: BCF 03.5 |
| 04AE: BCF 06.5 |
| .................... line=S; |
| 04AF: MOVLW 03 |
| 04B0: MOVWF 41 |
| .................... } |
| 04B1: RETLW 00 |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() // objede cihlu |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... BL;BR;Delay_ms(200); |
| 04B2: BSF 03.5 |
| 04B3: BCF 06.6 |
| 04B4: BCF 03.5 |
| 04B5: BCF 06.6 |
| 04B6: BSF 03.5 |
| 04B7: BCF 06.7 |
| 04B8: BCF 03.5 |
| 04B9: BSF 06.7 |
| 04BA: BSF 03.5 |
| 04BB: BCF 06.4 |
| 04BC: BCF 03.5 |
| 04BD: BCF 06.4 |
| 04BE: BSF 03.5 |
| 04BF: BCF 06.5 |
| 04C0: BCF 03.5 |
| 04C1: BSF 06.5 |
| 04C2: MOVLW C8 |
| 04C3: MOVWF 7D |
| 04C4: CALL 09D |
| .................... STOPR;STOPL; |
| 04C5: BSF 03.5 |
| 04C6: BCF 06.4 |
| 04C7: BCF 03.5 |
| 04C8: BCF 06.4 |
| 04C9: BSF 03.5 |
| 04CA: BCF 06.5 |
| 04CB: BCF 03.5 |
| 04CC: BCF 06.5 |
| 04CD: BSF 03.5 |
| 04CE: BCF 06.6 |
| 04CF: BCF 03.5 |
| 04D0: BCF 06.6 |
| 04D1: BSF 03.5 |
| 04D2: BCF 06.7 |
| 04D3: BCF 03.5 |
| 04D4: BCF 06.7 |
| .................... beep(900,1000); |
| 04D5: MOVLW 03 |
| 04D6: MOVWF 7D |
| 04D7: MOVLW 84 |
| 04D8: MOVWF 7C |
| 04D9: MOVLW 03 |
| 04DA: BSF 03.5 |
| 04DB: MOVWF 21 |
| 04DC: MOVLW E8 |
| 04DD: MOVWF 20 |
| 04DE: BCF 03.5 |
| 04DF: CALL 071 |
| .................... movement=S; |
| 04E0: MOVLW 03 |
| 04E1: MOVWF 45 |
| .................... cikcak(); |
| 04E2: CALL 3C4 |
| .................... |
| .................... BR; FL; Delay_ms(215); // otoc se 70° do prava |
| 04E3: BSF 03.5 |
| 04E4: BCF 06.4 |
| 04E5: BCF 03.5 |
| 04E6: BCF 06.4 |
| 04E7: BSF 03.5 |
| 04E8: BCF 06.5 |
| 04E9: BCF 03.5 |
| 04EA: BSF 06.5 |
| 04EB: BSF 03.5 |
| 04EC: BCF 06.7 |
| 04ED: BCF 03.5 |
| 04EE: BCF 06.7 |
| 04EF: BSF 03.5 |
| 04F0: BCF 06.6 |
| 04F1: BCF 03.5 |
| 04F2: BSF 06.6 |
| 04F3: MOVLW D7 |
| 04F4: MOVWF 7D |
| 04F5: CALL 09D |
| .................... |
| .................... FR; FL; Delay_ms(600); // popojed rovne |
| 04F6: BSF 03.5 |
| 04F7: BCF 06.5 |
| 04F8: BCF 03.5 |
| 04F9: BCF 06.5 |
| 04FA: BSF 03.5 |
| 04FB: BCF 06.4 |
| 04FC: BCF 03.5 |
| 04FD: BSF 06.4 |
| 04FE: BSF 03.5 |
| 04FF: BCF 06.7 |
| 0500: BCF 03.5 |
| 0501: BCF 06.7 |
| 0502: BSF 03.5 |
| 0503: BCF 06.6 |
| 0504: BCF 03.5 |
| 0505: BSF 06.6 |
| 0506: MOVLW 03 |
| 0507: MOVWF 75 |
| 0508: MOVLW C8 |
| 0509: MOVWF 7D |
| 050A: CALL 09D |
| 050B: DECFSZ 75,F |
| 050C: GOTO 508 |
| .................... |
| .................... BL; Delay_ms(50); // otoc se 90° do leva |
| 050D: BSF 03.5 |
| 050E: BCF 06.6 |
| 050F: BCF 03.5 |
| 0510: BCF 06.6 |
| 0511: BSF 03.5 |
| 0512: BCF 06.7 |
| 0513: BCF 03.5 |
| 0514: BSF 06.7 |
| 0515: MOVLW 32 |
| 0516: MOVWF 7D |
| 0517: CALL 09D |
| .................... STOPL; FR; Delay_ms(550); |
| 0518: BSF 03.5 |
| 0519: BCF 06.6 |
| 051A: BCF 03.5 |
| 051B: BCF 06.6 |
| 051C: BSF 03.5 |
| 051D: BCF 06.7 |
| 051E: BCF 03.5 |
| 051F: BCF 06.7 |
| 0520: BSF 03.5 |
| 0521: BCF 06.5 |
| 0522: BCF 03.5 |
| 0523: BCF 06.5 |
| 0524: BSF 03.5 |
| 0525: BCF 06.4 |
| 0526: BCF 03.5 |
| 0527: BSF 06.4 |
| 0528: MOVLW 05 |
| 0529: MOVWF 75 |
| 052A: MOVLW 6E |
| 052B: MOVWF 7D |
| 052C: CALL 09D |
| 052D: DECFSZ 75,F |
| 052E: GOTO 52A |
| .................... |
| .................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
| 052F: BSF 03.5 |
| 0530: BCF 06.5 |
| 0531: BCF 03.5 |
| 0532: BCF 06.5 |
| 0533: BSF 03.5 |
| 0534: BCF 06.4 |
| 0535: BCF 03.5 |
| 0536: BSF 06.4 |
| 0537: BSF 03.5 |
| 0538: BCF 06.7 |
| 0539: BCF 03.5 |
| 053A: BCF 06.7 |
| 053B: BSF 03.5 |
| 053C: BCF 06.6 |
| 053D: BCF 03.5 |
| 053E: BSF 06.6 |
| 053F: MOVLW 64 |
| 0540: MOVWF 7D |
| 0541: CALL 09D |
| .................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
| 0542: MOVLW 02 |
| 0543: MOVWF 74 |
| 0544: MOVLW 58 |
| 0545: MOVWF 73 |
| 0546: MOVF 73,F |
| 0547: BTFSS 03.2 |
| 0548: GOTO 54C |
| 0549: MOVF 74,F |
| 054A: BTFSC 03.2 |
| 054B: GOTO 56B |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 054C: CLRF 41 |
| 054D: BSF 03.5 |
| 054E: BTFSS 1C.7 |
| 054F: GOTO 553 |
| 0550: BCF 03.5 |
| 0551: INCF 41,F |
| 0552: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0553: MOVLW 00 |
| 0554: BTFSC 1C.6 |
| 0555: MOVLW 01 |
| 0556: MOVWF 77 |
| 0557: BCF 03.0 |
| 0558: RLF 77,F |
| 0559: MOVF 77,W |
| 055A: BCF 03.5 |
| 055B: IORWF 41,F |
| .................... if (line!=0) {Delay_ms(50); break;} |
| 055C: MOVF 41,F |
| 055D: BTFSC 03.2 |
| 055E: GOTO 563 |
| 055F: MOVLW 32 |
| 0560: MOVWF 7D |
| 0561: CALL 09D |
| 0562: GOTO 56B |
| .................... Delay_ms(1); |
| 0563: MOVLW 01 |
| 0564: MOVWF 7D |
| 0565: CALL 09D |
| .................... } |
| 0566: MOVF 73,W |
| 0567: BTFSC 03.2 |
| 0568: DECF 74,F |
| 0569: DECF 73,F |
| 056A: GOTO 546 |
| .................... |
| .................... BR; // otoc se 60° do prava |
| 056B: BSF 03.5 |
| 056C: BCF 06.4 |
| 056D: BCF 03.5 |
| 056E: BCF 06.4 |
| 056F: BSF 03.5 |
| 0570: BCF 06.5 |
| 0571: BCF 03.5 |
| 0572: BSF 06.5 |
| .................... for(n=600;n>0;n--) |
| 0573: MOVLW 02 |
| 0574: MOVWF 74 |
| 0575: MOVLW 58 |
| 0576: MOVWF 73 |
| 0577: MOVF 73,F |
| 0578: BTFSS 03.2 |
| 0579: GOTO 57D |
| 057A: MOVF 74,F |
| 057B: BTFSC 03.2 |
| 057C: GOTO 598 |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 057D: CLRF 41 |
| 057E: BSF 03.5 |
| 057F: BTFSS 1C.7 |
| 0580: GOTO 584 |
| 0581: BCF 03.5 |
| 0582: INCF 41,F |
| 0583: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0584: MOVLW 00 |
| 0585: BTFSC 1C.6 |
| 0586: MOVLW 01 |
| 0587: MOVWF 77 |
| 0588: BCF 03.0 |
| 0589: RLF 77,F |
| 058A: MOVF 77,W |
| 058B: BCF 03.5 |
| 058C: IORWF 41,F |
| .................... if (line!=0) break; |
| 058D: MOVF 41,F |
| 058E: BTFSS 03.2 |
| 058F: GOTO 598 |
| .................... Delay_ms(1); |
| 0590: MOVLW 01 |
| 0591: MOVWF 7D |
| 0592: CALL 09D |
| .................... } |
| 0593: MOVF 73,W |
| 0594: BTFSC 03.2 |
| 0595: DECF 74,F |
| 0596: DECF 73,F |
| 0597: GOTO 577 |
| .................... STOPR; STOPL; |
| 0598: BSF 03.5 |
| 0599: BCF 06.4 |
| 059A: BCF 03.5 |
| 059B: BCF 06.4 |
| 059C: BSF 03.5 |
| 059D: BCF 06.5 |
| 059E: BCF 03.5 |
| 059F: BCF 06.5 |
| 05A0: BSF 03.5 |
| 05A1: BCF 06.6 |
| 05A2: BCF 03.5 |
| 05A3: BCF 06.6 |
| 05A4: BSF 03.5 |
| 05A5: BCF 06.7 |
| 05A6: BCF 03.5 |
| 05A7: BCF 06.7 |
| .................... |
| .................... movement=R; |
| 05A8: MOVLW 01 |
| 05A9: MOVWF 45 |
| .................... cikcak(); |
| 05AA: CALL 3C4 |
| .................... cihla=T_DIRA; |
| 05AB: MOVLW 55 |
| 05AC: MOVWF 47 |
| .................... dira=0; |
| 05AD: CLRF 46 |
| .................... } |
| 05AE: BSF 0A.3 |
| 05AF: GOTO 0F7 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void prejeddiru() // vyresi diru |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... STOPL;STOPR; |
| 05B0: BSF 03.5 |
| 05B1: BCF 06.6 |
| 05B2: BCF 03.5 |
| 05B3: BCF 06.6 |
| 05B4: BSF 03.5 |
| 05B5: BCF 06.7 |
| 05B6: BCF 03.5 |
| 05B7: BCF 06.7 |
| 05B8: BSF 03.5 |
| 05B9: BCF 06.4 |
| 05BA: BCF 03.5 |
| 05BB: BCF 06.4 |
| 05BC: BSF 03.5 |
| 05BD: BCF 06.5 |
| 05BE: BCF 03.5 |
| 05BF: BCF 06.5 |
| .................... beep(800,500); |
| 05C0: MOVLW 03 |
| 05C1: MOVWF 7D |
| 05C2: MOVLW 20 |
| 05C3: MOVWF 7C |
| 05C4: MOVLW 01 |
| 05C5: BSF 03.5 |
| 05C6: MOVWF 21 |
| 05C7: MOVLW F4 |
| 05C8: MOVWF 20 |
| 05C9: BCF 03.5 |
| 05CA: CALL 071 |
| .................... switch (movement) //vrat se zpet na caru |
| .................... { |
| 05CB: MOVF 45,W |
| 05CC: XORLW 02 |
| 05CD: BTFSC 03.2 |
| 05CE: GOTO 5D6 |
| 05CF: XORLW 03 |
| 05D0: BTFSC 03.2 |
| 05D1: GOTO 60E |
| 05D2: XORLW 02 |
| 05D3: BTFSC 03.2 |
| 05D4: GOTO 646 |
| 05D5: GOTO 648 |
| .................... case L: |
| .................... for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);} |
| 05D6: MOVLW 02 |
| 05D7: MOVWF 74 |
| 05D8: MOVLW 58 |
| 05D9: MOVWF 73 |
| 05DA: MOVF 73,F |
| 05DB: BTFSS 03.2 |
| 05DC: GOTO 5E0 |
| 05DD: MOVF 74,F |
| 05DE: BTFSC 03.2 |
| 05DF: GOTO 5FD |
| 05E0: MOVF 01,W |
| 05E1: SUBWF 42,W |
| 05E2: BTFSS 03.0 |
| 05E3: GOTO 5ED |
| 05E4: BSF 03.5 |
| 05E5: BCF 06.4 |
| 05E6: BCF 03.5 |
| 05E7: BCF 06.4 |
| 05E8: BSF 03.5 |
| 05E9: BCF 06.5 |
| 05EA: BCF 03.5 |
| 05EB: BSF 06.5 |
| 05EC: GOTO 5F5 |
| 05ED: BSF 03.5 |
| 05EE: BCF 06.4 |
| 05EF: BCF 03.5 |
| 05F0: BCF 06.4 |
| 05F1: BSF 03.5 |
| 05F2: BCF 06.5 |
| 05F3: BCF 03.5 |
| 05F4: BCF 06.5 |
| 05F5: MOVLW 01 |
| 05F6: MOVWF 7D |
| 05F7: CALL 09D |
| 05F8: MOVF 73,W |
| 05F9: BTFSC 03.2 |
| 05FA: DECF 74,F |
| 05FB: DECF 73,F |
| 05FC: GOTO 5DA |
| .................... STOPL;STOPR; |
| 05FD: BSF 03.5 |
| 05FE: BCF 06.6 |
| 05FF: BCF 03.5 |
| 0600: BCF 06.6 |
| 0601: BSF 03.5 |
| 0602: BCF 06.7 |
| 0603: BCF 03.5 |
| 0604: BCF 06.7 |
| 0605: BSF 03.5 |
| 0606: BCF 06.4 |
| 0607: BCF 03.5 |
| 0608: BCF 06.4 |
| 0609: BSF 03.5 |
| 060A: BCF 06.5 |
| 060B: BCF 03.5 |
| 060C: BCF 06.5 |
| .................... break; |
| 060D: GOTO 648 |
| .................... case R: |
| .................... for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);} |
| 060E: MOVLW 02 |
| 060F: MOVWF 74 |
| 0610: MOVLW 58 |
| 0611: MOVWF 73 |
| 0612: MOVF 73,F |
| 0613: BTFSS 03.2 |
| 0614: GOTO 618 |
| 0615: MOVF 74,F |
| 0616: BTFSC 03.2 |
| 0617: GOTO 635 |
| 0618: MOVF 01,W |
| 0619: SUBWF 42,W |
| 061A: BTFSS 03.0 |
| 061B: GOTO 625 |
| 061C: BSF 03.5 |
| 061D: BCF 06.6 |
| 061E: BCF 03.5 |
| 061F: BCF 06.6 |
| 0620: BSF 03.5 |
| 0621: BCF 06.7 |
| 0622: BCF 03.5 |
| 0623: BSF 06.7 |
| 0624: GOTO 62D |
| 0625: BSF 03.5 |
| 0626: BCF 06.6 |
| 0627: BCF 03.5 |
| 0628: BCF 06.6 |
| 0629: BSF 03.5 |
| 062A: BCF 06.7 |
| 062B: BCF 03.5 |
| 062C: BCF 06.7 |
| 062D: MOVLW 01 |
| 062E: MOVWF 7D |
| 062F: CALL 09D |
| 0630: MOVF 73,W |
| 0631: BTFSC 03.2 |
| 0632: DECF 74,F |
| 0633: DECF 73,F |
| 0634: GOTO 612 |
| .................... STOPL;STOPR; |
| 0635: BSF 03.5 |
| 0636: BCF 06.6 |
| 0637: BCF 03.5 |
| 0638: BCF 06.6 |
| 0639: BSF 03.5 |
| 063A: BCF 06.7 |
| 063B: BCF 03.5 |
| 063C: BCF 06.7 |
| 063D: BSF 03.5 |
| 063E: BCF 06.4 |
| 063F: BCF 03.5 |
| 0640: BCF 06.4 |
| 0641: BSF 03.5 |
| 0642: BCF 06.5 |
| 0643: BCF 03.5 |
| 0644: BCF 06.5 |
| .................... break; |
| 0645: GOTO 648 |
| .................... case S: |
| .................... goto sem; |
| 0646: GOTO 666 |
| .................... break; |
| 0647: GOTO 648 |
| .................... } |
| .................... beep(800,500); |
| 0648: MOVLW 03 |
| 0649: MOVWF 7D |
| 064A: MOVLW 20 |
| 064B: MOVWF 7C |
| 064C: MOVLW 01 |
| 064D: BSF 03.5 |
| 064E: MOVWF 21 |
| 064F: MOVLW F4 |
| 0650: MOVWF 20 |
| 0651: BCF 03.5 |
| 0652: CALL 071 |
| .................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
| 0653: BSF 03.5 |
| 0654: BCF 06.5 |
| 0655: BCF 03.5 |
| 0656: BCF 06.5 |
| 0657: BSF 03.5 |
| 0658: BCF 06.4 |
| 0659: BCF 03.5 |
| 065A: BSF 06.4 |
| 065B: BSF 03.5 |
| 065C: BCF 06.7 |
| 065D: BCF 03.5 |
| 065E: BCF 06.7 |
| 065F: BSF 03.5 |
| 0660: BCF 06.6 |
| 0661: BCF 03.5 |
| 0662: BSF 06.6 |
| 0663: MOVLW 96 |
| 0664: MOVWF 7D |
| 0665: CALL 09D |
| .................... sem: |
| .................... STOPL; STOPR; |
| 0666: BSF 03.5 |
| 0667: BCF 06.6 |
| 0668: BCF 03.5 |
| 0669: BCF 06.6 |
| 066A: BSF 03.5 |
| 066B: BCF 06.7 |
| 066C: BCF 03.5 |
| 066D: BCF 06.7 |
| 066E: BSF 03.5 |
| 066F: BCF 06.4 |
| 0670: BCF 03.5 |
| 0671: BCF 06.4 |
| 0672: BSF 03.5 |
| 0673: BCF 06.5 |
| 0674: BCF 03.5 |
| 0675: BCF 06.5 |
| .................... movement=S; |
| 0676: MOVLW 03 |
| 0677: MOVWF 45 |
| .................... cikcak(); // najdi caru |
| 0678: CALL 3C4 |
| .................... cihla=T_DIRA; |
| 0679: MOVLW 55 |
| 067A: MOVWF 47 |
| .................... dira=0; |
| 067B: CLRF 46 |
| .................... } |
| 067C: BSF 0A.3 |
| 067D: GOTO 190 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| * |
| 0800: CLRF 04 |
| 0801: MOVLW 1F |
| 0802: ANDWF 03,F |
| 0803: BSF 03.5 |
| 0804: BCF 1F.4 |
| 0805: BCF 1F.5 |
| 0806: MOVF 1B,W |
| 0807: ANDLW 80 |
| 0808: MOVWF 1B |
| 0809: MOVLW 07 |
| 080A: MOVWF 1C |
| 080B: MOVF 1C,W |
| 080C: BCF 03.5 |
| 080D: BCF 0D.6 |
| 080E: MOVLW 60 |
| 080F: BSF 03.5 |
| 0810: MOVWF 0F |
| .................... unsigned int16 n; // pro FOR |
| .................... |
| .................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| * |
| 082E: BSF 03.5 |
| 082F: BCF 06.6 |
| 0830: BCF 03.5 |
| 0831: BCF 06.6 |
| 0832: BSF 03.5 |
| 0833: BCF 06.7 |
| 0834: BCF 03.5 |
| 0835: BCF 06.7 |
| 0836: BSF 03.5 |
| 0837: BCF 06.4 |
| 0838: BCF 03.5 |
| 0839: BCF 06.4 |
| 083A: BSF 03.5 |
| 083B: BCF 06.5 |
| 083C: BCF 03.5 |
| 083D: BCF 06.5 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| 083E: MOVLW 62 |
| 083F: BSF 03.5 |
| 0840: MOVWF 0F |
| .................... |
| .................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| 0841: BCF 01.7 |
| .................... setup_spi(FALSE); |
| 0842: BCF 03.5 |
| 0843: BCF 14.5 |
| 0844: BSF 03.5 |
| 0845: BCF 06.2 |
| 0846: BSF 06.1 |
| 0847: BCF 06.4 |
| 0848: MOVLW 00 |
| 0849: BCF 03.5 |
| 084A: MOVWF 14 |
| 084B: BSF 03.5 |
| 084C: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| 084D: MOVF 01,W |
| 084E: ANDLW C7 |
| 084F: IORLW 08 |
| 0850: MOVWF 01 |
| .................... |
| .................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| 0851: MOVLW 48 |
| 0852: MOVWF 78 |
| 0853: IORLW 05 |
| 0854: BCF 03.5 |
| 0855: MOVWF 12 |
| 0856: MOVLW FF |
| 0857: BSF 03.5 |
| 0858: MOVWF 12 |
| .................... // preruseni kazdych 10ms |
| .................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| 0859: BCF 1F.4 |
| 085A: BCF 1F.5 |
| 085B: MOVF 1B,W |
| 085C: ANDLW 80 |
| 085D: IORLW 04 |
| 085E: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 085F: BCF 1F.6 |
| 0860: BCF 03.5 |
| 0861: BSF 1F.6 |
| 0862: BSF 1F.7 |
| 0863: BSF 03.5 |
| 0864: BCF 1F.7 |
| 0865: BCF 03.5 |
| 0866: BSF 1F.0 |
| .................... set_adc_channel(2); |
| 0867: MOVLW 10 |
| 0868: MOVWF 78 |
| 0869: MOVF 1F,W |
| 086A: ANDLW C7 |
| 086B: IORWF 78,W |
| 086C: MOVWF 1F |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| 086D: MOVLW 85 |
| 086E: MOVWF 10 |
| .................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| 086F: BSF 03.5 |
| 0870: BSF 06.3 |
| 0871: MOVLW 0B |
| 0872: BCF 03.5 |
| 0873: MOVWF 17 |
| .................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
| 0874: CLRF 16 |
| 0875: MOVLW 07 |
| 0876: MOVWF 15 |
| .................... |
| .................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| 0877: MOVLW 02 |
| 0878: BSF 03.5 |
| 0879: MOVWF 1C |
| 087A: MOVF 05,W |
| 087B: IORLW 03 |
| 087C: MOVWF 05 |
| 087D: MOVLW 03 |
| 087E: MOVWF 77 |
| 087F: DECFSZ 77,F |
| 0880: GOTO 07F |
| 0881: MOVF 1C,W |
| 0882: BCF 03.5 |
| 0883: BCF 0D.6 |
| .................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| 0884: MOVLW 8A |
| 0885: BSF 03.5 |
| 0886: MOVWF 1D |
| .................... |
| .................... Beep(1000,200); //double beep |
| 0887: MOVLW 03 |
| 0888: MOVWF 7D |
| 0889: MOVLW E8 |
| 088A: MOVWF 7C |
| 088B: CLRF 21 |
| 088C: MOVLW C8 |
| 088D: MOVWF 20 |
| 088E: BCF 0A.3 |
| 088F: BCF 03.5 |
| 0890: CALL 071 |
| 0891: BSF 0A.3 |
| .................... Delay_ms(50); |
| 0892: MOVLW 32 |
| 0893: MOVWF 7D |
| 0894: BCF 0A.3 |
| 0895: CALL 09D |
| 0896: BSF 0A.3 |
| .................... Beep(1000,200); |
| 0897: MOVLW 03 |
| 0898: MOVWF 7D |
| 0899: MOVLW E8 |
| 089A: MOVWF 7C |
| 089B: BSF 03.5 |
| 089C: CLRF 21 |
| 089D: MOVLW C8 |
| 089E: MOVWF 20 |
| 089F: BCF 0A.3 |
| 08A0: BCF 03.5 |
| 08A1: CALL 071 |
| 08A2: BSF 0A.3 |
| .................... Delay_ms(1000); // 1s |
| 08A3: MOVLW 04 |
| 08A4: MOVWF 73 |
| 08A5: MOVLW FA |
| 08A6: MOVWF 7D |
| 08A7: BCF 0A.3 |
| 08A8: CALL 09D |
| 08A9: BSF 0A.3 |
| 08AA: DECFSZ 73,F |
| 08AB: GOTO 0A5 |
| .................... |
| .................... // povoleni rizeni rychlosti zataceni pres preruseni |
| .................... enable_interrupts(INT_TIMER2); |
| 08AC: BSF 03.5 |
| 08AD: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 08AE: MOVLW C0 |
| 08AF: BCF 03.5 |
| 08B0: IORWF 0B,F |
| .................... |
| .................... /*---------------------------------------------------------------------------*/ |
| .................... sensors=S; |
| 08B1: MOVLW 03 |
| 08B2: MOVWF 40 |
| .................... line=S; |
| 08B3: MOVWF 41 |
| .................... last=S; |
| 08B4: MOVWF 44 |
| .................... movement=S; |
| 08B5: MOVWF 45 |
| .................... speed=FW_POMALU; |
| 08B6: MOVLW E6 |
| 08B7: MOVWF 42 |
| .................... |
| .................... diagnostika(); |
| 08B8: BCF 0A.3 |
| 08B9: GOTO 1D1 |
| 08BA: BSF 0A.3 |
| .................... cikcak(); // toc se, abys nasel caru |
| 08BB: BCF 0A.3 |
| 08BC: CALL 3C4 |
| 08BD: BSF 0A.3 |
| .................... Delay_ms(500); |
| 08BE: MOVLW 02 |
| 08BF: MOVWF 73 |
| 08C0: MOVLW FA |
| 08C1: MOVWF 7D |
| 08C2: BCF 0A.3 |
| 08C3: CALL 09D |
| 08C4: BSF 0A.3 |
| 08C5: DECFSZ 73,F |
| 08C6: GOTO 0C0 |
| .................... Beep(1000,200); |
| 08C7: MOVLW 03 |
| 08C8: MOVWF 7D |
| 08C9: MOVLW E8 |
| 08CA: MOVWF 7C |
| 08CB: BSF 03.5 |
| 08CC: CLRF 21 |
| 08CD: MOVLW C8 |
| 08CE: MOVWF 20 |
| 08CF: BCF 0A.3 |
| 08D0: BCF 03.5 |
| 08D1: CALL 071 |
| 08D2: BSF 0A.3 |
| .................... Delay_ms(500); |
| 08D3: MOVLW 02 |
| 08D4: MOVWF 73 |
| 08D5: MOVLW FA |
| 08D6: MOVWF 7D |
| 08D7: BCF 0A.3 |
| 08D8: CALL 09D |
| 08D9: BSF 0A.3 |
| 08DA: DECFSZ 73,F |
| 08DB: GOTO 0D5 |
| .................... |
| .................... while(true) // hlavni smycka (jizda podle cary) |
| .................... { |
| .................... sensors = RSENSOR; // cteni senzoru na caru |
| 08DC: CLRF 40 |
| 08DD: BSF 03.5 |
| 08DE: BTFSS 1C.7 |
| 08DF: GOTO 0E3 |
| 08E0: BCF 03.5 |
| 08E1: INCF 40,F |
| 08E2: BSF 03.5 |
| .................... sensors |= LSENSOR << 1; |
| 08E3: MOVLW 00 |
| 08E4: BTFSC 1C.6 |
| 08E5: MOVLW 01 |
| 08E6: MOVWF 77 |
| 08E7: BCF 03.0 |
| 08E8: RLF 77,F |
| 08E9: MOVF 77,W |
| 08EA: BCF 03.5 |
| 08EB: IORWF 40,F |
| .................... |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka(); |
| 08EC: BTFSC 1F.2 |
| 08ED: GOTO 0EC |
| 08EE: MOVF 1E,W |
| 08EF: SUBLW 7F |
| 08F0: BTFSS 03.0 |
| 08F1: GOTO 0F8 |
| 08F2: MOVF 47,F |
| 08F3: BTFSS 03.2 |
| 08F4: GOTO 0F8 |
| 08F5: BCF 0A.3 |
| 08F6: GOTO 4B2 |
| 08F7: BSF 0A.3 |
| .................... |
| .................... switch (sensors) // zatacej podle toho, kde vidis caru |
| .................... { |
| 08F8: MOVF 40,W |
| 08F9: XORLW 03 |
| 08FA: BTFSC 03.2 |
| 08FB: GOTO 103 |
| 08FC: XORLW 01 |
| 08FD: BTFSC 03.2 |
| 08FE: GOTO 117 |
| 08FF: XORLW 03 |
| 0900: BTFSC 03.2 |
| 0901: GOTO 150 |
| 0902: GOTO 189 |
| .................... case S: // rovne |
| .................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
| 0903: BSF 03.5 |
| 0904: BCF 06.7 |
| 0905: BCF 03.5 |
| 0906: BCF 06.7 |
| 0907: BSF 03.5 |
| 0908: BCF 06.6 |
| 0909: BCF 03.5 |
| 090A: BSF 06.6 |
| 090B: BSF 03.5 |
| 090C: BCF 06.5 |
| 090D: BCF 03.5 |
| 090E: BCF 06.5 |
| 090F: BSF 03.5 |
| 0910: BCF 06.4 |
| 0911: BCF 03.5 |
| 0912: BSF 06.4 |
| .................... dira=0; |
| 0913: CLRF 46 |
| .................... movement=S; |
| 0914: MOVLW 03 |
| 0915: MOVWF 45 |
| .................... continue; |
| 0916: GOTO 0DC |
| .................... case L: // trochu vlevo |
| .................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 0917: MOVF 01,W |
| 0918: MOVWF 73 |
| 0919: MOVLW E6 |
| 091A: ADDWF 43,W |
| 091B: SUBWF 73,W |
| 091C: BTFSC 03.2 |
| 091D: GOTO 120 |
| 091E: BTFSC 03.0 |
| 091F: GOTO 129 |
| 0920: BSF 03.5 |
| 0921: BCF 06.7 |
| 0922: BCF 03.5 |
| 0923: BCF 06.7 |
| 0924: BSF 03.5 |
| 0925: BCF 06.6 |
| 0926: BCF 03.5 |
| 0927: BSF 06.6 |
| 0928: GOTO 131 |
| 0929: BSF 03.5 |
| 092A: BCF 06.6 |
| 092B: BCF 03.5 |
| 092C: BCF 06.6 |
| 092D: BSF 03.5 |
| 092E: BCF 06.7 |
| 092F: BCF 03.5 |
| 0930: BCF 06.7 |
| 0931: MOVF 01,W |
| 0932: MOVWF 73 |
| 0933: MOVLW F0 |
| 0934: ADDWF 43,W |
| 0935: SUBWF 73,W |
| 0936: BTFSC 03.2 |
| 0937: GOTO 13A |
| 0938: BTFSC 03.0 |
| 0939: GOTO 143 |
| 093A: BSF 03.5 |
| 093B: BCF 06.5 |
| 093C: BCF 03.5 |
| 093D: BCF 06.5 |
| 093E: BSF 03.5 |
| 093F: BCF 06.4 |
| 0940: BCF 03.5 |
| 0941: BSF 06.4 |
| 0942: GOTO 14B |
| 0943: BSF 03.5 |
| 0944: BCF 06.4 |
| 0945: BCF 03.5 |
| 0946: BCF 06.4 |
| 0947: BSF 03.5 |
| 0948: BCF 06.5 |
| 0949: BCF 03.5 |
| 094A: BCF 06.5 |
| .................... line=L; |
| 094B: MOVLW 02 |
| 094C: MOVWF 41 |
| .................... dira=0; |
| 094D: CLRF 46 |
| .................... movement=L; |
| 094E: MOVWF 45 |
| .................... continue; |
| 094F: GOTO 0DC |
| .................... case R: // trochu vpravo |
| .................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| 0950: MOVF 01,W |
| 0951: MOVWF 73 |
| 0952: MOVLW E6 |
| 0953: ADDWF 43,W |
| 0954: SUBWF 73,W |
| 0955: BTFSC 03.2 |
| 0956: GOTO 159 |
| 0957: BTFSC 03.0 |
| 0958: GOTO 162 |
| 0959: BSF 03.5 |
| 095A: BCF 06.5 |
| 095B: BCF 03.5 |
| 095C: BCF 06.5 |
| 095D: BSF 03.5 |
| 095E: BCF 06.4 |
| 095F: BCF 03.5 |
| 0960: BSF 06.4 |
| 0961: GOTO 16A |
| 0962: BSF 03.5 |
| 0963: BCF 06.4 |
| 0964: BCF 03.5 |
| 0965: BCF 06.4 |
| 0966: BSF 03.5 |
| 0967: BCF 06.5 |
| 0968: BCF 03.5 |
| 0969: BCF 06.5 |
| 096A: MOVF 01,W |
| 096B: MOVWF 73 |
| 096C: MOVLW F0 |
| 096D: ADDWF 43,W |
| 096E: SUBWF 73,W |
| 096F: BTFSC 03.2 |
| 0970: GOTO 173 |
| 0971: BTFSC 03.0 |
| 0972: GOTO 17C |
| 0973: BSF 03.5 |
| 0974: BCF 06.7 |
| 0975: BCF 03.5 |
| 0976: BCF 06.7 |
| 0977: BSF 03.5 |
| 0978: BCF 06.6 |
| 0979: BCF 03.5 |
| 097A: BSF 06.6 |
| 097B: GOTO 184 |
| 097C: BSF 03.5 |
| 097D: BCF 06.6 |
| 097E: BCF 03.5 |
| 097F: BCF 06.6 |
| 0980: BSF 03.5 |
| 0981: BCF 06.7 |
| 0982: BCF 03.5 |
| 0983: BCF 06.7 |
| .................... line=R; |
| 0984: MOVLW 01 |
| 0985: MOVWF 41 |
| .................... dira=0; |
| 0986: CLRF 46 |
| .................... movement=R; |
| 0987: MOVWF 45 |
| .................... continue; |
| 0988: GOTO 0DC |
| .................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| .................... } |
| .................... rovinka=0; |
| 0989: CLRF 43 |
| .................... if (dira>=T_DIRA) prejeddiru(); |
| 098A: MOVF 46,W |
| 098B: SUBLW 54 |
| 098C: BTFSC 03.0 |
| 098D: GOTO 191 |
| 098E: BCF 0A.3 |
| 098F: GOTO 5B0 |
| 0990: BSF 0A.3 |
| .................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| 0991: MOVF 41,W |
| 0992: SUBWF 44,W |
| 0993: BTFSC 03.2 |
| 0994: GOTO 199 |
| .................... { |
| .................... last=line; |
| 0995: MOVF 41,W |
| 0996: MOVWF 44 |
| .................... speed=FW_ZATACKA; |
| 0997: MOVLW C8 |
| 0998: MOVWF 42 |
| .................... } |
| .................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| 0999: MOVF 41,W |
| 099A: SUBLW 02 |
| 099B: BTFSS 03.2 |
| 099C: GOTO 1BD |
| .................... { |
| .................... STOPL; |
| 099D: BSF 03.5 |
| 099E: BCF 06.6 |
| 099F: BCF 03.5 |
| 09A0: BCF 06.6 |
| 09A1: BSF 03.5 |
| 09A2: BCF 06.7 |
| 09A3: BCF 03.5 |
| 09A4: BCF 06.7 |
| .................... GO(R, F, speed); |
| 09A5: MOVF 01,W |
| 09A6: SUBWF 42,W |
| 09A7: BTFSS 03.0 |
| 09A8: GOTO 1B2 |
| 09A9: BSF 03.5 |
| 09AA: BCF 06.5 |
| 09AB: BCF 03.5 |
| 09AC: BCF 06.5 |
| 09AD: BSF 03.5 |
| 09AE: BCF 06.4 |
| 09AF: BCF 03.5 |
| 09B0: BSF 06.4 |
| 09B1: GOTO 1BA |
| 09B2: BSF 03.5 |
| 09B3: BCF 06.4 |
| 09B4: BCF 03.5 |
| 09B5: BCF 06.4 |
| 09B6: BSF 03.5 |
| 09B7: BCF 06.5 |
| 09B8: BCF 03.5 |
| 09B9: BCF 06.5 |
| .................... movement=L; |
| 09BA: MOVLW 02 |
| 09BB: MOVWF 45 |
| .................... } |
| .................... else |
| 09BC: GOTO 1DC |
| .................... { |
| .................... STOPR; |
| 09BD: BSF 03.5 |
| 09BE: BCF 06.4 |
| 09BF: BCF 03.5 |
| 09C0: BCF 06.4 |
| 09C1: BSF 03.5 |
| 09C2: BCF 06.5 |
| 09C3: BCF 03.5 |
| 09C4: BCF 06.5 |
| .................... GO(L, F, speed); |
| 09C5: MOVF 01,W |
| 09C6: SUBWF 42,W |
| 09C7: BTFSS 03.0 |
| 09C8: GOTO 1D2 |
| 09C9: BSF 03.5 |
| 09CA: BCF 06.7 |
| 09CB: BCF 03.5 |
| 09CC: BCF 06.7 |
| 09CD: BSF 03.5 |
| 09CE: BCF 06.6 |
| 09CF: BCF 03.5 |
| 09D0: BSF 06.6 |
| 09D1: GOTO 1DA |
| 09D2: BSF 03.5 |
| 09D3: BCF 06.6 |
| 09D4: BCF 03.5 |
| 09D5: BCF 06.6 |
| 09D6: BSF 03.5 |
| 09D7: BCF 06.7 |
| 09D8: BCF 03.5 |
| 09D9: BCF 06.7 |
| .................... movement=R; |
| 09DA: MOVLW 01 |
| 09DB: MOVWF 45 |
| .................... } |
| .................... } // while(true) |
| 09DC: GOTO 0DC |
| .................... } |
| .................... |
| .................... |
| 09DD: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |