0,0 → 1,2057 |
CCS PCW C Compiler, Version 3.110, 15448 |
|
Filename: d:\kaklik\programy\pic_c\roboti\merkur\main.LST |
|
ROM used: 1572 (38%) |
Largest free fragment is 2048 |
RAM used: 79 (41%) at main() level |
90 (47%) worst case |
Stack: 3 locations |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 41D |
0003: NOP |
.................... #include "main.h" |
.................... #include <16F873.h> |
.................... //////// Standard Header file for the PIC16F873 device //////////////// |
.................... #device PIC16F873 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... #use delay(clock=4000000) |
* |
0016: MOVLW 78 |
0017: MOVWF 04 |
0018: MOVLW FC |
0019: ANDWF 00,F |
001A: RRF 00,F |
001B: RRF 00,F |
001C: MOVF 00,W |
001D: BTFSC 03.2 |
001E: GOTO 023 |
001F: GOTO 021 |
0020: NOP |
0021: DECFSZ 00,F |
0022: GOTO 020 |
0023: RETLW 00 |
* |
004A: MOVLW 73 |
004B: MOVWF 04 |
004C: MOVF 00,W |
004D: BTFSC 03.2 |
004E: GOTO 05E |
004F: MOVLW 01 |
0050: MOVWF 21 |
0051: CLRF 20 |
0052: DECFSZ 20,F |
0053: GOTO 052 |
0054: DECFSZ 21,F |
0055: GOTO 051 |
0056: MOVLW 4A |
0057: MOVWF 20 |
0058: DECFSZ 20,F |
0059: GOTO 058 |
005A: NOP |
005B: NOP |
005C: DECFSZ 00,F |
005D: GOTO 04F |
005E: RETLW 00 |
.................... #fuses XT,NOWDT,NOLVP |
.................... |
.................... |
.................... |
.................... #define TXo PIN_C3 // To the transmitter modulator |
.................... #include "AX25.c" // podprogram pro prenos telemetrie |
.................... //#define PTT PIN_A2 // PTT control |
.................... //#define TXo PIN_C0 // To the transmitter modulator |
.................... #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500 |
.................... #define TAILH delay_us(78) |
.................... #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500 |
.................... #define TAILL delay_us(345) |
.................... #byte STATUS = 3 // CPUs status register |
.................... |
.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60, |
.................... 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, |
.................... 0x03, 0xF0}; |
.................... |
.................... boolean bit; |
.................... int fcslo, fcshi; // variabloes for calculating FCS (CRC) |
.................... int stuff; // stuff counter for extra 0 |
.................... int flag_flag; // if it is sending flag (7E) |
.................... int fcs_flag; // if it is sending Frame Check Sequence |
.................... int i; // for for |
.................... |
.................... void flipout() //flips the state of output pin a_1 |
.................... { |
.................... stuff = 0; //since this is a 0, reset the stuff counter |
* |
00AE: CLRF 38 |
.................... if (bit) |
00AF: BTFSS 35.0 |
00B0: GOTO 0B3 |
.................... { |
.................... bit=FALSE; //if the state of the pin was low, make it high. |
00B1: BCF 35.0 |
.................... } |
.................... else |
00B2: GOTO 0B4 |
.................... { |
.................... bit=TRUE; //if the state of the pin was high make it low |
00B3: BSF 35.0 |
.................... } |
00B4: RETLW 00 |
.................... } |
.................... |
.................... void fcsbit(byte tbyte) |
.................... { |
.................... #asm |
.................... BCF STATUS,0 |
* |
011A: BCF 03.0 |
.................... RRF fcshi,F // rotates the entire 16 bits |
011B: RRF 37,F |
.................... RRF fcslo,F // to the right |
.................... #endasm |
011C: RRF 36,F |
.................... if (((STATUS & 0x01)^(tbyte)) ==0x01) |
011D: MOVF 03,W |
011E: ANDLW 01 |
011F: XORWF 77,W |
0120: SUBLW 01 |
0121: BTFSS 03.2 |
0122: GOTO 127 |
.................... { |
.................... fcshi = fcshi^0x84; |
0123: MOVLW 84 |
0124: XORWF 37,F |
.................... fcslo = fcslo^0x08; |
0125: MOVLW 08 |
0126: XORWF 36,F |
.................... } |
.................... } |
.................... |
.................... void SendBit () |
.................... { |
.................... if (bit) |
* |
00B5: BTFSS 35.0 |
00B6: GOTO 0E8 |
.................... { |
.................... output_high(TXo); |
00B7: BCF 3C.3 |
00B8: MOVF 3C,W |
00B9: BSF 03.5 |
00BA: MOVWF 07 |
00BB: BCF 03.5 |
00BC: BSF 07.3 |
.................... PERIODAH; |
00BD: MOVLW 49 |
00BE: MOVWF 20 |
00BF: DECFSZ 20,F |
00C0: GOTO 0BF |
00C1: NOP |
00C2: NOP |
.................... output_low(TXo); |
00C3: BCF 3C.3 |
00C4: MOVF 3C,W |
00C5: BSF 03.5 |
00C6: MOVWF 07 |
00C7: BCF 03.5 |
00C8: BCF 07.3 |
.................... PERIODAH; |
00C9: MOVLW 49 |
00CA: MOVWF 20 |
00CB: DECFSZ 20,F |
00CC: GOTO 0CB |
00CD: NOP |
00CE: NOP |
.................... output_high(TXo); |
00CF: BCF 3C.3 |
00D0: MOVF 3C,W |
00D1: BSF 03.5 |
00D2: MOVWF 07 |
00D3: BCF 03.5 |
00D4: BSF 07.3 |
.................... PERIODAH; |
00D5: MOVLW 49 |
00D6: MOVWF 20 |
00D7: DECFSZ 20,F |
00D8: GOTO 0D7 |
00D9: NOP |
00DA: NOP |
.................... output_low(TXo); |
00DB: BCF 3C.3 |
00DC: MOVF 3C,W |
00DD: BSF 03.5 |
00DE: MOVWF 07 |
00DF: BCF 03.5 |
00E0: BCF 07.3 |
.................... TAILH; |
00E1: MOVLW 19 |
00E2: MOVWF 20 |
00E3: DECFSZ 20,F |
00E4: GOTO 0E3 |
00E5: NOP |
00E6: NOP |
.................... } |
.................... else |
00E7: GOTO 0FE |
.................... { |
.................... output_high(TXo); |
00E8: BCF 3C.3 |
00E9: MOVF 3C,W |
00EA: BSF 03.5 |
00EB: MOVWF 07 |
00EC: BCF 03.5 |
00ED: BSF 07.3 |
.................... PERIODAL; |
00EE: MOVLW 89 |
00EF: MOVWF 20 |
00F0: DECFSZ 20,F |
00F1: GOTO 0F0 |
.................... output_low(TXo); |
00F2: BCF 3C.3 |
00F3: MOVF 3C,W |
00F4: BSF 03.5 |
00F5: MOVWF 07 |
00F6: BCF 03.5 |
00F7: BCF 07.3 |
.................... TAILL; |
00F8: MOVLW 72 |
00F9: MOVWF 20 |
00FA: DECFSZ 20,F |
00FB: GOTO 0FA |
00FC: NOP |
00FD: NOP |
.................... }; |
00FE: RETLW 00 |
.................... } |
.................... |
.................... void SendByte (byte inbyte) |
.................... { |
.................... int k, bt; |
.................... |
.................... for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte |
00FF: CLRF 75 |
0100: MOVF 75,W |
0101: SUBLW 07 |
0102: BTFSS 03.0 |
0103: GOTO 149 |
.................... { |
.................... bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
0104: MOVF 74,W |
0105: ANDLW 01 |
0106: MOVWF 76 |
.................... if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
0107: MOVF 3A,F |
0108: BTFSC 03.2 |
0109: GOTO 10C |
010A: MOVLW 00 |
010B: GOTO 10D |
010C: MOVLW 01 |
010D: MOVWF 77 |
010E: MOVF 39,F |
010F: BTFSC 03.2 |
0110: GOTO 113 |
0111: MOVLW 00 |
0112: GOTO 114 |
0113: MOVLW 01 |
0114: ANDWF 77,W |
0115: XORLW 00 |
0116: BTFSC 03.2 |
0117: GOTO 127 |
0118: MOVF 76,W |
0119: MOVWF 77 |
.................... //is not a flag or fcs byte |
.................... if (bt == 0) |
* |
0127: MOVF 76,F |
0128: BTFSS 03.2 |
0129: GOTO 12C |
.................... { |
.................... flipout(); |
012A: CALL 0AE |
.................... } // if this bit is a zero, flip the output state |
.................... else |
012B: GOTO 144 |
.................... { //otherwise if it is a 1, do the following: |
.................... if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
012C: MOVF 39,F |
012D: BTFSS 03.2 |
012E: GOTO 130 |
012F: INCF 38,F |
.................... if ((flag_flag == FALSE) & (stuff == 5)) |
0130: MOVF 39,F |
0131: BTFSC 03.2 |
0132: GOTO 135 |
0133: MOVLW 00 |
0134: GOTO 136 |
0135: MOVLW 01 |
0136: MOVWF 77 |
0137: MOVF 38,W |
0138: SUBLW 05 |
0139: BTFSC 03.2 |
013A: GOTO 13D |
013B: MOVLW 00 |
013C: GOTO 13E |
013D: MOVLW 01 |
013E: ANDWF 77,W |
013F: XORLW 00 |
0140: BTFSC 03.2 |
0141: GOTO 144 |
.................... { //stuff an extra 0, if 5 1's in a row |
.................... SendBit(); |
0142: CALL 0B5 |
.................... flipout(); //flip the output state to stuff a 0 |
0143: CALL 0AE |
.................... }//end of if |
.................... }//end of else |
.................... // delay_us(850); //introduces a delay that creates 1200 baud |
.................... SendBit(); |
0144: CALL 0B5 |
.................... inbyte = inbyte>>1; //go to the next bit in the byte |
0145: BCF 03.0 |
0146: RRF 74,F |
.................... }//end of for |
0147: INCF 75,F |
0148: GOTO 100 |
0149: RETLW 00 |
.................... }//end of SendByte |
.................... |
.................... void SendPacket(char *data) |
.................... { |
.................... bit=FALSE; |
* |
02CF: BCF 35.0 |
.................... |
.................... fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
02D0: MOVLW FF |
02D1: MOVWF 37 |
02D2: MOVWF 36 |
.................... stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
02D3: CLRF 38 |
.................... // it is time to stuff a 0. |
.................... |
.................... // output_low(PTT); // Blinking LED |
.................... // delay_ms(1000); |
.................... // output_high(PTT); |
.................... |
.................... flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise. |
02D4: MOVLW 01 |
02D5: MOVWF 39 |
.................... fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
02D6: CLRF 3A |
.................... |
.................... for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
02D7: CLRF 3B |
02D8: MOVF 3B,W |
02D9: SUBLW 09 |
02DA: BTFSS 03.0 |
02DB: GOTO 2E1 |
02DC: MOVLW 7E |
02DD: MOVWF 74 |
02DE: CALL 0FF |
02DF: INCF 3B,F |
02E0: GOTO 2D8 |
.................... //each flag takes approx 6.7 ms |
.................... flag_flag = FALSE; //done sending flags |
02E1: CLRF 39 |
.................... |
.................... for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
02E2: CLRF 3B |
02E3: MOVF 3B,W |
02E4: SUBLW 0F |
02E5: BTFSS 03.0 |
02E6: GOTO 2F0 |
02E7: MOVLW 25 |
02E8: ADDWF 3B,W |
02E9: MOVWF 04 |
02EA: MOVF 00,W |
02EB: MOVWF 73 |
02EC: MOVWF 74 |
02ED: CALL 0FF |
02EE: INCF 3B,F |
02EF: GOTO 2E3 |
.................... |
.................... for(i=0; 0 != *data; i++) |
02F0: CLRF 3B |
02F1: MOVF 72,W |
02F2: MOVWF 04 |
02F3: MOVF 00,W |
02F4: XORLW 00 |
02F5: BTFSC 03.2 |
02F6: GOTO 300 |
.................... { |
.................... SendByte(*data); //send the packet bytes |
02F7: MOVF 72,W |
02F8: MOVWF 04 |
02F9: MOVF 00,W |
02FA: MOVWF 73 |
02FB: MOVWF 74 |
02FC: CALL 0FF |
.................... data++; |
02FD: INCF 72,F |
.................... }; |
02FE: INCF 3B,F |
02FF: GOTO 2F1 |
.................... |
.................... fcs_flag = TRUE; //about to send the FCS bytes |
0300: MOVLW 01 |
0301: MOVWF 3A |
.................... fcslo =fcslo^0xff; //must XOR them with FF before sending |
0302: MOVLW FF |
0303: XORWF 36,F |
.................... fcshi = fcshi^0xff; |
0304: XORWF 37,F |
.................... SendByte(fcslo); //send the low byte of fcs |
0305: MOVF 36,W |
0306: MOVWF 74 |
0307: CALL 0FF |
.................... SendByte(fcshi); //send the high byte of fcs |
0308: MOVF 37,W |
0309: MOVWF 74 |
030A: CALL 0FF |
.................... fcs_flag = FALSE; //done sending FCS |
030B: CLRF 3A |
.................... flag_flag = TRUE; //about to send flags |
030C: MOVLW 01 |
030D: MOVWF 39 |
.................... SendByte(0x7e); // Send a flag to end packet |
030E: MOVLW 7E |
030F: MOVWF 74 |
0310: CALL 0FF |
.................... } |
.................... |
.................... |
.................... |
.................... |
.................... |
.................... //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) |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... #define COUVANI 1600 // couvnuti po zjisteni diry |
.................... #define MEZERA 5400 // za jak dlouho bude ztracena cara |
.................... #define PRES_DIRU 400 // velikost mezery v care |
.................... #define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet |
.................... #define BRZDENI 100 // doba (v ms) ptrebna k zastaveni jednoho motoru |
.................... |
.................... //cidla |
.................... #define RSENSOR 1 // Senzory na caru |
.................... #define LSENSOR 0 |
.................... #define BUMPER PIN_C4 // sensor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
.................... |
.................... #DEFINE SOUND_HI PIN_B3 |
.................... #DEFINE SOUND_LO PIN_B2 |
.................... |
.................... char AXstring[40]; // Buffer pro prenos telemetrie |
.................... |
.................... int tresholdL; // rozhodovaci uroven pro prave cidlo |
.................... int tresholdR; // rozhodovaci uroven pro prave cidlo |
.................... int movement; // smer minuleho pohybu |
.................... int line; // na ktere strane byla detekovana cara |
.................... unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
.................... |
.................... // Primitivni Pipani |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0024: MOVF 75,W |
0025: MOVWF 77 |
0026: MOVF 74,W |
0027: MOVWF 76 |
0028: MOVF 76,F |
0029: BTFSS 03.2 |
002A: GOTO 02E |
002B: MOVF 77,F |
002C: BTFSC 03.2 |
002D: GOTO 049 |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
002E: BSF 03.5 |
002F: BCF 06.3 |
0030: BCF 03.5 |
0031: BSF 06.3 |
0032: BSF 03.5 |
0033: BCF 06.2 |
0034: BCF 03.5 |
0035: BCF 06.2 |
.................... delay_us(period); |
0036: MOVF 72,W |
0037: MOVWF 78 |
0038: CALL 016 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0039: BSF 03.5 |
003A: BCF 06.2 |
003B: BCF 03.5 |
003C: BSF 06.2 |
003D: BSF 03.5 |
003E: BCF 06.3 |
003F: BCF 03.5 |
0040: BCF 06.3 |
.................... delay_us(period); |
0041: MOVF 72,W |
0042: MOVWF 78 |
0043: CALL 016 |
.................... } |
0044: MOVF 76,W |
0045: BTFSC 03.2 |
0046: DECF 77,F |
0047: DECF 76,F |
0048: GOTO 028 |
0049: RETLW 00 |
.................... } |
.................... |
.................... // Diagnostika pohonu, hejbne vsema motorama ve vsech smerech |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
* |
014A: BSF 03.5 |
014B: BSF 06.0 |
014C: BCF 03.5 |
014D: BTFSS 06.0 |
014E: GOTO 275 |
.................... { |
.................... for (n=500; n<800; n+=100) |
014F: MOVLW 01 |
0150: MOVWF 6F |
0151: MOVLW F4 |
0152: MOVWF 6E |
0153: MOVF 6F,W |
0154: SUBLW 03 |
0155: BTFSS 03.0 |
0156: GOTO 16B |
0157: BTFSS 03.2 |
0158: GOTO 15D |
0159: MOVF 6E,W |
015A: SUBLW 1F |
015B: BTFSS 03.0 |
015C: GOTO 16B |
.................... { |
.................... beep(n,n); //beep UP |
015D: MOVF 6F,W |
015E: MOVWF 73 |
015F: MOVF 6E,W |
0160: MOVWF 72 |
0161: MOVF 6F,W |
0162: MOVWF 75 |
0163: MOVF 6E,W |
0164: MOVWF 74 |
0165: CALL 024 |
.................... }; |
0166: MOVLW 64 |
0167: ADDWF 6E,F |
0168: BTFSC 03.0 |
0169: INCF 6F,F |
016A: GOTO 153 |
.................... Delay_ms(1000); |
016B: MOVLW 04 |
016C: MOVWF 72 |
016D: MOVLW FA |
016E: MOVWF 73 |
016F: CALL 04A |
0170: DECFSZ 72,F |
0171: GOTO 16D |
.................... //zastav vse |
.................... STOPL; STOPR; |
0172: BSF 03.5 |
0173: BCF 06.6 |
0174: BCF 03.5 |
0175: BCF 06.6 |
0176: BSF 03.5 |
0177: BCF 06.7 |
0178: BCF 03.5 |
0179: BCF 06.7 |
017A: BSF 03.5 |
017B: BCF 06.4 |
017C: BCF 03.5 |
017D: BCF 06.4 |
017E: BSF 03.5 |
017F: BCF 06.5 |
0180: BCF 03.5 |
0181: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
0182: BSF 03.5 |
0183: BCF 06.5 |
0184: BCF 03.5 |
0185: BCF 06.5 |
0186: BSF 03.5 |
0187: BCF 06.4 |
0188: BCF 03.5 |
0189: BSF 06.4 |
018A: MOVLW 04 |
018B: MOVWF 72 |
018C: MOVLW FA |
018D: MOVWF 73 |
018E: CALL 04A |
018F: DECFSZ 72,F |
0190: GOTO 18C |
0191: BSF 03.5 |
0192: BCF 06.4 |
0193: BCF 03.5 |
0194: BCF 06.4 |
0195: BSF 03.5 |
0196: BCF 06.5 |
0197: BCF 03.5 |
0198: BCF 06.5 |
0199: MOVLW 04 |
019A: MOVWF 72 |
019B: MOVLW FA |
019C: MOVWF 73 |
019D: CALL 04A |
019E: DECFSZ 72,F |
019F: GOTO 19B |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
01A0: BSF 03.5 |
01A1: BCF 06.4 |
01A2: BCF 03.5 |
01A3: BCF 06.4 |
01A4: BSF 03.5 |
01A5: BCF 06.5 |
01A6: BCF 03.5 |
01A7: BSF 06.5 |
01A8: MOVLW 04 |
01A9: MOVWF 72 |
01AA: MOVLW FA |
01AB: MOVWF 73 |
01AC: CALL 04A |
01AD: DECFSZ 72,F |
01AE: GOTO 1AA |
01AF: BSF 03.5 |
01B0: BCF 06.4 |
01B1: BCF 03.5 |
01B2: BCF 06.4 |
01B3: BSF 03.5 |
01B4: BCF 06.5 |
01B5: BCF 03.5 |
01B6: BCF 06.5 |
01B7: MOVLW 04 |
01B8: MOVWF 72 |
01B9: MOVLW FA |
01BA: MOVWF 73 |
01BB: CALL 04A |
01BC: DECFSZ 72,F |
01BD: GOTO 1B9 |
.................... Beep(880,100); Delay_ms(1000); |
01BE: MOVLW 03 |
01BF: MOVWF 73 |
01C0: MOVLW 70 |
01C1: MOVWF 72 |
01C2: CLRF 75 |
01C3: MOVLW 64 |
01C4: MOVWF 74 |
01C5: CALL 024 |
01C6: MOVLW 04 |
01C7: MOVWF 72 |
01C8: MOVLW FA |
01C9: MOVWF 73 |
01CA: CALL 04A |
01CB: DECFSZ 72,F |
01CC: GOTO 1C8 |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
01CD: BSF 03.5 |
01CE: BCF 06.7 |
01CF: BCF 03.5 |
01D0: BCF 06.7 |
01D1: BSF 03.5 |
01D2: BCF 06.6 |
01D3: BCF 03.5 |
01D4: BSF 06.6 |
01D5: MOVLW 04 |
01D6: MOVWF 72 |
01D7: MOVLW FA |
01D8: MOVWF 73 |
01D9: CALL 04A |
01DA: DECFSZ 72,F |
01DB: GOTO 1D7 |
01DC: BSF 03.5 |
01DD: BCF 06.6 |
01DE: BCF 03.5 |
01DF: BCF 06.6 |
01E0: BSF 03.5 |
01E1: BCF 06.7 |
01E2: BCF 03.5 |
01E3: BCF 06.7 |
01E4: MOVLW 04 |
01E5: MOVWF 72 |
01E6: MOVLW FA |
01E7: MOVWF 73 |
01E8: CALL 04A |
01E9: DECFSZ 72,F |
01EA: GOTO 1E6 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
01EB: BSF 03.5 |
01EC: BCF 06.6 |
01ED: BCF 03.5 |
01EE: BCF 06.6 |
01EF: BSF 03.5 |
01F0: BCF 06.7 |
01F1: BCF 03.5 |
01F2: BSF 06.7 |
01F3: MOVLW 04 |
01F4: MOVWF 72 |
01F5: MOVLW FA |
01F6: MOVWF 73 |
01F7: CALL 04A |
01F8: DECFSZ 72,F |
01F9: GOTO 1F5 |
01FA: BSF 03.5 |
01FB: BCF 06.6 |
01FC: BCF 03.5 |
01FD: BCF 06.6 |
01FE: BSF 03.5 |
01FF: BCF 06.7 |
0200: BCF 03.5 |
0201: BCF 06.7 |
0202: MOVLW 04 |
0203: MOVWF 72 |
0204: MOVLW FA |
0205: MOVWF 73 |
0206: CALL 04A |
0207: DECFSZ 72,F |
0208: GOTO 204 |
.................... Beep(880,100); Delay_ms(1000); |
0209: MOVLW 03 |
020A: MOVWF 73 |
020B: MOVLW 70 |
020C: MOVWF 72 |
020D: CLRF 75 |
020E: MOVLW 64 |
020F: MOVWF 74 |
0210: CALL 024 |
0211: MOVLW 04 |
0212: MOVWF 72 |
0213: MOVLW FA |
0214: MOVWF 73 |
0215: CALL 04A |
0216: DECFSZ 72,F |
0217: GOTO 213 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0218: BSF 03.5 |
0219: BCF 06.7 |
021A: BCF 03.5 |
021B: BCF 06.7 |
021C: BSF 03.5 |
021D: BCF 06.6 |
021E: BCF 03.5 |
021F: BSF 06.6 |
0220: BSF 03.5 |
0221: BCF 06.5 |
0222: BCF 03.5 |
0223: BCF 06.5 |
0224: BSF 03.5 |
0225: BCF 06.4 |
0226: BCF 03.5 |
0227: BSF 06.4 |
0228: MOVLW 04 |
0229: MOVWF 72 |
022A: MOVLW FA |
022B: MOVWF 73 |
022C: CALL 04A |
022D: DECFSZ 72,F |
022E: GOTO 22A |
022F: BSF 03.5 |
0230: BCF 06.6 |
0231: BCF 03.5 |
0232: BCF 06.6 |
0233: BSF 03.5 |
0234: BCF 06.7 |
0235: BCF 03.5 |
0236: BCF 06.7 |
0237: BSF 03.5 |
0238: BCF 06.4 |
0239: BCF 03.5 |
023A: BCF 06.4 |
023B: BSF 03.5 |
023C: BCF 06.5 |
023D: BCF 03.5 |
023E: BCF 06.5 |
023F: MOVLW 04 |
0240: MOVWF 72 |
0241: MOVLW FA |
0242: MOVWF 73 |
0243: CALL 04A |
0244: DECFSZ 72,F |
0245: GOTO 241 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0246: BSF 03.5 |
0247: BCF 06.6 |
0248: BCF 03.5 |
0249: BCF 06.6 |
024A: BSF 03.5 |
024B: BCF 06.7 |
024C: BCF 03.5 |
024D: BSF 06.7 |
024E: BSF 03.5 |
024F: BCF 06.4 |
0250: BCF 03.5 |
0251: BCF 06.4 |
0252: BSF 03.5 |
0253: BCF 06.5 |
0254: BCF 03.5 |
0255: BSF 06.5 |
0256: MOVLW 04 |
0257: MOVWF 72 |
0258: MOVLW FA |
0259: MOVWF 73 |
025A: CALL 04A |
025B: DECFSZ 72,F |
025C: GOTO 258 |
025D: BSF 03.5 |
025E: BCF 06.6 |
025F: BCF 03.5 |
0260: BCF 06.6 |
0261: BSF 03.5 |
0262: BCF 06.7 |
0263: BCF 03.5 |
0264: BCF 06.7 |
0265: BSF 03.5 |
0266: BCF 06.4 |
0267: BCF 03.5 |
0268: BCF 06.4 |
0269: BSF 03.5 |
026A: BCF 06.5 |
026B: BCF 03.5 |
026C: BCF 06.5 |
026D: MOVLW 04 |
026E: MOVWF 72 |
026F: MOVLW FA |
0270: MOVWF 73 |
0271: CALL 04A |
0272: DECFSZ 72,F |
0273: GOTO 26F |
.................... }; |
0274: GOTO 14A |
.................... |
.................... while (input(DIAG_SENSORS)) |
0275: BSF 03.5 |
0276: BSF 06.1 |
0277: BCF 03.5 |
0278: BTFSS 06.1 |
0279: GOTO 319 |
.................... { |
.................... int ls, rs; |
.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
027A: BSF 3C.4 |
027B: MOVF 3C,W |
027C: BSF 03.5 |
027D: MOVWF 07 |
027E: BCF 03.5 |
027F: BTFSC 07.4 |
0280: GOTO 28D |
0281: MOVLW 04 |
0282: MOVWF 73 |
0283: MOVLW 4C |
0284: MOVWF 72 |
0285: CLRF 75 |
0286: MOVLW 64 |
0287: MOVWF 74 |
0288: CALL 024 |
0289: MOVLW 32 |
028A: MOVWF 73 |
028B: CALL 04A |
028C: GOTO 27A |
.................... set_adc_channel(RSENSOR); |
028D: MOVLW 08 |
028E: MOVWF 21 |
028F: MOVF 1F,W |
0290: ANDLW C7 |
0291: IORWF 21,W |
0292: MOVWF 1F |
.................... Delay_us(20); |
0293: MOVLW 06 |
0294: MOVWF 20 |
0295: DECFSZ 20,F |
0296: GOTO 295 |
0297: NOP |
.................... rs=read_adc(); |
0298: BSF 1F.2 |
0299: BTFSC 1F.2 |
029A: GOTO 299 |
029B: MOVF 1E,W |
029C: MOVWF 71 |
.................... set_adc_channel(LSENSOR); |
029D: MOVLW 00 |
029E: MOVWF 21 |
029F: MOVF 1F,W |
02A0: ANDLW C7 |
02A1: IORWF 21,W |
02A2: MOVWF 1F |
.................... Delay_us(20); |
02A3: MOVLW 06 |
02A4: MOVWF 20 |
02A5: DECFSZ 20,F |
02A6: GOTO 2A5 |
02A7: NOP |
.................... ls=read_adc(); |
02A8: BSF 1F.2 |
02A9: BTFSC 1F.2 |
02AA: GOTO 2A9 |
02AB: MOVF 1E,W |
02AC: MOVWF 70 |
.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
* |
0004: BCF 0A.0 |
0005: BCF 0A.1 |
0006: BCF 0A.2 |
0007: ADDWF 02,F |
0008: RETLW 4C |
0009: RETLW 3A |
000A: RETLW 20 |
000B: RETLW 25 |
000C: RETLW 55 |
000D: RETLW 20 |
000E: RETLW 20 |
000F: RETLW 52 |
0010: RETLW 3A |
0011: RETLW 20 |
0012: RETLW 25 |
0013: RETLW 55 |
0014: RETLW 00 |
0015: RETLW 00 |
* |
007C: MOVF 21,W |
007D: MOVF 73,W |
007E: MOVWF 75 |
007F: MOVLW 64 |
0080: MOVWF 76 |
0081: CALL 067 |
0082: MOVF 20,W |
0083: MOVWF 73 |
0084: MOVF 21,W |
0085: MOVLW 30 |
0086: BTFSS 03.2 |
0087: GOTO 08F |
0088: BTFSC 74.0 |
0089: BSF 74.3 |
008A: BTFSC 74.3 |
008B: GOTO 095 |
008C: BTFSC 74.4 |
008D: MOVLW 20 |
008E: GOTO 091 |
008F: BCF 74.3 |
0090: BCF 74.4 |
0091: ADDWF 21,F |
0092: MOVF 21,W |
0093: MOVWF 75 |
0094: CALL 05F |
0095: MOVF 73,W |
0096: MOVWF 75 |
0097: MOVLW 0A |
0098: MOVWF 76 |
0099: CALL 067 |
009A: MOVF 20,W |
009B: MOVWF 73 |
009C: MOVF 21,W |
009D: MOVLW 30 |
009E: BTFSS 03.2 |
009F: GOTO 0A4 |
00A0: BTFSC 74.3 |
00A1: GOTO 0A8 |
00A2: BTFSC 74.4 |
00A3: MOVLW 20 |
00A4: ADDWF 21,F |
00A5: MOVF 21,W |
00A6: MOVWF 75 |
00A7: CALL 05F |
00A8: MOVLW 30 |
00A9: ADDWF 73,F |
00AA: MOVF 73,W |
00AB: MOVWF 75 |
00AC: CALL 05F |
00AD: RETLW 00 |
* |
02AD: MOVLW 3D |
02AE: MOVWF 6B |
02AF: MOVLW 4C |
02B0: MOVWF 75 |
02B1: CALL 05F |
02B2: MOVLW 3A |
02B3: MOVWF 75 |
02B4: CALL 05F |
02B5: MOVLW 20 |
02B6: MOVWF 75 |
02B7: CALL 05F |
02B8: MOVF 70,W |
02B9: MOVWF 73 |
02BA: MOVLW 18 |
02BB: MOVWF 74 |
02BC: CALL 07C |
02BD: MOVLW 05 |
02BE: MOVWF 72 |
02BF: MOVF 72,W |
02C0: CALL 004 |
02C1: INCF 72,F |
02C2: MOVWF 75 |
02C3: CALL 05F |
02C4: MOVLW 0A |
02C5: SUBWF 72,W |
02C6: BTFSS 03.2 |
02C7: GOTO 2BF |
02C8: MOVF 71,W |
02C9: MOVWF 73 |
02CA: MOVLW 18 |
02CB: MOVWF 74 |
02CC: CALL 07C |
.................... SendPacket(&AXstring[0]); |
02CD: MOVLW 3D |
02CE: MOVWF 72 |
.................... delay_ms(1000); |
* |
0311: MOVLW 04 |
0312: MOVWF 72 |
0313: MOVLW FA |
0314: MOVWF 73 |
0315: CALL 04A |
0316: DECFSZ 72,F |
0317: GOTO 313 |
.................... }; |
0318: GOTO 275 |
0319: BCF 0A.3 |
031A: GOTO 45E (RETURN) |
.................... } |
.................... |
.................... void cikcak() |
.................... { |
.................... int n; |
.................... switch(movement) // podivej se na jednu stranu |
* |
0364: MOVLW 01 |
0365: SUBWF 67,W |
0366: ADDLW FD |
0367: BTFSC 03.0 |
0368: GOTO 3A4 |
0369: ADDLW 03 |
036A: GOTO 410 |
.................... { |
.................... case L: |
.................... FL;BR; |
036B: BSF 03.5 |
036C: BCF 06.7 |
036D: BCF 03.5 |
036E: BCF 06.7 |
036F: BSF 03.5 |
0370: BCF 06.6 |
0371: BCF 03.5 |
0372: BSF 06.6 |
0373: BSF 03.5 |
0374: BCF 06.4 |
0375: BCF 03.5 |
0376: BCF 06.4 |
0377: BSF 03.5 |
0378: BCF 06.5 |
0379: BCF 03.5 |
037A: BSF 06.5 |
.................... movement=R; |
037B: MOVLW 01 |
037C: MOVWF 67 |
.................... break; |
037D: GOTO 3A4 |
.................... case R: |
.................... FR;BL; |
037E: BSF 03.5 |
037F: BCF 06.5 |
0380: BCF 03.5 |
0381: BCF 06.5 |
0382: BSF 03.5 |
0383: BCF 06.4 |
0384: BCF 03.5 |
0385: BSF 06.4 |
0386: BSF 03.5 |
0387: BCF 06.6 |
0388: BCF 03.5 |
0389: BCF 06.6 |
038A: BSF 03.5 |
038B: BCF 06.7 |
038C: BCF 03.5 |
038D: BSF 06.7 |
.................... movement=L; |
038E: MOVLW 02 |
038F: MOVWF 67 |
.................... break; |
0390: GOTO 3A4 |
.................... case S: |
.................... FR;BL; |
0391: BSF 03.5 |
0392: BCF 06.5 |
0393: BCF 03.5 |
0394: BCF 06.5 |
0395: BSF 03.5 |
0396: BCF 06.4 |
0397: BCF 03.5 |
0398: BSF 06.4 |
0399: BSF 03.5 |
039A: BCF 06.6 |
039B: BCF 03.5 |
039C: BCF 06.6 |
039D: BSF 03.5 |
039E: BCF 06.7 |
039F: BCF 03.5 |
03A0: BSF 06.7 |
.................... movement=L; |
03A1: MOVLW 02 |
03A2: MOVWF 67 |
.................... break; |
03A3: GOTO 3A4 |
.................... } |
* |
0410: BCF 0A.0 |
0411: BCF 0A.1 |
0412: BSF 0A.2 |
0413: ADDWF 02,F |
0414: GOTO 37E |
0415: GOTO 36B |
0416: GOTO 391 |
.................... set_adc_channel(LSENSOR); |
* |
03A4: MOVLW 00 |
03A5: MOVWF 21 |
03A6: MOVF 1F,W |
03A7: ANDLW C7 |
03A8: IORWF 21,W |
03A9: MOVWF 1F |
.................... Delay_us(10); |
03AA: MOVLW 03 |
03AB: MOVWF 20 |
03AC: DECFSZ 20,F |
03AD: GOTO 3AC |
.................... while (tresholdL < read_adc()) // je tam cara?? |
03AE: BSF 1F.2 |
03AF: BTFSC 1F.2 |
03B0: GOTO 3AF |
03B1: MOVF 1E,W |
03B2: SUBWF 65,W |
03B3: BTFSC 03.0 |
03B4: GOTO 3FC |
.................... { |
.................... if (n==50) // asi bude na druhe strane |
03B5: MOVF 6E,W |
03B6: SUBLW 32 |
03B7: BTFSS 03.2 |
03B8: GOTO 3F7 |
.................... { |
.................... STOPR;STOPL; |
03B9: BSF 03.5 |
03BA: BCF 06.4 |
03BB: BCF 03.5 |
03BC: BCF 06.4 |
03BD: BSF 03.5 |
03BE: BCF 06.5 |
03BF: BCF 03.5 |
03C0: BCF 06.5 |
03C1: BSF 03.5 |
03C2: BCF 06.6 |
03C3: BCF 03.5 |
03C4: BCF 06.6 |
03C5: BSF 03.5 |
03C6: BCF 06.7 |
03C7: BCF 03.5 |
03C8: BCF 06.7 |
.................... n=0; |
03C9: CLRF 6E |
.................... switch(movement) |
03CA: MOVLW 01 |
03CB: SUBWF 67,W |
03CC: ADDLW FE |
03CD: BTFSC 03.0 |
03CE: GOTO 3F7 |
03CF: ADDLW 02 |
03D0: GOTO 417 |
.................... { |
.................... case L: |
.................... FL;BR; |
03D1: BSF 03.5 |
03D2: BCF 06.7 |
03D3: BCF 03.5 |
03D4: BCF 06.7 |
03D5: BSF 03.5 |
03D6: BCF 06.6 |
03D7: BCF 03.5 |
03D8: BSF 06.6 |
03D9: BSF 03.5 |
03DA: BCF 06.4 |
03DB: BCF 03.5 |
03DC: BCF 06.4 |
03DD: BSF 03.5 |
03DE: BCF 06.5 |
03DF: BCF 03.5 |
03E0: BSF 06.5 |
.................... movement=R; |
03E1: MOVLW 01 |
03E2: MOVWF 67 |
.................... break; |
03E3: GOTO 3F7 |
.................... case R: |
.................... FR;BL; |
03E4: BSF 03.5 |
03E5: BCF 06.5 |
03E6: BCF 03.5 |
03E7: BCF 06.5 |
03E8: BSF 03.5 |
03E9: BCF 06.4 |
03EA: BCF 03.5 |
03EB: BSF 06.4 |
03EC: BSF 03.5 |
03ED: BCF 06.6 |
03EE: BCF 03.5 |
03EF: BCF 06.6 |
03F0: BSF 03.5 |
03F1: BCF 06.7 |
03F2: BCF 03.5 |
03F3: BSF 06.7 |
.................... movement=L; |
03F4: MOVLW 02 |
03F5: MOVWF 67 |
.................... break; |
03F6: GOTO 3F7 |
.................... } |
* |
0417: BCF 0A.0 |
0418: BCF 0A.1 |
0419: BSF 0A.2 |
041A: ADDWF 02,F |
041B: GOTO 3E4 |
041C: GOTO 3D1 |
.................... } |
.................... Delay_ms(5); |
* |
03F7: MOVLW 05 |
03F8: MOVWF 73 |
03F9: CALL 04A |
.................... n++; |
03FA: INCF 6E,F |
.................... } |
03FB: GOTO 3AE |
.................... STOPL;STOPR; // nasli jsme caru |
03FC: BSF 03.5 |
03FD: BCF 06.6 |
03FE: BCF 03.5 |
03FF: BCF 06.6 |
0400: BSF 03.5 |
0401: BCF 06.7 |
0402: BCF 03.5 |
0403: BCF 06.7 |
0404: BSF 03.5 |
0405: BCF 06.4 |
0406: BCF 03.5 |
0407: BCF 06.4 |
0408: BSF 03.5 |
0409: BCF 06.5 |
040A: BCF 03.5 |
040B: BCF 06.5 |
.................... line=S; |
040C: MOVLW 03 |
040D: MOVWF 68 |
040E: BCF 0A.3 |
040F: GOTO 610 (RETURN) |
.................... } |
.................... void objizdka() |
.................... { |
.................... BL;BR;Delay_ms(300); |
* |
031B: BSF 03.5 |
031C: BCF 06.6 |
031D: BCF 03.5 |
031E: BCF 06.6 |
031F: BSF 03.5 |
0320: BCF 06.7 |
0321: BCF 03.5 |
0322: BSF 06.7 |
0323: BSF 03.5 |
0324: BCF 06.4 |
0325: BCF 03.5 |
0326: BCF 06.4 |
0327: BSF 03.5 |
0328: BCF 06.5 |
0329: BCF 03.5 |
032A: BSF 06.5 |
032B: MOVLW 02 |
032C: MOVWF 6E |
032D: MOVLW 96 |
032E: MOVWF 73 |
032F: CALL 04A |
0330: DECFSZ 6E,F |
0331: GOTO 32D |
.................... STOPR;STOPL; |
0332: BSF 03.5 |
0333: BCF 06.4 |
0334: BCF 03.5 |
0335: BCF 06.4 |
0336: BSF 03.5 |
0337: BCF 06.5 |
0338: BCF 03.5 |
0339: BCF 06.5 |
033A: BSF 03.5 |
033B: BCF 06.6 |
033C: BCF 03.5 |
033D: BCF 06.6 |
033E: BSF 03.5 |
033F: BCF 06.7 |
0340: BCF 03.5 |
0341: BCF 06.7 |
.................... beep(1000,1000); |
0342: MOVLW 03 |
0343: MOVWF 73 |
0344: MOVLW E8 |
0345: MOVWF 72 |
0346: MOVLW 03 |
0347: MOVWF 75 |
0348: MOVLW E8 |
0349: MOVWF 74 |
034A: CALL 024 |
.................... Delay_ms(500); |
034B: MOVLW 02 |
034C: MOVWF 6E |
034D: MOVLW FA |
034E: MOVWF 73 |
034F: CALL 04A |
0350: DECFSZ 6E,F |
0351: GOTO 34D |
.................... beep(1000,1000); |
0352: MOVLW 03 |
0353: MOVWF 73 |
0354: MOVLW E8 |
0355: MOVWF 72 |
0356: MOVLW 03 |
0357: MOVWF 75 |
0358: MOVLW E8 |
0359: MOVWF 74 |
035A: CALL 024 |
.................... Delay_ms(1000); |
035B: MOVLW 04 |
035C: MOVWF 6E |
035D: MOVLW FA |
035E: MOVWF 73 |
035F: CALL 04A |
0360: DECFSZ 6E,F |
0361: GOTO 35D |
0362: BCF 0A.3 |
0363: GOTO 48A (RETURN) |
.................... |
.................... } |
.................... void kalibrace() |
.................... { |
.................... unsigned int16 i; |
.................... int min; |
.................... int max; |
.................... int current; |
.................... int treshold; |
.................... |
.................... FL; BR; Delay_ms(130); |
.................... chyba1: |
.................... FR; BL; //kalibrace leveho cidla |
.................... set_adc_channel(LSENSOR); |
.................... Delay_us(20); |
.................... min=max=read_adc(); |
.................... for (i=1;i<=500;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... FL; BR; |
.................... for (i=1;i<=500;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... STOPL; STOPR; Delay_ms(200); |
.................... if((max-min)<50) {Beep(1000,300); GOTO chyba1;} |
.................... treshold=(max-min)>>1; |
.................... tresholdL=treshold+min; |
.................... |
.................... chyba2: |
.................... FR; BL; |
.................... set_adc_channel(RSENSOR); |
.................... Delay_us(20); |
.................... min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou |
.................... for (i=1;i<=500 ;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; //zmereni minima a maxima |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... FL; BR; |
.................... for (i=1;i<=500 ;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; //zmereni minima a maxima |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... STOPL; STOPR; Delay_ms(200); |
.................... if((max-min)<50) {Beep(1000,300); GOTO chyba2;} |
.................... treshold=(max-min)>>1; |
.................... tresholdR=treshold+min; |
.................... |
.................... FR; BL; |
.................... movement=L; |
.................... set_adc_channel(LSENSOR); |
.................... Delay_us(20); |
.................... while (tresholdL < read_adc()) Delay_us(100); |
.................... FL; BR; Delay_ms(50); |
.................... STOPL; STOPR; Delay_ms(500); |
.................... Beep(780,200); |
.................... } |
.................... |
.................... void main() |
.................... { |
.................... unsigned int16 rovne; // pocita delku rovne cary |
* |
041D: CLRF 04 |
041E: MOVLW 1F |
041F: ANDWF 03,F |
0420: MOVLW 07 |
0421: BSF 03.5 |
0422: MOVWF 1F |
0423: MOVLW 82 |
0424: BCF 03.5 |
0425: MOVWF 25 |
0426: MOVLW 98 |
0427: MOVWF 26 |
0428: MOVWF 27 |
0429: MOVLW 40 |
042A: MOVWF 28 |
042B: MOVWF 29 |
042C: MOVWF 2A |
042D: MOVLW 60 |
042E: MOVWF 2B |
042F: MOVLW 86 |
0430: MOVWF 2C |
0431: MOVLW B4 |
0432: MOVWF 2D |
0433: MOVLW 60 |
0434: MOVWF 2E |
0435: MOVLW A4 |
0436: MOVWF 2F |
0437: MOVWF 30 |
0438: MOVWF 31 |
0439: MOVLW 61 |
043A: MOVWF 32 |
043B: MOVLW 03 |
043C: MOVWF 33 |
043D: MOVLW F0 |
043E: MOVWF 34 |
043F: MOVLW FF |
0440: MOVWF 3C |
0441: CLRF 6B |
.................... |
.................... STOPL; STOPR; |
0442: BSF 03.5 |
0443: BCF 06.6 |
0444: BCF 03.5 |
0445: BCF 06.6 |
0446: BSF 03.5 |
0447: BCF 06.7 |
0448: BCF 03.5 |
0449: BCF 06.7 |
044A: BSF 03.5 |
044B: BCF 06.4 |
044C: BCF 03.5 |
044D: BCF 06.4 |
044E: BSF 03.5 |
044F: BCF 06.5 |
0450: BCF 03.5 |
0451: BCF 06.5 |
.................... |
.................... setup_adc_ports(RA0_RA1_RA3_ANALOG); |
0452: MOVLW 04 |
0453: BSF 03.5 |
0454: MOVWF 1F |
.................... setup_adc(ADC_CLOCK_DIV_2); |
0455: BCF 03.5 |
0456: MOVF 1F,W |
0457: ANDLW 38 |
0458: IORLW 01 |
0459: MOVWF 1F |
.................... |
.................... port_b_pullups(false); |
045A: BSF 03.5 |
045B: BSF 01.7 |
.................... |
.................... diagnostika(); |
045C: BCF 03.5 |
045D: GOTO 14A |
.................... |
.................... Beep(1000,200); //double beep |
045E: MOVLW 03 |
045F: MOVWF 73 |
0460: MOVLW E8 |
0461: MOVWF 72 |
0462: CLRF 75 |
0463: MOVLW C8 |
0464: MOVWF 74 |
0465: CALL 024 |
.................... Delay_ms(50); |
0466: MOVLW 32 |
0467: MOVWF 73 |
0468: CALL 04A |
.................... Beep(1000,200); |
0469: MOVLW 03 |
046A: MOVWF 73 |
046B: MOVLW E8 |
046C: MOVWF 72 |
046D: CLRF 75 |
046E: MOVLW C8 |
046F: MOVWF 74 |
0470: CALL 024 |
.................... Delay_ms(1000); // 1s |
0471: MOVLW 04 |
0472: MOVWF 6E |
0473: MOVLW FA |
0474: MOVWF 73 |
0475: CALL 04A |
0476: DECFSZ 6E,F |
0477: GOTO 473 |
.................... |
.................... // kalibrace(); |
.................... tresholdl=tresholdr=80; |
0478: MOVLW 50 |
0479: MOVWF 66 |
047A: MOVWF 65 |
.................... // FL; FR; |
.................... movement=S; |
047B: MOVLW 03 |
047C: MOVWF 67 |
.................... line=S; |
047D: MOVWF 68 |
.................... dira=0; |
047E: CLRF 6A |
047F: CLRF 69 |
.................... rovne=0; |
0480: CLRF 6D |
0481: CLRF 6C |
.................... |
.................... while(true) |
.................... { |
.................... if(!input(BUMPER)) objizdka(); |
0482: BSF 3C.4 |
0483: MOVF 3C,W |
0484: BSF 03.5 |
0485: MOVWF 07 |
0486: BCF 03.5 |
0487: BTFSC 07.4 |
0488: GOTO 48A |
0489: GOTO 31B |
.................... line=0; |
048A: CLRF 68 |
.................... set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
048B: MOVLW 08 |
048C: MOVWF 21 |
048D: MOVF 1F,W |
048E: ANDLW C7 |
048F: IORWF 21,W |
0490: MOVWF 1F |
.................... Delay_us(10); |
0491: MOVLW 03 |
0492: MOVWF 20 |
0493: DECFSZ 20,F |
0494: GOTO 493 |
.................... if(tresholdR > read_adc()) |
0495: BSF 1F.2 |
0496: BTFSC 1F.2 |
0497: GOTO 496 |
0498: MOVF 1E,W |
0499: SUBWF 66,W |
049A: BTFSC 03.2 |
049B: GOTO 4A2 |
049C: BTFSS 03.0 |
049D: GOTO 4A2 |
.................... { |
.................... dira=0; |
049E: CLRF 6A |
049F: CLRF 69 |
.................... line=R; |
04A0: MOVLW 01 |
04A1: MOVWF 68 |
.................... } |
.................... set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
04A2: MOVLW 00 |
04A3: MOVWF 21 |
04A4: MOVF 1F,W |
04A5: ANDLW C7 |
04A6: IORWF 21,W |
04A7: MOVWF 1F |
.................... Delay_us(10); |
04A8: MOVLW 03 |
04A9: MOVWF 20 |
04AA: DECFSZ 20,F |
04AB: GOTO 4AA |
.................... if(tresholdL > read_adc()) |
04AC: BSF 1F.2 |
04AD: BTFSC 1F.2 |
04AE: GOTO 4AD |
04AF: MOVF 1E,W |
04B0: SUBWF 65,W |
04B1: BTFSC 03.2 |
04B2: GOTO 4B8 |
04B3: BTFSS 03.0 |
04B4: GOTO 4B8 |
.................... { |
.................... dira=0; |
04B5: CLRF 6A |
04B6: CLRF 69 |
.................... line=line | L; |
04B7: BSF 68.1 |
.................... } |
.................... |
.................... switch(line) |
04B8: MOVF 68,W |
04B9: MOVWF 20 |
04BA: MOVLW 03 |
04BB: SUBWF 20,W |
04BC: BTFSC 03.2 |
04BD: GOTO 4C7 |
04BE: MOVLW 02 |
04BF: SUBWF 20,W |
04C0: BTFSC 03.2 |
04C1: GOTO 4DA |
04C2: MOVLW 01 |
04C3: SUBWF 20,W |
04C4: BTFSC 03.2 |
04C5: GOTO 4ED |
04C6: GOTO 500 |
.................... { |
.................... case S: |
.................... FR;FL; |
04C7: BSF 03.5 |
04C8: BCF 06.5 |
04C9: BCF 03.5 |
04CA: BCF 06.5 |
04CB: BSF 03.5 |
04CC: BCF 06.4 |
04CD: BCF 03.5 |
04CE: BSF 06.4 |
04CF: BSF 03.5 |
04D0: BCF 06.7 |
04D1: BCF 03.5 |
04D2: BCF 06.7 |
04D3: BSF 03.5 |
04D4: BCF 06.6 |
04D5: BCF 03.5 |
04D6: BSF 06.6 |
.................... movement=S; |
04D7: MOVLW 03 |
04D8: MOVWF 67 |
.................... continue; |
04D9: GOTO 482 |
.................... case L: |
.................... STOPL; |
04DA: BSF 03.5 |
04DB: BCF 06.6 |
04DC: BCF 03.5 |
04DD: BCF 06.6 |
04DE: BSF 03.5 |
04DF: BCF 06.7 |
04E0: BCF 03.5 |
04E1: BCF 06.7 |
.................... FR;movement=L; |
04E2: BSF 03.5 |
04E3: BCF 06.5 |
04E4: BCF 03.5 |
04E5: BCF 06.5 |
04E6: BSF 03.5 |
04E7: BCF 06.4 |
04E8: BCF 03.5 |
04E9: BSF 06.4 |
04EA: MOVLW 02 |
04EB: MOVWF 67 |
.................... continue; |
04EC: GOTO 482 |
.................... case R: |
.................... STOPR; |
04ED: BSF 03.5 |
04EE: BCF 06.4 |
04EF: BCF 03.5 |
04F0: BCF 06.4 |
04F1: BSF 03.5 |
04F2: BCF 06.5 |
04F3: BCF 03.5 |
04F4: BCF 06.5 |
.................... FL;movement=R; |
04F5: BSF 03.5 |
04F6: BCF 06.7 |
04F7: BCF 03.5 |
04F8: BCF 06.7 |
04F9: BSF 03.5 |
04FA: BCF 06.6 |
04FB: BCF 03.5 |
04FC: BSF 06.6 |
04FD: MOVLW 01 |
04FE: MOVWF 67 |
.................... continue; |
04FF: GOTO 482 |
.................... default: |
.................... } |
.................... |
.................... if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose |
0500: DECFSZ 69,W |
0501: GOTO 54A |
0502: MOVF 6A,F |
0503: BTFSS 03.2 |
0504: GOTO 54A |
.................... { |
.................... //BR;BL;Delay_us(rovne >>= 5); |
.................... rovne=0; //kdyz sme museli zatocit, uz neni rovna cara |
0505: CLRF 6D |
0506: CLRF 6C |
.................... |
.................... switch (line) // musime zatocit |
0507: MOVLW 01 |
0508: SUBWF 68,W |
0509: ADDLW FE |
050A: BTFSC 03.0 |
050B: GOTO 54A |
050C: ADDLW 02 |
050D: GOTO 617 |
.................... { |
.................... case L: |
.................... BL;Delay_ms(BRZDENI);STOPL; |
050E: BSF 03.5 |
050F: BCF 06.6 |
0510: BCF 03.5 |
0511: BCF 06.6 |
0512: BSF 03.5 |
0513: BCF 06.7 |
0514: BCF 03.5 |
0515: BSF 06.7 |
0516: MOVLW 64 |
0517: MOVWF 73 |
0518: CALL 04A |
0519: BSF 03.5 |
051A: BCF 06.6 |
051B: BCF 03.5 |
051C: BCF 06.6 |
051D: BSF 03.5 |
051E: BCF 06.7 |
051F: BCF 03.5 |
0520: BCF 06.7 |
.................... FR; |
0521: BSF 03.5 |
0522: BCF 06.5 |
0523: BCF 03.5 |
0524: BCF 06.5 |
0525: BSF 03.5 |
0526: BCF 06.4 |
0527: BCF 03.5 |
0528: BSF 06.4 |
.................... movement=L; |
0529: MOVLW 02 |
052A: MOVWF 67 |
.................... break; |
052B: GOTO 54A |
.................... case R: |
.................... BR;Delay_ms(BRZDENI);STOPR; |
052C: BSF 03.5 |
052D: BCF 06.4 |
052E: BCF 03.5 |
052F: BCF 06.4 |
0530: BSF 03.5 |
0531: BCF 06.5 |
0532: BCF 03.5 |
0533: BSF 06.5 |
0534: MOVLW 64 |
0535: MOVWF 73 |
0536: CALL 04A |
0537: BSF 03.5 |
0538: BCF 06.4 |
0539: BCF 03.5 |
053A: BCF 06.4 |
053B: BSF 03.5 |
053C: BCF 06.5 |
053D: BCF 03.5 |
053E: BCF 06.5 |
.................... FL; |
053F: BSF 03.5 |
0540: BCF 06.7 |
0541: BCF 03.5 |
0542: BCF 06.7 |
0543: BSF 03.5 |
0544: BCF 06.6 |
0545: BCF 03.5 |
0546: BSF 06.6 |
.................... movement=R; |
0547: MOVLW 01 |
0548: MOVWF 67 |
.................... break; |
0549: GOTO 54A |
.................... } |
* |
0617: BCF 0A.0 |
0618: BSF 0A.1 |
0619: BSF 0A.2 |
061A: ADDWF 02,F |
061B: GOTO 52C |
061C: GOTO 50E |
.................... } |
.................... if (dira==MEZERA) // kdyz zkoncila cara |
* |
054A: MOVF 69,W |
054B: SUBLW 18 |
054C: BTFSS 03.2 |
054D: GOTO 612 |
054E: MOVF 6A,W |
054F: SUBLW 15 |
0550: BTFSS 03.2 |
0551: GOTO 612 |
.................... { |
.................... beep(800,500); |
0552: MOVLW 03 |
0553: MOVWF 73 |
0554: MOVLW 20 |
0555: MOVWF 72 |
0556: MOVLW 01 |
0557: MOVWF 75 |
0558: MOVLW F4 |
0559: MOVWF 74 |
055A: CALL 024 |
.................... Delay_ms(50); |
055B: MOVLW 32 |
055C: MOVWF 73 |
055D: CALL 04A |
.................... beep(800,500); |
055E: MOVLW 03 |
055F: MOVWF 73 |
0560: MOVLW 20 |
0561: MOVWF 72 |
0562: MOVLW 01 |
0563: MOVWF 75 |
0564: MOVLW F4 |
0565: MOVWF 74 |
0566: CALL 024 |
.................... switch (movement) //vrat se zpet na caru |
0567: MOVLW 01 |
0568: SUBWF 67,W |
0569: ADDLW FD |
056A: BTFSC 03.0 |
056B: GOTO 5E6 |
056C: ADDLW 03 |
056D: GOTO 61D |
.................... { |
.................... case L: |
.................... STOPL;STOPR; |
056E: BSF 03.5 |
056F: BCF 06.6 |
0570: BCF 03.5 |
0571: BCF 06.6 |
0572: BSF 03.5 |
0573: BCF 06.7 |
0574: BCF 03.5 |
0575: BCF 06.7 |
0576: BSF 03.5 |
0577: BCF 06.4 |
0578: BCF 03.5 |
0579: BCF 06.4 |
057A: BSF 03.5 |
057B: BCF 06.5 |
057C: BCF 03.5 |
057D: BCF 06.5 |
.................... BR;Delay_ms(COUVANI);STOPR; |
057E: BSF 03.5 |
057F: BCF 06.4 |
0580: BCF 03.5 |
0581: BCF 06.4 |
0582: BSF 03.5 |
0583: BCF 06.5 |
0584: BCF 03.5 |
0585: BSF 06.5 |
0586: MOVLW 08 |
0587: MOVWF 6E |
0588: MOVLW C8 |
0589: MOVWF 73 |
058A: CALL 04A |
058B: DECFSZ 6E,F |
058C: GOTO 588 |
058D: BSF 03.5 |
058E: BCF 06.4 |
058F: BCF 03.5 |
0590: BCF 06.4 |
0591: BSF 03.5 |
0592: BCF 06.5 |
0593: BCF 03.5 |
0594: BCF 06.5 |
.................... break; |
0595: GOTO 5E6 |
.................... case R: |
.................... STOPL;STOPR; |
0596: BSF 03.5 |
0597: BCF 06.6 |
0598: BCF 03.5 |
0599: BCF 06.6 |
059A: BSF 03.5 |
059B: BCF 06.7 |
059C: BCF 03.5 |
059D: BCF 06.7 |
059E: BSF 03.5 |
059F: BCF 06.4 |
05A0: BCF 03.5 |
05A1: BCF 06.4 |
05A2: BSF 03.5 |
05A3: BCF 06.5 |
05A4: BCF 03.5 |
05A5: BCF 06.5 |
.................... BL;Delay_ms(COUVANI);STOPL; |
05A6: BSF 03.5 |
05A7: BCF 06.6 |
05A8: BCF 03.5 |
05A9: BCF 06.6 |
05AA: BSF 03.5 |
05AB: BCF 06.7 |
05AC: BCF 03.5 |
05AD: BSF 06.7 |
05AE: MOVLW 08 |
05AF: MOVWF 6E |
05B0: MOVLW C8 |
05B1: MOVWF 73 |
05B2: CALL 04A |
05B3: DECFSZ 6E,F |
05B4: GOTO 5B0 |
05B5: BSF 03.5 |
05B6: BCF 06.6 |
05B7: BCF 03.5 |
05B8: BCF 06.6 |
05B9: BSF 03.5 |
05BA: BCF 06.7 |
05BB: BCF 03.5 |
05BC: BCF 06.7 |
.................... break; |
05BD: GOTO 5E6 |
.................... case S: |
.................... BL; BR; Delay_ms(COUVANI); |
05BE: BSF 03.5 |
05BF: BCF 06.6 |
05C0: BCF 03.5 |
05C1: BCF 06.6 |
05C2: BSF 03.5 |
05C3: BCF 06.7 |
05C4: BCF 03.5 |
05C5: BSF 06.7 |
05C6: BSF 03.5 |
05C7: BCF 06.4 |
05C8: BCF 03.5 |
05C9: BCF 06.4 |
05CA: BSF 03.5 |
05CB: BCF 06.5 |
05CC: BCF 03.5 |
05CD: BSF 06.5 |
05CE: MOVLW 08 |
05CF: MOVWF 6E |
05D0: MOVLW C8 |
05D1: MOVWF 73 |
05D2: CALL 04A |
05D3: DECFSZ 6E,F |
05D4: GOTO 5D0 |
.................... STOPL; STOPR; |
05D5: BSF 03.5 |
05D6: BCF 06.6 |
05D7: BCF 03.5 |
05D8: BCF 06.6 |
05D9: BSF 03.5 |
05DA: BCF 06.7 |
05DB: BCF 03.5 |
05DC: BCF 06.7 |
05DD: BSF 03.5 |
05DE: BCF 06.4 |
05DF: BCF 03.5 |
05E0: BCF 06.4 |
05E1: BSF 03.5 |
05E2: BCF 06.5 |
05E3: BCF 03.5 |
05E4: BCF 06.5 |
.................... break; |
05E5: GOTO 5E6 |
.................... } |
* |
061D: BCF 0A.0 |
061E: BSF 0A.1 |
061F: BSF 0A.2 |
0620: ADDWF 02,F |
0621: GOTO 596 |
0622: GOTO 56E |
0623: GOTO 5BE |
.................... |
.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
* |
05E6: BSF 03.5 |
05E7: BCF 06.5 |
05E8: BCF 03.5 |
05E9: BCF 06.5 |
05EA: BSF 03.5 |
05EB: BCF 06.4 |
05EC: BCF 03.5 |
05ED: BSF 06.4 |
05EE: BSF 03.5 |
05EF: BCF 06.7 |
05F0: BCF 03.5 |
05F1: BCF 06.7 |
05F2: BSF 03.5 |
05F3: BCF 06.6 |
05F4: BCF 03.5 |
05F5: BSF 06.6 |
05F6: MOVLW 02 |
05F7: MOVWF 6E |
05F8: MOVLW C8 |
05F9: MOVWF 73 |
05FA: CALL 04A |
05FB: DECFSZ 6E,F |
05FC: GOTO 5F8 |
.................... STOPL; STOPR; movement=S; |
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 |
060D: MOVLW 03 |
060E: MOVWF 67 |
.................... cikcak(); // najdi caru |
060F: GOTO 364 |
.................... dira=0; |
0610: CLRF 6A |
0611: CLRF 69 |
.................... } |
.................... dira++; |
0612: INCF 69,F |
0613: BTFSC 03.2 |
0614: INCF 6A,F |
.................... } // while(true) |
0615: GOTO 482 |
.................... } |
.................... |
0616: SLEEP |