| /roboti/solarni/2005/DART_rozjezd2.txt |
|---|
| 0,0 → 1,1712 |
| START: 28.8.2005 17:16:54 |
| STOP : 28.8.2005 17:17:19 |
| TIME STEP: |
| 100 = 5s |
| VOLTAGE STEP: |
| 32 = 3V |
| N CH1 |
| 1 40 |
| 2 40 |
| 3 39 |
| 4 40 |
| 5 39 |
| 6 40 |
| 7 40 |
| 8 40 |
| 9 40 |
| 10 40 |
| 11 40 |
| 12 40 |
| 13 40 |
| 14 40 |
| 15 41 |
| 16 40 |
| 17 41 |
| 18 40 |
| 19 42 |
| 20 44 |
| 21 48 |
| 22 50 |
| 23 53 |
| 24 54 |
| 25 55 |
| 26 58 |
| 27 59 |
| 28 61 |
| 29 62 |
| 30 63 |
| 31 65 |
| 32 65 |
| 33 68 |
| 34 69 |
| 35 70 |
| 36 71 |
| 37 71 |
| 38 73 |
| 39 74 |
| 40 75 |
| 41 75 |
| 42 77 |
| 43 78 |
| 44 79 |
| 45 80 |
| 46 81 |
| 47 82 |
| 48 82 |
| 49 84 |
| 50 84 |
| 51 85 |
| 52 85 |
| 53 87 |
| 54 87 |
| 55 88 |
| 56 89 |
| 57 90 |
| 58 90 |
| 59 91 |
| 60 92 |
| 61 93 |
| 62 94 |
| 63 94 |
| 64 95 |
| 65 96 |
| 66 96 |
| 67 96 |
| 68 97 |
| 69 98 |
| 70 99 |
| 71 100 |
| 72 100 |
| 73 101 |
| 74 101 |
| 75 102 |
| 76 102 |
| 77 103 |
| 78 104 |
| 79 104 |
| 80 105 |
| 81 105 |
| 82 106 |
| 83 107 |
| 84 107 |
| 85 107 |
| 86 108 |
| 87 109 |
| 88 110 |
| 89 110 |
| 90 110 |
| 91 111 |
| 92 111 |
| 93 112 |
| 94 113 |
| 95 113 |
| 96 114 |
| 97 114 |
| 98 115 |
| 99 115 |
| 100 116 |
| 101 117 |
| 102 117 |
| 103 118 |
| 104 118 |
| 105 119 |
| 106 119 |
| 107 120 |
| 108 119 |
| 109 121 |
| 110 122 |
| 111 122 |
| 112 122 |
| 113 122 |
| 114 123 |
| 115 123 |
| 116 124 |
| 117 124 |
| 118 125 |
| 119 125 |
| 120 126 |
| 121 127 |
| 122 127 |
| 123 127 |
| 124 127 |
| 125 127 |
| 126 128 |
| 127 129 |
| 128 129 |
| 129 129 |
| 130 130 |
| 131 130 |
| 132 131 |
| 133 131 |
| 134 132 |
| 135 132 |
| 136 132 |
| 137 133 |
| 138 134 |
| 139 134 |
| 140 134 |
| 141 135 |
| 142 135 |
| 143 135 |
| 144 135 |
| 145 136 |
| 146 136 |
| 147 137 |
| 148 137 |
| 149 137 |
| 150 137 |
| 151 139 |
| 152 139 |
| 153 139 |
| 154 139 |
| 155 140 |
| 156 141 |
| 157 140 |
| 158 141 |
| 159 141 |
| 160 141 |
| 161 142 |
| 162 142 |
| 163 143 |
| 164 143 |
| 165 143 |
| 166 143 |
| 167 145 |
| 168 145 |
| 169 145 |
| 170 145 |
| 171 146 |
| 172 146 |
| 173 147 |
| 174 146 |
| 175 148 |
| 176 147 |
| 177 148 |
| 178 148 |
| 179 148 |
| 180 149 |
| 181 149 |
| 182 150 |
| 183 150 |
| 184 150 |
| 185 151 |
| 186 151 |
| 187 151 |
| 188 151 |
| 189 153 |
| 190 152 |
| 191 152 |
| 192 153 |
| 193 154 |
| 194 154 |
| 195 154 |
| 196 155 |
| 197 154 |
| 198 155 |
| 199 155 |
| 200 156 |
| 201 156 |
| 202 157 |
| 203 157 |
| 204 157 |
| 205 158 |
| 206 157 |
| 207 158 |
| 208 158 |
| 209 158 |
| 210 159 |
| 211 159 |
| 212 160 |
| 213 160 |
| 214 160 |
| 215 160 |
| 216 161 |
| 217 161 |
| 218 161 |
| 219 161 |
| 220 162 |
| 221 162 |
| 222 162 |
| 223 162 |
| 224 163 |
| 225 163 |
| 226 163 |
| 227 163 |
| 228 164 |
| 229 164 |
| 230 165 |
| 231 165 |
| 232 166 |
| 233 166 |
| 234 166 |
| 235 166 |
| 236 167 |
| 237 167 |
| 238 167 |
| 239 167 |
| 240 168 |
| 241 168 |
| 242 168 |
| 243 169 |
| 244 169 |
| 245 169 |
| 246 169 |
| 247 169 |
| 248 169 |
| 249 170 |
| 250 170 |
| 251 170 |
| 252 171 |
| 253 171 |
| 254 171 |
| 255 172 |
| 256 172 |
| 257 172 |
| 258 172 |
| 259 173 |
| 260 173 |
| 261 173 |
| 262 173 |
| 263 173 |
| 264 174 |
| 265 174 |
| 266 174 |
| 267 175 |
| 268 175 |
| 269 175 |
| 270 175 |
| 271 176 |
| 272 176 |
| 273 177 |
| 274 176 |
| 275 177 |
| 276 177 |
| 277 177 |
| 278 177 |
| 279 178 |
| 280 178 |
| 281 178 |
| 282 179 |
| 283 179 |
| 284 179 |
| 285 180 |
| 286 180 |
| 287 180 |
| 288 181 |
| 289 181 |
| 290 181 |
| 291 181 |
| 292 181 |
| 293 181 |
| 294 182 |
| 295 182 |
| 296 182 |
| 297 183 |
| 298 183 |
| 299 183 |
| 300 183 |
| 301 184 |
| 302 183 |
| 303 184 |
| 304 184 |
| 305 184 |
| 306 184 |
| 307 185 |
| 308 185 |
| 309 186 |
| 310 186 |
| 311 186 |
| 312 186 |
| 313 186 |
| 314 187 |
| 315 187 |
| 316 187 |
| 317 187 |
| 318 187 |
| 319 187 |
| 320 186 |
| 321 185 |
| 322 184 |
| 323 180 |
| 324 175 |
| 325 172 |
| 326 165 |
| 327 159 |
| 328 153 |
| 329 146 |
| 330 137 |
| 331 131 |
| 332 124 |
| 333 116 |
| 334 110 |
| 335 110 |
| 336 110 |
| 337 110 |
| 338 110 |
| 339 110 |
| 340 110 |
| 341 111 |
| 342 111 |
| 343 111 |
| 344 110 |
| 345 110 |
| 346 110 |
| 347 111 |
| 348 111 |
| 349 111 |
| 350 111 |
| 351 111 |
| 352 111 |
| 353 111 |
| 354 111 |
| 355 111 |
| 356 31 |
| 357 111 |
| 358 112 |
| 359 111 |
| 360 111 |
| 361 111 |
| 362 112 |
| 363 112 |
| 364 112 |
| 365 112 |
| 366 111 |
| 367 112 |
| 368 111 |
| 369 112 |
| 370 111 |
| 371 112 |
| 372 112 |
| 373 112 |
| 374 112 |
| 375 112 |
| 376 112 |
| 377 112 |
| 378 112 |
| 379 112 |
| 380 111 |
| 381 112 |
| 382 111 |
| 383 112 |
| 384 112 |
| 385 112 |
| 386 112 |
| 387 112 |
| 388 112 |
| 389 112 |
| 390 112 |
| 391 112 |
| 392 112 |
| 393 112 |
| 394 112 |
| 395 112 |
| 396 112 |
| 397 112 |
| 398 112 |
| 399 112 |
| 400 112 |
| 401 112 |
| 402 111 |
| 403 112 |
| 404 112 |
| 405 112 |
| 406 112 |
| 407 113 |
| 408 112 |
| 409 112 |
| 410 112 |
| 411 112 |
| 412 112 |
| 413 113 |
| 414 113 |
| 415 112 |
| 416 112 |
| 417 112 |
| 418 112 |
| 419 112 |
| 420 112 |
| 421 113 |
| 422 112 |
| 423 112 |
| 424 113 |
| 425 112 |
| 426 112 |
| 427 112 |
| 428 112 |
| 429 112 |
| 430 112 |
| 431 112 |
| 432 113 |
| 433 112 |
| 434 113 |
| 435 112 |
| 436 112 |
| 437 112 |
| 438 112 |
| 439 113 |
| 440 112 |
| 441 112 |
| 442 112 |
| 443 112 |
| 444 112 |
| 445 113 |
| 446 112 |
| 447 113 |
| 448 112 |
| 449 112 |
| 450 112 |
| 451 113 |
| 452 112 |
| 453 113 |
| 454 113 |
| 455 113 |
| 456 112 |
| 457 112 |
| 458 112 |
| 459 113 |
| 460 113 |
| 461 113 |
| 462 112 |
| 463 113 |
| 464 112 |
| 465 113 |
| 466 112 |
| 467 112 |
| 468 112 |
| 469 112 |
| 470 112 |
| 471 113 |
| 472 113 |
| 473 113 |
| 474 112 |
| 475 113 |
| 476 113 |
| 477 112 |
| 478 112 |
| 479 112 |
| 480 112 |
| 481 112 |
| 482 112 |
| 483 112 |
| 484 113 |
| 485 112 |
| 486 113 |
| 487 113 |
| 488 113 |
| 489 112 |
| 490 112 |
| 491 113 |
| 492 112 |
| 493 112 |
| 494 113 |
| 495 113 |
| 496 112 |
| 497 113 |
| 498 112 |
| 499 113 |
| 500 113 |
| 501 113 |
| 502 112 |
| 503 112 |
| 504 113 |
| 505 112 |
| 506 112 |
| 507 112 |
| 508 113 |
| 509 0 |
| 510 0 |
| 511 0 |
| 512 0 |
| 513 0 |
| 514 0 |
| 515 0 |
| 516 0 |
| 517 0 |
| 518 0 |
| 519 0 |
| 520 0 |
| 521 0 |
| 522 0 |
| 523 0 |
| 524 0 |
| 525 0 |
| 526 0 |
| 527 0 |
| 528 0 |
| 529 0 |
| 530 0 |
| 531 0 |
| 532 0 |
| 533 0 |
| 534 0 |
| 535 0 |
| 536 0 |
| 537 0 |
| 538 0 |
| 539 0 |
| 540 0 |
| 541 0 |
| 542 0 |
| 543 0 |
| 544 0 |
| 545 0 |
| 546 0 |
| 547 0 |
| 548 0 |
| 549 0 |
| 550 0 |
| 551 0 |
| 552 0 |
| 553 0 |
| 554 0 |
| 555 0 |
| 556 0 |
| 557 0 |
| 558 0 |
| 559 0 |
| 560 0 |
| 561 0 |
| 562 0 |
| 563 0 |
| 564 0 |
| 565 0 |
| 566 0 |
| 567 0 |
| 568 0 |
| 569 0 |
| 570 0 |
| 571 0 |
| 572 0 |
| 573 0 |
| 574 0 |
| 575 0 |
| 576 0 |
| 577 0 |
| 578 0 |
| 579 0 |
| 580 0 |
| 581 0 |
| 582 0 |
| 583 0 |
| 584 0 |
| 585 0 |
| 586 0 |
| 587 0 |
| 588 0 |
| 589 0 |
| 590 0 |
| 591 0 |
| 592 0 |
| 593 0 |
| 594 0 |
| 595 0 |
| 596 0 |
| 597 0 |
| 598 0 |
| 599 0 |
| 600 0 |
| 601 0 |
| 602 0 |
| 603 0 |
| 604 0 |
| 605 0 |
| 606 0 |
| 607 0 |
| 608 0 |
| 609 0 |
| 610 0 |
| 611 0 |
| 612 0 |
| 613 0 |
| 614 0 |
| 615 0 |
| 616 0 |
| 617 0 |
| 618 0 |
| 619 0 |
| 620 0 |
| 621 0 |
| 622 0 |
| 623 0 |
| 624 0 |
| 625 0 |
| 626 0 |
| 627 0 |
| 628 0 |
| 629 0 |
| 630 0 |
| 631 0 |
| 632 0 |
| 633 0 |
| 634 0 |
| 635 0 |
| 636 0 |
| 637 0 |
| 638 0 |
| 639 0 |
| 640 0 |
| 641 0 |
| 642 0 |
| 643 0 |
| 644 0 |
| 645 0 |
| 646 0 |
| 647 0 |
| 648 0 |
| 649 0 |
| 650 0 |
| 651 0 |
| 652 0 |
| 653 0 |
| 654 0 |
| 655 0 |
| 656 0 |
| 657 0 |
| 658 0 |
| 659 0 |
| 660 0 |
| 661 0 |
| 662 0 |
| 663 0 |
| 664 0 |
| 665 0 |
| 666 0 |
| 667 0 |
| 668 0 |
| 669 0 |
| 670 0 |
| 671 0 |
| 672 0 |
| 673 0 |
| 674 0 |
| 675 0 |
| 676 0 |
| 677 0 |
| 678 0 |
| 679 0 |
| 680 0 |
| 681 0 |
| 682 0 |
| 683 0 |
| 684 0 |
| 685 0 |
| 686 0 |
| 687 0 |
| 688 0 |
| 689 0 |
| 690 0 |
| 691 0 |
| 692 0 |
| 693 0 |
| 694 0 |
| 695 0 |
| 696 0 |
| 697 0 |
| 698 0 |
| 699 0 |
| 700 0 |
| 701 0 |
| 702 0 |
| 703 0 |
| 704 0 |
| 705 0 |
| 706 0 |
| 707 0 |
| 708 0 |
| 709 0 |
| 710 0 |
| 711 0 |
| 712 0 |
| 713 0 |
| 714 0 |
| 715 0 |
| 716 0 |
| 717 0 |
| 718 0 |
| 719 0 |
| 720 0 |
| 721 0 |
| 722 0 |
| 723 0 |
| 724 0 |
| 725 0 |
| 726 0 |
| 727 0 |
| 728 0 |
| 729 0 |
| 730 0 |
| 731 0 |
| 732 0 |
| 733 0 |
| 734 0 |
| 735 0 |
| 736 0 |
| 737 0 |
| 738 0 |
| 739 0 |
| 740 0 |
| 741 0 |
| 742 0 |
| 743 0 |
| 744 0 |
| 745 0 |
| 746 0 |
| 747 0 |
| 748 0 |
| 749 0 |
| 750 0 |
| 751 0 |
| 752 0 |
| 753 0 |
| 754 0 |
| 755 0 |
| 756 0 |
| 757 0 |
| 758 0 |
| 759 0 |
| 760 0 |
| 761 0 |
| 762 0 |
| 763 0 |
| 764 0 |
| 765 0 |
| 766 0 |
| 767 0 |
| 768 0 |
| 769 0 |
| 770 0 |
| 771 0 |
| 772 0 |
| 773 0 |
| 774 0 |
| 775 0 |
| 776 0 |
| 777 0 |
| 778 0 |
| 779 0 |
| 780 0 |
| 781 0 |
| 782 0 |
| 783 0 |
| 784 0 |
| 785 0 |
| 786 0 |
| 787 0 |
| 788 0 |
| 789 0 |
| 790 0 |
| 791 0 |
| 792 0 |
| 793 0 |
| 794 0 |
| 795 0 |
| 796 0 |
| 797 0 |
| 798 0 |
| 799 0 |
| 800 0 |
| 801 0 |
| 802 0 |
| 803 0 |
| 804 0 |
| 805 0 |
| 806 0 |
| 807 0 |
| 808 0 |
| 809 0 |
| 810 0 |
| 811 0 |
| 812 0 |
| 813 0 |
| 814 0 |
| 815 0 |
| 816 0 |
| 817 0 |
| 818 0 |
| 819 0 |
| 820 0 |
| 821 0 |
| 822 0 |
| 823 0 |
| 824 0 |
| 825 0 |
| 826 0 |
| 827 0 |
| 828 0 |
| 829 0 |
| 830 0 |
| 831 0 |
| 832 0 |
| 833 0 |
| 834 0 |
| 835 0 |
| 836 0 |
| 837 0 |
| 838 0 |
| 839 0 |
| 840 0 |
| 841 0 |
| 842 0 |
| 843 0 |
| 844 0 |
| 845 0 |
| 846 0 |
| 847 0 |
| 848 0 |
| 849 0 |
| 850 0 |
| 851 0 |
| 852 0 |
| 853 0 |
| 854 0 |
| 855 0 |
| 856 0 |
| 857 0 |
| 858 0 |
| 859 0 |
| 860 0 |
| 861 0 |
| 862 0 |
| 863 0 |
| 864 0 |
| 865 0 |
| 866 0 |
| 867 0 |
| 868 0 |
| 869 0 |
| 870 0 |
| 871 0 |
| 872 0 |
| 873 0 |
| 874 0 |
| 875 0 |
| 876 0 |
| 877 0 |
| 878 0 |
| 879 0 |
| 880 0 |
| 881 0 |
| 882 0 |
| 883 0 |
| 884 0 |
| 885 0 |
| 886 0 |
| 887 0 |
| 888 0 |
| 889 0 |
| 890 0 |
| 891 0 |
| 892 0 |
| 893 0 |
| 894 0 |
| 895 0 |
| 896 0 |
| 897 0 |
| 898 0 |
| 899 0 |
| 900 0 |
| 901 0 |
| 902 0 |
| 903 0 |
| 904 0 |
| 905 0 |
| 906 0 |
| 907 0 |
| 908 0 |
| 909 0 |
| 910 0 |
| 911 0 |
| 912 0 |
| 913 0 |
| 914 0 |
| 915 0 |
| 916 0 |
| 917 0 |
| 918 0 |
| 919 0 |
| 920 0 |
| 921 0 |
| 922 0 |
| 923 0 |
| 924 0 |
| 925 0 |
| 926 0 |
| 927 0 |
| 928 0 |
| 929 0 |
| 930 0 |
| 931 0 |
| 932 0 |
| 933 0 |
| 934 0 |
| 935 0 |
| 936 0 |
| 937 0 |
| 938 0 |
| 939 0 |
| 940 0 |
| 941 0 |
| 942 0 |
| 943 0 |
| 944 0 |
| 945 0 |
| 946 0 |
| 947 0 |
| 948 0 |
| 949 0 |
| 950 0 |
| 951 0 |
| 952 0 |
| 953 0 |
| 954 0 |
| 955 0 |
| 956 0 |
| 957 0 |
| 958 0 |
| 959 0 |
| 960 0 |
| 961 0 |
| 962 0 |
| 963 0 |
| 964 0 |
| 965 0 |
| 966 0 |
| 967 0 |
| 968 0 |
| 969 0 |
| 970 0 |
| 971 0 |
| 972 0 |
| 973 0 |
| 974 0 |
| 975 0 |
| 976 0 |
| 977 0 |
| 978 0 |
| 979 0 |
| 980 0 |
| 981 0 |
| 982 0 |
| 983 0 |
| 984 0 |
| 985 0 |
| 986 0 |
| 987 0 |
| 988 0 |
| 989 0 |
| 990 0 |
| 991 0 |
| 992 0 |
| 993 0 |
| 994 0 |
| 995 0 |
| 996 0 |
| 997 0 |
| 998 0 |
| 999 0 |
| 1000 0 |
| 1001 0 |
| 1002 0 |
| 1003 0 |
| 1004 0 |
| 1005 0 |
| 1006 0 |
| 1007 0 |
| 1008 0 |
| 1009 0 |
| 1010 0 |
| 1011 0 |
| 1012 0 |
| 1013 0 |
| 1014 0 |
| 1015 0 |
| 1016 0 |
| 1017 0 |
| 1018 0 |
| 1019 0 |
| 1020 0 |
| 1021 0 |
| 1022 0 |
| 1023 0 |
| 1024 0 |
| 1025 0 |
| 1026 0 |
| 1027 0 |
| 1028 0 |
| 1029 0 |
| 1030 0 |
| 1031 0 |
| 1032 0 |
| 1033 0 |
| 1034 0 |
| 1035 0 |
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| 1080 0 |
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| 1111 0 |
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| 1119 0 |
| 1120 0 |
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| 1150 0 |
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| 1160 0 |
| 1161 0 |
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| 1180 0 |
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| /roboti/solarni/2005/O1.pdf |
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| /roboti/solarni/2005/O2.pdf |
|---|
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| Added: svn:mime-type |
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| /roboti/solarni/2005/SOLARNI_ROBOT.DBK |
|---|
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| /roboti/solarni/2005/SOLARNI_ROBOT.DRC |
|---|
| 0,0 → 1,13 |
| Checking Pins and Pin Connections |
| -------------------------------------------------- |
| Checking Schematic: SCHEMATIC1 |
| -------------------------------------------------- |
| Checking Electrical Rules |
| Checking for Unconnected Nets |
| Checking for Invalid References |
| Checking for Duplicate References |
| /roboti/solarni/2005/SOLARNI_ROBOT.DSN |
|---|
| Cannot display: file marked as a binary type. |
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| /roboti/solarni/2005/SOLARNI_ROBOT.ONL |
|---|
| 0,0 → 1,656 |
| (PCB SOLARNI_ROBOT |
| (description |
| (timeStamp "2005 08 22 20 18 24") |
| (program "CAPTURE.EXE" (Version "9.2.448 CIS - D")) |
| (source "Original data from OrCAD/CAPTURE schematic") |
| (title "") |
| (date "August 22, 2005") |
| (document "D:\\KAKLIK\\SCHEMATA\\ROBOTI\\SOLARNI\\2005\\SOLARNI_ROBOT.DSN") |
| (revision "") |
| (organization "") |
| (address1 "") |
| (address2 "") |
| (address3 "") |
| (address4 "") |
| (partvaluecombine "{Value}") |
| (pcbfootprintcombine "{Device}@{PCB Footprint}")) |
| (structure ) |
| (placement |
| (component MOTOR |
| (place J4 |
| (property |
| ("PCB Footprint" JUMP2) |
| (Device JUMP2AC) |
| (timestamp 0000D14C) |
| ("Source Package" MOTOR) |
| (Value MOTOR)))) |
| (component BAT |
| (place J1 |
| (property |
| ("PCB Footprint" JUMP2) |
| (Device JUMP2AC) |
| (timestamp 0000CB53) |
| ("Source Package" BAT) |
| (Value BAT)))) |
| (component JUMP1 |
| (place J10 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010E57) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J11 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010E69) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J12 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010E7B) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J13 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010E8D) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J14 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010E9F) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J15 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010EB1) |
| ("Source Package" JUMP1) |
| (Value JUMP1))) |
| (place J16 |
| (property |
| ("PCB Footprint" JUMP1) |
| (Device JUMP1) |
| (timestamp 00010EC3) |
| ("Source Package" JUMP1) |
| (Value JUMP1)))) |
| (component JUMP2 |
| (place J2 |
| (property |
| ("PCB Footprint" JUMP2) |
| (Device JUMP2) |
| (timestamp 000112CD) |
| ("Source Package" JUMP2) |
| (Value RESET))) |
| (place J8 |
| (property |
| ("PCB Footprint" JUMP2) |
| (Device JUMP2) |
| (timestamp 00010CE3) |
| ("Source Package" JUMP2) |
| (Value JUMP2))) |
| (place J9 |
| (property |
| ("PCB Footprint" JUMP2) |
| (Device JUMP2) |
| (timestamp 00010CFB) |
| ("Source Package" JUMP2) |
| (Value JUMP2)))) |
| (component "L-TR-1P1S_DOT" |
| (place TR1 |
| (property |
| ("PCB Footprint" TOROID4) |
| (Device TOROID4) |
| (timestamp 0000D0E8) |
| ("Source Package" "L-TR-1P1S_DOT") |
| (Value "L-TR-1P1S_DOT")))) |
| (component BAT48SMD |
| (place D2 |
| (property |
| ("PCB Footprint" SMC) |
| (Device D) |
| (timestamp 0000CE12) |
| ("Source Package" BAT48SMD) |
| (Value SK54ASMD))) |
| (place D3 |
| (property |
| ("PCB Footprint" SMC) |
| (Device D) |
| (timestamp 0000D01A) |
| ("Source Package" BAT48SMD) |
| (Value SK54ASMD))) |
| (place D5 |
| (property |
| ("PCB Footprint" MINIMELF) |
| (Device D) |
| (timestamp 0000CD87) |
| ("Source Package" BAT48SMD) |
| (Value BAT48SMD))) |
| (place D6 |
| (property |
| ("PCB Footprint" MINIMELF) |
| (Device D) |
| (timestamp 0000CDEF) |
| ("Source Package" BAT48SMD) |
| (Value BAT48SMD)))) |
| (component "MOS-N-ENH-D-DOUBLE" |
| (place Q1 |
| (property |
| ("PCB Footprint" SO8_2FET) |
| (Device SO8_2FET) |
| (timestamp 0000E7AA) |
| ("Source Package" "MOS-N-ENH-D-DOUBLE") |
| (Value FDS9926)))) |
| (component PIC_ISP |
| (place J7 |
| (property |
| ("PCB Footprint" PIC_ISP) |
| (Device PIC_ISP) |
| (timestamp 0000DAD2) |
| ("Source Package" PIC_ISP) |
| (Value PIC_ISP)))) |
| (component PIC16F88/P |
| (place U1 |
| (property |
| ("PCB Footprint" SO18_300) |
| (Device SO18_300) |
| (timestamp 0000DB3A) |
| ("Source Package" PIC16F88/P) |
| (Value PIC16F88/SO)))) |
| (component BZV55SMD |
| (place D1 |
| (property |
| ("PCB Footprint" MINIMELF) |
| (Device D) |
| (timestamp 0000CC86) |
| ("Source Package" BZV55SMD) |
| (Value BZV55C5.6SMD))) |
| (place D4 |
| (property |
| ("PCB Footprint" MINIMELF) |
| (Device D) |
| (timestamp 0000D0A2) |
| ("Source Package" BZV55SMD) |
| (Value BZV55C18SMD)))) |
| (component R0805 |
| (place R1 |
| (property |
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| (Device R) |
| (timestamp 0000CD79) |
| ("Source Package" R0805) |
| (Value 100))) |
| (place R2 |
| (property |
| ("PCB Footprint" R0805) |
| (Device R) |
| (timestamp 0000CD85) |
| ("Source Package" R0805) |
| (Value 100k))) |
| (place R3 |
| (property |
| ("PCB Footprint" R0805) |
| (Device R) |
| (timestamp 0000CDDF) |
| ("Source Package" R0805) |
| (Value 100))) |
| (place R4 |
| (property |
| ("PCB Footprint" R0805) |
| (Device R) |
| (timestamp 0000CDDB) |
| ("Source Package" R0805) |
| (Value 100k))) |
| (place R5 |
| (property |
| ("PCB Footprint" R0805) |
| (Device R) |
| (timestamp 0000DB5A) |
| ("Source Package" R0805) |
| (Value 10k))) |
| (place R7 |
| (property |
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| (Device R) |
| (timestamp 0000DA8E) |
| ("Source Package" R0805) |
| (Value 10k)))) |
| (component C0805 |
| (place C2 |
| (property |
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| (Device C) |
| (timestamp 0000C8A0) |
| ("Source Package" C0805) |
| (Value 4uF/16V))) |
| (place C3 |
| (property |
| ("PCB Footprint" C1212) |
| (Device C) |
| (timestamp 0000D016) |
| ("Source Package" C0805) |
| (Value 4uF/16V))) |
| (place C5 |
| (property |
| ("PCB Footprint" C0805) |
| (Device C) |
| (timestamp 0000CD7D) |
| ("Source Package" C0805) |
| (Value 100nF))) |
| (place C6 |
| (property |
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| (Device C) |
| (timestamp 0000DA52) |
| ("Source Package" C0805) |
| (Value 100nF)))) |
| (component CROSS |
| (place M1 |
| (property |
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| (Device CROSS) |
| (timestamp 00000007) |
| ("Source Package" CROSS) |
| (Value CROSS))) |
| (place M2 |
| (property |
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| (Device CROSS) |
| (timestamp 00000009) |
| ("Source Package" CROSS) |
| (Value CROSS))) |
| (place M3 |
| (property |
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| (Device CROSS) |
| (timestamp 0000000B) |
| ("Source Package" CROSS) |
| (Value CROSS)))) |
| (component "C-ELYT-CE035X8" |
| (place C1 |
| (property |
| ("PCB Footprint" CE035X8) |
| (Device "C-ELYT") |
| (timestamp 0000CB55) |
| ("Source Package" "C-ELYT-CE035X8") |
| (Value 1000uF/6.3V)))) |
| (component "C-ELYT-CE075X18" |
| (place C4 |
| (property |
| ("PCB Footprint" CE075X18) |
| (Device "C-ELYT") |
| (timestamp 0000D057) |
| ("Source Package" "C-ELYT-CE075X18") |
| (Value 10G/16V)))) |
| (component LEDSMD_0805 |
| (place D7 |
| (property |
| ("PCB Footprint" LED0805) |
| (Device LED) |
| (timestamp 00010C8B) |
| ("Source Package" LEDSMD_0805) |
| (Value LEDSMD_0805))))) |
| (library |
| (image PIC16F88/P |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\MICROCHIP\\CPU_PIC16_FLASH.OLB) |
| (Device PIC16F87_88__18_PIN)) |
| (pin 999 1 |
| (property |
| (pinname "RA2/AN2/CVREF/VREF-") |
| (pintype 4))) |
| (pin 999 2 |
| (property |
| (pinname RA3/AN3/VREF+/C1OUT) |
| (pintype 4))) |
| (pin 999 3 |
| (property |
| (pinname RA4/AN4/T0CKI/C2OUT) |
| (pintype 4))) |
| (pin 999 4 |
| (property |
| (pinname RA5/MCLR#) |
| (pintype 4))) |
| (pin 999 5 |
| (property |
| (pinname GND) |
| (pintype 7))) |
| (pin 999 6 |
| (property |
| (pinname RB0/INT/CCP1) |
| (pintype 4))) |
| (pin 999 7 |
| (property |
| (pinname RB1/SDI/SDA) |
| (pintype 4))) |
| (pin 999 8 |
| (property |
| (pinname RB2/SDO/RX/DT) |
| (pintype 4))) |
| (pin 999 9 |
| (property |
| (pinname RB3/PGM/CCP1) |
| (pintype 4))) |
| (pin 999 10 |
| (property |
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| (pintype 4))) |
| (pin 999 11 |
| (property |
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| (pintype 4))) |
| (pin 999 12 |
| (property |
| (pinname T1CKI/T1OSO/PGC/AN5/RB6) |
| (pintype 4))) |
| (pin 999 13 |
| (property |
| (pinname T1OSI/PGD/AN6/RB7) |
| (pintype 4))) |
| (pin 999 14 |
| (property |
| (pinname VDD) |
| (pintype 7))) |
| (pin 999 15 |
| (property |
| (pinname CLKO/OSC2/RA6) |
| (pintype 4))) |
| (pin 999 16 |
| (property |
| (pinname CLKI/OSC1/RA7) |
| (pintype 4))) |
| (pin 999 17 |
| (property |
| (pinname AN0/RA0) |
| (pintype 4))) |
| (pin 999 18 |
| (property |
| (pinname AN1/RA1) |
| (pintype 4)))) |
| (image R0805 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB) |
| (Device R)) |
| (pin 999 1 |
| (property |
| (pinname 1) |
| (pintype 4))) |
| (pin 999 2 |
| (property |
| (pinname 2) |
| (pintype 4)))) |
| (image JUMP1 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\JUMP.OLB) |
| (Device JUMP1)) |
| (pin 999 1 |
| (property |
| (pinname 1) |
| (pintype 4)))) |
| (image "C-ELYT-CE035X8" |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB) |
| (Device "C-ELYT")) |
| (pin 999 A |
| (property |
| (pinname A) |
| (pintype 4))) |
| (pin 999 C |
| (property |
| (pinname C) |
| (pintype 4)))) |
| (image C0805 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB) |
| (Device C)) |
| (pin 999 1 |
| (property |
| (pinname 1) |
| (pintype 4))) |
| (pin 999 2 |
| (property |
| (pinname 2) |
| (pintype 4)))) |
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| (net N53185 |
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| U1-5 J2-1)) |
| (net N57358 |
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| (net PWM |
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| (net MOTOR |
| (pins |
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| (net N69499 |
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| (net N69554 |
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| /roboti/solarni/2005/SOLARNI_ROBOT.asc |
|---|
| 0,0 → 1,92 |
| *PADS-PCB* |
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| C2 C@C1212 |
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| Q1.S2 C4.C D4.A D6.A J1.C C1.C D2.A R4.1 |
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| /roboti/solarni/2005/SOLARNI_ROBOT.opj |
|---|
| 0,0 → 1,91 |
| (ExpressProject "SOLARNI_ROBOT" |
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| /roboti/solarni/2005/SOLARNI_ROBOT_blz.pcb |
|---|
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|---|
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|---|
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| /roboti/solarni/2005/jump/bak/menic_1.c |
|---|
| 0,0 → 1,80 |
| //#device ICD=TRUE |
| #include ".\menic.h" |
| //#use fast_io(B) |
| #define PIEZO PIN_A6 |
| #define LED PIN_A7 |
| #define MENIC PIN_B3 |
| #define REFPWR PIN_B1 |
| #define MOTOR PIN_B2 |
| unsigned int32 n; |
| void pip() |
| { |
| int1 beep; |
| int i; |
| for(i=0; i<250; i++) |
| { |
| output_bit(PIEZO, beep); |
| beep=~beep; |
| output_bit(LED, beep); |
| delay_us(100); |
| }; |
| output_high(PIEZO); |
| output_high(LED); |
| } |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); |
| // SET_TRIS_B( 0b11110011); |
| output_low(MENIC); |
| output_low(MOTOR); |
| output_low(REFPWR); |
| pip(); |
| for(n=0;n<370000;n++) |
| // for(n=0;n<100000;n++) |
| { |
| // set_timer0(0); |
| // while ( get_timer0() < 250 ) |
| { |
| output_high(MENIC); |
| delay_us(5); |
| output_low(MENIC); |
| delay_us(4); |
| // delay_us(90); |
| }; |
| } |
| pip(); |
| output_high(MOTOR); |
| delay_ms(3000); |
| output_low(MOTOR); |
| while(true) |
| { |
| output_high(LED); |
| delay_ms(300); |
| output_low(LED); |
| delay_ms(300); |
| } |
| } |
| /roboti/solarni/2005/jump/bak/menic_2_nefunguje_rozjezd.c |
|---|
| 0,0 → 1,148 |
| #include ".\menic.h" |
| #define RAZENI 100 // Po kolika ms se bude menit rychlost pro rozjizdeni |
| #define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
| #define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
| #define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
| #define LED PIN_A7 // LED |
| #define MENIC PIN_B3 // Spinani tranzistoru menice |
| #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| #byte SSPBUF = 0x13 // Registry jednotky SSP |
| #byte SSPCON1 = 0x14 |
| #byte SSPSTAT = 0x94 |
| // Vzorky pro generovani PWM pomoci SSP |
| unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| unsigned int8 MotorPattern; |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| } |
| void pip() // pipnuti a bliknuti |
| { |
| int1 beep; |
| int i; |
| for(i=0; i<250; i++) |
| { |
| output_bit(PIEZO, beep); |
| beep=~beep; |
| output_bit(LED, beep); |
| delay_us(100); |
| }; |
| output_high(PIEZO); |
| output_high(LED); |
| } |
| void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
| { |
| output_bit(PIEZO,~input(PIEZO)); |
| } |
| void main() |
| { |
| int8 n; |
| int8 perioda; |
| setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| output_low(MENIC); // Vsechno zastav |
| output_low(MOTOR); |
| output_low(REFPWR); |
| output_high(LED); |
| output_high(PIEZO); |
| set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| // jsme v depu? |
| set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
| n=0; |
| do |
| { |
| output_low(REFPWR); |
| delay_ms(100); |
| if (4==n++) {cvak(); n=0;}; |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| output_low(REFPWR); |
| pip(); // potvrzeni odstartovani |
| // regulace |
| perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
| for(n=0;n<=7;n++) |
| { |
| set_pwm1_duty(0); |
| setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
| set_pwm1_duty(19); // delka sepnuti |
| delay_ms(100); |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
| output_low(REFPWR); // konec mereni, odpoj napajeni reference |
| }; |
| // nabíjíme |
| delay_ms(14000); |
| // rozjezd |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| enable_interrupts(global); |
| for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| { |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| MotorPattern=Pattern[n]; |
| SSPBUF=MotorPattern; // data pro vyslani |
| enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
| delay_ms(RAZENI); // Pockej na dalsi razeni |
| }; |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| // jedem co to da |
| output_high(MOTOR); |
| delay_ms(1000); |
| output_low(MOTOR); |
| set_pwm1_duty(0); // zastav menic |
| // vybiti kondenzatoru pro ucely mereni |
| pip(); |
| delay_ms(2000); |
| pip(); |
| output_high(MOTOR); |
| while(true) |
| { |
| output_high(LED); |
| output_low(PIEZO); |
| delay_ms(300); |
| output_low(LED); |
| output_high(PIEZO); |
| delay_ms(300); |
| } |
| // priprava na dalsi jizdu |
| delay_ms(5000); |
| reset_cpu(); |
| } |
| /roboti/solarni/2005/jump/bak/menic_3.c |
|---|
| 0,0 → 1,148 |
| #include ".\menic.h" |
| #define RAZENI 50 // Po kolika ms se bude menit rychlost pro rozjizdeni |
| #define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
| #define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
| #define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
| #define LED PIN_A7 // LED |
| #define MENIC PIN_B3 // Spinani tranzistoru menice |
| #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| #byte SSPBUF = 0x13 // Registry jednotky SSP |
| #byte SSPCON1 = 0x14 |
| #byte SSPSTAT = 0x94 |
| // Vzorky pro generovani PWM pomoci SSP |
| unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| unsigned int8 MotorPattern; |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| } |
| void pip() // pipnuti a bliknuti |
| { |
| int1 beep; |
| int i; |
| for(i=0; i<250; i++) |
| { |
| output_bit(PIEZO, beep); |
| beep=~beep; |
| output_bit(LED, beep); |
| delay_us(100); |
| }; |
| output_high(PIEZO); |
| output_high(LED); |
| } |
| void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
| { |
| output_bit(PIEZO,~input(PIEZO)); |
| } |
| void main() |
| { |
| int8 n; |
| int8 perioda; |
| setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| output_low(MENIC); // Vsechno zastav |
| output_low(MOTOR); |
| output_low(REFPWR); |
| output_high(LED); |
| output_high(PIEZO); |
| set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| // jsme v depu? |
| set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
| n=0; |
| do |
| { |
| output_low(REFPWR); |
| delay_ms(100); |
| if (4==n++) {cvak(); n=0;}; |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| output_low(REFPWR); |
| pip(); // potvrzeni odstartovani |
| // regulace |
| perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
| for(n=0;n<=7;n++) |
| { |
| set_pwm1_duty(0); |
| setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
| set_pwm1_duty(19); // delka sepnuti |
| delay_ms(100); |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
| output_low(REFPWR); // konec mereni, odpoj napajeni reference |
| }; |
| // nabíjíme |
| delay_ms(14000); |
| // rozjezd |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| MotorPattern=0x02; // prvni data pro vyslani |
| SSPBUF=MotorPattern; // data pro vyslani |
| enable_interrupts(global); |
| enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
| for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| { |
| MotorPattern=Pattern[n]; |
| delay_ms(RAZENI); // Pockej na dalsi razeni |
| }; |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| // jedem co to da |
| output_high(MOTOR); |
| delay_ms(1000); |
| output_low(MOTOR); |
| set_pwm1_duty(0); // zastav menic |
| // vybiti kondenzatoru pro ucely mereni |
| pip(); |
| delay_ms(2000); |
| pip(); |
| output_high(MOTOR); |
| while(true) |
| { |
| output_high(LED); |
| output_low(PIEZO); |
| delay_ms(300); |
| output_low(LED); |
| output_high(PIEZO); |
| delay_ms(300); |
| } |
| // priprava na dalsi jizdu |
| delay_ms(5000); |
| reset_cpu(); |
| } |
| /roboti/solarni/2005/jump/bak/vssver.scc |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jump/menic.BAK |
|---|
| 0,0 → 1,151 |
| #include ".\menic.h" |
| #define RAZENI 60 // Po kolika ms se bude menit rychlost pro rozjizdeni |
| #define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
| #define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
| #define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
| #define LED PIN_A7 // LED |
| #define MENIC PIN_B3 // Spinani tranzistoru menice |
| #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| #byte SSPBUF = 0x13 // Registry jednotky SSP |
| #byte SSPCON1 = 0x14 |
| #byte SSPSTAT = 0x94 |
| // Vzorky pro generovani PWM pomoci SSP |
| unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| unsigned int8 MotorPattern; |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| } |
| void pip() // pipnuti a bliknuti |
| { |
| int1 beep; |
| int i; |
| for(i=0; i<250; i++) |
| { |
| output_bit(PIEZO, beep); |
| beep=~beep; |
| output_bit(LED, beep); |
| delay_us(100); |
| }; |
| output_high(PIEZO); |
| output_high(LED); |
| } |
| void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
| { |
| output_bit(PIEZO,~input(PIEZO)); |
| } |
| void main() |
| { |
| int8 n; |
| int8 perioda; |
| int8 cekej; |
| setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| output_low(MENIC); // Vsechno zastav |
| output_low(MOTOR); |
| output_low(REFPWR); |
| output_high(LED); |
| output_high(PIEZO); |
| set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| // jsme v depu? |
| set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
| n=0; |
| do |
| { |
| output_low(REFPWR); |
| delay_ms(100); |
| if (4==n++) {cvak(); n=0;}; |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| output_low(REFPWR); |
| pip(); // potvrzeni odstartovani |
| // regulace |
| perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
| for(n=0;n<=7;n++) |
| { |
| set_pwm1_duty(0); |
| setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
| set_pwm1_duty(19); // delka sepnuti |
| delay_ms(100); |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
| output_low(REFPWR); // konec mereni, odpoj napajeni reference |
| }; |
| // nabíjíme |
| delay_ms(14000); |
| // rozjezd |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| MotorPattern=0x02; // prvni data pro vyslani |
| SSPBUF=MotorPattern; // data pro vyslani |
| enable_interrupts(global); |
| enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
| cekej=RAZENI; |
| for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| { |
| MotorPattern=Pattern[n]; |
| delay_ms(RAZENI); // Pockej na dalsi razeni |
| // cekej-=10; |
| }; |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| // jedem co to da |
| output_high(MOTOR); |
| delay_ms(1000); |
| output_low(MOTOR); |
| set_pwm1_duty(0); // zastav menic |
| // vybiti kondenzatoru pro ucely mereni |
| pip(); |
| delay_ms(2000); |
| pip(); |
| output_high(MOTOR); |
| while(true) |
| { |
| output_high(LED); |
| output_low(PIEZO); |
| delay_ms(300); |
| output_low(LED); |
| output_high(PIEZO); |
| delay_ms(300); |
| } |
| // priprava na dalsi jizdu |
| delay_ms(5000); |
| reset_cpu(); |
| } |
| /roboti/solarni/2005/jump/menic.HEX |
|---|
| 0,0 → 1,58 |
| :1000000000308A0090280000FF00030E8301A10049 |
| :100010007F08A0000A08A8008A01A00E0408A20018 |
| :100020007708A3007808A4007908A5007A08A6003C |
| :100030007B08A700831383128C308400801D222844 |
| :100040008C193528220884002308F7002408F800BA |
| :100050002508F9002608FA002708FB0028088A006E |
| :10006000210E8300FF0E7F0E09008A1143280A101B |
| :100070008A100A118207023406340E341E343E34CC |
| :100080007E34FE34FF34290893008C118A11222813 |
| :100090002D308400000803195C280130F800F701B6 |
| :1000A000F70B5028F80B4F284A30F700F70B56286B |
| :1000B00000000000800B4D280034831605178312C2 |
| :1000C000051F642805136528051783160513831279 |
| :1000D0008A110629AD012D08F93C031C87282C182C |
| :1000E000732805137428051783160513013083122E |
| :1000F000AC062C187D2885137E288517831685135A |
| :100100002130F700F70B82288312AD0A6B28831683 |
| :100110000513831205178316851383128517003480 |
| :1001200084011F30830583161F129F121B0880391C |
| :100130009B0007309C001C0883120D13603083164F |
| :100140008F001F129F121B088039D0389B001F138D |
| :1001500083121F179F1783169F1383121F14941265 |
| :10016000831606118614061200308312940083163B |
| :1001700094000108C03907388100831290010730CC |
| :1001800083169C0005080330F700F70BC5281C08F0 |
| :1001900083120D1383169D01861183128611831617 |
| :1001A0000611831206118316861083128610831699 |
| :1001B00085138312851783160513831205172030C4 |
| :1001C000F8001F08C73978049F009501831686112F |
| :1001D000831286110C3097000030F800043892002A |
| :1001E00064308316920062308F00023083129500D3 |
| :1001F000AA0183168610831286106430AD00482051 |
| :100200002A08AA0A043C031D07295D28AA018316AF |
| :100210008610831286140130AD0048201F151F1967 |
| :100220000F291E08503C031CF928831686108312E0 |
| :1002300086106A206430AB00AA012A08073C031C20 |
| :10024000432995010030F800043892002B088316EA |
| :1002500092001330831295006430AD00482083165D |
| :100260008610831286140130AD0048201F151F1917 |
| :1002700037291E086A3C0318AB03831686108312C5 |
| :100280008610AA0A1D293830AC00FA30AD0048208B |
| :10029000AC0B45298316940122308312940002305E |
| :1002A000A90029089300C0308B0483168C15831293 |
| :1002B000AA012A08073C031C66292A083720F800EF |
| :1002C000A9003C30AD004820AA0A592983169401A0 |
| :1002D0008312940183168C110611831206150430C3 |
| :1002E000AC00FA30AD004820AC0B71298316061122 |
| :1002F0008312061195016A200830AC00FA30AD0077 |
| :100300004820AC0B7E296A2083160611831206153D |
| :10031000831685138312851783160513831205131D |
| :100320000230AC009630AD004820AC0B9229831609 |
| :100330008513831285138316051383120517023064 |
| :10034000AC009630AD004820AC0BA12988291430B0 |
| :10035000AC00FA30AD004820AC0BA9298A01002876 |
| :02036000630038 |
| :04400E003827FC3F14 |
| :00000001FF |
| ;PIC16F88 |
| /roboti/solarni/2005/jump/menic.LST |
|---|
| 0,0 → 1,601 |
| CCS PCM C Compiler, Version 3.221, 27853 28-VIII-05 19:00 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.LST |
| ROM used: 433 words (11%) |
| Largest free fragment is 2048 |
| RAM used: 18 (10%) at main() level |
| 19 (11%) worst case |
| Stack: 2 worst case (1 in main + 1 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 090 |
| 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 00.3 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.3 |
| 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 043 |
| .................... #include ".\menic.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, DEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 |
| .................... #use delay(clock=4000000) |
| * |
| 0048: MOVLW 2D |
| 0049: MOVWF 04 |
| 004A: MOVF 00,W |
| 004B: BTFSC 03.2 |
| 004C: GOTO 05C |
| 004D: MOVLW 01 |
| 004E: MOVWF 78 |
| 004F: CLRF 77 |
| 0050: DECFSZ 77,F |
| 0051: GOTO 050 |
| 0052: DECFSZ 78,F |
| 0053: GOTO 04F |
| 0054: MOVLW 4A |
| 0055: MOVWF 77 |
| 0056: DECFSZ 77,F |
| 0057: GOTO 056 |
| 0058: NOP |
| 0059: NOP |
| 005A: DECFSZ 00,F |
| 005B: GOTO 04D |
| 005C: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define RAZENI 60 // Po kolika ms se bude menit rychlost pro rozjizdeni |
| .................... #define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
| .................... #define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
| .................... |
| .................... #define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
| .................... #define LED PIN_A7 // LED |
| .................... #define MENIC PIN_B3 // Spinani tranzistoru menice |
| .................... #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| .................... #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| .................... |
| .................... #byte SSPBUF = 0x13 // Registry jednotky SSP |
| .................... #byte SSPCON1 = 0x14 |
| .................... #byte SSPSTAT = 0x94 |
| .................... |
| .................... // Vzorky pro generovani PWM pomoci SSP |
| .................... unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| .................... unsigned int8 MotorPattern; |
| .................... |
| .................... #INT_SSP |
| .................... void IntSSP() |
| .................... { |
| .................... SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| * |
| 0043: MOVF 29,W |
| 0044: MOVWF 13 |
| .................... } |
| .................... |
| 0045: BCF 0C.3 |
| 0046: BCF 0A.3 |
| 0047: GOTO 022 |
| .................... void pip() // pipnuti a bliknuti |
| .................... { |
| .................... int1 beep; |
| .................... int i; |
| .................... |
| .................... for(i=0; i<250; i++) |
| * |
| 006A: CLRF 2D |
| 006B: MOVF 2D,W |
| 006C: SUBLW F9 |
| 006D: BTFSS 03.0 |
| 006E: GOTO 087 |
| .................... { |
| .................... output_bit(PIEZO, beep); |
| 006F: BTFSC 2C.0 |
| 0070: GOTO 073 |
| 0071: BCF 05.6 |
| 0072: GOTO 074 |
| 0073: BSF 05.6 |
| 0074: BSF 03.5 |
| 0075: BCF 05.6 |
| .................... beep=~beep; |
| 0076: MOVLW 01 |
| 0077: BCF 03.5 |
| 0078: XORWF 2C,F |
| .................... output_bit(LED, beep); |
| 0079: BTFSC 2C.0 |
| 007A: GOTO 07D |
| 007B: BCF 05.7 |
| 007C: GOTO 07E |
| 007D: BSF 05.7 |
| 007E: BSF 03.5 |
| 007F: BCF 05.7 |
| .................... delay_us(100); |
| 0080: MOVLW 21 |
| 0081: MOVWF 77 |
| 0082: DECFSZ 77,F |
| 0083: GOTO 082 |
| .................... }; |
| 0084: BCF 03.5 |
| 0085: INCF 2D,F |
| 0086: GOTO 06B |
| .................... output_high(PIEZO); |
| 0087: BSF 03.5 |
| 0088: BCF 05.6 |
| 0089: BCF 03.5 |
| 008A: BSF 05.6 |
| .................... output_high(LED); |
| 008B: BSF 03.5 |
| 008C: BCF 05.7 |
| 008D: BCF 03.5 |
| 008E: BSF 05.7 |
| .................... } |
| 008F: RETLW 00 |
| .................... |
| .................... void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
| .................... { |
| .................... output_bit(PIEZO,~input(PIEZO)); |
| * |
| 005D: BSF 03.5 |
| 005E: BSF 05.6 |
| 005F: BCF 03.5 |
| 0060: BTFSS 05.6 |
| 0061: GOTO 064 |
| 0062: BCF 05.6 |
| 0063: GOTO 065 |
| 0064: BSF 05.6 |
| 0065: BSF 03.5 |
| 0066: BCF 05.6 |
| .................... } |
| 0067: BCF 03.5 |
| 0068: BCF 0A.3 |
| 0069: GOTO 106 (RETURN) |
| .................... |
| .................... void main() |
| .................... { |
| * |
| 0090: CLRF 04 |
| 0091: MOVLW 1F |
| 0092: ANDWF 03,F |
| 0093: BSF 03.5 |
| 0094: BCF 1F.4 |
| 0095: BCF 1F.5 |
| 0096: MOVF 1B,W |
| 0097: ANDLW 80 |
| 0098: MOVWF 1B |
| 0099: MOVLW 07 |
| 009A: MOVWF 1C |
| 009B: MOVF 1C,W |
| 009C: BCF 03.5 |
| 009D: BCF 0D.6 |
| 009E: MOVLW 60 |
| 009F: BSF 03.5 |
| 00A0: MOVWF 0F |
| .................... int8 n; |
| .................... int8 perioda; |
| .................... |
| .................... setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
| 00A1: BCF 1F.4 |
| 00A2: BCF 1F.5 |
| 00A3: MOVF 1B,W |
| 00A4: ANDLW 80 |
| 00A5: IORLW D0 |
| 00A6: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00A7: BCF 1F.6 |
| 00A8: BCF 03.5 |
| 00A9: BSF 1F.6 |
| 00AA: BSF 1F.7 |
| 00AB: BSF 03.5 |
| 00AC: BCF 1F.7 |
| 00AD: BCF 03.5 |
| 00AE: BSF 1F.0 |
| .................... setup_spi(FALSE); |
| 00AF: BCF 14.5 |
| 00B0: BSF 03.5 |
| 00B1: BCF 06.2 |
| 00B2: BSF 06.1 |
| 00B3: BCF 06.4 |
| 00B4: MOVLW 00 |
| 00B5: BCF 03.5 |
| 00B6: MOVWF 14 |
| 00B7: BSF 03.5 |
| 00B8: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| 00B9: MOVF 01,W |
| 00BA: ANDLW C0 |
| 00BB: IORLW 07 |
| 00BC: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 00BD: BCF 03.5 |
| 00BE: CLRF 10 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00BF: MOVLW 07 |
| 00C0: BSF 03.5 |
| 00C1: MOVWF 1C |
| 00C2: MOVF 05,W |
| 00C3: MOVLW 03 |
| 00C4: MOVWF 77 |
| 00C5: DECFSZ 77,F |
| 00C6: GOTO 0C5 |
| 00C7: MOVF 1C,W |
| 00C8: BCF 03.5 |
| 00C9: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00CA: BSF 03.5 |
| 00CB: CLRF 1D |
| .................... |
| .................... output_low(MENIC); // Vsechno zastav |
| 00CC: BCF 06.3 |
| 00CD: BCF 03.5 |
| 00CE: BCF 06.3 |
| .................... output_low(MOTOR); |
| 00CF: BSF 03.5 |
| 00D0: BCF 06.2 |
| 00D1: BCF 03.5 |
| 00D2: BCF 06.2 |
| .................... output_low(REFPWR); |
| 00D3: BSF 03.5 |
| 00D4: BCF 06.1 |
| 00D5: BCF 03.5 |
| 00D6: BCF 06.1 |
| .................... output_high(LED); |
| 00D7: BSF 03.5 |
| 00D8: BCF 05.7 |
| 00D9: BCF 03.5 |
| 00DA: BSF 05.7 |
| .................... output_high(PIEZO); |
| 00DB: BSF 03.5 |
| 00DC: BCF 05.6 |
| 00DD: BCF 03.5 |
| 00DE: BSF 05.6 |
| .................... |
| .................... set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| 00DF: MOVLW 20 |
| 00E0: MOVWF 78 |
| 00E1: MOVF 1F,W |
| 00E2: ANDLW C7 |
| 00E3: IORWF 78,W |
| 00E4: MOVWF 1F |
| .................... set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| 00E5: CLRF 15 |
| .................... setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| 00E6: BSF 03.5 |
| 00E7: BCF 06.3 |
| 00E8: BCF 03.5 |
| 00E9: BCF 06.3 |
| 00EA: MOVLW 0C |
| 00EB: MOVWF 17 |
| .................... setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
| 00EC: MOVLW 00 |
| 00ED: MOVWF 78 |
| 00EE: IORLW 04 |
| 00EF: MOVWF 12 |
| 00F0: MOVLW 64 |
| 00F1: BSF 03.5 |
| 00F2: MOVWF 12 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| 00F3: MOVLW 62 |
| 00F4: MOVWF 0F |
| .................... |
| .................... |
| .................... // jsme v depu? |
| .................... set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
| 00F5: MOVLW 02 |
| 00F6: BCF 03.5 |
| 00F7: MOVWF 15 |
| .................... n=0; |
| 00F8: CLRF 2A |
| .................... do |
| .................... { |
| .................... output_low(REFPWR); |
| 00F9: BSF 03.5 |
| 00FA: BCF 06.1 |
| 00FB: BCF 03.5 |
| 00FC: BCF 06.1 |
| .................... delay_ms(100); |
| 00FD: MOVLW 64 |
| 00FE: MOVWF 2D |
| 00FF: CALL 048 |
| .................... if (4==n++) {cvak(); n=0;}; |
| 0100: MOVF 2A,W |
| 0101: INCF 2A,F |
| 0102: SUBLW 04 |
| 0103: BTFSS 03.2 |
| 0104: GOTO 107 |
| 0105: GOTO 05D |
| 0106: CLRF 2A |
| .................... output_high(REFPWR); // zapni napajeni napetove reference |
| 0107: BSF 03.5 |
| 0108: BCF 06.1 |
| 0109: BCF 03.5 |
| 010A: BSF 06.1 |
| .................... delay_ms(1); |
| 010B: MOVLW 01 |
| 010C: MOVWF 2D |
| 010D: CALL 048 |
| .................... } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| 010E: BSF 1F.2 |
| 010F: BTFSC 1F.2 |
| 0110: GOTO 10F |
| 0111: MOVF 1E,W |
| 0112: SUBLW 50 |
| 0113: BTFSS 03.0 |
| 0114: GOTO 0F9 |
| .................... output_low(REFPWR); |
| 0115: BSF 03.5 |
| 0116: BCF 06.1 |
| 0117: BCF 03.5 |
| 0118: BCF 06.1 |
| .................... |
| .................... pip(); // potvrzeni odstartovani |
| 0119: CALL 06A |
| .................... |
| .................... // regulace |
| .................... perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
| 011A: MOVLW 64 |
| 011B: MOVWF 2B |
| .................... for(n=0;n<=7;n++) |
| 011C: CLRF 2A |
| 011D: MOVF 2A,W |
| 011E: SUBLW 07 |
| 011F: BTFSS 03.0 |
| 0120: GOTO 143 |
| .................... { |
| .................... set_pwm1_duty(0); |
| 0121: CLRF 15 |
| .................... setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
| 0122: MOVLW 00 |
| 0123: MOVWF 78 |
| 0124: IORLW 04 |
| 0125: MOVWF 12 |
| 0126: MOVF 2B,W |
| 0127: BSF 03.5 |
| 0128: MOVWF 12 |
| .................... set_pwm1_duty(19); // delka sepnuti |
| 0129: MOVLW 13 |
| 012A: BCF 03.5 |
| 012B: MOVWF 15 |
| .................... delay_ms(100); |
| 012C: MOVLW 64 |
| 012D: MOVWF 2D |
| 012E: CALL 048 |
| .................... output_high(REFPWR); // zapni napajeni napetove reference |
| 012F: BSF 03.5 |
| 0130: BCF 06.1 |
| 0131: BCF 03.5 |
| 0132: BSF 06.1 |
| .................... delay_ms(1); |
| 0133: MOVLW 01 |
| 0134: MOVWF 2D |
| 0135: CALL 048 |
| .................... if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
| 0136: BSF 1F.2 |
| 0137: BTFSC 1F.2 |
| 0138: GOTO 137 |
| 0139: MOVF 1E,W |
| 013A: SUBLW 6A |
| 013B: BTFSC 03.0 |
| 013C: DECF 2B,F |
| .................... output_low(REFPWR); // konec mereni, odpoj napajeni reference |
| 013D: BSF 03.5 |
| 013E: BCF 06.1 |
| 013F: BCF 03.5 |
| 0140: BCF 06.1 |
| .................... }; |
| 0141: INCF 2A,F |
| 0142: GOTO 11D |
| .................... |
| .................... // nabíjíme |
| .................... delay_ms(14000); |
| 0143: MOVLW 38 |
| 0144: MOVWF 2C |
| 0145: MOVLW FA |
| 0146: MOVWF 2D |
| 0147: CALL 048 |
| 0148: DECFSZ 2C,F |
| 0149: GOTO 145 |
| .................... |
| .................... // rozjezd |
| .................... SSPSTAT = 0; |
| 014A: BSF 03.5 |
| 014B: CLRF 14 |
| .................... SSPCON1 = 0x22; // SPI OSC/64 |
| 014C: MOVLW 22 |
| 014D: BCF 03.5 |
| 014E: MOVWF 14 |
| .................... MotorPattern=0x02; // prvni data pro vyslani |
| 014F: MOVLW 02 |
| 0150: MOVWF 29 |
| .................... SSPBUF=MotorPattern; // data pro vyslani |
| 0151: MOVF 29,W |
| 0152: MOVWF 13 |
| .................... enable_interrupts(global); |
| 0153: MOVLW C0 |
| 0154: IORWF 0B,F |
| .................... enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
| 0155: BSF 03.5 |
| 0156: BSF 0C.3 |
| .................... |
| .................... for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| 0157: BCF 03.5 |
| 0158: CLRF 2A |
| 0159: MOVF 2A,W |
| 015A: SUBLW 07 |
| 015B: BTFSS 03.0 |
| 015C: GOTO 166 |
| .................... { |
| .................... MotorPattern=Pattern[n]; |
| 015D: MOVF 2A,W |
| 015E: CALL 037 |
| 015F: MOVWF 78 |
| 0160: MOVWF 29 |
| .................... delay_ms(RAZENI); // Pockej na dalsi razeni |
| 0161: MOVLW 3C |
| 0162: MOVWF 2D |
| 0163: CALL 048 |
| .................... }; |
| 0164: INCF 2A,F |
| 0165: GOTO 159 |
| .................... SSPSTAT = 0; |
| 0166: BSF 03.5 |
| 0167: CLRF 14 |
| .................... SSPCON1 = 0; // SPI stop |
| 0168: BCF 03.5 |
| 0169: CLRF 14 |
| .................... disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| 016A: BSF 03.5 |
| 016B: BCF 0C.3 |
| .................... |
| .................... // jedem co to da |
| .................... output_high(MOTOR); |
| 016C: BCF 06.2 |
| 016D: BCF 03.5 |
| 016E: BSF 06.2 |
| .................... delay_ms(1000); |
| 016F: MOVLW 04 |
| 0170: MOVWF 2C |
| 0171: MOVLW FA |
| 0172: MOVWF 2D |
| 0173: CALL 048 |
| 0174: DECFSZ 2C,F |
| 0175: GOTO 171 |
| .................... output_low(MOTOR); |
| 0176: BSF 03.5 |
| 0177: BCF 06.2 |
| 0178: BCF 03.5 |
| 0179: BCF 06.2 |
| .................... set_pwm1_duty(0); // zastav menic |
| 017A: CLRF 15 |
| .................... |
| .................... // vybiti kondenzatoru pro ucely mereni |
| .................... pip(); |
| 017B: CALL 06A |
| .................... delay_ms(2000); |
| 017C: MOVLW 08 |
| 017D: MOVWF 2C |
| 017E: MOVLW FA |
| 017F: MOVWF 2D |
| 0180: CALL 048 |
| 0181: DECFSZ 2C,F |
| 0182: GOTO 17E |
| .................... pip(); |
| 0183: CALL 06A |
| .................... output_high(MOTOR); |
| 0184: BSF 03.5 |
| 0185: BCF 06.2 |
| 0186: BCF 03.5 |
| 0187: BSF 06.2 |
| .................... |
| .................... while(true) |
| .................... { |
| .................... output_high(LED); |
| 0188: BSF 03.5 |
| 0189: BCF 05.7 |
| 018A: BCF 03.5 |
| 018B: BSF 05.7 |
| .................... output_low(PIEZO); |
| 018C: BSF 03.5 |
| 018D: BCF 05.6 |
| 018E: BCF 03.5 |
| 018F: BCF 05.6 |
| .................... delay_ms(300); |
| 0190: MOVLW 02 |
| 0191: MOVWF 2C |
| 0192: MOVLW 96 |
| 0193: MOVWF 2D |
| 0194: CALL 048 |
| 0195: DECFSZ 2C,F |
| 0196: GOTO 192 |
| .................... output_low(LED); |
| 0197: BSF 03.5 |
| 0198: BCF 05.7 |
| 0199: BCF 03.5 |
| 019A: BCF 05.7 |
| .................... output_high(PIEZO); |
| 019B: BSF 03.5 |
| 019C: BCF 05.6 |
| 019D: BCF 03.5 |
| 019E: BSF 05.6 |
| .................... delay_ms(300); |
| 019F: MOVLW 02 |
| 01A0: MOVWF 2C |
| 01A1: MOVLW 96 |
| 01A2: MOVWF 2D |
| 01A3: CALL 048 |
| 01A4: DECFSZ 2C,F |
| 01A5: GOTO 1A1 |
| .................... } |
| 01A6: GOTO 188 |
| .................... // priprava na dalsi jizdu |
| .................... delay_ms(5000); |
| 01A7: MOVLW 14 |
| 01A8: MOVWF 2C |
| 01A9: MOVLW FA |
| 01AA: MOVWF 2D |
| 01AB: CALL 048 |
| 01AC: DECFSZ 2C,F |
| 01AD: GOTO 1A9 |
| .................... reset_cpu(); |
| 01AE: CLRF 0A |
| 01AF: GOTO 000 |
| .................... } |
| .................... |
| 01B0: SLEEP |
| Configuration Fuses: |
| Word 1: 2738 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT DEBUG CCPB3 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/solarni/2005/jump/menic.PJT |
|---|
| 0,0 → 1,53 |
| [PROJECT] |
| Target=menic.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\ |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=menic.c; |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [menic.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=menic.c |
| [Windows] |
| 0=0000 menic.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3= |
| 4=C:\PIC\jump\menic.lst |
| 5= |
| [debugperif] |
| selected=Analog/Digital Conv |
| [debugram] |
| autoread=1 |
| [debugeedata] |
| autoread=1 |
| [debugbreak] |
| count=0 |
| [pcwdebug] |
| watchcol0=75 |
| [debugwatch] |
| count=0 |
| [debugexpr] |
| expr= |
| sideeffects=0 |
| /roboti/solarni/2005/jump/menic.SYM |
|---|
| 0,0 → 1,59 |
| 013 SSPBUF |
| 014 SSPCON1 |
| 015-016 CCP_1 |
| 015 CCP_1_LOW |
| 016 CCP_1_HIGH |
| 020 @INTERRUPT_AREA |
| 021 @INTERRUPT_AREA |
| 022 @INTERRUPT_AREA |
| 023 @INTERRUPT_AREA |
| 024 @INTERRUPT_AREA |
| 025 @INTERRUPT_AREA |
| 026 @INTERRUPT_AREA |
| 027 @INTERRUPT_AREA |
| 028 @INTERRUPT_AREA |
| 029 MotorPattern |
| 02A main.n |
| 02B main.perioda |
| 02C.0 pip.beep |
| 02C main.@SCRATCH |
| 02D @delay_ms1.P1 |
| 02D pip.i |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 094 SSPSTAT |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0048 @delay_ms1 |
| 0037 @const30 |
| 0043 IntSSP |
| 006A pip |
| 005D cvak |
| 0090 main |
| 0090 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.c |
| D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.h |
| C:\Program Files\PICC\devices\16F88.h |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.HEX |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.SYM |
| List: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.LST |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.sta |
| /roboti/solarni/2005/jump/menic.c |
|---|
| 0,0 → 1,148 |
| #include ".\menic.h" |
| #define RAZENI 60 // Po kolika ms se bude menit rychlost pro rozjizdeni |
| #define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
| #define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
| #define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
| #define LED PIN_A7 // LED |
| #define MENIC PIN_B3 // Spinani tranzistoru menice |
| #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| #byte SSPBUF = 0x13 // Registry jednotky SSP |
| #byte SSPCON1 = 0x14 |
| #byte SSPSTAT = 0x94 |
| // Vzorky pro generovani PWM pomoci SSP |
| unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| unsigned int8 MotorPattern; |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| } |
| void pip() // pipnuti a bliknuti |
| { |
| int1 beep; |
| int i; |
| for(i=0; i<250; i++) |
| { |
| output_bit(PIEZO, beep); |
| beep=~beep; |
| output_bit(LED, beep); |
| delay_us(100); |
| }; |
| output_high(PIEZO); |
| output_high(LED); |
| } |
| void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
| { |
| output_bit(PIEZO,~input(PIEZO)); |
| } |
| void main() |
| { |
| int8 n; |
| int8 perioda; |
| setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| output_low(MENIC); // Vsechno zastav |
| output_low(MOTOR); |
| output_low(REFPWR); |
| output_high(LED); |
| output_high(PIEZO); |
| set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| // jsme v depu? |
| set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
| n=0; |
| do |
| { |
| output_low(REFPWR); |
| delay_ms(100); |
| if (4==n++) {cvak(); n=0;}; |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| output_low(REFPWR); |
| pip(); // potvrzeni odstartovani |
| // regulace |
| perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
| for(n=0;n<=7;n++) |
| { |
| set_pwm1_duty(0); |
| setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
| set_pwm1_duty(19); // delka sepnuti |
| delay_ms(100); |
| output_high(REFPWR); // zapni napajeni napetove reference |
| delay_ms(1); |
| if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
| output_low(REFPWR); // konec mereni, odpoj napajeni reference |
| }; |
| // nabíjíme |
| delay_ms(14000); |
| // rozjezd |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| MotorPattern=0x02; // prvni data pro vyslani |
| SSPBUF=MotorPattern; // data pro vyslani |
| enable_interrupts(global); |
| enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
| for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| { |
| MotorPattern=Pattern[n]; |
| delay_ms(RAZENI); // Pockej na dalsi razeni |
| }; |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| // jedem co to da |
| output_high(MOTOR); |
| delay_ms(1000); |
| output_low(MOTOR); |
| set_pwm1_duty(0); // zastav menic |
| // vybiti kondenzatoru pro ucely mereni |
| pip(); |
| delay_ms(2000); |
| pip(); |
| output_high(MOTOR); |
| while(true) |
| { |
| output_high(LED); |
| output_low(PIEZO); |
| delay_ms(300); |
| output_low(LED); |
| output_high(PIEZO); |
| delay_ms(300); |
| } |
| // priprava na dalsi jizdu |
| delay_ms(5000); |
| reset_cpu(); |
| } |
| /roboti/solarni/2005/jump/menic.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jump/menic.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /roboti/solarni/2005/jump/menic.h |
|---|
| 0,0 → 1,6 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, DEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 |
| #use delay(clock=4000000) |
| /roboti/solarni/2005/jump/menic.sta |
|---|
| 0,0 → 1,34 |
| ROM used: 433 (11%) |
| 433 (11%) including unused fragments |
| 1 Average locations per line |
| 5 Average locations per statement |
| RAM used: 18 (10%) at main() level |
| 19 (11%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 149 89 100 D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.c |
| 7 0 0 D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jump\menic.h |
| 275 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 862 178 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 21 5 1 @delay_ms1 |
| 0 12 3 0 @const30 |
| 0 5 1 0 IntSSP |
| 0 38 9 2 pip |
| 0 13 3 0 cvak |
| 0 289 67 3 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-00036 51 0 |
| 00037-007FF 378 1615 |
| 00800-00FFF 0 2048 |
| /roboti/solarni/2005/jump/menic.tre |
|---|
| 0,0 → 1,20 |
| ÀÄmenic |
| ÃÄmain 0/289 Ram=3 |
| ³ ÃÄ??0?? |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄcvak 0/13 Ram=0 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄpip 0/38 Ram=2 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@const30 0/12 Ram=0 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄpip 0/38 Ram=2 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄpip 0/38 Ram=2 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÀÄ@delay_ms1 0/21 Ram=1 |
| ÀÄIntSSP 0/5 Ram=0 |
| /roboti/solarni/2005/jump/miho/A.BAT |
|---|
| 0,0 → 1,4 |
| call picpgr stop |
| call picpgr erase pic16f88 |
| call picpgr program DART.hex hex pic16f88 |
| call picpgr run |
| /roboti/solarni/2005/jump/miho/DART.BAK |
|---|
| 0,0 → 1,426 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include "DART.h" |
| #define BEEP0 PIN_A6 // pipak, prvni vystup |
| #define BEEP1 PIN_A7 // pipak, druhy vystup |
| #define PWM PIN_B3 // PWM vystup pro menic |
| #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| #define MOTOR PIN_B2 // zapinani motoru |
| #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| void InitRS232() |
| // Inicializace HW RS232 |
| { |
| SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| RCSTA=0b10000000; // enable USART |
| TXSTA=0b00100100; // BRGH=1, TX enable |
| } |
| void Putc(char c) |
| // Posilani znaku pres HW RS232 |
| { |
| while(TRMT==0); // cekej na prazdny TX buffer |
| TXREG=c; // predej data |
| } |
| // Globalni promenna pro data posilana na SSP |
| // Nastavuje se funkci MotorPatternSet() |
| // Vyuziva se v prerusovaci rutine IntSSP() |
| unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| void MotorPatternSet(unsigned int Gear) |
| // Na zaklade rychlosti nastavi MotorPattern pro SSP |
| // Rychlost 0 znamena stop, rychlost 8 je maximum |
| { |
| // Tabulka rychlost -> pattern pro SSP |
| unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| // Vyber patternu |
| if (Gear==0) // stav 0 znamena stop |
| { |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // neni preruseni od SSP |
| } |
| else // rizeny vykon |
| { |
| if (Gear>7) // stav 8 a vice znamena plny vykon |
| { |
| Gear=8; // plny plyn |
| } |
| MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| SSPBUF=MotorPattern; // prvni data pro vyslani |
| enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| } |
| } |
| // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| } |
| void MotorSet(unsigned int Gear) |
| // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| // od SSP jednotky |
| // 0 stop |
| // 1-7 pocet 1/8 vykonu |
| // >7 plny vykon |
| { |
| // Nastav PWM pattern |
| MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| // Povol preruseni |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| void InitT0() |
| // Inicializace casovace T0 (cca 1000x za sekundu) |
| { |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| // Globalni promenna pro mereni casu |
| // Nastavuje se procedurou TimeSet() |
| // Testuje se funkci TimeIf() |
| // Modifikuje se pri preruseni od casovace IntTo() |
| unsigned int16 TimeTime; |
| void TimerSet(unsigned int16 Time) |
| // Nastavi casovac na zadany pocet ms |
| // Test uplynuti casu se dela pomoci TimerIf() |
| { |
| // Nastav hodnotu |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| TimeTime=Time; // pri nastavovani hodnoty |
| enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| } |
| int1 TimerIf() |
| // Vraci TRUE pokud casovac jiz dobehl |
| { |
| int1 Flag; // pomocna promenna |
| // Otestuj casovac |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| Flag=(TimeTime==0); // behem testu promenne |
| enable_interrupts(INT_RTCC); // ted uz muze |
| // Navratova hodnota |
| return Flag; // TRUE znamena dobehl casovac |
| } |
| // Globalni promenne pro akceleraci |
| // Nastavuje se metodou MotorStart() |
| // Pouziva se v obsluze preruseni IntT0() |
| unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| unsigned int8 MotorDelay; // spozdeni mezi razenim |
| unsigned int8 MotorGear; // rychlostni stupen |
| void MotorStart(unsigned int8 Delay) |
| // Provede rizeny rozjezd motoru |
| { |
| disable_interrupts(INT_RTCC); |
| MotorGear=1; |
| MotorDelay=Delay; |
| MotorTime=MotorDelay; |
| enable_interrupts(INT_RTCC); |
| MotorPatternSet(1); |
| } |
| #INT_TIMER0 |
| void IntT0() |
| // Preruseni od casovace cca 1000x za sekundu |
| { |
| // Odpocitavani casovace |
| if (TimeTime) TimeTime--; |
| // Obsluha akcelerace |
| if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| { |
| MotorTime=MotorDelay; // znovu nastav casovac |
| MotorGear++; // dalsi rychlost |
| MotorPatternSet(MotorGear); // nastav rychlost |
| } |
| } |
| // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| int8 ReadAD(int8 Ch) |
| { |
| // Pokud merim Vref zapnu si jeho napajeni |
| if (Ch==4) output_high(REFPOWER); |
| // Inicializace a cislo kanalu |
| ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| // Mereni |
| delay_us(50); // doba na prepnuti kanalu |
| ADCON0 |= 4; // start prevodu |
| delay_us(50); // doba na prevod |
| // Vypnu napajeni Vref (vzdycky) |
| output_low(REFPOWER); |
| // Navrat hodnoty |
| return ADRESH; |
| } |
| void main() |
| { |
| unsigned int8 Debug; |
| unsigned int8 i; |
| // Hodiny |
| OSCCON = 0x62; // 4 MHz interni RC oscilator |
| // Digitalni vystupy |
| output_low(PWM); // PWM vystup |
| output_low(MOTOR); // Proud do motoru |
| output_low(REFPOWER); // Napajeni Vref |
| port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| // Watch Dog |
| PSA=0; // preddelic prirazen casovaci |
| WDTCON=0x0E; // Watch Dog cca 130ms |
| /* |
| // Analogove vstupy |
| ANSEL = 0x1F; // AN0 az AN4 |
| // nastaveni RS232 |
| InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| // Pipnuti (a cekani) |
| for (i=1;i<30;i++) // pocet 1/2 period |
| { |
| int1 beep; // stavova promenna pro pipak |
| output_bit(BEEP0,beep); |
| beep=~beep; |
| output_bit(BEEP1,beep); |
| delay_us(1000); |
| } |
| // Rozhodnuti o rezimu cinnosti |
| Debug=0; |
| if (~input(SW0)) Debug|=1; // precti bit 0 |
| if (~input(SW1)) Debug|=2; // precti bit 1 |
| output_low(SW0); // nastav L aby se snizila spotreba |
| output_low(SW1); // na obou vstupech |
| // Zobrazeni rezimu |
| printf(Putc,"\fMode:%d",Debug); |
| */ |
| // Inicializace PWM |
| PR2 = 0x1F; // perioda PWM casovace |
| T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| CCPR1L = 0; // na zacatku nulova data |
| output_low(PWM); // PWM vystup |
| //!!!KAKL |
| CCPR1L = 20; // pouziti vystupu |
| disable_interrupts(GLOBAL); |
| while(true); |
| // Inicializace casovace |
| InitT0(); // nastav casovac na cca 1ms |
| //!!!KAKL |
| Debug=3; |
| // Test menice PWM a rozjezdoveho PWM |
| if (Debug==1) |
| { |
| unsigned int8 Data1; // poteniometr P1 = PWM |
| unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // mereni vstupu |
| Data1=ReadAD(0); // nacti parametr pro PWM |
| Data1>>=2; // redukuj rozsah na 0 az 63 |
| Data2=ReadAD(1); // nacti parametr pro rozjezd |
| Data2>>=4; // redukuj rozsah na 0 az 15 |
| // zobrazeni |
| printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| delay_ms(20); |
| // nastaveni parametru PWM |
| CCPR1L = Data1; |
| // nastaveni parametru RUN |
| MotorSet(Data2); |
| } |
| } |
| // Testovani rozjezdu |
| // Zadava se cas mezi stupni razeni pro rozjezd v ms |
| if (Debug==2) |
| { |
| int8 Data; |
| int8 Start; |
| Start=0; // uvodni stav |
| while(1) |
| { |
| // Nacti a zobraz parametr |
| Data=ReadAD(1); // potenciometr P2 = rozjezd |
| printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| delay_ms(10); // prodleva pro terminal |
| // Uvodni pauza |
| if (Start==0) // spousti se 1x na zacatku |
| { |
| Start++; // dalsi stav je cekani |
| TimerSet(2000); // na dokonceni uvodni prodlevy |
| } |
| // Rozjezd |
| if ((Start==1) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"R"); |
| MotorStart(Data); // rozjezd s nastavenim prodlevy |
| TimerSet(2000); // nastav celkovy cas jizdy |
| } |
| // Zastaveni |
| if ((Start==2) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"S"); |
| MotorSet(0); // pokud dobehl casovac zastav motor |
| } |
| // watch dog |
| restart_wdt(); |
| } |
| } |
| // Test nabijeciho algoritmu |
| if (Debug==3) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| // Inicializace stavove promenne |
| PwmOut=0; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| //!!!KAKL |
| PwmOut=20; |
| CCPR1L = PwmOut; // pouziti vystupu |
| disable_interrupts(GLOBAL); |
| while(true); |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| } |
| } |
| // Standardni beh |
| if (Debug==0) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| int1 Run; |
| // Inicializace stavove promenne |
| PwmOut=0; |
| TimerSet(14000); // casovani startu |
| Run=1; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| // rozjezd |
| if (TimerIf()&&Run) |
| { |
| Run=0; |
| MotorStart(65); |
| } |
| } |
| } |
| } |
| /roboti/solarni/2005/jump/miho/DART.C |
|---|
| 0,0 → 1,425 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include "DART.h" |
| #define BEEP0 PIN_A6 // pipak, prvni vystup |
| #define BEEP1 PIN_A7 // pipak, druhy vystup |
| #define PWM PIN_B3 // PWM vystup pro menic |
| #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| #define MOTOR PIN_B2 // zapinani motoru |
| #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| void InitRS232() |
| // Inicializace HW RS232 |
| { |
| SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| RCSTA=0b10000000; // enable USART |
| TXSTA=0b00100100; // BRGH=1, TX enable |
| } |
| void Putc(char c) |
| // Posilani znaku pres HW RS232 |
| { |
| while(TRMT==0); // cekej na prazdny TX buffer |
| TXREG=c; // predej data |
| } |
| // Globalni promenna pro data posilana na SSP |
| // Nastavuje se funkci MotorPatternSet() |
| // Vyuziva se v prerusovaci rutine IntSSP() |
| unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| void MotorPatternSet(unsigned int Gear) |
| // Na zaklade rychlosti nastavi MotorPattern pro SSP |
| // Rychlost 0 znamena stop, rychlost 8 je maximum |
| { |
| // Tabulka rychlost -> pattern pro SSP |
| unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| // Vyber patternu |
| if (Gear==0) // stav 0 znamena stop |
| { |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // neni preruseni od SSP |
| } |
| else // rizeny vykon |
| { |
| if (Gear>7) // stav 8 a vice znamena plny vykon |
| { |
| Gear=8; // plny plyn |
| } |
| MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| output_low(MOTOR); // klidovy stav |
| SSPSTAT = 0; |
| SSPCON1 = 0x22; // SPI OSC/64 |
| SSPBUF=MotorPattern; // prvni data pro vyslani |
| enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| } |
| } |
| // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| #INT_SSP |
| void IntSSP() |
| { |
| SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| } |
| void MotorSet(unsigned int Gear) |
| // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| // od SSP jednotky |
| // 0 stop |
| // 1-7 pocet 1/8 vykonu |
| // >7 plny vykon |
| { |
| // Nastav PWM pattern |
| MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| // Povol preruseni |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| void InitT0() |
| // Inicializace casovace T0 (cca 1000x za sekundu) |
| { |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| enable_interrupts(GLOBAL); // povol preruseni |
| } |
| // Globalni promenna pro mereni casu |
| // Nastavuje se procedurou TimeSet() |
| // Testuje se funkci TimeIf() |
| // Modifikuje se pri preruseni od casovace IntTo() |
| unsigned int16 TimeTime; |
| void TimerSet(unsigned int16 Time) |
| // Nastavi casovac na zadany pocet ms |
| // Test uplynuti casu se dela pomoci TimerIf() |
| { |
| // Nastav hodnotu |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| TimeTime=Time; // pri nastavovani hodnoty |
| enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| } |
| int1 TimerIf() |
| // Vraci TRUE pokud casovac jiz dobehl |
| { |
| int1 Flag; // pomocna promenna |
| // Otestuj casovac |
| disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| Flag=(TimeTime==0); // behem testu promenne |
| enable_interrupts(INT_RTCC); // ted uz muze |
| // Navratova hodnota |
| return Flag; // TRUE znamena dobehl casovac |
| } |
| // Globalni promenne pro akceleraci |
| // Nastavuje se metodou MotorStart() |
| // Pouziva se v obsluze preruseni IntT0() |
| unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| unsigned int8 MotorDelay; // spozdeni mezi razenim |
| unsigned int8 MotorGear; // rychlostni stupen |
| void MotorStart(unsigned int8 Delay) |
| // Provede rizeny rozjezd motoru |
| { |
| disable_interrupts(INT_RTCC); |
| MotorGear=1; |
| MotorDelay=Delay; |
| MotorTime=MotorDelay; |
| enable_interrupts(INT_RTCC); |
| MotorPatternSet(1); |
| } |
| #INT_TIMER0 |
| void IntT0() |
| // Preruseni od casovace cca 1000x za sekundu |
| { |
| // Odpocitavani casovace |
| if (TimeTime) TimeTime--; |
| // Obsluha akcelerace |
| if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| { |
| MotorTime=MotorDelay; // znovu nastav casovac |
| MotorGear++; // dalsi rychlost |
| MotorPatternSet(MotorGear); // nastav rychlost |
| } |
| } |
| // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| int8 ReadAD(int8 Ch) |
| { |
| // Pokud merim Vref zapnu si jeho napajeni |
| if (Ch==4) output_high(REFPOWER); |
| // Inicializace a cislo kanalu |
| ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| // Mereni |
| delay_us(50); // doba na prepnuti kanalu |
| ADCON0 |= 4; // start prevodu |
| delay_us(50); // doba na prevod |
| // Vypnu napajeni Vref (vzdycky) |
| output_low(REFPOWER); |
| // Navrat hodnoty |
| return ADRESH; |
| } |
| void main() |
| { |
| unsigned int8 Debug; |
| unsigned int8 i; |
| // Hodiny |
| OSCCON = 0x62; // 4 MHz interni RC oscilator |
| /* |
| // Digitalni vystupy |
| output_low(PWM); // PWM vystup |
| output_low(MOTOR); // Proud do motoru |
| output_low(REFPOWER); // Napajeni Vref |
| port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| // Watch Dog |
| PSA=0; // preddelic prirazen casovaci |
| WDTCON=0x0E; // Watch Dog cca 130ms |
| // Analogove vstupy |
| ANSEL = 0x1F; // AN0 az AN4 |
| // nastaveni RS232 |
| InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| // Pipnuti (a cekani) |
| for (i=1;i<30;i++) // pocet 1/2 period |
| { |
| int1 beep; // stavova promenna pro pipak |
| output_bit(BEEP0,beep); |
| beep=~beep; |
| output_bit(BEEP1,beep); |
| delay_us(1000); |
| } |
| // Rozhodnuti o rezimu cinnosti |
| Debug=0; |
| if (~input(SW0)) Debug|=1; // precti bit 0 |
| if (~input(SW1)) Debug|=2; // precti bit 1 |
| output_low(SW0); // nastav L aby se snizila spotreba |
| output_low(SW1); // na obou vstupech |
| // Zobrazeni rezimu |
| printf(Putc,"\fMode:%d",Debug); |
| */ |
| // Inicializace PWM |
| PR2 = 0x1F; // perioda PWM casovace |
| T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| CCPR1L = 0; // na zacatku nulova data |
| output_low(PWM); // PWM vystup |
| //!!!KAKL |
| CCPR1L = 20; // pouziti vystupu |
| disable_interrupts(GLOBAL); |
| while(true); |
| // Inicializace casovace |
| InitT0(); // nastav casovac na cca 1ms |
| //!!!KAKL |
| Debug=3; |
| // Test menice PWM a rozjezdoveho PWM |
| if (Debug==1) |
| { |
| unsigned int8 Data1; // poteniometr P1 = PWM |
| unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // mereni vstupu |
| Data1=ReadAD(0); // nacti parametr pro PWM |
| Data1>>=2; // redukuj rozsah na 0 az 63 |
| Data2=ReadAD(1); // nacti parametr pro rozjezd |
| Data2>>=4; // redukuj rozsah na 0 az 15 |
| // zobrazeni |
| printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| delay_ms(20); |
| // nastaveni parametru PWM |
| CCPR1L = Data1; |
| // nastaveni parametru RUN |
| MotorSet(Data2); |
| } |
| } |
| // Testovani rozjezdu |
| // Zadava se cas mezi stupni razeni pro rozjezd v ms |
| if (Debug==2) |
| { |
| int8 Data; |
| int8 Start; |
| Start=0; // uvodni stav |
| while(1) |
| { |
| // Nacti a zobraz parametr |
| Data=ReadAD(1); // potenciometr P2 = rozjezd |
| printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| delay_ms(10); // prodleva pro terminal |
| // Uvodni pauza |
| if (Start==0) // spousti se 1x na zacatku |
| { |
| Start++; // dalsi stav je cekani |
| TimerSet(2000); // na dokonceni uvodni prodlevy |
| } |
| // Rozjezd |
| if ((Start==1) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"R"); |
| MotorStart(Data); // rozjezd s nastavenim prodlevy |
| TimerSet(2000); // nastav celkovy cas jizdy |
| } |
| // Zastaveni |
| if ((Start==2) && TimerIf()) |
| { |
| Start++; |
| printf(Putc,"S"); |
| MotorSet(0); // pokud dobehl casovac zastav motor |
| } |
| // watch dog |
| restart_wdt(); |
| } |
| } |
| // Test nabijeciho algoritmu |
| if (Debug==3) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| // Inicializace stavove promenne |
| PwmOut=0; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| //!!!KAKL |
| PwmOut=20; |
| CCPR1L = PwmOut; // pouziti vystupu |
| disable_interrupts(GLOBAL); |
| while(true); |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| } |
| } |
| // Standardni beh |
| if (Debug==0) |
| { |
| unsigned int8 PwmOut; // akcni hodnota pro PWM |
| unsigned int8 Req; // pozadovana hodnota z P1 |
| unsigned int8 Vref; // merena hodnota vref |
| int1 Run; |
| // Inicializace stavove promenne |
| PwmOut=0; |
| TimerSet(14000); // casovani startu |
| Run=1; |
| // Hlavni smycka |
| while (1) |
| { |
| // watch dog |
| restart_wdt(); |
| // pozadovana hodnota (potenciometr P1) |
| Req=ReadAD(0); |
| Req=50+(ReadAD(0)>>1); // 50 az 177 |
| // napeti na napajeni (vref) |
| Vref=ReadAD(4); |
| // ricici algoritmus |
| if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| Vref+=10; |
| if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| // nastaveni parametru PWM |
| if (PwmOut>24) PwmOut=24; // saturace |
| CCPR1L = PwmOut; // pouziti vystupu |
| // zobrazeni |
| printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| delay_ms(10); |
| // rozjezd |
| if (TimerIf()&&Run) |
| { |
| Run=0; |
| MotorStart(65); |
| } |
| } |
| } |
| } |
| /roboti/solarni/2005/jump/miho/DART.HEX |
|---|
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| ;PIC16F88 |
| /roboti/solarni/2005/jump/miho/DART.LST |
|---|
| 0,0 → 1,1126 |
| CCS PCM C Compiler, Version 3.221, 27853 21-VIII-05 18:18 |
| Filename: C:\PIC\jump\miho\DART.LST |
| ROM used: 834 words (20%) |
| Largest free fragment is 2048 |
| RAM used: 25 (14%) at main() level |
| 42 (24%) worst case |
| Stack: 6 worst case (3 in main + 3 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 1C8 |
| 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 00.3 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.3 |
| 0021: GOTO 039 |
| 0022: BTFSS 0B.5 |
| 0023: GOTO 026 |
| 0024: BTFSC 0B.2 |
| 0025: GOTO 03B |
| 0026: MOVF 22,W |
| 0027: MOVWF 04 |
| 0028: MOVF 23,W |
| 0029: MOVWF 77 |
| 002A: MOVF 24,W |
| 002B: MOVWF 78 |
| 002C: MOVF 25,W |
| 002D: MOVWF 79 |
| 002E: MOVF 26,W |
| 002F: MOVWF 7A |
| 0030: MOVF 27,W |
| 0031: MOVWF 7B |
| 0032: MOVF 28,W |
| 0033: MOVWF 0A |
| 0034: SWAPF 21,W |
| 0035: MOVWF 03 |
| 0036: SWAPF 7F,F |
| 0037: SWAPF 7F,W |
| 0038: RETFIE |
| 0039: BCF 0A.3 |
| 003A: GOTO 089 |
| 003B: BCF 0A.3 |
| 003C: GOTO 0B7 |
| .................... // DART01A verze programu 1.00 |
| .................... // (c)miho 2005 |
| .................... |
| .................... #include "DART.h" |
| .................... // DART01A verze programu 1.00 |
| .................... // (c)miho 2005 |
| .................... |
| .................... #include ".\lib\16F88.h" // standardni definice konstant |
| .................... //////// Header file for the PIC16F88 |
| .................... #device PIC16F88 |
| .................... #list |
| .................... #include ".\lib\16F88_Reg.h" // standardni definice vsech FSR |
| .................... #list |
| .................... |
| .................... |
| .................... #device adc=8 // AD prevodnik jen na 8 bitu |
| .................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
| .................... #use delay(clock=xclock,restart_wdt) |
| 0176: MOVLW 3D |
| 0177: MOVWF 04 |
| 0178: MOVF 00,W |
| 0179: BTFSC 03.2 |
| 017A: GOTO 18C |
| 017B: MOVLW 01 |
| 017C: MOVWF 78 |
| 017D: MOVLW BF |
| 017E: MOVWF 77 |
| 017F: CLRWDT |
| 0180: DECFSZ 77,F |
| 0181: GOTO 17F |
| 0182: DECFSZ 78,F |
| 0183: GOTO 17D |
| 0184: MOVLW 58 |
| 0185: MOVWF 77 |
| 0186: DECFSZ 77,F |
| 0187: GOTO 186 |
| 0188: NOP |
| 0189: CLRWDT |
| 018A: DECFSZ 00,F |
| 018B: GOTO 17B |
| 018C: RETLW 00 |
| .................... #fuses INTRC_IO, NOWDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
| .................... |
| .................... |
| .................... |
| .................... #define BEEP0 PIN_A6 // pipak, prvni vystup |
| .................... #define BEEP1 PIN_A7 // pipak, druhy vystup |
| .................... #define PWM PIN_B3 // PWM vystup pro menic |
| .................... #define REFPOWER PIN_B1 // napajeni zdroje Vref |
| .................... #define MOTOR PIN_B2 // zapinani motoru |
| .................... #define SW0 PIN_B7 // konfiguracni prepinac 0 |
| .................... #define SW1 PIN_B6 // konfiguracni prepinac 1 |
| .................... |
| .................... |
| .................... void InitRS232() |
| .................... // Inicializace HW RS232 |
| .................... { |
| .................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd |
| .................... RCSTA=0b10000000; // enable USART |
| .................... TXSTA=0b00100100; // BRGH=1, TX enable |
| .................... } |
| .................... |
| .................... |
| .................... void Putc(char c) |
| .................... // Posilani znaku pres HW RS232 |
| .................... { |
| .................... while(TRMT==0); // cekej na prazdny TX buffer |
| * |
| 010B: BSF 03.5 |
| 010C: BTFSC 18.1 |
| 010D: GOTO 110 |
| 010E: BCF 03.5 |
| 010F: GOTO 10B |
| .................... TXREG=c; // predej data |
| 0110: BCF 03.5 |
| 0111: MOVF 41,W |
| 0112: MOVWF 19 |
| .................... } |
| 0113: RETLW 00 |
| .................... |
| .................... |
| .................... // Globalni promenna pro data posilana na SSP |
| .................... // Nastavuje se funkci MotorPatternSet() |
| .................... // Vyuziva se v prerusovaci rutine IntSSP() |
| .................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku |
| .................... |
| .................... |
| .................... void MotorPatternSet(unsigned int Gear) |
| .................... // Na zaklade rychlosti nastavi MotorPattern pro SSP |
| .................... // Rychlost 0 znamena stop, rychlost 8 je maximum |
| .................... { |
| .................... // Tabulka rychlost -> pattern pro SSP |
| .................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| .................... |
| .................... // Vyber patternu |
| .................... if (Gear==0) // stav 0 znamena stop |
| * |
| 008E: MOVF 44,F |
| 008F: BTFSS 03.2 |
| 0090: GOTO 09D |
| .................... { |
| .................... output_low(MOTOR); // klidovy stav |
| 0091: BSF 03.5 |
| 0092: BCF 06.2 |
| 0093: BCF 03.5 |
| 0094: BCF 06.2 |
| .................... SSPSTAT = 0; |
| 0095: BSF 03.5 |
| 0096: CLRF 14 |
| .................... SSPCON1 = 0; // SPI stop |
| 0097: BCF 03.5 |
| 0098: CLRF 14 |
| .................... disable_interrupts(INT_SSP); // neni preruseni od SSP |
| 0099: BSF 03.5 |
| 009A: BCF 0C.3 |
| .................... } |
| .................... else // rizeny vykon |
| 009B: GOTO 0B5 |
| 009C: BCF 03.5 |
| .................... { |
| .................... if (Gear>7) // stav 8 a vice znamena plny vykon |
| 009D: MOVF 44,W |
| 009E: SUBLW 07 |
| 009F: BTFSC 03.0 |
| 00A0: GOTO 0A3 |
| .................... { |
| .................... Gear=8; // plny plyn |
| 00A1: MOVLW 08 |
| 00A2: MOVWF 44 |
| .................... } |
| .................... |
| .................... MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP |
| 00A3: DECF 44,F |
| 00A4: MOVF 44,W |
| 00A5: CALL 03D |
| 00A6: MOVWF 78 |
| 00A7: MOVWF 2A |
| .................... output_low(MOTOR); // klidovy stav |
| 00A8: BSF 03.5 |
| 00A9: BCF 06.2 |
| 00AA: BCF 03.5 |
| 00AB: BCF 06.2 |
| .................... SSPSTAT = 0; |
| 00AC: BSF 03.5 |
| 00AD: CLRF 14 |
| .................... SSPCON1 = 0x22; // SPI OSC/64 |
| 00AE: MOVLW 22 |
| 00AF: BCF 03.5 |
| 00B0: MOVWF 14 |
| .................... |
| .................... SSPBUF=MotorPattern; // prvni data pro vyslani |
| 00B1: MOVF 2A,W |
| 00B2: MOVWF 13 |
| .................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP |
| 00B3: BSF 03.5 |
| 00B4: BSF 0C.3 |
| .................... } |
| .................... } |
| 00B5: BCF 03.5 |
| 00B6: RETLW 00 |
| .................... |
| .................... |
| .................... // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP. |
| .................... #INT_SSP |
| .................... void IntSSP() |
| .................... { |
| .................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP |
| * |
| 0089: MOVF 2A,W |
| 008A: MOVWF 13 |
| .................... } |
| .................... |
| .................... |
| 008B: BCF 0C.3 |
| 008C: BCF 0A.3 |
| 008D: GOTO 026 |
| .................... void MotorSet(unsigned int Gear) |
| * |
| 018D: CLRF 29 |
| 018E: BTFSC 0B.7 |
| 018F: BSF 29.7 |
| 0190: BCF 0B.7 |
| .................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim |
| .................... // od SSP jednotky |
| .................... // 0 stop |
| .................... // 1-7 pocet 1/8 vykonu |
| .................... // >7 plny vykon |
| .................... { |
| .................... // Nastav PWM pattern |
| .................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP |
| 0191: MOVF 3D,W |
| 0192: MOVWF 44 |
| 0193: CALL 08E |
| 0194: BTFSC 29.7 |
| 0195: BSF 0B.7 |
| .................... |
| .................... // Povol preruseni |
| .................... enable_interrupts(GLOBAL); // povol preruseni |
| 0196: MOVLW C0 |
| 0197: IORWF 0B,F |
| .................... } |
| 0198: RETLW 00 |
| .................... |
| .................... |
| .................... void InitT0() |
| .................... // Inicializace casovace T0 (cca 1000x za sekundu) |
| .................... { |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4 |
| * |
| 00D5: BSF 03.5 |
| 00D6: MOVF 01,W |
| 00D7: ANDLW C0 |
| 00D8: IORLW 01 |
| 00D9: MOVWF 01 |
| .................... enable_interrupts(INT_RTCC); // generuj preruseni od T0 |
| 00DA: BCF 03.5 |
| 00DB: BSF 0B.5 |
| .................... enable_interrupts(GLOBAL); // povol preruseni |
| 00DC: MOVLW C0 |
| 00DD: IORWF 0B,F |
| .................... } |
| 00DE: BCF 0A.3 |
| 00DF: GOTO 1EF (RETURN) |
| .................... |
| .................... |
| .................... // Globalni promenna pro mereni casu |
| .................... // Nastavuje se procedurou TimeSet() |
| .................... // Testuje se funkci TimeIf() |
| .................... // Modifikuje se pri preruseni od casovace IntTo() |
| .................... unsigned int16 TimeTime; |
| .................... |
| .................... |
| .................... void TimerSet(unsigned int16 Time) |
| .................... // Nastavi casovac na zadany pocet ms |
| .................... // Test uplynuti casu se dela pomoci TimerIf() |
| .................... { |
| .................... // Nastav hodnotu |
| .................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| * |
| 0199: BCF 0B.5 |
| .................... TimeTime=Time; // pri nastavovani hodnoty |
| 019A: MOVF 3E,W |
| 019B: MOVWF 2C |
| 019C: MOVF 3D,W |
| 019D: MOVWF 2B |
| .................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu) |
| 019E: BSF 0B.5 |
| .................... } |
| 019F: RETLW 00 |
| .................... |
| .................... |
| .................... int1 TimerIf() |
| .................... // Vraci TRUE pokud casovac jiz dobehl |
| .................... { |
| .................... int1 Flag; // pomocna promenna |
| .................... |
| .................... // Otestuj casovac |
| .................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni |
| 01A0: BCF 0B.5 |
| .................... Flag=(TimeTime==0); // behem testu promenne |
| 01A1: MOVF 2B,F |
| 01A2: BTFSS 03.2 |
| 01A3: GOTO 1A7 |
| 01A4: MOVF 2C,F |
| 01A5: BTFSC 03.2 |
| 01A6: GOTO 1A9 |
| 01A7: MOVLW 00 |
| 01A8: GOTO 1AA |
| 01A9: MOVLW 01 |
| 01AA: MOVWF 78 |
| 01AB: BTFSC 78.0 |
| 01AC: GOTO 1AF |
| 01AD: BCF 3D.0 |
| 01AE: GOTO 1B0 |
| 01AF: BSF 3D.0 |
| .................... enable_interrupts(INT_RTCC); // ted uz muze |
| 01B0: BSF 0B.5 |
| .................... |
| .................... // Navratova hodnota |
| .................... return Flag; // TRUE znamena dobehl casovac |
| 01B1: MOVLW 00 |
| 01B2: BTFSC 3D.0 |
| 01B3: MOVLW 01 |
| 01B4: MOVWF 78 |
| .................... } |
| 01B5: RETLW 00 |
| .................... |
| .................... |
| .................... // Globalni promenne pro akceleraci |
| .................... // Nastavuje se metodou MotorStart() |
| .................... // Pouziva se v obsluze preruseni IntT0() |
| .................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd |
| .................... unsigned int8 MotorDelay; // spozdeni mezi razenim |
| .................... unsigned int8 MotorGear; // rychlostni stupen |
| .................... |
| .................... |
| .................... void MotorStart(unsigned int8 Delay) |
| .................... // Provede rizeny rozjezd motoru |
| .................... { |
| .................... disable_interrupts(INT_RTCC); |
| 01B6: BCF 0B.5 |
| .................... MotorGear=1; |
| 01B7: MOVLW 01 |
| 01B8: MOVWF 2F |
| .................... MotorDelay=Delay; |
| 01B9: MOVF 3D,W |
| 01BA: MOVWF 2E |
| .................... MotorTime=MotorDelay; |
| 01BB: MOVF 2E,W |
| 01BC: MOVWF 2D |
| .................... enable_interrupts(INT_RTCC); |
| 01BD: BSF 0B.5 |
| 01BE: CLRF 29 |
| 01BF: BTFSC 0B.7 |
| 01C0: BSF 29.7 |
| 01C1: BCF 0B.7 |
| .................... |
| .................... MotorPatternSet(1); |
| 01C2: MOVLW 01 |
| 01C3: MOVWF 44 |
| 01C4: CALL 08E |
| 01C5: BTFSC 29.7 |
| 01C6: BSF 0B.7 |
| .................... } |
| 01C7: RETLW 00 |
| .................... |
| .................... |
| .................... #INT_TIMER0 |
| .................... void IntT0() |
| .................... // Preruseni od casovace cca 1000x za sekundu |
| .................... { |
| .................... // Odpocitavani casovace |
| .................... if (TimeTime) TimeTime--; |
| * |
| 00B7: MOVF 2B,W |
| 00B8: IORWF 2C,W |
| 00B9: BTFSC 03.2 |
| 00BA: GOTO 0BF |
| 00BB: MOVF 2B,W |
| 00BC: BTFSC 03.2 |
| 00BD: DECF 2C,F |
| 00BE: DECF 2B,F |
| .................... |
| .................... // Obsluha akcelerace |
| .................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu |
| 00BF: MOVF 2D,F |
| 00C0: BTFSS 03.2 |
| 00C1: DECF 2D,F |
| .................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen |
| 00C2: MOVF 2F,F |
| 00C3: BTFSC 03.2 |
| 00C4: GOTO 0D2 |
| 00C5: MOVF 2F,W |
| 00C6: SUBLW 07 |
| 00C7: BTFSS 03.0 |
| 00C8: GOTO 0D2 |
| 00C9: MOVF 2D,F |
| 00CA: BTFSS 03.2 |
| 00CB: GOTO 0D2 |
| .................... { |
| .................... MotorTime=MotorDelay; // znovu nastav casovac |
| 00CC: MOVF 2E,W |
| 00CD: MOVWF 2D |
| .................... MotorGear++; // dalsi rychlost |
| 00CE: INCF 2F,F |
| .................... MotorPatternSet(MotorGear); // nastav rychlost |
| 00CF: MOVF 2F,W |
| 00D0: MOVWF 44 |
| 00D1: CALL 08E |
| .................... } |
| .................... } |
| .................... |
| .................... |
| .................... // Cteni dat z AD prevodniku, zadava se cislo kanalu |
| 00D2: BCF 0B.2 |
| 00D3: BCF 0A.3 |
| 00D4: GOTO 026 |
| .................... int8 ReadAD(int8 Ch) |
| .................... { |
| .................... // Pokud merim Vref zapnu si jeho napajeni |
| .................... if (Ch==4) output_high(REFPOWER); |
| * |
| 00E0: MOVF 3D,W |
| 00E1: SUBLW 04 |
| 00E2: BTFSS 03.2 |
| 00E3: GOTO 0E8 |
| 00E4: BSF 03.5 |
| 00E5: BCF 06.1 |
| 00E6: BCF 03.5 |
| 00E7: BSF 06.1 |
| .................... |
| .................... // Inicializace a cislo kanalu |
| .................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify |
| 00E8: MOVLW 30 |
| 00E9: BSF 03.5 |
| 00EA: MOVWF 1F |
| .................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu |
| 00EB: BCF 03.5 |
| 00EC: RLF 3D,W |
| 00ED: MOVWF 77 |
| 00EE: RLF 77,F |
| 00EF: RLF 77,F |
| 00F0: MOVLW F8 |
| 00F1: ANDWF 77,F |
| 00F2: MOVF 77,W |
| 00F3: ADDLW 41 |
| 00F4: MOVWF 1F |
| .................... |
| .................... // Mereni |
| .................... delay_us(50); // doba na prepnuti kanalu |
| 00F5: CLRWDT |
| 00F6: MOVLW 10 |
| 00F7: MOVWF 77 |
| 00F8: DECFSZ 77,F |
| 00F9: GOTO 0F8 |
| 00FA: NOP |
| 00FB: NOP |
| .................... ADCON0 |= 4; // start prevodu |
| 00FC: BSF 1F.2 |
| .................... delay_us(50); // doba na prevod |
| 00FD: CLRWDT |
| 00FE: MOVLW 10 |
| 00FF: MOVWF 77 |
| 0100: DECFSZ 77,F |
| 0101: GOTO 100 |
| 0102: NOP |
| 0103: NOP |
| .................... |
| .................... // Vypnu napajeni Vref (vzdycky) |
| .................... output_low(REFPOWER); |
| 0104: BSF 03.5 |
| 0105: BCF 06.1 |
| 0106: BCF 03.5 |
| 0107: BCF 06.1 |
| .................... |
| .................... // Navrat hodnoty |
| .................... return ADRESH; |
| 0108: MOVF 1E,W |
| 0109: MOVWF 78 |
| .................... } |
| 010A: RETLW 00 |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| * |
| 01C8: CLRF 04 |
| 01C9: MOVLW 1F |
| 01CA: ANDWF 03,F |
| 01CB: BSF 03.5 |
| 01CC: BCF 1F.4 |
| 01CD: BCF 1F.5 |
| 01CE: MOVF 1B,W |
| 01CF: ANDLW 80 |
| 01D0: MOVWF 1B |
| 01D1: MOVLW 07 |
| 01D2: MOVWF 1C |
| 01D3: MOVF 05,W |
| 01D4: CLRWDT |
| 01D5: MOVF 1C,W |
| 01D6: BCF 03.5 |
| 01D7: BCF 0D.6 |
| .................... unsigned int8 Debug; |
| .................... unsigned int8 i; |
| .................... |
| .................... // Hodiny |
| .................... OSCCON = 0x62; // 4 MHz interni RC oscilator |
| 01D8: MOVLW 62 |
| 01D9: BSF 03.5 |
| 01DA: MOVWF 0F |
| .................... /* |
| .................... // Digitalni vystupy |
| .................... output_low(PWM); // PWM vystup |
| .................... output_low(MOTOR); // Proud do motoru |
| .................... output_low(REFPOWER); // Napajeni Vref |
| .................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B |
| .................... |
| .................... // Watch Dog |
| .................... PSA=0; // preddelic prirazen casovaci |
| .................... WDTCON=0x0E; // Watch Dog cca 130ms |
| .................... // Analogove vstupy |
| .................... ANSEL = 0x1F; // AN0 az AN4 |
| .................... |
| .................... // nastaveni RS232 |
| .................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms) |
| .................... |
| .................... // Pipnuti (a cekani) |
| .................... for (i=1;i<30;i++) // pocet 1/2 period |
| .................... { |
| .................... int1 beep; // stavova promenna pro pipak |
| .................... |
| .................... output_bit(BEEP0,beep); |
| .................... beep=~beep; |
| .................... output_bit(BEEP1,beep); |
| .................... delay_us(1000); |
| .................... } |
| .................... |
| .................... // Rozhodnuti o rezimu cinnosti |
| .................... Debug=0; |
| .................... if (~input(SW0)) Debug|=1; // precti bit 0 |
| .................... if (~input(SW1)) Debug|=2; // precti bit 1 |
| .................... output_low(SW0); // nastav L aby se snizila spotreba |
| .................... output_low(SW1); // na obou vstupech |
| .................... |
| .................... // Zobrazeni rezimu |
| .................... printf(Putc,"\fMode:%d",Debug); |
| .................... */ |
| .................... // Inicializace PWM |
| .................... PR2 = 0x1F; // perioda PWM casovace |
| 01DB: MOVLW 1F |
| 01DC: MOVWF 12 |
| .................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu |
| 01DD: MOVLW 04 |
| 01DE: BCF 03.5 |
| 01DF: MOVWF 12 |
| .................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove |
| 01E0: MOVLW 0C |
| 01E1: MOVWF 17 |
| .................... CCPR1L = 0; // na zacatku nulova data |
| 01E2: CLRF 15 |
| .................... output_low(PWM); // PWM vystup |
| 01E3: BSF 03.5 |
| 01E4: BCF 06.3 |
| 01E5: BCF 03.5 |
| 01E6: BCF 06.3 |
| .................... |
| .................... //!!!KAKL |
| .................... CCPR1L = 20; // pouziti vystupu |
| 01E7: MOVLW 14 |
| 01E8: MOVWF 15 |
| .................... disable_interrupts(GLOBAL); |
| 01E9: BCF 0B.6 |
| 01EA: BCF 0B.7 |
| 01EB: BTFSC 0B.7 |
| 01EC: GOTO 1EA |
| .................... while(true); |
| 01ED: GOTO 1ED |
| .................... |
| .................... // Inicializace casovace |
| .................... InitT0(); // nastav casovac na cca 1ms |
| 01EE: GOTO 0D5 |
| .................... |
| .................... //!!!KAKL |
| .................... Debug=3; |
| 01EF: MOVLW 03 |
| 01F0: MOVWF 30 |
| .................... |
| .................... // Test menice PWM a rozjezdoveho PWM |
| .................... if (Debug==1) |
| 01F1: DECFSZ 30,W |
| 01F2: GOTO 22C |
| .................... { |
| .................... unsigned int8 Data1; // poteniometr P1 = PWM |
| .................... unsigned int8 Data2; // poteniometr P2 = Rozjezd |
| .................... |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 01F3: CLRWDT |
| .................... |
| .................... // mereni vstupu |
| .................... Data1=ReadAD(0); // nacti parametr pro PWM |
| 01F4: CLRF 3D |
| 01F5: CALL 0E0 |
| 01F6: MOVF 78,W |
| 01F7: MOVWF 32 |
| .................... Data1>>=2; // redukuj rozsah na 0 az 63 |
| 01F8: RRF 32,F |
| 01F9: RRF 32,F |
| 01FA: MOVLW 3F |
| 01FB: ANDWF 32,F |
| .................... Data2=ReadAD(1); // nacti parametr pro rozjezd |
| 01FC: MOVLW 01 |
| 01FD: MOVWF 3D |
| 01FE: CALL 0E0 |
| 01FF: MOVF 78,W |
| 0200: MOVWF 33 |
| .................... Data2>>=4; // redukuj rozsah na 0 az 15 |
| 0201: SWAPF 33,F |
| 0202: MOVLW 0F |
| 0203: ANDWF 33,F |
| .................... |
| .................... // zobrazeni |
| .................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2); |
| 0204: CLRF 3D |
| 0205: MOVF 3D,W |
| 0206: CALL 049 |
| 0207: INCF 3D,F |
| 0208: MOVWF 77 |
| 0209: MOVWF 41 |
| 020A: CALL 10B |
| 020B: MOVLW 05 |
| 020C: SUBWF 3D,W |
| 020D: BTFSS 03.2 |
| 020E: GOTO 205 |
| 020F: MOVF 32,W |
| 0210: MOVWF 3F |
| 0211: CLRF 40 |
| 0212: CALL 129 |
| 0213: MOVLW 09 |
| 0214: MOVWF 3E |
| 0215: MOVF 3E,W |
| 0216: CALL 049 |
| 0217: INCF 3E,F |
| 0218: MOVWF 77 |
| 0219: MOVWF 41 |
| 021A: CALL 10B |
| 021B: MOVLW 0E |
| 021C: SUBWF 3E,W |
| 021D: BTFSS 03.2 |
| 021E: GOTO 215 |
| 021F: MOVF 33,W |
| 0220: MOVWF 3F |
| 0221: CLRF 40 |
| 0222: CALL 129 |
| .................... delay_ms(20); |
| 0223: MOVLW 14 |
| 0224: MOVWF 3D |
| 0225: CALL 176 |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... CCPR1L = Data1; |
| 0226: MOVF 32,W |
| 0227: MOVWF 15 |
| .................... |
| .................... // nastaveni parametru RUN |
| .................... MotorSet(Data2); |
| 0228: MOVF 33,W |
| 0229: MOVWF 3D |
| 022A: CALL 18D |
| .................... } |
| 022B: GOTO 1F3 |
| .................... } |
| .................... |
| .................... // Testovani rozjezdu |
| .................... // Zadava se cas mezi stupni razeni pro rozjezd v ms |
| .................... if (Debug==2) |
| 022C: MOVF 30,W |
| 022D: SUBLW 02 |
| 022E: BTFSS 03.2 |
| 022F: GOTO 27D |
| .................... { |
| .................... int8 Data; |
| .................... int8 Start; |
| .................... |
| .................... Start=0; // uvodni stav |
| 0230: CLRF 35 |
| .................... while(1) |
| .................... { |
| .................... // Nacti a zobraz parametr |
| .................... Data=ReadAD(1); // potenciometr P2 = rozjezd |
| 0231: MOVLW 01 |
| 0232: MOVWF 3D |
| 0233: CALL 0E0 |
| 0234: MOVF 78,W |
| 0235: MOVWF 34 |
| .................... printf(Putc,"\nRUN: %3ums ",Data); // zobraz |
| 0236: CLRF 3D |
| 0237: MOVF 3D,W |
| 0238: CALL 060 |
| 0239: INCF 3D,F |
| 023A: MOVWF 77 |
| 023B: MOVWF 41 |
| 023C: CALL 10B |
| 023D: MOVLW 06 |
| 023E: SUBWF 3D,W |
| 023F: BTFSS 03.2 |
| 0240: GOTO 237 |
| 0241: MOVF 34,W |
| 0242: MOVWF 3F |
| 0243: MOVLW 10 |
| 0244: MOVWF 40 |
| 0245: CALL 129 |
| 0246: MOVLW 6D |
| 0247: MOVWF 41 |
| 0248: CALL 10B |
| 0249: MOVLW 73 |
| 024A: MOVWF 41 |
| 024B: CALL 10B |
| 024C: MOVLW 20 |
| 024D: MOVWF 41 |
| 024E: CALL 10B |
| .................... delay_ms(10); // prodleva pro terminal |
| 024F: MOVLW 0A |
| 0250: MOVWF 3D |
| 0251: CALL 176 |
| .................... |
| .................... // Uvodni pauza |
| .................... if (Start==0) // spousti se 1x na zacatku |
| 0252: MOVF 35,F |
| 0253: BTFSS 03.2 |
| 0254: GOTO 25B |
| .................... { |
| .................... Start++; // dalsi stav je cekani |
| 0255: INCF 35,F |
| .................... TimerSet(2000); // na dokonceni uvodni prodlevy |
| 0256: MOVLW 07 |
| 0257: MOVWF 3E |
| 0258: MOVLW D0 |
| 0259: MOVWF 3D |
| 025A: CALL 199 |
| .................... } |
| .................... |
| .................... // Rozjezd |
| .................... if ((Start==1) && TimerIf()) |
| 025B: DECFSZ 35,W |
| 025C: GOTO 26D |
| 025D: CALL 1A0 |
| 025E: MOVF 78,F |
| 025F: BTFSC 03.2 |
| 0260: GOTO 26D |
| .................... { |
| .................... Start++; |
| 0261: INCF 35,F |
| .................... printf(Putc,"R"); |
| 0262: MOVLW 52 |
| 0263: MOVWF 41 |
| 0264: CALL 10B |
| .................... MotorStart(Data); // rozjezd s nastavenim prodlevy |
| 0265: MOVF 34,W |
| 0266: MOVWF 3D |
| 0267: CALL 1B6 |
| .................... |
| .................... TimerSet(2000); // nastav celkovy cas jizdy |
| 0268: MOVLW 07 |
| 0269: MOVWF 3E |
| 026A: MOVLW D0 |
| 026B: MOVWF 3D |
| 026C: CALL 199 |
| .................... } |
| .................... |
| .................... // Zastaveni |
| .................... if ((Start==2) && TimerIf()) |
| 026D: MOVF 35,W |
| 026E: SUBLW 02 |
| 026F: BTFSS 03.2 |
| 0270: GOTO 27B |
| 0271: CALL 1A0 |
| 0272: MOVF 78,F |
| 0273: BTFSC 03.2 |
| 0274: GOTO 27B |
| .................... { |
| .................... Start++; |
| 0275: INCF 35,F |
| .................... printf(Putc,"S"); |
| 0276: MOVLW 53 |
| 0277: MOVWF 41 |
| 0278: CALL 10B |
| .................... MotorSet(0); // pokud dobehl casovac zastav motor |
| 0279: CLRF 3D |
| 027A: CALL 18D |
| .................... } |
| .................... |
| .................... // watch dog |
| .................... restart_wdt(); |
| 027B: CLRWDT |
| .................... } |
| 027C: GOTO 231 |
| .................... } |
| .................... |
| .................... // Test nabijeciho algoritmu |
| .................... if (Debug==3) |
| 027D: MOVF 30,W |
| 027E: SUBLW 03 |
| 027F: BTFSS 03.2 |
| 0280: GOTO 2DB |
| .................... { |
| .................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
| .................... unsigned int8 Req; // pozadovana hodnota z P1 |
| .................... unsigned int8 Vref; // merena hodnota vref |
| .................... |
| .................... // Inicializace stavove promenne |
| .................... PwmOut=0; |
| 0281: CLRF 36 |
| .................... |
| .................... // Hlavni smycka |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 0282: CLRWDT |
| .................... |
| .................... // pozadovana hodnota (potenciometr P1) |
| .................... Req=ReadAD(0); |
| 0283: CLRF 3D |
| 0284: CALL 0E0 |
| 0285: MOVF 78,W |
| 0286: MOVWF 37 |
| .................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
| 0287: CLRF 3D |
| 0288: CALL 0E0 |
| 0289: BCF 03.0 |
| 028A: RRF 78,W |
| 028B: ADDLW 32 |
| 028C: MOVWF 37 |
| .................... |
| .................... // napeti na napajeni (vref) |
| .................... Vref=ReadAD(4); |
| 028D: MOVLW 04 |
| 028E: MOVWF 3D |
| 028F: CALL 0E0 |
| 0290: MOVF 78,W |
| 0291: MOVWF 38 |
| .................... |
| .................... // ricici algoritmus |
| .................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| 0292: MOVF 37,W |
| 0293: SUBWF 38,W |
| 0294: BTFSC 03.0 |
| 0295: GOTO 29A |
| 0296: MOVF 36,W |
| 0297: SUBLW 1D |
| 0298: BTFSC 03.0 |
| 0299: INCF 36,F |
| .................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| 029A: MOVF 37,W |
| 029B: SUBWF 38,W |
| 029C: BTFSS 03.0 |
| 029D: GOTO 2A1 |
| 029E: MOVF 36,F |
| 029F: BTFSS 03.2 |
| 02A0: DECF 36,F |
| .................... Vref+=10; |
| 02A1: MOVLW 0A |
| 02A2: ADDWF 38,F |
| .................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| 02A3: MOVF 37,W |
| 02A4: SUBWF 38,W |
| 02A5: BTFSC 03.0 |
| 02A6: GOTO 2AB |
| 02A7: MOVF 36,W |
| 02A8: SUBLW 1D |
| 02A9: BTFSC 03.0 |
| 02AA: INCF 36,F |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... if (PwmOut>24) PwmOut=24; // saturace |
| 02AB: MOVF 36,W |
| 02AC: SUBLW 18 |
| 02AD: BTFSC 03.0 |
| 02AE: GOTO 2B1 |
| 02AF: MOVLW 18 |
| 02B0: MOVWF 36 |
| .................... //!!!KAKL |
| .................... PwmOut=20; |
| 02B1: MOVLW 14 |
| 02B2: MOVWF 36 |
| .................... CCPR1L = PwmOut; // pouziti vystupu |
| 02B3: MOVF 36,W |
| 02B4: MOVWF 15 |
| .................... disable_interrupts(GLOBAL); |
| 02B5: BCF 0B.6 |
| 02B6: BCF 0B.7 |
| 02B7: BTFSC 0B.7 |
| 02B8: GOTO 2B6 |
| .................... while(true); |
| 02B9: GOTO 2B9 |
| .................... // zobrazeni |
| .................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| 02BA: CLRF 3D |
| 02BB: MOVF 3D,W |
| 02BC: CALL 071 |
| 02BD: INCF 3D,F |
| 02BE: MOVWF 77 |
| 02BF: MOVWF 41 |
| 02C0: CALL 10B |
| 02C1: MOVLW 05 |
| 02C2: SUBWF 3D,W |
| 02C3: BTFSS 03.2 |
| 02C4: GOTO 2BB |
| 02C5: MOVF 37,W |
| 02C6: MOVWF 3F |
| 02C7: CLRF 40 |
| 02C8: CALL 129 |
| 02C9: MOVLW 20 |
| 02CA: MOVWF 41 |
| 02CB: CALL 10B |
| 02CC: MOVF 38,W |
| 02CD: MOVWF 3F |
| 02CE: CLRF 40 |
| 02CF: CALL 129 |
| 02D0: MOVLW 20 |
| 02D1: MOVWF 41 |
| 02D2: CALL 10B |
| 02D3: MOVF 36,W |
| 02D4: MOVWF 3F |
| 02D5: CLRF 40 |
| 02D6: CALL 129 |
| .................... delay_ms(10); |
| 02D7: MOVLW 0A |
| 02D8: MOVWF 3D |
| 02D9: CALL 176 |
| .................... } |
| 02DA: GOTO 282 |
| .................... } |
| .................... |
| .................... // Standardni beh |
| .................... if (Debug==0) |
| 02DB: MOVF 30,F |
| 02DC: BTFSS 03.2 |
| 02DD: GOTO 341 |
| .................... { |
| .................... unsigned int8 PwmOut; // akcni hodnota pro PWM |
| .................... unsigned int8 Req; // pozadovana hodnota z P1 |
| .................... unsigned int8 Vref; // merena hodnota vref |
| .................... int1 Run; |
| .................... |
| .................... // Inicializace stavove promenne |
| .................... PwmOut=0; |
| 02DE: CLRF 39 |
| .................... TimerSet(14000); // casovani startu |
| 02DF: MOVLW 36 |
| 02E0: MOVWF 3E |
| 02E1: MOVLW B0 |
| 02E2: MOVWF 3D |
| 02E3: CALL 199 |
| .................... Run=1; |
| 02E4: BSF 3C.0 |
| .................... |
| .................... // Hlavni smycka |
| .................... while (1) |
| .................... { |
| .................... // watch dog |
| .................... restart_wdt(); |
| 02E5: CLRWDT |
| .................... |
| .................... // pozadovana hodnota (potenciometr P1) |
| .................... Req=ReadAD(0); |
| 02E6: CLRF 3D |
| 02E7: CALL 0E0 |
| 02E8: MOVF 78,W |
| 02E9: MOVWF 3A |
| .................... Req=50+(ReadAD(0)>>1); // 50 az 177 |
| 02EA: CLRF 3D |
| 02EB: CALL 0E0 |
| 02EC: BCF 03.0 |
| 02ED: RRF 78,W |
| 02EE: ADDLW 32 |
| 02EF: MOVWF 3A |
| .................... |
| .................... // napeti na napajeni (vref) |
| .................... Vref=ReadAD(4); |
| 02F0: MOVLW 04 |
| 02F1: MOVWF 3D |
| 02F2: CALL 0E0 |
| 02F3: MOVF 78,W |
| 02F4: MOVWF 3B |
| .................... |
| .................... // ricici algoritmus |
| .................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++; |
| 02F5: MOVF 3A,W |
| 02F6: SUBWF 3B,W |
| 02F7: BTFSC 03.0 |
| 02F8: GOTO 2FD |
| 02F9: MOVF 39,W |
| 02FA: SUBLW 1D |
| 02FB: BTFSC 03.0 |
| 02FC: INCF 39,F |
| .................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--; |
| 02FD: MOVF 3A,W |
| 02FE: SUBWF 3B,W |
| 02FF: BTFSS 03.0 |
| 0300: GOTO 304 |
| 0301: MOVF 39,F |
| 0302: BTFSS 03.2 |
| 0303: DECF 39,F |
| .................... Vref+=10; |
| 0304: MOVLW 0A |
| 0305: ADDWF 3B,F |
| .................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu |
| 0306: MOVF 3A,W |
| 0307: SUBWF 3B,W |
| 0308: BTFSC 03.0 |
| 0309: GOTO 30E |
| 030A: MOVF 39,W |
| 030B: SUBLW 1D |
| 030C: BTFSC 03.0 |
| 030D: INCF 39,F |
| .................... |
| .................... // nastaveni parametru PWM |
| .................... if (PwmOut>24) PwmOut=24; // saturace |
| 030E: MOVF 39,W |
| 030F: SUBLW 18 |
| 0310: BTFSC 03.0 |
| 0311: GOTO 314 |
| 0312: MOVLW 18 |
| 0313: MOVWF 39 |
| .................... CCPR1L = PwmOut; // pouziti vystupu |
| 0314: MOVF 39,W |
| 0315: MOVWF 15 |
| .................... |
| .................... // zobrazeni |
| .................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut); |
| 0316: CLRF 3D |
| 0317: MOVF 3D,W |
| 0318: CALL 071 |
| 0319: INCF 3D,F |
| 031A: MOVWF 77 |
| 031B: MOVWF 41 |
| 031C: CALL 10B |
| 031D: MOVLW 05 |
| 031E: SUBWF 3D,W |
| 031F: BTFSS 03.2 |
| 0320: GOTO 317 |
| 0321: MOVF 3A,W |
| 0322: MOVWF 3F |
| 0323: CLRF 40 |
| 0324: CALL 129 |
| 0325: MOVLW 20 |
| 0326: MOVWF 41 |
| 0327: CALL 10B |
| 0328: MOVF 3B,W |
| 0329: MOVWF 3F |
| 032A: CLRF 40 |
| 032B: CALL 129 |
| 032C: MOVLW 20 |
| 032D: MOVWF 41 |
| 032E: CALL 10B |
| 032F: MOVF 39,W |
| 0330: MOVWF 3F |
| 0331: CLRF 40 |
| 0332: CALL 129 |
| .................... delay_ms(10); |
| 0333: MOVLW 0A |
| 0334: MOVWF 3D |
| 0335: CALL 176 |
| .................... |
| .................... // rozjezd |
| .................... if (TimerIf()&&Run) |
| 0336: CALL 1A0 |
| 0337: MOVF 78,F |
| 0338: BTFSC 03.2 |
| 0339: GOTO 340 |
| 033A: BTFSS 3C.0 |
| 033B: GOTO 340 |
| .................... { |
| .................... Run=0; |
| 033C: BCF 3C.0 |
| .................... MotorStart(65); |
| 033D: MOVLW 41 |
| 033E: MOVWF 3D |
| 033F: CALL 1B6 |
| .................... } |
| .................... } |
| 0340: GOTO 2E5 |
| .................... } |
| .................... } |
| .................... |
| 0341: SLEEP |
| Configuration Fuses: |
| Word 1: 2F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IO |
| Word 2: 3FFF FCMEN IESO |
| /roboti/solarni/2005/jump/miho/DART.PJT |
|---|
| 0,0 → 1,38 |
| [PROJECT] |
| Target=DART.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\ |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=DART.C; |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [DART.C] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=DART.C |
| [Windows] |
| 0=0000 DART.C 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\PIC\jump\miho\DART.C |
| 2=C:\PIC\jump\miho\DART.h |
| 3=C:\PIC\jump\miho\lib\16F88.h |
| 4=C:\PIC\jump\miho\lib\16F88_Reg.h |
| 5= |
| /roboti/solarni/2005/jump/miho/DART.SYM |
|---|
| 0,0 → 1,376 |
| 000 INDF |
| 001 TMR0 |
| 003.0 C |
| 003 STATUS |
| 003.1 DC |
| 003.2 Z |
| 003.3 PD |
| 003.4 TO |
| 003.5 RP0 |
| 003.6 RP1 |
| 003.7 IRP |
| 005 PORTA |
| 006 PORTB |
| 00A PCLATH |
| 00B INTCON |
| 00B.0 RBIF |
| 00B.1 INT0IF |
| 00B.2 TMR0IF |
| 00B.3 RBIE |
| 00B.4 INT0IE |
| 00B.5 TMR0IE |
| 00B.6 PEIE |
| 00B.7 GIE |
| 00C PIR1 |
| 00C.0 TMR1IF |
| 00C.1 TMR2IF |
| 00C.2 CCP1IF |
| 00C.3 SSPIF |
| 00C.4 TXIF |
| 00C.5 RCIF |
| 00C.6 ADIF |
| 00D PIR2 |
| 00D.4 EEIF |
| 00D.6 CMIF |
| 00D.7 OSFIF |
| 00E TMR1L |
| 00F TMR1H |
| 010 T1CON |
| 010.0 TMR1ON |
| 010.1 TMR1CS |
| 010.2 T1SYNC |
| 010.3 T1OSCEN |
| 010.4 T1CKPS0 |
| 010.5 T1CKPS1 |
| 010.6 T1RUN |
| 011 TMR2 |
| 012 T2CON |
| 012.0 T2CKPS0 |
| 012.1 T2CKPS1 |
| 012.2 TMR2ON |
| 012.3 TOUTPS0 |
| 012.4 TOUTPS1 |
| 012.5 TOUTPS2 |
| 012.6 TOUTPS3 |
| 013 SSPBUF |
| 014.0 SSPM0 |
| 014 SSPCON1 |
| 014.1 SSPM1 |
| 014.2 SSPM2 |
| 014.3 SSPM3 |
| 014.4 CKP |
| 014.5 SSPEN |
| 014.6 SSPOV |
| 014.7 WCOL |
| 015 CCP_1_LOW |
| 015 CCPR1L |
| 015-016 CCP_1 |
| 016 CCP_1_HIGH |
| 016 CCPR1H |
| 017.0 CCP1M0 |
| 017 CCP1CON |
| 017.1 CCP1M1 |
| 017.2 CCP1M2 |
| 017.3 CCP1M3 |
| 017.4 CCP1Y |
| 017.5 CCP1X |
| 018 RCSTA |
| 018.0 RX9D |
| 018.1 OERR |
| 018.2 FERR |
| 018.3 ADDEN |
| 018.4 CREN |
| 018.5 SREN |
| 018.6 RX9 |
| 018.7 SPEN |
| 019 TXREG |
| 01A RCREG |
| 01E ADRESH |
| 01F ADCON0 |
| 01F.0 ADON |
| 01F.2 GO |
| 01F.3 CHS0 |
| 01F.4 CHS1 |
| 01F.5 CHS2 |
| 01F.6 ADCS0 |
| 01F.7 ADCS1 |
| 020 @INTERRUPT_AREA |
| 021 @INTERRUPT_AREA |
| 022 @INTERRUPT_AREA |
| 023 @INTERRUPT_AREA |
| 024 @INTERRUPT_AREA |
| 025 @INTERRUPT_AREA |
| 026 @INTERRUPT_AREA |
| 027 @INTERRUPT_AREA |
| 028 @INTERRUPT_AREA |
| 029 @INTERRUPT_AREA |
| 02A MotorPattern |
| 02B-02C TimeTime |
| 02D MotorTime |
| 02E MotorDelay |
| 02F MotorGear |
| 030 main.Debug |
| 031 main.i |
| 032 Data1 |
| 033 Data2 |
| 034 Data |
| 035 Start |
| 036 PwmOut |
| 037 Req |
| 038 Vref |
| 039 PwmOut |
| 03A Req |
| 03B Vref |
| 03C.0 Run |
| 03D-03E TimerSet.Time |
| 03D ReadAD.Ch |
| 03D MotorSet.Gear |
| 03D.0 TimerIf.Flag |
| 03D MotorStart.Delay |
| 03D @delay_ms1.P1 |
| 03D main.@SCRATCH |
| 03E main.@SCRATCH |
| 03F @PRINTF_U_494.P1 |
| 040 @PRINTF_U_494.P1 |
| 041 @DIV88.P1 |
| 041 putchar.C |
| 042 @DIV88.P1 |
| 042 putchar.@SCRATCH |
| 043 @DIV88.@SCRATCH |
| 044 MotorPatternSet.Gear |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 080 INDF_1 |
| 081.0 PS0 |
| 081 OPTION |
| 081.1 PS1 |
| 081.2 PS2 |
| 081.3 PSA |
| 081.4 T0SE |
| 081.5 T0CS |
| 081.6 INTEDG |
| 081.7 RBPU |
| 082 PCL |
| 083.0 C_1 |
| 083 STATUS_1 |
| 083.1 DC_1 |
| 083.2 Z_1 |
| 083.3 PD_1 |
| 083.4 TO_1 |
| 083.5 RP0_1 |
| 083.6 RP1_1 |
| 083.7 IRP_1 |
| 084 FSR |
| 085 TRISA |
| 086 TRISB |
| 08A PCLATH_1 |
| 08B INTCON_1 |
| 08B.0 RBIF_1 |
| 08B.1 INT0IF_1 |
| 08B.2 TMR0IF_1 |
| 08B.3 RBIE_1 |
| 08B.4 INT0IE_1 |
| 08B.5 TMR0IE_1 |
| 08B.6 PEIE_1 |
| 08B.7 GIE_1 |
| 08C.0 TMR1IE |
| 08C PIE1 |
| 08C.1 TMR2IE |
| 08C.2 CCP1IE |
| 08C.3 SSPIE |
| 08C.4 TXIE |
| 08C.5 RCIE |
| 08C.6 ADIE |
| 08D PIE2 |
| 08D.4 EEIE |
| 08D.6 CMIE |
| 08D.7 OSFIE |
| 08E PCON |
| 08E.0 BOR |
| 08E.1 POR |
| 08F OSCCON |
| 08F.0 SCS0 |
| 08F.1 SCS1 |
| 08F.2 IOFS |
| 08F.3 OSTS |
| 08F.4 IRCF0 |
| 08F.5 IRCF1 |
| 08F.6 IRCF2 |
| 090 OSCTUNE |
| 090.0 TUN0 |
| 090.1 TUN1 |
| 090.2 TUN2 |
| 090.3 TUN3 |
| 090.4 TUN4 |
| 090.5 TUN5 |
| 092 PR2 |
| 093 SSPADD |
| 094.0 BF |
| 094 SSPSTAT |
| 094.1 UA |
| 094.2 RW |
| 094.3 S |
| 094.4 P |
| 094.5 DA |
| 094.6 CKE |
| 094.7 SMP |
| 098 TXSTA |
| 098.0 TX9D |
| 098.1 TRMT |
| 098.2 BRGH |
| 098.4 SYNC |
| 098.5 TXEN |
| 098.6 TX9 |
| 098.7 CSRC |
| 099 SPBRG |
| 09B.0 ANS0 |
| 09B ANSEL |
| 09B.1 ANS1 |
| 09B.2 ANS2 |
| 09B.3 ANS3 |
| 09B.4 ANS4 |
| 09B.5 ANS5 |
| 09B.6 ANS6 |
| 09C CMCON |
| 09C.0 CM0 |
| 09C.1 CM1 |
| 09C.2 CM2 |
| 09C.3 CIS |
| 09C.4 C1INV |
| 09C.5 C2INV |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 09D CVRCON |
| 09D.0 CVR0 |
| 09D.1 CVR1 |
| 09D.2 CVR2 |
| 09D.3 CVR3 |
| 09D.5 CVRR |
| 09D.6 CVROE |
| 09D.7 CVREN |
| 09E ADRESL |
| 09F ADCON1 |
| 09F.4 VCFG0 |
| 09F.5 VCFG1 |
| 09F.6 ADCS2 |
| 09F.7 ADFM |
| 100 INDF_2 |
| 101 TMR0_2 |
| 102 PCL_2 |
| 103.0 C_2 |
| 103 STATUS_2 |
| 103.1 DC_2 |
| 103.2 Z_2 |
| 103.3 PD_2 |
| 103.4 TO_2 |
| 103.5 RP0_2 |
| 103.6 RP1_2 |
| 103.7 IRP_2 |
| 104 FSR_2 |
| 105 WDTCON |
| 105.0 SWDTEN |
| 105.1 WDTPS0 |
| 105.2 WDTPS1 |
| 105.3 WDTPS2 |
| 105.4 WDTPS3 |
| 106 PORTB_2 |
| 10A PCLATH_2 |
| 10B.0 RBIF_2 |
| 10B INTCON_2 |
| 10B.1 INT0IF_2 |
| 10B.2 TMR0IF_2 |
| 10B.3 RBIE_2 |
| 10B.4 INT0IE_2 |
| 10B.5 TMR0IE_2 |
| 10B.6 PEIE_2 |
| 10B.7 GIE_2 |
| 10C EEDATA |
| 10D EEADR |
| 10E EEDATH |
| 10F EEADRH |
| 180 INDF_3 |
| 181.0 PS0_3 |
| 181 OPTION_3 |
| 181.1 PS1_3 |
| 181.2 PS2_3 |
| 181.3 PSA_3 |
| 181.4 T0SE_3 |
| 181.5 T0CS_3 |
| 181.6 INTEDG_3 |
| 181.7 RBPU_3 |
| 182 PCL_3 |
| 183.0 C_3 |
| 183 STATUS_3 |
| 183.1 DC_3 |
| 183.2 Z_3 |
| 183.3 PD_3 |
| 183.4 TO_3 |
| 183.5 RP0_3 |
| 183.6 RP1_3 |
| 183.7 IRP_3 |
| 184 FSR_3 |
| 186 TRISB_3 |
| 18A PLATH_3 |
| 18B.0 RBIF_3 |
| 18B INTCON_3 |
| 18B.1 INT0IF_3 |
| 18B.2 TMR0IF_3 |
| 18B.3 RBIE_3 |
| 18B.4 INT0IE_3 |
| 18B.5 TMR0IE_3 |
| 18B.6 PEIE_3 |
| 18B.7 GIE_3 |
| 18C.0 RD |
| 18C EECON1 |
| 18C.1 WR |
| 18C.2 WREN |
| 18C.3 WRERR |
| 18C.4 FREE |
| 18C.7 EEPGD |
| 18D EECON2 |
| 0176 @delay_ms1 |
| 010B putchar |
| 003D @const312 |
| 008E MotorPatternSet |
| 0089 IntSSP |
| 018D MotorSet |
| 00D5 InitT0 |
| 0199 TimerSet |
| 01A0 TimerIf |
| 01B6 MotorStart |
| 00B7 IntT0 |
| 00E0 ReadAD |
| 01C8 main |
| 0049 @const10122 |
| 0114 @DIV88 |
| 0129 @PRINTF_U_494 |
| 0060 @const10152 |
| 0071 @const10203 |
| 01C8 @cinit |
| Project Files: |
| C:\PIC\jump\miho\DART.C |
| C:\PIC\jump\miho\DART.h |
| C:\PIC\jump\miho\lib\16F88.h |
| C:\PIC\jump\miho\lib\16F88_Reg.h |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: C:\PIC\jump\miho\DART.err |
| INHX8: C:\PIC\jump\miho\DART.HEX |
| Symbols: C:\PIC\jump\miho\DART.SYM |
| List: C:\PIC\jump\miho\DART.LST |
| Debug/COFF: C:\PIC\jump\miho\DART.cof |
| Call Tree: C:\PIC\jump\miho\DART.tre |
| Statistics: C:\PIC\jump\miho\DART.sta |
| /roboti/solarni/2005/jump/miho/DART.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jump/miho/DART.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /roboti/solarni/2005/jump/miho/DART.h |
|---|
| 0,0 → 1,10 |
| // DART01A verze programu 1.00 |
| // (c)miho 2005 |
| #include ".\lib\16F88.h" // standardni definice konstant |
| #include ".\lib\16F88_Reg.h" // standardni definice vsech FSR |
| #device adc=8 // AD prevodnik jen na 8 bitu |
| #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi |
| #use delay(clock=xclock,restart_wdt) |
| #fuses INTRC_IO, NOWDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3 |
| /roboti/solarni/2005/jump/miho/DART.sta |
|---|
| 0,0 → 1,47 |
| ROM used: 834 (20%) |
| 834 (20%) including unused fragments |
| 1 Average locations per line |
| 5 Average locations per statement |
| RAM used: 25 (14%) at main() level |
| 42 (24%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 426 160 100 C:\PIC\jump\miho\DART.C |
| 11 0 0 C:\PIC\jump\miho\DART.h |
| 216 0 0 C:\PIC\jump\miho\lib\16F88.h |
| 315 0 0 C:\PIC\jump\miho\lib\16F88_Reg.h |
| ----- ----- |
| 1936 320 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 23 3 1 @delay_ms1 |
| 0 9 1 2 putchar |
| 0 12 1 0 @const312 |
| 0 41 5 1 MotorPatternSet |
| 0 5 1 0 IntSSP |
| 0 12 1 1 MotorSet |
| 0 11 1 0 InitT0 |
| 0 7 1 2 TimerSet |
| 0 22 3 1 TimerIf |
| 0 18 2 1 MotorStart |
| 0 30 4 0 IntT0 |
| 0 43 5 1 ReadAD |
| 0 378 45 4 main |
| 0 23 3 0 @const10122 |
| 0 21 3 3 @DIV88 |
| 0 77 9 2 @PRINTF_U_494 |
| 0 17 2 0 @const10152 |
| 0 24 3 0 @const10203 |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-0003C 57 0 |
| 0003D-007FF 773 1214 |
| 00800-00FFF 0 2048 |
| /roboti/solarni/2005/jump/miho/DART.tre |
|---|
| 0,0 → 1,130 |
| ÀÄDART |
| ÃÄmain 0/378 Ram=4 |
| ³ ÃÄ??0?? |
| ³ ÃÄInitT0 0/11 Ram=0 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄ@const10122 0/23 Ram=0 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄ@const10122 0/23 Ram=0 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄMotorSet 0/12 Ram=1 |
| ³ ³ ÀÄMotorPatternSet 0/41 Ram=1 |
| ³ ³ ÀÄ@const312 0/12 Ram=0 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄ@const10152 0/17 Ram=0 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄTimerSet 0/7 Ram=2 |
| ³ ÃÄTimerIf 0/22 Ram=1 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄMotorStart 0/18 Ram=1 |
| ³ ³ ÀÄMotorPatternSet 0/41 Ram=1 |
| ³ ³ ÀÄ@const312 0/12 Ram=0 |
| ³ ÃÄTimerSet 0/7 Ram=2 |
| ³ ÃÄTimerIf 0/22 Ram=1 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄMotorSet 0/12 Ram=1 |
| ³ ³ ÀÄMotorPatternSet 0/41 Ram=1 |
| ³ ³ ÀÄ@const312 0/12 Ram=0 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄ@const10203 0/24 Ram=0 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄTimerSet 0/7 Ram=2 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄReadAD 0/43 Ram=1 |
| ³ ÃÄ@const10203 0/24 Ram=0 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄputchar 0/9 Ram=2 |
| ³ ÃÄ@PRINTF_U_494 0/77 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ³ ÃÄputchar 0/9 Ram=2 |
| ³ ³ ÀÄputchar 0/9 Ram=2 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄTimerIf 0/22 Ram=1 |
| ³ ÀÄMotorStart 0/18 Ram=1 |
| ³ ÀÄMotorPatternSet 0/41 Ram=1 |
| ³ ÀÄ@const312 0/12 Ram=0 |
| ÃÄIntSSP 0/5 Ram=0 |
| ÀÄIntT0 0/30 Ram=0 |
| ÀÄMotorPatternSet 0/41 Ram=1 |
| ÀÄ@const312 0/12 Ram=0 |
| /roboti/solarni/2005/jump/miho/LIB/16f88.h |
|---|
| 0,0 → 1,216 |
| //////// Header file for the PIC16F88 |
| #device PIC16F88 |
| #nolist |
| //////// Program memory: 4096x14 Data RAM: 368 Stack: 8 |
| //////// I/O: 16 Analog Pins: 7 |
| //////// Data EEPROM: 256 |
| //////// C Scratch area: 77 ID Location: 2000 |
| // Fuses: |
| // Oscilator: LP - oscilator LP |
| // XT - oscilator XT |
| // HS - oscilator HS |
| // EC_IO - externi vstup, RA6/CLKO je IO port |
| // INTRC - RC oscilator, RA6/CLKO je CLKO, RA7/CLKI je IO port port, |
| // INTRC_IO - RC oscilator, RA6 i RA7 je IO port |
| // RC - ext RC, RA6/CLKO je CLKO |
| // RC_IO - ext RC, RA6 je IO port |
| // Watch: NOWDT - neni watchog |
| // WDT - je watchdog |
| // PUT: NOPUT - neni power up timer |
| // PUT - je power up timer |
| // MCLR: MCLR - RA5/MCLR je MCLR |
| // NOMCLR - RA5/MCLR je IO port |
| // BOR: BROWNOUT - BOR povolen |
| // NOBROWNOUT - BOR zakazan |
| // LVP: LVP - RB3/PGM je PGM |
| // NOLVP - RB3/PGM je IO port |
| // CPD: CPD - je ochrana EEPROM |
| // NOCPD - neni ochrana EEPROM |
| // WRT WRT - zakaz zapisu do pameti programu |
| // NOWRT - povolen zapis do pameti programu |
| // DEBUG: DEBUG - RB6 a RB7 jsou ICD port |
| // NODEBUG - RB6 a RB7 jsou IO port |
| // CCPMX: CCPB0 - CCP/PWM na RB0 |
| // CCPB3 - CCP/PWM na RB3 |
| // CP: PROTECT - pamet programu je chranena |
| // NOPROTECT - pamet programu neni chranena |
| // |
| ////////////////////////////////////////////////////////////////// I/O |
| // Discrete I/O Functions: SET_TRIS_x(), OUTPUT_x(), INPUT_x(), |
| // PORT_B_PULLUPS(), INPUT(), |
| // OUTPUT_LOW(), OUTPUT_HIGH(), |
| // OUTPUT_FLOAT(), OUTPUT_BIT() |
| // Constants used to identify pins in the above are: |
| #define PIN_A0 40 |
| #define PIN_A1 41 |
| #define PIN_A2 42 |
| #define PIN_A3 43 |
| #define PIN_A4 44 |
| #define PIN_A5 45 |
| #define PIN_A6 46 |
| #define PIN_A7 47 |
| #define PIN_B0 48 |
| #define PIN_B1 49 |
| #define PIN_B2 50 |
| #define PIN_B3 51 |
| #define PIN_B4 52 |
| #define PIN_B5 53 |
| #define PIN_B6 54 |
| #define PIN_B7 55 |
| ////////////////////////////////////////////////////////////////// Useful defines |
| #define FALSE 0 |
| #define TRUE 1 |
| #define BYTE int |
| #define BOOLEAN short int |
| #define getc getch |
| #define fgetc getch |
| #define getchar getch |
| #define putc putchar |
| #define fputc putchar |
| #define fgets gets |
| #define fputs puts |
| ////////////////////////////////////////////////////////////////// Control |
| // Control Functions: RESET_CPU(), SLEEP(), RESTART_CAUSE() |
| // Constants returned from RESTART_CAUSE() are: |
| #define WDT_FROM_SLEEP 0 |
| #define WDT_TIMEOUT 8 |
| #define MCLR_FROM_SLEEP 16 |
| #define NORMAL_POWER_UP 24 |
| ////////////////////////////////////////////////////////////////// Timer 0 |
| // Timer 0 (AKA RTCC)Functions: SETUP_COUNTERS() or SETUP_TIMER0(), |
| // SET_TIMER0() or SET_RTCC(), |
| // GET_TIMER0() or GET_RTCC() |
| // Constants used for SETUP_TIMER0() are: |
| #define RTCC_INTERNAL 0 |
| #define RTCC_EXT_L_TO_H 32 |
| #define RTCC_EXT_H_TO_L 48 |
| #define RTCC_DIV_1 8 |
| #define RTCC_DIV_2 0 |
| #define RTCC_DIV_4 1 |
| #define RTCC_DIV_8 2 |
| #define RTCC_DIV_16 3 |
| #define RTCC_DIV_32 4 |
| #define RTCC_DIV_64 5 |
| #define RTCC_DIV_128 6 |
| #define RTCC_DIV_256 7 |
| #define RTCC_8_BIT 0 |
| // Constants used for SETUP_COUNTERS() are the above |
| // constants for the 1st param and the following for |
| // the 2nd param: |
| ////////////////////////////////////////////////////////////////// WDT |
| // Watch Dog Timer Functions: SETUP_WDT() or SETUP_COUNTERS() (see above) |
| // RESTART_WDT() |
| // |
| #define WDT_18MS 8 |
| #define WDT_36MS 9 |
| #define WDT_72MS 10 |
| #define WDT_144MS 11 |
| #define WDT_288MS 12 |
| #define WDT_576MS 13 |
| #define WDT_1152MS 14 |
| #define WDT_2304MS 15 |
| ////////////////////////////////////////////////////////////////// Timer 1 |
| // Timer 1 Functions: SETUP_TIMER_1, GET_TIMER1, SET_TIMER1 |
| // Constants used for SETUP_TIMER_1() are: |
| // (or (via |) together constants from each group) |
| #define T1_DISABLED 0 |
| #define T1_INTERNAL 0x85 |
| #define T1_EXTERNAL 0x87 |
| #define T1_EXTERNAL_SYNC 0x83 |
| #define T1_CLK_OUT 8 |
| #define T1_DIV_BY_1 0 |
| #define T1_DIV_BY_2 0x10 |
| #define T1_DIV_BY_4 0x20 |
| #define T1_DIV_BY_8 0x30 |
| ////////////////////////////////////////////////////////////////// Timer 2 |
| // Timer 2 Functions: SETUP_TIMER_2, GET_TIMER2, SET_TIMER2 |
| // Constants used for SETUP_TIMER_2() are: |
| #define T2_DISABLED 0 |
| #define T2_DIV_BY_1 4 |
| #define T2_DIV_BY_4 5 |
| #define T2_DIV_BY_16 6 |
| ////////////////////////////////////////////////////////////////// CCP |
| // CCP Functions: SETUP_CCPx, SET_PWMx_DUTY |
| // CCP Variables: CCP_x, CCP_x_LOW, CCP_x_HIGH |
| // Constants used for SETUP_CCPx() are: |
| #define CCP_OFF 0 |
| #define CCP_CAPTURE_FE 4 |
| #define CCP_CAPTURE_RE 5 |
| #define CCP_CAPTURE_DIV_4 6 |
| #define CCP_CAPTURE_DIV_16 7 |
| #define CCP_COMPARE_SET_ON_MATCH 8 |
| #define CCP_COMPARE_CLR_ON_MATCH 9 |
| #define CCP_COMPARE_INT 0xA |
| #define CCP_COMPARE_RESET_TIMER 0xB |
| #define CCP_PWM 0xC |
| #define CCP_PWM_PLUS_1 0x1c |
| #define CCP_PWM_PLUS_2 0x2c |
| #define CCP_PWM_PLUS_3 0x3c |
| long CCP_1; |
| #byte CCP_1 = 0x15 |
| #byte CCP_1_LOW= 0x15 |
| #byte CCP_1_HIGH= 0x16 |
| ////////////////////////////////////////////////////////////////// COMP |
| // Comparator Variables: C1OUT, C2OUT |
| // Constants used in setup_comparators() are: |
| #define A0_A3_A1_A2 4 |
| #define A0_A2_A1_A2 3 |
| #define NC_NC_A1_A2 5 |
| #define NC_NC_NC_NC 7 |
| #define A0_VR_A1_VR 2 |
| #define A3_VR_A2_VR 10 |
| #define A0_A2_A1_A2_OUT_ON_A3_A4 6 |
| #define A3_A2_A1_A2 9 |
| //#bit C1OUT = 0x1f.6 |
| //#bit C2OUT = 0x1f.7 |
| ////////////////////////////////////////////////////////////////// VREF |
| // Constants used in setup_vref() are: |
| #define VREF_LOW 0xa0 |
| #define VREF_HIGH 0x80 |
| #define VREF_A2 0x40 |
| ////////////////////////////////////////////////////////////////// INT |
| // Interrupt Functions: ENABLE_INTERRUPTS(), DISABLE_INTERRUPTS(), |
| // EXT_INT_EDGE() |
| // |
| // Constants used in EXT_INT_EDGE() are: |
| #define L_TO_H 0x40 |
| #define H_TO_L 0 |
| // Constants used in ENABLE/DISABLE_INTERRUPTS() are: |
| #define GLOBAL 0x0BC0 |
| #define INT_RTCC 0x0B20 |
| #define INT_RB 0x0B08 |
| #define INT_EXT 0x0B10 |
| #define INT_TBE 0x8C10 |
| #define INT_RDA 0x8C20 |
| #define INT_TIMER1 0x8C01 |
| #define INT_TIMER2 0x8C02 |
| #define INT_CCP1 0x8C04 |
| #define INT_SSP 0x8C08 |
| #define INT_COMP 0x8D40 |
| #define INT_EEPROM 0x8D10 |
| #define INT_TIMER0 0x0B20 |
| #list |
| /roboti/solarni/2005/jump/miho/LIB/16f88_reg.h |
|---|
| 0,0 → 1,314 |
| #nolist |
| // |
| // Komplete definition of all Special Feature Registers for CCS C compiler |
| // |
| // PIC16F87 |
| // PIC16F88 |
| // |
| // (c)miho 2005 |
| // |
| // History: |
| // |
| // 1.00 First Version, not verified yet |
| // SFR Registers in Memory Bank 0 |
| // |
| #byte INDF = 0x00 |
| #byte TMR0 = 0x01 |
| #byte PCL = 0x02 |
| #byte STATUS = 0x03 |
| #bit IRP = STATUS.7 |
| #bit RP1 = STATUS.6 |
| #bit RP0 = STATUS.5 |
| #bit TO = STATUS.4 |
| #bit PD = STATUS.3 |
| #bit Z = STATUS.2 |
| #bit DC = STATUS.1 |
| #bit C = STATUS.0 |
| #byte FSR = 0x04 |
| #byte PORTA = 0x05 |
| #byte PORTB = 0x06 |
| #byte PCLATH = 0x0A |
| #byte INTCON = 0x0B |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| #byte PIR1 = 0x0C |
| #bit ADIF = PIR1.6 |
| #bit RCIF = PIR1.5 |
| #bit TXIF = PIR1.4 |
| #bit SSPIF = PIR1.3 |
| #bit CCP1IF = PIR1.2 |
| #bit TMR2IF = PIR1.1 |
| #bit TMR1IF = PIR1.0 |
| #byte PIR2 = 0x0D |
| #bit OSFIF = PIR2.7 |
| #bit CMIF = PIR2.6 |
| #bit EEIF = PIR2.4 |
| #byte TMR1L = 0x0E |
| #byte TMR1H = 0x0F |
| #byte T1CON = 0x10 |
| #bit T1RUN = T1CON.6 |
| #bit T1CKPS1 = T1CON.5 |
| #bit T1CKPS0 = T1CON.4 |
| #bit T1OSCEN = T1CON.3 |
| #bit T1SYNC = T1CON.2 |
| #bit TMR1CS = T1CON.1 |
| #bit TMR1ON = T1CON.0 |
| #byte TMR2 = 0x11 |
| #byte T2CON = 0x12 |
| #bit TOUTPS3 = T2CON.6 |
| #bit TOUTPS2 = T2CON.5 |
| #bit TOUTPS1 = T2CON.4 |
| #bit TOUTPS0 = T2CON.3 |
| #bit TMR2ON = T2CON.2 |
| #bit T2CKPS1 = T2CON.1 |
| #bit T2CKPS0 = T2CON.0 |
| #byte SSPBUF = 0x13 |
| #byte SSPCON1 = 0x14 |
| #bit WCOL = SSPCON1.7 |
| #bit SSPOV = SSPCON1.6 |
| #bit SSPEN = SSPCON1.5 |
| #bit CKP = SSPCON1.4 |
| #bit SSPM3 = SSPCON1.3 |
| #bit SSPM2 = SSPCON1.2 |
| #bit SSPM1 = SSPCON1.1 |
| #bit SSPM0 = SSPCON1.0 |
| #byte CCPR1L = 0x15 |
| #byte CCPR1H = 0x16 |
| #byte CCP1CON = 0x17 |
| #bit CCP1X = CCP1CON.5 |
| #bit CCP1Y = CCP1CON.4 |
| #bit CCP1M3 = CCP1CON.3 |
| #bit CCP1M2 = CCP1CON.2 |
| #bit CCP1M1 = CCP1CON.1 |
| #bit CCP1M0 = CCP1CON.0 |
| #byte RCSTA = 0x18 |
| #bit SPEN = RCSTA.7 |
| #bit RX9 = RCSTA.6 |
| #bit SREN = RCSTA.5 |
| #bit CREN = RCSTA.4 |
| #bit ADDEN = RCSTA.3 |
| #bit FERR = RCSTA.2 |
| #bit OERR = RCSTA.1 |
| #bit RX9D = RCSTA.0 |
| #byte TXREG = 0x19 |
| #byte RCREG = 0x1A |
| #byte ADRESH = 0x1E // F88 only |
| #byte ADCON0 = 0x1F // F88 only |
| #bit ADCS1 = ADCON0.7 |
| #bit ADCS0 = ADCON0.6 |
| #bit CHS2 = ADCON0.5 |
| #bit CHS1 = ADCON0.4 |
| #bit CHS0 = ADCON0.3 |
| #bit GO = ADCON0.2 |
| #bit ADON = ADCON0.0 |
| // SFR Registers in Memory Bank 1 |
| // |
| #byte INDF_1 = 0x80 // miror |
| #byte OPTION = 0x81 |
| #bit RBPU = OPTION.7 |
| #bit INTEDG = OPTION.6 |
| #bit T0CS = OPTION.5 |
| #bit T0SE = OPTION.4 |
| #bit PSA = OPTION.3 |
| #bit PS2 = OPTION.2 |
| #bit PS1 = OPTION.1 |
| #bit PS0 = OPTION.0 |
| #byte PCL = 0x82 |
| #byte STATUS_1 = 0x83 // mirror |
| #bit IRP_1 = STATUS_1.7 |
| #bit RP1_1 = STATUS_1.6 |
| #bit RP0_1 = STATUS_1.5 |
| #bit TO_1 = STATUS_1.4 |
| #bit PD_1 = STATUS_1.3 |
| #bit Z_1 = STATUS_1.2 |
| #bit DC_1 = STATUS_1.1 |
| #bit C_1 = STATUS_1.0 |
| #byte FSR = 0x84 |
| #byte TRISA = 0x85 |
| #byte TRISB = 0x86 |
| #byte PCLATH_1 = 0x8A // mirror |
| #byte INTCON_1 = 0x8B // mirror |
| #bit GIE_1 = INTCON_1.7 |
| #bit PEIE_1 = INTCON_1.6 |
| #bit TMR0IE_1 = INTCON_1.5 |
| #bit INT0IE_1 = INTCON_1.4 |
| #bit RBIE_1 = INTCON_1.3 |
| #bit TMR0IF_1 = INTCON_1.2 |
| #bit INT0IF_1 = INTCON_1.1 |
| #bit RBIF_1 = INTCON_1.0 |
| #byte PIE1 = 0x8C |
| #bit ADIE = PIE1.6 |
| #bit RCIE = PIE1.5 |
| #bit TXIE = PIE1.4 |
| #bit SSPIE = PIE1.3 |
| #bit CCP1IE = PIE1.2 |
| #bit TMR2IE = PIE1.1 |
| #bit TMR1IE = PIE1.0 |
| #byte PIE2 = 0x8D |
| #bit OSFIE = PIE2.7 |
| #bit CMIE = PIE2.6 |
| #bit EEIE = PIE2.4 |
| #byte PCON = 0x8E |
| #bit POR = PCON.1 |
| #bit BOR = PCON.0 |
| #byte OSCCON = 0x8F |
| #bit IRCF2 = OSCCON.6 |
| #bit IRCF1 = OSCCON.5 |
| #bit IRCF0 = OSCCON.4 |
| #bit OSTS = OSCCON.3 |
| #bit IOFS = OSCCON.2 |
| #bit SCS1 = OSCCON.1 |
| #bit SCS0 = OSCCON.0 |
| #byte OSCTUNE = 0x90 |
| #bit TUN5 = OSCTUNE.5 |
| #bit TUN4 = OSCTUNE.4 |
| #bit TUN3 = OSCTUNE.3 |
| #bit TUN2 = OSCTUNE.2 |
| #bit TUN1 = OSCTUNE.1 |
| #bit TUN0 = OSCTUNE.0 |
| #byte PR2 = 0x92 |
| #byte SSPADD = 0x93 |
| #byte SSPSTAT = 0x94 |
| #bit SMP = SSPSTAT.7 |
| #bit CKE = SSPSTAT.6 |
| #bit DA = SSPSTAT.5 |
| #bit P = SSPSTAT.4 |
| #bit S = SSPSTAT.3 |
| #bit RW = SSPSTAT.2 |
| #bit UA = SSPSTAT.1 |
| #bit BF = SSPSTAT.0 |
| #byte TXSTA = 0x98 |
| #bit CSRC = TXSTA.7 |
| #bit TX9 = TXSTA.6 |
| #bit TXEN = TXSTA.5 |
| #bit SYNC = TXSTA.4 |
| #bit BRGH = TXSTA.2 |
| #bit TRMT = TXSTA.1 |
| #bit TX9D = TXSTA.0 |
| #byte SPBRG = 0x99 |
| #byte ANSEL = 0x9B // F88 only |
| #bit ANS6 = ANSEL.6 |
| #bit ANS5 = ANSEL.5 |
| #bit ANS4 = ANSEL.4 |
| #bit ANS3 = ANSEL.3 |
| #bit ANS2 = ANSEL.2 |
| #bit ANS1 = ANSEL.1 |
| #bit ANS0 = ANSEL.0 |
| #byte CMCON = 0x9C |
| #bit C2OUT = CMCON.7 |
| #bit C1OUT = CMCON.6 |
| #bit C2INV = CMCON.5 |
| #bit C1INV = CMCON.4 |
| #bit CIS = CMCON.3 |
| #bit CM2 = CMCON.2 |
| #bit CM1 = CMCON.1 |
| #bit CM0 = CMCON.0 |
| #byte CVRCON = 0x9D |
| #bit CVREN = CVRCON.7 |
| #bit CVROE = CVRCON.6 |
| #bit CVRR = CVRCON.5 |
| #bit CVR3 = CVRCON.3 |
| #bit CVR2 = CVRCON.2 |
| #bit CVR1 = CVRCON.1 |
| #bit CVR0 = CVRCON.0 |
| #byte ADRESL = 0x9E // F88 only |
| #byte ADCON1 = 0x9F // F88 only |
| #bit ADFM = ADCON1.7 |
| #bit ADCS2 = ADCON1.6 |
| #bit VCFG1 = ADCON1.5 |
| #bit VCFG0 = ADCON1.4 |
| // SFR Registers in Memory Bank 2 |
| // |
| #byte INDF_2 = 0x100 // mirror |
| #byte TMR0_2 = 0x101 // mirror |
| #byte PCL_2 = 0x102 // mirror |
| #byte STATUS_2 = 0x103 // mirror |
| #bit IRP_2 = STATUS_2.7 |
| #bit RP1_2 = STATUS_2.6 |
| #bit RP0_2 = STATUS_2.5 |
| #bit TO_2 = STATUS_2.4 |
| #bit PD_2 = STATUS_2.3 |
| #bit Z_2 = STATUS_2.2 |
| #bit DC_2 = STATUS_2.1 |
| #bit C_2 = STATUS_2.0 |
| #byte FSR_2 = 0x104 // mirror |
| #byte WDTCON = 0x105 |
| #bit WDTPS3 = WDTCON.4 |
| #bit WDTPS2 = WDTCON.3 |
| #bit WDTPS1 = WDTCON.2 |
| #bit WDTPS0 = WDTCON.1 |
| #bit SWDTEN = WDTCON.0 |
| #byte PORTB_2 = 0x106 // mirror |
| #byte PCLATH_2 = 0x10A // mirror |
| #byte INTCON_2 = 0x10B // mirror |
| #bit GIE_2 = INTCON_2.7 |
| #bit PEIE_2 = INTCON_2.6 |
| #bit TMR0IE_2 = INTCON_2.5 |
| #bit INT0IE_2 = INTCON_2.4 |
| #bit RBIE_2 = INTCON_2.3 |
| #bit TMR0IF_2 = INTCON_2.2 |
| #bit INT0IF_2 = INTCON_2.1 |
| #bit RBIF_2 = INTCON_2.0 |
| #byte EEDATA = 0x10C |
| #byte EEADR = 0x10D |
| #byte EEDATH = 0x10E |
| #byte EEADRH = 0x10F |
| // SFR Registers in Memory Bank 3 |
| // |
| #byte INDF_3 = 0x180 // mirror |
| #byte OPTION_3 = 0x181 // mirror |
| #bit RBPU_3 = OPTION_3.7 |
| #bit INTEDG_3 = OPTION_3.6 |
| #bit T0CS_3 = OPTION_3.5 |
| #bit T0SE_3 = OPTION_3.4 |
| #bit PSA_3 = OPTION_3.3 |
| #bit PS2_3 = OPTION_3.2 |
| #bit PS1_3 = OPTION_3.1 |
| #bit PS0_3 = OPTION_3.0 |
| #byte PCL_3 = 0x182 // mirror |
| #byte STATUS_3 = 0x183 // mirror |
| #bit IRP_3 = STATUS_3.7 |
| #bit RP1_3 = STATUS_3.6 |
| #bit RP0_3 = STATUS_3.5 |
| #bit TO_3 = STATUS_3.4 |
| #bit PD_3 = STATUS_3.3 |
| #bit Z_3 = STATUS_3.2 |
| #bit DC_3 = STATUS_3.1 |
| #bit C_3 = STATUS_3.0 |
| #byte FSR_3 = 0x184 // mirror |
| #byte TRISB_3 = 0x186 // mirror |
| #byte PLATH_3 = 0x18A // mirror |
| #byte INTCON_3 = 0x18B // mirror |
| #bit GIE_3 = INTCON_3.7 |
| #bit PEIE_3 = INTCON_3.6 |
| #bit TMR0IE_3 = INTCON_3.5 |
| #bit INT0IE_3 = INTCON_3.4 |
| #bit RBIE_3 = INTCON_3.3 |
| #bit TMR0IF_3 = INTCON_3.2 |
| #bit INT0IF_3 = INTCON_3.1 |
| #bit RBIF_3 = INTCON_3.0 |
| #byte EECON1 = 0x18C |
| #bit EEPGD = EECON1.7 |
| #bit FREE = EECON1.4 |
| #bit WRERR = EECON1.3 |
| #bit WREN = EECON1.2 |
| #bit WR = EECON1.1 |
| #bit RD = EECON1.0 |
| #byte EECON2 = 0x18D |
| #list |
| /roboti/solarni/2005/jump/miho/LIB/vssver.scc |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jump/miho/vssver.scc |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jump/vssver.scc |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/solarni/2005/jumpk/menic.BAK |
|---|
| 0,0 → 1,7 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses WDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, \ |
| NODEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 |
| #use delay(clock=4000000, RESTART_WDT) |
| /roboti/solarni/2005/jumpk/menic.HEX |
|---|
| 0,0 → 1,44 |
| :1000000000308A005F280000FF00030E8301A1007A |
| :100010007F08A0000A08A8008A01A00E0408A20018 |
| :100020007708A3007808A4007908A5007A08A6003C |
| :100030007B08A700831383128C308400801D222844 |
| :100040008C193528220884002308F7002408F800BA |
| :100050002508F9002608FA002708FB0028088A006E |
| :10006000210E8300FF0E7F0E09008A1143280A101B |
| :100070008A100A118207023406340E341E343E34CC |
| :100080007E34FE34FF34290893008C118A11222813 |
| :100090002F308400000803195E280130F800BF30BB |
| :1000A000F7006400F70B5128F80B4F284A30F7008F |
| :1000B000F70B582800006400800B4D2800348401A1 |
| :1000C0001F30830583161F129F121B0880399B0067 |
| :1000D00007309C001C0883120D13603083168F00BC |
| :1000E0000108C03981000E30F7000730831281010A |
| :1000F000813084000008F03907388000640000086F |
| :10010000F739F719F0397704800083161F129F1210 |
| :100110001B088039D2389B001F1383121F179F17AB |
| :1001200083169F1383121F149412831606118614CC |
| :1001300006120030831294008316940083129001FB |
| :10014000073083169C00050864000230F700F70BA7 |
| :10015000A728000000001C0883120D1383169D01C0 |
| :1001600086118312861183160611831206118316D7 |
| :100170008610831286102030F8001F08C7397804D3 |
| :100180009F00950183168611831286110C3097000B |
| :100190000030F80004389200643083169200623018 |
| :1001A0008F0002308312950083168610831286100A |
| :1001B0006430AF00482083168610831286141430F2 |
| :1001C000AF0048201F151F19E3281E08783C031CA8 |
| :1001D000D42883168610831286100830F8001F0872 |
| :1001E000C73978049F0064002030F700F70BF62829 |
| :1001F000000000001F151F19FB281E08F700031040 |
| :10020000F70C7708283EAC0095010030F800043860 |
| :1002100092002C088316920014308312950032301D |
| :10022000AE00FA30AF004820AE0B112983169401BE |
| :100230002230831294000230A90029089300C030B4 |
| :100240008B0483168C158312AA012A08073C031C11 |
| :1002500032292A083720F800A9003730AF0048209B |
| :10026000AA0A2529831694018312940183168C11FE |
| :100270000611831206150A30AE008230AF00482006 |
| :10028000AE0B3D2983160611831206114629630021 |
| :04400E003C2FFC3F08 |
| :00000001FF |
| ;PIC16F88 |
| /roboti/solarni/2005/jumpk/menic.LST |
|---|
| 0,0 → 1,463 |
| CCS PCM C Compiler, Version 3.221, 27853 18-IX-05 23:22 |
| Filename: C:\PIC\jumpk\menic.LST |
| ROM used: 328 words (8%) |
| Largest free fragment is 2048 |
| RAM used: 21 (12%) at main() level |
| 21 (12%) worst case |
| Stack: 2 worst case (1 in main + 1 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 05F |
| 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 00.3 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.3 |
| 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 043 |
| .................... //---------------------------- |
| .................... // Sagitta - 9. 9. 2005 |
| .................... //---------------------------- |
| .................... |
| .................... #include ".\menic.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... |
| .................... #device adc=8 |
| .................... |
| .................... #fuses WDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, \ |
| .................... NODEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 |
| .................... |
| .................... #use delay(clock=4000000, RESTART_WDT) |
| * |
| 0048: MOVLW 2F |
| 0049: MOVWF 04 |
| 004A: MOVF 00,W |
| 004B: BTFSC 03.2 |
| 004C: GOTO 05E |
| 004D: MOVLW 01 |
| 004E: MOVWF 78 |
| 004F: MOVLW BF |
| 0050: MOVWF 77 |
| 0051: CLRWDT |
| 0052: DECFSZ 77,F |
| 0053: GOTO 051 |
| 0054: DECFSZ 78,F |
| 0055: GOTO 04F |
| 0056: MOVLW 4A |
| 0057: MOVWF 77 |
| 0058: DECFSZ 77,F |
| 0059: GOTO 058 |
| 005A: NOP |
| 005B: CLRWDT |
| 005C: DECFSZ 00,F |
| 005D: GOTO 04D |
| 005E: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define RAZENI 55 // Po kolika ms se bude menit rychlost pri rozjizdeni |
| .................... #define REFSTART 120 // Hodnota komparatoru odpovidajici 1,7V pri |
| .................... // nezatizenych solarnich clancich |
| .................... #define DUTY1 2 // Delka sepnuti PWM v us pro sero |
| .................... #define DUTY2 20 // Delka sepnuti PWM v us pro jednu zarovku 500W |
| .................... |
| .................... // Tabulka napeti vuci referencni LED (cca 1,7V) |
| .................... // hodnota prevodniku / napeti na clancich |
| .................... // 250 1,6V |
| .................... // 200 2,1V |
| .................... // 150 2,8V |
| .................... // 145 2,9V |
| .................... // 120 3,6V |
| .................... // 110 4,0V |
| .................... |
| .................... #define MENIC PIN_B3 // Spinani tranzistoru menice |
| .................... #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| .................... #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| .................... |
| .................... #byte SSPBUF = 0x13 // Registry jednotky SSP |
| .................... #byte SSPCON1 = 0x14 |
| .................... #byte SSPSTAT = 0x94 |
| .................... |
| .................... // Vzorky pro generovani PWM pomoci SSP |
| .................... unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| .................... unsigned int8 MotorPattern; |
| .................... |
| .................... #INT_SSP |
| .................... void IntSSP() // Vyvola se po odeslani znaku pres SSP |
| .................... { |
| .................... SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| * |
| 0043: MOVF 29,W |
| 0044: MOVWF 13 |
| .................... } |
| .................... |
| 0045: BCF 0C.3 |
| 0046: BCF 0A.3 |
| 0047: GOTO 022 |
| .................... void main() |
| .................... { |
| * |
| 005F: CLRF 04 |
| 0060: MOVLW 1F |
| 0061: ANDWF 03,F |
| 0062: BSF 03.5 |
| 0063: BCF 1F.4 |
| 0064: BCF 1F.5 |
| 0065: MOVF 1B,W |
| 0066: ANDLW 80 |
| 0067: MOVWF 1B |
| 0068: MOVLW 07 |
| 0069: MOVWF 1C |
| 006A: MOVF 1C,W |
| 006B: BCF 03.5 |
| 006C: BCF 0D.6 |
| 006D: MOVLW 60 |
| 006E: BSF 03.5 |
| 006F: MOVWF 0F |
| .................... int8 n; |
| .................... int8 cekej; |
| .................... int8 perioda; |
| .................... int8 rozjezd; |
| .................... |
| .................... // Inicializace casovacu a prevodniku |
| .................... setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_1152MS); |
| 0070: MOVF 01,W |
| 0071: ANDLW C0 |
| 0072: MOVWF 01 |
| 0073: MOVLW 0E |
| 0074: MOVWF 77 |
| 0075: MOVLW 07 |
| 0076: BCF 03.5 |
| 0077: CLRF 01 |
| 0078: MOVLW 81 |
| 0079: MOVWF 04 |
| 007A: MOVF 00,W |
| 007B: ANDLW F0 |
| 007C: IORLW 07 |
| 007D: MOVWF 00 |
| 007E: CLRWDT |
| 007F: MOVF 00,W |
| 0080: ANDLW F7 |
| 0081: BTFSC 77.3 |
| 0082: ANDLW F0 |
| 0083: IORWF 77,W |
| 0084: MOVWF 00 |
| .................... setup_adc_ports(ADC_CLOCK_INTERNAL|sAN1|sAN4|VSS_VDD); |
| 0085: BSF 03.5 |
| 0086: BCF 1F.4 |
| 0087: BCF 1F.5 |
| 0088: MOVF 1B,W |
| 0089: ANDLW 80 |
| 008A: IORLW D2 |
| 008B: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 008C: BCF 1F.6 |
| 008D: BCF 03.5 |
| 008E: BSF 1F.6 |
| 008F: BSF 1F.7 |
| 0090: BSF 03.5 |
| 0091: BCF 1F.7 |
| 0092: BCF 03.5 |
| 0093: BSF 1F.0 |
| .................... setup_spi(FALSE); |
| 0094: BCF 14.5 |
| 0095: BSF 03.5 |
| 0096: BCF 06.2 |
| 0097: BSF 06.1 |
| 0098: BCF 06.4 |
| 0099: MOVLW 00 |
| 009A: BCF 03.5 |
| 009B: MOVWF 14 |
| 009C: BSF 03.5 |
| 009D: MOVWF 14 |
| .................... setup_timer_1(T1_DISABLED); |
| 009E: BCF 03.5 |
| 009F: CLRF 10 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00A0: MOVLW 07 |
| 00A1: BSF 03.5 |
| 00A2: MOVWF 1C |
| 00A3: MOVF 05,W |
| 00A4: CLRWDT |
| 00A5: MOVLW 02 |
| 00A6: MOVWF 77 |
| 00A7: DECFSZ 77,F |
| 00A8: GOTO 0A7 |
| 00A9: NOP |
| 00AA: NOP |
| 00AB: MOVF 1C,W |
| 00AC: BCF 03.5 |
| 00AD: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00AE: BSF 03.5 |
| 00AF: CLRF 1D |
| .................... |
| .................... output_low(MENIC); // Vsechno zastav |
| 00B0: BCF 06.3 |
| 00B1: BCF 03.5 |
| 00B2: BCF 06.3 |
| .................... output_low(MOTOR); |
| 00B3: BSF 03.5 |
| 00B4: BCF 06.2 |
| 00B5: BCF 03.5 |
| 00B6: BCF 06.2 |
| .................... output_low(REFPWR); |
| 00B7: BSF 03.5 |
| 00B8: BCF 06.1 |
| 00B9: BCF 03.5 |
| 00BA: BCF 06.1 |
| .................... |
| .................... set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| 00BB: MOVLW 20 |
| 00BC: MOVWF 78 |
| 00BD: MOVF 1F,W |
| 00BE: ANDLW C7 |
| 00BF: IORWF 78,W |
| 00C0: MOVWF 1F |
| .................... set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| 00C1: CLRF 15 |
| .................... setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| 00C2: BSF 03.5 |
| 00C3: BCF 06.3 |
| 00C4: BCF 03.5 |
| 00C5: BCF 06.3 |
| 00C6: MOVLW 0C |
| 00C7: MOVWF 17 |
| .................... setup_timer_2(T2_DIV_BY_1,100,1); // perioda PWM |
| 00C8: MOVLW 00 |
| 00C9: MOVWF 78 |
| 00CA: IORLW 04 |
| 00CB: MOVWF 12 |
| 00CC: MOVLW 64 |
| 00CD: BSF 03.5 |
| 00CE: MOVWF 12 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| 00CF: MOVLW 62 |
| 00D0: MOVWF 0F |
| .................... |
| .................... // jsme v depu? |
| .................... set_pwm1_duty(DUTY1); // delka sepnuti |
| 00D1: MOVLW 02 |
| 00D2: BCF 03.5 |
| 00D3: MOVWF 15 |
| .................... do |
| .................... { |
| .................... output_low(REFPWR); |
| 00D4: BSF 03.5 |
| 00D5: BCF 06.1 |
| 00D6: BCF 03.5 |
| 00D7: BCF 06.1 |
| .................... delay_ms(100); |
| 00D8: MOVLW 64 |
| 00D9: MOVWF 2F |
| 00DA: CALL 048 |
| .................... output_high(REFPWR); // zapni napajeni napetove reference (LED) |
| 00DB: BSF 03.5 |
| 00DC: BCF 06.1 |
| 00DD: BCF 03.5 |
| 00DE: BSF 06.1 |
| .................... delay_ms(20); |
| 00DF: MOVLW 14 |
| 00E0: MOVWF 2F |
| 00E1: CALL 048 |
| .................... } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| 00E2: BSF 1F.2 |
| 00E3: BTFSC 1F.2 |
| 00E4: GOTO 0E3 |
| 00E5: MOVF 1E,W |
| 00E6: SUBLW 78 |
| 00E7: BTFSS 03.0 |
| 00E8: GOTO 0D4 |
| .................... output_low(REFPWR); |
| 00E9: BSF 03.5 |
| 00EA: BCF 06.1 |
| 00EB: BCF 03.5 |
| 00EC: BCF 06.1 |
| .................... |
| .................... // Precti trimr |
| .................... set_adc_channel(1); // Zjisteni nastaveni trimru PWM |
| 00ED: MOVLW 08 |
| 00EE: MOVWF 78 |
| 00EF: MOVF 1F,W |
| 00F0: ANDLW C7 |
| 00F1: IORWF 78,W |
| 00F2: MOVWF 1F |
| .................... delay_us(100); // Pockej na prepnuti kanalu A/D prevodniku |
| 00F3: CLRWDT |
| 00F4: MOVLW 20 |
| 00F5: MOVWF 77 |
| 00F6: DECFSZ 77,F |
| 00F7: GOTO 0F6 |
| 00F8: NOP |
| 00F9: NOP |
| .................... perioda=(read_adc()>>1)+40; // rozsah: 40 az 167 |
| 00FA: BSF 1F.2 |
| 00FB: BTFSC 1F.2 |
| 00FC: GOTO 0FB |
| 00FD: MOVF 1E,W |
| 00FE: MOVWF 77 |
| 00FF: BCF 03.0 |
| 0100: RRF 77,F |
| 0101: MOVF 77,W |
| 0102: ADDLW 28 |
| 0103: MOVWF 2C |
| .................... set_pwm1_duty(0); // Zastav PWM, aby slo zmenit periodu |
| 0104: CLRF 15 |
| .................... setup_timer_2(T2_DIV_BY_1,perioda,1); // Zapis nastavenou periodu |
| 0105: MOVLW 00 |
| 0106: MOVWF 78 |
| 0107: IORLW 04 |
| 0108: MOVWF 12 |
| 0109: MOVF 2C,W |
| 010A: BSF 03.5 |
| 010B: MOVWF 12 |
| .................... |
| .................... // nabíjíme |
| .................... set_pwm1_duty(DUTY2); // delka sepnuti PWM |
| 010C: MOVLW 14 |
| 010D: BCF 03.5 |
| 010E: MOVWF 15 |
| .................... delay_ms(12500); |
| 010F: MOVLW 32 |
| 0110: MOVWF 2E |
| 0111: MOVLW FA |
| 0112: MOVWF 2F |
| 0113: CALL 048 |
| 0114: DECFSZ 2E,F |
| 0115: GOTO 111 |
| .................... |
| .................... // rozjezd |
| .................... SSPSTAT = 0; // inicializace SPI jednotky |
| 0116: BSF 03.5 |
| 0117: CLRF 14 |
| .................... SSPCON1 = 0x22; // SPI OSC/64 |
| 0118: MOVLW 22 |
| 0119: BCF 03.5 |
| 011A: MOVWF 14 |
| .................... MotorPattern=Pattern[0]; |
| 011B: MOVLW 02 |
| 011C: MOVWF 29 |
| .................... SSPBUF=MotorPattern; // 1. data pro vyslani |
| 011D: MOVF 29,W |
| 011E: MOVWF 13 |
| .................... enable_interrupts(global); |
| 011F: MOVLW C0 |
| 0120: IORWF 0B,F |
| .................... enable_interrupts(INT_SSP); // az budou vyslana, prijde preruseni |
| 0121: BSF 03.5 |
| 0122: BSF 0C.3 |
| .................... |
| .................... for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| 0123: BCF 03.5 |
| 0124: CLRF 2A |
| 0125: MOVF 2A,W |
| 0126: SUBLW 07 |
| 0127: BTFSS 03.0 |
| 0128: GOTO 132 |
| .................... { |
| .................... MotorPattern=Pattern[n]; |
| 0129: MOVF 2A,W |
| 012A: CALL 037 |
| 012B: MOVWF 78 |
| 012C: MOVWF 29 |
| .................... delay_ms(RAZENI); // Pockej na dalsi razeni |
| 012D: MOVLW 37 |
| 012E: MOVWF 2F |
| 012F: CALL 048 |
| .................... }; |
| 0130: INCF 2A,F |
| 0131: GOTO 125 |
| .................... SSPSTAT = 0; |
| 0132: BSF 03.5 |
| 0133: CLRF 14 |
| .................... SSPCON1 = 0; // SPI stop |
| 0134: BCF 03.5 |
| 0135: CLRF 14 |
| .................... disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| 0136: BSF 03.5 |
| 0137: BCF 0C.3 |
| .................... |
| .................... // jedem co to da |
| .................... output_high(MOTOR); |
| 0138: BCF 06.2 |
| 0139: BCF 03.5 |
| 013A: BSF 06.2 |
| .................... delay_ms(1300); // dyl jak 1,3s bysme nemeli jet :) |
| 013B: MOVLW 0A |
| 013C: MOVWF 2E |
| 013D: MOVLW 82 |
| 013E: MOVWF 2F |
| 013F: CALL 048 |
| 0140: DECFSZ 2E,F |
| 0141: GOTO 13D |
| .................... output_low(MOTOR); // zastav motor |
| 0142: BSF 03.5 |
| 0143: BCF 06.2 |
| 0144: BCF 03.5 |
| 0145: BCF 06.2 |
| .................... // Menic je stale zapnut a zatezuje clanky |
| .................... |
| .................... while(TRUE); // Cekej, dokud se neztrati svetlo, |
| 0146: GOTO 146 |
| .................... // nebo prijde WatchDog |
| .................... } |
| .................... |
| 0147: SLEEP |
| Configuration Fuses: |
| Word 1: 2F3C WDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/solarni/2005/jumpk/menic.PJT |
|---|
| 0,0 → 1,53 |
| [PROJECT] |
| Target=menic.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\ |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=menic.c; |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [menic.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=menic.c |
| [Windows] |
| 0=0000 menic.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\solarni\2005\jumpk\menic.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3= |
| 4= |
| 5= |
| [debugperif] |
| selected=Analog/Digital Conv |
| [debugram] |
| autoread=1 |
| [debugeedata] |
| autoread=1 |
| [debugbreak] |
| count=0 |
| [pcwdebug] |
| watchcol0=75 |
| [debugwatch] |
| count=0 |
| [debugexpr] |
| expr= |
| sideeffects=0 |
| /roboti/solarni/2005/jumpk/menic.SYM |
|---|
| 0,0 → 1,58 |
| 013 SSPBUF |
| 014 SSPCON1 |
| 015-016 CCP_1 |
| 015 CCP_1_LOW |
| 016 CCP_1_HIGH |
| 020 @INTERRUPT_AREA |
| 021 @INTERRUPT_AREA |
| 022 @INTERRUPT_AREA |
| 023 @INTERRUPT_AREA |
| 024 @INTERRUPT_AREA |
| 025 @INTERRUPT_AREA |
| 026 @INTERRUPT_AREA |
| 027 @INTERRUPT_AREA |
| 028 @INTERRUPT_AREA |
| 029 MotorPattern |
| 02A main.n |
| 02B main.cekej |
| 02C main.perioda |
| 02D main.rozjezd |
| 02E main.@SCRATCH |
| 02F @delay_ms1.P1 |
| 02F main.@SCRATCH |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 094 SSPSTAT |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0048 @delay_ms1 |
| 0037 @const30 |
| 0043 IntSSP |
| 005F main |
| 005F @cinit |
| Project Files: |
| C:\PIC\jumpk\menic.c |
| C:\PIC\jumpk\menic.h |
| C:\Program Files\PICC\devices\16F88.h |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: C:\PIC\jumpk\menic.err |
| INHX8: C:\PIC\jumpk\menic.HEX |
| Symbols: C:\PIC\jumpk\menic.SYM |
| List: C:\PIC\jumpk\menic.LST |
| Debug/COFF: C:\PIC\jumpk\menic.cof |
| Call Tree: C:\PIC\jumpk\menic.tre |
| Statistics: C:\PIC\jumpk\menic.sta |
| /roboti/solarni/2005/jumpk/menic.c |
|---|
| 0,0 → 1,114 |
| //---------------------------- |
| // Sagitta - 9. 9. 2005 |
| //---------------------------- |
| #include ".\menic.h" |
| #define RAZENI 55 // Po kolika ms se bude menit rychlost pri rozjizdeni |
| #define REFSTART 120 // Hodnota komparatoru odpovidajici 1,7V pri |
| // nezatizenych solarnich clancich |
| #define DUTY1 2 // Delka sepnuti PWM v us pro sero |
| #define DUTY2 20 // Delka sepnuti PWM v us pro jednu zarovku 500W |
| // Tabulka napeti vuci referencni LED (cca 1,7V) |
| // hodnota prevodniku / napeti na clancich |
| // 250 1,6V |
| // 200 2,1V |
| // 150 2,8V |
| // 145 2,9V |
| // 120 3,6V |
| // 110 4,0V |
| #define MENIC PIN_B3 // Spinani tranzistoru menice |
| #define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
| #define MOTOR PIN_B2 // Spinani tranzistoru motoru |
| #byte SSPBUF = 0x13 // Registry jednotky SSP |
| #byte SSPCON1 = 0x14 |
| #byte SSPSTAT = 0x94 |
| // Vzorky pro generovani PWM pomoci SSP |
| unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
| unsigned int8 MotorPattern; |
| #INT_SSP |
| void IntSSP() // Vyvola se po odeslani znaku pres SSP |
| { |
| SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
| } |
| void main() |
| { |
| int8 n; |
| int8 cekej; |
| int8 perioda; |
| int8 rozjezd; |
| // Inicializace casovacu a prevodniku |
| setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_1152MS); |
| setup_adc_ports(ADC_CLOCK_INTERNAL|sAN1|sAN4|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(FALSE); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| output_low(MENIC); // Vsechno zastav |
| output_low(MOTOR); |
| output_low(REFPWR); |
| set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
| set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
| setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
| setup_timer_2(T2_DIV_BY_1,100,1); // perioda PWM |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
| // jsme v depu? |
| set_pwm1_duty(DUTY1); // delka sepnuti |
| do |
| { |
| output_low(REFPWR); |
| delay_ms(100); |
| output_high(REFPWR); // zapni napajeni napetove reference (LED) |
| delay_ms(20); |
| } while (read_adc()>REFSTART); // Odkryl starter clanky? |
| output_low(REFPWR); |
| // Precti trimr |
| set_adc_channel(1); // Zjisteni nastaveni trimru PWM |
| delay_us(100); // Pockej na prepnuti kanalu A/D prevodniku |
| perioda=(read_adc()>>1)+40; // rozsah: 40 az 167 |
| set_pwm1_duty(0); // Zastav PWM, aby slo zmenit periodu |
| setup_timer_2(T2_DIV_BY_1,perioda,1); // Zapis nastavenou periodu |
| // nabíjíme |
| set_pwm1_duty(DUTY2); // delka sepnuti PWM |
| delay_ms(12500); |
| // rozjezd |
| SSPSTAT = 0; // inicializace SPI jednotky |
| SSPCON1 = 0x22; // SPI OSC/64 |
| MotorPattern=Pattern[0]; |
| SSPBUF=MotorPattern; // 1. data pro vyslani |
| enable_interrupts(global); |
| enable_interrupts(INT_SSP); // az budou vyslana, prijde preruseni |
| for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
| { |
| MotorPattern=Pattern[n]; |
| delay_ms(RAZENI); // Pockej na dalsi razeni |
| }; |
| SSPSTAT = 0; |
| SSPCON1 = 0; // SPI stop |
| disable_interrupts(INT_SSP); // zastav preruseni od SSP |
| // jedem co to da |
| output_high(MOTOR); |
| delay_ms(1300); // dyl jak 1,3s bysme nemeli jet :) |
| output_low(MOTOR); // zastav motor |
| // Menic je stale zapnut a zatezuje clanky |
| while(TRUE); // Cekej, dokud se neztrati svetlo, |
| // nebo prijde WatchDog |
| } |
| /roboti/solarni/2005/jumpk/menic.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/solarni/2005/jumpk/menic.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /roboti/solarni/2005/jumpk/menic.h |
|---|
| 0,0 → 1,9 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses WDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, \ |
| NODEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 |
| #use delay(clock=4000000, RESTART_WDT) |
| /roboti/solarni/2005/jumpk/menic.sta |
|---|
| 0,0 → 1,32 |
| ROM used: 328 (8%) |
| 328 (8%) including unused fragments |
| 1 Average locations per line |
| 6 Average locations per statement |
| RAM used: 21 (12%) at main() level |
| 21 (12%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 115 51 100 C:\PIC\jumpk\menic.c |
| 10 0 0 C:\PIC\jumpk\menic.h |
| 275 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 800 102 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 23 7 1 @delay_ms1 |
| 0 12 4 0 @const30 |
| 0 5 2 0 IntSSP |
| 0 233 71 6 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-00036 51 0 |
| 00037-007FF 273 1720 |
| 00800-00FFF 0 2048 |
| /roboti/solarni/2005/jumpk/menic.tre |
|---|
| 0,0 → 1,10 |
| ÀÄmenic |
| ÃÄmain 0/233 Ram=6 |
| ³ ÃÄ??0?? |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÃÄ@const30 0/12 Ram=0 |
| ³ ÃÄ@delay_ms1 0/23 Ram=1 |
| ³ ÀÄ@delay_ms1 0/23 Ram=1 |
| ÀÄIntSSP 0/5 Ram=0 |
| /roboti/solarni/2005/schema.pdf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |