| 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 |