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 |