| 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 |