WebSVN – svnkaklik – Diff – /roboti/Robiada/2007/SW/robot/robot.asm

 ;/////////////////////////////////////////////////////////////////////////////////
 ;// Code Generator: BoostBasic Compiler - http://www.sourceboost.com
 ;// Version       : 6.70
 ;// License Type  : Pro License
 ;// Limitations   : PIC18 max code size:Unlimited, max RAM banks:Unlimited
 ;/////////////////////////////////////////////////////////////////////////////////
 	include "P18F252.inc"
-__HEAPSTART                      EQU	0x0000000B ; Start address of heap
+__HEAPSTART                      EQU	0x0000000F ; Start address of heap
 __HEAPEND                        EQU	0x000005FF ; End address of heap
 gbl_status                       EQU	0x00000FD8 ; bytes:1
 gbl_prodl                        EQU	0x00000FF3 ; bytes:1
 gbl_prodh                        EQU	0x00000FF4 ; bytes:1
 gbl_porta                        EQU	0x00000F80 ; bytes:1
 gbl_portb                        EQU	0x00000F81 ; bytes:1
 gbl_portc                        EQU	0x00000F82 ; bytes:1
 gbl_lata                         EQU	0x00000F89 ; bytes:1
 gbl_latb                         EQU	0x00000F8A ; bytes:1
 gbl_latc                         EQU	0x00000F8B ; bytes:1
 gbl_trisa                        EQU	0x00000F92 ; bytes:1
 gbl_trisb                        EQU	0x00000F93 ; bytes:1
 gbl_trisc                        EQU	0x00000F94 ; bytes:1
 gbl_pie1                         EQU	0x00000F9D ; bytes:1
 gbl_pir1                         EQU	0x00000F9E ; bytes:1
 gbl_ipr1                         EQU	0x00000F9F ; bytes:1
 gbl_pie2                         EQU	0x00000FA0 ; bytes:1
 gbl_pir2                         EQU	0x00000FA1 ; bytes:1
 gbl_ipr2                         EQU	0x00000FA2 ; bytes:1
 gbl_eecon1                       EQU	0x00000FA6 ; bytes:1
 gbl_eecon2                       EQU	0x00000FA7 ; bytes:1
 gbl_eedata                       EQU	0x00000FA8 ; bytes:1
 gbl_eeadr                        EQU	0x00000FA9 ; bytes:1
 gbl_rcsta                        EQU	0x00000FAB ; bytes:1
 gbl_txsta                        EQU	0x00000FAC ; bytes:1
 gbl_txreg                        EQU	0x00000FAD ; bytes:1
 gbl_rcreg                        EQU	0x00000FAE ; bytes:1
 gbl_spbrg                        EQU	0x00000FAF ; bytes:1
 gbl_t3con                        EQU	0x00000FB1 ; bytes:1
 gbl_tmr3l                        EQU	0x00000FB2 ; bytes:1
 gbl_tmr3h                        EQU	0x00000FB3 ; bytes:1
 gbl_ccp2con                      EQU	0x00000FBA ; bytes:1
 gbl_ccpr2l                       EQU	0x00000FBB ; bytes:1
 gbl_ccpr2h                       EQU	0x00000FBC ; bytes:1
 gbl_ccp1con                      EQU	0x00000FBD ; bytes:1
 gbl_ccpr1l                       EQU	0x00000FBE ; bytes:1
 gbl_ccpr1h                       EQU	0x00000FBF ; bytes:1
 gbl_adcon1                       EQU	0x00000FC1 ; bytes:1
 gbl_adcon0                       EQU	0x00000FC2 ; bytes:1
 gbl_adresl                       EQU	0x00000FC3 ; bytes:1
 gbl_adresh                       EQU	0x00000FC4 ; bytes:1
 gbl_sspcon2                      EQU	0x00000FC5 ; bytes:1
 gbl_sspcon1                      EQU	0x00000FC6 ; bytes:1
 gbl_sspstat                      EQU	0x00000FC7 ; bytes:1
 gbl_sspadd                       EQU	0x00000FC8 ; bytes:1
 gbl_sspbuf                       EQU	0x00000FC9 ; bytes:1
 gbl_t2con                        EQU	0x00000FCA ; bytes:1
 gbl_pr2                          EQU	0x00000FCB ; bytes:1
 gbl_tmr2                         EQU	0x00000FCC ; bytes:1
 gbl_t1con                        EQU	0x00000FCD ; bytes:1
 gbl_tmr1l                        EQU	0x00000FCE ; bytes:1
 gbl_tmr1h                        EQU	0x00000FCF ; bytes:1
 gbl_rcon                         EQU	0x00000FD0 ; bytes:1
 gbl_wdtcon                       EQU	0x00000FD1 ; bytes:1
 gbl_lvdcon                       EQU	0x00000FD2 ; bytes:1
 gbl_osccon                       EQU	0x00000FD3 ; bytes:1
 gbl_t0con                        EQU	0x00000FD5 ; bytes:1
 gbl_tmr0l                        EQU	0x00000FD6 ; bytes:1
 gbl_tmr0h                        EQU	0x00000FD7 ; bytes:1
 gbl_fsr2l                        EQU	0x00000FD9 ; bytes:1
 gbl_fsr2h                        EQU	0x00000FDA ; bytes:1
 gbl_plusw2                       EQU	0x00000FDB ; bytes:1
 gbl_preinc2                      EQU	0x00000FDC ; bytes:1
 gbl_postdec2                     EQU	0x00000FDD ; bytes:1
 gbl_postinc2                     EQU	0x00000FDE ; bytes:1
 gbl_indf2                        EQU	0x00000FDF ; bytes:1
 gbl_bsr                          EQU	0x00000FE0 ; bytes:1
 gbl_fsr1l                        EQU	0x00000FE1 ; bytes:1
 gbl_fsr1h                        EQU	0x00000FE2 ; bytes:1
 gbl_plusw1                       EQU	0x00000FE3 ; bytes:1
 gbl_preinc1                      EQU	0x00000FE4 ; bytes:1
 gbl_postdec1                     EQU	0x00000FE5 ; bytes:1
 gbl_postinc1                     EQU	0x00000FE6 ; bytes:1
 gbl_indf1                        EQU	0x00000FE7 ; bytes:1
 gbl_wreg                         EQU	0x00000FE8 ; bytes:1
 gbl_fsr0l                        EQU	0x00000FE9 ; bytes:1
 gbl_fsr0h                        EQU	0x00000FEA ; bytes:1
 gbl_plusw0                       EQU	0x00000FEB ; bytes:1
 gbl_preinc0                      EQU	0x00000FEC ; bytes:1
 gbl_postdec0                     EQU	0x00000FED ; bytes:1
 gbl_postinc0                     EQU	0x00000FEE ; bytes:1
 gbl_indf0                        EQU	0x00000FEF ; bytes:1
 gbl_intcon3                      EQU	0x00000FF0 ; bytes:1
 gbl_intcon2                      EQU	0x00000FF1 ; bytes:1
 gbl_intcon                       EQU	0x00000FF2 ; bytes:1
 gbl_tablat                       EQU	0x00000FF5 ; bytes:1
 gbl_tblptrl                      EQU	0x00000FF6 ; bytes:1
 gbl_tblptrh                      EQU	0x00000FF7 ; bytes:1
 gbl_tblptru                      EQU	0x00000FF8 ; bytes:1
 gbl_pcl                          EQU	0x00000FF9 ; bytes:1
 gbl_pclath                       EQU	0x00000FFA ; bytes:1
 gbl_pclatu                       EQU	0x00000FFB ; bytes:1
 gbl_stkptr                       EQU	0x00000FFC ; bytes:1
 gbl_tosl                         EQU	0x00000FFD ; bytes:1
 gbl_tosh                         EQU	0x00000FFE ; bytes:1
 gbl_tosu                         EQU	0x00000FFF ; bytes:1
-CompTempVarRet489                EQU	0x00000009 ; bytes:1
+CompTempVarRet489                EQU	0x0000000D ; bytes:1
-send_00000_arg_c                 EQU	0x00000009 ; bytes:1
+send_00000_arg_c                 EQU	0x0000000D ; bytes:1
 main_1_motors                    EQU	0x00000001 ; bytes:1
 main_1_sensors                   EQU	0x00000002 ; bytes:1
 main_1_leds                      EQU	0x00000003 ; bytes:1
 main_1_count                     EQU	0x00000004 ; bytes:4
+main_1_cas                       EQU	0x00000008 ; bytes:4
-CompTempVar491                   EQU	0x00000008 ; bytes:1
+CompTempVar491                   EQU	0x0000000C ; bytes:1
-CompTempVar492                   EQU	0x00000009 ; bytes:1
+CompTempVar492                   EQU	0x0000000D ; bytes:1
-CompTempVar496                   EQU	0x0000000A ; bytes:1
+CompTempVar496                   EQU	0x0000000E ; bytes:1
 	ORG 0x00000200
 	GOTO	_startup
 	ORG 0x00000204
 send_00000
 ; { send ; function begin
 label268438562
 	BTFSS gbl_pir1,4
 	BRA	label268438562
 	MOVF send_00000_arg_c, W
 	MOVWF gbl_txreg
 	RETURN
 ; } send function end
 	ORG 0x0000020E
 receive_00000
 ; { receive ; function begin
 	BTFSS gbl_rcsta,1
 	BRA	label268438551
 	BCF gbl_rcsta,4
 	BSF gbl_rcsta,4
 label268438551
 	BTFSS gbl_pir1,5
 	BRA	label268438551
 	MOVF gbl_rcreg, W
 	MOVWF CompTempVarRet489
 	RETURN
 ; } receive function end
 	ORG 0x00000220
 main
 ; { main ; function begin
 	SETF gbl_lata
 	CLRF gbl_latb
 	SETF gbl_latc
 	MOVLW 0xF0
 	MOVWF gbl_trisa
 	MOVLW 0x3F
 	MOVWF gbl_trisb
 	MOVLW 0x9F
 	MOVWF gbl_trisc
 	MOVLW 0xC6
 	MOVWF gbl_adcon1
 	MOVLW 0xC0
 	MOVWF gbl_adcon0
 	MOVLW 0x40
 	MOVWF gbl_spbrg
 	MOVLW 0xFB
 	ANDWF gbl_txsta, W
 	MOVWF gbl_txsta
 	MOVLW 0x20
 	IORWF gbl_txsta, W
 	MOVWF gbl_txsta
 	MOVLW 0x10
 	IORWF gbl_rcsta, W
 	MOVWF gbl_rcsta
 	MOVLW 0x80
 	IORWF gbl_rcsta, W
 	MOVWF gbl_rcsta
 	CLRF main_1_motors
-label268438598
+label268438599
 	BTFSC gbl_portb,0
-	BRA	label268438598
+	BRA	label268438599
 	MOVLW 0xF0
 	MOVWF main_1_leds
 	MOVLW 0x80
 	MOVWF main_1_count
 	MOVLW 0x1A
 	MOVWF main_1_count+D'1'
 	MOVLW 0x06
 	MOVWF main_1_count+D'2'
 	CLRF main_1_count+D'3'
-label268438603
+label268438604
 	MOVF main_1_count+D'3', W
 	SUBLW 0x00
-	BNZ	label268438604
+	BNZ	label268438605
 	MOVF main_1_count+D'2', W
 	SUBLW 0x00
-	BNZ	label268438604
+	BNZ	label268438605
 	MOVF main_1_count+D'1', W
 	SUBLW 0x00
-	BNZ	label268438604
+	BNZ	label268438605
 	MOVF main_1_count, W
 	SUBLW 0x00
-label268438604
+label268438605
 	BTFSC main_1_count+D'3',7
 	BSF STATUS,C
-	BC	label268438608
+	BC	label268438609
 	MOVLW 0x01
 	SUBWF main_1_count, W
 	MOVWF CompTempVar492
 	MOVLW 0x00
 	MOVWF CompTempVar496
 	BTFSS STATUS,C
 	INCFSZ CompTempVar496, W
 	SUBWF main_1_count+D'1', F
 	MOVLW 0x00
 	MOVWF CompTempVar496
 	BTFSS STATUS,C
 	INCFSZ CompTempVar496, W
 	SUBWF main_1_count+D'2', F
 	MOVLW 0x00
 	MOVWF CompTempVar496
 	BTFSS STATUS,C
 	INCFSZ CompTempVar496, W
 	SUBWF main_1_count+D'3', F
 	MOVF CompTempVar492, W
 	MOVWF main_1_count
 	MOVLW 0x00
 	SUBWF main_1_count+D'3', W
-	BNZ	label268438620
+	BNZ	label268438621
 	MOVLW 0x04
 	SUBWF main_1_count+D'2', W
-	BNZ	label268438620
+	BNZ	label268438621
 	MOVLW 0x93
 	SUBWF main_1_count+D'1', W
-	BNZ	label268438620
+	BNZ	label268438621
 	MOVLW 0xE0
 	SUBWF main_1_count, W
-label268438620
+label268438621
-	BNC	label4026532500
+	BNC	label4026532557
 	BTFSS main_1_count+D'3',7
-	BRA	label268438624
+	BRA	label268438625
-label4026532500
+label4026532557
 	MOVLW 0x01
 	IORWF main_1_leds, W
 	MOVWF main_1_leds
-label268438624
+label268438625
 	MOVLW 0x00
 	SUBWF main_1_count+D'3', W
-	BNZ	label268438626
+	BNZ	label268438627
 	MOVLW 0x03
 	SUBWF main_1_count+D'2', W
-	BNZ	label268438626
+	BNZ	label268438627
 	MOVLW 0x0D
 	SUBWF main_1_count+D'1', W
-	BNZ	label268438626
+	BNZ	label268438627
 	MOVLW 0x40
 	SUBWF main_1_count, W
-label268438626
+label268438627
-	BNC	label4026532501
+	BNC	label4026532558
 	BTFSS main_1_count+D'3',7
-	BRA	label268438630
+	BRA	label268438631
-label4026532501
+label4026532558
 	MOVLW 0x02
 	IORWF main_1_leds, W
 	MOVWF main_1_leds
-label268438630
+label268438631
 	MOVLW 0x00
 	SUBWF main_1_count+D'3', W
-	BNZ	label268438632
+	BNZ	label268438633
 	MOVLW 0x01
 	SUBWF main_1_count+D'2', W
-	BNZ	label268438632
+	BNZ	label268438633
 	MOVLW 0x86
 	SUBWF main_1_count+D'1', W
-	BNZ	label268438632
+	BNZ	label268438633
 	MOVLW 0xA0
 	SUBWF main_1_count, W
-label268438632
+label268438633
-	BNC	label4026532502
+	BNC	label4026532559
 	BTFSS main_1_count+D'3',7
-	BRA	label268438636
+	BRA	label268438637
-label4026532502
+label4026532559
 	MOVLW 0x04
 	IORWF main_1_leds, W
 	MOVWF main_1_leds
-label268438636
+label268438637
 	MOVF main_1_leds, W
 	MOVWF gbl_lata
-	BRA	label268438603
+	BRA	label268438604
-label268438608
+label268438609
 	SETF gbl_lata
-label268438640
+label268438641
+	CLRF main_1_cas
+	CLRF main_1_cas+D'1'
+	CLRF main_1_cas+D'2'
+	CLRF main_1_cas+D'3'
 	SETF main_1_sensors
 	CALL receive_00000
 	MOVF CompTempVarRet489, W
 	MOVWF main_1_sensors
 	CLRF CompTempVar491
 	BTFSS main_1_sensors,1
-	BRA	label268438645
+	BRA	label268438647
 	BTFSS main_1_sensors,0
-	BRA	label268438645
+	BRA	label268438647
 	INCF CompTempVar491, F
-label268438645
+label268438647
 	MOVF CompTempVar491, F
-	BNZ	label268438646
+	BNZ	label268438648
 	MOVLW 0x77
 	MOVWF main_1_motors
-label268438646
+label268438648
 	BTFSC main_1_sensors,2
-	BRA	label268438649
+	BRA	label268438651
+	MOVLW 0x00
+	SUBWF main_1_cas+D'3', W
+	BNZ	label268438653
+	MOVLW 0x06
+	SUBWF main_1_cas+D'2', W
+	BNZ	label268438653
+	MOVLW 0x1A
+	SUBWF main_1_cas+D'1', W
+	BNZ	label268438653
+	MOVLW 0x80
+	SUBWF main_1_cas, W
+label268438653
+	BNC	label4026532563
+	BTFSS main_1_cas+D'3',7
+	BRA	label4026532566
+label4026532563
+	INCF main_1_cas, F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'1', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'2', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'3', F
+label4026532566
+	CLRF main_1_cas
+	CLRF main_1_cas+D'1'
+	CLRF main_1_cas+D'2'
+	CLRF main_1_cas+D'3'
 	MOVLW 0xF7
 	MOVWF main_1_motors
-label268438649
+label268438651
 	BTFSC main_1_sensors,3
-	BRA	label268438652
+	BRA	label268438668
+	MOVLW 0x00
+	SUBWF main_1_cas+D'3', W
+	BNZ	label268438670
+	MOVLW 0x06
+	SUBWF main_1_cas+D'2', W
+	BNZ	label268438670
+	MOVLW 0x1A
+	SUBWF main_1_cas+D'1', W
+	BNZ	label268438670
+	MOVLW 0x80
+	SUBWF main_1_cas, W
+label268438670
+	BNC	label4026532568
+	BTFSS main_1_cas+D'3',7
+	BRA	label4026532571
+label4026532568
+	INCF main_1_cas, F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'1', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'2', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'3', F
+label4026532571
+	CLRF main_1_cas
+	CLRF main_1_cas+D'1'
+	CLRF main_1_cas+D'2'
+	CLRF main_1_cas+D'3'
 	MOVLW 0x7F
 	MOVWF main_1_motors
-label268438652
+label268438668
+	INCF main_1_cas, F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'1', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'2', F
+	BTFSC STATUS,Z
+	INCF main_1_cas+D'3', F
 	MOVF main_1_sensors, W
 	MOVWF gbl_lata
 	MOVF main_1_motors, W
 	MOVWF send_00000_arg_c
 	CALL send_00000
-	BRA	label268438640
+	BRA	label268438641
 ; } main function end
-	ORG 0x0000035C
+	ORG 0x000003D6
 _startup
 	GOTO	main
 	ORG 0x00300000
 	DW 0xFEFF
 	DW 0xFEF6
 	ORG 0x00300004
 	DW 0xFEFF
 	DW 0xFFFB
 	ORG 0x00300008
 	DW 0x3FF0
 	DW 0x9FFF
 	DW 0xBFFF
 	END

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.asm – Rev 324 → 325