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

 ;/////////////////////////////////////////////////////////////////////////////////
 ;// 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
 ;/////////////////////////////////////////////////////////////////////////////////
 'robot
 '#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
 #pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
 #pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
 #pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
 #pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
 #pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
 #pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
 #pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
 #pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
 #pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
 #pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
 #pragma DATA _CONFIG7H, _EBTRB_ON_7H
 #pragma CLOCK_FREQ 40000000
 Function receive() As Byte
 	If ( (rcsta.OERR = 1) ) Then
 E  A2AB      	BTFSS gbl_rcsta,1
 D002      	BRA	label268438551
 label268438551
 		rcsta.CREN = 0
 98AB      	BCF gbl_rcsta,4
         rcsta.CREN = 1
 88AB      	BSF gbl_rcsta,4
 	End If
     Do While (pir1.RCIF = 0)
 AA9E      	BTFSS gbl_pir1,5
 D7FE      	BRA	label268438551
 	Loop
 	receive = rcreg
 A  50AE      	MOVF gbl_rcreg, W
-C  6E07      	MOVWF CompTempVarRet489
+C  6E06      	MOVWF CompTempVarRet489
 End Function
 E  0012      	RETURN
 Sub send(c As Byte)
 	Do while (pir1 & (1 << TXIF)) = 0 Loop
 label268438562
 A89E      	BTFSS gbl_pir1,4
 D7FE      	BRA	label268438562
 	txreg = c
-5007      	MOVF send_00000_arg_c, W
+5006      	MOVF send_00000_arg_c, W
 A  6EAD      	MOVWF gbl_txreg
 End Sub
 C  0012      	RETURN
 Sub main()
 	Dim motors As Byte
 	Dim sensors As Byte
 	Dim buttons As Byte
 	Dim leds As Byte
-	Dim count As word
+	Dim count As Byte
 	Dim i As Long
 	'NASTAVENI IO
 	lata=0xFF
 6889      	SETF gbl_lata
 	latb=0
 6A8A      	CLRF gbl_latb
 	latc=0xFF
 688B      	SETF gbl_latc
 	trisa=0xF0
 0EF0      	MOVLW 0xF0
 6E92      	MOVWF gbl_trisa
 	trisb=0x3F
 A  0E3F      	MOVLW 0x3F
 C  6E93      	MOVWF gbl_trisb
 	trisc=0x9F
 E  0E9F      	MOVLW 0x9F
 6E94      	MOVWF gbl_trisc
 	'VYPNOUT ADC
 	adcon1=0xC6
 0EC6      	MOVLW 0xC6
 6EC1      	MOVWF gbl_adcon1
 	adcon0=0xC0
 0EC0      	MOVLW 0xC0
 6EC2      	MOVWF gbl_adcon0
 	'UART 9600bps
 	spbrg=64
 A  0E40      	MOVLW 0x40
 C  6EAF      	MOVWF gbl_spbrg
 	txsta = txsta & ~(1 << BRGH)
 E  0EFB      	MOVLW 0xFB
 14AC      	ANDWF gbl_txsta, W
 6EAC      	MOVWF gbl_txsta
 	txsta = txsta | (1 << TXEN)
 0E20      	MOVLW 0x20
 10AC      	IORWF gbl_txsta, W
 6EAC      	MOVWF gbl_txsta
 	rcsta = rcsta | (1 << CREN)
 A  0E10      	MOVLW 0x10
 C  10AB      	IORWF gbl_rcsta, W
 E  6EAB      	MOVWF gbl_rcsta
 	rcsta = rcsta | (1 << SPEN)
 0E80      	MOVLW 0x80
 10AB      	IORWF gbl_rcsta, W
 6EAB      	MOVWF gbl_rcsta
 	motors = 0x00
 6A01      	CLRF main_1_motors
     do while (portb.0 = 1)
 label268438598
 B081      	BTFSC gbl_portb,0
 A  D7FE      	BRA	label268438598
 	loop
 	leds = 0xF0
 C  0EF0      	MOVLW 0xF0
 E  6E03      	MOVWF main_1_leds
 	count = 400000
 0E80      	MOVLW 0x80
 6E04      	MOVWF main_1_count
-0E1A      	MOVLW 0x1A
-6E05      	MOVWF main_1_count+D'1'
 	do while (count > 0)
 label268438603
 5004      	MOVF main_1_count, W
-A  0800      	SUBLW 0x00
+0800      	SUBLW 0x00
-C  B0D8      	BTFSC STATUS,C
-E  5005      	MOVF main_1_count+D'1', W
-E013      	BZ	label268438605
+E20E      	BC	label268438604
 		count = count -1
-0E01      	MOVLW 0x01
-5C04      	SUBWF main_1_count, W
+A  0404      	DECF main_1_count, W
-6E07      	MOVWF CompTempVar492
-A0D8      	BTFSS STATUS,C
-A  0605      	DECF main_1_count+D'1', F
-C  5007      	MOVF CompTempVar492, W
-E  6E04      	MOVWF main_1_count
+C  6E04      	MOVWF main_1_count
 		if count < 300000 then
 			leds = leds | 1
-0E01      	MOVLW 0x01
+E  0E01      	MOVLW 0x01
 1003      	IORWF main_1_leds, W
 6E03      	MOVWF main_1_leds
 		end if
 		if count < 200000 then
 			leds = leds | 2
 0E02      	MOVLW 0x02
 1003      	IORWF main_1_leds, W
-A  6E03      	MOVWF main_1_leds
+6E03      	MOVWF main_1_leds
 		end if
 		if count < 100000 then
 			leds = leds | 4
-C  0E04      	MOVLW 0x04
+A  0E04      	MOVLW 0x04
-E  1003      	IORWF main_1_leds, W
+C  1003      	IORWF main_1_leds, W
-6E03      	MOVWF main_1_leds
+E  6E03      	MOVWF main_1_leds
 		end if
 		lata = leds
 5003      	MOVF main_1_leds, W
 6E89      	MOVWF gbl_lata
 	loop
-D7E8      	BRA	label268438603
+D7EF      	BRA	label268438603
-label268438605
+label268438604
 	leds = 0xFF
 6803      	SETF main_1_leds
 	lata = 0xFF
-A  6889      	SETF gbl_lata
+6889      	SETF gbl_lata
 Do while 1
-C            label268438623
+A            label268438619
   sensors =0xFF
-C  6802      	SETF main_1_sensors
+A  6802      	SETF main_1_sensors
   sensors = Call receive()	'prijmi stav cidel senzoru
-E  EC07F001  	CALL receive_00000
+C  EC07F001  	CALL receive_00000
-A2  5007      	MOVF CompTempVarRet489, W
+5006      	MOVF CompTempVarRet489, W
-A4  6E02      	MOVWF main_1_sensors
+6E02      	MOVWF main_1_sensors
   If (!((sensors.0) and (sensors.1))) Then
-A6  6A06      	CLRF CompTempVar491
+6A05      	CLRF CompTempVar491
-A8  A202      	BTFSS main_1_sensors,1
+A202      	BTFSS main_1_sensors,1
-AA  D003      	BRA	label268438628
+D003      	BRA	label268438624
-AC  A002      	BTFSS main_1_sensors,0
+A  A002      	BTFSS main_1_sensors,0
-AE  D001      	BRA	label268438628
+C  D001      	BRA	label268438624
-B0  2A06      	INCF CompTempVar491, F
+E  2A05      	INCF CompTempVar491, F
-B2            label268438628
+A0            label268438624
-B2  5206      	MOVF CompTempVar491, F
+A0  5205      	MOVF CompTempVar491, F
-B4  E102      	BNZ	label268438629
+A2  E102      	BNZ	label268438625
-BA            label268438629
+A8            label268438625
     motors = 0x77
-B6  0E77      	MOVLW 0x77
+A4  0E77      	MOVLW 0x77
-B8  6E01      	MOVWF main_1_motors
+A6  6E01      	MOVWF main_1_motors
   End If
   If (!(sensors.2)) Then
-BA  B402      	BTFSC main_1_sensors,2
+A8  B402      	BTFSC main_1_sensors,2
-BC  D002      	BRA	label268438632
+AA  D002      	BRA	label268438628
-C2            label268438632
+B0            label268438628
     motors = 0xF7
-BE  0EF7      	MOVLW 0xF7
+AC  0EF7      	MOVLW 0xF7
-C0  6E01      	MOVWF main_1_motors
+AE  6E01      	MOVWF main_1_motors
   End If
   If (!(sensors.3)) Then
-C2  B602      	BTFSC main_1_sensors,3
+B0  B602      	BTFSC main_1_sensors,3
-C4  D002      	BRA	label268438635
+B2  D002      	BRA	label268438631
-CA            label268438635
+B8            label268438631
     motors = 0x7F
-C6  0E7F      	MOVLW 0x7F
+B4  0E7F      	MOVLW 0x7F
-C8  6E01      	MOVWF main_1_motors
+B6  6E01      	MOVWF main_1_motors
   End If
   lata = sensors
-CA  5002      	MOVF main_1_sensors, W
+B8  5002      	MOVF main_1_sensors, W
-CC  6E89      	MOVWF gbl_lata
+BA  6E89      	MOVWF gbl_lata
   call send(motors)
-CE  5001      	MOVF main_1_motors, W
+BC  5001      	MOVF main_1_motors, W
-D0  6E07      	MOVWF send_00000_arg_c
+BE  6E06      	MOVWF send_00000_arg_c
-D2  EC02F001  	CALL send_00000
+C0  EC02F001  	CALL send_00000
 Loop
-D6  D7E2      	BRA	label268438623
+C4  D7E2      	BRA	label268438619
 End Sub
 ////////////////////////////////////////
 // Code with no source :-)
 ////////////////////////////////////////
-EF6CF001  	GOTO	_startup
+EF63F001  	GOTO	_startup
-D8            _startup
+C6            _startup
-D8  EF10F001  	GOTO	main
+C6  EF10F001  	GOTO	main
 FEFF      	DW 0xFEFF
 FEF6      	DW 0xFEF6
 FEFF      	DW 0xFEFF
 FFFB      	DW 0xFFFB
 3FF0      	DW 0x3FF0
 A  9FFF      	DW 0x9FFF
 C  BFFF      	DW 0xBFFF

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.casm @ 323 – Rev 322 → 323