WebSVN – svnkaklik – Diff – /roboti/istrobot/3Orbis/cidla/cidla.LST

Rev 2		Rev 66
1	`CCS PCM C Compiler, Version 3.245, 27853 24-IV-06 23:56`	1	`CCS PCM C Compiler, Version 3.245, 27853 05-XI-06 20:45`
2		2
3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst`	3	`Filename: D:\KAKLIK\projekty\roboti\istrobot\3Orbis\cidla\cidla.lst`
4		4
5	`ROM used: 548 words (13%)`	5	`ROM used: 548 words (13%)`
6	`Largest free fragment is 2048`	6	`Largest free fragment is 2048`
7	`RAM used: 12 (7%) at main() level`	7	`RAM used: 12 (7%) at main() level`
8	`17 (10%) worst case`	8	`17 (10%) worst case`
9	`Stack: 2 locations`	9	`Stack: 2 locations`
10		10
11	`*`	11	`*`
12	`0000: MOVLW 00`	12	`0000: MOVLW 00`
13	`0001: MOVWF 0A`	13	`0001: MOVWF 0A`
14	`0002: GOTO 0B1`	14	`0002: GOTO 0B1`
15	`0003: NOP`	15	`0003: NOP`
16	`.................... #include ".\cidla.h"`	16	`.................... #include ".\cidla.h"`
17	`.................... #include <16F88.h>`	17	`.................... #include <16F88.h>`
18	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`	18	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
19	`.................... #device PIC16F88`	19	`.................... #device PIC16F88`
20	`.................... #list`	20	`.................... #list`
21	`....................`	21	`....................`
22	`.................... #device adc=8`	22	`.................... #device adc=8`
23	`.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO`	23	`.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO`
24	`.................... #use delay(clock=4000000,RESTART_WDT)`	24	`.................... #use delay(clock=4000000,RESTART_WDT)`
25	`*`	25	`*`
26	`002A: MOVLW 27`	26	`002A: MOVLW 27`
27	`002B: MOVWF 04`	27	`002B: MOVWF 04`
28	`002C: MOVF 00,W`	28	`002C: MOVF 00,W`
29	`002D: BTFSC 03.2`	29	`002D: BTFSC 03.2`
30	`002E: GOTO 040`	30	`002E: GOTO 040`
31	`002F: MOVLW 01`	31	`002F: MOVLW 01`
32	`0030: MOVWF 78`	32	`0030: MOVWF 78`
33	`0031: MOVLW BF`	33	`0031: MOVLW BF`
34	`0032: MOVWF 77`	34	`0032: MOVWF 77`
35	`0033: CLRWDT`	35	`0033: CLRWDT`
36	`0034: DECFSZ 77,F`	36	`0034: DECFSZ 77,F`
37	`0035: GOTO 033`	37	`0035: GOTO 033`
38	`0036: DECFSZ 78,F`	38	`0036: DECFSZ 78,F`
39	`0037: GOTO 031`	39	`0037: GOTO 031`
40	`0038: MOVLW 4A`	40	`0038: MOVLW 4A`
41	`0039: MOVWF 77`	41	`0039: MOVWF 77`
42	`003A: DECFSZ 77,F`	42	`003A: DECFSZ 77,F`
43	`003B: GOTO 03A`	43	`003B: GOTO 03A`
44	`003C: NOP`	44	`003C: NOP`
45	`003D: CLRWDT`	45	`003D: CLRWDT`
46	`003E: DECFSZ 00,F`	46	`003E: DECFSZ 00,F`
47	`003F: GOTO 02F`	47	`003F: GOTO 02F`
48	`0040: RETLW 00`	48	`0040: RETLW 00`
49	`....................`	49	`....................`
50	`....................`	50	`....................`
51	`.................... //#include <stdlib.h>`	51	`.................... //#include <stdlib.h>`
52	`....................`	52	`....................`
53	`.................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt)`	53	`.................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt)`
54	`0041: BSF 03.5`	54	`0041: BSF 03.5`
55	`0042: BCF 06.3`	55	`0042: BCF 06.3`
56	`0043: BCF 03.5`	56	`0043: BCF 03.5`
57	`0044: BCF 06.3`	57	`0044: BCF 06.3`
58	`0045: MOVLW 08`	58	`0045: MOVLW 08`
59	`0046: MOVWF 78`	59	`0046: MOVWF 78`
60	`0047: NOP`	60	`0047: NOP`
61	`0048: NOP`	61	`0048: NOP`
62	`0049: NOP`	62	`0049: NOP`
63	`004A: BSF 78.7`	63	`004A: BSF 78.7`
64	`004B: GOTO 05B`	64	`004B: GOTO 05B`
65	`004C: BCF 78.7`	65	`004C: BCF 78.7`
66	`004D: RRF 29,F`	66	`004D: RRF 29,F`
67	`004E: BTFSC 03.0`	67	`004E: BTFSC 03.0`
68	`004F: BSF 06.3`	68	`004F: BSF 06.3`
69	`0050: BTFSS 03.0`	69	`0050: BTFSS 03.0`
70	`0051: BCF 06.3`	70	`0051: BCF 06.3`
71	`0052: BSF 78.6`	71	`0052: BSF 78.6`
72	`0053: GOTO 05B`	72	`0053: GOTO 05B`
73	`0054: BCF 78.6`	73	`0054: BCF 78.6`
74	`0055: DECFSZ 78,F`	74	`0055: DECFSZ 78,F`
75	`0056: GOTO 04D`	75	`0056: GOTO 04D`
76	`0057: NOP`	76	`0057: NOP`
77	`0058: NOP`	77	`0058: NOP`
78	`0059: NOP`	78	`0059: NOP`
79	`005A: BSF 06.3`	79	`005A: BSF 06.3`
80	`005B: MOVLW 1C`	80	`005B: MOVLW 1C`
81	`005C: MOVWF 04`	81	`005C: MOVWF 04`
82	`005D: DECFSZ 04,F`	82	`005D: DECFSZ 04,F`
83	`005E: GOTO 05D`	83	`005E: GOTO 05D`
84	`005F: NOP`	84	`005F: NOP`
85	`0060: NOP`	85	`0060: NOP`
86	`0061: CLRWDT`	86	`0061: CLRWDT`
87	`0062: BTFSC 78.7`	87	`0062: BTFSC 78.7`
88	`0063: GOTO 04C`	88	`0063: GOTO 04C`
89	`0064: BTFSC 78.6`	89	`0064: BTFSC 78.6`
90	`0065: GOTO 054`	90	`0065: GOTO 054`
91	`0066: RETLW 00`	91	`0066: RETLW 00`
92	`....................`	92	`....................`
93	`.................... #define IRRX PIN_B0`	93	`.................... #define IRRX PIN_B0`
94	`....................`	94	`....................`
95	`.................... #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila`	95	`.................... #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila`
96	`.................... #define TRESHOLD_MIN 50`	96	`.................... #define TRESHOLD_MIN 50`
97	`.................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla`	97	`.................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla`
98	`....................`	98	`....................`
99	`.................... unsigned int8 last_radius; // rozsah`	99	`.................... unsigned int8 last_radius; // rozsah`
100	`.................... unsigned int8 last_cidla; // co cidla videla minule`	100	`.................... unsigned int8 last_cidla; // co cidla videla minule`
101	`.................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla`	101	`.................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla`
102	`....................`	102	`....................`
103	`.................... //tuning`	103	`.................... //tuning`
104	`.................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM`	104	`.................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM`
105	`....................`	105	`....................`
106	`.................... //Vystup PWM je na PIN_B3`	106	`.................... //Vystup PWM je na PIN_B3`
107	`.................... ////////////////////////////////////////////////////////////////////////////////`	107	`.................... ////////////////////////////////////////////////////////////////////////////////`
108	`.................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni`	108	`.................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni`
109	`.................... {`	109	`.................... {`
110	`.................... unsigned int8 i,n;`	110	`.................... unsigned int8 i,n;`
111	`.................... for(n=0;n<=3;n++)`	111	`.................... for(n=0;n<=3;n++)`
112	`.................... {`	112	`.................... {`
113	`.................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani`	113	`.................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani`
114	`.................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani`	114	`.................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani`
115	`.................... }`	115	`.................... }`
116	`.................... }`	116	`.................... }`
117	`.................... */`	117	`.................... */`
118	`.................... ////////////////////////////////////////////////////////////////////////////////`	118	`.................... ////////////////////////////////////////////////////////////////////////////////`
119	`.................... void main()`	119	`.................... void main()`
120	`.................... {`	120	`.................... {`
121	`*`	121	`*`
122	`00B1: CLRF 04`	122	`00B1: CLRF 04`
123	`00B2: MOVLW 1F`	123	`00B2: MOVLW 1F`
124	`00B3: ANDWF 03,F`	124	`00B3: ANDWF 03,F`
125	`00B4: MOVLW 60`	125	`00B4: MOVLW 60`
126	`00B5: BSF 03.5`	126	`00B5: BSF 03.5`
127	`00B6: MOVWF 0F`	127	`00B6: MOVWF 0F`
128	`00B7: BCF 06.3`	128	`00B7: BCF 06.3`
129	`00B8: BCF 03.5`	129	`00B8: BCF 03.5`
130	`00B9: BSF 06.3`	130	`00B9: BSF 06.3`
131	`00BA: BSF 03.5`	131	`00BA: BSF 03.5`
132	`00BB: BCF 1F.4`	132	`00BB: BCF 1F.4`
133	`00BC: BCF 1F.5`	133	`00BC: BCF 1F.5`
134	`00BD: MOVF 1B,W`	134	`00BD: MOVF 1B,W`
135	`00BE: ANDLW 80`	135	`00BE: ANDLW 80`
136	`00BF: MOVWF 1B`	136	`00BF: MOVWF 1B`
137	`00C0: MOVLW 07`	137	`00C0: MOVLW 07`
138	`00C1: MOVWF 1C`	138	`00C1: MOVWF 1C`
139	`.................... int8 cidla;`	139	`.................... int8 cidla;`
140	`.................... unsigned int8 a;`	140	`.................... unsigned int8 a;`
141	`.................... unsigned int8 n;`	141	`.................... unsigned int8 n;`
142	`....................`	142	`....................`
143	`.................... setup_adc_ports(sAN0\|sAN1\|sAN2\|sAN3\|sAN4\|sAN5\|sAN6\|VSS_VDD);`	143	`.................... setup_adc_ports(sAN0\|sAN1\|sAN2\|sAN3\|sAN4\|sAN5\|sAN6\|VSS_VDD);`
144	`00C2: BCF 1F.4`	144	`00C2: BCF 1F.4`
145	`00C3: BCF 1F.5`	145	`00C3: BCF 1F.5`
146	`00C4: MOVF 1B,W`	146	`00C4: MOVF 1B,W`
147	`00C5: ANDLW 80`	147	`00C5: ANDLW 80`
148	`00C6: IORLW 7F`	148	`00C6: IORLW 7F`
149	`00C7: MOVWF 1B`	149	`00C7: MOVWF 1B`
150	`.................... setup_adc(ADC_CLOCK_INTERNAL);`	150	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
151	`00C8: BCF 1F.6`	151	`00C8: BCF 1F.6`
152	`00C9: BCF 03.5`	152	`00C9: BCF 03.5`
153	`00CA: BSF 1F.6`	153	`00CA: BSF 1F.6`
154	`00CB: BSF 1F.7`	154	`00CB: BSF 1F.7`
155	`00CC: BSF 03.5`	155	`00CC: BSF 03.5`
156	`00CD: BCF 1F.7`	156	`00CD: BCF 1F.7`
157	`00CE: BCF 03.5`	157	`00CE: BCF 03.5`
158	`00CF: BSF 1F.0`	158	`00CF: BSF 1F.0`
159	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`	159	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
160	`00D0: BSF 03.5`	160	`00D0: BSF 03.5`
161	`00D1: MOVF 01,W`	161	`00D1: MOVF 01,W`
162	`00D2: ANDLW C7`	162	`00D2: ANDLW C7`
163	`00D3: IORLW 08`	163	`00D3: IORLW 08`
164	`00D4: MOVWF 01`	164	`00D4: MOVWF 01`
165	`.................... setup_timer_1(T1_DISABLED);`	165	`.................... setup_timer_1(T1_DISABLED);`
166	`00D5: BCF 03.5`	166	`00D5: BCF 03.5`
167	`00D6: CLRF 10`	167	`00D6: CLRF 10`
168	`.................... setup_timer_2(T2_DISABLED,0,1);`	168	`.................... setup_timer_2(T2_DISABLED,0,1);`
169	`00D7: MOVLW 00`	169	`00D7: MOVLW 00`
170	`00D8: MOVWF 78`	170	`00D8: MOVWF 78`
171	`00D9: MOVWF 12`	171	`00D9: MOVWF 12`
172	`00DA: MOVLW 00`	172	`00DA: MOVLW 00`
173	`00DB: BSF 03.5`	173	`00DB: BSF 03.5`
174	`00DC: MOVWF 12`	174	`00DC: MOVWF 12`
175	`.................... setup_comparator(NC_NC_NC_NC);`	175	`.................... setup_comparator(NC_NC_NC_NC);`
176	`00DD: MOVLW 07`	176	`00DD: MOVLW 07`
177	`00DE: MOVWF 1C`	177	`00DE: MOVWF 1C`
178	`00DF: MOVF 05,W`	178	`00DF: MOVF 05,W`
179	`00E0: CLRWDT`	179	`00E0: CLRWDT`
180	`00E1: MOVLW 02`	180	`00E1: MOVLW 02`
181	`00E2: MOVWF 77`	181	`00E2: MOVWF 77`
182	`00E3: DECFSZ 77,F`	182	`00E3: DECFSZ 77,F`
183	`00E4: GOTO 0E3`	183	`00E4: GOTO 0E3`
184	`00E5: NOP`	184	`00E5: NOP`
185	`00E6: NOP`	185	`00E6: NOP`
186	`00E7: MOVF 1C,W`	186	`00E7: MOVF 1C,W`
187	`00E8: BCF 03.5`	187	`00E8: BCF 03.5`
188	`00E9: BCF 0D.6`	188	`00E9: BCF 0D.6`
189	`.................... setup_vref(FALSE);`	189	`.................... setup_vref(FALSE);`
190	`00EA: BSF 03.5`	190	`00EA: BSF 03.5`
191	`00EB: CLRF 1D`	191	`00EB: CLRF 1D`
192	`....................`	192	`....................`
193	`.................... Delay_ms(500);`	193	`.................... Delay_ms(500);`
194	`00EC: MOVLW 02`	194	`00EC: MOVLW 02`
195	`00ED: BCF 03.5`	195	`00ED: BCF 03.5`
196	`00EE: MOVWF 26`	196	`00EE: MOVWF 26`
197	`00EF: MOVLW FA`	197	`00EF: MOVLW FA`
198	`00F0: MOVWF 27`	198	`00F0: MOVWF 27`
199	`00F1: CALL 02A`	199	`00F1: CALL 02A`
200	`00F2: DECFSZ 26,F`	200	`00F2: DECFSZ 26,F`
201	`00F3: GOTO 0EF`	201	`00F3: GOTO 0EF`
202	`.................... setup_spi(SPI_SLAVE\|SPI_H_TO_L\|SPI_SS_DISABLED);`	202	`.................... setup_spi(SPI_SLAVE\|SPI_H_TO_L\|SPI_SS_DISABLED);`
203	`00F4: BCF 14.5`	203	`00F4: BCF 14.5`
204	`00F5: BSF 03.5`	204	`00F5: BSF 03.5`
205	`00F6: BCF 06.2`	205	`00F6: BCF 06.2`
206	`00F7: BSF 06.1`	206	`00F7: BSF 06.1`
207	`00F8: BSF 06.4`	207	`00F8: BSF 06.4`
208	`00F9: MOVLW 35`	208	`00F9: MOVLW 35`
209	`00FA: BCF 03.5`	209	`00FA: BCF 03.5`
210	`00FB: MOVWF 14`	210	`00FB: MOVWF 14`
211	`00FC: MOVLW 40`	211	`00FC: MOVLW 40`
212	`00FD: BSF 03.5`	212	`00FD: BSF 03.5`
213	`00FE: MOVWF 14`	213	`00FE: MOVWF 14`
214	`....................`	214	`....................`
215	`.................... // diagnostika`	215	`.................... // diagnostika`
216	`.................... printf("\n\r");`	216	`.................... printf("\n\r");`
217	`00FF: BCF 03.5`	217	`00FF: BCF 03.5`
218	`0100: CLRF 26`	218	`0100: CLRF 26`
219	`0101: MOVF 26,W`	219	`0101: MOVF 26,W`
220	`0102: CALL 004`	220	`0102: CALL 004`
221	`0103: IORLW 00`	221	`0103: IORLW 00`
222	`0104: BTFSC 03.2`	222	`0104: BTFSC 03.2`
223	`0105: GOTO 10A`	223	`0105: GOTO 10A`
224	`0106: INCF 26,F`	224	`0106: INCF 26,F`
225	`0107: MOVWF 29`	225	`0107: MOVWF 29`
226	`0108: CALL 041`	226	`0108: CALL 041`
227	`0109: GOTO 101`	227	`0109: GOTO 101`
228	`.................... Delay_ms(100);`	228	`.................... Delay_ms(100);`
229	`010A: MOVLW 64`	229	`010A: MOVLW 64`
230	`010B: MOVWF 27`	230	`010B: MOVWF 27`
231	`010C: CALL 02A`	231	`010C: CALL 02A`
232	`.................... printf("***\n\r");`	232	`.................... printf("***\n\r");`
233	`010D: CLRF 26`	233	`010D: CLRF 26`
234	`010E: MOVF 26,W`	234	`010E: MOVF 26,W`
235	`010F: CALL 00B`	235	`010F: CALL 00B`
236	`0110: IORLW 00`	236	`0110: IORLW 00`
237	`0111: BTFSC 03.2`	237	`0111: BTFSC 03.2`
238	`0112: GOTO 117`	238	`0112: GOTO 117`
239	`0113: INCF 26,F`	239	`0113: INCF 26,F`
240	`0114: MOVWF 29`	240	`0114: MOVWF 29`
241	`0115: CALL 041`	241	`0115: CALL 041`
242	`0116: GOTO 10E`	242	`0116: GOTO 10E`
243	`.................... Delay_ms(100);`	243	`.................... Delay_ms(100);`
244	`0117: MOVLW 64`	244	`0117: MOVLW 64`
245	`0118: MOVWF 27`	245	`0118: MOVWF 27`
246	`0119: CALL 02A`	246	`0119: CALL 02A`
247	`.................... for (n=0; n<=6; n++)`	247	`.................... for (n=0; n<=6; n++)`
248	`011A: CLRF 25`	248	`011A: CLRF 25`
249	`011B: MOVF 25,W`	249	`011B: MOVF 25,W`
250	`011C: SUBLW 06`	250	`011C: SUBLW 06`
251	`011D: BTFSS 03.0`	251	`011D: BTFSS 03.0`
252	`011E: GOTO 157`	252	`011E: GOTO 157`
253	`.................... {`	253	`.................... {`
254	`.................... set_adc_channel(n);`	254	`.................... set_adc_channel(n);`
255	`011F: RLF 25,W`	255	`011F: RLF 25,W`
256	`0120: MOVWF 77`	256	`0120: MOVWF 77`
257	`0121: RLF 77,F`	257	`0121: RLF 77,F`
258	`0122: RLF 77,F`	258	`0122: RLF 77,F`
259	`0123: MOVLW F8`	259	`0123: MOVLW F8`
260	`0124: ANDWF 77,F`	260	`0124: ANDWF 77,F`
261	`0125: MOVF 1F,W`	261	`0125: MOVF 1F,W`
262	`0126: ANDLW C7`	262	`0126: ANDLW C7`
263	`0127: IORWF 77,W`	263	`0127: IORWF 77,W`
264	`0128: MOVWF 1F`	264	`0128: MOVWF 1F`
265	`.................... Delay_ms(100);`	265	`.................... Delay_ms(100);`
266	`0129: MOVLW 64`	266	`0129: MOVLW 64`
267	`012A: MOVWF 27`	267	`012A: MOVWF 27`
268	`012B: CALL 02A`	268	`012B: CALL 02A`
269	`.................... a=read_adc();`	269	`.................... a=read_adc();`
270	`012C: BSF 1F.2`	270	`012C: BSF 1F.2`
271	`012D: BTFSC 1F.2`	271	`012D: BTFSC 1F.2`
272	`012E: GOTO 12D`	272	`012E: GOTO 12D`
273	`012F: MOVF 1E,W`	273	`012F: MOVF 1E,W`
274	`0130: MOVWF 24`	274	`0130: MOVWF 24`
275	`.................... printf("sensor %u - %u\n\r",n,a);`	275	`.................... printf("sensor %u - %u\n\r",n,a);`
276	`0131: CLRF 26`	276	`0131: CLRF 26`
277	`0132: MOVF 26,W`	277	`0132: MOVF 26,W`
278	`0133: CALL 015`	278	`0133: CALL 015`
279	`0134: INCF 26,F`	279	`0134: INCF 26,F`
280	`0135: MOVWF 77`	280	`0135: MOVWF 77`
281	`0136: MOVWF 29`	281	`0136: MOVWF 29`
282	`0137: CALL 041`	282	`0137: CALL 041`
283	`0138: MOVLW 07`	283	`0138: MOVLW 07`
284	`0139: SUBWF 26,W`	284	`0139: SUBWF 26,W`
285	`013A: BTFSS 03.2`	285	`013A: BTFSS 03.2`
286	`013B: GOTO 132`	286	`013B: GOTO 132`
287	`013C: MOVF 25,W`	287	`013C: MOVF 25,W`
288	`013D: MOVWF 27`	288	`013D: MOVWF 27`
289	`013E: MOVLW 1B`	289	`013E: MOVLW 1B`
290	`013F: MOVWF 28`	290	`013F: MOVWF 28`
291	`0140: CALL 07C`	291	`0140: CALL 07C`
292	`0141: MOVLW 20`	292	`0141: MOVLW 20`
293	`0142: MOVWF 29`	293	`0142: MOVWF 29`
294	`0143: CALL 041`	294	`0143: CALL 041`
295	`0144: MOVLW 2D`	295	`0144: MOVLW 2D`
296	`0145: MOVWF 29`	296	`0145: MOVWF 29`
297	`0146: CALL 041`	297	`0146: CALL 041`
298	`0147: MOVLW 20`	298	`0147: MOVLW 20`
299	`0148: MOVWF 29`	299	`0148: MOVWF 29`
300	`0149: CALL 041`	300	`0149: CALL 041`
301	`014A: MOVF 24,W`	301	`014A: MOVF 24,W`
302	`014B: MOVWF 27`	302	`014B: MOVWF 27`
303	`014C: MOVLW 1B`	303	`014C: MOVLW 1B`
304	`014D: MOVWF 28`	304	`014D: MOVWF 28`
305	`014E: CALL 07C`	305	`014E: CALL 07C`
306	`014F: MOVLW 0A`	306	`014F: MOVLW 0A`
307	`0150: MOVWF 29`	307	`0150: MOVWF 29`
308	`0151: CALL 041`	308	`0151: CALL 041`
309	`0152: MOVLW 0D`	309	`0152: MOVLW 0D`
310	`0153: MOVWF 29`	310	`0153: MOVWF 29`
311	`0154: CALL 041`	311	`0154: CALL 041`
312	`.................... }`	312	`.................... }`
313	`0155: INCF 25,F`	313	`0155: INCF 25,F`
314	`0156: GOTO 11B`	314	`0156: GOTO 11B`
315	`....................`	315	`....................`
316	`.................... shure=0;`	316	`.................... shure=0;`
317	`0157: CLRF 22`	317	`0157: CLRF 22`
318	`.................... while(true)`	318	`.................... while(true)`
319	`.................... {`	319	`.................... {`
320	`.................... set_adc_channel(0);`	320	`.................... set_adc_channel(0);`
321	`0158: MOVLW 00`	321	`0158: MOVLW 00`
322	`0159: MOVWF 78`	322	`0159: MOVWF 78`
323	`015A: MOVF 1F,W`	323	`015A: MOVF 1F,W`
324	`015B: ANDLW C7`	324	`015B: ANDLW C7`
325	`015C: IORWF 78,W`	325	`015C: IORWF 78,W`
326	`015D: MOVWF 1F`	326	`015D: MOVWF 1F`
327	`.................... cidla=0;`	327	`.................... cidla=0;`
328	`015E: CLRF 23`	328	`015E: CLRF 23`
329	`.................... Delay_us(10);`	329	`.................... Delay_us(10);`
330	`015F: CLRWDT`	330	`015F: CLRWDT`
331	`0160: MOVLW 02`	331	`0160: MOVLW 02`
332	`0161: MOVWF 77`	332	`0161: MOVWF 77`
333	`0162: DECFSZ 77,F`	333	`0162: DECFSZ 77,F`
334	`0163: GOTO 162`	334	`0163: GOTO 162`
335	`0164: NOP`	335	`0164: NOP`
336	`0165: NOP`	336	`0165: NOP`
337	`.................... a=read_adc();`	337	`.................... a=read_adc();`
338	`0166: BSF 1F.2`	338	`0166: BSF 1F.2`
339	`0167: BTFSC 1F.2`	339	`0167: BTFSC 1F.2`
340	`0168: GOTO 167`	340	`0168: GOTO 167`
341	`0169: MOVF 1E,W`	341	`0169: MOVF 1E,W`
342	`016A: MOVWF 24`	342	`016A: MOVWF 24`
343	`....................`	343	`....................`
344	`.................... set_adc_channel(1);`	344	`.................... set_adc_channel(1);`
345	`016B: MOVLW 08`	345	`016B: MOVLW 08`
346	`016C: MOVWF 78`	346	`016C: MOVWF 78`
347	`016D: MOVF 1F,W`	347	`016D: MOVF 1F,W`
348	`016E: ANDLW C7`	348	`016E: ANDLW C7`
349	`016F: IORWF 78,W`	349	`016F: IORWF 78,W`
350	`0170: MOVWF 1F`	350	`0170: MOVWF 1F`
351	`.................... if(a<TRESHOLD_MAX) //hystereze cidel`	351	`.................... if(a<TRESHOLD_MAX) //hystereze cidel`
352	`0171: MOVF 24,W`	352	`0171: MOVF 24,W`
353	`0172: SUBLW 45`	353	`0172: SUBLW 45`
354	`0173: BTFSS 03.0`	354	`0173: BTFSS 03.0`
355	`0174: GOTO 17E`	355	`0174: GOTO 17E`
356	`.................... {`	356	`.................... {`
357	`.................... if(a>TRESHOLD_MIN)`	357	`.................... if(a>TRESHOLD_MIN)`
358	`0175: MOVF 24,W`	358	`0175: MOVF 24,W`
359	`0176: SUBLW 32`	359	`0176: SUBLW 32`
360	`0177: BTFSC 03.0`	360	`0177: BTFSC 03.0`
361	`0178: GOTO 17D`	361	`0178: GOTO 17D`
362	`.................... {`	362	`.................... {`
363	`.................... cidla \|= (last_cidla & 0b00000001);`	363	`.................... cidla \|= (last_cidla & 0b00000001);`
364	`0179: MOVF 21,W`	364	`0179: MOVF 21,W`
365	`017A: ANDLW 01`	365	`017A: ANDLW 01`
366	`017B: IORWF 23,F`	366	`017B: IORWF 23,F`
367	`.................... }`	367	`.................... }`
368	`.................... else cidla \|= 0b00000001;`	368	`.................... else cidla \|= 0b00000001;`
369	`017C: GOTO 17E`	369	`017C: GOTO 17E`
370	`017D: BSF 23.0`	370	`017D: BSF 23.0`
371	`.................... }`	371	`.................... }`
372	`....................`	372	`....................`
373	`.................... a=read_adc();`	373	`.................... a=read_adc();`
374	`017E: BSF 1F.2`	374	`017E: BSF 1F.2`
375	`017F: BTFSC 1F.2`	375	`017F: BTFSC 1F.2`
376	`0180: GOTO 17F`	376	`0180: GOTO 17F`
377	`0181: MOVF 1E,W`	377	`0181: MOVF 1E,W`
378	`0182: MOVWF 24`	378	`0182: MOVWF 24`
379	`....................`	379	`....................`
380	`.................... set_adc_channel(2);`	380	`.................... set_adc_channel(2);`
381	`0183: MOVLW 10`	381	`0183: MOVLW 10`
382	`0184: MOVWF 78`	382	`0184: MOVWF 78`
383	`0185: MOVF 1F,W`	383	`0185: MOVF 1F,W`
384	`0186: ANDLW C7`	384	`0186: ANDLW C7`
385	`0187: IORWF 78,W`	385	`0187: IORWF 78,W`
386	`0188: MOVWF 1F`	386	`0188: MOVWF 1F`
387	`.................... if(a<TRESHOLD_MAX)`	387	`.................... if(a<TRESHOLD_MAX)`
388	`0189: MOVF 24,W`	388	`0189: MOVF 24,W`
389	`018A: SUBLW 45`	389	`018A: SUBLW 45`
390	`018B: BTFSS 03.0`	390	`018B: BTFSS 03.0`
391	`018C: GOTO 196`	391	`018C: GOTO 196`
392	`.................... {`	392	`.................... {`
393	`.................... if(a>TRESHOLD_MIN)`	393	`.................... if(a>TRESHOLD_MIN)`
394	`018D: MOVF 24,W`	394	`018D: MOVF 24,W`
395	`018E: SUBLW 32`	395	`018E: SUBLW 32`
396	`018F: BTFSC 03.0`	396	`018F: BTFSC 03.0`
397	`0190: GOTO 195`	397	`0190: GOTO 195`
398	`.................... {`	398	`.................... {`
399	`.................... cidla \|= (last_cidla & 0b00000010);`	399	`.................... cidla \|= (last_cidla & 0b00000010);`
400	`0191: MOVF 21,W`	400	`0191: MOVF 21,W`
401	`0192: ANDLW 02`	401	`0192: ANDLW 02`
402	`0193: IORWF 23,F`	402	`0193: IORWF 23,F`
403	`.................... }`	403	`.................... }`
404	`.................... else cidla \|= 0b00000010;`	404	`.................... else cidla \|= 0b00000010;`
405	`0194: GOTO 196`	405	`0194: GOTO 196`
406	`0195: BSF 23.1`	406	`0195: BSF 23.1`
407	`.................... }`	407	`.................... }`
408	`....................`	408	`....................`
409	`.................... a=read_adc();`	409	`.................... a=read_adc();`
410	`0196: BSF 1F.2`	410	`0196: BSF 1F.2`
411	`0197: BTFSC 1F.2`	411	`0197: BTFSC 1F.2`
412	`0198: GOTO 197`	412	`0198: GOTO 197`
413	`0199: MOVF 1E,W`	413	`0199: MOVF 1E,W`
414	`019A: MOVWF 24`	414	`019A: MOVWF 24`
415	`....................`	415	`....................`
416	`.................... set_adc_channel(3);`	416	`.................... set_adc_channel(3);`
417	`019B: MOVLW 18`	417	`019B: MOVLW 18`
418	`019C: MOVWF 78`	418	`019C: MOVWF 78`
419	`019D: MOVF 1F,W`	419	`019D: MOVF 1F,W`
420	`019E: ANDLW C7`	420	`019E: ANDLW C7`
421	`019F: IORWF 78,W`	421	`019F: IORWF 78,W`
422	`01A0: MOVWF 1F`	422	`01A0: MOVWF 1F`
423	`.................... if(a<TRESHOLD_MAX)`	423	`.................... if(a<TRESHOLD_MAX)`
424	`01A1: MOVF 24,W`	424	`01A1: MOVF 24,W`
425	`01A2: SUBLW 45`	425	`01A2: SUBLW 45`
426	`01A3: BTFSS 03.0`	426	`01A3: BTFSS 03.0`
427	`01A4: GOTO 1AE`	427	`01A4: GOTO 1AE`
428	`.................... {`	428	`.................... {`
429	`.................... if(a>TRESHOLD_MIN)`	429	`.................... if(a>TRESHOLD_MIN)`
430	`01A5: MOVF 24,W`	430	`01A5: MOVF 24,W`
431	`01A6: SUBLW 32`	431	`01A6: SUBLW 32`
432	`01A7: BTFSC 03.0`	432	`01A7: BTFSC 03.0`
433	`01A8: GOTO 1AD`	433	`01A8: GOTO 1AD`
434	`.................... {`	434	`.................... {`
435	`.................... cidla \|= (last_cidla & 0b00000100);`	435	`.................... cidla \|= (last_cidla & 0b00000100);`
436	`01A9: MOVF 21,W`	436	`01A9: MOVF 21,W`
437	`01AA: ANDLW 04`	437	`01AA: ANDLW 04`
438	`01AB: IORWF 23,F`	438	`01AB: IORWF 23,F`
439	`.................... }`	439	`.................... }`
440	`.................... else cidla \|= 0b00000100;`	440	`.................... else cidla \|= 0b00000100;`
441	`01AC: GOTO 1AE`	441	`01AC: GOTO 1AE`
442	`01AD: BSF 23.2`	442	`01AD: BSF 23.2`
443	`.................... }`	443	`.................... }`
444	`....................`	444	`....................`
445	`.................... a=read_adc();`	445	`.................... a=read_adc();`
446	`01AE: BSF 1F.2`	446	`01AE: BSF 1F.2`
447	`01AF: BTFSC 1F.2`	447	`01AF: BTFSC 1F.2`
448	`01B0: GOTO 1AF`	448	`01B0: GOTO 1AF`
449	`01B1: MOVF 1E,W`	449	`01B1: MOVF 1E,W`
450	`01B2: MOVWF 24`	450	`01B2: MOVWF 24`
451	`....................`	451	`....................`
452	`.................... set_adc_channel(4);`	452	`.................... set_adc_channel(4);`
453	`01B3: MOVLW 20`	453	`01B3: MOVLW 20`
454	`01B4: MOVWF 78`	454	`01B4: MOVWF 78`
455	`01B5: MOVF 1F,W`	455	`01B5: MOVF 1F,W`
456	`01B6: ANDLW C7`	456	`01B6: ANDLW C7`
457	`01B7: IORWF 78,W`	457	`01B7: IORWF 78,W`
458	`01B8: MOVWF 1F`	458	`01B8: MOVWF 1F`
459	`.................... if(a<TRESHOLD_MAX)`	459	`.................... if(a<TRESHOLD_MAX)`
460	`01B9: MOVF 24,W`	460	`01B9: MOVF 24,W`
461	`01BA: SUBLW 45`	461	`01BA: SUBLW 45`
462	`01BB: BTFSS 03.0`	462	`01BB: BTFSS 03.0`
463	`01BC: GOTO 1C6`	463	`01BC: GOTO 1C6`
464	`.................... {`	464	`.................... {`
465	`.................... if(a>TRESHOLD_MIN)`	465	`.................... if(a>TRESHOLD_MIN)`
466	`01BD: MOVF 24,W`	466	`01BD: MOVF 24,W`
467	`01BE: SUBLW 32`	467	`01BE: SUBLW 32`
468	`01BF: BTFSC 03.0`	468	`01BF: BTFSC 03.0`
469	`01C0: GOTO 1C5`	469	`01C0: GOTO 1C5`
470	`.................... {`	470	`.................... {`
471	`.................... cidla \|= (last_cidla & 0b00001000);`	471	`.................... cidla \|= (last_cidla & 0b00001000);`
472	`01C1: MOVF 21,W`	472	`01C1: MOVF 21,W`
473	`01C2: ANDLW 08`	473	`01C2: ANDLW 08`
474	`01C3: IORWF 23,F`	474	`01C3: IORWF 23,F`
475	`.................... }`	475	`.................... }`
476	`.................... else cidla \|= 0b00001000;`	476	`.................... else cidla \|= 0b00001000;`
477	`01C4: GOTO 1C6`	477	`01C4: GOTO 1C6`
478	`01C5: BSF 23.3`	478	`01C5: BSF 23.3`
479	`.................... }`	479	`.................... }`
480	`.................... a=read_adc();`	480	`.................... a=read_adc();`
481	`01C6: BSF 1F.2`	481	`01C6: BSF 1F.2`
482	`01C7: BTFSC 1F.2`	482	`01C7: BTFSC 1F.2`
483	`01C8: GOTO 1C7`	483	`01C8: GOTO 1C7`
484	`01C9: MOVF 1E,W`	484	`01C9: MOVF 1E,W`
485	`01CA: MOVWF 24`	485	`01CA: MOVWF 24`
486	`....................`	486	`....................`
487	`.................... set_adc_channel(5);`	487	`.................... set_adc_channel(5);`
488	`01CB: MOVLW 28`	488	`01CB: MOVLW 28`
489	`01CC: MOVWF 78`	489	`01CC: MOVWF 78`
490	`01CD: MOVF 1F,W`	490	`01CD: MOVF 1F,W`
491	`01CE: ANDLW C7`	491	`01CE: ANDLW C7`
492	`01CF: IORWF 78,W`	492	`01CF: IORWF 78,W`
493	`01D0: MOVWF 1F`	493	`01D0: MOVWF 1F`
494	`....................`	494	`....................`
495	`.................... if(a<TRESHOLD_MAX)`	495	`.................... if(a<TRESHOLD_MAX)`
496	`01D1: MOVF 24,W`	496	`01D1: MOVF 24,W`
497	`01D2: SUBLW 45`	497	`01D2: SUBLW 45`
498	`01D3: BTFSS 03.0`	498	`01D3: BTFSS 03.0`
499	`01D4: GOTO 1DE`	499	`01D4: GOTO 1DE`
500	`.................... {`	500	`.................... {`
501	`.................... if(a>TRESHOLD_MIN)`	501	`.................... if(a>TRESHOLD_MIN)`
502	`01D5: MOVF 24,W`	502	`01D5: MOVF 24,W`
503	`01D6: SUBLW 32`	503	`01D6: SUBLW 32`
504	`01D7: BTFSC 03.0`	504	`01D7: BTFSC 03.0`
505	`01D8: GOTO 1DD`	505	`01D8: GOTO 1DD`
506	`.................... {`	506	`.................... {`
507	`.................... cidla \|= (last_cidla & 0b00010000);`	507	`.................... cidla \|= (last_cidla & 0b00010000);`
508	`01D9: MOVF 21,W`	508	`01D9: MOVF 21,W`
509	`01DA: ANDLW 10`	509	`01DA: ANDLW 10`
510	`01DB: IORWF 23,F`	510	`01DB: IORWF 23,F`
511	`.................... }`	511	`.................... }`
512	`.................... else cidla \|= 0b00010000;`	512	`.................... else cidla \|= 0b00010000;`
513	`01DC: GOTO 1DE`	513	`01DC: GOTO 1DE`
514	`01DD: BSF 23.4`	514	`01DD: BSF 23.4`
515	`.................... }`	515	`.................... }`
516	`.................... a=read_adc();`	516	`.................... a=read_adc();`
517	`01DE: BSF 1F.2`	517	`01DE: BSF 1F.2`
518	`01DF: BTFSC 1F.2`	518	`01DF: BTFSC 1F.2`
519	`01E0: GOTO 1DF`	519	`01E0: GOTO 1DF`
520	`01E1: MOVF 1E,W`	520	`01E1: MOVF 1E,W`
521	`01E2: MOVWF 24`	521	`01E2: MOVWF 24`
522	`....................`	522	`....................`
523	`.................... set_adc_channel(6);`	523	`.................... set_adc_channel(6);`
524	`01E3: MOVLW 30`	524	`01E3: MOVLW 30`
525	`01E4: MOVWF 78`	525	`01E4: MOVWF 78`
526	`01E5: MOVF 1F,W`	526	`01E5: MOVF 1F,W`
527	`01E6: ANDLW C7`	527	`01E6: ANDLW C7`
528	`01E7: IORWF 78,W`	528	`01E7: IORWF 78,W`
529	`01E8: MOVWF 1F`	529	`01E8: MOVWF 1F`
530	`.................... if(a<TRESHOLD_MAX)`	530	`.................... if(a<TRESHOLD_MAX)`
531	`01E9: MOVF 24,W`	531	`01E9: MOVF 24,W`
532	`01EA: SUBLW 45`	532	`01EA: SUBLW 45`
533	`01EB: BTFSS 03.0`	533	`01EB: BTFSS 03.0`
534	`01EC: GOTO 1F6`	534	`01EC: GOTO 1F6`
535	`.................... {`	535	`.................... {`
536	`.................... if(a>TRESHOLD_MIN)`	536	`.................... if(a>TRESHOLD_MIN)`
537	`01ED: MOVF 24,W`	537	`01ED: MOVF 24,W`
538	`01EE: SUBLW 32`	538	`01EE: SUBLW 32`
539	`01EF: BTFSC 03.0`	539	`01EF: BTFSC 03.0`
540	`01F0: GOTO 1F5`	540	`01F0: GOTO 1F5`
541	`.................... {`	541	`.................... {`
542	`.................... cidla \|= (last_cidla & 0b00100000);`	542	`.................... cidla \|= (last_cidla & 0b00100000);`
543	`01F1: MOVF 21,W`	543	`01F1: MOVF 21,W`
544	`01F2: ANDLW 20`	544	`01F2: ANDLW 20`
545	`01F3: IORWF 23,F`	545	`01F3: IORWF 23,F`
546	`.................... }`	546	`.................... }`
547	`.................... else cidla \|= 0b00100000;`	547	`.................... else cidla \|= 0b00100000;`
548	`01F4: GOTO 1F6`	548	`01F4: GOTO 1F6`
549	`01F5: BSF 23.5`	549	`01F5: BSF 23.5`
550	`.................... }`	550	`.................... }`
551	`.................... a=read_adc();`	551	`.................... a=read_adc();`
552	`01F6: BSF 1F.2`	552	`01F6: BSF 1F.2`
553	`01F7: BTFSC 1F.2`	553	`01F7: BTFSC 1F.2`
554	`01F8: GOTO 1F7`	554	`01F8: GOTO 1F7`
555	`01F9: MOVF 1E,W`	555	`01F9: MOVF 1E,W`
556	`01FA: MOVWF 24`	556	`01FA: MOVWF 24`
557	`....................`	557	`....................`
558	`.................... if(a<TRESHOLD_MAX)`	558	`.................... if(a<TRESHOLD_MAX)`
559	`01FB: MOVF 24,W`	559	`01FB: MOVF 24,W`
560	`01FC: SUBLW 45`	560	`01FC: SUBLW 45`
561	`01FD: BTFSS 03.0`	561	`01FD: BTFSS 03.0`
562	`01FE: GOTO 208`	562	`01FE: GOTO 208`
563	`.................... {`	563	`.................... {`
564	`.................... if(a>TRESHOLD_MIN)`	564	`.................... if(a>TRESHOLD_MIN)`
565	`01FF: MOVF 24,W`	565	`01FF: MOVF 24,W`
566	`0200: SUBLW 32`	566	`0200: SUBLW 32`
567	`0201: BTFSC 03.0`	567	`0201: BTFSC 03.0`
568	`0202: GOTO 207`	568	`0202: GOTO 207`
569	`.................... {`	569	`.................... {`
570	`.................... cidla \|=(last_cidla & 0b01000000);`	570	`.................... cidla \|=(last_cidla & 0b01000000);`
571	`0203: MOVF 21,W`	571	`0203: MOVF 21,W`
572	`0204: ANDLW 40`	572	`0204: ANDLW 40`
573	`0205: IORWF 23,F`	573	`0205: IORWF 23,F`
574	`.................... }`	574	`.................... }`
575	`.................... else cidla \|= 0b01000000;`	575	`.................... else cidla \|= 0b01000000;`
576	`0206: GOTO 208`	576	`0206: GOTO 208`
577	`0207: BSF 23.6`	577	`0207: BSF 23.6`
578	`.................... }`	578	`.................... }`
579	`....................`	579	`....................`
580	`.................... last_cidla=cidla;`	580	`.................... last_cidla=cidla;`
581	`0208: MOVF 23,W`	581	`0208: MOVF 23,W`
582	`0209: MOVWF 21`	582	`0209: MOVWF 21`
583	`....................`	583	`....................`
584	`.................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};`	584	`.................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};`
585	`020A: BSF 03.5`	585	`020A: BSF 03.5`
586	`020B: BSF 06.0`	586	`020B: BSF 06.0`
587	`020C: BCF 03.5`	587	`020C: BCF 03.5`
588	`020D: BTFSC 06.0`	588	`020D: BTFSC 06.0`
589	`020E: GOTO 214`	589	`020E: GOTO 214`
590	`020F: INCFSZ 22,W`	590	`020F: INCFSZ 22,W`
591	`0210: GOTO 212`	591	`0210: GOTO 212`
592	`0211: GOTO 213`	592	`0211: GOTO 213`
593	`0212: INCF 22,F`	593	`0212: INCF 22,F`
594	`0213: GOTO 215`	594	`0213: GOTO 215`
595	`0214: CLRF 22`	595	`0214: CLRF 22`
596	`.................... if (shure>CIHLA) cidla\|=0b10000000;`	596	`.................... if (shure>CIHLA) cidla\|=0b10000000;`
597	`0215: MOVF 22,W`	597	`0215: MOVF 22,W`
598	`0216: SUBLW 0A`	598	`0216: SUBLW 0A`
599	`0217: BTFSS 03.0`	599	`0217: BTFSS 03.0`
600	`0218: BSF 23.7`	600	`0218: BSF 23.7`
601	`....................`	601	`....................`
602	`.................... cidla=~cidla;`	602	`.................... cidla=~cidla;`
603	`0219: COMF 23,F`	603	`0219: COMF 23,F`
604	`.................... spi_write(cidla);`	604	`.................... spi_write(cidla);`
605	`021A: MOVF 23,W`	605	`021A: MOVF 23,W`
606	`021B: MOVWF 13`	606	`021B: MOVWF 13`
607	`021C: BSF 03.5`	607	`021C: BSF 03.5`
608	`021D: BTFSC 14.0`	608	`021D: BTFSC 14.0`
609	`021E: GOTO 221`	609	`021E: GOTO 221`
610	`021F: BCF 03.5`	610	`021F: BCF 03.5`
611	`0220: GOTO 21C`	611	`0220: GOTO 21C`
612	`.................... }`	612	`.................... }`
613	`0221: BCF 03.5`	613	`0221: BCF 03.5`
614	`0222: GOTO 158`	614	`0222: GOTO 158`
615	`.................... }`	615	`.................... }`
616	`0223: SLEEP`	616	`0223: SLEEP`
617		617
618	`Configuration Fuses:`	618	`Configuration Fuses:`
619	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`	619	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
620	`Word 2: 3FFC NOFCMEN NOIESO`	620	`Word 2: 3FFC NOFCMEN NOIESO`

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(root)/roboti/istrobot/3Orbis/cidla/cidla.LST @ 259 – Rev 2 → 66