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               Filename: D:\KAKL\roboti\solarni\2006\scamnum\menic.lst

               Filename: D:\KAKL\roboti\solarni\2006\scamnum\menic.lst

                         Largest free fragment is 2048

                         Largest free fragment is 2048

               Stack:    4 worst case (3 in main + 1 for interrupts)

               Stack:    4 worst case (3 in main + 1 for interrupts)

*

*

0000:  MOVLW  00

0000:  MOVLW  00

0001:  MOVWF  0A

0001:  MOVWF  0A

0003:  NOP

0003:  NOP

0004:  MOVWF  7F

0004:  MOVWF  7F

0005:  SWAPF  03,W

0005:  SWAPF  03,W

0006:  CLRF   03

0006:  CLRF   03

0007:  MOVWF  21

0007:  MOVWF  21

0031:  MOVWF  03

0031:  MOVWF  03

0032:  SWAPF  7F,F

0032:  SWAPF  7F,F

0033:  SWAPF  7F,W

0033:  SWAPF  7F,W

0034:  RETFIE

0034:  RETFIE

0035:  BCF    0A.3

0035:  BCF    0A.3

.................... // ************************************* 

.................... // ************************************* 

.................... // * Scamnum Specularis ** 20. 9. 2006 * 

.................... // * Scamnum Specularis ** 20. 9. 2006 * 

.................... // ************************************* 

.................... // ************************************* 

....................  

....................  

.................... #include ".\menic.h" 

.................... #include ".\menic.h" 

.................... #list 

.................... #list 

....................  

....................  

....................  

....................  

.................... #device adc=8 

.................... #device adc=8 

....................  

....................  

....................          NOWRT, DEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 

....................          NOWRT, DEBUG, NOPROTECT, NOFCMEN, NOIESO, CCPB3 

....................  

....................  

.................... #use delay(clock=3900000,RESTART_WDT) 

.................... #use delay(clock=3900000,RESTART_WDT) 

*

*

....................  

....................  

....................  

....................  

....................  

....................  

.................... #define  TXo PIN_B5           // To the transmitter modulator 

.................... #define  TXo PIN_B5           // To the transmitter modulator 

.................... #include ".\AX25.c"           // Podprogram pro prenos telemetrie 

.................... #include ".\AX25.c"           // Podprogram pro prenos telemetrie 

....................  

....................  

.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1,  0x60, 

.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1,  0x60, 

....................                      'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, 

....................                      'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, 

....................                      0x03, 0xF0}; 

....................                      0x03, 0xF0}; 

*

*

....................  

....................  

.................... boolean bit; 

.................... boolean bit; 

.................... int fcslo, fcshi;    // variabloes for calculating FCS (CRC) 

.................... int fcslo, fcshi;    // variabloes for calculating FCS (CRC) 

.................... int stuff;           // stuff counter for extra 0 

.................... int stuff;           // stuff counter for extra 0 

.................... int flag_flag;       // if it is sending flag (7E) 

.................... int flag_flag;       // if it is sending flag (7E) 

....................  

....................  

.................... void flipout()       //flips the state of output pin a_1 

.................... void flipout()       //flips the state of output pin a_1 

.................... { 

.................... { 

.................... 	stuff = 0;        //since this is a 0, reset the stuff counter 

.................... 	stuff = 0;        //since this is a 0, reset the stuff counter 

*

*

.................... 	if (bit) 

.................... 	if (bit) 

....................    { 

....................    { 

....................      bit=FALSE;      //if the state of the pin was low, make it high. 

....................      bit=FALSE;      //if the state of the pin was low, make it high. 

....................    } 

....................    } 

....................    else 

....................    else 

....................    { 

....................    { 

....................      bit=TRUE;	  	   //if the state of the pin was high make it low 

....................      bit=TRUE;	  	   //if the state of the pin was high make it low 

....................    } 

....................    } 

.................... } 

.................... } 

....................  

....................  

.................... void fcsbit(byte tbyte) 

.................... void fcsbit(byte tbyte) 

.................... { 

.................... { 

.................... #asm 

.................... #asm 

....................    BCF    STATUS,0 

....................    BCF    STATUS,0 

*

*

....................    RRF    fcshi,F             // rotates the entire 16 bits 

....................    RRF    fcshi,F             // rotates the entire 16 bits 

....................    RRF    fcslo,F			      // to the right 

....................    RRF    fcslo,F			      // to the right 

.................... #endasm 

.................... #endasm 

....................    if (((STATUS & 0x01)^(tbyte)) ==0x01) 

....................    if (((STATUS & 0x01)^(tbyte)) ==0x01) 

....................    { 

....................    { 

....................          fcshi = fcshi^0x84; 

....................          fcshi = fcshi^0x84; 

....................          fcslo = fcslo^0x08; 

....................          fcslo = fcslo^0x08; 

....................    } 

....................    } 

.................... } 

.................... } 

....................  

....................  

.................... void SendBit () 

.................... void SendBit () 

.................... { 

.................... { 

.................... 	if (bit) 

.................... 	if (bit) 

*

*

....................    { 

....................    { 

....................       output_low(TXo); 

....................       output_low(TXo); 

00F0:  BSF    03.5

00F0:  BSF    03.5

00F1:  BCF    06.5

00F1:  BCF    06.5

00F2:  BCF    03.5

00F2:  BCF    03.5

....................       PERIODAH; 

....................       PERIODAH; 

00F4:  CLRWDT

00F4:  CLRWDT

00F5:  MOVLW  47

00F5:  MOVLW  47

00F6:  MOVWF  77

00F6:  MOVWF  77

00F7:  DECFSZ 77,F

00F7:  DECFSZ 77,F

00F8:  GOTO   0F7

00F8:  GOTO   0F7

00F9:  NOP

00F9:  NOP

00FA:  BSF    03.5

00FA:  BSF    03.5

00FB:  BCF    06.5

00FB:  BCF    06.5

00FC:  BCF    03.5

00FC:  BCF    03.5

....................       PERIODAH; 

....................       PERIODAH; 

00FE:  CLRWDT

00FE:  CLRWDT

00FF:  MOVLW  47

00FF:  MOVLW  47

0100:  MOVWF  77

0100:  MOVWF  77

0101:  DECFSZ 77,F

0101:  DECFSZ 77,F

0102:  GOTO   101

0102:  GOTO   101

0103:  NOP

0103:  NOP

0104:  BSF    03.5

0104:  BSF    03.5

0105:  BCF    06.5

0105:  BCF    06.5

0106:  BCF    03.5

0106:  BCF    03.5

0108:  CLRWDT

0108:  CLRWDT

010A:  MOVWF  77

010A:  MOVWF  77

010B:  DECFSZ 77,F

010B:  DECFSZ 77,F

010C:  GOTO   10B

010C:  GOTO   10B

010D:  NOP

010D:  NOP

....................     } 

....................     } 

....................     else 

....................     else 

....................     { 

....................     { 

....................       output_low(TXo); 

....................       output_low(TXo); 

....................       PERIODAL; 

....................       PERIODAL; 

....................       output_high(TXo); 

....................       output_high(TXo); 

....................       TAILL; 

....................       TAILL; 

....................     }; 

....................     }; 

.................... } 

.................... } 

....................  

....................  

.................... void SendByte (byte inbyte) 

.................... void SendByte (byte inbyte) 

.................... { 

.................... { 

....................    int k, bt; 

....................    int k, bt; 

....................  

....................  

....................    for (k=0;k<8;k++)    //do the following for each of the 8 bits in the byte 

....................    for (k=0;k<8;k++)    //do the following for each of the 8 bits in the byte 

....................    { 

....................    { 

....................      bt = inbyte & 0x01;            //strip off the rightmost bit of the byte to be sent (inbyte) 

....................      bt = inbyte & 0x01;            //strip off the rightmost bit of the byte to be sent (inbyte) 

....................      if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt);    //do FCS calc, but only if this 

....................      if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt);    //do FCS calc, but only if this 

.................... 						                                                //is not a flag or fcs byte 

.................... 						                                                //is not a flag or fcs byte 

....................      if (bt == 0) 

....................      if (bt == 0) 

*

*

....................      { 

....................      { 

....................        flipout(); 

....................        flipout(); 

....................      }  			               // if this bit is a zero, flip the output state 

....................      }  			               // if this bit is a zero, flip the output state 

....................      else 

....................      else 

....................      {                          			      //otherwise if it is a 1, do the following: 

....................      {                          			      //otherwise if it is a 1, do the following: 

....................        if (flag_flag == FALSE) stuff++;      //increment the count of consequtive 1's 

....................        if (flag_flag == FALSE) stuff++;      //increment the count of consequtive 1's 

....................        if ((flag_flag == FALSE) & (stuff == 5)) 

....................        if ((flag_flag == FALSE) & (stuff == 5)) 

....................        {       //stuff an extra 0, if 5 1's in a row 

....................        {       //stuff an extra 0, if 5 1's in a row 

....................          SendBit(); 

....................          SendBit(); 

....................          flipout();               //flip the output state to stuff a 0 

....................          flipout();               //flip the output state to stuff a 0 

....................        }//end of if 

....................        }//end of if 

....................      }//end of else 

....................      }//end of else 

....................      // delay_us(850);				 //introduces a delay that creates 1200 baud 

....................      // delay_us(850);				 //introduces a delay that creates 1200 baud 

....................      SendBit(); 

....................      SendBit(); 

....................      inbyte = inbyte>>1;          //go to the next bit in the byte 

....................      inbyte = inbyte>>1;          //go to the next bit in the byte 

....................    }//end of for 

....................    }//end of for 

.................... }//end of SendByte 

.................... }//end of SendByte 

....................  

....................  

.................... void SendPacket(char *data) 

.................... void SendPacket(char *data) 

.................... { 

.................... { 

....................     bit=FALSE; 

....................     bit=FALSE; 

....................  

....................  

....................    fcslo=fcshi=0xFF;       //The 2 FCS Bytes are initialized to FF 

....................    fcslo=fcshi=0xFF;       //The 2 FCS Bytes are initialized to FF 

....................    stuff = 0;              //The variable stuff counts the number of 1's in a row. When it gets to 5 

....................    stuff = 0;              //The variable stuff counts the number of 1's in a row. When it gets to 5 

.................... 		                     // it is time to stuff a 0. 

.................... 		                     // it is time to stuff a 0. 

....................  

....................  

.................... //   output_low(PTT);        // Blinking LED 

.................... //   output_low(PTT);        // Blinking LED 

.................... //   delay_ms(1000); 

.................... //   delay_ms(1000); 

.................... //   output_high(PTT); 

.................... //   output_high(PTT); 

....................  

....................  

....................    flag_flag = TRUE;       //The variable flag is true if you are transmitted flags (7E's) false otherwise. 

....................    flag_flag = TRUE;       //The variable flag is true if you are transmitted flags (7E's) false otherwise. 

....................    fcs_flag = FALSE;       //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. 

....................    fcs_flag = FALSE;       //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. 

....................  

....................  

....................    for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes.  Adjust length for txdelay 

....................    for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes.  Adjust length for txdelay 

....................                                        //each flag takes approx 6.7 ms 

....................                                        //each flag takes approx 6.7 ms 

....................    flag_flag = FALSE;      //done sending flags 

....................    flag_flag = FALSE;      //done sending flags 

....................  

....................  

....................    for(i=0; i<16; i++) SendByte(SendData[i]);      //send the packet bytes 

....................    for(i=0; i<16; i++) SendByte(SendData[i]);      //send the packet bytes 

....................  

....................  

....................    for(i=0; 0 != *data; i++) 

....................    for(i=0; 0 != *data; i++) 

....................    { 

....................    { 

....................       SendByte(*data);     //send the packet bytes 

....................       SendByte(*data);     //send the packet bytes 

....................       data++; 

....................       data++; 

....................    }; 

....................    }; 

....................  

....................  

....................    fcs_flag = TRUE;       	//about to send the FCS bytes 

....................    fcs_flag = TRUE;       	//about to send the FCS bytes 

....................    fcslo =fcslo^0xff;      //must XOR them with FF before sending 

....................    fcslo =fcslo^0xff;      //must XOR them with FF before sending 

....................    fcshi = fcshi^0xff; 

....................    fcshi = fcshi^0xff; 

....................    SendByte(fcslo);        //send the low byte of fcs 

....................    SendByte(fcslo);        //send the low byte of fcs 

....................    SendByte(fcshi);        //send the high byte of fcs 

....................    SendByte(fcshi);        //send the high byte of fcs 

....................    fcs_flag = FALSE;		   //done sending FCS 

....................    fcs_flag = FALSE;		   //done sending FCS 

....................    flag_flag = TRUE;  		//about to send flags 

....................    flag_flag = TRUE;  		//about to send flags 

....................    SendByte(0x7e);         // Send a flag to end packet 

....................    SendByte(0x7e);         // Send a flag to end packet 

.................... } 

.................... } 

....................  

....................  

....................  

....................  

....................  

....................  

....................  

....................  

.................... char AXstring[40];            // Buffer pro prenos telemetrie 

.................... char AXstring[40];            // Buffer pro prenos telemetrie 

.................... #INT_SSP 

.................... #INT_SSP 

.................... void IntSSP() 

.................... void IntSSP() 

.................... { 

.................... { 

....................    SSPBUF=MotorPattern;             // znovu vysli stejnou hodnotu 

....................    SSPBUF=MotorPattern;             // znovu vysli stejnou hodnotu 

*

*

.................... } 

.................... } 

....................  

....................  

.................... void pip()     // pipnuti a bliknuti 

.................... void pip()     // pipnuti a bliknuti 

.................... { 

.................... { 

....................    int1 beep; 

....................    int1 beep; 

....................    int i; 

....................    int i; 

....................  

....................  

....................    for(i=0; i<250; i++) 

....................    for(i=0; i<250; i++) 

*

*

....................    { 

....................    { 

....................       output_bit(PIEZO, beep); 

....................       output_bit(PIEZO, beep); 

....................       beep=~beep; 

....................       beep=~beep; 

....................       output_bit(LED, beep); 

....................       output_bit(LED, beep); 

....................       delay_us(100); 

....................       delay_us(100); 

....................    }; 

....................    }; 

....................    output_high(PIEZO); 

....................    output_high(PIEZO); 

....................    output_high(LED); 

....................    output_high(LED); 

.................... } 

.................... } 

....................  

....................  

.................... void cvak()    // pouze cvaknuti piezoelementem bez bliknuti 

.................... void cvak()    // pouze cvaknuti piezoelementem bez bliknuti 

.................... { 

.................... { 

....................    output_bit(PIEZO,~input(PIEZO)); 

....................    output_bit(PIEZO,~input(PIEZO)); 

*

*

.................... } 

.................... } 

....................  

....................  

.................... void main() 

.................... void main() 

.................... { 

.................... { 

*

*

....................    int8 n; 

....................    int8 n; 

....................    int8 perioda; 

....................    int8 perioda; 

....................    int8 razeni; 

....................    int8 razeni; 

....................    int8 uclanku; 

....................    int8 uclanku; 

....................  

....................  

....................    setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_1152MS); 

....................    setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_1152MS); 

*

*

....................    setup_timer_1(T1_DISABLED); 

....................    setup_timer_1(T1_DISABLED); 

....................    setup_adc_ports(ADC_CLOCK_INTERNAL|sAN0|sAN1|sAN4|VSS_VDD); 

....................    setup_adc_ports(ADC_CLOCK_INTERNAL|sAN0|sAN1|sAN4|VSS_VDD); 

....................    setup_adc(ADC_CLOCK_INTERNAL); 

....................    setup_adc(ADC_CLOCK_INTERNAL); 

....................    setup_spi(FALSE); 

....................    setup_spi(FALSE); 

....................    setup_comparator(NC_NC_NC_NC); 

....................    setup_comparator(NC_NC_NC_NC); 

....................    setup_vref(FALSE); 

....................    setup_vref(FALSE); 

....................  

....................  

....................    output_low(MENIC);      // Vsechno zastav 

....................    output_low(MENIC);      // Vsechno zastav 

....................    output_low(MOTOR); 

....................    output_low(MOTOR); 

....................    output_low(REFPWR); 

....................    output_low(REFPWR); 

....................    output_high(LED); 

....................    output_high(LED); 

....................    output_high(PIEZO); 

....................    output_high(PIEZO); 

....................  

....................  

....................    set_adc_channel(NAPETI);     // Vyber AD kanal pro pomerne mereni napeti 

....................    set_adc_channel(NAPETI);     // Vyber AD kanal pro pomerne mereni napeti 

....................    set_pwm1_duty(0);       // Spust PWM, ale zatim s trvalou 0 na vystupu 

....................    set_pwm1_duty(0);       // Spust PWM, ale zatim s trvalou 0 na vystupu 

....................    setup_ccp1(CCP_PWM); 

....................    setup_ccp1(CCP_PWM); 

....................    setup_timer_2(T2_DIV_BY_1,100,1);  // perioda 

....................    setup_timer_2(T2_DIV_BY_1,100,1);  // perioda 

....................  

....................  

....................    setup_oscillator(OSC_4MHZ|OSC_INTRC);  // rozjed PIC (zvysi se odber) 

....................    setup_oscillator(OSC_4MHZ|OSC_INTRC);  // rozjed PIC (zvysi se odber) 

....................  

....................  

.................... // jsme v depu? 

.................... // jsme v depu? 

....................    set_pwm1_duty(DUTY1);          // PWM pro zatizeni clanku pri malem osvetleni 

....................    set_pwm1_duty(DUTY1);          // PWM pro zatizeni clanku pri malem osvetleni 

....................    n=0; 

....................    n=0; 

....................    do 

....................    do 

....................    { 

....................    { 

....................       output_low(REFPWR);  // Vypni napajeni napetove reference, aby se setrilo 

....................       output_low(REFPWR);  // Vypni napajeni napetove reference, aby se setrilo 

....................       delay_ms(100); 

....................       delay_ms(100); 

....................       if (4==n++) {cvak(); n=0;};   // Kazdy 4. pruchod cvakni 

....................       if (4==n++) {cvak(); n=0;};   // Kazdy 4. pruchod cvakni 

....................       output_high(REFPWR);          // Zapni napajeni napetove reference 

....................       output_high(REFPWR);          // Zapni napajeni napetove reference 

....................       delay_ms(1);                  // Pockej na ustaleni napeti 

....................       delay_ms(1);                  // Pockej na ustaleni napeti 

....................    } while (read_adc()>REFSTART);   // Odkryl starter clanky? 

....................    } while (read_adc()>REFSTART);   // Odkryl starter clanky? 

....................    output_low(REFPWR);     // Vypni napajeni napetove reference, aby se setrilo 

....................    output_low(REFPWR);     // Vypni napajeni napetove reference, aby se setrilo 

....................  

....................  

.................... //   port_b_pullups(TRUE);            // Zapni pullupy, aby slo cist DIPswitch 

.................... //   port_b_pullups(TRUE);            // Zapni pullupy, aby slo cist DIPswitch 

.................... //   do 

.................... //   do 

.................... //   { 

.................... //   { 

....................       // Precti trimry 

....................       // Precti trimry 

....................       set_adc_channel(PWM);         // Zjisteni nastaveni PWM 

....................       set_adc_channel(PWM);         // Zjisteni nastaveni PWM 

....................       delay_us(100);                // Pockej na prepnuti kanalu A/D prevodniku 

....................       delay_us(100);                // Pockej na prepnuti kanalu A/D prevodniku 

027E:  MOVWF  77

027E:  MOVWF  77

....................  

....................  

....................       set_adc_channel(ROZJEZD);     // Zjisteni nastaveni rozjezdu 

....................       set_adc_channel(ROZJEZD);     // Zjisteni nastaveni rozjezdu 

....................       delay_us(100);                // Pockej na prepnuti kanalu A/D prevodniku 

....................       delay_us(100);                // Pockej na prepnuti kanalu A/D prevodniku 

....................  

....................  

....................       // Rozjeti menice 

....................       // Rozjeti menice 

....................       set_pwm1_duty(0);    // Zastav PWM, aby slo nastavit jinou frekvenci 

....................       set_pwm1_duty(0);    // Zastav PWM, aby slo nastavit jinou frekvenci 

....................       setup_timer_2(T2_DIV_BY_1,perioda,1);    // perioda 

....................       setup_timer_2(T2_DIV_BY_1,perioda,1);    // perioda 

....................       set_pwm1_duty(DUTY2); // PWM pro zatizeni clanku pri jedne 500W zarovce 

....................       set_pwm1_duty(DUTY2); // PWM pro zatizeni clanku pri jedne 500W zarovce 

....................  

....................  

....................       pip();                  // potvrzeni odstartovani / servisni mod 

....................       pip();                  // potvrzeni odstartovani / servisni mod 

....................       delay_ms(500); 

....................       delay_ms(500); 

....................  

....................  

.................... //   } while (input(SW1));      // Je zapnut servisni mod? SW1(OFF)=ANO 

.................... //   } while (input(SW1));      // Je zapnut servisni mod? SW1(OFF)=ANO 

.................... //   port_b_pullups(FALSE);     // Vypni pullupy, aby se setrilo energii 

.................... //   port_b_pullups(FALSE);     // Vypni pullupy, aby se setrilo energii 

....................  

....................  

....................    output_high(REFPWR);          // Prepni AD na mereni napeti clanku 

....................    output_high(REFPWR);          // Prepni AD na mereni napeti clanku 

....................    set_adc_channel(NAPETI);      // Prepni Zmer napeti clanku 

....................    set_adc_channel(NAPETI);      // Prepni Zmer napeti clanku 

....................    delay_us(50);                // Pockej na prepnuti kanalu A/D prevodniku 

....................    delay_us(50);                // Pockej na prepnuti kanalu A/D prevodniku