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Line 4... Line 4...
4 
;// License Type  : Pro License
 4 
;// License Type  : Pro License
5 
;// Limitations   : PIC18 max code size:Unlimited, max RAM banks:Unlimited
 5 
;// Limitations   : PIC18 max code size:Unlimited, max RAM banks:Unlimited
6 
;/////////////////////////////////////////////////////////////////////////////////
 6 
;/////////////////////////////////////////////////////////////////////////////////
7 
 
 7 
 
8 
	include "P18F252.inc"
 8 
	include "P18F252.inc"
9 
__HEAPSTART                      EQU	0x0000000B ; Start address of heap
9 
__HEAPSTART                      EQU	0x00000008 ; Start address of heap
10 
__HEAPEND                        EQU	0x000005FF ; End address of heap
10 
__HEAPEND                        EQU	0x000005FF ; End address of heap
11 
gbl_status                       EQU	0x00000FD8 ; bytes:1
 11 
gbl_status                       EQU	0x00000FD8 ; bytes:1
12 
gbl_prodl                        EQU	0x00000FF3 ; bytes:1
 12 
gbl_prodl                        EQU	0x00000FF3 ; bytes:1
13 
gbl_prodh                        EQU	0x00000FF4 ; bytes:1
 13 
gbl_prodh                        EQU	0x00000FF4 ; bytes:1
14 
gbl_porta                        EQU	0x00000F80 ; bytes:1
 14 
gbl_porta                        EQU	0x00000F80 ; bytes:1
Line 101... Line 101...
101 
gbl_pclatu                       EQU	0x00000FFB ; bytes:1
 101 
gbl_pclatu                       EQU	0x00000FFB ; bytes:1
102 
gbl_stkptr                       EQU	0x00000FFC ; bytes:1
 102 
gbl_stkptr                       EQU	0x00000FFC ; bytes:1
103 
gbl_tosl                         EQU	0x00000FFD ; bytes:1
 103 
gbl_tosl                         EQU	0x00000FFD ; bytes:1
104 
gbl_tosh                         EQU	0x00000FFE ; bytes:1
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gbl_tosh                         EQU	0x00000FFE ; bytes:1
105 
gbl_tosu                         EQU	0x00000FFF ; bytes:1
 105 
gbl_tosu                         EQU	0x00000FFF ; bytes:1
106 
CompTempVarRet489                EQU	0x0000000A ; bytes:1
 106 
CompTempVarRet489                EQU	0x00000007 ; bytes:1
107 
send_00000_arg_c                 EQU	0x0000000A ; bytes:1
 107 
send_00000_arg_c                 EQU	0x00000004 ; bytes:1
- 
 
 108 
delay_00000_arg_cas              EQU	0x00000004 ; bytes:1
- 
 
 109 
delay_00000_1_i                  EQU	0x00000005 ; bytes:1
- 
 
 110 
delay_00000_1_x                  EQU	0x00000006 ; bytes:1
108 
main_1_motors                    EQU	0x00000001 ; bytes:1
 111 
main_1_motors                    EQU	0x00000001 ; bytes:1
109 
main_1_sensors                   EQU	0x00000002 ; bytes:1
 112 
main_1_sensors                   EQU	0x00000002 ; bytes:1
110 
main_1_leds                      EQU	0x00000003 ; bytes:1
 113 
CompTempVar491                   EQU	0x00000003 ; bytes:1
111 
main_1_leds1                     EQU	0x00000004 ; bytes:1
 - 
 
112 
main_1_buttons                   EQU	0x00000005 ; bytes:1
 - 
 
113 
main_1_i                         EQU	0x00000006 ; bytes:4
 - 
 
114 
	ORG 0x00000200
 114 
	ORG 0x00000200
115 
	GOTO	_startup
 115 
	GOTO	_startup
116 
	ORG 0x00000204
 116 
	ORG 0x00000204
117 
send_00000
 - 
 
118 
; { send ; function begin
 - 
 
119 
label268438561
 - 
 
120 
	BTFSS gbl_pir1,4
 - 
 
121 
	BRA	label268438561
 - 
 
122 
	MOVF send_00000_arg_c, W
 - 
 
123 
	MOVWF gbl_txreg
 - 
 
124 
	RETURN
 - 
 
125 
; } send function end
 - 
 
126 
 
 - 
 
127 
	ORG 0x0000020E
 - 
 
128 
receive_00000
 117 
receive_00000
129 
; { receive ; function begin
 118 
; { receive ; function begin
130 
	BTFSS gbl_rcsta,1
 119 
	BTFSS gbl_rcsta,1
131 
	BRA	label268438550
 120 
	BRA	label268438550
132 
	BCF gbl_rcsta,4
 121 
	BCF gbl_rcsta,4
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137 
	MOVF gbl_rcreg, W
 126 
	MOVF gbl_rcreg, W
138 
	MOVWF CompTempVarRet489
 127 
	MOVWF CompTempVarRet489
139 
	RETURN
 128 
	RETURN
140 
; } receive function end
 129 
; } receive function end
141 
 
 130 
 
- 
 
 131 
	ORG 0x00000216
- 
 
 132 
send_00000
- 
 
 133 
; { send ; function begin
- 
 
 134 
label268438561
- 
 
 135 
	BTFSS gbl_pir1,4
- 
 
 136 
	BRA	label268438561
- 
 
 137 
	MOVF send_00000_arg_c, W
- 
 
 138 
	MOVWF gbl_txreg
- 
 
 139 
	RETURN
- 
 
 140 
; } send function end
- 
 
 141 
 
142 
	ORG 0x00000220
 142 
	ORG 0x00000220
- 
 
 143 
delay_00000
- 
 
 144 
; { delay ; function begin
- 
 
 145 
label268438570
- 
 
 146 
	MOVF delay_00000_1_i, W
- 
 
 147 
	SUBWF delay_00000_arg_cas, W
- 
 
 148 
	BTFSS STATUS,C
- 
 
 149 
	RETURN
- 
 
 150 
label4026532417
- 
 
 151 
	MOVF delay_00000_1_x, W
- 
 
 152 
	SUBLW 0x64
- 
 
 153 
	BNC	label268438574
- 
 
 154 
	CALL receive_00000
- 
 
 155 
	INCF delay_00000_1_x, W
- 
 
 156 
	MOVWF delay_00000_1_x
- 
 
 157 
	BRA	label4026532417
- 
 
 158 
label268438574
- 
 
 159 
	INCF delay_00000_1_i, W
- 
 
 160 
	MOVWF delay_00000_1_i
- 
 
 161 
	BRA	label268438570
- 
 
 162 
; } delay function end
- 
 
 163 
 
- 
 
 164 
	ORG 0x0000023E
143 
main
 165 
main
144 
; { main ; function begin
 166 
; { main ; function begin
145 
	SETF gbl_lata
 167 
	SETF gbl_lata
146 
	CLRF gbl_latb
 168 
	CLRF gbl_latb
147 
	SETF gbl_latc
 169 
	SETF gbl_latc
Line 167... Line 189...
167 
	IORWF gbl_rcsta, W
 189 
	IORWF gbl_rcsta, W
168 
	MOVWF gbl_rcsta
 190 
	MOVWF gbl_rcsta
169 
	MOVLW 0x80
 191 
	MOVLW 0x80
170 
	IORWF gbl_rcsta, W
 192 
	IORWF gbl_rcsta, W
171 
	MOVWF gbl_rcsta
 193 
	MOVWF gbl_rcsta
172 
	SETF main_1_leds
 - 
 
173 
	MOVLW 0x0F
 - 
 
174 
	MOVWF main_1_leds1
 - 
 
175 
	CLRF main_1_motors
 194 
	CLRF main_1_motors
176 
label268438595
 - 
 
177 
	MOVF gbl_portb, W
 - 
 
178 
	MOVWF main_1_buttons
 - 
 
179 
	BTFSC main_1_buttons,1
 - 
 
180 
	BRA	label268438598
 - 
 
181 
	CLRF main_1_i
 - 
 
182 
	CLRF main_1_i+D'1'
 - 
 
183 
	CLRF main_1_i+D'2'
 - 
 
184 
	CLRF main_1_i+D'3'
 - 
 
185 
	DECF main_1_leds1, W
 - 
 
186 
	MOVWF main_1_leds1
 195 
	MOVLW 0x0E
187 
	MOVF main_1_leds1, W
 - 
 
188 
	MOVWF gbl_lata
 196 
	MOVWF gbl_lata
189 
label268438603
 - 
 
190 
	MOVF main_1_i+D'3', W
 - 
 
191 
	SUBLW 0x00
 197 
	MOVLW 0xC8
192 
	BNZ	label268438604
 - 
 
193 
	MOVF main_1_i+D'2', W
 - 
 
194 
	SUBLW 0x07
 - 
 
195 
	BNZ	label268438604
 - 
 
196 
	MOVF main_1_i+D'1', W
 198 
	MOVWF delay_00000_arg_cas
197 
	SUBLW 0xA1
 - 
 
198 
	BNZ	label268438604
 - 
 
199 
	MOVF main_1_i, W
 - 
 
200 
	SUBLW 0x20
 - 
 
201 
label268438604
 - 
 
202 
	BC	label4026532463
 - 
 
203 
	BTFSS main_1_i+D'3',7
 - 
 
204 
	BRA	label268438608
 - 
 
205 
label4026532463
 - 
 
206 
	INCF main_1_i, F
 - 
 
207 
	BTFSC STATUS,Z
 - 
 
208 
	INCF main_1_i+D'1', F
 - 
 
209 
	BTFSC STATUS,Z
 - 
 
210 
	INCF main_1_i+D'2', F
 - 
 
211 
	BTFSC STATUS,Z
 - 
 
212 
	INCF main_1_i+D'3', F
 - 
 
213 
	BRA	label268438603
 199 
	CALL delay_00000
214 
label268438608
 - 
 
215 
	MOVLW 0x11
 200 
	MOVLW 0x0D
216 
	ADDWF main_1_motors, W
 - 
 
217 
	MOVWF main_1_motors
 - 
 
218 
	BRA	label268438619
 - 
 
219 
label268438598
 - 
 
220 
	BTFSC main_1_buttons,4
 - 
 
221 
	BRA	label268438619
 - 
 
222 
	CLRF main_1_i
 - 
 
223 
	CLRF main_1_i+D'1'
 - 
 
224 
	CLRF main_1_i+D'2'
 - 
 
225 
	CLRF main_1_i+D'3'
 - 
 
226 
	INCF main_1_leds1, W
 - 
 
227 
	MOVWF main_1_leds1
 - 
 
228 
	MOVF main_1_leds1, W
 - 
 
229 
	MOVWF gbl_lata
 201 
	MOVWF gbl_lata
230 
label268438624
 - 
 
231 
	MOVF main_1_i+D'3', W
 - 
 
232 
	SUBLW 0x00
 202 
	MOVLW 0xC8
233 
	BNZ	label268438625
 203 
	MOVWF delay_00000_arg_cas
234 
	MOVF main_1_i+D'2', W
 204 
	CALL delay_00000
235 
	SUBLW 0x07
 205 
	MOVLW 0x0B
236 
	BNZ	label268438625
 - 
 
237 
	MOVF main_1_i+D'1', W
 206 
	MOVWF gbl_lata
238 
	SUBLW 0xA1
 207 
	MOVLW 0xC8
239 
	BNZ	label268438625
 208 
	MOVWF delay_00000_arg_cas
240 
	MOVF main_1_i, W
 209 
	CALL delay_00000
241 
	SUBLW 0x20
 210 
	MOVLW 0x07
242 
label268438625
 - 
 
243 
	BC	label4026532468
 - 
 
244 
	BTFSS main_1_i+D'3',7
 - 
 
245 
	BRA	label268438629
 - 
 
246 
label4026532468
 - 
 
247 
	INCF main_1_i, F
 - 
 
248 
	BTFSC STATUS,Z
 - 
 
249 
	INCF main_1_i+D'1', F
 - 
 
250 
	BTFSC STATUS,Z
 211 
	MOVWF gbl_lata
251 
	INCF main_1_i+D'2', F
 - 
 
252 
	BTFSC STATUS,Z
 212 
	MOVLW 0xC8
253 
	INCF main_1_i+D'3', F
 213 
	MOVWF delay_00000_arg_cas
254 
	BRA	label268438624
 214 
	CALL delay_00000
255 
label268438629
 - 
 
256 
	MOVLW 0x11
 215 
	MOVLW 0x77
257 
	SUBWF main_1_motors, W
 - 
 
258 
	MOVWF main_1_motors
 216 
	MOVWF main_1_motors
259 
label268438619
 217 
	MOVLW 0x64
- 
 
 218 
	MOVWF delay_00000_arg_cas
260 
	SETF main_1_leds
 219 
	CALL delay_00000
- 
 
 220 
label268438640
261 
	SETF main_1_sensors
 221 
	SETF main_1_sensors
262 
	CALL receive_00000
 222 
	CALL receive_00000
263 
	MOVF CompTempVarRet489, W
 223 
	MOVF CompTempVarRet489, W
264 
	MOVWF main_1_sensors
 224 
	MOVWF main_1_sensors
- 
 
 225 
	CLRF CompTempVar491
265 
	BTFSC main_1_sensors,0
 226 
	BTFSS main_1_sensors,1
266 
	BRA	label268438643
 227 
	BRA	label268438645
267 
	MOVLW 0xFD
 228 
	BTFSS main_1_sensors,0
268 
	ANDWF main_1_leds, W
 229 
	BRA	label268438645
269 
	MOVWF main_1_leds
 230 
	INCF CompTempVar491, F
270 
label268438643
 231 
label268438645
271 
	BTFSC main_1_sensors,1
 232 
	MOVF CompTempVar491, F
272 
	BRA	label268438646
 233 
	BNZ	label268438646
273 
	MOVLW 0xFB
 234 
	MOVLW 0x77
274 
	ANDWF main_1_leds, W
 - 
 
275 
	MOVWF main_1_leds
 235 
	MOVWF main_1_motors
276 
label268438646
 236 
label268438646
277 
	BTFSC main_1_sensors,2
 237 
	BTFSC main_1_sensors,2
278 
	BRA	label268438649
 238 
	BRA	label268438649
279 
	MOVLW 0xFE
 239 
	MOVLW 0xF7
280 
	ANDWF main_1_leds, W
 - 
 
281 
	MOVWF main_1_leds
 240 
	MOVWF main_1_motors
282 
label268438649
 241 
label268438649
283 
	BTFSC main_1_sensors,3
 242 
	BTFSC main_1_sensors,3
284 
	BRA	label268438652
 243 
	BRA	label268438652
285 
	MOVLW 0xF7
 244 
	MOVLW 0x7F
286 
	ANDWF main_1_leds, W
 - 
 
287 
	MOVWF main_1_leds
 245 
	MOVWF main_1_motors
288 
label268438652
 246 
label268438652
289 
	MOVF main_1_leds, W
 247 
	MOVF main_1_sensors, W
290 
	MOVWF gbl_lata
 248 
	MOVWF gbl_lata
291 
	MOVF main_1_motors, W
 249 
	MOVF main_1_motors, W
292 
	MOVWF send_00000_arg_c
 250 
	MOVWF send_00000_arg_c
293 
	CALL send_00000
 251 
	CALL send_00000
294 
	BRA	label268438595
 252 
	BRA	label268438640
295 
; } main function end
 253 
; } main function end
296 
 
 254 
 
297 
	ORG 0x00000332
 255 
	ORG 0x000002EE
298 
_startup
 256 
_startup
299 
	GOTO	main
 257 
	GOTO	main
300 
	ORG 0x00300000
 258 
	ORG 0x00300000
301 
	DW 0xFEFF
 259 
	DW 0xFEFF
302 
	DW 0xFEF6
 260 
	DW 0xFEF6