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

 ;// 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_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
 	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
 	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

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.asm @ 369 – Rev 324 → 325