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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	0x0000000F ; 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
 104 
gbl_tosh                         EQU	0x00000FFE ; bytes:1
105 
gbl_tosu                         EQU	0x00000FFF ; bytes:1
 105 
gbl_tosu                         EQU	0x00000FFF ; bytes:1
106 
CompTempVarRet489                EQU	0x00000009 ; bytes:1
 106 
CompTempVarRet489                EQU	0x0000000D ; bytes:1
107 
send_00000_arg_c                 EQU	0x00000009 ; bytes:1
 107 
send_00000_arg_c                 EQU	0x0000000D ; bytes:1
108 
main_1_motors                    EQU	0x00000001 ; bytes:1
 108 
main_1_motors                    EQU	0x00000001 ; bytes:1
109 
main_1_sensors                   EQU	0x00000002 ; bytes:1
 109 
main_1_sensors                   EQU	0x00000002 ; bytes:1
110 
main_1_leds                      EQU	0x00000003 ; bytes:1
 110 
main_1_leds                      EQU	0x00000003 ; bytes:1
111 
main_1_count                     EQU	0x00000004 ; bytes:4
 111 
main_1_count                     EQU	0x00000004 ; bytes:4
- 
 
 112 
main_1_cas                       EQU	0x00000008 ; bytes:4
112 
CompTempVar491                   EQU	0x00000008 ; bytes:1
 113 
CompTempVar491                   EQU	0x0000000C ; bytes:1
113 
CompTempVar492                   EQU	0x00000009 ; bytes:1
 114 
CompTempVar492                   EQU	0x0000000D ; bytes:1
114 
CompTempVar496                   EQU	0x0000000A ; bytes:1
 115 
CompTempVar496                   EQU	0x0000000E ; bytes:1
115 
	ORG 0x00000200
 116 
	ORG 0x00000200
116 
	GOTO	_startup
 117 
	GOTO	_startup
117 
	ORG 0x00000204
 118 
	ORG 0x00000204
118 
send_00000
 119 
send_00000
119 
; { send ; function begin
 120 
; { send ; function begin
Line 169... Line 170...
169 
	MOVWF gbl_rcsta
 170 
	MOVWF gbl_rcsta
170 
	MOVLW 0x80
 171 
	MOVLW 0x80
171 
	IORWF gbl_rcsta, W
 172 
	IORWF gbl_rcsta, W
172 
	MOVWF gbl_rcsta
 173 
	MOVWF gbl_rcsta
173 
	CLRF main_1_motors
 174 
	CLRF main_1_motors
174 
label268438598
 175 
label268438599
175 
	BTFSC gbl_portb,0
 176 
	BTFSC gbl_portb,0
176 
	BRA	label268438598
 177 
	BRA	label268438599
177 
	MOVLW 0xF0
 178 
	MOVLW 0xF0
178 
	MOVWF main_1_leds
 179 
	MOVWF main_1_leds
179 
	MOVLW 0x80
 180 
	MOVLW 0x80
180 
	MOVWF main_1_count
 181 
	MOVWF main_1_count
181 
	MOVLW 0x1A
 182 
	MOVLW 0x1A
182 
	MOVWF main_1_count+D'1'
 183 
	MOVWF main_1_count+D'1'
183 
	MOVLW 0x06
 184 
	MOVLW 0x06
184 
	MOVWF main_1_count+D'2'
 185 
	MOVWF main_1_count+D'2'
185 
	CLRF main_1_count+D'3'
 186 
	CLRF main_1_count+D'3'
186 
label268438603
 187 
label268438604
187 
	MOVF main_1_count+D'3', W
 188 
	MOVF main_1_count+D'3', W
188 
	SUBLW 0x00
 189 
	SUBLW 0x00
189 
	BNZ	label268438604
 190 
	BNZ	label268438605
190 
	MOVF main_1_count+D'2', W
 191 
	MOVF main_1_count+D'2', W
191 
	SUBLW 0x00
 192 
	SUBLW 0x00
192 
	BNZ	label268438604
 193 
	BNZ	label268438605
193 
	MOVF main_1_count+D'1', W
 194 
	MOVF main_1_count+D'1', W
194 
	SUBLW 0x00
 195 
	SUBLW 0x00
195 
	BNZ	label268438604
 196 
	BNZ	label268438605
196 
	MOVF main_1_count, W
 197 
	MOVF main_1_count, W
197 
	SUBLW 0x00
 198 
	SUBLW 0x00
198 
label268438604
 199 
label268438605
199 
	BTFSC main_1_count+D'3',7
 200 
	BTFSC main_1_count+D'3',7
200 
	BSF STATUS,C
 201 
	BSF STATUS,C
201 
	BC	label268438608
 202 
	BC	label268438609
202 
	MOVLW 0x01
 203 
	MOVLW 0x01
203 
	SUBWF main_1_count, W
 204 
	SUBWF main_1_count, W
204 
	MOVWF CompTempVar492
 205 
	MOVWF CompTempVar492
205 
	MOVLW 0x00
 206 
	MOVLW 0x00
206 
	MOVWF CompTempVar496
 207 
	MOVWF CompTempVar496
Line 219... Line 220...
219 
	SUBWF main_1_count+D'3', F
 220 
	SUBWF main_1_count+D'3', F
220 
	MOVF CompTempVar492, W
 221 
	MOVF CompTempVar492, W
221 
	MOVWF main_1_count
 222 
	MOVWF main_1_count
222 
	MOVLW 0x00
 223 
	MOVLW 0x00
223 
	SUBWF main_1_count+D'3', W
 224 
	SUBWF main_1_count+D'3', W
224 
	BNZ	label268438620
 225 
	BNZ	label268438621
225 
	MOVLW 0x04
 226 
	MOVLW 0x04
226 
	SUBWF main_1_count+D'2', W
 227 
	SUBWF main_1_count+D'2', W
227 
	BNZ	label268438620
 228 
	BNZ	label268438621
228 
	MOVLW 0x93
 229 
	MOVLW 0x93
229 
	SUBWF main_1_count+D'1', W
 230 
	SUBWF main_1_count+D'1', W
230 
	BNZ	label268438620
 231 
	BNZ	label268438621
231 
	MOVLW 0xE0
 232 
	MOVLW 0xE0
232 
	SUBWF main_1_count, W
 233 
	SUBWF main_1_count, W
233 
label268438620
 234 
label268438621
234 
	BNC	label4026532500
 235 
	BNC	label4026532557
235 
	BTFSS main_1_count+D'3',7
 236 
	BTFSS main_1_count+D'3',7
236 
	BRA	label268438624
 237 
	BRA	label268438625
237 
label4026532500
 238 
label4026532557
238 
	MOVLW 0x01
 239 
	MOVLW 0x01
239 
	IORWF main_1_leds, W
 240 
	IORWF main_1_leds, W
240 
	MOVWF main_1_leds
 241 
	MOVWF main_1_leds
241 
label268438624
 242 
label268438625
242 
	MOVLW 0x00
 243 
	MOVLW 0x00
243 
	SUBWF main_1_count+D'3', W
 244 
	SUBWF main_1_count+D'3', W
244 
	BNZ	label268438626
 245 
	BNZ	label268438627
245 
	MOVLW 0x03
 246 
	MOVLW 0x03
246 
	SUBWF main_1_count+D'2', W
 247 
	SUBWF main_1_count+D'2', W
247 
	BNZ	label268438626
 248 
	BNZ	label268438627
248 
	MOVLW 0x0D
 249 
	MOVLW 0x0D
249 
	SUBWF main_1_count+D'1', W
 250 
	SUBWF main_1_count+D'1', W
250 
	BNZ	label268438626
 251 
	BNZ	label268438627
251 
	MOVLW 0x40
 252 
	MOVLW 0x40
252 
	SUBWF main_1_count, W
 253 
	SUBWF main_1_count, W
253 
label268438626
 254 
label268438627
254 
	BNC	label4026532501
 255 
	BNC	label4026532558
255 
	BTFSS main_1_count+D'3',7
 256 
	BTFSS main_1_count+D'3',7
256 
	BRA	label268438630
 257 
	BRA	label268438631
257 
label4026532501
 258 
label4026532558
258 
	MOVLW 0x02
 259 
	MOVLW 0x02
259 
	IORWF main_1_leds, W
 260 
	IORWF main_1_leds, W
260 
	MOVWF main_1_leds
 261 
	MOVWF main_1_leds
261 
label268438630
 262 
label268438631
262 
	MOVLW 0x00
 263 
	MOVLW 0x00
263 
	SUBWF main_1_count+D'3', W
 264 
	SUBWF main_1_count+D'3', W
264 
	BNZ	label268438632
 265 
	BNZ	label268438633
265 
	MOVLW 0x01
 266 
	MOVLW 0x01
266 
	SUBWF main_1_count+D'2', W
 267 
	SUBWF main_1_count+D'2', W
267 
	BNZ	label268438632
 268 
	BNZ	label268438633
268 
	MOVLW 0x86
 269 
	MOVLW 0x86
269 
	SUBWF main_1_count+D'1', W
 270 
	SUBWF main_1_count+D'1', W
270 
	BNZ	label268438632
 271 
	BNZ	label268438633
271 
	MOVLW 0xA0
 272 
	MOVLW 0xA0
272 
	SUBWF main_1_count, W
 273 
	SUBWF main_1_count, W
273 
label268438632
 274 
label268438633
274 
	BNC	label4026532502
 275 
	BNC	label4026532559
275 
	BTFSS main_1_count+D'3',7
 276 
	BTFSS main_1_count+D'3',7
276 
	BRA	label268438636
 277 
	BRA	label268438637
277 
label4026532502
 278 
label4026532559
278 
	MOVLW 0x04
 279 
	MOVLW 0x04
279 
	IORWF main_1_leds, W
 280 
	IORWF main_1_leds, W
280 
	MOVWF main_1_leds
 281 
	MOVWF main_1_leds
281 
label268438636
 282 
label268438637
282 
	MOVF main_1_leds, W
 283 
	MOVF main_1_leds, W
283 
	MOVWF gbl_lata
 284 
	MOVWF gbl_lata
284 
	BRA	label268438603
 285 
	BRA	label268438604
285 
label268438608
 286 
label268438609
286 
	SETF gbl_lata
 287 
	SETF gbl_lata
287 
label268438640
 288 
label268438641
- 
 
 289 
	CLRF main_1_cas
- 
 
 290 
	CLRF main_1_cas+D'1'
- 
 
 291 
	CLRF main_1_cas+D'2'
- 
 
 292 
	CLRF main_1_cas+D'3'
288 
	SETF main_1_sensors
 293 
	SETF main_1_sensors
289 
	CALL receive_00000
 294 
	CALL receive_00000
290 
	MOVF CompTempVarRet489, W
 295 
	MOVF CompTempVarRet489, W
291 
	MOVWF main_1_sensors
 296 
	MOVWF main_1_sensors
292 
	CLRF CompTempVar491
 297 
	CLRF CompTempVar491
293 
	BTFSS main_1_sensors,1
 298 
	BTFSS main_1_sensors,1
294 
	BRA	label268438645
 299 
	BRA	label268438647
295 
	BTFSS main_1_sensors,0
 300 
	BTFSS main_1_sensors,0
296 
	BRA	label268438645
 301 
	BRA	label268438647
297 
	INCF CompTempVar491, F
 302 
	INCF CompTempVar491, F
298 
label268438645
 303 
label268438647
299 
	MOVF CompTempVar491, F
 304 
	MOVF CompTempVar491, F
300 
	BNZ	label268438646
 305 
	BNZ	label268438648
301 
	MOVLW 0x77
 306 
	MOVLW 0x77
302 
	MOVWF main_1_motors
 307 
	MOVWF main_1_motors
303 
label268438646
 308 
label268438648
304 
	BTFSC main_1_sensors,2
 309 
	BTFSC main_1_sensors,2
305 
	BRA	label268438649
 310 
	BRA	label268438651
- 
 
 311 
	MOVLW 0x00
- 
 
 312 
	SUBWF main_1_cas+D'3', W
- 
 
 313 
	BNZ	label268438653
- 
 
 314 
	MOVLW 0x06
- 
 
 315 
	SUBWF main_1_cas+D'2', W
- 
 
 316 
	BNZ	label268438653
- 
 
 317 
	MOVLW 0x1A
- 
 
 318 
	SUBWF main_1_cas+D'1', W
- 
 
 319 
	BNZ	label268438653
- 
 
 320 
	MOVLW 0x80
- 
 
 321 
	SUBWF main_1_cas, W
- 
 
 322 
label268438653
- 
 
 323 
	BNC	label4026532563
- 
 
 324 
	BTFSS main_1_cas+D'3',7
- 
 
 325 
	BRA	label4026532566
- 
 
 326 
label4026532563
- 
 
 327 
	INCF main_1_cas, F
- 
 
 328 
	BTFSC STATUS,Z
- 
 
 329 
	INCF main_1_cas+D'1', F
- 
 
 330 
	BTFSC STATUS,Z
- 
 
 331 
	INCF main_1_cas+D'2', F
- 
 
 332 
	BTFSC STATUS,Z
- 
 
 333 
	INCF main_1_cas+D'3', F
- 
 
 334 
label4026532566
- 
 
 335 
	CLRF main_1_cas
- 
 
 336 
	CLRF main_1_cas+D'1'
- 
 
 337 
	CLRF main_1_cas+D'2'
- 
 
 338 
	CLRF main_1_cas+D'3'
306 
	MOVLW 0xF7
 339 
	MOVLW 0xF7
307 
	MOVWF main_1_motors
 340 
	MOVWF main_1_motors
308 
label268438649
 341 
label268438651
309 
	BTFSC main_1_sensors,3
 342 
	BTFSC main_1_sensors,3
310 
	BRA	label268438652
 343 
	BRA	label268438668
- 
 
 344 
	MOVLW 0x00
- 
 
 345 
	SUBWF main_1_cas+D'3', W
- 
 
 346 
	BNZ	label268438670
- 
 
 347 
	MOVLW 0x06
- 
 
 348 
	SUBWF main_1_cas+D'2', W
- 
 
 349 
	BNZ	label268438670
- 
 
 350 
	MOVLW 0x1A
- 
 
 351 
	SUBWF main_1_cas+D'1', W
- 
 
 352 
	BNZ	label268438670
- 
 
 353 
	MOVLW 0x80
- 
 
 354 
	SUBWF main_1_cas, W
- 
 
 355 
label268438670
- 
 
 356 
	BNC	label4026532568
- 
 
 357 
	BTFSS main_1_cas+D'3',7
- 
 
 358 
	BRA	label4026532571
- 
 
 359 
label4026532568
- 
 
 360 
	INCF main_1_cas, F
- 
 
 361 
	BTFSC STATUS,Z
- 
 
 362 
	INCF main_1_cas+D'1', F
- 
 
 363 
	BTFSC STATUS,Z
- 
 
 364 
	INCF main_1_cas+D'2', F
- 
 
 365 
	BTFSC STATUS,Z
- 
 
 366 
	INCF main_1_cas+D'3', F
- 
 
 367 
label4026532571
- 
 
 368 
	CLRF main_1_cas
- 
 
 369 
	CLRF main_1_cas+D'1'
- 
 
 370 
	CLRF main_1_cas+D'2'
- 
 
 371 
	CLRF main_1_cas+D'3'
311 
	MOVLW 0x7F
 372 
	MOVLW 0x7F
312 
	MOVWF main_1_motors
 373 
	MOVWF main_1_motors
313 
label268438652
 374 
label268438668
- 
 
 375 
	INCF main_1_cas, F
- 
 
 376 
	BTFSC STATUS,Z
- 
 
 377 
	INCF main_1_cas+D'1', F
- 
 
 378 
	BTFSC STATUS,Z
- 
 
 379 
	INCF main_1_cas+D'2', F
- 
 
 380 
	BTFSC STATUS,Z
- 
 
 381 
	INCF main_1_cas+D'3', F
314 
	MOVF main_1_sensors, W
 382 
	MOVF main_1_sensors, W
315 
	MOVWF gbl_lata
 383 
	MOVWF gbl_lata
316 
	MOVF main_1_motors, W
 384 
	MOVF main_1_motors, W
317 
	MOVWF send_00000_arg_c
 385 
	MOVWF send_00000_arg_c
318 
	CALL send_00000
 386 
	CALL send_00000
319 
	BRA	label268438640
 387 
	BRA	label268438641
320 
; } main function end
 388 
; } main function end
321 
 
 389 
 
322 
	ORG 0x0000035C
 390 
	ORG 0x000003D6
323 
_startup
 391 
_startup
324 
	GOTO	main
 392 
	GOTO	main
325 
	ORG 0x00300000
 393 
	ORG 0x00300000
326 
	DW 0xFEFF
 394 
	DW 0xFEFF
327 
	DW 0xFEF6
 395 
	DW 0xFEF6