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Line 25... Line 25...
25 
#pragma CLOCK_FREQ 40000000
 25 
#pragma CLOCK_FREQ 40000000
26 
 
 26 
 
27 
Function receive() As Byte
 27 
Function receive() As Byte
28 
 
 28 
 
29 
	If ( (rcsta.OERR = 1) ) Then
 29 
	If ( (rcsta.OERR = 1) ) Then
30 
0204  A2AB      	BTFSS gbl_rcsta,1
 30 
020E  A2AB      	BTFSS gbl_rcsta,1
31 
0206  D002      	BRA	label268438550
 31 
0210  D002      	BRA	label268438551
32 
020C            label268438550
 32 
0216            label268438551
33 
 
 33 
 
34 
		rcsta.CREN = 0
 34 
		rcsta.CREN = 0
35 
0208  98AB      	BCF gbl_rcsta,4
 35 
0212  98AB      	BCF gbl_rcsta,4
36 
 
 36 
 
37 
        rcsta.CREN = 1
 37 
        rcsta.CREN = 1
38 
020A  88AB      	BSF gbl_rcsta,4
 38 
0214  88AB      	BSF gbl_rcsta,4
39 
 
 39 
 
40 
	End If
 40 
	End If
41 
    Do While (pir1.RCIF = 0)
 41 
    Do While (pir1.RCIF = 0)
42 
020C  AA9E      	BTFSS gbl_pir1,5
 42 
0216  AA9E      	BTFSS gbl_pir1,5
43 
020E  D7FE      	BRA	label268438550
 43 
0218  D7FE      	BRA	label268438551
44 
 
 44 
 
45 
	Loop
 45 
	Loop
46 
	receive = rcreg
 46 
	receive = rcreg
47 
0210  50AE      	MOVF gbl_rcreg, W
 47 
021A  50AE      	MOVF gbl_rcreg, W
48 
0212  6E07      	MOVWF CompTempVarRet489
 48 
021C  6E07      	MOVWF CompTempVarRet489
49 
 
 49 
 
50
50
51 
End Function
 51 
End Function
52 
0214  0012      	RETURN
 52 
021E  0012      	RETURN
53 
 
 53 
 
54 
 
 54 
 
55 
Sub send(c As Byte)
 55 
Sub send(c As Byte)
56 
 
 56 
 
57 
	Do while (pir1 & (1 << TXIF)) = 0 Loop
 57 
	Do while (pir1 & (1 << TXIF)) = 0 Loop
58 
0216            label268438561
 58 
0204            label268438562
59 
0216  A89E      	BTFSS gbl_pir1,4
 59 
0204  A89E      	BTFSS gbl_pir1,4
60 
0218  D7FE      	BRA	label268438561
 60 
0206  D7FE      	BRA	label268438562
61 
 
 61 
 
62 
	txreg = c
 62 
	txreg = c
63 
021A  5004      	MOVF send_00000_arg_c, W
 63 
0208  5007      	MOVF send_00000_arg_c, W
64 
021C  6EAD      	MOVWF gbl_txreg
 64 
020A  6EAD      	MOVWF gbl_txreg
65 
 
 65 
 
66 
End Sub
 66 
End Sub
67 
021E  0012      	RETURN
 - 
 
68 
 
 - 
 
69 
 
 - 
 
70 
Sub delay(cas As Byte)
 - 
 
71 
 
 - 
 
72 
Dim i As Byte
 - 
 
73 
Dim x As Byte
 - 
 
74 
    Do while i <= cas
 - 
 
75 
0220            label268438570
 - 
 
76 
0220  5005      	MOVF delay_00000_1_i, W
 - 
 
77 
0222  5C04      	SUBWF delay_00000_arg_cas, W
 - 
 
78 
0224  A0D8      	BTFSS STATUS,C
 - 
 
79 
 
 - 
 
80 
     Do While x <= 100
 - 
 
81 
0228  5006      	MOVF delay_00000_1_x, W
 - 
 
82 
022A  0864      	SUBLW 0x64
 - 
 
83 
022C  E305      	BNC	label268438574
 - 
 
84 
 
 - 
 
85 
      Call receive()
 - 
 
86 
022E  EC02F001  	CALL receive_00000
 - 
 
87 
 
 - 
 
88 
      x=x+1
 - 
 
89 
0232  2806      	INCF delay_00000_1_x, W
 - 
 
90 
0234  6E06      	MOVWF delay_00000_1_x
 - 
 
91 
 
 - 
 
92 
     loop
 - 
 
93 
0236  D7F8      	BRA	label4026532417
 - 
 
94 
0238            label268438574
 - 
 
95 
 
 - 
 
96 
    i=i+1
 - 
 
97 
0238  2805      	INCF delay_00000_1_i, W
 - 
 
98 
023A  6E05      	MOVWF delay_00000_1_i
 - 
 
99 
 
 - 
 
100 
	loop
 - 
 
101 
023C  D7F1      	BRA	label268438570
 - 
 
102 
 
 - 
 
103
- 
 
104 
End Sub
 - 
 
105 
0226  0012      	RETURN
 67 
020C  0012      	RETURN
106 
0228            label4026532417
 - 
 
107 
 
 68 
 
108 
 
 69 
 
109 
Sub main()
 70 
Sub main()
110 
 
 71 
 
111 
	Dim motors As Byte
 72 
	Dim motors As Byte
112 
	Dim sensors As Byte
 73 
	Dim sensors As Byte
113 
	Dim buttons As Byte
 74 
	Dim buttons As Byte
- 
 
 75 
	Dim leds As Byte
- 
 
 76 
	Dim count As word
114 
	Dim i As Long
 77 
	Dim i As Long
115 
 
 78 
 
116 
	'NASTAVENI IO
 79 
	'NASTAVENI IO
117 
	lata=0xFF
 80 
	lata=0xFF
118 
023E  6889      	SETF gbl_lata
 81 
0220  6889      	SETF gbl_lata
119 
 
 82 
 
120 
	latb=0
 83 
	latb=0
121 
0240  6A8A      	CLRF gbl_latb
 84 
0222  6A8A      	CLRF gbl_latb
122 
 
 85 
 
123 
	latc=0xFF
 86 
	latc=0xFF
124 
0242  688B      	SETF gbl_latc
 87 
0224  688B      	SETF gbl_latc
125 
 
 88 
 
126 
	trisa=0xF0
 89 
	trisa=0xF0
127 
0244  0EF0      	MOVLW 0xF0
 90 
0226  0EF0      	MOVLW 0xF0
128 
0246  6E92      	MOVWF gbl_trisa
 91 
0228  6E92      	MOVWF gbl_trisa
129 
 
 92 
 
130 
	trisb=0x3F
 93 
	trisb=0x3F
131 
0248  0E3F      	MOVLW 0x3F
 94 
022A  0E3F      	MOVLW 0x3F
132 
024A  6E93      	MOVWF gbl_trisb
 95 
022C  6E93      	MOVWF gbl_trisb
133 
 
 96 
 
134 
	trisc=0x9F
 97 
	trisc=0x9F
135 
024C  0E9F      	MOVLW 0x9F
 98 
022E  0E9F      	MOVLW 0x9F
136 
024E  6E94      	MOVWF gbl_trisc
 99 
0230  6E94      	MOVWF gbl_trisc
137 
 
 100 
 
138 
 
 101 
 
139 
	'VYPNOUT ADC
 102 
	'VYPNOUT ADC
140 
	adcon1=0xC6
 103 
	adcon1=0xC6
141 
0250  0EC6      	MOVLW 0xC6
 104 
0232  0EC6      	MOVLW 0xC6
142 
0252  6EC1      	MOVWF gbl_adcon1
 105 
0234  6EC1      	MOVWF gbl_adcon1
143 
 
 106 
 
144 
	adcon0=0xC0
 107 
	adcon0=0xC0
145 
0254  0EC0      	MOVLW 0xC0
 108 
0236  0EC0      	MOVLW 0xC0
146 
0256  6EC2      	MOVWF gbl_adcon0
 109 
0238  6EC2      	MOVWF gbl_adcon0
147 
 
 110 
 
148 
 
 111 
 
149 
	'UART 9600bps
 112 
	'UART 9600bps
150 
	spbrg=64
 113 
	spbrg=64
151 
0258  0E40      	MOVLW 0x40
 114 
023A  0E40      	MOVLW 0x40
152 
025A  6EAF      	MOVWF gbl_spbrg
 115 
023C  6EAF      	MOVWF gbl_spbrg
153 
 
 116 
 
154 
	txsta = txsta & ~(1 << BRGH)
 117 
	txsta = txsta & ~(1 << BRGH)
155 
025C  0EFB      	MOVLW 0xFB
 118 
023E  0EFB      	MOVLW 0xFB
156 
025E  14AC      	ANDWF gbl_txsta, W
 119 
0240  14AC      	ANDWF gbl_txsta, W
157 
0260  6EAC      	MOVWF gbl_txsta
 120 
0242  6EAC      	MOVWF gbl_txsta
158 
 
 121 
 
159 
	txsta = txsta | (1 << TXEN)
 122 
	txsta = txsta | (1 << TXEN)
160 
0262  0E20      	MOVLW 0x20
 123 
0244  0E20      	MOVLW 0x20
161 
0264  10AC      	IORWF gbl_txsta, W
 124 
0246  10AC      	IORWF gbl_txsta, W
162 
0266  6EAC      	MOVWF gbl_txsta
 125 
0248  6EAC      	MOVWF gbl_txsta
163 
 
 126 
 
164 
	rcsta = rcsta | (1 << CREN)
 127 
	rcsta = rcsta | (1 << CREN)
165 
0268  0E10      	MOVLW 0x10
 128 
024A  0E10      	MOVLW 0x10
166 
026A  10AB      	IORWF gbl_rcsta, W
 129 
024C  10AB      	IORWF gbl_rcsta, W
167 
026C  6EAB      	MOVWF gbl_rcsta
 130 
024E  6EAB      	MOVWF gbl_rcsta
168 
 
 131 
 
169 
	rcsta = rcsta | (1 << SPEN)
 132 
	rcsta = rcsta | (1 << SPEN)
170 
026E  0E80      	MOVLW 0x80
 133 
0250  0E80      	MOVLW 0x80
171 
0270  10AB      	IORWF gbl_rcsta, W
 134 
0252  10AB      	IORWF gbl_rcsta, W
172 
0272  6EAB      	MOVWF gbl_rcsta
 135 
0254  6EAB      	MOVWF gbl_rcsta
173 
 
 136 
 
174
137
175 
	motors = 0x00
 138 
	motors = 0x00
176 
0274  6A01      	CLRF main_1_motors
 139 
0256  6A01      	CLRF main_1_motors
- 
 
 140 
 
- 
 
 141
- 
 
 142 
    do while (portb.0 = 1)
- 
 
 143 
0258            label268438598
- 
 
 144 
0258  B081      	BTFSC gbl_portb,0
- 
 
 145 
025A  D7FE      	BRA	label268438598
- 
 
 146 
 
- 
 
 147 
	loop
- 
 
 148 
 
- 
 
 149 
	leds = 0xF0
- 
 
 150 
025C  0EF0      	MOVLW 0xF0
- 
 
 151 
025E  6E03      	MOVWF main_1_leds
- 
 
 152 
 
- 
 
 153 
	count = 400000
- 
 
 154 
0260  0E80      	MOVLW 0x80
- 
 
 155 
0262  6E04      	MOVWF main_1_count
- 
 
 156 
0264  0E1A      	MOVLW 0x1A
- 
 
 157 
0266  6E05      	MOVWF main_1_count+D'1'
177 
 
 158 
 
178
159
179 
	lata = 0x0E
160 
	do while (count > 0)
180 
0276  0E0E      	MOVLW 0x0E
 161 
0268            label268438603
181 
0278  6E89      	MOVWF gbl_lata
 162 
0268  5004      	MOVF main_1_count, W
182 
 
 - 
 
183 
    Call delay(200)
 163 
026A  0800      	SUBLW 0x00
184 
027A  0EC8      	MOVLW 0xC8
 164 
026C  B0D8      	BTFSC STATUS,C
185 
027C  6E04      	MOVWF delay_00000_arg_cas
 165 
026E  5005      	MOVF main_1_count+D'1', W
186 
027E  EC10F001  	CALL delay_00000
 166 
0270  E013      	BZ	label268438605
187 
 
 167 
 
188 
	lata = 0x0D
 168 
		count = count -1
189 
0282  0E0D      	MOVLW 0x0D
 169 
0272  0E01      	MOVLW 0x01
- 
 
 170 
0274  5C04      	SUBWF main_1_count, W
- 
 
 171 
0276  6E07      	MOVWF CompTempVar492
- 
 
 172 
0278  A0D8      	BTFSS STATUS,C
- 
 
 173 
027A  0605      	DECF main_1_count+D'1', F
- 
 
 174 
027C  5007      	MOVF CompTempVar492, W
190 
0284  6E89      	MOVWF gbl_lata
 175 
027E  6E04      	MOVWF main_1_count
191 
 
 176 
 
- 
 
 177
- 
 
 178 
		if count < 300000 then
192 
    Call delay(200)
 179 
			leds = leds | 1
193 
0286  0EC8      	MOVLW 0xC8
 180 
0280  0E01      	MOVLW 0x01
194 
0288  6E04      	MOVWF delay_00000_arg_cas
 181 
0282  1003      	IORWF main_1_leds, W
195 
028A  EC10F001  	CALL delay_00000
 182 
0284  6E03      	MOVWF main_1_leds
196 
 
 183 
 
- 
 
 184 
		end if
- 
 
 185 
		if count < 200000 then
197 
	lata = 0x0B
 186 
			leds = leds | 2
198 
028E  0E0B      	MOVLW 0x0B
 187 
0286  0E02      	MOVLW 0x02
- 
 
 188 
0288  1003      	IORWF main_1_leds, W
199 
0290  6E89      	MOVWF gbl_lata
 189 
028A  6E03      	MOVWF main_1_leds
200 
 
 190 
 
- 
 
 191 
		end if
- 
 
 192 
		if count < 100000 then
201 
    Call delay(200)
 193 
			leds = leds | 4
202 
0292  0EC8      	MOVLW 0xC8
 194 
028C  0E04      	MOVLW 0x04
203 
0294  6E04      	MOVWF delay_00000_arg_cas
 195 
028E  1003      	IORWF main_1_leds, W
204 
0296  EC10F001  	CALL delay_00000
 196 
0290  6E03      	MOVWF main_1_leds
205 
 
 197 
 
- 
 
 198 
		end if
206 
	lata = 0x07
 199 
		lata = leds
207 
029A  0E07      	MOVLW 0x07
 200 
0292  5003      	MOVF main_1_leds, W
208 
029C  6E89      	MOVWF gbl_lata
 201 
0294  6E89      	MOVWF gbl_lata
209 
 
 202 
 
210 
    Call delay(200)
 203 
	loop
211 
029E  0EC8      	MOVLW 0xC8
 204 
0296  D7E8      	BRA	label268438603
212 
02A0  6E04      	MOVWF delay_00000_arg_cas
 - 
 
213 
02A2  EC10F001  	CALL delay_00000
 205 
0298            label268438605
214 
 
 - 
 
215 
 
 206 
 
216 
	motors = 0x77
 207 
	leds = 0xFF
217 
02A6  0E77      	MOVLW 0x77
 - 
 
218 
02A8  6E01      	MOVWF main_1_motors
 208 
0298  6803      	SETF main_1_leds
219 
 
 - 
 
220 
 
 209 
 
221 
    Call delay(100)
 210 
	lata = 0xFF
222 
02AA  0E64      	MOVLW 0x64
 211 
029A  6889      	SETF gbl_lata
223 
02AC  6E04      	MOVWF delay_00000_arg_cas
 - 
 
224 
02AE  EC10F001  	CALL delay_00000
 - 
 
225 
 
 212 
 
226 
 
 213 
 
227
214
228 
Do while 1
 215 
Do while 1
229 
02B2            label268438640
 216 
029C            label268438623
230 
 
 217 
 
231 
 
 218 
 
232 
  sensors =0xFF
219 
  sensors =0xFF
233 
02B2  6802      	SETF main_1_sensors
 220 
029C  6802      	SETF main_1_sensors
234 
 
 221 
 
235 
  sensors = Call receive()	'prijmi stav cidel senzoru
 222 
  sensors = Call receive()	'prijmi stav cidel senzoru
236 
02B4  EC02F001  	CALL receive_00000
 223 
029E  EC07F001  	CALL receive_00000
237 
02B8  5007      	MOVF CompTempVarRet489, W
 224 
02A2  5007      	MOVF CompTempVarRet489, W
238 
02BA  6E02      	MOVWF main_1_sensors
 225 
02A4  6E02      	MOVWF main_1_sensors
239 
 
 226 
 
240
227
241 
  If (!((sensors.0) and (sensors.1))) Then
 228 
  If (!((sensors.0) and (sensors.1))) Then
242 
02BC  6A03      	CLRF CompTempVar491
 229 
02A6  6A06      	CLRF CompTempVar491
243 
02BE  A202      	BTFSS main_1_sensors,1
 230 
02A8  A202      	BTFSS main_1_sensors,1
244 
02C0  D003      	BRA	label268438645
 231 
02AA  D003      	BRA	label268438628
245 
02C2  A002      	BTFSS main_1_sensors,0
 232 
02AC  A002      	BTFSS main_1_sensors,0
246 
02C4  D001      	BRA	label268438645
 233 
02AE  D001      	BRA	label268438628
247 
02C6  2A03      	INCF CompTempVar491, F
 234 
02B0  2A06      	INCF CompTempVar491, F
248 
02C8            label268438645
 235 
02B2            label268438628
249 
02C8  5203      	MOVF CompTempVar491, F
 236 
02B2  5206      	MOVF CompTempVar491, F
250 
02CA  E102      	BNZ	label268438646
 237 
02B4  E102      	BNZ	label268438629
251 
02D0            label268438646
 238 
02BA            label268438629
252 
 
 239 
 
253 
    motors = 0x77
 240 
    motors = 0x77
254 
02CC  0E77      	MOVLW 0x77
 241 
02B6  0E77      	MOVLW 0x77
255 
02CE  6E01      	MOVWF main_1_motors
 242 
02B8  6E01      	MOVWF main_1_motors
256 
 
 243 
 
257 
  End If
 244 
  End If
258
245
259 
  If (!(sensors.2)) Then
 246 
  If (!(sensors.2)) Then
260 
02D0  B402      	BTFSC main_1_sensors,2
 247 
02BA  B402      	BTFSC main_1_sensors,2
261 
02D2  D002      	BRA	label268438649
 248 
02BC  D002      	BRA	label268438632
262 
02D8            label268438649
 249 
02C2            label268438632
263 
 
 250 
 
264 
    motors = 0xF7
 251 
    motors = 0xF7
265 
02D4  0EF7      	MOVLW 0xF7
 252 
02BE  0EF7      	MOVLW 0xF7
266 
02D6  6E01      	MOVWF main_1_motors
 253 
02C0  6E01      	MOVWF main_1_motors
267 
 
 254 
 
268 
  End If
 255 
  End If
269
256
270 
  If (!(sensors.3)) Then
 257 
  If (!(sensors.3)) Then
271 
02D8  B602      	BTFSC main_1_sensors,3
 258 
02C2  B602      	BTFSC main_1_sensors,3
272 
02DA  D002      	BRA	label268438652
 259 
02C4  D002      	BRA	label268438635
273 
02E0            label268438652
 260 
02CA            label268438635
274 
 
 261 
 
275 
    motors = 0x7F
 262 
    motors = 0x7F
276 
02DC  0E7F      	MOVLW 0x7F
 263 
02C6  0E7F      	MOVLW 0x7F
277 
02DE  6E01      	MOVWF main_1_motors
 264 
02C8  6E01      	MOVWF main_1_motors
278 
 
 265 
 
279 
  End If
266 
  End If
280
267
281 
  lata = sensors
 268 
  lata = sensors
282 
02E0  5002      	MOVF main_1_sensors, W
 269 
02CA  5002      	MOVF main_1_sensors, W
283 
02E2  6E89      	MOVWF gbl_lata
 270 
02CC  6E89      	MOVWF gbl_lata
284 
 
 271 
 
285 
  call send(motors)
 272 
  call send(motors)
286 
02E4  5001      	MOVF main_1_motors, W
 273 
02CE  5001      	MOVF main_1_motors, W
287 
02E6  6E04      	MOVWF send_00000_arg_c
 274 
02D0  6E07      	MOVWF send_00000_arg_c
288 
02E8  EC0BF001  	CALL send_00000
 275 
02D2  EC02F001  	CALL send_00000
289 
 
 276 
 
290
277
291 
Loop
 278 
Loop
292 
02EC  D7E2      	BRA	label268438640
 279 
02D6  D7E2      	BRA	label268438623
293 
 
 280 
 
294
281
295 
End Sub
 282 
End Sub
296 
 
 283 
 
297 
 
 284 
 
298 
////////////////////////////////////////
 285 
////////////////////////////////////////
299 
// Code with no source :-)
 286 
// Code with no source :-)
300 
////////////////////////////////////////
 287 
////////////////////////////////////////
301 
0200  EF77F001  	GOTO	_startup
 288 
0200  EF6CF001  	GOTO	_startup
302 
 
 - 
 
303 
 
 - 
 
304 
 
 - 
 
305 
 
 - 
 
306 
 
 - 
 
307 
 
 289 
 
308 
 
 290 
 
309 
02EE            _startup
 291 
02D8            _startup
310 
02EE  EF1FF001  	GOTO	main
 292 
02D8  EF10F001  	GOTO	main
311 
 
 293 
 
312 
300000  FEFF      	DW 0xFEFF
 294 
300000  FEFF      	DW 0xFEFF
313 
300002  FEF6      	DW 0xFEF6
 295 
300002  FEF6      	DW 0xFEF6
314 
300004  FEFF      	DW 0xFEFF
 296 
300004  FEFF      	DW 0xFEFF
315 
300006  FFFB      	DW 0xFFFB
 297 
300006  FFFB      	DW 0xFFFB