WebSVN – svnkaklik – /programy/PIC_C/motory/krokac/KROKAC.LST

CCS PCM C Compiler, Version 3.234, 27853               16-X-05 21:12

               Filename: C:\MIHO_DAT\KROKAC\krokac.LST

               ROM used: 321 words (8%)
                         Largest free fragment is 2048
               RAM used: 21 (12%) at main() level
                         24 (14%) worst case
               Stack:    3 worst case (1 in main + 2 for interrupts)

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   098
0003:  NOP
0004:  MOVWF  7F
0005:  SWAPF  03,W
0006:  CLRF   03
0007:  MOVWF  21
0008:  MOVF   7F,W
0009:  MOVWF  20
000A:  MOVF   0A,W
000B:  MOVWF  28
000C:  CLRF   0A
000D:  SWAPF  20,F
000E:  MOVF   04,W
000F:  MOVWF  22
0010:  MOVF   77,W
0011:  MOVWF  23
0012:  MOVF   78,W
0013:  MOVWF  24
0014:  MOVF   79,W
0015:  MOVWF  25
0016:  MOVF   7A,W
0017:  MOVWF  26
0018:  MOVF   7B,W
0019:  MOVWF  27
001A:  BCF    03.7
001B:  BCF    03.5
001C:  MOVLW  8C
001D:  MOVWF  04
001E:  BTFSS  00.1
001F:  GOTO   022
0020:  BTFSC  0C.1
0021:  GOTO   035
0022:  MOVF   22,W
0023:  MOVWF  04
0024:  MOVF   23,W
0025:  MOVWF  77
0026:  MOVF   24,W
0027:  MOVWF  78
0028:  MOVF   25,W
0029:  MOVWF  79
002A:  MOVF   26,W
002B:  MOVWF  7A
002C:  MOVF   27,W
002D:  MOVWF  7B
002E:  MOVF   28,W
002F:  MOVWF  0A
0030:  SWAPF  21,W
0031:  MOVWF  03
0032:  SWAPF  7F,F
0033:  SWAPF  7F,W
0034:  RETFIE
0035:  BCF    0A.3
0036:  GOTO   043
....................  #include "C:\MIHO_DAT\KROKAC\krokac.h" 
....................  #include <16F88.h> 
....................  //////// Standard Header file for the PIC16F88 device ////////////////  
.................... #device PIC16F88  
.................... #list  
....................  
.................... //#device ICD=TRUE  
.................... #device adc=8  
....................   
.................... #FUSES NOWDT                       //No Watch Dog Timer  
.................... #FUSES RC                     //Resistor/Capacitor Osc with CLKOUT  
.................... #FUSES NOPUT                       //No Power Up Timer  
.................... #FUSES MCLR                        //Master Clear pin enabled  
.................... #FUSES NOBROWNOUT                  //No brownout reset  
.................... #FUSES NOLVP                       //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O  
.................... #FUSES NOCPD                       //No EE protection  
.................... #FUSES NOWRT                       //Program memory not write protected  
.................... //#FUSES DEBUG                     //Debug mode for use with ICD  
.................... #FUSES NOPROTECT                   //Code not protected from reading  
.................... #FUSES FCMEN                       //Fail-safe clock monitor enabled  
.................... #FUSES IESO                        //Internal External Switch Over mode enabled  
....................   
.................... #use delay(clock=4000000)  
*
0082:  MOVLW  31
0083:  MOVWF  04
0084:  MOVF   00,W
0085:  BTFSC  03.2
0086:  GOTO   096
0087:  MOVLW  01
0088:  MOVWF  78
0089:  CLRF   77
008A:  DECFSZ 77,F
008B:  GOTO   08A
008C:  DECFSZ 78,F
008D:  GOTO   089
008E:  MOVLW  4A
008F:  MOVWF  77
0090:  DECFSZ 77,F
0091:  GOTO   090
0092:  NOP
0093:  NOP
0094:  DECFSZ 00,F
0095:  GOTO   087
0096:  BCF    0A.3
0097:  GOTO   130 (RETURN)
.................... #define MOTORA   PIN_B0  
.................... #define MOTORB   PIN_B1  
.................... #define MOTORC   PIN_B2  
.................... #define MOTORD   PIN_B3  
....................   
....................  
....................   
....................   
.................... unsigned int   StepState;     // Vnitrni promenna kroku  
.................... signed int     StepDirection; // Smer +1/0/-1  
....................   
.................... byte const StepTab[8]={       // Tabulka pro krokovy motor  
....................          0b0001,     // 0           
....................          0b0101,     // 1  
....................          0b0100,     // 2  
....................          0b0110,     // 3  
....................          0b0010,     // 4  
....................          0b1010,     // 5  
....................          0b1000      // 6  
....................          0b1001,     // 7  
....................          };  
....................            
.................... #INT_TIMER2  
.................... void StepNext()  
.................... {  
....................    unsigned int i;  
....................      
....................    StepState+=StepDirection;     // posun se na dalsi krok  
*
0043:  MOVF   2A,W
0044:  ADDWF  29,W
0045:  MOVWF  29
....................    i=StepState&0b111;            // vezmi spodni 3 bity stavu  
0046:  MOVF   29,W
0047:  ANDLW  07
0048:  MOVWF  32
....................    i=StepTab[i];                 // prekoduj pomoci tabulky  
0049:  MOVF   32,W
004A:  CALL   037
004B:  MOVWF  78
004C:  MOVWF  32
....................    output_bit(MOTORA,i&0b0001);  // aktivuj jednotlive vystupy  
004D:  BTFSC  32.0
004E:  GOTO   051
004F:  BCF    06.0
0050:  GOTO   052
0051:  BSF    06.0
0052:  BSF    03.5
0053:  BCF    06.0
....................    output_bit(MOTORB,i&0b0010);  
0054:  BCF    03.5
0055:  BTFSC  32.1
0056:  GOTO   059
0057:  BCF    06.1
0058:  GOTO   05A
0059:  BSF    06.1
005A:  BSF    03.5
005B:  BCF    06.1
....................    output_bit(MOTORC,i&0b0100);  
005C:  BCF    03.5
005D:  BTFSC  32.2
005E:  GOTO   061
005F:  BCF    06.2
0060:  GOTO   062
0061:  BSF    06.2
0062:  BSF    03.5
0063:  BCF    06.2
....................    output_bit(MOTORD,i&0b1000);  
0064:  BCF    03.5
0065:  BTFSC  32.3
0066:  GOTO   069
0067:  BCF    06.3
0068:  GOTO   06A
0069:  BSF    06.3
006A:  BSF    03.5
006B:  BCF    06.3
.................... }  
....................   
....................   
006C:  BCF    03.5
006D:  BCF    0C.1
006E:  BCF    0A.3
006F:  GOTO   022
.................... void StepSetDirection(signed int Direction)  
.................... {  
....................    if(Direction> 1) Direction= 1;  
0070:  BTFSC  30.7
0071:  GOTO   078
0072:  MOVF   30,W
0073:  SUBLW  01
0074:  BTFSC  03.0
0075:  GOTO   078
0076:  MOVLW  01
0077:  MOVWF  30
....................    if(Direction<-1) Direction=-1;  
0078:  MOVF   30,W
0079:  XORLW  80
007A:  SUBLW  7E
007B:  BTFSS  03.0
007C:  GOTO   07F
007D:  MOVLW  FF
007E:  MOVWF  30
....................    StepDirection=Direction;  
007F:  MOVF   30,W
0080:  MOVWF  2A
.................... }  
0081:  RETLW  00
....................   
....................   
.................... void StepSetTime(unsigned int16 Time)  
.................... {  
....................      
.................... }  
....................   
.................... void Delay(unsigned int16 Time)  
.................... {  
....................    while(Time>255) {Time-=256;delay_us(256);};  
....................    if(Time!=0) delay_us(Time);  
.................... }  
....................   
....................   
.................... void main()  
.................... {  
*
0098:  CLRF   04
0099:  MOVLW  1F
009A:  ANDWF  03,F
009B:  BSF    03.5
009C:  BCF    1F.4
009D:  BCF    1F.5
009E:  MOVF   1B,W
009F:  ANDLW  80
00A0:  MOVWF  1B
00A1:  MOVLW  07
00A2:  MOVWF  1C
00A3:  MOVF   1C,W
00A4:  BCF    03.5
00A5:  BCF    0D.6
.................... unsigned int16 T;  
.................... unsigned long int i;  
....................   
....................    // Nastav pracovni frekvenci procesoru  
....................    setup_oscillator(OSC_4MHZ);  
00A6:  MOVLW  60
00A7:  BSF    03.5
00A8:  MOVWF  0F
....................   
....................    // Vypni motorovy vystup  
....................    output_low(MOTORA);  
00A9:  BCF    06.0
00AA:  BCF    03.5
00AB:  BCF    06.0
....................    output_low(MOTORB);  
00AC:  BSF    03.5
00AD:  BCF    06.1
00AE:  BCF    03.5
00AF:  BCF    06.1
....................    output_low(MOTORC);  
00B0:  BSF    03.5
00B1:  BCF    06.2
00B2:  BCF    03.5
00B3:  BCF    06.2
....................    output_low(MOTORD);  
00B4:  BSF    03.5
00B5:  BCF    06.3
00B6:  BCF    03.5
00B7:  BCF    06.3
....................   
....................    // Vstupy s pull-up odporem  
....................    port_b_pullups(TRUE);  
00B8:  BSF    03.5
00B9:  BCF    01.7
....................   
....................    // Inicializace A/D prevodniku  
....................    setup_adc_ports(sAN0|VSS_VDD);  
00BA:  BCF    1F.4
00BB:  BCF    1F.5
00BC:  MOVF   1B,W
00BD:  ANDLW  80
00BE:  IORLW  01
00BF:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL);  
00C0:  BCF    1F.6
00C1:  BCF    03.5
00C2:  BSF    1F.6
00C3:  BSF    1F.7
00C4:  BSF    03.5
00C5:  BCF    1F.7
00C6:  BCF    03.5
00C7:  BSF    1F.0
....................    set_adc_channel(0);  
00C8:  MOVLW  00
00C9:  MOVWF  78
00CA:  MOVF   1F,W
00CB:  ANDLW  C7
00CC:  IORWF  78,W
00CD:  MOVWF  1F
....................   
....................    // Dalsi inicializace  
....................    setup_spi(FALSE);  
00CE:  BCF    14.5
00CF:  BSF    03.5
00D0:  BCF    06.2
00D1:  BSF    06.1
00D2:  BCF    06.4
00D3:  MOVLW  00
00D4:  BCF    03.5
00D5:  MOVWF  14
00D6:  BSF    03.5
00D7:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);  
00D8:  MOVF   01,W
00D9:  ANDLW  C7
00DA:  IORLW  08
00DB:  MOVWF  01
....................    setup_timer_1(T1_DISABLED);  
00DC:  BCF    03.5
00DD:  CLRF   10
....................    setup_comparator(NC_NC_NC_NC);  
00DE:  MOVLW  07
00DF:  BSF    03.5
00E0:  MOVWF  1C
00E1:  MOVF   05,W
00E2:  MOVLW  03
00E3:  MOVWF  77
00E4:  DECFSZ 77,F
00E5:  GOTO   0E4
00E6:  MOVF   1C,W
00E7:  BCF    03.5
00E8:  BCF    0D.6
....................    setup_vref(FALSE);  
00E9:  BSF    03.5
00EA:  CLRF   1D
....................   
....................    // Inicializace stavovych promennych  
....................    StepState=0;  
00EB:  BCF    03.5
00EC:  CLRF   29
....................   
....................    // Nastaveni casovace  
....................    setup_timer_2(T2_DIV_BY_16,0xFF,1);  
00ED:  MOVLW  00
00EE:  MOVWF  78
00EF:  IORLW  06
00F0:  MOVWF  12
00F1:  MOVLW  FF
00F2:  BSF    03.5
00F3:  MOVWF  12
....................   
....................    // Nastveni preruseni od casovace  
....................    enable_interrupts(global);  
00F4:  MOVLW  C0
00F5:  BCF    03.5
00F6:  IORWF  0B,F
....................    enable_interrupts(int_timer2);  
00F7:  BSF    03.5
00F8:  BSF    0C.1
....................      
.................... for(;;)  
.................... {  
....................   
....................    T=read_adc(ADC_READ_ONLY);    // Prectu hodnotu  
00F9:  BCF    03.5
00FA:  BTFSS  1F.2
00FB:  GOTO   0FE
00FC:  BSF    03.5
00FD:  GOTO   0F9
00FE:  MOVF   1E,W
00FF:  CLRF   2C
0100:  MOVWF  2B
....................    read_adc(ADC_START_ONLY);     // Ostartuji dalsi prevod (na pozadi)  
0101:  BSF    1F.2
....................   
....................    //setup_timer_2(T2_DIV_BY_16,T,1);  
....................    if(T>0) *0x92=T;              // Preload register casovace  
0102:  MOVF   2B,F
0103:  BTFSS  03.2
0104:  GOTO   108
0105:  MOVF   2C,F
0106:  BTFSC  03.2
0107:  GOTO   10C
0108:  MOVF   2B,W
0109:  BSF    03.5
010A:  MOVWF  12
010B:  BCF    03.5
....................   
....................    // Podle prepinacu se hybu  
....................    if(input(PIN_B5))  
010C:  BSF    03.5
010D:  BSF    06.5
010E:  BCF    03.5
010F:  BTFSS  06.5
0110:  GOTO   11E
....................       {  
....................          if(input(PIN_B4)) StepSetDirection(1); else StepSetDirection(-1);  
0111:  BSF    03.5
0112:  BSF    06.4
0113:  BCF    03.5
0114:  BTFSS  06.4
0115:  GOTO   11A
0116:  MOVLW  01
0117:  MOVWF  30
0118:  CALL   070
0119:  GOTO   11D
011A:  MOVLW  FF
011B:  MOVWF  30
011C:  CALL   070
....................       }  
....................    else  
011D:  GOTO   13E
....................       {  int1 x;   // pomocna promenna aby se volalo spozdeni jen 1x  
....................          if (StepState>230) {  
011E:  MOVF   29,W
011F:  SUBLW  E6
0120:  BTFSC  03.0
0121:  GOTO   136
....................                               if (!input(PIN_B4) && (x))  
0122:  BSF    03.5
0123:  BSF    06.4
0124:  BCF    03.5
0125:  BTFSC  06.4
0126:  GOTO   133
0127:  BTFSS  2F.0
0128:  GOTO   133
....................                               {  
....................                                  StepSetDirection(0);  
0129:  CLRF   30
012A:  CALL   070
....................                                  delay_ms(500);  
012B:  MOVLW  02
012C:  MOVWF  30
012D:  MOVLW  FA
012E:  MOVWF  31
012F:  GOTO   082
0130:  DECFSZ 30,F
0131:  GOTO   12D
....................                                  x=0;  
0132:  BCF    2F.0
....................                               };  
....................                               StepSetDirection(-1);  
0133:  MOVLW  FF
0134:  MOVWF  30
0135:  CALL   070
....................                             }  
....................          if (StepState<30)  {  
0136:  MOVF   29,W
0137:  SUBLW  1D
0138:  BTFSS  03.0
0139:  GOTO   13E
....................                               StepSetDirection( 1);  
013A:  MOVLW  01
013B:  MOVWF  30
013C:  CALL   070
....................                               x=1;  
013D:  BSF    2F.0
....................                             }    
....................       }  
.................... //StepDirection=2;  
.................... //for(i=0;i<800;i++)  
.................... //{  
.................... //   StepNext();  
.................... //   Delay(T);  
.................... //}  
.................... //delay_ms(10);  
.................... //StepDirection=-1;  
.................... //for(i=0;i<800;i++)  
.................... //{  
.................... //   StepNext();  
.................... //   Delay(T);  
.................... //}  
.................... //delay_ms(10);  
....................   
.................... }  // Cyklus for  
013E:  BSF    03.5
013F:  GOTO   0F9
....................     
.................... }  
....................  
0140:  SLEEP

Configuration Fuses:
   Word  1: 3F3B   NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT RC
   Word  2: 3FFF   FCMEN IESO
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(root)/programy/PIC_C/motory/krokac/KROKAC.LST – Rev 306
