Subversion Repositories svnkaklik

CCS PCM C Compiler, Version 3.245, 27853               16-IV-06 23:31

               Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst

               ROM used: 282 words (7%)
                         Largest free fragment is 2048
               RAM used: 12 (7%) at main() level
                         12 (7%) worst case
               Stack:    0 locations

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   004
0003:  NOP
.................... #include ".\cidla.h" 
.................... #include <16F88.h> 
.................... //////// Standard Header file for the PIC16F88 device //////////////// 
.................... #device PIC16F88 
.................... #list 
....................  
.................... #device adc=8 
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO 
.................... #use delay(clock=4000000,RESTART_WDT) 
....................  
....................  
.................... //#include <stdlib.h> 
....................  
.................... #use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt) 
....................  
.................... #define IRRX      PIN_B0 
....................  
.................... #define  TRESHOLD_MAX   60    // rozhodovaci uroven  pro cidla cerna/bila 
.................... #define  TRESHOLD_MIN   40 
.................... #define  CIHLA          50    // doba, po kterou musi byt detekovana cihla 
....................  
.................... unsigned int8 radius;         // co cidla vidi 
.................... unsigned int8 last_radius;    // rozsah 
.................... unsigned int8 last_cidla;     // co cidla videla minule 
.................... unsigned int8 shure;          // citac doby, po kterou musi byt detekovana cihla 
....................  
.................... //tuning 
.................... /*#define  PULZACE  3  // urcuje rychlost pulzovani pomoci PWM 
....................  
.................... //Vystup PWM je na PIN_B3 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... void pulzovani()  // postupne rozsvecuje a zhasina podsvetleni 
.................... { 
.................... unsigned int8 i,n; 
....................    for(n=0;n<=3;n++) 
....................    { 
....................       for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani 
....................       for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani 
....................    } 
.................... } 
.................... */ 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... void main() 
.................... { 
0004:  CLRF   04
0005:  MOVLW  1F
0006:  ANDWF  03,F
0007:  MOVLW  60
0008:  BSF    03.5
0009:  MOVWF  0F
000A:  BCF    06.1
000B:  BCF    03.5
000C:  BSF    06.1
000D:  BSF    03.5
000E:  BCF    1F.4
000F:  BCF    1F.5
0010:  MOVF   1B,W
0011:  ANDLW  80
0012:  MOVWF  1B
0013:  MOVLW  07
0014:  MOVWF  1C
....................    int8 cidla; 
....................    unsigned int8 a; 
....................    unsigned int8 n; 
....................  
....................    setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); 
0015:  BCF    1F.4
0016:  BCF    1F.5
0017:  MOVF   1B,W
0018:  ANDLW  80
0019:  IORLW  7F
001A:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL); 
001B:  BCF    1F.6
001C:  BCF    03.5
001D:  BSF    1F.6
001E:  BSF    1F.7
001F:  BSF    03.5
0020:  BCF    1F.7
0021:  BCF    03.5
0022:  BSF    1F.0
....................    setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); 
0023:  BCF    14.5
0024:  BSF    03.5
0025:  BCF    06.2
0026:  BSF    06.1
0027:  BSF    06.4
0028:  MOVLW  35
0029:  BCF    03.5
002A:  MOVWF  14
002B:  MOVLW  40
002C:  BSF    03.5
002D:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); 
002E:  MOVF   01,W
002F:  ANDLW  C7
0030:  IORLW  08
0031:  MOVWF  01
....................    setup_timer_1(T1_DISABLED); 
0032:  BCF    03.5
0033:  CLRF   10
....................    setup_timer_2(T2_DISABLED,0,1); 
0034:  MOVLW  00
0035:  MOVWF  78
0036:  MOVWF  12
0037:  MOVLW  00
0038:  BSF    03.5
0039:  MOVWF  12
....................    setup_comparator(NC_NC_NC_NC); 
003A:  MOVLW  07
003B:  MOVWF  1C
003C:  MOVF   05,W
003D:  CLRWDT
003E:  MOVLW  02
003F:  MOVWF  77
0040:  DECFSZ 77,F
0041:  GOTO   040
0042:  NOP
0043:  NOP
0044:  MOVF   1C,W
0045:  BCF    03.5
0046:  BCF    0D.6
....................    setup_vref(FALSE); 
0047:  BSF    03.5
0048:  CLRF   1D
....................  
....................    last_radius=0b00001000;  // minimalni rozsah snimani od stredu 
0049:  MOVLW  08
004A:  BCF    03.5
004B:  MOVWF  21
....................    last_cidla=0b00001000; 
004C:  MOVWF  22
....................  
....................    shure=0; 
004D:  CLRF   23
....................  
....................    while(true) 
....................    { 
....................       set_adc_channel(0); 
004E:  MOVLW  00
004F:  MOVWF  78
0050:  MOVF   1F,W
0051:  ANDLW  C7
0052:  IORWF  78,W
0053:  MOVWF  1F
....................       cidla=0; 
0054:  CLRF   24
....................       Delay_us(10); 
0055:  CLRWDT
0056:  MOVLW  02
0057:  MOVWF  77
0058:  DECFSZ 77,F
0059:  GOTO   058
005A:  NOP
005B:  NOP
....................       a=read_adc(); 
005C:  BSF    1F.2
005D:  BTFSC  1F.2
005E:  GOTO   05D
005F:  MOVF   1E,W
0060:  MOVWF  25
....................  
....................       set_adc_channel(1); 
0061:  MOVLW  08
0062:  MOVWF  78
0063:  MOVF   1F,W
0064:  ANDLW  C7
0065:  IORWF  78,W
0066:  MOVWF  1F
....................       if(a<TRESHOLD_MAX)         //hystereze cidel 
0067:  MOVF   25,W
0068:  SUBLW  3B
0069:  BTFSS  03.0
006A:  GOTO   074
....................       { 
....................          if(a>TRESHOLD_MIN) 
006B:  MOVF   25,W
006C:  SUBLW  28
006D:  BTFSC  03.0
006E:  GOTO   073
....................          { 
....................             cidla |= (last_cidla & 0b00000001); 
006F:  MOVF   22,W
0070:  ANDLW  01
0071:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000001; 
0072:  GOTO   074
0073:  BSF    24.0
....................       } 
....................  
....................       a=read_adc(); 
0074:  BSF    1F.2
0075:  BTFSC  1F.2
0076:  GOTO   075
0077:  MOVF   1E,W
0078:  MOVWF  25
....................  
....................       set_adc_channel(2); 
0079:  MOVLW  10
007A:  MOVWF  78
007B:  MOVF   1F,W
007C:  ANDLW  C7
007D:  IORWF  78,W
007E:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
007F:  MOVF   25,W
0080:  SUBLW  3B
0081:  BTFSS  03.0
0082:  GOTO   08C
....................       { 
....................          if(a>TRESHOLD_MIN) 
0083:  MOVF   25,W
0084:  SUBLW  28
0085:  BTFSC  03.0
0086:  GOTO   08B
....................          { 
....................             cidla |= (last_cidla & 0b00000010); 
0087:  MOVF   22,W
0088:  ANDLW  02
0089:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000010; 
008A:  GOTO   08C
008B:  BSF    24.1
....................       } 
....................  
....................       a=read_adc(); 
008C:  BSF    1F.2
008D:  BTFSC  1F.2
008E:  GOTO   08D
008F:  MOVF   1E,W
0090:  MOVWF  25
....................  
....................       set_adc_channel(3); 
0091:  MOVLW  18
0092:  MOVWF  78
0093:  MOVF   1F,W
0094:  ANDLW  C7
0095:  IORWF  78,W
0096:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
0097:  MOVF   25,W
0098:  SUBLW  3B
0099:  BTFSS  03.0
009A:  GOTO   0A4
....................       { 
....................          if(a>TRESHOLD_MIN) 
009B:  MOVF   25,W
009C:  SUBLW  28
009D:  BTFSC  03.0
009E:  GOTO   0A3
....................          { 
....................             cidla |= (last_cidla & 0b00000100); 
009F:  MOVF   22,W
00A0:  ANDLW  04
00A1:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000100; 
00A2:  GOTO   0A4
00A3:  BSF    24.2
....................       } 
....................  
....................       a=read_adc(); 
00A4:  BSF    1F.2
00A5:  BTFSC  1F.2
00A6:  GOTO   0A5
00A7:  MOVF   1E,W
00A8:  MOVWF  25
....................  
....................       set_adc_channel(4); 
00A9:  MOVLW  20
00AA:  MOVWF  78
00AB:  MOVF   1F,W
00AC:  ANDLW  C7
00AD:  IORWF  78,W
00AE:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
00AF:  MOVF   25,W
00B0:  SUBLW  3B
00B1:  BTFSS  03.0
00B2:  GOTO   0BC
....................       { 
....................          if(a>TRESHOLD_MIN) 
00B3:  MOVF   25,W
00B4:  SUBLW  28
00B5:  BTFSC  03.0
00B6:  GOTO   0BB
....................          { 
....................             cidla |= (last_cidla & 0b00001000); 
00B7:  MOVF   22,W
00B8:  ANDLW  08
00B9:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00001000; 
00BA:  GOTO   0BC
00BB:  BSF    24.3
....................       } 
....................       a=read_adc(); 
00BC:  BSF    1F.2
00BD:  BTFSC  1F.2
00BE:  GOTO   0BD
00BF:  MOVF   1E,W
00C0:  MOVWF  25
....................  
....................       set_adc_channel(5); 
00C1:  MOVLW  28
00C2:  MOVWF  78
00C3:  MOVF   1F,W
00C4:  ANDLW  C7
00C5:  IORWF  78,W
00C6:  MOVWF  1F
....................  
....................       if(a<TRESHOLD_MAX) 
00C7:  MOVF   25,W
00C8:  SUBLW  3B
00C9:  BTFSS  03.0
00CA:  GOTO   0D4
....................       { 
....................          if(a>TRESHOLD_MIN) 
00CB:  MOVF   25,W
00CC:  SUBLW  28
00CD:  BTFSC  03.0
00CE:  GOTO   0D3
....................          { 
....................             cidla |= (last_cidla & 0b00010000); 
00CF:  MOVF   22,W
00D0:  ANDLW  10
00D1:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00010000; 
00D2:  GOTO   0D4
00D3:  BSF    24.4
....................       } 
....................       a=read_adc(); 
00D4:  BSF    1F.2
00D5:  BTFSC  1F.2
00D6:  GOTO   0D5
00D7:  MOVF   1E,W
00D8:  MOVWF  25
....................  
....................       set_adc_channel(6); 
00D9:  MOVLW  30
00DA:  MOVWF  78
00DB:  MOVF   1F,W
00DC:  ANDLW  C7
00DD:  IORWF  78,W
00DE:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
00DF:  MOVF   25,W
00E0:  SUBLW  3B
00E1:  BTFSS  03.0
00E2:  GOTO   0EC
....................       { 
....................          if(a>TRESHOLD_MIN) 
00E3:  MOVF   25,W
00E4:  SUBLW  28
00E5:  BTFSC  03.0
00E6:  GOTO   0EB
....................          { 
....................             cidla |= (last_cidla & 0b00100000); 
00E7:  MOVF   22,W
00E8:  ANDLW  20
00E9:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00100000; 
00EA:  GOTO   0EC
00EB:  BSF    24.5
....................       } 
....................       a=read_adc(); 
00EC:  BSF    1F.2
00ED:  BTFSC  1F.2
00EE:  GOTO   0ED
00EF:  MOVF   1E,W
00F0:  MOVWF  25
....................  
....................       if(a<TRESHOLD_MAX) 
00F1:  MOVF   25,W
00F2:  SUBLW  3B
00F3:  BTFSS  03.0
00F4:  GOTO   0FE
....................       { 
....................          if(a>TRESHOLD_MIN) 
00F5:  MOVF   25,W
00F6:  SUBLW  28
00F7:  BTFSC  03.0
00F8:  GOTO   0FD
....................          { 
....................             cidla |=(last_cidla & 0b01000000); 
00F9:  MOVF   22,W
00FA:  ANDLW  40
00FB:  IORWF  24,F
....................          } 
....................          else cidla |= 0b01000000; 
00FC:  GOTO   0FE
00FD:  BSF    24.6
....................       } 
....................  
....................       last_cidla=cidla; 
00FE:  MOVF   24,W
00FF:  MOVWF  22
....................  
....................       if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; 
0100:  BSF    03.5
0101:  BSF    06.0
0102:  BCF    03.5
0103:  BTFSC  06.0
0104:  GOTO   10A
0105:  INCFSZ 23,W
0106:  GOTO   108
0107:  GOTO   109
0108:  INCF   23,F
0109:  GOTO   10B
010A:  CLRF   23
....................       if (shure>CIHLA) cidla|=0b10000000; 
010B:  MOVF   23,W
010C:  SUBLW  32
010D:  BTFSS  03.0
010E:  BSF    24.7
....................  
....................       cidla=~cidla; 
010F:  COMF   24,F
....................       spi_write(cidla); 
0110:  MOVF   24,W
0111:  MOVWF  13
0112:  BSF    03.5
0113:  BTFSC  14.0
0114:  GOTO   117
0115:  BCF    03.5
0116:  GOTO   112
....................    } 
0117:  BCF    03.5
0118:  GOTO   04E
.................... } 
0119:  SLEEP

Configuration Fuses:
   Word  1: 3F38   NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
   Word  2: 3FFC   NOFCMEN NOIESO