Subversion Repositories svnkaklik

Rev

Blame | Last modification | View Log | Download

CCS PCM C Compiler, Version 3.245, 27853               23-IV-06 01:20

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

               ROM used: 542 words (13%)
                         Largest free fragment is 2048
               RAM used: 13 (7%) at main() level
                         18 (10%) worst case
               Stack:    2 locations

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   0B1
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) 
*
0050:  MOVLW  27
0051:  MOVWF  04
0052:  MOVF   00,W
0053:  BTFSC  03.2
0054:  GOTO   066
0055:  MOVLW  01
0056:  MOVWF  78
0057:  MOVLW  BF
0058:  MOVWF  77
0059:  CLRWDT
005A:  DECFSZ 77,F
005B:  GOTO   059
005C:  DECFSZ 78,F
005D:  GOTO   057
005E:  MOVLW  4A
005F:  MOVWF  77
0060:  DECFSZ 77,F
0061:  GOTO   060
0062:  NOP
0063:  CLRWDT
0064:  DECFSZ 00,F
0065:  GOTO   055
0066:  RETLW  00
....................  
....................  
.................... //#include <stdlib.h> 
....................  
.................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) 
*
002A:  BSF    03.5
002B:  BCF    06.3
002C:  BCF    03.5
002D:  BCF    06.3
002E:  MOVLW  08
002F:  MOVWF  78
0030:  NOP
0031:  NOP
0032:  NOP
0033:  BSF    78.7
0034:  GOTO   044
0035:  BCF    78.7
0036:  RRF    2A,F
0037:  BTFSC  03.0
0038:  BSF    06.3
0039:  BTFSS  03.0
003A:  BCF    06.3
003B:  BSF    78.6
003C:  GOTO   044
003D:  BCF    78.6
003E:  DECFSZ 78,F
003F:  GOTO   036
0040:  NOP
0041:  NOP
0042:  NOP
0043:  BSF    06.3
0044:  MOVLW  1C
0045:  MOVWF  04
0046:  DECFSZ 04,F
0047:  GOTO   046
0048:  NOP
0049:  NOP
004A:  CLRWDT
004B:  BTFSC  78.7
004C:  GOTO   035
004D:  BTFSC  78.6
004E:  GOTO   03D
004F:  RETLW  00
....................  
.................... #define IRRX      PIN_B0 
....................  
.................... #define  TRESHOLD_MAX   70    // rozhodovaci uroven  pro cidla cerna/bila 
.................... #define  TRESHOLD_MIN   50 
.................... #define  CIHLA          10    // 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() 
.................... { 
*
00B1:  CLRF   04
00B2:  MOVLW  1F
00B3:  ANDWF  03,F
00B4:  MOVLW  60
00B5:  BSF    03.5
00B6:  MOVWF  0F
00B7:  BCF    06.3
00B8:  BCF    03.5
00B9:  BSF    06.3
00BA:  BSF    03.5
00BB:  BCF    1F.4
00BC:  BCF    1F.5
00BD:  MOVF   1B,W
00BE:  ANDLW  80
00BF:  MOVWF  1B
00C0:  MOVLW  07
00C1:  MOVWF  1C
....................    int8 cidla; 
....................    unsigned int8 a; 
....................    unsigned int8 n; 
....................  
....................    setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); 
00C2:  BCF    1F.4
00C3:  BCF    1F.5
00C4:  MOVF   1B,W
00C5:  ANDLW  80
00C6:  IORLW  7F
00C7:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL); 
00C8:  BCF    1F.6
00C9:  BCF    03.5
00CA:  BSF    1F.6
00CB:  BSF    1F.7
00CC:  BSF    03.5
00CD:  BCF    1F.7
00CE:  BCF    03.5
00CF:  BSF    1F.0
....................    setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); 
00D0:  BCF    14.5
00D1:  BSF    03.5
00D2:  BCF    06.2
00D3:  BSF    06.1
00D4:  BSF    06.4
00D5:  MOVLW  35
00D6:  BCF    03.5
00D7:  MOVWF  14
00D8:  MOVLW  40
00D9:  BSF    03.5
00DA:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); 
00DB:  MOVF   01,W
00DC:  ANDLW  C7
00DD:  IORLW  08
00DE:  MOVWF  01
....................    setup_timer_1(T1_DISABLED); 
00DF:  BCF    03.5
00E0:  CLRF   10
....................    setup_timer_2(T2_DISABLED,0,1); 
00E1:  MOVLW  00
00E2:  MOVWF  78
00E3:  MOVWF  12
00E4:  MOVLW  00
00E5:  BSF    03.5
00E6:  MOVWF  12
....................    setup_comparator(NC_NC_NC_NC); 
00E7:  MOVLW  07
00E8:  MOVWF  1C
00E9:  MOVF   05,W
00EA:  CLRWDT
00EB:  MOVLW  02
00EC:  MOVWF  77
00ED:  DECFSZ 77,F
00EE:  GOTO   0ED
00EF:  NOP
00F0:  NOP
00F1:  MOVF   1C,W
00F2:  BCF    03.5
00F3:  BCF    0D.6
....................    setup_vref(FALSE); 
00F4:  BSF    03.5
00F5:  CLRF   1D
....................  
....................    last_radius=0b00001000;  // minimalni rozsah snimani od stredu 
00F6:  MOVLW  08
00F7:  BCF    03.5
00F8:  MOVWF  21
....................    last_cidla=0b00001000; 
00F9:  MOVWF  22
....................  
....................    // diagnostika 
....................    printf("\n\r"); 
00FA:  CLRF   27
00FB:  MOVF   27,W
00FC:  CALL   004
00FD:  IORLW  00
00FE:  BTFSC  03.2
00FF:  GOTO   104
0100:  INCF   27,F
0101:  MOVWF  2A
0102:  CALL   02A
0103:  GOTO   0FB
....................    Delay_ms(100); 
0104:  MOVLW  64
0105:  MOVWF  27
0106:  CALL   050
....................    printf("***\n\r"); 
0107:  CLRF   27
0108:  MOVF   27,W
0109:  CALL   00B
010A:  IORLW  00
010B:  BTFSC  03.2
010C:  GOTO   111
010D:  INCF   27,F
010E:  MOVWF  2A
010F:  CALL   02A
0110:  GOTO   108
....................    Delay_ms(100); 
0111:  MOVLW  64
0112:  MOVWF  27
0113:  CALL   050
....................    for (n=0; n<=6; n++) 
0114:  CLRF   26
0115:  MOVF   26,W
0116:  SUBLW  06
0117:  BTFSS  03.0
0118:  GOTO   151
....................    { 
....................       set_adc_channel(n); 
0119:  RLF    26,W
011A:  MOVWF  77
011B:  RLF    77,F
011C:  RLF    77,F
011D:  MOVLW  F8
011E:  ANDWF  77,F
011F:  MOVF   1F,W
0120:  ANDLW  C7
0121:  IORWF  77,W
0122:  MOVWF  1F
....................       Delay_ms(100); 
0123:  MOVLW  64
0124:  MOVWF  27
0125:  CALL   050
....................       a=read_adc(); 
0126:  BSF    1F.2
0127:  BTFSC  1F.2
0128:  GOTO   127
0129:  MOVF   1E,W
012A:  MOVWF  25
....................       printf("sensor %u - %u\n\r",n,a); 
012B:  CLRF   27
012C:  MOVF   27,W
012D:  CALL   015
012E:  INCF   27,F
012F:  MOVWF  77
0130:  MOVWF  2A
0131:  CALL   02A
0132:  MOVLW  07
0133:  SUBWF  27,W
0134:  BTFSS  03.2
0135:  GOTO   12C
0136:  MOVF   26,W
0137:  MOVWF  28
0138:  MOVLW  1B
0139:  MOVWF  29
013A:  CALL   07C
013B:  MOVLW  20
013C:  MOVWF  2A
013D:  CALL   02A
013E:  MOVLW  2D
013F:  MOVWF  2A
0140:  CALL   02A
0141:  MOVLW  20
0142:  MOVWF  2A
0143:  CALL   02A
0144:  MOVF   25,W
0145:  MOVWF  28
0146:  MOVLW  1B
0147:  MOVWF  29
0148:  CALL   07C
0149:  MOVLW  0A
014A:  MOVWF  2A
014B:  CALL   02A
014C:  MOVLW  0D
014D:  MOVWF  2A
014E:  CALL   02A
....................    } 
014F:  INCF   26,F
0150:  GOTO   115
....................  
....................    shure=0; 
0151:  CLRF   23
....................    while(true) 
....................    { 
....................       set_adc_channel(0); 
0152:  MOVLW  00
0153:  MOVWF  78
0154:  MOVF   1F,W
0155:  ANDLW  C7
0156:  IORWF  78,W
0157:  MOVWF  1F
....................       cidla=0; 
0158:  CLRF   24
....................       Delay_us(10); 
0159:  CLRWDT
015A:  MOVLW  02
015B:  MOVWF  77
015C:  DECFSZ 77,F
015D:  GOTO   15C
015E:  NOP
015F:  NOP
....................       a=read_adc(); 
0160:  BSF    1F.2
0161:  BTFSC  1F.2
0162:  GOTO   161
0163:  MOVF   1E,W
0164:  MOVWF  25
....................  
....................       set_adc_channel(1); 
0165:  MOVLW  08
0166:  MOVWF  78
0167:  MOVF   1F,W
0168:  ANDLW  C7
0169:  IORWF  78,W
016A:  MOVWF  1F
....................       if(a<TRESHOLD_MAX)         //hystereze cidel 
016B:  MOVF   25,W
016C:  SUBLW  45
016D:  BTFSS  03.0
016E:  GOTO   178
....................       { 
....................          if(a>TRESHOLD_MIN) 
016F:  MOVF   25,W
0170:  SUBLW  32
0171:  BTFSC  03.0
0172:  GOTO   177
....................          { 
....................             cidla |= (last_cidla & 0b00000001); 
0173:  MOVF   22,W
0174:  ANDLW  01
0175:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000001; 
0176:  GOTO   178
0177:  BSF    24.0
....................       } 
....................  
....................       a=read_adc(); 
0178:  BSF    1F.2
0179:  BTFSC  1F.2
017A:  GOTO   179
017B:  MOVF   1E,W
017C:  MOVWF  25
....................  
....................       set_adc_channel(2); 
017D:  MOVLW  10
017E:  MOVWF  78
017F:  MOVF   1F,W
0180:  ANDLW  C7
0181:  IORWF  78,W
0182:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
0183:  MOVF   25,W
0184:  SUBLW  45
0185:  BTFSS  03.0
0186:  GOTO   190
....................       { 
....................          if(a>TRESHOLD_MIN) 
0187:  MOVF   25,W
0188:  SUBLW  32
0189:  BTFSC  03.0
018A:  GOTO   18F
....................          { 
....................             cidla |= (last_cidla & 0b00000010); 
018B:  MOVF   22,W
018C:  ANDLW  02
018D:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000010; 
018E:  GOTO   190
018F:  BSF    24.1
....................       } 
....................  
....................       a=read_adc(); 
0190:  BSF    1F.2
0191:  BTFSC  1F.2
0192:  GOTO   191
0193:  MOVF   1E,W
0194:  MOVWF  25
....................  
....................       set_adc_channel(3); 
0195:  MOVLW  18
0196:  MOVWF  78
0197:  MOVF   1F,W
0198:  ANDLW  C7
0199:  IORWF  78,W
019A:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
019B:  MOVF   25,W
019C:  SUBLW  45
019D:  BTFSS  03.0
019E:  GOTO   1A8
....................       { 
....................          if(a>TRESHOLD_MIN) 
019F:  MOVF   25,W
01A0:  SUBLW  32
01A1:  BTFSC  03.0
01A2:  GOTO   1A7
....................          { 
....................             cidla |= (last_cidla & 0b00000100); 
01A3:  MOVF   22,W
01A4:  ANDLW  04
01A5:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00000100; 
01A6:  GOTO   1A8
01A7:  BSF    24.2
....................       } 
....................  
....................       a=read_adc(); 
01A8:  BSF    1F.2
01A9:  BTFSC  1F.2
01AA:  GOTO   1A9
01AB:  MOVF   1E,W
01AC:  MOVWF  25
....................  
....................       set_adc_channel(4); 
01AD:  MOVLW  20
01AE:  MOVWF  78
01AF:  MOVF   1F,W
01B0:  ANDLW  C7
01B1:  IORWF  78,W
01B2:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
01B3:  MOVF   25,W
01B4:  SUBLW  45
01B5:  BTFSS  03.0
01B6:  GOTO   1C0
....................       { 
....................          if(a>TRESHOLD_MIN) 
01B7:  MOVF   25,W
01B8:  SUBLW  32
01B9:  BTFSC  03.0
01BA:  GOTO   1BF
....................          { 
....................             cidla |= (last_cidla & 0b00001000); 
01BB:  MOVF   22,W
01BC:  ANDLW  08
01BD:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00001000; 
01BE:  GOTO   1C0
01BF:  BSF    24.3
....................       } 
....................       a=read_adc(); 
01C0:  BSF    1F.2
01C1:  BTFSC  1F.2
01C2:  GOTO   1C1
01C3:  MOVF   1E,W
01C4:  MOVWF  25
....................  
....................       set_adc_channel(5); 
01C5:  MOVLW  28
01C6:  MOVWF  78
01C7:  MOVF   1F,W
01C8:  ANDLW  C7
01C9:  IORWF  78,W
01CA:  MOVWF  1F
....................  
....................       if(a<TRESHOLD_MAX) 
01CB:  MOVF   25,W
01CC:  SUBLW  45
01CD:  BTFSS  03.0
01CE:  GOTO   1D8
....................       { 
....................          if(a>TRESHOLD_MIN) 
01CF:  MOVF   25,W
01D0:  SUBLW  32
01D1:  BTFSC  03.0
01D2:  GOTO   1D7
....................          { 
....................             cidla |= (last_cidla & 0b00010000); 
01D3:  MOVF   22,W
01D4:  ANDLW  10
01D5:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00010000; 
01D6:  GOTO   1D8
01D7:  BSF    24.4
....................       } 
....................       a=read_adc(); 
01D8:  BSF    1F.2
01D9:  BTFSC  1F.2
01DA:  GOTO   1D9
01DB:  MOVF   1E,W
01DC:  MOVWF  25
....................  
....................       set_adc_channel(6); 
01DD:  MOVLW  30
01DE:  MOVWF  78
01DF:  MOVF   1F,W
01E0:  ANDLW  C7
01E1:  IORWF  78,W
01E2:  MOVWF  1F
....................       if(a<TRESHOLD_MAX) 
01E3:  MOVF   25,W
01E4:  SUBLW  45
01E5:  BTFSS  03.0
01E6:  GOTO   1F0
....................       { 
....................          if(a>TRESHOLD_MIN) 
01E7:  MOVF   25,W
01E8:  SUBLW  32
01E9:  BTFSC  03.0
01EA:  GOTO   1EF
....................          { 
....................             cidla |= (last_cidla & 0b00100000); 
01EB:  MOVF   22,W
01EC:  ANDLW  20
01ED:  IORWF  24,F
....................          } 
....................          else cidla |= 0b00100000; 
01EE:  GOTO   1F0
01EF:  BSF    24.5
....................       } 
....................       a=read_adc(); 
01F0:  BSF    1F.2
01F1:  BTFSC  1F.2
01F2:  GOTO   1F1
01F3:  MOVF   1E,W
01F4:  MOVWF  25
....................  
....................       if(a<TRESHOLD_MAX) 
01F5:  MOVF   25,W
01F6:  SUBLW  45
01F7:  BTFSS  03.0
01F8:  GOTO   202
....................       { 
....................          if(a>TRESHOLD_MIN) 
01F9:  MOVF   25,W
01FA:  SUBLW  32
01FB:  BTFSC  03.0
01FC:  GOTO   201
....................          { 
....................             cidla |=(last_cidla & 0b01000000); 
01FD:  MOVF   22,W
01FE:  ANDLW  40
01FF:  IORWF  24,F
....................          } 
....................          else cidla |= 0b01000000; 
0200:  GOTO   202
0201:  BSF    24.6
....................       } 
....................  
....................       last_cidla=cidla; 
0202:  MOVF   24,W
0203:  MOVWF  22
....................  
....................       if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; 
0204:  BSF    03.5
0205:  BSF    06.0
0206:  BCF    03.5
0207:  BTFSC  06.0
0208:  GOTO   20E
0209:  INCFSZ 23,W
020A:  GOTO   20C
020B:  GOTO   20D
020C:  INCF   23,F
020D:  GOTO   20F
020E:  CLRF   23
....................       if (shure>CIHLA) cidla|=0b10000000; 
020F:  MOVF   23,W
0210:  SUBLW  0A
0211:  BTFSS  03.0
0212:  BSF    24.7
....................  
....................       cidla=~cidla; 
0213:  COMF   24,F
....................       spi_write(cidla); 
0214:  MOVF   24,W
0215:  MOVWF  13
0216:  BSF    03.5
0217:  BTFSC  14.0
0218:  GOTO   21B
0219:  BCF    03.5
021A:  GOTO   216
....................    } 
021B:  BCF    03.5
021C:  GOTO   152
.................... } 
021D:  SLEEP

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