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CCS PCM C Compiler, Version 3.245, 27853 25-IV-06 20:23Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lstROM used: 1149 words (28%)Largest free fragment is 2048RAM used: 32 (18%) at main() level35 (20%) worst caseStack: 5 worst case (3 in main + 2 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 2610003: NOP0004: MOVWF 7F0005: SWAPF 03,W0006: CLRF 030007: MOVWF 210008: MOVF 7F,W0009: MOVWF 20000A: MOVF 0A,W000B: MOVWF 28000C: CLRF 0A000D: SWAPF 20,F000E: MOVF 04,W000F: MOVWF 220010: MOVF 77,W0011: MOVWF 230012: MOVF 78,W0013: MOVWF 240014: MOVF 79,W0015: MOVWF 250016: MOVF 7A,W0017: MOVWF 260018: MOVF 7B,W0019: MOVWF 27001A: BCF 03.7001B: BCF 03.5001C: MOVLW 8C001D: MOVWF 04001E: BTFSS 00.1001F: GOTO 0220020: BTFSC 0C.10021: GOTO 0350022: MOVF 22,W0023: MOVWF 040024: MOVF 23,W0025: MOVWF 770026: MOVF 24,W0027: MOVWF 780028: MOVF 25,W0029: MOVWF 79002A: MOVF 26,W002B: MOVWF 7A002C: MOVF 27,W002D: MOVWF 7B002E: MOVF 28,W002F: MOVWF 0A0030: SWAPF 21,W0031: MOVWF 030032: SWAPF 7F,F0033: SWAPF 7F,W0034: RETFIE0035: BCF 0A.30036: GOTO 047.................... #include ".\main.h".................... #include <16F88.h>.................... //////// Standard Header file for the PIC16F88 device ////////////////.................... #device PIC16F88.................... #list........................................ #device adc=8........................................ #FUSES NOWDT //No Watch Dog Timer.................... #FUSES INTRC_IO.................... #FUSES NOPUT //No Power Up Timer.................... #FUSES MCLR //Master Clear pin enabled.................... #FUSES NOBROWNOUT //Reset when brownout detected.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18).................... #FUSES NOCPD //No EE protection.................... #FUSES NOWRT //Program memory not write protected.................... #FUSES NODEBUG //No Debug mode for ICD.................... #FUSES NOPROTECT //Code not protected from reading.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled.................... #FUSES NOIESO //Internal External Switch Over mode enabled........................................ #use delay(clock=8000000,RESTART_WDT)0037: MOVLW 080038: SUBWF 3D,F0039: BTFSS 03.0003A: GOTO 046003B: MOVLW 3D003C: MOVWF 04003D: BCF 03.0003E: RRF 00,F003F: MOVF 00,W0040: BTFSC 03.20041: GOTO 0460042: GOTO 0440043: CLRWDT0044: DECFSZ 00,F0045: GOTO 0430046: RETLW 00*0065: MOVLW 3A0066: MOVWF 040067: MOVF 00,W0068: BTFSC 03.20069: GOTO 07C006A: MOVLW 02006B: MOVWF 78006C: MOVLW BF006D: MOVWF 77006E: CLRWDT006F: DECFSZ 77,F0070: GOTO 06E0071: DECFSZ 78,F0072: GOTO 06C0073: MOVLW 960074: MOVWF 770075: DECFSZ 77,F0076: GOTO 0750077: NOP0078: NOP0079: CLRWDT007A: DECFSZ 00,F007B: GOTO 06A007C: RETLW 00................................................................................ #define KOLMO1 225 // predni kolecko sroubem dopredu.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu.................... #define STRED 128 // sredni poloha zataceciho kolecka.................... #define BEAR1 10//10 // 3 stupne zataceni.................... #define BEAR2 25//25.................... #define BEAR3 45//45.................... #define R 100 // Rozumna rychlost.................... #define R17 200 // X nasobek rozumne rychlosti.................... //#define L1 1 // cara vlevo.................... #define L2 2 // cara vlevo.................... #define L3 3 // cara vlevo.................... #define S 0 // cara mezi sensory.................... //#define R1 -1 // cara vpravo.................... #define R2 -2 // cara vpravo.................... #define R3 -3 // cara vpravo........................................ // servo.................... #define SERVO PIN_B5........................................ // kroutitka.................... #define CERVENA 4 // AN4.................... //#define CERNA 5 // AN5.................... //#define ZELENA 6 // AN6.................... #define MODRA 2 // AN2........................................ // IR.................... #define IRTX PIN_B2.................... #define CIHLA PIN_A3........................................ //motory.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred.................... #define FL output_low(PIN_A1); output_high(PIN_A0).................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad.................... #define BL output_low(PIN_A0); output_high(PIN_A1).................... #define STOPR output_low(PIN_A6);output_low(PIN_A7).................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)........................................ //HID.................... #define LED1 PIN_B1 //oranzova.................... #define LED2 PIN_B2 //zluta........................................ #define STROBE PIN_B0.................... //#define SW1 PIN_A2 // Motory On/off........................................ unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru.................... signed int8 line = S; // na ktere strane byla detekovana cara*026E: BCF 03.5026F: CLRF 2B.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni.................... unsigned int8 speed; // maximalni povolena rychlost.................... unsigned int8 turn; // rychlost toceni.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky........................................ signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem.................... signed int16 Rmotor; // a pravem motoru........................................ // makro pro PWM pro motory.................... #define GO(motor, direction, power) if(get_timer0()<=power) \.................... {direction##motor;} else {stop##motor;}.................... ////////////////////////////////////////////////////////////////////////////////.................... #int_TIMER2.................... TIMER2_isr() // ovladani serva.................... {.................... unsigned int8 n;........................................ output_high(SERVO);*0047: BSF 03.50048: BCF 06.50049: BCF 03.5004A: BSF 06.5.................... delay_us(1000);004B: CLRWDT004C: MOVLW 09004D: MOVWF 3C004E: MOVLW 6D004F: MOVWF 3D0050: CALL 0370051: DECFSZ 3C,F0052: GOTO 04E.................... for(n=uhel; n>0; n--) Delay_us(2);0053: MOVF 2C,W0054: MOVWF 3B0055: MOVF 3B,F0056: BTFSC 03.20057: GOTO 05E0058: CLRWDT0059: NOP005A: NOP005B: NOP005C: DECF 3B,F005D: GOTO 055.................... output_low(SERVO);005E: BSF 03.5005F: BCF 06.50060: BCF 03.50061: BCF 06.5.................... }........................................ ////////////////////////////////////////////////////////////////////////////////0062: BCF 0C.10063: BCF 0A.30064: GOTO 022.................... short int IRcheck() // potvrdi detekci cihly.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal.................... {.................... output_low(IRTX); // zapne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ output_low(IRTX); // zapne vysilac IR.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla.................... }.................... };.................... output_low(IRTX); // zapne vysilac IR.................... return 0; // vrat 0, kdyz je detekovano ruseni.................... }.................... ////////////////////////////////////////////////////////////////////////////////.................... #include ".\objizdka_centrovani.c".................... #define DOLEVA 0.................... #define DOPRAVA 1........................................ void cikcak().................... {.................... unsigned int8 i;........................................ uhel=KOLMO1;*007D: MOVLW E1007E: MOVWF 2C.................... Delay_ms(100);007F: MOVLW 640080: MOVWF 3A0081: CALL 065.................... if (line==L2) line=L3;0082: MOVF 2B,W0083: SUBLW 020084: BTFSS 03.20085: GOTO 0880086: MOVLW 030087: MOVWF 2B.................... if (line==S) line=L3;0088: MOVF 2B,F0089: BTFSS 03.2008A: GOTO 08D008B: MOVLW 03008C: MOVWF 2B.................... if (line==R2) line=R3;008D: MOVF 2B,W008E: SUBLW FE008F: BTFSS 03.20090: GOTO 0930091: MOVLW FD0092: MOVWF 2B........................................ Delay_ms(3);0093: MOVLW 030094: MOVWF 3A0095: CALL 065........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru0096: BSF 03.50097: BCF 06.00098: BCF 03.50099: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru009A: MOVF 13,W009B: CLRF 13009C: BSF 03.5009D: BTFSC 14.0009E: GOTO 0A1009F: BCF 03.500A0: GOTO 09C00A1: BCF 03.500A2: MOVF 13,W00A3: MOVWF 2A.................... sensors=~sensors;00A4: COMF 2A,F.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru00A5: BSF 03.500A6: BCF 06.000A7: BCF 03.500A8: BSF 06.0........................................ while(!bit_test(sensors,3)).................... {00A9: BTFSC 2A.300AA: GOTO 171.................... while(true).................... {.................... Delay_ms(3);00AB: MOVLW 0300AC: MOVWF 3A00AD: CALL 065........................................ if (line==L3)00AE: MOVF 2B,W00AF: SUBLW 0300B0: BTFSS 03.200B1: GOTO 0DC.................... {.................... GO(L,B,160);GO(R,F,160);00B2: MOVF 01,W00B3: SUBLW A000B4: BTFSS 03.000B5: GOTO 0BF00B6: BSF 03.500B7: BCF 05.000B8: BCF 03.500B9: BCF 05.000BA: BSF 03.500BB: BCF 05.100BC: BCF 03.500BD: BSF 05.100BE: GOTO 0C700BF: BSF 03.500C0: BCF 05.000C1: BCF 03.500C2: BCF 05.000C3: BSF 03.500C4: BCF 05.100C5: BCF 03.500C6: BCF 05.100C7: MOVF 01,W00C8: SUBLW A000C9: BTFSS 03.000CA: GOTO 0D400CB: BSF 03.500CC: BCF 05.700CD: BCF 03.500CE: BCF 05.700CF: BSF 03.500D0: BCF 05.600D1: BCF 03.500D2: BSF 05.600D3: GOTO 0DC00D4: BSF 03.500D5: BCF 05.600D6: BCF 03.500D7: BCF 05.600D8: BSF 03.500D9: BCF 05.700DA: BCF 03.500DB: BCF 05.7.................... };.................... if (line==R3)00DC: MOVF 2B,W00DD: SUBLW FD00DE: BTFSS 03.200DF: GOTO 10A.................... {.................... GO(R,B,160);GO(L,F,160);00E0: MOVF 01,W00E1: SUBLW A000E2: BTFSS 03.000E3: GOTO 0ED00E4: BSF 03.500E5: BCF 05.600E6: BCF 03.500E7: BCF 05.600E8: BSF 03.500E9: BCF 05.700EA: BCF 03.500EB: BSF 05.700EC: GOTO 0F500ED: BSF 03.500EE: BCF 05.600EF: BCF 03.500F0: BCF 05.600F1: BSF 03.500F2: BCF 05.700F3: BCF 03.500F4: BCF 05.700F5: MOVF 01,W00F6: SUBLW A000F7: BTFSS 03.000F8: GOTO 10200F9: BSF 03.500FA: BCF 05.100FB: BCF 03.500FC: BCF 05.100FD: BSF 03.500FE: BCF 05.000FF: BCF 03.50100: BSF 05.00101: GOTO 10A0102: BSF 03.50103: BCF 05.00104: BCF 03.50105: BCF 05.00106: BSF 03.50107: BCF 05.10108: BCF 03.50109: BCF 05.1.................... };.................... if (line==S) {STOPL;STOPR; i++;}010A: MOVF 2B,F010B: BTFSS 03.2010C: GOTO 11F010D: BSF 03.5010E: BCF 05.0010F: BCF 03.50110: BCF 05.00111: BSF 03.50112: BCF 05.10113: BCF 03.50114: BCF 05.10115: BSF 03.50116: BCF 05.60117: BCF 03.50118: BCF 05.60119: BSF 03.5011A: BCF 05.7011B: BCF 03.5011C: BCF 05.7011D: INCF 39,F.................... else i=0;011E: GOTO 120011F: CLRF 39........................................ if (i>=100) break;0120: MOVF 39,W0121: SUBLW 630122: BTFSS 03.00123: GOTO 15A........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru0124: BSF 03.50125: BCF 06.00126: BCF 03.50127: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru0128: MOVF 13,W0129: CLRF 13012A: BSF 03.5012B: BTFSC 14.0012C: GOTO 12F012D: BCF 03.5012E: GOTO 12A012F: BCF 03.50130: MOVF 13,W0131: MOVWF 2A.................... sensors=~sensors;0132: COMF 2A,F.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru0133: BSF 03.50134: BCF 06.00135: BCF 03.50136: BSF 06.0........................................ if(bit_test(sensors,3)) //...|...//0137: BTFSS 2A.30138: GOTO 13B.................... {.................... line=S;0139: CLRF 2B.................... continue;013A: GOTO 0AB.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu013B: BTFSS 2A.0013C: GOTO 140.................... {.................... line=L3;013D: MOVLW 03013E: MOVWF 2B.................... continue;013F: GOTO 0AB.................... }........................................ if(bit_test(sensors,6)) //......|//0140: BTFSS 2A.60141: GOTO 145.................... {.................... line=R3;0142: MOVLW FD0143: MOVWF 2B.................... continue;0144: GOTO 0AB.................... }........................................ if(bit_test(sensors,1)) //.|.....//0145: BTFSS 2A.10146: GOTO 14A.................... {.................... line=L3;0147: MOVLW 030148: MOVWF 2B.................... continue;0149: GOTO 0AB.................... }........................................ if(bit_test(sensors,5)) //.....|.//014A: BTFSS 2A.5014B: GOTO 14F.................... {.................... line=R3;014C: MOVLW FD014D: MOVWF 2B.................... continue;014E: GOTO 0AB.................... }........................................ if (bit_test(sensors,2)) //..|....//014F: BTFSS 2A.20150: GOTO 154.................... {.................... line=L3;0151: MOVLW 030152: MOVWF 2B.................... continue;0153: GOTO 0AB.................... }........................................ if (bit_test(sensors,4)) //....|..//0154: BTFSS 2A.40155: GOTO 159.................... {.................... line=R3;0156: MOVLW FD0157: MOVWF 2B.................... continue;0158: GOTO 0AB.................... }.................... }0159: GOTO 0AB.................... delay_ms(100);015A: MOVLW 64015B: MOVWF 3A015C: CALL 065........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru015D: BSF 03.5015E: BCF 06.0015F: BCF 03.50160: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru0161: MOVF 13,W0162: CLRF 130163: BSF 03.50164: BTFSC 14.00165: GOTO 1680166: BCF 03.50167: GOTO 1630168: BCF 03.50169: MOVF 13,W016A: MOVWF 2A.................... sensors=~sensors;016B: COMF 2A,F.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru016C: BSF 03.5016D: BCF 06.0016E: BCF 03.5016F: BSF 06.0.................... }0170: GOTO 0A9.................... }0171: RETLW 00........................................ /*.................... void cikcak().................... {.................... short int movement;.................... unsigned int8 n,i=0;........................................ if(uhel>=STRED).................... {.................... uhel=KOLMO1;.................... Delay_ms(100);.................... }........................................ if(uhel<=STRED).................... {.................... uhel=KOLMO2;.................... Delay_ms(100);.................... }............................................................ sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... Delay_ms(5);........................................ if ((sensors & 0b11100000)!=0) movement=DOPRAVA;........................................ while(i<=100).................... {.................... while(!bit_test(sensors,3)).................... {.................... if(DOPRAVA == movement).................... {.................... FR;BL;.................... movement=DOLEVA;.................... n=0;.................... //if ((sensors & 0b11100000)!=0) line=L1;.................... //if ((sensors & 0b00001110)!=0) line=R1;.................... //if ((sensors & 0b00010000)!=0) line=S;........................................ for(n=0; n<=100; n++).................... {.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... Delay_ms(5); // cekani na SLAVE nez pripravi data od cidel.................... if(bit_test(sensors,3)) break;.................... else i=0;.................... }.................... STOPL;STOPR;.................... }........................................ if(DOLEVA == movement).................... {.................... FL;BR;.................... movement=DOPRAVA;.................... n=0;........................................ for(n=0; n<=100; n++).................... {.................... sensors = spi_read(0);.................... sensors =~ sensors;.................... Delay_ms(5);.................... if(bit_test(sensors,3)) break;.................... else i=0;.................... }.................... STOPL;STOPR;.................... }.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... Delay_ms(5);.................... }.................... i++;.................... }.................... }.................... */.................... ////////////////////////////////////////////////////////////////////////////////.................... void objizdka().................... {.................... BL;FR;0172: BSF 03.50173: BCF 05.00174: BCF 03.50175: BCF 05.00176: BSF 03.50177: BCF 05.10178: BCF 03.50179: BSF 05.1017A: BSF 03.5017B: BCF 05.7017C: BCF 03.5017D: BCF 05.7017E: BSF 03.5017F: BCF 05.60180: BCF 03.50181: BSF 05.6.................... Delay_ms(300);0182: MOVLW 020183: MOVWF 390184: MOVLW 960185: MOVWF 3A0186: CALL 0650187: DECFSZ 39,F0188: GOTO 184.................... FL;BR;0189: BSF 03.5018A: BCF 05.1018B: BCF 03.5018C: BCF 05.1018D: BSF 03.5018E: BCF 05.0018F: BCF 03.50190: BSF 05.00191: BSF 03.50192: BCF 05.60193: BCF 03.50194: BCF 05.60195: BSF 03.50196: BCF 05.70197: BCF 03.50198: BSF 05.7.................... Delay_ms(100);0199: MOVLW 64019A: MOVWF 3A019B: CALL 065.................... STOPL;STOPR;019C: BSF 03.5019D: BCF 05.0019E: BCF 03.5019F: BCF 05.001A0: BSF 03.501A1: BCF 05.101A2: BCF 03.501A3: BCF 05.101A4: BSF 03.501A5: BCF 05.601A6: BCF 03.501A7: BCF 05.601A8: BSF 03.501A9: BCF 05.701AA: BCF 03.501AB: BCF 05.7........................................ uhel=STRED;01AC: MOVLW 8001AD: MOVWF 2C.................... FL;FR;01AE: BSF 03.501AF: BCF 05.101B0: BCF 03.501B1: BCF 05.101B2: BSF 03.501B3: BCF 05.001B4: BCF 03.501B5: BSF 05.001B6: BSF 03.501B7: BCF 05.701B8: BCF 03.501B9: BCF 05.701BA: BSF 03.501BB: BCF 05.601BC: BCF 03.501BD: BSF 05.6.................... Delay_ms(500); // rovne01BE: MOVLW 0201BF: MOVWF 3901C0: MOVLW FA01C1: MOVWF 3A01C2: CALL 06501C3: DECFSZ 39,F01C4: GOTO 1C0........................................ uhel=STRED+55;01C5: MOVLW B701C6: MOVWF 2C.................... STOPR;FL;01C7: BSF 03.501C8: BCF 05.601C9: BCF 03.501CA: BCF 05.601CB: BSF 03.501CC: BCF 05.701CD: BCF 03.501CE: BCF 05.701CF: BSF 03.501D0: BCF 05.101D1: BCF 03.501D2: BCF 05.101D3: BSF 03.501D4: BCF 05.001D5: BCF 03.501D6: BSF 05.0.................... Delay_ms(190); // doprava01D7: MOVLW BE01D8: MOVWF 3A01D9: CALL 065........................................ uhel=STRED;01DA: MOVLW 8001DB: MOVWF 2C.................... FR;FL;01DC: BSF 03.501DD: BCF 05.701DE: BCF 03.501DF: BCF 05.701E0: BSF 03.501E1: BCF 05.601E2: BCF 03.501E3: BSF 05.601E4: BSF 03.501E5: BCF 05.101E6: BCF 03.501E7: BCF 05.101E8: BSF 03.501E9: BCF 05.001EA: BCF 03.501EB: BSF 05.0.................... Delay_ms(500); // rovne01EC: MOVLW 0201ED: MOVWF 3901EE: MOVLW FA01EF: MOVWF 3A01F0: CALL 06501F1: DECFSZ 39,F01F2: GOTO 1EE........................................ uhel=STRED+55;01F3: MOVLW B701F4: MOVWF 2C.................... FL;STOPR;01F5: BSF 03.501F6: BCF 05.101F7: BCF 03.501F8: BCF 05.101F9: BSF 03.501FA: BCF 05.001FB: BCF 03.501FC: BSF 05.001FD: BSF 03.501FE: BCF 05.601FF: BCF 03.50200: BCF 05.60201: BSF 03.50202: BCF 05.70203: BCF 03.50204: BCF 05.7.................... Delay_ms(200); // doprava0205: MOVLW C80206: MOVWF 3A0207: CALL 065........................................ uhel=STRED;0208: MOVLW 800209: MOVWF 2C.................... FR;FL;020A: BSF 03.5020B: BCF 05.7020C: BCF 03.5020D: BCF 05.7020E: BSF 03.5020F: BCF 05.60210: BCF 03.50211: BSF 05.60212: BSF 03.50213: BCF 05.10214: BCF 03.50215: BCF 05.10216: BSF 03.50217: BCF 05.00218: BCF 03.50219: BSF 05.0.................... Delay_ms(150); // rovne021A: MOVLW 96021B: MOVWF 3A021C: CALL 065........................................ While((sensors & 0b11111110)!=0) //dokud neni cara.................... {021D: MOVF 2A,W021E: ANDLW FE021F: BTFSC 03.20220: GOTO 230.................... sensors = spi_read(0); // cteni senzoru0221: MOVF 13,W0222: CLRF 130223: BSF 03.50224: BTFSC 14.00225: GOTO 2280226: BCF 03.50227: GOTO 2230228: BCF 03.50229: MOVF 13,W022A: MOVWF 2A.................... sensors=~sensors;022B: COMF 2A,F.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel022C: MOVLW 04022D: MOVWF 3A022E: CALL 065.................... }022F: GOTO 21D.................... BL;BR;0230: BSF 03.50231: BCF 05.00232: BCF 03.50233: BCF 05.00234: BSF 03.50235: BCF 05.10236: BCF 03.50237: BSF 05.10238: BSF 03.50239: BCF 05.6023A: BCF 03.5023B: BCF 05.6023C: BSF 03.5023D: BCF 05.7023E: BCF 03.5023F: BSF 05.7.................... Delay_ms(400);0240: MOVLW 020241: MOVWF 390242: MOVLW C80243: MOVWF 3A0244: CALL 0650245: DECFSZ 39,F0246: GOTO 242........................................ uhel=STRED-55;0247: MOVLW 490248: MOVWF 2C.................... FR;STOPL; // doleva0249: BSF 03.5024A: BCF 05.7024B: BCF 03.5024C: BCF 05.7024D: BSF 03.5024E: BCF 05.6024F: BCF 03.50250: BSF 05.60251: BSF 03.50252: BCF 05.00253: BCF 03.50254: BCF 05.00255: BSF 03.50256: BCF 05.10257: BCF 03.50258: BCF 05.1.................... delay_ms(250);0259: MOVLW FA025A: MOVWF 3A025B: CALL 065........................................ line=L3;025C: MOVLW 03025D: MOVWF 2B.................... cikcak();025E: CALL 07D.................... }025F: BCF 0A.30260: GOTO 3D2 (RETURN)............................................................ ////////////////////////////////////////////////////////////////////////////////.................... void main().................... {0261: CLRF 040262: MOVLW 1F0263: ANDWF 03,F0264: MOVLW 700265: BSF 03.50266: MOVWF 0F0267: BCF 1F.40268: BCF 1F.50269: MOVF 1B,W026A: ANDLW 80026B: MOVWF 1B026C: MOVLW 07026D: MOVWF 1C........................................ unsigned int8 n;.................... unsigned int8 i,j;.................... unsigned int8 last_sensors;.................... unsigned int8 RozumnaRychlost;........................................ setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka*0270: BSF 03.50271: BCF 1F.40272: BCF 1F.50273: MOVF 1B,W0274: ANDLW 800275: IORLW 740276: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);0277: BCF 1F.60278: BCF 03.50279: BSF 1F.6027A: BSF 1F.7027B: BSF 03.5027C: BCF 1F.7027D: BCF 03.5027E: BSF 1F.0.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);027F: BCF 14.50280: BSF 03.50281: BCF 06.20282: BSF 06.10283: BCF 06.40284: MOVLW 310285: BCF 03.50286: MOVWF 140287: MOVLW 000288: BSF 03.50289: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);028A: MOVF 01,W028B: ANDLW C7028C: IORLW 08028D: MOVWF 01.................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8);028E: MOVLW 30028F: BCF 03.50290: MOVWF 10.................... setup_timer_2(T2_DIV_BY_16,140,16);0291: MOVLW 780292: MOVWF 780293: IORLW 060294: MOVWF 120295: MOVLW 8C0296: BSF 03.50297: MOVWF 12.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);0298: MOVLW 720299: MOVWF 0F........................................ STOPR; STOPL; // zastav motory029A: BCF 05.6029B: BCF 03.5029C: BCF 05.6029D: BSF 03.5029E: BCF 05.7029F: BCF 03.502A0: BCF 05.702A1: BSF 03.502A2: BCF 05.002A3: BCF 03.502A4: BCF 05.002A5: BSF 03.502A6: BCF 05.102A7: BCF 03.502A8: BCF 05.1.................... Lmotor=0;Rmotor=0;02A9: CLRF 3102AA: CLRF 3002AB: CLRF 3302AC: CLRF 32........................................ uhel = STRED; // nastav zadni kolecko na stred02AD: MOVLW 8002AE: MOVWF 2C.................... rovinka = 0;02AF: CLRF 2F........................................ enable_interrupts(INT_TIMER2);02B0: BSF 03.502B1: BSF 0C.1.................... enable_interrupts(GLOBAL);02B2: MOVLW C002B3: BCF 03.502B4: IORWF 0B,F........................................ output_low(IRTX); // zapni IR vysilac02B5: BSF 03.502B6: BCF 06.202B7: BCF 03.502B8: BCF 06.2........................................ delay_ms(2000); // musime pockat na diagnostiku slave CPU02B9: MOVLW 0802BA: MOVWF 3902BB: MOVLW FA02BC: MOVWF 3A02BD: CALL 06502BE: DECFSZ 39,F02BF: GOTO 2BB........................................ //nastaveni rychlosti.................... set_adc_channel(CERVENA);02C0: MOVLW 2002C1: MOVWF 7802C2: MOVF 1F,W02C3: ANDLW C702C4: IORWF 78,W02C5: MOVWF 1F........................................ Delay_ms(1);02C6: MOVLW 0102C7: MOVWF 3A02C8: CALL 065.................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-6302C9: BSF 1F.202CA: BTFSC 1F.202CB: GOTO 2CA02CC: MOVF 1E,W02CD: MOVWF 7702CE: RRF 77,F02CF: RRF 77,F02D0: MOVLW 3F02D1: ANDWF 77,F02D2: MOVF 77,W02D3: ADDLW 6402D4: MOVWF 2D.................... set_adc_channel(MODRA);02D5: MOVLW 1002D6: MOVWF 7802D7: MOVF 1F,W02D8: ANDLW C702D9: IORWF 78,W02DA: MOVWF 1F.................... Delay_ms(1);02DB: MOVLW 0102DC: MOVWF 3A02DD: CALL 065.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-6302DE: MOVLW 2002DF: SUBWF 2D,W02E0: MOVWF 3902E1: BSF 1F.202E2: BTFSC 1F.202E3: GOTO 2E202E4: MOVF 1E,W02E5: MOVWF 7702E6: RRF 77,F02E7: RRF 77,F02E8: MOVLW 3F02E9: ANDWF 77,F02EA: MOVF 77,W02EB: ADDWF 39,W02EC: MOVWF 2E........................................ RozumnaRychlost=speed;02ED: MOVF 2D,W02EE: MOVWF 38........................................ while(true).................... {........................................ GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor02EF: MOVF 01,W02F0: BTFSS 00.702F1: GOTO 2F502F2: BTFSS 31.702F3: GOTO 2FD02F4: GOTO 2F702F5: BTFSC 31.702F6: GOTO 30602F7: MOVF 31,F02F8: BTFSS 03.202F9: GOTO 2FD02FA: SUBWF 30,W02FB: BTFSS 03.002FC: GOTO 30602FD: BSF 03.502FE: BCF 05.102FF: BCF 03.50300: BCF 05.10301: BSF 03.50302: BCF 05.00303: BCF 03.50304: BSF 05.00305: GOTO 30E0306: BSF 03.50307: BCF 05.00308: BCF 03.50309: BCF 05.0030A: BSF 03.5030B: BCF 05.1030C: BCF 03.5030D: BCF 05.1030E: MOVF 01,W030F: BTFSS 00.70310: GOTO 3140311: BTFSS 33.70312: GOTO 31C0313: GOTO 3160314: BTFSC 33.70315: GOTO 3250316: MOVF 33,F0317: BTFSS 03.20318: GOTO 31C0319: SUBWF 32,W031A: BTFSS 03.0031B: GOTO 325031C: BSF 03.5031D: BCF 05.7031E: BCF 03.5031F: BCF 05.70320: BSF 03.50321: BCF 05.60322: BCF 03.50323: BSF 05.60324: GOTO 32D0325: BSF 03.50326: BCF 05.60327: BCF 03.50328: BCF 05.60329: BSF 03.5032A: BCF 05.7032B: BCF 03.5032C: BCF 05.7........................................ delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel032D: CLRWDT032E: MOVLW 01032F: MOVWF 3A0330: CALL 0650331: MOVLW 090332: MOVWF 390333: CLRF 290334: BTFSC 0B.70335: BSF 29.70336: BCF 0B.70337: MOVLW 6D0338: MOVWF 3D0339: CALL 037033A: BTFSC 29.7033B: BSF 0B.7033C: DECFSZ 39,F033D: GOTO 333........................................ last_sensors=sensors;033E: MOVF 2A,W033F: MOVWF 37........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru0340: BSF 03.50341: BCF 06.00342: BCF 03.50343: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru0344: MOVF 13,W0345: CLRF 130346: BSF 03.50347: BTFSC 14.00348: GOTO 34B0349: BCF 03.5034A: GOTO 346034B: BCF 03.5034C: MOVF 13,W034D: MOVWF 2A.................... sensors=~sensors; // neguj prijata data034E: COMF 2A,F.................... output_high(STROBE); // zobraz data na posuvnem registru034F: BSF 03.50350: BCF 06.00351: BCF 03.50352: BSF 06.0........................................ i=0; // havarijni kod0353: CLRF 35.................... for (n=0; n<=6; n++)0354: CLRF 340355: MOVF 34,W0356: SUBLW 060357: BTFSS 03.00358: GOTO 367.................... {.................... if(bit_test(sensors,n)) i++;0359: MOVF 2A,W035A: MOVWF 77035B: MOVF 34,W035C: MOVWF 78035D: BTFSC 03.2035E: GOTO 363035F: BCF 03.00360: RRF 77,F0361: DECFSZ 78,F0362: GOTO 35F0363: BTFSC 77.00364: INCF 35,F.................... }0365: INCF 34,F0366: GOTO 355.................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly0367: MOVF 35,W0368: SUBLW 030369: BTFSC 03.0036A: GOTO 393.................... {.................... BL; BR;036B: BSF 03.5036C: BCF 05.0036D: BCF 03.5036E: BCF 05.0036F: BSF 03.50370: BCF 05.10371: BCF 03.50372: BSF 05.10373: BSF 03.50374: BCF 05.60375: BCF 03.50376: BCF 05.60377: BSF 03.50378: BCF 05.70379: BCF 03.5037A: BSF 05.7.................... delay_ms(300);037B: MOVLW 02037C: MOVWF 39037D: MOVLW 96037E: MOVWF 3A037F: CALL 0650380: DECFSZ 39,F0381: GOTO 37D.................... STOPR; STOPL;0382: BSF 03.50383: BCF 05.60384: BCF 03.50385: BCF 05.60386: BSF 03.50387: BCF 05.70388: BCF 03.50389: BCF 05.7038A: BSF 03.5038B: BCF 05.0038C: BCF 03.5038D: BCF 05.0038E: BSF 03.5038F: BCF 05.10390: BCF 03.50391: BCF 05.1.................... While(true);0392: GOTO 392.................... };........................................ if (!input(CIHLA)) // dalkova detekce cihly0393: BSF 03.50394: BSF 05.30395: BCF 03.50396: BTFSC 05.30397: GOTO 39B.................... {.................... speed=100;0398: MOVLW 640399: MOVWF 2D.................... }.................... else039A: GOTO 39D.................... {.................... speed=RozumnaRychlost;039B: MOVF 38,W039C: MOVWF 2D.................... }........................................ if (bit_test(sensors,7)) // detekce cihly039D: BTFSS 2A.7039E: GOTO 3D2.................... {.................... BR;BL;039F: BSF 03.503A0: BCF 05.603A1: BCF 03.503A2: BCF 05.603A3: BSF 03.503A4: BCF 05.703A5: BCF 03.503A6: BSF 05.703A7: BSF 03.503A8: BCF 05.003A9: BCF 03.503AA: BCF 05.003AB: BSF 03.503AC: BCF 05.103AD: BCF 03.503AE: BSF 05.1.................... Delay_ms(400);03AF: MOVLW 0203B0: MOVWF 3903B1: MOVLW C803B2: MOVWF 3A03B3: CALL 06503B4: DECFSZ 39,F03B5: GOTO 3B1.................... STOPR;STOPL;03B6: BSF 03.503B7: BCF 05.603B8: BCF 03.503B9: BCF 05.603BA: BSF 03.503BB: BCF 05.703BC: BCF 03.503BD: BCF 05.703BE: BSF 03.503BF: BCF 05.003C0: BCF 03.503C1: BCF 05.003C2: BSF 03.503C3: BCF 05.103C4: BCF 03.503C5: BCF 05.1.................... Delay_ms(100);03C6: MOVLW 6403C7: MOVWF 3A03C8: CALL 065.................... cikcak();03C9: CALL 07D.................... delay_ms(500);03CA: MOVLW 0203CB: MOVWF 3903CC: MOVLW FA03CD: MOVWF 3A03CE: CALL 06503CF: DECFSZ 39,F03D0: GOTO 3CC.................... objizdka(); // objede cihlu03D1: GOTO 172.................... }............................................................ if(bit_test(sensors,3)) //...|...//03D2: BTFSS 2A.303D3: GOTO 3E6.................... {.................... uhel=STRED;03D4: MOVLW 8003D5: MOVWF 2C.................... Lmotor=speed;03D6: CLRF 7A03D7: MOVF 2D,W03D8: MOVWF 3003D9: MOVF 7A,W03DA: MOVWF 31.................... Rmotor=speed;03DB: CLRF 7A03DC: MOVF 2D,W03DD: MOVWF 3203DE: MOVF 7A,W03DF: MOVWF 33.................... line=S;03E0: CLRF 2B.................... if (rovinka < 255) rovinka++;03E1: INCFSZ 2F,W03E2: GOTO 3E403E3: GOTO 3E503E4: INCF 2F,F.................... // if (speed > R) speed--;.................... continue;03E5: GOTO 2EF.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu03E6: BTFSS 2A.003E7: GOTO 3F4.................... {.................... uhel=STRED - BEAR3;03E8: MOVLW 5303E9: MOVWF 2C.................... Lmotor=0;03EA: CLRF 3103EB: CLRF 30.................... Rmotor=turn;03EC: CLRF 7A03ED: MOVF 2E,W03EE: MOVWF 3203EF: MOVF 7A,W03F0: MOVWF 33.................... line=L3;03F1: MOVLW 0303F2: MOVWF 2B.................... // if (speed > R) speed--;.................... continue;03F3: GOTO 2EF.................... }........................................ if(bit_test(sensors,6)) //......|//03F4: BTFSS 2A.603F5: GOTO 402.................... {.................... uhel=STRED + BEAR3;03F6: MOVLW AD03F7: MOVWF 2C.................... Rmotor=0;03F8: CLRF 3303F9: CLRF 32.................... Lmotor=turn;03FA: CLRF 7A03FB: MOVF 2E,W03FC: MOVWF 3003FD: MOVF 7A,W03FE: MOVWF 31.................... line=R3;03FF: MOVLW FD0400: MOVWF 2B.................... // if (speed > R) speed--;.................... continue;0401: GOTO 2EF.................... }........................................ if(bit_test(sensors,1)) //.|.....//0402: BTFSS 2A.10403: GOTO 414.................... {.................... uhel=STRED - BEAR2;0404: MOVLW 670405: MOVWF 2C.................... Lmotor=speed-50;0406: MOVLW 320407: SUBWF 2D,W0408: CLRF 7A0409: MOVWF 30040A: MOVF 7A,W040B: MOVWF 31.................... Rmotor=speed;040C: CLRF 7A040D: MOVF 2D,W040E: MOVWF 32040F: MOVF 7A,W0410: MOVWF 33.................... line=L2;0411: MOVLW 020412: MOVWF 2B.................... // if (speed > R) speed--;.................... continue;0413: GOTO 2EF.................... }........................................ if(bit_test(sensors,5)) //.....|.//0414: BTFSS 2A.50415: GOTO 426.................... {.................... uhel=STRED + BEAR2;0416: MOVLW 990417: MOVWF 2C.................... Rmotor=speed-50;0418: MOVLW 320419: SUBWF 2D,W041A: CLRF 7A041B: MOVWF 32041C: MOVF 7A,W041D: MOVWF 33.................... Lmotor=speed;041E: CLRF 7A041F: MOVF 2D,W0420: MOVWF 300421: MOVF 7A,W0422: MOVWF 31.................... line=R2;0423: MOVLW FE0424: MOVWF 2B.................... // if (speed > R) speed--;.................... continue;0425: GOTO 2EF.................... }........................................ if (bit_test(sensors,2)) //..|....//0426: BTFSS 2A.20427: GOTO 43B.................... {.................... uhel=STRED - BEAR1;0428: MOVLW 760429: MOVWF 2C.................... Lmotor=speed;042A: CLRF 7A042B: MOVF 2D,W042C: MOVWF 30042D: MOVF 7A,W042E: MOVWF 31.................... Rmotor=speed;042F: CLRF 7A0430: MOVF 2D,W0431: MOVWF 320432: MOVF 7A,W0433: MOVWF 33.................... line=L2;0434: MOVLW 020435: MOVWF 2B.................... if (rovinka<255) rovinka++;0436: INCFSZ 2F,W0437: GOTO 4390438: GOTO 43A0439: INCF 2F,F.................... // if (speed > R) speed--;.................... continue;043A: GOTO 2EF.................... }........................................ if (bit_test(sensors,4)) //....|..//043B: BTFSS 2A.4043C: GOTO 450.................... {.................... uhel=STRED + BEAR1;043D: MOVLW 8A043E: MOVWF 2C.................... Rmotor=speed;043F: CLRF 7A0440: MOVF 2D,W0441: MOVWF 320442: MOVF 7A,W0443: MOVWF 33.................... Lmotor=speed;0444: CLRF 7A0445: MOVF 2D,W0446: MOVWF 300447: MOVF 7A,W0448: MOVWF 31.................... line=L2;0449: MOVLW 02044A: MOVWF 2B.................... if (rovinka<255) rovinka++;044B: INCFSZ 2F,W044C: GOTO 44E044D: GOTO 44F044E: INCF 2F,F.................... // if (speed > R) speed--;.................... continue;044F: GOTO 2EF.................... }............................................................ if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate0450: MOVF 2B,W0451: SUBLW 030452: BTFSC 03.20453: GOTO 4580454: MOVF 2B,W0455: SUBLW FD0456: BTFSS 03.20457: GOTO 47B.................... {.................... if (rovinka>50)0458: MOVF 2F,W0459: SUBLW 32045A: BTFSC 03.0045B: GOTO 47A.................... {.................... BL; BR;045C: BSF 03.5045D: BCF 05.0045E: BCF 03.5045F: BCF 05.00460: BSF 03.50461: BCF 05.10462: BCF 03.50463: BSF 05.10464: BSF 03.50465: BCF 05.60466: BCF 03.50467: BCF 05.60468: BSF 03.50469: BCF 05.7046A: BCF 03.5046B: BSF 05.7.................... Delay_ms(100);046C: MOVLW 64046D: MOVWF 3A046E: CALL 065.................... if (rovinka > 250 || speed > 170) delay_ms(50);046F: MOVF 2F,W0470: SUBLW FA0471: BTFSS 03.00472: GOTO 4770473: MOVF 2D,W0474: SUBLW AA0475: BTFSC 03.00476: GOTO 47A0477: MOVLW 320478: MOVWF 3A0479: CALL 065.................... };.................... rovinka=0;047A: CLRF 2F.................... // speed=R17;.................... };.................... }047B: GOTO 2EF.................... }047C: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO