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CCS PCM C Compiler, Version 3.245, 27853 24-IV-06 23:56Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lstROM used: 548 words (13%)Largest free fragment is 2048RAM used: 12 (7%) at main() level17 (10%) worst caseStack: 2 locations*0000: MOVLW 000001: MOVWF 0A0002: GOTO 0B10003: 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)*002A: MOVLW 27002B: MOVWF 04002C: MOVF 00,W002D: BTFSC 03.2002E: GOTO 040002F: MOVLW 010030: MOVWF 780031: MOVLW BF0032: MOVWF 770033: CLRWDT0034: DECFSZ 77,F0035: GOTO 0330036: DECFSZ 78,F0037: GOTO 0310038: MOVLW 4A0039: MOVWF 77003A: DECFSZ 77,F003B: GOTO 03A003C: NOP003D: CLRWDT003E: DECFSZ 00,F003F: GOTO 02F0040: RETLW 00............................................................ //#include <stdlib.h>........................................ #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt)0041: BSF 03.50042: BCF 06.30043: BCF 03.50044: BCF 06.30045: MOVLW 080046: MOVWF 780047: NOP0048: NOP0049: NOP004A: BSF 78.7004B: GOTO 05B004C: BCF 78.7004D: RRF 29,F004E: BTFSC 03.0004F: BSF 06.30050: BTFSS 03.00051: BCF 06.30052: BSF 78.60053: GOTO 05B0054: BCF 78.60055: DECFSZ 78,F0056: GOTO 04D0057: NOP0058: NOP0059: NOP005A: BSF 06.3005B: MOVLW 1C005C: MOVWF 04005D: DECFSZ 04,F005E: GOTO 05D005F: NOP0060: NOP0061: CLRWDT0062: BTFSC 78.70063: GOTO 04C0064: BTFSC 78.60065: GOTO 0540066: 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 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 0400B2: MOVLW 1F00B3: ANDWF 03,F00B4: MOVLW 6000B5: BSF 03.500B6: MOVWF 0F00B7: BCF 06.300B8: BCF 03.500B9: BSF 06.300BA: BSF 03.500BB: BCF 1F.400BC: BCF 1F.500BD: MOVF 1B,W00BE: ANDLW 8000BF: MOVWF 1B00C0: MOVLW 0700C1: 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.400C3: BCF 1F.500C4: MOVF 1B,W00C5: ANDLW 8000C6: IORLW 7F00C7: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);00C8: BCF 1F.600C9: BCF 03.500CA: BSF 1F.600CB: BSF 1F.700CC: BSF 03.500CD: BCF 1F.700CE: BCF 03.500CF: BSF 1F.0.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);00D0: BSF 03.500D1: MOVF 01,W00D2: ANDLW C700D3: IORLW 0800D4: MOVWF 01.................... setup_timer_1(T1_DISABLED);00D5: BCF 03.500D6: CLRF 10.................... setup_timer_2(T2_DISABLED,0,1);00D7: MOVLW 0000D8: MOVWF 7800D9: MOVWF 1200DA: MOVLW 0000DB: BSF 03.500DC: MOVWF 12.................... setup_comparator(NC_NC_NC_NC);00DD: MOVLW 0700DE: MOVWF 1C00DF: MOVF 05,W00E0: CLRWDT00E1: MOVLW 0200E2: MOVWF 7700E3: DECFSZ 77,F00E4: GOTO 0E300E5: NOP00E6: NOP00E7: MOVF 1C,W00E8: BCF 03.500E9: BCF 0D.6.................... setup_vref(FALSE);00EA: BSF 03.500EB: CLRF 1D........................................ Delay_ms(500);00EC: MOVLW 0200ED: BCF 03.500EE: MOVWF 2600EF: MOVLW FA00F0: MOVWF 2700F1: CALL 02A00F2: DECFSZ 26,F00F3: GOTO 0EF.................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED);00F4: BCF 14.500F5: BSF 03.500F6: BCF 06.200F7: BSF 06.100F8: BSF 06.400F9: MOVLW 3500FA: BCF 03.500FB: MOVWF 1400FC: MOVLW 4000FD: BSF 03.500FE: MOVWF 14........................................ // diagnostika.................... printf("\n\r");00FF: BCF 03.50100: CLRF 260101: MOVF 26,W0102: CALL 0040103: IORLW 000104: BTFSC 03.20105: GOTO 10A0106: INCF 26,F0107: MOVWF 290108: CALL 0410109: GOTO 101.................... Delay_ms(100);010A: MOVLW 64010B: MOVWF 27010C: CALL 02A.................... printf("***\n\r");010D: CLRF 26010E: MOVF 26,W010F: CALL 00B0110: IORLW 000111: BTFSC 03.20112: GOTO 1170113: INCF 26,F0114: MOVWF 290115: CALL 0410116: GOTO 10E.................... Delay_ms(100);0117: MOVLW 640118: MOVWF 270119: CALL 02A.................... for (n=0; n<=6; n++)011A: CLRF 25011B: MOVF 25,W011C: SUBLW 06011D: BTFSS 03.0011E: GOTO 157.................... {.................... set_adc_channel(n);011F: RLF 25,W0120: MOVWF 770121: RLF 77,F0122: RLF 77,F0123: MOVLW F80124: ANDWF 77,F0125: MOVF 1F,W0126: ANDLW C70127: IORWF 77,W0128: MOVWF 1F.................... Delay_ms(100);0129: MOVLW 64012A: MOVWF 27012B: CALL 02A.................... a=read_adc();012C: BSF 1F.2012D: BTFSC 1F.2012E: GOTO 12D012F: MOVF 1E,W0130: MOVWF 24.................... printf("sensor %u - %u\n\r",n,a);0131: CLRF 260132: MOVF 26,W0133: CALL 0150134: INCF 26,F0135: MOVWF 770136: MOVWF 290137: CALL 0410138: MOVLW 070139: SUBWF 26,W013A: BTFSS 03.2013B: GOTO 132013C: MOVF 25,W013D: MOVWF 27013E: MOVLW 1B013F: MOVWF 280140: CALL 07C0141: MOVLW 200142: MOVWF 290143: CALL 0410144: MOVLW 2D0145: MOVWF 290146: CALL 0410147: MOVLW 200148: MOVWF 290149: CALL 041014A: MOVF 24,W014B: MOVWF 27014C: MOVLW 1B014D: MOVWF 28014E: CALL 07C014F: MOVLW 0A0150: MOVWF 290151: CALL 0410152: MOVLW 0D0153: MOVWF 290154: CALL 041.................... }0155: INCF 25,F0156: GOTO 11B........................................ shure=0;0157: CLRF 22.................... while(true).................... {.................... set_adc_channel(0);0158: MOVLW 000159: MOVWF 78015A: MOVF 1F,W015B: ANDLW C7015C: IORWF 78,W015D: MOVWF 1F.................... cidla=0;015E: CLRF 23.................... Delay_us(10);015F: CLRWDT0160: MOVLW 020161: MOVWF 770162: DECFSZ 77,F0163: GOTO 1620164: NOP0165: NOP.................... a=read_adc();0166: BSF 1F.20167: BTFSC 1F.20168: GOTO 1670169: MOVF 1E,W016A: MOVWF 24........................................ set_adc_channel(1);016B: MOVLW 08016C: MOVWF 78016D: MOVF 1F,W016E: ANDLW C7016F: IORWF 78,W0170: MOVWF 1F.................... if(a<TRESHOLD_MAX) //hystereze cidel0171: MOVF 24,W0172: SUBLW 450173: BTFSS 03.00174: GOTO 17E.................... {.................... if(a>TRESHOLD_MIN)0175: MOVF 24,W0176: SUBLW 320177: BTFSC 03.00178: GOTO 17D.................... {.................... cidla |= (last_cidla & 0b00000001);0179: MOVF 21,W017A: ANDLW 01017B: IORWF 23,F.................... }.................... else cidla |= 0b00000001;017C: GOTO 17E017D: BSF 23.0.................... }........................................ a=read_adc();017E: BSF 1F.2017F: BTFSC 1F.20180: GOTO 17F0181: MOVF 1E,W0182: MOVWF 24........................................ set_adc_channel(2);0183: MOVLW 100184: MOVWF 780185: MOVF 1F,W0186: ANDLW C70187: IORWF 78,W0188: MOVWF 1F.................... if(a<TRESHOLD_MAX)0189: MOVF 24,W018A: SUBLW 45018B: BTFSS 03.0018C: GOTO 196.................... {.................... if(a>TRESHOLD_MIN)018D: MOVF 24,W018E: SUBLW 32018F: BTFSC 03.00190: GOTO 195.................... {.................... cidla |= (last_cidla & 0b00000010);0191: MOVF 21,W0192: ANDLW 020193: IORWF 23,F.................... }.................... else cidla |= 0b00000010;0194: GOTO 1960195: BSF 23.1.................... }........................................ a=read_adc();0196: BSF 1F.20197: BTFSC 1F.20198: GOTO 1970199: MOVF 1E,W019A: MOVWF 24........................................ set_adc_channel(3);019B: MOVLW 18019C: MOVWF 78019D: MOVF 1F,W019E: ANDLW C7019F: IORWF 78,W01A0: MOVWF 1F.................... if(a<TRESHOLD_MAX)01A1: MOVF 24,W01A2: SUBLW 4501A3: BTFSS 03.001A4: GOTO 1AE.................... {.................... if(a>TRESHOLD_MIN)01A5: MOVF 24,W01A6: SUBLW 3201A7: BTFSC 03.001A8: GOTO 1AD.................... {.................... cidla |= (last_cidla & 0b00000100);01A9: MOVF 21,W01AA: ANDLW 0401AB: IORWF 23,F.................... }.................... else cidla |= 0b00000100;01AC: GOTO 1AE01AD: BSF 23.2.................... }........................................ a=read_adc();01AE: BSF 1F.201AF: BTFSC 1F.201B0: GOTO 1AF01B1: MOVF 1E,W01B2: MOVWF 24........................................ set_adc_channel(4);01B3: MOVLW 2001B4: MOVWF 7801B5: MOVF 1F,W01B6: ANDLW C701B7: IORWF 78,W01B8: MOVWF 1F.................... if(a<TRESHOLD_MAX)01B9: MOVF 24,W01BA: SUBLW 4501BB: BTFSS 03.001BC: GOTO 1C6.................... {.................... if(a>TRESHOLD_MIN)01BD: MOVF 24,W01BE: SUBLW 3201BF: BTFSC 03.001C0: GOTO 1C5.................... {.................... cidla |= (last_cidla & 0b00001000);01C1: MOVF 21,W01C2: ANDLW 0801C3: IORWF 23,F.................... }.................... else cidla |= 0b00001000;01C4: GOTO 1C601C5: BSF 23.3.................... }.................... a=read_adc();01C6: BSF 1F.201C7: BTFSC 1F.201C8: GOTO 1C701C9: MOVF 1E,W01CA: MOVWF 24........................................ set_adc_channel(5);01CB: MOVLW 2801CC: MOVWF 7801CD: MOVF 1F,W01CE: ANDLW C701CF: IORWF 78,W01D0: MOVWF 1F........................................ if(a<TRESHOLD_MAX)01D1: MOVF 24,W01D2: SUBLW 4501D3: BTFSS 03.001D4: GOTO 1DE.................... {.................... if(a>TRESHOLD_MIN)01D5: MOVF 24,W01D6: SUBLW 3201D7: BTFSC 03.001D8: GOTO 1DD.................... {.................... cidla |= (last_cidla & 0b00010000);01D9: MOVF 21,W01DA: ANDLW 1001DB: IORWF 23,F.................... }.................... else cidla |= 0b00010000;01DC: GOTO 1DE01DD: BSF 23.4.................... }.................... a=read_adc();01DE: BSF 1F.201DF: BTFSC 1F.201E0: GOTO 1DF01E1: MOVF 1E,W01E2: MOVWF 24........................................ set_adc_channel(6);01E3: MOVLW 3001E4: MOVWF 7801E5: MOVF 1F,W01E6: ANDLW C701E7: IORWF 78,W01E8: MOVWF 1F.................... if(a<TRESHOLD_MAX)01E9: MOVF 24,W01EA: SUBLW 4501EB: BTFSS 03.001EC: GOTO 1F6.................... {.................... if(a>TRESHOLD_MIN)01ED: MOVF 24,W01EE: SUBLW 3201EF: BTFSC 03.001F0: GOTO 1F5.................... {.................... cidla |= (last_cidla & 0b00100000);01F1: MOVF 21,W01F2: ANDLW 2001F3: IORWF 23,F.................... }.................... else cidla |= 0b00100000;01F4: GOTO 1F601F5: BSF 23.5.................... }.................... a=read_adc();01F6: BSF 1F.201F7: BTFSC 1F.201F8: GOTO 1F701F9: MOVF 1E,W01FA: MOVWF 24........................................ if(a<TRESHOLD_MAX)01FB: MOVF 24,W01FC: SUBLW 4501FD: BTFSS 03.001FE: GOTO 208.................... {.................... if(a>TRESHOLD_MIN)01FF: MOVF 24,W0200: SUBLW 320201: BTFSC 03.00202: GOTO 207.................... {.................... cidla |=(last_cidla & 0b01000000);0203: MOVF 21,W0204: ANDLW 400205: IORWF 23,F.................... }.................... else cidla |= 0b01000000;0206: GOTO 2080207: BSF 23.6.................... }........................................ last_cidla=cidla;0208: MOVF 23,W0209: MOVWF 21........................................ if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};020A: BSF 03.5020B: BSF 06.0020C: BCF 03.5020D: BTFSC 06.0020E: GOTO 214020F: INCFSZ 22,W0210: GOTO 2120211: GOTO 2130212: INCF 22,F0213: GOTO 2150214: CLRF 22.................... if (shure>CIHLA) cidla|=0b10000000;0215: MOVF 22,W0216: SUBLW 0A0217: BTFSS 03.00218: BSF 23.7........................................ cidla=~cidla;0219: COMF 23,F.................... spi_write(cidla);021A: MOVF 23,W021B: MOVWF 13021C: BSF 03.5021D: BTFSC 14.0021E: GOTO 221021F: BCF 03.50220: GOTO 21C.................... }0221: BCF 03.50222: GOTO 158.................... }0223: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO