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CCS PCM C Compiler, Version 3.245, 27853 30-IV-06 21:17Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lstROM used: 1154 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 26C0003: 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 PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly.................... //#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*0279: BCF 03.5027A: 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.................... int8 IRcheck() // potvrdi detekci cihly.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(10);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal.................... {.................... output_low(IRTX); // zapne vysilac IR.................... delay_ms(10);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(!bit_test(sensors,7)) // otestuje, jestli je detekovana cihla.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(10);........................................ 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_R.c".................... #define DOLEVA 0.................... #define DOPRAVA 1........................................ void cikcak().................... {.................... unsigned int8 i=0;*007D: CLRF 39........................................ uhel=KOLMO1; // aby se dalo tocit na miste007E: MOVLW E1007F: MOVWF 2C.................... Delay_ms(100);0080: MOVLW 640081: MOVWF 3A0082: CALL 065........................................ if (line==L2) line=L3; // poznamenej, kde byla cara pred brzdenim0083: MOVF 2B,W0084: SUBLW 020085: BTFSS 03.20086: GOTO 0890087: MOVLW 030088: MOVWF 2B.................... if (line==S) line=L3;0089: MOVF 2B,F008A: BTFSS 03.2008B: GOTO 08E008C: MOVLW 03008D: MOVWF 2B.................... if (line==R2) line=R3;008E: MOVF 2B,W008F: SUBLW FE0090: BTFSS 03.20091: GOTO 0940092: MOVLW FD0093: MOVWF 2B........................................ Delay_ms(3); // prodleva na cteni senzoru pred prenosem0094: MOVLW 030095: MOVWF 3A0096: CALL 065........................................ output_low(STROBE); // zapni zobrazovani na posuvnem registru0097: BSF 03.50098: BCF 06.00099: BCF 03.5009A: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru009B: MOVF 13,W009C: CLRF 13009D: BSF 03.5009E: BTFSC 14.0009F: GOTO 0A200A0: BCF 03.500A1: GOTO 09D00A2: BCF 03.500A3: MOVF 13,W00A4: MOVWF 2A.................... sensors=~sensors;00A5: COMF 2A,F.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru00A6: BSF 03.500A7: BCF 06.000A8: BCF 03.500A9: BSF 06.0........................................ while(true).................... {.................... Delay_ms(3);00AA: MOVLW 0300AB: MOVWF 3A00AC: CALL 065........................................ if (line==L3)00AD: MOVF 2B,W00AE: SUBLW 0300AF: BTFSS 03.200B0: GOTO 0DB.................... {.................... GO(L,B,160);GO(R,F,160);00B1: MOVF 01,W00B2: SUBLW A000B3: BTFSS 03.000B4: GOTO 0BE00B5: BSF 03.500B6: BCF 05.000B7: BCF 03.500B8: BCF 05.000B9: BSF 03.500BA: BCF 05.100BB: BCF 03.500BC: BSF 05.100BD: GOTO 0C600BE: BSF 03.500BF: BCF 05.000C0: BCF 03.500C1: BCF 05.000C2: BSF 03.500C3: BCF 05.100C4: BCF 03.500C5: BCF 05.100C6: MOVF 01,W00C7: SUBLW A000C8: BTFSS 03.000C9: GOTO 0D300CA: BSF 03.500CB: BCF 05.700CC: BCF 03.500CD: BCF 05.700CE: BSF 03.500CF: BCF 05.600D0: BCF 03.500D1: BSF 05.600D2: GOTO 0DB00D3: BSF 03.500D4: BCF 05.600D5: BCF 03.500D6: BCF 05.600D7: BSF 03.500D8: BCF 05.700D9: BCF 03.500DA: BCF 05.7.................... };.................... if (line==R3)00DB: MOVF 2B,W00DC: SUBLW FD00DD: BTFSS 03.200DE: GOTO 109.................... {.................... GO(R,B,160);GO(L,F,160);00DF: MOVF 01,W00E0: SUBLW A000E1: BTFSS 03.000E2: GOTO 0EC00E3: BSF 03.500E4: BCF 05.600E5: BCF 03.500E6: BCF 05.600E7: BSF 03.500E8: BCF 05.700E9: BCF 03.500EA: BSF 05.700EB: GOTO 0F400EC: BSF 03.500ED: BCF 05.600EE: BCF 03.500EF: BCF 05.600F0: BSF 03.500F1: BCF 05.700F2: BCF 03.500F3: BCF 05.700F4: MOVF 01,W00F5: SUBLW A000F6: BTFSS 03.000F7: GOTO 10100F8: BSF 03.500F9: BCF 05.100FA: BCF 03.500FB: BCF 05.100FC: BSF 03.500FD: BCF 05.000FE: BCF 03.500FF: BSF 05.00100: GOTO 1090101: BSF 03.50102: BCF 05.00103: BCF 03.50104: BCF 05.00105: BSF 03.50106: BCF 05.10107: BCF 03.50108: BCF 05.1.................... };.................... if (line==S) {STOPL;STOPR; i++;} else i=0;0109: MOVF 2B,F010A: BTFSS 03.2010B: GOTO 11E010C: BSF 03.5010D: BCF 05.0010E: BCF 03.5010F: BCF 05.00110: BSF 03.50111: BCF 05.10112: BCF 03.50113: BCF 05.10114: BSF 03.50115: BCF 05.60116: BCF 03.50117: BCF 05.60118: BSF 03.50119: BCF 05.7011A: BCF 03.5011B: BCF 05.7011C: INCF 39,F011D: GOTO 11F011E: CLRF 39........................................ if (i>=100) break; // pokud je dostatecne dlouho cara vprostred, vypadni011F: MOVF 39,W0120: SUBLW 630121: BTFSS 03.00122: GOTO 159........................................ output_low(STROBE); // zapni zobrazovani na posuvnem registru0123: BSF 03.50124: BCF 06.00125: BCF 03.50126: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru0127: MOVF 13,W0128: CLRF 130129: BSF 03.5012A: BTFSC 14.0012B: GOTO 12E012C: BCF 03.5012D: GOTO 129012E: BCF 03.5012F: MOVF 13,W0130: MOVWF 2A.................... sensors=~sensors;0131: COMF 2A,F.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru0132: BSF 03.50133: BCF 06.00134: BCF 03.50135: BSF 06.0........................................ if(bit_test(sensors,3)) //...|...//0136: BTFSS 2A.30137: GOTO 13A.................... {.................... line=S;0138: CLRF 2B.................... continue;0139: GOTO 0AA.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu013A: BTFSS 2A.0013B: GOTO 13F.................... {.................... line=L3;013C: MOVLW 03013D: MOVWF 2B.................... continue;013E: GOTO 0AA.................... }........................................ if(bit_test(sensors,6)) //......|//013F: BTFSS 2A.60140: GOTO 144.................... {.................... line=R3;0141: MOVLW FD0142: MOVWF 2B.................... continue;0143: GOTO 0AA.................... }........................................ if(bit_test(sensors,1)) //.|.....//0144: BTFSS 2A.10145: GOTO 149.................... {.................... line=L3;0146: MOVLW 030147: MOVWF 2B.................... continue;0148: GOTO 0AA.................... }........................................ if(bit_test(sensors,5)) //.....|.//0149: BTFSS 2A.5014A: GOTO 14E.................... {.................... line=R3;014B: MOVLW FD014C: MOVWF 2B.................... continue;014D: GOTO 0AA.................... }........................................ if (bit_test(sensors,2)) //..|....//014E: BTFSS 2A.2014F: GOTO 153.................... {.................... line=L3;0150: MOVLW 030151: MOVWF 2B.................... continue;0152: GOTO 0AA.................... }........................................ if (bit_test(sensors,4)) //....|..//0153: BTFSS 2A.40154: GOTO 158.................... {.................... line=R3;0155: MOVLW FD0156: MOVWF 2B.................... continue;0157: GOTO 0AA.................... }.................... }0158: GOTO 0AA.................... }0159: RETLW 00.................... ////////////////////////////////////////////////////////////////////////////////.................... void objizdka().................... {.................... FL;BR; // doprava 90015A: BSF 03.5015B: BCF 05.1015C: BCF 03.5015D: BCF 05.1015E: BSF 03.5015F: BCF 05.00160: BCF 03.50161: BSF 05.00162: BSF 03.50163: BCF 05.60164: BCF 03.50165: BCF 05.60166: BSF 03.50167: BCF 05.70168: BCF 03.50169: BSF 05.7.................... Delay_ms(300);016A: MOVLW 02016B: MOVWF 39016C: MOVLW 96016D: MOVWF 3A016E: CALL 065016F: DECFSZ 39,F0170: GOTO 16C.................... BL;FR; // brzdi z toceni0171: BSF 03.50172: BCF 05.00173: BCF 03.50174: BCF 05.00175: BSF 03.50176: BCF 05.10177: BCF 03.50178: BSF 05.10179: BSF 03.5017A: BCF 05.7017B: BCF 03.5017C: BCF 05.7017D: BSF 03.5017E: BCF 05.6017F: BCF 03.50180: BSF 05.6.................... Delay_ms(100);0181: MOVLW 640182: MOVWF 3A0183: CALL 065.................... STOPL;STOPR;0184: BSF 03.50185: BCF 05.00186: BCF 03.50187: BCF 05.00188: BSF 03.50189: BCF 05.1018A: BCF 03.5018B: BCF 05.1018C: BSF 03.5018D: BCF 05.6018E: BCF 03.5018F: BCF 05.60190: BSF 03.50191: BCF 05.70192: BCF 03.50193: BCF 05.7........................................ uhel=STRED;0194: MOVLW 800195: MOVWF 2C.................... FL;FR;0196: BSF 03.50197: BCF 05.10198: BCF 03.50199: BCF 05.1019A: BSF 03.5019B: BCF 05.0019C: BCF 03.5019D: BSF 05.0019E: BSF 03.5019F: BCF 05.701A0: BCF 03.501A1: BCF 05.701A2: BSF 03.501A3: BCF 05.601A4: BCF 03.501A5: BSF 05.6.................... Delay_ms(380); // rovne01A6: MOVLW 0201A7: MOVWF 3901A8: MOVLW BE01A9: MOVWF 3A01AA: CALL 06501AB: DECFSZ 39,F01AC: GOTO 1A8........................................ uhel=STRED-55;01AD: MOVLW 4901AE: MOVWF 2C.................... STOPL;FR;01AF: BSF 03.501B0: BCF 05.001B1: BCF 03.501B2: BCF 05.001B3: BSF 03.501B4: BCF 05.101B5: BCF 03.501B6: BCF 05.101B7: BSF 03.501B8: BCF 05.701B9: BCF 03.501BA: BCF 05.701BB: BSF 03.501BC: BCF 05.601BD: BCF 03.501BE: BSF 05.6.................... Delay_ms(190); // doleva01BF: MOVLW BE01C0: MOVWF 3A01C1: CALL 065........................................ uhel=STRED;01C2: MOVLW 8001C3: MOVWF 2C.................... FR;FL;01C4: BSF 03.501C5: BCF 05.701C6: BCF 03.501C7: BCF 05.701C8: BSF 03.501C9: BCF 05.601CA: BCF 03.501CB: BSF 05.601CC: BSF 03.501CD: BCF 05.101CE: BCF 03.501CF: BCF 05.101D0: BSF 03.501D1: BCF 05.001D2: BCF 03.501D3: BSF 05.0.................... Delay_ms(300); // rovne01D4: MOVLW 0201D5: MOVWF 3901D6: MOVLW 9601D7: MOVWF 3A01D8: CALL 06501D9: DECFSZ 39,F01DA: GOTO 1D6........................................ uhel=STRED-55;01DB: MOVLW 4901DC: MOVWF 2C.................... FR;STOPL;01DD: BSF 03.501DE: BCF 05.701DF: BCF 03.501E0: BCF 05.701E1: BSF 03.501E2: BCF 05.601E3: BCF 03.501E4: BSF 05.601E5: BSF 03.501E6: BCF 05.001E7: BCF 03.501E8: BCF 05.001E9: BSF 03.501EA: BCF 05.101EB: BCF 03.501EC: BCF 05.1.................... Delay_ms(190); // doleva01ED: MOVLW BE01EE: MOVWF 3A01EF: CALL 065........................................ uhel=STRED;01F0: MOVLW 8001F1: MOVWF 2C.................... FR;FL;01F2: BSF 03.501F3: BCF 05.701F4: BCF 03.501F5: BCF 05.701F6: BSF 03.501F7: BCF 05.601F8: BCF 03.501F9: BSF 05.601FA: BSF 03.501FB: BCF 05.101FC: BCF 03.501FD: BCF 05.101FE: BSF 03.501FF: BCF 05.00200: BCF 03.50201: BSF 05.0.................... Delay_ms(100); // rovne0202: MOVLW 640203: MOVWF 3A0204: CALL 065........................................ While((sensors & 0b11111110)!=0) //dokud neni cara.................... {0205: MOVF 2A,W0206: ANDLW FE0207: BTFSC 03.20208: GOTO 218.................... sensors = spi_read(0); // cteni senzoru0209: MOVF 13,W020A: CLRF 13020B: BSF 03.5020C: BTFSC 14.0020D: GOTO 210020E: BCF 03.5020F: GOTO 20B0210: BCF 03.50211: MOVF 13,W0212: MOVWF 2A.................... sensors=~sensors;0213: COMF 2A,F.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel0214: MOVLW 030215: MOVWF 3A0216: CALL 065.................... }0217: GOTO 205.................... BL;BR; // zabrzdi0218: BSF 03.50219: BCF 05.0021A: BCF 03.5021B: BCF 05.0021C: BSF 03.5021D: BCF 05.1021E: BCF 03.5021F: BSF 05.10220: BSF 03.50221: BCF 05.60222: BCF 03.50223: BCF 05.60224: BSF 03.50225: BCF 05.70226: BCF 03.50227: BSF 05.7.................... Delay_ms(250);0228: MOVLW FA0229: MOVWF 3A022A: CALL 065........................................ uhel=KOLMO1;022B: MOVLW E1022C: MOVWF 2C.................... FL;BR; // doprava022D: BSF 03.5022E: BCF 05.1022F: BCF 03.50230: BCF 05.10231: BSF 03.50232: BCF 05.00233: BCF 03.50234: BSF 05.00235: BSF 03.50236: BCF 05.60237: BCF 03.50238: BCF 05.60239: BSF 03.5023A: BCF 05.7023B: BCF 03.5023C: BSF 05.7.................... While((sensors & 0b11111110)!=0) //dokud neni cara.................... {023D: MOVF 2A,W023E: ANDLW FE023F: BTFSC 03.20240: GOTO 250.................... sensors = spi_read(0); // cteni senzoru0241: MOVF 13,W0242: CLRF 130243: BSF 03.50244: BTFSC 14.00245: GOTO 2480246: BCF 03.50247: GOTO 2430248: BCF 03.50249: MOVF 13,W024A: MOVWF 2A.................... sensors=~sensors;024B: COMF 2A,F.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel024C: MOVLW 03024D: MOVWF 3A024E: CALL 065.................... }024F: GOTO 23D.................... STOPL;STOPR; // zabrzdi0250: BSF 03.50251: BCF 05.00252: BCF 03.50253: BCF 05.00254: BSF 03.50255: BCF 05.10256: BCF 03.50257: BCF 05.10258: BSF 03.50259: BCF 05.6025A: BCF 03.5025B: BCF 05.6025C: BSF 03.5025D: BCF 05.7025E: BCF 03.5025F: BCF 05.7.................... Delay_ms(300);0260: MOVLW 020261: MOVWF 390262: MOVLW 960263: MOVWF 3A0264: CALL 0650265: DECFSZ 39,F0266: GOTO 262.................... // delay_ms(250);........................................ line=R3;0267: MOVLW FD0268: MOVWF 2B.................... cikcak();0269: CALL 07D.................... }026A: BCF 0A.3026B: GOTO 3CF (RETURN)............................................................ ////////////////////////////////////////////////////////////////////////////////.................... void main().................... {026C: CLRF 04026D: MOVLW 1F026E: ANDWF 03,F026F: MOVLW 700270: BSF 03.50271: MOVWF 0F0272: BCF 1F.40273: BCF 1F.50274: MOVF 1B,W0275: ANDLW 800276: MOVWF 1B0277: MOVLW 070278: 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*027B: BSF 03.5027C: BCF 1F.4027D: BCF 1F.5027E: MOVF 1B,W027F: ANDLW 800280: IORLW 740281: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);0282: BCF 1F.60283: BCF 03.50284: BSF 1F.60285: BSF 1F.70286: BSF 03.50287: BCF 1F.70288: BCF 03.50289: BSF 1F.0.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);028A: BCF 14.5028B: BSF 03.5028C: BCF 06.2028D: BSF 06.1028E: BCF 06.4028F: MOVLW 310290: BCF 03.50291: MOVWF 140292: MOVLW 000293: BSF 03.50294: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);0295: MOVF 01,W0296: ANDLW C70297: IORLW 080298: MOVWF 01.................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8);0299: MOVLW 30029A: BCF 03.5029B: MOVWF 10.................... setup_timer_2(T2_DIV_BY_16,140,16);029C: MOVLW 78029D: MOVWF 78029E: IORLW 06029F: MOVWF 1202A0: MOVLW 8C02A1: BSF 03.502A2: MOVWF 12.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);02A3: MOVLW 7202A4: MOVWF 0F........................................ STOPR; STOPL; // zastav motory02A5: BCF 05.602A6: BCF 03.502A7: BCF 05.602A8: BSF 03.502A9: BCF 05.702AA: BCF 03.502AB: BCF 05.702AC: BSF 03.502AD: BCF 05.002AE: BCF 03.502AF: BCF 05.002B0: BSF 03.502B1: BCF 05.102B2: BCF 03.502B3: BCF 05.1.................... Lmotor=0;Rmotor=0;02B4: CLRF 3102B5: CLRF 3002B6: CLRF 3302B7: CLRF 32........................................ uhel = STRED; // nastav zadni kolecko na stred02B8: MOVLW 8002B9: MOVWF 2C.................... rovinka = 0;02BA: CLRF 2F........................................ enable_interrupts(INT_TIMER2);02BB: BSF 03.502BC: BSF 0C.1.................... enable_interrupts(GLOBAL);02BD: MOVLW C002BE: BCF 03.502BF: IORWF 0B,F........................................ output_low(IRTX); // zapni IR vysilac02C0: BSF 03.502C1: BCF 06.202C2: BCF 03.502C3: BCF 06.2........................................ delay_ms(2000); // musime pockat na diagnostiku slave CPU02C4: MOVLW 0802C5: MOVWF 3902C6: MOVLW FA02C7: MOVWF 3A02C8: CALL 06502C9: DECFSZ 39,F02CA: GOTO 2C6........................................ //nastaveni rychlosti.................... set_adc_channel(CERVENA);02CB: MOVLW 2002CC: MOVWF 7802CD: MOVF 1F,W02CE: ANDLW C702CF: IORWF 78,W02D0: MOVWF 1F........................................ Delay_ms(1);02D1: MOVLW 0102D2: MOVWF 3A02D3: CALL 065.................... RozumnaRychlost=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-6302D4: BSF 1F.202D5: BTFSC 1F.202D6: GOTO 2D502D7: MOVF 1E,W02D8: MOVWF 7702D9: RRF 77,F02DA: RRF 77,F02DB: MOVLW 3F02DC: ANDWF 77,F02DD: MOVF 77,W02DE: ADDLW 6402DF: MOVWF 38.................... set_adc_channel(MODRA);02E0: MOVLW 1002E1: MOVWF 7802E2: MOVF 1F,W02E3: ANDLW C702E4: IORWF 78,W02E5: MOVWF 1F.................... Delay_ms(1);02E6: MOVLW 0102E7: MOVWF 3A02E8: CALL 065.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-6302E9: MOVLW 2002EA: SUBWF 2D,W02EB: MOVWF 3902EC: BSF 1F.202ED: BTFSC 1F.202EE: GOTO 2ED02EF: MOVF 1E,W02F0: MOVWF 7702F1: RRF 77,F02F2: RRF 77,F02F3: MOVLW 3F02F4: ANDWF 77,F02F5: MOVF 77,W02F6: ADDWF 39,W02F7: MOVWF 2E........................................ speed=R17;02F8: MOVLW C802F9: MOVWF 2D........................................ while(true).................... {........................................ GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor02FA: MOVF 01,W02FB: BTFSS 00.702FC: GOTO 30002FD: BTFSS 31.702FE: GOTO 30802FF: GOTO 3020300: BTFSC 31.70301: GOTO 3110302: MOVF 31,F0303: BTFSS 03.20304: GOTO 3080305: SUBWF 30,W0306: BTFSS 03.00307: GOTO 3110308: BSF 03.50309: BCF 05.1030A: BCF 03.5030B: BCF 05.1030C: BSF 03.5030D: BCF 05.0030E: BCF 03.5030F: BSF 05.00310: GOTO 3190311: BSF 03.50312: BCF 05.00313: BCF 03.50314: BCF 05.00315: BSF 03.50316: BCF 05.10317: BCF 03.50318: BCF 05.10319: MOVF 01,W031A: BTFSS 00.7031B: GOTO 31F031C: BTFSS 33.7031D: GOTO 327031E: GOTO 321031F: BTFSC 33.70320: GOTO 3300321: MOVF 33,F0322: BTFSS 03.20323: GOTO 3270324: SUBWF 32,W0325: BTFSS 03.00326: GOTO 3300327: BSF 03.50328: BCF 05.70329: BCF 03.5032A: BCF 05.7032B: BSF 03.5032C: BCF 05.6032D: BCF 03.5032E: BSF 05.6032F: GOTO 3380330: BSF 03.50331: BCF 05.60332: BCF 03.50333: BCF 05.60334: BSF 03.50335: BCF 05.70336: BCF 03.50337: BCF 05.7........................................ delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel0338: CLRWDT0339: MOVLW 01033A: MOVWF 3A033B: CALL 065033C: MOVLW 09033D: MOVWF 39033E: CLRF 29033F: BTFSC 0B.70340: BSF 29.70341: BCF 0B.70342: MOVLW 6D0343: MOVWF 3D0344: CALL 0370345: BTFSC 29.70346: BSF 0B.70347: DECFSZ 39,F0348: GOTO 33E........................................ last_sensors=sensors;0349: MOVF 2A,W034A: MOVWF 37........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru034B: BSF 03.5034C: BCF 06.0034D: BCF 03.5034E: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru034F: MOVF 13,W0350: CLRF 130351: BSF 03.50352: BTFSC 14.00353: GOTO 3560354: BCF 03.50355: GOTO 3510356: BCF 03.50357: MOVF 13,W0358: MOVWF 2A.................... sensors=~sensors; // neguj prijata data0359: COMF 2A,F.................... output_high(STROBE); // zobraz data na posuvnem registru035A: BSF 03.5035B: BCF 06.0035C: BCF 03.5035D: BSF 06.0........................................ i=0; // havarijni kod035E: CLRF 35.................... for (n=0; n<=6; n++)035F: CLRF 340360: MOVF 34,W0361: SUBLW 060362: BTFSS 03.00363: GOTO 372.................... {.................... if(bit_test(sensors,n)) i++;0364: MOVF 2A,W0365: MOVWF 770366: MOVF 34,W0367: MOVWF 780368: BTFSC 03.20369: GOTO 36E036A: BCF 03.0036B: RRF 77,F036C: DECFSZ 78,F036D: GOTO 36A036E: BTFSC 77.0036F: INCF 35,F.................... }0370: INCF 34,F0371: GOTO 360.................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly0372: MOVF 35,W0373: SUBLW 040374: BTFSC 03.00375: GOTO 39E.................... {.................... BL; BR;0376: BSF 03.50377: BCF 05.00378: BCF 03.50379: BCF 05.0037A: BSF 03.5037B: BCF 05.1037C: BCF 03.5037D: BSF 05.1037E: BSF 03.5037F: BCF 05.60380: BCF 03.50381: BCF 05.60382: BSF 03.50383: BCF 05.70384: BCF 03.50385: BSF 05.7.................... delay_ms(300);0386: MOVLW 020387: MOVWF 390388: MOVLW 960389: MOVWF 3A038A: CALL 065038B: DECFSZ 39,F038C: GOTO 388.................... STOPR; STOPL;038D: BSF 03.5038E: BCF 05.6038F: BCF 03.50390: BCF 05.60391: BSF 03.50392: BCF 05.70393: BCF 03.50394: BCF 05.70395: BSF 03.50396: BCF 05.00397: BCF 03.50398: BCF 05.00399: BSF 03.5039A: BCF 05.1039B: BCF 03.5039C: BCF 05.1.................... While(true);039D: GOTO 39D.................... };........................................ /*.................... if (!input(CIHLA)) // dalkova detekce cihly.................... {.................... speed=PRED_CIHLOU;.................... }.................... else.................... {.................... speed=RozumnaRychlost;.................... }.................... */.................... if (bit_test(sensors,7)) // detekce cihly039E: BTFSS 2A.7039F: GOTO 3CF.................... {.................... BR;BL;03A0: BSF 03.503A1: BCF 05.603A2: BCF 03.503A3: BCF 05.603A4: BSF 03.503A5: BCF 05.703A6: BCF 03.503A7: BSF 05.703A8: BSF 03.503A9: BCF 05.003AA: BCF 03.503AB: BCF 05.003AC: BSF 03.503AD: BCF 05.103AE: BCF 03.503AF: BSF 05.1.................... Delay_ms(400);03B0: MOVLW 0203B1: MOVWF 3903B2: MOVLW C803B3: MOVWF 3A03B4: CALL 06503B5: DECFSZ 39,F03B6: GOTO 3B2.................... STOPR;STOPL;03B7: BSF 03.503B8: BCF 05.603B9: BCF 03.503BA: BCF 05.603BB: BSF 03.503BC: BCF 05.703BD: BCF 03.503BE: BCF 05.703BF: BSF 03.503C0: BCF 05.003C1: BCF 03.503C2: BCF 05.003C3: BSF 03.503C4: BCF 05.103C5: BCF 03.503C6: BCF 05.1.................... // if (1==IRcheck()) // kontrola, jestli nebylo rusene cidlo.................... {.................... Delay_ms(100);03C7: MOVLW 6403C8: MOVWF 3A03C9: CALL 065.................... cikcak();03CA: CALL 07D.................... delay_ms(100);03CB: MOVLW 6403CC: MOVWF 3A03CD: CALL 065.................... objizdka(); // objede cihlu03CE: GOTO 15A.................... }.................... }........................................ if (speed > RozumnaRychlost) speed--; // postupne zpomaleni na Roz. Rychl.03CF: MOVF 2D,W03D0: SUBWF 38,W03D1: BTFSS 03.003D2: DECF 2D,F........................................ if(bit_test(sensors,3)) //...|...//03D3: BTFSS 2A.303D4: GOTO 3E7.................... {.................... uhel=STRED;03D5: MOVLW 8003D6: MOVWF 2C.................... Lmotor=speed;03D7: CLRF 7A03D8: MOVF 2D,W03D9: MOVWF 3003DA: MOVF 7A,W03DB: MOVWF 31.................... Rmotor=speed;03DC: CLRF 7A03DD: MOVF 2D,W03DE: MOVWF 3203DF: MOVF 7A,W03E0: MOVWF 33.................... line=S;03E1: CLRF 2B.................... if (rovinka < 255) rovinka++;03E2: INCFSZ 2F,W03E3: GOTO 3E503E4: GOTO 3E603E5: INCF 2F,F.................... continue;03E6: GOTO 2FA.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu03E7: BTFSS 2A.003E8: GOTO 3F5.................... {.................... uhel=STRED - BEAR3;03E9: MOVLW 5303EA: MOVWF 2C.................... Lmotor=0;03EB: CLRF 3103EC: CLRF 30.................... Rmotor=turn;03ED: CLRF 7A03EE: MOVF 2E,W03EF: MOVWF 3203F0: MOVF 7A,W03F1: MOVWF 33.................... line=L3;03F2: MOVLW 0303F3: MOVWF 2B.................... continue;03F4: GOTO 2FA.................... }........................................ if(bit_test(sensors,6)) //......|//03F5: BTFSS 2A.603F6: GOTO 403.................... {.................... uhel=STRED + BEAR3;03F7: MOVLW AD03F8: MOVWF 2C.................... Rmotor=0;03F9: CLRF 3303FA: CLRF 32.................... Lmotor=turn;03FB: CLRF 7A03FC: MOVF 2E,W03FD: MOVWF 3003FE: MOVF 7A,W03FF: MOVWF 31.................... line=R3;0400: MOVLW FD0401: MOVWF 2B.................... continue;0402: GOTO 2FA.................... }........................................ if(bit_test(sensors,1)) //.|.....//0403: BTFSS 2A.10404: GOTO 415.................... {.................... uhel=STRED - BEAR2;0405: MOVLW 670406: MOVWF 2C.................... Lmotor=speed-70;0407: MOVLW 460408: SUBWF 2D,W0409: CLRF 7A040A: MOVWF 30040B: MOVF 7A,W040C: MOVWF 31.................... Rmotor=speed;040D: CLRF 7A040E: MOVF 2D,W040F: MOVWF 320410: MOVF 7A,W0411: MOVWF 33.................... line=L2;0412: MOVLW 020413: MOVWF 2B.................... continue;0414: GOTO 2FA.................... }........................................ if(bit_test(sensors,5)) //.....|.//0415: BTFSS 2A.50416: GOTO 427.................... {.................... uhel=STRED + BEAR2;0417: MOVLW 990418: MOVWF 2C.................... Rmotor=speed-70;0419: MOVLW 46041A: SUBWF 2D,W041B: CLRF 7A041C: MOVWF 32041D: MOVF 7A,W041E: MOVWF 33.................... Lmotor=speed;041F: CLRF 7A0420: MOVF 2D,W0421: MOVWF 300422: MOVF 7A,W0423: MOVWF 31.................... line=R2;0424: MOVLW FE0425: MOVWF 2B.................... continue;0426: GOTO 2FA.................... }........................................ if (bit_test(sensors,2)) //..|....//0427: BTFSS 2A.20428: GOTO 43D.................... {.................... uhel=STRED - BEAR1;0429: MOVLW 76042A: MOVWF 2C.................... Lmotor=speed-20;042B: MOVLW 14042C: SUBWF 2D,W042D: CLRF 7A042E: MOVWF 30042F: MOVF 7A,W0430: MOVWF 31.................... Rmotor=speed;0431: CLRF 7A0432: MOVF 2D,W0433: MOVWF 320434: MOVF 7A,W0435: MOVWF 33.................... line=L2;0436: MOVLW 020437: MOVWF 2B.................... if (rovinka<255) rovinka++;0438: INCFSZ 2F,W0439: GOTO 43B043A: GOTO 43C043B: INCF 2F,F.................... continue;043C: GOTO 2FA.................... }........................................ if (bit_test(sensors,4)) //....|..//043D: BTFSS 2A.4043E: GOTO 453.................... {.................... uhel=STRED + BEAR1;043F: MOVLW 8A0440: MOVWF 2C.................... Rmotor=speed-20;0441: MOVLW 140442: SUBWF 2D,W0443: CLRF 7A0444: MOVWF 320445: MOVF 7A,W0446: MOVWF 33.................... Lmotor=speed;0447: CLRF 7A0448: MOVF 2D,W0449: MOVWF 30044A: MOVF 7A,W044B: MOVWF 31.................... line=L2;044C: MOVLW 02044D: MOVWF 2B.................... if (rovinka<255) rovinka++;044E: INCFSZ 2F,W044F: GOTO 4510450: GOTO 4520451: INCF 2F,F.................... continue;0452: GOTO 2FA.................... }............................................................ if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate0453: MOVF 2B,W0454: SUBLW 030455: BTFSC 03.20456: GOTO 45B0457: MOVF 2B,W0458: SUBLW FD0459: BTFSS 03.2045A: GOTO 480.................... {.................... if (rovinka>50)045B: MOVF 2F,W045C: SUBLW 32045D: BTFSC 03.0045E: GOTO 47D.................... {.................... BL; BR;045F: BSF 03.50460: BCF 05.00461: BCF 03.50462: BCF 05.00463: BSF 03.50464: BCF 05.10465: BCF 03.50466: BSF 05.10467: BSF 03.50468: BCF 05.60469: BCF 03.5046A: BCF 05.6046B: BSF 03.5046C: BCF 05.7046D: BCF 03.5046E: BSF 05.7.................... Delay_ms(100);046F: MOVLW 640470: MOVWF 3A0471: CALL 065.................... if (rovinka > 250 || speed > 170) delay_ms(50);0472: MOVF 2F,W0473: SUBLW FA0474: BTFSS 03.00475: GOTO 47A0476: MOVF 2D,W0477: SUBLW AA0478: BTFSC 03.00479: GOTO 47D047A: MOVLW 32047B: MOVWF 3A047C: CALL 065.................... };.................... rovinka=0;047D: CLRF 2F.................... speed=R17;047E: MOVLW C8047F: MOVWF 2D.................... };.................... }0480: GOTO 2FA.................... }0481: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO