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CCS PCM C Compiler, Version 3.245, 27853 12-V-06 23:56Filename: D:\KAKLIK\roboti\istrobot\3Orbis\vystava\main.lstROM used: 646 words (16%)Largest free fragment is 2048RAM used: 32 (18%) at main() level35 (20%) worst caseStack: 3 worst case (1 in main + 2 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 07D0003: 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 // 3 stupne zataceni.................... #define BEAR2 25.................... #define BEAR3 45.................... #define R 100 // Rozumna rychlost.................... #define R17 200 // X nasobek rozumne rychlosti.................... #define PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly.................... #define L2 2 // cara vlevo.................... #define L3 3 // cara vlevo.................... #define S 0 // cara mezi sensory.................... #define R2 -2 // cara vpravo.................... #define R3 -3 // cara vpravo........................................ // servo.................... #define SERVO PIN_B5........................................ // kroutitka.................... #define CERVENA 4 // AN4.................... #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........................................ unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru.................... signed int8 line = S; // na ktere strane byla detekovana cara*008A: BCF 03.5008B: CLRF 2B.................... 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.................... void main().................... {*007D: CLRF 04007E: MOVLW 1F007F: ANDWF 03,F0080: MOVLW 700081: BSF 03.50082: MOVWF 0F0083: BCF 1F.40084: BCF 1F.50085: MOVF 1B,W0086: ANDLW 800087: MOVWF 1B0088: MOVLW 070089: 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*008C: BSF 03.5008D: BCF 1F.4008E: BCF 1F.5008F: MOVF 1B,W0090: ANDLW 800091: IORLW 740092: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);0093: BCF 1F.60094: BCF 03.50095: BSF 1F.60096: BSF 1F.70097: BSF 03.50098: BCF 1F.70099: BCF 03.5009A: BSF 1F.0.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);009B: BCF 14.5009C: BSF 03.5009D: BCF 06.2009E: BSF 06.1009F: BCF 06.400A0: MOVLW 3100A1: BCF 03.500A2: MOVWF 1400A3: MOVLW 0000A4: BSF 03.500A5: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);00A6: MOVF 01,W00A7: ANDLW C700A8: IORLW 0800A9: MOVWF 01.................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8);00AA: MOVLW 3000AB: BCF 03.500AC: MOVWF 10.................... setup_timer_2(T2_DIV_BY_16,140,16);00AD: MOVLW 7800AE: MOVWF 7800AF: IORLW 0600B0: MOVWF 1200B1: MOVLW 8C00B2: BSF 03.500B3: MOVWF 12.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);00B4: MOVLW 7200B5: MOVWF 0F........................................ STOPR; STOPL; // zastav motory00B6: BCF 05.600B7: BCF 03.500B8: BCF 05.600B9: BSF 03.500BA: BCF 05.700BB: BCF 03.500BC: BCF 05.700BD: BSF 03.500BE: BCF 05.000BF: BCF 03.500C0: BCF 05.000C1: BSF 03.500C2: BCF 05.100C3: BCF 03.500C4: BCF 05.1.................... Lmotor=0;Rmotor=0;00C5: CLRF 3100C6: CLRF 3000C7: CLRF 3300C8: CLRF 32........................................ uhel = STRED; // nastav zadni kolecko na stred00C9: MOVLW 8000CA: MOVWF 2C.................... rovinka = 0;00CB: CLRF 2F........................................ enable_interrupts(INT_TIMER2);00CC: BSF 03.500CD: BSF 0C.1.................... enable_interrupts(GLOBAL);00CE: MOVLW C000CF: BCF 03.500D0: IORWF 0B,F........................................ output_low(IRTX); // zapni IR vysilac00D1: BSF 03.500D2: BCF 06.200D3: BCF 03.500D4: BCF 06.2........................................ delay_ms(2000); // musime pockat na diagnostiku slave CPU00D5: MOVLW 0800D6: MOVWF 3900D7: MOVLW FA00D8: MOVWF 3A00D9: CALL 06500DA: DECFSZ 39,F00DB: GOTO 0D7........................................ //nastaveni rychlosti.................... set_adc_channel(CERVENA);00DC: MOVLW 2000DD: MOVWF 7800DE: MOVF 1F,W00DF: ANDLW C700E0: IORWF 78,W00E1: MOVWF 1F........................................ Delay_ms(1);00E2: MOVLW 0100E3: MOVWF 3A00E4: CALL 065.................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-6300E5: BSF 1F.200E6: BTFSC 1F.200E7: GOTO 0E600E8: MOVF 1E,W00E9: MOVWF 7700EA: RRF 77,F00EB: RRF 77,F00EC: MOVLW 3F00ED: ANDWF 77,F00EE: MOVF 77,W00EF: ADDLW 6400F0: MOVWF 2D.................... set_adc_channel(MODRA);00F1: MOVLW 1000F2: MOVWF 7800F3: MOVF 1F,W00F4: ANDLW C700F5: IORWF 78,W00F6: MOVWF 1F.................... Delay_ms(1);00F7: MOVLW 0100F8: MOVWF 3A00F9: CALL 065.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-6300FA: MOVLW 2000FB: SUBWF 2D,W00FC: MOVWF 3900FD: BSF 1F.200FE: BTFSC 1F.200FF: GOTO 0FE0100: MOVF 1E,W0101: MOVWF 770102: RRF 77,F0103: RRF 77,F0104: MOVLW 3F0105: ANDWF 77,F0106: MOVF 77,W0107: ADDWF 39,W0108: MOVWF 2E............................................................ while(true).................... {........................................ GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor0109: MOVF 01,W010A: BTFSS 00.7010B: GOTO 10F010C: BTFSS 31.7010D: GOTO 117010E: GOTO 111010F: BTFSC 31.70110: GOTO 1200111: MOVF 31,F0112: BTFSS 03.20113: GOTO 1170114: SUBWF 30,W0115: BTFSS 03.00116: GOTO 1200117: BSF 03.50118: BCF 05.10119: BCF 03.5011A: BCF 05.1011B: BSF 03.5011C: BCF 05.0011D: BCF 03.5011E: BSF 05.0011F: GOTO 1280120: BSF 03.50121: BCF 05.00122: BCF 03.50123: BCF 05.00124: BSF 03.50125: BCF 05.10126: BCF 03.50127: BCF 05.10128: MOVF 01,W0129: BTFSS 00.7012A: GOTO 12E012B: BTFSS 33.7012C: GOTO 136012D: GOTO 130012E: BTFSC 33.7012F: GOTO 13F0130: MOVF 33,F0131: BTFSS 03.20132: GOTO 1360133: SUBWF 32,W0134: BTFSS 03.00135: GOTO 13F0136: BSF 03.50137: BCF 05.70138: BCF 03.50139: BCF 05.7013A: BSF 03.5013B: BCF 05.6013C: BCF 03.5013D: BSF 05.6013E: GOTO 147013F: BSF 03.50140: BCF 05.60141: BCF 03.50142: BCF 05.60143: BSF 03.50144: BCF 05.70145: BCF 03.50146: BCF 05.7........................................ delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel0147: CLRWDT0148: MOVLW 010149: MOVWF 3A014A: CALL 065014B: MOVLW 09014C: MOVWF 39014D: CLRF 29014E: BTFSC 0B.7014F: BSF 29.70150: BCF 0B.70151: MOVLW 6D0152: MOVWF 3D0153: CALL 0370154: BTFSC 29.70155: BSF 0B.70156: DECFSZ 39,F0157: GOTO 14D........................................ last_sensors=sensors;0158: MOVF 2A,W0159: MOVWF 37........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru015A: BSF 03.5015B: BCF 06.0015C: BCF 03.5015D: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru015E: MOVF 13,W015F: CLRF 130160: BSF 03.50161: BTFSC 14.00162: GOTO 1650163: BCF 03.50164: GOTO 1600165: BCF 03.50166: MOVF 13,W0167: MOVWF 2A.................... sensors=~sensors; // neguj prijata data0168: COMF 2A,F.................... output_high(STROBE); // zobraz data na posuvnem registru0169: BSF 03.5016A: BCF 06.0016B: BCF 03.5016C: BSF 06.0........................................ i=0; // havarijni kod016D: CLRF 35.................... for (n=0; n<=6; n++)016E: CLRF 34016F: MOVF 34,W0170: SUBLW 060171: BTFSS 03.00172: GOTO 181.................... {.................... if(bit_test(sensors,n)) i++;0173: MOVF 2A,W0174: MOVWF 770175: MOVF 34,W0176: MOVWF 780177: BTFSC 03.20178: GOTO 17D0179: BCF 03.0017A: RRF 77,F017B: DECFSZ 78,F017C: GOTO 179017D: BTFSC 77.0017E: INCF 35,F.................... }017F: INCF 34,F0180: GOTO 16F.................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly0181: MOVF 35,W0182: SUBLW 040183: BTFSC 03.00184: GOTO 1AD.................... {.................... BL; BR;0185: BSF 03.50186: BCF 05.00187: BCF 03.50188: BCF 05.00189: BSF 03.5018A: BCF 05.1018B: BCF 03.5018C: BSF 05.1018D: BSF 03.5018E: BCF 05.6018F: BCF 03.50190: BCF 05.60191: BSF 03.50192: BCF 05.70193: BCF 03.50194: BSF 05.7.................... delay_ms(300);0195: MOVLW 020196: MOVWF 390197: MOVLW 960198: MOVWF 3A0199: CALL 065019A: DECFSZ 39,F019B: GOTO 197.................... STOPR; STOPL;019C: BSF 03.5019D: BCF 05.6019E: BCF 03.5019F: BCF 05.601A0: BSF 03.501A1: BCF 05.701A2: BCF 03.501A3: BCF 05.701A4: BSF 03.501A5: BCF 05.001A6: BCF 03.501A7: BCF 05.001A8: BSF 03.501A9: BCF 05.101AA: BCF 03.501AB: BCF 05.1.................... While(true);01AC: GOTO 1AC.................... };........................................ if (bit_test(sensors,7)) // detekce cihly01AD: BTFSS 2A.701AE: GOTO 1D9.................... {.................... BR;BL;01AF: BSF 03.501B0: BCF 05.601B1: BCF 03.501B2: BCF 05.601B3: BSF 03.501B4: BCF 05.701B5: BCF 03.501B6: BSF 05.701B7: BSF 03.501B8: BCF 05.001B9: BCF 03.501BA: BCF 05.001BB: BSF 03.501BC: BCF 05.101BD: BCF 03.501BE: BSF 05.1.................... Delay_ms(100);01BF: MOVLW 6401C0: MOVWF 3A01C1: CALL 065.................... STOPR;STOPL;01C2: BSF 03.501C3: BCF 05.601C4: BCF 03.501C5: BCF 05.601C6: BSF 03.501C7: BCF 05.701C8: BCF 03.501C9: BCF 05.701CA: BSF 03.501CB: BCF 05.001CC: BCF 03.501CD: BCF 05.001CE: BSF 03.501CF: BCF 05.101D0: BCF 03.501D1: BCF 05.1.................... Delay_ms(1000);01D2: MOVLW 0401D3: MOVWF 3901D4: MOVLW FA01D5: MOVWF 3A01D6: CALL 06501D7: DECFSZ 39,F01D8: GOTO 1D4.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu01D9: BTFSS 2A.001DA: GOTO 1E7.................... {.................... uhel=STRED - BEAR3;01DB: MOVLW 5301DC: MOVWF 2C.................... Lmotor=0;01DD: CLRF 3101DE: CLRF 30.................... Rmotor=turn;01DF: CLRF 7A01E0: MOVF 2E,W01E1: MOVWF 3201E2: MOVF 7A,W01E3: MOVWF 33.................... line=L3;01E4: MOVLW 0301E5: MOVWF 2B.................... continue;01E6: GOTO 109.................... }........................................ if(bit_test(sensors,6)) //......|//01E7: BTFSS 2A.601E8: GOTO 1F5.................... {.................... uhel=STRED + BEAR3;01E9: MOVLW AD01EA: MOVWF 2C.................... Rmotor=0;01EB: CLRF 3301EC: CLRF 32.................... Lmotor=turn;01ED: CLRF 7A01EE: MOVF 2E,W01EF: MOVWF 3001F0: MOVF 7A,W01F1: MOVWF 31.................... line=R3;01F2: MOVLW FD01F3: MOVWF 2B.................... continue;01F4: GOTO 109.................... }........................................ if(bit_test(sensors,1)) //.|.....//01F5: BTFSS 2A.101F6: GOTO 207.................... {.................... uhel=STRED - BEAR2;01F7: MOVLW 6701F8: MOVWF 2C.................... Lmotor=speed-70;01F9: MOVLW 4601FA: SUBWF 2D,W01FB: CLRF 7A01FC: MOVWF 3001FD: MOVF 7A,W01FE: MOVWF 31.................... Rmotor=speed;01FF: CLRF 7A0200: MOVF 2D,W0201: MOVWF 320202: MOVF 7A,W0203: MOVWF 33.................... line=L2;0204: MOVLW 020205: MOVWF 2B.................... continue;0206: GOTO 109.................... }........................................ if(bit_test(sensors,5)) //.....|.//0207: BTFSS 2A.50208: GOTO 219.................... {.................... uhel=STRED + BEAR2;0209: MOVLW 99020A: MOVWF 2C.................... Rmotor=speed-70;020B: MOVLW 46020C: SUBWF 2D,W020D: CLRF 7A020E: MOVWF 32020F: MOVF 7A,W0210: MOVWF 33.................... Lmotor=speed;0211: CLRF 7A0212: MOVF 2D,W0213: MOVWF 300214: MOVF 7A,W0215: MOVWF 31.................... line=R2;0216: MOVLW FE0217: MOVWF 2B.................... continue;0218: GOTO 109.................... }........................................ if (bit_test(sensors,2)) //..|....//0219: BTFSS 2A.2021A: GOTO 22F.................... {.................... uhel=STRED - BEAR1;021B: MOVLW 76021C: MOVWF 2C.................... Lmotor=speed-20;021D: MOVLW 14021E: SUBWF 2D,W021F: CLRF 7A0220: MOVWF 300221: MOVF 7A,W0222: MOVWF 31.................... Rmotor=speed;0223: CLRF 7A0224: MOVF 2D,W0225: MOVWF 320226: MOVF 7A,W0227: MOVWF 33.................... line=L2;0228: MOVLW 020229: MOVWF 2B.................... if (rovinka<255) rovinka++;022A: INCFSZ 2F,W022B: GOTO 22D022C: GOTO 22E022D: INCF 2F,F.................... continue;022E: GOTO 109.................... }........................................ if (bit_test(sensors,4)) //....|..//022F: BTFSS 2A.40230: GOTO 245.................... {.................... uhel=STRED + BEAR1;0231: MOVLW 8A0232: MOVWF 2C.................... Rmotor=speed-20;0233: MOVLW 140234: SUBWF 2D,W0235: CLRF 7A0236: MOVWF 320237: MOVF 7A,W0238: MOVWF 33.................... Lmotor=speed;0239: CLRF 7A023A: MOVF 2D,W023B: MOVWF 30023C: MOVF 7A,W023D: MOVWF 31.................... line=L2;023E: MOVLW 02023F: MOVWF 2B.................... if (rovinka<255) rovinka++;0240: INCFSZ 2F,W0241: GOTO 2430242: GOTO 2440243: INCF 2F,F.................... continue;0244: GOTO 109.................... }........................................ if(bit_test(sensors,3)) //...|...//0245: BTFSS 2A.30246: GOTO 259.................... {.................... uhel=STRED;0247: MOVLW 800248: MOVWF 2C.................... Lmotor=speed;0249: CLRF 7A024A: MOVF 2D,W024B: MOVWF 30024C: MOVF 7A,W024D: MOVWF 31.................... Rmotor=speed;024E: CLRF 7A024F: MOVF 2D,W0250: MOVWF 320251: MOVF 7A,W0252: MOVWF 33.................... line=S;0253: CLRF 2B.................... if (rovinka < 255) rovinka++;0254: INCFSZ 2F,W0255: GOTO 2570256: GOTO 2580257: INCF 2F,F.................... continue;0258: GOTO 109.................... }................................................................................ if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate0259: MOVF 2B,W025A: SUBLW 03025B: BTFSC 03.2025C: GOTO 261025D: MOVF 2B,W025E: SUBLW FD025F: BTFSS 03.20260: GOTO 284.................... {.................... if (rovinka>50)0261: MOVF 2F,W0262: SUBLW 320263: BTFSC 03.00264: GOTO 283.................... {.................... BL; BR;0265: BSF 03.50266: BCF 05.00267: BCF 03.50268: BCF 05.00269: BSF 03.5026A: BCF 05.1026B: BCF 03.5026C: BSF 05.1026D: BSF 03.5026E: BCF 05.6026F: BCF 03.50270: BCF 05.60271: BSF 03.50272: BCF 05.70273: BCF 03.50274: BSF 05.7.................... Delay_ms(70);0275: MOVLW 460276: MOVWF 3A0277: CALL 065.................... if (rovinka > 250 || speed > 170) delay_ms(50);0278: MOVF 2F,W0279: SUBLW FA027A: BTFSS 03.0027B: GOTO 280027C: MOVF 2D,W027D: SUBLW AA027E: BTFSC 03.0027F: GOTO 2830280: MOVLW 320281: MOVWF 3A0282: CALL 065.................... };.................... rovinka=0;0283: CLRF 2F.................... };.................... }0284: GOTO 109.................... }0285: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO