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CCS PCM C Compiler, Version 3.245, 27853 22-I-07 23:13Filename: C:\PIC\laserus\laser.lstROM used: 326 words (8%)Largest free fragment is 2048RAM used: 19 (11%) at main() level26 (15%) worst caseStack: 2 worst case (1 in main + 1 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 0E70003: 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: BTFSS 0B.4001D: GOTO 020001E: BTFSC 0B.1001F: GOTO 0330020: MOVF 22,W0021: MOVWF 040022: MOVF 23,W0023: MOVWF 770024: MOVF 24,W0025: MOVWF 780026: MOVF 25,W0027: MOVWF 790028: MOVF 26,W0029: MOVWF 7A002A: MOVF 27,W002B: MOVWF 7B002C: MOVF 28,W002D: MOVWF 0A002E: SWAPF 21,W002F: MOVWF 030030: SWAPF 7F,F0031: SWAPF 7F,W0032: RETFIE0033: BCF 0A.30034: GOTO 035.................... #include "laser.h".................... #include <16F88.h>.................... //////// Standard Header file for the PIC16F88 device ////////////////.................... #device PIC16F88.................... #list........................................ #device adc=8........................................ #FUSES NOWDT //No Watch Dog Timer.................... #FUSES XT //Crystal osc <= 4mhz.................... #FUSES NOPUT //No Power Up Timer.................... #FUSES MCLR //Master Clear pin enabled.................... #FUSES NOBROWNOUT //No brownout reset.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O.................... #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 disabled.................... #FUSES NOIESO //Internal External Switch Over mode disabled........................................ #use delay(clock=4000000)*00D2: MOVLW 2B00D3: MOVWF 0400D4: MOVF 00,W00D5: BTFSC 03.200D6: GOTO 0E600D7: MOVLW 0100D8: MOVWF 7800D9: CLRF 7700DA: DECFSZ 77,F00DB: GOTO 0DA00DC: DECFSZ 78,F00DD: GOTO 0D900DE: MOVLW 4A00DF: MOVWF 7700E0: DECFSZ 77,F00E1: GOTO 0E000E2: NOP00E3: NOP00E4: DECFSZ 00,F00E5: GOTO 0D700E6: RETLW 00............................................................ #include "16F88_Reg.H".................... // Komplete definition of all Special Feature Registers.................... // of PIC16F87 and PIC16F88.................... // (c)miho 2005........................................ #list............................................................ #define SERVO PIN_B5 // Vystup pro rizeni serva.................... #define LASER PIN_B4 // Vstup pro cteni laseru........................................ // kroutitka.................... #define CERVENA 0 // AN0.................... #define CERNA 1 // AN1.................... //#define ZELENA 3 // AN3.................... //#define MODRA 4 // AN4........................................ //#define OFFSET 100 // Predni kolecko vprostred pri care vprostred.................... //#define HYSTERESE 3 // Rozdil mezi behem tam a zpet........................................ boolean edge;.................... int8 uhel;........................................ #int_EXT.................... EXT_isr().................... {.................... int n, t1, t2, t;........................................ set_timer0(0); // Vynulovani casovace pro 2ms*0035: CLRF 01.................... output_high(SERVO);0036: BSF 03.50037: BCF 06.50038: BCF 03.50039: BSF 06.5.................... while(get_timer0()<(1000/256)); // Ceka 1ms003A: MOVF 01,W003B: SUBLW 02003C: BTFSC 03.0003D: GOTO 03A.................... for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu003E: MOVF 2A,W003F: MOVWF 2E0040: MOVF 2E,F0041: BTFSC 03.20042: GOTO 0480043: NOP0044: NOP0045: NOP0046: DECF 2E,F0047: GOTO 040.................... output_low(SERVO);0048: BSF 03.50049: BCF 06.5004A: BCF 03.5004B: BCF 06.5.................... while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat004C: MOVF 01,W004D: SUBLW 0A004E: BTFSC 03.0004F: GOTO 04C........................................ set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary0050: CLRF 01.................... if(edge) // Zrcatko prejizdelo tam nebo zpet?0051: BTFSS 29.00052: GOTO 092.................... {.................... edge=false;0053: BCF 29.0.................... ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany0054: BSF 03.50055: BCF 01.6.................... INT0IF_1=0; // Povoleni dalsiho preruseni0056: BCF 0B.1.................... enable_interrupts(INT_EXT);0057: BCF 03.50058: BSF 0B.4.................... enable_interrupts(GLOBAL);0059: MOVLW C0005A: IORWF 0B,F.................... // do.................... {.................... while(0==input(LASER)); // Ceka na detekci cary005B: BSF 03.5005C: BSF 06.4005D: MOVLW 00005E: BCF 03.5005F: BTFSC 06.40060: MOVLW 010061: XORLW 000062: BTFSC 03.20063: GOTO 05B.................... // output_high(SERVO);.................... t1=get_timer0(); // Poznamena cas nabezne hrany0064: MOVF 01,W0065: MOVWF 2F.................... while(1==input(LASER)); // Ceka az zkonci cara0066: BSF 03.50067: BSF 06.40068: MOVLW 000069: BCF 03.5006A: BTFSC 06.4006B: MOVLW 01006C: SUBLW 01006D: BTFSC 03.2006E: GOTO 066.................... // output_low(SERVO);.................... t2=get_timer0(); // Poznamena cas sestupne hrany006F: MOVF 01,W0070: MOVWF 30.................... t=t2-t1;0071: MOVF 2F,W0072: SUBWF 30,W0073: MOVWF 31.................... } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms.................... if ((t>3) && (t<8)) uhel=(160-(read_adc()>>2))-t1;0074: MOVF 31,W0075: SUBLW 030076: BTFSC 03.00077: GOTO 08B0078: MOVF 31,W0079: SUBLW 07007A: BTFSS 03.0007B: GOTO 08B007C: BSF 1F.2007D: BTFSC 1F.2007E: GOTO 07D007F: MOVF 1E,W0080: MOVWF 770081: RRF 77,F0082: RRF 77,F0083: MOVLW 3F0084: ANDWF 77,F0085: MOVF 77,W0086: SUBLW A00087: MOVWF 780088: MOVF 2F,W0089: SUBWF 78,W008A: MOVWF 2A.................... set_adc_channel(1);008B: MOVLW 08008C: MOVWF 78008D: MOVF 1F,W008E: ANDLW C7008F: IORWF 78,W0090: MOVWF 1F.................... }.................... else0091: GOTO 0CE.................... {.................... edge=true;0092: BSF 29.0.................... ext_int_edge(L_TO_H);0093: BSF 03.50094: BSF 01.6.................... INT0IF_1=0; // Povoleni dalsiho preruseni0095: BCF 0B.1.................... enable_interrupts(INT_EXT);0096: BCF 03.50097: BSF 0B.4.................... enable_interrupts(GLOBAL);0098: MOVLW C00099: IORWF 0B,F.................... // do.................... {.................... while(0==input(LASER)); // Ceka na detekci cary009A: BSF 03.5009B: BSF 06.4009C: MOVLW 00009D: BCF 03.5009E: BTFSC 06.4009F: MOVLW 0100A0: XORLW 0000A1: BTFSC 03.200A2: GOTO 09A.................... t1=get_timer0(); // Poznamena cas nabezne hrany00A3: MOVF 01,W00A4: MOVWF 2F.................... while(1==input(LASER)); // Ceka az zkonci cara00A5: BSF 03.500A6: BSF 06.400A7: MOVLW 0000A8: BCF 03.500A9: BTFSC 06.400AA: MOVLW 0100AB: SUBLW 0100AC: BTFSC 03.200AD: GOTO 0A5.................... t2=get_timer0(); // Poznamena cas sestupne hrany00AE: MOVF 01,W00AF: MOVWF 30.................... t=t2-t1;00B0: MOVF 2F,W00B1: SUBWF 30,W00B2: MOVWF 31.................... } //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms.................... if ((t>3) && (t<8)) uhel=((read_adc()>>2)+32)+t1;00B3: MOVF 31,W00B4: SUBLW 0300B5: BTFSC 03.000B6: GOTO 0C800B7: MOVF 31,W00B8: SUBLW 0700B9: BTFSS 03.000BA: GOTO 0C800BB: BSF 1F.200BC: BTFSC 1F.200BD: GOTO 0BC00BE: MOVF 1E,W00BF: MOVWF 7700C0: RRF 77,F00C1: RRF 77,F00C2: MOVLW 3F00C3: ANDWF 77,F00C4: MOVF 77,W00C5: ADDLW 2000C6: ADDWF 2F,W00C7: MOVWF 2A.................... set_adc_channel(0);00C8: MOVLW 0000C9: MOVWF 7800CA: MOVF 1F,W00CB: ANDLW C700CC: IORWF 78,W00CD: MOVWF 1F.................... }.................... while(true);00CE: GOTO 0CE.................... }............................................................00CF: BCF 0B.100D0: BCF 0A.300D1: GOTO 020.................... void main().................... {*00E7: CLRF 0400E8: MOVLW 1F00E9: ANDWF 03,F00EA: BSF 03.500EB: BCF 1F.400EC: BCF 1F.500ED: MOVF 1B,W00EE: ANDLW 8000EF: MOVWF 1B00F0: MOVLW 0700F1: MOVWF 1C.................... setup_adc_ports(sAN0|sAN1|VSS_VDD); // AD pro kroutitka00F2: BCF 1F.400F3: BCF 1F.500F4: MOVF 1B,W00F5: ANDLW 8000F6: IORLW 0300F7: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);00F8: BCF 1F.600F9: BCF 03.500FA: BSF 1F.600FB: BSF 1F.700FC: BSF 03.500FD: BCF 1F.700FE: BCF 03.500FF: BSF 1F.0.................... setup_spi(FALSE);0100: BCF 14.50101: BSF 03.50102: BCF 06.20103: BSF 06.10104: BCF 06.40105: MOVLW 000106: BCF 03.50107: MOVWF 140108: BSF 03.50109: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);010A: MOVF 01,W010B: ANDLW C0010C: IORLW 07010D: MOVWF 01.................... setup_timer_1(T1_DISABLED);010E: BCF 03.5010F: CLRF 10.................... setup_timer_2(T2_DISABLED,0,1);0110: MOVLW 000111: MOVWF 780112: MOVWF 120113: MOVLW 000114: BSF 03.50115: MOVWF 12.................... setup_comparator(NC_NC_NC_NC);0116: MOVLW 070117: MOVWF 1C0118: MOVF 05,W0119: MOVLW 03011A: MOVWF 77011B: DECFSZ 77,F011C: GOTO 11B011D: MOVF 1C,W011E: BCF 03.5011F: BCF 0D.6.................... setup_vref(FALSE);0120: BSF 03.50121: CLRF 1D.................... setup_oscillator(False);0122: CLRF 0F0123: MOVF 0F,W........................................ delay_ms(100);0124: MOVLW 640125: BCF 03.50126: MOVWF 2B0127: CALL 0D2.................... set_adc_channel(0);0128: MOVLW 000129: MOVWF 78012A: MOVF 1F,W012B: ANDLW C7012C: IORWF 78,W012D: MOVWF 1F.................... Delay_ms(1);012E: MOVLW 01012F: MOVWF 2B0130: CALL 0D2........................................ ext_int_edge(L_TO_H);0131: BSF 03.50132: BSF 01.6.................... edge=true;0133: BCF 03.50134: BSF 29.0.................... uhel=((read_adc()>>2)+32)+30;;0135: BSF 1F.20136: BTFSC 1F.20137: GOTO 1360138: MOVF 1E,W0139: MOVWF 77013A: RRF 77,F013B: RRF 77,F013C: MOVLW 3F013D: ANDWF 77,F013E: MOVF 77,W013F: ADDLW 200140: ADDLW 1E0141: MOVWF 2A.................... enable_interrupts(INT_EXT);0142: BSF 0B.4.................... enable_interrupts(GLOBAL);0143: MOVLW C00144: IORWF 0B,F.................... }0145: SLEEPConfiguration Fuses:Word 1: 3F29 XT NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECTWord 2: 3FFC NOFCMEN NOIESO