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CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 01:36Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.LSTROM used: 2140 words (52%)Largest free fragment is 1570RAM used: 89 (51%) at main() level101 (58%) worst caseStack: 4 worst case (3 in main + 1 for interrupts)*0000: MOVLW 080001: MOVWF 0A0002: GOTO 0000003: 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 049.................... #include "tank.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)*005C: MOVLW 12005D: BSF 03.5005E: SUBWF 24,F005F: BTFSS 03.00060: GOTO 06F0061: MOVLW A40062: MOVWF 040063: MOVLW FC0064: ANDWF 00,F0065: BCF 03.00066: RRF 00,F0067: RRF 00,F0068: MOVF 00,W0069: BTFSC 03.2006A: GOTO 06F006B: GOTO 06D006C: NOP006D: DECFSZ 00,F006E: GOTO 06C006F: BCF 03.50070: RETLW 00*009D: MOVLW 7D009E: MOVWF 04009F: MOVF 00,W00A0: BTFSC 03.200A1: GOTO 0B100A2: MOVLW 0100A3: MOVWF 7800A4: CLRF 7700A5: DECFSZ 77,F00A6: GOTO 0A500A7: DECFSZ 78,F00A8: GOTO 0A400A9: MOVLW 4A00AA: MOVWF 7700AB: DECFSZ 77,F00AC: GOTO 0AB00AD: NOP00AE: NOP00AF: DECFSZ 00,F00B0: GOTO 0A200B1: RETLW 00................................................................................ #define DEBUG........................................ #define TXo PIN_A3 // To the transmitter modulator.................... #include "AX25.c" // podprogram pro prenos telemetrie.................... #list............................................................ unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru.................... unsigned int8 line; // na ktere strane byla detekovana cara.................... unsigned int8 speed; // rychlost zataceni.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo.................... unsigned int8 movement; // obsahuje aktualni smer zataceni.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara.................... unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla........................................ // Konstanty pro dynamiku pohybu.................... #define T_DIRA 85 // po jakem case zataceni se detekuje dira.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry.................... #define PRES_DIRU 150.................... #define MAX_ROVINKA (255-FW_STREDNE).................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd.................... #define BUMPER_TRESHOLD 128.................... #define CIK_CAK 20000.................... #define T_CIHLA 100 // perioda detekce cihly........................................ //motory //Napred vypnout potom zapnout!.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred.................... #define FL output_low(PIN_B7); output_high(PIN_B6).................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad.................... #define BL output_low(PIN_B6); output_high(PIN_B7).................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)........................................ #define L 0b10 // left.................... #define R 0b01 // right.................... #define S 0b11 // straight........................................ //cidla.................... #define RSENSOR C2OUT // Senzory na caru.................... #define LSENSOR C1OUT.................... #define BUMPER PIN_A4 // Senzor na cihlu........................................ #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod........................................ #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak.................... #DEFINE SOUND_LO PIN_A7........................................ char AXstring[40]; // Buffer pro prenos telemetrie........................................ // makro pro PWM.................... #define GO(motor, direction, power) if(get_timer0()<=power) \.................... {direction##motor;} else {stop##motor;}........................................ #int_TIMER2.................... void TIMER2_isr().................... {.................... if (speed<255) speed+=INC_SPEED;*0049: INCFSZ 42,W004A: GOTO 04C004B: GOTO 04E004C: MOVLW 01004D: ADDWF 42,F.................... if (rovinka<MAX_ROVINKA) rovinka++;004E: MOVF 43,W004F: SUBLW 0E0050: BTFSC 03.00051: INCF 43,F.................... if (dira<=T_DIRA) dira++;0052: MOVF 46,W0053: SUBLW 550054: BTFSC 03.00055: INCF 46,F.................... if (cihla>0) cihla--;0056: MOVF 47,F0057: BTFSS 03.20058: DECF 47,F.................... }.................... // Primitivni Pipani0059: BCF 0C.1005A: BCF 0A.3005B: GOTO 022.................... void beep(unsigned int16 period, unsigned int16 length).................... {.................... unsigned int16 nn;........................................ for(nn=length; nn>0; nn--)*0071: BSF 03.50072: MOVF 21,W0073: MOVWF 230074: MOVF 20,W0075: MOVWF 220076: MOVF 22,F0077: BTFSS 03.20078: GOTO 07C0079: MOVF 23,F007A: BTFSC 03.2007B: GOTO 09B.................... {.................... output_high(SOUND_HI);output_low(SOUND_LO);007C: BCF 05.6007D: BCF 03.5007E: BSF 05.6007F: BSF 03.50080: BCF 05.70081: BCF 03.50082: BCF 05.7.................... delay_us(period);0083: MOVF 7C,W0084: BSF 03.50085: MOVWF 240086: BCF 03.50087: CALL 05C.................... output_high(SOUND_LO);output_low(SOUND_HI);0088: BSF 03.50089: BCF 05.7008A: BCF 03.5008B: BSF 05.7008C: BSF 03.5008D: BCF 05.6008E: BCF 03.5008F: BCF 05.6.................... delay_us(period);0090: MOVF 7C,W0091: BSF 03.50092: MOVWF 240093: BCF 03.50094: CALL 05C.................... }0095: BSF 03.50096: MOVF 22,W0097: BTFSC 03.20098: DECF 23,F0099: DECF 22,F009A: GOTO 076.................... }009B: BCF 03.5009C: RETLW 00.................... /******************************************************************************/.................... void diagnostika().................... {.................... unsigned int16 n;........................................ while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku.................... {*01D1: BSF 03.501D2: BSF 06.301D3: BCF 03.501D4: BTFSS 06.301D5: GOTO 302.................... for (n=500; n<800; n+=100)01D6: MOVLW 0101D7: MOVWF 7401D8: MOVLW F401D9: MOVWF 7301DA: MOVF 74,W01DB: SUBLW 0301DC: BTFSS 03.001DD: GOTO 1F401DE: BTFSS 03.201DF: GOTO 1E401E0: MOVF 73,W01E1: SUBLW 1F01E2: BTFSS 03.001E3: GOTO 1F4.................... {.................... beep(n,n); //beep UP01E4: MOVF 74,W01E5: MOVWF 7D01E6: MOVF 73,W01E7: MOVWF 7C01E8: MOVF 74,W01E9: BSF 03.501EA: MOVWF 2101EB: MOVF 73,W01EC: MOVWF 2001ED: BCF 03.501EE: CALL 071.................... };01EF: MOVLW 6401F0: ADDWF 73,F01F1: BTFSC 03.001F2: INCF 74,F01F3: GOTO 1DA.................... Delay_ms(1000);01F4: MOVLW 0401F5: MOVWF 7C01F6: MOVLW FA01F7: MOVWF 7D01F8: CALL 09D01F9: DECFSZ 7C,F01FA: GOTO 1F6.................... //zastav vse.................... STOPL; STOPR;01FB: BSF 03.501FC: BCF 06.601FD: BCF 03.501FE: BCF 06.601FF: BSF 03.50200: BCF 06.70201: BCF 03.50202: BCF 06.70203: BSF 03.50204: BCF 06.40205: BCF 03.50206: BCF 06.40207: BSF 03.50208: BCF 06.50209: BCF 03.5020A: BCF 06.5.................... //pravy pas.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);020B: BSF 03.5020C: BCF 06.5020D: BCF 03.5020E: BCF 06.5020F: BSF 03.50210: BCF 06.40211: BCF 03.50212: BSF 06.40213: MOVLW 040214: MOVWF 7C0215: MOVLW FA0216: MOVWF 7D0217: CALL 09D0218: DECFSZ 7C,F0219: GOTO 215021A: BSF 03.5021B: BCF 06.4021C: BCF 03.5021D: BCF 06.4021E: BSF 03.5021F: BCF 06.50220: BCF 03.50221: BCF 06.50222: MOVLW 040223: MOVWF 7C0224: MOVLW FA0225: MOVWF 7D0226: CALL 09D0227: DECFSZ 7C,F0228: GOTO 224.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);0229: BSF 03.5022A: BCF 06.4022B: BCF 03.5022C: BCF 06.4022D: BSF 03.5022E: BCF 06.5022F: BCF 03.50230: BSF 06.50231: MOVLW 040232: MOVWF 7C0233: MOVLW FA0234: MOVWF 7D0235: CALL 09D0236: DECFSZ 7C,F0237: GOTO 2330238: BSF 03.50239: BCF 06.4023A: BCF 03.5023B: BCF 06.4023C: BSF 03.5023D: BCF 06.5023E: BCF 03.5023F: BCF 06.50240: MOVLW 040241: MOVWF 7C0242: MOVLW FA0243: MOVWF 7D0244: CALL 09D0245: DECFSZ 7C,F0246: GOTO 242.................... Beep(880,100); Delay_ms(1000);0247: MOVLW 030248: MOVWF 7D0249: MOVLW 70024A: MOVWF 7C024B: BSF 03.5024C: CLRF 21024D: MOVLW 64024E: MOVWF 20024F: BCF 03.50250: CALL 0710251: MOVLW 040252: MOVWF 7C0253: MOVLW FA0254: MOVWF 7D0255: CALL 09D0256: DECFSZ 7C,F0257: GOTO 253.................... //levy pas.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);0258: BSF 03.50259: BCF 06.7025A: BCF 03.5025B: BCF 06.7025C: BSF 03.5025D: BCF 06.6025E: BCF 03.5025F: BSF 06.60260: MOVLW 040261: MOVWF 7C0262: MOVLW FA0263: MOVWF 7D0264: CALL 09D0265: DECFSZ 7C,F0266: GOTO 2620267: BSF 03.50268: BCF 06.60269: BCF 03.5026A: BCF 06.6026B: BSF 03.5026C: BCF 06.7026D: BCF 03.5026E: BCF 06.7026F: MOVLW 040270: MOVWF 7C0271: MOVLW FA0272: MOVWF 7D0273: CALL 09D0274: DECFSZ 7C,F0275: GOTO 271.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);0276: BSF 03.50277: BCF 06.60278: BCF 03.50279: BCF 06.6027A: BSF 03.5027B: BCF 06.7027C: BCF 03.5027D: BSF 06.7027E: MOVLW 04027F: MOVWF 7C0280: MOVLW FA0281: MOVWF 7D0282: CALL 09D0283: DECFSZ 7C,F0284: GOTO 2800285: BSF 03.50286: BCF 06.60287: BCF 03.50288: BCF 06.60289: BSF 03.5028A: BCF 06.7028B: BCF 03.5028C: BCF 06.7028D: MOVLW 04028E: MOVWF 7C028F: MOVLW FA0290: MOVWF 7D0291: CALL 09D0292: DECFSZ 7C,F0293: GOTO 28F.................... Beep(880,100); Delay_ms(1000);0294: MOVLW 030295: MOVWF 7D0296: MOVLW 700297: MOVWF 7C0298: BSF 03.50299: CLRF 21029A: MOVLW 64029B: MOVWF 20029C: BCF 03.5029D: CALL 071029E: MOVLW 04029F: MOVWF 7C02A0: MOVLW FA02A1: MOVWF 7D02A2: CALL 09D02A3: DECFSZ 7C,F02A4: GOTO 2A0.................... //oba pasy.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);02A5: BSF 03.502A6: BCF 06.702A7: BCF 03.502A8: BCF 06.702A9: BSF 03.502AA: BCF 06.602AB: BCF 03.502AC: BSF 06.602AD: BSF 03.502AE: BCF 06.502AF: BCF 03.502B0: BCF 06.502B1: BSF 03.502B2: BCF 06.402B3: BCF 03.502B4: BSF 06.402B5: MOVLW 0402B6: MOVWF 7C02B7: MOVLW FA02B8: MOVWF 7D02B9: CALL 09D02BA: DECFSZ 7C,F02BB: GOTO 2B702BC: BSF 03.502BD: BCF 06.602BE: BCF 03.502BF: BCF 06.602C0: BSF 03.502C1: BCF 06.702C2: BCF 03.502C3: BCF 06.702C4: BSF 03.502C5: BCF 06.402C6: BCF 03.502C7: BCF 06.402C8: BSF 03.502C9: BCF 06.502CA: BCF 03.502CB: BCF 06.502CC: MOVLW 0402CD: MOVWF 7C02CE: MOVLW FA02CF: MOVWF 7D02D0: CALL 09D02D1: DECFSZ 7C,F02D2: GOTO 2CE.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);02D3: BSF 03.502D4: BCF 06.602D5: BCF 03.502D6: BCF 06.602D7: BSF 03.502D8: BCF 06.702D9: BCF 03.502DA: BSF 06.702DB: BSF 03.502DC: BCF 06.402DD: BCF 03.502DE: BCF 06.402DF: BSF 03.502E0: BCF 06.502E1: BCF 03.502E2: BSF 06.502E3: MOVLW 0402E4: MOVWF 7C02E5: MOVLW FA02E6: MOVWF 7D02E7: CALL 09D02E8: DECFSZ 7C,F02E9: GOTO 2E502EA: BSF 03.502EB: BCF 06.602EC: BCF 03.502ED: BCF 06.602EE: BSF 03.502EF: BCF 06.702F0: BCF 03.502F1: BCF 06.702F2: BSF 03.502F3: BCF 06.402F4: BCF 03.502F5: BCF 06.402F6: BSF 03.502F7: BCF 06.502F8: BCF 03.502F9: BCF 06.502FA: MOVLW 0402FB: MOVWF 7C02FC: MOVLW FA02FD: MOVWF 7D02FE: CALL 09D02FF: DECFSZ 7C,F0300: GOTO 2FC.................... };0301: GOTO 1D1.................... while (input(DIAG_SENSORS)).................... {0302: BSF 03.50303: BSF 06.20304: BCF 03.50305: BTFSS 06.20306: GOTO 3C2.................... int ls, rs;.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);}0307: BSF 03.50308: BSF 05.40309: BCF 03.5030A: BTFSC 05.4030B: GOTO 31A030C: MOVLW 04030D: MOVWF 7D030E: MOVLW 4C030F: MOVWF 7C0310: BSF 03.50311: CLRF 210312: MOVLW 640313: MOVWF 200314: BCF 03.50315: CALL 0710316: MOVLW 320317: MOVWF 7D0318: CALL 09D0319: GOTO 307.................... set_adc_channel(RSENSOR);031A: MOVLW 00031B: BSF 03.5031C: BTFSC 1C.7031D: MOVLW 01031E: MOVWF 7C031F: RLF 7C,W0320: MOVWF 770321: RLF 77,F0322: RLF 77,F0323: MOVLW F80324: ANDWF 77,F0325: BCF 03.50326: MOVF 1F,W0327: ANDLW C70328: IORWF 77,W0329: MOVWF 1F.................... Delay_us(20);032A: MOVLW 06032B: MOVWF 77032C: DECFSZ 77,F032D: GOTO 32C032E: NOP.................... rs=read_adc();032F: BSF 1F.20330: BTFSC 1F.20331: GOTO 3300332: MOVF 1E,W0333: MOVWF 76.................... set_adc_channel(LSENSOR);0334: MOVLW 000335: BSF 03.50336: BTFSC 1C.60337: MOVLW 010338: MOVWF 7C0339: RLF 7C,W033A: MOVWF 77033B: RLF 77,F033C: RLF 77,F033D: MOVLW F8033E: ANDWF 77,F033F: BCF 03.50340: MOVF 1F,W0341: ANDLW C70342: IORWF 77,W0343: MOVWF 1F.................... Delay_us(20);0344: MOVLW 060345: MOVWF 770346: DECFSZ 77,F0347: GOTO 3460348: NOP.................... ls=read_adc();0349: BSF 1F.2034A: BTFSC 1F.2034B: GOTO 34A034C: MOVF 1E,W034D: MOVWF 75.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String.034E: MOVLW 48034F: MOVWF 700350: MOVLW 4C0351: BSF 03.50352: MOVWF 200353: BCF 03.50354: CALL 0B20355: MOVLW 3A0356: BSF 03.50357: MOVWF 200358: BCF 03.50359: CALL 0B2035A: MOVLW 20035B: BSF 03.5035C: MOVWF 20035D: BCF 03.5035E: CALL 0B2035F: MOVF 75,W0360: MOVWF 7D0361: MOVLW 180362: MOVWF 7E0363: CALL 0D30364: MOVLW 050365: MOVWF 7C0366: MOVF 7C,W0367: CALL 0370368: INCF 7C,F0369: MOVWF 77036A: BSF 03.5036B: MOVWF 20036C: BCF 03.5036D: CALL 0B2036E: MOVLW 0A036F: SUBWF 7C,W0370: BTFSS 03.20371: GOTO 3660372: MOVF 76,W0373: MOVWF 7D0374: MOVLW 180375: MOVWF 7E0376: CALL 0D3*082D: CLRF 70.................... SendPacket(&AXstring[0]);*0377: MOVLW 480378: MOVWF 7C.................... delay_ms(1000);*03BA: MOVLW 0403BB: MOVWF 7C03BC: MOVLW FA03BD: MOVWF 7D03BE: CALL 09D03BF: DECFSZ 7C,F03C0: GOTO 3BC.................... };03C1: GOTO 302.................... }03C2: BSF 0A.303C3: GOTO 0BA (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void cikcak().................... {.................... unsigned int16 n;........................................ line = RSENSOR; // cteni senzoru na caru03C4: CLRF 4103C5: BSF 03.503C6: BTFSS 1C.703C7: GOTO 3CB03C8: BCF 03.503C9: INCF 41,F03CA: BSF 03.5.................... line |= LSENSOR << 1;03CB: MOVLW 0003CC: BTFSC 1C.603CD: MOVLW 0103CE: MOVWF 7703CF: BCF 03.003D0: RLF 77,F03D1: MOVF 77,W03D2: BCF 03.503D3: IORWF 41,F.................... if (line!=0) return;03D4: MOVF 41,F03D5: BTFSS 03.203D6: GOTO 4B1........................................ n=0;03D7: CLRF 7603D8: CLRF 75.................... switch(movement) // podivej se na druhou stranu nez se jelo.................... {03D9: MOVF 45,W03DA: XORLW 0203DB: BTFSC 03.203DC: GOTO 3E403DD: XORLW 0303DE: BTFSC 03.203DF: GOTO 3F703E0: XORLW 0203E1: BTFSC 03.203E2: GOTO 40A03E3: GOTO 421.................... case L:.................... FL;BR;03E4: BSF 03.503E5: BCF 06.703E6: BCF 03.503E7: BCF 06.703E8: BSF 03.503E9: BCF 06.603EA: BCF 03.503EB: BSF 06.603EC: BSF 03.503ED: BCF 06.403EE: BCF 03.503EF: BCF 06.403F0: BSF 03.503F1: BCF 06.503F2: BCF 03.503F3: BSF 06.5.................... movement=R;03F4: MOVLW 0103F5: MOVWF 45.................... break;03F6: GOTO 421.................... case R:.................... FR;BL;03F7: BSF 03.503F8: BCF 06.503F9: BCF 03.503FA: BCF 06.503FB: BSF 03.503FC: BCF 06.403FD: BCF 03.503FE: BSF 06.403FF: BSF 03.50400: BCF 06.60401: BCF 03.50402: BCF 06.60403: BSF 03.50404: BCF 06.70405: BCF 03.50406: BSF 06.7.................... movement=L;0407: MOVLW 020408: MOVWF 45.................... break;0409: GOTO 421.................... case S:.................... FL;BR;040A: BSF 03.5040B: BCF 06.7040C: BCF 03.5040D: BCF 06.7040E: BSF 03.5040F: BCF 06.60410: BCF 03.50411: BSF 06.60412: BSF 03.50413: BCF 06.40414: BCF 03.50415: BCF 06.40416: BSF 03.50417: BCF 06.50418: BCF 03.50419: BSF 06.5.................... movement=R;041A: MOVLW 01041B: MOVWF 45.................... n=CIK_CAK/2;041C: MOVLW 27041D: MOVWF 76041E: MOVLW 10041F: MOVWF 75.................... break;0420: GOTO 421.................... }.................... while (0==(RSENSOR|LSENSOR)) // zkontroluj caru.................... {0421: MOVLW 000422: BSF 03.50423: BTFSC 1C.70424: MOVLW 010425: MOVWF 7C0426: MOVLW 000427: BTFSC 1C.60428: MOVLW 010429: IORWF 7C,W042A: XORLW 00042B: BTFSS 03.2042C: GOTO 46D.................... if (n==CIK_CAK) // zmen smer zataceni042D: MOVF 75,W042E: SUBLW 20042F: BTFSS 03.20430: GOTO 4670431: MOVF 76,W0432: SUBLW 4E0433: BTFSS 03.20434: GOTO 467.................... {.................... n=0;0435: CLRF 760436: CLRF 75.................... switch(movement).................... {0437: BCF 03.50438: MOVF 45,W0439: XORLW 02043A: BTFSC 03.2043B: GOTO 440043C: XORLW 03043D: BTFSC 03.2043E: GOTO 453043F: GOTO 466.................... case L:.................... FL;BR;0440: BSF 03.50441: BCF 06.70442: BCF 03.50443: BCF 06.70444: BSF 03.50445: BCF 06.60446: BCF 03.50447: BSF 06.60448: BSF 03.50449: BCF 06.4044A: BCF 03.5044B: BCF 06.4044C: BSF 03.5044D: BCF 06.5044E: BCF 03.5044F: BSF 06.5.................... movement=R;0450: MOVLW 010451: MOVWF 45.................... break;0452: GOTO 466.................... case R:.................... FR;BL;0453: BSF 03.50454: BCF 06.50455: BCF 03.50456: BCF 06.50457: BSF 03.50458: BCF 06.40459: BCF 03.5045A: BSF 06.4045B: BSF 03.5045C: BCF 06.6045D: BCF 03.5045E: BCF 06.6045F: BSF 03.50460: BCF 06.70461: BCF 03.50462: BSF 06.7.................... movement=L;0463: MOVLW 020464: MOVWF 45.................... break;0465: GOTO 4660466: BSF 03.5.................... }.................... }.................... n++;0467: INCF 75,F0468: BTFSC 03.20469: INCF 76,F.................... }046A: BCF 03.5046B: GOTO 421046C: BSF 03.5.................... switch(movement).................... {046D: BCF 03.5046E: MOVF 45,W046F: XORLW 020470: BTFSC 03.20471: GOTO 4760472: XORLW 030473: BTFSC 03.20474: GOTO 4890475: GOTO 49C.................... case L:.................... FL;BR;0476: BSF 03.50477: BCF 06.70478: BCF 03.50479: BCF 06.7047A: BSF 03.5047B: BCF 06.6047C: BCF 03.5047D: BSF 06.6047E: BSF 03.5047F: BCF 06.40480: BCF 03.50481: BCF 06.40482: BSF 03.50483: BCF 06.50484: BCF 03.50485: BSF 06.5.................... movement=R;0486: MOVLW 010487: MOVWF 45.................... break;0488: GOTO 49C.................... case R:.................... FR;BL;0489: BSF 03.5048A: BCF 06.5048B: BCF 03.5048C: BCF 06.5048D: BSF 03.5048E: BCF 06.4048F: BCF 03.50490: BSF 06.40491: BSF 03.50492: BCF 06.60493: BCF 03.50494: BCF 06.60495: BSF 03.50496: BCF 06.70497: BCF 03.50498: BSF 06.7.................... movement=L;0499: MOVLW 02049A: MOVWF 45.................... break;049B: GOTO 49C.................... }.................... Delay_ms(50);049C: MOVLW 32049D: MOVWF 7D049E: CALL 09D.................... STOPL;STOPR; // nasli jsme caru049F: BSF 03.504A0: BCF 06.604A1: BCF 03.504A2: BCF 06.604A3: BSF 03.504A4: BCF 06.704A5: BCF 03.504A6: BCF 06.704A7: BSF 03.504A8: BCF 06.404A9: BCF 03.504AA: BCF 06.404AB: BSF 03.504AC: BCF 06.504AD: BCF 03.504AE: BCF 06.5.................... line=S;04AF: MOVLW 0304B0: MOVWF 41.................... }04B1: RETLW 00.................... ///////////////////////////////////////////////////////////////////////////////.................... void objizdka() // objede cihlu.................... {.................... unsigned int16 n;........................................ BL;BR;Delay_ms(200);04B2: BSF 03.504B3: BCF 06.604B4: BCF 03.504B5: BCF 06.604B6: BSF 03.504B7: BCF 06.704B8: BCF 03.504B9: BSF 06.704BA: BSF 03.504BB: BCF 06.404BC: BCF 03.504BD: BCF 06.404BE: BSF 03.504BF: BCF 06.504C0: BCF 03.504C1: BSF 06.504C2: MOVLW C804C3: MOVWF 7D04C4: CALL 09D.................... STOPR;STOPL;04C5: BSF 03.504C6: BCF 06.404C7: BCF 03.504C8: BCF 06.404C9: BSF 03.504CA: BCF 06.504CB: BCF 03.504CC: BCF 06.504CD: BSF 03.504CE: BCF 06.604CF: BCF 03.504D0: BCF 06.604D1: BSF 03.504D2: BCF 06.704D3: BCF 03.504D4: BCF 06.7.................... beep(900,1000);04D5: MOVLW 0304D6: MOVWF 7D04D7: MOVLW 8404D8: MOVWF 7C04D9: MOVLW 0304DA: BSF 03.504DB: MOVWF 2104DC: MOVLW E804DD: MOVWF 2004DE: BCF 03.504DF: CALL 071.................... movement=S;04E0: MOVLW 0304E1: MOVWF 45.................... cikcak();04E2: CALL 3C4........................................ BR; FL; Delay_ms(215); // otoc se 70° do prava04E3: BSF 03.504E4: BCF 06.404E5: BCF 03.504E6: BCF 06.404E7: BSF 03.504E8: BCF 06.504E9: BCF 03.504EA: BSF 06.504EB: BSF 03.504EC: BCF 06.704ED: BCF 03.504EE: BCF 06.704EF: BSF 03.504F0: BCF 06.604F1: BCF 03.504F2: BSF 06.604F3: MOVLW D704F4: MOVWF 7D04F5: CALL 09D........................................ FR; FL; Delay_ms(600); // popojed rovne04F6: BSF 03.504F7: BCF 06.504F8: BCF 03.504F9: BCF 06.504FA: BSF 03.504FB: BCF 06.404FC: BCF 03.504FD: BSF 06.404FE: BSF 03.504FF: BCF 06.70500: BCF 03.50501: BCF 06.70502: BSF 03.50503: BCF 06.60504: BCF 03.50505: BSF 06.60506: MOVLW 030507: MOVWF 750508: MOVLW C80509: MOVWF 7D050A: CALL 09D050B: DECFSZ 75,F050C: GOTO 508........................................ BL; Delay_ms(50); // otoc se 90° do leva050D: BSF 03.5050E: BCF 06.6050F: BCF 03.50510: BCF 06.60511: BSF 03.50512: BCF 06.70513: BCF 03.50514: BSF 06.70515: MOVLW 320516: MOVWF 7D0517: CALL 09D.................... STOPL; FR; Delay_ms(550);0518: BSF 03.50519: BCF 06.6051A: BCF 03.5051B: BCF 06.6051C: BSF 03.5051D: BCF 06.7051E: BCF 03.5051F: BCF 06.70520: BSF 03.50521: BCF 06.50522: BCF 03.50523: BCF 06.50524: BSF 03.50525: BCF 06.40526: BCF 03.50527: BSF 06.40528: MOVLW 050529: MOVWF 75052A: MOVLW 6E052B: MOVWF 7D052C: CALL 09D052D: DECFSZ 75,F052E: GOTO 52A........................................ FR; FL; Delay_ms(100); // popojed rovne na slepo052F: BSF 03.50530: BCF 06.50531: BCF 03.50532: BCF 06.50533: BSF 03.50534: BCF 06.40535: BCF 03.50536: BSF 06.40537: BSF 03.50538: BCF 06.70539: BCF 03.5053A: BCF 06.7053B: BSF 03.5053C: BCF 06.6053D: BCF 03.5053E: BSF 06.6053F: MOVLW 640540: MOVWF 7D0541: CALL 09D.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru0542: MOVLW 020543: MOVWF 740544: MOVLW 580545: MOVWF 730546: MOVF 73,F0547: BTFSS 03.20548: GOTO 54C0549: MOVF 74,F054A: BTFSC 03.2054B: GOTO 56B.................... {.................... line = RSENSOR; // cteni senzoru na caru054C: CLRF 41054D: BSF 03.5054E: BTFSS 1C.7054F: GOTO 5530550: BCF 03.50551: INCF 41,F0552: BSF 03.5.................... line |= LSENSOR << 1;0553: MOVLW 000554: BTFSC 1C.60555: MOVLW 010556: MOVWF 770557: BCF 03.00558: RLF 77,F0559: MOVF 77,W055A: BCF 03.5055B: IORWF 41,F.................... if (line!=0) {Delay_ms(50); break;}055C: MOVF 41,F055D: BTFSC 03.2055E: GOTO 563055F: MOVLW 320560: MOVWF 7D0561: CALL 09D0562: GOTO 56B.................... Delay_ms(1);0563: MOVLW 010564: MOVWF 7D0565: CALL 09D.................... }0566: MOVF 73,W0567: BTFSC 03.20568: DECF 74,F0569: DECF 73,F056A: GOTO 546........................................ BR; // otoc se 60° do prava056B: BSF 03.5056C: BCF 06.4056D: BCF 03.5056E: BCF 06.4056F: BSF 03.50570: BCF 06.50571: BCF 03.50572: BSF 06.5.................... for(n=600;n>0;n--)0573: MOVLW 020574: MOVWF 740575: MOVLW 580576: MOVWF 730577: MOVF 73,F0578: BTFSS 03.20579: GOTO 57D057A: MOVF 74,F057B: BTFSC 03.2057C: GOTO 598.................... {.................... line = RSENSOR; // cteni senzoru na caru057D: CLRF 41057E: BSF 03.5057F: BTFSS 1C.70580: GOTO 5840581: BCF 03.50582: INCF 41,F0583: BSF 03.5.................... line |= LSENSOR << 1;0584: MOVLW 000585: BTFSC 1C.60586: MOVLW 010587: MOVWF 770588: BCF 03.00589: RLF 77,F058A: MOVF 77,W058B: BCF 03.5058C: IORWF 41,F.................... if (line!=0) break;058D: MOVF 41,F058E: BTFSS 03.2058F: GOTO 598.................... Delay_ms(1);0590: MOVLW 010591: MOVWF 7D0592: CALL 09D.................... }0593: MOVF 73,W0594: BTFSC 03.20595: DECF 74,F0596: DECF 73,F0597: GOTO 577.................... STOPR; STOPL;0598: BSF 03.50599: BCF 06.4059A: BCF 03.5059B: BCF 06.4059C: BSF 03.5059D: BCF 06.5059E: BCF 03.5059F: BCF 06.505A0: BSF 03.505A1: BCF 06.605A2: BCF 03.505A3: BCF 06.605A4: BSF 03.505A5: BCF 06.705A6: BCF 03.505A7: BCF 06.7........................................ movement=R;05A8: MOVLW 0105A9: MOVWF 45.................... cikcak();05AA: CALL 3C4.................... cihla=T_DIRA;05AB: MOVLW 5505AC: MOVWF 47.................... dira=0;05AD: CLRF 46.................... }05AE: BSF 0A.305AF: GOTO 0F7 (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void prejeddiru() // vyresi diru.................... {.................... unsigned int16 n;........................................ STOPL;STOPR;05B0: BSF 03.505B1: BCF 06.605B2: BCF 03.505B3: BCF 06.605B4: BSF 03.505B5: BCF 06.705B6: BCF 03.505B7: BCF 06.705B8: BSF 03.505B9: BCF 06.405BA: BCF 03.505BB: BCF 06.405BC: BSF 03.505BD: BCF 06.505BE: BCF 03.505BF: BCF 06.5.................... beep(800,500);05C0: MOVLW 0305C1: MOVWF 7D05C2: MOVLW 2005C3: MOVWF 7C05C4: MOVLW 0105C5: BSF 03.505C6: MOVWF 2105C7: MOVLW F405C8: MOVWF 2005C9: BCF 03.505CA: CALL 071.................... switch (movement) //vrat se zpet na caru.................... {05CB: MOVF 45,W05CC: XORLW 0205CD: BTFSC 03.205CE: GOTO 5D605CF: XORLW 0305D0: BTFSC 03.205D1: GOTO 60E05D2: XORLW 0205D3: BTFSC 03.205D4: GOTO 64605D5: GOTO 648.................... case L:.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);}05D6: MOVLW 0205D7: MOVWF 7405D8: MOVLW 5805D9: MOVWF 7305DA: MOVF 73,F05DB: BTFSS 03.205DC: GOTO 5E005DD: MOVF 74,F05DE: BTFSC 03.205DF: GOTO 5FD05E0: MOVF 01,W05E1: SUBWF 42,W05E2: BTFSS 03.005E3: GOTO 5ED05E4: BSF 03.505E5: BCF 06.405E6: BCF 03.505E7: BCF 06.405E8: BSF 03.505E9: BCF 06.505EA: BCF 03.505EB: BSF 06.505EC: GOTO 5F505ED: BSF 03.505EE: BCF 06.405EF: BCF 03.505F0: BCF 06.405F1: BSF 03.505F2: BCF 06.505F3: BCF 03.505F4: BCF 06.505F5: MOVLW 0105F6: MOVWF 7D05F7: CALL 09D05F8: MOVF 73,W05F9: BTFSC 03.205FA: DECF 74,F05FB: DECF 73,F05FC: GOTO 5DA.................... STOPL;STOPR;05FD: BSF 03.505FE: BCF 06.605FF: BCF 03.50600: BCF 06.60601: BSF 03.50602: BCF 06.70603: BCF 03.50604: BCF 06.70605: BSF 03.50606: BCF 06.40607: BCF 03.50608: BCF 06.40609: BSF 03.5060A: BCF 06.5060B: BCF 03.5060C: BCF 06.5.................... break;060D: GOTO 648.................... case R:.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);}060E: MOVLW 02060F: MOVWF 740610: MOVLW 580611: MOVWF 730612: MOVF 73,F0613: BTFSS 03.20614: GOTO 6180615: MOVF 74,F0616: BTFSC 03.20617: GOTO 6350618: MOVF 01,W0619: SUBWF 42,W061A: BTFSS 03.0061B: GOTO 625061C: BSF 03.5061D: BCF 06.6061E: BCF 03.5061F: BCF 06.60620: BSF 03.50621: BCF 06.70622: BCF 03.50623: BSF 06.70624: GOTO 62D0625: BSF 03.50626: BCF 06.60627: BCF 03.50628: BCF 06.60629: BSF 03.5062A: BCF 06.7062B: BCF 03.5062C: BCF 06.7062D: MOVLW 01062E: MOVWF 7D062F: CALL 09D0630: MOVF 73,W0631: BTFSC 03.20632: DECF 74,F0633: DECF 73,F0634: GOTO 612.................... STOPL;STOPR;0635: BSF 03.50636: BCF 06.60637: BCF 03.50638: BCF 06.60639: BSF 03.5063A: BCF 06.7063B: BCF 03.5063C: BCF 06.7063D: BSF 03.5063E: BCF 06.4063F: BCF 03.50640: BCF 06.40641: BSF 03.50642: BCF 06.50643: BCF 03.50644: BCF 06.5.................... break;0645: GOTO 648.................... case S:.................... goto sem;0646: GOTO 666.................... break;0647: GOTO 648.................... }.................... beep(800,500);0648: MOVLW 030649: MOVWF 7D064A: MOVLW 20064B: MOVWF 7C064C: MOVLW 01064D: BSF 03.5064E: MOVWF 21064F: MOVLW F40650: MOVWF 200651: BCF 03.50652: CALL 071.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara0653: BSF 03.50654: BCF 06.50655: BCF 03.50656: BCF 06.50657: BSF 03.50658: BCF 06.40659: BCF 03.5065A: BSF 06.4065B: BSF 03.5065C: BCF 06.7065D: BCF 03.5065E: BCF 06.7065F: BSF 03.50660: BCF 06.60661: BCF 03.50662: BSF 06.60663: MOVLW 960664: MOVWF 7D0665: CALL 09D.................... sem:.................... STOPL; STOPR;0666: BSF 03.50667: BCF 06.60668: BCF 03.50669: BCF 06.6066A: BSF 03.5066B: BCF 06.7066C: BCF 03.5066D: BCF 06.7066E: BSF 03.5066F: BCF 06.40670: BCF 03.50671: BCF 06.40672: BSF 03.50673: BCF 06.50674: BCF 03.50675: BCF 06.5.................... movement=S;0676: MOVLW 030677: MOVWF 45.................... cikcak(); // najdi caru0678: CALL 3C4.................... cihla=T_DIRA;0679: MOVLW 55067A: MOVWF 47.................... dira=0;067B: CLRF 46.................... }067C: BSF 0A.3067D: GOTO 190 (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void main().................... {*0800: CLRF 040801: MOVLW 1F0802: ANDWF 03,F0803: BSF 03.50804: BCF 1F.40805: BCF 1F.50806: MOVF 1B,W0807: ANDLW 800808: MOVWF 1B0809: MOVLW 07080A: MOVWF 1C080B: MOVF 1C,W080C: BCF 03.5080D: BCF 0D.6080E: MOVLW 60080F: BSF 03.50810: MOVWF 0F.................... unsigned int16 n; // pro FOR........................................ STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi*082E: BSF 03.5082F: BCF 06.60830: BCF 03.50831: BCF 06.60832: BSF 03.50833: BCF 06.70834: BCF 03.50835: BCF 06.70836: BSF 03.50837: BCF 06.40838: BCF 03.50839: BCF 06.4083A: BSF 03.5083B: BCF 06.5083C: BCF 03.5083D: BCF 06.5........................................ setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator083E: MOVLW 62083F: BSF 03.50840: MOVWF 0F........................................ port_b_pullups(TRUE); // pullups pro piano na diagnostiku0841: BCF 01.7.................... setup_spi(FALSE);0842: BCF 03.50843: BCF 14.50844: BSF 03.50845: BCF 06.20846: BSF 06.10847: BCF 06.40848: MOVLW 000849: BCF 03.5084A: MOVWF 14084B: BSF 03.5084C: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM084D: MOVF 01,W084E: ANDLW C7084F: IORLW 080850: MOVWF 01........................................ setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci0851: MOVLW 480852: MOVWF 780853: IORLW 050854: BCF 03.50855: MOVWF 120856: MOVLW FF0857: BSF 03.50858: MOVWF 12.................... // preruseni kazdych 10ms.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik0859: BCF 1F.4085A: BCF 1F.5085B: MOVF 1B,W085C: ANDLW 80085D: IORLW 04085E: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);085F: BCF 1F.60860: BCF 03.50861: BSF 1F.60862: BSF 1F.70863: BSF 03.50864: BCF 1F.70865: BCF 03.50866: BSF 1F.0.................... set_adc_channel(2);0867: MOVLW 100868: MOVWF 780869: MOVF 1F,W086A: ANDLW C7086B: IORWF 78,W086C: MOVWF 1F.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik086D: MOVLW 85086E: MOVWF 10.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);086F: BSF 03.50870: BSF 06.30871: MOVLW 0B0872: BCF 03.50873: MOVWF 17.................... CCP_1=(2^10)-1; // prevod kazdou 1ms0874: CLRF 160875: MOVLW 070876: MOVWF 15........................................ setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary0877: MOVLW 020878: BSF 03.50879: MOVWF 1C087A: MOVF 05,W087B: IORLW 03087C: MOVWF 05087D: MOVLW 03087E: MOVWF 77087F: DECFSZ 77,F0880: GOTO 07F0881: MOVF 1C,W0882: BCF 03.50883: BCF 0D.6.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd0884: MOVLW 8A0885: BSF 03.50886: MOVWF 1D........................................ Beep(1000,200); //double beep0887: MOVLW 030888: MOVWF 7D0889: MOVLW E8088A: MOVWF 7C088B: CLRF 21088C: MOVLW C8088D: MOVWF 20088E: BCF 0A.3088F: BCF 03.50890: CALL 0710891: BSF 0A.3.................... Delay_ms(50);0892: MOVLW 320893: MOVWF 7D0894: BCF 0A.30895: CALL 09D0896: BSF 0A.3.................... Beep(1000,200);0897: MOVLW 030898: MOVWF 7D0899: MOVLW E8089A: MOVWF 7C089B: BSF 03.5089C: CLRF 21089D: MOVLW C8089E: MOVWF 20089F: BCF 0A.308A0: BCF 03.508A1: CALL 07108A2: BSF 0A.3.................... Delay_ms(1000); // 1s08A3: MOVLW 0408A4: MOVWF 7308A5: MOVLW FA08A6: MOVWF 7D08A7: BCF 0A.308A8: CALL 09D08A9: BSF 0A.308AA: DECFSZ 73,F08AB: GOTO 0A5........................................ // povoleni rizeni rychlosti zataceni pres preruseni.................... enable_interrupts(INT_TIMER2);08AC: BSF 03.508AD: BSF 0C.1.................... enable_interrupts(GLOBAL);08AE: MOVLW C008AF: BCF 03.508B0: IORWF 0B,F........................................ /*---------------------------------------------------------------------------*/.................... sensors=S;08B1: MOVLW 0308B2: MOVWF 40.................... line=S;08B3: MOVWF 41.................... last=S;08B4: MOVWF 44.................... movement=S;08B5: MOVWF 45.................... speed=FW_POMALU;08B6: MOVLW E608B7: MOVWF 42........................................ diagnostika();08B8: BCF 0A.308B9: GOTO 1D108BA: BSF 0A.3.................... cikcak(); // toc se, abys nasel caru08BB: BCF 0A.308BC: CALL 3C408BD: BSF 0A.3.................... Delay_ms(500);08BE: MOVLW 0208BF: MOVWF 7308C0: MOVLW FA08C1: MOVWF 7D08C2: BCF 0A.308C3: CALL 09D08C4: BSF 0A.308C5: DECFSZ 73,F08C6: GOTO 0C0.................... Beep(1000,200);08C7: MOVLW 0308C8: MOVWF 7D08C9: MOVLW E808CA: MOVWF 7C08CB: BSF 03.508CC: CLRF 2108CD: MOVLW C808CE: MOVWF 2008CF: BCF 0A.308D0: BCF 03.508D1: CALL 07108D2: BSF 0A.3.................... Delay_ms(500);08D3: MOVLW 0208D4: MOVWF 7308D5: MOVLW FA08D6: MOVWF 7D08D7: BCF 0A.308D8: CALL 09D08D9: BSF 0A.308DA: DECFSZ 73,F08DB: GOTO 0D5........................................ while(true) // hlavni smycka (jizda podle cary).................... {.................... sensors = RSENSOR; // cteni senzoru na caru08DC: CLRF 4008DD: BSF 03.508DE: BTFSS 1C.708DF: GOTO 0E308E0: BCF 03.508E1: INCF 40,F08E2: BSF 03.5.................... sensors |= LSENSOR << 1;08E3: MOVLW 0008E4: BTFSC 1C.608E5: MOVLW 0108E6: MOVWF 7708E7: BCF 03.008E8: RLF 77,F08E9: MOVF 77,W08EA: BCF 03.508EB: IORWF 40,F........................................ if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka();08EC: BTFSC 1F.208ED: GOTO 0EC08EE: MOVF 1E,W08EF: SUBLW 7F08F0: BTFSS 03.008F1: GOTO 0F808F2: MOVF 47,F08F3: BTFSS 03.208F4: GOTO 0F808F5: BCF 0A.308F6: GOTO 4B208F7: BSF 0A.3........................................ switch (sensors) // zatacej podle toho, kde vidis caru.................... {08F8: MOVF 40,W08F9: XORLW 0308FA: BTFSC 03.208FB: GOTO 10308FC: XORLW 0108FD: BTFSC 03.208FE: GOTO 11708FF: XORLW 030900: BTFSC 03.20901: GOTO 1500902: GOTO 189.................... case S: // rovne.................... FL; FR; // pokud se jede dlouho rovne, tak pridej0903: BSF 03.50904: BCF 06.70905: BCF 03.50906: BCF 06.70907: BSF 03.50908: BCF 06.60909: BCF 03.5090A: BSF 06.6090B: BSF 03.5090C: BCF 06.5090D: BCF 03.5090E: BCF 06.5090F: BSF 03.50910: BCF 06.40911: BCF 03.50912: BSF 06.4.................... dira=0;0913: CLRF 46.................... movement=S;0914: MOVLW 030915: MOVWF 45.................... continue;0916: GOTO 0DC.................... case L: // trochu vlevo.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);0917: MOVF 01,W0918: MOVWF 730919: MOVLW E6091A: ADDWF 43,W091B: SUBWF 73,W091C: BTFSC 03.2091D: GOTO 120091E: BTFSC 03.0091F: GOTO 1290920: BSF 03.50921: BCF 06.70922: BCF 03.50923: BCF 06.70924: BSF 03.50925: BCF 06.60926: BCF 03.50927: BSF 06.60928: GOTO 1310929: BSF 03.5092A: BCF 06.6092B: BCF 03.5092C: BCF 06.6092D: BSF 03.5092E: BCF 06.7092F: BCF 03.50930: BCF 06.70931: MOVF 01,W0932: MOVWF 730933: MOVLW F00934: ADDWF 43,W0935: SUBWF 73,W0936: BTFSC 03.20937: GOTO 13A0938: BTFSC 03.00939: GOTO 143093A: BSF 03.5093B: BCF 06.5093C: BCF 03.5093D: BCF 06.5093E: BSF 03.5093F: BCF 06.40940: BCF 03.50941: BSF 06.40942: GOTO 14B0943: BSF 03.50944: BCF 06.40945: BCF 03.50946: BCF 06.40947: BSF 03.50948: BCF 06.50949: BCF 03.5094A: BCF 06.5.................... line=L;094B: MOVLW 02094C: MOVWF 41.................... dira=0;094D: CLRF 46.................... movement=L;094E: MOVWF 45.................... continue;094F: GOTO 0DC.................... case R: // trochu vpravo.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);0950: MOVF 01,W0951: MOVWF 730952: MOVLW E60953: ADDWF 43,W0954: SUBWF 73,W0955: BTFSC 03.20956: GOTO 1590957: BTFSC 03.00958: GOTO 1620959: BSF 03.5095A: BCF 06.5095B: BCF 03.5095C: BCF 06.5095D: BSF 03.5095E: BCF 06.4095F: BCF 03.50960: BSF 06.40961: GOTO 16A0962: BSF 03.50963: BCF 06.40964: BCF 03.50965: BCF 06.40966: BSF 03.50967: BCF 06.50968: BCF 03.50969: BCF 06.5096A: MOVF 01,W096B: MOVWF 73096C: MOVLW F0096D: ADDWF 43,W096E: SUBWF 73,W096F: BTFSC 03.20970: GOTO 1730971: BTFSC 03.00972: GOTO 17C0973: BSF 03.50974: BCF 06.70975: BCF 03.50976: BCF 06.70977: BSF 03.50978: BCF 06.60979: BCF 03.5097A: BSF 06.6097B: GOTO 184097C: BSF 03.5097D: BCF 06.6097E: BCF 03.5097F: BCF 06.60980: BSF 03.50981: BCF 06.70982: BCF 03.50983: BCF 06.7.................... line=R;0984: MOVLW 010985: MOVWF 41.................... dira=0;0986: CLRF 46.................... movement=R;0987: MOVWF 45.................... continue;0988: GOTO 0DC.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal.................... }.................... rovinka=0;0989: CLRF 43.................... if (dira>=T_DIRA) prejeddiru();098A: MOVF 46,W098B: SUBLW 54098C: BTFSC 03.0098D: GOTO 191098E: BCF 0A.3098F: GOTO 5B00990: BSF 0A.3.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi0991: MOVF 41,W0992: SUBWF 44,W0993: BTFSC 03.20994: GOTO 199.................... {.................... last=line;0995: MOVF 41,W0996: MOVWF 44.................... speed=FW_ZATACKA;0997: MOVLW C80998: MOVWF 42.................... }.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru0999: MOVF 41,W099A: SUBLW 02099B: BTFSS 03.2099C: GOTO 1BD.................... {.................... STOPL;099D: BSF 03.5099E: BCF 06.6099F: BCF 03.509A0: BCF 06.609A1: BSF 03.509A2: BCF 06.709A3: BCF 03.509A4: BCF 06.7.................... GO(R, F, speed);09A5: MOVF 01,W09A6: SUBWF 42,W09A7: BTFSS 03.009A8: GOTO 1B209A9: BSF 03.509AA: BCF 06.509AB: BCF 03.509AC: BCF 06.509AD: BSF 03.509AE: BCF 06.409AF: BCF 03.509B0: BSF 06.409B1: GOTO 1BA09B2: BSF 03.509B3: BCF 06.409B4: BCF 03.509B5: BCF 06.409B6: BSF 03.509B7: BCF 06.509B8: BCF 03.509B9: BCF 06.5.................... movement=L;09BA: MOVLW 0209BB: MOVWF 45.................... }.................... else09BC: GOTO 1DC.................... {.................... STOPR;09BD: BSF 03.509BE: BCF 06.409BF: BCF 03.509C0: BCF 06.409C1: BSF 03.509C2: BCF 06.509C3: BCF 03.509C4: BCF 06.5.................... GO(L, F, speed);09C5: MOVF 01,W09C6: SUBWF 42,W09C7: BTFSS 03.009C8: GOTO 1D209C9: BSF 03.509CA: BCF 06.709CB: BCF 03.509CC: BCF 06.709CD: BSF 03.509CE: BCF 06.609CF: BCF 03.509D0: BSF 06.609D1: GOTO 1DA09D2: BSF 03.509D3: BCF 06.609D4: BCF 03.509D5: BCF 06.609D6: BSF 03.509D7: BCF 06.709D8: BCF 03.509D9: BCF 06.7.................... movement=R;09DA: MOVLW 0109DB: MOVWF 45.................... }.................... } // while(true)09DC: GOTO 0DC.................... }........................................09DD: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO