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CCS PCW C Compiler, Version 3.110, 15448

               Filename: d:\kaklik\programy\pic_c\robot\tank\main.LST

               ROM used: 893 (22%)
                         Largest free fragment is 2048
               RAM used: 82 (43%) at main() level
                         101 (53%) worst case
               Stack:    3 locations

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   2CB
0003:  NOP
....................  #include "D:\@KAKLIK\programy\PIC_C\robot\tank\main.h" 
....................  #include <16F873.h> 
....................  //////// Standard Header file for the PIC16F873 device ////////////////  
.................... #device PIC16F873  
.................... #list  
....................  
.................... #use delay(clock=4000000)  
00A8:  MOVLW  73
00A9:  MOVWF  04
00AA:  MOVF   00,W
00AB:  BTFSC  03.2
00AC:  GOTO   0BC
00AD:  MOVLW  01
00AE:  MOVWF  21
00AF:  CLRF   20
00B0:  DECFSZ 20,F
00B1:  GOTO   0B0
00B2:  DECFSZ 21,F
00B3:  GOTO   0AF
00B4:  MOVLW  4A
00B5:  MOVWF  20
00B6:  DECFSZ 20,F
00B7:  GOTO   0B6
00B8:  NOP
00B9:  NOP
00BA:  DECFSZ 00,F
00BB:  GOTO   0AD
00BC:  RETLW  00
.................... #fuses XT,NOWDT,NOLVP  
....................   
....................  
....................   
.................... //motory  
.................... #define FR         output_high(PIN_B4);output_low(PIN_B5)  // Vpred  
.................... #define FL         output_high(PIN_B6);output_low(PIN_B7)  
.................... #define BR         output_high(PIN_B5);output_low(PIN_B4)  // Vzad  
.................... #define BL         output_high(PIN_B7);output_low(PIN_B6)  
.................... #define STOPR      output_low(PIN_B4);output_low(PIN_B5)  
.................... #define STOPL      output_low(PIN_B6);output_low(PIN_B7)  
....................   
.................... //cidla  
.................... #define RSENSOR    1   // Senzory na caru  
.................... #define LSENSOR    0  
.................... //#define BUMPER     SENSOR_2   // Senzor na cihlu  
....................   
.................... //human interface  
.................... #DEFINE LED        PIN_A2  
....................   
.................... #DEFINE SOUND_HI   PIN_B2  
.................... #DEFINE SOUND_LO   PIN_B3  
.................... #include "sound.c" 
....................  // Knihovna pro generovani hudebnich zvuku dane frekvence a delky nebo  
.................... // dane noty temperovaneho ladeni a delky.  
.................... //  
.................... // Pro gnerovani nepouziva zadnou podporu HW, vse se generuje ciste SW.  
.................... //  
.................... // (c)miho 2003  
.................... //  
.................... // Historie  
.................... // 1.00 Uvodni verze  
.................... //  
....................   
....................   
.................... // Konfiguracni parametry  
.................... //#define SOUND_HI     PIN_xx          // Pozitivni vystup  
.................... //#define SOUND_LO     PIN_xx          // Komplementarni vystup  
.................... #ifndef SOUND_REZIE  
.................... #define SOUND_REZIE  72                // Piskvorcova konstanta zahrnuje celkovou rezii ve smycce  
.................... #endif  
.................... #ifndef SOUND_CLOCK  
.................... #define SOUND_CLOCK  4000000           // Frelvence krystalu v Hz  
.................... #endif  
....................   
....................   
.................... // Definice hudebnich tonu (not) pro proceduru SoundNote()  
.................... #define SOUND_C     0  
.................... #define SOUND_Cis   1  
.................... #define SOUND_D     2  
.................... #define SOUND_Dis   3  
.................... #define SOUND_E     4  
.................... #define SOUND_F     5  
.................... #define SOUND_Fis   6  
.................... #define SOUND_G     7  
.................... #define SOUND_Gis   8  
.................... #define SOUND_A     9  
.................... #define SOUND_Ais   10  
.................... #define SOUND_H     11  
.................... #define SOUND_Space 12                 // Pomlka  
....................   
....................   
.................... // Prototypy verejnych procedur  
....................   
.................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration);  
.................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho)  
....................   
.................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration);  
.................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton,  
.................... // SOUND_Space je ticho), doba trvani v ms  
....................   
.................... // Alternativni makra pro generovani konstatnich tonu  
.................... // SoundBeepMacro(Frequency, Duration) - frekvence nesmi byt 0  
.................... // SoundNoteMacro(Note, Octave, Duration) - nepodporuje SOUND_Space  
.................... // SoundSpaceMacro(Duration) - hraje ticho  
....................   
.................... // Privatni cast  
....................   
....................   
.................... #ORG 0x100, 0x128                      // Aby skok nebyl pres hranici 0x100  
.................... void DelaySpecial(unsigned int16 Time)  
.................... // Pomocna procedura pro mereni spozdeni s granularitou 1 instrukcni takt  
.................... // Cas v instrukcnich cyklech, skutecny cas je vetsi o _konstantni_ rezii  
.................... // Maximalni cas je 65536 us  
.................... {  
....................    unsigned int8 TimeHi;               // Pro pristup k horni casti Time  
....................   
....................       *0x0A = LABEL_ADDRESS(Next)>>8;  // Nastav PCLATH  
*
0100:  MOVLW  01
0101:  MOVWF  23
0102:  MOVLW  0A
0103:  MOVWF  7E
0104:  MOVF   23,W
0105:  MOVWF  0A
....................    #asm  
....................       movf     Time,w                  // Zpracuj nejnizsi 3 bity  
0106:  MOVF   7B,W
....................       xorlw    7                       // Pro hodnotu 0 skakej pres vsechny nopy  
0107:  XORLW  07
....................       andlw    7                       // Ber jen spodni 3 bity  
0108:  ANDLW  07
....................       addwf    2,f                     // Preskoc zadny az vsech 8 nopu (2 je PCL)  
0109:  ADDWF  02,F
....................    Next:  
....................       nop                              // Spozdeni s granularitou 1 takt  
010A:  NOP
....................       nop  
010B:  NOP
....................       nop  
010C:  NOP
....................       nop  
010D:  NOP
....................       nop  
010E:  NOP
....................       nop  
010F:  NOP
....................       nop  
0110:  NOP
....................       nop  
....................    #endasm  
0111:  NOP
....................    Time = Time >> 3;                   // Zahod spodni 3 bity  
0112:  RRF    7C,F
0113:  RRF    7B,F
0114:  RRF    7C,F
0115:  RRF    7B,F
0116:  RRF    7C,F
0117:  RRF    7B,F
0118:  MOVLW  1F
0119:  ANDWF  7C,F
....................    TimeHi=Time>>8;                     // Oddel horni cast citace  
011A:  MOVF   7C,W
011B:  MOVWF  7D
....................    Time++;                             // Korekce na casovani typu dcfsz  
011C:  INCF   7B,F
011D:  BTFSC  03.2
011E:  INCF   7C,F
....................    TimeHi++;  
011F:  INCF   7D,F
....................    #asm  
....................    Loop:  
....................       nop                              // Smycka musi trvat 8 taktu  
0120:  NOP
....................       nop                              //   a ma 16 bitu dlouhy citac  
0121:  NOP
....................       nop  
0122:  NOP
....................       decfsz   Time  
0123:  DECFSZ 7B,F
....................       goto     Next1  
0124:  GOTO   126
....................       decfsz   TimeHi  
0125:  DECFSZ 7D,F
....................    Next1:  
....................       goto     Loop  
....................    #endasm  
0126:  GOTO   120
0127:  RETLW  00
....................   
.................... }  
....................   
....................   
.................... unsigned int32 SoundCount;             // Pocet pulperid geneovaneho signalu  
.................... unsigned int32 SoundPeriod;            // Delka pulperiody v us (zmensene o SOUND_REZIE)  
....................   
....................   
.................... void SoundLoop()  
.................... // Pomocna funkce - hlavni zvukova smycka  
.................... {  
....................    int1 Data;  
....................    unsigned int16 i;  
....................   
....................    for(i=SoundCount;i>0;i--)           // Pocet pulperiod  
*
019F:  MOVF   26,W
01A0:  MOVWF  78
01A1:  MOVF   25,W
01A2:  MOVWF  77
01A3:  MOVF   77,F
01A4:  BTFSS  03.2
01A5:  GOTO   1A9
01A6:  MOVF   78,F
01A7:  BTFSC  03.2
01A8:  GOTO   1C9
....................    {  
....................       output_bit(SOUND_HI,Data);       // Nastav vystup  
01A9:  BTFSC  76.0
01AA:  GOTO   1AD
01AB:  BCF    06.2
01AC:  GOTO   1AE
01AD:  BSF    06.2
01AE:  BSF    03.5
01AF:  BCF    06.2
....................       output_bit(SOUND_LO,~Data);  
01B0:  BCF    03.5
01B1:  BTFSS  76.0
01B2:  GOTO   1B5
01B3:  BCF    06.3
01B4:  GOTO   1B6
01B5:  BSF    06.3
01B6:  BSF    03.5
01B7:  BCF    06.3
....................       Data=~Data;                      // Otoc stav vystupu  
01B8:  MOVLW  01
01B9:  BCF    03.5
01BA:  XORWF  76,F
....................       DelaySpecial(SoundPeriod);       // Pockej po dobu plperiody  
01BB:  MOVF   2A,W
01BC:  MOVWF  7A
01BD:  MOVF   29,W
01BE:  MOVWF  79
01BF:  MOVF   2A,W
01C0:  MOVWF  7C
01C1:  MOVF   29,W
01C2:  MOVWF  7B
01C3:  CALL   100
....................    }  
01C4:  MOVF   77,W
01C5:  BTFSC  03.2
01C6:  DECF   78,F
01C7:  DECF   77,F
01C8:  GOTO   1A3
.................... }  
....................   
....................   
.................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration)  
.................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho)  
.................... // Rozumne frekvence jsou v rozsahu cca 10Hz az 5000Hz pro krystal 4MHz,  
.................... // cas do cca 5s (2*Cas/1000*Freq musi byt < nez 65536)  
.................... {  
....................    if (Frequency==0)  
*
0129:  MOVF   72,F
012A:  BTFSS  03.2
012B:  GOTO   140
012C:  MOVF   73,F
012D:  BTFSS  03.2
012E:  GOTO   140
....................    {  
....................       for(;Duration>0;Duration--)  
012F:  MOVF   74,F
0130:  BTFSS  03.2
0131:  GOTO   135
0132:  MOVF   75,F
0133:  BTFSC  03.2
0134:  GOTO   13F
....................       {  
....................          DelaySpecial(1000);           // Zhruba 1ms  
0135:  MOVLW  03
0136:  MOVWF  7C
0137:  MOVLW  E8
0138:  MOVWF  7B
0139:  CALL   100
....................       }  
013A:  MOVF   74,W
013B:  BTFSC  03.2
013C:  DECF   75,F
013D:  DECF   74,F
013E:  GOTO   12F
....................       return;  
013F:  GOTO   1C9
....................    }  
....................   
....................    SoundPeriod=(SOUND_CLOCK/4/2)/Frequency-SOUND_REZIE;  
0140:  CLRF   79
0141:  MOVLW  07
0142:  MOVWF  78
0143:  MOVLW  A1
0144:  MOVWF  77
0145:  MOVLW  20
0146:  MOVWF  76
0147:  CLRF   7D
0148:  CLRF   7C
0149:  MOVF   73,W
014A:  MOVWF  7B
014B:  MOVF   72,W
014C:  MOVWF  7A
014D:  CALL   004
014E:  MOVF   23,W
014F:  MOVWF  79
0150:  MOVF   22,W
0151:  MOVWF  78
0152:  MOVF   21,W
0153:  MOVWF  77
0154:  MOVF   20,W
0155:  MOVWF  76
0156:  MOVLW  48
0157:  SUBWF  76,W
0158:  MOVWF  29
0159:  MOVF   77,W
015A:  MOVWF  2A
015B:  MOVLW  00
015C:  BTFSS  03.0
015D:  MOVLW  01
015E:  SUBWF  2A,F
015F:  MOVF   78,W
0160:  MOVWF  2B
0161:  MOVLW  00
0162:  BTFSS  03.0
0163:  MOVLW  01
0164:  SUBWF  2B,F
0165:  MOVF   79,W
0166:  MOVWF  2C
0167:  MOVLW  00
0168:  BTFSS  03.0
0169:  MOVLW  01
016A:  SUBWF  2C,F
....................   
....................    SoundCount=Duration;                // Vypocet poctu pulperiod signalu Duration*Frequency*2/1000  
016B:  CLRF   28
016C:  CLRF   27
016D:  MOVF   75,W
016E:  MOVWF  26
016F:  MOVF   74,W
0170:  MOVWF  25
....................    SoundCount*=Frequency;  
0171:  MOVF   28,W
0172:  MOVWF  79
0173:  MOVF   27,W
0174:  MOVWF  78
0175:  MOVF   26,W
0176:  MOVWF  77
0177:  MOVF   25,W
0178:  MOVWF  76
0179:  CLRF   7D
017A:  CLRF   7C
017B:  MOVF   73,W
017C:  MOVWF  7B
017D:  MOVF   72,W
017E:  MOVWF  7A
017F:  GOTO   066
0180:  MOVF   23,W
0181:  MOVWF  28
0182:  MOVF   22,W
0183:  MOVWF  27
0184:  MOVF   21,W
0185:  MOVWF  26
0186:  MOVF   20,W
0187:  MOVWF  25
....................    SoundCount/=500;  
0188:  MOVF   28,W
0189:  MOVWF  79
018A:  MOVF   27,W
018B:  MOVWF  78
018C:  MOVF   26,W
018D:  MOVWF  77
018E:  MOVF   25,W
018F:  MOVWF  76
0190:  CLRF   7D
0191:  CLRF   7C
0192:  MOVLW  01
0193:  MOVWF  7B
0194:  MOVLW  F4
0195:  MOVWF  7A
0196:  CALL   004
0197:  MOVF   23,W
0198:  MOVWF  28
0199:  MOVF   22,W
019A:  MOVWF  27
019B:  MOVF   21,W
019C:  MOVWF  26
019D:  MOVF   20,W
019E:  MOVWF  25
....................   
....................    SoundLoop();                         // Pozor pouzivaji se globalni parametry  
*
01C9:  RETLW  00
.................... }  
....................   
.................... // Definice casu pulperody pro nejnizsi oktavu, v mikrosekundach  
.................... // Periody tonu v dalsich oktavach se ziskavaji rotaci vpravo  
.................... #define SOUND_Peri_C    (30578*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 30578us  
.................... #define SOUND_Peri_Cis  (28862*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 28862us  
.................... #define SOUND_Peri_D    (27242*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 27242us  
.................... #define SOUND_Peri_Dis  (25713*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 25713us  
.................... #define SOUND_Peri_E    (24270*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 24270us  
.................... #define SOUND_Peri_F    (22908*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 22908us  
.................... #define SOUND_Peri_Fis  (21622*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 21622us  
.................... #define SOUND_Peri_G    (20408*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 20408us  
.................... #define SOUND_Peri_Gis  (19263*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 19263us  
.................... #define SOUND_Peri_A    (18182*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 18182us  
.................... #define SOUND_Peri_Ais  (17161*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 17161us  
.................... #define SOUND_Peri_H    (16198*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 16198us  
....................   
.................... #if SOUND_Peri_C > 65535  
.................... #error "Sound Clock too high (Note C requires delay > 65535 cycles)"  
.................... #endif  
....................   
.................... const int16 Table[12] = SOUND_Peri_C,     SOUND_Peri_Cis,   SOUND_Peri_D,     SOUND_Peri_Dis,  
....................                         SOUND_Peri_E,     SOUND_Peri_F,     SOUND_Peri_Fis,   SOUND_Peri_G,  
....................                         SOUND_Peri_Gis,   SOUND_Peri_A,     SOUND_Peri_Ais,   SOUND_Peri_H;  
....................   
.................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration)  
.................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton)  
.................... // doba trvani v ms (0 znamena ticho)  
.................... // Zahraje zadanou notu v zadane oktave dane delky  
.................... {  
....................   
....................    if (Note==SOUND_Space)  
....................    {  
....................       for(;Duration>0;Duration--)  
....................          DelaySpecial(1000);           // Zhruba 1ms  
....................       return;  
....................    }  
....................   
....................    SoundPeriod=(Table[Note]>>Octave)-0;   // Zde je chyba prekladace, nula musi zusat  
....................   
....................    SoundCount=Duration;  
....................    SoundCount*=1000;  
....................    SoundCount/=SoundPeriod;  
....................   
....................    SoundPeriod=SoundPeriod-SOUND_REZIE;  
....................   
....................    SoundLoop();                         // Pozor pouzivaji se globalni parametry  
.................... }  
....................   
....................   
.................... // Sada maker, ktera neobsahuji slozity vypocet a jsou  
.................... // tedy vhodna pro jednoduche pipnuti. Parametry jsou stejne  
.................... // jako o funkci.  
.................... #define SoundBeepMacro(F,D)                     \  
....................    SoundPeriod=SOUND_CLOCK/4/2/F-SOUND_REZIE;   \  
....................    SoundCount=D*F/500;                          \  
....................    SoundLoop();  
....................   
.................... #define SoundNoteMacro(N,O,D)                   \  
....................    SoundPeriod=(Table[N]>>O)-SOUND_REZIE;       \  
....................    SoundCount=D*1000/(Table[N]>>O);             \  
....................    SoundLoop();  
....................   
.................... #define SoundPauseMacro(D)                      \  
....................    {                                            \  
....................       #if D>255                                 \  
....................       unsigned int16 i=D;                       \  
....................       #else                                     \  
....................       unsigned int8  i=D;                       \  
....................       #endif                                    \  
....................       for(;i>0;i--)                             \  
....................       {                                         \  
....................          DelaySpecial(1000);                    \  
....................       }                                         \  
....................    }  
....................  
....................   
.................... #DEFINE TXo        PIN_C0     // Vysilac  
.................... #include "C:\library\kaklik\CCS\AX25.c"             // Podprogram pro prenos telemetrie 
....................  //#define  PTT PIN_A2                 // PTT control  
.................... //#define  TXo PIN_C0                 // To the transmitter modulator  
.................... #define  PERIODAH delay_us(222)     // Halfperiod H 222;78/1200     500;430/500  
.................... #define  TAILH delay_us(78)  
.................... #define  PERIODAL delay_us(412)     // Halfperiod L 412;345/1200    1000;880/500  
.................... #define  TAILL delay_us(345)  
.................... #byte    STATUS = 3                 // CPUs status register  
....................   
.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1,  0x60,  
....................                      'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,  
....................                      0x03, 0xF0};  
....................   
.................... boolean bit;  
.................... int fcslo, fcshi;    // variabloes for calculating FCS (CRC)  
.................... int stuff;           // stuff counter for extra 0  
.................... int flag_flag;       // if it is sending flag (7E)  
.................... int fcs_flag;        // if it is sending Frame Check Sequence  
.................... int i;               // for for  
....................   
.................... void flipout()       //flips the state of output pin a_1  
.................... {  
....................    stuff = 0;        //since this is a 0, reset the stuff counter  
....................    if (bit)  
....................    {  
....................      bit=FALSE;      //if the state of the pin was low, make it high.  
....................    }  
....................    else  
....................    {  
....................      bit=TRUE;                //if the state of the pin was high make it low  
....................    }  
.................... }  
....................   
.................... void fcsbit(byte tbyte)  
.................... {  
.................... #asm  
....................    BCF    STATUS,0  
....................    RRF    fcshi,F             // rotates the entire 16 bits  
....................    RRF    fcslo,F                        // to the right  
.................... #endasm  
....................    if (((STATUS & 0x01)^(tbyte)) ==0x01)  
....................    {  
....................          fcshi = fcshi^0x84;  
....................          fcslo = fcslo^0x08;  
....................    }  
.................... }  
....................   
.................... void SendBit ()  
.................... {  
....................    if (bit)  
....................    {  
....................       output_high(TXo);  
....................       PERIODAH;  
....................       output_low(TXo);  
....................       PERIODAH;  
....................       output_high(TXo);  
....................       PERIODAH;  
....................       output_low(TXo);  
....................       TAILH;  
....................     }  
....................     else  
....................     {  
....................       output_high(TXo);  
....................       PERIODAL;  
....................       output_low(TXo);  
....................       TAILL;  
....................     };  
.................... }  
....................   
.................... void SendByte (byte inbyte)  
.................... {  
....................    int k, bt;  
....................   
....................    for (k=0;k<8;k++)    //do the following for each of the 8 bits in the byte  
....................    {  
....................      bt = inbyte & 0x01;            //strip off the rightmost bit of the byte to be sent (inbyte)  
....................      if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt);    //do FCS calc, but only if this  
....................                                                                                            //is not a flag or fcs byte  
....................      if (bt == 0)  
....................      {  
....................        flipout();  
....................      }                                    // if this bit is a zero, flip the output state  
....................      else  
....................      {                                                   //otherwise if it is a 1, do the following:  
....................        if (flag_flag == FALSE) stuff++;      //increment the count of consequtive 1's  
....................        if ((flag_flag == FALSE) & (stuff == 5))  
....................        {       //stuff an extra 0, if 5 1's in a row  
....................          SendBit();  
....................          flipout();               //flip the output state to stuff a 0  
....................        }//end of if  
....................      }//end of else  
....................      // delay_us(850);                              //introduces a delay that creates 1200 baud  
....................      SendBit();  
....................      inbyte = inbyte>>1;          //go to the next bit in the byte  
....................    }//end of for  
.................... }//end of SendByte  
....................   
.................... void SendPacket(char *data)  
.................... {  
....................     bit=FALSE;  
....................   
....................    fcslo=fcshi=0xFF;       //The 2 FCS Bytes are initialized to FF  
....................    stuff = 0;              //The variable stuff counts the number of 1's in a row. When it gets to 5  
....................                                 // it is time to stuff a 0.  
....................   
.................... //   output_low(PTT);        // Blinking LED  
.................... //   delay_ms(1000);  
.................... //   output_high(PTT);  
....................   
....................    flag_flag = TRUE;       //The variable flag is true if you are transmitted flags (7E's) false otherwise.  
....................    fcs_flag = FALSE;       //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.  
....................   
....................    for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes.  Adjust length for txdelay  
....................                                        //each flag takes approx 6.7 ms  
....................    flag_flag = FALSE;      //done sending flags  
....................   
....................    for(i=0; i<16; i++) SendByte(SendData[i]);      //send the packet bytes  
....................   
....................    for(i=0; 0 != *data; i++)  
....................    {  
....................       SendByte(*data);     //send the packet bytes  
....................       data++;  
....................    };  
....................   
....................    fcs_flag = TRUE;        //about to send the FCS bytes  
....................    fcslo =fcslo^0xff;      //must XOR them with FF before sending  
....................    fcshi = fcshi^0xff;  
....................    SendByte(fcslo);        //send the low byte of fcs  
....................    SendByte(fcshi);        //send the high byte of fcs  
....................    fcs_flag = FALSE;                  //done sending FCS  
....................    flag_flag = TRUE;               //about to send flags  
....................    SendByte(0x7e);         // Send a flag to end packet  
.................... }  
....................   
....................   
....................   
....................  
....................   
.................... //program  
.................... #define MEZERA     38         // jak se muze jet dlouho bez cary  
.................... #define COUVEJ     700         // kolik se ma couvat po detekci diry  
.................... #define CIKCAK     40         // kolik se ma jet cik/cak  
.................... #define PRES_DIRU  350         // jak predpokladame velkou diru  
.................... #define TRESHOLD   50  
....................   
.................... #define L 0  // left  
.................... #define R 1  // right  
.................... #define S 2  // straight  
....................   
.................... char AXstring[40];            // Buffer pro prenos telemetrie  
....................   
.................... int movement;     // smer minuleho pohybu  
.................... int line;         // na ktere strane byla detekovana cara  
.................... int dira;         // pocitadlo pro nalezeni preruseni cary  
.................... int n;            // pomocna promena pro cyklus FOR  
....................   
.................... void cik_cak()   // Hledani cary  
.................... {  
....................   n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry  
....................   switch(movement)  // zmenime smer zataceni  
....................   {  
....................    case L:  
....................         FL;STOPR;          // doprava  
....................         movement=R;        // poznamenej kam jedem  
....................         line=L;            // kdyz prejedem, tak bude cara vlevo  
....................      break;  
....................    case R:  
....................         FR;STOPL;           // doleva  
....................         movement=L;        // poznamenej kam jedem  
....................         line=R;            // kdyz prejedem, tak bude cara vpravo  
....................      break;  
....................   }  
....................   
....................   while(true)   // jed cik-cak, dokud nenajdes caru  
....................   {  
....................     set_adc_channel(RSENSOR);  
....................     if (TRESHOLD > read_adc())   // je cara ?? 
....................     {  
....................          STOPL;  
....................          STOPR;  
....................          break;  
....................     };  
....................     if (CIKCAK < n++)  // Jedeme uz dost dlouho cik??Pak jed cak.  
....................     {  
....................        n=0;  
....................        STOPL;  
....................        STOPR;  
....................        switch(movement)     // zmenime smer zataceni  
....................        {  
....................          case L:  
....................               FL;          // doprava  
....................               movement=R;        // poznamenej kam jedem  
....................               line=L;            // kdyz prejedem, tak bude cara vlevo  
....................            break;  
....................          case R:  
....................               FR;           // doleva  
....................               movement=L;        // poznamenej kam jedem  
....................               line=R;            // kdyz prejedem, tak bude cara vpravo  
....................            break;  
....................        }  
....................     }  
....................   }  
.................... }  
....................   
....................   
.................... void diagnostika()  
.................... {  
....................    int n;  
....................   
....................    while (input(PIN_C4))  
01CA:  BSF    44.4
01CB:  MOVF   44,W
01CC:  BSF    03.5
01CD:  MOVWF  07
01CE:  BCF    03.5
01CF:  BTFSS  07.4
01D0:  GOTO   2C9
....................    {  
....................   
....................       for (n=500; n<5000; n+=100)  
01D1:  MOVLW  F4
01D2:  MOVWF  71
....................       {  
....................          SoundBeep(n,50);                        //beep  
01D3:  CLRF   73
01D4:  MOVF   71,W
01D5:  MOVWF  72
01D6:  CLRF   75
01D7:  MOVLW  32
01D8:  MOVWF  74
01D9:  CALL   129
....................       };  
01DA:  MOVLW  64
01DB:  ADDWF  71,F
01DC:  GOTO   1D3
....................       Delay_ms(1000);  
01DD:  MOVLW  04
01DE:  MOVWF  72
01DF:  MOVLW  FA
01E0:  MOVWF  73
01E1:  CALL   0A8
01E2:  DECFSZ 72,F
01E3:  GOTO   1DF
....................   
....................       STOPL;                     //zastav vse  
01E4:  BSF    03.5
01E5:  BCF    06.6
01E6:  BCF    03.5
01E7:  BCF    06.6
01E8:  BSF    03.5
01E9:  BCF    06.7
01EA:  BCF    03.5
01EB:  BCF    06.7
....................       STOPR;  
01EC:  BSF    03.5
01ED:  BCF    06.4
01EE:  BCF    03.5
01EF:  BCF    06.4
01F0:  BSF    03.5
01F1:  BCF    06.5
01F2:  BCF    03.5
01F3:  BCF    06.5
....................   
....................       FR;                        //pravy pas  
01F4:  BSF    03.5
01F5:  BCF    06.4
01F6:  BCF    03.5
01F7:  BSF    06.4
01F8:  BSF    03.5
01F9:  BCF    06.5
01FA:  BCF    03.5
01FB:  BCF    06.5
....................       Delay_ms(1000);  
01FC:  MOVLW  04
01FD:  MOVWF  72
01FE:  MOVLW  FA
01FF:  MOVWF  73
0200:  CALL   0A8
0201:  DECFSZ 72,F
0202:  GOTO   1FE
....................       STOPR;  
0203:  BSF    03.5
0204:  BCF    06.4
0205:  BCF    03.5
0206:  BCF    06.4
0207:  BSF    03.5
0208:  BCF    06.5
0209:  BCF    03.5
020A:  BCF    06.5
....................       Delay_ms(1000);  
020B:  MOVLW  04
020C:  MOVWF  72
020D:  MOVLW  FA
020E:  MOVWF  73
020F:  CALL   0A8
0210:  DECFSZ 72,F
0211:  GOTO   20D
....................       BR;  
0212:  BSF    03.5
0213:  BCF    06.5
0214:  BCF    03.5
0215:  BSF    06.5
0216:  BSF    03.5
0217:  BCF    06.4
0218:  BCF    03.5
0219:  BCF    06.4
....................       Delay_ms(1000);  
021A:  MOVLW  04
021B:  MOVWF  72
021C:  MOVLW  FA
021D:  MOVWF  73
021E:  CALL   0A8
021F:  DECFSZ 72,F
0220:  GOTO   21C
....................       STOPR;  
0221:  BSF    03.5
0222:  BCF    06.4
0223:  BCF    03.5
0224:  BCF    06.4
0225:  BSF    03.5
0226:  BCF    06.5
0227:  BCF    03.5
0228:  BCF    06.5
....................       Delay_ms(1000);  
0229:  MOVLW  04
022A:  MOVWF  72
022B:  MOVLW  FA
022C:  MOVWF  73
022D:  CALL   0A8
022E:  DECFSZ 72,F
022F:  GOTO   22B
....................   
....................       FL;                        //levy pas  
0230:  BSF    03.5
0231:  BCF    06.6
0232:  BCF    03.5
0233:  BSF    06.6
0234:  BSF    03.5
0235:  BCF    06.7
0236:  BCF    03.5
0237:  BCF    06.7
....................       Delay_ms(1000);  
0238:  MOVLW  04
0239:  MOVWF  72
023A:  MOVLW  FA
023B:  MOVWF  73
023C:  CALL   0A8
023D:  DECFSZ 72,F
023E:  GOTO   23A
....................       STOPL;  
023F:  BSF    03.5
0240:  BCF    06.6
0241:  BCF    03.5
0242:  BCF    06.6
0243:  BSF    03.5
0244:  BCF    06.7
0245:  BCF    03.5
0246:  BCF    06.7
....................       Delay_ms(1000);  
0247:  MOVLW  04
0248:  MOVWF  72
0249:  MOVLW  FA
024A:  MOVWF  73
024B:  CALL   0A8
024C:  DECFSZ 72,F
024D:  GOTO   249
....................       BL;  
024E:  BSF    03.5
024F:  BCF    06.7
0250:  BCF    03.5
0251:  BSF    06.7
0252:  BSF    03.5
0253:  BCF    06.6
0254:  BCF    03.5
0255:  BCF    06.6
....................       Delay_ms(1000);  
0256:  MOVLW  04
0257:  MOVWF  72
0258:  MOVLW  FA
0259:  MOVWF  73
025A:  CALL   0A8
025B:  DECFSZ 72,F
025C:  GOTO   258
....................       STOPL;  
025D:  BSF    03.5
025E:  BCF    06.6
025F:  BCF    03.5
0260:  BCF    06.6
0261:  BSF    03.5
0262:  BCF    06.7
0263:  BCF    03.5
0264:  BCF    06.7
....................       Delay_ms(1000);  
0265:  MOVLW  04
0266:  MOVWF  72
0267:  MOVLW  FA
0268:  MOVWF  73
0269:  CALL   0A8
026A:  DECFSZ 72,F
026B:  GOTO   267
....................   
....................       FL;                        //oba pasy  
026C:  BSF    03.5
026D:  BCF    06.6
026E:  BCF    03.5
026F:  BSF    06.6
0270:  BSF    03.5
0271:  BCF    06.7
0272:  BCF    03.5
0273:  BCF    06.7
....................       FR;  
0274:  BSF    03.5
0275:  BCF    06.4
0276:  BCF    03.5
0277:  BSF    06.4
0278:  BSF    03.5
0279:  BCF    06.5
027A:  BCF    03.5
027B:  BCF    06.5
....................       Delay_ms(1000);  
027C:  MOVLW  04
027D:  MOVWF  72
027E:  MOVLW  FA
027F:  MOVWF  73
0280:  CALL   0A8
0281:  DECFSZ 72,F
0282:  GOTO   27E
....................       STOPL;  
0283:  BSF    03.5
0284:  BCF    06.6
0285:  BCF    03.5
0286:  BCF    06.6
0287:  BSF    03.5
0288:  BCF    06.7
0289:  BCF    03.5
028A:  BCF    06.7
....................       STOPR;  
028B:  BSF    03.5
028C:  BCF    06.4
028D:  BCF    03.5
028E:  BCF    06.4
028F:  BSF    03.5
0290:  BCF    06.5
0291:  BCF    03.5
0292:  BCF    06.5
....................       Delay_ms(1000);  
0293:  MOVLW  04
0294:  MOVWF  72
0295:  MOVLW  FA
0296:  MOVWF  73
0297:  CALL   0A8
0298:  DECFSZ 72,F
0299:  GOTO   295
....................       BL;  
029A:  BSF    03.5
029B:  BCF    06.7
029C:  BCF    03.5
029D:  BSF    06.7
029E:  BSF    03.5
029F:  BCF    06.6
02A0:  BCF    03.5
02A1:  BCF    06.6
....................       BR;  
02A2:  BSF    03.5
02A3:  BCF    06.5
02A4:  BCF    03.5
02A5:  BSF    06.5
02A6:  BSF    03.5
02A7:  BCF    06.4
02A8:  BCF    03.5
02A9:  BCF    06.4
....................       Delay_ms(1000);  
02AA:  MOVLW  04
02AB:  MOVWF  72
02AC:  MOVLW  FA
02AD:  MOVWF  73
02AE:  CALL   0A8
02AF:  DECFSZ 72,F
02B0:  GOTO   2AC
....................       STOPL;  
02B1:  BSF    03.5
02B2:  BCF    06.6
02B3:  BCF    03.5
02B4:  BCF    06.6
02B5:  BSF    03.5
02B6:  BCF    06.7
02B7:  BCF    03.5
02B8:  BCF    06.7
....................       STOPR;  
02B9:  BSF    03.5
02BA:  BCF    06.4
02BB:  BCF    03.5
02BC:  BCF    06.4
02BD:  BSF    03.5
02BE:  BCF    06.5
02BF:  BCF    03.5
02C0:  BCF    06.5
....................       Delay_ms(1000);  
02C1:  MOVLW  04
02C2:  MOVWF  72
02C3:  MOVLW  FA
02C4:  MOVWF  73
02C5:  CALL   0A8
02C6:  DECFSZ 72,F
02C7:  GOTO   2C3
....................    }  
02C8:  GOTO   1CA
02C9:  BCF    0A.3
02CA:  GOTO   2F0 (RETURN)
.................... }  
....................   
.................... void main()  
.................... {  
02CB:  CLRF   04
02CC:  MOVLW  1F
02CD:  ANDWF  03,F
02CE:  MOVLW  07
02CF:  BSF    03.5
02D0:  MOVWF  1F
02D1:  MOVLW  82
02D2:  BCF    03.5
02D3:  MOVWF  2D
02D4:  MOVLW  98
02D5:  MOVWF  2E
02D6:  MOVWF  2F
02D7:  MOVLW  40
02D8:  MOVWF  30
02D9:  MOVWF  31
02DA:  MOVWF  32
02DB:  MOVLW  60
02DC:  MOVWF  33
02DD:  MOVLW  86
02DE:  MOVWF  34
02DF:  MOVLW  B4
02E0:  MOVWF  35
02E1:  MOVLW  60
02E2:  MOVWF  36
02E3:  MOVLW  A4
02E4:  MOVWF  37
02E5:  MOVWF  38
02E6:  MOVWF  39
02E7:  MOVLW  61
02E8:  MOVWF  3A
02E9:  MOVLW  03
02EA:  MOVWF  3B
02EB:  MOVLW  F0
02EC:  MOVWF  3C
02ED:  MOVLW  FF
02EE:  MOVWF  44
....................   diagnostika();  
02EF:  GOTO   1CA
....................   
....................   SoundBeep(640,200);                        //beep  
02F0:  MOVLW  02
02F1:  MOVWF  73
02F2:  MOVLW  80
02F3:  MOVWF  72
02F4:  CLRF   75
02F5:  MOVLW  C8
02F6:  MOVWF  74
02F7:  CALL   129
....................   Delay_ms(50);  
02F8:  MOVLW  32
02F9:  MOVWF  73
02FA:  CALL   0A8
....................   SoundBeep(640,200);  
02FB:  MOVLW  02
02FC:  MOVWF  73
02FD:  MOVLW  80
02FE:  MOVWF  72
02FF:  CLRF   75
0300:  MOVLW  C8
0301:  MOVWF  74
0302:  CALL   129
....................   
....................   setup_adc_ports(RA0_RA1_RA3_ANALOG);  
0303:  MOVLW  04
0304:  BSF    03.5
0305:  MOVWF  1F
....................   setup_adc(ADC_CLOCK_DIV_2);  
0306:  BCF    03.5
0307:  MOVF   1F,W
0308:  ANDLW  38
0309:  IORLW  01
030A:  MOVWF  1F
....................   Delay_ms(1000); // 1s  
030B:  MOVLW  04
030C:  MOVWF  71
030D:  MOVLW  FA
030E:  MOVWF  73
030F:  CALL   0A8
0310:  DECFSZ 71,F
0311:  GOTO   30D
....................   
....................   movement=R;  
0312:  MOVLW  01
0313:  MOVWF  6D
....................   line=S;  
0314:  MOVLW  02
0315:  MOVWF  6E
....................   dira=0;  
0316:  CLRF   6F
....................   
....................   //cik_cak();    // toc se, abys nasel caru  
....................   FL; FR;         // vpred  
0317:  BSF    03.5
0318:  BCF    06.6
0319:  BCF    03.5
031A:  BSF    06.6
031B:  BSF    03.5
031C:  BCF    06.7
031D:  BCF    03.5
031E:  BCF    06.7
031F:  BSF    03.5
0320:  BCF    06.4
0321:  BCF    03.5
0322:  BSF    06.4
0323:  BSF    03.5
0324:  BCF    06.5
0325:  BCF    03.5
0326:  BCF    06.5
....................   
....................                                                    // Sledovani cary  
....................   while(true)  
....................   {  
.................... snimani:  
....................     set_adc_channel(RSENSOR);  
0327:  MOVLW  08
0328:  MOVWF  21
0329:  MOVF   1F,W
032A:  ANDLW  C7
032B:  IORWF  21,W
032C:  MOVWF  1F
....................     Delay_us(2);  
032D:  NOP
032E:  NOP
....................     if (TRESHOLD > read_adc())    // Cara pod pravym senzorem  
032F:  BSF    1F.2
0330:  BTFSC  1F.2
0331:  GOTO   330
0332:  MOVF   1E,W
0333:  SUBLW  31
0334:  BTFSS  03.0
0335:  GOTO   34A
....................     {  
....................       dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru  
0336:  CLRF   6F
....................       line=R;    // zaznamenej, kdes videl caru  
0337:  MOVLW  01
0338:  MOVWF  6E
....................       FL;FR;  
0339:  BSF    03.5
033A:  BCF    06.6
033B:  BCF    03.5
033C:  BSF    06.6
033D:  BSF    03.5
033E:  BCF    06.7
033F:  BCF    03.5
0340:  BCF    06.7
0341:  BSF    03.5
0342:  BCF    06.4
0343:  BCF    03.5
0344:  BSF    06.4
0345:  BSF    03.5
0346:  BCF    06.5
0347:  BCF    03.5
0348:  BCF    06.5
....................       goto snimani;  
0349:  GOTO   327
....................     }  
....................   
....................     set_adc_channel(LSENSOR);  
034A:  MOVLW  00
034B:  MOVWF  21
034C:  MOVF   1F,W
034D:  ANDLW  C7
034E:  IORWF  21,W
034F:  MOVWF  1F
....................     Delay_us(2);  
0350:  NOP
0351:  NOP
....................     if (TRESHOLD > read_adc())    // Cara pod levym senzorem  
0352:  BSF    1F.2
0353:  BTFSC  1F.2
0354:  GOTO   353
0355:  MOVF   1E,W
0356:  SUBLW  31
0357:  BTFSS  03.0
0358:  GOTO   36C
....................     {  
....................       dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru  
0359:  CLRF   6F
....................       line=L;    // zaznamenej, kdes videl caru  
035A:  CLRF   6E
....................       FL;FR;  
035B:  BSF    03.5
035C:  BCF    06.6
035D:  BCF    03.5
035E:  BSF    06.6
035F:  BSF    03.5
0360:  BCF    06.7
0361:  BCF    03.5
0362:  BCF    06.7
0363:  BSF    03.5
0364:  BCF    06.4
0365:  BCF    03.5
0366:  BSF    06.4
0367:  BSF    03.5
0368:  BCF    06.5
0369:  BCF    03.5
036A:  BCF    06.5
....................       goto snimani;  
036B:  GOTO   327
....................     }  
....................   
....................     // oba senzory mimo caru  
....................     if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat  
036C:  MOVF   6F,F
036D:  BTFSS  03.2
036E:  GOTO   3BF
....................                  // v ostatnich cyklech nedelame nic (pro urychleni snimani)  
....................     {  
.................... STOPL;  
036F:  BSF    03.5
0370:  BCF    06.6
0371:  BCF    03.5
0372:  BCF    06.6
0373:  BSF    03.5
0374:  BCF    06.7
0375:  BCF    03.5
0376:  BCF    06.7
.................... STOPR;  
0377:  BSF    03.5
0378:  BCF    06.4
0379:  BCF    03.5
037A:  BCF    06.4
037B:  BSF    03.5
037C:  BCF    06.5
037D:  BCF    03.5
037E:  BCF    06.5
.................... BL;  
037F:  BSF    03.5
0380:  BCF    06.7
0381:  BCF    03.5
0382:  BSF    06.7
0383:  BSF    03.5
0384:  BCF    06.6
0385:  BCF    03.5
0386:  BCF    06.6
.................... BR;  
0387:  BSF    03.5
0388:  BCF    06.5
0389:  BCF    03.5
038A:  BSF    06.5
038B:  BSF    03.5
038C:  BCF    06.4
038D:  BCF    03.5
038E:  BCF    06.4
.................... Delay_ms(20);  
038F:  MOVLW  14
0390:  MOVWF  73
0391:  CALL   0A8
.................... STOPL;  
0392:  BSF    03.5
0393:  BCF    06.6
0394:  BCF    03.5
0395:  BCF    06.6
0396:  BSF    03.5
0397:  BCF    06.7
0398:  BCF    03.5
0399:  BCF    06.7
.................... STOPR;  
039A:  BSF    03.5
039B:  BCF    06.4
039C:  BCF    03.5
039D:  BCF    06.4
039E:  BSF    03.5
039F:  BCF    06.5
03A0:  BCF    03.5
03A1:  BCF    06.5
.................... Delay_ms(200);  
03A2:  MOVLW  C8
03A3:  MOVWF  73
03A4:  CALL   0A8
....................                            // kdyz nevidis caru, tak jed tam, kdes ji videl naposled  
....................       if(line==L)  
03A5:  MOVF   6E,F
03A6:  BTFSS  03.2
03A7:  GOTO   3B1
....................       {  
....................         // doleva  
.................... //      STOPL;  
....................       FR;  
03A8:  BSF    03.5
03A9:  BCF    06.4
03AA:  BCF    03.5
03AB:  BSF    06.4
03AC:  BSF    03.5
03AD:  BCF    06.5
03AE:  BCF    03.5
03AF:  BCF    06.5
....................         movement=L;    // poznamenej kam jedes  
03B0:  CLRF   6D
....................       }  
....................       if(line==R)  
03B1:  DECFSZ 6E,W
03B2:  GOTO   3BD
....................       {  
....................         // doprava  
.................... //     STOPR;  
....................         FL;  
03B3:  BSF    03.5
03B4:  BCF    06.6
03B5:  BCF    03.5
03B6:  BSF    06.6
03B7:  BSF    03.5
03B8:  BCF    06.7
03B9:  BCF    03.5
03BA:  BCF    06.7
....................         movement=R;    // poznamenej kam jedes  
03BB:  MOVLW  01
03BC:  MOVWF  6D
....................       }  
....................       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo  
03BD:  INCF   6F,F
....................       goto snimani; // co nejrychleji se vrat na snimani cary  
03BE:  GOTO   327
....................     }  
....................   
....................     /*if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?? 
....................     {  
....................       dira=0;  
....................       switch(movement)  // kam se jelo ?? 
....................       {  
....................        case L:  
....................             BR;      // couvej doprava  
....................             Delay_ms(COUVEJ);  
....................             movement=R;  
....................          break;  
....................        case R:  
....................             BL;       // couvej doleva  
....................             Delay_ms(COUVEJ);  
....................             movement=L;  
....................          break;  
....................       }  
....................       STOP();                    // konec couvani  
....................       FL; FR;                  // rovne pres diru  
....................       Delay_ms(PRES_DIRU);  
....................       STOP();  
....................       cik_cak();                // najdi caru  
....................       FR; FL;                  // vpred  
....................     } // dira*/  
....................   
....................   } // while(true)  
03BF:  GOTO   327
....................   
.................... }  
....................   
03C0:  SLEEP
.................... /*void objizdka()  
.................... {  
....................   BL; BR;                 // zacouvej  
....................   Delay_ms(150);  
....................   STOP();  
....................   
....................   cik_cak();               // vyrovnej se na caru  
....................   cik_cak();               // radeji 3x, aby se vyrovnaly setrvacne sily  
....................   cik_cak();  
....................   
....................   BL; FR; Delay_ms(220);               // vlevo  
....................   STOP();  
....................   FL; FR; Delay_ms(650);               // rovne  
....................   STOP();  
....................   FL; BR; Delay_ms(220);               // vpravo  
....................   STOP();  
....................   FL; FR; Delay_ms(770);               // rovne  
....................   STOP();  
....................   FL; BR; Delay_ms(210);               // vpravo  
....................   STOP();  
....................   FL; FR;  
....................   Delay_ms(200);                       // kousek rovne  
....................   // rovne, dokud nenarazis na caru  
....................   while(input(RSENSOR));     // pravej senzor, protoze cihla je vpravo  
....................   STOP();  
....................   BL; FR;                         // toc se doleva, dokud nenarazis na caru  
....................   while(input(LSENSOR));     // levej senzor, protoze cara je urcite vlevo  
....................   STOP();  
....................   line=R;      // caru predpokladame vpravo, kdybysme ji prejeli  
....................   dira=0;  
....................   FL; FR;                         // vpred  
.................... }*/  
....................