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CCS PCM C Compiler, Version 3.221, 27853 21-VIII-05 18:18Filename: C:\PIC\jump\miho\DART.LSTROM used: 834 words (20%)Largest free fragment is 2048RAM used: 25 (14%) at main() level42 (24%) worst caseStack: 6 worst case (3 in main + 3 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 1C80003: 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 00.3001F: GOTO 0220020: BTFSC 0C.30021: GOTO 0390022: BTFSS 0B.50023: GOTO 0260024: BTFSC 0B.20025: GOTO 03B0026: MOVF 22,W0027: MOVWF 040028: MOVF 23,W0029: MOVWF 77002A: MOVF 24,W002B: MOVWF 78002C: MOVF 25,W002D: MOVWF 79002E: MOVF 26,W002F: MOVWF 7A0030: MOVF 27,W0031: MOVWF 7B0032: MOVF 28,W0033: MOVWF 0A0034: SWAPF 21,W0035: MOVWF 030036: SWAPF 7F,F0037: SWAPF 7F,W0038: RETFIE0039: BCF 0A.3003A: GOTO 089003B: BCF 0A.3003C: GOTO 0B7.................... // DART01A verze programu 1.00.................... // (c)miho 2005........................................ #include "DART.h".................... // DART01A verze programu 1.00.................... // (c)miho 2005........................................ #include ".\lib\16F88.h" // standardni definice konstant.................... //////// Header file for the PIC16F88.................... #device PIC16F88.................... #list.................... #include ".\lib\16F88_Reg.h" // standardni definice vsech FSR.................... #list............................................................ #device adc=8 // AD prevodnik jen na 8 bitu.................... #define xclock 4168000 // muj konkretni PIC je trochu rychlejsi.................... #use delay(clock=xclock,restart_wdt)0176: MOVLW 3D0177: MOVWF 040178: MOVF 00,W0179: BTFSC 03.2017A: GOTO 18C017B: MOVLW 01017C: MOVWF 78017D: MOVLW BF017E: MOVWF 77017F: CLRWDT0180: DECFSZ 77,F0181: GOTO 17F0182: DECFSZ 78,F0183: GOTO 17D0184: MOVLW 580185: MOVWF 770186: DECFSZ 77,F0187: GOTO 1860188: NOP0189: CLRWDT018A: DECFSZ 00,F018B: GOTO 17B018C: RETLW 00.................... #fuses INTRC_IO, NOWDT, NOPUT, NOPROTECT, NOBROWNOUT, MCLR, NOLVP, NOCPD, NODEBUG, CCPB3................................................................................ #define BEEP0 PIN_A6 // pipak, prvni vystup.................... #define BEEP1 PIN_A7 // pipak, druhy vystup.................... #define PWM PIN_B3 // PWM vystup pro menic.................... #define REFPOWER PIN_B1 // napajeni zdroje Vref.................... #define MOTOR PIN_B2 // zapinani motoru.................... #define SW0 PIN_B7 // konfiguracni prepinac 0.................... #define SW1 PIN_B6 // konfiguracni prepinac 1............................................................ void InitRS232().................... // Inicializace HW RS232.................... {.................... SPBRG=xclock/9600/16-1; // ryclost 9600Bd.................... RCSTA=0b10000000; // enable USART.................... TXSTA=0b00100100; // BRGH=1, TX enable.................... }............................................................ void Putc(char c).................... // Posilani znaku pres HW RS232.................... {.................... while(TRMT==0); // cekej na prazdny TX buffer*010B: BSF 03.5010C: BTFSC 18.1010D: GOTO 110010E: BCF 03.5010F: GOTO 10B.................... TXREG=c; // predej data0110: BCF 03.50111: MOVF 41,W0112: MOVWF 19.................... }0113: RETLW 00............................................................ // Globalni promenna pro data posilana na SSP.................... // Nastavuje se funkci MotorPatternSet().................... // Vyuziva se v prerusovaci rutine IntSSP().................... unsigned int8 MotorPattern; // aktualni data pro SSP jednotku............................................................ void MotorPatternSet(unsigned int Gear).................... // Na zaklade rychlosti nastavi MotorPattern pro SSP.................... // Rychlost 0 znamena stop, rychlost 8 je maximum.................... {.................... // Tabulka rychlost -> pattern pro SSP.................... unsigned int8 const ExpTab[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff};........................................ // Vyber patternu.................... if (Gear==0) // stav 0 znamena stop*008E: MOVF 44,F008F: BTFSS 03.20090: GOTO 09D.................... {.................... output_low(MOTOR); // klidovy stav0091: BSF 03.50092: BCF 06.20093: BCF 03.50094: BCF 06.2.................... SSPSTAT = 0;0095: BSF 03.50096: CLRF 14.................... SSPCON1 = 0; // SPI stop0097: BCF 03.50098: CLRF 14.................... disable_interrupts(INT_SSP); // neni preruseni od SSP0099: BSF 03.5009A: BCF 0C.3.................... }.................... else // rizeny vykon009B: GOTO 0B5009C: BCF 03.5.................... {.................... if (Gear>7) // stav 8 a vice znamena plny vykon009D: MOVF 44,W009E: SUBLW 07009F: BTFSC 03.000A0: GOTO 0A3.................... {.................... Gear=8; // plny plyn00A1: MOVLW 0800A2: MOVWF 44.................... }........................................ MotorPattern=ExpTab[--Gear]; // prevod z hodnoty plynu na data pro SSP00A3: DECF 44,F00A4: MOVF 44,W00A5: CALL 03D00A6: MOVWF 7800A7: MOVWF 2A.................... output_low(MOTOR); // klidovy stav00A8: BSF 03.500A9: BCF 06.200AA: BCF 03.500AB: BCF 06.2.................... SSPSTAT = 0;00AC: BSF 03.500AD: CLRF 14.................... SSPCON1 = 0x22; // SPI OSC/6400AE: MOVLW 2200AF: BCF 03.500B0: MOVWF 14........................................ SSPBUF=MotorPattern; // prvni data pro vyslani00B1: MOVF 2A,W00B2: MOVWF 13.................... enable_interrupts(INT_SSP); // az budou vyslana prijde interrupt od SSP00B3: BSF 03.500B4: BSF 0C.3.................... }.................... }00B5: BCF 03.500B6: RETLW 00............................................................ // Obsluha preruseni od SSP jednotky, posila data z promenne MotorRun do SSP..................... #INT_SSP.................... void IntSSP().................... {.................... SSPBUF=MotorPattern; // znova hdnota PWM patternu na SSP*0089: MOVF 2A,W008A: MOVWF 13.................... }........................................008B: BCF 0C.3008C: BCF 0A.3008D: GOTO 026.................... void MotorSet(unsigned int Gear)*018D: CLRF 29018E: BTFSC 0B.7018F: BSF 29.70190: BCF 0B.7.................... // Nastavi vykon motoru dle hodnoty Gear a zahaji posilani PWM dat pres SSP pod prerusenim.................... // od SSP jednotky.................... // 0 stop.................... // 1-7 pocet 1/8 vykonu.................... // >7 plny vykon.................... {.................... // Nastav PWM pattern.................... MotorPatternSet(Gear); // nastav PWM pattern pro SSP0191: MOVF 3D,W0192: MOVWF 440193: CALL 08E0194: BTFSC 29.70195: BSF 0B.7........................................ // Povol preruseni.................... enable_interrupts(GLOBAL); // povol preruseni0196: MOVLW C00197: IORWF 0B,F.................... }0198: RETLW 00............................................................ void InitT0().................... // Inicializace casovace T0 (cca 1000x za sekundu).................... {.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // T0 z internich hodin 1/4*00D5: BSF 03.500D6: MOVF 01,W00D7: ANDLW C000D8: IORLW 0100D9: MOVWF 01.................... enable_interrupts(INT_RTCC); // generuj preruseni od T000DA: BCF 03.500DB: BSF 0B.5.................... enable_interrupts(GLOBAL); // povol preruseni00DC: MOVLW C000DD: IORWF 0B,F.................... }00DE: BCF 0A.300DF: GOTO 1EF (RETURN)............................................................ // Globalni promenna pro mereni casu.................... // Nastavuje se procedurou TimeSet().................... // Testuje se funkci TimeIf().................... // Modifikuje se pri preruseni od casovace IntTo().................... unsigned int16 TimeTime;............................................................ void TimerSet(unsigned int16 Time).................... // Nastavi casovac na zadany pocet ms.................... // Test uplynuti casu se dela pomoci TimerIf().................... {.................... // Nastav hodnotu.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni*0199: BCF 0B.5.................... TimeTime=Time; // pri nastavovani hodnoty019A: MOVF 3E,W019B: MOVWF 2C019C: MOVF 3D,W019D: MOVWF 2B.................... enable_interrupts(INT_RTCC); // promenne (o delce vice nez 8 bitu)019E: BSF 0B.5.................... }019F: RETLW 00............................................................ int1 TimerIf().................... // Vraci TRUE pokud casovac jiz dobehl.................... {.................... int1 Flag; // pomocna promenna........................................ // Otestuj casovac.................... disable_interrupts(INT_RTCC); // nesmi prijit preruseni01A0: BCF 0B.5.................... Flag=(TimeTime==0); // behem testu promenne01A1: MOVF 2B,F01A2: BTFSS 03.201A3: GOTO 1A701A4: MOVF 2C,F01A5: BTFSC 03.201A6: GOTO 1A901A7: MOVLW 0001A8: GOTO 1AA01A9: MOVLW 0101AA: MOVWF 7801AB: BTFSC 78.001AC: GOTO 1AF01AD: BCF 3D.001AE: GOTO 1B001AF: BSF 3D.0.................... enable_interrupts(INT_RTCC); // ted uz muze01B0: BSF 0B.5........................................ // Navratova hodnota.................... return Flag; // TRUE znamena dobehl casovac01B1: MOVLW 0001B2: BTFSC 3D.001B3: MOVLW 0101B4: MOVWF 78.................... }01B5: RETLW 00............................................................ // Globalni promenne pro akceleraci.................... // Nastavuje se metodou MotorStart().................... // Pouziva se v obsluze preruseni IntT0().................... unsigned int8 MotorTime; // aktualni casovac pro rozjezd.................... unsigned int8 MotorDelay; // spozdeni mezi razenim.................... unsigned int8 MotorGear; // rychlostni stupen............................................................ void MotorStart(unsigned int8 Delay).................... // Provede rizeny rozjezd motoru.................... {.................... disable_interrupts(INT_RTCC);01B6: BCF 0B.5.................... MotorGear=1;01B7: MOVLW 0101B8: MOVWF 2F.................... MotorDelay=Delay;01B9: MOVF 3D,W01BA: MOVWF 2E.................... MotorTime=MotorDelay;01BB: MOVF 2E,W01BC: MOVWF 2D.................... enable_interrupts(INT_RTCC);01BD: BSF 0B.501BE: CLRF 2901BF: BTFSC 0B.701C0: BSF 29.701C1: BCF 0B.7........................................ MotorPatternSet(1);01C2: MOVLW 0101C3: MOVWF 4401C4: CALL 08E01C5: BTFSC 29.701C6: BSF 0B.7.................... }01C7: RETLW 00............................................................ #INT_TIMER0.................... void IntT0().................... // Preruseni od casovace cca 1000x za sekundu.................... {.................... // Odpocitavani casovace.................... if (TimeTime) TimeTime--;*00B7: MOVF 2B,W00B8: IORWF 2C,W00B9: BTFSC 03.200BA: GOTO 0BF00BB: MOVF 2B,W00BC: BTFSC 03.200BD: DECF 2C,F00BE: DECF 2B,F........................................ // Obsluha akcelerace.................... if (MotorTime) MotorTime--; // dekrementuj casovac rozjezdu00BF: MOVF 2D,F00C0: BTFSS 03.200C1: DECF 2D,F.................... if ((MotorGear>0) && (MotorGear<8) && (!MotorTime)) // dalsi rychlostni stupen00C2: MOVF 2F,F00C3: BTFSC 03.200C4: GOTO 0D200C5: MOVF 2F,W00C6: SUBLW 0700C7: BTFSS 03.000C8: GOTO 0D200C9: MOVF 2D,F00CA: BTFSS 03.200CB: GOTO 0D2.................... {.................... MotorTime=MotorDelay; // znovu nastav casovac00CC: MOVF 2E,W00CD: MOVWF 2D.................... MotorGear++; // dalsi rychlost00CE: INCF 2F,F.................... MotorPatternSet(MotorGear); // nastav rychlost00CF: MOVF 2F,W00D0: MOVWF 4400D1: CALL 08E.................... }.................... }............................................................ // Cteni dat z AD prevodniku, zadava se cislo kanalu00D2: BCF 0B.200D3: BCF 0A.300D4: GOTO 026.................... int8 ReadAD(int8 Ch).................... {.................... // Pokud merim Vref zapnu si jeho napajeni.................... if (Ch==4) output_high(REFPOWER);*00E0: MOVF 3D,W00E1: SUBLW 0400E2: BTFSS 03.200E3: GOTO 0E800E4: BSF 03.500E5: BCF 06.100E6: BCF 03.500E7: BSF 06.1........................................ // Inicializace a cislo kanalu.................... ADCON1=0x30; // Vref+-, bez deleni hodin, Left Justify00E8: MOVLW 3000E9: BSF 03.500EA: MOVWF 1F.................... ADCON0=0x41+(Ch<<3); // on, Tosc/8, cislo kanalu00EB: BCF 03.500EC: RLF 3D,W00ED: MOVWF 7700EE: RLF 77,F00EF: RLF 77,F00F0: MOVLW F800F1: ANDWF 77,F00F2: MOVF 77,W00F3: ADDLW 4100F4: MOVWF 1F........................................ // Mereni.................... delay_us(50); // doba na prepnuti kanalu00F5: CLRWDT00F6: MOVLW 1000F7: MOVWF 7700F8: DECFSZ 77,F00F9: GOTO 0F800FA: NOP00FB: NOP.................... ADCON0 |= 4; // start prevodu00FC: BSF 1F.2.................... delay_us(50); // doba na prevod00FD: CLRWDT00FE: MOVLW 1000FF: MOVWF 770100: DECFSZ 77,F0101: GOTO 1000102: NOP0103: NOP........................................ // Vypnu napajeni Vref (vzdycky).................... output_low(REFPOWER);0104: BSF 03.50105: BCF 06.10106: BCF 03.50107: BCF 06.1........................................ // Navrat hodnoty.................... return ADRESH;0108: MOVF 1E,W0109: MOVWF 78.................... }010A: RETLW 00............................................................ void main().................... {*01C8: CLRF 0401C9: MOVLW 1F01CA: ANDWF 03,F01CB: BSF 03.501CC: BCF 1F.401CD: BCF 1F.501CE: MOVF 1B,W01CF: ANDLW 8001D0: MOVWF 1B01D1: MOVLW 0701D2: MOVWF 1C01D3: MOVF 05,W01D4: CLRWDT01D5: MOVF 1C,W01D6: BCF 03.501D7: BCF 0D.6.................... unsigned int8 Debug;.................... unsigned int8 i;........................................ // Hodiny.................... OSCCON = 0x62; // 4 MHz interni RC oscilator01D8: MOVLW 6201D9: BSF 03.501DA: MOVWF 0F.................... /*.................... // Digitalni vystupy.................... output_low(PWM); // PWM vystup.................... output_low(MOTOR); // Proud do motoru.................... output_low(REFPOWER); // Napajeni Vref.................... port_b_pullups(TRUE); // Zbyvajici vyvody portu B........................................ // Watch Dog.................... PSA=0; // preddelic prirazen casovaci.................... WDTCON=0x0E; // Watch Dog cca 130ms.................... // Analogove vstupy.................... ANSEL = 0x1F; // AN0 az AN4........................................ // nastaveni RS232.................... InitRS232(); // inicializace HW RS232 (nutno pockat cca 10ms)........................................ // Pipnuti (a cekani).................... for (i=1;i<30;i++) // pocet 1/2 period.................... {.................... int1 beep; // stavova promenna pro pipak........................................ output_bit(BEEP0,beep);.................... beep=~beep;.................... output_bit(BEEP1,beep);.................... delay_us(1000);.................... }........................................ // Rozhodnuti o rezimu cinnosti.................... Debug=0;.................... if (~input(SW0)) Debug|=1; // precti bit 0.................... if (~input(SW1)) Debug|=2; // precti bit 1.................... output_low(SW0); // nastav L aby se snizila spotreba.................... output_low(SW1); // na obou vstupech........................................ // Zobrazeni rezimu.................... printf(Putc,"\fMode:%d",Debug);.................... */.................... // Inicializace PWM.................... PR2 = 0x1F; // perioda PWM casovace01DB: MOVLW 1F01DC: MOVWF 12.................... T2CON = 0x04; // povoleni casovace T2 bez preddelicu a postdelicu01DD: MOVLW 0401DE: BCF 03.501DF: MOVWF 12.................... CCP1CON = 0x0C; // PWM mode, lsb bity nulove01E0: MOVLW 0C01E1: MOVWF 17.................... CCPR1L = 0; // na zacatku nulova data01E2: CLRF 15.................... output_low(PWM); // PWM vystup01E3: BSF 03.501E4: BCF 06.301E5: BCF 03.501E6: BCF 06.3........................................ //!!!KAKL.................... CCPR1L = 20; // pouziti vystupu01E7: MOVLW 1401E8: MOVWF 15.................... disable_interrupts(GLOBAL);01E9: BCF 0B.601EA: BCF 0B.701EB: BTFSC 0B.701EC: GOTO 1EA.................... while(true);01ED: GOTO 1ED........................................ // Inicializace casovace.................... InitT0(); // nastav casovac na cca 1ms01EE: GOTO 0D5........................................ //!!!KAKL.................... Debug=3;01EF: MOVLW 0301F0: MOVWF 30........................................ // Test menice PWM a rozjezdoveho PWM.................... if (Debug==1)01F1: DECFSZ 30,W01F2: GOTO 22C.................... {.................... unsigned int8 Data1; // poteniometr P1 = PWM.................... unsigned int8 Data2; // poteniometr P2 = Rozjezd........................................ while (1).................... {.................... // watch dog.................... restart_wdt();01F3: CLRWDT........................................ // mereni vstupu.................... Data1=ReadAD(0); // nacti parametr pro PWM01F4: CLRF 3D01F5: CALL 0E001F6: MOVF 78,W01F7: MOVWF 32.................... Data1>>=2; // redukuj rozsah na 0 az 6301F8: RRF 32,F01F9: RRF 32,F01FA: MOVLW 3F01FB: ANDWF 32,F.................... Data2=ReadAD(1); // nacti parametr pro rozjezd01FC: MOVLW 0101FD: MOVWF 3D01FE: CALL 0E001FF: MOVF 78,W0200: MOVWF 33.................... Data2>>=4; // redukuj rozsah na 0 az 150201: SWAPF 33,F0202: MOVLW 0F0203: ANDWF 33,F........................................ // zobrazeni.................... printf(Putc,"\nPWM:%03u RUN:%03u",Data1,Data2);0204: CLRF 3D0205: MOVF 3D,W0206: CALL 0490207: INCF 3D,F0208: MOVWF 770209: MOVWF 41020A: CALL 10B020B: MOVLW 05020C: SUBWF 3D,W020D: BTFSS 03.2020E: GOTO 205020F: MOVF 32,W0210: MOVWF 3F0211: CLRF 400212: CALL 1290213: MOVLW 090214: MOVWF 3E0215: MOVF 3E,W0216: CALL 0490217: INCF 3E,F0218: MOVWF 770219: MOVWF 41021A: CALL 10B021B: MOVLW 0E021C: SUBWF 3E,W021D: BTFSS 03.2021E: GOTO 215021F: MOVF 33,W0220: MOVWF 3F0221: CLRF 400222: CALL 129.................... delay_ms(20);0223: MOVLW 140224: MOVWF 3D0225: CALL 176........................................ // nastaveni parametru PWM.................... CCPR1L = Data1;0226: MOVF 32,W0227: MOVWF 15........................................ // nastaveni parametru RUN.................... MotorSet(Data2);0228: MOVF 33,W0229: MOVWF 3D022A: CALL 18D.................... }022B: GOTO 1F3.................... }........................................ // Testovani rozjezdu.................... // Zadava se cas mezi stupni razeni pro rozjezd v ms.................... if (Debug==2)022C: MOVF 30,W022D: SUBLW 02022E: BTFSS 03.2022F: GOTO 27D.................... {.................... int8 Data;.................... int8 Start;........................................ Start=0; // uvodni stav0230: CLRF 35.................... while(1).................... {.................... // Nacti a zobraz parametr.................... Data=ReadAD(1); // potenciometr P2 = rozjezd0231: MOVLW 010232: MOVWF 3D0233: CALL 0E00234: MOVF 78,W0235: MOVWF 34.................... printf(Putc,"\nRUN: %3ums ",Data); // zobraz0236: CLRF 3D0237: MOVF 3D,W0238: CALL 0600239: INCF 3D,F023A: MOVWF 77023B: MOVWF 41023C: CALL 10B023D: MOVLW 06023E: SUBWF 3D,W023F: BTFSS 03.20240: GOTO 2370241: MOVF 34,W0242: MOVWF 3F0243: MOVLW 100244: MOVWF 400245: CALL 1290246: MOVLW 6D0247: MOVWF 410248: CALL 10B0249: MOVLW 73024A: MOVWF 41024B: CALL 10B024C: MOVLW 20024D: MOVWF 41024E: CALL 10B.................... delay_ms(10); // prodleva pro terminal024F: MOVLW 0A0250: MOVWF 3D0251: CALL 176........................................ // Uvodni pauza.................... if (Start==0) // spousti se 1x na zacatku0252: MOVF 35,F0253: BTFSS 03.20254: GOTO 25B.................... {.................... Start++; // dalsi stav je cekani0255: INCF 35,F.................... TimerSet(2000); // na dokonceni uvodni prodlevy0256: MOVLW 070257: MOVWF 3E0258: MOVLW D00259: MOVWF 3D025A: CALL 199.................... }........................................ // Rozjezd.................... if ((Start==1) && TimerIf())025B: DECFSZ 35,W025C: GOTO 26D025D: CALL 1A0025E: MOVF 78,F025F: BTFSC 03.20260: GOTO 26D.................... {.................... Start++;0261: INCF 35,F.................... printf(Putc,"R");0262: MOVLW 520263: MOVWF 410264: CALL 10B.................... MotorStart(Data); // rozjezd s nastavenim prodlevy0265: MOVF 34,W0266: MOVWF 3D0267: CALL 1B6........................................ TimerSet(2000); // nastav celkovy cas jizdy0268: MOVLW 070269: MOVWF 3E026A: MOVLW D0026B: MOVWF 3D026C: CALL 199.................... }........................................ // Zastaveni.................... if ((Start==2) && TimerIf())026D: MOVF 35,W026E: SUBLW 02026F: BTFSS 03.20270: GOTO 27B0271: CALL 1A00272: MOVF 78,F0273: BTFSC 03.20274: GOTO 27B.................... {.................... Start++;0275: INCF 35,F.................... printf(Putc,"S");0276: MOVLW 530277: MOVWF 410278: CALL 10B.................... MotorSet(0); // pokud dobehl casovac zastav motor0279: CLRF 3D027A: CALL 18D.................... }........................................ // watch dog.................... restart_wdt();027B: CLRWDT.................... }027C: GOTO 231.................... }........................................ // Test nabijeciho algoritmu.................... if (Debug==3)027D: MOVF 30,W027E: SUBLW 03027F: BTFSS 03.20280: GOTO 2DB.................... {.................... unsigned int8 PwmOut; // akcni hodnota pro PWM.................... unsigned int8 Req; // pozadovana hodnota z P1.................... unsigned int8 Vref; // merena hodnota vref........................................ // Inicializace stavove promenne.................... PwmOut=0;0281: CLRF 36........................................ // Hlavni smycka.................... while (1).................... {.................... // watch dog.................... restart_wdt();0282: CLRWDT........................................ // pozadovana hodnota (potenciometr P1).................... Req=ReadAD(0);0283: CLRF 3D0284: CALL 0E00285: MOVF 78,W0286: MOVWF 37.................... Req=50+(ReadAD(0)>>1); // 50 az 1770287: CLRF 3D0288: CALL 0E00289: BCF 03.0028A: RRF 78,W028B: ADDLW 32028C: MOVWF 37........................................ // napeti na napajeni (vref).................... Vref=ReadAD(4);028D: MOVLW 04028E: MOVWF 3D028F: CALL 0E00290: MOVF 78,W0291: MOVWF 38........................................ // ricici algoritmus.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++;0292: MOVF 37,W0293: SUBWF 38,W0294: BTFSC 03.00295: GOTO 29A0296: MOVF 36,W0297: SUBLW 1D0298: BTFSC 03.00299: INCF 36,F.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--;029A: MOVF 37,W029B: SUBWF 38,W029C: BTFSS 03.0029D: GOTO 2A1029E: MOVF 36,F029F: BTFSS 03.202A0: DECF 36,F.................... Vref+=10;02A1: MOVLW 0A02A2: ADDWF 38,F.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu02A3: MOVF 37,W02A4: SUBWF 38,W02A5: BTFSC 03.002A6: GOTO 2AB02A7: MOVF 36,W02A8: SUBLW 1D02A9: BTFSC 03.002AA: INCF 36,F........................................ // nastaveni parametru PWM.................... if (PwmOut>24) PwmOut=24; // saturace02AB: MOVF 36,W02AC: SUBLW 1802AD: BTFSC 03.002AE: GOTO 2B102AF: MOVLW 1802B0: MOVWF 36.................... //!!!KAKL.................... PwmOut=20;02B1: MOVLW 1402B2: MOVWF 36.................... CCPR1L = PwmOut; // pouziti vystupu02B3: MOVF 36,W02B4: MOVWF 15.................... disable_interrupts(GLOBAL);02B5: BCF 0B.602B6: BCF 0B.702B7: BTFSC 0B.702B8: GOTO 2B6.................... while(true);02B9: GOTO 2B9.................... // zobrazeni.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut);02BA: CLRF 3D02BB: MOVF 3D,W02BC: CALL 07102BD: INCF 3D,F02BE: MOVWF 7702BF: MOVWF 4102C0: CALL 10B02C1: MOVLW 0502C2: SUBWF 3D,W02C3: BTFSS 03.202C4: GOTO 2BB02C5: MOVF 37,W02C6: MOVWF 3F02C7: CLRF 4002C8: CALL 12902C9: MOVLW 2002CA: MOVWF 4102CB: CALL 10B02CC: MOVF 38,W02CD: MOVWF 3F02CE: CLRF 4002CF: CALL 12902D0: MOVLW 2002D1: MOVWF 4102D2: CALL 10B02D3: MOVF 36,W02D4: MOVWF 3F02D5: CLRF 4002D6: CALL 129.................... delay_ms(10);02D7: MOVLW 0A02D8: MOVWF 3D02D9: CALL 176.................... }02DA: GOTO 282.................... }........................................ // Standardni beh.................... if (Debug==0)02DB: MOVF 30,F02DC: BTFSS 03.202DD: GOTO 341.................... {.................... unsigned int8 PwmOut; // akcni hodnota pro PWM.................... unsigned int8 Req; // pozadovana hodnota z P1.................... unsigned int8 Vref; // merena hodnota vref.................... int1 Run;........................................ // Inicializace stavove promenne.................... PwmOut=0;02DE: CLRF 39.................... TimerSet(14000); // casovani startu02DF: MOVLW 3602E0: MOVWF 3E02E1: MOVLW B002E2: MOVWF 3D02E3: CALL 199.................... Run=1;02E4: BSF 3C.0........................................ // Hlavni smycka.................... while (1).................... {.................... // watch dog.................... restart_wdt();02E5: CLRWDT........................................ // pozadovana hodnota (potenciometr P1).................... Req=ReadAD(0);02E6: CLRF 3D02E7: CALL 0E002E8: MOVF 78,W02E9: MOVWF 3A.................... Req=50+(ReadAD(0)>>1); // 50 az 17702EA: CLRF 3D02EB: CALL 0E002EC: BCF 03.002ED: RRF 78,W02EE: ADDLW 3202EF: MOVWF 3A........................................ // napeti na napajeni (vref).................... Vref=ReadAD(4);02F0: MOVLW 0402F1: MOVWF 3D02F2: CALL 0E002F3: MOVF 78,W02F4: MOVWF 3B........................................ // ricici algoritmus.................... if ((Vref<Req) &&(PwmOut<30)) PwmOut++;02F5: MOVF 3A,W02F6: SUBWF 3B,W02F7: BTFSC 03.002F8: GOTO 2FD02F9: MOVF 39,W02FA: SUBLW 1D02FB: BTFSC 03.002FC: INCF 39,F.................... if ((Vref>=Req)&&(PwmOut> 0)) PwmOut--;02FD: MOVF 3A,W02FE: SUBWF 3B,W02FF: BTFSS 03.00300: GOTO 3040301: MOVF 39,F0302: BTFSS 03.20303: DECF 39,F.................... Vref+=10;0304: MOVLW 0A0305: ADDWF 3B,F.................... if ((Vref<(Req))&&(PwmOut<30)) PwmOut++; // urychleni nabehu0306: MOVF 3A,W0307: SUBWF 3B,W0308: BTFSC 03.00309: GOTO 30E030A: MOVF 39,W030B: SUBLW 1D030C: BTFSC 03.0030D: INCF 39,F........................................ // nastaveni parametru PWM.................... if (PwmOut>24) PwmOut=24; // saturace030E: MOVF 39,W030F: SUBLW 180310: BTFSC 03.00311: GOTO 3140312: MOVLW 180313: MOVWF 39.................... CCPR1L = PwmOut; // pouziti vystupu0314: MOVF 39,W0315: MOVWF 15........................................ // zobrazeni.................... printf(Putc,"\nALG:%03u %03u %03u",Req,Vref,PwmOut);0316: CLRF 3D0317: MOVF 3D,W0318: CALL 0710319: INCF 3D,F031A: MOVWF 77031B: MOVWF 41031C: CALL 10B031D: MOVLW 05031E: SUBWF 3D,W031F: BTFSS 03.20320: GOTO 3170321: MOVF 3A,W0322: MOVWF 3F0323: CLRF 400324: CALL 1290325: MOVLW 200326: MOVWF 410327: CALL 10B0328: MOVF 3B,W0329: MOVWF 3F032A: CLRF 40032B: CALL 129032C: MOVLW 20032D: MOVWF 41032E: CALL 10B032F: MOVF 39,W0330: MOVWF 3F0331: CLRF 400332: CALL 129.................... delay_ms(10);0333: MOVLW 0A0334: MOVWF 3D0335: CALL 176........................................ // rozjezd.................... if (TimerIf()&&Run)0336: CALL 1A00337: MOVF 78,F0338: BTFSC 03.20339: GOTO 340033A: BTFSS 3C.0033B: GOTO 340.................... {.................... Run=0;033C: BCF 3C.0.................... MotorStart(65);033D: MOVLW 41033E: MOVWF 3D033F: CALL 1B6.................... }.................... }0340: GOTO 2E5.................... }.................... }....................0341: SLEEPConfiguration Fuses:Word 1: 2F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB3 NOPROTECT INTRC_IOWord 2: 3FFF FCMEN IESO