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CCS PCW C Compiler, Version 3.110, 15448Filename: d:\@kaklik\programy\pic_c\prenos\letadlo\prijimac\main.LSTROM used: 617 (60%)Largest free fragment is 407RAM used: 9 (13%) at main() level25 (37%) worst caseStack: 5 locations*0000: MOVLW 000001: MOVWF 0A0002: GOTO 15F0003: NOP.................... // Prijimac........................................ #include "main.h".................... #include <16F84.h>.................... //////// Standard Header file for the PIC16F84 device ////////////////.................... #device PIC16F84.................... #list........................................ #use delay(clock=4000000)*0015: MOVLW 1C0016: MOVWF 040017: MOVF 00,W0018: BTFSC 03.20019: GOTO 029001A: MOVLW 01001B: MOVWF 0D001C: CLRF 0C001D: DECFSZ 0C,F001E: GOTO 01D001F: DECFSZ 0D,F0020: GOTO 01C0021: MOVLW 4A0022: MOVWF 0C0023: DECFSZ 0C,F0024: GOTO 0230025: NOP0026: NOP0027: DECFSZ 00,F0028: GOTO 01A0029: RETLW 00.................... #fuses XT,NOWDT,PUT............................................................ #include "..\common.h".................... #DEFINE OSA_X 1 // adresy os.................... #DEFINE OSA_Y 2.................... #DEFINE TLs 3.................... #DEFINE IMPULS 250 // sirka impulsu............................................................ #DEFINE LCD_RS PIN_B1 // rizeni registru LCD displeje.................... #DEFINE LCD_E PIN_B0 // enable LCD displeje.................... #DEFINE LCD_DATA_LSB PIN_B2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou).................... #INCLUDE "MYLCD.C".................... // LCD modul pro ovladani dvouradkoveho LCD modulu se standardnim Hitachi radicem.................... // (c)miho 2002.................... //.................... // Historie:.................... //.................... // 0.0 Uvodni verze se snadnou definici portu LCD displeje.................... //.................... //.................... // Funkce:.................... //.................... // lcd_init() inicializuje LCD displej a porty, nutno volat jako prvni.................... //.................... // lcd_putc(c) zapis snaku do lcd displeje, zpracovava nasledujici ridici znaky.................... // \f = \x0C - nova stranka - smazani displeje.................... // \n = \x0A - odradkovani (prechod na druhou radku).................... // \b = \x08 - backspace - posunuti kurzoru o 1 pozici zpet.................... // \r = \x0D - goto home to position 1,1.................... // \0 .. \7 - definovatelne znaky v pozicich 0 az 7 v CGRAM.................... // \20 .. \27 - alternativne zapsane znaky (oktalove) v pozicich 0 az 7 CGRAM.................... // Pozor na to, ze funkce printf konci tisk pokud narazi na \0 (konec retezce).................... //.................... // lcd_gotoxy(x,y) presune kurzor na uvedenou adresu.................... // nekontroluje parametry.................... //.................... // lcd_cursor_on zapne kurzor.................... // lcd_cursor_off vypne kurzor.................... //.................... // lcd_define_char(Index, Def) Makro, ktere definuje znaky od pozice Index obsahem definicniho.................... // retezce Def. Kazdych 8 znaku retezce Def definuje dalsi znak v CGRAM..................... // Kapacita CGRAM je celkem 8 znaku s indexem 0 az 7..................... // Na konci se provede lcd_gotoxy(1,1)..................... // Na konci teto knihovny je priklad pouziti definovanych znaku.................... //.................... // Definice portu:.................... //.................... // #DEFINE LCD_RS PIN_B2 // rizeni registru LCD displeje.................... // #DEFINE LCD_E PIN_B1 // enable LCD displeje.................... // #DEFINE LCD_DATA_LSB PIN_C2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou).................................................................................................... // Privatni sekce, cist jen v pripade, ze neco nefunguje.................................................................................................... // Generovane defince portu pro ucely teto knihovny aby kod generoval spravne IO operace a soucasne.................... // bylo mozne jednoduse deklarovat pripojene piny LCD displeje pri pouziti teto knihovny. Problem spociva.................... // v tom, ze se musi spravne ridit smery portu a soucasne datovy port zabira jen 4 bity ze zadaneho portu.................... //.................... #DEFINE LCD_SHIFT (LCD_DATA_LSB&7) // pocet bitu posuvu dataoveho kanalu v datovem portu.................... #DEFINE LCD_PORT (LCD_DATA_LSB>>3) // adresa LCD datoveho portu.................... #DEFINE LCD_TRIS (LCD_PORT+0x80) // adresa prislusneho TRIS registru.................... #DEFINE LCD_MASK (0xF<<LCD_SHIFT) // maska platnych bitu.................... //.................... #IF LCD_SHIFT>4 // kontrola mezi.................... #ERROR LCD data port LSB bit not in range 0..4.................... #ENDIF............................................................ // Definice konstant pro LCD display.................... //.................... #define LCD_CURSOR_ON_ 0x0E // kurzor jako blikajici radka pod znakem.................... #define LCD_CURSOR_OFF_ 0x0C // zadny kurzor.................... #define LCD_LINE_2 0x40 // adresa 1. znaku 2. radky............................................................ // Definice rezimu LCD displeje.................... //.................... BYTE const LCD_INIT_STRING[4] =.................... {.................... 0x28, // intrfejs 4 bity, 2 radky, font 5x7.................... LCD_CURSOR_OFF_, // display on, kurzor off,.................... 0x01, // clear displeje.................... 0x06 // inkrement pozice kurzoru (posun kurzoru doprava).................... };*0004: BCF 0A.00005: BCF 0A.10006: BCF 0A.20007: ADDWF 02,F0008: RETLW 280009: RETLW 0C000A: RETLW 01000B: RETLW 06............................................................ // Odesle nibble do displeje (posle data a klikne signalem e).................... //.................... void lcd_send_nibble( BYTE n ).................... {.................... *LCD_PORT = (*LCD_PORT & ~LCD_MASK) | ((n << LCD_SHIFT) & LCD_MASK); // nastav datove bity portu a ostatni zachovej*002A: MOVF 06,W002B: ANDLW C3002C: MOVWF 23002D: RLF 22,W002E: MOVWF 0C002F: RLF 0C,F0030: MOVLW FC0031: ANDWF 0C,F0032: MOVF 0C,W0033: ANDLW 3C0034: IORWF 23,W0035: MOVWF 06.................... output_bit(LCD_E,1); // vzestupna hrana0036: BSF 06.00037: BSF 03.50038: BCF 06.0.................... delay_us(1); // pockej alespon 450ns od e nebo alespon 195ns od dat0039: NOP.................... output_bit(LCD_E,0); // sestupna hrana (minimalni perioda e je 1us)003A: BCF 03.5003B: BCF 06.0003C: BSF 03.5003D: BCF 06.0003E: BCF 03.5003F: RETLW 00.................... }............................................................ // Odesle bajt do registru LCD.................... //.................... // Pokud je Adr=0 .. instrukcni registr.................... // Pokud je Adr=1 .. datovy registr.................... //.................... void lcd_send_byte( BOOLEAN Adr, BYTE n ).................... {.................... output_bit(LCD_RS,Adr); // vyber registr0040: MOVF 20,F0041: BTFSS 03.20042: GOTO 0450043: BCF 06.10044: GOTO 0460045: BSF 06.10046: BSF 03.50047: BCF 06.1.................... swap(n);0048: BCF 03.50049: SWAPF 21,F.................... lcd_send_nibble(n); // posli horni pulku bajtu004A: MOVF 21,W004B: MOVWF 22004C: CALL 02A.................... swap(n);004D: SWAPF 21,F.................... lcd_send_nibble(n); // posli spodni pulku bajtu004E: MOVF 21,W004F: MOVWF 220050: CALL 02A.................... delay_us(40); // minimalni doba na provedeni prikazu0051: MOVLW 0D0052: MOVWF 0C0053: DECFSZ 0C,F0054: GOTO 0530055: RETLW 00.................... }............................................................ // Provede inicializaci LCD displeje, smaze obsah a nastavi mod displeje.................... //.................... // Tato procedura se musi volat pred pouzitim ostatnich lcd_ procedur.................... //.................... void lcd_init().................... {........................................ int i; // pocitadlo cyklu........................................ delay_ms(20); // spozdeni pro provedeni startu displeje po zapnuti napajeni0056: MOVLW 140057: MOVWF 1C0058: CALL 015........................................ *LCD_TRIS = *LCD_TRIS & ~LCD_MASK; // nuluj odpovidajici bity tris registru datoveho portu LCD0059: MOVLW C3005A: BSF 03.5005B: ANDWF 06,F........................................ output_bit(LCD_RS,0); // nastav jako vystup a nastav klidovy stav005C: BCF 03.5005D: BCF 06.1005E: BSF 03.5005F: BCF 06.1.................... output_bit(LCD_E,0); // nastav jako vystup a nastav klidovy stav0060: BCF 03.50061: BCF 06.00062: BSF 03.50063: BCF 06.0........................................ for (i=0; i<3; i++) // nastav lcd do rezimu 8 bitu sbernice0064: BCF 03.50065: CLRF 190066: MOVF 19,W0067: SUBLW 020068: BTFSS 03.00069: GOTO 072.................... {.................... delay_ms(2); // muze byt rozdelany prenos dat (2x 4 bity) nebo pomaly povel006A: MOVLW 02006B: MOVWF 1C006C: CALL 015.................... lcd_send_nibble(3); // rezim 8 bitu006D: MOVLW 03006E: MOVWF 22006F: CALL 02A.................... }0070: INCF 19,F0071: GOTO 066........................................ delay_us(40); // cas na zpracovani0072: MOVLW 0D0073: MOVWF 0C0074: DECFSZ 0C,F0075: GOTO 074.................... lcd_send_nibble(2); // nastav rezim 4 bitu (plati od nasledujiciho prenosu)0076: MOVLW 020077: MOVWF 220078: CALL 02A.................... delay_us(40); // cas na zpracovani0079: MOVLW 0D007A: MOVWF 0C007B: DECFSZ 0C,F007C: GOTO 07B........................................ for (i=0;i<3;i++) // proved inicializaci (nastaveni modu, smazani apod)007D: CLRF 19007E: MOVF 19,W007F: SUBLW 020080: BTFSS 03.00081: GOTO 08E.................... {.................... lcd_send_byte(0,LCD_INIT_STRING[i]);0082: MOVF 19,W0083: CALL 0040084: MOVWF 1A0085: CLRF 200086: MOVF 1A,W0087: MOVWF 210088: CALL 040.................... delay_ms(2);0089: MOVLW 02008A: MOVWF 1C008B: CALL 015.................... }008C: INCF 19,F008D: GOTO 07E008E: GOTO 163 (RETURN).................... }............................................................ // Proved presun kurzoru.................... //.................... // Pozice 1.1 je domu.................... //.................... void lcd_gotoxy( BYTE x, BYTE y).................... {........................................ BYTE Adr;........................................ Adr=x-1;008F: MOVLW 010090: SUBWF 1C,W0091: MOVWF 1E.................... if(y==2)0092: MOVF 1D,W0093: SUBLW 020094: BTFSS 03.20095: GOTO 098.................... Adr+=LCD_LINE_2;0096: MOVLW 400097: ADDWF 1E,F........................................ lcd_send_byte(0,0x80|Adr);0098: MOVF 1E,W0099: IORLW 80009A: MOVWF 1F009B: CLRF 20009C: MOVF 1F,W009D: MOVWF 21009E: CALL 040009F: RETLW 00.................... }............................................................ // Zapis znaku na displej, zpracovani ridicich znaku.................... //.................... void lcd_putc( char c).................... {........................................ switch (c)00A0: MOVF 1B,W00A1: MOVWF 0C00A2: MOVLW 0C00A3: SUBWF 0C,W00A4: BTFSC 03.200A5: GOTO 0B300A6: MOVLW 0A00A7: SUBWF 0C,W00A8: BTFSC 03.200A9: GOTO 0BB00AA: MOVLW 0D00AB: SUBWF 0C,W00AC: BTFSC 03.200AD: GOTO 0C100AE: MOVLW 0800AF: SUBWF 0C,W00B0: BTFSC 03.200B1: GOTO 0C600B2: GOTO 0CB.................... {.................... case '\f' : lcd_send_byte(0,1); // smaz displej00B3: CLRF 2000B4: MOVLW 0100B5: MOVWF 2100B6: CALL 040.................... delay_ms(2);00B7: MOVLW 0200B8: MOVWF 1C00B9: CALL 015.................... break;00BA: GOTO 0D7.................... case '\n' : lcd_gotoxy(1,2); break; // presun se na 1. znak 2. radky00BB: MOVLW 0100BC: MOVWF 1C00BD: MOVLW 0200BE: MOVWF 1D00BF: CALL 08F00C0: GOTO 0D7.................... case '\r' : lcd_gotoxy(1,1); break; // presun home00C1: MOVLW 0100C2: MOVWF 1C00C3: MOVWF 1D00C4: CALL 08F00C5: GOTO 0D7.................... case '\b' : lcd_send_byte(0,0x10); break; // posun kurzor o 1 zpet00C6: CLRF 2000C7: MOVLW 1000C8: MOVWF 2100C9: CALL 04000CA: GOTO 0D7.................... default : if (c<0x20) c&=0x7; // preklopeni definovatelnych znaku na rozsah 0 az 0x1F00CB: MOVF 1B,W00CC: SUBLW 1F00CD: BTFSS 03.000CE: GOTO 0D100CF: MOVLW 0700D0: ANDWF 1B,F.................... lcd_send_byte(1,c); break; // zapis znak00D1: MOVLW 0100D2: MOVWF 2000D3: MOVF 1B,W00D4: MOVWF 2100D5: CALL 04000D6: GOTO 0D7.................... }00D7: RETLW 00.................... }............................................................ // Zapni kurzor.................... //.................... void lcd_cursor_on().................... {.................... lcd_send_byte(0,LCD_CURSOR_ON_);.................... }............................................................ // Vypni kurzor.................... //.................... void lcd_cursor_off().................... {.................... lcd_send_byte(0,LCD_CURSOR_OFF_);.................... }............................................................ // Definice vlastnich fontu.................... //.................... // Vlastnich definic muze byt jen 8 do pozic 0 az 7 pameti CGRAM radice lcd displeje.................... // Pro snadne definovani jsou pripraveny nasledujici definice a na konci souboru je uveden.................... // priklad pouziti definovanych znaku............................................................. // Pomocna procedura pro posilani ridicich dat do radice displeje.................... //.................... void lcd_putc2(int Data).................... {.................... lcd_send_byte(1,Data);.................... }............................................................ // Pomocne definice pro programovani obsahu CGRAM.................... //.................... #DEFINE lcd_define_start(Code) lcd_send_byte(0,0x40+(Code<<3)); delay_ms(2).................... #DEFINE lcd_define_def(String) printf(lcd_putc2,String);.................... #DEFINE lcd_define_end() lcd_send_byte(0,3); delay_ms(2)............................................................ // Vlastni vykonne makro pro definovani fontu do pozice Index CGRAM s definicnim retezcem Def.................... //.................... #DEFINE lcd_define_char(Index, Def) lcd_define_start(Index); lcd_define_def(Def); lcd_define_end();............................................................ // Pripravene definice fontu vybranych znaku.................... // V tabulce nesmi byt 00 (konec retezce v printf()), misto toho davame 80.................... //.................... #DEFINE LCD_CHAR_BAT100 "\x0E\x1F\x1F\x1F\x1F\x1F\x1F\x1F" /* symbol plne baterie */.................... #DEFINE LCD_CHAR_BAT50 "\x0E\x1F\x11\x11\x13\x17\x1F\x1F" /* symbol polovicni baterie */.................... #DEFINE LCD_CHAR_BAT0 "\x0E\x1F\x11\x11\x11\x11\x11\x1F" /* symbol vybite baterie */.................... #DEFINE LCD_CHAR_LUA "\x04\x0E\x11\x11\x1F\x11\x11\x80" /* A s carkou */.................... #DEFINE LCD_CHAR_LLA "\x01\x02\x0E\x01\x1F\x11\x0F\x80" /* a s carkou */.................... #DEFINE LCD_CHAR_HUC "\x0A\x0E\x11\x10\x10\x11\x0E\x80" /* C s hackem */.................... #DEFINE LCD_CHAR_HLC "\x0A\x04\x0E\x10\x10\x11\x0E\x80" /* c s hackem */.................... #DEFINE LCD_CHAR_HUD "\x0A\x1C\x12\x11\x11\x12\x1C\x80" /* D s hackem */.................... #DEFINE LCD_CHAR_HLD "\x05\x03\x0D\x13\x11\x11\x0F\x80" /* d s hackem */.................... #DEFINE LCD_CHAR_LUE "\x04\x1F\x10\x10\x1E\x10\x1F\x80" /* E s carkou */.................... #DEFINE LCD_CHAR_LLE "\x01\x02\x0E\x11\x1F\x10\x0E\x80" /* e s carkou */.................... #DEFINE LCD_CHAR_HUE "\x0A\x1F\x10\x1E\x10\x10\x1F\x80" /* E s hackem */.................... #DEFINE LCD_CHAR_HLE "\x0A\x04\x0E\x11\x1F\x10\x0E\x80" /* e s hackem */.................... #DEFINE LCD_CHAR_LUI "\x04\x0E\x04\x04\x04\x04\x0E\x80" /* I s carkou */.................... #DEFINE LCD_CHAR_LLI "\x02\x04\x80\x0C\x04\x04\x0E\x80" /* i s carkou */.................... #DEFINE LCD_CHAR_HUN "\x0A\x15\x11\x19\x15\x13\x11\x80" /* N s hackem */.................... #DEFINE LCD_CHAR_HLN "\x0A\x04\x16\x19\x11\x11\x11\x80" /* n s hackem */.................... #DEFINE LCD_CHAR_LUO "\x04\x0E\x11\x11\x11\x11\x0E\x80" /* O s carkou */.................... #DEFINE LCD_CHAR_LLO "\x02\x04\x0E\x11\x11\x11\x0E\x80" /* o s carkou */.................... #DEFINE LCD_CHAR_HUR "\x0A\x1E\x11\x1E\x14\x12\x11\x80" /* R s hackem */.................... #DEFINE LCD_CHAR_HLR "\x0A\x04\x16\x19\x10\x10\x10\x80" /* r s hackem */.................... #DEFINE LCD_CHAR_HUS "\x0A\x0F\x10\x0E\x01\x01\x1E\x80" /* S s hackem */.................... #DEFINE LCD_CHAR_HLS "\x0A\x04\x0E\x10\x0E\x01\x1E\x80" /* s s hackem */.................... #DEFINE LCD_CHAR_HUT "\x0A\x1F\x04\x04\x04\x04\x04\x80" /* T s hackem */.................... #DEFINE LCD_CHAR_HLT "\x0A\x0C\x1C\x08\x08\x09\x06\x80" /* t s hackem */.................... #DEFINE LCD_CHAR_LUU "\x02\x15\x11\x11\x11\x11\x0E\x80" /* U s carkou */.................... #DEFINE LCD_CHAR_LLU "\x02\x04\x11\x11\x11\x13\x0D\x80" /* u s carkou */.................... #DEFINE LCD_CHAR_CUU "\x06\x17\x11\x11\x11\x11\x0E\x80" /* U s krouzkem */.................... #DEFINE LCD_CHAR_CLU "\x06\x06\x11\x11\x11\x11\x0E\x80" /* u s krouzkem */.................... #DEFINE LCD_CHAR_LUY "\x02\x15\x11\x0A\x04\x04\x04\x80" /* Y s carkou */.................... #DEFINE LCD_CHAR_LLY "\x02\x04\x11\x11\x0F\x01\x0E\x80" /* y s carkou */.................... #DEFINE LCD_CHAR_HUZ "\x0A\x1F\x01\x02\x04\x08\x1F\x80" /* Z s hackem */.................... #DEFINE LCD_CHAR_HLZ "\x0A\x04\x1F\x02\x04\x08\x1F\x80" /* z s hackem */............................................................ // Priklad pouziti definovanych znaku.................... //.................... //.................... //void lcd_sample().................... //{.................... // lcd_define_char(0,LCD_CHAR_BAT50); // Priklad definice znaku baterie do pozice 0.................... // lcd_define_char(2,LCD_CHAR_HLE LCD_CHAR_LUI); // Priklad definice znaku e s hackem a I s carkou od pozice 2.................... // // vsimnete si, ze neni carka mezi retezci s definici (oba retezce definuji.................... // // jediny definicni retezec).................... // printf(lcd_putc,"\fZnaky:\20\22\23"); // priklad vypisu znaku z pozice 0, 2 a 3.................... // delay_ms(1000);.................... // lcd_define_char(0,LCD_CHAR_BAT0); // Predefinovani tvaru znaku v pozici 0.................... // delay_ms(1000);.................... //}............................................................ #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac.................... #DEFINE SERVO_X PIN_A0 // pin na ktery je pripojeno servo.................... #DEFINE SERVO_Y PIN_A1............................................................ int8 prijmout(int8* bit).................... {.................... // || |.................... // |--|_____ 1.................... // |.................... // |-|__|-|_ 0........................................ while (!input(PRIJIMAC)) ; // cekej na jednicku.................... delay_us(IMPULS/4); // presvec se, jestli je stale 1 po 1/4 impulsu.................... if (!input(PRIJIMAC)) return false; // vrat chybu, kdyz neni stale 1.................... delay_us(3*IMPULS); // pockej na rozhodovaci misto.................... /// if (input(PRIJIMAC)) *bit=0; else *bit=1; // dekoduj 1 nebo 0.................... *bit=!input(PRIJIMAC); // dekoduj 1 nebo 0.................... delay_us(IMPULS); // pockej na konec znaku........................................ return true; // vrat, ze se cteni povedlo.................... }........................................ int8 read_nibble(int8* data).................... {.................... int8 i;.................... int8 d;........................................ d=0;00D8: CLRF 1B........................................ // Cekam na dlouhou nulu.................... for (i=8; i>0; i--)00D9: MOVLW 0800DA: MOVWF 1A00DB: MOVF 1A,F00DC: BTFSC 03.200DD: GOTO 0EC.................... {.................... if (input(PRIJIMAC)) i=8;00DE: BSF 03.500DF: BSF 05.300E0: BCF 03.500E1: BTFSS 05.300E2: GOTO 0E500E3: MOVLW 0800E4: MOVWF 1A.................... delay_us(IMPULS/2);00E5: MOVLW 2900E6: MOVWF 0C00E7: DECFSZ 0C,F00E8: GOTO 0E700E9: NOP.................... }00EA: DECF 1A,F00EB: GOTO 0DB........................................ // Cekam na jednicku (start ramce).................... for (; !input(PRIJIMAC); )00EC: BSF 03.500ED: BSF 05.300EE: BCF 03.500EF: BTFSC 05.300F0: GOTO 0F7.................... {.................... delay_us(IMPULS/2);00F1: MOVLW 2900F2: MOVWF 0C00F3: DECFSZ 0C,F00F4: GOTO 0F300F5: NOP.................... }00F6: GOTO 0EC........................................ delay_us(IMPULS/2);00F7: MOVLW 2900F8: MOVWF 0C00F9: DECFSZ 0C,F00FA: GOTO 0F900FB: NOP........................................ // Prenasim bity.................... for (i=0; i<4; i++)00FC: CLRF 1A00FD: MOVF 1A,W00FE: SUBLW 0300FF: BTFSS 03.00100: GOTO 111.................... {.................... delay_us(2*IMPULS);0101: MOVLW A60102: MOVWF 0C0103: DECFSZ 0C,F0104: GOTO 1030105: NOP.................... d >>= 1;0106: BCF 03.00107: RRF 1B,F.................... if (!input(PRIJIMAC)) d +=8;0108: BSF 03.50109: BSF 05.3010A: BCF 03.5010B: BTFSC 05.3010C: GOTO 10F010D: MOVLW 08010E: ADDWF 1B,F.................... }010F: INCF 1A,F0110: GOTO 0FD.................... *data = d;0111: MOVF 19,W0112: MOVWF 040113: MOVF 1B,W0114: MOVWF 00.................... return TRUE;0115: MOVLW 010116: MOVWF 0D0117: RETLW 00.................... }........................................ int8 read_nibble2(int8* value).................... {.................... int8 n; // citac.................... int8 bit; // pomocna promenna........................................ *value=0;.................... for (n=1; n<=4; n++) // prijmi 4 bity.................... {.................... *value >>= 1; // posun jiz prectene do leva.................... if (0==prijmout(&bit)) return(false); // prijmi bit; pri chybe cteni vrat chybu.................... *value |= bit << 3; // pridej bit do nibblu.................... };.................... return(true); // vrat 1, jako ,ze je vse O.K..................... }............................................................ int8 bit,x,y;.................... int8 xc,yc; // pocitadla aktualizace x a y........................................ void main().................... {*015F: CLRF 040160: MOVLW 1F0161: ANDWF 03,F.................... lcd_init(); // zinicializuj LCD display0162: GOTO 056.................... delay_ms(5);0163: MOVLW 050164: MOVWF 1C0165: CALL 015.................... printf(lcd_putc,"Ahoj...");*000C: BCF 0A.0000D: BCF 0A.1000E: BCF 0A.2000F: ADDWF 02,F0010: RETLW 410011: RETLW 680012: RETLW 6F0013: RETLW 6A0014: RETLW 00*0166: CLRF 190167: MOVF 19,W0168: CALL 00C0169: INCF 19,F016A: MOVWF 1B016B: CALL 0A0016C: MOVLW 04016D: SUBWF 19,W016E: BTFSS 03.2016F: GOTO 1670170: MOVLW 030171: MOVWF 1A0172: MOVLW 2E0173: MOVWF 1B0174: CALL 0A00175: DECFSZ 1A,F0176: GOTO 172.................... delay_ms(1000);0177: MOVLW 040178: MOVWF 190179: MOVLW FA017A: MOVWF 1C017B: CALL 015017C: DECFSZ 19,F017D: GOTO 179........................................ //while(TRUE).................... //{.................... // read_nibble(&x);.................... // lcd_gotoxy(1,1); // vytiskni X a Y.................... // printf(lcd_putc,"O:%d ",x);.................... //}........................................ x = 0;017E: CLRF 0F.................... y = 0;017F: CLRF 10.................... xc=0;0180: CLRF 11.................... yc=0;0181: CLRF 12........................................ while (true).................... {.................... int8 osa, hodnota, kontrola;.................... int counter; // pocitadlo 1 a 0 v detektoru.................... int e1,e2; // pocitadla chyb - ladici........................................ e1=0;0182: CLRF 17.................... e2=0;0183: CLRF 18........................................ counter=4;0184: MOVLW 040185: MOVWF 16........................................ decoder:........................................ counter=0; // vynuluj citac0186: CLRF 16.................... // do // vyhledej synchronizacni jednicky.................... // {.................... // if (!prijmout(&bit)) goto decoder; // prijmi bit; pri chybe zacni znovu.................... // if (1==bit) counter++; else goto decoder; // kdyz je bit 1, tak zvys citac; jinak zacni znovu.................... // } while(counter<4); // pockej na 4 jednicky.................... if (!read_nibble(&osa)) goto decoder;0187: MOVLW 130188: MOVWF 190189: CALL 0D8018A: MOVF 0D,F018B: BTFSS 03.2018C: GOTO 18E018D: GOTO 186.................... if (osa!=15) {e1++; goto decoder;};018E: MOVF 13,W018F: SUBLW 0F0190: BTFSC 03.20191: GOTO 1940192: INCF 17,F0193: GOTO 186.................... if (!read_nibble(&osa)) goto decoder; // nacti identifikator osy0194: MOVLW 130195: MOVWF 190196: CALL 0D80197: MOVF 0D,F0198: BTFSS 03.20199: GOTO 19B019A: GOTO 186........................................ if (!read_nibble(&hodnota)) goto decoder; // nacti 1. nibble; pri chybe zacni znovu019B: MOVLW 14019C: MOVWF 19019D: CALL 0D8019E: MOVF 0D,F019F: BTFSS 03.201A0: GOTO 1A201A1: GOTO 186.................... if (!read_nibble(&kontrola)) goto decoder; // nacti 2. nibble; pri chybe zacni znovu01A2: MOVLW 1501A3: MOVWF 1901A4: CALL 0D801A5: MOVF 0D,F01A6: BTFSS 03.201A7: GOTO 1A901A8: GOTO 186.................... if (hodnota != kontrola) {e2++; goto decoder;} // zacni znovu, pokud jsou ruzne nibble01A9: MOVF 15,W01AA: SUBWF 14,W01AB: BTFSC 03.201AC: GOTO 1AF01AD: INCF 18,F01AE: GOTO 186............................................................ switch (osa) // rozeskoc se podle adresy osy01AF: MOVLW 0101B0: SUBWF 13,W01B1: ADDLW FD01B2: BTFSC 03.001B3: GOTO 1C001B4: ADDLW 0301B5: GOTO 262.................... {.................... case OSA_X:.................... {.................... x=hodnota;01B6: MOVF 14,W01B7: MOVWF 0F.................... xc++;01B8: INCF 11,F.................... break;01B9: GOTO 1C0.................... };.................... case OSA_Y:.................... {.................... y=hodnota;01BA: MOVF 14,W01BB: MOVWF 10.................... yc++;01BC: INCF 12,F.................... break;01BD: GOTO 1C0.................... };.................... case TLs:.................... {.................... e1++;01BE: INCF 17,F.................... break;01BF: GOTO 1C0.................... };.................... };*0262: BCF 0A.00263: BSF 0A.10264: BCF 0A.20265: ADDWF 02,F0266: GOTO 1B60267: GOTO 1BA0268: GOTO 1BE........................................ // ladici vypisy.................... lcd_gotoxy(1,1); // vytiskni X a Y*01C0: MOVLW 0101C1: MOVWF 1C01C2: MOVWF 1D01C3: CALL 08F.................... printf(lcd_putc,"X: %U %u %U ", x, xc, e1);*012D: MOVF 0D,W012E: MOVF 19,W012F: MOVWF 1B0130: MOVLW 640131: MOVWF 1C0132: CALL 1180133: MOVF 0C,W0134: MOVWF 190135: MOVF 0D,W0136: MOVLW 300137: BTFSS 03.20138: GOTO 1400139: BTFSC 1A.0013A: BSF 1A.3013B: BTFSC 1A.3013C: GOTO 146013D: BTFSC 1A.4013E: MOVLW 20013F: GOTO 1420140: BCF 1A.30141: BCF 1A.40142: ADDWF 0D,F0143: MOVF 0D,W0144: MOVWF 1B0145: CALL 0A00146: MOVF 19,W0147: MOVWF 1B0148: MOVLW 0A0149: MOVWF 1C014A: CALL 118014B: MOVF 0C,W014C: MOVWF 19014D: MOVF 0D,W014E: MOVLW 30014F: BTFSS 03.20150: GOTO 1550151: BTFSC 1A.30152: GOTO 1590153: BTFSC 1A.40154: MOVLW 200155: ADDWF 0D,F0156: MOVF 0D,W0157: MOVWF 1B0158: CALL 0A00159: MOVLW 30015A: ADDWF 19,F015B: MOVF 19,W015C: MOVWF 1B015D: CALL 0A0015E: RETLW 00*01C4: MOVLW 5801C5: MOVWF 1B01C6: CALL 0A001C7: MOVLW 3A01C8: MOVWF 1B01C9: CALL 0A001CA: MOVLW 2001CB: MOVWF 1B01CC: CALL 0A001CD: MOVF 0F,W01CE: MOVWF 1901CF: MOVLW 1801D0: MOVWF 1A01D1: CALL 12D01D2: MOVLW 2001D3: MOVWF 1B01D4: CALL 0A001D5: MOVF 11,W01D6: MOVWF 1901D7: MOVLW 1801D8: MOVWF 1A01D9: CALL 12D01DA: MOVLW 2001DB: MOVWF 1B01DC: CALL 0A001DD: MOVF 17,W01DE: MOVWF 1901DF: MOVLW 1801E0: MOVWF 1A01E1: CALL 12D01E2: MOVLW 0501E3: MOVWF 1901E4: MOVLW 2001E5: MOVWF 1B01E6: CALL 0A001E7: DECFSZ 19,F01E8: GOTO 1E4.................... lcd_gotoxy(1,2);01E9: MOVLW 0101EA: MOVWF 1C01EB: MOVLW 0201EC: MOVWF 1D01ED: CALL 08F.................... printf(lcd_putc,"Y: %U %U %U ", y, yc, e2);01EE: MOVLW 5901EF: MOVWF 1B01F0: CALL 0A001F1: MOVLW 3A01F2: MOVWF 1B01F3: CALL 0A001F4: MOVLW 2001F5: MOVWF 1B01F6: CALL 0A001F7: MOVF 10,W01F8: MOVWF 1901F9: MOVLW 1801FA: MOVWF 1A01FB: CALL 12D01FC: MOVLW 2001FD: MOVWF 1B01FE: CALL 0A001FF: MOVF 12,W0200: MOVWF 190201: MOVLW 180202: MOVWF 1A0203: CALL 12D0204: MOVLW 200205: MOVWF 1B0206: CALL 0A00207: MOVF 18,W0208: MOVWF 190209: MOVLW 18020A: MOVWF 1A020B: CALL 12D020C: MOVLW 05020D: MOVWF 19020E: MOVLW 20020F: MOVWF 1B0210: CALL 0A00211: DECFSZ 19,F0212: GOTO 20E........................................ // ovladani serv.................... output_high(SERVO_X);0213: BSF 03.50214: BCF 05.00215: BCF 03.50216: BSF 05.0.................... delay_ms(1);0217: MOVLW 010218: MOVWF 1C0219: CALL 015.................... for (osa=x; osa--; osa>0)021A: MOVF 0F,W021B: MOVWF 13021C: MOVF 13,W021D: DECF 13,F021E: XORLW 00021F: BTFSC 03.20220: GOTO 22B.................... delay_us(65);0221: MOVLW 150222: MOVWF 0C0223: DECFSZ 0C,F0224: GOTO 2230225: NOP0226: MOVF 13,F0227: BTFSS 03.20228: GOTO 22A0229: MOVLW 00022A: GOTO 21C.................... output_low(SERVO_X);022B: BSF 03.5022C: BCF 05.0022D: BCF 03.5022E: BCF 05.0........................................ output_high(SERVO_Y);022F: BSF 03.50230: BCF 05.10231: BCF 03.50232: BSF 05.1.................... delay_ms(1);0233: MOVLW 010234: MOVWF 1C0235: CALL 015.................... for (osa=y; osa--; osa>0)0236: MOVF 10,W0237: MOVWF 130238: MOVF 13,W0239: DECF 13,F023A: XORLW 00023B: BTFSC 03.2023C: GOTO 247.................... delay_us(65);023D: MOVLW 15023E: MOVWF 0C023F: DECFSZ 0C,F0240: GOTO 23F0241: NOP0242: MOVF 13,F0243: BTFSS 03.20244: GOTO 2460245: MOVLW 000246: GOTO 238.................... output_low(SERVO_Y);0247: BSF 03.50248: BCF 05.10249: BCF 03.5024A: BCF 05.1........................................ for (osa=30-x-y; osa--; osa>0)024B: MOVF 0F,W024C: SUBLW 1E024D: MOVWF 0D024E: MOVF 10,W024F: SUBWF 0D,W0250: MOVWF 130251: MOVF 13,W0252: DECF 13,F0253: XORLW 000254: BTFSC 03.20255: GOTO 260.................... delay_us(65);0256: MOVLW 150257: MOVWF 0C0258: DECFSZ 0C,F0259: GOTO 258025A: NOP025B: MOVF 13,F025C: BTFSS 03.2025D: GOTO 25F025E: MOVLW 00025F: GOTO 251........................................ }0260: GOTO 182.................... }....................0261: SLEEP........................................