WebSVN – svnkaklik – Blame – /schemata/prenos/letadlo/SW/prijimac/ostra_bez_ladicich_impulsu/main.LST

Rev	Author	Line No.	Line
6	kaklik	1	`CCS PCW C Compiler, Version 3.110, 15448`
		2
		3	`Filename: d:\@kaklik\programy\pic_c\prenos\letadlo\prijimac\ostra_bez_ladicich_impulsu\main.LST`
		4
		5	`ROM used: 309 (30%)`
		6	`Largest free fragment is 715`
		7	`RAM used: 18 (26%) at main() level`
		8	`20 (29%) worst case`
		9	`Stack: 3 worst case (1 in main + 2 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 083`
		15	`0003: NOP`
		16	`0004: BTFSC 03.5`
		17	`0005: GOTO 00A`
		18	`0006: MOVWF 0E`
		19	`0007: SWAPF 03,W`
		20	`0008: MOVWF 0F`
		21	`0009: GOTO 00F`
		22	`000A: BCF 03.5`
		23	`000B: MOVWF 0E`
		24	`000C: SWAPF 03,W`
		25	`000D: MOVWF 0F`
		26	`000E: BSF 0F.1`
		27	`000F: MOVF 0A,W`
		28	`0010: MOVWF 13`
		29	`0011: CLRF 0A`
		30	`0012: BCF 03.7`
		31	`0013: SWAPF 0E,F`
		32	`0014: MOVF 04,W`
		33	`0015: MOVWF 10`
		34	`0016: MOVF 0C,W`
		35	`0017: MOVWF 11`
		36	`0018: MOVF 0D,W`
		37	`0019: MOVWF 12`
		38	`001A: BCF 03.5`
		39	`001B: BTFSS 0B.5`
		40	`001C: GOTO 01F`
		41	`001D: BTFSC 0B.2`
		42	`001E: GOTO 043`
		43	`001F: MOVF 10,W`
		44	`0020: MOVWF 04`
		45	`0021: MOVF 11,W`
		46	`0022: MOVWF 0C`
		47	`0023: MOVF 12,W`
		48	`0024: MOVWF 0D`
		49	`0025: MOVF 13,W`
		50	`0026: MOVWF 0A`
		51	`0027: SWAPF 0F,W`
		52	`0028: MOVWF 03`
		53	`0029: BCF 03.5`
		54	`002A: SWAPF 0E,W`
		55	`002B: BTFSC 0F.1`
		56	`002C: BSF 03.5`
		57	`002D: RETFIE`
		58	`.................... // Prijimac`
		59	`.................... #include "main.h"`
		60	`.................... #include <16F84.h>`
		61	`.................... //////// Standard Header file for the PIC16F84 device ////////////////`
		62	`.................... #device PIC16F84`
		63	`.................... #list`
		64	`....................`
		65	`.................... #use delay(clock=4000000)`
		66	`002E: MOVLW 1F`
		67	`002F: MOVWF 04`
		68	`0030: MOVF 00,W`
		69	`0031: BTFSC 03.2`
		70	`0032: GOTO 042`
		71	`0033: MOVLW 01`
		72	`0034: MOVWF 0D`
		73	`0035: CLRF 0C`
		74	`0036: DECFSZ 0C,F`
		75	`0037: GOTO 036`
		76	`0038: DECFSZ 0D,F`
		77	`0039: GOTO 035`
		78	`003A: MOVLW 4A`
		79	`003B: MOVWF 0C`
		80	`003C: DECFSZ 0C,F`
		81	`003D: GOTO 03C`
		82	`003E: NOP`
		83	`003F: NOP`
		84	`0040: DECFSZ 00,F`
		85	`0041: GOTO 033`
		86	`0042: RETLW 00`
		87	`.................... #fuses XT,PUT,NOWDT`
		88	`....................`
		89	`....................`
		90	`.................... #include "..\..\common.h"`
		91	`.................... #DEFINE OSA_X 1 // adresy os`
		92	`.................... #DEFINE OSA_Y 2`
		93	`.................... #DEFINE OSA_Z 3`
		94	`.................... #DEFINE OSA_W 4`
		95	`.................... #DEFINE TLs 5`
		96	`.................... #DEFINE Trim 6 // ovladani prijimace`
		97	`....................`
		98	`.................... #DEFINE IMPULS 250 // sirka impulsu`
		99	`.................... #DEFINE SYNC 15 // delka uvodniho ticha v IMPULS/4`
		100	`....................`
		101	`....................`
		102	`.................... #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac`
		103	`.................... #DEFINE SERVO_X PIN_A2 // piny na ktere jsou pripojena serva`
		104	`.................... #DEFINE SERVO_Y PIN_B0`
		105	`.................... #DEFINE DILEK 20 // jeden krok serva v mikrosekundach`
		106	`....................`
		107	`.................... #bit T0IF = 0xB.2 // int. flag od Timer0`
		108	`....................`
		109	`.................... static int8 x = 16; // poloha serv`
		110	`.................... static int8 y = 16;`
		111	`.................... int8 trim_x = 2;`
		112	`.................... int8 trim_y = 2;`
		113	`....................`
		114	`.................... boolean flag; // priznak, ze doslo k preruseni prijmu ovladanim serv`
		115	`....................`
		116	`.................... #int_TIMER0`
		117	`.................... TIMER0_isr()`
		118	`.................... {`
		119	`.................... int8 n;`
		120	`....................`
		121	`.................... flag = true; // doslo k preruseni prijmu`
		122	`0043: BSF 18.0`
		123	`.................... // x = 15;`
		124	`.................... // y = 15;`
		125	`....................`
		126	`.................... output_high(SERVO_X); // uvodni impuls 1ms`
		127	`0044: BSF 03.5`
		128	`0045: BCF 05.2`
		129	`0046: BCF 03.5`
		130	`0047: BSF 05.2`
		131	`.................... delay_ms(1);`
		132	`0048: MOVLW 01`
		133	`0049: MOVWF 1F`
		134	`004A: CALL 02E`
		135	`.................... for (n=trim_x; n>0; n--);`
		136	`004B: MOVF 16,W`
		137	`004C: MOVWF 1E`
		138	`004D: MOVF 1E,F`
		139	`004E: BTFSC 03.2`
		140	`004F: GOTO 052`
		141	`0050: DECF 1E,F`
		142	`0051: GOTO 04D`
		143	`.................... for (n=x; n>0; n--) Delay_us(DILEK);`
		144	`0052: MOVF 14,W`
		145	`0053: MOVWF 1E`
		146	`0054: MOVF 1E,F`
		147	`0055: BTFSC 03.2`
		148	`0056: GOTO 05E`
		149	`0057: MOVLW 06`
		150	`0058: MOVWF 0C`
		151	`0059: DECFSZ 0C,F`
		152	`005A: GOTO 059`
		153	`005B: NOP`
		154	`005C: DECF 1E,F`
		155	`005D: GOTO 054`
		156	`.................... output_low(SERVO_X);`
		157	`005E: BSF 03.5`
		158	`005F: BCF 05.2`
		159	`0060: BCF 03.5`
		160	`0061: BCF 05.2`
		161	`....................`
		162	`.................... output_high(SERVO_Y);`
		163	`0062: BSF 03.5`
		164	`0063: BCF 06.0`
		165	`0064: BCF 03.5`
		166	`0065: BSF 06.0`
		167	`.................... delay_ms(1);`
		168	`0066: MOVLW 01`
		169	`0067: MOVWF 1F`
		170	`0068: CALL 02E`
		171	`.................... for (n=trim_y; n>0; n--);`
		172	`0069: MOVF 17,W`
		173	`006A: MOVWF 1E`
		174	`006B: MOVF 1E,F`
		175	`006C: BTFSC 03.2`
		176	`006D: GOTO 070`
		177	`006E: DECF 1E,F`
		178	`006F: GOTO 06B`
		179	`.................... for (n=y; n>0; n--) Delay_us(DILEK);`
		180	`0070: MOVF 15,W`
		181	`0071: MOVWF 1E`
		182	`0072: MOVF 1E,F`
		183	`0073: BTFSC 03.2`
		184	`0074: GOTO 07C`
		185	`0075: MOVLW 06`
		186	`0076: MOVWF 0C`
		187	`0077: DECFSZ 0C,F`
		188	`0078: GOTO 077`
		189	`0079: NOP`
		190	`007A: DECF 1E,F`
		191	`007B: GOTO 072`
		192	`.................... output_low(SERVO_Y);`
		193	`007C: BSF 03.5`
		194	`007D: BCF 06.0`
		195	`007E: BCF 03.5`
		196	`007F: BCF 06.0`
		197	`0080: BCF 0B.2`
		198	`0081: BCF 0A.3`
		199	`0082: GOTO 01F`
		200	`.................... }`
		201	`....................`
		202	`.................... // output_high(PIN_B1); // debug pin`
		203	`....................`
		204	`.................... void main()`
		205	`.................... {`
		206	`.................... int i;`
		207	`.................... int8 osa, data, check, suma;`
		208	`0083: CLRF 04`
		209	`0084: MOVLW 1F`
		210	`0085: ANDWF 03,F`
		211	`0086: MOVLW 10`
		212	`0087: MOVWF 14`
		213	`0088: MOVWF 15`
		214	`0089: MOVLW 02`
		215	`008A: MOVWF 16`
		216	`008B: MOVWF 17`
		217	`....................`
		218	`.................... setup_counters(RTCC_INTERNAL,RTCC_DIV_64); // Preruseni po 16,3ms`
		219	`008C: MOVLW 05`
		220	`008D: MOVWF 0C`
		221	`008E: BTFSS 0C.3`
		222	`008F: GOTO 098`
		223	`0090: MOVLW 07`
		224	`0091: CLRF 01`
		225	`0092: MOVLW 81`
		226	`0093: MOVWF 04`
		227	`0094: MOVF 00,W`
		228	`0095: ANDLW C0`
		229	`0096: IORLW 0F`
		230	`0097: MOVWF 00`
		231	`0098: CLRWDT`
		232	`0099: MOVLW 81`
		233	`009A: MOVWF 04`
		234	`009B: MOVF 00,W`
		235	`009C: ANDLW C0`
		236	`009D: IORWF 0C,W`
		237	`009E: MOVWF 00`
		238	`.................... enable_interrupts(INT_TIMER0);`
		239	`009F: BSF 0B.5`
		240	`.................... enable_interrupts(global);`
		241	`00A0: BSF 0B.7`
		242	`....................`
		243	`.................... loop:`
		244	`.................... flag = false;`
		245	`00A1: BCF 18.0`
		246	`....................`
		247	`.................... // Cekej na uvodni ticho`
		248	`.................... for (i=SYNC; i>0; i--)`
		249	`00A2: MOVLW 0F`
		250	`00A3: MOVWF 19`
		251	`00A4: MOVF 19,F`
		252	`00A5: BTFSC 03.2`
		253	`00A6: GOTO 0B8`
		254	`.................... {`
		255	`.................... delay_us(IMPULS/4);`
		256	`00A7: MOVLW 14`
		257	`00A8: MOVWF 0C`
		258	`00A9: DECFSZ 0C,F`
		259	`00AA: GOTO 0A9`
		260	`00AB: NOP`
		261	`.................... if (flag) goto loop;`
		262	`00AC: BTFSS 18.0`
		263	`00AD: GOTO 0AF`
		264	`00AE: GOTO 0A1`
		265	`.................... if (!input(PRIJIMAC)) i=SYNC;`
		266	`00AF: BSF 03.5`
		267	`00B0: BSF 05.3`
		268	`00B1: BCF 03.5`
		269	`00B2: BTFSC 05.3`
		270	`00B3: GOTO 0B6`
		271	`00B4: MOVLW 0F`
		272	`00B5: MOVWF 19`
		273	`.................... }`
		274	`00B6: DECF 19,F`
		275	`00B7: GOTO 0A4`
		276	`....................`
		277	`.................... // Cekej na startovaci 1`
		278	`.................... while (input(PRIJIMAC)) if (flag) goto loop;`
		279	`00B8: BSF 03.5`
		280	`00B9: BSF 05.3`
		281	`00BA: BCF 03.5`
		282	`00BB: BTFSS 05.3`
		283	`00BC: GOTO 0C1`
		284	`00BD: BTFSS 18.0`
		285	`00BE: GOTO 0C0`
		286	`00BF: GOTO 0A1`
		287	`00C0: GOTO 0B8`
		288	`....................`
		289	`.................... if (flag) goto loop;`
		290	`00C1: BTFSS 18.0`
		291	`00C2: GOTO 0C4`
		292	`00C3: GOTO 0A1`
		293	`....................`
		294	`.................... // Posun na cteni prvniho datoveho bitu`
		295	`.................... delay_us(2IMPULS+2IMPULS/3);`
		296	`00C4: MOVLW DD`
		297	`00C5: MOVWF 0C`
		298	`00C6: DECFSZ 0C,F`
		299	`00C7: GOTO 0C6`
		300	`00C8: NOP`
		301	`00C9: NOP`
		302	`....................`
		303	`.................... // Cteme bity`
		304	`.................... for (i=8; i>0; i--)`
		305	`00CA: MOVLW 08`
		306	`00CB: MOVWF 19`
		307	`00CC: MOVF 19,F`
		308	`00CD: BTFSC 03.2`
		309	`00CE: GOTO 0E9`
		310	`.................... {`
		311	`.................... data <<= 1;`
		312	`00CF: BCF 03.0`
		313	`00D0: RLF 1B,F`
		314	`.................... if (input(PRIJIMAC)) data \|= 1;`
		315	`00D1: BSF 03.5`
		316	`00D2: BSF 05.3`
		317	`00D3: BCF 03.5`
		318	`00D4: BTFSS 05.3`
		319	`00D5: GOTO 0D7`
		320	`00D6: BSF 1B.0`
		321	`.................... if (flag) goto loop;`
		322	`00D7: BTFSS 18.0`
		323	`00D8: GOTO 0DA`
		324	`00D9: GOTO 0A1`
		325	`.................... output_high(PIN_B1); // debug pin`
		326	`00DA: BSF 03.5`
		327	`00DB: BCF 06.1`
		328	`00DC: BCF 03.5`
		329	`00DD: BSF 06.1`
		330	`.................... delay_us(2*IMPULS+15);`
		331	`00DE: MOVLW AB`
		332	`00DF: MOVWF 0C`
		333	`00E0: DECFSZ 0C,F`
		334	`00E1: GOTO 0E0`
		335	`00E2: NOP`
		336	`.................... output_low(PIN_B1); // debug pin`
		337	`00E3: BSF 03.5`
		338	`00E4: BCF 06.1`
		339	`00E5: BCF 03.5`
		340	`00E6: BCF 06.1`
		341	`.................... }`
		342	`00E7: DECF 19,F`
		343	`00E8: GOTO 0CC`
		344	`....................`
		345	`.................... // Cteme checksum`
		346	`.................... check = 0;`
		347	`00E9: CLRF 1C`
		348	`.................... for (i=4; i>0; i--)`
		349	`00EA: MOVLW 04`
		350	`00EB: MOVWF 19`
		351	`00EC: MOVF 19,F`
		352	`00ED: BTFSC 03.2`
		353	`00EE: GOTO 109`
		354	`.................... {`
		355	`.................... check <<= 1;`
		356	`00EF: BCF 03.0`
		357	`00F0: RLF 1C,F`
		358	`.................... if (input(PRIJIMAC)) check \|= 1;`
		359	`00F1: BSF 03.5`
		360	`00F2: BSF 05.3`
		361	`00F3: BCF 03.5`
		362	`00F4: BTFSS 05.3`
		363	`00F5: GOTO 0F7`
		364	`00F6: BSF 1C.0`
		365	`.................... if (flag) goto loop;`
		366	`00F7: BTFSS 18.0`
		367	`00F8: GOTO 0FA`
		368	`00F9: GOTO 0A1`
		369	`.................... output_high(PIN_B1); // debug pin`
		370	`00FA: BSF 03.5`
		371	`00FB: BCF 06.1`
		372	`00FC: BCF 03.5`
		373	`00FD: BSF 06.1`
		374	`.................... delay_us(2*IMPULS+15);`
		375	`00FE: MOVLW AB`
		376	`00FF: MOVWF 0C`
		377	`0100: DECFSZ 0C,F`
		378	`0101: GOTO 100`
		379	`0102: NOP`
		380	`.................... output_low(PIN_B1); // debug pin`
		381	`0103: BSF 03.5`
		382	`0104: BCF 06.1`
		383	`0105: BCF 03.5`
		384	`0106: BCF 06.1`
		385	`.................... }`
		386	`0107: DECF 19,F`
		387	`0108: GOTO 0EC`
		388	`....................`
		389	`.................... swap(data); // kontrola kontrolniho souctu`
		390	`0109: SWAPF 1B,F`
		391	`.................... suma = data & 0xF;`
		392	`010A: MOVF 1B,W`
		393	`010B: ANDLW 0F`
		394	`010C: MOVWF 1D`
		395	`.................... swap(data);`
		396	`010D: SWAPF 1B,F`
		397	`.................... suma += data & 0xF;`
		398	`010E: MOVF 1B,W`
		399	`010F: ANDLW 0F`
		400	`0110: ADDWF 1D,F`
		401	`.................... suma++;`
		402	`0111: INCF 1D,F`
		403	`.................... suma &= 0xF;`
		404	`0112: MOVLW 0F`
		405	`0113: ANDWF 1D,F`
		406	`.................... if (suma != check) goto loop;`
		407	`0114: MOVF 1C,W`
		408	`0115: SUBWF 1D,W`
		409	`0116: BTFSC 03.2`
		410	`0117: GOTO 119`
		411	`0118: GOTO 0A1`
		412	`....................`
		413	`.................... osa = data >> 5; // extrahuj z ramce cislo osy a hodnotu`
		414	`0119: SWAPF 1B,W`
		415	`011A: MOVWF 1A`
		416	`011B: RRF 1A,F`
		417	`011C: MOVLW 07`
		418	`011D: ANDWF 1A,F`
		419	`.................... data &= 0x1F;`
		420	`011E: MOVLW 1F`
		421	`011F: ANDWF 1B,F`
		422	`.................... switch(osa)`
		423	`0120: MOVLW 01`
		424	`0121: SUBWF 1A,W`
		425	`0122: ADDLW FE`
		426	`0123: BTFSC 03.0`
		427	`0124: GOTO 12D`
		428	`0125: ADDLW 02`
		429	`0126: GOTO 12F`
		430	`.................... {`
		431	`.................... case OSA_X:`
		432	`.................... x=data;`
		433	`0127: MOVF 1B,W`
		434	`0128: MOVWF 14`
		435	`.................... break;`
		436	`0129: GOTO 12D`
		437	`.................... case OSA_y:`
		438	`.................... y=data;`
		439	`012A: MOVF 1B,W`
		440	`012B: MOVWF 15`
		441	`.................... break;`
		442	`012C: GOTO 12D`
		443	`.................... }`
		444	`*`
		445	`012F: BSF 0A.0`
		446	`0130: BCF 0A.1`
		447	`0131: BCF 0A.2`
		448	`0132: ADDWF 02,F`
		449	`0133: GOTO 127`
		450	`0134: GOTO 12A`
		451	`....................`
		452	`.................... goto loop;`
		453	`*`
		454	`012D: GOTO 0A1`
		455	`.................... }`
		456	`....................`
		457	`012E: SLEEP`

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(root)/schemata/prenos/letadlo/SW/prijimac/ostra_bez_ladicich_impulsu/main.LST – Rev 6