| /roboti/Robiada/2007/SW/robot/_.obj |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /roboti/Robiada/2007/SW/robot/makefile.gen |
|---|
| 4,7 → 4,7 |
| @"C:\Program Files\SourceBoost\boostbasic.pic18.exe" -t PIC18F252 _.bas |
| robot.hex: _.obj |
| @"C:\Program Files\SourceBoost\boostlink.pic.exe" /ld "C:\Program Files\SourceBoost\lib" libc.pic18.lib _.obj /t PIC18F252 /d "C:\Documents and Settings\katka\Plocha\SW\robot" /p robot -rb 0x200 |
| @"C:\Program Files\SourceBoost\boostlink.pic.exe" /ld "C:\Program Files\SourceBoost\lib" libc.pic18.lib _.obj /t PIC18F252 /d "C:\Documents and Settings\Robiada\Desktop\SW\robot" /p robot -rb 0x200 |
| all: robot.hex |
| /roboti/Robiada/2007/SW/robot/robot.asm |
|---|
| 104,64 → 104,42 |
| gbl_tosh EQU 0x00000FFE ; bytes:1 |
| gbl_tosu EQU 0x00000FFF ; bytes:1 |
| CompTempVarRet489 EQU 0x00000007 ; bytes:1 |
| send_00000_arg_c EQU 0x00000004 ; bytes:1 |
| delay_00000_arg_cas EQU 0x00000004 ; bytes:1 |
| delay_00000_1_i EQU 0x00000005 ; bytes:1 |
| delay_00000_1_x EQU 0x00000006 ; bytes:1 |
| send_00000_arg_c EQU 0x00000007 ; bytes:1 |
| main_1_motors EQU 0x00000001 ; bytes:1 |
| main_1_sensors EQU 0x00000002 ; bytes:1 |
| CompTempVar491 EQU 0x00000003 ; bytes:1 |
| main_1_leds EQU 0x00000003 ; bytes:1 |
| main_1_count EQU 0x00000004 ; bytes:2 |
| CompTempVar491 EQU 0x00000006 ; bytes:1 |
| CompTempVar492 EQU 0x00000007 ; bytes:1 |
| ORG 0x00000200 |
| GOTO _startup |
| ORG 0x00000204 |
| send_00000 |
| ; { send ; function begin |
| label268438562 |
| BTFSS gbl_pir1,4 |
| BRA label268438562 |
| MOVF send_00000_arg_c, W |
| MOVWF gbl_txreg |
| RETURN |
| ; } send function end |
| ORG 0x0000020E |
| receive_00000 |
| ; { receive ; function begin |
| BTFSS gbl_rcsta,1 |
| BRA label268438550 |
| BRA label268438551 |
| BCF gbl_rcsta,4 |
| BSF gbl_rcsta,4 |
| label268438550 |
| label268438551 |
| BTFSS gbl_pir1,5 |
| BRA label268438550 |
| BRA label268438551 |
| MOVF gbl_rcreg, W |
| MOVWF CompTempVarRet489 |
| RETURN |
| ; } receive function end |
| ORG 0x00000216 |
| send_00000 |
| ; { send ; function begin |
| label268438561 |
| BTFSS gbl_pir1,4 |
| BRA label268438561 |
| MOVF send_00000_arg_c, W |
| MOVWF gbl_txreg |
| RETURN |
| ; } send function end |
| ORG 0x00000220 |
| delay_00000 |
| ; { delay ; function begin |
| label268438570 |
| MOVF delay_00000_1_i, W |
| SUBWF delay_00000_arg_cas, W |
| BTFSS STATUS,C |
| RETURN |
| label4026532417 |
| MOVF delay_00000_1_x, W |
| SUBLW 0x64 |
| BNC label268438574 |
| CALL receive_00000 |
| INCF delay_00000_1_x, W |
| MOVWF delay_00000_1_x |
| BRA label4026532417 |
| label268438574 |
| INCF delay_00000_1_i, W |
| MOVWF delay_00000_1_i |
| BRA label268438570 |
| ; } delay function end |
| ORG 0x0000023E |
| main |
| ; { main ; function begin |
| SETF gbl_lata |
| 192,32 → 170,44 |
| IORWF gbl_rcsta, W |
| MOVWF gbl_rcsta |
| CLRF main_1_motors |
| MOVLW 0x0E |
| label268438598 |
| BTFSC gbl_portb,0 |
| BRA label268438598 |
| MOVLW 0xF0 |
| MOVWF main_1_leds |
| MOVLW 0x80 |
| MOVWF main_1_count |
| MOVLW 0x1A |
| MOVWF main_1_count+D'1' |
| label268438603 |
| MOVF main_1_count, W |
| SUBLW 0x00 |
| BTFSC STATUS,C |
| MOVF main_1_count+D'1', W |
| BZ label268438605 |
| MOVLW 0x01 |
| SUBWF main_1_count, W |
| MOVWF CompTempVar492 |
| BTFSS STATUS,C |
| DECF main_1_count+D'1', F |
| MOVF CompTempVar492, W |
| MOVWF main_1_count |
| MOVLW 0x01 |
| IORWF main_1_leds, W |
| MOVWF main_1_leds |
| MOVLW 0x02 |
| IORWF main_1_leds, W |
| MOVWF main_1_leds |
| MOVLW 0x04 |
| IORWF main_1_leds, W |
| MOVWF main_1_leds |
| MOVF main_1_leds, W |
| MOVWF gbl_lata |
| MOVLW 0xC8 |
| MOVWF delay_00000_arg_cas |
| CALL delay_00000 |
| MOVLW 0x0D |
| MOVWF gbl_lata |
| MOVLW 0xC8 |
| MOVWF delay_00000_arg_cas |
| CALL delay_00000 |
| MOVLW 0x0B |
| MOVWF gbl_lata |
| MOVLW 0xC8 |
| MOVWF delay_00000_arg_cas |
| CALL delay_00000 |
| MOVLW 0x07 |
| MOVWF gbl_lata |
| MOVLW 0xC8 |
| MOVWF delay_00000_arg_cas |
| CALL delay_00000 |
| MOVLW 0x77 |
| MOVWF main_1_motors |
| MOVLW 0x64 |
| MOVWF delay_00000_arg_cas |
| CALL delay_00000 |
| label268438640 |
| BRA label268438603 |
| label268438605 |
| SETF main_1_leds |
| SETF gbl_lata |
| label268438623 |
| SETF main_1_sensors |
| CALL receive_00000 |
| MOVF CompTempVarRet489, W |
| 224,35 → 214,35 |
| MOVWF main_1_sensors |
| CLRF CompTempVar491 |
| BTFSS main_1_sensors,1 |
| BRA label268438645 |
| BRA label268438628 |
| BTFSS main_1_sensors,0 |
| BRA label268438645 |
| BRA label268438628 |
| INCF CompTempVar491, F |
| label268438645 |
| label268438628 |
| MOVF CompTempVar491, F |
| BNZ label268438646 |
| BNZ label268438629 |
| MOVLW 0x77 |
| MOVWF main_1_motors |
| label268438646 |
| label268438629 |
| BTFSC main_1_sensors,2 |
| BRA label268438649 |
| BRA label268438632 |
| MOVLW 0xF7 |
| MOVWF main_1_motors |
| label268438649 |
| label268438632 |
| BTFSC main_1_sensors,3 |
| BRA label268438652 |
| BRA label268438635 |
| MOVLW 0x7F |
| MOVWF main_1_motors |
| label268438652 |
| label268438635 |
| MOVF main_1_sensors, W |
| MOVWF gbl_lata |
| MOVF main_1_motors, W |
| MOVWF send_00000_arg_c |
| CALL send_00000 |
| BRA label268438640 |
| BRA label268438623 |
| ; } main function end |
| ORG 0x000002EE |
| ORG 0x000002D8 |
| _startup |
| GOTO main |
| ORG 0x00300000 |
| /roboti/Robiada/2007/SW/robot/robot.bas |
|---|
| 33,22 → 33,12 |
| txreg = c |
| End Sub |
| Sub delay(cas As Byte) |
| Dim i As Byte |
| Dim x As Byte |
| Do while i <= cas |
| Do While x <= 100 |
| Call receive() |
| x=x+1 |
| loop |
| i=i+1 |
| loop |
| End Sub |
| Sub main() |
| Dim motors As Byte |
| Dim sensors As Byte |
| Dim buttons As Byte |
| Dim leds As Byte |
| Dim count As word |
| Dim i As Long |
| 'NASTAVENI IO |
| 71,20 → 61,30 |
| rcsta = rcsta | (1 << SPEN) |
| motors = 0x00 |
| do while (portb.0 = 1) |
| loop |
| leds = 0xF0 |
| count = 400000 |
| lata = 0x0E |
| Call delay(200) |
| lata = 0x0D |
| Call delay(200) |
| lata = 0x0B |
| Call delay(200) |
| lata = 0x07 |
| Call delay(200) |
| do while (count > 0) |
| count = count -1 |
| if count < 300000 then |
| leds = leds | 1 |
| end if |
| if count < 200000 then |
| leds = leds | 2 |
| end if |
| if count < 100000 then |
| leds = leds | 4 |
| end if |
| lata = leds |
| loop |
| leds = 0xFF |
| lata = 0xFF |
| motors = 0x77 |
| Call delay(100) |
| Do while 1 |
| /roboti/Robiada/2007/SW/robot/robot.brws |
|---|
| 9,7 → 9,7 |
| adresh C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 733;" d |
| adresl C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 732;" d |
| bsr C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 760;" d |
| buttons E:\SW\robot\robot.bas 51;" d |
| buttons C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 39;" d |
| ccp1con C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 727;" d |
| ccp2con C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 724;" d |
| ccpr1h C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 729;" d |
| 16,7 → 16,7 |
| ccpr1l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 728;" d |
| ccpr2h C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 726;" d |
| ccpr2l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 725;" d |
| delay E:\SW\robot\robot.bas 36;" s |
| count C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 41;" d |
| eeadr C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 715;" d |
| eecon1 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 712;" d |
| eecon2 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 713;" d |
| 27,8 → 27,7 |
| fsr1l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 761;" d |
| fsr2h C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 754;" d |
| fsr2l C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 753;" d |
| i E:\SW\robot\robot.bas 37;" d |
| i E:\SW\robot\robot.bas 52;" d |
| i C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 42;" d |
| indf0 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 775;" d |
| indf1 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 767;" d |
| indf2 C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 759;" d |
| 40,9 → 39,10 |
| lata C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 700;" d |
| latb C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 701;" d |
| latc C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 702;" d |
| leds C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 40;" d |
| lvdcon C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 747;" d |
| main E:\SW\robot\robot.bas 48;" s |
| motors E:\SW\robot\robot.bas 49;" d |
| main C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 36;" s |
| motors C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 37;" d |
| osccon C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 748;" d |
| pcl C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 785;" d |
| pclath C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 786;" d |
| 72,9 → 72,9 |
| rcon C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 745;" d |
| rcreg C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 719;" d |
| rcsta C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 716;" d |
| receive E:\SW\robot\robot.bas 20;" f |
| send E:\SW\robot\robot.bas 31;" s |
| sensors E:\SW\robot\robot.bas 50;" d |
| receive C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 20;" f |
| send C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 31;" s |
| sensors C:\Documents and Settings\Robiada\Desktop\SW\robot\robot.bas 38;" d |
| spbrg C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 720;" d |
| sspadd C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 737;" d |
| sspbuf C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 738;" d |
| 108,4 → 108,3 |
| txsta C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 717;" d |
| wdtcon C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 746;" d |
| wreg C:\Program Files\SourceBoost\Include\basic\pic18F252.bas 768;" d |
| x E:\SW\robot\robot.bas 38;" d |
| /roboti/Robiada/2007/SW/robot/robot.casm |
|---|
| 27,269 → 27,256 |
| Function receive() As Byte |
| If ( (rcsta.OERR = 1) ) Then |
| 0204 A2AB BTFSS gbl_rcsta,1 |
| 0206 D002 BRA label268438550 |
| 020C label268438550 |
| 020E A2AB BTFSS gbl_rcsta,1 |
| 0210 D002 BRA label268438551 |
| 0216 label268438551 |
| rcsta.CREN = 0 |
| 0208 98AB BCF gbl_rcsta,4 |
| 0212 98AB BCF gbl_rcsta,4 |
| rcsta.CREN = 1 |
| 020A 88AB BSF gbl_rcsta,4 |
| 0214 88AB BSF gbl_rcsta,4 |
| End If |
| Do While (pir1.RCIF = 0) |
| 020C AA9E BTFSS gbl_pir1,5 |
| 020E D7FE BRA label268438550 |
| 0216 AA9E BTFSS gbl_pir1,5 |
| 0218 D7FE BRA label268438551 |
| Loop |
| receive = rcreg |
| 0210 50AE MOVF gbl_rcreg, W |
| 0212 6E07 MOVWF CompTempVarRet489 |
| 021A 50AE MOVF gbl_rcreg, W |
| 021C 6E07 MOVWF CompTempVarRet489 |
| End Function |
| 0214 0012 RETURN |
| 021E 0012 RETURN |
| Sub send(c As Byte) |
| Do while (pir1 & (1 << TXIF)) = 0 Loop |
| 0216 label268438561 |
| 0216 A89E BTFSS gbl_pir1,4 |
| 0218 D7FE BRA label268438561 |
| 0204 label268438562 |
| 0204 A89E BTFSS gbl_pir1,4 |
| 0206 D7FE BRA label268438562 |
| txreg = c |
| 021A 5004 MOVF send_00000_arg_c, W |
| 021C 6EAD MOVWF gbl_txreg |
| 0208 5007 MOVF send_00000_arg_c, W |
| 020A 6EAD MOVWF gbl_txreg |
| End Sub |
| 021E 0012 RETURN |
| 020C 0012 RETURN |
| Sub delay(cas As Byte) |
| Dim i As Byte |
| Dim x As Byte |
| Do while i <= cas |
| 0220 label268438570 |
| 0220 5005 MOVF delay_00000_1_i, W |
| 0222 5C04 SUBWF delay_00000_arg_cas, W |
| 0224 A0D8 BTFSS STATUS,C |
| Do While x <= 100 |
| 0228 5006 MOVF delay_00000_1_x, W |
| 022A 0864 SUBLW 0x64 |
| 022C E305 BNC label268438574 |
| Call receive() |
| 022E EC02F001 CALL receive_00000 |
| x=x+1 |
| 0232 2806 INCF delay_00000_1_x, W |
| 0234 6E06 MOVWF delay_00000_1_x |
| loop |
| 0236 D7F8 BRA label4026532417 |
| 0238 label268438574 |
| i=i+1 |
| 0238 2805 INCF delay_00000_1_i, W |
| 023A 6E05 MOVWF delay_00000_1_i |
| loop |
| 023C D7F1 BRA label268438570 |
| End Sub |
| 0226 0012 RETURN |
| 0228 label4026532417 |
| Sub main() |
| Dim motors As Byte |
| Dim sensors As Byte |
| Dim buttons As Byte |
| Dim leds As Byte |
| Dim count As word |
| Dim i As Long |
| 'NASTAVENI IO |
| lata=0xFF |
| 023E 6889 SETF gbl_lata |
| 0220 6889 SETF gbl_lata |
| latb=0 |
| 0240 6A8A CLRF gbl_latb |
| 0222 6A8A CLRF gbl_latb |
| latc=0xFF |
| 0242 688B SETF gbl_latc |
| 0224 688B SETF gbl_latc |
| trisa=0xF0 |
| 0244 0EF0 MOVLW 0xF0 |
| 0246 6E92 MOVWF gbl_trisa |
| 0226 0EF0 MOVLW 0xF0 |
| 0228 6E92 MOVWF gbl_trisa |
| trisb=0x3F |
| 0248 0E3F MOVLW 0x3F |
| 024A 6E93 MOVWF gbl_trisb |
| 022A 0E3F MOVLW 0x3F |
| 022C 6E93 MOVWF gbl_trisb |
| trisc=0x9F |
| 024C 0E9F MOVLW 0x9F |
| 024E 6E94 MOVWF gbl_trisc |
| 022E 0E9F MOVLW 0x9F |
| 0230 6E94 MOVWF gbl_trisc |
| 'VYPNOUT ADC |
| adcon1=0xC6 |
| 0250 0EC6 MOVLW 0xC6 |
| 0252 6EC1 MOVWF gbl_adcon1 |
| 0232 0EC6 MOVLW 0xC6 |
| 0234 6EC1 MOVWF gbl_adcon1 |
| adcon0=0xC0 |
| 0254 0EC0 MOVLW 0xC0 |
| 0256 6EC2 MOVWF gbl_adcon0 |
| 0236 0EC0 MOVLW 0xC0 |
| 0238 6EC2 MOVWF gbl_adcon0 |
| 'UART 9600bps |
| spbrg=64 |
| 0258 0E40 MOVLW 0x40 |
| 025A 6EAF MOVWF gbl_spbrg |
| 023A 0E40 MOVLW 0x40 |
| 023C 6EAF MOVWF gbl_spbrg |
| txsta = txsta & ~(1 << BRGH) |
| 025C 0EFB MOVLW 0xFB |
| 025E 14AC ANDWF gbl_txsta, W |
| 0260 6EAC MOVWF gbl_txsta |
| 023E 0EFB MOVLW 0xFB |
| 0240 14AC ANDWF gbl_txsta, W |
| 0242 6EAC MOVWF gbl_txsta |
| txsta = txsta | (1 << TXEN) |
| 0262 0E20 MOVLW 0x20 |
| 0264 10AC IORWF gbl_txsta, W |
| 0266 6EAC MOVWF gbl_txsta |
| 0244 0E20 MOVLW 0x20 |
| 0246 10AC IORWF gbl_txsta, W |
| 0248 6EAC MOVWF gbl_txsta |
| rcsta = rcsta | (1 << CREN) |
| 0268 0E10 MOVLW 0x10 |
| 026A 10AB IORWF gbl_rcsta, W |
| 026C 6EAB MOVWF gbl_rcsta |
| 024A 0E10 MOVLW 0x10 |
| 024C 10AB IORWF gbl_rcsta, W |
| 024E 6EAB MOVWF gbl_rcsta |
| rcsta = rcsta | (1 << SPEN) |
| 026E 0E80 MOVLW 0x80 |
| 0270 10AB IORWF gbl_rcsta, W |
| 0272 6EAB MOVWF gbl_rcsta |
| 0250 0E80 MOVLW 0x80 |
| 0252 10AB IORWF gbl_rcsta, W |
| 0254 6EAB MOVWF gbl_rcsta |
| motors = 0x00 |
| 0274 6A01 CLRF main_1_motors |
| 0256 6A01 CLRF main_1_motors |
| lata = 0x0E |
| 0276 0E0E MOVLW 0x0E |
| 0278 6E89 MOVWF gbl_lata |
| do while (portb.0 = 1) |
| 0258 label268438598 |
| 0258 B081 BTFSC gbl_portb,0 |
| 025A D7FE BRA label268438598 |
| Call delay(200) |
| 027A 0EC8 MOVLW 0xC8 |
| 027C 6E04 MOVWF delay_00000_arg_cas |
| 027E EC10F001 CALL delay_00000 |
| loop |
| lata = 0x0D |
| 0282 0E0D MOVLW 0x0D |
| 0284 6E89 MOVWF gbl_lata |
| leds = 0xF0 |
| 025C 0EF0 MOVLW 0xF0 |
| 025E 6E03 MOVWF main_1_leds |
| Call delay(200) |
| 0286 0EC8 MOVLW 0xC8 |
| 0288 6E04 MOVWF delay_00000_arg_cas |
| 028A EC10F001 CALL delay_00000 |
| count = 400000 |
| 0260 0E80 MOVLW 0x80 |
| 0262 6E04 MOVWF main_1_count |
| 0264 0E1A MOVLW 0x1A |
| 0266 6E05 MOVWF main_1_count+D'1' |
| lata = 0x0B |
| 028E 0E0B MOVLW 0x0B |
| 0290 6E89 MOVWF gbl_lata |
| do while (count > 0) |
| 0268 label268438603 |
| 0268 5004 MOVF main_1_count, W |
| 026A 0800 SUBLW 0x00 |
| 026C B0D8 BTFSC STATUS,C |
| 026E 5005 MOVF main_1_count+D'1', W |
| 0270 E013 BZ label268438605 |
| Call delay(200) |
| 0292 0EC8 MOVLW 0xC8 |
| 0294 6E04 MOVWF delay_00000_arg_cas |
| 0296 EC10F001 CALL delay_00000 |
| count = count -1 |
| 0272 0E01 MOVLW 0x01 |
| 0274 5C04 SUBWF main_1_count, W |
| 0276 6E07 MOVWF CompTempVar492 |
| 0278 A0D8 BTFSS STATUS,C |
| 027A 0605 DECF main_1_count+D'1', F |
| 027C 5007 MOVF CompTempVar492, W |
| 027E 6E04 MOVWF main_1_count |
| lata = 0x07 |
| 029A 0E07 MOVLW 0x07 |
| 029C 6E89 MOVWF gbl_lata |
| if count < 300000 then |
| leds = leds | 1 |
| 0280 0E01 MOVLW 0x01 |
| 0282 1003 IORWF main_1_leds, W |
| 0284 6E03 MOVWF main_1_leds |
| Call delay(200) |
| 029E 0EC8 MOVLW 0xC8 |
| 02A0 6E04 MOVWF delay_00000_arg_cas |
| 02A2 EC10F001 CALL delay_00000 |
| end if |
| if count < 200000 then |
| leds = leds | 2 |
| 0286 0E02 MOVLW 0x02 |
| 0288 1003 IORWF main_1_leds, W |
| 028A 6E03 MOVWF main_1_leds |
| end if |
| if count < 100000 then |
| leds = leds | 4 |
| 028C 0E04 MOVLW 0x04 |
| 028E 1003 IORWF main_1_leds, W |
| 0290 6E03 MOVWF main_1_leds |
| motors = 0x77 |
| 02A6 0E77 MOVLW 0x77 |
| 02A8 6E01 MOVWF main_1_motors |
| end if |
| lata = leds |
| 0292 5003 MOVF main_1_leds, W |
| 0294 6E89 MOVWF gbl_lata |
| loop |
| 0296 D7E8 BRA label268438603 |
| 0298 label268438605 |
| Call delay(100) |
| 02AA 0E64 MOVLW 0x64 |
| 02AC 6E04 MOVWF delay_00000_arg_cas |
| 02AE EC10F001 CALL delay_00000 |
| leds = 0xFF |
| 0298 6803 SETF main_1_leds |
| lata = 0xFF |
| 029A 6889 SETF gbl_lata |
| Do while 1 |
| 02B2 label268438640 |
| 029C label268438623 |
| sensors =0xFF |
| 02B2 6802 SETF main_1_sensors |
| 029C 6802 SETF main_1_sensors |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| 02B4 EC02F001 CALL receive_00000 |
| 02B8 5007 MOVF CompTempVarRet489, W |
| 02BA 6E02 MOVWF main_1_sensors |
| 029E EC07F001 CALL receive_00000 |
| 02A2 5007 MOVF CompTempVarRet489, W |
| 02A4 6E02 MOVWF main_1_sensors |
| If (!((sensors.0) and (sensors.1))) Then |
| 02BC 6A03 CLRF CompTempVar491 |
| 02BE A202 BTFSS main_1_sensors,1 |
| 02C0 D003 BRA label268438645 |
| 02C2 A002 BTFSS main_1_sensors,0 |
| 02C4 D001 BRA label268438645 |
| 02C6 2A03 INCF CompTempVar491, F |
| 02C8 label268438645 |
| 02C8 5203 MOVF CompTempVar491, F |
| 02CA E102 BNZ label268438646 |
| 02D0 label268438646 |
| 02A6 6A06 CLRF CompTempVar491 |
| 02A8 A202 BTFSS main_1_sensors,1 |
| 02AA D003 BRA label268438628 |
| 02AC A002 BTFSS main_1_sensors,0 |
| 02AE D001 BRA label268438628 |
| 02B0 2A06 INCF CompTempVar491, F |
| 02B2 label268438628 |
| 02B2 5206 MOVF CompTempVar491, F |
| 02B4 E102 BNZ label268438629 |
| 02BA label268438629 |
| motors = 0x77 |
| 02CC 0E77 MOVLW 0x77 |
| 02CE 6E01 MOVWF main_1_motors |
| 02B6 0E77 MOVLW 0x77 |
| 02B8 6E01 MOVWF main_1_motors |
| End If |
| If (!(sensors.2)) Then |
| 02D0 B402 BTFSC main_1_sensors,2 |
| 02D2 D002 BRA label268438649 |
| 02D8 label268438649 |
| 02BA B402 BTFSC main_1_sensors,2 |
| 02BC D002 BRA label268438632 |
| 02C2 label268438632 |
| motors = 0xF7 |
| 02D4 0EF7 MOVLW 0xF7 |
| 02D6 6E01 MOVWF main_1_motors |
| 02BE 0EF7 MOVLW 0xF7 |
| 02C0 6E01 MOVWF main_1_motors |
| End If |
| If (!(sensors.3)) Then |
| 02D8 B602 BTFSC main_1_sensors,3 |
| 02DA D002 BRA label268438652 |
| 02E0 label268438652 |
| 02C2 B602 BTFSC main_1_sensors,3 |
| 02C4 D002 BRA label268438635 |
| 02CA label268438635 |
| motors = 0x7F |
| 02DC 0E7F MOVLW 0x7F |
| 02DE 6E01 MOVWF main_1_motors |
| 02C6 0E7F MOVLW 0x7F |
| 02C8 6E01 MOVWF main_1_motors |
| End If |
| lata = sensors |
| 02E0 5002 MOVF main_1_sensors, W |
| 02E2 6E89 MOVWF gbl_lata |
| 02CA 5002 MOVF main_1_sensors, W |
| 02CC 6E89 MOVWF gbl_lata |
| call send(motors) |
| 02E4 5001 MOVF main_1_motors, W |
| 02E6 6E04 MOVWF send_00000_arg_c |
| 02E8 EC0BF001 CALL send_00000 |
| 02CE 5001 MOVF main_1_motors, W |
| 02D0 6E07 MOVWF send_00000_arg_c |
| 02D2 EC02F001 CALL send_00000 |
| Loop |
| 02EC D7E2 BRA label268438640 |
| 02D6 D7E2 BRA label268438623 |
| End Sub |
| 298,17 → 285,12 |
| //////////////////////////////////////// |
| // Code with no source :-) |
| //////////////////////////////////////// |
| 0200 EF77F001 GOTO _startup |
| 0200 EF6CF001 GOTO _startup |
| 02D8 _startup |
| 02D8 EF10F001 GOTO main |
| 02EE _startup |
| 02EE EF1FF001 GOTO main |
| 300000 FEFF DW 0xFEFF |
| 300002 FEF6 DW 0xFEF6 |
| 300004 FEFF DW 0xFEFF |
| /roboti/Robiada/2007/SW/robot/robot.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /roboti/Robiada/2007/SW/robot/robot.hex |
|---|
| 1,20 → 1,18 |
| :020000040000FA |
| :1002000077EF01F0ABA202D0AB98AB889EAAFED7E5 |
| :10021000AE50076E12009EA8FED70450AD6E1200BD |
| :100220000550045CD8A012000650640805E302ECF7 |
| :1002300001F00628066EF8D70528056EF1D7896803 |
| :100240008A6A8B68F00E926E3F0E936E9F0E946ECC |
| :10025000C60EC16EC00EC26E400EAF6EFB0EAC1469 |
| :10026000AC6E200EAC10AC6E100EAB10AB6E800EF0 |
| :10027000AB10AB6E016A0E0E896EC80E046E10ECE8 |
| :1002800001F00D0E896EC80E046E10EC01F00B0E1D |
| :10029000896EC80E046E10EC01F0070E896EC80E50 |
| :1002A000046E10EC01F0770E016E640E046E10EC1B |
| :1002B00001F0026802EC01F00750026E036A02A22C |
| :1002C00003D002A001D0032A035202E1770E016E8F |
| :1002D00002B402D0F70E016E02B602D07F0E016E9C |
| :1002E0000250896E0150046E0BEC01F0E2D71FEF53 |
| :0202F00001F01B |
| :100200006CEF01F09EA8FED70750AD6E1200ABA2B6 |
| :1002100002D0AB98AB889EAAFED7AE50076E1200F4 |
| :1002200089688A6A8B68F00E926E3F0E936E9F0EFD |
| :10023000946EC60EC16EC00EC26E400EAF6EFB0E47 |
| :10024000AC14AC6E200EAC10AC6E100EAB10AB6EDE |
| :10025000800EAB10AB6E016A81B0FED7F00E036E5C |
| :10026000800E046E1A0E056E04500008D8B00550BA |
| :1002700013E0010E045C076ED8A005060750046E5B |
| :10028000010E0310036E020E0310036E040E031022 |
| :10029000036E0350896EE8D703688968026807EC2B |
| :1002A00001F00750026E066A02A203D002A001D03C |
| :1002B000062A065202E1770E016E02B402D0F70E52 |
| :1002C000016E02B602D07F0E016E0250896E01509F |
| :0C02D000076E02EC01F0E2D710EF01F025 |
| :020000040030CA |
| :0E000000FFFEF6FEFFFEFBFFF03FFF9FFFBF7F |
| :00000001FF |
| /roboti/Robiada/2007/SW/robot/robot.lst |
|---|
| 6,149 → 6,139 |
| ;///////////////////////////////////////////////////////////////////////////////// |
| ORG 0x00000200 |
| 0200 EF77F001 GOTO _startup |
| 0200 EF6CF001 GOTO _startup |
| ORG 0x00000204 |
| 0204 receive_00000 |
| 0204 ; { receive ; function begin |
| 0204 A2AB BTFSS gbl_rcsta,1 |
| 0206 D002 BRA label268438550 |
| 0208 98AB BCF gbl_rcsta,4 |
| 020A 88AB BSF gbl_rcsta,4 |
| 020C label268438550 |
| 020C AA9E BTFSS gbl_pir1,5 |
| 020E D7FE BRA label268438550 |
| 0210 50AE MOVF gbl_rcreg, W |
| 0212 6E07 MOVWF CompTempVarRet489 |
| 0214 0012 RETURN |
| 0216 ; } receive function end |
| 0204 send_00000 |
| 0204 ; { send ; function begin |
| 0204 label268438562 |
| 0204 A89E BTFSS gbl_pir1,4 |
| 0206 D7FE BRA label268438562 |
| 0208 5007 MOVF send_00000_arg_c, W |
| 020A 6EAD MOVWF gbl_txreg |
| 020C 0012 RETURN |
| 020E ; } send function end |
| ORG 0x00000216 |
| 0216 send_00000 |
| 0216 ; { send ; function begin |
| 0216 label268438561 |
| 0216 A89E BTFSS gbl_pir1,4 |
| 0218 D7FE BRA label268438561 |
| 021A 5004 MOVF send_00000_arg_c, W |
| 021C 6EAD MOVWF gbl_txreg |
| ORG 0x0000020E |
| 020E receive_00000 |
| 020E ; { receive ; function begin |
| 020E A2AB BTFSS gbl_rcsta,1 |
| 0210 D002 BRA label268438551 |
| 0212 98AB BCF gbl_rcsta,4 |
| 0214 88AB BSF gbl_rcsta,4 |
| 0216 label268438551 |
| 0216 AA9E BTFSS gbl_pir1,5 |
| 0218 D7FE BRA label268438551 |
| 021A 50AE MOVF gbl_rcreg, W |
| 021C 6E07 MOVWF CompTempVarRet489 |
| 021E 0012 RETURN |
| 0220 ; } send function end |
| 0220 ; } receive function end |
| ORG 0x00000220 |
| 0220 delay_00000 |
| 0220 ; { delay ; function begin |
| 0220 label268438570 |
| 0220 5005 MOVF delay_00000_1_i, W |
| 0222 5C04 SUBWF delay_00000_arg_cas, W |
| 0224 A0D8 BTFSS STATUS,C |
| 0226 0012 RETURN |
| 0228 label4026532417 |
| 0228 5006 MOVF delay_00000_1_x, W |
| 022A 0864 SUBLW 0x64 |
| 022C E305 BNC label268438574 |
| 022E EC02F001 CALL receive_00000 |
| 0232 2806 INCF delay_00000_1_x, W |
| 0234 6E06 MOVWF delay_00000_1_x |
| 0236 D7F8 BRA label4026532417 |
| 0238 label268438574 |
| 0238 2805 INCF delay_00000_1_i, W |
| 023A 6E05 MOVWF delay_00000_1_i |
| 023C D7F1 BRA label268438570 |
| 023E ; } delay function end |
| 0220 main |
| 0220 ; { main ; function begin |
| 0220 6889 SETF gbl_lata |
| 0222 6A8A CLRF gbl_latb |
| 0224 688B SETF gbl_latc |
| 0226 0EF0 MOVLW 0xF0 |
| 0228 6E92 MOVWF gbl_trisa |
| 022A 0E3F MOVLW 0x3F |
| 022C 6E93 MOVWF gbl_trisb |
| 022E 0E9F MOVLW 0x9F |
| 0230 6E94 MOVWF gbl_trisc |
| 0232 0EC6 MOVLW 0xC6 |
| 0234 6EC1 MOVWF gbl_adcon1 |
| 0236 0EC0 MOVLW 0xC0 |
| 0238 6EC2 MOVWF gbl_adcon0 |
| 023A 0E40 MOVLW 0x40 |
| 023C 6EAF MOVWF gbl_spbrg |
| 023E 0EFB MOVLW 0xFB |
| 0240 14AC ANDWF gbl_txsta, W |
| 0242 6EAC MOVWF gbl_txsta |
| 0244 0E20 MOVLW 0x20 |
| 0246 10AC IORWF gbl_txsta, W |
| 0248 6EAC MOVWF gbl_txsta |
| 024A 0E10 MOVLW 0x10 |
| 024C 10AB IORWF gbl_rcsta, W |
| 024E 6EAB MOVWF gbl_rcsta |
| 0250 0E80 MOVLW 0x80 |
| 0252 10AB IORWF gbl_rcsta, W |
| 0254 6EAB MOVWF gbl_rcsta |
| 0256 6A01 CLRF main_1_motors |
| 0258 label268438598 |
| 0258 B081 BTFSC gbl_portb,0 |
| 025A D7FE BRA label268438598 |
| 025C 0EF0 MOVLW 0xF0 |
| 025E 6E03 MOVWF main_1_leds |
| 0260 0E80 MOVLW 0x80 |
| 0262 6E04 MOVWF main_1_count |
| 0264 0E1A MOVLW 0x1A |
| 0266 6E05 MOVWF main_1_count+D'1' |
| 0268 label268438603 |
| 0268 5004 MOVF main_1_count, W |
| 026A 0800 SUBLW 0x00 |
| 026C B0D8 BTFSC STATUS,C |
| 026E 5005 MOVF main_1_count+D'1', W |
| 0270 E013 BZ label268438605 |
| 0272 0E01 MOVLW 0x01 |
| 0274 5C04 SUBWF main_1_count, W |
| 0276 6E07 MOVWF CompTempVar492 |
| 0278 A0D8 BTFSS STATUS,C |
| 027A 0605 DECF main_1_count+D'1', F |
| 027C 5007 MOVF CompTempVar492, W |
| 027E 6E04 MOVWF main_1_count |
| 0280 0E01 MOVLW 0x01 |
| 0282 1003 IORWF main_1_leds, W |
| 0284 6E03 MOVWF main_1_leds |
| 0286 0E02 MOVLW 0x02 |
| 0288 1003 IORWF main_1_leds, W |
| 028A 6E03 MOVWF main_1_leds |
| 028C 0E04 MOVLW 0x04 |
| 028E 1003 IORWF main_1_leds, W |
| 0290 6E03 MOVWF main_1_leds |
| 0292 5003 MOVF main_1_leds, W |
| 0294 6E89 MOVWF gbl_lata |
| 0296 D7E8 BRA label268438603 |
| 0298 label268438605 |
| 0298 6803 SETF main_1_leds |
| 029A 6889 SETF gbl_lata |
| 029C label268438623 |
| 029C 6802 SETF main_1_sensors |
| 029E EC07F001 CALL receive_00000 |
| 02A2 5007 MOVF CompTempVarRet489, W |
| 02A4 6E02 MOVWF main_1_sensors |
| 02A6 6A06 CLRF CompTempVar491 |
| 02A8 A202 BTFSS main_1_sensors,1 |
| 02AA D003 BRA label268438628 |
| 02AC A002 BTFSS main_1_sensors,0 |
| 02AE D001 BRA label268438628 |
| 02B0 2A06 INCF CompTempVar491, F |
| 02B2 label268438628 |
| 02B2 5206 MOVF CompTempVar491, F |
| 02B4 E102 BNZ label268438629 |
| 02B6 0E77 MOVLW 0x77 |
| 02B8 6E01 MOVWF main_1_motors |
| 02BA label268438629 |
| 02BA B402 BTFSC main_1_sensors,2 |
| 02BC D002 BRA label268438632 |
| 02BE 0EF7 MOVLW 0xF7 |
| 02C0 6E01 MOVWF main_1_motors |
| 02C2 label268438632 |
| 02C2 B602 BTFSC main_1_sensors,3 |
| 02C4 D002 BRA label268438635 |
| 02C6 0E7F MOVLW 0x7F |
| 02C8 6E01 MOVWF main_1_motors |
| 02CA label268438635 |
| 02CA 5002 MOVF main_1_sensors, W |
| 02CC 6E89 MOVWF gbl_lata |
| 02CE 5001 MOVF main_1_motors, W |
| 02D0 6E07 MOVWF send_00000_arg_c |
| 02D2 EC02F001 CALL send_00000 |
| 02D6 D7E2 BRA label268438623 |
| 02D8 ; } main function end |
| ORG 0x0000023E |
| 023E main |
| 023E ; { main ; function begin |
| 023E 6889 SETF gbl_lata |
| 0240 6A8A CLRF gbl_latb |
| 0242 688B SETF gbl_latc |
| 0244 0EF0 MOVLW 0xF0 |
| 0246 6E92 MOVWF gbl_trisa |
| 0248 0E3F MOVLW 0x3F |
| 024A 6E93 MOVWF gbl_trisb |
| 024C 0E9F MOVLW 0x9F |
| 024E 6E94 MOVWF gbl_trisc |
| 0250 0EC6 MOVLW 0xC6 |
| 0252 6EC1 MOVWF gbl_adcon1 |
| 0254 0EC0 MOVLW 0xC0 |
| 0256 6EC2 MOVWF gbl_adcon0 |
| 0258 0E40 MOVLW 0x40 |
| 025A 6EAF MOVWF gbl_spbrg |
| 025C 0EFB MOVLW 0xFB |
| 025E 14AC ANDWF gbl_txsta, W |
| 0260 6EAC MOVWF gbl_txsta |
| 0262 0E20 MOVLW 0x20 |
| 0264 10AC IORWF gbl_txsta, W |
| 0266 6EAC MOVWF gbl_txsta |
| 0268 0E10 MOVLW 0x10 |
| 026A 10AB IORWF gbl_rcsta, W |
| 026C 6EAB MOVWF gbl_rcsta |
| 026E 0E80 MOVLW 0x80 |
| 0270 10AB IORWF gbl_rcsta, W |
| 0272 6EAB MOVWF gbl_rcsta |
| 0274 6A01 CLRF main_1_motors |
| 0276 0E0E MOVLW 0x0E |
| 0278 6E89 MOVWF gbl_lata |
| 027A 0EC8 MOVLW 0xC8 |
| 027C 6E04 MOVWF delay_00000_arg_cas |
| 027E EC10F001 CALL delay_00000 |
| 0282 0E0D MOVLW 0x0D |
| 0284 6E89 MOVWF gbl_lata |
| 0286 0EC8 MOVLW 0xC8 |
| 0288 6E04 MOVWF delay_00000_arg_cas |
| 028A EC10F001 CALL delay_00000 |
| 028E 0E0B MOVLW 0x0B |
| 0290 6E89 MOVWF gbl_lata |
| 0292 0EC8 MOVLW 0xC8 |
| 0294 6E04 MOVWF delay_00000_arg_cas |
| 0296 EC10F001 CALL delay_00000 |
| 029A 0E07 MOVLW 0x07 |
| 029C 6E89 MOVWF gbl_lata |
| 029E 0EC8 MOVLW 0xC8 |
| 02A0 6E04 MOVWF delay_00000_arg_cas |
| 02A2 EC10F001 CALL delay_00000 |
| 02A6 0E77 MOVLW 0x77 |
| 02A8 6E01 MOVWF main_1_motors |
| 02AA 0E64 MOVLW 0x64 |
| 02AC 6E04 MOVWF delay_00000_arg_cas |
| 02AE EC10F001 CALL delay_00000 |
| 02B2 label268438640 |
| 02B2 6802 SETF main_1_sensors |
| 02B4 EC02F001 CALL receive_00000 |
| 02B8 5007 MOVF CompTempVarRet489, W |
| 02BA 6E02 MOVWF main_1_sensors |
| 02BC 6A03 CLRF CompTempVar491 |
| 02BE A202 BTFSS main_1_sensors,1 |
| 02C0 D003 BRA label268438645 |
| 02C2 A002 BTFSS main_1_sensors,0 |
| 02C4 D001 BRA label268438645 |
| 02C6 2A03 INCF CompTempVar491, F |
| 02C8 label268438645 |
| 02C8 5203 MOVF CompTempVar491, F |
| 02CA E102 BNZ label268438646 |
| 02CC 0E77 MOVLW 0x77 |
| 02CE 6E01 MOVWF main_1_motors |
| 02D0 label268438646 |
| 02D0 B402 BTFSC main_1_sensors,2 |
| 02D2 D002 BRA label268438649 |
| 02D4 0EF7 MOVLW 0xF7 |
| 02D6 6E01 MOVWF main_1_motors |
| 02D8 label268438649 |
| 02D8 B602 BTFSC main_1_sensors,3 |
| 02DA D002 BRA label268438652 |
| 02DC 0E7F MOVLW 0x7F |
| 02DE 6E01 MOVWF main_1_motors |
| 02E0 label268438652 |
| 02E0 5002 MOVF main_1_sensors, W |
| 02E2 6E89 MOVWF gbl_lata |
| 02E4 5001 MOVF main_1_motors, W |
| 02E6 6E04 MOVWF send_00000_arg_c |
| 02E8 EC0BF001 CALL send_00000 |
| 02EC D7E2 BRA label268438640 |
| 02EE ; } main function end |
| ORG 0x000002EE |
| 02EE _startup |
| 02EE EF1FF001 GOTO main |
| ORG 0x000002D8 |
| 02D8 _startup |
| 02D8 EF10F001 GOTO main |
| ORG 0x00300000 |
| 300000 FEFF DW 0xFEFF |
| 300002 FEF6 DW 0xFEF6 |
| /roboti/Robiada/2007/SW/robot/robot.stat |
|---|
| 3,7 → 3,6 |
| #GLOBAL:"global",line = 0,ram = 0.0,rom = 0; |
| receive(void):"robot.bas",line = 21,ram = 1.0,rom = 18; |
| send(unsigned char):"robot.bas",line = 32,ram = 0.0,rom = 10; |
| delay(unsigned char):"robot.bas",line = 39,ram = 3.0,rom = 30; |
| main(void):"robot.bas",line = 56,ram = 3.4,rom = 176; |
| main(void):"robot.bas",line = 45,ram = 7.4,rom = 184; |
| _startup(void):"NoSourceFile",line = 0,ram = 0.0,rom = 4; |
| #HEAP_BLOCK: 0, 8, 1528; |
| /roboti/Robiada/2007/SW/robot/robot.tree |
|---|
| 1,17 → 1,7 |
| // SourceBoost Linker Call Tree Dump |
| _startup:"NoSourceFile",line = 0 |
| { main:"robot.bas",line = 49 |
| { delay:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } } delay:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } } delay:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } } delay:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } } delay:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } } receive:"robot.bas",line = 20 |
| { main:"robot.bas",line = 36 |
| { receive:"robot.bas",line = 20 |
| { } send:"robot.bas",line = 31 |
| { } }} |