| 0,0 → 1,1381 |
|---|
| CCS PCW C Compiler, Version 3.110, 15448 |
| |
| Filename: d:\kaklik\programy\pic_c\robot\tank\main.LST |
| |
| ROM used: 893 (22%) |
| Largest free fragment is 2048 |
| RAM used: 82 (43%) at main() level |
| 101 (53%) worst case |
| Stack: 3 locations |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 2CB |
| 0003: NOP |
| .................... #include "D:\@KAKLIK\programy\PIC_C\robot\tank\main.h" |
| .................... #include <16F873.h> |
| .................... //////// Standard Header file for the PIC16F873 device //////////////// |
| .................... #device PIC16F873 |
| .................... #list |
| .................... |
| .................... #use delay(clock=4000000) |
| 00A8: MOVLW 73 |
| 00A9: MOVWF 04 |
| 00AA: MOVF 00,W |
| 00AB: BTFSC 03.2 |
| 00AC: GOTO 0BC |
| 00AD: MOVLW 01 |
| 00AE: MOVWF 21 |
| 00AF: CLRF 20 |
| 00B0: DECFSZ 20,F |
| 00B1: GOTO 0B0 |
| 00B2: DECFSZ 21,F |
| 00B3: GOTO 0AF |
| 00B4: MOVLW 4A |
| 00B5: MOVWF 20 |
| 00B6: DECFSZ 20,F |
| 00B7: GOTO 0B6 |
| 00B8: NOP |
| 00B9: NOP |
| 00BA: DECFSZ 00,F |
| 00BB: GOTO 0AD |
| 00BC: RETLW 00 |
| .................... #fuses XT,NOWDT,NOLVP |
| .................... |
| .................... |
| .................... |
| .................... //motory |
| .................... #define FR output_high(PIN_B4);output_low(PIN_B5) // Vpred |
| .................... #define FL output_high(PIN_B6);output_low(PIN_B7) |
| .................... #define BR output_high(PIN_B5);output_low(PIN_B4) // Vzad |
| .................... #define BL output_high(PIN_B7);output_low(PIN_B6) |
| .................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) |
| .................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
| .................... |
| .................... //cidla |
| .................... #define RSENSOR 1 // Senzory na caru |
| .................... #define LSENSOR 0 |
| .................... //#define BUMPER SENSOR_2 // Senzor na cihlu |
| .................... |
| .................... //human interface |
| .................... #DEFINE LED PIN_A2 |
| .................... |
| .................... #DEFINE SOUND_HI PIN_B2 |
| .................... #DEFINE SOUND_LO PIN_B3 |
| .................... #include "sound.c" |
| .................... // Knihovna pro generovani hudebnich zvuku dane frekvence a delky nebo |
| .................... // dane noty temperovaneho ladeni a delky. |
| .................... // |
| .................... // Pro gnerovani nepouziva zadnou podporu HW, vse se generuje ciste SW. |
| .................... // |
| .................... // (c)miho 2003 |
| .................... // |
| .................... // Historie |
| .................... // 1.00 Uvodni verze |
| .................... // |
| .................... |
| .................... |
| .................... // Konfiguracni parametry |
| .................... //#define SOUND_HI PIN_xx // Pozitivni vystup |
| .................... //#define SOUND_LO PIN_xx // Komplementarni vystup |
| .................... #ifndef SOUND_REZIE |
| .................... #define SOUND_REZIE 72 // Piskvorcova konstanta zahrnuje celkovou rezii ve smycce |
| .................... #endif |
| .................... #ifndef SOUND_CLOCK |
| .................... #define SOUND_CLOCK 4000000 // Frelvence krystalu v Hz |
| .................... #endif |
| .................... |
| .................... |
| .................... // Definice hudebnich tonu (not) pro proceduru SoundNote() |
| .................... #define SOUND_C 0 |
| .................... #define SOUND_Cis 1 |
| .................... #define SOUND_D 2 |
| .................... #define SOUND_Dis 3 |
| .................... #define SOUND_E 4 |
| .................... #define SOUND_F 5 |
| .................... #define SOUND_Fis 6 |
| .................... #define SOUND_G 7 |
| .................... #define SOUND_Gis 8 |
| .................... #define SOUND_A 9 |
| .................... #define SOUND_Ais 10 |
| .................... #define SOUND_H 11 |
| .................... #define SOUND_Space 12 // Pomlka |
| .................... |
| .................... |
| .................... // Prototypy verejnych procedur |
| .................... |
| .................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration); |
| .................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho) |
| .................... |
| .................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration); |
| .................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton, |
| .................... // SOUND_Space je ticho), doba trvani v ms |
| .................... |
| .................... // Alternativni makra pro generovani konstatnich tonu |
| .................... // SoundBeepMacro(Frequency, Duration) - frekvence nesmi byt 0 |
| .................... // SoundNoteMacro(Note, Octave, Duration) - nepodporuje SOUND_Space |
| .................... // SoundSpaceMacro(Duration) - hraje ticho |
| .................... |
| .................... // Privatni cast |
| .................... |
| .................... |
| .................... #ORG 0x100, 0x128 // Aby skok nebyl pres hranici 0x100 |
| .................... void DelaySpecial(unsigned int16 Time) |
| .................... // Pomocna procedura pro mereni spozdeni s granularitou 1 instrukcni takt |
| .................... // Cas v instrukcnich cyklech, skutecny cas je vetsi o _konstantni_ rezii |
| .................... // Maximalni cas je 65536 us |
| .................... { |
| .................... unsigned int8 TimeHi; // Pro pristup k horni casti Time |
| .................... |
| .................... *0x0A = LABEL_ADDRESS(Next)>>8; // Nastav PCLATH |
| * |
| 0100: MOVLW 01 |
| 0101: MOVWF 23 |
| 0102: MOVLW 0A |
| 0103: MOVWF 7E |
| 0104: MOVF 23,W |
| 0105: MOVWF 0A |
| .................... #asm |
| .................... movf Time,w // Zpracuj nejnizsi 3 bity |
| 0106: MOVF 7B,W |
| .................... xorlw 7 // Pro hodnotu 0 skakej pres vsechny nopy |
| 0107: XORLW 07 |
| .................... andlw 7 // Ber jen spodni 3 bity |
| 0108: ANDLW 07 |
| .................... addwf 2,f // Preskoc zadny az vsech 8 nopu (2 je PCL) |
| 0109: ADDWF 02,F |
| .................... Next: |
| .................... nop // Spozdeni s granularitou 1 takt |
| 010A: NOP |
| .................... nop |
| 010B: NOP |
| .................... nop |
| 010C: NOP |
| .................... nop |
| 010D: NOP |
| .................... nop |
| 010E: NOP |
| .................... nop |
| 010F: NOP |
| .................... nop |
| 0110: NOP |
| .................... nop |
| .................... #endasm |
| 0111: NOP |
| .................... Time = Time >> 3; // Zahod spodni 3 bity |
| 0112: RRF 7C,F |
| 0113: RRF 7B,F |
| 0114: RRF 7C,F |
| 0115: RRF 7B,F |
| 0116: RRF 7C,F |
| 0117: RRF 7B,F |
| 0118: MOVLW 1F |
| 0119: ANDWF 7C,F |
| .................... TimeHi=Time>>8; // Oddel horni cast citace |
| 011A: MOVF 7C,W |
| 011B: MOVWF 7D |
| .................... Time++; // Korekce na casovani typu dcfsz |
| 011C: INCF 7B,F |
| 011D: BTFSC 03.2 |
| 011E: INCF 7C,F |
| .................... TimeHi++; |
| 011F: INCF 7D,F |
| .................... #asm |
| .................... Loop: |
| .................... nop // Smycka musi trvat 8 taktu |
| 0120: NOP |
| .................... nop // a ma 16 bitu dlouhy citac |
| 0121: NOP |
| .................... nop |
| 0122: NOP |
| .................... decfsz Time |
| 0123: DECFSZ 7B,F |
| .................... goto Next1 |
| 0124: GOTO 126 |
| .................... decfsz TimeHi |
| 0125: DECFSZ 7D,F |
| .................... Next1: |
| .................... goto Loop |
| .................... #endasm |
| 0126: GOTO 120 |
| 0127: RETLW 00 |
| .................... |
| .................... } |
| .................... |
| .................... |
| .................... unsigned int32 SoundCount; // Pocet pulperid geneovaneho signalu |
| .................... unsigned int32 SoundPeriod; // Delka pulperiody v us (zmensene o SOUND_REZIE) |
| .................... |
| .................... |
| .................... void SoundLoop() |
| .................... // Pomocna funkce - hlavni zvukova smycka |
| .................... { |
| .................... int1 Data; |
| .................... unsigned int16 i; |
| .................... |
| .................... for(i=SoundCount;i>0;i--) // Pocet pulperiod |
| * |
| 019F: MOVF 26,W |
| 01A0: MOVWF 78 |
| 01A1: MOVF 25,W |
| 01A2: MOVWF 77 |
| 01A3: MOVF 77,F |
| 01A4: BTFSS 03.2 |
| 01A5: GOTO 1A9 |
| 01A6: MOVF 78,F |
| 01A7: BTFSC 03.2 |
| 01A8: GOTO 1C9 |
| .................... { |
| .................... output_bit(SOUND_HI,Data); // Nastav vystup |
| 01A9: BTFSC 76.0 |
| 01AA: GOTO 1AD |
| 01AB: BCF 06.2 |
| 01AC: GOTO 1AE |
| 01AD: BSF 06.2 |
| 01AE: BSF 03.5 |
| 01AF: BCF 06.2 |
| .................... output_bit(SOUND_LO,~Data); |
| 01B0: BCF 03.5 |
| 01B1: BTFSS 76.0 |
| 01B2: GOTO 1B5 |
| 01B3: BCF 06.3 |
| 01B4: GOTO 1B6 |
| 01B5: BSF 06.3 |
| 01B6: BSF 03.5 |
| 01B7: BCF 06.3 |
| .................... Data=~Data; // Otoc stav vystupu |
| 01B8: MOVLW 01 |
| 01B9: BCF 03.5 |
| 01BA: XORWF 76,F |
| .................... DelaySpecial(SoundPeriod); // Pockej po dobu plperiody |
| 01BB: MOVF 2A,W |
| 01BC: MOVWF 7A |
| 01BD: MOVF 29,W |
| 01BE: MOVWF 79 |
| 01BF: MOVF 2A,W |
| 01C0: MOVWF 7C |
| 01C1: MOVF 29,W |
| 01C2: MOVWF 7B |
| 01C3: CALL 100 |
| .................... } |
| 01C4: MOVF 77,W |
| 01C5: BTFSC 03.2 |
| 01C6: DECF 78,F |
| 01C7: DECF 77,F |
| 01C8: GOTO 1A3 |
| .................... } |
| .................... |
| .................... |
| .................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration) |
| .................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho) |
| .................... // Rozumne frekvence jsou v rozsahu cca 10Hz az 5000Hz pro krystal 4MHz, |
| .................... // cas do cca 5s (2*Cas/1000*Freq musi byt < nez 65536) |
| .................... { |
| .................... if (Frequency==0) |
| * |
| 0129: MOVF 72,F |
| 012A: BTFSS 03.2 |
| 012B: GOTO 140 |
| 012C: MOVF 73,F |
| 012D: BTFSS 03.2 |
| 012E: GOTO 140 |
| .................... { |
| .................... for(;Duration>0;Duration--) |
| 012F: MOVF 74,F |
| 0130: BTFSS 03.2 |
| 0131: GOTO 135 |
| 0132: MOVF 75,F |
| 0133: BTFSC 03.2 |
| 0134: GOTO 13F |
| .................... { |
| .................... DelaySpecial(1000); // Zhruba 1ms |
| 0135: MOVLW 03 |
| 0136: MOVWF 7C |
| 0137: MOVLW E8 |
| 0138: MOVWF 7B |
| 0139: CALL 100 |
| .................... } |
| 013A: MOVF 74,W |
| 013B: BTFSC 03.2 |
| 013C: DECF 75,F |
| 013D: DECF 74,F |
| 013E: GOTO 12F |
| .................... return; |
| 013F: GOTO 1C9 |
| .................... } |
| .................... |
| .................... SoundPeriod=(SOUND_CLOCK/4/2)/Frequency-SOUND_REZIE; |
| 0140: CLRF 79 |
| 0141: MOVLW 07 |
| 0142: MOVWF 78 |
| 0143: MOVLW A1 |
| 0144: MOVWF 77 |
| 0145: MOVLW 20 |
| 0146: MOVWF 76 |
| 0147: CLRF 7D |
| 0148: CLRF 7C |
| 0149: MOVF 73,W |
| 014A: MOVWF 7B |
| 014B: MOVF 72,W |
| 014C: MOVWF 7A |
| 014D: CALL 004 |
| 014E: MOVF 23,W |
| 014F: MOVWF 79 |
| 0150: MOVF 22,W |
| 0151: MOVWF 78 |
| 0152: MOVF 21,W |
| 0153: MOVWF 77 |
| 0154: MOVF 20,W |
| 0155: MOVWF 76 |
| 0156: MOVLW 48 |
| 0157: SUBWF 76,W |
| 0158: MOVWF 29 |
| 0159: MOVF 77,W |
| 015A: MOVWF 2A |
| 015B: MOVLW 00 |
| 015C: BTFSS 03.0 |
| 015D: MOVLW 01 |
| 015E: SUBWF 2A,F |
| 015F: MOVF 78,W |
| 0160: MOVWF 2B |
| 0161: MOVLW 00 |
| 0162: BTFSS 03.0 |
| 0163: MOVLW 01 |
| 0164: SUBWF 2B,F |
| 0165: MOVF 79,W |
| 0166: MOVWF 2C |
| 0167: MOVLW 00 |
| 0168: BTFSS 03.0 |
| 0169: MOVLW 01 |
| 016A: SUBWF 2C,F |
| .................... |
| .................... SoundCount=Duration; // Vypocet poctu pulperiod signalu Duration*Frequency*2/1000 |
| 016B: CLRF 28 |
| 016C: CLRF 27 |
| 016D: MOVF 75,W |
| 016E: MOVWF 26 |
| 016F: MOVF 74,W |
| 0170: MOVWF 25 |
| .................... SoundCount*=Frequency; |
| 0171: MOVF 28,W |
| 0172: MOVWF 79 |
| 0173: MOVF 27,W |
| 0174: MOVWF 78 |
| 0175: MOVF 26,W |
| 0176: MOVWF 77 |
| 0177: MOVF 25,W |
| 0178: MOVWF 76 |
| 0179: CLRF 7D |
| 017A: CLRF 7C |
| 017B: MOVF 73,W |
| 017C: MOVWF 7B |
| 017D: MOVF 72,W |
| 017E: MOVWF 7A |
| 017F: GOTO 066 |
| 0180: MOVF 23,W |
| 0181: MOVWF 28 |
| 0182: MOVF 22,W |
| 0183: MOVWF 27 |
| 0184: MOVF 21,W |
| 0185: MOVWF 26 |
| 0186: MOVF 20,W |
| 0187: MOVWF 25 |
| .................... SoundCount/=500; |
| 0188: MOVF 28,W |
| 0189: MOVWF 79 |
| 018A: MOVF 27,W |
| 018B: MOVWF 78 |
| 018C: MOVF 26,W |
| 018D: MOVWF 77 |
| 018E: MOVF 25,W |
| 018F: MOVWF 76 |
| 0190: CLRF 7D |
| 0191: CLRF 7C |
| 0192: MOVLW 01 |
| 0193: MOVWF 7B |
| 0194: MOVLW F4 |
| 0195: MOVWF 7A |
| 0196: CALL 004 |
| 0197: MOVF 23,W |
| 0198: MOVWF 28 |
| 0199: MOVF 22,W |
| 019A: MOVWF 27 |
| 019B: MOVF 21,W |
| 019C: MOVWF 26 |
| 019D: MOVF 20,W |
| 019E: MOVWF 25 |
| .................... |
| .................... SoundLoop(); // Pozor pouzivaji se globalni parametry |
| * |
| 01C9: RETLW 00 |
| .................... } |
| .................... |
| .................... // Definice casu pulperody pro nejnizsi oktavu, v mikrosekundach |
| .................... // Periody tonu v dalsich oktavach se ziskavaji rotaci vpravo |
| .................... #define SOUND_Peri_C (30578*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 30578us |
| .................... #define SOUND_Peri_Cis (28862*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 28862us |
| .................... #define SOUND_Peri_D (27242*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 27242us |
| .................... #define SOUND_Peri_Dis (25713*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 25713us |
| .................... #define SOUND_Peri_E (24270*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 24270us |
| .................... #define SOUND_Peri_F (22908*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 22908us |
| .................... #define SOUND_Peri_Fis (21622*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 21622us |
| .................... #define SOUND_Peri_G (20408*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 20408us |
| .................... #define SOUND_Peri_Gis (19263*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 19263us |
| .................... #define SOUND_Peri_A (18182*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 18182us |
| .................... #define SOUND_Peri_Ais (17161*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 17161us |
| .................... #define SOUND_Peri_H (16198*(SOUND_CLOCK/1000)/1000/4/2) // Perioda 16198us |
| .................... |
| .................... #if SOUND_Peri_C > 65535 |
| .................... #error "Sound Clock too high (Note C requires delay > 65535 cycles)" |
| .................... #endif |
| .................... |
| .................... const int16 Table[12] = SOUND_Peri_C, SOUND_Peri_Cis, SOUND_Peri_D, SOUND_Peri_Dis, |
| .................... SOUND_Peri_E, SOUND_Peri_F, SOUND_Peri_Fis, SOUND_Peri_G, |
| .................... SOUND_Peri_Gis, SOUND_Peri_A, SOUND_Peri_Ais, SOUND_Peri_H; |
| .................... |
| .................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration) |
| .................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton) |
| .................... // doba trvani v ms (0 znamena ticho) |
| .................... // Zahraje zadanou notu v zadane oktave dane delky |
| .................... { |
| .................... |
| .................... if (Note==SOUND_Space) |
| .................... { |
| .................... for(;Duration>0;Duration--) |
| .................... DelaySpecial(1000); // Zhruba 1ms |
| .................... return; |
| .................... } |
| .................... |
| .................... SoundPeriod=(Table[Note]>>Octave)-0; // Zde je chyba prekladace, nula musi zusat |
| .................... |
| .................... SoundCount=Duration; |
| .................... SoundCount*=1000; |
| .................... SoundCount/=SoundPeriod; |
| .................... |
| .................... SoundPeriod=SoundPeriod-SOUND_REZIE; |
| .................... |
| .................... SoundLoop(); // Pozor pouzivaji se globalni parametry |
| .................... } |
| .................... |
| .................... |
| .................... // Sada maker, ktera neobsahuji slozity vypocet a jsou |
| .................... // tedy vhodna pro jednoduche pipnuti. Parametry jsou stejne |
| .................... // jako o funkci. |
| .................... #define SoundBeepMacro(F,D) \ |
| .................... SoundPeriod=SOUND_CLOCK/4/2/F-SOUND_REZIE; \ |
| .................... SoundCount=D*F/500; \ |
| .................... SoundLoop(); |
| .................... |
| .................... #define SoundNoteMacro(N,O,D) \ |
| .................... SoundPeriod=(Table[N]>>O)-SOUND_REZIE; \ |
| .................... SoundCount=D*1000/(Table[N]>>O); \ |
| .................... SoundLoop(); |
| .................... |
| .................... #define SoundPauseMacro(D) \ |
| .................... { \ |
| .................... #if D>255 \ |
| .................... unsigned int16 i=D; \ |
| .................... #else \ |
| .................... unsigned int8 i=D; \ |
| .................... #endif \ |
| .................... for(;i>0;i--) \ |
| .................... { \ |
| .................... DelaySpecial(1000); \ |
| .................... } \ |
| .................... } |
| .................... |
| .................... |
| .................... #DEFINE TXo PIN_C0 // Vysilac |
| .................... #include "C:\library\kaklik\CCS\AX25.c" // Podprogram pro prenos telemetrie |
| .................... //#define PTT PIN_A2 // PTT control |
| .................... //#define TXo PIN_C0 // To the transmitter modulator |
| .................... #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500 |
| .................... #define TAILH delay_us(78) |
| .................... #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500 |
| .................... #define TAILL delay_us(345) |
| .................... #byte STATUS = 3 // CPUs status register |
| .................... |
| .................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60, |
| .................... 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, |
| .................... 0x03, 0xF0}; |
| .................... |
| .................... boolean bit; |
| .................... int fcslo, fcshi; // variabloes for calculating FCS (CRC) |
| .................... int stuff; // stuff counter for extra 0 |
| .................... int flag_flag; // if it is sending flag (7E) |
| .................... int fcs_flag; // if it is sending Frame Check Sequence |
| .................... int i; // for for |
| .................... |
| .................... void flipout() //flips the state of output pin a_1 |
| .................... { |
| .................... stuff = 0; //since this is a 0, reset the stuff counter |
| .................... if (bit) |
| .................... { |
| .................... bit=FALSE; //if the state of the pin was low, make it high. |
| .................... } |
| .................... else |
| .................... { |
| .................... bit=TRUE; //if the state of the pin was high make it low |
| .................... } |
| .................... } |
| .................... |
| .................... void fcsbit(byte tbyte) |
| .................... { |
| .................... #asm |
| .................... BCF STATUS,0 |
| .................... RRF fcshi,F // rotates the entire 16 bits |
| .................... RRF fcslo,F // to the right |
| .................... #endasm |
| .................... if (((STATUS & 0x01)^(tbyte)) ==0x01) |
| .................... { |
| .................... fcshi = fcshi^0x84; |
| .................... fcslo = fcslo^0x08; |
| .................... } |
| .................... } |
| .................... |
| .................... void SendBit () |
| .................... { |
| .................... if (bit) |
| .................... { |
| .................... output_high(TXo); |
| .................... PERIODAH; |
| .................... output_low(TXo); |
| .................... PERIODAH; |
| .................... output_high(TXo); |
| .................... PERIODAH; |
| .................... output_low(TXo); |
| .................... TAILH; |
| .................... } |
| .................... else |
| .................... { |
| .................... output_high(TXo); |
| .................... PERIODAL; |
| .................... output_low(TXo); |
| .................... TAILL; |
| .................... }; |
| .................... } |
| .................... |
| .................... void SendByte (byte inbyte) |
| .................... { |
| .................... int k, bt; |
| .................... |
| .................... for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte |
| .................... { |
| .................... bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
| .................... if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
| .................... //is not a flag or fcs byte |
| .................... if (bt == 0) |
| .................... { |
| .................... flipout(); |
| .................... } // if this bit is a zero, flip the output state |
| .................... else |
| .................... { //otherwise if it is a 1, do the following: |
| .................... if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
| .................... if ((flag_flag == FALSE) & (stuff == 5)) |
| .................... { //stuff an extra 0, if 5 1's in a row |
| .................... SendBit(); |
| .................... flipout(); //flip the output state to stuff a 0 |
| .................... }//end of if |
| .................... }//end of else |
| .................... // delay_us(850); //introduces a delay that creates 1200 baud |
| .................... SendBit(); |
| .................... inbyte = inbyte>>1; //go to the next bit in the byte |
| .................... }//end of for |
| .................... }//end of SendByte |
| .................... |
| .................... void SendPacket(char *data) |
| .................... { |
| .................... bit=FALSE; |
| .................... |
| .................... fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
| .................... stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
| .................... // it is time to stuff a 0. |
| .................... |
| .................... // output_low(PTT); // Blinking LED |
| .................... // delay_ms(1000); |
| .................... // output_high(PTT); |
| .................... |
| .................... flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise. |
| .................... fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
| .................... |
| .................... for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
| .................... //each flag takes approx 6.7 ms |
| .................... flag_flag = FALSE; //done sending flags |
| .................... |
| .................... for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
| .................... |
| .................... for(i=0; 0 != *data; i++) |
| .................... { |
| .................... SendByte(*data); //send the packet bytes |
| .................... data++; |
| .................... }; |
| .................... |
| .................... fcs_flag = TRUE; //about to send the FCS bytes |
| .................... fcslo =fcslo^0xff; //must XOR them with FF before sending |
| .................... fcshi = fcshi^0xff; |
| .................... SendByte(fcslo); //send the low byte of fcs |
| .................... SendByte(fcshi); //send the high byte of fcs |
| .................... fcs_flag = FALSE; //done sending FCS |
| .................... flag_flag = TRUE; //about to send flags |
| .................... SendByte(0x7e); // Send a flag to end packet |
| .................... } |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... //program |
| .................... #define MEZERA 38 // jak se muze jet dlouho bez cary |
| .................... #define COUVEJ 700 // kolik se ma couvat po detekci diry |
| .................... #define CIKCAK 40 // kolik se ma jet cik/cak |
| .................... #define PRES_DIRU 350 // jak predpokladame velkou diru |
| .................... #define TRESHOLD 50 |
| .................... |
| .................... #define L 0 // left |
| .................... #define R 1 // right |
| .................... #define S 2 // straight |
| .................... |
| .................... char AXstring[40]; // Buffer pro prenos telemetrie |
| .................... |
| .................... int movement; // smer minuleho pohybu |
| .................... int line; // na ktere strane byla detekovana cara |
| .................... int dira; // pocitadlo pro nalezeni preruseni cary |
| .................... int n; // pomocna promena pro cyklus FOR |
| .................... |
| .................... void cik_cak() // Hledani cary |
| .................... { |
| .................... n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
| .................... switch(movement) // zmenime smer zataceni |
| .................... { |
| .................... case L: |
| .................... FL;STOPR; // doprava |
| .................... movement=R; // poznamenej kam jedem |
| .................... line=L; // kdyz prejedem, tak bude cara vlevo |
| .................... break; |
| .................... case R: |
| .................... FR;STOPL; // doleva |
| .................... movement=L; // poznamenej kam jedem |
| .................... line=R; // kdyz prejedem, tak bude cara vpravo |
| .................... break; |
| .................... } |
| .................... |
| .................... while(true) // jed cik-cak, dokud nenajdes caru |
| .................... { |
| .................... set_adc_channel(RSENSOR); |
| .................... if (TRESHOLD > read_adc()) // je cara ?? |
| .................... { |
| .................... STOPL; |
| .................... STOPR; |
| .................... break; |
| .................... }; |
| .................... if (CIKCAK < n++) // Jedeme uz dost dlouho cik??Pak jed cak. |
| .................... { |
| .................... n=0; |
| .................... STOPL; |
| .................... STOPR; |
| .................... switch(movement) // zmenime smer zataceni |
| .................... { |
| .................... case L: |
| .................... FL; // doprava |
| .................... movement=R; // poznamenej kam jedem |
| .................... line=L; // kdyz prejedem, tak bude cara vlevo |
| .................... break; |
| .................... case R: |
| .................... FR; // doleva |
| .................... movement=L; // poznamenej kam jedem |
| .................... line=R; // kdyz prejedem, tak bude cara vpravo |
| .................... break; |
| .................... } |
| .................... } |
| .................... } |
| .................... } |
| .................... |
| .................... |
| .................... void diagnostika() |
| .................... { |
| .................... int n; |
| .................... |
| .................... while (input(PIN_C4)) |
| 01CA: BSF 44.4 |
| 01CB: MOVF 44,W |
| 01CC: BSF 03.5 |
| 01CD: MOVWF 07 |
| 01CE: BCF 03.5 |
| 01CF: BTFSS 07.4 |
| 01D0: GOTO 2C9 |
| .................... { |
| .................... |
| .................... for (n=500; n<5000; n+=100) |
| 01D1: MOVLW F4 |
| 01D2: MOVWF 71 |
| .................... { |
| .................... SoundBeep(n,50); //beep |
| 01D3: CLRF 73 |
| 01D4: MOVF 71,W |
| 01D5: MOVWF 72 |
| 01D6: CLRF 75 |
| 01D7: MOVLW 32 |
| 01D8: MOVWF 74 |
| 01D9: CALL 129 |
| .................... }; |
| 01DA: MOVLW 64 |
| 01DB: ADDWF 71,F |
| 01DC: GOTO 1D3 |
| .................... Delay_ms(1000); |
| 01DD: MOVLW 04 |
| 01DE: MOVWF 72 |
| 01DF: MOVLW FA |
| 01E0: MOVWF 73 |
| 01E1: CALL 0A8 |
| 01E2: DECFSZ 72,F |
| 01E3: GOTO 1DF |
| .................... |
| .................... STOPL; //zastav vse |
| 01E4: BSF 03.5 |
| 01E5: BCF 06.6 |
| 01E6: BCF 03.5 |
| 01E7: BCF 06.6 |
| 01E8: BSF 03.5 |
| 01E9: BCF 06.7 |
| 01EA: BCF 03.5 |
| 01EB: BCF 06.7 |
| .................... STOPR; |
| 01EC: BSF 03.5 |
| 01ED: BCF 06.4 |
| 01EE: BCF 03.5 |
| 01EF: BCF 06.4 |
| 01F0: BSF 03.5 |
| 01F1: BCF 06.5 |
| 01F2: BCF 03.5 |
| 01F3: BCF 06.5 |
| .................... |
| .................... FR; //pravy pas |
| 01F4: BSF 03.5 |
| 01F5: BCF 06.4 |
| 01F6: BCF 03.5 |
| 01F7: BSF 06.4 |
| 01F8: BSF 03.5 |
| 01F9: BCF 06.5 |
| 01FA: BCF 03.5 |
| 01FB: BCF 06.5 |
| .................... Delay_ms(1000); |
| 01FC: MOVLW 04 |
| 01FD: MOVWF 72 |
| 01FE: MOVLW FA |
| 01FF: MOVWF 73 |
| 0200: CALL 0A8 |
| 0201: DECFSZ 72,F |
| 0202: GOTO 1FE |
| .................... STOPR; |
| 0203: BSF 03.5 |
| 0204: BCF 06.4 |
| 0205: BCF 03.5 |
| 0206: BCF 06.4 |
| 0207: BSF 03.5 |
| 0208: BCF 06.5 |
| 0209: BCF 03.5 |
| 020A: BCF 06.5 |
| .................... Delay_ms(1000); |
| 020B: MOVLW 04 |
| 020C: MOVWF 72 |
| 020D: MOVLW FA |
| 020E: MOVWF 73 |
| 020F: CALL 0A8 |
| 0210: DECFSZ 72,F |
| 0211: GOTO 20D |
| .................... BR; |
| 0212: BSF 03.5 |
| 0213: BCF 06.5 |
| 0214: BCF 03.5 |
| 0215: BSF 06.5 |
| 0216: BSF 03.5 |
| 0217: BCF 06.4 |
| 0218: BCF 03.5 |
| 0219: BCF 06.4 |
| .................... Delay_ms(1000); |
| 021A: MOVLW 04 |
| 021B: MOVWF 72 |
| 021C: MOVLW FA |
| 021D: MOVWF 73 |
| 021E: CALL 0A8 |
| 021F: DECFSZ 72,F |
| 0220: GOTO 21C |
| .................... STOPR; |
| 0221: BSF 03.5 |
| 0222: BCF 06.4 |
| 0223: BCF 03.5 |
| 0224: BCF 06.4 |
| 0225: BSF 03.5 |
| 0226: BCF 06.5 |
| 0227: BCF 03.5 |
| 0228: BCF 06.5 |
| .................... Delay_ms(1000); |
| 0229: MOVLW 04 |
| 022A: MOVWF 72 |
| 022B: MOVLW FA |
| 022C: MOVWF 73 |
| 022D: CALL 0A8 |
| 022E: DECFSZ 72,F |
| 022F: GOTO 22B |
| .................... |
| .................... FL; //levy pas |
| 0230: BSF 03.5 |
| 0231: BCF 06.6 |
| 0232: BCF 03.5 |
| 0233: BSF 06.6 |
| 0234: BSF 03.5 |
| 0235: BCF 06.7 |
| 0236: BCF 03.5 |
| 0237: BCF 06.7 |
| .................... Delay_ms(1000); |
| 0238: MOVLW 04 |
| 0239: MOVWF 72 |
| 023A: MOVLW FA |
| 023B: MOVWF 73 |
| 023C: CALL 0A8 |
| 023D: DECFSZ 72,F |
| 023E: GOTO 23A |
| .................... STOPL; |
| 023F: BSF 03.5 |
| 0240: BCF 06.6 |
| 0241: BCF 03.5 |
| 0242: BCF 06.6 |
| 0243: BSF 03.5 |
| 0244: BCF 06.7 |
| 0245: BCF 03.5 |
| 0246: BCF 06.7 |
| .................... Delay_ms(1000); |
| 0247: MOVLW 04 |
| 0248: MOVWF 72 |
| 0249: MOVLW FA |
| 024A: MOVWF 73 |
| 024B: CALL 0A8 |
| 024C: DECFSZ 72,F |
| 024D: GOTO 249 |
| .................... BL; |
| 024E: BSF 03.5 |
| 024F: BCF 06.7 |
| 0250: BCF 03.5 |
| 0251: BSF 06.7 |
| 0252: BSF 03.5 |
| 0253: BCF 06.6 |
| 0254: BCF 03.5 |
| 0255: BCF 06.6 |
| .................... Delay_ms(1000); |
| 0256: MOVLW 04 |
| 0257: MOVWF 72 |
| 0258: MOVLW FA |
| 0259: MOVWF 73 |
| 025A: CALL 0A8 |
| 025B: DECFSZ 72,F |
| 025C: GOTO 258 |
| .................... STOPL; |
| 025D: BSF 03.5 |
| 025E: BCF 06.6 |
| 025F: BCF 03.5 |
| 0260: BCF 06.6 |
| 0261: BSF 03.5 |
| 0262: BCF 06.7 |
| 0263: BCF 03.5 |
| 0264: BCF 06.7 |
| .................... Delay_ms(1000); |
| 0265: MOVLW 04 |
| 0266: MOVWF 72 |
| 0267: MOVLW FA |
| 0268: MOVWF 73 |
| 0269: CALL 0A8 |
| 026A: DECFSZ 72,F |
| 026B: GOTO 267 |
| .................... |
| .................... FL; //oba pasy |
| 026C: BSF 03.5 |
| 026D: BCF 06.6 |
| 026E: BCF 03.5 |
| 026F: BSF 06.6 |
| 0270: BSF 03.5 |
| 0271: BCF 06.7 |
| 0272: BCF 03.5 |
| 0273: BCF 06.7 |
| .................... FR; |
| 0274: BSF 03.5 |
| 0275: BCF 06.4 |
| 0276: BCF 03.5 |
| 0277: BSF 06.4 |
| 0278: BSF 03.5 |
| 0279: BCF 06.5 |
| 027A: BCF 03.5 |
| 027B: BCF 06.5 |
| .................... Delay_ms(1000); |
| 027C: MOVLW 04 |
| 027D: MOVWF 72 |
| 027E: MOVLW FA |
| 027F: MOVWF 73 |
| 0280: CALL 0A8 |
| 0281: DECFSZ 72,F |
| 0282: GOTO 27E |
| .................... STOPL; |
| 0283: BSF 03.5 |
| 0284: BCF 06.6 |
| 0285: BCF 03.5 |
| 0286: BCF 06.6 |
| 0287: BSF 03.5 |
| 0288: BCF 06.7 |
| 0289: BCF 03.5 |
| 028A: BCF 06.7 |
| .................... STOPR; |
| 028B: BSF 03.5 |
| 028C: BCF 06.4 |
| 028D: BCF 03.5 |
| 028E: BCF 06.4 |
| 028F: BSF 03.5 |
| 0290: BCF 06.5 |
| 0291: BCF 03.5 |
| 0292: BCF 06.5 |
| .................... Delay_ms(1000); |
| 0293: MOVLW 04 |
| 0294: MOVWF 72 |
| 0295: MOVLW FA |
| 0296: MOVWF 73 |
| 0297: CALL 0A8 |
| 0298: DECFSZ 72,F |
| 0299: GOTO 295 |
| .................... BL; |
| 029A: BSF 03.5 |
| 029B: BCF 06.7 |
| 029C: BCF 03.5 |
| 029D: BSF 06.7 |
| 029E: BSF 03.5 |
| 029F: BCF 06.6 |
| 02A0: BCF 03.5 |
| 02A1: BCF 06.6 |
| .................... BR; |
| 02A2: BSF 03.5 |
| 02A3: BCF 06.5 |
| 02A4: BCF 03.5 |
| 02A5: BSF 06.5 |
| 02A6: BSF 03.5 |
| 02A7: BCF 06.4 |
| 02A8: BCF 03.5 |
| 02A9: BCF 06.4 |
| .................... Delay_ms(1000); |
| 02AA: MOVLW 04 |
| 02AB: MOVWF 72 |
| 02AC: MOVLW FA |
| 02AD: MOVWF 73 |
| 02AE: CALL 0A8 |
| 02AF: DECFSZ 72,F |
| 02B0: GOTO 2AC |
| .................... STOPL; |
| 02B1: BSF 03.5 |
| 02B2: BCF 06.6 |
| 02B3: BCF 03.5 |
| 02B4: BCF 06.6 |
| 02B5: BSF 03.5 |
| 02B6: BCF 06.7 |
| 02B7: BCF 03.5 |
| 02B8: BCF 06.7 |
| .................... STOPR; |
| 02B9: BSF 03.5 |
| 02BA: BCF 06.4 |
| 02BB: BCF 03.5 |
| 02BC: BCF 06.4 |
| 02BD: BSF 03.5 |
| 02BE: BCF 06.5 |
| 02BF: BCF 03.5 |
| 02C0: BCF 06.5 |
| .................... Delay_ms(1000); |
| 02C1: MOVLW 04 |
| 02C2: MOVWF 72 |
| 02C3: MOVLW FA |
| 02C4: MOVWF 73 |
| 02C5: CALL 0A8 |
| 02C6: DECFSZ 72,F |
| 02C7: GOTO 2C3 |
| .................... } |
| 02C8: GOTO 1CA |
| 02C9: BCF 0A.3 |
| 02CA: GOTO 2F0 (RETURN) |
| .................... } |
| .................... |
| .................... void main() |
| .................... { |
| 02CB: CLRF 04 |
| 02CC: MOVLW 1F |
| 02CD: ANDWF 03,F |
| 02CE: MOVLW 07 |
| 02CF: BSF 03.5 |
| 02D0: MOVWF 1F |
| 02D1: MOVLW 82 |
| 02D2: BCF 03.5 |
| 02D3: MOVWF 2D |
| 02D4: MOVLW 98 |
| 02D5: MOVWF 2E |
| 02D6: MOVWF 2F |
| 02D7: MOVLW 40 |
| 02D8: MOVWF 30 |
| 02D9: MOVWF 31 |
| 02DA: MOVWF 32 |
| 02DB: MOVLW 60 |
| 02DC: MOVWF 33 |
| 02DD: MOVLW 86 |
| 02DE: MOVWF 34 |
| 02DF: MOVLW B4 |
| 02E0: MOVWF 35 |
| 02E1: MOVLW 60 |
| 02E2: MOVWF 36 |
| 02E3: MOVLW A4 |
| 02E4: MOVWF 37 |
| 02E5: MOVWF 38 |
| 02E6: MOVWF 39 |
| 02E7: MOVLW 61 |
| 02E8: MOVWF 3A |
| 02E9: MOVLW 03 |
| 02EA: MOVWF 3B |
| 02EB: MOVLW F0 |
| 02EC: MOVWF 3C |
| 02ED: MOVLW FF |
| 02EE: MOVWF 44 |
| .................... diagnostika(); |
| 02EF: GOTO 1CA |
| .................... |
| .................... SoundBeep(640,200); //beep |
| 02F0: MOVLW 02 |
| 02F1: MOVWF 73 |
| 02F2: MOVLW 80 |
| 02F3: MOVWF 72 |
| 02F4: CLRF 75 |
| 02F5: MOVLW C8 |
| 02F6: MOVWF 74 |
| 02F7: CALL 129 |
| .................... Delay_ms(50); |
| 02F8: MOVLW 32 |
| 02F9: MOVWF 73 |
| 02FA: CALL 0A8 |
| .................... SoundBeep(640,200); |
| 02FB: MOVLW 02 |
| 02FC: MOVWF 73 |
| 02FD: MOVLW 80 |
| 02FE: MOVWF 72 |
| 02FF: CLRF 75 |
| 0300: MOVLW C8 |
| 0301: MOVWF 74 |
| 0302: CALL 129 |
| .................... |
| .................... setup_adc_ports(RA0_RA1_RA3_ANALOG); |
| 0303: MOVLW 04 |
| 0304: BSF 03.5 |
| 0305: MOVWF 1F |
| .................... setup_adc(ADC_CLOCK_DIV_2); |
| 0306: BCF 03.5 |
| 0307: MOVF 1F,W |
| 0308: ANDLW 38 |
| 0309: IORLW 01 |
| 030A: MOVWF 1F |
| .................... Delay_ms(1000); // 1s |
| 030B: MOVLW 04 |
| 030C: MOVWF 71 |
| 030D: MOVLW FA |
| 030E: MOVWF 73 |
| 030F: CALL 0A8 |
| 0310: DECFSZ 71,F |
| 0311: GOTO 30D |
| .................... |
| .................... movement=R; |
| 0312: MOVLW 01 |
| 0313: MOVWF 6D |
| .................... line=S; |
| 0314: MOVLW 02 |
| 0315: MOVWF 6E |
| .................... dira=0; |
| 0316: CLRF 6F |
| .................... |
| .................... //cik_cak(); // toc se, abys nasel caru |
| .................... FL; FR; // vpred |
| 0317: BSF 03.5 |
| 0318: BCF 06.6 |
| 0319: BCF 03.5 |
| 031A: BSF 06.6 |
| 031B: BSF 03.5 |
| 031C: BCF 06.7 |
| 031D: BCF 03.5 |
| 031E: BCF 06.7 |
| 031F: BSF 03.5 |
| 0320: BCF 06.4 |
| 0321: BCF 03.5 |
| 0322: BSF 06.4 |
| 0323: BSF 03.5 |
| 0324: BCF 06.5 |
| 0325: BCF 03.5 |
| 0326: BCF 06.5 |
| .................... |
| .................... // Sledovani cary |
| .................... while(true) |
| .................... { |
| .................... snimani: |
| .................... set_adc_channel(RSENSOR); |
| 0327: MOVLW 08 |
| 0328: MOVWF 21 |
| 0329: MOVF 1F,W |
| 032A: ANDLW C7 |
| 032B: IORWF 21,W |
| 032C: MOVWF 1F |
| .................... Delay_us(2); |
| 032D: NOP |
| 032E: NOP |
| .................... if (TRESHOLD > read_adc()) // Cara pod pravym senzorem |
| 032F: BSF 1F.2 |
| 0330: BTFSC 1F.2 |
| 0331: GOTO 330 |
| 0332: MOVF 1E,W |
| 0333: SUBLW 31 |
| 0334: BTFSS 03.0 |
| 0335: GOTO 34A |
| .................... { |
| .................... dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
| 0336: CLRF 6F |
| .................... line=R; // zaznamenej, kdes videl caru |
| 0337: MOVLW 01 |
| 0338: MOVWF 6E |
| .................... FL;FR; |
| 0339: BSF 03.5 |
| 033A: BCF 06.6 |
| 033B: BCF 03.5 |
| 033C: BSF 06.6 |
| 033D: BSF 03.5 |
| 033E: BCF 06.7 |
| 033F: BCF 03.5 |
| 0340: BCF 06.7 |
| 0341: BSF 03.5 |
| 0342: BCF 06.4 |
| 0343: BCF 03.5 |
| 0344: BSF 06.4 |
| 0345: BSF 03.5 |
| 0346: BCF 06.5 |
| 0347: BCF 03.5 |
| 0348: BCF 06.5 |
| .................... goto snimani; |
| 0349: GOTO 327 |
| .................... } |
| .................... |
| .................... set_adc_channel(LSENSOR); |
| 034A: MOVLW 00 |
| 034B: MOVWF 21 |
| 034C: MOVF 1F,W |
| 034D: ANDLW C7 |
| 034E: IORWF 21,W |
| 034F: MOVWF 1F |
| .................... Delay_us(2); |
| 0350: NOP |
| 0351: NOP |
| .................... if (TRESHOLD > read_adc()) // Cara pod levym senzorem |
| 0352: BSF 1F.2 |
| 0353: BTFSC 1F.2 |
| 0354: GOTO 353 |
| 0355: MOVF 1E,W |
| 0356: SUBLW 31 |
| 0357: BTFSS 03.0 |
| 0358: GOTO 36C |
| .................... { |
| .................... dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
| 0359: CLRF 6F |
| .................... line=L; // zaznamenej, kdes videl caru |
| 035A: CLRF 6E |
| .................... FL;FR; |
| 035B: BSF 03.5 |
| 035C: BCF 06.6 |
| 035D: BCF 03.5 |
| 035E: BSF 06.6 |
| 035F: BSF 03.5 |
| 0360: BCF 06.7 |
| 0361: BCF 03.5 |
| 0362: BCF 06.7 |
| 0363: BSF 03.5 |
| 0364: BCF 06.4 |
| 0365: BCF 03.5 |
| 0366: BSF 06.4 |
| 0367: BSF 03.5 |
| 0368: BCF 06.5 |
| 0369: BCF 03.5 |
| 036A: BCF 06.5 |
| .................... goto snimani; |
| 036B: GOTO 327 |
| .................... } |
| .................... |
| .................... // oba senzory mimo caru |
| .................... if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
| 036C: MOVF 6F,F |
| 036D: BTFSS 03.2 |
| 036E: GOTO 3BF |
| .................... // v ostatnich cyklech nedelame nic (pro urychleni snimani) |
| .................... { |
| .................... STOPL; |
| 036F: BSF 03.5 |
| 0370: BCF 06.6 |
| 0371: BCF 03.5 |
| 0372: BCF 06.6 |
| 0373: BSF 03.5 |
| 0374: BCF 06.7 |
| 0375: BCF 03.5 |
| 0376: BCF 06.7 |
| .................... STOPR; |
| 0377: BSF 03.5 |
| 0378: BCF 06.4 |
| 0379: BCF 03.5 |
| 037A: BCF 06.4 |
| 037B: BSF 03.5 |
| 037C: BCF 06.5 |
| 037D: BCF 03.5 |
| 037E: BCF 06.5 |
| .................... BL; |
| 037F: BSF 03.5 |
| 0380: BCF 06.7 |
| 0381: BCF 03.5 |
| 0382: BSF 06.7 |
| 0383: BSF 03.5 |
| 0384: BCF 06.6 |
| 0385: BCF 03.5 |
| 0386: BCF 06.6 |
| .................... BR; |
| 0387: BSF 03.5 |
| 0388: BCF 06.5 |
| 0389: BCF 03.5 |
| 038A: BSF 06.5 |
| 038B: BSF 03.5 |
| 038C: BCF 06.4 |
| 038D: BCF 03.5 |
| 038E: BCF 06.4 |
| .................... Delay_ms(20); |
| 038F: MOVLW 14 |
| 0390: MOVWF 73 |
| 0391: CALL 0A8 |
| .................... STOPL; |
| 0392: BSF 03.5 |
| 0393: BCF 06.6 |
| 0394: BCF 03.5 |
| 0395: BCF 06.6 |
| 0396: BSF 03.5 |
| 0397: BCF 06.7 |
| 0398: BCF 03.5 |
| 0399: BCF 06.7 |
| .................... STOPR; |
| 039A: BSF 03.5 |
| 039B: BCF 06.4 |
| 039C: BCF 03.5 |
| 039D: BCF 06.4 |
| 039E: BSF 03.5 |
| 039F: BCF 06.5 |
| 03A0: BCF 03.5 |
| 03A1: BCF 06.5 |
| .................... Delay_ms(200); |
| 03A2: MOVLW C8 |
| 03A3: MOVWF 73 |
| 03A4: CALL 0A8 |
| .................... // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
| .................... if(line==L) |
| 03A5: MOVF 6E,F |
| 03A6: BTFSS 03.2 |
| 03A7: GOTO 3B1 |
| .................... { |
| .................... // doleva |
| .................... // STOPL; |
| .................... FR; |
| 03A8: BSF 03.5 |
| 03A9: BCF 06.4 |
| 03AA: BCF 03.5 |
| 03AB: BSF 06.4 |
| 03AC: BSF 03.5 |
| 03AD: BCF 06.5 |
| 03AE: BCF 03.5 |
| 03AF: BCF 06.5 |
| .................... movement=L; // poznamenej kam jedes |
| 03B0: CLRF 6D |
| .................... } |
| .................... if(line==R) |
| 03B1: DECFSZ 6E,W |
| 03B2: GOTO 3BD |
| .................... { |
| .................... // doprava |
| .................... // STOPR; |
| .................... FL; |
| 03B3: BSF 03.5 |
| 03B4: BCF 06.6 |
| 03B5: BCF 03.5 |
| 03B6: BSF 06.6 |
| 03B7: BSF 03.5 |
| 03B8: BCF 06.7 |
| 03B9: BCF 03.5 |
| 03BA: BCF 06.7 |
| .................... movement=R; // poznamenej kam jedes |
| 03BB: MOVLW 01 |
| 03BC: MOVWF 6D |
| .................... } |
| .................... dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
| 03BD: INCF 6F,F |
| .................... goto snimani; // co nejrychleji se vrat na snimani cary |
| 03BE: GOTO 327 |
| .................... } |
| .................... |
| .................... /*if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?? |
| .................... { |
| .................... dira=0; |
| .................... switch(movement) // kam se jelo ?? |
| .................... { |
| .................... case L: |
| .................... BR; // couvej doprava |
| .................... Delay_ms(COUVEJ); |
| .................... movement=R; |
| .................... break; |
| .................... case R: |
| .................... BL; // couvej doleva |
| .................... Delay_ms(COUVEJ); |
| .................... movement=L; |
| .................... break; |
| .................... } |
| .................... STOP(); // konec couvani |
| .................... FL; FR; // rovne pres diru |
| .................... Delay_ms(PRES_DIRU); |
| .................... STOP(); |
| .................... cik_cak(); // najdi caru |
| .................... FR; FL; // vpred |
| .................... } // dira*/ |
| .................... |
| .................... } // while(true) |
| 03BF: GOTO 327 |
| .................... |
| .................... } |
| .................... |
| 03C0: SLEEP |
| .................... /*void objizdka() |
| .................... { |
| .................... BL; BR; // zacouvej |
| .................... Delay_ms(150); |
| .................... STOP(); |
| .................... |
| .................... cik_cak(); // vyrovnej se na caru |
| .................... cik_cak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
| .................... cik_cak(); |
| .................... |
| .................... BL; FR; Delay_ms(220); // vlevo |
| .................... STOP(); |
| .................... FL; FR; Delay_ms(650); // rovne |
| .................... STOP(); |
| .................... FL; BR; Delay_ms(220); // vpravo |
| .................... STOP(); |
| .................... FL; FR; Delay_ms(770); // rovne |
| .................... STOP(); |
| .................... FL; BR; Delay_ms(210); // vpravo |
| .................... STOP(); |
| .................... FL; FR; |
| .................... Delay_ms(200); // kousek rovne |
| .................... // rovne, dokud nenarazis na caru |
| .................... while(input(RSENSOR)); // pravej senzor, protoze cihla je vpravo |
| .................... STOP(); |
| .................... BL; FR; // toc se doleva, dokud nenarazis na caru |
| .................... while(input(LSENSOR)); // levej senzor, protoze cara je urcite vlevo |
| .................... STOP(); |
| .................... line=R; // caru predpokladame vpravo, kdybysme ji prejeli |
| .................... dira=0; |
| .................... FL; FR; // vpred |
| .................... }*/ |
| .................... |