| 0,0 → 1,457 |
|---|
| CCS PCW C Compiler, Version 3.110, 15448 |
| |
| Filename: d:\@kaklik\programy\pic_c\prenos\letadlo\prijimac\ostra_bez_ladicich_impulsu\main.LST |
| |
| ROM used: 309 (30%) |
| Largest free fragment is 715 |
| RAM used: 18 (26%) at main() level |
| 20 (29%) worst case |
| Stack: 3 worst case (1 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 083 |
| 0003: NOP |
| 0004: BTFSC 03.5 |
| 0005: GOTO 00A |
| 0006: MOVWF 0E |
| 0007: SWAPF 03,W |
| 0008: MOVWF 0F |
| 0009: GOTO 00F |
| 000A: BCF 03.5 |
| 000B: MOVWF 0E |
| 000C: SWAPF 03,W |
| 000D: MOVWF 0F |
| 000E: BSF 0F.1 |
| 000F: MOVF 0A,W |
| 0010: MOVWF 13 |
| 0011: CLRF 0A |
| 0012: BCF 03.7 |
| 0013: SWAPF 0E,F |
| 0014: MOVF 04,W |
| 0015: MOVWF 10 |
| 0016: MOVF 0C,W |
| 0017: MOVWF 11 |
| 0018: MOVF 0D,W |
| 0019: MOVWF 12 |
| 001A: BCF 03.5 |
| 001B: BTFSS 0B.5 |
| 001C: GOTO 01F |
| 001D: BTFSC 0B.2 |
| 001E: GOTO 043 |
| 001F: MOVF 10,W |
| 0020: MOVWF 04 |
| 0021: MOVF 11,W |
| 0022: MOVWF 0C |
| 0023: MOVF 12,W |
| 0024: MOVWF 0D |
| 0025: MOVF 13,W |
| 0026: MOVWF 0A |
| 0027: SWAPF 0F,W |
| 0028: MOVWF 03 |
| 0029: BCF 03.5 |
| 002A: SWAPF 0E,W |
| 002B: BTFSC 0F.1 |
| 002C: BSF 03.5 |
| 002D: RETFIE |
| .................... // Prijimac |
| .................... #include "main.h" |
| .................... #include <16F84.h> |
| .................... //////// Standard Header file for the PIC16F84 device //////////////// |
| .................... #device PIC16F84 |
| .................... #list |
| .................... |
| .................... #use delay(clock=4000000) |
| 002E: MOVLW 1F |
| 002F: MOVWF 04 |
| 0030: MOVF 00,W |
| 0031: BTFSC 03.2 |
| 0032: GOTO 042 |
| 0033: MOVLW 01 |
| 0034: MOVWF 0D |
| 0035: CLRF 0C |
| 0036: DECFSZ 0C,F |
| 0037: GOTO 036 |
| 0038: DECFSZ 0D,F |
| 0039: GOTO 035 |
| 003A: MOVLW 4A |
| 003B: MOVWF 0C |
| 003C: DECFSZ 0C,F |
| 003D: GOTO 03C |
| 003E: NOP |
| 003F: NOP |
| 0040: DECFSZ 00,F |
| 0041: GOTO 033 |
| 0042: RETLW 00 |
| .................... #fuses XT,PUT,NOWDT |
| .................... |
| .................... |
| .................... #include "..\..\common.h" |
| .................... #DEFINE OSA_X 1 // adresy os |
| .................... #DEFINE OSA_Y 2 |
| .................... #DEFINE OSA_Z 3 |
| .................... #DEFINE OSA_W 4 |
| .................... #DEFINE TLs 5 |
| .................... #DEFINE Trim 6 // ovladani prijimace |
| .................... |
| .................... #DEFINE IMPULS 250 // sirka impulsu |
| .................... #DEFINE SYNC 15 // delka uvodniho ticha v IMPULS/4 |
| .................... |
| .................... |
| .................... #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac |
| .................... #DEFINE SERVO_X PIN_A2 // piny na ktere jsou pripojena serva |
| .................... #DEFINE SERVO_Y PIN_B0 |
| .................... #DEFINE DILEK 20 // jeden krok serva v mikrosekundach |
| .................... |
| .................... #bit T0IF = 0xB.2 // int. flag od Timer0 |
| .................... |
| .................... static int8 x = 16; // poloha serv |
| .................... static int8 y = 16; |
| .................... int8 trim_x = 2; |
| .................... int8 trim_y = 2; |
| .................... |
| .................... boolean flag; // priznak, ze doslo k preruseni prijmu ovladanim serv |
| .................... |
| .................... #int_TIMER0 |
| .................... TIMER0_isr() |
| .................... { |
| .................... int8 n; |
| .................... |
| .................... flag = true; // doslo k preruseni prijmu |
| 0043: BSF 18.0 |
| .................... // x = 15; |
| .................... // y = 15; |
| .................... |
| .................... output_high(SERVO_X); // uvodni impuls 1ms |
| 0044: BSF 03.5 |
| 0045: BCF 05.2 |
| 0046: BCF 03.5 |
| 0047: BSF 05.2 |
| .................... delay_ms(1); |
| 0048: MOVLW 01 |
| 0049: MOVWF 1F |
| 004A: CALL 02E |
| .................... for (n=trim_x; n>0; n--); |
| 004B: MOVF 16,W |
| 004C: MOVWF 1E |
| 004D: MOVF 1E,F |
| 004E: BTFSC 03.2 |
| 004F: GOTO 052 |
| 0050: DECF 1E,F |
| 0051: GOTO 04D |
| .................... for (n=x; n>0; n--) Delay_us(DILEK); |
| 0052: MOVF 14,W |
| 0053: MOVWF 1E |
| 0054: MOVF 1E,F |
| 0055: BTFSC 03.2 |
| 0056: GOTO 05E |
| 0057: MOVLW 06 |
| 0058: MOVWF 0C |
| 0059: DECFSZ 0C,F |
| 005A: GOTO 059 |
| 005B: NOP |
| 005C: DECF 1E,F |
| 005D: GOTO 054 |
| .................... output_low(SERVO_X); |
| 005E: BSF 03.5 |
| 005F: BCF 05.2 |
| 0060: BCF 03.5 |
| 0061: BCF 05.2 |
| .................... |
| .................... output_high(SERVO_Y); |
| 0062: BSF 03.5 |
| 0063: BCF 06.0 |
| 0064: BCF 03.5 |
| 0065: BSF 06.0 |
| .................... delay_ms(1); |
| 0066: MOVLW 01 |
| 0067: MOVWF 1F |
| 0068: CALL 02E |
| .................... for (n=trim_y; n>0; n--); |
| 0069: MOVF 17,W |
| 006A: MOVWF 1E |
| 006B: MOVF 1E,F |
| 006C: BTFSC 03.2 |
| 006D: GOTO 070 |
| 006E: DECF 1E,F |
| 006F: GOTO 06B |
| .................... for (n=y; n>0; n--) Delay_us(DILEK); |
| 0070: MOVF 15,W |
| 0071: MOVWF 1E |
| 0072: MOVF 1E,F |
| 0073: BTFSC 03.2 |
| 0074: GOTO 07C |
| 0075: MOVLW 06 |
| 0076: MOVWF 0C |
| 0077: DECFSZ 0C,F |
| 0078: GOTO 077 |
| 0079: NOP |
| 007A: DECF 1E,F |
| 007B: GOTO 072 |
| .................... output_low(SERVO_Y); |
| 007C: BSF 03.5 |
| 007D: BCF 06.0 |
| 007E: BCF 03.5 |
| 007F: BCF 06.0 |
| 0080: BCF 0B.2 |
| 0081: BCF 0A.3 |
| 0082: GOTO 01F |
| .................... } |
| .................... |
| .................... // output_high(PIN_B1); // debug pin |
| .................... |
| .................... void main() |
| .................... { |
| .................... int i; |
| .................... int8 osa, data, check, suma; |
| 0083: CLRF 04 |
| 0084: MOVLW 1F |
| 0085: ANDWF 03,F |
| 0086: MOVLW 10 |
| 0087: MOVWF 14 |
| 0088: MOVWF 15 |
| 0089: MOVLW 02 |
| 008A: MOVWF 16 |
| 008B: MOVWF 17 |
| .................... |
| .................... setup_counters(RTCC_INTERNAL,RTCC_DIV_64); // Preruseni po 16,3ms |
| 008C: MOVLW 05 |
| 008D: MOVWF 0C |
| 008E: BTFSS 0C.3 |
| 008F: GOTO 098 |
| 0090: MOVLW 07 |
| 0091: CLRF 01 |
| 0092: MOVLW 81 |
| 0093: MOVWF 04 |
| 0094: MOVF 00,W |
| 0095: ANDLW C0 |
| 0096: IORLW 0F |
| 0097: MOVWF 00 |
| 0098: CLRWDT |
| 0099: MOVLW 81 |
| 009A: MOVWF 04 |
| 009B: MOVF 00,W |
| 009C: ANDLW C0 |
| 009D: IORWF 0C,W |
| 009E: MOVWF 00 |
| .................... enable_interrupts(INT_TIMER0); |
| 009F: BSF 0B.5 |
| .................... enable_interrupts(global); |
| 00A0: BSF 0B.7 |
| .................... |
| .................... loop: |
| .................... flag = false; |
| 00A1: BCF 18.0 |
| .................... |
| .................... // Cekej na uvodni ticho |
| .................... for (i=SYNC; i>0; i--) |
| 00A2: MOVLW 0F |
| 00A3: MOVWF 19 |
| 00A4: MOVF 19,F |
| 00A5: BTFSC 03.2 |
| 00A6: GOTO 0B8 |
| .................... { |
| .................... delay_us(IMPULS/4); |
| 00A7: MOVLW 14 |
| 00A8: MOVWF 0C |
| 00A9: DECFSZ 0C,F |
| 00AA: GOTO 0A9 |
| 00AB: NOP |
| .................... if (flag) goto loop; |
| 00AC: BTFSS 18.0 |
| 00AD: GOTO 0AF |
| 00AE: GOTO 0A1 |
| .................... if (!input(PRIJIMAC)) i=SYNC; |
| 00AF: BSF 03.5 |
| 00B0: BSF 05.3 |
| 00B1: BCF 03.5 |
| 00B2: BTFSC 05.3 |
| 00B3: GOTO 0B6 |
| 00B4: MOVLW 0F |
| 00B5: MOVWF 19 |
| .................... } |
| 00B6: DECF 19,F |
| 00B7: GOTO 0A4 |
| .................... |
| .................... // Cekej na startovaci 1 |
| .................... while (input(PRIJIMAC)) if (flag) goto loop; |
| 00B8: BSF 03.5 |
| 00B9: BSF 05.3 |
| 00BA: BCF 03.5 |
| 00BB: BTFSS 05.3 |
| 00BC: GOTO 0C1 |
| 00BD: BTFSS 18.0 |
| 00BE: GOTO 0C0 |
| 00BF: GOTO 0A1 |
| 00C0: GOTO 0B8 |
| .................... |
| .................... if (flag) goto loop; |
| 00C1: BTFSS 18.0 |
| 00C2: GOTO 0C4 |
| 00C3: GOTO 0A1 |
| .................... |
| .................... // Posun na cteni prvniho datoveho bitu |
| .................... delay_us(2*IMPULS+2*IMPULS/3); |
| 00C4: MOVLW DD |
| 00C5: MOVWF 0C |
| 00C6: DECFSZ 0C,F |
| 00C7: GOTO 0C6 |
| 00C8: NOP |
| 00C9: NOP |
| .................... |
| .................... // Cteme bity |
| .................... for (i=8; i>0; i--) |
| 00CA: MOVLW 08 |
| 00CB: MOVWF 19 |
| 00CC: MOVF 19,F |
| 00CD: BTFSC 03.2 |
| 00CE: GOTO 0E9 |
| .................... { |
| .................... data <<= 1; |
| 00CF: BCF 03.0 |
| 00D0: RLF 1B,F |
| .................... if (input(PRIJIMAC)) data |= 1; |
| 00D1: BSF 03.5 |
| 00D2: BSF 05.3 |
| 00D3: BCF 03.5 |
| 00D4: BTFSS 05.3 |
| 00D5: GOTO 0D7 |
| 00D6: BSF 1B.0 |
| .................... if (flag) goto loop; |
| 00D7: BTFSS 18.0 |
| 00D8: GOTO 0DA |
| 00D9: GOTO 0A1 |
| .................... output_high(PIN_B1); // debug pin |
| 00DA: BSF 03.5 |
| 00DB: BCF 06.1 |
| 00DC: BCF 03.5 |
| 00DD: BSF 06.1 |
| .................... delay_us(2*IMPULS+15); |
| 00DE: MOVLW AB |
| 00DF: MOVWF 0C |
| 00E0: DECFSZ 0C,F |
| 00E1: GOTO 0E0 |
| 00E2: NOP |
| .................... output_low(PIN_B1); // debug pin |
| 00E3: BSF 03.5 |
| 00E4: BCF 06.1 |
| 00E5: BCF 03.5 |
| 00E6: BCF 06.1 |
| .................... } |
| 00E7: DECF 19,F |
| 00E8: GOTO 0CC |
| .................... |
| .................... // Cteme checksum |
| .................... check = 0; |
| 00E9: CLRF 1C |
| .................... for (i=4; i>0; i--) |
| 00EA: MOVLW 04 |
| 00EB: MOVWF 19 |
| 00EC: MOVF 19,F |
| 00ED: BTFSC 03.2 |
| 00EE: GOTO 109 |
| .................... { |
| .................... check <<= 1; |
| 00EF: BCF 03.0 |
| 00F0: RLF 1C,F |
| .................... if (input(PRIJIMAC)) check |= 1; |
| 00F1: BSF 03.5 |
| 00F2: BSF 05.3 |
| 00F3: BCF 03.5 |
| 00F4: BTFSS 05.3 |
| 00F5: GOTO 0F7 |
| 00F6: BSF 1C.0 |
| .................... if (flag) goto loop; |
| 00F7: BTFSS 18.0 |
| 00F8: GOTO 0FA |
| 00F9: GOTO 0A1 |
| .................... output_high(PIN_B1); // debug pin |
| 00FA: BSF 03.5 |
| 00FB: BCF 06.1 |
| 00FC: BCF 03.5 |
| 00FD: BSF 06.1 |
| .................... delay_us(2*IMPULS+15); |
| 00FE: MOVLW AB |
| 00FF: MOVWF 0C |
| 0100: DECFSZ 0C,F |
| 0101: GOTO 100 |
| 0102: NOP |
| .................... output_low(PIN_B1); // debug pin |
| 0103: BSF 03.5 |
| 0104: BCF 06.1 |
| 0105: BCF 03.5 |
| 0106: BCF 06.1 |
| .................... } |
| 0107: DECF 19,F |
| 0108: GOTO 0EC |
| .................... |
| .................... swap(data); // kontrola kontrolniho souctu |
| 0109: SWAPF 1B,F |
| .................... suma = data & 0xF; |
| 010A: MOVF 1B,W |
| 010B: ANDLW 0F |
| 010C: MOVWF 1D |
| .................... swap(data); |
| 010D: SWAPF 1B,F |
| .................... suma += data & 0xF; |
| 010E: MOVF 1B,W |
| 010F: ANDLW 0F |
| 0110: ADDWF 1D,F |
| .................... suma++; |
| 0111: INCF 1D,F |
| .................... suma &= 0xF; |
| 0112: MOVLW 0F |
| 0113: ANDWF 1D,F |
| .................... if (suma != check) goto loop; |
| 0114: MOVF 1C,W |
| 0115: SUBWF 1D,W |
| 0116: BTFSC 03.2 |
| 0117: GOTO 119 |
| 0118: GOTO 0A1 |
| .................... |
| .................... osa = data >> 5; // extrahuj z ramce cislo osy a hodnotu |
| 0119: SWAPF 1B,W |
| 011A: MOVWF 1A |
| 011B: RRF 1A,F |
| 011C: MOVLW 07 |
| 011D: ANDWF 1A,F |
| .................... data &= 0x1F; |
| 011E: MOVLW 1F |
| 011F: ANDWF 1B,F |
| .................... switch(osa) |
| 0120: MOVLW 01 |
| 0121: SUBWF 1A,W |
| 0122: ADDLW FE |
| 0123: BTFSC 03.0 |
| 0124: GOTO 12D |
| 0125: ADDLW 02 |
| 0126: GOTO 12F |
| .................... { |
| .................... case OSA_X: |
| .................... x=data; |
| 0127: MOVF 1B,W |
| 0128: MOVWF 14 |
| .................... break; |
| 0129: GOTO 12D |
| .................... case OSA_y: |
| .................... y=data; |
| 012A: MOVF 1B,W |
| 012B: MOVWF 15 |
| .................... break; |
| 012C: GOTO 12D |
| .................... } |
| * |
| 012F: BSF 0A.0 |
| 0130: BCF 0A.1 |
| 0131: BCF 0A.2 |
| 0132: ADDWF 02,F |
| 0133: GOTO 127 |
| 0134: GOTO 12A |
| .................... |
| .................... goto loop; |
| * |
| 012D: GOTO 0A1 |
| .................... } |
| .................... |
| 012E: SLEEP |