WebSVN – svnkaklik – /roboti/3Orbis/bak/02/master/main.LST

CCS PCM C Compiler, Version 3.245, 27853               01-IV-06 23:13

               Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst

               ROM used: 582 words (14%)
                         Largest free fragment is 2048
               RAM used: 35 (20%) at main() level
                         38 (22%) worst case
               Stack:    3 worst case (1 in main + 2 for interrupts)

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   18F
0003:  NOP
.................... #include ".\main.h" 
.................... #include <16F88.h> 
.................... //////// Standard Header file for the PIC16F88 device //////////////// 
.................... #device PIC16F88 
.................... #list 
....................  
.................... #device adc=8 
....................  
.................... #FUSES NOWDT                       //No Watch Dog Timer 
.................... #FUSES INTRC_IO               
.................... #FUSES NOPUT                       //No Power Up Timer 
.................... #FUSES MCLR                        //Master Clear pin enabled 
.................... #FUSES BROWNOUT                    //Reset when brownout detected 
.................... #FUSES LVP                         //Low Voltage Programming on B3(PIC16) or B5(PIC18) 
.................... #FUSES NOCPD                       //No EE protection 
.................... #FUSES NOWRT                       //Program memory not write protected 
.................... #FUSES NODEBUG                     //No Debug mode for ICD 
.................... #FUSES NOPROTECT                   //Code not protected from reading 
.................... #FUSES FCMEN                       //Fail-safe clock monitor enabled 
.................... #FUSES IESO                        //Internal External Switch Over mode enabled 
....................  
.................... #use delay(clock=8000000,RESTART_WDT) 
000E:  MOVLW  3F
000F:  MOVWF  04
0010:  MOVF   00,W
0011:  BTFSC  03.2
0012:  GOTO   025
0013:  MOVLW  02
0014:  MOVWF  78
0015:  MOVLW  BF
0016:  MOVWF  77
0017:  CLRWDT
0018:  DECFSZ 77,F
0019:  GOTO   017
001A:  DECFSZ 78,F
001B:  GOTO   015
001C:  MOVLW  96
001D:  MOVWF  77
001E:  DECFSZ 77,F
001F:  GOTO   01E
0020:  NOP
0021:  NOP
0022:  CLRWDT
0023:  DECFSZ 00,F
0024:  GOTO   013
0025:  BCF    0A.3
0026:  GOTO   040 (RETURN)
0027:  MOVLW  08
0028:  SUBWF  3F,F
0029:  BTFSS  03.0
002A:  GOTO   036
002B:  MOVLW  3F
002C:  MOVWF  04
002D:  BCF    03.0
002E:  RRF    00,F
002F:  MOVF   00,W
0030:  BTFSC  03.2
0031:  GOTO   036
0032:  GOTO   034
0033:  CLRWDT
0034:  DECFSZ 00,F
0035:  GOTO   033
0036:  BCF    0A.3
0037:  GOTO   043 (RETURN)
....................  
....................  
....................  
.................... #use rtos (timer=2, minor_cycle=2ms) 
....................  
.................... unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru 
.................... unsigned int8 line;           // na ktere strane byla detekovana cara 
.................... unsigned int8 dira;           // pocita dobu po kterou je ztracena cara 
.................... unsigned int8 uhel;           // urcuje aktualni uhel zataceni 
....................  
.................... signed int16  Lmotor;                 // promene, ktere urcuji velikost vykonu na levem 
.................... signed int16  Rmotor;                 // a pravem motoru 
....................  
.................... #define  LMAX        190      // maximalni zatoceni doleva 
.................... #define  RMAX        60       // maximalni zatoceni doprava 
.................... #define  STRED       128      // sredni poloha zadniho kolecka 
....................  
.................... // servo 
.................... #define  SERVO PIN_A2 
....................  
.................... //motory 
.................... #define  FR         output_low(PIN_A7); output_high(PIN_A6)  // Vpred 
.................... #define  FL         output_low(PIN_A1); output_high(PIN_A0) 
.................... #define  BR         output_low(PIN_A6); output_high(PIN_A7)  // Vzad 
.................... #define  BL         output_low(PIN_A0); output_high(PIN_A1) 
.................... #define  STOPR      output_low(PIN_A6);output_low(PIN_A7) 
.................... #define  STOPL      output_low(PIN_A0);output_low(PIN_A1) 
....................  
.................... //HID 
.................... #define  LED1     PIN_B1      //oranzova 
.................... #define  LED2     PIN_B2      //zluta 
....................  
.................... #define  STROBE   PIN_B0 
.................... //#define  SW1      PIN_A2      // Motory On/off 
....................  
.................... // makro pro PWM 
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ 
.................... {direction##motor;} else {stop##motor;} 
....................  
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... /* 
.................... void diagnostika() 
.................... { 
....................    if(input(SW1))STOPR;STOPL;While(TRUE); 
.................... //   if(LSENSOR==true) output_high(LED2); else output_low(LED2); 
.................... //   if(RSENSOR==true) output_high(LED1); else output_low(LED1); 
.................... } 
.................... */ 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... #task (rate=16ms,max=2ms) 
.................... void zatoc()   // ridi servo ktere otaci kolem 
.................... { 
.................... unsigned int8 n; 
....................    output_high(SERVO); 
0038:  BSF    03.5
0039:  BCF    05.2
003A:  BCF    03.5
003B:  BSF    05.2
....................    delay_us(1200); 
003C:  CLRWDT
003D:  MOVLW  01
003E:  MOVWF  3F
003F:  GOTO   00E
0040:  MOVLW  C7
0041:  MOVWF  3F
0042:  GOTO   027
....................    for(n=uhel; n>0; n--); 
0043:  MOVF   24,W
0044:  MOVWF  3E
0045:  MOVF   3E,F
0046:  BTFSC  03.2
0047:  GOTO   04A
0048:  DECF   3E,F
0049:  GOTO   045
....................    output_low(SERVO); 
004A:  BSF    03.5
004B:  BCF    05.2
004C:  BCF    03.5
004D:  BCF    05.2
.................... } 
004E:  MOVLW  38
004F:  MOVWF  2E
0050:  MOVLW  00
0051:  MOVWF  2F
0052:  BCF    0A.3
0053:  GOTO   236
0054:  RETLW  00
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... #task (rate=2ms, max=500us) 
.................... void motory()        // umoznuje nezavisle rizeni vykonu na obou motorech 
.................... { 
....................  
....................    if(Rmotor>0)                  //pravy motor 
0055:  BTFSC  28.7
0056:  GOTO   07D
0057:  MOVF   28,F
0058:  BTFSS  03.2
0059:  GOTO   05E
005A:  MOVF   27,W
005B:  SUBLW  00
005C:  BTFSC  03.0
005D:  GOTO   07D
....................    { 
....................       GO(R, F, Rmotor); 
005E:  MOVF   01,W
005F:  BTFSS  00.7
0060:  GOTO   064
0061:  BTFSS  28.7
0062:  GOTO   06C
0063:  GOTO   066
0064:  BTFSC  28.7
0065:  GOTO   075
0066:  MOVF   28,F
0067:  BTFSS  03.2
0068:  GOTO   06C
0069:  SUBWF  27,W
006A:  BTFSS  03.0
006B:  GOTO   075
006C:  BSF    03.5
006D:  BCF    05.7
006E:  BCF    03.5
006F:  BCF    05.7
0070:  BSF    03.5
0071:  BCF    05.6
0072:  BCF    03.5
0073:  BSF    05.6
0074:  GOTO   07D
0075:  BSF    03.5
0076:  BCF    05.6
0077:  BCF    03.5
0078:  BCF    05.6
0079:  BSF    03.5
007A:  BCF    05.7
007B:  BCF    03.5
007C:  BCF    05.7
....................    } 
....................  
....................    if(Rmotor==0) STOPR; 
007D:  MOVF   27,F
007E:  BTFSS  03.2
007F:  GOTO   087
0080:  MOVF   28,F
0081:  BTFSS  03.2
0082:  GOTO   087
0083:  BSF    03.5
0084:  BCF    05.6
0085:  BCF    03.5
0086:  BCF    05.6
0087:  BSF    03.5
0088:  BCF    05.7
0089:  BCF    03.5
008A:  BCF    05.7
....................  
....................    if(Rmotor<0) 
008B:  BTFSS  28.7
008C:  GOTO   0BD
....................    { 
....................       GO(R, B, abs(Rmotor)); 
008D:  MOVF   01,W
008E:  MOVWF  40
008F:  MOVF   28,W
0090:  MOVWF  7A
0091:  MOVF   27,W
0092:  BTFSS  28.7
0093:  GOTO   09D
0094:  MOVF   27,W
0095:  SUBLW  00
0096:  MOVWF  77
0097:  CLRF   7A
0098:  MOVF   28,W
0099:  BTFSS  03.0
009A:  INCFSZ 28,W
009B:  SUBWF  7A,F
009C:  MOVF   77,W
009D:  MOVWF  78
009E:  BTFSS  40.7
009F:  GOTO   0A3
00A0:  BTFSS  7A.7
00A1:  GOTO   0AC
00A2:  GOTO   0A5
00A3:  BTFSC  7A.7
00A4:  GOTO   0B5
00A5:  MOVF   7A,F
00A6:  BTFSS  03.2
00A7:  GOTO   0AC
00A8:  MOVF   40,W
00A9:  SUBWF  78,W
00AA:  BTFSS  03.0
00AB:  GOTO   0B5
00AC:  BSF    03.5
00AD:  BCF    05.6
00AE:  BCF    03.5
00AF:  BCF    05.6
00B0:  BSF    03.5
00B1:  BCF    05.7
00B2:  BCF    03.5
00B3:  BSF    05.7
00B4:  GOTO   0BD
00B5:  BSF    03.5
00B6:  BCF    05.6
00B7:  BCF    03.5
00B8:  BCF    05.6
00B9:  BSF    03.5
00BA:  BCF    05.7
00BB:  BCF    03.5
00BC:  BCF    05.7
....................    } 
....................  
....................    if(Lmotor>0)                  // levy motor 
00BD:  BTFSC  26.7
00BE:  GOTO   0E5
00BF:  MOVF   26,F
00C0:  BTFSS  03.2
00C1:  GOTO   0C6
00C2:  MOVF   25,W
00C3:  SUBLW  00
00C4:  BTFSC  03.0
00C5:  GOTO   0E5
....................    { 
....................       GO(L, F, Lmotor); 
00C6:  MOVF   01,W
00C7:  BTFSS  00.7
00C8:  GOTO   0CC
00C9:  BTFSS  26.7
00CA:  GOTO   0D4
00CB:  GOTO   0CE
00CC:  BTFSC  26.7
00CD:  GOTO   0DD
00CE:  MOVF   26,F
00CF:  BTFSS  03.2
00D0:  GOTO   0D4
00D1:  SUBWF  25,W
00D2:  BTFSS  03.0
00D3:  GOTO   0DD
00D4:  BSF    03.5
00D5:  BCF    05.1
00D6:  BCF    03.5
00D7:  BCF    05.1
00D8:  BSF    03.5
00D9:  BCF    05.0
00DA:  BCF    03.5
00DB:  BSF    05.0
00DC:  GOTO   0E5
00DD:  BSF    03.5
00DE:  BCF    05.0
00DF:  BCF    03.5
00E0:  BCF    05.0
00E1:  BSF    03.5
00E2:  BCF    05.1
00E3:  BCF    03.5
00E4:  BCF    05.1
....................    } 
....................  
....................    if(Lmotor==0) STOPL; 
00E5:  MOVF   25,F
00E6:  BTFSS  03.2
00E7:  GOTO   0EF
00E8:  MOVF   26,F
00E9:  BTFSS  03.2
00EA:  GOTO   0EF
00EB:  BSF    03.5
00EC:  BCF    05.0
00ED:  BCF    03.5
00EE:  BCF    05.0
00EF:  BSF    03.5
00F0:  BCF    05.1
00F1:  BCF    03.5
00F2:  BCF    05.1
....................  
....................    if(Lmotor<0) 
00F3:  BTFSS  26.7
00F4:  GOTO   125
....................    { 
....................       GO(L, B, abs(Lmotor)); 
00F5:  MOVF   01,W
00F6:  MOVWF  40
00F7:  MOVF   26,W
00F8:  MOVWF  7A
00F9:  MOVF   25,W
00FA:  BTFSS  26.7
00FB:  GOTO   105
00FC:  MOVF   25,W
00FD:  SUBLW  00
00FE:  MOVWF  77
00FF:  CLRF   7A
0100:  MOVF   26,W
0101:  BTFSS  03.0
0102:  INCFSZ 26,W
0103:  SUBWF  7A,F
0104:  MOVF   77,W
0105:  MOVWF  78
0106:  BTFSS  40.7
0107:  GOTO   10B
0108:  BTFSS  7A.7
0109:  GOTO   114
010A:  GOTO   10D
010B:  BTFSC  7A.7
010C:  GOTO   11D
010D:  MOVF   7A,F
010E:  BTFSS  03.2
010F:  GOTO   114
0110:  MOVF   40,W
0111:  SUBWF  78,W
0112:  BTFSS  03.0
0113:  GOTO   11D
0114:  BSF    03.5
0115:  BCF    05.0
0116:  BCF    03.5
0117:  BCF    05.0
0118:  BSF    03.5
0119:  BCF    05.1
011A:  BCF    03.5
011B:  BSF    05.1
011C:  GOTO   125
011D:  BSF    03.5
011E:  BCF    05.0
011F:  BCF    03.5
0120:  BCF    05.0
0121:  BSF    03.5
0122:  BCF    05.1
0123:  BCF    03.5
0124:  BCF    05.1
....................    } 
.................... } 
0125:  MOVLW  55
0126:  MOVWF  35
0127:  MOVLW  00
0128:  MOVWF  36
0129:  BCF    0A.3
012A:  GOTO   236
012B:  RETLW  00
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... #task (rate=4ms, max=500us, queue=0) 
.................... void rizeni() 
.................... { 
.................... rizeni: 
....................  
....................    sensors = spi_read(0);         // cteni senzoru na caru 
012C:  MOVF   13,W
012D:  CLRF   13
012E:  BSF    03.5
012F:  BTFSC  14.0
0130:  GOTO   133
0131:  BCF    03.5
0132:  GOTO   12E
0133:  BCF    03.5
0134:  MOVF   13,W
0135:  MOVWF  21
....................    output_high(STROBE); 
0136:  BSF    03.5
0137:  BCF    06.0
0138:  BCF    03.5
0139:  BSF    06.0
....................    output_low(STROBE); 
013A:  BSF    03.5
013B:  BCF    06.0
013C:  BCF    03.5
013D:  BCF    06.0
....................  
....................    if(bit_test(sensors,0)) //*......//     // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu 
013E:  BTFSS  21.0
013F:  GOTO   148
....................    { 
....................       uhel=LMAX; 
0140:  MOVLW  BE
0141:  MOVWF  24
....................       Lmotor=0;Rmotor=127; 
0142:  CLRF   26
0143:  CLRF   25
0144:  CLRF   28
0145:  MOVLW  7F
0146:  MOVWF  27
....................       goto rizeni; 
0147:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,6)) //......*// 
0148:  BTFSS  21.6
0149:  GOTO   152
....................    { 
....................       uhel=RMAX; 
014A:  MOVLW  3C
014B:  MOVWF  24
....................       Rmotor=0;Lmotor=127; 
014C:  CLRF   28
014D:  CLRF   27
014E:  CLRF   26
014F:  MOVLW  7F
0150:  MOVWF  25
....................       goto rizeni; 
0151:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,1)) //.*.....// 
0152:  BTFSS  21.1
0153:  GOTO   15D
....................    { 
....................       uhel=STRED+30; 
0154:  MOVLW  9E
0155:  MOVWF  24
....................       Lmotor=70;Rmotor=127; 
0156:  CLRF   26
0157:  MOVLW  46
0158:  MOVWF  25
0159:  CLRF   28
015A:  MOVLW  7F
015B:  MOVWF  27
....................       goto rizeni; 
015C:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,5)) //.....*.// 
015D:  BTFSS  21.5
015E:  GOTO   168
....................    { 
....................       uhel=STRED-30; 
015F:  MOVLW  62
0160:  MOVWF  24
....................       Rmotor=70;Lmotor=127; 
0161:  CLRF   28
0162:  MOVLW  46
0163:  MOVWF  27
0164:  CLRF   26
0165:  MOVLW  7F
0166:  MOVWF  25
....................       goto rizeni; 
0167:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,2)) //..*....// 
0168:  BTFSS  21.2
0169:  GOTO   173
....................    { 
....................       uhel=STRED+20; 
016A:  MOVLW  94
016B:  MOVWF  24
....................       Lmotor=90;Rmotor=127; 
016C:  CLRF   26
016D:  MOVLW  5A
016E:  MOVWF  25
016F:  CLRF   28
0170:  MOVLW  7F
0171:  MOVWF  27
....................       goto rizeni; 
0172:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,4)) //....*..// 
0173:  BTFSS  21.4
0174:  GOTO   17E
....................    { 
....................       uhel=STRED-20; 
0175:  MOVLW  6C
0176:  MOVWF  24
....................       Rmotor=90;Lmotor=127; 
0177:  CLRF   28
0178:  MOVLW  5A
0179:  MOVWF  27
017A:  CLRF   26
017B:  MOVLW  7F
017C:  MOVWF  25
....................       goto rizeni; 
017D:  GOTO   12C
....................    } 
....................    if(bit_test(sensors,3)) //...*...// 
017E:  BTFSS  21.3
017F:  GOTO   188
....................    { 
....................       uhel=STRED; 
0180:  MOVLW  80
0181:  MOVWF  24
....................       Lmotor=100;Rmotor=100; 
0182:  CLRF   26
0183:  MOVLW  64
0184:  MOVWF  25
0185:  CLRF   28
0186:  MOVWF  27
....................       goto rizeni; 
0187:  GOTO   12C
....................    } 
....................  
.................... /*STOPL;STOPR; 
....................       if(bit_test(sensors,7)) 
....................       { 
....................  
....................       }*/ 
.................... } 
0188:  MOVLW  2C
0189:  MOVWF  3C
018A:  MOVLW  01
018B:  MOVWF  3D
018C:  BCF    0A.3
018D:  GOTO   236
018E:  RETLW  00
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... void main() 
.................... { 
018F:  CLRF   04
0190:  MOVLW  1F
0191:  ANDWF  03,F
0192:  MOVLW  70
0193:  BSF    03.5
0194:  MOVWF  0F
0195:  BCF    1F.4
0196:  BCF    1F.5
0197:  MOVF   1B,W
0198:  ANDLW  80
0199:  MOVWF  1B
019A:  MOVLW  07
019B:  MOVWF  1C
....................    setup_adc_ports(NO_ANALOGS); 
019C:  BCF    1F.4
019D:  BCF    1F.5
019E:  MOVF   1B,W
019F:  ANDLW  80
01A0:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL); 
01A1:  BCF    1F.6
01A2:  BCF    03.5
01A3:  BSF    1F.6
01A4:  BSF    1F.7
01A5:  BSF    03.5
01A6:  BCF    1F.7
01A7:  BCF    03.5
01A8:  BSF    1F.0
....................    setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); 
01A9:  BCF    14.5
01AA:  BSF    03.5
01AB:  BCF    06.2
01AC:  BSF    06.1
01AD:  BCF    06.4
01AE:  MOVLW  30
01AF:  BCF    03.5
01B0:  MOVWF  14
01B1:  MOVLW  00
01B2:  BSF    03.5
01B3:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); 
01B4:  MOVF   01,W
01B5:  ANDLW  C7
01B6:  IORLW  08
01B7:  MOVWF  01
....................    setup_timer_1(T1_DISABLED); 
01B8:  BCF    03.5
01B9:  CLRF   10
....................    setup_oscillator(OSC_8MHZ|OSC_INTRC); 
01BA:  MOVLW  72
01BB:  BSF    03.5
01BC:  MOVWF  0F
.................... //  set_pwm1_duty(0);       // Spust PWM, ale zatim s trvalou 0 na vystupu 
.................... //   setup_ccp1(CCP_PWM); 
.................... //   setup_timer_2(T2_DIV_BY_16,200,1); // perioda 
.................... //   setup_timer_2(T2_DIV_BY_4,255,10);    // Casovac pro regulaci 
....................  
....................    STOPR; STOPL; 
01BD:  BCF    05.6
01BE:  BCF    03.5
01BF:  BCF    05.6
01C0:  BSF    03.5
01C1:  BCF    05.7
01C2:  BCF    03.5
01C3:  BCF    05.7
01C4:  BSF    03.5
01C5:  BCF    05.0
01C6:  BCF    03.5
01C7:  BCF    05.0
01C8:  BSF    03.5
01C9:  BCF    05.1
01CA:  BCF    03.5
01CB:  BCF    05.1
....................    uhel=STRED; 
01CC:  MOVLW  80
01CD:  MOVWF  24
.................... //      diagnostika(); 
.................... Lmotor=0; 
01CE:  CLRF   26
01CF:  CLRF   25
.................... Rmotor=0; 
01D0:  CLRF   28
01D1:  CLRF   27
....................    rtos_run(); 
01D2:  CLRF   29
01D3:  CLRF   2B
01D4:  MOVLW  08
01D5:  MOVWF  2A
01D6:  CLRF   2D
01D7:  MOVLW  01
01D8:  MOVWF  2C
01D9:  MOVLW  38
01DA:  MOVWF  2E
01DB:  MOVLW  00
01DC:  MOVWF  2F
01DD:  CLRF   30
01DE:  CLRF   32
01DF:  MOVLW  01
01E0:  MOVWF  31
01E1:  CLRF   34
01E2:  CLRF   33
01E3:  MOVLW  55
01E4:  MOVWF  35
01E5:  MOVLW  00
01E6:  MOVWF  36
01E7:  CLRF   37
01E8:  CLRF   39
01E9:  MOVLW  02
01EA:  MOVWF  38
01EB:  CLRF   3B
01EC:  CLRF   3A
01ED:  MOVLW  2C
01EE:  MOVWF  3C
01EF:  MOVLW  01
01F0:  MOVWF  3D
01F1:  CLRF   20
01F2:  MOVLW  00
01F3:  MOVWF  78
01F4:  IORLW  06
01F5:  MOVWF  12
01F6:  MOVLW  FA
01F7:  BSF    03.5
01F8:  MOVWF  12
01F9:  BCF    03.5
01FA:  BCF    0C.1
01FB:  MOVLW  00
01FC:  MOVWF  78
01FD:  IORLW  06
01FE:  MOVWF  12
01FF:  MOVLW  FA
0200:  BSF    03.5
0201:  MOVWF  12
0202:  BCF    03.5
0203:  BCF    0C.1
0204:  BCF    03.0
0205:  RLF    20,W
0206:  MOVWF  77
0207:  CALL   004
0208:  MOVWF  79
0209:  MOVLW  01
020A:  ADDWF  77,W
020B:  CALL   004
020C:  MOVWF  7A
020D:  MOVF   79,W
020E:  MOVWF  04
020F:  MOVF   00,W
0210:  MOVWF  79
0211:  INCF   04,F
0212:  MOVF   00,W
0213:  MOVWF  77
0214:  INCF   04,F
0215:  MOVF   00,W
0216:  MOVWF  78
0217:  INCF   04,F
0218:  INCF   00,F
0219:  MOVF   00,W
021A:  MOVWF  7A
021B:  BTFSS  03.2
021C:  GOTO   220
021D:  INCF   04,F
021E:  INCF   00,F
021F:  DECF   04,F
0220:  INCF   04,F
0221:  MOVF   00,W
0222:  SUBWF  78,W
0223:  BTFSS  03.2
0224:  GOTO   238
0225:  MOVF   77,W
0226:  SUBWF  7A,W
0227:  BTFSS  03.2
0228:  GOTO   238
0229:  DECF   04,F
022A:  CLRF   00
022B:  INCF   04,F
022C:  CLRF   00
022D:  INCF   04,F
022E:  BTFSC  79.7
022F:  GOTO   238
0230:  INCF   04,F
0231:  MOVF   00,W
0232:  MOVWF  0A
0233:  DECF   04,F
0234:  MOVF   00,W
0235:  MOVWF  02
0236:  BCF    03.5
0237:  BCF    03.6
0238:  INCF   20,F
0239:  MOVLW  03
023A:  SUBWF  20,W
023B:  BTFSS  03.2
023C:  GOTO   204
023D:  CLRF   20
023E:  BTFSS  0C.1
023F:  GOTO   242
0240:  BSF    03.5
0241:  GOTO   202
0242:  GOTO   23E
0243:  MOVLW  FF
0244:  MOVWF  20
....................  
.................... } 
0245:  SLEEP

Configuration Fuses:
   Word  1: 3FF8   NOWDT NOPUT MCLR BROWNOUT LVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
   Word  2: 3FFF   FCMEN IESO
Subversion Repositories svnkaklik

(root)/roboti/3Orbis/bak/02/master/main.LST – Rev 1
