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CCS PCW C Compiler, Version 3.110, 15448Filename: d:\@kaklik\programy\pic_c\prenos\letadlo\prijimac\main.LSTROM used: 631 (62%)Largest free fragment is 393RAM used: 12 (18%) at main() level27 (40%) worst caseStack: 5 locations*0000: MOVLW 000001: MOVWF 0A0002: GOTO 1700003: NOP.................... // Prijimac........................................ #include "main.h".................... #include <16F84.h>.................... //////// Standard Header file for the PIC16F84 device ////////////////.................... #device PIC16F84.................... #list........................................ #use delay(clock=4000000)*0015: MOVLW 1E0016: MOVWF 040017: MOVF 00,W0018: BTFSC 03.20019: GOTO 029001A: MOVLW 01001B: MOVWF 0D001C: CLRF 0C001D: DECFSZ 0C,F001E: GOTO 01D001F: DECFSZ 0D,F0020: GOTO 01C0021: MOVLW 4A0022: MOVWF 0C0023: DECFSZ 0C,F0024: GOTO 0230025: NOP0026: NOP0027: DECFSZ 00,F0028: GOTO 01A0029: RETLW 00.................... #fuses XT,NOWDT,PUT............................................................ #include "..\common.h".................... #DEFINE OSA_X 1 // adresy os.................... #DEFINE OSA_Y 2.................... #DEFINE TLs 3.................... #DEFINE IMPULS 250 // sirka impulsu............................................................ #DEFINE LCD_RS PIN_B1 // rizeni registru LCD displeje.................... #DEFINE LCD_E PIN_B0 // enable LCD displeje.................... #DEFINE LCD_DATA_LSB PIN_B2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou).................... #INCLUDE "MYLCD.C".................... // LCD modul pro ovladani dvouradkoveho LCD modulu se standardnim Hitachi radicem.................... // (c)miho 2002.................... //.................... // Historie:.................... //.................... // 0.0 Uvodni verze se snadnou definici portu LCD displeje.................... //.................... //.................... // Funkce:.................... //.................... // lcd_init() inicializuje LCD displej a porty, nutno volat jako prvni.................... //.................... // lcd_putc(c) zapis snaku do lcd displeje, zpracovava nasledujici ridici znaky.................... // \f = \x0C - nova stranka - smazani displeje.................... // \n = \x0A - odradkovani (prechod na druhou radku).................... // \b = \x08 - backspace - posunuti kurzoru o 1 pozici zpet.................... // \r = \x0D - goto home to position 1,1.................... // \0 .. \7 - definovatelne znaky v pozicich 0 az 7 v CGRAM.................... // \20 .. \27 - alternativne zapsane znaky (oktalove) v pozicich 0 az 7 CGRAM.................... // Pozor na to, ze funkce printf konci tisk pokud narazi na \0 (konec retezce).................... //.................... // lcd_gotoxy(x,y) presune kurzor na uvedenou adresu.................... // nekontroluje parametry.................... //.................... // lcd_cursor_on zapne kurzor.................... // lcd_cursor_off vypne kurzor.................... //.................... // lcd_define_char(Index, Def) Makro, ktere definuje znaky od pozice Index obsahem definicniho.................... // retezce Def. Kazdych 8 znaku retezce Def definuje dalsi znak v CGRAM..................... // Kapacita CGRAM je celkem 8 znaku s indexem 0 az 7..................... // Na konci se provede lcd_gotoxy(1,1)..................... // Na konci teto knihovny je priklad pouziti definovanych znaku.................... //.................... // Definice portu:.................... //.................... // #DEFINE LCD_RS PIN_B2 // rizeni registru LCD displeje.................... // #DEFINE LCD_E PIN_B1 // enable LCD displeje.................... // #DEFINE LCD_DATA_LSB PIN_C2 // pripojeni LSB bitu datoveho portu LCD displeje (celkem 4 bity vzestupne za sebou).................................................................................................... // Privatni sekce, cist jen v pripade, ze neco nefunguje.................................................................................................... // Generovane defince portu pro ucely teto knihovny aby kod generoval spravne IO operace a soucasne.................... // bylo mozne jednoduse deklarovat pripojene piny LCD displeje pri pouziti teto knihovny. Problem spociva.................... // v tom, ze se musi spravne ridit smery portu a soucasne datovy port zabira jen 4 bity ze zadaneho portu.................... //.................... #DEFINE LCD_SHIFT (LCD_DATA_LSB&7) // pocet bitu posuvu dataoveho kanalu v datovem portu.................... #DEFINE LCD_PORT (LCD_DATA_LSB>>3) // adresa LCD datoveho portu.................... #DEFINE LCD_TRIS (LCD_PORT+0x80) // adresa prislusneho TRIS registru.................... #DEFINE LCD_MASK (0xF<<LCD_SHIFT) // maska platnych bitu.................... //.................... #IF LCD_SHIFT>4 // kontrola mezi.................... #ERROR LCD data port LSB bit not in range 0..4.................... #ENDIF............................................................ // Definice konstant pro LCD display.................... //.................... #define LCD_CURSOR_ON_ 0x0E // kurzor jako blikajici radka pod znakem.................... #define LCD_CURSOR_OFF_ 0x0C // zadny kurzor.................... #define LCD_LINE_2 0x40 // adresa 1. znaku 2. radky............................................................ // Definice rezimu LCD displeje.................... //.................... BYTE const LCD_INIT_STRING[4] =.................... {.................... 0x28, // intrfejs 4 bity, 2 radky, font 5x7.................... LCD_CURSOR_OFF_, // display on, kurzor off,.................... 0x01, // clear displeje.................... 0x06 // inkrement pozice kurzoru (posun kurzoru doprava).................... };*0004: BCF 0A.00005: BCF 0A.10006: BCF 0A.20007: ADDWF 02,F0008: RETLW 280009: RETLW 0C000A: RETLW 01000B: RETLW 06............................................................ // Odesle nibble do displeje (posle data a klikne signalem e).................... //.................... void lcd_send_nibble( BYTE n ).................... {.................... *LCD_PORT = (*LCD_PORT & ~LCD_MASK) | ((n << LCD_SHIFT) & LCD_MASK); // nastav datove bity portu a ostatni zachovej*002A: MOVF 06,W002B: ANDLW C3002C: MOVWF 25002D: RLF 24,W002E: MOVWF 0C002F: RLF 0C,F0030: MOVLW FC0031: ANDWF 0C,F0032: MOVF 0C,W0033: ANDLW 3C0034: IORWF 25,W0035: MOVWF 06.................... output_bit(LCD_E,1); // vzestupna hrana0036: BSF 06.00037: BSF 03.50038: BCF 06.0.................... delay_us(1); // pockej alespon 450ns od e nebo alespon 195ns od dat0039: NOP.................... output_bit(LCD_E,0); // sestupna hrana (minimalni perioda e je 1us)003A: BCF 03.5003B: BCF 06.0003C: BSF 03.5003D: BCF 06.0003E: BCF 03.5003F: RETLW 00.................... }............................................................ // Odesle bajt do registru LCD.................... //.................... // Pokud je Adr=0 .. instrukcni registr.................... // Pokud je Adr=1 .. datovy registr.................... //.................... void lcd_send_byte( BOOLEAN Adr, BYTE n ).................... {.................... output_bit(LCD_RS,Adr); // vyber registr0040: MOVF 22,F0041: BTFSS 03.20042: GOTO 0450043: BCF 06.10044: GOTO 0460045: BSF 06.10046: BSF 03.50047: BCF 06.1.................... swap(n);0048: BCF 03.50049: SWAPF 23,F.................... lcd_send_nibble(n); // posli horni pulku bajtu004A: MOVF 23,W004B: MOVWF 24004C: CALL 02A.................... swap(n);004D: SWAPF 23,F.................... lcd_send_nibble(n); // posli spodni pulku bajtu004E: MOVF 23,W004F: MOVWF 240050: CALL 02A.................... delay_us(40); // minimalni doba na provedeni prikazu0051: MOVLW 0D0052: MOVWF 0C0053: DECFSZ 0C,F0054: GOTO 0530055: RETLW 00.................... }............................................................ // Provede inicializaci LCD displeje, smaze obsah a nastavi mod displeje.................... //.................... // Tato procedura se musi volat pred pouzitim ostatnich lcd_ procedur.................... //.................... void lcd_init().................... {........................................ int i; // pocitadlo cyklu........................................ delay_ms(20); // spozdeni pro provedeni startu displeje po zapnuti napajeni0056: MOVLW 140057: MOVWF 1E0058: CALL 015........................................ *LCD_TRIS = *LCD_TRIS & ~LCD_MASK; // nuluj odpovidajici bity tris registru datoveho portu LCD0059: MOVLW C3005A: BSF 03.5005B: ANDWF 06,F........................................ output_bit(LCD_RS,0); // nastav jako vystup a nastav klidovy stav005C: BCF 03.5005D: BCF 06.1005E: BSF 03.5005F: BCF 06.1.................... output_bit(LCD_E,0); // nastav jako vystup a nastav klidovy stav0060: BCF 03.50061: BCF 06.00062: BSF 03.50063: BCF 06.0........................................ for (i=0; i<3; i++) // nastav lcd do rezimu 8 bitu sbernice0064: BCF 03.50065: CLRF 1B0066: MOVF 1B,W0067: SUBLW 020068: BTFSS 03.00069: GOTO 072.................... {.................... delay_ms(2); // muze byt rozdelany prenos dat (2x 4 bity) nebo pomaly povel006A: MOVLW 02006B: MOVWF 1E006C: CALL 015.................... lcd_send_nibble(3); // rezim 8 bitu006D: MOVLW 03006E: MOVWF 24006F: CALL 02A.................... }0070: INCF 1B,F0071: GOTO 066........................................ delay_us(40); // cas na zpracovani0072: MOVLW 0D0073: MOVWF 0C0074: DECFSZ 0C,F0075: GOTO 074.................... lcd_send_nibble(2); // nastav rezim 4 bitu (plati od nasledujiciho prenosu)0076: MOVLW 020077: MOVWF 240078: CALL 02A.................... delay_us(40); // cas na zpracovani0079: MOVLW 0D007A: MOVWF 0C007B: DECFSZ 0C,F007C: GOTO 07B........................................ for (i=0;i<3;i++) // proved inicializaci (nastaveni modu, smazani apod)007D: CLRF 1B007E: MOVF 1B,W007F: SUBLW 020080: BTFSS 03.00081: GOTO 08E.................... {.................... lcd_send_byte(0,LCD_INIT_STRING[i]);0082: MOVF 1B,W0083: CALL 0040084: MOVWF 1C0085: CLRF 220086: MOVF 1C,W0087: MOVWF 230088: CALL 040.................... delay_ms(2);0089: MOVLW 02008A: MOVWF 1E008B: CALL 015.................... }008C: INCF 1B,F008D: GOTO 07E008E: GOTO 174 (RETURN).................... }............................................................ // Proved presun kurzoru.................... //.................... // Pozice 1.1 je domu.................... //.................... void lcd_gotoxy( BYTE x, BYTE y).................... {........................................ BYTE Adr;........................................ Adr=x-1;008F: MOVLW 010090: SUBWF 1E,W0091: MOVWF 20.................... if(y==2)0092: MOVF 1F,W0093: SUBLW 020094: BTFSS 03.20095: GOTO 098.................... Adr+=LCD_LINE_2;0096: MOVLW 400097: ADDWF 20,F........................................ lcd_send_byte(0,0x80|Adr);0098: MOVF 20,W0099: IORLW 80009A: MOVWF 21009B: CLRF 22009C: MOVF 21,W009D: MOVWF 23009E: CALL 040009F: RETLW 00.................... }............................................................ // Zapis znaku na displej, zpracovani ridicich znaku.................... //.................... void lcd_putc( char c).................... {........................................ switch (c)00A0: MOVF 1D,W00A1: MOVWF 0C00A2: MOVLW 0C00A3: SUBWF 0C,W00A4: BTFSC 03.200A5: GOTO 0B300A6: MOVLW 0A00A7: SUBWF 0C,W00A8: BTFSC 03.200A9: GOTO 0BB00AA: MOVLW 0D00AB: SUBWF 0C,W00AC: BTFSC 03.200AD: GOTO 0C100AE: MOVLW 0800AF: SUBWF 0C,W00B0: BTFSC 03.200B1: GOTO 0C600B2: GOTO 0CB.................... {.................... case '\f' : lcd_send_byte(0,1); // smaz displej00B3: CLRF 2200B4: MOVLW 0100B5: MOVWF 2300B6: CALL 040.................... delay_ms(2);00B7: MOVLW 0200B8: MOVWF 1E00B9: CALL 015.................... break;00BA: GOTO 0D7.................... case '\n' : lcd_gotoxy(1,2); break; // presun se na 1. znak 2. radky00BB: MOVLW 0100BC: MOVWF 1E00BD: MOVLW 0200BE: MOVWF 1F00BF: CALL 08F00C0: GOTO 0D7.................... case '\r' : lcd_gotoxy(1,1); break; // presun home00C1: MOVLW 0100C2: MOVWF 1E00C3: MOVWF 1F00C4: CALL 08F00C5: GOTO 0D7.................... case '\b' : lcd_send_byte(0,0x10); break; // posun kurzor o 1 zpet00C6: CLRF 2200C7: MOVLW 1000C8: MOVWF 2300C9: CALL 04000CA: GOTO 0D7.................... default : if (c<0x20) c&=0x7; // preklopeni definovatelnych znaku na rozsah 0 az 0x1F00CB: MOVF 1D,W00CC: SUBLW 1F00CD: BTFSS 03.000CE: GOTO 0D100CF: MOVLW 0700D0: ANDWF 1D,F.................... lcd_send_byte(1,c); break; // zapis znak00D1: MOVLW 0100D2: MOVWF 2200D3: MOVF 1D,W00D4: MOVWF 2300D5: CALL 04000D6: GOTO 0D7.................... }00D7: RETLW 00.................... }............................................................ // Zapni kurzor.................... //.................... void lcd_cursor_on().................... {.................... lcd_send_byte(0,LCD_CURSOR_ON_);.................... }............................................................ // Vypni kurzor.................... //.................... void lcd_cursor_off().................... {.................... lcd_send_byte(0,LCD_CURSOR_OFF_);.................... }............................................................ // Definice vlastnich fontu.................... //.................... // Vlastnich definic muze byt jen 8 do pozic 0 az 7 pameti CGRAM radice lcd displeje.................... // Pro snadne definovani jsou pripraveny nasledujici definice a na konci souboru je uveden.................... // priklad pouziti definovanych znaku............................................................. // Pomocna procedura pro posilani ridicich dat do radice displeje.................... //.................... void lcd_putc2(int Data).................... {.................... lcd_send_byte(1,Data);.................... }............................................................ // Pomocne definice pro programovani obsahu CGRAM.................... //.................... #DEFINE lcd_define_start(Code) lcd_send_byte(0,0x40+(Code<<3)); delay_ms(2).................... #DEFINE lcd_define_def(String) printf(lcd_putc2,String);.................... #DEFINE lcd_define_end() lcd_send_byte(0,3); delay_ms(2)............................................................ // Vlastni vykonne makro pro definovani fontu do pozice Index CGRAM s definicnim retezcem Def.................... //.................... #DEFINE lcd_define_char(Index, Def) lcd_define_start(Index); lcd_define_def(Def); lcd_define_end();............................................................ // Pripravene definice fontu vybranych znaku.................... // V tabulce nesmi byt 00 (konec retezce v printf()), misto toho davame 80.................... //.................... #DEFINE LCD_CHAR_BAT100 "\x0E\x1F\x1F\x1F\x1F\x1F\x1F\x1F" /* symbol plne baterie */.................... #DEFINE LCD_CHAR_BAT50 "\x0E\x1F\x11\x11\x13\x17\x1F\x1F" /* symbol polovicni baterie */.................... #DEFINE LCD_CHAR_BAT0 "\x0E\x1F\x11\x11\x11\x11\x11\x1F" /* symbol vybite baterie */.................... #DEFINE LCD_CHAR_LUA "\x04\x0E\x11\x11\x1F\x11\x11\x80" /* A s carkou */.................... #DEFINE LCD_CHAR_LLA "\x01\x02\x0E\x01\x1F\x11\x0F\x80" /* a s carkou */.................... #DEFINE LCD_CHAR_HUC "\x0A\x0E\x11\x10\x10\x11\x0E\x80" /* C s hackem */.................... #DEFINE LCD_CHAR_HLC "\x0A\x04\x0E\x10\x10\x11\x0E\x80" /* c s hackem */.................... #DEFINE LCD_CHAR_HUD "\x0A\x1C\x12\x11\x11\x12\x1C\x80" /* D s hackem */.................... #DEFINE LCD_CHAR_HLD "\x05\x03\x0D\x13\x11\x11\x0F\x80" /* d s hackem */.................... #DEFINE LCD_CHAR_LUE "\x04\x1F\x10\x10\x1E\x10\x1F\x80" /* E s carkou */.................... #DEFINE LCD_CHAR_LLE "\x01\x02\x0E\x11\x1F\x10\x0E\x80" /* e s carkou */.................... #DEFINE LCD_CHAR_HUE "\x0A\x1F\x10\x1E\x10\x10\x1F\x80" /* E s hackem */.................... #DEFINE LCD_CHAR_HLE "\x0A\x04\x0E\x11\x1F\x10\x0E\x80" /* e s hackem */.................... #DEFINE LCD_CHAR_LUI "\x04\x0E\x04\x04\x04\x04\x0E\x80" /* I s carkou */.................... #DEFINE LCD_CHAR_LLI "\x02\x04\x80\x0C\x04\x04\x0E\x80" /* i s carkou */.................... #DEFINE LCD_CHAR_HUN "\x0A\x15\x11\x19\x15\x13\x11\x80" /* N s hackem */.................... #DEFINE LCD_CHAR_HLN "\x0A\x04\x16\x19\x11\x11\x11\x80" /* n s hackem */.................... #DEFINE LCD_CHAR_LUO "\x04\x0E\x11\x11\x11\x11\x0E\x80" /* O s carkou */.................... #DEFINE LCD_CHAR_LLO "\x02\x04\x0E\x11\x11\x11\x0E\x80" /* o s carkou */.................... #DEFINE LCD_CHAR_HUR "\x0A\x1E\x11\x1E\x14\x12\x11\x80" /* R s hackem */.................... #DEFINE LCD_CHAR_HLR "\x0A\x04\x16\x19\x10\x10\x10\x80" /* r s hackem */.................... #DEFINE LCD_CHAR_HUS "\x0A\x0F\x10\x0E\x01\x01\x1E\x80" /* S s hackem */.................... #DEFINE LCD_CHAR_HLS "\x0A\x04\x0E\x10\x0E\x01\x1E\x80" /* s s hackem */.................... #DEFINE LCD_CHAR_HUT "\x0A\x1F\x04\x04\x04\x04\x04\x80" /* T s hackem */.................... #DEFINE LCD_CHAR_HLT "\x0A\x0C\x1C\x08\x08\x09\x06\x80" /* t s hackem */.................... #DEFINE LCD_CHAR_LUU "\x02\x15\x11\x11\x11\x11\x0E\x80" /* U s carkou */.................... #DEFINE LCD_CHAR_LLU "\x02\x04\x11\x11\x11\x13\x0D\x80" /* u s carkou */.................... #DEFINE LCD_CHAR_CUU "\x06\x17\x11\x11\x11\x11\x0E\x80" /* U s krouzkem */.................... #DEFINE LCD_CHAR_CLU "\x06\x06\x11\x11\x11\x11\x0E\x80" /* u s krouzkem */.................... #DEFINE LCD_CHAR_LUY "\x02\x15\x11\x0A\x04\x04\x04\x80" /* Y s carkou */.................... #DEFINE LCD_CHAR_LLY "\x02\x04\x11\x11\x0F\x01\x0E\x80" /* y s carkou */.................... #DEFINE LCD_CHAR_HUZ "\x0A\x1F\x01\x02\x04\x08\x1F\x80" /* Z s hackem */.................... #DEFINE LCD_CHAR_HLZ "\x0A\x04\x1F\x02\x04\x08\x1F\x80" /* z s hackem */............................................................ // Priklad pouziti definovanych znaku.................... //.................... //.................... //void lcd_sample().................... //{.................... // lcd_define_char(0,LCD_CHAR_BAT50); // Priklad definice znaku baterie do pozice 0.................... // lcd_define_char(2,LCD_CHAR_HLE LCD_CHAR_LUI); // Priklad definice znaku e s hackem a I s carkou od pozice 2.................... // // vsimnete si, ze neni carka mezi retezci s definici (oba retezce definuji.................... // // jediny definicni retezec).................... // printf(lcd_putc,"\fZnaky:\20\22\23"); // priklad vypisu znaku z pozice 0, 2 a 3.................... // delay_ms(1000);.................... // lcd_define_char(0,LCD_CHAR_BAT0); // Predefinovani tvaru znaku v pozici 0.................... // delay_ms(1000);.................... //}............................................................ #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac.................... #DEFINE SERVO_X PIN_A0 // pin na ktery je pripojeno servo.................... #DEFINE SERVO_Y PIN_A1............................................................ int8 prijmout(int8* bit).................... {.................... // || |.................... // |--|_____ 1.................... // |.................... // |-|__|-|_ 0........................................ while (!input(PRIJIMAC)) ; // cekej na jednicku.................... delay_us(IMPULS/4); // presvec se, jestli je stale 1 po 1/4 impulsu.................... if (!input(PRIJIMAC)) return false; // vrat chybu, kdyz neni stale 1.................... delay_us(3*IMPULS); // pockej na rozhodovaci misto.................... /// if (input(PRIJIMAC)) *bit=0; else *bit=1; // dekoduj 1 nebo 0.................... *bit=!input(PRIJIMAC); // dekoduj 1 nebo 0.................... delay_us(IMPULS); // pockej na konec znaku........................................ return true; // vrat, ze se cteni povedlo.................... }........................................ int8 read_nibble(int1* datovy, int8* data).................... {.................... int8 i;.................... int8 d;.................... int1 tmp;........................................ d=0;00D8: CLRF 1E........................................ // Cekam na dlouhou nulu.................... for (i=4; i>0; i--)00D9: MOVLW 0400DA: MOVWF 1D00DB: MOVF 1D,F00DC: BTFSC 03.200DD: GOTO 0EC.................... {.................... if (input(PRIJIMAC)) i=4;00DE: BSF 03.500DF: BSF 05.300E0: BCF 03.500E1: BTFSS 05.300E2: GOTO 0E500E3: MOVLW 0400E4: MOVWF 1D.................... delay_us(IMPULS/2);00E5: MOVLW 2900E6: MOVWF 0C00E7: DECFSZ 0C,F00E8: GOTO 0E700E9: NOP.................... }00EA: DECF 1D,F00EB: GOTO 0DB........................................ // Cekam na jednicku (start ramce).................... for (; !input(PRIJIMAC); )00EC: BSF 03.500ED: BSF 05.300EE: BCF 03.500EF: BTFSC 05.300F0: GOTO 0F6.................... {.................... delay_us(IMPULS/8);00F1: MOVLW 0A00F2: MOVWF 0C00F3: DECFSZ 0C,F00F4: GOTO 0F3.................... }00F5: GOTO 0EC........................................ // delay_us(IMPULS/2);.................... delay_us(2*IMPULS+IMPULS/2);00F6: MOVLW D000F7: MOVWF 0C00F8: DECFSZ 0C,F00F9: GOTO 0F8.................... *datovy=input(PRIJIMAC);00FA: MOVF 1B,W00FB: MOVWF 0400FC: BSF 03.500FD: BSF 05.300FE: MOVLW 0000FF: BCF 03.50100: BTFSC 05.30101: MOVLW 010102: MOVWF 00........................................ // Prenasim bity.................... for (i=0; i<4; i++)0103: CLRF 1D0104: MOVF 1D,W0105: SUBLW 030106: BTFSS 03.00107: GOTO 122.................... {.................... delay_us(2*IMPULS);0108: MOVLW A60109: MOVWF 0C010A: DECFSZ 0C,F010B: GOTO 10A010C: NOP.................... d >>= 1;010D: BCF 03.0010E: RRF 1E,F.................... if (input(PRIJIMAC)) d +=0b1000;010F: BSF 03.50110: BSF 05.30111: BCF 03.50112: BTFSS 05.30113: GOTO 1160114: MOVLW 080115: ADDWF 1E,F.................... output_bit(PIN_A4,tmp);0116: BTFSC 1F.00117: GOTO 11A0118: BCF 05.40119: GOTO 11B011A: BSF 05.4011B: BSF 03.5011C: BCF 05.4.................... tmp=!tmp;011D: MOVLW 01011E: BCF 03.5011F: XORWF 1F,F.................... }0120: INCF 1D,F0121: GOTO 104.................... // delay_us(2*IMPULS); // cas posledniho datoveho bitu........................................ *data = d;0122: MOVF 1C,W0123: MOVWF 040124: MOVF 1E,W0125: MOVWF 00.................... return TRUE;0126: MOVLW 010127: MOVWF 0D0128: RETLW 00.................... }............................................................ int8 x,y;.................... int8 xc,yc; // pocitadla aktualizace x a y.................... int e1,e2,e3,e4; // pocitadla chyb - ladici........................................ void main().................... {*0170: CLRF 040171: MOVLW 1F0172: ANDWF 03,F.................... lcd_init(); // zinicializuj LCD display0173: GOTO 056.................... delay_ms(5);0174: MOVLW 050175: MOVWF 1E0176: CALL 015.................... printf(lcd_putc,"Ahoj...");*000C: BCF 0A.0000D: BCF 0A.1000E: BCF 0A.2000F: ADDWF 02,F0010: RETLW 410011: RETLW 680012: RETLW 6F0013: RETLW 6A0014: RETLW 00*0177: CLRF 1B0178: MOVF 1B,W0179: CALL 00C017A: INCF 1B,F017B: MOVWF 1D017C: CALL 0A0017D: MOVLW 04017E: SUBWF 1B,W017F: BTFSS 03.20180: GOTO 1780181: MOVLW 030182: MOVWF 1C0183: MOVLW 2E0184: MOVWF 1D0185: CALL 0A00186: DECFSZ 1C,F0187: GOTO 183.................... delay_ms(300);0188: MOVLW 020189: MOVWF 1B018A: MOVLW 96018B: MOVWF 1E018C: CALL 015018D: DECFSZ 1B,F018E: GOTO 18A........................................ x = 0;018F: CLRF 0E.................... y = 0;0190: CLRF 0F.................... xc=0;0191: CLRF 10.................... yc=0;0192: CLRF 11.................... e1=0;0193: CLRF 12.................... e2=0;0194: CLRF 13.................... e3=0;0195: CLRF 14.................... e4=0;0196: CLRF 15........................................ while (true).................... {.................... int8 kanal, data, suma;.................... int1 tmp;.................... int8 datovy;........................................ decoder:.................... //output_high(PIN_A1);........................................ // do // vyhledej synchronizacni jednicky.................... // {.................... // if (!prijmout(&bit)) goto decoder; // prijmi bit; pri chybe zacni znovu.................... // if (1==bit) counter++; else goto decoder; // kdyz je bit 1, tak zvys citac; jinak zacni znovu.................... // } while(counter<4); // pockej na 4 jednicky.................... ///output_bit(PIN_A1,tmp);.................... ///tmp=!tmp;.................... if (!read_nibble(&datovy,&kanal)) goto decoder;0197: MOVLW 1A0198: MOVWF 1B0199: MOVLW 16019A: MOVWF 1C019B: CALL 0D8019C: MOVF 0D,F019D: BTFSS 03.2019E: GOTO 1A0019F: GOTO 197.................... if (datovy) goto decoder;01A0: MOVF 1A,F01A1: BTFSC 03.201A2: GOTO 1A401A3: GOTO 197.................... // output_low(PIN_A1);.................... //output_low(PIN_A1);........................................ // if (kanal!=15) {e1++; goto decoder;};.................... if (!read_nibble(&datovy, &kanal)) goto decoder; // nacti identifikator osy01A4: MOVLW 1A01A5: MOVWF 1B01A6: MOVLW 1601A7: MOVWF 1C01A8: CALL 0D801A9: MOVF 0D,F01AA: BTFSS 03.201AB: GOTO 1AD01AC: GOTO 197........................................ if (!read_nibble(&datovy, &data)) goto decoder; // nacti 1. nibble; pri chybe zacni znovu01AD: MOVLW 1A01AE: MOVWF 1B01AF: MOVLW 1701B0: MOVWF 1C01B1: CALL 0D801B2: MOVF 0D,F01B3: BTFSS 03.201B4: GOTO 1B601B5: GOTO 197.................... if (!read_nibble(&datovy, &suma)) goto decoder; // nacti 2. nibble; pri chybe zacni znovu01B6: MOVLW 1A01B7: MOVWF 1B01B8: MOVLW 1801B9: MOVWF 1C01BA: CALL 0D801BB: MOVF 0D,F01BC: BTFSS 03.201BD: GOTO 1BF01BE: GOTO 197.................... if (((kanal+data) & 0b1111) != suma) {e1++; goto decoder;} // zacni znovu, pokud jsou ruzne nibble01BF: MOVF 17,W01C0: ADDWF 16,W01C1: ANDLW 0F01C2: SUBWF 18,W01C3: BTFSC 03.201C4: GOTO 1C701C5: INCF 12,F01C6: GOTO 197............................................................ switch (kanal) // rozeskoc se podle adresy osy01C7: MOVLW 0101C8: SUBWF 16,W01C9: ADDLW FD01CA: BTFSC 03.001CB: GOTO 1D801CC: ADDLW 0301CD: GOTO 270.................... {.................... case OSA_X:.................... {.................... x=data;01CE: MOVF 17,W01CF: MOVWF 0E.................... xc++;01D0: INCF 10,F.................... break;01D1: GOTO 1D8.................... };.................... case OSA_Y:.................... {.................... y=data;01D2: MOVF 17,W01D3: MOVWF 0F.................... yc++;01D4: INCF 11,F.................... break;01D5: GOTO 1D8.................... };.................... case TLs:.................... {.................... e4++;01D6: INCF 15,F.................... break;01D7: GOTO 1D8.................... };.................... };*0270: BCF 0A.00271: BSF 0A.10272: BCF 0A.20273: ADDWF 02,F0274: GOTO 1CE0275: GOTO 1D20276: GOTO 1D6........................................ // ladici vypisy.................... lcd_gotoxy(1,1); // vytiskni X a Y*01D8: MOVLW 0101D9: MOVWF 1E01DA: MOVWF 1F01DB: CALL 08F.................... printf(lcd_putc,"X%2U %3U%3U%3U ", x, xc, e1, e2);*013E: MOVF 0D,W013F: MOVF 1B,W0140: MOVWF 1D0141: MOVLW 640142: MOVWF 1E0143: CALL 1290144: MOVF 0C,W0145: MOVWF 1B0146: MOVF 0D,W0147: MOVLW 300148: BTFSS 03.20149: GOTO 151014A: BTFSC 1C.0014B: BSF 1C.3014C: BTFSC 1C.3014D: GOTO 157014E: BTFSC 1C.4014F: MOVLW 200150: GOTO 1530151: BCF 1C.30152: BCF 1C.40153: ADDWF 0D,F0154: MOVF 0D,W0155: MOVWF 1D0156: CALL 0A00157: MOVF 1B,W0158: MOVWF 1D0159: MOVLW 0A015A: MOVWF 1E015B: CALL 129015C: MOVF 0C,W015D: MOVWF 1B015E: MOVF 0D,W015F: MOVLW 300160: BTFSS 03.20161: GOTO 1660162: BTFSC 1C.30163: GOTO 16A0164: BTFSC 1C.40165: MOVLW 200166: ADDWF 0D,F0167: MOVF 0D,W0168: MOVWF 1D0169: CALL 0A0016A: MOVLW 30016B: ADDWF 1B,F016C: MOVF 1B,W016D: MOVWF 1D016E: CALL 0A0016F: RETLW 00*01DC: MOVLW 5801DD: MOVWF 1D01DE: CALL 0A001DF: MOVF 0E,W01E0: MOVWF 1B01E1: MOVLW 1101E2: MOVWF 1C01E3: CALL 13E01E4: MOVLW 2001E5: MOVWF 1D01E6: CALL 0A001E7: MOVF 10,W01E8: MOVWF 1B01E9: MOVLW 1001EA: MOVWF 1C01EB: CALL 13E01EC: MOVF 12,W01ED: MOVWF 1B01EE: MOVLW 1001EF: MOVWF 1C01F0: CALL 13E01F1: MOVF 13,W01F2: MOVWF 1B01F3: MOVLW 1001F4: MOVWF 1C01F5: CALL 13E01F6: MOVLW 2001F7: MOVWF 1D01F8: CALL 0A001F9: MOVLW 2001FA: MOVWF 1D01FB: CALL 0A0.................... lcd_gotoxy(1,2);01FC: MOVLW 0101FD: MOVWF 1E01FE: MOVLW 0201FF: MOVWF 1F0200: CALL 08F.................... printf(lcd_putc,"Y%2U %3U%3U%3U ", y, yc, e3, data);0201: MOVLW 590202: MOVWF 1D0203: CALL 0A00204: MOVF 0F,W0205: MOVWF 1B0206: MOVLW 110207: MOVWF 1C0208: CALL 13E0209: MOVLW 20020A: MOVWF 1D020B: CALL 0A0020C: MOVF 11,W020D: MOVWF 1B020E: MOVLW 10020F: MOVWF 1C0210: CALL 13E0211: MOVF 14,W0212: MOVWF 1B0213: MOVLW 100214: MOVWF 1C0215: CALL 13E0216: MOVF 17,W0217: MOVWF 1B0218: MOVLW 100219: MOVWF 1C021A: CALL 13E021B: MOVLW 20021C: MOVWF 1D021D: CALL 0A0021E: MOVLW 20021F: MOVWF 1D0220: CALL 0A0........................................ // ovladani serv.................... output_high(SERVO_X);0221: BSF 03.50222: BCF 05.00223: BCF 03.50224: BSF 05.0.................... delay_ms(1);0225: MOVLW 010226: MOVWF 1E0227: CALL 015.................... for (data=x; data--; data>0)0228: MOVF 0E,W0229: MOVWF 17022A: MOVF 17,W022B: DECF 17,F022C: XORLW 00022D: BTFSC 03.2022E: GOTO 239.................... delay_us(65);022F: MOVLW 150230: MOVWF 0C0231: DECFSZ 0C,F0232: GOTO 2310233: NOP0234: MOVF 17,F0235: BTFSS 03.20236: GOTO 2380237: MOVLW 000238: GOTO 22A.................... output_low(SERVO_X);0239: BSF 03.5023A: BCF 05.0023B: BCF 03.5023C: BCF 05.0........................................ output_high(SERVO_Y);023D: BSF 03.5023E: BCF 05.1023F: BCF 03.50240: BSF 05.1.................... delay_ms(1);0241: MOVLW 010242: MOVWF 1E0243: CALL 015.................... for (data=y; data--; data>0)0244: MOVF 0F,W0245: MOVWF 170246: MOVF 17,W0247: DECF 17,F0248: XORLW 000249: BTFSC 03.2024A: GOTO 255.................... delay_us(65);024B: MOVLW 15024C: MOVWF 0C024D: DECFSZ 0C,F024E: GOTO 24D024F: NOP0250: MOVF 17,F0251: BTFSS 03.20252: GOTO 2540253: MOVLW 000254: GOTO 246.................... output_low(SERVO_Y);0255: BSF 03.50256: BCF 05.10257: BCF 03.50258: BCF 05.1........................................ for (data=30-x-y; data--; data>0)0259: MOVF 0E,W025A: SUBLW 1E025B: MOVWF 0D025C: MOVF 0F,W025D: SUBWF 0D,W025E: MOVWF 17025F: MOVF 17,W0260: DECF 17,F0261: XORLW 000262: BTFSC 03.20263: GOTO 26E.................... delay_us(65);0264: MOVLW 150265: MOVWF 0C0266: DECFSZ 0C,F0267: GOTO 2660268: NOP0269: MOVF 17,F026A: BTFSS 03.2026B: GOTO 26D026C: MOVLW 00026D: GOTO 25F........................................ }026E: GOTO 197.................... }....................026F: SLEEP........................................