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kaklik |
1 |
CCS PCM C Compiler, Version 3.234, 27853 16-X-05 21:12
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Filename: C:\MIHO_DAT\KROKAC\krokac.LST
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5 |
ROM used: 321 words (8%)
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6 |
Largest free fragment is 2048
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RAM used: 21 (12%) at main() level
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8 |
24 (14%) worst case
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Stack: 3 worst case (1 in main + 2 for interrupts)
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10 |
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11 |
*
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12 |
0000: MOVLW 00
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13 |
0001: MOVWF 0A
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14 |
0002: GOTO 098
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15 |
0003: NOP
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16 |
0004: MOVWF 7F
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17 |
0005: SWAPF 03,W
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18 |
0006: CLRF 03
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19 |
0007: MOVWF 21
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20 |
0008: MOVF 7F,W
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21 |
0009: MOVWF 20
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22 |
000A: MOVF 0A,W
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23 |
000B: MOVWF 28
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24 |
000C: CLRF 0A
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25 |
000D: SWAPF 20,F
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26 |
000E: MOVF 04,W
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27 |
000F: MOVWF 22
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28 |
0010: MOVF 77,W
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29 |
0011: MOVWF 23
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30 |
0012: MOVF 78,W
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31 |
0013: MOVWF 24
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32 |
0014: MOVF 79,W
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33 |
0015: MOVWF 25
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34 |
0016: MOVF 7A,W
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35 |
0017: MOVWF 26
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36 |
0018: MOVF 7B,W
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37 |
0019: MOVWF 27
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38 |
001A: BCF 03.7
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39 |
001B: BCF 03.5
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40 |
001C: MOVLW 8C
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41 |
001D: MOVWF 04
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42 |
001E: BTFSS 00.1
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43 |
001F: GOTO 022
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44 |
0020: BTFSC 0C.1
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45 |
0021: GOTO 035
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46 |
0022: MOVF 22,W
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47 |
0023: MOVWF 04
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48 |
0024: MOVF 23,W
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49 |
0025: MOVWF 77
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50 |
0026: MOVF 24,W
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51 |
0027: MOVWF 78
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52 |
0028: MOVF 25,W
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53 |
0029: MOVWF 79
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54 |
002A: MOVF 26,W
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55 |
002B: MOVWF 7A
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56 |
002C: MOVF 27,W
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57 |
002D: MOVWF 7B
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58 |
002E: MOVF 28,W
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59 |
002F: MOVWF 0A
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60 |
0030: SWAPF 21,W
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61 |
0031: MOVWF 03
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62 |
0032: SWAPF 7F,F
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63 |
0033: SWAPF 7F,W
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64 |
0034: RETFIE
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65 |
0035: BCF 0A.3
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66 |
0036: GOTO 043
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67 |
.................... #include "C:\MIHO_DAT\KROKAC\krokac.h"
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68 |
.................... #include <16F88.h>
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69 |
.................... //////// Standard Header file for the PIC16F88 device ////////////////
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70 |
.................... #device PIC16F88
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71 |
.................... #list
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72 |
....................
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73 |
.................... //#device ICD=TRUE
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74 |
.................... #device adc=8
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75 |
....................
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76 |
.................... #FUSES NOWDT //No Watch Dog Timer
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77 |
.................... #FUSES RC //Resistor/Capacitor Osc with CLKOUT
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78 |
.................... #FUSES NOPUT //No Power Up Timer
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79 |
.................... #FUSES MCLR //Master Clear pin enabled
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80 |
.................... #FUSES NOBROWNOUT //No brownout reset
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81 |
.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
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82 |
.................... #FUSES NOCPD //No EE protection
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83 |
.................... #FUSES NOWRT //Program memory not write protected
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84 |
.................... //#FUSES DEBUG //Debug mode for use with ICD
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.................... #FUSES NOPROTECT //Code not protected from reading
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86 |
.................... #FUSES FCMEN //Fail-safe clock monitor enabled
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87 |
.................... #FUSES IESO //Internal External Switch Over mode enabled
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88 |
....................
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89 |
.................... #use delay(clock=4000000)
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90 |
*
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91 |
0082: MOVLW 31
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92 |
0083: MOVWF 04
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93 |
0084: MOVF 00,W
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94 |
0085: BTFSC 03.2
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95 |
0086: GOTO 096
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96 |
0087: MOVLW 01
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97 |
0088: MOVWF 78
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98 |
0089: CLRF 77
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99 |
008A: DECFSZ 77,F
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100 |
008B: GOTO 08A
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101 |
008C: DECFSZ 78,F
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102 |
008D: GOTO 089
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103 |
008E: MOVLW 4A
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104 |
008F: MOVWF 77
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105 |
0090: DECFSZ 77,F
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106 |
0091: GOTO 090
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107 |
0092: NOP
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108 |
0093: NOP
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109 |
0094: DECFSZ 00,F
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110 |
0095: GOTO 087
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111 |
0096: BCF 0A.3
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112 |
0097: GOTO 130 (RETURN)
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113 |
.................... #define MOTORA PIN_B0
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114 |
.................... #define MOTORB PIN_B1
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115 |
.................... #define MOTORC PIN_B2
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116 |
.................... #define MOTORD PIN_B3
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117 |
....................
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118 |
....................
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119 |
....................
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120 |
....................
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121 |
.................... unsigned int StepState; // Vnitrni promenna kroku
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122 |
.................... signed int StepDirection; // Smer +1/0/-1
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123 |
....................
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124 |
.................... byte const StepTab[8]={ // Tabulka pro krokovy motor
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125 |
.................... 0b0001, // 0
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126 |
.................... 0b0101, // 1
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127 |
.................... 0b0100, // 2
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128 |
.................... 0b0110, // 3
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129 |
.................... 0b0010, // 4
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130 |
.................... 0b1010, // 5
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131 |
.................... 0b1000 // 6
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132 |
.................... 0b1001, // 7
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133 |
.................... };
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134 |
....................
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135 |
.................... #INT_TIMER2
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136 |
.................... void StepNext()
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137 |
.................... {
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138 |
.................... unsigned int i;
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139 |
....................
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140 |
.................... StepState+=StepDirection; // posun se na dalsi krok
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141 |
*
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142 |
0043: MOVF 2A,W
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143 |
0044: ADDWF 29,W
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144 |
0045: MOVWF 29
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145 |
.................... i=StepState&0b111; // vezmi spodni 3 bity stavu
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146 |
0046: MOVF 29,W
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147 |
0047: ANDLW 07
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148 |
0048: MOVWF 32
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149 |
.................... i=StepTab[i]; // prekoduj pomoci tabulky
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150 |
0049: MOVF 32,W
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151 |
004A: CALL 037
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152 |
004B: MOVWF 78
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153 |
004C: MOVWF 32
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154 |
.................... output_bit(MOTORA,i&0b0001); // aktivuj jednotlive vystupy
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155 |
004D: BTFSC 32.0
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156 |
004E: GOTO 051
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157 |
004F: BCF 06.0
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158 |
0050: GOTO 052
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159 |
0051: BSF 06.0
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160 |
0052: BSF 03.5
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161 |
0053: BCF 06.0
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162 |
.................... output_bit(MOTORB,i&0b0010);
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163 |
0054: BCF 03.5
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164 |
0055: BTFSC 32.1
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165 |
0056: GOTO 059
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166 |
0057: BCF 06.1
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167 |
0058: GOTO 05A
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168 |
0059: BSF 06.1
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169 |
005A: BSF 03.5
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170 |
005B: BCF 06.1
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171 |
.................... output_bit(MOTORC,i&0b0100);
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172 |
005C: BCF 03.5
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173 |
005D: BTFSC 32.2
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174 |
005E: GOTO 061
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175 |
005F: BCF 06.2
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176 |
0060: GOTO 062
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177 |
0061: BSF 06.2
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178 |
0062: BSF 03.5
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179 |
0063: BCF 06.2
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180 |
.................... output_bit(MOTORD,i&0b1000);
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181 |
0064: BCF 03.5
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182 |
0065: BTFSC 32.3
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183 |
0066: GOTO 069
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184 |
0067: BCF 06.3
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185 |
0068: GOTO 06A
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186 |
0069: BSF 06.3
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187 |
006A: BSF 03.5
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188 |
006B: BCF 06.3
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189 |
.................... }
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190 |
....................
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191 |
....................
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192 |
006C: BCF 03.5
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193 |
006D: BCF 0C.1
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194 |
006E: BCF 0A.3
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195 |
006F: GOTO 022
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196 |
.................... void StepSetDirection(signed int Direction)
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197 |
.................... {
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198 |
.................... if(Direction> 1) Direction= 1;
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199 |
0070: BTFSC 30.7
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200 |
0071: GOTO 078
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201 |
0072: MOVF 30,W
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202 |
0073: SUBLW 01
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203 |
0074: BTFSC 03.0
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204 |
0075: GOTO 078
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205 |
0076: MOVLW 01
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206 |
0077: MOVWF 30
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207 |
.................... if(Direction<-1) Direction=-1;
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208 |
0078: MOVF 30,W
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209 |
0079: XORLW 80
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210 |
007A: SUBLW 7E
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211 |
007B: BTFSS 03.0
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212 |
007C: GOTO 07F
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213 |
007D: MOVLW FF
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214 |
007E: MOVWF 30
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215 |
.................... StepDirection=Direction;
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216 |
007F: MOVF 30,W
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217 |
0080: MOVWF 2A
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218 |
.................... }
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219 |
0081: RETLW 00
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220 |
....................
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221 |
....................
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222 |
.................... void StepSetTime(unsigned int16 Time)
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223 |
.................... {
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224 |
....................
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225 |
.................... }
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226 |
....................
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227 |
.................... void Delay(unsigned int16 Time)
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228 |
.................... {
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229 |
.................... while(Time>255) {Time-=256;delay_us(256);};
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230 |
.................... if(Time!=0) delay_us(Time);
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231 |
.................... }
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232 |
....................
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233 |
....................
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234 |
.................... void main()
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235 |
.................... {
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236 |
*
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237 |
0098: CLRF 04
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238 |
0099: MOVLW 1F
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239 |
009A: ANDWF 03,F
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240 |
009B: BSF 03.5
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241 |
009C: BCF 1F.4
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242 |
009D: BCF 1F.5
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243 |
009E: MOVF 1B,W
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244 |
009F: ANDLW 80
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245 |
00A0: MOVWF 1B
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246 |
00A1: MOVLW 07
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247 |
00A2: MOVWF 1C
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248 |
00A3: MOVF 1C,W
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249 |
00A4: BCF 03.5
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250 |
00A5: BCF 0D.6
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251 |
.................... unsigned int16 T;
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252 |
.................... unsigned long int i;
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253 |
....................
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254 |
.................... // Nastav pracovni frekvenci procesoru
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255 |
.................... setup_oscillator(OSC_4MHZ);
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256 |
00A6: MOVLW 60
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257 |
00A7: BSF 03.5
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258 |
00A8: MOVWF 0F
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259 |
....................
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260 |
.................... // Vypni motorovy vystup
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261 |
.................... output_low(MOTORA);
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262 |
00A9: BCF 06.0
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263 |
00AA: BCF 03.5
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264 |
00AB: BCF 06.0
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265 |
.................... output_low(MOTORB);
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266 |
00AC: BSF 03.5
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267 |
00AD: BCF 06.1
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268 |
00AE: BCF 03.5
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269 |
00AF: BCF 06.1
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270 |
.................... output_low(MOTORC);
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271 |
00B0: BSF 03.5
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272 |
00B1: BCF 06.2
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273 |
00B2: BCF 03.5
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274 |
00B3: BCF 06.2
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275 |
.................... output_low(MOTORD);
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276 |
00B4: BSF 03.5
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277 |
00B5: BCF 06.3
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278 |
00B6: BCF 03.5
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279 |
00B7: BCF 06.3
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280 |
....................
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281 |
.................... // Vstupy s pull-up odporem
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282 |
.................... port_b_pullups(TRUE);
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283 |
00B8: BSF 03.5
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284 |
00B9: BCF 01.7
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285 |
....................
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286 |
.................... // Inicializace A/D prevodniku
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287 |
.................... setup_adc_ports(sAN0|VSS_VDD);
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288 |
00BA: BCF 1F.4
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289 |
00BB: BCF 1F.5
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290 |
00BC: MOVF 1B,W
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291 |
00BD: ANDLW 80
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292 |
00BE: IORLW 01
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293 |
00BF: MOVWF 1B
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294 |
.................... setup_adc(ADC_CLOCK_INTERNAL);
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295 |
00C0: BCF 1F.6
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296 |
00C1: BCF 03.5
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297 |
00C2: BSF 1F.6
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298 |
00C3: BSF 1F.7
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299 |
00C4: BSF 03.5
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300 |
00C5: BCF 1F.7
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301 |
00C6: BCF 03.5
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302 |
00C7: BSF 1F.0
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303 |
.................... set_adc_channel(0);
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304 |
00C8: MOVLW 00
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305 |
00C9: MOVWF 78
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306 |
00CA: MOVF 1F,W
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307 |
00CB: ANDLW C7
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308 |
00CC: IORWF 78,W
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309 |
00CD: MOVWF 1F
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310 |
....................
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311 |
.................... // Dalsi inicializace
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312 |
.................... setup_spi(FALSE);
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313 |
00CE: BCF 14.5
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314 |
00CF: BSF 03.5
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315 |
00D0: BCF 06.2
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316 |
00D1: BSF 06.1
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317 |
00D2: BCF 06.4
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318 |
00D3: MOVLW 00
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319 |
00D4: BCF 03.5
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320 |
00D5: MOVWF 14
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321 |
00D6: BSF 03.5
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322 |
00D7: MOVWF 14
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323 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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324 |
00D8: MOVF 01,W
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325 |
00D9: ANDLW C7
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326 |
00DA: IORLW 08
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327 |
00DB: MOVWF 01
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328 |
.................... setup_timer_1(T1_DISABLED);
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329 |
00DC: BCF 03.5
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330 |
00DD: CLRF 10
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331 |
.................... setup_comparator(NC_NC_NC_NC);
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332 |
00DE: MOVLW 07
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333 |
00DF: BSF 03.5
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334 |
00E0: MOVWF 1C
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335 |
00E1: MOVF 05,W
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336 |
00E2: MOVLW 03
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337 |
00E3: MOVWF 77
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338 |
00E4: DECFSZ 77,F
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339 |
00E5: GOTO 0E4
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340 |
00E6: MOVF 1C,W
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341 |
00E7: BCF 03.5
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342 |
00E8: BCF 0D.6
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343 |
.................... setup_vref(FALSE);
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344 |
00E9: BSF 03.5
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345 |
00EA: CLRF 1D
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346 |
....................
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347 |
.................... // Inicializace stavovych promennych
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348 |
.................... StepState=0;
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|
349 |
00EB: BCF 03.5
|
|
|
350 |
00EC: CLRF 29
|
|
|
351 |
....................
|
|
|
352 |
.................... // Nastaveni casovace
|
|
|
353 |
.................... setup_timer_2(T2_DIV_BY_16,0xFF,1);
|
|
|
354 |
00ED: MOVLW 00
|
|
|
355 |
00EE: MOVWF 78
|
|
|
356 |
00EF: IORLW 06
|
|
|
357 |
00F0: MOVWF 12
|
|
|
358 |
00F1: MOVLW FF
|
|
|
359 |
00F2: BSF 03.5
|
|
|
360 |
00F3: MOVWF 12
|
|
|
361 |
....................
|
|
|
362 |
.................... // Nastveni preruseni od casovace
|
|
|
363 |
.................... enable_interrupts(global);
|
|
|
364 |
00F4: MOVLW C0
|
|
|
365 |
00F5: BCF 03.5
|
|
|
366 |
00F6: IORWF 0B,F
|
|
|
367 |
.................... enable_interrupts(int_timer2);
|
|
|
368 |
00F7: BSF 03.5
|
|
|
369 |
00F8: BSF 0C.1
|
|
|
370 |
....................
|
|
|
371 |
.................... for(;;)
|
|
|
372 |
.................... {
|
|
|
373 |
....................
|
|
|
374 |
.................... T=read_adc(ADC_READ_ONLY); // Prectu hodnotu
|
|
|
375 |
00F9: BCF 03.5
|
|
|
376 |
00FA: BTFSS 1F.2
|
|
|
377 |
00FB: GOTO 0FE
|
|
|
378 |
00FC: BSF 03.5
|
|
|
379 |
00FD: GOTO 0F9
|
|
|
380 |
00FE: MOVF 1E,W
|
|
|
381 |
00FF: CLRF 2C
|
|
|
382 |
0100: MOVWF 2B
|
|
|
383 |
.................... read_adc(ADC_START_ONLY); // Ostartuji dalsi prevod (na pozadi)
|
|
|
384 |
0101: BSF 1F.2
|
|
|
385 |
....................
|
|
|
386 |
.................... //setup_timer_2(T2_DIV_BY_16,T,1);
|
|
|
387 |
.................... if(T>0) *0x92=T; // Preload register casovace
|
|
|
388 |
0102: MOVF 2B,F
|
|
|
389 |
0103: BTFSS 03.2
|
|
|
390 |
0104: GOTO 108
|
|
|
391 |
0105: MOVF 2C,F
|
|
|
392 |
0106: BTFSC 03.2
|
|
|
393 |
0107: GOTO 10C
|
|
|
394 |
0108: MOVF 2B,W
|
|
|
395 |
0109: BSF 03.5
|
|
|
396 |
010A: MOVWF 12
|
|
|
397 |
010B: BCF 03.5
|
|
|
398 |
....................
|
|
|
399 |
.................... // Podle prepinacu se hybu
|
|
|
400 |
.................... if(input(PIN_B5))
|
|
|
401 |
010C: BSF 03.5
|
|
|
402 |
010D: BSF 06.5
|
|
|
403 |
010E: BCF 03.5
|
|
|
404 |
010F: BTFSS 06.5
|
|
|
405 |
0110: GOTO 11E
|
|
|
406 |
.................... {
|
|
|
407 |
.................... if(input(PIN_B4)) StepSetDirection(1); else StepSetDirection(-1);
|
|
|
408 |
0111: BSF 03.5
|
|
|
409 |
0112: BSF 06.4
|
|
|
410 |
0113: BCF 03.5
|
|
|
411 |
0114: BTFSS 06.4
|
|
|
412 |
0115: GOTO 11A
|
|
|
413 |
0116: MOVLW 01
|
|
|
414 |
0117: MOVWF 30
|
|
|
415 |
0118: CALL 070
|
|
|
416 |
0119: GOTO 11D
|
|
|
417 |
011A: MOVLW FF
|
|
|
418 |
011B: MOVWF 30
|
|
|
419 |
011C: CALL 070
|
|
|
420 |
.................... }
|
|
|
421 |
.................... else
|
|
|
422 |
011D: GOTO 13E
|
|
|
423 |
.................... { int1 x; // pomocna promenna aby se volalo spozdeni jen 1x
|
|
|
424 |
.................... if (StepState>230) {
|
|
|
425 |
011E: MOVF 29,W
|
|
|
426 |
011F: SUBLW E6
|
|
|
427 |
0120: BTFSC 03.0
|
|
|
428 |
0121: GOTO 136
|
|
|
429 |
.................... if (!input(PIN_B4) && (x))
|
|
|
430 |
0122: BSF 03.5
|
|
|
431 |
0123: BSF 06.4
|
|
|
432 |
0124: BCF 03.5
|
|
|
433 |
0125: BTFSC 06.4
|
|
|
434 |
0126: GOTO 133
|
|
|
435 |
0127: BTFSS 2F.0
|
|
|
436 |
0128: GOTO 133
|
|
|
437 |
.................... {
|
|
|
438 |
.................... StepSetDirection(0);
|
|
|
439 |
0129: CLRF 30
|
|
|
440 |
012A: CALL 070
|
|
|
441 |
.................... delay_ms(500);
|
|
|
442 |
012B: MOVLW 02
|
|
|
443 |
012C: MOVWF 30
|
|
|
444 |
012D: MOVLW FA
|
|
|
445 |
012E: MOVWF 31
|
|
|
446 |
012F: GOTO 082
|
|
|
447 |
0130: DECFSZ 30,F
|
|
|
448 |
0131: GOTO 12D
|
|
|
449 |
.................... x=0;
|
|
|
450 |
0132: BCF 2F.0
|
|
|
451 |
.................... };
|
|
|
452 |
.................... StepSetDirection(-1);
|
|
|
453 |
0133: MOVLW FF
|
|
|
454 |
0134: MOVWF 30
|
|
|
455 |
0135: CALL 070
|
|
|
456 |
.................... }
|
|
|
457 |
.................... if (StepState<30) {
|
|
|
458 |
0136: MOVF 29,W
|
|
|
459 |
0137: SUBLW 1D
|
|
|
460 |
0138: BTFSS 03.0
|
|
|
461 |
0139: GOTO 13E
|
|
|
462 |
.................... StepSetDirection( 1);
|
|
|
463 |
013A: MOVLW 01
|
|
|
464 |
013B: MOVWF 30
|
|
|
465 |
013C: CALL 070
|
|
|
466 |
.................... x=1;
|
|
|
467 |
013D: BSF 2F.0
|
|
|
468 |
.................... }
|
|
|
469 |
.................... }
|
|
|
470 |
.................... //StepDirection=2;
|
|
|
471 |
.................... //for(i=0;i<800;i++)
|
|
|
472 |
.................... //{
|
|
|
473 |
.................... // StepNext();
|
|
|
474 |
.................... // Delay(T);
|
|
|
475 |
.................... //}
|
|
|
476 |
.................... //delay_ms(10);
|
|
|
477 |
.................... //StepDirection=-1;
|
|
|
478 |
.................... //for(i=0;i<800;i++)
|
|
|
479 |
.................... //{
|
|
|
480 |
.................... // StepNext();
|
|
|
481 |
.................... // Delay(T);
|
|
|
482 |
.................... //}
|
|
|
483 |
.................... //delay_ms(10);
|
|
|
484 |
....................
|
|
|
485 |
.................... } // Cyklus for
|
|
|
486 |
013E: BSF 03.5
|
|
|
487 |
013F: GOTO 0F9
|
|
|
488 |
....................
|
|
|
489 |
.................... }
|
|
|
490 |
....................
|
|
|
491 |
0140: SLEEP
|
|
|
492 |
|
|
|
493 |
Configuration Fuses:
|
|
|
494 |
Word 1: 3F3B NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT RC
|
|
|
495 |
Word 2: 3FFF FCMEN IESO
|