radix dec ; Code bank 0; Start address: 0; End address: 2047 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 272 globals___3 equ 400 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. ; # All rights reserved. ; # This is a boot loader that resides in high memory for ; # loading programs into low memory. ; # This module is using a PIC16F876: ; buffer = 'imu1' ; line_number = 10 ; library _pic16f876a entered ; # Copyright (c) 2004-2007 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f876a' ; line_number = 6 ; processor pic16f876a ; line_number = 7 ; configure_address 0x2007 ; line_number = 8 ; configure_fill 0x01030 ; line_number = 9 ; configure_option cp: off = 0x2000 ; line_number = 10 ; configure_option cp: on = 0x0000 ; line_number = 11 ; configure_option debug: on = 0x000 ; line_number = 12 ; configure_option debug: off = 0x800 ; line_number = 13 ; configure_option wrt: on = 0x000 ; line_number = 14 ; configure_option wrt: off = 0x300 ; line_number = 15 ; configure_option cpd: on = 0x000 ; line_number = 16 ; configure_option cpd: off = 0x100 ; line_number = 17 ; configure_option lvp: on = 0x80 ; line_number = 18 ; configure_option lvp: off = 0x00 ; line_number = 19 ; configure_option boren: on = 0x40 ; line_number = 20 ; configure_option boren: off = 0x00 ; line_number = 21 ; configure_option pwrte: on = 0 ; line_number = 22 ; configure_option pwrte: off = 8 ; line_number = 23 ; configure_option wdte: on = 4 ; line_number = 24 ; configure_option wdte: off = 0 ; line_number = 25 ; configure_option fosc: rc = 3 ; line_number = 26 ; configure_option fosc: hs = 2 ; line_number = 27 ; configure_option fosc: xt = 1 ; line_number = 28 ; configure_option fosc: lp = 0 ; line_number = 29 ; code_bank 0x0 : 0x7ff ; line_number = 30 ; code_bank 0x800 : 0xfff ; line_number = 31 ; code_bank 0x1000 : 0x17ff ; line_number = 32 ; code_bank 0x1800 : 0x1fff ; line_number = 33 ; data_bank 0x0 : 0x7f ; line_number = 34 ; data_bank 0x80 : 0xff ; line_number = 35 ; data_bank 0x100 : 0x17f ; line_number = 36 ; data_bank 0x180 : 0x1ff ; line_number = 37 ; global_region 0x20 : 0x6f ; line_number = 38 ; global_region 0xa0 : 0xef ; line_number = 39 ; global_region 0x110 : 0x16f ; line_number = 40 ; global_region 0x190 : 0x1ff ; line_number = 41 ; shared_region 0x70 : 0x7f ; line_number = 42 ; interrupts_possible ; line_number = 43 ; packages pdip = 28 ; line_number = 44 ; pin mclr, vpp, thv, mclr_unused ; line_number = 45 ; pin_bindings pdip = 1 ; line_number = 46 ; pin ra0_in, ra0_out, an0, ra0_unused ; line_number = 47 ; pin_bindings pdip = 2 ; line_number = 48 ; bind_to _porta@0 ; line_number = 49 ; or_if ra0_in _trisa 1 ; line_number = 50 ; or_if ra0_in _adcon1 7 ; line_number = 51 ; or_if ra0_in _adcon0 0 ; line_number = 52 ; or_if ra0_in _cmcon 7 ; line_number = 53 ; or_if ra0_out _trisa 0 ; line_number = 54 ; or_if ra0_out _adcon1 7 ; line_number = 55 ; or_if ra0_out _adcon0 0 ; line_number = 56 ; or_if ra0_out _cmcon 7 ; line_number = 57 ; or_if ra0_unused _trisa 1 ; line_number = 58 ; or_if ra0_unused _adcon1 7 ; line_number = 59 ; or_if ra0_unused _adcon0 0 ; line_number = 60 ; or_if ra0_unused _cmcon 7 ; line_number = 61 ; pin ra1_in, ra1_out, an1, ra1_unused ; line_number = 62 ; pin_bindings pdip = 3 ; line_number = 63 ; bind_to _porta@1 ; line_number = 64 ; or_if ra1_in _trisa 2 ; line_number = 65 ; or_if ra1_in _adcon1 7 ; line_number = 66 ; or_if ra1_in _adcon0 0 ; line_number = 67 ; or_if ra1_in _cmcon 7 ; line_number = 68 ; or_if ra1_out _trisa 0 ; line_number = 69 ; or_if ra1_out _adcon1 7 ; line_number = 70 ; or_if ra1_out _adcon0 0 ; line_number = 71 ; or_if ra1_out _cmcon 7 ; line_number = 72 ; or_if ra1_unused _trisa 2 ; line_number = 73 ; or_if ra1_unused _adcon1 7 ; line_number = 74 ; or_if ra1_unused _adcon0 0 ; line_number = 75 ; or_if ra1_unused _cmcon 7 ; line_number = 76 ; pin ra2_in, ra2_out, an2, vref_minus, ra2_unused ; line_number = 77 ; pin_bindings pdip = 4 ; line_number = 78 ; bind_to _porta@2 ; line_number = 79 ; or_if ra2_in _trisa 4 ; line_number = 80 ; or_if ra2_in _adcon1 7 ; line_number = 81 ; or_if ra2_in _adcon0 0 ; line_number = 82 ; or_if ra2_in _cmcon 7 ; line_number = 83 ; or_if ra2_out _trisa 0 ; line_number = 84 ; or_if ra2_out _adcon1 7 ; line_number = 85 ; or_if ra2_out _adcon0 0 ; line_number = 86 ; or_if ra2_out _cmcon 7 ; line_number = 87 ; or_if ra2_unused _trisa 4 ; line_number = 88 ; or_if ra2_unused _adcon1 7 ; line_number = 89 ; or_if ra2_unused _adcon0 0 ; line_number = 90 ; or_if ra2_unused _cmcon 7 ; line_number = 91 ; pin ra3_in, ra3_out, an3, vrev_plus, ra3_unused ; line_number = 92 ; pin_bindings pdip = 5 ; line_number = 93 ; bind_to _porta@3 ; line_number = 94 ; or_if ra3_in _trisa 8 ; line_number = 95 ; or_if ra3_in _adcon1 7 ; line_number = 96 ; or_if ra3_in _adcon0 0 ; line_number = 97 ; or_if ra3_in _cmcon 7 ; line_number = 98 ; or_if ra3_out _trisa 0 ; line_number = 99 ; or_if ra3_out _adcon1 7 ; line_number = 100 ; or_if ra3_out _adcon0 0 ; line_number = 101 ; or_if ra3_out _cmcon 7 ; line_number = 102 ; or_if ra3_unused _trisa 8 ; line_number = 103 ; or_if ra3_unused _adcon1 7 ; line_number = 104 ; or_if ra3_unused _adcon0 0 ; line_number = 105 ; or_if ra3_unused _cmcon 7 ; line_number = 106 ; pin ra4_in, ra4_out, t0cki, ra4_unused ; line_number = 107 ; pin_bindings pdip = 6 ; line_number = 108 ; bind_to _porta@4 ; line_number = 109 ; or_if ra4_in _trisa 16 ; line_number = 110 ; or_if ra4_in _adcon1 7 ; line_number = 111 ; or_if ra4_in _adcon0 0 ; line_number = 112 ; or_if ra4_out _trisa 0 ; line_number = 113 ; or_if ra4_out _adcon1 7 ; line_number = 114 ; or_if ra4_out _adcon0 0 ; line_number = 115 ; or_if ra4_unused _trisa 16 ; line_number = 116 ; or_if ra4_unused _adcon1 7 ; line_number = 117 ; or_if ra4_unused _adcon0 0 ; line_number = 118 ; pin ra5_in, ra5_out, an4, ra5_unused ; line_number = 119 ; pin_bindings pdip = 7 ; line_number = 120 ; bind_to _porta@5 ; line_number = 121 ; or_if ra5_in _trisa 32 ; line_number = 122 ; or_if ra5_in _adcon1 7 ; line_number = 123 ; or_if ra5_in _adcon1 0 ; line_number = 124 ; or_if ra5_out _trisa 0 ; line_number = 125 ; or_if ra5_out _adcon1 7 ; line_number = 126 ; or_if ra5_out _adcon0 0 ; line_number = 127 ; or_if ra5_unused _trisa 32 ; line_number = 128 ; or_if ra5_unused _adcon1 7 ; line_number = 129 ; or_if ra5_unused _adcon1 0 ; line_number = 130 ; pin vss, ground ; line_number = 131 ; pin_bindings pdip = 8 ; line_number = 132 ; pin osc1, clkin ; line_number = 133 ; pin_bindings pdip = 9 ; line_number = 134 ; pin osc2, clkout ; line_number = 135 ; pin_bindings pdip = 10 ; line_number = 136 ; pin rc0_in, rc0_out, t1oso, t1cki, rc0_unused ; line_number = 137 ; pin_bindings pdip = 11 ; line_number = 138 ; bind_to _portc@0 ; line_number = 139 ; or_if rc0_in _trisc 1 ; line_number = 140 ; or_if rc0_in _adcon1 7 ; line_number = 141 ; or_if rc0_in _adcon0 0 ; line_number = 142 ; or_if rc0_out _trisc 0 ; line_number = 143 ; or_if rc0_out _adcon1 7 ; line_number = 144 ; or_if rc0_out _adcon0 0 ; line_number = 145 ; or_if rc0_unused _trisc 1 ; line_number = 146 ; or_if rc0_unused _adcon1 7 ; line_number = 147 ; or_if rc0_unused _adcon0 0 ; line_number = 148 ; pin rc1_in, rc1_out, t1osi, ccp2, rc1_unused ; line_number = 149 ; pin_bindings pdip = 12 ; line_number = 150 ; bind_to _portc@1 ; line_number = 151 ; or_if rc1_in _trisc 2 ; line_number = 152 ; or_if rc1_in _adcon1 7 ; line_number = 153 ; or_if rc1_in _adcon0 0 ; line_number = 154 ; or_if rc1_out _trisc 0 ; line_number = 155 ; or_if rc1_out _adcon1 7 ; line_number = 156 ; or_if rc1_out _adcon0 0 ; line_number = 157 ; or_if rc1_unused _trisc 2 ; line_number = 158 ; or_if rc1_unused _adcon1 7 ; line_number = 159 ; or_if rc1_unused _adcon0 0 ; line_number = 160 ; pin rc2_in, rc2_out, ccp1, rc2_unused ; line_number = 161 ; pin_bindings pdip = 13 ; line_number = 162 ; bind_to _portc@2 ; line_number = 163 ; or_if rc2_in _trisc 4 ; line_number = 164 ; or_if rc2_in _adcon1 7 ; line_number = 165 ; or_if rc2_in _adcon0 0 ; line_number = 166 ; or_if rc2_out _trisc 0 ; line_number = 167 ; or_if rc2_out _adcon1 7 ; line_number = 168 ; or_if rc2_out _adcon0 0 ; line_number = 169 ; or_if rc2_unused _trisc 4 ; line_number = 170 ; or_if rc2_unused _adcon1 7 ; line_number = 171 ; or_if rc2_unused _adcon0 0 ; line_number = 172 ; pin rc3_in, rc3_out, sck_master, sck_slave, scl, rc3_unused ; line_number = 173 ; pin_bindings pdip = 14 ; line_number = 174 ; bind_to _portc@3 ; line_number = 175 ; or_if rc3_in _trisc 8 ; line_number = 176 ; or_if rc3_in _adcon1 7 ; line_number = 177 ; or_if rc3_in _adcon0 0 ; line_number = 178 ; or_if rc3_out _trisc 0 ; line_number = 179 ; or_if rc3_out _adcon1 7 ; line_number = 180 ; or_if rc3_out _adcon0 0 ; line_number = 181 ; or_if sck_slave _trisc 8 ; line_number = 182 ; or_if sck_slave _adcon1 7 ; line_number = 183 ; or_if sck_slave _adcon0 0 ; line_number = 184 ; or_if sck_master _trisc 0 ; line_number = 185 ; or_if sck_master _adcon1 7 ; line_number = 186 ; or_if sck_master _adcon0 0 ; line_number = 187 ; or_if rc3_unused _trisc 8 ; line_number = 188 ; or_if rc3_unused _adcon1 7 ; line_number = 189 ; or_if rc3_unused _adcon0 0 ; line_number = 190 ; pin rc4_in, rc4_out, sdi, sda, rc4_unused ; line_number = 191 ; pin_bindings pdip = 15 ; line_number = 192 ; bind_to _portc@4 ; line_number = 193 ; or_if rc4_in _trisc 16 ; line_number = 194 ; or_if rc4_in _adcon1 7 ; line_number = 195 ; or_if rc4_in _adcon0 0 ; line_number = 196 ; or_if rc4_out _trisc 0 ; line_number = 197 ; or_if rc4_out _adcon1 7 ; line_number = 198 ; or_if rc4_out _adcon0 0 ; line_number = 199 ; or_if sdi _trisc 16 ; line_number = 200 ; or_if sdi _adcon1 7 ; line_number = 201 ; or_if sdi _adcon0 0 ; line_number = 202 ; or_if rc4_unused _trisc 16 ; line_number = 203 ; or_if rc4_unused _adcon1 7 ; line_number = 204 ; or_if rc4_unused _adcon0 0 ; line_number = 205 ; pin rc5_in, rc5_out, sdo, rc5_unused ; line_number = 206 ; pin_bindings pdip = 16 ; line_number = 207 ; bind_to _portc@5 ; line_number = 208 ; or_if rc5_in _trisc 32 ; line_number = 209 ; or_if rc5_in _adcon1 7 ; line_number = 210 ; or_if rc5_in _adcon0 0 ; line_number = 211 ; or_if rc5_out _trisc 0 ; line_number = 212 ; or_if rc5_out _adcon1 7 ; line_number = 213 ; or_if rc5_out _adcon0 0 ; line_number = 214 ; or_if sdo _trisc 0 ; line_number = 215 ; or_if sdo _adcon1 7 ; line_number = 216 ; or_if sdo _adcon0 0 ; line_number = 217 ; or_if rc5_unused _trisc 32 ; line_number = 218 ; or_if rc5_unused _adcon1 7 ; line_number = 219 ; or_if rc5_unused _adcon0 0 ; line_number = 220 ; pin rc6_in, rc6_out, tx, ck, rc6_unused ; line_number = 221 ; pin_bindings pdip = 17 ; line_number = 222 ; bind_to _portc@6 ; line_number = 223 ; or_if rc6_in _trisc 64 ; line_number = 224 ; or_if rc6_in _adcon1 7 ; line_number = 225 ; or_if rc6_in _adcon0 0 ; line_number = 226 ; or_if rc6_out _trisc 0 ; line_number = 227 ; or_if rc6_out _adcon1 7 ; line_number = 228 ; or_if rc6_out _adcon0 0 ; line_number = 229 ; or_if tx _trisc 0 ; line_number = 230 ; or_if tx _adcon1 7 ; line_number = 231 ; or_if tx _adcon0 0 ; line_number = 232 ; or_if rc6_unused _trisc 64 ; line_number = 233 ; or_if rc6_unused _adcon1 7 ; line_number = 234 ; or_if rc6_unused _adcon0 0 ; line_number = 235 ; pin rc7_in, rc7_out, rx, dt, rc7_unused ; line_number = 236 ; pin_bindings pdip = 18 ; line_number = 237 ; bind_to _portc@7 ; line_number = 238 ; or_if rc7_in _trisc 128 ; line_number = 239 ; or_if rc7_in _adcon1 7 ; line_number = 240 ; or_if rc7_in _adcon0 0 ; line_number = 241 ; or_if rx _trisc 128 ; line_number = 242 ; or_if rx _adcon1 7 ; line_number = 243 ; or_if rx _adcon0 0 ; line_number = 244 ; or_if rc7_out _trisc 0 ; line_number = 245 ; or_if rc7_out _adcon1 7 ; line_number = 246 ; or_if rc7_out _adcon0 0 ; line_number = 247 ; or_if rc7_unused _trisc 128 ; line_number = 248 ; or_if rc7_unused _adcon1 7 ; line_number = 249 ; or_if rc7_unused _adcon0 0 ; line_number = 250 ; pin vss2, ground2 ; line_number = 251 ; pin_bindings pdip = 19 ; line_number = 252 ; pin vdd, power_supply ; line_number = 253 ; pin_bindings pdip = 20 ; line_number = 254 ; pin rb0_in, rb0_out, int, rb0_unused ; line_number = 255 ; pin_bindings pdip = 21 ; line_number = 256 ; bind_to _portb@0 ; line_number = 257 ; or_if rb0_in _trisb 1 ; line_number = 258 ; or_if rb0_in _adcon1 7 ; line_number = 259 ; or_if rb0_in _adcon0 0 ; line_number = 260 ; or_if rb0_out _trisb 0 ; line_number = 261 ; or_if rb0_out _adcon1 7 ; line_number = 262 ; or_if rb0_out _adcon0 0 ; line_number = 263 ; or_if rb0_unused _trisb 1 ; line_number = 264 ; or_if rb0_unused _adcon1 7 ; line_number = 265 ; or_if rb0_unused _adcon0 0 ; line_number = 266 ; pin rb1_in, rb1_out, rb1_unused ; line_number = 267 ; pin_bindings pdip = 22 ; line_number = 268 ; bind_to _portb@1 ; line_number = 269 ; or_if rb1_in _trisb 2 ; line_number = 270 ; or_if rb1_in _adcon1 7 ; line_number = 271 ; or_if rb1_in _adcon0 0 ; line_number = 272 ; or_if rb1_out _trisb 0 ; line_number = 273 ; or_if rb1_out _adcon1 7 ; line_number = 274 ; or_if rb1_out _adcon0 0 ; line_number = 275 ; or_if rb1_unused _trisb 2 ; line_number = 276 ; or_if rb1_unused _adcon1 7 ; line_number = 277 ; or_if rb1_unused _adcon0 0 ; line_number = 278 ; pin rb2_in, rb2_out, rb2_unused ; line_number = 279 ; pin_bindings pdip = 23 ; line_number = 280 ; bind_to _portb@2 ; line_number = 281 ; or_if rb2_in _trisb 4 ; line_number = 282 ; or_if rb2_in _adcon1 7 ; line_number = 283 ; or_if rb2_in _adcon0 0 ; line_number = 284 ; or_if rb2_out _trisb 0 ; line_number = 285 ; or_if rb2_out _adcon1 7 ; line_number = 286 ; or_if rb2_out _adcon0 0 ; line_number = 287 ; or_if rb2_unused _trisb 4 ; line_number = 288 ; or_if rb2_unused _adcon1 7 ; line_number = 289 ; or_if rb2_unused _adcon0 0 ; line_number = 290 ; pin rb3_in, rb3_out, pgm, rb3_unused ; line_number = 291 ; pin_bindings pdip = 24 ; line_number = 292 ; bind_to _portb@3 ; line_number = 293 ; or_if rb3_in _trisb 8 ; line_number = 294 ; or_if rb3_in _adcon1 7 ; line_number = 295 ; or_if rb3_in _adcon0 0 ; line_number = 296 ; or_if rb3_out _trisb 0 ; line_number = 297 ; or_if rb3_out _adcon1 7 ; line_number = 298 ; or_if rb3_out _adcon0 0 ; line_number = 299 ; or_if rb3_unused _trisb 8 ; line_number = 300 ; or_if rb3_unused _adcon1 7 ; line_number = 301 ; or_if rb3_unused _adcon0 0 ; line_number = 302 ; pin rb4_in, rb4_out, rb4_unused ; line_number = 303 ; pin_bindings pdip = 25 ; line_number = 304 ; bind_to _portb@4 ; line_number = 305 ; or_if rb4_in _trisb 16 ; line_number = 306 ; or_if rb4_in _adcon1 7 ; line_number = 307 ; or_if rb4_in _adcon0 0 ; line_number = 308 ; or_if rb4_out _trisb 0 ; line_number = 309 ; or_if rb4_out _adcon1 7 ; line_number = 310 ; or_if rb4_out _adcon0 0 ; line_number = 311 ; or_if rb4_unused _trisb 16 ; line_number = 312 ; or_if rb4_unused _adcon1 7 ; line_number = 313 ; or_if rb4_unused _adcon0 0 ; line_number = 314 ; pin rb5_in, rb5_out, rb5_unused ; line_number = 315 ; pin_bindings pdip = 26 ; line_number = 316 ; bind_to _portb@5 ; line_number = 317 ; or_if rb5_in _trisb 32 ; line_number = 318 ; or_if rb5_in _adcon1 7 ; line_number = 319 ; or_if rb5_in _adcon0 0 ; line_number = 320 ; or_if rb5_out _trisb 0 ; line_number = 321 ; or_if rb5_out _adcon1 7 ; line_number = 322 ; or_if rb5_out _adcon0 0 ; line_number = 323 ; or_if rb5_unused _trisb 32 ; line_number = 324 ; or_if rb5_unused _adcon1 7 ; line_number = 325 ; or_if rb5_unused _adcon0 0 ; line_number = 326 ; pin rb6_in, rb6_out, pgc, rb6_unused ; line_number = 327 ; pin_bindings pdip = 27 ; line_number = 328 ; bind_to _portb@6 ; line_number = 329 ; or_if rb6_in _trisb 64 ; line_number = 330 ; or_if rb6_in _adcon1 7 ; line_number = 331 ; or_if rb6_in _adcon0 0 ; line_number = 332 ; or_if rb6_out _trisb 0 ; line_number = 333 ; or_if rb6_out _adcon1 7 ; line_number = 334 ; or_if rb6_out _adcon0 0 ; line_number = 335 ; or_if rb6_unused _trisb 64 ; line_number = 336 ; or_if rb6_unused _adcon1 7 ; line_number = 337 ; or_if rb6_unused _adcon0 0 ; line_number = 338 ; pin rb7_in, rb7_out, pgd, rb7_unused ; line_number = 339 ; pin_bindings pdip = 28 ; line_number = 340 ; bind_to _portb@7 ; line_number = 341 ; or_if rb7_in _trisb 128 ; line_number = 342 ; or_if rb7_in _adcon1 7 ; line_number = 343 ; or_if rb7_in _adcon0 0 ; line_number = 344 ; or_if rb7_out _trisb 0 ; line_number = 345 ; or_if rb7_out _adcon1 7 ; line_number = 346 ; or_if rb7_out _adcon0 0 ; line_number = 347 ; or_if rb7_unused _trisb 128 ; line_number = 348 ; or_if rb7_unused _adcon1 7 ; line_number = 349 ; or_if rb7_unused _adcon0 0 ; # Register and pin definitions: ; line_number = 356 ; library _pic16f87x entered ; # Copyright (c) 2004-2006 by Wayne C. Gramlich ; # All rights reserved. ; # Common declarations for PIC16F87x series microcontrollers: ; buffer = '_pic16f87x' ; line_number = 8 ; library _standard entered ; # Copyright (c) 2006 by Wayne C. Gramlich ; # All rights reserved. ; # Standard definition for uCL: ; buffer = '_standard' ; line_number = 8 ; constant _true = (1 = 1) _true equ 1 ; line_number = 9 ; constant _false = (0 != 0) _false equ 0 ; buffer = '_pic16f87x' ; line_number = 8 ; library _standard exited ; # Register and pin definitions: ; # Bank 0: ; line_number = 14 ; register _indf = _indf equ 0 ; line_number = 16 ; register _tmr0 = _tmr0 equ 1 ; line_number = 18 ; register _pcl = _pcl equ 2 ; line_number = 20 ; register _status = _status equ 3 ; line_number = 21 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 22 ; bind _rp1 = _status@6 _rp1___byte equ _status _rp1___bit equ 6 ; line_number = 23 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 24 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 25 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 26 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 27 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 28 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 30 ; register _fsr = _fsr equ 4 ; line_number = 32 ; register _porta = _porta equ 5 ; line_number = 34 ; register _portb = _portb equ 6 ; line_number = 36 ; register _portc = _portc equ 7 ; line_number = 38 ; register _pclath = _pclath equ 10 ; line_number = 40 ; register _intcon = _intcon equ 11 ; line_number = 41 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 42 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 43 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 44 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 45 ; bind _rbie = _intcon@3 _rbie___byte equ _intcon _rbie___bit equ 3 ; line_number = 46 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 47 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 48 ; bind _rbf = _intcon@0 _rbf___byte equ _intcon _rbf___bit equ 0 ; line_number = 50 ; register _pir1 = _pir1 equ 12 ; line_number = 51 ; bind _pspif = _pir1@7 _pspif___byte equ _pir1 _pspif___bit equ 7 ; line_number = 52 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 53 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 54 ; bind _txif = _pir1@4 _txif___byte equ _pir1 _txif___bit equ 4 ; line_number = 55 ; bind _sspif = _pir1@3 _sspif___byte equ _pir1 _sspif___bit equ 3 ; line_number = 56 ; bind _ccpif = _pir1@2 _ccpif___byte equ _pir1 _ccpif___bit equ 2 ; line_number = 57 ; bind _tmr2if = _pir1@1 _tmr2if___byte equ _pir1 _tmr2if___bit equ 1 ; line_number = 58 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 60 ; register _pir2 = _pir2 equ 13 ; line_number = 61 ; bind _eeif = _pir2@4 _eeif___byte equ _pir2 _eeif___bit equ 4 ; line_number = 62 ; bind _bclif = _pir2@3 _bclif___byte equ _pir2 _bclif___bit equ 3 ; line_number = 63 ; bind _ccp2if = _pir2@0 _ccp2if___byte equ _pir2 _ccp2if___bit equ 0 ; line_number = 65 ; register _tmr1l = _tmr1l equ 14 ; line_number = 67 ; register _tmr1h = _tmr1h equ 15 ; line_number = 69 ; register _t1con = _t1con equ 16 ; line_number = 70 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 71 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 72 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 73 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 74 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 75 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 77 ; register _tmr2 = _tmr2 equ 17 ; line_number = 79 ; register _t2con = _t2con equ 18 ; line_number = 80 ; bind _toutps3 = _t2con@6 _toutps3___byte equ _t2con _toutps3___bit equ 6 ; line_number = 81 ; bind _toutps2 = _t2con@5 _toutps2___byte equ _t2con _toutps2___bit equ 5 ; line_number = 82 ; bind _toutps1 = _t2con@4 _toutps1___byte equ _t2con _toutps1___bit equ 4 ; line_number = 83 ; bind _toutps0 = _t2con@3 _toutps0___byte equ _t2con _toutps0___bit equ 3 ; line_number = 84 ; bind _tmr2on = _t2con@2 _tmr2on___byte equ _t2con _tmr2on___bit equ 2 ; line_number = 85 ; bind _t2ckps1 = _t2con@1 _t2ckps1___byte equ _t2con _t2ckps1___bit equ 1 ; line_number = 86 ; bind _t2ckps0 = _t2con@0 _t2ckps0___byte equ _t2con _t2ckps0___bit equ 0 ; line_number = 88 ; register _sspbuf = _sspbuf equ 19 ; line_number = 90 ; register _sspcon = _sspcon equ 20 ; line_number = 91 ; bind _wcol = _sspcon@7 _wcol___byte equ _sspcon _wcol___bit equ 7 ; line_number = 92 ; bind _sspov = _sspcon@6 _sspov___byte equ _sspcon _sspov___bit equ 6 ; line_number = 93 ; bind _sspen = _sspcon@5 _sspen___byte equ _sspcon _sspen___bit equ 5 ; line_number = 94 ; bind _ckp = _sspcon@4 _ckp___byte equ _sspcon _ckp___bit equ 4 ; line_number = 95 ; bind _sspm3 = _sspcon@3 _sspm3___byte equ _sspcon _sspm3___bit equ 3 ; line_number = 96 ; bind _sspm2 = _sspcon@2 _sspm2___byte equ _sspcon _sspm2___bit equ 2 ; line_number = 97 ; bind _sspm1 = _sspcon@1 _sspm1___byte equ _sspcon _sspm1___bit equ 1 ; line_number = 98 ; bind _sspm0 = _sspcon@0 _sspm0___byte equ _sspcon _sspm0___bit equ 0 ; line_number = 100 ; register _ccpr1l = _ccpr1l equ 21 ; line_number = 102 ; register _ccpr1h = _ccpr1h equ 22 ; line_number = 104 ; register _ccp1con = _ccp1con equ 23 ; line_number = 105 ; bind _ccp1x = _ccp1con@5 _ccp1x___byte equ _ccp1con _ccp1x___bit equ 5 ; line_number = 106 ; bind _ccp1y = _ccp1con@4 _ccp1y___byte equ _ccp1con _ccp1y___bit equ 4 ; line_number = 107 ; bind _ccp1m3 = _ccp1con@3 _ccp1m3___byte equ _ccp1con _ccp1m3___bit equ 3 ; line_number = 108 ; bind _ccp1m2 = _ccp1con@2 _ccp1m2___byte equ _ccp1con _ccp1m2___bit equ 2 ; line_number = 109 ; bind _ccp1m1 = _ccp1con@1 _ccp1m1___byte equ _ccp1con _ccp1m1___bit equ 1 ; line_number = 110 ; bind _ccp1m0 = _ccp1con@0 _ccp1m0___byte equ _ccp1con _ccp1m0___bit equ 0 ; line_number = 112 ; register _rcsta = _rcsta equ 24 ; line_number = 113 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 114 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 115 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 116 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 117 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 118 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 119 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 120 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 122 ; register _txreg = _txreg equ 25 ; line_number = 124 ; register _rcreg = _rcreg equ 26 ; line_number = 126 ; register _ccpr2l = _ccpr2l equ 27 ; line_number = 128 ; register _ccpr2h = _ccpr2h equ 28 ; line_number = 130 ; register _ccp2con = _ccp2con equ 29 ; line_number = 131 ; bind _ccp2x = _ccp2con@5 _ccp2x___byte equ _ccp2con _ccp2x___bit equ 5 ; line_number = 132 ; bind _ccp2y = _ccp2con@4 _ccp2y___byte equ _ccp2con _ccp2y___bit equ 4 ; line_number = 133 ; bind _ccp2m3 = _ccp2con@3 _ccp2m3___byte equ _ccp2con _ccp2m3___bit equ 3 ; line_number = 134 ; bind _ccp2m2 = _ccp2con@2 _ccp2m2___byte equ _ccp2con _ccp2m2___bit equ 2 ; line_number = 135 ; bind _ccp2m1 = _ccp2con@1 _ccp2m1___byte equ _ccp2con _ccp2m1___bit equ 1 ; line_number = 136 ; bind _ccp2m0 = _ccp2con@0 _ccp2m0___byte equ _ccp2con _ccp2m0___bit equ 0 ; line_number = 138 ; register _adresh = _adresh equ 30 ; line_number = 140 ; register _adcon0 = _adcon0 equ 31 ; line_number = 141 ; bind _adcs1 = _adcon0@7 _adcs1___byte equ _adcon0 _adcs1___bit equ 7 ; line_number = 142 ; bind _adcs0 = _adcon0@6 _adcs0___byte equ _adcon0 _adcs0___bit equ 6 ; line_number = 143 ; bind _chs2 = _adcon0@5 _chs2___byte equ _adcon0 _chs2___bit equ 5 ; line_number = 144 ; bind _chs1 = _adcon0@4 _chs1___byte equ _adcon0 _chs1___bit equ 4 ; line_number = 145 ; bind _chs0 = _adcon0@3 _chs0___byte equ _adcon0 _chs0___bit equ 3 ; line_number = 146 ; bind _go_done = _adcon0@2 _go_done___byte equ _adcon0 _go_done___bit equ 2 ; line_number = 147 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Bank 1: ; line_number = 151 ; register _option_reg = _option_reg equ 129 ; line_number = 152 ; bind _rbpu = _option_reg@7 _rbpu___byte equ _option_reg _rbpu___bit equ 7 ; line_number = 153 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 154 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 155 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 156 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 157 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 158 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 159 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 161 ; register _trisa = _trisa equ 133 ; line_number = 163 ; register _trisb = _trisb equ 134 ; line_number = 165 ; register _trisc = _trisc equ 135 ; line_number = 167 ; register _pie1 = _pie1 equ 140 ; line_number = 168 ; bind _pspie = _pie1@7 _pspie___byte equ _pie1 _pspie___bit equ 7 ; line_number = 169 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 170 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 171 ; bind _txie = _pie1@4 _txie___byte equ _pie1 _txie___bit equ 4 ; line_number = 172 ; bind _sspie = _pie1@3 _sspie___byte equ _pie1 _sspie___bit equ 3 ; line_number = 173 ; bind _ccp1ie = _pie1@2 _ccp1ie___byte equ _pie1 _ccp1ie___bit equ 2 ; line_number = 174 ; bind _tmr2ie = _pie1@1 _tmr2ie___byte equ _pie1 _tmr2ie___bit equ 1 ; line_number = 175 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 177 ; register _pie2 = _pie2 equ 141 ; line_number = 178 ; bind _eeie = _pie2@4 _eeie___byte equ _pie2 _eeie___bit equ 4 ; line_number = 179 ; bind _bcie = _pie2@3 _bcie___byte equ _pie2 _bcie___bit equ 3 ; line_number = 180 ; bind _ccp2ie = _pie2@0 _ccp2ie___byte equ _pie2 _ccp2ie___bit equ 0 ; line_number = 182 ; register _pcon = _pcon equ 142 ; line_number = 183 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 184 ; bind _bor = _pcon@0 _bor___byte equ _pcon _bor___bit equ 0 ; line_number = 186 ; register _sspcon2 = _sspcon2 equ 145 ; line_number = 187 ; bind _gcen = _sspcon2@7 _gcen___byte equ _sspcon2 _gcen___bit equ 7 ; line_number = 188 ; bind _ackstat = _sspcon2@6 _ackstat___byte equ _sspcon2 _ackstat___bit equ 6 ; line_number = 189 ; bind _ackdt = _sspcon2@5 _ackdt___byte equ _sspcon2 _ackdt___bit equ 5 ; line_number = 190 ; bind _acken = _sspcon2@4 _acken___byte equ _sspcon2 _acken___bit equ 4 ; line_number = 191 ; bind _rcen = _sspcon2@3 _rcen___byte equ _sspcon2 _rcen___bit equ 3 ; line_number = 192 ; bind _pen = _sspcon2@2 _pen___byte equ _sspcon2 _pen___bit equ 2 ; line_number = 193 ; bind _rsen = _sspcon2@1 _rsen___byte equ _sspcon2 _rsen___bit equ 1 ; line_number = 194 ; bind _sen = _sspcon2@0 _sen___byte equ _sspcon2 _sen___bit equ 0 ; line_number = 196 ; register _pr2 = _pr2 equ 146 ; line_number = 198 ; register _sspadd = _sspadd equ 147 ; line_number = 200 ; register _sspstat = _sspstat equ 148 ; line_number = 201 ; bind _smp = _sspstat@7 _smp___byte equ _sspstat _smp___bit equ 7 ; line_number = 202 ; bind _cke = _sspstat@6 _cke___byte equ _sspstat _cke___bit equ 6 ; line_number = 203 ; bind _da = _sspstat@5 _da___byte equ _sspstat _da___bit equ 5 ; line_number = 204 ; bind _p = _sspstat@4 _p___byte equ _sspstat _p___bit equ 4 ; line_number = 205 ; bind _s = _sspstat@3 _s___byte equ _sspstat _s___bit equ 3 ; line_number = 206 ; bind _rw = _sspstat@2 _rw___byte equ _sspstat _rw___bit equ 2 ; line_number = 207 ; bind _ua = _sspstat@1 _ua___byte equ _sspstat _ua___bit equ 1 ; line_number = 208 ; bind _bf = _sspstat@0 _bf___byte equ _sspstat _bf___bit equ 0 ; line_number = 210 ; register _txsta = _txsta equ 152 ; line_number = 211 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 212 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 213 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 214 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 215 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 216 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 217 ; bind _tx9d = _txsta@0 _tx9d___byte equ _txsta _tx9d___bit equ 0 ; line_number = 219 ; register _spbrg = _spbrg equ 153 ; line_number = 221 ; register _cmcon = _cmcon equ 156 ; line_number = 222 ; bind _c2out = _cmcon@7 _c2out___byte equ _cmcon _c2out___bit equ 7 ; line_number = 223 ; bind _c1out = _cmcon@6 _c1out___byte equ _cmcon _c1out___bit equ 6 ; line_number = 224 ; bind _c2inv = _cmcon@5 _c2inv___byte equ _cmcon _c2inv___bit equ 5 ; line_number = 225 ; bind _c1inv = _cmcon@4 _c1inv___byte equ _cmcon _c1inv___bit equ 4 ; line_number = 226 ; bind _cis = _cmcon@3 _cis___byte equ _cmcon _cis___bit equ 3 ; line_number = 227 ; bind _cm2 = _cmcon@2 _cm2___byte equ _cmcon _cm2___bit equ 2 ; line_number = 228 ; bind _cm1 = _cmcon@1 _cm1___byte equ _cmcon _cm1___bit equ 1 ; line_number = 229 ; bind _cm0 = _cmcon@0 _cm0___byte equ _cmcon _cm0___bit equ 0 ; line_number = 231 ; register _cvrcon = _cvrcon equ 157 ; line_number = 232 ; bind _cvren = _cvrcon@7 _cvren___byte equ _cvrcon _cvren___bit equ 7 ; line_number = 233 ; bind _cvroe = _cvrcon@6 _cvroe___byte equ _cvrcon _cvroe___bit equ 6 ; line_number = 234 ; bind _cvrr = _cvrcon@5 _cvrr___byte equ _cvrcon _cvrr___bit equ 5 ; line_number = 235 ; bind _cvr3 = _cvrcon@3 _cvr3___byte equ _cvrcon _cvr3___bit equ 3 ; line_number = 236 ; bind _cvr2 = _cvrcon@2 _cvr2___byte equ _cvrcon _cvr2___bit equ 2 ; line_number = 237 ; bind _cvr1 = _cvrcon@1 _cvr1___byte equ _cvrcon _cvr1___bit equ 1 ; line_number = 238 ; bind _cvr0 = _cvrcon@0 _cvr0___byte equ _cvrcon _cvr0___bit equ 0 ; line_number = 240 ; register _adresl = _adresl equ 158 ; line_number = 242 ; register _adcon1 = _adcon1 equ 159 ; line_number = 243 ; bind _adfm = _adcon1@7 _adfm___byte equ _adcon1 _adfm___bit equ 7 ; line_number = 244 ; bind _pcfg3 = _adcon1@3 _pcfg3___byte equ _adcon1 _pcfg3___bit equ 3 ; line_number = 245 ; bind _pcfg2 = _adcon1@2 _pcfg2___byte equ _adcon1 _pcfg2___bit equ 2 ; line_number = 246 ; bind _pcfg1 = _adcon1@1 _pcfg1___byte equ _adcon1 _pcfg1___bit equ 1 ; line_number = 247 ; bind _pcfg0 = _adcon1@0 _pcfg0___byte equ _adcon1 _pcfg0___bit equ 0 ; # Bank 2: ; line_number = 251 ; register _eedata = _eedata equ 268 ; line_number = 253 ; register _eeadr = _eeadr equ 269 ; line_number = 255 ; register _eedath = _eedath equ 270 ; line_number = 257 ; register _eeadrh = _eeadrh equ 271 ; # Bank 3: ; line_number = 261 ; register _eecon1 = _eecon1 equ 396 ; line_number = 262 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 263 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 264 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 265 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 266 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 268 ; register _eecon2 = _eecon2 equ 397 ; buffer = '_pic16f876a' ; line_number = 356 ; library _pic16f87x exited ; buffer = 'imu1' ; line_number = 10 ; library _pic16f876a exited ; # The resonator is running at 16MHz: ; line_number = 13 ; library clock16mhz entered ; # Copyright (c) 2006 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock16mhz' ; line_number = 9 ; constant clock_rate = 16000000 clock_rate equ 16000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 4000000 ; buffer = 'imu1' ; line_number = 13 ; library clock16mhz exited ; line_number = 14 ; constant microsecond = 4 microsecond equ 4 ; line_number = 16 ; library_bank 3 ; # The library of bus access initialization routines for use by the PIC16F767: ; line_number = 19 ; library rb2bus_pic16f876 entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # This module provides some procedures for accessing a RoboBricks2 ; # bus via a UART. It is speicialized for the PIC16F876: ; # ; # It defines the following procedure: ; # ; # {rb2bus_initialize}({address}) The procedure that initializes the UART ; # for bus access. ; # Global variables used by {rb2bus} library and {rb2bus_picXXXX} libraries: ; buffer = 'rb2bus_pic16f876' ; line_number = 15 ; library rb2bus_globals entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # These are the global variables used by both the {rb2bus} and ; # the various {rb2bus_picXXXX} libraries. Poll based firmware ; # uses both libraries, whereas interrupt driven software only ; # uses the {rb2bus_picXXX} libraries. ; buffer = 'rb2bus_globals' ; line_number = 11 ; global rb2bus_selected bit # rb2bus_selected___byte equ globals___0+79 rb2bus_selected___bit equ 0 ; line_number = 12 ; global rb2bus_error bit # Global error bit rb2bus_error___byte equ globals___0+79 rb2bus_error___bit equ 1 ; line_number = 13 ; global rb2bus_address byte # Bus address to respond to rb2bus_address equ globals___0 ; line_number = 14 ; global rb2bus_index byte # Index into id information rb2bus_index equ globals___0+1 ; buffer = 'rb2bus_pic16f876' ; line_number = 15 ; library rb2bus_globals exited ; # All other bus access procedures are defined in the {rb2bus} library ; # which is accessed below: ; # Baud_Rate = Fosc / (16(X+1)) ; # 16 * (X+1) = Fosc/Baud_Rate ; # X+1 = Fosc/(16*Baud_Rate) ; # X = Fosc/(16*Baud_rate) - 1 ; line_number = 25 ; constant baud_rate_500k = 500000 baud_rate_500k equ 500000 ; line_number = 26 ; constant spbrg_500k = clock_rate / (16 * baud_rate_500k) - 1 spbrg_500k equ 1 ; Delaying code generation for procedure rb2bus_initialize ; line_number = 64 ; constant rb2bus_eedata_address = 0xfe rb2bus_eedata_address equ 254 ; Delaying code generation for procedure rb2bus_eedata_read ; Delaying code generation for procedure rb2bus_eedata_write ; buffer = 'imu1' ; line_number = 19 ; library rb2bus_pic16f876 exited ; # The library of bus access routines: ; line_number = 22 ; library rb2bus entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # This module provides some procedures for accessing a RoboBricks2 ; # bus via a UART. ; # ; # This procedure defines the following procedures: ; # ; # {rb2bus_select_wait} This procedure waits for the module to become selected ; # {rb2bus_deselect} This procedure causes this module to be deselected. ; # {rb2bus_byte_get} This procedure will get a byte form the bus. ; # {rb2bus_byte_put} This procedure will send a byte to the bus. ; # ; # The global variable {rb2bus_error} is set to 1 whenever the procedures ; # feel like there is a command decoding error. ; # ; # The way to use these procedures is quite as follows: ; # ; # # Comamnd byte variable: ; # local command byte ; # ; # # Other initialize code goes here: ; # ; # # Process commands from bus master: ; # loop_forever ; # rb2bus_error := _true ; # while rb2bus_error ; # call rb2bus_select_wait() ; # command := rb2bus_byte_get() ; # ; # # Decode command: ; # switch command >> 6 ; # ... ; # case 5: ; # # 0000 0101 (Foo command): ; # if !rb2bus_error ; # # Do foo command: ; # ; # The key concept behind these procedures is to make command ; # decoding for the slave module easy. If the slave module ; # is in the middle of command decoding and the master suddenly ; # sends out a module select command, we need to gracefully recover ; # from the problem. A command should only be executed if ; # {rb2bus_error} is not set. If {rb2bus_error} is set, we want ; # to gracefully get back to the beginning of the loop without ; # doing any damage. Once {rb2bus_error} is set, all calls to ; # {rb2bus_byte_get} return 0 and all calls to {rb2bus_byte_put} ; # do nothing. At the beginning of the loop, {rb2bus_error} is ; # cleared by the {rb2bus_select_wait}() procedure and we have ; # recovered from the situation. ; buffer = 'rb2bus' ; line_number = 54 ; library rb2_constants entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. ; # All rights reserved. ; buffer = 'rb2_constants' ; line_number = 6 ; constant rb2_ok = 0xa5 rb2_ok equ 165 ; line_number = 8 ; constant rb2_common_address_set = 0xfc rb2_common_address_set equ 252 ; line_number = 9 ; constant rb2_common_id_next = 0xfd rb2_common_id_next equ 253 ; line_number = 10 ; constant rb2_common_id_start = 0xfe rb2_common_id_start equ 254 ; line_number = 11 ; constant rb2_common_deselect = 0xff rb2_common_deselect equ 255 ; line_number = 13 ; constant rb2_laser1_address = 1 rb2_laser1_address equ 1 ; line_number = 15 ; constant rb2_minimotor2_address = 2 rb2_minimotor2_address equ 2 ; line_number = 16 ; constant rb2_midimotor2_address = 3 rb2_midimotor2_address equ 3 ; line_number = 17 ; constant rb2_motor0_speed_get = 0 rb2_motor0_speed_get equ 0 ; line_number = 18 ; constant rb2_motor0_speed_set = 1 rb2_motor0_speed_set equ 1 ; line_number = 19 ; constant rb2_motor1_speed_get = 2 rb2_motor1_speed_get equ 2 ; line_number = 20 ; constant rb2_motor1_speed_set = 3 rb2_motor1_speed_set equ 3 ; line_number = 21 ; constant rb2_duty_cycle_get = 4 rb2_duty_cycle_get equ 4 ; line_number = 22 ; constant rb2_duty_cycle_set = 8 rb2_duty_cycle_set equ 8 ; line_number = 24 ; constant rb2_irdistance2_address = 4 rb2_irdistance2_address equ 4 ; line_number = 25 ; constant rb2_irdistance2_raw0_get = 0 rb2_irdistance2_raw0_get equ 0 ; line_number = 26 ; constant rb2_irdistance2_raw1_get = 1 rb2_irdistance2_raw1_get equ 1 ; line_number = 27 ; constant rb2_irdistance2_smooth0_get = 2 rb2_irdistance2_smooth0_get equ 2 ; line_number = 28 ; constant rb2_irdistance2_smooth1_get = 3 rb2_irdistance2_smooth1_get equ 3 ; line_number = 29 ; constant rb2_irdistance2_linear0_get = 4 rb2_irdistance2_linear0_get equ 4 ; line_number = 30 ; constant rb2_irdistance2_linear1_get = 6 rb2_irdistance2_linear1_get equ 6 ; line_number = 32 ; constant rb2_shaft2_address = 5 rb2_shaft2_address equ 5 ; line_number = 33 ; constant rb2_shaft2_count_latch = 0 rb2_shaft2_count_latch equ 0 ; line_number = 34 ; constant rb2_shaft2_count_clear = 1 rb2_shaft2_count_clear equ 1 ; line_number = 35 ; constant rb2_shaft2_shaft0_high_get = 2 rb2_shaft2_shaft0_high_get equ 2 ; line_number = 36 ; constant rb2_shaft2_shaft1_high_get = 3 rb2_shaft2_shaft1_high_get equ 3 ; line_number = 37 ; constant rb2_shaft2_continue_get = 4 rb2_shaft2_continue_get equ 4 ; line_number = 38 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft0_low_get equ 4 ; line_number = 39 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft1_low_get equ 4 ; line_number = 40 ; constant rb2_shaft2_x_get = 0x10 rb2_shaft2_x_get equ 16 ; line_number = 41 ; constant rb2_shaft2_y_get = 0x11 rb2_shaft2_y_get equ 17 ; line_number = 42 ; constant rb2_shaft2_bearing16_get = 0x12 rb2_shaft2_bearing16_get equ 18 ; line_number = 43 ; constant rb2_shaft2_bearing8_get = 0x13 rb2_shaft2_bearing8_get equ 19 ; line_number = 44 ; constant rb2_shaft2_target_x_get = 0x14 rb2_shaft2_target_x_get equ 20 ; line_number = 45 ; constant rb2_shaft2_target_y_get = 0x15 rb2_shaft2_target_y_get equ 21 ; line_number = 46 ; constant rb2_shaft2_target_bearing16_get = 0x16 rb2_shaft2_target_bearing16_get equ 22 ; line_number = 47 ; constant rb2_shaft2_target_bearing8_get = 0x17 rb2_shaft2_target_bearing8_get equ 23 ; line_number = 48 ; constant rb2_shaft2_target_distance_get = 0x18 rb2_shaft2_target_distance_get equ 24 ; line_number = 49 ; constant rb2_shaft2_wheel_spacing_get = 0x19 rb2_shaft2_wheel_spacing_get equ 25 ; line_number = 50 ; constant rb2_shaft2_wheel_ticks_get = 0x1a rb2_shaft2_wheel_ticks_get equ 26 ; line_number = 51 ; constant rb2_shaft2_wheel_diameter_get = 0x1b rb2_shaft2_wheel_diameter_get equ 27 ; line_number = 52 ; constant rb2_shaft2_x_set = 0x20 rb2_shaft2_x_set equ 32 ; line_number = 53 ; constant rb2_shaft2_y_set = 0x21 rb2_shaft2_y_set equ 33 ; line_number = 54 ; constant rb2_shaft2_bearing16_set = 0x22 rb2_shaft2_bearing16_set equ 34 ; line_number = 55 ; constant rb2_shaft2_navigation_latch = 0x23 rb2_shaft2_navigation_latch equ 35 ; line_number = 56 ; constant rb2_shaft2_target_x_set = 0x24 rb2_shaft2_target_x_set equ 36 ; line_number = 57 ; constant rb2_shaft2_target_y_set = 0x25 rb2_shaft2_target_y_set equ 37 ; line_number = 58 ; constant rb2_shaft2_wheel_spacing_set = 0x29 rb2_shaft2_wheel_spacing_set equ 41 ; line_number = 59 ; constant rb2_shaft2_wheel_ticks_set = 0x2a rb2_shaft2_wheel_ticks_set equ 42 ; line_number = 60 ; constant rb2_shaft2_wheel_diameter_set = 0x2b rb2_shaft2_wheel_diameter_set equ 43 ; line_number = 63 ; constant rb2_orient5_address = 6 rb2_orient5_address equ 6 ; line_number = 65 ; constant rb2_compass8_address = 7 rb2_compass8_address equ 7 ; line_number = 67 ; constant rb2_io8_address = 8 rb2_io8_address equ 8 ; line_number = 68 ; constant rb2_io8_digital8_get = 0 rb2_io8_digital8_get equ 0 ; line_number = 69 ; constant rb2_io8_digital8_set = 1 rb2_io8_digital8_set equ 1 ; line_number = 70 ; constant rb2_io8_direction_get = 2 rb2_io8_direction_get equ 2 ; line_number = 71 ; constant rb2_io8_direction_set = 3 rb2_io8_direction_set equ 3 ; line_number = 72 ; constant rb2_io8_analog_mask_get = 4 rb2_io8_analog_mask_get equ 4 ; line_number = 73 ; constant rb2_io8_analog_mask_set = 5 rb2_io8_analog_mask_set equ 5 ; line_number = 74 ; constant rb2_io8_analog8_get = 0x10 rb2_io8_analog8_get equ 16 ; line_number = 75 ; constant rb2_io8_analog10_get = 0x18 rb2_io8_analog10_get equ 24 ; line_number = 76 ; constant rb2_low_set = 0x20 rb2_low_set equ 32 ; line_number = 77 ; constant rb2_high_set = 0x30 rb2_high_set equ 48 ; line_number = 79 ; constant rb2_sonar2_address = 9 rb2_sonar2_address equ 9 ; line_number = 81 ; constant rb2_voice1_address = 10 rb2_voice1_address equ 10 ; line_number = 83 ; constant rb2_servo4_address = 11 rb2_servo4_address equ 11 ; line_number = 84 ; constant rb2_servo4_servo0 = 0 rb2_servo4_servo0 equ 0 ; line_number = 85 ; constant rb2_servo4_servo1 = 1 rb2_servo4_servo1 equ 1 ; line_number = 86 ; constant rb2_servo4_servo2 = 2 rb2_servo4_servo2 equ 2 ; line_number = 87 ; constant rb2_servo4_servo3 = 3 rb2_servo4_servo3 equ 3 ; line_number = 88 ; constant rb2_servo4_quick_set = 0 rb2_servo4_quick_set equ 0 ; line_number = 89 ; constant rb2_servo4_quick_low = 0 rb2_servo4_quick_low equ 0 ; line_number = 90 ; constant rb2_servo4_quick_center = 40 rb2_servo4_quick_center equ 40 ; line_number = 91 ; constant rb2_servo4_quick_high = 0x7c rb2_servo4_quick_high equ 124 ; line_number = 92 ; constant rb2_servo4_high_low_set = 0x80 rb2_servo4_high_low_set equ 128 ; line_number = 93 ; constant rb2_servo4_short_high_low_set = 0x84 rb2_servo4_short_high_low_set equ 132 ; line_number = 94 ; constant rb2_servo4_high_set = 0x88 rb2_servo4_high_set equ 136 ; line_number = 95 ; constant rb2_servo4_low_set = 0x8c rb2_servo4_low_set equ 140 ; line_number = 96 ; constant rb2_servo4_enables_set = 0x90 rb2_servo4_enables_set equ 144 ; line_number = 97 ; constant rb2_servo4_enable0 = 1 rb2_servo4_enable0 equ 1 ; line_number = 98 ; constant rb2_servo4_enable1 = 2 rb2_servo4_enable1 equ 2 ; line_number = 99 ; constant rb2_servo4_enable2 = 4 rb2_servo4_enable2 equ 4 ; line_number = 100 ; constant rb2_servo4_enable3 = 8 rb2_servo4_enable3 equ 8 ; line_number = 101 ; constant rb2_servo4_enable_all = 0xf rb2_servo4_enable_all equ 15 ; line_number = 102 ; constant rb2_servo4_enable_none = 0 rb2_servo4_enable_none equ 0 ; line_number = 103 ; constant rb2_servo4_high_get = 0xa0 rb2_servo4_high_get equ 160 ; line_number = 104 ; constant rb2_servo4_low_get = 0xa4 rb2_servo4_low_get equ 164 ; line_number = 105 ; constant rb2_servo4_enables_get = 0xa8 rb2_servo4_enables_get equ 168 ; line_number = 107 ; constant rb2_controller28_address = 28 rb2_controller28_address equ 28 ; line_number = 109 ; constant rb2_lcd32_address = 32 rb2_lcd32_address equ 32 ; line_number = 110 ; constant rb2_lcd32_new_line = 0xa rb2_lcd32_new_line equ 10 ; line_number = 111 ; constant rb2_lcd32_form_feed = 0xc rb2_lcd32_form_feed equ 12 ; line_number = 112 ; constant rb2_lcd32_carriage_return = 0xd rb2_lcd32_carriage_return equ 13 ; line_number = 113 ; constant rb2_lcd32_column_set = 0x20 rb2_lcd32_column_set equ 32 ; buffer = 'rb2bus' ; line_number = 54 ; library rb2_constants exited ; line_number = 55 ; library rb2bus_globals Skipped (duplicate) ; Delaying code generation for procedure rb2bus_select_wait ; Delaying code generation for procedure rb2bus_deselect ; Delaying code generation for procedure rb2bus_byte_get ; Delaying code generation for procedure rb2bus_byte_put ; Delaying code generation for procedure rb2bus_command ; buffer = 'imu1' ; line_number = 22 ; library rb2bus exited ; # This module uses a 16Mhz resonator; hence mode HS=High Speed: ; # Only the RX and TX pins on this package are used: ; line_number = 28 ; package pdip ; line_number = 29 ; pin 1 = mclr ; line_number = 30 ; pin 2 = ra0_unused ; line_number = 31 ; pin 3 = ra1_unused ; line_number = 32 ; pin 4 = ra2_unused ; line_number = 33 ; pin 5 = ra3_unused ; line_number = 34 ; pin 6 = ra4_unused ; line_number = 35 ; pin 7 = ra5_unused ; line_number = 36 ; pin 8 = ground ; line_number = 37 ; pin 9 = osc1 ; line_number = 38 ; pin 10 = osc2 ; line_number = 39 ; pin 11 = rc0_unused ; line_number = 40 ; pin 12 = rc1_unused ; line_number = 41 ; pin 13 = rc2_unused ; line_number = 42 ; pin 14 = rc3_unused ; line_number = 43 ; pin 15 = rc4_unused ; line_number = 44 ; pin 16 = rc5_unused ; line_number = 45 ; pin 17 = tx ; line_number = 46 ; pin 18 = rx ; line_number = 47 ; pin 19 = ground2 ; line_number = 48 ; pin 20 = power_supply ; line_number = 49 ; pin 21 = rb0_unused ; line_number = 50 ; pin 22 = rb1_unused ; line_number = 51 ; pin 23 = rb2_unused ; line_number = 52 ; pin 24 = rb3_unused ; line_number = 53 ; pin 25 = rb4_unused ; line_number = 54 ; pin 26 = rb5_unused ; line_number = 55 ; pin 27 = rb6_unused ; line_number = 56 ; pin 28 = rb7_unused ; line_number = 58 ; origin 0 org 0 ; line_number = 60 ;info 60, 0 ; procedure start start: ; arguments_none ; line_number = 62 ; returns_nothing ; line_number = 63 ; return_suppress ; # We will call main, but never return; this causes the ; # compiler to set the code banks properly. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 67 ; call main() ;info 67, 0 bsf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit call main ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; #origin 4 ; #procedure interrupt ; # arguments_none ; # returns_nothing# ; # ; # do_nothing ; #origin 0x800 ; line_number = 79 ; origin 0x1e00 ; Code bank 1; Start address: 2048; End address: 4095 org 2048 ; Code bank 2; Start address: 4096; End address: 6143 org 4096 ; Code bank 3; Start address: 6144; End address: 8191 org 6144 org 7680 ; line_number = 81 ;info 81, 7680 ; procedure main main: ; Initialize some registers clrf _adcon0 movlw 7 bsf __rp0___byte, __rp0___bit movwf _adcon1 movlw 7 movwf _cmcon movlw 63 movwf _trisa movlw 255 movwf _trisb movlw 191 movwf _trisc ; arguments_none ; line_number = 83 ; returns_nothing ; line_number = 85 ; local address_high byte main__address_high equ globals___0+12 ; line_number = 86 ; local address_low byte main__address_low equ globals___0+13 ; line_number = 87 ; local command byte main__command equ globals___0+14 ; line_number = 88 ; local count byte main__count equ globals___0+15 ; line_number = 89 ; local id_index byte main__id_index equ globals___0+16 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:11=uu=>11) ; line_number = 91 ; call rb2bus_initialize(28) ;info 91, 7692 movlw 28 bcf __rp0___byte, __rp0___bit call rb2bus_initialize ; line_number = 93 ; id_index := 0 ;info 93, 7695 clrf main__id_index ; line_number = 95 ; loop_forever start main__1: ; # Make sure that we have been selected: ; line_number = 97 ; rb2bus_error := _true ;info 97, 7696 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 98 ; while rb2bus_error start main__2: ;info 98, 7697 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=4 false.size=0 ; No 2TEST: true.size=4 false.size=0 ; 1GOTO: Single test with GOTO btfss rb2bus_error___byte, rb2bus_error___bit goto main__3 ; line_number = 99 ; call rb2bus_select_wait() ;info 99, 7699 call rb2bus_select_wait ; line_number = 100 ; command := rb2bus_byte_get() ;info 100, 7700 call rb2bus_byte_get movwf main__command goto main__2 ; Recombine size1 = 0 || size2 = 0 main__3: ; line_number = 98 ; while rb2bus_error done ; line_number = 102 ; switch command >> 6 start ;info 102, 7703 ; switch_before:(data:00=uu=>00 code:11=uu=>11) size=7 movlw main__30>>8 movwf __pclath main__31 equ globals___0+17 swapf main__command,w movwf main__31 rrf main__31,f rrf main__31,w andlw 3 ; switch after expression:(data:00=uu=>00 code:11=uu=>11) addlw main__30 movwf __pcl ; page_group 4 main__30: goto main__28 goto main__32 goto main__32 goto main__29 ; line_number = 103 ; case 0 main__28: ; # 00xx xxxx: ; line_number = 105 ; switch (command >> 3) & 7 start ;info 105, 7716 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 106 ; case_maximum 7 movlw main__15>>8 movwf __pclath main__16 equ globals___0+17 rrf main__command,w movwf main__16 rrf main__16,f rrf main__16,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__15 movwf __pcl ; page_group 8 main__15: goto main__14 goto main__17 goto main__17 goto main__17 goto main__17 goto main__17 goto main__17 goto main__17 ; line_number = 107 ; case 0 main__14: ; #: 0000 0xxx: ; line_number = 109 ; switch command & 7 start ;info 109, 7733 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 110 ; case_maximum 7 movlw main__12>>8 movwf __pclath movlw 7 andwf main__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__12 movwf __pcl ; page_group 8 main__12: goto main__6 goto main__7 goto main__8 goto main__9 goto main__10 goto main__11 goto main__13 goto main__13 ; line_number = 111 ; case 0 main__6: ; #: 0000 0000 (Set Memory Address): ; line_number = 113 ; address_high := rb2bus_byte_get() ;info 113, 7747 call rb2bus_byte_get movwf main__address_high ; line_number = 114 ; address_low := rb2bus_byte_get() ;info 114, 7749 call rb2bus_byte_get movwf main__address_low goto main__13 ; line_number = 115 ; case 1 main__7: ; #: 0000 0001 (Read Program Memory): ; line_number = 117 ; count := rb2bus_byte_get() ;info 117, 7752 call rb2bus_byte_get movwf main__count ; line_number = 119 ; loop_exactly count start ;info 119, 7754 main__4 equ globals___0+17 movf main__count,w movwf main__4 main__5: ; line_number = 120 ; _eeadrh := address_high ;info 120, 7756 movf main__address_high,w bsf __rp1___byte, __rp1___bit movwf _eeadrh ; line_number = 121 ; _eeadr := address_low ;info 121, 7759 bcf __rp1___byte, __rp1___bit movf main__address_low,w bsf __rp1___byte, __rp1___bit movwf _eeadr ; # Read the word: ; line_number = 124 ; _eepgd := _true ;info 124, 7763 bsf __rp0___byte, __rp0___bit bsf _eepgd___byte, _eepgd___bit ; line_number = 125 ; _rd := _true ;info 125, 7765 bsf _rd___byte, _rd___bit ; # The next two instructions are *ignored*: ; line_number = 128 ; assemble ;info 128, 7766 ; line_number = 129 ;info 129, 7766 nop ; Statement 0 of 3 delay = 9 ; line_number = 130 ;info 130, 7767 nop ; Statement 1 of 3 delay = 10 ; Statement 2 of 3 delay = 10 ; # Ship the results back: ; line_number = 133 ; call rb2bus_byte_put(_eedath) ;info 133, 7768 bcf __rp0___byte, __rp0___bit movf _eedath,w bcf __rp1___byte, __rp1___bit call rb2bus_byte_put ; line_number = 134 ; call rb2bus_byte_put(_eedata) ;info 134, 7772 bsf __rp1___byte, __rp1___bit movf _eedata,w bcf __rp1___byte, __rp1___bit call rb2bus_byte_put ; # Increment the address ; line_number = 137 ; address_low := address_low + 1 ;info 137, 7776 incf main__address_low,f ; line_number = 138 ; if _z start ;info 138, 7777 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 139 ; address_high := address_high + 1 ;info 139, 7778 incf main__address_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 138 ; if _z done ; line_number = 119 ; loop_exactly count wrap-up decfsz main__4,f goto main__5 ; line_number = 119 ; loop_exactly count done ; # Let them know we are done: ; line_number = 141 ; call rb2bus_byte_put(0x5c) ;info 141, 7781 movlw 92 call rb2bus_byte_put goto main__13 ; line_number = 142 ; case 2 main__8: ; # 0000 0010 (Set Program Memory): ; line_number = 144 ; _eeadrh := address_high ;info 144, 7784 movf main__address_high,w bsf __rp1___byte, __rp1___bit movwf _eeadrh ; line_number = 145 ; _eeadr := address_low ;info 145, 7787 bcf __rp1___byte, __rp1___bit movf main__address_low,w bsf __rp1___byte, __rp1___bit movwf _eeadr ; line_number = 146 ; _eedath := rb2bus_byte_get() ;info 146, 7791 bcf __rp1___byte, __rp1___bit call rb2bus_byte_get bsf __rp1___byte, __rp1___bit movwf _eedath ; line_number = 147 ; _eedata := rb2bus_byte_get() ;info 147, 7795 bcf __rp1___byte, __rp1___bit call rb2bus_byte_get bsf __rp1___byte, __rp1___bit movwf _eedata ; #_eeadrh := 0 ; #_eeadr := 0x80 ; #_eedath := 0x12 ; #_eedata := 0x34 ; line_number = 154 ; _eecon1 := 0 ;info 154, 7799 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 155 ; _eepgd := _true ;info 155, 7801 bsf _eepgd___byte, _eepgd___bit ; line_number = 156 ; _wren := _true ;info 156, 7802 bsf _wren___byte, _wren___bit ; # Make sure that WRT is on in configuration word: ; # This code must not be interrupted: ; line_number = 161 ; _gie := _false ;info 161, 7803 bcf _gie___byte, _gie___bit ; line_number = 162 ; _eecon2 := 0x55 ;info 162, 7804 movlw 85 movwf _eecon2 ; line_number = 163 ; _eecon2 := 0xaa ;info 163, 7806 movlw 170 movwf _eecon2 ; line_number = 164 ; _wr := _true ;info 164, 7808 bsf _wr___byte, _wr___bit ; line_number = 165 ; assemble ;info 165, 7809 ; line_number = 166 ;info 166, 7809 nop ; line_number = 167 ;info 167, 7810 nop ; line_number = 168 ; _wren := _false ;info 168, 7811 bcf _wren___byte, _wren___bit ; # Increment the address ; line_number = 171 ; address_low := address_low + 1 ;info 171, 7812 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit incf main__address_low,f ; line_number = 172 ; if _z start ;info 172, 7815 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 173 ; address_high := address_high + 1 ;info 173, 7816 incf main__address_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 172 ; if _z done ; line_number = 174 ; if _wrerr start ;info 174, 7817 ; =>bit_code_emit@symbol(): sym=_wrerr ; No 1TEST: true.size=1 false.size=1 ; 2TEST: two tests with code in both delay slots bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit btfsc _wrerr___byte, _wrerr___bit ; line_number = 175 ; call rb2bus_byte_put(0x5b) ;info 175, 7820 movlw 91 btfss _wrerr___byte, _wrerr___bit ; line_number = 177 ; call rb2bus_byte_put(0x5a) ;info 177, 7822 movlw 90 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call rb2bus_byte_put ; line_number = 174 ; if _wrerr done goto main__13 ; line_number = 178 ; case 3 main__9: ; #: 0000 0011 (Execute): ; line_number = 180 ; _pclath := address_high ;info 180, 7827 movf main__address_high,w movwf _pclath ; line_number = 181 ; _pcl := address_low ;info 181, 7829 movf main__address_low,w movwf _pcl goto main__13 ; line_number = 182 ; case 4 main__10: ; #: 0000 0100 (Address Low Read): ; line_number = 184 ; call rb2bus_byte_put(address_low) ;info 184, 7832 movf main__address_low,w call rb2bus_byte_put goto main__13 ; line_number = 185 ; case 5 main__11: ; #: 0000 0101 (Address High Read): ; line_number = 187 ; call rb2bus_byte_put(address_high) ;info 187, 7835 movf main__address_high,w call rb2bus_byte_put main__13: ; line_number = 109 ; switch command & 7 done main__17: ; line_number = 105 ; switch (command >> 3) & 7 done goto main__32 ; line_number = 188 ; case 3 main__29: ; # 11xx xxxx: ; line_number = 190 ; switch (command >> 3) & 7 start ;info 190, 7838 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw main__25>>8 movwf __pclath main__26 equ globals___0+17 rrf main__command,w movwf main__26 rrf main__26,f rrf main__26,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__25 movwf __pcl ; page_group 8 main__25: goto main__27 goto main__27 goto main__27 goto main__27 goto main__27 goto main__27 goto main__27 goto main__24 ; line_number = 191 ; case 7 main__24: ; # 1111 1xxx: ; line_number = 193 ; switch command & 7 start ;info 193, 7855 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw main__22>>8 movwf __pclath movlw 7 andwf main__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__22 movwf __pcl ; page_group 8 main__22: goto main__23 goto main__23 goto main__23 goto main__23 goto main__23 goto main__19 goto main__20 goto main__21 ; line_number = 194 ; case 5 main__19: ; # 1111 1101 (Id_next): ; line_number = 196 ; if id_index < id.size start ;info 196, 7869 movlw 28 subwf main__id_index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=4 ; No 2TEST: true.size=0 false.size=4 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__18 ; line_number = 197 ; call rb2bus_byte_put(id[id_index]) ;info 197, 7873 movf main__id_index,w call id call rb2bus_byte_put ; line_number = 198 ; id_index := id_index + 1 ;info 198, 7876 incf main__id_index,f main__18: ; Recombine size1 = 0 || size2 = 0 ; line_number = 196 ; if id_index < id.size done goto main__23 ; line_number = 199 ; case 6 main__20: ; # 1111 1110 (Id_start): ; line_number = 201 ; id_index := 0 ;info 201, 7878 clrf main__id_index goto main__23 ; line_number = 202 ; case 7 main__21: ; # 1111 1111 (Deselect): ; line_number = 204 ; call rb2bus_deselect() ;info 204, 7880 call rb2bus_deselect main__23: ; line_number = 193 ; switch command & 7 done main__27: ; line_number = 190 ; switch (command >> 3) & 7 done main__32: ; line_number = 102 ; switch command >> 6 done ; line_number = 95 ; loop_forever wrap-up goto main__1 ; line_number = 95 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 206 ;info 206, 7882 ; procedure wait wait: ; arguments_none ; line_number = 208 ; returns_nothing ; # This procedure is repeatably called whenever the software ; # is waiting for a byte to arrive from the bus. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 213 ; do_nothing ;info 213, 7882 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 215 ; string id = "\16,0,28,3,3,14\Controller28-C\7\Gramson" start ; id = '\16,0,28,3,3,14\Controller28-C\7\Gramson' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 28 id___base: retlw 16 retlw 0 retlw 28 retlw 3 retlw 3 retlw 14 retlw 67 retlw 111 retlw 110 retlw 116 retlw 114 retlw 111 retlw 108 retlw 108 retlw 101 retlw 114 retlw 50 retlw 56 retlw 45 retlw 67 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 215 ; string id = "\16,0,28,3,3,14\Controller28-C\7\Gramson" start ; Appending 8 delayed procedures to code bank 3 ; buffer = 'rb2bus_pic16f876' ; line_number = 28 ;info 28, 7917 ; procedure rb2bus_initialize rb2bus_initialize: ; Last argument is sitting in W; save into argument variable movwf rb2bus_initialize__address ; delay=4294967295 ; line_number = 29 ; argument address byte rb2bus_initialize__address equ globals___0+2 ; line_number = 30 ; returns_nothing ; # This procedure is responsibile for initializing the UART ; # connected to the bus. {address} is the address of this ; # slave module. This code is specific to the PIC16F688. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 36 ; rb2bus_address := address ;info 36, 7918 movf rb2bus_initialize__address,w movwf rb2bus_address ; # Warm up the UART: ; line_number = 39 ; _trisc@7 := _true ;info 39, 7920 rb2bus_initialize__select__1___byte equ _trisc rb2bus_initialize__select__1___bit equ 7 bsf __rp0___byte, __rp0___bit bsf rb2bus_initialize__select__1___byte, rb2bus_initialize__select__1___bit ; line_number = 40 ; _trisc@6 := _true ;info 40, 7922 rb2bus_initialize__select__2___byte equ _trisc rb2bus_initialize__select__2___bit equ 6 bsf rb2bus_initialize__select__2___byte, rb2bus_initialize__select__2___bit ; # Initialize the {_txsta} register: ; line_number = 43 ; _txsta := 0 ;info 43, 7923 clrf _txsta ; line_number = 44 ; _tx9 := _true ;info 44, 7924 bsf _tx9___byte, _tx9___bit ; line_number = 45 ; _txen := _true ;info 45, 7925 bsf _txen___byte, _txen___bit ; line_number = 46 ; _brgh := _true ;info 46, 7926 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 49 ; _rcsta := 0 ;info 49, 7927 bcf __rp0___byte, __rp0___bit clrf _rcsta ; line_number = 50 ; _spen := _true ;info 50, 7929 bsf _spen___byte, _spen___bit ; line_number = 51 ; _rx9 := _true ;info 51, 7930 bsf _rx9___byte, _rx9___bit ; line_number = 52 ; _cren := _true ;info 52, 7931 bsf _cren___byte, _cren___bit ; #_adden := _true ; line_number = 54 ; _adden := _false ;info 54, 7932 bcf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 57 ; _spbrg := spbrg_500k ;info 57, 7933 movlw 1 bsf __rp0___byte, __rp0___bit movwf _spbrg ; line_number = 59 ; rb2bus_selected := _false ;info 59, 7936 bcf __rp0___byte, __rp0___bit bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 60 ; rb2bus_error := _true ;info 60, 7938 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 61 ; rb2bus_index := 0 ;info 61, 7939 clrf rb2bus_index ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 66 ;info 66, 7941 ; procedure rb2bus_eedata_read rb2bus_eedata_read: ; arguments_none ; line_number = 68 ; returns byte ; # This procedure will return the address stored in EEData. If ; # there is no data, 0 is returned. ; line_number = 73 ; local temp1 byte rb2bus_eedata_read__temp1 equ globals___0+3 ; line_number = 74 ; local temp2 byte rb2bus_eedata_read__temp2 equ globals___0+4 ; # Read the first byte (the address): ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 77 ; _eecon1 := 0 ;info 77, 7941 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit clrf _eecon1 ; line_number = 78 ; _eeadr := rb2bus_eedata_address ;info 78, 7944 movlw 254 bcf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 79 ; _rd := _true ;info 79, 7947 bsf __rp0___byte, __rp0___bit bsf _rd___byte, _rd___bit ; line_number = 80 ; temp1 := _eedata ;info 80, 7949 bcf __rp0___byte, __rp0___bit movf _eedata,w bcf __rp1___byte, __rp1___bit movwf rb2bus_eedata_read__temp1 ; # Read the second byte (the 1'z complement) ; line_number = 83 ; _eeadr := _eeadr + 1 ;info 83, 7953 bsf __rp1___byte, __rp1___bit incf _eeadr,f ; line_number = 84 ; _rd := _true ;info 84, 7955 bsf __rp0___byte, __rp0___bit bsf _rd___byte, _rd___bit ; line_number = 85 ; temp2 := _eedata ;info 85, 7957 bcf __rp0___byte, __rp0___bit movf _eedata,w bcf __rp1___byte, __rp1___bit movwf rb2bus_eedata_read__temp2 ; # If they are 1's complement of one another, they are valid: ; line_number = 88 ; if temp1 = (0xff ^ temp2) start ;info 88, 7961 ; Left minus Right comf rb2bus_eedata_read__temp2,w subwf rb2bus_eedata_read__temp1,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto rb2bus_eedata_read__1 ; # Return the valid address: ; line_number = 90 ; return temp1 start ; line_number = 90 ;info 90, 7965 movf rb2bus_eedata_read__temp1,w return ; line_number = 90 ; return temp1 done ; Recombine size1 = 0 || size2 = 0 rb2bus_eedata_read__1: ; line_number = 88 ; if temp1 = (0xff ^ temp2) done ; # They are not 1's complement, so return 0 as an error: ; line_number = 93 ; return 0 start ; line_number = 93 ;info 93, 7967 retlw 0 ; line_number = 93 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 96 ;info 96, 7968 ; procedure rb2bus_eedata_write rb2bus_eedata_write: ; Last argument is sitting in W; save into argument variable movwf rb2bus_eedata_write__address ; delay=4294967295 ; line_number = 97 ; argument address byte rb2bus_eedata_write__address equ globals___0+5 ; line_number = 98 ; returns_nothing ; # This procedure will write {address} into the EEData. The ; # microcontroll pauses while the EEData is written. ; # Clear out the {_eecon1} register ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 104 ; _eecon1 := 0 ;info 104, 7969 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit clrf _eecon1 ; line_number = 105 ; _eeadr := rb2bus_eedata_address ;info 105, 7972 movlw 254 bcf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 106 ; _eedata := address ;info 106, 7975 bcf __rp1___byte, __rp1___bit movf rb2bus_eedata_write__address,w bsf __rp1___byte, __rp1___bit movwf _eedata ; # Write 2 bytes ({address} followed by {address}^0xff): ; line_number = 109 ; loop_exactly 2 start ;info 109, 7979 rb2bus_eedata_write__1 equ globals___0+18 movlw 2 bcf __rp1___byte, __rp1___bit movwf rb2bus_eedata_write__1 rb2bus_eedata_write__2: ; # Set the data to write: ; # Set up the for the write: ; line_number = 113 ; _wren := _true ;info 113, 7982 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit bsf _wren___byte, _wren___bit ; line_number = 114 ; _gie := _false ;info 114, 7985 bcf _gie___byte, _gie___bit ; line_number = 115 ; _eecon2 := 0x55 ;info 115, 7986 movlw 85 movwf _eecon2 ; line_number = 116 ; _eecon2 := 0xaa ;info 116, 7988 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 118 ; _wr := _true ;info 118, 7990 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 121 ; while _wr start rb2bus_eedata_write__3: ;info 121, 7991 ; =>bit_code_emit@symbol(): sym=_wr ; 1TEST: Single test with code in skip slot btfsc _wr___byte, _wr___bit ; line_number = 122 ; do_nothing ;info 122, 7992 goto rb2bus_eedata_write__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 121 ; while _wr done ; # Disable writing: ; line_number = 125 ; _wren := _false ;info 125, 7993 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 128 ; _eeadr := _eeadr + 1 ;info 128, 7994 bcf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 129 ; _eedata := address ^ 0xff ;info 129, 7996 bcf __rp1___byte, __rp1___bit comf rb2bus_eedata_write__address,w bsf __rp1___byte, __rp1___bit movwf _eedata bcf __rp1___byte, __rp1___bit ; line_number = 109 ; loop_exactly 2 wrap-up decfsz rb2bus_eedata_write__1,f goto rb2bus_eedata_write__2 ; line_number = 109 ; loop_exactly 2 done ; # Disable everything: ; line_number = 133 ; _eecon1 := 0 ;info 133, 8003 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit clrf _eecon1 ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; Implied return retlw 0 ; buffer = 'rb2bus' ; line_number = 57 ;info 57, 8009 ; procedure rb2bus_select_wait rb2bus_select_wait: ; arguments_none ; line_number = 59 ; returns_nothing ; # This procedure will in an infinite loop until the select ; # address matches {rb2bus_address}. {rb2bus_address} is ; # typically set in the {rb2bus_initialize} procedure. ; # ; # This module will repeatably call the {wait} procedure until ; # it is properly selected. ; line_number = 68 ; local value byte rb2bus_select_wait__value equ globals___0+6 ; line_number = 69 ; local address_bit bit rb2bus_select_wait__address_bit___byte equ globals___0+79 rb2bus_select_wait__address_bit___bit equ 2 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 71 ; rb2bus_error := _false ;info 71, 8009 bcf rb2bus_error___byte, rb2bus_error___bit ; line_number = 72 ; while !rb2bus_selected start rb2bus_select_wait__1: ;info 72, 8010 ; =>bit_code_emit@symbol(): sym=rb2bus_selected ; No 1TEST: true.size=0 false.size=25 ; No 2TEST: true.size=0 false.size=25 ; 1GOTO: Single test with GOTO btfsc rb2bus_selected___byte, rb2bus_selected___bit goto rb2bus_select_wait__6 ; line_number = 73 ; _adden := _true ;info 73, 8012 bsf _adden___byte, _adden___bit ; # Wait for a byte to arrive. ; line_number = 75 ; while !_rcif start rb2bus_select_wait__2: ;info 75, 8013 ; =>bit_code_emit@symbol(): sym=_rcif ; No 1TEST: true.size=0 false.size=2 ; No 2TEST: true.size=0 false.size=2 ; 1GOTO: Single test with GOTO btfsc _rcif___byte, _rcif___bit goto rb2bus_select_wait__3 ; line_number = 76 ; call wait() ;info 76, 8015 call wait goto rb2bus_select_wait__2 rb2bus_select_wait__3: ; Recombine size1 = 0 || size2 = 0 ; line_number = 75 ; while !_rcif done ; # Capture the received value: ; line_number = 79 ; address_bit := _false ;info 79, 8017 bcf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit ; line_number = 80 ; if _rx9d start ;info 80, 8018 ; =>bit_code_emit@symbol(): sym=_rx9d ; 1TEST: Single test with code in skip slot btfsc _rx9d___byte, _rx9d___bit ; line_number = 81 ; address_bit := _true ;info 81, 8019 bsf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 80 ; if _rx9d done ; line_number = 82 ; value := _rcreg ;info 82, 8020 movf _rcreg,w movwf rb2bus_select_wait__value ; # Clear any UART errors by toggling {_cren}: ; line_number = 85 ; if _oerr start ;info 85, 8022 ; =>bit_code_emit@symbol(): sym=_oerr ; 1TEST: Single test with code in skip slot btfsc _oerr___byte, _oerr___bit ; line_number = 86 ; _cren := _false ;info 86, 8023 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 85 ; if _oerr done ; line_number = 87 ; if _ferr start ;info 87, 8024 ; =>bit_code_emit@symbol(): sym=_ferr ; 1TEST: Single test with code in skip slot btfsc _ferr___byte, _ferr___bit ; line_number = 88 ; _cren := _false ;info 88, 8025 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 87 ; if _ferr done ; line_number = 89 ; _cren := _true ;info 89, 8026 bsf _cren___byte, _cren___bit ; line_number = 91 ; if address_bit start ;info 91, 8027 ; =>bit_code_emit@symbol(): sym=rb2bus_select_wait__address_bit ; No 1TEST: true.size=7 false.size=0 ; No 2TEST: true.size=7 false.size=0 ; 1GOTO: Single test with GOTO btfss rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit goto rb2bus_select_wait__5 ; line_number = 92 ; if value = rb2bus_address start ;info 92, 8029 ; Left minus Right movf rb2bus_address,w subwf rb2bus_select_wait__value,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto rb2bus_select_wait__4 ; line_number = 93 ; rb2bus_selected := _true ;info 93, 8033 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 94 ; call rb2bus_byte_put(rb2_ok) ;info 94, 8034 movlw 165 call rb2bus_byte_put ; Recombine size1 = 0 || size2 = 0 rb2bus_select_wait__4: ; line_number = 92 ; if value = rb2bus_address done ; Recombine size1 = 0 || size2 = 0 rb2bus_select_wait__5: ; line_number = 91 ; if address_bit done goto rb2bus_select_wait__1 rb2bus_select_wait__6: ; Recombine size1 = 0 || size2 = 0 ; line_number = 72 ; while !rb2bus_selected done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 97 ;info 97, 8038 ; procedure rb2bus_deselect rb2bus_deselect: ; arguments_none ; line_number = 99 ; returns_nothing ; # This procedure forces this module into the deselected state until ; # it is reselected by some master module on the bus. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 104 ; rb2bus_selected := _false ;info 104, 8038 bcf rb2bus_selected___byte, rb2bus_selected___bit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 107 ;info 107, 8040 ; procedure rb2bus_byte_get rb2bus_byte_get: ; arguments_none ; line_number = 109 ; returns byte ; # This procedure will return the next byte received from the bus. ; # The address (9th) bit is stored in the global {is_address}. ; # ; # If {rb2bus_error} is set, 0 is returned. Otherwise, the {wait} ; # procedure is repeatably called until a command byte is successfully ; # received. If an module select byte comes in, we enter a bus ; # error condition by setting {rb2bus_error} and returning 0. ; line_number = 119 ; local value byte rb2bus_byte_get__value equ globals___0+7 ; line_number = 120 ; local address_bit bit rb2bus_byte_get__address_bit___byte equ globals___0+79 rb2bus_byte_get__address_bit___bit equ 3 ; # Return 0 in a bus flush condition to get us back to {rb2bus_select_wait}: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 123 ; if rb2bus_error start ;info 123, 8040 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; 1TEST: Single test with code in skip slot btfsc rb2bus_error___byte, rb2bus_error___bit ; line_number = 124 ; return 0 start ; line_number = 124 ;info 124, 8041 retlw 0 ; line_number = 124 ; return 0 done ; Recombine size1 = 0 || size2 = 0 ; line_number = 123 ; if rb2bus_error done ; # Wait for a byte to arrive. ; line_number = 127 ; _adden := _false ;info 127, 8042 bcf _adden___byte, _adden___bit ; line_number = 128 ; while !_rcif start rb2bus_byte_get__1: ;info 128, 8043 ; =>bit_code_emit@symbol(): sym=_rcif ; No 1TEST: true.size=0 false.size=2 ; No 2TEST: true.size=0 false.size=2 ; 1GOTO: Single test with GOTO btfsc _rcif___byte, _rcif___bit goto rb2bus_byte_get__2 ; line_number = 129 ; call wait() ;info 129, 8045 call wait goto rb2bus_byte_get__1 rb2bus_byte_get__2: ; Recombine size1 = 0 || size2 = 0 ; line_number = 128 ; while !_rcif done ; # Record the 9th bit in {address_bit}: ; line_number = 132 ; address_bit := _false ;info 132, 8047 bcf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit ; line_number = 133 ; if _rx9d start ;info 133, 8048 ; =>bit_code_emit@symbol(): sym=_rx9d ; 1TEST: Single test with code in skip slot btfsc _rx9d___byte, _rx9d___bit ; line_number = 134 ; address_bit := _true ;info 134, 8049 bsf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 133 ; if _rx9d done ; line_number = 135 ; value := _rcreg ;info 135, 8050 movf _rcreg,w movwf rb2bus_byte_get__value ; # Clear any errors by toggling _{cren}: ; # FIXME: All of this should be done *before* reading {_rcreg}!!! ; line_number = 139 ; if _oerr start ;info 139, 8052 ; =>bit_code_emit@symbol(): sym=_oerr ; 1TEST: Single test with code in skip slot btfsc _oerr___byte, _oerr___bit ; line_number = 140 ; _cren := _false ;info 140, 8053 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 139 ; if _oerr done ; line_number = 141 ; if _ferr start ;info 141, 8054 ; =>bit_code_emit@symbol(): sym=_ferr ; 1TEST: Single test with code in skip slot btfsc _ferr___byte, _ferr___bit ; line_number = 142 ; _cren := _false ;info 142, 8055 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 141 ; if _ferr done ; line_number = 143 ; _cren := _true ;info 143, 8056 bsf _cren___byte, _cren___bit ; line_number = 145 ; if address_bit start ;info 145, 8057 ; =>bit_code_emit@symbol(): sym=rb2bus_byte_get__address_bit ; No 1TEST: true.size=13 false.size=0 ; No 2TEST: true.size=13 false.size=0 ; 1GOTO: Single test with GOTO btfss rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit goto rb2bus_byte_get__5 ; # We have an unexpected address select coming in: ; line_number = 147 ; if value = rb2bus_address start ;info 147, 8059 ; Left minus Right movf rb2bus_address,w subwf rb2bus_byte_get__value,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=4 false.size=2 ; No 2TEST: true.size=4 false.size=2 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto rb2bus_byte_get__3 ; # We are being selected again: ; line_number = 149 ; rb2bus_selected := _true ;info 149, 8063 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 150 ; _adden := _false ;info 150, 8064 bcf _adden___byte, _adden___bit ; line_number = 152 ; call rb2bus_byte_put(rb2_ok) ;info 152, 8065 movlw 165 call rb2bus_byte_put ; Recombine code1_bit_states != code2_bit_states goto rb2bus_byte_get__4 ; 2GOTO: Starting code 2 rb2bus_byte_get__3: ; # Somebody else is being selected; we deselect: ; line_number = 155 ; rb2bus_selected := _false ;info 155, 8068 bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 156 ; _adden := _true ;info 156, 8069 bsf _adden___byte, _adden___bit rb2bus_byte_get__4: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:11=uu=>11) ; line_number = 147 ; if value = rb2bus_address done ; # We want to get back to the beginning of decode: ; line_number = 159 ; rb2bus_error := _true ;info 159, 8070 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 160 ; value := 0 ;info 160, 8071 clrf rb2bus_byte_get__value ; Recombine size1 = 0 || size2 = 0 rb2bus_byte_get__5: ; line_number = 145 ; if address_bit done ; # Regular data byte: ; line_number = 163 ; return value start ; line_number = 163 ;info 163, 8072 movf rb2bus_byte_get__value,w return ; line_number = 163 ; return value done ; delay after procedure statements=non-uniform ; line_number = 166 ;info 166, 8074 ; procedure rb2bus_byte_put rb2bus_byte_put: ; Last argument is sitting in W; save into argument variable movwf rb2bus_byte_put__value ; delay=4294967295 ; line_number = 167 ; argument value byte rb2bus_byte_put__value equ globals___0+8 ; line_number = 168 ; returns_nothing ; # This procedure will send {value} to the bus. It automatically ; # consumes the echo that is on the bus. If {rb2bus_error} is ; # set, this procedure does nothing. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 174 ; if !rb2bus_error start ;info 174, 8075 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=0 false.size=18 ; No 2TEST: true.size=0 false.size=18 ; 1GOTO: Single test with GOTO btfsc rb2bus_error___byte, rb2bus_error___bit goto rb2bus_byte_put__4 ; # Wait until {_txreg} is ready for a value: ; line_number = 176 ; while !_txif start rb2bus_byte_put__1: ;info 176, 8077 ; =>bit_code_emit@symbol(): sym=_txif ; No 1TEST: true.size=0 false.size=2 ; No 2TEST: true.size=0 false.size=2 ; 1GOTO: Single test with GOTO btfsc _txif___byte, _txif___bit goto rb2bus_byte_put__2 ; line_number = 177 ; call wait() ;info 177, 8079 call wait goto rb2bus_byte_put__1 rb2bus_byte_put__2: ; Recombine size1 = 0 || size2 = 0 ; line_number = 176 ; while !_txif done ; # Ship {value} out to the bus with 9th bit turned off: ; line_number = 180 ; _adden := _false ;info 180, 8081 bcf _adden___byte, _adden___bit ; line_number = 181 ; _tx9d := _false ;info 181, 8082 bsf __rp0___byte, __rp0___bit bcf _tx9d___byte, _tx9d___bit ; line_number = 182 ; _txreg := value ;info 182, 8084 bcf __rp0___byte, __rp0___bit movf rb2bus_byte_put__value,w movwf _txreg ; # Wait for the echo to show up: ; line_number = 185 ; while !_rcif start rb2bus_byte_put__3: ;info 185, 8087 ; =>bit_code_emit@symbol(): sym=_rcif ; 1TEST: Single test with code in skip slot btfss _rcif___byte, _rcif___bit ; # Still waiting: goto rb2bus_byte_put__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 185 ; while !_rcif done ; # Throw the received byte away (store into {_w}). ; line_number = 188 ; assemble ;info 188, 8089 ; line_number = 189 ;info 189, 8089 movf _rcreg,w ; # Recover from any receive errors by toggling {_cren}: ; line_number = 192 ; if _oerr start ;info 192, 8090 ; =>bit_code_emit@symbol(): sym=_oerr ; 1TEST: Single test with code in skip slot btfsc _oerr___byte, _oerr___bit ; line_number = 193 ; _cren := _false ;info 193, 8091 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 192 ; if _oerr done ; line_number = 194 ; if _ferr start ;info 194, 8092 ; =>bit_code_emit@symbol(): sym=_ferr ; 1TEST: Single test with code in skip slot btfsc _ferr___byte, _ferr___bit ; line_number = 195 ; _cren := _false ;info 195, 8093 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 194 ; if _ferr done ; line_number = 196 ; _cren := _true ;info 196, 8094 bsf _cren___byte, _cren___bit rb2bus_byte_put__4: ; Recombine size1 = 0 || size2 = 0 ; line_number = 174 ; if !rb2bus_error done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 199 ;info 199, 8096 ; procedure rb2bus_command rb2bus_command: ; Last argument is sitting in W; save into argument variable movwf rb2bus_command__command ; delay=4294967295 ; line_number = 200 ; argument command byte rb2bus_command__command equ globals___0+11 ; line_number = 201 ; returns_nothing ; # This procedure will process an shared {command}. This procedure ; # accesses the global string {id}. ; line_number = 206 ; local new_address byte rb2bus_command__new_address equ globals___0+9 ; line_number = 207 ; local temp byte rb2bus_command__temp equ globals___0+10 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:11=uu=>11) ; line_number = 209 ; switch command & 7 start ;info 209, 8097 ; switch_before:(data:00=uu=>00 code:11=uu=>11) size=1 movlw rb2bus_command__13>>8 movwf __pclath movlw 7 andwf rb2bus_command__command,w ; switch after expression:(data:00=uu=>00 code:11=uu=>11) addlw rb2bus_command__13 movwf __pcl ; page_group 8 rb2bus_command__13: goto rb2bus_command__14 goto rb2bus_command__14 goto rb2bus_command__14 goto rb2bus_command__14 goto rb2bus_command__9 goto rb2bus_command__10 goto rb2bus_command__11 goto rb2bus_command__12 ; line_number = 210 ; case 4 rb2bus_command__9: ; # 1111 1100 (Address_Set): ; # Return old address: ; line_number = 213 ; call rb2bus_byte_put(rb2bus_address) ;info 213, 8111 movf rb2bus_address,w call rb2bus_byte_put ; # Fetch new address: ; line_number = 216 ; new_address := rb2bus_byte_get() ;info 216, 8113 call rb2bus_byte_get movwf rb2bus_command__new_address ; line_number = 217 ; if new_address = 0 || new_address = rb2bus_address start ;info 217, 8115 ; Left minus Right movf rb2bus_command__new_address,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=1 false.size=36 ; No 2TEST: true.size=1 false.size=36 ; 2GOTO: Single test with two GOTO's btfsc __z___byte, __z___bit goto rb2bus_command__5 ; Recombine code1_bit_states != code2_bit_states ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; Left minus Right movf rb2bus_address,w subwf rb2bus_command__new_address,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=4 false.size=27 ; No 2TEST: true.size=4 false.size=27 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto rb2bus_command__6 rb2bus_command__5: ; line_number = 218 ; call rb2bus_byte_put(0) ;info 218, 8122 movlw 0 call rb2bus_byte_put ; line_number = 219 ; rb2bus_error := _true ;info 219, 8124 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 220 ; rb2bus_selected := _false ;info 220, 8125 bcf rb2bus_selected___byte, rb2bus_selected___bit goto rb2bus_command__7 ; 2GOTO: Starting code 2 rb2bus_command__6: ; # Return new address: ; line_number = 223 ; call rb2bus_byte_put(new_address) ;info 223, 8127 movf rb2bus_command__new_address,w call rb2bus_byte_put ; # Fetch new address again as a check: ; line_number = 226 ; temp := rb2bus_byte_get() ;info 226, 8129 call rb2bus_byte_get movwf rb2bus_command__temp ; line_number = 227 ; if temp != new_address start ;info 227, 8131 ; Left minus Right movf rb2bus_command__new_address,w subwf rb2bus_command__temp,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=14 false.size=4 ; No 2TEST: true.size=14 false.size=4 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto rb2bus_command__3 ; line_number = 232 ; call rb2bus_eedata_write(new_address) ;info 232, 8135 movf rb2bus_command__new_address,w call rb2bus_eedata_write ; line_number = 233 ; temp := rb2bus_eedata_read() ;info 233, 8137 call rb2bus_eedata_read movwf rb2bus_command__temp ; line_number = 234 ; if temp = new_address start ;info 234, 8139 ; Left minus Right movf rb2bus_command__new_address,w subwf rb2bus_command__temp,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=3 false.size=1 ; No 2TEST: true.size=3 false.size=1 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto rb2bus_command__1 ; line_number = 235 ; rb2bus_address := new_address ;info 235, 8143 movf rb2bus_command__new_address,w movwf rb2bus_address ; line_number = 236 ; call rb2bus_byte_put(rb2_ok) ;info 236, 8145 movlw 165 goto rb2bus_command__2 ; 2GOTO: Starting code 2 rb2bus_command__1: ; line_number = 238 ; call rb2bus_byte_put(0) ;info 238, 8147 movlw 0 rb2bus_command__2: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:11=uu=>11) call rb2bus_byte_put ; line_number = 234 ; if temp = new_address done goto rb2bus_command__4 ; 2GOTO: Starting code 2 rb2bus_command__3: ; line_number = 228 ; call rb2bus_byte_put(0) ;info 228, 8150 movlw 0 call rb2bus_byte_put ; line_number = 229 ; rb2bus_error := _true ;info 229, 8152 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 230 ; rb2bus_selected := _false ;info 230, 8153 bcf rb2bus_selected___byte, rb2bus_selected___bit rb2bus_command__4: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:11=uu=>11) ; line_number = 227 ; if temp != new_address done rb2bus_command__7: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:11=uu=>11) ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 ; 2GOTO: No goto needed; true=rb2bus_command__5 false= true_size=1 false_size=36 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:11=uu=>11) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:11=uu=>11) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:11=uu=>11) ; line_number = 217 ; if new_address = 0 || new_address = rb2bus_address done goto rb2bus_command__14 ; line_number = 239 ; case 5 rb2bus_command__10: ; # 1111 1101 (Id_next): ; line_number = 241 ; if rb2bus_index < id.size start ;info 241, 8155 movlw 28 subwf rb2bus_index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=4 ; No 2TEST: true.size=0 false.size=4 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto rb2bus_command__8 ; line_number = 242 ; call rb2bus_byte_put(id[rb2bus_index]) ;info 242, 8159 movf rb2bus_index,w call id call rb2bus_byte_put ; line_number = 243 ; rb2bus_index := rb2bus_index + 1 ;info 243, 8162 incf rb2bus_index,f ; #if rb2bus_index >= id.size ; # rb2bus_index := rb2bus_index - 1 rb2bus_command__8: ; Recombine size1 = 0 || size2 = 0 ; line_number = 241 ; if rb2bus_index < id.size done goto rb2bus_command__14 ; line_number = 246 ; case 6 rb2bus_command__11: ; # 1111 1110 (Id_start): ; line_number = 248 ; rb2bus_index := 0 ;info 248, 8164 clrf rb2bus_index goto rb2bus_command__14 ; line_number = 249 ; case 7 rb2bus_command__12: ; # 1111 1111 (Deselect): ; line_number = 251 ; call rb2bus_deselect() ;info 251, 8166 call rb2bus_deselect rb2bus_command__14: ; line_number = 209 ; switch command & 7 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Configuration bits ; address = 0x2007, fill = 0x1030 ; cp = off (0x2000) ; debug = off (0x800) ; wrt = on (0x0) ; cpd = off (0x100) ; lvp = off (0x0) ; boren = off (0x0) ; pwrte = off (0x8) ; wdte = off (0x0) ; fosc = hs (0x2) ; 14650 = 0x393a __config 14650 ; Define start addresses for data regions ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16 ; Region="globals___0" Address=32" Size=80 Bytes=19 Bits=4 Available=60 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 ; Region="globals___2" Address=272" Size=96 Bytes=0 Bits=0 Available=96 ; Region="globals___3" Address=400" Size=112 Bytes=0 Bits=0 Available=112 end