radix dec ; Code bank 0; Start address: 0; End address: 4095 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 288 __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) 2005-2007 by Wayne C. Gramlich ; # All rights reserved. ; # This module uses a PIC16F688: ; buffer = 'irdistance2' ; line_number = 7 ; library _pic16f688 entered ; # Copyright (c) 2004-2006 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f688' ; line_number = 6 ; processor pic16f688 ; line_number = 7 ; configure_address 0x2007 ; line_number = 8 ; configure_fill 0x3000 ; line_number = 9 ; configure_option fcmen: on = 0x800 ; line_number = 10 ; configure_option fcmen: off = 0x000 ; line_number = 11 ; configure_option ieso: on = 0x400 ; line_number = 12 ; configure_option ieso: off = 0x000 ; line_number = 13 ; configure_option boden: on = 0x300 ; line_number = 14 ; configure_option boden: partial = 0x200 ; line_number = 15 ; configure_option boden: sboden = 0x100 ; line_number = 16 ; configure_option boden: off = 0x000 ; line_number = 17 ; configure_option cpd: on = 0x00 ; line_number = 18 ; configure_option cpd: off = 0x80 ; line_number = 19 ; configure_option cp: on = 0x00 ; line_number = 20 ; configure_option cp: off = 0x40 ; line_number = 21 ; configure_option mclre: on = 0x20 ; line_number = 22 ; configure_option mclre: off = 0x00 ; line_number = 23 ; configure_option pwrte: on = 0x00 ; line_number = 24 ; configure_option pwrte: off = 0x10 ; line_number = 25 ; configure_option wdte: on = 8 ; line_number = 26 ; configure_option wdte: off = 0 ; line_number = 27 ; configure_option fosc: rc_clk = 7 ; line_number = 28 ; configure_option fosc: rc_no_clk = 6 ; line_number = 29 ; configure_option fosc: int_clk = 5 ; line_number = 30 ; configure_option fosc: int_no_clk = 4 ; line_number = 31 ; configure_option fosc: ec = 3 ; line_number = 32 ; configure_option fosc: hs = 2 ; line_number = 33 ; configure_option fosc: xt = 1 ; line_number = 34 ; configure_option fosc: lp = 0 ; line_number = 36 ; code_bank 0x0 : 0xfff ; line_number = 37 ; data_bank 0x0 : 0x7f ; line_number = 38 ; data_bank 0x80 : 0xff ; line_number = 39 ; data_bank 0x100 : 0x17f ; line_number = 40 ; data_bank 0x180 : 0x1ff ; line_number = 42 ; global_region 0x20 : 0x6f ; line_number = 43 ; icd2_global_region 0x20 : 0x6f ; line_number = 45 ; global_region 0xa0 : 0xef ; line_number = 46 ; icd2_global_region 0xa0 : 0xef ; line_number = 48 ; global_region 0x120 : 0x16f ; line_number = 49 ; icd2_global_region 0x120 : 0x164 ; line_number = 51 ; shared_region 0x70 : 0x7f ; line_number = 52 ; icd2_shared_region 0x71 : 0x7f ; line_number = 54 ; interrupts_possible ; line_number = 55 ; packages pdip=14, soic=14, tssop=14 ; line_number = 56 ; pin vdd, power_supply ; line_number = 57 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 58 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin ; line_number = 59 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 60 ; bind_to _porta@5 ; line_number = 61 ; or_if ra5_in _trisa 32 ; line_number = 62 ; or_if ra5_nc _trisa 32 ; line_number = 63 ; or_if ra5_out _trisa 0 ; line_number = 64 ; or_if osc1 _trisa 32 ; line_number = 65 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout ; line_number = 66 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 67 ; bind_to _porta@4 ; line_number = 68 ; or_if ra4_in _trisa 16 ; line_number = 69 ; or_if ra4_nc _trisa 16 ; line_number = 70 ; or_if ra4_out _trisa 0 ; line_number = 71 ; or_if an3 _trisa 16 ; line_number = 72 ; or_if osc2 _trisa 16 ; line_number = 73 ; or_if ra4_in _ansel 0 ; line_number = 74 ; or_if ra4_out _ansel 0 ; line_number = 75 ; or_if an3 _ansel 8 ; line_number = 76 ; or_if ra4_in _adcon0 0 ; line_number = 77 ; or_if ra4_out _adcon0 0 ; line_number = 78 ; or_if an3 _adcon0 1 ; line_number = 79 ; pin ra3_in, ra3_nc, mclr, vpp ; line_number = 80 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 81 ; bind_to _porta@3 ; line_number = 82 ; or_if ra3_in _trisa 8 ; line_number = 83 ; or_if ra3_nc _trisa 8 ; line_number = 84 ; pin rc5_in, rc5_nc, rc5_out, rx, dt ; line_number = 85 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 86 ; bind_to _portc@5 ; line_number = 87 ; or_if rc5_in _trisc 32 ; line_number = 88 ; or_if rc5_nc _trisc 32 ; line_number = 89 ; or_if rc5_out _trisc 0 ; line_number = 90 ; or_if rx _trisc 32 ; line_number = 91 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck ; line_number = 92 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 93 ; bind_to _portc@4 ; line_number = 94 ; or_if rc4_in _trisc 16 ; line_number = 95 ; or_if rc4_nc _trisc 16 ; line_number = 96 ; or_if rc4_out _trisc 0 ; # The UART documentation says TX must be marked as in input: ; line_number = 98 ; or_if tx _trisc 16 ; line_number = 99 ; pin rc3_in, rc3_nc, rc3_out, an7 ; line_number = 100 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 101 ; bind_to _portc@3 ; line_number = 102 ; or_if rc3_in _trisc 8 ; line_number = 103 ; or_if rc3_nc _trisc 8 ; line_number = 104 ; or_if rc3_out _trisc 0 ; line_number = 105 ; or_if an7 _trisc 8 ; line_number = 106 ; or_if rc3_in _ansel 0 ; line_number = 107 ; or_if rc3_out _ansel 0 ; line_number = 108 ; or_if an7 _ansel 128 ; line_number = 109 ; or_if rc3_in _adcon0 0 ; line_number = 110 ; or_if rc3_out _adcon0 0 ; line_number = 111 ; or_if an7 _adcon0 1 ; line_number = 112 ; pin rc2_in, rc2_nc, rc2_out, an6 ; line_number = 113 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 114 ; bind_to _portc@2 ; line_number = 115 ; or_if rc2_in _trisc 4 ; line_number = 116 ; or_if rc2_nc _trisc 4 ; line_number = 117 ; or_if rc2_out _trisc 0 ; line_number = 118 ; or_if an6 _trisc 4 ; line_number = 119 ; or_if rc2_in _ansel 0 ; line_number = 120 ; or_if rc2_out _ansel 0 ; line_number = 121 ; or_if an6 _ansel 64 ; line_number = 122 ; or_if rc2_in _adcon0 0 ; line_number = 123 ; or_if rc2_out _adcon0 0 ; line_number = 124 ; or_if an6 _adcon0 1 ; line_number = 125 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus ; line_number = 126 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 127 ; bind_to _portc@1 ; line_number = 128 ; or_if rc1_in _trisc 2 ; line_number = 129 ; or_if rc1_nc _trisc 2 ; line_number = 130 ; or_if rc1_out _trisc 0 ; line_number = 131 ; or_if rc1_in _cmcon0 7 ; line_number = 132 ; or_if rc1_out _cmcon0 7 ; line_number = 133 ; or_if an5 _trisc 2 ; line_number = 134 ; or_if rc1_in _ansel 0 ; line_number = 135 ; or_if rc1_out _ansel 0 ; line_number = 136 ; or_if an5 _ansel 32 ; line_number = 137 ; or_if rc1_in _adcon0 0 ; line_number = 138 ; or_if rc1_out _adcon0 0 ; line_number = 139 ; or_if an5 _adcon0 1 ; line_number = 140 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus ; line_number = 141 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 142 ; bind_to _portc@0 ; line_number = 143 ; or_if rc0_in _trisc 1 ; line_number = 144 ; or_if rc0_nc _trisc 1 ; line_number = 145 ; or_if rc0_out _trisc 0 ; line_number = 146 ; or_if rc0_in _cmcon0 7 ; line_number = 147 ; or_if rc0_out _cmcon0 7 ; line_number = 148 ; or_if an4 _trisc 1 ; line_number = 149 ; or_if rc0_in _ansel 0 ; line_number = 150 ; or_if rc0_out _ansel 0 ; line_number = 151 ; or_if an4 _ansel 16 ; line_number = 152 ; or_if rc0_in _adcon0 0 ; line_number = 153 ; or_if rc0_out _adcon0 0 ; line_number = 154 ; or_if an4 _adcon0 1 ; line_number = 155 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int ; line_number = 156 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 157 ; bind_to _porta@2 ; line_number = 158 ; or_if ra2_in _trisa 4 ; line_number = 159 ; or_if ra2_nc _trisa 4 ; line_number = 160 ; or_if ra2_out _trisa 0 ; line_number = 161 ; or_if an2 _trisa 4 ; line_number = 162 ; or_if ra2_in _ansel 0 ; line_number = 163 ; or_if ra2_out _ansel 0 ; line_number = 164 ; or_if an2 _ansel 4 ; line_number = 165 ; or_if ra2_in _adcon0 0 ; line_number = 166 ; or_if ra2_out _adcon0 0 ; line_number = 167 ; or_if an2 _adcon0 1 ; line_number = 168 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk ; line_number = 169 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 170 ; bind_to _porta@1 ; line_number = 171 ; or_if ra1_in _trisa 2 ; line_number = 172 ; or_if ra1_nc _trisa 2 ; line_number = 173 ; or_if ra1_out _trisa 0 ; line_number = 174 ; or_if ra1_in _cmcon0 7 ; line_number = 175 ; or_if ra1_out _cmcon0 7 ; line_number = 176 ; or_if an1 _trisa 2 ; line_number = 177 ; or_if vref _trisa 2 ; line_number = 178 ; or_if ra1_in _ansel 0 ; line_number = 179 ; or_if ra1_out _ansel 0 ; line_number = 180 ; or_if an1 _ansel 2 ; line_number = 181 ; or_if vref _ansel 2 ; line_number = 182 ; or_if ra1_in _adcon0 0 ; line_number = 183 ; or_if ra1_out _adcon0 0 ; line_number = 184 ; or_if an1 _adcon0 1 # Turn on _addon ; line_number = 185 ; or_if vref _adcon0 1 # Turn on _addon ; line_number = 186 ; or_if vref _adcon0 64 # Turn of _vcfg ; line_number = 187 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu ; line_number = 188 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 189 ; bind_to _porta@0 ; line_number = 190 ; or_if ra0_in _trisa 1 ; line_number = 191 ; or_if ra0_nc _trisa 1 ; line_number = 192 ; or_if ra0_out _trisa 0 ; line_number = 193 ; or_if ra0_in _cmcon0 7 ; line_number = 194 ; or_if ra0_out _cmcon0 7 ; line_number = 195 ; or_if an0 _trisa 1 ; line_number = 196 ; or_if ra0_in _ansel 0 ; line_number = 197 ; or_if ra0_out _ansel 0 ; line_number = 198 ; or_if an0 _ansel 1 ; line_number = 199 ; or_if ra0_in _adcon0 0 ; line_number = 200 ; or_if ra0_out _adcon0 0 ; line_number = 201 ; or_if an0 _adcon0 1 ; line_number = 202 ; pin vss, ground ; line_number = 203 ; pin_bindings pdip=14, soic=14, tssop=14 ; line_number = 205 ; 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 = '_pic16f688' ; line_number = 205 ; library _standard exited ; # Register/bit bindings: ; # Databank 0 (0x0 - 0x7f): ; line_number = 216 ; register _indf = _indf equ 0 ; line_number = 218 ; register _tmr0 = _tmr0 equ 1 ; line_number = 220 ; register _pcl = _pcl equ 2 ; line_number = 222 ; register _status = _status equ 3 ; line_number = 223 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 224 ; bind _rp1 = _status@5 _rp1___byte equ _status _rp1___bit equ 5 ; line_number = 225 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 226 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 227 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 228 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 229 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 230 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 232 ; register _fsr = _fsr equ 4 ; line_number = 234 ; register _porta = _porta equ 5 ; line_number = 235 ; register _ra = _ra equ 5 ; line_number = 236 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 237 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 238 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 239 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 240 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 241 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 243 ; register _portc = _portc equ 7 ; line_number = 244 ; register _rc = _rc equ 7 ; line_number = 245 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 246 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 247 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 248 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 249 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 250 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 252 ; register _pclath = _pclath equ 10 ; line_number = 254 ; register _intcon = _intcon equ 11 ; line_number = 255 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 256 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 257 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 258 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 259 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 260 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 261 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 262 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 264 ; register _pir1 = _pir1 equ 12 ; line_number = 265 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 266 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 267 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 268 ; bind _c2if = _pir1@4 _c2if___byte equ _pir1 _c2if___bit equ 4 ; line_number = 269 ; bind _c1if = _pir1@3 _c1if___byte equ _pir1 _c1if___bit equ 3 ; line_number = 270 ; bind _osfif = _pir1@2 _osfif___byte equ _pir1 _osfif___bit equ 2 ; line_number = 271 ; bind _txif = _pir1@1 _txif___byte equ _pir1 _txif___bit equ 1 ; line_number = 272 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 274 ; register _tmr1l = _tmr1l equ 14 ; line_number = 276 ; register _tmr1h = _tmr1h equ 15 ; line_number = 278 ; register _t1con = _t1con equ 16 ; line_number = 279 ; bind t1ginv = _t1con@7 t1ginv___byte equ _t1con t1ginv___bit equ 7 ; line_number = 280 ; bind _tmr1ge = _t1con@6 _tmr1ge___byte equ _t1con _tmr1ge___bit equ 6 ; line_number = 281 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 282 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 283 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 284 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 285 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 286 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 288 ; register _baudctl = _baudctl equ 17 ; line_number = 289 ; bind _abdovf = _baudctl@7 _abdovf___byte equ _baudctl _abdovf___bit equ 7 ; line_number = 290 ; bind _rcidl = _baudctl@6 _rcidl___byte equ _baudctl _rcidl___bit equ 6 ; line_number = 291 ; bind _sckp = _baudctl@4 _sckp___byte equ _baudctl _sckp___bit equ 4 ; line_number = 292 ; bind _brg16 = _baudctl@3 _brg16___byte equ _baudctl _brg16___bit equ 3 ; line_number = 293 ; bind _wue = _baudctl@1 _wue___byte equ _baudctl _wue___bit equ 1 ; line_number = 294 ; bind _abden = _baudctl@0 _abden___byte equ _baudctl _abden___bit equ 0 ; line_number = 296 ; register _spbrgh = _spbrgh equ 18 ; line_number = 298 ; register _spbrg = _spbrg equ 19 ; line_number = 300 ; register _rcreg = _rcreg equ 20 ; line_number = 302 ; register _txreg = _txreg equ 21 ; line_number = 304 ; register _txsta = _txsta equ 22 ; line_number = 305 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 306 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 307 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 308 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 309 ; bind _sendb = _txsta@3 _sendb___byte equ _txsta _sendb___bit equ 3 ; line_number = 310 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 311 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 312 ; bind _tx9d = _txsta@0 _tx9d___byte equ _txsta _tx9d___bit equ 0 ; line_number = 314 ; register _rcsta = _rcsta equ 23 ; line_number = 315 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 316 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 317 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 318 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 319 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 320 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 321 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 322 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 324 ; register _wdtcon = _wdtcon equ 24 ; line_number = 325 ; bind _wdtps3 = _wdtcon@4 _wdtps3___byte equ _wdtcon _wdtps3___bit equ 4 ; line_number = 326 ; bind _wdtps2 = _wdtcon@3 _wdtps2___byte equ _wdtcon _wdtps2___bit equ 3 ; line_number = 327 ; bind _wdtps1 = _wdtcon@2 _wdtps1___byte equ _wdtcon _wdtps1___bit equ 2 ; line_number = 328 ; bind _wdtps0 = _wdtcon@1 _wdtps0___byte equ _wdtcon _wdtps0___bit equ 1 ; line_number = 329 ; bind _swdten = _wdtcon@0 _swdten___byte equ _wdtcon _swdten___bit equ 0 ; line_number = 331 ; register _cmcon0 = _cmcon0 equ 25 ; line_number = 332 ; bind _c1out = _cmcon0@7 _c1out___byte equ _cmcon0 _c1out___bit equ 7 ; line_number = 333 ; bind _c2out = _cmcon0@6 _c2out___byte equ _cmcon0 _c2out___bit equ 6 ; line_number = 334 ; bind _c1inv = _cmcon0@5 _c1inv___byte equ _cmcon0 _c1inv___bit equ 5 ; line_number = 335 ; bind _c2inv = _cmcon0@4 _c2inv___byte equ _cmcon0 _c2inv___bit equ 4 ; line_number = 336 ; bind _cis = _cmcon0@3 _cis___byte equ _cmcon0 _cis___bit equ 3 ; line_number = 337 ; bind _cm2 = _cmcon0@2 _cm2___byte equ _cmcon0 _cm2___bit equ 2 ; line_number = 338 ; bind _cm1 = _cmcon0@1 _cm1___byte equ _cmcon0 _cm1___bit equ 1 ; line_number = 339 ; bind _cm0 = _cmcon0@0 _cm0___byte equ _cmcon0 _cm0___bit equ 0 ; line_number = 341 ; register _cmcon1 = _cmcon1 equ 26 ; line_number = 342 ; bind _t1gss = _cmcon1@0 _t1gss___byte equ _cmcon1 _t1gss___bit equ 0 ; line_number = 343 ; bind _c2sync = _cmcon1@1 _c2sync___byte equ _cmcon1 _c2sync___bit equ 1 ; line_number = 345 ; register _adresh = _adresh equ 30 ; line_number = 347 ; register _adcon0 = _adcon0 equ 31 ; line_number = 348 ; bind _adfm = _adcon0@7 _adfm___byte equ _adcon0 _adfm___bit equ 7 ; line_number = 349 ; bind _vcfg = _adcon0@6 _vcfg___byte equ _adcon0 _vcfg___bit equ 6 ; line_number = 350 ; bind _chs2 = _adcon0@4 _chs2___byte equ _adcon0 _chs2___bit equ 4 ; line_number = 351 ; bind _chs1 = _adcon0@3 _chs1___byte equ _adcon0 _chs1___bit equ 3 ; line_number = 352 ; bind _chs0 = _adcon0@2 _chs0___byte equ _adcon0 _chs0___bit equ 2 ; line_number = 353 ; bind _go = _adcon0@1 _go___byte equ _adcon0 _go___bit equ 1 ; line_number = 354 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 358 ; register _option_reg = _option_reg equ 129 ; line_number = 359 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 360 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 361 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 362 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 363 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 364 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 365 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 366 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 368 ; register _trisa = _trisa equ 133 ; line_number = 369 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 370 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 371 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 372 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 373 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 374 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 376 ; register _trisc = _trisc equ 135 ; line_number = 377 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 378 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 379 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 380 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 381 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 382 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 384 ; register _pie1 = _pie1 equ 140 ; line_number = 385 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 386 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 387 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 388 ; bind _c2ie = _pie1@4 _c2ie___byte equ _pie1 _c2ie___bit equ 4 ; line_number = 389 ; bind _c1ie = _pie1@3 _c1ie___byte equ _pie1 _c1ie___bit equ 3 ; line_number = 390 ; bind _osfie = _pie1@2 _osfie___byte equ _pie1 _osfie___bit equ 2 ; line_number = 391 ; bind _txie = _pie1@1 _txie___byte equ _pie1 _txie___bit equ 1 ; line_number = 392 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 394 ; register _pcon = _pcon equ 142 ; line_number = 395 ; bind _ulpwue = _pcon@5 _ulpwue___byte equ _pcon _ulpwue___bit equ 5 ; line_number = 396 ; bind _sboden = _pcon@4 _sboden___byte equ _pcon _sboden___bit equ 4 ; line_number = 397 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 398 ; bind _bod = _pcon@0 _bod___byte equ _pcon _bod___bit equ 0 ; line_number = 400 ; register _osccon = _osccon equ 143 ; line_number = 401 ; bind _ircf2 = _osccon@6 _ircf2___byte equ _osccon _ircf2___bit equ 6 ; line_number = 402 ; bind _ircf1 = _osccon@5 _ircf1___byte equ _osccon _ircf1___bit equ 5 ; line_number = 403 ; bind _ircf0 = _osccon@4 _ircf0___byte equ _osccon _ircf0___bit equ 4 ; line_number = 404 ; bind _osts = _osccon@3 _osts___byte equ _osccon _osts___bit equ 3 ; line_number = 405 ; bind _hts = _osccon@2 _hts___byte equ _osccon _hts___bit equ 2 ; line_number = 406 ; bind _lts = _osccon@3 _lts___byte equ _osccon _lts___bit equ 3 ; line_number = 407 ; bind _scs = _osccon@2 _scs___byte equ _osccon _scs___bit equ 2 ; line_number = 409 ; register _osctune = _osctune equ 144 ; line_number = 410 ; bind _tun4 = _osctune@4 _tun4___byte equ _osctune _tun4___bit equ 4 ; line_number = 411 ; bind _tun3 = _osctune@3 _tun3___byte equ _osctune _tun3___bit equ 3 ; line_number = 412 ; bind _tun2 = _osctune@2 _tun2___byte equ _osctune _tun2___bit equ 2 ; line_number = 413 ; bind _tun1 = _osctune@1 _tun1___byte equ _osctune _tun1___bit equ 1 ; line_number = 414 ; bind _tun0 = _osctune@0 _tun0___byte equ _osctune _tun0___bit equ 0 ; line_number = 415 ; constant _osccal_lsb = 1 _osccal_lsb equ 1 ; line_number = 417 ; register _ansel = _ansel equ 145 ; line_number = 418 ; bind _ans7 = _ansel@7 _ans7___byte equ _ansel _ans7___bit equ 7 ; line_number = 419 ; bind _ans6 = _ansel@6 _ans6___byte equ _ansel _ans6___bit equ 6 ; line_number = 420 ; bind _ans5 = _ansel@5 _ans5___byte equ _ansel _ans5___bit equ 5 ; line_number = 421 ; bind _ans4 = _ansel@4 _ans4___byte equ _ansel _ans4___bit equ 4 ; line_number = 422 ; bind _ans3 = _ansel@3 _ans3___byte equ _ansel _ans3___bit equ 3 ; line_number = 423 ; bind _ans2 = _ansel@2 _ans2___byte equ _ansel _ans2___bit equ 2 ; line_number = 424 ; bind _ans1 = _ansel@1 _ans1___byte equ _ansel _ans1___bit equ 1 ; line_number = 425 ; bind _ans0 = _ansel@0 _ans0___byte equ _ansel _ans0___bit equ 0 ; line_number = 427 ; register _wpua = _wpua equ 149 ; line_number = 428 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 429 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 430 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 431 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 432 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 434 ; register _ioca = _ioca equ 150 ; line_number = 435 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 436 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 437 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 438 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 439 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 440 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 442 ; register _eedath = _eedath equ 151 ; line_number = 444 ; register _eeadrh = _eeadrh equ 152 ; line_number = 446 ; register _vrcon = _vrcon equ 153 ; line_number = 447 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 448 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 449 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 450 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 451 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 452 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 454 ; register _eedat = _eedat equ 154 ; line_number = 455 ; bind _eedat7 = _eedat@7 _eedat7___byte equ _eedat _eedat7___bit equ 7 ; line_number = 456 ; bind _eedat6 = _eedat@6 _eedat6___byte equ _eedat _eedat6___bit equ 6 ; line_number = 457 ; bind _eedat5 = _eedat@5 _eedat5___byte equ _eedat _eedat5___bit equ 5 ; line_number = 458 ; bind _eedat4 = _eedat@4 _eedat4___byte equ _eedat _eedat4___bit equ 4 ; line_number = 459 ; bind _eedat3 = _eedat@3 _eedat3___byte equ _eedat _eedat3___bit equ 3 ; line_number = 460 ; bind _eedat2 = _eedat@2 _eedat2___byte equ _eedat _eedat2___bit equ 2 ; line_number = 461 ; bind _eedat1 = _eedat@1 _eedat1___byte equ _eedat _eedat1___bit equ 1 ; line_number = 462 ; bind _eedat0 = _eedat@0 _eedat0___byte equ _eedat _eedat0___bit equ 0 ; line_number = 464 ; register _eeadr = _eeadr equ 155 ; line_number = 465 ; bind _eeadr7 = _eeadr@7 _eeadr7___byte equ _eeadr _eeadr7___bit equ 7 ; line_number = 466 ; bind _eeadr6 = _eeadr@6 _eeadr6___byte equ _eeadr _eeadr6___bit equ 6 ; line_number = 467 ; bind _eeadr5 = _eeadr@5 _eeadr5___byte equ _eeadr _eeadr5___bit equ 5 ; line_number = 468 ; bind _eeadr4 = _eeadr@4 _eeadr4___byte equ _eeadr _eeadr4___bit equ 4 ; line_number = 469 ; bind _eeadr3 = _eeadr@3 _eeadr3___byte equ _eeadr _eeadr3___bit equ 3 ; line_number = 470 ; bind _eeadr2 = _eeadr@2 _eeadr2___byte equ _eeadr _eeadr2___bit equ 2 ; line_number = 471 ; bind _eeadr1 = _eeadr@1 _eeadr1___byte equ _eeadr _eeadr1___bit equ 1 ; line_number = 472 ; bind _eeadr0 = _eeadr@0 _eeadr0___byte equ _eeadr _eeadr0___bit equ 0 ; line_number = 474 ; register _eecon1 = _eecon1 equ 156 ; line_number = 475 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 476 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 477 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 478 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 479 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 481 ; register _eecon2 = _eecon2 equ 157 ; line_number = 483 ; register _adresl = _adresl equ 158 ; line_number = 485 ; register _adcon1 = _adcon1 equ 159 ; line_number = 486 ; bind _adcs2 = _adcon1@6 _adcs2___byte equ _adcon1 _adcs2___bit equ 6 ; line_number = 487 ; bind _adcs1 = _adcon1@5 _adcs1___byte equ _adcon1 _adcs1___bit equ 5 ; line_number = 488 ; bind _adcs0 = _adcon1@4 _adcs0___byte equ _adcon1 _adcs0___bit equ 4 ; # Data Bank 2 (0x100 - 0x17f): ; buffer = 'irdistance2' ; line_number = 7 ; library _pic16f688 exited ; # The system is running at 20MHz: ; line_number = 10 ; library clock20mhz entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock20mhz' ; line_number = 9 ; constant clock_rate = 20000000 clock_rate equ 20000000 ; 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 5000000 ; buffer = 'irdistance2' ; line_number = 10 ; library clock20mhz exited ; # A microsecond takes 4 cycles at 20MHz: ; line_number = 12 ; constant microsecond = 5 microsecond equ 5 ; # The {_eusart} library defines some baud rate generator constants: ; line_number = 15 ; constant _eusart_clock = clock_rate _eusart_clock equ 20000000 ; line_number = 16 ; constant _eusart_factor = 4 _eusart_factor equ 4 ; line_number = 17 ; library _eusart entered ; # Copyright (c) 2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library contains a bunch of definitions for the Enhanced Universal ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available ; # on many of the PIC microcontrollers. ; # In order to use this module you have to get two constants defined ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. ; # {_eusart_clock} should be set to the frequency oscillator for the chip. ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: ; # ; # _{brg16} {_brgh} _{eusart_factor} ; # 0 0 64 ; # 0 1 16 ; # 1 0 16 ; # 1 1 4 ; # 2400 baud: ; buffer = '_eusart' ; line_number = 23 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 _eusart_2400 equ 2082 ; line_number = 24 ; constant _eusart_2400_low = _eusart_2400 & 0xff _eusart_2400_low equ 34 ; line_number = 25 ; constant _eusart_2400_high = _eusart_2400 >> 8 _eusart_2400_high equ 8 ; line_number = 26 ; constant _eusart_2400_index = 0 _eusart_2400_index equ 0 ; # 4800 baud: ; line_number = 28 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 _eusart_4800 equ 1040 ; line_number = 29 ; constant _eusart_4800_low = _eusart_4800 & 0xff _eusart_4800_low equ 16 ; line_number = 30 ; constant _eusart_4800_high = _eusart_4800 >> 8 _eusart_4800_high equ 4 ; line_number = 31 ; constant _eusart_4800_index = 1 _eusart_4800_index equ 1 ; # 9600 baud: ; line_number = 33 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 _eusart_9600 equ 519 ; line_number = 34 ; constant _eusart_9600_low = _eusart_9600 & 0xff _eusart_9600_low equ 7 ; line_number = 35 ; constant _eusart_9600_high = _eusart_9600 >> 8 _eusart_9600_high equ 2 ; line_number = 36 ; constant _eusart_9600_index = 2 _eusart_9600_index equ 2 ; # 19200 baud: ; line_number = 38 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 _eusart_19200 equ 259 ; line_number = 39 ; constant _eusart_19200_low = _eusart_19200 & 0xff _eusart_19200_low equ 3 ; line_number = 40 ; constant _eusart_19200_high = _eusart_19200 >> 8 _eusart_19200_high equ 1 ; line_number = 41 ; constant _eusart_19200_index = 3 _eusart_19200_index equ 3 ; # 38400 baud: ; line_number = 43 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 _eusart_38400 equ 129 ; line_number = 44 ; constant _eusart_38400_low = _eusart_38400 & 0xff _eusart_38400_low equ 129 ; line_number = 45 ; constant _eusart_38400_high = _eusart_38400 >> 8 _eusart_38400_high equ 0 ; line_number = 46 ; constant _eusart_38400_index = 4 _eusart_38400_index equ 4 ; # 57600 baud: ; line_number = 48 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 _eusart_57600 equ 85 ; line_number = 49 ; constant _eusart_57600_low = _eusart_57600 & 0xff _eusart_57600_low equ 85 ; line_number = 50 ; constant _eusart_57600_high = _eusart_57600 >> 8 _eusart_57600_high equ 0 ; line_number = 51 ; constant _eusart_57600_index = 5 _eusart_57600_index equ 5 ; # 115200 baud: ; line_number = 53 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 _eusart_115200 equ 42 ; line_number = 54 ; constant _eusart_115200_low = _eusart_115200 & 0xff _eusart_115200_low equ 42 ; line_number = 55 ; constant _eusart_115200_high = _eusart_115200 >> 8 _eusart_115200_high equ 0 ; line_number = 56 ; constant _eusart_115200_index = 6 _eusart_115200_index equ 6 ; # 203400 baud: ; line_number = 58 ; constant _eusart_230400 = (_eusart_clock / (230400 * _eusart_factor)) - 1 _eusart_230400 equ 20 ; line_number = 59 ; constant _eusart_230400_low = _eusart_230400 & 0xff _eusart_230400_low equ 20 ; line_number = 60 ; constant _eusart_230400_high = _eusart_230400 >> 8 _eusart_230400_high equ 0 ; line_number = 61 ; constant _eusart_230400_index = 7 _eusart_230400_index equ 7 ; # 406800 baud: ; line_number = 63 ; constant _eusart_406800 = (_eusart_clock / (406800 * _eusart_factor)) - 1 _eusart_406800 equ 11 ; line_number = 64 ; constant _eusart_406800_low = _eusart_406800 & 0xff _eusart_406800_low equ 11 ; line_number = 65 ; constant _eusart_406800_high = _eusart_406800 >> 8 _eusart_406800_high equ 0 ; line_number = 66 ; constant _eusart_406800_index = 8 _eusart_406800_index equ 8 ; # 500000 baud: ; line_number = 68 ; constant _eusart_500000 = (_eusart_clock / (500000 * _eusart_factor)) - 1 _eusart_500000 equ 9 ; line_number = 69 ; constant _eusart_500000_low = _eusart_500000 & 0xff _eusart_500000_low equ 9 ; line_number = 70 ; constant _eusart_500000_high = _eusart_500000 >> 8 _eusart_500000_high equ 0 ; line_number = 71 ; constant _eusart_500000_index = 8 _eusart_500000_index equ 8 ; # 62500 baud: ; line_number = 73 ; constant _eusart_625000 = (_eusart_clock / (625000 * _eusart_factor)) - 1 _eusart_625000 equ 7 ; line_number = 74 ; constant _eusart_625000_low = _eusart_625000 & 0xff _eusart_625000_low equ 7 ; line_number = 75 ; constant _eusart_625000_high = _eusart_625000 >> 8 _eusart_625000_high equ 0 ; line_number = 76 ; constant _eusart_625000_index = 9 _eusart_625000_index equ 9 ; # 833333 baud: ; line_number = 78 ; constant _eusart_833333 = (_eusart_clock / (833333 * _eusart_factor)) - 1 _eusart_833333 equ 5 ; line_number = 79 ; constant _eusart_833333_low = _eusart_833333 & 0xff _eusart_833333_low equ 5 ; line_number = 80 ; constant _eusart_833333_high = _eusart_833333 >> 8 _eusart_833333_high equ 0 ; line_number = 81 ; constant _eusart_833333_index = 10 _eusart_833333_index equ 10 ; # 1000000 baud (1MHz): ; line_number = 83 ; constant _eusart_1000000 = (_eusart_clock / (1000000 * _eusart_factor)) - 1 _eusart_1000000 equ 4 ; line_number = 84 ; constant _eusart_1000000_low = _eusart_1000000 & 0xff _eusart_1000000_low equ 4 ; line_number = 85 ; constant _eusart_1000000_high = _eusart_1000000 >> 8 _eusart_1000000_high equ 0 ; line_number = 86 ; constant _eusart_1000000_index = 11 _eusart_1000000_index equ 11 ; buffer = 'irdistance2' ; line_number = 17 ; library _eusart exited ; # The library of bus access routines for use by a PIC16F688. ; line_number = 20 ; library rb2bus_pic16f688 entered ; # Copyright (c) 2006 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 PIC16F688. ; # ; # It defines the following procedure: ; # ; # {rb2bus_initialize}({address}) The procedure that initializes the UART ; # for bus access. ; # All other bus access procedures are defined in the {rb2bus} library ; # which is accessed below: ; buffer = 'rb2bus_pic16f688' ; line_number = 16 ; 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 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' ; line_number = 55 ; library rb2bus_globals exited ; 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 = 'rb2bus_pic16f688' ; line_number = 16 ; library rb2bus exited ; Delaying code generation for procedure rb2bus_initialize ; line_number = 62 ; 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 = 'irdistance2' ; line_number = 20 ; library rb2bus_pic16f688 exited ; line_number = 23 ; library _signed16 entered ; # Copyright (c) 2007 by Wayne C. Gramlich. ; # All rights reserved. ; # This library implements the following procedures for general use ; # by users: ; # ; # _signed16_from_byte(x) return signed16(x) where x is a byte ; # _signed16_from_byte2(x,y) return signed16((x<<8)|y) ; # where x,y are bytes ; # _signed16_to_byte(x) return x as an 8-bit byte ; # _signed16_byte_high(x) return bigh byte of x ; # _signed16_byte_low(x)) return low byte of x ; # ; # The following additional procedures are implemented for use by the ; # compiler. ; # ; # _signed16_pointer_load() A := M[W] ; # _signed16_pointer_add() A := M[W] ; # _signed16_pointer_divide() A := A / M[W] ; # _signed16_pointer_multiply() A := A * M[W] ; # _signed16_pointer_subtract() A := A - M[W] ; # _signed16_pointer_store() M[W] := A ; # _signed16_pointer_negate() A := -A ; # _signed16_pointer_swap() A <=> M[W] ; # _signed16_equals() _z := A = 0.0 ; # _signed16_not_equal() _z := A != 0.0 ; # _signed16_less_than() _z := if A < 0.0 ; # _signed16_less_than_or_equal() _z := A <= 0.0 ; # _signed16_greater_than() _z := A > 0.0 ; # _signed16_greater_than_or_equal() _z := A >= 0.0 ; # ; # All of the procedures constants and labels in this library are ; # prefixed by "_signed16_". ; # ; # For the uCL compiler, signed16's are required to be aligned on even ; # memory addresses. Since the PIC16F* processor can not access more ; # 512 bytes of RAM, this means that a pointer to signed16 can be represented ; # in 8-bits as (address>>1). (Pretty, slick!) ; # FIXME: Make sure that none of the procedures allocate any argument storage!!! ; buffer = '_signed16' ; line_number = 44 ; global _signed16_a0 byte # A Register MSB _signed16_a0 equ globals___1 ; line_number = 45 ; global _signed16_a1 byte # A Register LSB _signed16_a1 equ globals___1+1 ; line_number = 46 ; global _signed16_b0 byte # B Register MSB _signed16_b0 equ globals___1+2 ; line_number = 47 ; global _signed16_b1 byte # B Register LSB _signed16_b1 equ globals___1+3 ; line_number = 48 ; global _signed16_result3 byte # Mulitply result MSB _signed16_result3 equ globals___1+4 ; line_number = 49 ; global _signed16_result2 byte _signed16_result2 equ globals___1+5 ; line_number = 50 ; global _signed16_result1 byte _signed16_result1 equ globals___1+6 ; line_number = 51 ; global _signed16_result0 byte # Mulitply resultLSB _signed16_result0 equ globals___1+7 ; line_number = 52 ; global _signed16_neg_flag byte # Negative flag _signed16_neg_flag equ globals___1+8 ; line_number = 53 ; global _signed16_count byte # Loop counter for divide _signed16_count equ globals___1+9 ; # Bindings for ; line_number = 56 ; bind _signed16_rem0 = _signed16_result2 _signed16_rem0 equ globals___1+5 ; line_number = 57 ; bind _signed16_rem1 = _signed16_result3 _signed16_rem1 equ globals___1+4 ; line_number = 58 ; bind _signed16_temp0 = _signed16_result0 _signed16_temp0 equ globals___1+7 ; line_number = 59 ; bind _signed16_temp1 = _signed16_result1 _signed16_temp1 equ globals___1+6 ; line_number = 60 ; bind _signed16_sign = _signed16_neg_flag _signed16_sign equ globals___1+8 ; Delaying code generation for procedure _signed16_pointer_load ; Delaying code generation for procedure _signed16_pointer_add ; Delaying code generation for procedure _signed16_pointer_divide ; Delaying code generation for procedure _signed16_pointer_multiply ; Delaying code generation for procedure _signed16_pointer_subtract ; Delaying code generation for procedure _signed16_pointer_store ; Delaying code generation for procedure _signed16_negate ; Delaying code generation for procedure _signed16_pointer_swap ; Delaying code generation for procedure _signed16_from_byte ; Delaying code generation for procedure _signed16_from_byte2 ; Delaying code generation for procedure _signed16_to_byte ; Delaying code generation for procedure _signed16_byte_high ; Delaying code generation for procedure _signed16_byte_low ; Delaying code generation for procedure _signed16_equals ; Delaying code generation for procedure _signed16_not_equal ; Delaying code generation for procedure _signed16_less_than ; Delaying code generation for procedure _signed16_less_than_or_equal ; Delaying code generation for procedure _signed16_greater_than ; Delaying code generation for procedure _signed16_greater_than_or_equal ; #******************************************************************* ; # Double Precision Division ; # ; # ( Optimized for Code Size : Looped Code ) ; # ; #*******************************************************************# ; # Division: ; # Input: ; # Numeratator=_signed16_a<0:1> ; # Denominator = _signed16_b<0:1> ; # Outputs: ; # Quotiant = _signed16_a<0:1> ; # Remainder in _signed16_rem<0:1> ; # ; # Sequence: ; # (a) Load the Numerator in location _signed16_a<0:1> ( 16 bits ) ; # (b) Load the Denominator in location _signed16_b<0:1> ( 16 bits ) ; # (c) call _signed16_divide_raw ; # (d) The 16 bit quotiant is in location _signed16_a<0:1> ; # (e) The 16 bit remainder is in locations _signed16_rem<0:1> ; Delaying code generation for procedure _signed16_divide_raw ; buffer = 'irdistance2' ; line_number = 23 ; library _signed16 exited ; # This module uses 20Hz crystal resonator; hence mode HS ocs. config.: ; # Kludge to deal with the fact that RA4 is used as OSC2: ; line_number = 29 ; constant io1_bit = 4 io1_bit equ 4 ; # All pins on this package are used except RA3. ; line_number = 32 ; package pdip ; line_number = 33 ; pin 1 = power_supply ; line_number = 34 ; pin 2 = osc1 ; line_number = 35 ; pin 3 = osc2 ; line_number = 36 ; pin 4 = ra3_nc, name=nc1 nc1___byte equ _porta nc1___bit equ 3 ; line_number = 37 ; pin 5 = rx, name=rx, bit=rx_bit rx___byte equ _portc rx___bit equ 5 rx_bit equ 5 ; line_number = 38 ; pin 6 = tx, name=tx, bit=tx_bit tx___byte equ _portc tx___bit equ 4 tx_bit equ 4 ; line_number = 39 ; pin 7 = rc3_nc ; line_number = 40 ; pin 8 = an6, name=in1 in1___byte equ _portc in1___bit equ 2 ; line_number = 41 ; pin 9 = an5, name=in0 in0___byte equ _portc in0___bit equ 1 ; line_number = 42 ; pin 10 = rc0_nc ; line_number = 43 ; pin 11 = ra2_nc ; line_number = 44 ; pin 12 = vref ; line_number = 45 ; pin 13 = ra0_nc ; line_number = 46 ; pin 14 = ground ; line_number = 48 ; origin 0 org 0 ; line_number = 51 ; constant xxx = 30 xxx equ 30 ; line_number = 52 ; constant buffer_size = 8 # Rolling buffer size buffer_size equ 8 ; line_number = 53 ; constant buffer_mask = buffer_size - 1 # Mask for buffer buffer_mask equ 7 ; line_number = 54 ; global sensor0_high[buffer_size] array[byte] # Sensor 0 MSB bytes sensor0_high equ globals___0+12 ; line_number = 55 ; global sensor0_low[buffer_size] array[byte] # Sensor 0 MSB bytes sensor0_low equ globals___0+20 ; line_number = 56 ; global sensor1_high[buffer_size] array[byte] # Sensor 0 MSB bytes sensor1_high equ globals___0+28 ; line_number = 57 ; global sensor1_low[buffer_size] array[byte] # Sensor 0 MSB bytes sensor1_low equ globals___0+36 ; line_number = 58 ; global rolling_index byte # Rolling index rolling_index equ globals___0+44 ; line_number = 59 ; global state byte # State index state equ globals___0+45 ; line_number = 60 ; global adcon0_save byte # Global value of _{adcon0} adcon0_save equ globals___0+46 ; line_number = 62 ; global adc_lsbs[2] array[byte] adc_lsbs equ globals___0+47 ; line_number = 63 ; global adc_msbs[2] array[byte] adc_msbs equ globals___0+49 ; line_number = 67 ; global sensor0_map[8] array[byte] sensor0_map equ globals___1+30 ; line_number = 68 ; global sensor1_map[8] array[byte] sensor1_map equ globals___1+38 ; line_number = 72 ;info 72, 0 ; procedure main main: ; Initialize some registers movlw 65 movwf _adcon0 movlw 98 bsf __rp0___byte, __rp0___bit movwf _ansel movlw 63 movwf _trisa movlw 63 movwf _trisc ; arguments_none ; line_number = 74 ; returns_nothing ; # This procedure initializes everything and does command decoding. ; line_number = 78 ; local command byte main__command equ globals___0+51 ; line_number = 79 ; local channel byte main__channel equ globals___0+52 ; line_number = 80 ; local offset byte main__offset equ globals___0+53 ; line_number = 81 ; local result byte main__result equ globals___0+54 ; line_number = 82 ; local temp byte main__temp equ globals___0+55 ; line_number = 83 ; local maximum byte main__maximum equ globals___0+56 ; line_number = 84 ; local index byte main__index equ globals___0+57 ; line_number = 85 ; local xxx16 signed16 main__xxx16 equ globals___0+58 ; line_number = 86 ; local numerator signed16 main__numerator equ globals___0+60 ; line_number = 87 ; local denominator signed16 main__denominator equ globals___0+62 ; line_number = 88 ; local high byte main__high equ globals___0+64 ; line_number = 89 ; local low byte main__low equ globals___0+65 ; line_number = 90 ; local value byte main__value equ globals___0+66 ; line_number = 91 ; local got_it bit main__got_it___byte equ globals___0+79 main__got_it___bit equ 4 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:XX=cc=>XX) ; line_number = 93 ; call rb2bus_initialize(4) ;info 93, 9 movlw 4 bcf __rp0___byte, __rp0___bit call rb2bus_initialize ; # We are running at 16MHz. We want Tad to be as close to 1.6uS ; # as possible. 1/(16MHz/32) = 2uS which is about as close as ; # we are going to get. Thus, ADCS<2:0> = 010. ; line_number = 98 ; _adcon1 := 0x20 ;info 98, 12 movlw 32 bsf __rp0___byte, __rp0___bit movwf _adcon1 ; # A/D result is left justified (10-bits) in ADRESH::ADRESL ; #_adcon0 := 0 ; #_adfm := _false ; # Use 3 volt voltage reference: ; #_vcfg := _true ; # Turn on the A/D: ; #_adon := _true ; line_number = 107 ; adcon0_save := _adcon0 & 0xe3 ;info 107, 15 movlw 227 bcf __rp0___byte, __rp0___bit andwf _adcon0,w movwf adcon0_save ; # A little more initialization: ; line_number = 110 ; state := 0 ;info 110, 19 clrf state ; line_number = 111 ; rolling_index := 0 ;info 111, 20 clrf rolling_index ; # Set the PS<2:0>=6 (i.e 1:128 prescale) and PSA=0: ; line_number = 113 ; _option_reg := 6 ;info 113, 21 movlw 6 bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 114 ; _gie := _false ;info 114, 24 bcf _gie___byte, _gie___bit ; line_number = 115 ; _tmr0 := 0 ;info 115, 25 bcf __rp0___byte, __rp0___bit clrf _tmr0 ; line_number = 116 ; _t0if := _false ;info 116, 27 bcf _t0if___byte, _t0if___bit ; line_number = 118 ; xxx16 := _signed16_from_byte(xxx) ;info 118, 28 movlw 30 bsf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__xxx16>>1 call _signed16_pointer_store ; line_number = 119 ; sensor0_map[0] := 0xd8 ;info 119, 35 movlw 216 movwf sensor0_map ; line_number = 120 ; sensor0_map[1] := 0x80 ;info 120, 37 movlw 128 movwf sensor0_map+1 ; line_number = 121 ; sensor0_map[2] := 0x5b ;info 121, 39 movlw 91 movwf sensor0_map+2 ; line_number = 122 ; sensor0_map[3] := 0x47 ;info 122, 41 movlw 71 movwf sensor0_map+3 ; line_number = 123 ; sensor0_map[4] := 0x3c ;info 123, 43 movlw 60 movwf sensor0_map+4 ; line_number = 124 ; sensor0_map[5] := 0x32 ;info 124, 45 movlw 50 movwf sensor0_map+5 ; line_number = 125 ; sensor0_map[6] := 0x2a ;info 125, 47 movlw 42 movwf sensor0_map+6 ; line_number = 126 ; sensor0_map[7] := 0x22 ;info 126, 49 movlw 34 movwf sensor0_map+7 ; line_number = 127 ; sensor1_map[0] := 0xd8 ;info 127, 51 movlw 216 movwf sensor1_map ; line_number = 128 ; sensor1_map[1] := 0x80 ;info 128, 53 movlw 128 movwf sensor1_map+1 ; line_number = 129 ; sensor1_map[2] := 0x5b ;info 129, 55 movlw 91 movwf sensor1_map+2 ; line_number = 130 ; sensor1_map[3] := 0x47 ;info 130, 57 movlw 71 movwf sensor1_map+3 ; line_number = 131 ; sensor1_map[4] := 0x3c ;info 131, 59 movlw 60 movwf sensor1_map+4 ; line_number = 132 ; sensor1_map[5] := 0x32 ;info 132, 61 movlw 50 movwf sensor1_map+5 ; line_number = 133 ; sensor1_map[6] := 0x2a ;info 133, 63 movlw 42 movwf sensor1_map+6 ; line_number = 134 ; sensor1_map[7] := 0x22 ;info 134, 65 movlw 34 movwf sensor1_map+7 ; line_number = 136 ; loop_forever start main__1: bcf __rp0___byte, __rp0___bit ; # Make sure that we have been selected: ; line_number = 138 ; rb2bus_error := _true ;info 138, 68 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 139 ; while rb2bus_error start main__2: ;info 139, 69 ; =>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 = 140 ; call rb2bus_select_wait() ;info 140, 71 call rb2bus_select_wait ; line_number = 141 ; command := rb2bus_byte_get() ;info 141, 72 call rb2bus_byte_get movwf main__command goto main__2 ; Recombine size1 = 0 || size2 = 0 main__3: ; line_number = 139 ; while rb2bus_error done ; line_number = 143 ; switch command >> 6 start ;info 143, 75 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=7 movlw main__32>>8 movwf __pclath main__33 equ globals___0+73 swapf main__command,w movwf main__33 rrf main__33,f rrf main__33,w andlw 3 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__32 movwf __pcl ; page_group 4 main__32: goto main__30 goto main__34 goto main__34 goto main__31 ; line_number = 144 ; case 0 main__30: ; line_number = 145 ; switch (command >> 3) & 7 start ;info 145, 88 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw main__23>>8 movwf __pclath main__24 equ globals___0+73 rrf main__command,w movwf main__24 rrf main__24,f rrf main__24,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__23 movwf __pcl ; page_group 1 main__23: goto main__22 ; line_number = 146 ; case 0 main__22: ; # 0000 0xxx: ; line_number = 148 ; switch command & 7 start ;info 148, 98 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 149 ; case_maximum 7 movlw main__20>>8 movwf __pclath movlw 7 andwf main__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__20 movwf __pcl ; page_group 8 main__20: goto main__14 goto main__15 goto main__16 goto main__17 goto main__18 goto main__19 goto main__21 goto main__21 ; line_number = 150 ; case 0 main__14: ; # 0000 0000 (Sensor0 Raw Get): ; line_number = 152 ; call rb2bus_byte_put(sensor0_high[rolling_index]) ;info 152, 112 movf rolling_index,w addlw sensor0_high movwf __fsr movf __indf,w call rb2bus_byte_put goto main__21 ; line_number = 153 ; case 1 main__15: ; # 0000 0000 (Sensor1 Raw Get): ; line_number = 155 ; call rb2bus_byte_put(sensor1_high[rolling_index]) ;info 155, 118 movf rolling_index,w addlw sensor1_high movwf __fsr movf __indf,w call rb2bus_byte_put goto main__21 ; line_number = 156 ; case 2 main__16: ; # 0000 0010 (Sensor0 Smoothed Get): ; line_number = 158 ; call rb2bus_byte_put(sensor0_value()) ;info 158, 124 call sensor0_value call rb2bus_byte_put goto main__21 ; line_number = 159 ; case 3 main__17: ; # 0000 0011 (Sensor1 Smoothed Get): ; line_number = 161 ; call rb2bus_byte_put(sensor1_value()) ;info 161, 127 call sensor1_value call rb2bus_byte_put goto main__21 ; line_number = 162 ; case 4 main__18: ; # 0000 0100 (Sensor0 Linear Get): ; line_number = 164 ; value := sensor0_value() ;info 164, 130 call sensor0_value movwf main__value ; line_number = 165 ; temp := 0 ;info 165, 132 clrf main__temp ; line_number = 166 ; result := 0xff ;info 166, 133 movlw 255 movwf main__result ; line_number = 167 ; high := 0xff ;info 167, 135 movlw 255 movwf main__high ; line_number = 168 ; index := 0 ;info 168, 137 clrf main__index ; line_number = 169 ; got_it := _false ;info 169, 138 bcf main__got_it___byte, main__got_it___bit ; line_number = 170 ; while index < 8 && !got_it start main__4: ;info 170, 139 movlw 8 subwf main__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=1 false.size=49 ; No 2TEST: true.size=1 false.size=49 ; 2GOTO: Single test with two GOTO's btfsc __c___byte, __c___bit goto main__6 ; Recombine code1_bit_states != code2_bit_states ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; =>bit_code_emit@symbol(): sym=main__got_it ; No 1TEST: true.size=0 false.size=47 ; No 2TEST: true.size=0 false.size=47 ; 1GOTO: Single test with GOTO btfsc main__got_it___byte, main__got_it___bit goto main__7 ; line_number = 171 ; low := sensor0_map[index] ;info 171, 145 movf main__index,w addlw sensor0_map movwf __fsr movf __indf,w movwf main__low ; line_number = 172 ; if low <= value start ;info 172, 150 movf main__value,w subwf main__low,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=30 ; No 2TEST: true.size=0 false.size=30 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__5 ; # We have the answer: ; line_number = 174 ; numerator := _signed16_from_byte(high - value) ;info 174, 156 movf main__value,w subwf main__high,w bsf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__numerator>>1 call _signed16_pointer_store ; line_number = 175 ; denominator := _signed16_from_byte(high - low) ;info 175, 164 bcf __rp0___byte, __rp0___bit movf main__low,w subwf main__high,w bsf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__denominator>>1 call _signed16_pointer_store ; line_number = 176 ; result := temp + _signed16_to_byte( xxx16 * numerator / denominator) ;info 176, 173 movlw main__xxx16>>1 call _signed16_pointer_load movlw main__numerator>>1 call _signed16_pointer_multiply movlw main__denominator>>1 call _signed16_pointer_divide movlw _signed16_to_byte__number>>1 call _signed16_pointer_store call _signed16_to_byte bcf __rp0___byte, __rp0___bit addwf main__temp,w movwf main__result ; line_number = 178 ; got_it := _true ;info 178, 185 bsf main__got_it___byte, main__got_it___bit main__5: ; Recombine size1 = 0 || size2 = 0 ; line_number = 172 ; if low <= value done ; line_number = 179 ; temp := temp + xxx ;info 179, 186 movlw 30 addwf main__temp,f ; line_number = 180 ; high := low ;info 180, 188 movf main__low,w movwf main__high ; line_number = 181 ; index := index + 1 ;info 181, 190 incf main__index,f goto main__4 main__7: main__6: ; Recombine code1_bit_states != code2_bit_states ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 ; 2GOTO: No goto needed; true=main__6 false= true_size=1 false_size=49 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 170 ; while index < 8 && !got_it done ; line_number = 182 ; if !got_it start ;info 182, 192 ; =>bit_code_emit@symbol(): sym=main__got_it ; No 1TEST: true.size=0 false.size=2 ; No 2TEST: true.size=0 false.size=2 ; 1GOTO: Single test with GOTO btfsc main__got_it___byte, main__got_it___bit goto main__8 ; line_number = 183 ; result := 0xfe ;info 183, 194 movlw 254 movwf main__result main__8: ; Recombine size1 = 0 || size2 = 0 ; line_number = 182 ; if !got_it done ; line_number = 184 ; call rb2bus_byte_put(result) ;info 184, 196 movf main__result,w call rb2bus_byte_put goto main__21 ; line_number = 185 ; case 5 main__19: ; # 0000 0101 (Sensor1 Linear Get): ; line_number = 187 ; value := sensor1_value() ;info 187, 199 call sensor1_value movwf main__value ; line_number = 188 ; temp := 0 ;info 188, 201 clrf main__temp ; line_number = 189 ; result := 0xff ;info 189, 202 movlw 255 movwf main__result ; line_number = 190 ; high := 0xff ;info 190, 204 movlw 255 movwf main__high ; line_number = 191 ; index := 0 ;info 191, 206 clrf main__index ; line_number = 192 ; got_it := _false ;info 192, 207 bcf main__got_it___byte, main__got_it___bit ; line_number = 193 ; while index < 8 && !got_it start main__9: ;info 193, 208 movlw 8 subwf main__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=1 false.size=49 ; No 2TEST: true.size=1 false.size=49 ; 2GOTO: Single test with two GOTO's btfsc __c___byte, __c___bit goto main__11 ; Recombine code1_bit_states != code2_bit_states ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; =>bit_code_emit@symbol(): sym=main__got_it ; No 1TEST: true.size=0 false.size=47 ; No 2TEST: true.size=0 false.size=47 ; 1GOTO: Single test with GOTO btfsc main__got_it___byte, main__got_it___bit goto main__12 ; line_number = 194 ; low := sensor1_map[index] ;info 194, 214 movf main__index,w addlw sensor1_map movwf __fsr movf __indf,w movwf main__low ; line_number = 195 ; if low <= value start ;info 195, 219 movf main__value,w subwf main__low,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=30 ; No 2TEST: true.size=0 false.size=30 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__10 ; # We have the answer: ; line_number = 197 ; numerator := _signed16_from_byte(high - value) ;info 197, 225 movf main__value,w subwf main__high,w bsf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__numerator>>1 call _signed16_pointer_store ; line_number = 198 ; denominator := _signed16_from_byte(high - low) ;info 198, 233 bcf __rp0___byte, __rp0___bit movf main__low,w subwf main__high,w bsf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__denominator>>1 call _signed16_pointer_store ; line_number = 199 ; result := temp + _signed16_to_byte( xxx16 * numerator / denominator) ;info 199, 242 movlw main__xxx16>>1 call _signed16_pointer_load movlw main__numerator>>1 call _signed16_pointer_multiply movlw main__denominator>>1 call _signed16_pointer_divide movlw _signed16_to_byte__number>>1 call _signed16_pointer_store call _signed16_to_byte bcf __rp0___byte, __rp0___bit addwf main__temp,w movwf main__result ; line_number = 201 ; got_it := _true ;info 201, 254 bsf main__got_it___byte, main__got_it___bit main__10: ; Recombine size1 = 0 || size2 = 0 ; line_number = 195 ; if low <= value done ; line_number = 202 ; temp := temp + xxx ;info 202, 255 movlw 30 addwf main__temp,f ; line_number = 203 ; high := low ;info 203, 257 movf main__low,w movwf main__high ; line_number = 204 ; index := index + 1 ;info 204, 259 incf main__index,f goto main__9 main__12: main__11: ; Recombine code1_bit_states != code2_bit_states ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 ; 2GOTO: No goto needed; true=main__11 false= true_size=1 false_size=49 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 193 ; while index < 8 && !got_it done ; line_number = 205 ; if !got_it start ;info 205, 261 ; =>bit_code_emit@symbol(): sym=main__got_it ; No 1TEST: true.size=0 false.size=2 ; No 2TEST: true.size=0 false.size=2 ; 1GOTO: Single test with GOTO btfsc main__got_it___byte, main__got_it___bit goto main__13 ; line_number = 206 ; result := 0xfe ;info 206, 263 movlw 254 movwf main__result main__13: ; Recombine size1 = 0 || size2 = 0 ; line_number = 205 ; if !got_it done ; line_number = 207 ; call rb2bus_byte_put(result) ;info 207, 265 movf main__result,w call rb2bus_byte_put main__21: ; line_number = 148 ; switch command & 7 done main__25: ; line_number = 145 ; switch (command >> 3) & 7 done goto main__34 ; line_number = 208 ; case 3 main__31: ; # 11xx xxxx: ; line_number = 210 ; switch (command >> 3) & 7 start ;info 210, 268 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw main__27>>8 movwf __pclath main__28 equ globals___0+73 rrf main__command,w movwf main__28 rrf main__28,f rrf main__28,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__27 movwf __pcl ; page_group 8 main__27: goto main__29 goto main__29 goto main__29 goto main__29 goto main__29 goto main__29 goto main__29 goto main__26 ; line_number = 211 ; case 7 main__26: ; # 1111 1xxx: ; line_number = 213 ; call rb2bus_command(command) ;info 213, 285 movf main__command,w call rb2bus_command main__29: ; line_number = 210 ; switch (command >> 3) & 7 done main__34: ; line_number = 143 ; switch command >> 6 done ; line_number = 136 ; loop_forever wrap-up goto main__1 ; line_number = 136 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 216 ;info 216, 288 ; procedure sensor0_value sensor0_value: ; arguments_none ; line_number = 218 ; returns byte ; #: This procedure will compute and return the best value for sensor0. ; line_number = 222 ; local index byte sensor0_value__index equ globals___0+67 ; line_number = 223 ; local maximum byte sensor0_value__maximum equ globals___0+68 ; line_number = 224 ; local temp byte sensor0_value__temp equ globals___0+69 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 226 ; maximum := sensor0_high[0] ;info 226, 288 movf sensor0_high,w movwf sensor0_value__maximum ; line_number = 227 ; index := 1 ;info 227, 290 movlw 1 movwf sensor0_value__index ; line_number = 228 ; loop_exactly 7 start ;info 228, 292 sensor0_value__1 equ globals___0+74 movlw 7 movwf sensor0_value__1 sensor0_value__2: ; line_number = 229 ; temp := sensor0_high[index] ;info 229, 294 movf sensor0_value__index,w addlw sensor0_high movwf __fsr movf __indf,w movwf sensor0_value__temp ; line_number = 230 ; if temp > maximum start ;info 230, 299 movf sensor0_value__maximum,w subwf sensor0_value__temp,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __c___byte, __c___bit goto sensor0_value__3 ; line_number = 231 ; maximum := temp ;info 231, 305 movf sensor0_value__temp,w movwf sensor0_value__maximum ; Recombine size1 = 0 || size2 = 0 sensor0_value__3: ; line_number = 230 ; if temp > maximum done ; line_number = 232 ; index := index + 1 ;info 232, 307 incf sensor0_value__index,f ; line_number = 228 ; loop_exactly 7 wrap-up decfsz sensor0_value__1,f goto sensor0_value__2 ; line_number = 228 ; loop_exactly 7 done ; line_number = 233 ; return maximum start ; line_number = 233 ;info 233, 310 movf sensor0_value__maximum,w return ; line_number = 233 ; return maximum done ; delay after procedure statements=non-uniform ; line_number = 236 ;info 236, 312 ; procedure sensor1_value sensor1_value: ; arguments_none ; line_number = 238 ; returns byte ; #: This procedure will compute and return the best value for sensor1. ; line_number = 242 ; local index byte sensor1_value__index equ globals___0+70 ; line_number = 243 ; local maximum byte sensor1_value__maximum equ globals___0+71 ; line_number = 244 ; local temp byte sensor1_value__temp equ globals___0+72 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 246 ; maximum := sensor1_high[0] ;info 246, 312 movf sensor1_high,w movwf sensor1_value__maximum ; line_number = 247 ; index := 1 ;info 247, 314 movlw 1 movwf sensor1_value__index ; line_number = 248 ; loop_exactly 7 start ;info 248, 316 sensor1_value__1 equ globals___0+75 movlw 7 movwf sensor1_value__1 sensor1_value__2: ; line_number = 249 ; temp := sensor1_high[index] ;info 249, 318 movf sensor1_value__index,w addlw sensor1_high movwf __fsr movf __indf,w movwf sensor1_value__temp ; line_number = 250 ; if temp > maximum start ;info 250, 323 movf sensor1_value__maximum,w subwf sensor1_value__temp,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __c___byte, __c___bit goto sensor1_value__3 ; line_number = 251 ; maximum := temp ;info 251, 329 movf sensor1_value__temp,w movwf sensor1_value__maximum ; Recombine size1 = 0 || size2 = 0 sensor1_value__3: ; line_number = 250 ; if temp > maximum done ; line_number = 252 ; index := index + 1 ;info 252, 331 incf sensor1_value__index,f ; line_number = 248 ; loop_exactly 7 wrap-up decfsz sensor1_value__1,f goto sensor1_value__2 ; line_number = 248 ; loop_exactly 7 done ; line_number = 253 ; return maximum start ; line_number = 253 ;info 253, 334 movf sensor1_value__maximum,w return ; line_number = 253 ; return maximum done ; delay after procedure statements=non-uniform ; line_number = 256 ;info 256, 336 ; procedure wait wait: ; arguments_none ; line_number = 258 ; returns_nothing ; # This procedure is repeatably called whenever the software ; # is waiting for a byte to arrive from the bus. ; # The bus is running at 500kbps or 2uSec/bit. Since each ; # byte consists of 1 start bit, 9 data bits, and 1 stop bit, ; # a byte takes 11bit/byte * 2uSec/bit = 22uSec/byte. Since ; # the system is running off of a 20MHz resonator that is ; # divided by 4 to get the basic clock rate of 5MHz, that ; # works out to .2uSec/cycle (=5cycle/uSec), we get a total ; # of 5cycle/uSec * 22uSec/Byte = 110cycle/byte. Now we ; # want to leave some time for the calling routine to get ; # its job done, so shooting for ~50 cycles per call to this ; # routine is just about right. ; # The GP2D12's take a sample every 38.3mSec +/- 9.6mSec. ; # That yields a range of 28.7mSec - 47.9mSec. If we take ; # a sample from each channel every 50mSec, we'll never get ; # a duplicate. ; # TMR0 is an 8-bit timer that will set {_t0if} after every ; # 256 ticks. The presclaler can be set to 1:128. Thus, the ; # TMR0 turns over 128 * 256 * .2uSec = 6553.6uSec = 6.5536mSec. ; # If we give the A/D 4 slices of 6.5536mSec or 26.2mSec. ; # Wait for timer: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 285 ; if _t0if start ;info 285, 336 ; =>bit_code_emit@symbol(): sym=_t0if ; No 1TEST: true.size=58 false.size=0 ; No 2TEST: true.size=58 false.size=0 ; 1GOTO: Single test with GOTO btfss _t0if___byte, _t0if___bit goto wait__11 ; line_number = 286 ; _t0if := _false ;info 286, 338 bcf _t0if___byte, _t0if___bit ; line_number = 287 ; switch state & 7 start ;info 287, 339 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=1 movlw wait__9>>8 movwf __pclath movlw 7 andwf state,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw wait__9 movwf __pcl ; page_group 8 wait__9: goto wait__1 goto wait__2 goto wait__3 goto wait__4 goto wait__5 goto wait__6 goto wait__7 goto wait__8 ; line_number = 288 ; case 0 wait__1: ; # Select channel sensor 0 (A/D channel 5): ; line_number = 290 ; _adcon0 := (5 << 2) | adcon0_save ;info 290, 353 movlw 20 iorwf adcon0_save,w movwf _adcon0 ; # Let the Sample and Hold settle: goto wait__10 ; line_number = 292 ; case 1 wait__2: ; # Start the A/D: ; line_number = 294 ; _go := _true ;info 294, 357 bsf _go___byte, _go___bit ; # Let the A/D do its thing: goto wait__10 ; line_number = 296 ; case 2 wait__3: ; # Read out the A/D result for sensor 0: ; line_number = 298 ; sensor0_high[rolling_index] := _adresh ;info 298, 359 ; index_fsr_first movf rolling_index,w addlw sensor0_high movwf __fsr movf _adresh,w movwf __indf ; line_number = 299 ; sensor0_low[rolling_index] := _adresl ;info 299, 364 ; index_fsr_first movf rolling_index,w addlw sensor0_low movwf __fsr bsf __rp0___byte, __rp0___bit movf _adresl,w movwf __indf goto wait__10 ; line_number = 300 ; case 3 wait__4: ; line_number = 301 ; do_nothing ;info 301, 371 goto wait__10 ; line_number = 302 ; case 4 wait__5: ; # Select channel sensor 0 (A/D channel 6): ; line_number = 304 ; _adcon0 := (6 << 2) | adcon0_save ;info 304, 372 movlw 24 iorwf adcon0_save,w movwf _adcon0 ; # Let the Sample and Hold settle: goto wait__10 ; line_number = 306 ; case 5 wait__6: ; # Start the A/D: ; line_number = 308 ; _go := _true ;info 308, 376 bsf _go___byte, _go___bit ; # Let the A/D do its thing: goto wait__10 ; line_number = 310 ; case 6 wait__7: ; # Read out the A/D result for sensor 1: ; line_number = 312 ; sensor1_high[rolling_index] := _adresh ;info 312, 378 ; index_fsr_first movf rolling_index,w addlw sensor1_high movwf __fsr movf _adresh,w movwf __indf ; line_number = 313 ; sensor1_low[rolling_index] := _adresl ;info 313, 383 ; index_fsr_first movf rolling_index,w addlw sensor1_low movwf __fsr bsf __rp0___byte, __rp0___bit movf _adresl,w movwf __indf ; line_number = 314 ; rolling_index := (rolling_index + 1) & 7 ;info 314, 389 bcf __rp0___byte, __rp0___bit incf rolling_index,w andlw 7 movwf rolling_index goto wait__10 ; line_number = 315 ; case 7 wait__8: ; line_number = 316 ; do_nothing ;info 316, 394 wait__10: ; line_number = 287 ; switch state & 7 done ; line_number = 317 ; state := state + 1 ;info 317, 394 bcf __rp0___byte, __rp0___bit incf state,f ; Recombine size1 = 0 || size2 = 0 wait__11: ; line_number = 285 ; if _t0if done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 320 ; string id = "\16,0,4,3,3,13\IRDistance2-C\7\Gramson" start ; id = '\16,0,4,3,3,13\IRDistance2-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 27 id___base: retlw 16 retlw 0 retlw 4 retlw 3 retlw 3 retlw 13 retlw 73 retlw 82 retlw 68 retlw 105 retlw 115 retlw 116 retlw 97 retlw 110 retlw 99 retlw 101 retlw 50 retlw 45 retlw 67 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 320 ; string id = "\16,0,4,3,3,13\IRDistance2-C\7\Gramson" start ; Appending 28 delayed procedures to code bank 0 ; buffer = 'rb2bus' ; line_number = 57 ;info 57, 430 ; 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+2 ; 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:XX=cc=>XX) ; line_number = 71 ; rb2bus_error := _false ;info 71, 430 bcf rb2bus_error___byte, rb2bus_error___bit ; line_number = 72 ; while !rb2bus_selected start rb2bus_select_wait__1: ;info 72, 431 ; =>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, 433 bsf _adden___byte, _adden___bit ; # Wait for a byte to arrive. ; line_number = 75 ; while !_rcif start rb2bus_select_wait__2: ;info 75, 434 ; =>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, 436 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, 438 bcf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit ; line_number = 80 ; if _rx9d start ;info 80, 439 ; =>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, 440 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, 441 movf _rcreg,w movwf rb2bus_select_wait__value ; # Clear any UART errors by toggling {_cren}: ; line_number = 85 ; if _oerr start ;info 85, 443 ; =>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, 444 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 85 ; if _oerr done ; line_number = 87 ; if _ferr start ;info 87, 445 ; =>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, 446 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 87 ; if _ferr done ; line_number = 89 ; _cren := _true ;info 89, 447 bsf _cren___byte, _cren___bit ; line_number = 91 ; if address_bit start ;info 91, 448 ; =>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, 450 ; 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, 454 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 94 ; call rb2bus_byte_put(rb2_ok) ;info 94, 455 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, 459 ; 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:XX=cc=>XX) ; line_number = 104 ; rb2bus_selected := _false ;info 104, 459 bcf rb2bus_selected___byte, rb2bus_selected___bit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 107 ;info 107, 461 ; 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+3 ; 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:XX=cc=>XX) ; line_number = 123 ; if rb2bus_error start ;info 123, 461 ; =>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, 462 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, 463 bcf _adden___byte, _adden___bit ; line_number = 128 ; while !_rcif start rb2bus_byte_get__1: ;info 128, 464 ; =>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, 466 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, 468 bcf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit ; line_number = 133 ; if _rx9d start ;info 133, 469 ; =>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, 470 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, 471 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, 473 ; =>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, 474 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 139 ; if _oerr done ; line_number = 141 ; if _ferr start ;info 141, 475 ; =>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, 476 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 141 ; if _ferr done ; line_number = 143 ; _cren := _true ;info 143, 477 bsf _cren___byte, _cren___bit ; line_number = 145 ; if address_bit start ;info 145, 478 ; =>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, 480 ; 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, 484 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 150 ; _adden := _false ;info 150, 485 bcf _adden___byte, _adden___bit ; line_number = 152 ; call rb2bus_byte_put(rb2_ok) ;info 152, 486 movlw 165 call rb2bus_byte_put 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, 489 bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 156 ; _adden := _true ;info 156, 490 bsf _adden___byte, _adden___bit rb2bus_byte_get__4: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 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, 491 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 160 ; value := 0 ;info 160, 492 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, 493 movf rb2bus_byte_get__value,w return ; line_number = 163 ; return value done ; delay after procedure statements=non-uniform ; line_number = 166 ;info 166, 495 ; 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+4 ; 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:XX=cc=>XX) ; line_number = 174 ; if !rb2bus_error start ;info 174, 496 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=0 false.size=16 ; No 2TEST: true.size=0 false.size=16 ; 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, 498 ; =>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, 500 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, 502 bcf _adden___byte, _adden___bit ; line_number = 181 ; _tx9d := _false ;info 181, 503 bcf _tx9d___byte, _tx9d___bit ; line_number = 182 ; _txreg := value ;info 182, 504 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, 506 ; =>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, 508 ; line_number = 189 ;info 189, 508 movf _rcreg,w ; # Recover from any receive errors by toggling {_cren}: ; line_number = 192 ; if _oerr start ;info 192, 509 ; =>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, 510 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 192 ; if _oerr done ; line_number = 194 ; if _ferr start ;info 194, 511 ; =>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, 512 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 194 ; if _ferr done ; line_number = 196 ; _cren := _true ;info 196, 513 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, 515 ; 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+7 ; 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+5 ; line_number = 207 ; local temp byte rb2bus_command__temp equ globals___0+6 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 209 ; switch command & 7 start ;info 209, 516 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=1 movlw rb2bus_command__13>>8 movwf __pclath movlw 7 andwf rb2bus_command__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 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, 530 movf rb2bus_address,w call rb2bus_byte_put ; # Fetch new address: ; line_number = 216 ; new_address := rb2bus_byte_get() ;info 216, 532 call rb2bus_byte_get movwf rb2bus_command__new_address ; line_number = 217 ; if new_address = 0 || new_address = rb2bus_address start ;info 217, 534 ; 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, 541 movlw 0 call rb2bus_byte_put ; line_number = 219 ; rb2bus_error := _true ;info 219, 543 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 220 ; rb2bus_selected := _false ;info 220, 544 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, 546 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, 548 call rb2bus_byte_get movwf rb2bus_command__temp ; line_number = 227 ; if temp != new_address start ;info 227, 550 ; 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, 554 movf rb2bus_command__new_address,w call rb2bus_eedata_write ; line_number = 233 ; temp := rb2bus_eedata_read() ;info 233, 556 call rb2bus_eedata_read movwf rb2bus_command__temp ; line_number = 234 ; if temp = new_address start ;info 234, 558 ; 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, 562 movf rb2bus_command__new_address,w movwf rb2bus_address ; line_number = 236 ; call rb2bus_byte_put(rb2_ok) ;info 236, 564 movlw 165 goto rb2bus_command__2 ; 2GOTO: Starting code 2 rb2bus_command__1: ; line_number = 238 ; call rb2bus_byte_put(0) ;info 238, 566 movlw 0 rb2bus_command__2: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 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, 569 movlw 0 call rb2bus_byte_put ; line_number = 229 ; rb2bus_error := _true ;info 229, 571 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 230 ; rb2bus_selected := _false ;info 230, 572 bcf rb2bus_selected___byte, rb2bus_selected___bit rb2bus_command__4: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 227 ; if temp != new_address done rb2bus_command__7: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; &&||: 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:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 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, 574 movlw 27 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, 578 movf rb2bus_index,w call id call rb2bus_byte_put ; line_number = 243 ; rb2bus_index := rb2bus_index + 1 ;info 243, 581 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, 583 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, 585 call rb2bus_deselect rb2bus_command__14: ; line_number = 209 ; switch command & 7 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; buffer = 'rb2bus_pic16f688' ; line_number = 18 ;info 18, 587 ; procedure rb2bus_initialize rb2bus_initialize: ; Last argument is sitting in W; save into argument variable movwf rb2bus_initialize__address ; delay=4294967295 ; line_number = 19 ; argument address byte rb2bus_initialize__address equ globals___0+8 ; line_number = 20 ; 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. ; # Warm up the UART: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 27 ; _trisc@5 := _true ;info 27, 588 rb2bus_initialize__select__1___byte equ _trisc rb2bus_initialize__select__1___bit equ 5 bsf __rp0___byte, __rp0___bit bsf rb2bus_initialize__select__1___byte, rb2bus_initialize__select__1___bit ; line_number = 28 ; _trisc@4 := _true ;info 28, 590 rb2bus_initialize__select__2___byte equ _trisc rb2bus_initialize__select__2___bit equ 4 bsf rb2bus_initialize__select__2___byte, rb2bus_initialize__select__2___bit ; # Initialize the {_txsta} register: ; line_number = 31 ; _txsta := 0 ;info 31, 591 bcf __rp0___byte, __rp0___bit clrf _txsta ; line_number = 32 ; _tx9 := _true ;info 32, 593 bsf _tx9___byte, _tx9___bit ; #_tx9 := _false ; line_number = 34 ; _txen := _true ;info 34, 594 bsf _txen___byte, _txen___bit ; line_number = 35 ; _brgh := _true ;info 35, 595 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 38 ; _rcsta := 0 ;info 38, 596 clrf _rcsta ; line_number = 39 ; _spen := _true ;info 39, 597 bsf _spen___byte, _spen___bit ; line_number = 40 ; _rx9 := _true ;info 40, 598 bsf _rx9___byte, _rx9___bit ; line_number = 41 ; _cren := _true ;info 41, 599 bsf _cren___byte, _cren___bit ; #_adden := _true ; line_number = 43 ; _adden := _false ;info 43, 600 bcf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 46 ; _baudctl := 0 ;info 46, 601 clrf _baudctl ; line_number = 47 ; _brg16 := _true ;info 47, 602 bsf _brg16___byte, _brg16___bit ; line_number = 48 ; _spbrg := _eusart_500000_low ;info 48, 603 movlw 9 movwf _spbrg ; line_number = 49 ; _spbrgh := _eusart_500000_high ;info 49, 605 clrf _spbrgh ; line_number = 51 ; rb2bus_selected := _false ;info 51, 606 bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 52 ; rb2bus_error := _false ;info 52, 607 bcf rb2bus_error___byte, rb2bus_error___bit ; line_number = 53 ; rb2bus_index := 0 ;info 53, 608 clrf rb2bus_index ; # Deal with setting {rb2bus_address} from EEData memory: ; line_number = 56 ; rb2bus_address := rb2bus_eedata_read() ;info 56, 609 call rb2bus_eedata_read movwf rb2bus_address ; line_number = 57 ; if rb2bus_address = 0 start ;info 57, 611 ; Left minus Right movf rb2bus_address,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_initialize__3 ; # EE data not set, so use {address} passed in as a argument: ; line_number = 59 ; rb2bus_address := address ;info 59, 614 movf rb2bus_initialize__address,w movwf rb2bus_address ; Recombine size1 = 0 || size2 = 0 rb2bus_initialize__3: ; line_number = 57 ; if rb2bus_address = 0 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 64 ;info 64, 617 ; procedure rb2bus_eedata_read rb2bus_eedata_read: ; arguments_none ; line_number = 66 ; returns byte ; # This procedure will return the address stored in EEData. If ; # there is no data, 0 is returned. ; line_number = 71 ; local temp1 byte rb2bus_eedata_read__temp1 equ globals___0+9 ; line_number = 72 ; local temp2 byte rb2bus_eedata_read__temp2 equ globals___0+10 ; # Read the first byte (the address): ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 75 ; _eecon1 := 0 ;info 75, 617 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 76 ; _eeadr := rb2bus_eedata_address ;info 76, 619 movlw 254 movwf _eeadr ; line_number = 77 ; _rd := _true ;info 77, 621 bsf _rd___byte, _rd___bit ; line_number = 78 ; temp1 := _eedat ;info 78, 622 movf _eedat,w bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp1 ; # Read the second byte (the 1'z complement) ; line_number = 81 ; _eeadr := _eeadr + 1 ;info 81, 625 bsf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 82 ; _rd := _true ;info 82, 627 bsf _rd___byte, _rd___bit ; line_number = 83 ; temp2 := _eedat ;info 83, 628 movf _eedat,w bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp2 ; # If they are 1's complement of one another, they are valid: ; line_number = 86 ; if temp1 = (0xff ^ temp2) start ;info 86, 631 ; 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 = 88 ; return temp1 start ; line_number = 88 ;info 88, 635 movf rb2bus_eedata_read__temp1,w return ; line_number = 88 ; return temp1 done ; Recombine size1 = 0 || size2 = 0 rb2bus_eedata_read__1: ; line_number = 86 ; if temp1 = (0xff ^ temp2) done ; # They are not 1's complement, so return 0 as an error: ; line_number = 91 ; return 0 start ; line_number = 91 ;info 91, 637 retlw 0 ; line_number = 91 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 94 ;info 94, 638 ; 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 = 95 ; argument address byte rb2bus_eedata_write__address equ globals___0+11 ; line_number = 96 ; 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:XX=cc=>XX) ; line_number = 102 ; _eecon1 := 0 ;info 102, 639 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 103 ; _eeadr := rb2bus_eedata_address ;info 103, 641 movlw 254 movwf _eeadr ; line_number = 104 ; _eedat := address ;info 104, 643 bcf __rp0___byte, __rp0___bit movf rb2bus_eedata_write__address,w bsf __rp0___byte, __rp0___bit movwf _eedat ; # Write 2 bytes ({address} followed by {address}^0xff): ; line_number = 107 ; loop_exactly 2 start ;info 107, 647 rb2bus_eedata_write__1 equ globals___0+76 movlw 2 bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_write__1 rb2bus_eedata_write__2: ; # Set the data to write: ; # Set up the for the write: ; line_number = 111 ; _wren := _true ;info 111, 650 bsf __rp0___byte, __rp0___bit bsf _wren___byte, _wren___bit ; line_number = 112 ; _gie := _false ;info 112, 652 bcf _gie___byte, _gie___bit ; line_number = 113 ; _eecon2 := 0x55 ;info 113, 653 movlw 85 movwf _eecon2 ; line_number = 114 ; _eecon2 := 0xaa ;info 114, 655 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 116 ; _wr := _true ;info 116, 657 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 119 ; while _wr start rb2bus_eedata_write__3: ;info 119, 658 ; =>bit_code_emit@symbol(): sym=_wr ; 1TEST: Single test with code in skip slot btfsc _wr___byte, _wr___bit ; line_number = 120 ; do_nothing ;info 120, 659 goto rb2bus_eedata_write__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 119 ; while _wr done ; # Disable writing: ; line_number = 123 ; _wren := _false ;info 123, 660 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 126 ; _eeadr := _eeadr + 1 ;info 126, 661 incf _eeadr,f ; line_number = 127 ; _eedat := address ^ 0xff ;info 127, 662 bcf __rp0___byte, __rp0___bit comf rb2bus_eedata_write__address,w bsf __rp0___byte, __rp0___bit movwf _eedat bcf __rp0___byte, __rp0___bit ; line_number = 107 ; loop_exactly 2 wrap-up decfsz rb2bus_eedata_write__1,f goto rb2bus_eedata_write__2 ; line_number = 107 ; loop_exactly 2 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; buffer = '_signed16' ; line_number = 62 ;info 62, 670 ; procedure _signed16_pointer_load _signed16_pointer_load: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_load__pointer ; delay=4294967295 ; line_number = 63 ; argument pointer byte _signed16_pointer_load__pointer equ globals___1+10 ; line_number = 64 ; returns_nothing ; line_number = 65 ; return_suppress ; # This procedure will load the signed16 "A" register with {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 69 ; assemble ;info 69, 671 ; # Pointer is in W; move it to {_fsr}: ; line_number = 71 ;info 71, 671 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 73 ;info 73, 672 bcf _irp___byte, _irp___bit ; line_number = 74 ;info 74, 673 rlf _fsr,f ; line_number = 75 ;info 75, 674 btfsc _c___byte, _c___bit ; line_number = 76 ;info 76, 675 bsf _irp___byte, _irp___bit ; line_number = 77 ;info 77, 676 bcf _fsr, 0 ; # Grab the value and store into {_signed16_a0}:{_signed16_a1} ; line_number = 79 ;info 79, 677 movf _indf,w ; line_number = 80 ;info 80, 678 movwf _signed16_a0 ; line_number = 81 ;info 81, 679 incf _fsr,f ; line_number = 82 ;info 82, 680 movf _indf,w ; line_number = 83 ;info 83, 681 movwf _signed16_a1 ; line_number = 84 ;info 84, 682 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 87 ;info 87, 683 ; procedure _signed16_pointer_add _signed16_pointer_add: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_add__pointer ; delay=4294967295 ; line_number = 88 ; argument pointer byte _signed16_pointer_add__pointer equ globals___1+11 ; line_number = 89 ; returns_nothing ; line_number = 90 ; return_suppress ; # This procedure will add the signed16 "A" register with {pointer} ; # and store the result back into the "A" register. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 95 ; assemble ;info 95, 684 ; # Pointer is in W; move it to {_fsr}: ; line_number = 97 ;info 97, 684 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 99 ;info 99, 685 bcf _irp___byte, _irp___bit ; line_number = 100 ;info 100, 686 rlf _fsr,f ; line_number = 101 ;info 101, 687 btfsc _c___byte, _c___bit ; line_number = 102 ;info 102, 688 bsf _irp___byte, _irp___bit ; line_number = 103 ;info 103, 689 bcf _fsr, 0 ; # Grab MSB and add it into {_signed16_a0} (MSB): ; line_number = 105 ;info 105, 690 movf _indf,w ; line_number = 106 ;info 106, 691 addwf _signed16_a0,f ; line_number = 107 ;info 107, 692 incf _fsr,f ; # Grab LSB and add it into {_signed16_a1} (LSB): ; line_number = 110 ;info 110, 693 movf _indf,w ; line_number = 111 ;info 111, 694 addwf _signed16_a1,f ; # If C is 1, increment {_signed16_a0} (MSB): ; line_number = 114 ;info 114, 695 btfsc _c___byte, _c___bit ; line_number = 115 ;info 115, 696 incf _signed16_a0,f ; line_number = 116 ;info 116, 697 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 119 ;info 119, 698 ; procedure _signed16_pointer_divide _signed16_pointer_divide: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_divide__pointer ; delay=4294967295 ; line_number = 120 ; argument pointer byte _signed16_pointer_divide__pointer equ globals___1+12 ; line_number = 121 ; returns_nothing ; line_number = 122 ; return_suppress ; # This procedure will divide the signed16 A register by {pointer} and ; # store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 127 ; assemble ;info 127, 699 ; # Pointer is in W; move it to {_fsr}: ; line_number = 129 ;info 129, 699 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 131 ;info 131, 700 bcf _irp___byte, _irp___bit ; line_number = 132 ;info 132, 701 rlf _fsr,f ; line_number = 133 ;info 133, 702 btfsc _c___byte, _c___bit ; line_number = 134 ;info 134, 703 bsf _irp___byte, _irp___bit ; line_number = 135 ;info 135, 704 bcf _fsr, 0 ; # Grab the value and store into {_signed16_b0}:{_signed16_b1}: ; line_number = 137 ;info 137, 705 movf _indf,w ; line_number = 138 ;info 138, 706 movwf _signed16_b0 ; line_number = 139 ;info 139, 707 incf _fsr,f ; line_number = 140 ;info 140, 708 movf _indf,w ; line_number = 141 ;info 141, 709 movwf _signed16_b1 ; # Perform the divide: ; line_number = 144 ;info 144, 710 call _signed16_divide_raw ; line_number = 146 ;info 146, 711 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 149 ;info 149, 712 ; procedure _signed16_pointer_multiply _signed16_pointer_multiply: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_multiply__pointer ; delay=4294967295 ; line_number = 150 ; argument pointer byte _signed16_pointer_multiply__pointer equ globals___1+13 ; line_number = 151 ; returns_nothing ; line_number = 152 ; return_suppress ; # This procedure will multiply {pointer} with the signed16 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 157 ; assemble ;info 157, 713 ; # Pointer is in W; move it to {_fsr}: ; line_number = 159 ;info 159, 713 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 161 ;info 161, 714 bcf _irp___byte, _irp___bit ; line_number = 162 ;info 162, 715 rlf _fsr,f ; line_number = 163 ;info 163, 716 btfsc _c___byte, _c___bit ; line_number = 164 ;info 164, 717 bsf _irp___byte, _irp___bit ; line_number = 165 ;info 165, 718 bcf _fsr, 0 ; # Grab the value and store into {_signed16_b0}:{_signed16_b1}: ; line_number = 167 ;info 167, 719 movf _indf,w ; line_number = 168 ;info 168, 720 movwf _signed16_b0 ; line_number = 169 ;info 169, 721 incf _fsr,f ; line_number = 170 ;info 170, 722 movf _indf,w ; line_number = 171 ;info 171, 723 movwf _signed16_b1 ; # The code below came from . ; # It is not totally clear who wrote the code. The names ; # Bob Fehrenbac & Scott Dattalo are present, but there is ; # no explicit authorship. The Multiple byte addition routine ; # is from Microchip AN617. As is typical, nobody bothered ; # to comment the code. ; # ; # This multiplies <_signed16_a0:_signed16_a1> by ; # <_signed16_b0:_signed16_b1> and store the signed result into ; # <_signed16_result0:_signed16_result1:_signed16_result2:_signed16_result3> ; # Then we trim the result down and store it back into ; # <_signed16_a0:_signed16_a1>. ; # ; # This multiply routine takes between 134 to 248 cycles. ; # ; # This program looks at the lsb of _signed16_a1 to decide whether ; # to add _signed16_b1 to _signed16_result2. ; # and b2 to _signed16_result1, with appropriate carrys ; # It then looks at the lsb of _signed16_a0 to decide whether ; # to add _signed16_b1 to _signed16_result1 and ; # signed16_b0 to _signed16_result0, again with appropriate carrys. ; # The rotates then only have to be done 8 times ; # ; # This is uses slightly more program but takes a little less time than ; # a routine that performs one 16 bit addition per rotate and 16 rotates ; line_number = 199 ; assemble ;info 199, 724 ; line_number = 200 ;info 200, 724 clrf _signed16_result0 ; line_number = 201 ;info 201, 725 clrf _signed16_result1 ; line_number = 202 ;info 202, 726 clrf _signed16_result2 ; line_number = 203 ;info 203, 727 movlw 128 ; line_number = 204 ;info 204, 728 movwf _signed16_result3 ; line_number = 206 ;info 206, 729 clrf _signed16_neg_flag ; line_number = 208 ;info 208, 730 btfss _signed16_a0, 7 ; line_number = 209 ;info 209, 731 goto _signed16_multiply_a_pos ; line_number = 210 ;info 210, 732 comf _signed16_a0,f ; line_number = 211 ;info 211, 733 comf _signed16_a1,f ; line_number = 212 ;info 212, 734 incf _signed16_a1,f ; line_number = 213 ;info 213, 735 btfsc _z___byte, _z___bit ; line_number = 214 ;info 214, 736 incf _signed16_a0,f ; line_number = 215 ;info 215, 737 incf _signed16_neg_flag,f ; line_number = 217 _signed16_multiply_a_pos: ; line_number = 218 ;info 218, 738 btfss _signed16_b0, 7 ; line_number = 219 ;info 219, 739 goto _signed16_multiply_nextbit ; line_number = 220 ;info 220, 740 comf _signed16_b0,f ; line_number = 221 ;info 221, 741 comf _signed16_b1,f ; line_number = 222 ;info 222, 742 incf _signed16_b1,f ; line_number = 223 ;info 223, 743 btfsc _z___byte, _z___bit ; line_number = 224 ;info 224, 744 incf _signed16_b0,f ; line_number = 225 ;info 225, 745 incf _signed16_neg_flag,f ; line_number = 227 _signed16_multiply_nextbit: ; line_number = 228 ;info 228, 746 rrf _signed16_a0,f ; line_number = 229 ;info 229, 747 rrf _signed16_a1,f ; line_number = 231 ;info 231, 748 btfss _c___byte, _c___bit ; line_number = 232 ;info 232, 749 goto _signed16_multiply_nobit_l ; line_number = 233 ;info 233, 750 movf _signed16_b1,w ; line_number = 234 ;info 234, 751 addwf _signed16_result2,f ; line_number = 236 ;info 236, 752 movf _signed16_b0,w ; line_number = 237 ;info 237, 753 btfsc _c___byte, _c___bit ; line_number = 238 ;info 238, 754 incfsz _signed16_b0,w ; line_number = 239 ;info 239, 755 addwf _signed16_result1,f ; line_number = 240 ;info 240, 756 btfsc _c___byte, _c___bit ; line_number = 241 ;info 241, 757 incf _signed16_result0,f ; line_number = 242 ;info 242, 758 bcf _c___byte, _c___bit ; line_number = 244 _signed16_multiply_nobit_l: ; line_number = 245 ;info 245, 759 btfss _signed16_a1, 7 ; line_number = 246 ;info 246, 760 goto _signed16_multiply_nobit_h ; line_number = 247 ;info 247, 761 movf _signed16_b1,w ; line_number = 248 ;info 248, 762 addwf _signed16_result1,f ; line_number = 249 ;info 249, 763 btfsc _c___byte, _c___bit ; line_number = 250 ;info 250, 764 incf _signed16_result0,f ; line_number = 251 ;info 251, 765 movf _signed16_b0,w ; line_number = 252 ;info 252, 766 addwf _signed16_result0,f ; line_number = 254 _signed16_multiply_nobit_h: ; line_number = 255 ;info 255, 767 rrf _signed16_result0,f ; line_number = 256 ;info 256, 768 rrf _signed16_result1,f ; line_number = 257 ;info 257, 769 rrf _signed16_result2,f ; line_number = 258 ;info 258, 770 rrf _signed16_result3,f ; line_number = 260 ;info 260, 771 btfss _c___byte, _c___bit ; line_number = 261 ;info 261, 772 goto _signed16_multiply_nextbit ; line_number = 262 ;info 262, 773 btfss _signed16_neg_flag, 0 ; line_number = 263 ;info 263, 774 goto _signed16_mulitply_no_invert ; line_number = 265 ;info 265, 775 comf _signed16_result0,f ; line_number = 266 ;info 266, 776 comf _signed16_result1,f ; line_number = 267 ;info 267, 777 comf _signed16_result2,f ; line_number = 268 ;info 268, 778 comf _signed16_result3,f ; line_number = 270 ;info 270, 779 incf _signed16_result3,f ; line_number = 271 ;info 271, 780 btfsc _z___byte, _z___bit ; line_number = 272 ;info 272, 781 incf _signed16_result2,f ; line_number = 273 ;info 273, 782 btfsc _z___byte, _z___bit ; line_number = 274 ;info 274, 783 incf _signed16_result1,f ; line_number = 275 ;info 275, 784 btfsc _z___byte, _z___bit ; line_number = 276 ;info 276, 785 incf _signed16_result0,f ; line_number = 277 _signed16_mulitply_no_invert: ; # Store the final result into _signed16_a<0:1>: ; line_number = 280 ;info 280, 786 movf _signed16_result2,w ; line_number = 281 ;info 281, 787 movwf _signed16_a0 ; line_number = 282 ;info 282, 788 movf _signed16_result3,w ; line_number = 283 ;info 283, 789 movwf _signed16_a1 ; line_number = 284 ;info 284, 790 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 287 ;info 287, 791 ; procedure _signed16_pointer_subtract _signed16_pointer_subtract: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_subtract__pointer ; delay=4294967295 ; line_number = 288 ; argument pointer byte _signed16_pointer_subtract__pointer equ globals___1+14 ; line_number = 289 ; returns_nothing ; line_number = 290 ; return_suppress ; # This procedure will subtract {pointer} from the signed16 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 295 ; assemble ;info 295, 792 ; # Pointer is in W; move it to {_fsr}: ; line_number = 297 ;info 297, 792 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 299 ;info 299, 793 bcf _irp___byte, _irp___bit ; line_number = 300 ;info 300, 794 rlf _fsr,f ; line_number = 301 ;info 301, 795 btfsc _c___byte, _c___bit ; line_number = 302 ;info 302, 796 bsf _irp___byte, _irp___bit ; line_number = 303 ;info 303, 797 bcf _fsr, 0 ; # Subtract MSB from {_signed16_a0} (MSB): ; line_number = 306 ;info 306, 798 comf _indf,w ; line_number = 307 ;info 307, 799 addwf _signed16_a0,f ; line_number = 308 ;info 308, 800 incf _fsr,f ; # Subtract LSB from {_signed16_a1} (LSB): ; line_number = 311 ;info 311, 801 comf _indf,w ; line_number = 312 ;info 312, 802 addlw 1 ; # If the C bit is set, increment {_signed16_a0} (MSB): ; line_number = 315 ;info 315, 803 btfsc _c___byte, _c___bit ; line_number = 316 ;info 316, 804 incf _signed16_a0,f ; # Finish the subtraction: ; line_number = 319 ;info 319, 805 addwf _signed16_a1,f ; # If the C bit is set, increment {_signed16_a0} (MSB): ; line_number = 322 ;info 322, 806 btfsc _c___byte, _c___bit ; line_number = 323 ;info 323, 807 incf _signed16_a0,f ; line_number = 324 ;info 324, 808 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 327 ;info 327, 809 ; procedure _signed16_pointer_store _signed16_pointer_store: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_store__pointer ; delay=4294967295 ; line_number = 328 ; argument pointer byte _signed16_pointer_store__pointer equ globals___1+15 ; line_number = 329 ; returns_nothing ; line_number = 330 ; return_suppress ; # This procedure will store the signed16 A "register" into {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 334 ; assemble ;info 334, 810 ; # Pointer is in W; move it to {_fsr}: ; line_number = 336 ;info 336, 810 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 338 ;info 338, 811 bcf _irp___byte, _irp___bit ; line_number = 339 ;info 339, 812 rlf _fsr,f ; line_number = 340 ;info 340, 813 btfsc _c___byte, _c___bit ; line_number = 341 ;info 341, 814 bsf _irp___byte, _irp___bit ; line_number = 342 ;info 342, 815 bcf _fsr, 0 ; # Grab the value and store into {_signed16_a0}:{_signed16_a1}: ; line_number = 344 ;info 344, 816 movf _signed16_a0,w ; line_number = 345 ;info 345, 817 movwf _indf ; line_number = 346 ;info 346, 818 incf _fsr,f ; line_number = 347 ;info 347, 819 movf _signed16_a1,w ; line_number = 348 ;info 348, 820 movwf _indf ; line_number = 349 ;info 349, 821 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 352 ;info 352, 822 ; procedure _signed16_negate _signed16_negate: ; arguments_none ; line_number = 354 ; returns_nothing ; # This procedure will negate the signed16 A registers. ; # Flip the sign bit: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 359 ; _signed16_a0 := 0xff ^ _signed16_a0 ;info 359, 822 comf _signed16_a0,f ; line_number = 360 ; _signed16_a1 := 0 - _signed16_a1 ;info 360, 823 movf _signed16_a1,w sublw 0 movwf _signed16_a1 ; line_number = 361 ; if _c start ;info 361, 826 ; =>bit_code_emit@symbol(): sym=_c ; 1TEST: Single test with code in skip slot btfsc _c___byte, _c___bit ; line_number = 362 ; _signed16_a0 := _signed16_a0 + 1 ;info 362, 827 incf _signed16_a0,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 361 ; if _c done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 365 ;info 365, 829 ; procedure _signed16_pointer_swap _signed16_pointer_swap: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_swap__pointer ; delay=4294967295 ; line_number = 366 ; argument pointer byte _signed16_pointer_swap__pointer equ globals___1+16 ; line_number = 367 ; returns_nothing ; line_number = 368 ; return_suppress ; # This procedure will swap the signed16 A "register" with {pointer}: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 372 ; assemble ;info 372, 830 ; # Pointer is in W; move it to {_fsr}: ; line_number = 374 ;info 374, 830 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 376 ;info 376, 831 bcf _irp___byte, _irp___bit ; line_number = 377 ;info 377, 832 rlf _fsr,f ; line_number = 378 ;info 378, 833 btfsc _c___byte, _c___bit ; line_number = 379 ;info 379, 834 bsf _irp___byte, _irp___bit ; line_number = 380 ;info 380, 835 bcf _fsr, 0 ; # Swap {pointer} with {_signed16_a0}: ; line_number = 383 ;info 383, 836 movf _indf,w ; line_number = 384 ;info 384, 837 xorwf _signed16_a0,f ; line_number = 385 ;info 385, 838 xorwf _signed16_a0,w ; line_number = 386 ;info 386, 839 xorwf _signed16_a0,f ; line_number = 387 ;info 387, 840 movwf _indf ; # Swap {pointer}+1 with {_signed16_a1}: ; line_number = 390 ;info 390, 841 incf _fsr,f ; line_number = 391 ;info 391, 842 movf _indf,w ; line_number = 392 ;info 392, 843 xorwf _signed16_a1,f ; line_number = 393 ;info 393, 844 xorwf _signed16_a1,w ; line_number = 394 ;info 394, 845 xorwf _signed16_a1,f ; line_number = 395 ;info 395, 846 movwf _indf ; line_number = 396 ;info 396, 847 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' _signed16_from_byte__0return equ globals___1+18 ; line_number = 399 ;info 399, 848 ; procedure _signed16_from_byte _signed16_from_byte: ; Last argument is sitting in W; save into argument variable movwf _signed16_from_byte__number ; delay=4294967295 ; line_number = 400 ; argument number byte _signed16_from_byte__number equ globals___1+17 ; line_number = 401 ; returns signed16 ; # This procedure will convert {number} into a signed16 and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 405 ; _signed16_a0 := 0 ;info 405, 849 clrf _signed16_a0 ; line_number = 406 ; _signed16_a1 := number ;info 406, 850 movf _signed16_from_byte__number,w movwf _signed16_a1 ; line_number = 407 ; assemble ;info 407, 852 ; line_number = 408 ;info 408, 852 movlw _signed16_from_byte__0return>>1 ; line_number = 409 ;info 409, 853 call _signed16_pointer_store ; line_number = 410 ;info 410, 854 retlw _signed16_from_byte__0return>>1 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _signed16_from_byte__1: goto _signed16_from_byte__1 _signed16_from_byte2__0return equ globals___1+22 ; line_number = 413 ;info 413, 856 ; procedure _signed16_from_byte2 _signed16_from_byte2: ; Last argument is sitting in W; save into argument variable movwf _signed16_from_byte2__byte2 ; delay=4294967295 ; line_number = 414 ; argument byte1 byte _signed16_from_byte2__byte1 equ globals___1+20 ; line_number = 415 ; argument byte2 byte _signed16_from_byte2__byte2 equ globals___1+21 ; line_number = 416 ; returns signed16 ; # This procedure will convert {byte1} and {byte2} into a signed16 ; # and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 421 ; _signed16_a0 := byte1 ;info 421, 857 movf _signed16_from_byte2__byte1,w movwf _signed16_a0 ; line_number = 422 ; _signed16_a1 := byte2 ;info 422, 859 movf _signed16_from_byte2__byte2,w movwf _signed16_a1 ; line_number = 423 ; assemble ;info 423, 861 ; line_number = 424 ;info 424, 861 movlw _signed16_from_byte2__0return>>1 ; line_number = 425 ;info 425, 862 call _signed16_pointer_store ; line_number = 426 ;info 426, 863 retlw _signed16_from_byte2__0return>>1 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _signed16_from_byte2__1: goto _signed16_from_byte2__1 ; line_number = 429 ;info 429, 865 ; procedure _signed16_to_byte _signed16_to_byte: ; line_number = 430 ; argument number signed16 _signed16_to_byte__number equ globals___1+24 ; line_number = 431 ; returns byte ; # This procedure will convert {number} into a 8-bit integer and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 435 ; assemble ;info 435, 865 ; # Get the argument stored into the signed16 "A" register: ; line_number = 437 ;info 437, 865 movlw _signed16_to_byte__number>>1 ; line_number = 438 ;info 438, 866 call _signed16_pointer_load ; line_number = 439 ; return _signed16_a1 start ; line_number = 439 ;info 439, 867 movf _signed16_a1,w return ; line_number = 439 ; return _signed16_a1 done ; delay after procedure statements=non-uniform ; line_number = 442 ;info 442, 869 ; procedure _signed16_byte_high _signed16_byte_high: ; line_number = 443 ; argument number signed16 _signed16_byte_high__number equ globals___1+26 ; line_number = 444 ; returns byte ; # This procedure will return the high 8 bits of {number}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 448 ; assemble ;info 448, 869 ; # Get the argument stored into the signed16 "A" register: ; line_number = 450 ;info 450, 869 movlw _signed16_byte_high__number>>1 ; line_number = 451 ;info 451, 870 call _signed16_pointer_load ; line_number = 452 ; return _signed16_a0 start ; line_number = 452 ;info 452, 871 movf _signed16_a0,w return ; line_number = 452 ; return _signed16_a0 done ; delay after procedure statements=non-uniform ; line_number = 455 ;info 455, 873 ; procedure _signed16_byte_low _signed16_byte_low: ; line_number = 456 ; argument number signed16 _signed16_byte_low__number equ globals___1+28 ; line_number = 457 ; returns byte ; # This procedure will return the low 8 bits of {number}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 461 ; assemble ;info 461, 873 ; # Get the argument stored into the signed16 "A" register: ; line_number = 463 ;info 463, 873 movlw _signed16_byte_low__number>>1 ; line_number = 464 ;info 464, 874 call _signed16_pointer_load ; line_number = 465 ; return _signed16_a1 start ; line_number = 465 ;info 465, 875 movf _signed16_a1,w return ; line_number = 465 ; return _signed16_a1 done ; delay after procedure statements=non-uniform ; line_number = 468 ;info 468, 877 ; procedure _signed16_equals _signed16_equals: ; arguments_none ; line_number = 470 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 474 ; assemble ;info 474, 877 ; line_number = 475 ;info 475, 877 movf _signed16_a0,w ; line_number = 476 ;info 476, 878 iorwf _signed16_a1,w ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 480 ;info 480, 880 ; procedure _signed16_not_equal _signed16_not_equal: ; arguments_none ; line_number = 482 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 486 ; assemble ;info 486, 880 ; line_number = 487 ;info 487, 880 movf _signed16_a0,w ; line_number = 488 ;info 488, 881 iorwf _signed16_a1,w ; line_number = 489 ; if _z start ;info 489, 882 ; =>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 _signed16_not_equal__1 ; line_number = 490 ; _z := _false ;info 490, 884 bcf _z___byte, _z___bit ; line_number = 491 ; return start ; line_number = 491 ;info 491, 885 retlw 0 ; line_number = 491 ; return done ; Recombine size1 = 0 || size2 = 0 _signed16_not_equal__1: ; line_number = 489 ; if _z done ; line_number = 492 ; _z := _true ;info 492, 886 bsf _z___byte, _z___bit ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 496 ;info 496, 888 ; procedure _signed16_less_than _signed16_less_than: ; arguments_none ; line_number = 498 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 503 ; _z := _false ;info 503, 888 bcf _z___byte, _z___bit ; line_number = 504 ; if _signed16_a0@7 start ;info 504, 889 _signed16_less_than__select__1___byte equ _signed16_a0 _signed16_less_than__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_less_than__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_less_than__select__1___byte, _signed16_less_than__select__1___bit ; line_number = 505 ; _z := _true ;info 505, 890 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 504 ; if _signed16_a0@7 done ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 509 ;info 509, 892 ; procedure _signed16_less_than_or_equal _signed16_less_than_or_equal: ; arguments_none ; line_number = 511 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 515 ; assemble ;info 515, 892 ; line_number = 516 ;info 516, 892 movf _signed16_a1,w ; line_number = 517 ;info 517, 893 iorwf _signed16_a0,w ; line_number = 518 ; if _z start ;info 518, 894 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 519 ; return start ; line_number = 519 ;info 519, 895 retlw 0 ; line_number = 519 ; return done ; Recombine size1 = 0 || size2 = 0 ; line_number = 518 ; if _z done ; # _z == _false ; line_number = 521 ; if _signed16_a0@7 start ;info 521, 896 _signed16_less_than_or_equal__select__1___byte equ _signed16_a0 _signed16_less_than_or_equal__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_less_than_or_equal__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_less_than_or_equal__select__1___byte, _signed16_less_than_or_equal__select__1___bit ; line_number = 522 ; _z := _true ;info 522, 897 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 521 ; if _signed16_a0@7 done ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 526 ;info 526, 899 ; procedure _signed16_greater_than _signed16_greater_than: ; arguments_none ; line_number = 528 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 533 ; assemble ;info 533, 899 ; line_number = 534 ;info 534, 899 movf _signed16_a0,w ; line_number = 535 ;info 535, 900 iorwf _signed16_a1,w ; line_number = 536 ; if _z start ;info 536, 901 ; =>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 _signed16_greater_than__1 ; line_number = 537 ; _z := _false ;info 537, 903 bcf _z___byte, _z___bit ; line_number = 538 ; return start ; line_number = 538 ;info 538, 904 retlw 0 ; line_number = 538 ; return done ; Recombine size1 = 0 || size2 = 0 _signed16_greater_than__1: ; line_number = 536 ; if _z done ; # _z == _false ; line_number = 540 ; if !(_signed16_a0@7) start ;info 540, 905 _signed16_greater_than__select__2___byte equ _signed16_a0 _signed16_greater_than__select__2___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_greater_than__select__2 ; 1TEST: Single test with code in skip slot btfss _signed16_greater_than__select__2___byte, _signed16_greater_than__select__2___bit ; line_number = 541 ; _z := _true ;info 541, 906 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 540 ; if !(_signed16_a0@7) done ; # Return is implicit: ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 545 ;info 545, 908 ; procedure _signed16_greater_than_or_equal _signed16_greater_than_or_equal: ; arguments_none ; line_number = 547 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 551 ; _z := _true ;info 551, 908 bsf _z___byte, _z___bit ; line_number = 552 ; if _signed16_a0@7 start ;info 552, 909 _signed16_greater_than_or_equal__select__1___byte equ _signed16_a0 _signed16_greater_than_or_equal__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_greater_than_or_equal__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_greater_than_or_equal__select__1___byte, _signed16_greater_than_or_equal__select__1___bit ; line_number = 553 ; _z := _false ;info 553, 910 bcf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 552 ; if _signed16_a0@7 done ; # Return is implicit: ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 578 ;info 578, 912 ; procedure _signed16_divide_raw _signed16_divide_raw: ; arguments_none ; line_number = 580 ; returns_nothing ; line_number = 581 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:XX=cc=>XX) ; line_number = 583 ; assemble ;info 583, 912 ; line_number = 584 ;info 584, 912 call _signed16_divide_s_sign ; #Initialize: ; line_number = 587 ;info 587, 913 movlw 16 ; line_number = 588 ;info 588, 914 movwf _signed16_count ; line_number = 589 ;info 589, 915 movf _signed16_a0,w ; line_number = 590 ;info 590, 916 movwf _signed16_temp0 ; line_number = 591 ;info 591, 917 movf _signed16_a1,w ; line_number = 592 ;info 592, 918 movwf _signed16_temp1 ; line_number = 593 ;info 593, 919 clrf _signed16_a0 ; line_number = 594 ;info 594, 920 clrf _signed16_a1 ; line_number = 595 ;info 595, 921 clrf _signed16_rem0 ; line_number = 596 ;info 596, 922 clrf _signed16_rem1 ; # Loop 16 times usinge {_signed16_count}: ; line_number = 598 _signed16_divide_dloop: ; line_number = 599 ;info 599, 923 bcf _c___byte, _c___bit ; line_number = 600 ;info 600, 924 rlf _signed16_temp1,f ; line_number = 601 ;info 601, 925 rlf _signed16_temp0,f ; line_number = 602 ;info 602, 926 rlf _signed16_rem1,f ; line_number = 603 ;info 603, 927 rlf _signed16_rem0,f ; line_number = 604 ;info 604, 928 movf _signed16_b0,w ; line_number = 605 ;info 605, 929 subwf _signed16_rem0,w ; line_number = 606 ;info 606, 930 btfss _z___byte, _z___bit ; line_number = 607 ;info 607, 931 goto _signed16_divide_no_check ; line_number = 608 ;info 608, 932 movf _signed16_b1,w ; line_number = 609 ;info 609, 933 subwf _signed16_rem1,w ; line_number = 610 _signed16_divide_no_check: ; line_number = 611 ;info 611, 934 btfss _c___byte, _c___bit ; line_number = 612 ;info 612, 935 goto _signed16_divide_no_go ; line_number = 613 ;info 613, 936 movf _signed16_b1,w ; line_number = 614 ;info 614, 937 subwf _signed16_rem1,f ; line_number = 615 ;info 615, 938 btfss _c___byte, _c___bit ; line_number = 616 ;info 616, 939 decf _signed16_rem0,f ; line_number = 617 ;info 617, 940 movf _signed16_b0,w ; line_number = 618 ;info 618, 941 subwf _signed16_rem0,f ; line_number = 619 ;info 619, 942 bsf _c___byte, _c___bit ; line_number = 620 _signed16_divide_no_go: ; line_number = 621 ;info 621, 943 rlf _signed16_a1,f ; line_number = 622 ;info 622, 944 rlf _signed16_a0,f ; line_number = 623 ;info 623, 945 decfsz _signed16_count,f ; line_number = 624 ;info 624, 946 goto _signed16_divide_dloop ; line_number = 626 ;info 626, 947 btfss _signed16_sign, 7 ; line_number = 627 ;info 627, 948 retlw 0 ; line_number = 628 ;info 628, 949 goto _signed16_divide_neg_b ; line_number = 630 _signed16_divide_neg_b: ; line_number = 631 ;info 631, 950 comf _signed16_b1,f ; line_number = 632 ;info 632, 951 incf _signed16_b1,f ; line_number = 633 ;info 633, 952 btfsc _z___byte, _z___bit ; line_number = 634 ;info 634, 953 decf _signed16_b0,f ; line_number = 635 ;info 635, 954 comf _signed16_b0,f ; line_number = 636 ;info 636, 955 retlw 0 ; line_number = 638 _signed16_divide_s_sign: ; line_number = 639 ;info 639, 956 movf _signed16_b0,w ; line_number = 640 ;info 640, 957 xorwf _signed16_a0,w ; line_number = 641 ;info 641, 958 movwf _signed16_sign ; line_number = 642 ;info 642, 959 btfss _signed16_a0, 7 ; line_number = 643 ;info 643, 960 goto _signed16_divide_check_a ; line_number = 645 ;info 645, 961 comf _signed16_a1,f ; line_number = 646 ;info 646, 962 incf _signed16_a1,f ; line_number = 647 ;info 647, 963 btfsc _z___byte, _z___bit ; line_number = 648 ;info 648, 964 decf _signed16_a0,f ; line_number = 649 ;info 649, 965 comf _signed16_a0,f ; line_number = 651 _signed16_divide_check_a: ; line_number = 652 ;info 652, 966 btfss _signed16_b0, 7 ; line_number = 653 ;info 653, 967 retlw 0 ; line_number = 654 ;info 654, 968 goto _signed16_divide_neg_b ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; Configuration bits ; address = 0x2007, fill = 0x3000 ; fcmen = off (0x0) ; ieso = off (0x0) ; boden = off (0x0) ; cpd = off (0x80) ; cp = off (0x40) ; mclre = off (0x0) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = hs (0x2) ; 12498 = 0x30d2 __config 12498 ; 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=77 Bits=5 Available=2 ; Region="globals___1" Address=160" Size=80 Bytes=46 Bits=0 Available=34 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16 end