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) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # This module uses a PIC16F688: ; buffer = 'servo4' ; 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 = 'servo4' ; 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 = 'servo4' ; line_number = 10 ; library clock20mhz exited ; # A microsecond takes 5 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; 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 bits/sec: ; line_number = 63 ; constant _eusart_460800 = (_eusart_clock / (460800 * _eusart_factor)) - 1 _eusart_460800 equ 9 ; line_number = 64 ; constant _eusart_460800_low = _eusart_460800 & 0xff _eusart_460800_low equ 9 ; line_number = 65 ; constant _eusart_460800_high = _eusart_460800 >> 8 _eusart_460800_high equ 0 ; line_number = 66 ; constant _eusart_460800_index = 8 _eusart_460800_index equ 8 ; # 500000 bits/sec: ; 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 = 9 _eusart_500000_index equ 9 ; # 576000 bits/sec (1MHz): ; line_number = 73 ; constant _eusart_576000 = (_eusart_clock / (576000 * _eusart_factor)) - 1 _eusart_576000 equ 7 ; line_number = 74 ; constant _eusart_576000_low = _eusart_576000 & 0xff _eusart_576000_low equ 7 ; line_number = 75 ; constant _eusart_576000_high = _eusart_576000 >> 8 _eusart_576000_high equ 0 ; line_number = 76 ; constant _eusart_576000_index = 10 _eusart_576000_index equ 10 ; # 625000 bits/sec: ; line_number = 78 ; constant _eusart_625000 = (_eusart_clock / (625000 * _eusart_factor)) - 1 _eusart_625000 equ 7 ; line_number = 79 ; constant _eusart_625000_low = _eusart_625000 & 0xff _eusart_625000_low equ 7 ; line_number = 80 ; constant _eusart_625000_high = _eusart_625000 >> 8 _eusart_625000_high equ 0 ; line_number = 81 ; constant _eusart_625000_index = 11 _eusart_625000_index equ 11 ; # 833333 bits/sec: ; line_number = 83 ; constant _eusart_833333 = (_eusart_clock / (833333 * _eusart_factor)) - 1 _eusart_833333 equ 5 ; line_number = 84 ; constant _eusart_833333_low = _eusart_833333 & 0xff _eusart_833333_low equ 5 ; line_number = 85 ; constant _eusart_833333_high = _eusart_833333 >> 8 _eusart_833333_high equ 0 ; line_number = 86 ; constant _eusart_833333_index = 12 _eusart_833333_index equ 12 ; # 921600 bits/sec: ; line_number = 88 ; constant _eusart_921600 = (_eusart_clock / (921600 * _eusart_factor)) - 1 _eusart_921600 equ 4 ; line_number = 89 ; constant _eusart_921600_low = _eusart_921600 & 0xff _eusart_921600_low equ 4 ; line_number = 90 ; constant _eusart_921600_high = _eusart_921600 >> 8 _eusart_921600_high equ 0 ; line_number = 91 ; constant _eusart_921600_index = 13 _eusart_921600_index equ 13 ; # 1000000 bits/sec (1MHz): ; line_number = 93 ; constant _eusart_1000000 = (_eusart_clock / (1000000 * _eusart_factor)) - 1 _eusart_1000000 equ 4 ; line_number = 94 ; constant _eusart_1000000_low = _eusart_1000000 & 0xff _eusart_1000000_low equ 4 ; line_number = 95 ; constant _eusart_1000000_high = _eusart_1000000 >> 8 _eusart_1000000_high equ 0 ; line_number = 96 ; constant _eusart_1000000_index = 14 _eusart_1000000_index equ 14 ; buffer = 'servo4' ; line_number = 17 ; library _eusart exited ; # The library of bus access routines for use by a PIC16F688. ; line_number = 20 ; 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 = 14 ; constant rb2_laser1_sense_read = 0 rb2_laser1_sense_read equ 0 ; line_number = 15 ; constant rb2_laser1_enable_read = 1 rb2_laser1_enable_read equ 1 ; line_number = 16 ; constant rb2_laser1_enable_clear = 2 rb2_laser1_enable_clear equ 2 ; line_number = 17 ; constant rb2_laser1_enable_set = 3 rb2_laser1_enable_set equ 3 ; line_number = 19 ; constant rb2_minimotor2_address = 2 rb2_minimotor2_address equ 2 ; line_number = 20 ; constant rb2_midimotor2_address = 3 rb2_midimotor2_address equ 3 ; line_number = 21 ; constant rb2_motor0_speed_get = 0 rb2_motor0_speed_get equ 0 ; line_number = 22 ; constant rb2_motor0_speed_set = 1 rb2_motor0_speed_set equ 1 ; line_number = 23 ; constant rb2_motor1_speed_get = 2 rb2_motor1_speed_get equ 2 ; line_number = 24 ; constant rb2_motor1_speed_set = 3 rb2_motor1_speed_set equ 3 ; line_number = 25 ; constant rb2_duty_cycle_get = 4 rb2_duty_cycle_get equ 4 ; line_number = 26 ; constant rb2_duty_cycle_set = 8 rb2_duty_cycle_set equ 8 ; line_number = 28 ; constant rb2_irdistance2_address = 4 rb2_irdistance2_address equ 4 ; line_number = 29 ; constant rb2_irdistance2_raw0_get = 0 rb2_irdistance2_raw0_get equ 0 ; line_number = 30 ; constant rb2_irdistance2_raw1_get = 1 rb2_irdistance2_raw1_get equ 1 ; line_number = 31 ; constant rb2_irdistance2_smooth0_get = 2 rb2_irdistance2_smooth0_get equ 2 ; line_number = 32 ; constant rb2_irdistance2_smooth1_get = 3 rb2_irdistance2_smooth1_get equ 3 ; line_number = 33 ; constant rb2_irdistance2_linear0_get = 4 rb2_irdistance2_linear0_get equ 4 ; line_number = 34 ; constant rb2_irdistance2_linear1_get = 6 rb2_irdistance2_linear1_get equ 6 ; line_number = 36 ; constant rb2_shaft2_address = 5 rb2_shaft2_address equ 5 ; line_number = 37 ; constant rb2_shaft2_count_latch = 0 rb2_shaft2_count_latch equ 0 ; line_number = 38 ; constant rb2_shaft2_count_clear = 1 rb2_shaft2_count_clear equ 1 ; line_number = 39 ; constant rb2_shaft2_shaft0_high_get = 2 rb2_shaft2_shaft0_high_get equ 2 ; line_number = 40 ; constant rb2_shaft2_shaft1_high_get = 3 rb2_shaft2_shaft1_high_get equ 3 ; line_number = 41 ; constant rb2_shaft2_continue_get = 4 rb2_shaft2_continue_get equ 4 ; line_number = 42 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft0_low_get equ 4 ; line_number = 43 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft1_low_get equ 4 ; line_number = 44 ; constant rb2_shaft2_x_get = 0x10 rb2_shaft2_x_get equ 16 ; line_number = 45 ; constant rb2_shaft2_y_get = 0x11 rb2_shaft2_y_get equ 17 ; line_number = 46 ; constant rb2_shaft2_bearing16_get = 0x12 rb2_shaft2_bearing16_get equ 18 ; line_number = 47 ; constant rb2_shaft2_bearing8_get = 0x13 rb2_shaft2_bearing8_get equ 19 ; line_number = 48 ; constant rb2_shaft2_target_x_get = 0x14 rb2_shaft2_target_x_get equ 20 ; line_number = 49 ; constant rb2_shaft2_target_y_get = 0x15 rb2_shaft2_target_y_get equ 21 ; line_number = 50 ; constant rb2_shaft2_target_bearing16_get = 0x16 rb2_shaft2_target_bearing16_get equ 22 ; line_number = 51 ; constant rb2_shaft2_target_bearing8_get = 0x17 rb2_shaft2_target_bearing8_get equ 23 ; line_number = 52 ; constant rb2_shaft2_target_distance_get = 0x18 rb2_shaft2_target_distance_get equ 24 ; line_number = 53 ; constant rb2_shaft2_wheel_spacing_get = 0x19 rb2_shaft2_wheel_spacing_get equ 25 ; line_number = 54 ; constant rb2_shaft2_wheel_ticks_get = 0x1a rb2_shaft2_wheel_ticks_get equ 26 ; line_number = 55 ; constant rb2_shaft2_wheel_diameter_get = 0x1b rb2_shaft2_wheel_diameter_get equ 27 ; line_number = 56 ; constant rb2_shaft2_count_iteration_get = 0x1c rb2_shaft2_count_iteration_get equ 28 ; line_number = 57 ; constant rb2_shaft2_x_set = 0x20 rb2_shaft2_x_set equ 32 ; line_number = 58 ; constant rb2_shaft2_y_set = 0x21 rb2_shaft2_y_set equ 33 ; line_number = 59 ; constant rb2_shaft2_bearing16_set = 0x22 rb2_shaft2_bearing16_set equ 34 ; line_number = 60 ; constant rb2_shaft2_navigation_latch = 0x23 rb2_shaft2_navigation_latch equ 35 ; line_number = 61 ; constant rb2_shaft2_target_x_set = 0x24 rb2_shaft2_target_x_set equ 36 ; line_number = 62 ; constant rb2_shaft2_target_y_set = 0x25 rb2_shaft2_target_y_set equ 37 ; line_number = 63 ; constant rb2_shaft2_wheel_spacing_set = 0x29 rb2_shaft2_wheel_spacing_set equ 41 ; line_number = 64 ; constant rb2_shaft2_wheel_ticks_set = 0x2a rb2_shaft2_wheel_ticks_set equ 42 ; line_number = 65 ; constant rb2_shaft2_wheel_diameter_set = 0x2b rb2_shaft2_wheel_diameter_set equ 43 ; line_number = 68 ; constant rb2_orient5_address = 6 rb2_orient5_address equ 6 ; line_number = 70 ; constant rb2_compass8_address = 7 rb2_compass8_address equ 7 ; line_number = 72 ; constant rb2_io8_address = 8 rb2_io8_address equ 8 ; line_number = 73 ; constant rb2_io8_digital8_get = 0 rb2_io8_digital8_get equ 0 ; line_number = 74 ; constant rb2_io8_digital8_set = 1 rb2_io8_digital8_set equ 1 ; line_number = 75 ; constant rb2_io8_direction_get = 2 rb2_io8_direction_get equ 2 ; line_number = 76 ; constant rb2_io8_direction_set = 3 rb2_io8_direction_set equ 3 ; line_number = 77 ; constant rb2_io8_analog_mask_get = 4 rb2_io8_analog_mask_get equ 4 ; line_number = 78 ; constant rb2_io8_analog_mask_set = 5 rb2_io8_analog_mask_set equ 5 ; line_number = 79 ; constant rb2_io8_analog8_get = 0x10 rb2_io8_analog8_get equ 16 ; line_number = 80 ; constant rb2_io8_analog10_get = 0x18 rb2_io8_analog10_get equ 24 ; line_number = 81 ; constant rb2_low_set = 0x20 rb2_low_set equ 32 ; line_number = 82 ; constant rb2_high_set = 0x30 rb2_high_set equ 48 ; line_number = 84 ; constant rb2_sonar2_address = 9 rb2_sonar2_address equ 9 ; line_number = 86 ; constant rb2_voice1_address = 10 rb2_voice1_address equ 10 ; line_number = 88 ; constant rb2_servo4_address = 11 rb2_servo4_address equ 11 ; line_number = 89 ; constant rb2_servo4_servo0 = 0 rb2_servo4_servo0 equ 0 ; line_number = 90 ; constant rb2_servo4_servo1 = 1 rb2_servo4_servo1 equ 1 ; line_number = 91 ; constant rb2_servo4_servo2 = 2 rb2_servo4_servo2 equ 2 ; line_number = 92 ; constant rb2_servo4_servo3 = 3 rb2_servo4_servo3 equ 3 ; line_number = 93 ; constant rb2_servo4_quick_set = 0 rb2_servo4_quick_set equ 0 ; line_number = 94 ; constant rb2_servo4_quick_low = 0 rb2_servo4_quick_low equ 0 ; line_number = 95 ; constant rb2_servo4_quick_center = 40 rb2_servo4_quick_center equ 40 ; line_number = 96 ; constant rb2_servo4_quick_high = 0x7c rb2_servo4_quick_high equ 124 ; line_number = 97 ; constant rb2_servo4_high_low_set = 0x80 rb2_servo4_high_low_set equ 128 ; line_number = 98 ; constant rb2_servo4_short_high_low_set = 0x84 rb2_servo4_short_high_low_set equ 132 ; line_number = 99 ; constant rb2_servo4_high_set = 0x88 rb2_servo4_high_set equ 136 ; line_number = 100 ; constant rb2_servo4_low_set = 0x8c rb2_servo4_low_set equ 140 ; line_number = 101 ; constant rb2_servo4_enables_set = 0x90 rb2_servo4_enables_set equ 144 ; line_number = 102 ; constant rb2_servo4_enable0 = 1 rb2_servo4_enable0 equ 1 ; line_number = 103 ; constant rb2_servo4_enable1 = 2 rb2_servo4_enable1 equ 2 ; line_number = 104 ; constant rb2_servo4_enable2 = 4 rb2_servo4_enable2 equ 4 ; line_number = 105 ; constant rb2_servo4_enable3 = 8 rb2_servo4_enable3 equ 8 ; line_number = 106 ; constant rb2_servo4_enable_all = 0xf rb2_servo4_enable_all equ 15 ; line_number = 107 ; constant rb2_servo4_enable_none = 0 rb2_servo4_enable_none equ 0 ; line_number = 108 ; constant rb2_servo4_high_get = 0xa0 rb2_servo4_high_get equ 160 ; line_number = 109 ; constant rb2_servo4_low_get = 0xa4 rb2_servo4_low_get equ 164 ; line_number = 110 ; constant rb2_servo4_enables_get = 0xa8 rb2_servo4_enables_get equ 168 ; line_number = 112 ; constant rb2_controller28_address = 28 rb2_controller28_address equ 28 ; line_number = 114 ; constant rb2_lcd32_address = 32 rb2_lcd32_address equ 32 ; line_number = 115 ; constant rb2_lcd32_row_set = 4 rb2_lcd32_row_set equ 4 ; line_number = 116 ; constant rb2_lcd32_row0_set = rb2_lcd32_row_set | 0 rb2_lcd32_row0_set equ 4 ; line_number = 117 ; constant rb2_lcd32_row1_set = rb2_lcd32_row_set | 1 rb2_lcd32_row1_set equ 5 ; line_number = 118 ; constant rb2_lcd32_row2_set = rb2_lcd32_row_set | 2 rb2_lcd32_row2_set equ 6 ; line_number = 119 ; constant rb2_lcd32_row3_set = rb2_lcd32_row_set | 3 rb2_lcd32_row3_set equ 7 ; line_number = 120 ; constant rb2_lcd32_new_line = 0xa rb2_lcd32_new_line equ 10 ; line_number = 121 ; constant rb2_lcd32_form_feed = 0xc rb2_lcd32_form_feed equ 12 ; line_number = 122 ; constant rb2_lcd32_carriage_return = 0xd rb2_lcd32_carriage_return equ 13 ; line_number = 123 ; constant rb2_lcd32_column_set = 0x10 rb2_lcd32_column_set equ 16 ; buffer = 'servo4' ; line_number = 20 ; library rb2_constants exited ; line_number = 21 ; 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 Skipped (duplicate) ; 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 = 'servo4' ; line_number = 21 ; library rb2bus_pic16f688 exited ; # This module uses 20MHz ceramic resonator; hence mode FOSC=HS: ; # We want the TRM0 to interrupt every 2.5mS. With FOSC=20MHz, ; # we need to interrupt every 2.5 * 1000 * 5 = 12,500 instructions. ; # With the TMR0 prescaler set to 64, we want TMR0 every 195 ticks ; # (195 * 64 = 12480): ; line_number = 30 ; constant tmr0_instructions = 2500 * microsecond tmr0_instructions equ 12500 ; line_number = 31 ; constant tmr0_power = 6 tmr0_power equ 6 ; line_number = 32 ; constant tmr0_prescale = 1 << tmr0_power tmr0_prescale equ 64 ; line_number = 33 ; constant tmr0_ps = tmr0_power - 1 tmr0_ps equ 5 ; line_number = 34 ; constant tmr0_value = tmr0_instructions / tmr0_prescale + 1 tmr0_value equ 196 ; line_number = 35 ; constant tmr0_value_negative = (0 - tmr0_value) & 0xff tmr0_value_negative equ 60 ; line_number = 37 ; constant servos = 4 servos equ 4 ; line_number = 38 ; constant servos_mask = servos - 1 servos_mask equ 3 ; line_number = 39 ; constant enables_mask = (1 << servos) - 1 enables_mask equ 15 ; # 1.5ms pulse width is supposed to be the "center" position ; # for a servo. We will initialize for center. ; # 7500 * .20us = 1.5ms. 7500 = 0x1d4c ; line_number = 44 ; constant servo_center = 1500 * microsecond servo_center equ 7500 ; line_number = 45 ; constant servo_center_low = servo_center & 0xff servo_center_low equ 76 ; line_number = 46 ; constant servo_center_high = servo_center >> 8 servo_center_high equ 29 ; line_number = 48 ; global enables byte enables equ globals___0+12 ; line_number = 49 ; global servo_index byte servo_index equ globals___0+13 ; line_number = 50 ; global servos_high[servos] array[byte] servos_high equ globals___0+14 ; line_number = 51 ; global servos_low[servos] array[byte] servos_low equ globals___0+18 ; line_number = 53 ; package pdip ; line_number = 54 ; pin 1 = power_supply ; line_number = 55 ; pin 2 = osc1 ; line_number = 56 ; pin 3 = osc2 ; line_number = 57 ; pin 4 = ra3_nc ; line_number = 58 ; pin 5 = rx, name=rx, bit=rx_bit rx___byte equ _portc rx___bit equ 5 rx_bit equ 5 ; line_number = 59 ; pin 6 = tx, name=tx, bit=tx_bit tx___byte equ _portc tx___bit equ 4 tx_bit equ 4 ; line_number = 60 ; pin 7 = rc3_out, name=servo3, mask=servo3_mask, bit=servo_bit3 servo3___byte equ _portc servo3___bit equ 3 servo3_mask equ 8 servo_bit3 equ 3 ; line_number = 61 ; pin 8 = rc2_out, name=servo2, mask=servo2_mask, bit=servo_bit2 servo2___byte equ _portc servo2___bit equ 2 servo2_mask equ 4 servo_bit2 equ 2 ; line_number = 62 ; pin 9 = rc1_out, name=servo1, mask=servo1_mask, bit=servo_bit1 servo1___byte equ _portc servo1___bit equ 1 servo1_mask equ 2 servo_bit1 equ 1 ; line_number = 63 ; pin 10 = rc0_out, name=servo0, mask=servo0_mask, bit=servo_bit0 servo0___byte equ _portc servo0___bit equ 0 servo0_mask equ 1 servo_bit0 equ 0 ; line_number = 64 ; pin 11 = ra2_nc ; line_number = 65 ; pin 12 = ra1_nc ; line_number = 66 ; pin 13 = ra0_nc ; line_number = 67 ; pin 14 = ground ; line_number = 69 ; constant all_mask = servo0_mask | servo1_mask | servo2_mask | servo3_mask all_mask equ 15 ; line_number = 71 ; origin 0 org 0 ; line_number = 73 ;info 73, 0 ; procedure start start: ; arguments_none ; line_number = 75 ; returns_nothing ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 77 ; assemble ;info 77, 0 ; line_number = 78 ;info 78, 0 goto main ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 80 ; origin 4 org 4 ; line_number = 82 ;info 82, 4 ; procedure interrupt interrupt: interrupt___w_save equ shared___globals+1 interrupt___status_save equ shared___globals ; Carefully save __w and __tatus into RAM ; Save W first (easy) movwf interrupt___w_save ; Save Status without smashing it (tricky) ; Move swapped version of status into W swapf __status,w ; Store swapped version of status into RAM movwf interrupt___status_save ; arguments_none ; line_number = 84 ; returns_nothing ; # We can arrive here from either a TMR0 or TMR1 interrupt. ; # For a TMR1 interrupt, we just clear all of the servo outputs ; # to zero. Since it is always safe to do this for a TMR0 interrupt, ; # we just clear the servo outputs no matter what: ; # Clear all servo pulses: ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:XX=cc=>XX) ; line_number = 93 ; _rc := 0 ;info 93, 7 bcf __rp0___byte, __rp0___bit clrf _rc ; # Clear the TMR1 Interrupt Flag: ; line_number = 96 ; _tmr1if := _false ;info 96, 9 bcf __rp1___byte, __rp1___bit bcf _tmr1if___byte, _tmr1if___bit ; # Turn TMR1 off: ; line_number = 98 ; _tmr1on := _false ;info 98, 11 bcf _tmr1on___byte, _tmr1on___bit ; # Now deal with TMR0: ; line_number = 101 ; if _t0if start ;info 101, 12 ; =>bit_code_emit@symbol(): sym=_t0if ; No 1TEST: true.size=39 false.size=0 ; No 2TEST: true.size=39 false.size=0 ; 1GOTO: Single test with GOTO btfss _t0if___byte, _t0if___bit goto interrupt__11 ; # Load the 1's complement of the select servo into ; line_number = 103 ; servo_index := (servo_index + 1) & servos_mask ;info 103, 14 incf servo_index,w andlw 3 movwf servo_index ; line_number = 104 ; _tmr1h := 0xff ^ servos_high[servo_index] ;info 104, 17 movf servo_index,w addlw servos_high movwf __fsr movf __indf,w xorlw 255 movwf _tmr1h ; line_number = 105 ; _tmr1l := 0xff ^ servos_low[servo_index] ;info 105, 23 movf servo_index,w addlw servos_low movwf __fsr movf __indf,w xorlw 255 movwf _tmr1l ; # Reload TRM0: ; line_number = 108 ; _t0if := _false ;info 108, 29 bcf _t0if___byte, _t0if___bit ; line_number = 109 ; _tmr0 := tmr0_value_negative ;info 109, 30 movlw 60 movwf _tmr0 ; # Turn on the appropriate servo: ; line_number = 112 ; switch servo_index start ;info 112, 32 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=18 movlw interrupt__9>>8 movwf __pclath movf servo_index,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__9 movwf __pcl ; page_group 4 interrupt__9: goto interrupt__5 goto interrupt__6 goto interrupt__7 goto interrupt__8 ; line_number = 113 ; case 0 interrupt__5: ; line_number = 114 ; if enables@0 start ;info 114, 41 interrupt__select__1___byte equ enables interrupt__select__1___bit equ 0 ; =>bit_code_emit@symbol(): sym=interrupt__select__1 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__1___byte, interrupt__select__1___bit ; line_number = 115 ; servo0 := _true ;info 115, 42 bsf servo0___byte, servo0___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 114 ; if enables@0 done goto interrupt__10 ; line_number = 116 ; case 1 interrupt__6: ; line_number = 117 ; if enables@1 start ;info 117, 44 interrupt__select__2___byte equ enables interrupt__select__2___bit equ 1 ; =>bit_code_emit@symbol(): sym=interrupt__select__2 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__2___byte, interrupt__select__2___bit ; line_number = 118 ; servo1 := _true ;info 118, 45 bsf servo1___byte, servo1___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 117 ; if enables@1 done goto interrupt__10 ; line_number = 119 ; case 2 interrupt__7: ; line_number = 120 ; if enables@2 start ;info 120, 47 interrupt__select__3___byte equ enables interrupt__select__3___bit equ 2 ; =>bit_code_emit@symbol(): sym=interrupt__select__3 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__3___byte, interrupt__select__3___bit ; line_number = 121 ; servo2 := _true ;info 121, 48 bsf servo2___byte, servo2___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 120 ; if enables@2 done goto interrupt__10 ; line_number = 122 ; case 3 interrupt__8: ; line_number = 123 ; if enables@3 start ;info 123, 50 interrupt__select__4___byte equ enables interrupt__select__4___bit equ 3 ; =>bit_code_emit@symbol(): sym=interrupt__select__4 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__4___byte, interrupt__select__4___bit ; line_number = 124 ; servo3 := _true ;info 124, 51 bsf servo3___byte, servo3___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 123 ; if enables@3 done interrupt__10: ; line_number = 112 ; switch servo_index done ; # Fire up TRM1: ; line_number = 126 ; _tmr1on := _true ;info 126, 52 bsf _tmr1on___byte, _tmr1on___bit ; Recombine size1 = 0 || size2 = 0 interrupt__11: ; line_number = 101 ; if _t0if done ; # All done: ; delay after procedure statements=non-uniform ; Interrupt return ; Carefully restore __w and __tatus from RAM ; Restore swapped status into W swapf interrupt___status_save,w ; W now contains (unswapped) status ; Restore W to __status movwf __status ; From here on out, do not modify __status ; Swap saved W register in RAM swapf interrupt___w_save,f ; Unswap the saved W reg and restore to W swapf interrupt___w_save,w ; __w and __status are now restored ; Return from interrupt retfie ; # The tables below provide pulse widths from .75uS to 2.25uS: ; line_number = 130 ; string quick_highs = "\14,15,16,17,18,19,20,21,21,22,23,24,25,26,27,28,29,30,31,32,32,33,34,35,36,37,38,39,40,41,42,43\" start ; quick_highs = '\14,15,16,17,18,19,20,21,21,22,23,24,25,26,27,28,29,30,31\ !"#_%&\39\()*+' quick_highs: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw quick_highs___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw quick_highs___base ; Index to the correct return value movwf __pcl ; page_group 32 quick_highs___base: retlw 14 retlw 15 retlw 16 retlw 17 retlw 18 retlw 19 retlw 20 retlw 21 retlw 21 retlw 22 retlw 23 retlw 24 retlw 25 retlw 26 retlw 27 retlw 28 retlw 29 retlw 30 retlw 31 retlw 32 retlw 32 retlw 33 retlw 34 retlw 35 retlw 36 retlw 37 retlw 38 retlw 39 retlw 40 retlw 41 retlw 42 retlw 43 ; line_number = 130 ; string quick_highs = "\14,15,16,17,18,19,20,21,21,22,23,24,25,26,27,28,29,30,31,32,32,33,34,35,36,37,38,39,40,41,42,43\" start ; line_number = 131 ; string quick_lows = "\166,144,123,101,80,58,36,15,249,227,206,184,163,141,119,98,76,54,33,11,246,224,202,181,159,137,116,94,73,51,29,8\" start ; quick_lows = '\166,144\{eP:_\15,249,227,206,184,163,141\wbL6!\11,246,224,202,181,159,137\t^I3\29,8\' quick_lows: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw quick_lows___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw quick_lows___base ; Index to the correct return value movwf __pcl ; page_group 32 quick_lows___base: retlw 166 retlw 144 retlw 123 retlw 101 retlw 80 retlw 58 retlw 36 retlw 15 retlw 249 retlw 227 retlw 206 retlw 184 retlw 163 retlw 141 retlw 119 retlw 98 retlw 76 retlw 54 retlw 33 retlw 11 retlw 246 retlw 224 retlw 202 retlw 181 retlw 159 retlw 137 retlw 116 retlw 94 retlw 73 retlw 51 retlw 29 retlw 8 ; line_number = 131 ; string quick_lows = "\166,144,123,101,80,58,36,15,249,227,206,184,163,141,119,98,76,54,33,11,246,224,202,181,159,137,116,94,73,51,29,8\" start ; line_number = 133 ;info 133, 134 ; procedure main main: ; Initialize some registers clrf _adcon0 bsf __rp0___byte, __rp0___bit clrf _ansel movlw 7 bcf __rp0___byte, __rp0___bit movwf _cmcon0 movlw 63 bsf __rp0___byte, __rp0___bit movwf _trisa movlw 48 movwf _trisc ; arguments_none ; line_number = 135 ; returns_nothing ; line_number = 137 ; local command byte main__command equ globals___0+22 ; line_number = 138 ; local id_index byte main__id_index equ globals___0+23 ; line_number = 139 ; local index byte main__index equ globals___0+24 ; line_number = 140 ; local servo byte main__servo equ globals___0+25 ; line_number = 141 ; local high byte main__high equ globals___0+26 ; line_number = 142 ; local low byte main__low equ globals___0+27 ; line_number = 143 ; local position byte main__position equ globals___0+28 ; # Initialize the RB2 module: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:XX=cc=>XX) ; line_number = 146 ; call rb2bus_initialize(rb2_servo4_address) ;info 146, 145 movlw 11 bcf __rp0___byte, __rp0___bit call rb2bus_initialize ; # Initialize everything else: ; # Initialize the pulses: ; line_number = 151 ; index := 0 ;info 151, 148 clrf main__index ; line_number = 152 ; while index < servos start main__1: ;info 152, 149 movlw 4 subwf main__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=12 ; No 2TEST: true.size=0 false.size=12 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__2 ; line_number = 153 ; servos_high[index] := servo_center_high ;info 153, 153 ; index_fsr_first movf main__index,w addlw servos_high movwf __fsr movlw 29 movwf __indf ; line_number = 154 ; servos_low[index] := servo_center_low ;info 154, 158 ; index_fsr_first movf main__index,w addlw servos_low movwf __fsr movlw 76 movwf __indf ; line_number = 155 ; index := index + 1 ;info 155, 163 incf main__index,f goto main__1 main__2: ; Recombine size1 = 0 || size2 = 0 ; line_number = 152 ; while index < servos done ; line_number = 156 ; servo_index := 0 ;info 156, 165 clrf servo_index ; # FIXME: Initialize to servos disabled!!! ; #enables := 0x0f ; line_number = 160 ; enables := 0 ;info 160, 166 clrf enables ; # Initialize TRM0: ; line_number = 163 ; _option_reg := tmr0_ps ;info 163, 167 movlw 5 bsf __rp0___byte, __rp0___bit movwf _option_reg ; # {_t0cs}=0 (use instrucion clock) ; # {_psa}=0 (prescaler for TMR0) ; # {_ps2,_ps1,_ps0}=101 (1/64) ; # Initialize TRM1: ; line_number = 169 ; _t1con := 0 ;info 169, 170 bcf __rp0___byte, __rp0___bit clrf _t1con ; # {_t1ginv} := x (no care; 0 = not inverted) ; # {_tmr1ge} := 0 (Timer 1 on) ; # {_t1ckps} := 00 (prescale = 1:1) ; # {_t10scen} := 0 (lp osc. off) ; # {_t1sync} := x (no care;) ; # {_tmr1cs} := 0 (Fosc/4) ; # {_tmr1on} := 0 (off for now; interrupt routine turns it on) ; # Turn on TRM0: ; line_number = 179 ; _tmr1if := _false ;info 179, 172 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 180 ; _tmr1ie := _true ;info 180, 173 bsf __rp0___byte, __rp0___bit bsf _tmr1ie___byte, _tmr1ie___bit ; line_number = 181 ; _tmr0 := tmr0_value_negative ;info 181, 175 movlw 60 bcf __rp0___byte, __rp0___bit movwf _tmr0 ; line_number = 182 ; _t0if := _false ;info 182, 178 bcf _t0if___byte, _t0if___bit ; line_number = 183 ; _t0ie := _true ;info 183, 179 bsf _t0ie___byte, _t0ie___bit ; line_number = 184 ; _peie := _true ;info 184, 180 bsf _peie___byte, _peie___bit ; line_number = 185 ; _gie := _true ;info 185, 181 bsf _gie___byte, _gie___bit ; line_number = 187 ; id_index := 0 ;info 187, 182 clrf main__id_index ; line_number = 189 ; loop_forever start main__3: ; # Make sure that we have been selected: ; line_number = 191 ; rb2bus_error := _true ;info 191, 183 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 192 ; while rb2bus_error start main__4: ;info 192, 184 ; =>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__5 ; line_number = 193 ; call rb2bus_select_wait() ;info 193, 186 call rb2bus_select_wait ; line_number = 194 ; command := rb2bus_byte_get() ;info 194, 187 call rb2bus_byte_get movwf main__command goto main__4 ; Recombine size1 = 0 || size2 = 0 main__5: ; line_number = 192 ; while rb2bus_error done ; # Decode {command}: ; line_number = 197 ; servo := command & servos_mask ;info 197, 190 movlw 3 andwf main__command,w movwf main__servo ; line_number = 198 ; switch command >> 6 start ;info 198, 193 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=10 movlw main__36>>8 movwf __pclath main__37 equ globals___0+29 swapf main__command,w movwf main__37 rrf main__37,f rrf main__37,w andlw 3 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__36 movwf __pcl ; page_group 4 main__36: goto main__33 goto main__33 goto main__34 goto main__35 ; line_number = 199 ; case 0, 1 main__33: ; # 0ppp ppss (Quick Set): ; line_number = 201 ; position := command >> 2 ;info 201, 206 rrf main__command,w movwf main__position rrf main__position,f movlw 63 andwf main__position,f ; line_number = 202 ; servos_high[servo] := quick_highs[position] ;info 202, 211 ; right_temporary_first main__6 equ globals___0+29 movf main__position,w call quick_highs movwf main__6 movf main__servo,w addlw servos_high movwf __fsr movf main__6,w movwf __indf ; line_number = 203 ; servos_low[servo] := quick_lows[position] ;info 203, 219 ; right_temporary_first main__7 equ globals___0+29 movf main__position,w call quick_lows movwf main__7 movf main__servo,w addlw servos_low movwf __fsr movf main__7,w movwf __indf goto main__38 ; line_number = 204 ; case 2 main__34: ; # 01xx xxxx: ; line_number = 206 ; switch (command >> 3) & 7 start ;info 206, 228 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 250 ; case_maximum 7 movlw main__26>>8 movwf __pclath main__27 equ globals___0+29 rrf main__command,w movwf main__27 rrf main__27,f rrf main__27,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__26 movwf __pcl ; page_group 8 main__26: goto main__21 goto main__22 goto main__23 goto main__23 goto main__24 goto main__25 goto main__28 goto main__28 ; line_number = 207 ; case 0 main__21: ; # 1000 0xxx: ; line_number = 209 ; high := rb2bus_byte_get() ;info 209, 245 call rb2bus_byte_get movwf main__high ; line_number = 210 ; if command@2 start ;info 210, 247 main__select__8___byte equ main__command main__select__8___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__8 ; No 1TEST: true.size=10 false.size=2 ; No 2TEST: true.size=10 false.size=2 ; 2GOTO: Single test with two GOTO's btfss main__select__8___byte, main__select__8___bit goto main__9 ; # 1000 01ss (Short High Low Set): ; line_number = 212 ; low := high << 5 ;info 212, 249 swapf main__high,w movwf main__low rlf main__low,f movlw 224 andwf main__low,f ; line_number = 213 ; high := high >> 3 ;info 213, 254 ; Assignment of variable to self (no code needed) rrf main__high,f rrf main__high,f rrf main__high,f movlw 31 andwf main__high,f goto main__10 ; 2GOTO: Starting code 2 main__9: ; # 1000 00ss (High Low Set): ; line_number = 216 ; low := rb2bus_byte_get() ;info 216, 260 call rb2bus_byte_get movwf main__low main__10: ; 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 = 210 ; if command@2 done ; line_number = 217 ; if !rb2bus_error start ;info 217, 262 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=0 false.size=10 ; No 2TEST: true.size=0 false.size=10 ; 1GOTO: Single test with GOTO btfsc rb2bus_error___byte, rb2bus_error___bit goto main__11 ; line_number = 218 ; servos_high[servo] := high ;info 218, 264 ; index_fsr_first movf main__servo,w addlw servos_high movwf __fsr movf main__high,w movwf __indf ; line_number = 219 ; servos_low[servo] := low ;info 219, 269 ; index_fsr_first movf main__servo,w addlw servos_low movwf __fsr movf main__low,w movwf __indf main__11: ; Recombine size1 = 0 || size2 = 0 ; line_number = 217 ; if !rb2bus_error done goto main__28 ; line_number = 220 ; case 1 main__22: ; # 1000 1xxx: ; line_number = 222 ; if command@2 start ;info 222, 275 main__select__14___byte equ main__command main__select__14___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__14 ; # 1000 11ss (High Set) ; line_number = 224 ; high := rb2bus_byte_get() ;info 224, 275 call rb2bus_byte_get ; # 1000 10ss (Low Set) ; line_number = 229 ; low := rb2bus_byte_get() ;info 229, 276 ; No 1TEST: true.size=8 false.size=8 ; No 2TEST: true.size=8 false.size=8 ; 2GOTO: Single test with two GOTO's btfss main__select__14___byte, main__select__14___bit goto main__15 movwf main__high ; line_number = 225 ; if !rb2bus_error start ;info 225, 279 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=0 false.size=5 ; No 2TEST: true.size=0 false.size=5 ; 1GOTO: Single test with GOTO btfsc rb2bus_error___byte, rb2bus_error___bit goto main__13 ; line_number = 226 ; servos_high[servo] := high ;info 226, 281 ; index_fsr_first movf main__servo,w addlw servos_high movwf __fsr movf main__high,w movwf __indf main__13: ; Recombine size1 = 0 || size2 = 0 ; line_number = 225 ; if !rb2bus_error done goto main__16 ; 2GOTO: Starting code 2 main__15: movwf main__low ; line_number = 230 ; if !rb2bus_error start ;info 230, 288 ; =>bit_code_emit@symbol(): sym=rb2bus_error ; No 1TEST: true.size=0 false.size=5 ; No 2TEST: true.size=0 false.size=5 ; 1GOTO: Single test with GOTO btfsc rb2bus_error___byte, rb2bus_error___bit goto main__12 ; line_number = 231 ; servos_low[servo] := low ;info 231, 290 ; index_fsr_first movf main__servo,w addlw servos_low movwf __fsr movf main__low,w movwf __indf main__12: ; Recombine size1 = 0 || size2 = 0 ; line_number = 230 ; if !rb2bus_error done main__16: ; 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 = 222 ; if command@2 done goto main__28 ; line_number = 232 ; case 2, 3 main__23: ; # 1001 eeee (Enables Set): ; line_number = 234 ; enables := command & enables_mask ;info 234, 296 movlw 15 andwf main__command,w movwf enables goto main__28 ; line_number = 235 ; case 4 main__24: ; # 1010 0xxx: ; line_number = 237 ; if command@2 start ;info 237, 300 main__select__17___byte equ main__command main__select__17___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__17 ; # 1010 01ss (Low Get) ; line_number = 239 ; call rb2bus_byte_put(servos_low[servo]) ;info 239, 300 movf main__servo,w ; # 1010 00ss (High Get) ; line_number = 242 ; call rb2bus_byte_put(servos_high[servo]) ;info 242, 301 ; No 1TEST: true.size=1 false.size=1 ; 2TEST: two tests with code in both delay slots btfsc main__select__17___byte, main__select__17___bit addlw servos_low btfss main__select__17___byte, main__select__17___bit addlw servos_high movwf __fsr movf __indf,w call rb2bus_byte_put ; line_number = 237 ; if command@2 done goto main__28 ; line_number = 243 ; case 5 main__25: ; # 1010 1xxx: ; line_number = 245 ; switch command & 7 start ;info 245, 309 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 249 ; case_maximum 7 movlw main__19>>8 movwf __pclath movlw 7 andwf main__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__19 movwf __pcl ; page_group 8 main__19: goto main__18 goto main__20 goto main__20 goto main__20 goto main__20 goto main__20 goto main__20 goto main__20 ; line_number = 246 ; case 0 main__18: ; # 1010 1000 (Enables Get) ; line_number = 248 ; call rb2bus_byte_put(enables) ;info 248, 323 movf enables,w call rb2bus_byte_put main__20: ; line_number = 245 ; switch command & 7 done main__28: ; line_number = 206 ; switch (command >> 3) & 7 done goto main__38 ; line_number = 251 ; case 3 main__35: ; # 11xx xxxx: ; line_number = 253 ; switch (command >> 3) & 7 start ;info 253, 326 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw main__30>>8 movwf __pclath main__31 equ globals___0+29 rrf main__command,w movwf main__31 rrf main__31,f rrf main__31,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw main__30 movwf __pcl ; page_group 8 main__30: goto main__32 goto main__32 goto main__32 goto main__32 goto main__32 goto main__32 goto main__32 goto main__29 ; line_number = 254 ; case 7 main__29: ; # 1111 1xxx: ; line_number = 256 ; call rb2bus_command(command) ;info 256, 343 movf main__command,w call rb2bus_command main__32: ; line_number = 253 ; switch (command >> 3) & 7 done main__38: ; line_number = 198 ; switch command >> 6 done ; line_number = 189 ; loop_forever wrap-up goto main__3 ; line_number = 189 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 258 ;info 258, 346 ; procedure wait wait: ; arguments_none ; line_number = 260 ; returns_nothing ; # This procedure is repeatably called whenever the software ; # is waiting for a byte to arrive from the bus. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) ; line_number = 265 ; do_nothing ;info 265, 346 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 268 ; string id = "\16,0,11,2,3,8\Servo4-B\7\Gramson" start ; id = '\16,0,11,2,3,8\Servo4-B\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 22 id___base: retlw 16 retlw 0 retlw 11 retlw 2 retlw 3 retlw 8 retlw 83 retlw 101 retlw 114 retlw 118 retlw 111 retlw 52 retlw 45 retlw 66 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 268 ; string id = "\16,0,11,2,3,8\Servo4-B\7\Gramson" start ; Appending 8 delayed procedures to code bank 0 ; buffer = 'rb2bus' ; line_number = 57 ;info 57, 375 ; 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, 375 bcf rb2bus_error___byte, rb2bus_error___bit ; line_number = 72 ; while !rb2bus_selected start rb2bus_select_wait__1: ;info 72, 376 ; =>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, 378 bsf _adden___byte, _adden___bit ; # Wait for a byte to arrive. ; line_number = 75 ; while !_rcif start rb2bus_select_wait__2: ;info 75, 379 ; =>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, 381 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, 383 bcf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit ; line_number = 80 ; if _rx9d start ;info 80, 384 ; =>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, 385 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, 386 movf _rcreg,w movwf rb2bus_select_wait__value ; # Clear any UART errors by toggling {_cren}: ; line_number = 85 ; if _oerr start ;info 85, 388 ; =>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, 389 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 85 ; if _oerr done ; line_number = 87 ; if _ferr start ;info 87, 390 ; =>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, 391 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 87 ; if _ferr done ; line_number = 89 ; _cren := _true ;info 89, 392 bsf _cren___byte, _cren___bit ; line_number = 91 ; if address_bit start ;info 91, 393 ; =>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, 395 ; 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, 399 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 94 ; call rb2bus_byte_put(rb2_ok) ;info 94, 400 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, 404 ; 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, 404 bcf rb2bus_selected___byte, rb2bus_selected___bit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 107 ;info 107, 406 ; 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, 406 ; =>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, 407 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, 408 bcf _adden___byte, _adden___bit ; line_number = 128 ; while !_rcif start rb2bus_byte_get__1: ;info 128, 409 ; =>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, 411 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, 413 bcf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit ; line_number = 133 ; if _rx9d start ;info 133, 414 ; =>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, 415 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, 416 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, 418 ; =>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, 419 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 139 ; if _oerr done ; line_number = 141 ; if _ferr start ;info 141, 420 ; =>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, 421 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 141 ; if _ferr done ; line_number = 143 ; _cren := _true ;info 143, 422 bsf _cren___byte, _cren___bit ; line_number = 145 ; if address_bit start ;info 145, 423 ; =>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, 425 ; 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, 429 bsf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 150 ; _adden := _false ;info 150, 430 bcf _adden___byte, _adden___bit ; line_number = 152 ; call rb2bus_byte_put(rb2_ok) ;info 152, 431 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, 434 bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 156 ; _adden := _true ;info 156, 435 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, 436 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 160 ; value := 0 ;info 160, 437 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, 438 movf rb2bus_byte_get__value,w return ; line_number = 163 ; return value done ; delay after procedure statements=non-uniform ; line_number = 166 ;info 166, 440 ; 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, 441 ; =>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, 443 ; =>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, 445 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, 447 bcf _adden___byte, _adden___bit ; line_number = 181 ; _tx9d := _false ;info 181, 448 bcf _tx9d___byte, _tx9d___bit ; line_number = 182 ; _txreg := value ;info 182, 449 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, 451 ; =>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, 453 ; line_number = 189 ;info 189, 453 movf _rcreg,w ; # Recover from any receive errors by toggling {_cren}: ; line_number = 192 ; if _oerr start ;info 192, 454 ; =>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, 455 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 192 ; if _oerr done ; line_number = 194 ; if _ferr start ;info 194, 456 ; =>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, 457 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 194 ; if _ferr done ; line_number = 196 ; _cren := _true ;info 196, 458 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, 460 ; 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, 461 ; 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, 475 movf rb2bus_address,w call rb2bus_byte_put ; # Fetch new address: ; line_number = 216 ; new_address := rb2bus_byte_get() ;info 216, 477 call rb2bus_byte_get movwf rb2bus_command__new_address ; line_number = 217 ; if new_address = 0 || new_address = rb2bus_address start ;info 217, 479 ; 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, 486 movlw 0 call rb2bus_byte_put ; line_number = 219 ; rb2bus_error := _true ;info 219, 488 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 220 ; rb2bus_selected := _false ;info 220, 489 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, 491 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, 493 call rb2bus_byte_get movwf rb2bus_command__temp ; line_number = 227 ; if temp != new_address start ;info 227, 495 ; 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, 499 movf rb2bus_command__new_address,w call rb2bus_eedata_write ; line_number = 233 ; temp := rb2bus_eedata_read() ;info 233, 501 call rb2bus_eedata_read movwf rb2bus_command__temp ; line_number = 234 ; if temp = new_address start ;info 234, 503 ; 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, 507 movf rb2bus_command__new_address,w movwf rb2bus_address ; line_number = 236 ; call rb2bus_byte_put(rb2_ok) ;info 236, 509 movlw 165 goto rb2bus_command__2 ; 2GOTO: Starting code 2 rb2bus_command__1: ; line_number = 238 ; call rb2bus_byte_put(0) ;info 238, 511 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, 514 movlw 0 call rb2bus_byte_put ; line_number = 229 ; rb2bus_error := _true ;info 229, 516 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 230 ; rb2bus_selected := _false ;info 230, 517 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, 519 movlw 22 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, 523 movf rb2bus_index,w call id call rb2bus_byte_put ; line_number = 243 ; rb2bus_index := rb2bus_index + 1 ;info 243, 526 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, 528 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, 530 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, 532 ; 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, 533 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, 535 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, 536 bcf __rp0___byte, __rp0___bit clrf _txsta ; line_number = 32 ; _tx9 := _true ;info 32, 538 bsf _tx9___byte, _tx9___bit ; #_tx9 := _false ; line_number = 34 ; _txen := _true ;info 34, 539 bsf _txen___byte, _txen___bit ; line_number = 35 ; _brgh := _true ;info 35, 540 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 38 ; _rcsta := 0 ;info 38, 541 clrf _rcsta ; line_number = 39 ; _spen := _true ;info 39, 542 bsf _spen___byte, _spen___bit ; line_number = 40 ; _rx9 := _true ;info 40, 543 bsf _rx9___byte, _rx9___bit ; line_number = 41 ; _cren := _true ;info 41, 544 bsf _cren___byte, _cren___bit ; #_adden := _true ; line_number = 43 ; _adden := _false ;info 43, 545 bcf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 46 ; _baudctl := 0 ;info 46, 546 clrf _baudctl ; line_number = 47 ; _brg16 := _true ;info 47, 547 bsf _brg16___byte, _brg16___bit ; line_number = 48 ; _spbrg := _eusart_500000_low ;info 48, 548 movlw 9 movwf _spbrg ; line_number = 49 ; _spbrgh := _eusart_500000_high ;info 49, 550 clrf _spbrgh ; line_number = 51 ; rb2bus_selected := _false ;info 51, 551 bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 52 ; rb2bus_error := _false ;info 52, 552 bcf rb2bus_error___byte, rb2bus_error___bit ; line_number = 53 ; rb2bus_index := 0 ;info 53, 553 clrf rb2bus_index ; # Deal with setting {rb2bus_address} from EEData memory: ; line_number = 56 ; rb2bus_address := rb2bus_eedata_read() ;info 56, 554 call rb2bus_eedata_read movwf rb2bus_address ; line_number = 57 ; if rb2bus_address = 0 start ;info 57, 556 ; 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, 559 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, 562 ; 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, 562 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 76 ; _eeadr := rb2bus_eedata_address ;info 76, 564 movlw 254 movwf _eeadr ; line_number = 77 ; _rd := _true ;info 77, 566 bsf _rd___byte, _rd___bit ; line_number = 78 ; temp1 := _eedat ;info 78, 567 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, 570 bsf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 82 ; _rd := _true ;info 82, 572 bsf _rd___byte, _rd___bit ; line_number = 83 ; temp2 := _eedat ;info 83, 573 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, 576 ; 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, 580 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, 582 retlw 0 ; line_number = 91 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 94 ;info 94, 583 ; 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, 584 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 103 ; _eeadr := rb2bus_eedata_address ;info 103, 586 movlw 254 movwf _eeadr ; line_number = 104 ; _eedat := address ;info 104, 588 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, 592 rb2bus_eedata_write__1 equ globals___0+30 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, 595 bsf __rp0___byte, __rp0___bit bsf _wren___byte, _wren___bit ; line_number = 112 ; _gie := _false ;info 112, 597 bcf _gie___byte, _gie___bit ; line_number = 113 ; _eecon2 := 0x55 ;info 113, 598 movlw 85 movwf _eecon2 ; line_number = 114 ; _eecon2 := 0xaa ;info 114, 600 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 116 ; _wr := _true ;info 116, 602 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 119 ; while _wr start rb2bus_eedata_write__3: ;info 119, 603 ; =>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, 604 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, 605 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 126 ; _eeadr := _eeadr + 1 ;info 126, 606 incf _eeadr,f ; line_number = 127 ; _eedat := address ^ 0xff ;info 127, 607 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 ; 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=2 Bits=0 Available=14 ; Region="globals___0" Address=32" Size=80 Bytes=31 Bits=4 Available=48 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 end