1 radix dec 2 ; Code bank 0; Start address: 0; End address: 4095 3 0000 : org 0 4 5 ; Define start addresses for data regions 6 00000070 = shared___globals equ 112 7 00000020 = globals___0 equ 32 8 000000a0 = globals___1 equ 160 9 00000120 = globals___2 equ 288 10 00000000 = __indf equ 0 11 00000002 = __pcl equ 2 12 00000003 = __status equ 3 13 00000004 = __fsr equ 4 14 00000003 = __c___byte equ 3 15 00000000 = __c___bit equ 0 16 00000003 = __z___byte equ 3 17 00000002 = __z___bit equ 2 18 00000003 = __rp0___byte equ 3 19 00000005 = __rp0___bit equ 5 20 00000003 = __rp1___byte equ 3 21 00000006 = __rp1___bit equ 6 22 00000003 = __irp___byte equ 3 23 00000007 = __irp___bit equ 7 24 0000000a = __pclath equ 10 25 0000000a = __cb0___byte equ 10 26 00000003 = __cb0___bit equ 3 27 0000000a = __cb1___byte equ 10 28 00000004 = __cb1___bit equ 4 29 30 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich 31 ; # All rights reserved. 32 33 ; # This module uses a PIC16F688: 34 ; buffer = 'servo4' 35 ; line_number = 7 36 ; library _pic16f688 entered 37 38 ; # Copyright (c) 2004-2006 by Wayne C. Gramlich 39 ; # All rights reserved. 40 41 ; buffer = '_pic16f688' 42 ; line_number = 6 43 ; processor pic16f688 44 ; line_number = 7 45 ; configure_address 0x2007 46 ; line_number = 8 47 ; configure_fill 0x3000 48 ; line_number = 9 49 ; configure_option fcmen: on = 0x800 50 ; line_number = 10 51 ; configure_option fcmen: off = 0x000 52 ; line_number = 11 53 ; configure_option ieso: on = 0x400 54 ; line_number = 12 55 ; configure_option ieso: off = 0x000 56 ; line_number = 13 57 ; configure_option boden: on = 0x300 58 ; line_number = 14 59 ; configure_option boden: partial = 0x200 60 ; line_number = 15 61 ; configure_option boden: sboden = 0x100 62 ; line_number = 16 63 ; configure_option boden: off = 0x000 64 ; line_number = 17 65 ; configure_option cpd: on = 0x00 66 ; line_number = 18 67 ; configure_option cpd: off = 0x80 68 ; line_number = 19 69 ; configure_option cp: on = 0x00 70 ; line_number = 20 71 ; configure_option cp: off = 0x40 72 ; line_number = 21 73 ; configure_option mclre: on = 0x20 74 ; line_number = 22 75 ; configure_option mclre: off = 0x00 76 ; line_number = 23 77 ; configure_option pwrte: on = 0x00 78 ; line_number = 24 79 ; configure_option pwrte: off = 0x10 80 ; line_number = 25 81 ; configure_option wdte: on = 8 82 ; line_number = 26 83 ; configure_option wdte: off = 0 84 ; line_number = 27 85 ; configure_option fosc: rc_clk = 7 86 ; line_number = 28 87 ; configure_option fosc: rc_no_clk = 6 88 ; line_number = 29 89 ; configure_option fosc: int_clk = 5 90 ; line_number = 30 91 ; configure_option fosc: int_no_clk = 4 92 ; line_number = 31 93 ; configure_option fosc: ec = 3 94 ; line_number = 32 95 ; configure_option fosc: hs = 2 96 ; line_number = 33 97 ; configure_option fosc: xt = 1 98 ; line_number = 34 99 ; configure_option fosc: lp = 0 100 101 ; line_number = 36 102 ; code_bank 0x0 : 0xfff 103 ; line_number = 37 104 ; data_bank 0x0 : 0x7f 105 ; line_number = 38 106 ; data_bank 0x80 : 0xff 107 ; line_number = 39 108 ; data_bank 0x100 : 0x17f 109 ; line_number = 40 110 ; data_bank 0x180 : 0x1ff 111 112 ; line_number = 42 113 ; global_region 0x20 : 0x6f 114 ; line_number = 43 115 ; icd2_global_region 0x20 : 0x6f 116 117 ; line_number = 45 118 ; global_region 0xa0 : 0xef 119 ; line_number = 46 120 ; icd2_global_region 0xa0 : 0xef 121 122 ; line_number = 48 123 ; global_region 0x120 : 0x16f 124 ; line_number = 49 125 ; icd2_global_region 0x120 : 0x164 126 127 ; line_number = 51 128 ; shared_region 0x70 : 0x7f 129 ; line_number = 52 130 ; icd2_shared_region 0x71 : 0x7f 131 132 ; line_number = 54 133 ; interrupts_possible 134 ; line_number = 55 135 ; packages pdip=14, soic=14, tssop=14 136 ; line_number = 56 137 ; pin vdd, power_supply 138 ; line_number = 57 139 ; pin_bindings pdip=1, soic=1, tssop=1 140 ; line_number = 58 141 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin 142 ; line_number = 59 143 ; pin_bindings pdip=2, soic=2, tssop=2 144 ; line_number = 60 145 ; bind_to _porta@5 146 ; line_number = 61 147 ; or_if ra5_in _trisa 32 148 ; line_number = 62 149 ; or_if ra5_nc _trisa 32 150 ; line_number = 63 151 ; or_if ra5_out _trisa 0 152 ; line_number = 64 153 ; or_if osc1 _trisa 32 154 ; line_number = 65 155 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout 156 ; line_number = 66 157 ; pin_bindings pdip=3, soic=3, tssop=3 158 ; line_number = 67 159 ; bind_to _porta@4 160 ; line_number = 68 161 ; or_if ra4_in _trisa 16 162 ; line_number = 69 163 ; or_if ra4_nc _trisa 16 164 ; line_number = 70 165 ; or_if ra4_out _trisa 0 166 ; line_number = 71 167 ; or_if an3 _trisa 16 168 ; line_number = 72 169 ; or_if osc2 _trisa 16 170 ; line_number = 73 171 ; or_if ra4_in _ansel 0 172 ; line_number = 74 173 ; or_if ra4_out _ansel 0 174 ; line_number = 75 175 ; or_if an3 _ansel 8 176 ; line_number = 76 177 ; or_if ra4_in _adcon0 0 178 ; line_number = 77 179 ; or_if ra4_out _adcon0 0 180 ; line_number = 78 181 ; or_if an3 _adcon0 1 182 ; line_number = 79 183 ; pin ra3_in, ra3_nc, mclr, vpp 184 ; line_number = 80 185 ; pin_bindings pdip=4, soic=4, tssop=4 186 ; line_number = 81 187 ; bind_to _porta@3 188 ; line_number = 82 189 ; or_if ra3_in _trisa 8 190 ; line_number = 83 191 ; or_if ra3_nc _trisa 8 192 ; line_number = 84 193 ; pin rc5_in, rc5_nc, rc5_out, rx, dt 194 ; line_number = 85 195 ; pin_bindings pdip=5, soic=5, tssop=5 196 ; line_number = 86 197 ; bind_to _portc@5 198 ; line_number = 87 199 ; or_if rc5_in _trisc 32 200 ; line_number = 88 201 ; or_if rc5_nc _trisc 32 202 ; line_number = 89 203 ; or_if rc5_out _trisc 0 204 ; line_number = 90 205 ; or_if rx _trisc 32 206 ; line_number = 91 207 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck 208 ; line_number = 92 209 ; pin_bindings pdip=6, soic=6, tssop=6 210 ; line_number = 93 211 ; bind_to _portc@4 212 ; line_number = 94 213 ; or_if rc4_in _trisc 16 214 ; line_number = 95 215 ; or_if rc4_nc _trisc 16 216 ; line_number = 96 217 ; or_if rc4_out _trisc 0 218 ; # The UART documentation says TX must be marked as in input: 219 ; line_number = 98 220 ; or_if tx _trisc 16 221 ; line_number = 99 222 ; pin rc3_in, rc3_nc, rc3_out, an7 223 ; line_number = 100 224 ; pin_bindings pdip=7, soic=7, tssop=7 225 ; line_number = 101 226 ; bind_to _portc@3 227 ; line_number = 102 228 ; or_if rc3_in _trisc 8 229 ; line_number = 103 230 ; or_if rc3_nc _trisc 8 231 ; line_number = 104 232 ; or_if rc3_out _trisc 0 233 ; line_number = 105 234 ; or_if an7 _trisc 8 235 ; line_number = 106 236 ; or_if rc3_in _ansel 0 237 ; line_number = 107 238 ; or_if rc3_out _ansel 0 239 ; line_number = 108 240 ; or_if an7 _ansel 128 241 ; line_number = 109 242 ; or_if rc3_in _adcon0 0 243 ; line_number = 110 244 ; or_if rc3_out _adcon0 0 245 ; line_number = 111 246 ; or_if an7 _adcon0 1 247 ; line_number = 112 248 ; pin rc2_in, rc2_nc, rc2_out, an6 249 ; line_number = 113 250 ; pin_bindings pdip=8, soic=8, tssop=8 251 ; line_number = 114 252 ; bind_to _portc@2 253 ; line_number = 115 254 ; or_if rc2_in _trisc 4 255 ; line_number = 116 256 ; or_if rc2_nc _trisc 4 257 ; line_number = 117 258 ; or_if rc2_out _trisc 0 259 ; line_number = 118 260 ; or_if an6 _trisc 4 261 ; line_number = 119 262 ; or_if rc2_in _ansel 0 263 ; line_number = 120 264 ; or_if rc2_out _ansel 0 265 ; line_number = 121 266 ; or_if an6 _ansel 64 267 ; line_number = 122 268 ; or_if rc2_in _adcon0 0 269 ; line_number = 123 270 ; or_if rc2_out _adcon0 0 271 ; line_number = 124 272 ; or_if an6 _adcon0 1 273 ; line_number = 125 274 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus 275 ; line_number = 126 276 ; pin_bindings pdip=9, soic=9, tssop=9 277 ; line_number = 127 278 ; bind_to _portc@1 279 ; line_number = 128 280 ; or_if rc1_in _trisc 2 281 ; line_number = 129 282 ; or_if rc1_nc _trisc 2 283 ; line_number = 130 284 ; or_if rc1_out _trisc 0 285 ; line_number = 131 286 ; or_if rc1_in _cmcon0 7 287 ; line_number = 132 288 ; or_if rc1_out _cmcon0 7 289 ; line_number = 133 290 ; or_if an5 _trisc 2 291 ; line_number = 134 292 ; or_if rc1_in _ansel 0 293 ; line_number = 135 294 ; or_if rc1_out _ansel 0 295 ; line_number = 136 296 ; or_if an5 _ansel 32 297 ; line_number = 137 298 ; or_if rc1_in _adcon0 0 299 ; line_number = 138 300 ; or_if rc1_out _adcon0 0 301 ; line_number = 139 302 ; or_if an5 _adcon0 1 303 ; line_number = 140 304 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus 305 ; line_number = 141 306 ; pin_bindings pdip=10, soic=10, tssop=10 307 ; line_number = 142 308 ; bind_to _portc@0 309 ; line_number = 143 310 ; or_if rc0_in _trisc 1 311 ; line_number = 144 312 ; or_if rc0_nc _trisc 1 313 ; line_number = 145 314 ; or_if rc0_out _trisc 0 315 ; line_number = 146 316 ; or_if rc0_in _cmcon0 7 317 ; line_number = 147 318 ; or_if rc0_out _cmcon0 7 319 ; line_number = 148 320 ; or_if an4 _trisc 1 321 ; line_number = 149 322 ; or_if rc0_in _ansel 0 323 ; line_number = 150 324 ; or_if rc0_out _ansel 0 325 ; line_number = 151 326 ; or_if an4 _ansel 16 327 ; line_number = 152 328 ; or_if rc0_in _adcon0 0 329 ; line_number = 153 330 ; or_if rc0_out _adcon0 0 331 ; line_number = 154 332 ; or_if an4 _adcon0 1 333 ; line_number = 155 334 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int 335 ; line_number = 156 336 ; pin_bindings pdip=11, soic=11, tssop=11 337 ; line_number = 157 338 ; bind_to _porta@2 339 ; line_number = 158 340 ; or_if ra2_in _trisa 4 341 ; line_number = 159 342 ; or_if ra2_nc _trisa 4 343 ; line_number = 160 344 ; or_if ra2_out _trisa 0 345 ; line_number = 161 346 ; or_if an2 _trisa 4 347 ; line_number = 162 348 ; or_if ra2_in _ansel 0 349 ; line_number = 163 350 ; or_if ra2_out _ansel 0 351 ; line_number = 164 352 ; or_if an2 _ansel 4 353 ; line_number = 165 354 ; or_if ra2_in _adcon0 0 355 ; line_number = 166 356 ; or_if ra2_out _adcon0 0 357 ; line_number = 167 358 ; or_if an2 _adcon0 1 359 ; line_number = 168 360 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk 361 ; line_number = 169 362 ; pin_bindings pdip=12, soic=12, tssop=12 363 ; line_number = 170 364 ; bind_to _porta@1 365 ; line_number = 171 366 ; or_if ra1_in _trisa 2 367 ; line_number = 172 368 ; or_if ra1_nc _trisa 2 369 ; line_number = 173 370 ; or_if ra1_out _trisa 0 371 ; line_number = 174 372 ; or_if ra1_in _cmcon0 7 373 ; line_number = 175 374 ; or_if ra1_out _cmcon0 7 375 ; line_number = 176 376 ; or_if an1 _trisa 2 377 ; line_number = 177 378 ; or_if vref _trisa 2 379 ; line_number = 178 380 ; or_if ra1_in _ansel 0 381 ; line_number = 179 382 ; or_if ra1_out _ansel 0 383 ; line_number = 180 384 ; or_if an1 _ansel 2 385 ; line_number = 181 386 ; or_if vref _ansel 2 387 ; line_number = 182 388 ; or_if ra1_in _adcon0 0 389 ; line_number = 183 390 ; or_if ra1_out _adcon0 0 391 ; line_number = 184 392 ; or_if an1 _adcon0 1 # Turn on _addon 393 ; line_number = 185 394 ; or_if vref _adcon0 1 # Turn on _addon 395 ; line_number = 186 396 ; or_if vref _adcon0 64 # Turn of _vcfg 397 ; line_number = 187 398 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu 399 ; line_number = 188 400 ; pin_bindings pdip=13, soic=13, tssop=13 401 ; line_number = 189 402 ; bind_to _porta@0 403 ; line_number = 190 404 ; or_if ra0_in _trisa 1 405 ; line_number = 191 406 ; or_if ra0_nc _trisa 1 407 ; line_number = 192 408 ; or_if ra0_out _trisa 0 409 ; line_number = 193 410 ; or_if ra0_in _cmcon0 7 411 ; line_number = 194 412 ; or_if ra0_out _cmcon0 7 413 ; line_number = 195 414 ; or_if an0 _trisa 1 415 ; line_number = 196 416 ; or_if ra0_in _ansel 0 417 ; line_number = 197 418 ; or_if ra0_out _ansel 0 419 ; line_number = 198 420 ; or_if an0 _ansel 1 421 ; line_number = 199 422 ; or_if ra0_in _adcon0 0 423 ; line_number = 200 424 ; or_if ra0_out _adcon0 0 425 ; line_number = 201 426 ; or_if an0 _adcon0 1 427 ; line_number = 202 428 ; pin vss, ground 429 ; line_number = 203 430 ; pin_bindings pdip=14, soic=14, tssop=14 431 432 ; line_number = 205 433 ; library _standard entered 434 435 ; # Copyright (c) 2006 by Wayne C. Gramlich 436 ; # All rights reserved. 437 438 ; # Standard definition for uCL: 439 440 ; buffer = '_standard' 441 ; line_number = 8 442 ; constant _true = (1 = 1) 443 00000001 = _true equ 1 444 ; line_number = 9 445 ; constant _false = (0 != 0) 446 00000000 = _false equ 0 447 448 449 ; buffer = '_pic16f688' 450 ; line_number = 205 451 ; library _standard exited 452 453 454 ; # Register/bit bindings: 455 456 ; # Databank 0 (0x0 - 0x7f): 457 458 ; line_number = 216 459 ; register _indf = 460 00000000 = _indf equ 0 461 462 ; line_number = 218 463 ; register _tmr0 = 464 00000001 = _tmr0 equ 1 465 466 ; line_number = 220 467 ; register _pcl = 468 00000002 = _pcl equ 2 469 470 ; line_number = 222 471 ; register _status = 472 00000003 = _status equ 3 473 ; line_number = 223 474 ; bind _irp = _status@7 475 00000003 = _irp___byte equ _status 476 00000007 = _irp___bit equ 7 477 ; line_number = 224 478 ; bind _rp1 = _status@5 479 00000003 = _rp1___byte equ _status 480 00000005 = _rp1___bit equ 5 481 ; line_number = 225 482 ; bind _rp0 = _status@5 483 00000003 = _rp0___byte equ _status 484 00000005 = _rp0___bit equ 5 485 ; line_number = 226 486 ; bind _to = _status@4 487 00000003 = _to___byte equ _status 488 00000004 = _to___bit equ 4 489 ; line_number = 227 490 ; bind _pd = _status@3 491 00000003 = _pd___byte equ _status 492 00000003 = _pd___bit equ 3 493 ; line_number = 228 494 ; bind _z = _status@2 495 00000003 = _z___byte equ _status 496 00000002 = _z___bit equ 2 497 ; line_number = 229 498 ; bind _dc = _status@1 499 00000003 = _dc___byte equ _status 500 00000001 = _dc___bit equ 1 501 ; line_number = 230 502 ; bind _c = _status@0 503 00000003 = _c___byte equ _status 504 00000000 = _c___bit equ 0 505 506 ; line_number = 232 507 ; register _fsr = 508 00000004 = _fsr equ 4 509 510 ; line_number = 234 511 ; register _porta = 512 00000005 = _porta equ 5 513 ; line_number = 235 514 ; register _ra = 515 00000005 = _ra equ 5 516 ; line_number = 236 517 ; bind _ra5 = _porta@5 518 00000005 = _ra5___byte equ _porta 519 00000005 = _ra5___bit equ 5 520 ; line_number = 237 521 ; bind _ra4 = _porta@4 522 00000005 = _ra4___byte equ _porta 523 00000004 = _ra4___bit equ 4 524 ; line_number = 238 525 ; bind _ra3 = _porta@3 526 00000005 = _ra3___byte equ _porta 527 00000003 = _ra3___bit equ 3 528 ; line_number = 239 529 ; bind _ra2 = _porta@2 530 00000005 = _ra2___byte equ _porta 531 00000002 = _ra2___bit equ 2 532 ; line_number = 240 533 ; bind _ra1 = _porta@1 534 00000005 = _ra1___byte equ _porta 535 00000001 = _ra1___bit equ 1 536 ; line_number = 241 537 ; bind _ra0 = _porta@0 538 00000005 = _ra0___byte equ _porta 539 00000000 = _ra0___bit equ 0 540 541 ; line_number = 243 542 ; register _portc = 543 00000007 = _portc equ 7 544 ; line_number = 244 545 ; register _rc = 546 00000007 = _rc equ 7 547 ; line_number = 245 548 ; bind _rc5 = _portc@5 549 00000007 = _rc5___byte equ _portc 550 00000005 = _rc5___bit equ 5 551 ; line_number = 246 552 ; bind _rc4 = _portc@4 553 00000007 = _rc4___byte equ _portc 554 00000004 = _rc4___bit equ 4 555 ; line_number = 247 556 ; bind _rc3 = _portc@3 557 00000007 = _rc3___byte equ _portc 558 00000003 = _rc3___bit equ 3 559 ; line_number = 248 560 ; bind _rc2 = _portc@2 561 00000007 = _rc2___byte equ _portc 562 00000002 = _rc2___bit equ 2 563 ; line_number = 249 564 ; bind _rc1 = _portc@1 565 00000007 = _rc1___byte equ _portc 566 00000001 = _rc1___bit equ 1 567 ; line_number = 250 568 ; bind _rc0 = _portc@0 569 00000007 = _rc0___byte equ _portc 570 00000000 = _rc0___bit equ 0 571 572 ; line_number = 252 573 ; register _pclath = 574 0000000a = _pclath equ 10 575 576 ; line_number = 254 577 ; register _intcon = 578 0000000b = _intcon equ 11 579 ; line_number = 255 580 ; bind _gie = _intcon@7 581 0000000b = _gie___byte equ _intcon 582 00000007 = _gie___bit equ 7 583 ; line_number = 256 584 ; bind _peie = _intcon@6 585 0000000b = _peie___byte equ _intcon 586 00000006 = _peie___bit equ 6 587 ; line_number = 257 588 ; bind _t0ie = _intcon@5 589 0000000b = _t0ie___byte equ _intcon 590 00000005 = _t0ie___bit equ 5 591 ; line_number = 258 592 ; bind _inte = _intcon@4 593 0000000b = _inte___byte equ _intcon 594 00000004 = _inte___bit equ 4 595 ; line_number = 259 596 ; bind _raie = _intcon@3 597 0000000b = _raie___byte equ _intcon 598 00000003 = _raie___bit equ 3 599 ; line_number = 260 600 ; bind _t0if = _intcon@2 601 0000000b = _t0if___byte equ _intcon 602 00000002 = _t0if___bit equ 2 603 ; line_number = 261 604 ; bind _intf = _intcon@1 605 0000000b = _intf___byte equ _intcon 606 00000001 = _intf___bit equ 1 607 ; line_number = 262 608 ; bind _raif = _intcon@0 609 0000000b = _raif___byte equ _intcon 610 00000000 = _raif___bit equ 0 611 612 ; line_number = 264 613 ; register _pir1 = 614 0000000c = _pir1 equ 12 615 ; line_number = 265 616 ; bind _eeif = _pir1@7 617 0000000c = _eeif___byte equ _pir1 618 00000007 = _eeif___bit equ 7 619 ; line_number = 266 620 ; bind _adif = _pir1@6 621 0000000c = _adif___byte equ _pir1 622 00000006 = _adif___bit equ 6 623 ; line_number = 267 624 ; bind _rcif = _pir1@5 625 0000000c = _rcif___byte equ _pir1 626 00000005 = _rcif___bit equ 5 627 ; line_number = 268 628 ; bind _c2if = _pir1@4 629 0000000c = _c2if___byte equ _pir1 630 00000004 = _c2if___bit equ 4 631 ; line_number = 269 632 ; bind _c1if = _pir1@3 633 0000000c = _c1if___byte equ _pir1 634 00000003 = _c1if___bit equ 3 635 ; line_number = 270 636 ; bind _osfif = _pir1@2 637 0000000c = _osfif___byte equ _pir1 638 00000002 = _osfif___bit equ 2 639 ; line_number = 271 640 ; bind _txif = _pir1@1 641 0000000c = _txif___byte equ _pir1 642 00000001 = _txif___bit equ 1 643 ; line_number = 272 644 ; bind _tmr1if = _pir1@0 645 0000000c = _tmr1if___byte equ _pir1 646 00000000 = _tmr1if___bit equ 0 647 648 ; line_number = 274 649 ; register _tmr1l = 650 0000000e = _tmr1l equ 14 651 652 ; line_number = 276 653 ; register _tmr1h = 654 0000000f = _tmr1h equ 15 655 656 ; line_number = 278 657 ; register _t1con = 658 00000010 = _t1con equ 16 659 ; line_number = 279 660 ; bind t1ginv = _t1con@7 661 00000010 = t1ginv___byte equ _t1con 662 00000007 = t1ginv___bit equ 7 663 ; line_number = 280 664 ; bind _tmr1ge = _t1con@6 665 00000010 = _tmr1ge___byte equ _t1con 666 00000006 = _tmr1ge___bit equ 6 667 ; line_number = 281 668 ; bind _t1ckps1 = _t1con@5 669 00000010 = _t1ckps1___byte equ _t1con 670 00000005 = _t1ckps1___bit equ 5 671 ; line_number = 282 672 ; bind _t1ckps0 = _t1con@4 673 00000010 = _t1ckps0___byte equ _t1con 674 00000004 = _t1ckps0___bit equ 4 675 ; line_number = 283 676 ; bind _t1oscen = _t1con@3 677 00000010 = _t1oscen___byte equ _t1con 678 00000003 = _t1oscen___bit equ 3 679 ; line_number = 284 680 ; bind _t1sync = _t1con@2 681 00000010 = _t1sync___byte equ _t1con 682 00000002 = _t1sync___bit equ 2 683 ; line_number = 285 684 ; bind _tmr1cs = _t1con@1 685 00000010 = _tmr1cs___byte equ _t1con 686 00000001 = _tmr1cs___bit equ 1 687 ; line_number = 286 688 ; bind _tmr1on = _t1con@0 689 00000010 = _tmr1on___byte equ _t1con 690 00000000 = _tmr1on___bit equ 0 691 692 ; line_number = 288 693 ; register _baudctl = 694 00000011 = _baudctl equ 17 695 ; line_number = 289 696 ; bind _abdovf = _baudctl@7 697 00000011 = _abdovf___byte equ _baudctl 698 00000007 = _abdovf___bit equ 7 699 ; line_number = 290 700 ; bind _rcidl = _baudctl@6 701 00000011 = _rcidl___byte equ _baudctl 702 00000006 = _rcidl___bit equ 6 703 ; line_number = 291 704 ; bind _sckp = _baudctl@4 705 00000011 = _sckp___byte equ _baudctl 706 00000004 = _sckp___bit equ 4 707 ; line_number = 292 708 ; bind _brg16 = _baudctl@3 709 00000011 = _brg16___byte equ _baudctl 710 00000003 = _brg16___bit equ 3 711 ; line_number = 293 712 ; bind _wue = _baudctl@1 713 00000011 = _wue___byte equ _baudctl 714 00000001 = _wue___bit equ 1 715 ; line_number = 294 716 ; bind _abden = _baudctl@0 717 00000011 = _abden___byte equ _baudctl 718 00000000 = _abden___bit equ 0 719 720 ; line_number = 296 721 ; register _spbrgh = 722 00000012 = _spbrgh equ 18 723 724 ; line_number = 298 725 ; register _spbrg = 726 00000013 = _spbrg equ 19 727 728 ; line_number = 300 729 ; register _rcreg = 730 00000014 = _rcreg equ 20 731 732 ; line_number = 302 733 ; register _txreg = 734 00000015 = _txreg equ 21 735 736 ; line_number = 304 737 ; register _txsta = 738 00000016 = _txsta equ 22 739 ; line_number = 305 740 ; bind _csrc = _txsta@7 741 00000016 = _csrc___byte equ _txsta 742 00000007 = _csrc___bit equ 7 743 ; line_number = 306 744 ; bind _tx9 = _txsta@6 745 00000016 = _tx9___byte equ _txsta 746 00000006 = _tx9___bit equ 6 747 ; line_number = 307 748 ; bind _txen = _txsta@5 749 00000016 = _txen___byte equ _txsta 750 00000005 = _txen___bit equ 5 751 ; line_number = 308 752 ; bind _sync = _txsta@4 753 00000016 = _sync___byte equ _txsta 754 00000004 = _sync___bit equ 4 755 ; line_number = 309 756 ; bind _sendb = _txsta@3 757 00000016 = _sendb___byte equ _txsta 758 00000003 = _sendb___bit equ 3 759 ; line_number = 310 760 ; bind _brgh = _txsta@2 761 00000016 = _brgh___byte equ _txsta 762 00000002 = _brgh___bit equ 2 763 ; line_number = 311 764 ; bind _trmt = _txsta@1 765 00000016 = _trmt___byte equ _txsta 766 00000001 = _trmt___bit equ 1 767 ; line_number = 312 768 ; bind _tx9d = _txsta@0 769 00000016 = _tx9d___byte equ _txsta 770 00000000 = _tx9d___bit equ 0 771 772 ; line_number = 314 773 ; register _rcsta = 774 00000017 = _rcsta equ 23 775 ; line_number = 315 776 ; bind _spen = _rcsta@7 777 00000017 = _spen___byte equ _rcsta 778 00000007 = _spen___bit equ 7 779 ; line_number = 316 780 ; bind _rx9 = _rcsta@6 781 00000017 = _rx9___byte equ _rcsta 782 00000006 = _rx9___bit equ 6 783 ; line_number = 317 784 ; bind _sren = _rcsta@5 785 00000017 = _sren___byte equ _rcsta 786 00000005 = _sren___bit equ 5 787 ; line_number = 318 788 ; bind _cren = _rcsta@4 789 00000017 = _cren___byte equ _rcsta 790 00000004 = _cren___bit equ 4 791 ; line_number = 319 792 ; bind _adden = _rcsta@3 793 00000017 = _adden___byte equ _rcsta 794 00000003 = _adden___bit equ 3 795 ; line_number = 320 796 ; bind _ferr = _rcsta@2 797 00000017 = _ferr___byte equ _rcsta 798 00000002 = _ferr___bit equ 2 799 ; line_number = 321 800 ; bind _oerr = _rcsta@1 801 00000017 = _oerr___byte equ _rcsta 802 00000001 = _oerr___bit equ 1 803 ; line_number = 322 804 ; bind _rx9d = _rcsta@0 805 00000017 = _rx9d___byte equ _rcsta 806 00000000 = _rx9d___bit equ 0 807 808 ; line_number = 324 809 ; register _wdtcon = 810 00000018 = _wdtcon equ 24 811 ; line_number = 325 812 ; bind _wdtps3 = _wdtcon@4 813 00000018 = _wdtps3___byte equ _wdtcon 814 00000004 = _wdtps3___bit equ 4 815 ; line_number = 326 816 ; bind _wdtps2 = _wdtcon@3 817 00000018 = _wdtps2___byte equ _wdtcon 818 00000003 = _wdtps2___bit equ 3 819 ; line_number = 327 820 ; bind _wdtps1 = _wdtcon@2 821 00000018 = _wdtps1___byte equ _wdtcon 822 00000002 = _wdtps1___bit equ 2 823 ; line_number = 328 824 ; bind _wdtps0 = _wdtcon@1 825 00000018 = _wdtps0___byte equ _wdtcon 826 00000001 = _wdtps0___bit equ 1 827 ; line_number = 329 828 ; bind _swdten = _wdtcon@0 829 00000018 = _swdten___byte equ _wdtcon 830 00000000 = _swdten___bit equ 0 831 832 ; line_number = 331 833 ; register _cmcon0 = 834 00000019 = _cmcon0 equ 25 835 ; line_number = 332 836 ; bind _c1out = _cmcon0@7 837 00000019 = _c1out___byte equ _cmcon0 838 00000007 = _c1out___bit equ 7 839 ; line_number = 333 840 ; bind _c2out = _cmcon0@6 841 00000019 = _c2out___byte equ _cmcon0 842 00000006 = _c2out___bit equ 6 843 ; line_number = 334 844 ; bind _c1inv = _cmcon0@5 845 00000019 = _c1inv___byte equ _cmcon0 846 00000005 = _c1inv___bit equ 5 847 ; line_number = 335 848 ; bind _c2inv = _cmcon0@4 849 00000019 = _c2inv___byte equ _cmcon0 850 00000004 = _c2inv___bit equ 4 851 ; line_number = 336 852 ; bind _cis = _cmcon0@3 853 00000019 = _cis___byte equ _cmcon0 854 00000003 = _cis___bit equ 3 855 ; line_number = 337 856 ; bind _cm2 = _cmcon0@2 857 00000019 = _cm2___byte equ _cmcon0 858 00000002 = _cm2___bit equ 2 859 ; line_number = 338 860 ; bind _cm1 = _cmcon0@1 861 00000019 = _cm1___byte equ _cmcon0 862 00000001 = _cm1___bit equ 1 863 ; line_number = 339 864 ; bind _cm0 = _cmcon0@0 865 00000019 = _cm0___byte equ _cmcon0 866 00000000 = _cm0___bit equ 0 867 868 ; line_number = 341 869 ; register _cmcon1 = 870 0000001a = _cmcon1 equ 26 871 ; line_number = 342 872 ; bind _t1gss = _cmcon1@0 873 0000001a = _t1gss___byte equ _cmcon1 874 00000000 = _t1gss___bit equ 0 875 ; line_number = 343 876 ; bind _c2sync = _cmcon1@1 877 0000001a = _c2sync___byte equ _cmcon1 878 00000001 = _c2sync___bit equ 1 879 880 ; line_number = 345 881 ; register _adresh = 882 0000001e = _adresh equ 30 883 884 ; line_number = 347 885 ; register _adcon0 = 886 0000001f = _adcon0 equ 31 887 ; line_number = 348 888 ; bind _adfm = _adcon0@7 889 0000001f = _adfm___byte equ _adcon0 890 00000007 = _adfm___bit equ 7 891 ; line_number = 349 892 ; bind _vcfg = _adcon0@6 893 0000001f = _vcfg___byte equ _adcon0 894 00000006 = _vcfg___bit equ 6 895 ; line_number = 350 896 ; bind _chs2 = _adcon0@4 897 0000001f = _chs2___byte equ _adcon0 898 00000004 = _chs2___bit equ 4 899 ; line_number = 351 900 ; bind _chs1 = _adcon0@3 901 0000001f = _chs1___byte equ _adcon0 902 00000003 = _chs1___bit equ 3 903 ; line_number = 352 904 ; bind _chs0 = _adcon0@2 905 0000001f = _chs0___byte equ _adcon0 906 00000002 = _chs0___bit equ 2 907 ; line_number = 353 908 ; bind _go = _adcon0@1 909 0000001f = _go___byte equ _adcon0 910 00000001 = _go___bit equ 1 911 ; line_number = 354 912 ; bind _adon = _adcon0@0 913 0000001f = _adon___byte equ _adcon0 914 00000000 = _adon___bit equ 0 915 916 ; # Data bank 1 (0x80-0xff): 917 918 ; line_number = 358 919 ; register _option_reg = 920 00000081 = _option_reg equ 129 921 ; line_number = 359 922 ; bind _rapu = _option_reg@7 923 00000081 = _rapu___byte equ _option_reg 924 00000007 = _rapu___bit equ 7 925 ; line_number = 360 926 ; bind _intedg = _option_reg@6 927 00000081 = _intedg___byte equ _option_reg 928 00000006 = _intedg___bit equ 6 929 ; line_number = 361 930 ; bind _t0cs = _option_reg@5 931 00000081 = _t0cs___byte equ _option_reg 932 00000005 = _t0cs___bit equ 5 933 ; line_number = 362 934 ; bind _t0se = _option_reg@4 935 00000081 = _t0se___byte equ _option_reg 936 00000004 = _t0se___bit equ 4 937 ; line_number = 363 938 ; bind _psa = _option_reg@3 939 00000081 = _psa___byte equ _option_reg 940 00000003 = _psa___bit equ 3 941 ; line_number = 364 942 ; bind _ps2 = _option_reg@2 943 00000081 = _ps2___byte equ _option_reg 944 00000002 = _ps2___bit equ 2 945 ; line_number = 365 946 ; bind _ps1 = _option_reg@1 947 00000081 = _ps1___byte equ _option_reg 948 00000001 = _ps1___bit equ 1 949 ; line_number = 366 950 ; bind _ps0 = _option_reg@0 951 00000081 = _ps0___byte equ _option_reg 952 00000000 = _ps0___bit equ 0 953 954 ; line_number = 368 955 ; register _trisa = 956 00000085 = _trisa equ 133 957 ; line_number = 369 958 ; bind _trisa5 = _trisa@5 959 00000085 = _trisa5___byte equ _trisa 960 00000005 = _trisa5___bit equ 5 961 ; line_number = 370 962 ; bind _trisa4 = _trisa@4 963 00000085 = _trisa4___byte equ _trisa 964 00000004 = _trisa4___bit equ 4 965 ; line_number = 371 966 ; bind _trisa3 = _trisa@3 967 00000085 = _trisa3___byte equ _trisa 968 00000003 = _trisa3___bit equ 3 969 ; line_number = 372 970 ; bind _trisa2 = _trisa@2 971 00000085 = _trisa2___byte equ _trisa 972 00000002 = _trisa2___bit equ 2 973 ; line_number = 373 974 ; bind _trisa1 = _trisa@1 975 00000085 = _trisa1___byte equ _trisa 976 00000001 = _trisa1___bit equ 1 977 ; line_number = 374 978 ; bind _trisa0 = _trisa@0 979 00000085 = _trisa0___byte equ _trisa 980 00000000 = _trisa0___bit equ 0 981 982 ; line_number = 376 983 ; register _trisc = 984 00000087 = _trisc equ 135 985 ; line_number = 377 986 ; bind _trisc5 = _trisc@5 987 00000087 = _trisc5___byte equ _trisc 988 00000005 = _trisc5___bit equ 5 989 ; line_number = 378 990 ; bind _trisc4 = _trisc@4 991 00000087 = _trisc4___byte equ _trisc 992 00000004 = _trisc4___bit equ 4 993 ; line_number = 379 994 ; bind _trisc3 = _trisc@3 995 00000087 = _trisc3___byte equ _trisc 996 00000003 = _trisc3___bit equ 3 997 ; line_number = 380 998 ; bind _trisc2 = _trisc@2 999 00000087 = _trisc2___byte equ _trisc 1000 00000002 = _trisc2___bit equ 2 1001 ; line_number = 381 1002 ; bind _trisc1 = _trisc@1 1003 00000087 = _trisc1___byte equ _trisc 1004 00000001 = _trisc1___bit equ 1 1005 ; line_number = 382 1006 ; bind _trisc0 = _trisc@0 1007 00000087 = _trisc0___byte equ _trisc 1008 00000000 = _trisc0___bit equ 0 1009 1010 ; line_number = 384 1011 ; register _pie1 = 1012 0000008c = _pie1 equ 140 1013 ; line_number = 385 1014 ; bind _eeie = _pie1@7 1015 0000008c = _eeie___byte equ _pie1 1016 00000007 = _eeie___bit equ 7 1017 ; line_number = 386 1018 ; bind _adie = _pie1@6 1019 0000008c = _adie___byte equ _pie1 1020 00000006 = _adie___bit equ 6 1021 ; line_number = 387 1022 ; bind _rcie = _pie1@5 1023 0000008c = _rcie___byte equ _pie1 1024 00000005 = _rcie___bit equ 5 1025 ; line_number = 388 1026 ; bind _c2ie = _pie1@4 1027 0000008c = _c2ie___byte equ _pie1 1028 00000004 = _c2ie___bit equ 4 1029 ; line_number = 389 1030 ; bind _c1ie = _pie1@3 1031 0000008c = _c1ie___byte equ _pie1 1032 00000003 = _c1ie___bit equ 3 1033 ; line_number = 390 1034 ; bind _osfie = _pie1@2 1035 0000008c = _osfie___byte equ _pie1 1036 00000002 = _osfie___bit equ 2 1037 ; line_number = 391 1038 ; bind _txie = _pie1@1 1039 0000008c = _txie___byte equ _pie1 1040 00000001 = _txie___bit equ 1 1041 ; line_number = 392 1042 ; bind _tmr1ie = _pie1@0 1043 0000008c = _tmr1ie___byte equ _pie1 1044 00000000 = _tmr1ie___bit equ 0 1045 1046 ; line_number = 394 1047 ; register _pcon = 1048 0000008e = _pcon equ 142 1049 ; line_number = 395 1050 ; bind _ulpwue = _pcon@5 1051 0000008e = _ulpwue___byte equ _pcon 1052 00000005 = _ulpwue___bit equ 5 1053 ; line_number = 396 1054 ; bind _sboden = _pcon@4 1055 0000008e = _sboden___byte equ _pcon 1056 00000004 = _sboden___bit equ 4 1057 ; line_number = 397 1058 ; bind _por = _pcon@1 1059 0000008e = _por___byte equ _pcon 1060 00000001 = _por___bit equ 1 1061 ; line_number = 398 1062 ; bind _bod = _pcon@0 1063 0000008e = _bod___byte equ _pcon 1064 00000000 = _bod___bit equ 0 1065 1066 ; line_number = 400 1067 ; register _osccon = 1068 0000008f = _osccon equ 143 1069 ; line_number = 401 1070 ; bind _ircf2 = _osccon@6 1071 0000008f = _ircf2___byte equ _osccon 1072 00000006 = _ircf2___bit equ 6 1073 ; line_number = 402 1074 ; bind _ircf1 = _osccon@5 1075 0000008f = _ircf1___byte equ _osccon 1076 00000005 = _ircf1___bit equ 5 1077 ; line_number = 403 1078 ; bind _ircf0 = _osccon@4 1079 0000008f = _ircf0___byte equ _osccon 1080 00000004 = _ircf0___bit equ 4 1081 ; line_number = 404 1082 ; bind _osts = _osccon@3 1083 0000008f = _osts___byte equ _osccon 1084 00000003 = _osts___bit equ 3 1085 ; line_number = 405 1086 ; bind _hts = _osccon@2 1087 0000008f = _hts___byte equ _osccon 1088 00000002 = _hts___bit equ 2 1089 ; line_number = 406 1090 ; bind _lts = _osccon@3 1091 0000008f = _lts___byte equ _osccon 1092 00000003 = _lts___bit equ 3 1093 ; line_number = 407 1094 ; bind _scs = _osccon@2 1095 0000008f = _scs___byte equ _osccon 1096 00000002 = _scs___bit equ 2 1097 1098 ; line_number = 409 1099 ; register _osctune = 1100 00000090 = _osctune equ 144 1101 ; line_number = 410 1102 ; bind _tun4 = _osctune@4 1103 00000090 = _tun4___byte equ _osctune 1104 00000004 = _tun4___bit equ 4 1105 ; line_number = 411 1106 ; bind _tun3 = _osctune@3 1107 00000090 = _tun3___byte equ _osctune 1108 00000003 = _tun3___bit equ 3 1109 ; line_number = 412 1110 ; bind _tun2 = _osctune@2 1111 00000090 = _tun2___byte equ _osctune 1112 00000002 = _tun2___bit equ 2 1113 ; line_number = 413 1114 ; bind _tun1 = _osctune@1 1115 00000090 = _tun1___byte equ _osctune 1116 00000001 = _tun1___bit equ 1 1117 ; line_number = 414 1118 ; bind _tun0 = _osctune@0 1119 00000090 = _tun0___byte equ _osctune 1120 00000000 = _tun0___bit equ 0 1121 ; line_number = 415 1122 ; constant _osccal_lsb = 1 1123 00000001 = _osccal_lsb equ 1 1124 1125 ; line_number = 417 1126 ; register _ansel = 1127 00000091 = _ansel equ 145 1128 ; line_number = 418 1129 ; bind _ans7 = _ansel@7 1130 00000091 = _ans7___byte equ _ansel 1131 00000007 = _ans7___bit equ 7 1132 ; line_number = 419 1133 ; bind _ans6 = _ansel@6 1134 00000091 = _ans6___byte equ _ansel 1135 00000006 = _ans6___bit equ 6 1136 ; line_number = 420 1137 ; bind _ans5 = _ansel@5 1138 00000091 = _ans5___byte equ _ansel 1139 00000005 = _ans5___bit equ 5 1140 ; line_number = 421 1141 ; bind _ans4 = _ansel@4 1142 00000091 = _ans4___byte equ _ansel 1143 00000004 = _ans4___bit equ 4 1144 ; line_number = 422 1145 ; bind _ans3 = _ansel@3 1146 00000091 = _ans3___byte equ _ansel 1147 00000003 = _ans3___bit equ 3 1148 ; line_number = 423 1149 ; bind _ans2 = _ansel@2 1150 00000091 = _ans2___byte equ _ansel 1151 00000002 = _ans2___bit equ 2 1152 ; line_number = 424 1153 ; bind _ans1 = _ansel@1 1154 00000091 = _ans1___byte equ _ansel 1155 00000001 = _ans1___bit equ 1 1156 ; line_number = 425 1157 ; bind _ans0 = _ansel@0 1158 00000091 = _ans0___byte equ _ansel 1159 00000000 = _ans0___bit equ 0 1160 1161 ; line_number = 427 1162 ; register _wpua = 1163 00000095 = _wpua equ 149 1164 ; line_number = 428 1165 ; bind _wpua5 = _wpua@5 1166 00000095 = _wpua5___byte equ _wpua 1167 00000005 = _wpua5___bit equ 5 1168 ; line_number = 429 1169 ; bind _wpua4 = _wpua@4 1170 00000095 = _wpua4___byte equ _wpua 1171 00000004 = _wpua4___bit equ 4 1172 ; line_number = 430 1173 ; bind _wpua2 = _wpua@2 1174 00000095 = _wpua2___byte equ _wpua 1175 00000002 = _wpua2___bit equ 2 1176 ; line_number = 431 1177 ; bind _wpua1 = _wpua@1 1178 00000095 = _wpua1___byte equ _wpua 1179 00000001 = _wpua1___bit equ 1 1180 ; line_number = 432 1181 ; bind _wpua0 = _wpua@0 1182 00000095 = _wpua0___byte equ _wpua 1183 00000000 = _wpua0___bit equ 0 1184 1185 ; line_number = 434 1186 ; register _ioca = 1187 00000096 = _ioca equ 150 1188 ; line_number = 435 1189 ; bind _ioca5 = _ioca@5 1190 00000096 = _ioca5___byte equ _ioca 1191 00000005 = _ioca5___bit equ 5 1192 ; line_number = 436 1193 ; bind _ioca4 = _ioca@4 1194 00000096 = _ioca4___byte equ _ioca 1195 00000004 = _ioca4___bit equ 4 1196 ; line_number = 437 1197 ; bind _ioca3 = _ioca@3 1198 00000096 = _ioca3___byte equ _ioca 1199 00000003 = _ioca3___bit equ 3 1200 ; line_number = 438 1201 ; bind _ioca2 = _ioca@2 1202 00000096 = _ioca2___byte equ _ioca 1203 00000002 = _ioca2___bit equ 2 1204 ; line_number = 439 1205 ; bind _ioca1 = _ioca@1 1206 00000096 = _ioca1___byte equ _ioca 1207 00000001 = _ioca1___bit equ 1 1208 ; line_number = 440 1209 ; bind _ioca0 = _ioca@0 1210 00000096 = _ioca0___byte equ _ioca 1211 00000000 = _ioca0___bit equ 0 1212 1213 ; line_number = 442 1214 ; register _eedath = 1215 00000097 = _eedath equ 151 1216 1217 ; line_number = 444 1218 ; register _eeadrh = 1219 00000098 = _eeadrh equ 152 1220 1221 ; line_number = 446 1222 ; register _vrcon = 1223 00000099 = _vrcon equ 153 1224 ; line_number = 447 1225 ; bind _vren = _vrcon@7 1226 00000099 = _vren___byte equ _vrcon 1227 00000007 = _vren___bit equ 7 1228 ; line_number = 448 1229 ; bind _vrr = _vrcon@5 1230 00000099 = _vrr___byte equ _vrcon 1231 00000005 = _vrr___bit equ 5 1232 ; line_number = 449 1233 ; bind _vr3 = _vrcon@3 1234 00000099 = _vr3___byte equ _vrcon 1235 00000003 = _vr3___bit equ 3 1236 ; line_number = 450 1237 ; bind _vr2 = _vrcon@2 1238 00000099 = _vr2___byte equ _vrcon 1239 00000002 = _vr2___bit equ 2 1240 ; line_number = 451 1241 ; bind _vr1 = _vrcon@1 1242 00000099 = _vr1___byte equ _vrcon 1243 00000001 = _vr1___bit equ 1 1244 ; line_number = 452 1245 ; bind _vr0 = _vrcon@0 1246 00000099 = _vr0___byte equ _vrcon 1247 00000000 = _vr0___bit equ 0 1248 1249 ; line_number = 454 1250 ; register _eedat = 1251 0000009a = _eedat equ 154 1252 ; line_number = 455 1253 ; bind _eedat7 = _eedat@7 1254 0000009a = _eedat7___byte equ _eedat 1255 00000007 = _eedat7___bit equ 7 1256 ; line_number = 456 1257 ; bind _eedat6 = _eedat@6 1258 0000009a = _eedat6___byte equ _eedat 1259 00000006 = _eedat6___bit equ 6 1260 ; line_number = 457 1261 ; bind _eedat5 = _eedat@5 1262 0000009a = _eedat5___byte equ _eedat 1263 00000005 = _eedat5___bit equ 5 1264 ; line_number = 458 1265 ; bind _eedat4 = _eedat@4 1266 0000009a = _eedat4___byte equ _eedat 1267 00000004 = _eedat4___bit equ 4 1268 ; line_number = 459 1269 ; bind _eedat3 = _eedat@3 1270 0000009a = _eedat3___byte equ _eedat 1271 00000003 = _eedat3___bit equ 3 1272 ; line_number = 460 1273 ; bind _eedat2 = _eedat@2 1274 0000009a = _eedat2___byte equ _eedat 1275 00000002 = _eedat2___bit equ 2 1276 ; line_number = 461 1277 ; bind _eedat1 = _eedat@1 1278 0000009a = _eedat1___byte equ _eedat 1279 00000001 = _eedat1___bit equ 1 1280 ; line_number = 462 1281 ; bind _eedat0 = _eedat@0 1282 0000009a = _eedat0___byte equ _eedat 1283 00000000 = _eedat0___bit equ 0 1284 1285 ; line_number = 464 1286 ; register _eeadr = 1287 0000009b = _eeadr equ 155 1288 ; line_number = 465 1289 ; bind _eeadr7 = _eeadr@7 1290 0000009b = _eeadr7___byte equ _eeadr 1291 00000007 = _eeadr7___bit equ 7 1292 ; line_number = 466 1293 ; bind _eeadr6 = _eeadr@6 1294 0000009b = _eeadr6___byte equ _eeadr 1295 00000006 = _eeadr6___bit equ 6 1296 ; line_number = 467 1297 ; bind _eeadr5 = _eeadr@5 1298 0000009b = _eeadr5___byte equ _eeadr 1299 00000005 = _eeadr5___bit equ 5 1300 ; line_number = 468 1301 ; bind _eeadr4 = _eeadr@4 1302 0000009b = _eeadr4___byte equ _eeadr 1303 00000004 = _eeadr4___bit equ 4 1304 ; line_number = 469 1305 ; bind _eeadr3 = _eeadr@3 1306 0000009b = _eeadr3___byte equ _eeadr 1307 00000003 = _eeadr3___bit equ 3 1308 ; line_number = 470 1309 ; bind _eeadr2 = _eeadr@2 1310 0000009b = _eeadr2___byte equ _eeadr 1311 00000002 = _eeadr2___bit equ 2 1312 ; line_number = 471 1313 ; bind _eeadr1 = _eeadr@1 1314 0000009b = _eeadr1___byte equ _eeadr 1315 00000001 = _eeadr1___bit equ 1 1316 ; line_number = 472 1317 ; bind _eeadr0 = _eeadr@0 1318 0000009b = _eeadr0___byte equ _eeadr 1319 00000000 = _eeadr0___bit equ 0 1320 1321 ; line_number = 474 1322 ; register _eecon1 = 1323 0000009c = _eecon1 equ 156 1324 ; line_number = 475 1325 ; bind _eepgd = _eecon1@7 1326 0000009c = _eepgd___byte equ _eecon1 1327 00000007 = _eepgd___bit equ 7 1328 ; line_number = 476 1329 ; bind _wrerr = _eecon1@3 1330 0000009c = _wrerr___byte equ _eecon1 1331 00000003 = _wrerr___bit equ 3 1332 ; line_number = 477 1333 ; bind _wren = _eecon1@2 1334 0000009c = _wren___byte equ _eecon1 1335 00000002 = _wren___bit equ 2 1336 ; line_number = 478 1337 ; bind _wr = _eecon1@1 1338 0000009c = _wr___byte equ _eecon1 1339 00000001 = _wr___bit equ 1 1340 ; line_number = 479 1341 ; bind _rd = _eecon1@0 1342 0000009c = _rd___byte equ _eecon1 1343 00000000 = _rd___bit equ 0 1344 1345 ; line_number = 481 1346 ; register _eecon2 = 1347 0000009d = _eecon2 equ 157 1348 1349 ; line_number = 483 1350 ; register _adresl = 1351 0000009e = _adresl equ 158 1352 1353 ; line_number = 485 1354 ; register _adcon1 = 1355 0000009f = _adcon1 equ 159 1356 ; line_number = 486 1357 ; bind _adcs2 = _adcon1@6 1358 0000009f = _adcs2___byte equ _adcon1 1359 00000006 = _adcs2___bit equ 6 1360 ; line_number = 487 1361 ; bind _adcs1 = _adcon1@5 1362 0000009f = _adcs1___byte equ _adcon1 1363 00000005 = _adcs1___bit equ 5 1364 ; line_number = 488 1365 ; bind _adcs0 = _adcon1@4 1366 0000009f = _adcs0___byte equ _adcon1 1367 00000004 = _adcs0___bit equ 4 1368 1369 ; # Data Bank 2 (0x100 - 0x17f): 1370 1371 ; buffer = 'servo4' 1372 ; line_number = 7 1373 ; library _pic16f688 exited 1374 1375 ; # The system is running at 20MHz: 1376 ; line_number = 10 1377 ; library clock20mhz entered 1378 ; # Copyright (c) 2004 by Wayne C. Gramlich 1379 ; # All rights reserved. 1380 1381 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 1382 ; # and {clocks_per_instruction}. 1383 1384 ; # Define processor constants: 1385 ; buffer = 'clock20mhz' 1386 ; line_number = 9 1387 ; constant clock_rate = 20000000 1388 01312d00 = clock_rate equ 20000000 1389 ; line_number = 10 1390 ; constant clocks_per_instruction = 4 1391 00000004 = clocks_per_instruction equ 4 1392 ; line_number = 11 1393 ; constant instruction_rate = clock_rate / clocks_per_instruction 1394 004c4b40 = instruction_rate equ 5000000 1395 1396 1397 ; buffer = 'servo4' 1398 ; line_number = 10 1399 ; library clock20mhz exited 1400 ; # A microsecond takes 5 cycles at 20MHz: 1401 ; line_number = 12 1402 ; constant microsecond = 5 1403 00000005 = microsecond equ 5 1404 1405 ; # The {_eusart} library defines some baud rate generator constants: 1406 ; line_number = 15 1407 ; constant _eusart_clock = clock_rate 1408 01312d00 = _eusart_clock equ 20000000 1409 ; line_number = 16 1410 ; constant _eusart_factor = 4 1411 00000004 = _eusart_factor equ 4 1412 ; line_number = 17 1413 ; library _eusart entered 1414 1415 ; # Copyright (c) 2005 by Wayne C. Gramlich 1416 ; # All rights reserved. 1417 1418 ; # This library contains a bunch of definitions for the Enhanced Universal 1419 ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available 1420 ; # on many of the PIC microcontrollers. 1421 1422 ; # In order to use this module you have to get two constants defined 1423 ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. 1424 ; # {_eusart_clock} should be set to the frequency oscillator for the chip. 1425 ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether 1426 ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: 1427 ; # 1428 ; # _{brg16} {_brgh} _{eusart_factor} 1429 ; # 0 0 64 1430 ; # 0 1 16 1431 ; # 1 0 16 1432 ; # 1 1 4 1433 1434 ; # 2400 bits/sec: 1435 ; buffer = '_eusart' 1436 ; line_number = 23 1437 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 1438 00000822 = _eusart_2400 equ 2082 1439 ; line_number = 24 1440 ; constant _eusart_2400_low = _eusart_2400 & 0xff 1441 00000022 = _eusart_2400_low equ 34 1442 ; line_number = 25 1443 ; constant _eusart_2400_high = _eusart_2400 >> 8 1444 00000008 = _eusart_2400_high equ 8 1445 ; line_number = 26 1446 ; constant _eusart_2400_index = 0 1447 00000000 = _eusart_2400_index equ 0 1448 ; # 4800 bits/sec: 1449 ; line_number = 28 1450 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 1451 00000410 = _eusart_4800 equ 1040 1452 ; line_number = 29 1453 ; constant _eusart_4800_low = _eusart_4800 & 0xff 1454 00000010 = _eusart_4800_low equ 16 1455 ; line_number = 30 1456 ; constant _eusart_4800_high = _eusart_4800 >> 8 1457 00000004 = _eusart_4800_high equ 4 1458 ; line_number = 31 1459 ; constant _eusart_4800_index = 1 1460 00000001 = _eusart_4800_index equ 1 1461 ; # 9600 bits/sec: 1462 ; line_number = 33 1463 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 1464 00000207 = _eusart_9600 equ 519 1465 ; line_number = 34 1466 ; constant _eusart_9600_low = _eusart_9600 & 0xff 1467 00000007 = _eusart_9600_low equ 7 1468 ; line_number = 35 1469 ; constant _eusart_9600_high = _eusart_9600 >> 8 1470 00000002 = _eusart_9600_high equ 2 1471 ; line_number = 36 1472 ; constant _eusart_9600_index = 2 1473 00000002 = _eusart_9600_index equ 2 1474 ; # 19200 bits/sec: 1475 ; line_number = 38 1476 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 1477 00000103 = _eusart_19200 equ 259 1478 ; line_number = 39 1479 ; constant _eusart_19200_low = _eusart_19200 & 0xff 1480 00000003 = _eusart_19200_low equ 3 1481 ; line_number = 40 1482 ; constant _eusart_19200_high = _eusart_19200 >> 8 1483 00000001 = _eusart_19200_high equ 1 1484 ; line_number = 41 1485 ; constant _eusart_19200_index = 3 1486 00000003 = _eusart_19200_index equ 3 1487 ; # 38400 bits/sec: 1488 ; line_number = 43 1489 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 1490 00000081 = _eusart_38400 equ 129 1491 ; line_number = 44 1492 ; constant _eusart_38400_low = _eusart_38400 & 0xff 1493 00000081 = _eusart_38400_low equ 129 1494 ; line_number = 45 1495 ; constant _eusart_38400_high = _eusart_38400 >> 8 1496 00000000 = _eusart_38400_high equ 0 1497 ; line_number = 46 1498 ; constant _eusart_38400_index = 4 1499 00000004 = _eusart_38400_index equ 4 1500 ; # 57600 bits/sec: 1501 ; line_number = 48 1502 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 1503 00000055 = _eusart_57600 equ 85 1504 ; line_number = 49 1505 ; constant _eusart_57600_low = _eusart_57600 & 0xff 1506 00000055 = _eusart_57600_low equ 85 1507 ; line_number = 50 1508 ; constant _eusart_57600_high = _eusart_57600 >> 8 1509 00000000 = _eusart_57600_high equ 0 1510 ; line_number = 51 1511 ; constant _eusart_57600_index = 5 1512 00000005 = _eusart_57600_index equ 5 1513 ; # 115200 bits/sec: 1514 ; line_number = 53 1515 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 1516 0000002a = _eusart_115200 equ 42 1517 ; line_number = 54 1518 ; constant _eusart_115200_low = _eusart_115200 & 0xff 1519 0000002a = _eusart_115200_low equ 42 1520 ; line_number = 55 1521 ; constant _eusart_115200_high = _eusart_115200 >> 8 1522 00000000 = _eusart_115200_high equ 0 1523 ; line_number = 56 1524 ; constant _eusart_115200_index = 6 1525 00000006 = _eusart_115200_index equ 6 1526 ; # 203400 bits/sec: 1527 ; line_number = 58 1528 ; constant _eusart_230400 = (_eusart_clock / (230400 * _eusart_factor)) - 1 1529 00000014 = _eusart_230400 equ 20 1530 ; line_number = 59 1531 ; constant _eusart_230400_low = _eusart_230400 & 0xff 1532 00000014 = _eusart_230400_low equ 20 1533 ; line_number = 60 1534 ; constant _eusart_230400_high = _eusart_230400 >> 8 1535 00000000 = _eusart_230400_high equ 0 1536 ; line_number = 61 1537 ; constant _eusart_230400_index = 7 1538 00000007 = _eusart_230400_index equ 7 1539 ; # 406800 bits/sec: 1540 ; line_number = 63 1541 ; constant _eusart_460800 = (_eusart_clock / (460800 * _eusart_factor)) - 1 1542 00000009 = _eusart_460800 equ 9 1543 ; line_number = 64 1544 ; constant _eusart_460800_low = _eusart_460800 & 0xff 1545 00000009 = _eusart_460800_low equ 9 1546 ; line_number = 65 1547 ; constant _eusart_460800_high = _eusart_460800 >> 8 1548 00000000 = _eusart_460800_high equ 0 1549 ; line_number = 66 1550 ; constant _eusart_460800_index = 8 1551 00000008 = _eusart_460800_index equ 8 1552 ; # 500000 bits/sec: 1553 ; line_number = 68 1554 ; constant _eusart_500000 = (_eusart_clock / (500000 * _eusart_factor)) - 1 1555 00000009 = _eusart_500000 equ 9 1556 ; line_number = 69 1557 ; constant _eusart_500000_low = _eusart_500000 & 0xff 1558 00000009 = _eusart_500000_low equ 9 1559 ; line_number = 70 1560 ; constant _eusart_500000_high = _eusart_500000 >> 8 1561 00000000 = _eusart_500000_high equ 0 1562 ; line_number = 71 1563 ; constant _eusart_500000_index = 9 1564 00000009 = _eusart_500000_index equ 9 1565 ; # 576000 bits/sec (1MHz): 1566 ; line_number = 73 1567 ; constant _eusart_576000 = (_eusart_clock / (576000 * _eusart_factor)) - 1 1568 00000007 = _eusart_576000 equ 7 1569 ; line_number = 74 1570 ; constant _eusart_576000_low = _eusart_576000 & 0xff 1571 00000007 = _eusart_576000_low equ 7 1572 ; line_number = 75 1573 ; constant _eusart_576000_high = _eusart_576000 >> 8 1574 00000000 = _eusart_576000_high equ 0 1575 ; line_number = 76 1576 ; constant _eusart_576000_index = 10 1577 0000000a = _eusart_576000_index equ 10 1578 ; # 625000 bits/sec: 1579 ; line_number = 78 1580 ; constant _eusart_625000 = (_eusart_clock / (625000 * _eusart_factor)) - 1 1581 00000007 = _eusart_625000 equ 7 1582 ; line_number = 79 1583 ; constant _eusart_625000_low = _eusart_625000 & 0xff 1584 00000007 = _eusart_625000_low equ 7 1585 ; line_number = 80 1586 ; constant _eusart_625000_high = _eusart_625000 >> 8 1587 00000000 = _eusart_625000_high equ 0 1588 ; line_number = 81 1589 ; constant _eusart_625000_index = 11 1590 0000000b = _eusart_625000_index equ 11 1591 ; # 833333 bits/sec: 1592 ; line_number = 83 1593 ; constant _eusart_833333 = (_eusart_clock / (833333 * _eusart_factor)) - 1 1594 00000005 = _eusart_833333 equ 5 1595 ; line_number = 84 1596 ; constant _eusart_833333_low = _eusart_833333 & 0xff 1597 00000005 = _eusart_833333_low equ 5 1598 ; line_number = 85 1599 ; constant _eusart_833333_high = _eusart_833333 >> 8 1600 00000000 = _eusart_833333_high equ 0 1601 ; line_number = 86 1602 ; constant _eusart_833333_index = 12 1603 0000000c = _eusart_833333_index equ 12 1604 ; # 921600 bits/sec: 1605 ; line_number = 88 1606 ; constant _eusart_921600 = (_eusart_clock / (921600 * _eusart_factor)) - 1 1607 00000004 = _eusart_921600 equ 4 1608 ; line_number = 89 1609 ; constant _eusart_921600_low = _eusart_921600 & 0xff 1610 00000004 = _eusart_921600_low equ 4 1611 ; line_number = 90 1612 ; constant _eusart_921600_high = _eusart_921600 >> 8 1613 00000000 = _eusart_921600_high equ 0 1614 ; line_number = 91 1615 ; constant _eusart_921600_index = 13 1616 0000000d = _eusart_921600_index equ 13 1617 ; # 1000000 bits/sec (1MHz): 1618 ; line_number = 93 1619 ; constant _eusart_1000000 = (_eusart_clock / (1000000 * _eusart_factor)) - 1 1620 00000004 = _eusart_1000000 equ 4 1621 ; line_number = 94 1622 ; constant _eusart_1000000_low = _eusart_1000000 & 0xff 1623 00000004 = _eusart_1000000_low equ 4 1624 ; line_number = 95 1625 ; constant _eusart_1000000_high = _eusart_1000000 >> 8 1626 00000000 = _eusart_1000000_high equ 0 1627 ; line_number = 96 1628 ; constant _eusart_1000000_index = 14 1629 0000000e = _eusart_1000000_index equ 14 1630 1631 ; buffer = 'servo4' 1632 ; line_number = 17 1633 ; library _eusart exited 1634 1635 ; # The library of bus access routines for use by a PIC16F688. 1636 ; line_number = 20 1637 ; library rb2_constants entered 1638 1639 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. 1640 ; # All rights reserved. 1641 1642 ; buffer = 'rb2_constants' 1643 ; line_number = 6 1644 ; constant rb2_ok = 0xa5 1645 000000a5 = rb2_ok equ 165 1646 1647 ; line_number = 8 1648 ; constant rb2_common_address_set = 0xfc 1649 000000fc = rb2_common_address_set equ 252 1650 ; line_number = 9 1651 ; constant rb2_common_id_next = 0xfd 1652 000000fd = rb2_common_id_next equ 253 1653 ; line_number = 10 1654 ; constant rb2_common_id_start = 0xfe 1655 000000fe = rb2_common_id_start equ 254 1656 ; line_number = 11 1657 ; constant rb2_common_deselect = 0xff 1658 000000ff = rb2_common_deselect equ 255 1659 1660 ; line_number = 13 1661 ; constant rb2_laser1_address = 1 1662 00000001 = rb2_laser1_address equ 1 1663 ; line_number = 14 1664 ; constant rb2_laser1_sense_read = 0 1665 00000000 = rb2_laser1_sense_read equ 0 1666 ; line_number = 15 1667 ; constant rb2_laser1_enable_read = 1 1668 00000001 = rb2_laser1_enable_read equ 1 1669 ; line_number = 16 1670 ; constant rb2_laser1_enable_clear = 2 1671 00000002 = rb2_laser1_enable_clear equ 2 1672 ; line_number = 17 1673 ; constant rb2_laser1_enable_set = 3 1674 00000003 = rb2_laser1_enable_set equ 3 1675 1676 ; line_number = 19 1677 ; constant rb2_minimotor2_address = 2 1678 00000002 = rb2_minimotor2_address equ 2 1679 ; line_number = 20 1680 ; constant rb2_midimotor2_address = 3 1681 00000003 = rb2_midimotor2_address equ 3 1682 ; line_number = 21 1683 ; constant rb2_motor0_speed_get = 0 1684 00000000 = rb2_motor0_speed_get equ 0 1685 ; line_number = 22 1686 ; constant rb2_motor0_speed_set = 1 1687 00000001 = rb2_motor0_speed_set equ 1 1688 ; line_number = 23 1689 ; constant rb2_motor1_speed_get = 2 1690 00000002 = rb2_motor1_speed_get equ 2 1691 ; line_number = 24 1692 ; constant rb2_motor1_speed_set = 3 1693 00000003 = rb2_motor1_speed_set equ 3 1694 ; line_number = 25 1695 ; constant rb2_duty_cycle_get = 4 1696 00000004 = rb2_duty_cycle_get equ 4 1697 ; line_number = 26 1698 ; constant rb2_duty_cycle_set = 8 1699 00000008 = rb2_duty_cycle_set equ 8 1700 1701 ; line_number = 28 1702 ; constant rb2_irdistance2_address = 4 1703 00000004 = rb2_irdistance2_address equ 4 1704 ; line_number = 29 1705 ; constant rb2_irdistance2_raw0_get = 0 1706 00000000 = rb2_irdistance2_raw0_get equ 0 1707 ; line_number = 30 1708 ; constant rb2_irdistance2_raw1_get = 1 1709 00000001 = rb2_irdistance2_raw1_get equ 1 1710 ; line_number = 31 1711 ; constant rb2_irdistance2_smooth0_get = 2 1712 00000002 = rb2_irdistance2_smooth0_get equ 2 1713 ; line_number = 32 1714 ; constant rb2_irdistance2_smooth1_get = 3 1715 00000003 = rb2_irdistance2_smooth1_get equ 3 1716 ; line_number = 33 1717 ; constant rb2_irdistance2_linear0_get = 4 1718 00000004 = rb2_irdistance2_linear0_get equ 4 1719 ; line_number = 34 1720 ; constant rb2_irdistance2_linear1_get = 6 1721 00000006 = rb2_irdistance2_linear1_get equ 6 1722 1723 ; line_number = 36 1724 ; constant rb2_shaft2_address = 5 1725 00000005 = rb2_shaft2_address equ 5 1726 ; line_number = 37 1727 ; constant rb2_shaft2_count_latch = 0 1728 00000000 = rb2_shaft2_count_latch equ 0 1729 ; line_number = 38 1730 ; constant rb2_shaft2_count_clear = 1 1731 00000001 = rb2_shaft2_count_clear equ 1 1732 ; line_number = 39 1733 ; constant rb2_shaft2_shaft0_high_get = 2 1734 00000002 = rb2_shaft2_shaft0_high_get equ 2 1735 ; line_number = 40 1736 ; constant rb2_shaft2_shaft1_high_get = 3 1737 00000003 = rb2_shaft2_shaft1_high_get equ 3 1738 ; line_number = 41 1739 ; constant rb2_shaft2_continue_get = 4 1740 00000004 = rb2_shaft2_continue_get equ 4 1741 ; line_number = 42 1742 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get 1743 00000004 = rb2_shaft2_shaft0_low_get equ 4 1744 ; line_number = 43 1745 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get 1746 00000004 = rb2_shaft2_shaft1_low_get equ 4 1747 ; line_number = 44 1748 ; constant rb2_shaft2_x_get = 0x10 1749 00000010 = rb2_shaft2_x_get equ 16 1750 ; line_number = 45 1751 ; constant rb2_shaft2_y_get = 0x11 1752 00000011 = rb2_shaft2_y_get equ 17 1753 ; line_number = 46 1754 ; constant rb2_shaft2_bearing16_get = 0x12 1755 00000012 = rb2_shaft2_bearing16_get equ 18 1756 ; line_number = 47 1757 ; constant rb2_shaft2_bearing8_get = 0x13 1758 00000013 = rb2_shaft2_bearing8_get equ 19 1759 ; line_number = 48 1760 ; constant rb2_shaft2_target_x_get = 0x14 1761 00000014 = rb2_shaft2_target_x_get equ 20 1762 ; line_number = 49 1763 ; constant rb2_shaft2_target_y_get = 0x15 1764 00000015 = rb2_shaft2_target_y_get equ 21 1765 ; line_number = 50 1766 ; constant rb2_shaft2_target_bearing16_get = 0x16 1767 00000016 = rb2_shaft2_target_bearing16_get equ 22 1768 ; line_number = 51 1769 ; constant rb2_shaft2_target_bearing8_get = 0x17 1770 00000017 = rb2_shaft2_target_bearing8_get equ 23 1771 ; line_number = 52 1772 ; constant rb2_shaft2_target_distance_get = 0x18 1773 00000018 = rb2_shaft2_target_distance_get equ 24 1774 ; line_number = 53 1775 ; constant rb2_shaft2_wheel_spacing_get = 0x19 1776 00000019 = rb2_shaft2_wheel_spacing_get equ 25 1777 ; line_number = 54 1778 ; constant rb2_shaft2_wheel_ticks_get = 0x1a 1779 0000001a = rb2_shaft2_wheel_ticks_get equ 26 1780 ; line_number = 55 1781 ; constant rb2_shaft2_wheel_diameter_get = 0x1b 1782 0000001b = rb2_shaft2_wheel_diameter_get equ 27 1783 ; line_number = 56 1784 ; constant rb2_shaft2_count_iteration_get = 0x1c 1785 0000001c = rb2_shaft2_count_iteration_get equ 28 1786 ; line_number = 57 1787 ; constant rb2_shaft2_x_set = 0x20 1788 00000020 = rb2_shaft2_x_set equ 32 1789 ; line_number = 58 1790 ; constant rb2_shaft2_y_set = 0x21 1791 00000021 = rb2_shaft2_y_set equ 33 1792 ; line_number = 59 1793 ; constant rb2_shaft2_bearing16_set = 0x22 1794 00000022 = rb2_shaft2_bearing16_set equ 34 1795 ; line_number = 60 1796 ; constant rb2_shaft2_navigation_latch = 0x23 1797 00000023 = rb2_shaft2_navigation_latch equ 35 1798 ; line_number = 61 1799 ; constant rb2_shaft2_target_x_set = 0x24 1800 00000024 = rb2_shaft2_target_x_set equ 36 1801 ; line_number = 62 1802 ; constant rb2_shaft2_target_y_set = 0x25 1803 00000025 = rb2_shaft2_target_y_set equ 37 1804 ; line_number = 63 1805 ; constant rb2_shaft2_wheel_spacing_set = 0x29 1806 00000029 = rb2_shaft2_wheel_spacing_set equ 41 1807 ; line_number = 64 1808 ; constant rb2_shaft2_wheel_ticks_set = 0x2a 1809 0000002a = rb2_shaft2_wheel_ticks_set equ 42 1810 ; line_number = 65 1811 ; constant rb2_shaft2_wheel_diameter_set = 0x2b 1812 0000002b = rb2_shaft2_wheel_diameter_set equ 43 1813 1814 1815 ; line_number = 68 1816 ; constant rb2_orient5_address = 6 1817 00000006 = rb2_orient5_address equ 6 1818 1819 ; line_number = 70 1820 ; constant rb2_compass8_address = 7 1821 00000007 = rb2_compass8_address equ 7 1822 1823 ; line_number = 72 1824 ; constant rb2_io8_address = 8 1825 00000008 = rb2_io8_address equ 8 1826 ; line_number = 73 1827 ; constant rb2_io8_digital8_get = 0 1828 00000000 = rb2_io8_digital8_get equ 0 1829 ; line_number = 74 1830 ; constant rb2_io8_digital8_set = 1 1831 00000001 = rb2_io8_digital8_set equ 1 1832 ; line_number = 75 1833 ; constant rb2_io8_direction_get = 2 1834 00000002 = rb2_io8_direction_get equ 2 1835 ; line_number = 76 1836 ; constant rb2_io8_direction_set = 3 1837 00000003 = rb2_io8_direction_set equ 3 1838 ; line_number = 77 1839 ; constant rb2_io8_analog_mask_get = 4 1840 00000004 = rb2_io8_analog_mask_get equ 4 1841 ; line_number = 78 1842 ; constant rb2_io8_analog_mask_set = 5 1843 00000005 = rb2_io8_analog_mask_set equ 5 1844 ; line_number = 79 1845 ; constant rb2_io8_analog8_get = 0x10 1846 00000010 = rb2_io8_analog8_get equ 16 1847 ; line_number = 80 1848 ; constant rb2_io8_analog10_get = 0x18 1849 00000018 = rb2_io8_analog10_get equ 24 1850 ; line_number = 81 1851 ; constant rb2_low_set = 0x20 1852 00000020 = rb2_low_set equ 32 1853 ; line_number = 82 1854 ; constant rb2_high_set = 0x30 1855 00000030 = rb2_high_set equ 48 1856 1857 ; line_number = 84 1858 ; constant rb2_sonar2_address = 9 1859 00000009 = rb2_sonar2_address equ 9 1860 1861 ; line_number = 86 1862 ; constant rb2_voice1_address = 10 1863 0000000a = rb2_voice1_address equ 10 1864 1865 ; line_number = 88 1866 ; constant rb2_servo4_address = 11 1867 0000000b = rb2_servo4_address equ 11 1868 ; line_number = 89 1869 ; constant rb2_servo4_servo0 = 0 1870 00000000 = rb2_servo4_servo0 equ 0 1871 ; line_number = 90 1872 ; constant rb2_servo4_servo1 = 1 1873 00000001 = rb2_servo4_servo1 equ 1 1874 ; line_number = 91 1875 ; constant rb2_servo4_servo2 = 2 1876 00000002 = rb2_servo4_servo2 equ 2 1877 ; line_number = 92 1878 ; constant rb2_servo4_servo3 = 3 1879 00000003 = rb2_servo4_servo3 equ 3 1880 ; line_number = 93 1881 ; constant rb2_servo4_quick_set = 0 1882 00000000 = rb2_servo4_quick_set equ 0 1883 ; line_number = 94 1884 ; constant rb2_servo4_quick_low = 0 1885 00000000 = rb2_servo4_quick_low equ 0 1886 ; line_number = 95 1887 ; constant rb2_servo4_quick_center = 40 1888 00000028 = rb2_servo4_quick_center equ 40 1889 ; line_number = 96 1890 ; constant rb2_servo4_quick_high = 0x7c 1891 0000007c = rb2_servo4_quick_high equ 124 1892 ; line_number = 97 1893 ; constant rb2_servo4_high_low_set = 0x80 1894 00000080 = rb2_servo4_high_low_set equ 128 1895 ; line_number = 98 1896 ; constant rb2_servo4_short_high_low_set = 0x84 1897 00000084 = rb2_servo4_short_high_low_set equ 132 1898 ; line_number = 99 1899 ; constant rb2_servo4_high_set = 0x88 1900 00000088 = rb2_servo4_high_set equ 136 1901 ; line_number = 100 1902 ; constant rb2_servo4_low_set = 0x8c 1903 0000008c = rb2_servo4_low_set equ 140 1904 ; line_number = 101 1905 ; constant rb2_servo4_enables_set = 0x90 1906 00000090 = rb2_servo4_enables_set equ 144 1907 ; line_number = 102 1908 ; constant rb2_servo4_enable0 = 1 1909 00000001 = rb2_servo4_enable0 equ 1 1910 ; line_number = 103 1911 ; constant rb2_servo4_enable1 = 2 1912 00000002 = rb2_servo4_enable1 equ 2 1913 ; line_number = 104 1914 ; constant rb2_servo4_enable2 = 4 1915 00000004 = rb2_servo4_enable2 equ 4 1916 ; line_number = 105 1917 ; constant rb2_servo4_enable3 = 8 1918 00000008 = rb2_servo4_enable3 equ 8 1919 ; line_number = 106 1920 ; constant rb2_servo4_enable_all = 0xf 1921 0000000f = rb2_servo4_enable_all equ 15 1922 ; line_number = 107 1923 ; constant rb2_servo4_enable_none = 0 1924 00000000 = rb2_servo4_enable_none equ 0 1925 ; line_number = 108 1926 ; constant rb2_servo4_high_get = 0xa0 1927 000000a0 = rb2_servo4_high_get equ 160 1928 ; line_number = 109 1929 ; constant rb2_servo4_low_get = 0xa4 1930 000000a4 = rb2_servo4_low_get equ 164 1931 ; line_number = 110 1932 ; constant rb2_servo4_enables_get = 0xa8 1933 000000a8 = rb2_servo4_enables_get equ 168 1934 1935 ; line_number = 112 1936 ; constant rb2_controller28_address = 28 1937 0000001c = rb2_controller28_address equ 28 1938 1939 ; line_number = 114 1940 ; constant rb2_lcd32_address = 32 1941 00000020 = rb2_lcd32_address equ 32 1942 ; line_number = 115 1943 ; constant rb2_lcd32_row_set = 4 1944 00000004 = rb2_lcd32_row_set equ 4 1945 ; line_number = 116 1946 ; constant rb2_lcd32_row0_set = rb2_lcd32_row_set | 0 1947 00000004 = rb2_lcd32_row0_set equ 4 1948 ; line_number = 117 1949 ; constant rb2_lcd32_row1_set = rb2_lcd32_row_set | 1 1950 00000005 = rb2_lcd32_row1_set equ 5 1951 ; line_number = 118 1952 ; constant rb2_lcd32_row2_set = rb2_lcd32_row_set | 2 1953 00000006 = rb2_lcd32_row2_set equ 6 1954 ; line_number = 119 1955 ; constant rb2_lcd32_row3_set = rb2_lcd32_row_set | 3 1956 00000007 = rb2_lcd32_row3_set equ 7 1957 ; line_number = 120 1958 ; constant rb2_lcd32_new_line = 0xa 1959 0000000a = rb2_lcd32_new_line equ 10 1960 ; line_number = 121 1961 ; constant rb2_lcd32_form_feed = 0xc 1962 0000000c = rb2_lcd32_form_feed equ 12 1963 ; line_number = 122 1964 ; constant rb2_lcd32_carriage_return = 0xd 1965 0000000d = rb2_lcd32_carriage_return equ 13 1966 ; line_number = 123 1967 ; constant rb2_lcd32_column_set = 0x10 1968 00000010 = rb2_lcd32_column_set equ 16 1969 1970 1971 ; buffer = 'servo4' 1972 ; line_number = 20 1973 ; library rb2_constants exited 1974 ; line_number = 21 1975 ; library rb2bus_pic16f688 entered 1976 1977 ; # Copyright (c) 2006 by Wayne C. Gramlich 1978 ; # All rights reserved. 1979 1980 ; # This module provides some procedures for accessing a RoboBricks2 1981 ; # bus via a UART. It is speicialized for the PIC16F688. 1982 ; # 1983 ; # It defines the following procedure: 1984 ; # 1985 ; # {rb2bus_initialize}({address}) The procedure that initializes the UART 1986 ; # for bus access. 1987 1988 ; # All other bus access procedures are defined in the {rb2bus} library 1989 ; # which is accessed below: 1990 ; buffer = 'rb2bus_pic16f688' 1991 ; line_number = 16 1992 ; library rb2bus entered 1993 1994 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich 1995 ; # All rights reserved. 1996 1997 ; # This module provides some procedures for accessing a RoboBricks2 1998 ; # bus via a UART. 1999 ; # 2000 ; # This procedure defines the following procedures: 2001 ; # 2002 ; # {rb2bus_select_wait} This procedure waits for the module to become selected 2003 ; # {rb2bus_deselect} This procedure causes this module to be deselected. 2004 ; # {rb2bus_byte_get} This procedure will get a byte form the bus. 2005 ; # {rb2bus_byte_put} This procedure will send a byte to the bus. 2006 ; # 2007 ; # The global variable {rb2bus_error} is set to 1 whenever the procedures 2008 ; # feel like there is a command decoding error. 2009 ; # 2010 ; # The way to use these procedures is quite as follows: 2011 ; # 2012 ; # # Comamnd byte variable: 2013 ; # local command byte 2014 ; # 2015 ; # # Other initialize code goes here: 2016 ; # 2017 ; # # Process commands from bus master: 2018 ; # loop_forever 2019 ; # rb2bus_error := _true 2020 ; # while rb2bus_error 2021 ; # call rb2bus_select_wait() 2022 ; # command := rb2bus_byte_get() 2023 ; # 2024 ; # # Decode command: 2025 ; # switch command >> 6 2026 ; # ... 2027 ; # case 5: 2028 ; # # 0000 0101 (Foo command): 2029 ; # if !rb2bus_error 2030 ; # # Do foo command: 2031 ; # 2032 ; # The key concept behind these procedures is to make command 2033 ; # decoding for the slave module easy. If the slave module 2034 ; # is in the middle of command decoding and the master suddenly 2035 ; # sends out a module select command, we need to gracefully recover 2036 ; # from the problem. A command should only be executed if 2037 ; # {rb2bus_error} is not set. If {rb2bus_error} is set, we want 2038 ; # to gracefully get back to the beginning of the loop without 2039 ; # doing any damage. Once {rb2bus_error} is set, all calls to 2040 ; # {rb2bus_byte_get} return 0 and all calls to {rb2bus_byte_put} 2041 ; # do nothing. At the beginning of the loop, {rb2bus_error} is 2042 ; # cleared by the {rb2bus_select_wait}() procedure and we have 2043 ; # recovered from the situation. 2044 2045 ; buffer = 'rb2bus' 2046 ; line_number = 54 2047 ; library rb2_constants Skipped (duplicate) 2048 ; line_number = 55 2049 ; library rb2bus_globals entered 2050 2051 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich 2052 ; # All rights reserved. 2053 2054 ; # These are the global variables used by both the {rb2bus} and 2055 ; # the various {rb2bus_picXXXX} libraries. Poll based firmware 2056 ; # uses both libraries, whereas interrupt driven software only 2057 ; # uses the {rb2bus_picXXX} libraries. 2058 2059 ; buffer = 'rb2bus_globals' 2060 ; line_number = 11 2061 ; global rb2bus_selected bit # 2062 0000006f = rb2bus_selected___byte equ globals___0+79 2063 00000000 = rb2bus_selected___bit equ 0 2064 ; line_number = 12 2065 ; global rb2bus_error bit # Global error bit 2066 0000006f = rb2bus_error___byte equ globals___0+79 2067 00000001 = rb2bus_error___bit equ 1 2068 ; line_number = 13 2069 ; global rb2bus_address byte # Bus address to respond to 2070 00000020 = rb2bus_address equ globals___0 2071 ; line_number = 14 2072 ; global rb2bus_index byte # Index into id information 2073 00000021 = rb2bus_index equ globals___0+1 2074 2075 2076 ; buffer = 'rb2bus' 2077 ; line_number = 55 2078 ; library rb2bus_globals exited 2079 2080 ; Delaying code generation for procedure rb2bus_select_wait 2081 ; Delaying code generation for procedure rb2bus_deselect 2082 ; Delaying code generation for procedure rb2bus_byte_get 2083 ; Delaying code generation for procedure rb2bus_byte_put 2084 ; Delaying code generation for procedure rb2bus_command 2085 2086 ; buffer = 'rb2bus_pic16f688' 2087 ; line_number = 16 2088 ; library rb2bus exited 2089 2090 ; Delaying code generation for procedure rb2bus_initialize 2091 ; line_number = 62 2092 ; constant rb2bus_eedata_address = 0xfe 2093 000000fe = rb2bus_eedata_address equ 254 2094 2095 ; Delaying code generation for procedure rb2bus_eedata_read 2096 ; Delaying code generation for procedure rb2bus_eedata_write 2097 2098 ; buffer = 'servo4' 2099 ; line_number = 21 2100 ; library rb2bus_pic16f688 exited 2101 2102 ; # This module uses 20MHz ceramic resonator; hence mode FOSC=HS: 2103 2104 ; # We want the TRM0 to interrupt every 2.5mS. With FOSC=20MHz, 2105 ; # we need to interrupt every 2.5 * 1000 * 5 = 12,500 instructions. 2106 ; # With the TMR0 prescaler set to 64, we want TMR0 every 195 ticks 2107 ; # (195 * 64 = 12480): 2108 ; line_number = 30 2109 ; constant tmr0_instructions = 2500 * microsecond 2110 000030d4 = tmr0_instructions equ 12500 2111 ; line_number = 31 2112 ; constant tmr0_power = 6 2113 00000006 = tmr0_power equ 6 2114 ; line_number = 32 2115 ; constant tmr0_prescale = 1 << tmr0_power 2116 00000040 = tmr0_prescale equ 64 2117 ; line_number = 33 2118 ; constant tmr0_ps = tmr0_power - 1 2119 00000005 = tmr0_ps equ 5 2120 ; line_number = 34 2121 ; constant tmr0_value = tmr0_instructions / tmr0_prescale + 1 2122 000000c4 = tmr0_value equ 196 2123 ; line_number = 35 2124 ; constant tmr0_value_negative = (0 - tmr0_value) & 0xff 2125 0000003c = tmr0_value_negative equ 60 2126 2127 ; line_number = 37 2128 ; constant servos = 4 2129 00000004 = servos equ 4 2130 ; line_number = 38 2131 ; constant servos_mask = servos - 1 2132 00000003 = servos_mask equ 3 2133 ; line_number = 39 2134 ; constant enables_mask = (1 << servos) - 1 2135 0000000f = enables_mask equ 15 2136 2137 ; # 1.5ms pulse width is supposed to be the "center" position 2138 ; # for a servo. We will initialize for center. 2139 ; # 7500 * .20us = 1.5ms. 7500 = 0x1d4c 2140 ; line_number = 44 2141 ; constant servo_center = 1500 * microsecond 2142 00001d4c = servo_center equ 7500 2143 ; line_number = 45 2144 ; constant servo_center_low = servo_center & 0xff 2145 0000004c = servo_center_low equ 76 2146 ; line_number = 46 2147 ; constant servo_center_high = servo_center >> 8 2148 0000001d = servo_center_high equ 29 2149 2150 ; line_number = 48 2151 ; global enables byte 2152 0000002c = enables equ globals___0+12 2153 ; line_number = 49 2154 ; global servo_index byte 2155 0000002d = servo_index equ globals___0+13 2156 ; line_number = 50 2157 ; global servos_high[servos] array[byte] 2158 0000002e = servos_high equ globals___0+14 2159 ; line_number = 51 2160 ; global servos_low[servos] array[byte] 2161 00000032 = servos_low equ globals___0+18 2162 2163 ; line_number = 53 2164 ; package pdip 2165 ; line_number = 54 2166 ; pin 1 = power_supply 2167 ; line_number = 55 2168 ; pin 2 = osc1 2169 ; line_number = 56 2170 ; pin 3 = osc2 2171 ; line_number = 57 2172 ; pin 4 = ra3_nc 2173 ; line_number = 58 2174 ; pin 5 = rx, name=rx, bit=rx_bit 2175 00000007 = rx___byte equ _portc 2176 00000005 = rx___bit equ 5 2177 00000005 = rx_bit equ 5 2178 ; line_number = 59 2179 ; pin 6 = tx, name=tx, bit=tx_bit 2180 00000007 = tx___byte equ _portc 2181 00000004 = tx___bit equ 4 2182 00000004 = tx_bit equ 4 2183 ; line_number = 60 2184 ; pin 7 = rc3_out, name=servo3, mask=servo3_mask, bit=servo_bit3 2185 00000007 = servo3___byte equ _portc 2186 00000003 = servo3___bit equ 3 2187 00000008 = servo3_mask equ 8 2188 00000003 = servo_bit3 equ 3 2189 ; line_number = 61 2190 ; pin 8 = rc2_out, name=servo2, mask=servo2_mask, bit=servo_bit2 2191 00000007 = servo2___byte equ _portc 2192 00000002 = servo2___bit equ 2 2193 00000004 = servo2_mask equ 4 2194 00000002 = servo_bit2 equ 2 2195 ; line_number = 62 2196 ; pin 9 = rc1_out, name=servo1, mask=servo1_mask, bit=servo_bit1 2197 00000007 = servo1___byte equ _portc 2198 00000001 = servo1___bit equ 1 2199 00000002 = servo1_mask equ 2 2200 00000001 = servo_bit1 equ 1 2201 ; line_number = 63 2202 ; pin 10 = rc0_out, name=servo0, mask=servo0_mask, bit=servo_bit0 2203 00000007 = servo0___byte equ _portc 2204 00000000 = servo0___bit equ 0 2205 00000001 = servo0_mask equ 1 2206 00000000 = servo_bit0 equ 0 2207 ; line_number = 64 2208 ; pin 11 = ra2_nc 2209 ; line_number = 65 2210 ; pin 12 = ra1_nc 2211 ; line_number = 66 2212 ; pin 13 = ra0_nc 2213 ; line_number = 67 2214 ; pin 14 = ground 2215 2216 ; line_number = 69 2217 ; constant all_mask = servo0_mask | servo1_mask | servo2_mask | servo3_mask 2218 0000000f = all_mask equ 15 2219 2220 ; line_number = 71 2221 ; origin 0 2222 0000 : org 0 2223 2224 ; line_number = 73 2225 ;info 73, 0 2226 ; procedure start 2227 0000 : start: 2228 ; arguments_none 2229 ; line_number = 75 2230 ; returns_nothing 2231 2232 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 2233 ; line_number = 77 2234 ; assemble 2235 ;info 77, 0 2236 ; line_number = 78 2237 ;info 78, 0 2238 0000 2886 goto main 2239 2240 ; delay after procedure statements=non-uniform 2241 ; Implied return 2242 0001 3400 retlw 0 2243 2244 2245 2246 2247 ; line_number = 80 2248 ; origin 4 2249 0004 : org 4 2250 2251 ; line_number = 82 2252 ;info 82, 4 2253 ; procedure interrupt 2254 0004 : interrupt: 2255 00000071 = interrupt___w_save equ shared___globals+1 2256 00000070 = interrupt___status_save equ shared___globals 2257 ; Carefully save __w and __tatus into RAM 2258 ; Save W first (easy) 2259 0004 00f1 movwf interrupt___w_save 2260 ; Save Status without smashing it (tricky) 2261 ; Move swapped version of status into W 2262 0005 0e03 swapf __status,w 2263 ; Store swapped version of status into RAM 2264 0006 00f0 movwf interrupt___status_save 2265 ; arguments_none 2266 ; line_number = 84 2267 ; returns_nothing 2268 2269 ; # We can arrive here from either a TMR0 or TMR1 interrupt. 2270 2271 ; # For a TMR1 interrupt, we just clear all of the servo outputs 2272 ; # to zero. Since it is always safe to do this for a TMR0 interrupt, 2273 ; # we just clear the servo outputs no matter what: 2274 2275 ; # Clear all servo pulses: 2276 ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:XX=cc=>XX) 2277 ; line_number = 93 2278 ; _rc := 0 2279 ;info 93, 7 2280 0007 1283 bcf __rp0___byte, __rp0___bit 2281 0008 0187 clrf _rc 2282 2283 ; # Clear the TMR1 Interrupt Flag: 2284 ; line_number = 96 2285 ; _tmr1if := _false 2286 ;info 96, 9 2287 0009 1303 bcf __rp1___byte, __rp1___bit 2288 000a 100c bcf _tmr1if___byte, _tmr1if___bit 2289 ; # Turn TMR1 off: 2290 ; line_number = 98 2291 ; _tmr1on := _false 2292 ;info 98, 11 2293 000b 1010 bcf _tmr1on___byte, _tmr1on___bit 2294 2295 ; # Now deal with TMR0: 2296 ; line_number = 101 2297 ; if _t0if start 2298 ;info 101, 12 2299 ; =>bit_code_emit@symbol(): sym=_t0if 2300 ; No 1TEST: true.size=39 false.size=0 2301 ; No 2TEST: true.size=39 false.size=0 2302 ; 1GOTO: Single test with GOTO 2303 000c 1d0b btfss _t0if___byte, _t0if___bit 2304 000d 2835 goto interrupt__11 2305 ; # Load the 1's complement of the select servo into 2306 ; line_number = 103 2307 ; servo_index := (servo_index + 1) & servos_mask 2308 ;info 103, 14 2309 000e 0a2d incf servo_index,w 2310 000f 3903 andlw 3 2311 0010 00ad movwf servo_index 2312 ; line_number = 104 2313 ; _tmr1h := 0xff ^ servos_high[servo_index] 2314 ;info 104, 17 2315 0011 082d movf servo_index,w 2316 0012 3e2e addlw servos_high 2317 0013 0084 movwf __fsr 2318 0014 0800 movf __indf,w 2319 0015 3aff xorlw 255 2320 0016 008f movwf _tmr1h 2321 ; line_number = 105 2322 ; _tmr1l := 0xff ^ servos_low[servo_index] 2323 ;info 105, 23 2324 0017 082d movf servo_index,w 2325 0018 3e32 addlw servos_low 2326 0019 0084 movwf __fsr 2327 001a 0800 movf __indf,w 2328 001b 3aff xorlw 255 2329 001c 008e movwf _tmr1l 2330 2331 ; # Reload TRM0: 2332 ; line_number = 108 2333 ; _t0if := _false 2334 ;info 108, 29 2335 001d 110b bcf _t0if___byte, _t0if___bit 2336 ; line_number = 109 2337 ; _tmr0 := tmr0_value_negative 2338 ;info 109, 30 2339 001e 303c movlw 60 2340 001f 0081 movwf _tmr0 2341 2342 ; # Turn on the appropriate servo: 2343 ; line_number = 112 2344 ; switch servo_index start 2345 ;info 112, 32 2346 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=18 2347 0020 3000 movlw interrupt__9>>8 2348 0021 008a movwf __pclath 2349 0022 082d movf servo_index,w 2350 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 2351 0023 3e25 addlw interrupt__9 2352 0024 0082 movwf __pcl 2353 ; page_group 4 2354 0025 : interrupt__9: 2355 0025 2829 goto interrupt__5 2356 0026 282c goto interrupt__6 2357 0027 282f goto interrupt__7 2358 0028 2832 goto interrupt__8 2359 ; line_number = 113 2360 ; case 0 2361 0029 : interrupt__5: 2362 ; line_number = 114 2363 ; if enables@0 start 2364 ;info 114, 41 2365 0000002c = interrupt__select__1___byte equ enables 2366 00000000 = interrupt__select__1___bit equ 0 2367 ; =>bit_code_emit@symbol(): sym=interrupt__select__1 2368 ; 1TEST: Single test with code in skip slot 2369 0029 182c btfsc interrupt__select__1___byte, interrupt__select__1___bit 2370 ; line_number = 115 2371 ; servo0 := _true 2372 ;info 115, 42 2373 002a 1407 bsf servo0___byte, servo0___bit 2374 ; Recombine size1 = 0 || size2 = 0 2375 ; line_number = 114 2376 ; if enables@0 done 2377 002b 2834 goto interrupt__10 2378 ; line_number = 116 2379 ; case 1 2380 002c : interrupt__6: 2381 ; line_number = 117 2382 ; if enables@1 start 2383 ;info 117, 44 2384 0000002c = interrupt__select__2___byte equ enables 2385 00000001 = interrupt__select__2___bit equ 1 2386 ; =>bit_code_emit@symbol(): sym=interrupt__select__2 2387 ; 1TEST: Single test with code in skip slot 2388 002c 18ac btfsc interrupt__select__2___byte, interrupt__select__2___bit 2389 ; line_number = 118 2390 ; servo1 := _true 2391 ;info 118, 45 2392 002d 1487 bsf servo1___byte, servo1___bit 2393 ; Recombine size1 = 0 || size2 = 0 2394 ; line_number = 117 2395 ; if enables@1 done 2396 002e 2834 goto interrupt__10 2397 ; line_number = 119 2398 ; case 2 2399 002f : interrupt__7: 2400 ; line_number = 120 2401 ; if enables@2 start 2402 ;info 120, 47 2403 0000002c = interrupt__select__3___byte equ enables 2404 00000002 = interrupt__select__3___bit equ 2 2405 ; =>bit_code_emit@symbol(): sym=interrupt__select__3 2406 ; 1TEST: Single test with code in skip slot 2407 002f 192c btfsc interrupt__select__3___byte, interrupt__select__3___bit 2408 ; line_number = 121 2409 ; servo2 := _true 2410 ;info 121, 48 2411 0030 1507 bsf servo2___byte, servo2___bit 2412 ; Recombine size1 = 0 || size2 = 0 2413 ; line_number = 120 2414 ; if enables@2 done 2415 0031 2834 goto interrupt__10 2416 ; line_number = 122 2417 ; case 3 2418 0032 : interrupt__8: 2419 ; line_number = 123 2420 ; if enables@3 start 2421 ;info 123, 50 2422 0000002c = interrupt__select__4___byte equ enables 2423 00000003 = interrupt__select__4___bit equ 3 2424 ; =>bit_code_emit@symbol(): sym=interrupt__select__4 2425 ; 1TEST: Single test with code in skip slot 2426 0032 19ac btfsc interrupt__select__4___byte, interrupt__select__4___bit 2427 ; line_number = 124 2428 ; servo3 := _true 2429 ;info 124, 51 2430 0033 1587 bsf servo3___byte, servo3___bit 2431 ; Recombine size1 = 0 || size2 = 0 2432 ; line_number = 123 2433 ; if enables@3 done 2434 0034 : interrupt__10: 2435 ; line_number = 112 2436 ; switch servo_index done 2437 ; # Fire up TRM1: 2438 ; line_number = 126 2439 ; _tmr1on := _true 2440 ;info 126, 52 2441 0034 1410 bsf _tmr1on___byte, _tmr1on___bit 2442 ; Recombine size1 = 0 || size2 = 0 2443 0035 : interrupt__11: 2444 ; line_number = 101 2445 ; if _t0if done 2446 ; # All done: 2447 2448 ; delay after procedure statements=non-uniform 2449 ; Interrupt return 2450 ; Carefully restore __w and __tatus from RAM 2451 ; Restore swapped status into W 2452 0035 0e70 swapf interrupt___status_save,w 2453 ; W now contains (unswapped) status 2454 ; Restore W to __status 2455 0036 0083 movwf __status 2456 ; From here on out, do not modify __status 2457 ; Swap saved W register in RAM 2458 0037 0ef1 swapf interrupt___w_save,f 2459 ; Unswap the saved W reg and restore to W 2460 0038 0e71 swapf interrupt___w_save,w 2461 ; __w and __status are now restored 2462 ; Return from interrupt 2463 0039 0009 retfie 2464 2465 2466 2467 2468 ; # The tables below provide pulse widths from .75uS to 2.25uS: 2469 ; line_number = 130 2470 ; 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 2471 ; quick_highs = '\14,15,16,17,18,19,20,21,21,22,23,24,25,26,27,28,29,30,31\ !"#_%&\39\()*+' 2472 003a : quick_highs: 2473 ; Temporarily save index into FSR 2474 003a 0084 movwf __fsr 2475 ; Initialize PCLATH to point to this code page 2476 003b 3000 movlw quick_highs___base>>8 2477 003c 008a movwf __pclath 2478 ; Restore index from FSR 2479 003d 0804 movf __fsr,w 2480 003e 3e40 addlw quick_highs___base 2481 ; Index to the correct return value 2482 003f 0082 movwf __pcl 2483 ; page_group 32 2484 0040 : quick_highs___base: 2485 0040 340e retlw 14 2486 0041 340f retlw 15 2487 0042 3410 retlw 16 2488 0043 3411 retlw 17 2489 0044 3412 retlw 18 2490 0045 3413 retlw 19 2491 0046 3414 retlw 20 2492 0047 3415 retlw 21 2493 0048 3415 retlw 21 2494 0049 3416 retlw 22 2495 004a 3417 retlw 23 2496 004b 3418 retlw 24 2497 004c 3419 retlw 25 2498 004d 341a retlw 26 2499 004e 341b retlw 27 2500 004f 341c retlw 28 2501 0050 341d retlw 29 2502 0051 341e retlw 30 2503 0052 341f retlw 31 2504 0053 3420 retlw 32 2505 0054 3420 retlw 32 2506 0055 3421 retlw 33 2507 0056 3422 retlw 34 2508 0057 3423 retlw 35 2509 0058 3424 retlw 36 2510 0059 3425 retlw 37 2511 005a 3426 retlw 38 2512 005b 3427 retlw 39 2513 005c 3428 retlw 40 2514 005d 3429 retlw 41 2515 005e 342a retlw 42 2516 005f 342b retlw 43 2517 ; line_number = 130 2518 ; 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 2519 ; line_number = 131 2520 ; 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 2521 ; quick_lows = '\166,144\{eP:_\15,249,227,206,184,163,141\wbL6!\11,246,224,202,181,159,137\t^I3\29,8\' 2522 0060 : quick_lows: 2523 ; Temporarily save index into FSR 2524 0060 0084 movwf __fsr 2525 ; Initialize PCLATH to point to this code page 2526 0061 3000 movlw quick_lows___base>>8 2527 0062 008a movwf __pclath 2528 ; Restore index from FSR 2529 0063 0804 movf __fsr,w 2530 0064 3e66 addlw quick_lows___base 2531 ; Index to the correct return value 2532 0065 0082 movwf __pcl 2533 ; page_group 32 2534 0066 : quick_lows___base: 2535 0066 34a6 retlw 166 2536 0067 3490 retlw 144 2537 0068 347b retlw 123 2538 0069 3465 retlw 101 2539 006a 3450 retlw 80 2540 006b 343a retlw 58 2541 006c 3424 retlw 36 2542 006d 340f retlw 15 2543 006e 34f9 retlw 249 2544 006f 34e3 retlw 227 2545 0070 34ce retlw 206 2546 0071 34b8 retlw 184 2547 0072 34a3 retlw 163 2548 0073 348d retlw 141 2549 0074 3477 retlw 119 2550 0075 3462 retlw 98 2551 0076 344c retlw 76 2552 0077 3436 retlw 54 2553 0078 3421 retlw 33 2554 0079 340b retlw 11 2555 007a 34f6 retlw 246 2556 007b 34e0 retlw 224 2557 007c 34ca retlw 202 2558 007d 34b5 retlw 181 2559 007e 349f retlw 159 2560 007f 3489 retlw 137 2561 0080 3474 retlw 116 2562 0081 345e retlw 94 2563 0082 3449 retlw 73 2564 0083 3433 retlw 51 2565 0084 341d retlw 29 2566 0085 3408 retlw 8 2567 ; line_number = 131 2568 ; 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 2569 2570 ; line_number = 133 2571 ;info 133, 134 2572 ; procedure main 2573 0086 : main: 2574 ; Initialize some registers 2575 0086 019f clrf _adcon0 2576 0087 1683 bsf __rp0___byte, __rp0___bit 2577 0088 0191 clrf _ansel 2578 0089 3007 movlw 7 2579 008a 1283 bcf __rp0___byte, __rp0___bit 2580 008b 0099 movwf _cmcon0 2581 008c 303f movlw 63 2582 008d 1683 bsf __rp0___byte, __rp0___bit 2583 008e 0085 movwf _trisa 2584 008f 3030 movlw 48 2585 0090 0087 movwf _trisc 2586 ; arguments_none 2587 ; line_number = 135 2588 ; returns_nothing 2589 2590 ; line_number = 137 2591 ; local command byte 2592 00000036 = main__command equ globals___0+22 2593 ; line_number = 138 2594 ; local id_index byte 2595 00000037 = main__id_index equ globals___0+23 2596 ; line_number = 139 2597 ; local index byte 2598 00000038 = main__index equ globals___0+24 2599 ; line_number = 140 2600 ; local servo byte 2601 00000039 = main__servo equ globals___0+25 2602 ; line_number = 141 2603 ; local high byte 2604 0000003a = main__high equ globals___0+26 2605 ; line_number = 142 2606 ; local low byte 2607 0000003b = main__low equ globals___0+27 2608 ; line_number = 143 2609 ; local position byte 2610 0000003c = main__position equ globals___0+28 2611 2612 ; # Initialize the RB2 module: 2613 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:XX=cc=>XX) 2614 ; line_number = 146 2615 ; call rb2bus_initialize(rb2_servo4_address) 2616 ;info 146, 145 2617 0091 300b movlw 11 2618 0092 1283 bcf __rp0___byte, __rp0___bit 2619 0093 2214 call rb2bus_initialize 2620 2621 ; # Initialize everything else: 2622 2623 ; # Initialize the pulses: 2624 ; line_number = 151 2625 ; index := 0 2626 ;info 151, 148 2627 0094 01b8 clrf main__index 2628 ; line_number = 152 2629 ; while index < servos start 2630 0095 : main__1: 2631 ;info 152, 149 2632 0095 3004 movlw 4 2633 0096 0238 subwf main__index,w 2634 ; =>bit_code_emit@symbol(): sym=__c 2635 ; No 1TEST: true.size=0 false.size=12 2636 ; No 2TEST: true.size=0 false.size=12 2637 ; 1GOTO: Single test with GOTO 2638 0097 1803 btfsc __c___byte, __c___bit 2639 0098 28a5 goto main__2 2640 ; line_number = 153 2641 ; servos_high[index] := servo_center_high 2642 ;info 153, 153 2643 ; index_fsr_first 2644 0099 0838 movf main__index,w 2645 009a 3e2e addlw servos_high 2646 009b 0084 movwf __fsr 2647 009c 301d movlw 29 2648 009d 0080 movwf __indf 2649 ; line_number = 154 2650 ; servos_low[index] := servo_center_low 2651 ;info 154, 158 2652 ; index_fsr_first 2653 009e 0838 movf main__index,w 2654 009f 3e32 addlw servos_low 2655 00a0 0084 movwf __fsr 2656 00a1 304c movlw 76 2657 00a2 0080 movwf __indf 2658 ; line_number = 155 2659 ; index := index + 1 2660 ;info 155, 163 2661 00a3 0ab8 incf main__index,f 2662 00a4 2895 goto main__1 2663 00a5 : main__2: 2664 ; Recombine size1 = 0 || size2 = 0 2665 ; line_number = 152 2666 ; while index < servos done 2667 ; line_number = 156 2668 ; servo_index := 0 2669 ;info 156, 165 2670 00a5 01ad clrf servo_index 2671 2672 ; # FIXME: Initialize to servos disabled!!! 2673 ; #enables := 0x0f 2674 ; line_number = 160 2675 ; enables := 0 2676 ;info 160, 166 2677 00a6 01ac clrf enables 2678 2679 ; # Initialize TRM0: 2680 ; line_number = 163 2681 ; _option_reg := tmr0_ps 2682 ;info 163, 167 2683 00a7 3005 movlw 5 2684 00a8 1683 bsf __rp0___byte, __rp0___bit 2685 00a9 0081 movwf _option_reg 2686 ; # {_t0cs}=0 (use instrucion clock) 2687 ; # {_psa}=0 (prescaler for TMR0) 2688 ; # {_ps2,_ps1,_ps0}=101 (1/64) 2689 2690 ; # Initialize TRM1: 2691 ; line_number = 169 2692 ; _t1con := 0 2693 ;info 169, 170 2694 00aa 1283 bcf __rp0___byte, __rp0___bit 2695 00ab 0190 clrf _t1con 2696 ; # {_t1ginv} := x (no care; 0 = not inverted) 2697 ; # {_tmr1ge} := 0 (Timer 1 on) 2698 ; # {_t1ckps} := 00 (prescale = 1:1) 2699 ; # {_t10scen} := 0 (lp osc. off) 2700 ; # {_t1sync} := x (no care;) 2701 ; # {_tmr1cs} := 0 (Fosc/4) 2702 ; # {_tmr1on} := 0 (off for now; interrupt routine turns it on) 2703 2704 ; # Turn on TRM0: 2705 ; line_number = 179 2706 ; _tmr1if := _false 2707 ;info 179, 172 2708 00ac 100c bcf _tmr1if___byte, _tmr1if___bit 2709 ; line_number = 180 2710 ; _tmr1ie := _true 2711 ;info 180, 173 2712 00ad 1683 bsf __rp0___byte, __rp0___bit 2713 00ae 140c bsf _tmr1ie___byte, _tmr1ie___bit 2714 ; line_number = 181 2715 ; _tmr0 := tmr0_value_negative 2716 ;info 181, 175 2717 00af 303c movlw 60 2718 00b0 1283 bcf __rp0___byte, __rp0___bit 2719 00b1 0081 movwf _tmr0 2720 ; line_number = 182 2721 ; _t0if := _false 2722 ;info 182, 178 2723 00b2 110b bcf _t0if___byte, _t0if___bit 2724 ; line_number = 183 2725 ; _t0ie := _true 2726 ;info 183, 179 2727 00b3 168b bsf _t0ie___byte, _t0ie___bit 2728 ; line_number = 184 2729 ; _peie := _true 2730 ;info 184, 180 2731 00b4 170b bsf _peie___byte, _peie___bit 2732 ; line_number = 185 2733 ; _gie := _true 2734 ;info 185, 181 2735 00b5 178b bsf _gie___byte, _gie___bit 2736 2737 ; line_number = 187 2738 ; id_index := 0 2739 ;info 187, 182 2740 00b6 01b7 clrf main__id_index 2741 2742 ; line_number = 189 2743 ; loop_forever start 2744 00b7 : main__3: 2745 ; # Make sure that we have been selected: 2746 ; line_number = 191 2747 ; rb2bus_error := _true 2748 ;info 191, 183 2749 00b7 14ef bsf rb2bus_error___byte, rb2bus_error___bit 2750 ; line_number = 192 2751 ; while rb2bus_error start 2752 00b8 : main__4: 2753 ;info 192, 184 2754 ; =>bit_code_emit@symbol(): sym=rb2bus_error 2755 ; No 1TEST: true.size=4 false.size=0 2756 ; No 2TEST: true.size=4 false.size=0 2757 ; 1GOTO: Single test with GOTO 2758 00b8 1cef btfss rb2bus_error___byte, rb2bus_error___bit 2759 00b9 28be goto main__5 2760 ; line_number = 193 2761 ; call rb2bus_select_wait() 2762 ;info 193, 186 2763 00ba 2177 call rb2bus_select_wait 2764 ; line_number = 194 2765 ; command := rb2bus_byte_get() 2766 ;info 194, 187 2767 00bb 2196 call rb2bus_byte_get 2768 00bc 00b6 movwf main__command 2769 2770 00bd 28b8 goto main__4 2771 ; Recombine size1 = 0 || size2 = 0 2772 00be : main__5: 2773 ; line_number = 192 2774 ; while rb2bus_error done 2775 ; # Decode {command}: 2776 ; line_number = 197 2777 ; servo := command & servos_mask 2778 ;info 197, 190 2779 00be 3003 movlw 3 2780 00bf 0536 andwf main__command,w 2781 00c0 00b9 movwf main__servo 2782 ; line_number = 198 2783 ; switch command >> 6 start 2784 ;info 198, 193 2785 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=10 2786 00c1 3000 movlw main__36>>8 2787 00c2 008a movwf __pclath 2788 0000003d = main__37 equ globals___0+29 2789 00c3 0e36 swapf main__command,w 2790 00c4 00bd movwf main__37 2791 00c5 0cbd rrf main__37,f 2792 00c6 0c3d rrf main__37,w 2793 00c7 3903 andlw 3 2794 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 2795 00c8 3eca addlw main__36 2796 00c9 0082 movwf __pcl 2797 ; page_group 4 2798 00ca : main__36: 2799 00ca 28ce goto main__33 2800 00cb 28ce goto main__33 2801 00cc 28e4 goto main__34 2802 00cd 2946 goto main__35 2803 ; line_number = 199 2804 ; case 0, 1 2805 00ce : main__33: 2806 ; # 0ppp ppss (Quick Set): 2807 ; line_number = 201 2808 ; position := command >> 2 2809 ;info 201, 206 2810 00ce 0c36 rrf main__command,w 2811 00cf 00bc movwf main__position 2812 00d0 0cbc rrf main__position,f 2813 00d1 303f movlw 63 2814 00d2 05bc andwf main__position,f 2815 ; line_number = 202 2816 ; servos_high[servo] := quick_highs[position] 2817 ;info 202, 211 2818 ; right_temporary_first 2819 0000003d = main__6 equ globals___0+29 2820 00d3 083c movf main__position,w 2821 00d4 203a call quick_highs 2822 00d5 00bd movwf main__6 2823 00d6 0839 movf main__servo,w 2824 00d7 3e2e addlw servos_high 2825 00d8 0084 movwf __fsr 2826 00d9 083d movf main__6,w 2827 00da 0080 movwf __indf 2828 ; line_number = 203 2829 ; servos_low[servo] := quick_lows[position] 2830 ;info 203, 219 2831 ; right_temporary_first 2832 0000003d = main__7 equ globals___0+29 2833 00db 083c movf main__position,w 2834 00dc 2060 call quick_lows 2835 00dd 00bd movwf main__7 2836 00de 0839 movf main__servo,w 2837 00df 3e32 addlw servos_low 2838 00e0 0084 movwf __fsr 2839 00e1 083d movf main__7,w 2840 00e2 0080 movwf __indf 2841 00e3 2959 goto main__38 2842 ; line_number = 204 2843 ; case 2 2844 00e4 : main__34: 2845 ; # 01xx xxxx: 2846 ; line_number = 206 2847 ; switch (command >> 3) & 7 start 2848 ;info 206, 228 2849 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 2850 ; line_number = 250 2851 ; case_maximum 7 2852 00e4 3000 movlw main__26>>8 2853 00e5 008a movwf __pclath 2854 0000003d = main__27 equ globals___0+29 2855 00e6 0c36 rrf main__command,w 2856 00e7 00bd movwf main__27 2857 00e8 0cbd rrf main__27,f 2858 00e9 0c3d rrf main__27,w 2859 00ea 3907 andlw 7 2860 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 2861 00eb 3eed addlw main__26 2862 00ec 0082 movwf __pcl 2863 ; page_group 8 2864 00ed : main__26: 2865 00ed 28f5 goto main__21 2866 00ee 2913 goto main__22 2867 00ef 2928 goto main__23 2868 00f0 2928 goto main__23 2869 00f1 292c goto main__24 2870 00f2 2935 goto main__25 2871 00f3 2945 goto main__28 2872 00f4 2945 goto main__28 2873 ; line_number = 207 2874 ; case 0 2875 00f5 : main__21: 2876 ; # 1000 0xxx: 2877 ; line_number = 209 2878 ; high := rb2bus_byte_get() 2879 ;info 209, 245 2880 00f5 2196 call rb2bus_byte_get 2881 00f6 00ba movwf main__high 2882 ; line_number = 210 2883 ; if command@2 start 2884 ;info 210, 247 2885 00000036 = main__select__8___byte equ main__command 2886 00000002 = main__select__8___bit equ 2 2887 ; =>bit_code_emit@symbol(): sym=main__select__8 2888 ; No 1TEST: true.size=10 false.size=2 2889 ; No 2TEST: true.size=10 false.size=2 2890 ; 2GOTO: Single test with two GOTO's 2891 00f7 1d36 btfss main__select__8___byte, main__select__8___bit 2892 00f8 2904 goto main__9 2893 ; # 1000 01ss (Short High Low Set): 2894 ; line_number = 212 2895 ; low := high << 5 2896 ;info 212, 249 2897 00f9 0e3a swapf main__high,w 2898 00fa 00bb movwf main__low 2899 00fb 0dbb rlf main__low,f 2900 00fc 30e0 movlw 224 2901 00fd 05bb andwf main__low,f 2902 ; line_number = 213 2903 ; high := high >> 3 2904 ;info 213, 254 2905 ; Assignment of variable to self (no code needed) 2906 00fe 0cba rrf main__high,f 2907 00ff 0cba rrf main__high,f 2908 0100 0cba rrf main__high,f 2909 0101 301f movlw 31 2910 0102 05ba andwf main__high,f 2911 0103 2906 goto main__10 2912 ; 2GOTO: Starting code 2 2913 0104 : main__9: 2914 ; # 1000 00ss (High Low Set): 2915 ; line_number = 216 2916 ; low := rb2bus_byte_get() 2917 ;info 216, 260 2918 0104 2196 call rb2bus_byte_get 2919 0105 00bb movwf main__low 2920 0106 : main__10: 2921 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 2922 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 2923 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 2924 ; line_number = 210 2925 ; if command@2 done 2926 ; line_number = 217 2927 ; if !rb2bus_error start 2928 ;info 217, 262 2929 ; =>bit_code_emit@symbol(): sym=rb2bus_error 2930 ; No 1TEST: true.size=0 false.size=10 2931 ; No 2TEST: true.size=0 false.size=10 2932 ; 1GOTO: Single test with GOTO 2933 0106 18ef btfsc rb2bus_error___byte, rb2bus_error___bit 2934 0107 2912 goto main__11 2935 ; line_number = 218 2936 ; servos_high[servo] := high 2937 ;info 218, 264 2938 ; index_fsr_first 2939 0108 0839 movf main__servo,w 2940 0109 3e2e addlw servos_high 2941 010a 0084 movwf __fsr 2942 010b 083a movf main__high,w 2943 010c 0080 movwf __indf 2944 ; line_number = 219 2945 ; servos_low[servo] := low 2946 ;info 219, 269 2947 ; index_fsr_first 2948 010d 0839 movf main__servo,w 2949 010e 3e32 addlw servos_low 2950 010f 0084 movwf __fsr 2951 0110 083b movf main__low,w 2952 0111 0080 movwf __indf 2953 0112 : main__11: 2954 ; Recombine size1 = 0 || size2 = 0 2955 ; line_number = 217 2956 ; if !rb2bus_error done 2957 0112 2945 goto main__28 2958 ; line_number = 220 2959 ; case 1 2960 0113 : main__22: 2961 ; # 1000 1xxx: 2962 ; line_number = 222 2963 ; if command@2 start 2964 ;info 222, 275 2965 00000036 = main__select__14___byte equ main__command 2966 00000002 = main__select__14___bit equ 2 2967 ; =>bit_code_emit@symbol(): sym=main__select__14 2968 ; # 1000 11ss (High Set) 2969 ; line_number = 224 2970 ; high := rb2bus_byte_get() 2971 ;info 224, 275 2972 0113 2196 call rb2bus_byte_get 2973 ; # 1000 10ss (Low Set) 2974 ; line_number = 229 2975 ; low := rb2bus_byte_get() 2976 ;info 229, 276 2977 ; No 1TEST: true.size=8 false.size=8 2978 ; No 2TEST: true.size=8 false.size=8 2979 ; 2GOTO: Single test with two GOTO's 2980 0114 1d36 btfss main__select__14___byte, main__select__14___bit 2981 0115 291f goto main__15 2982 0116 00ba movwf main__high 2983 ; line_number = 225 2984 ; if !rb2bus_error start 2985 ;info 225, 279 2986 ; =>bit_code_emit@symbol(): sym=rb2bus_error 2987 ; No 1TEST: true.size=0 false.size=5 2988 ; No 2TEST: true.size=0 false.size=5 2989 ; 1GOTO: Single test with GOTO 2990 0117 18ef btfsc rb2bus_error___byte, rb2bus_error___bit 2991 0118 291e goto main__13 2992 ; line_number = 226 2993 ; servos_high[servo] := high 2994 ;info 226, 281 2995 ; index_fsr_first 2996 0119 0839 movf main__servo,w 2997 011a 3e2e addlw servos_high 2998 011b 0084 movwf __fsr 2999 011c 083a movf main__high,w 3000 011d 0080 movwf __indf 3001 011e : main__13: 3002 ; Recombine size1 = 0 || size2 = 0 3003 ; line_number = 225 3004 ; if !rb2bus_error done 3005 011e 2927 goto main__16 3006 ; 2GOTO: Starting code 2 3007 011f : main__15: 3008 011f 00bb movwf main__low 3009 ; line_number = 230 3010 ; if !rb2bus_error start 3011 ;info 230, 288 3012 ; =>bit_code_emit@symbol(): sym=rb2bus_error 3013 ; No 1TEST: true.size=0 false.size=5 3014 ; No 2TEST: true.size=0 false.size=5 3015 ; 1GOTO: Single test with GOTO 3016 0120 18ef btfsc rb2bus_error___byte, rb2bus_error___bit 3017 0121 2927 goto main__12 3018 ; line_number = 231 3019 ; servos_low[servo] := low 3020 ;info 231, 290 3021 ; index_fsr_first 3022 0122 0839 movf main__servo,w 3023 0123 3e32 addlw servos_low 3024 0124 0084 movwf __fsr 3025 0125 083b movf main__low,w 3026 0126 0080 movwf __indf 3027 0127 : main__12: 3028 ; Recombine size1 = 0 || size2 = 0 3029 ; line_number = 230 3030 ; if !rb2bus_error done 3031 0127 : main__16: 3032 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3033 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3034 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3035 ; line_number = 222 3036 ; if command@2 done 3037 0127 2945 goto main__28 3038 ; line_number = 232 3039 ; case 2, 3 3040 0128 : main__23: 3041 ; # 1001 eeee (Enables Set): 3042 ; line_number = 234 3043 ; enables := command & enables_mask 3044 ;info 234, 296 3045 0128 300f movlw 15 3046 0129 0536 andwf main__command,w 3047 012a 00ac movwf enables 3048 012b 2945 goto main__28 3049 ; line_number = 235 3050 ; case 4 3051 012c : main__24: 3052 ; # 1010 0xxx: 3053 ; line_number = 237 3054 ; if command@2 start 3055 ;info 237, 300 3056 00000036 = main__select__17___byte equ main__command 3057 00000002 = main__select__17___bit equ 2 3058 ; =>bit_code_emit@symbol(): sym=main__select__17 3059 ; # 1010 01ss (Low Get) 3060 ; line_number = 239 3061 ; call rb2bus_byte_put(servos_low[servo]) 3062 ;info 239, 300 3063 012c 0839 movf main__servo,w 3064 ; # 1010 00ss (High Get) 3065 ; line_number = 242 3066 ; call rb2bus_byte_put(servos_high[servo]) 3067 ;info 242, 301 3068 ; No 1TEST: true.size=1 false.size=1 3069 ; 2TEST: two tests with code in both delay slots 3070 012d 1936 btfsc main__select__17___byte, main__select__17___bit 3071 012e 3e32 addlw servos_low 3072 012f 1d36 btfss main__select__17___byte, main__select__17___bit 3073 0130 3e2e addlw servos_high 3074 0131 0084 movwf __fsr 3075 0132 0800 movf __indf,w 3076 0133 21b8 call rb2bus_byte_put 3077 ; line_number = 237 3078 ; if command@2 done 3079 0134 2945 goto main__28 3080 ; line_number = 243 3081 ; case 5 3082 0135 : main__25: 3083 ; # 1010 1xxx: 3084 ; line_number = 245 3085 ; switch command & 7 start 3086 ;info 245, 309 3087 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 3088 ; line_number = 249 3089 ; case_maximum 7 3090 0135 3001 movlw main__19>>8 3091 0136 008a movwf __pclath 3092 0137 3007 movlw 7 3093 0138 0536 andwf main__command,w 3094 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 3095 0139 3e3b addlw main__19 3096 013a 0082 movwf __pcl 3097 ; page_group 8 3098 013b : main__19: 3099 013b 2943 goto main__18 3100 013c 2945 goto main__20 3101 013d 2945 goto main__20 3102 013e 2945 goto main__20 3103 013f 2945 goto main__20 3104 0140 2945 goto main__20 3105 0141 2945 goto main__20 3106 0142 2945 goto main__20 3107 ; line_number = 246 3108 ; case 0 3109 0143 : main__18: 3110 ; # 1010 1000 (Enables Get) 3111 ; line_number = 248 3112 ; call rb2bus_byte_put(enables) 3113 ;info 248, 323 3114 0143 082c movf enables,w 3115 0144 21b8 call rb2bus_byte_put 3116 0145 : main__20: 3117 ; line_number = 245 3118 ; switch command & 7 done 3119 0145 : main__28: 3120 ; line_number = 206 3121 ; switch (command >> 3) & 7 done 3122 0145 2959 goto main__38 3123 ; line_number = 251 3124 ; case 3 3125 0146 : main__35: 3126 ; # 11xx xxxx: 3127 ; line_number = 253 3128 ; switch (command >> 3) & 7 start 3129 ;info 253, 326 3130 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 3131 0146 3001 movlw main__30>>8 3132 0147 008a movwf __pclath 3133 0000003d = main__31 equ globals___0+29 3134 0148 0c36 rrf main__command,w 3135 0149 00bd movwf main__31 3136 014a 0cbd rrf main__31,f 3137 014b 0c3d rrf main__31,w 3138 014c 3907 andlw 7 3139 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 3140 014d 3e4f addlw main__30 3141 014e 0082 movwf __pcl 3142 ; page_group 8 3143 014f : main__30: 3144 014f 2959 goto main__32 3145 0150 2959 goto main__32 3146 0151 2959 goto main__32 3147 0152 2959 goto main__32 3148 0153 2959 goto main__32 3149 0154 2959 goto main__32 3150 0155 2959 goto main__32 3151 0156 2957 goto main__29 3152 ; line_number = 254 3153 ; case 7 3154 0157 : main__29: 3155 ; # 1111 1xxx: 3156 ; line_number = 256 3157 ; call rb2bus_command(command) 3158 ;info 256, 343 3159 0157 0836 movf main__command,w 3160 0158 21cc call rb2bus_command 3161 3162 0159 : main__32: 3163 ; line_number = 253 3164 ; switch (command >> 3) & 7 done 3165 0159 : main__38: 3166 ; line_number = 198 3167 ; switch command >> 6 done 3168 ; line_number = 189 3169 ; loop_forever wrap-up 3170 0159 28b7 goto main__3 3171 ; line_number = 189 3172 ; loop_forever done 3173 ; delay after procedure statements=non-uniform 3174 3175 3176 3177 3178 ; line_number = 258 3179 ;info 258, 346 3180 ; procedure wait 3181 015a : wait: 3182 ; arguments_none 3183 ; line_number = 260 3184 ; returns_nothing 3185 3186 ; # This procedure is repeatably called whenever the software 3187 ; # is waiting for a byte to arrive from the bus. 3188 3189 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3190 ; line_number = 265 3191 ; do_nothing 3192 ;info 265, 346 3193 3194 3195 ; delay after procedure statements=non-uniform 3196 ; Implied return 3197 015a 3400 retlw 0 3198 3199 3200 3201 3202 ; line_number = 268 3203 ; string id = "\16,0,11,2,3,8\Servo4-B\7\Gramson" start 3204 ; id = '\16,0,11,2,3,8\Servo4-B\7\Gramson' 3205 015b : id: 3206 ; Temporarily save index into FSR 3207 015b 0084 movwf __fsr 3208 ; Initialize PCLATH to point to this code page 3209 015c 3001 movlw id___base>>8 3210 015d 008a movwf __pclath 3211 ; Restore index from FSR 3212 015e 0804 movf __fsr,w 3213 015f 3e61 addlw id___base 3214 ; Index to the correct return value 3215 0160 0082 movwf __pcl 3216 ; page_group 22 3217 0161 : id___base: 3218 0161 3410 retlw 16 3219 0162 3400 retlw 0 3220 0163 340b retlw 11 3221 0164 3402 retlw 2 3222 0165 3403 retlw 3 3223 0166 3408 retlw 8 3224 0167 3453 retlw 83 3225 0168 3465 retlw 101 3226 0169 3472 retlw 114 3227 016a 3476 retlw 118 3228 016b 346f retlw 111 3229 016c 3434 retlw 52 3230 016d 342d retlw 45 3231 016e 3442 retlw 66 3232 016f 3407 retlw 7 3233 0170 3447 retlw 71 3234 0171 3472 retlw 114 3235 0172 3461 retlw 97 3236 0173 346d retlw 109 3237 0174 3473 retlw 115 3238 0175 346f retlw 111 3239 0176 346e retlw 110 3240 ; line_number = 268 3241 ; string id = "\16,0,11,2,3,8\Servo4-B\7\Gramson" start 3242 3243 3244 3245 ; Appending 8 delayed procedures to code bank 0 3246 ; buffer = 'rb2bus' 3247 ; line_number = 57 3248 ;info 57, 375 3249 ; procedure rb2bus_select_wait 3250 0177 : rb2bus_select_wait: 3251 ; arguments_none 3252 ; line_number = 59 3253 ; returns_nothing 3254 3255 ; # This procedure will in an infinite loop until the select 3256 ; # address matches {rb2bus_address}. {rb2bus_address} is 3257 ; # typically set in the {rb2bus_initialize} procedure. 3258 ; # 3259 ; # This module will repeatably call the {wait} procedure until 3260 ; # it is properly selected. 3261 3262 ; line_number = 68 3263 ; local value byte 3264 00000022 = rb2bus_select_wait__value equ globals___0+2 3265 ; line_number = 69 3266 ; local address_bit bit 3267 0000006f = rb2bus_select_wait__address_bit___byte equ globals___0+79 3268 00000002 = rb2bus_select_wait__address_bit___bit equ 2 3269 3270 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3271 ; line_number = 71 3272 ; rb2bus_error := _false 3273 ;info 71, 375 3274 0177 10ef bcf rb2bus_error___byte, rb2bus_error___bit 3275 ; line_number = 72 3276 ; while !rb2bus_selected start 3277 0178 : rb2bus_select_wait__1: 3278 ;info 72, 376 3279 ; =>bit_code_emit@symbol(): sym=rb2bus_selected 3280 ; No 1TEST: true.size=0 false.size=25 3281 ; No 2TEST: true.size=0 false.size=25 3282 ; 1GOTO: Single test with GOTO 3283 0178 186f btfsc rb2bus_selected___byte, rb2bus_selected___bit 3284 0179 2993 goto rb2bus_select_wait__6 3285 ; line_number = 73 3286 ; _adden := _true 3287 ;info 73, 378 3288 017a 1597 bsf _adden___byte, _adden___bit 3289 ; # Wait for a byte to arrive. 3290 ; line_number = 75 3291 ; while !_rcif start 3292 017b : rb2bus_select_wait__2: 3293 ;info 75, 379 3294 ; =>bit_code_emit@symbol(): sym=_rcif 3295 ; No 1TEST: true.size=0 false.size=2 3296 ; No 2TEST: true.size=0 false.size=2 3297 ; 1GOTO: Single test with GOTO 3298 017b 1a8c btfsc _rcif___byte, _rcif___bit 3299 017c 297f goto rb2bus_select_wait__3 3300 ; line_number = 76 3301 ; call wait() 3302 ;info 76, 381 3303 017d 215a call wait 3304 3305 017e 297b goto rb2bus_select_wait__2 3306 017f : rb2bus_select_wait__3: 3307 ; Recombine size1 = 0 || size2 = 0 3308 ; line_number = 75 3309 ; while !_rcif done 3310 ; # Capture the received value: 3311 ; line_number = 79 3312 ; address_bit := _false 3313 ;info 79, 383 3314 017f 116f bcf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit 3315 ; line_number = 80 3316 ; if _rx9d start 3317 ;info 80, 384 3318 ; =>bit_code_emit@symbol(): sym=_rx9d 3319 ; 1TEST: Single test with code in skip slot 3320 0180 1817 btfsc _rx9d___byte, _rx9d___bit 3321 ; line_number = 81 3322 ; address_bit := _true 3323 ;info 81, 385 3324 0181 156f bsf rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit 3325 ; Recombine size1 = 0 || size2 = 0 3326 ; line_number = 80 3327 ; if _rx9d done 3328 ; line_number = 82 3329 ; value := _rcreg 3330 ;info 82, 386 3331 0182 0814 movf _rcreg,w 3332 0183 00a2 movwf rb2bus_select_wait__value 3333 3334 ; # Clear any UART errors by toggling {_cren}: 3335 ; line_number = 85 3336 ; if _oerr start 3337 ;info 85, 388 3338 ; =>bit_code_emit@symbol(): sym=_oerr 3339 ; 1TEST: Single test with code in skip slot 3340 0184 1897 btfsc _oerr___byte, _oerr___bit 3341 ; line_number = 86 3342 ; _cren := _false 3343 ;info 86, 389 3344 0185 1217 bcf _cren___byte, _cren___bit 3345 ; Recombine size1 = 0 || size2 = 0 3346 ; line_number = 85 3347 ; if _oerr done 3348 ; line_number = 87 3349 ; if _ferr start 3350 ;info 87, 390 3351 ; =>bit_code_emit@symbol(): sym=_ferr 3352 ; 1TEST: Single test with code in skip slot 3353 0186 1917 btfsc _ferr___byte, _ferr___bit 3354 ; line_number = 88 3355 ; _cren := _false 3356 ;info 88, 391 3357 0187 1217 bcf _cren___byte, _cren___bit 3358 ; Recombine size1 = 0 || size2 = 0 3359 ; line_number = 87 3360 ; if _ferr done 3361 ; line_number = 89 3362 ; _cren := _true 3363 ;info 89, 392 3364 0188 1617 bsf _cren___byte, _cren___bit 3365 3366 ; line_number = 91 3367 ; if address_bit start 3368 ;info 91, 393 3369 ; =>bit_code_emit@symbol(): sym=rb2bus_select_wait__address_bit 3370 ; No 1TEST: true.size=7 false.size=0 3371 ; No 2TEST: true.size=7 false.size=0 3372 ; 1GOTO: Single test with GOTO 3373 0189 1d6f btfss rb2bus_select_wait__address_bit___byte, rb2bus_select_wait__address_bit___bit 3374 018a 2992 goto rb2bus_select_wait__5 3375 ; line_number = 92 3376 ; if value = rb2bus_address start 3377 ;info 92, 395 3378 ; Left minus Right 3379 018b 0820 movf rb2bus_address,w 3380 018c 0222 subwf rb2bus_select_wait__value,w 3381 ; =>bit_code_emit@symbol(): sym=__z 3382 ; No 1TEST: true.size=3 false.size=0 3383 ; No 2TEST: true.size=3 false.size=0 3384 ; 1GOTO: Single test with GOTO 3385 018d 1d03 btfss __z___byte, __z___bit 3386 018e 2992 goto rb2bus_select_wait__4 3387 ; line_number = 93 3388 ; rb2bus_selected := _true 3389 ;info 93, 399 3390 018f 146f bsf rb2bus_selected___byte, rb2bus_selected___bit 3391 ; line_number = 94 3392 ; call rb2bus_byte_put(rb2_ok) 3393 ;info 94, 400 3394 0190 30a5 movlw 165 3395 0191 21b8 call rb2bus_byte_put 3396 3397 3398 ; Recombine size1 = 0 || size2 = 0 3399 0192 : rb2bus_select_wait__4: 3400 ; line_number = 92 3401 ; if value = rb2bus_address done 3402 ; Recombine size1 = 0 || size2 = 0 3403 0192 : rb2bus_select_wait__5: 3404 ; line_number = 91 3405 ; if address_bit done 3406 0192 2978 goto rb2bus_select_wait__1 3407 0193 : rb2bus_select_wait__6: 3408 ; Recombine size1 = 0 || size2 = 0 3409 ; line_number = 72 3410 ; while !rb2bus_selected done 3411 ; delay after procedure statements=non-uniform 3412 ; Implied return 3413 0193 3400 retlw 0 3414 3415 3416 3417 3418 ; line_number = 97 3419 ;info 97, 404 3420 ; procedure rb2bus_deselect 3421 0194 : rb2bus_deselect: 3422 ; arguments_none 3423 ; line_number = 99 3424 ; returns_nothing 3425 3426 ; # This procedure forces this module into the deselected state until 3427 ; # it is reselected by some master module on the bus. 3428 3429 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3430 ; line_number = 104 3431 ; rb2bus_selected := _false 3432 ;info 104, 404 3433 0194 106f bcf rb2bus_selected___byte, rb2bus_selected___bit 3434 3435 3436 ; delay after procedure statements=non-uniform 3437 ; Implied return 3438 0195 3400 retlw 0 3439 3440 3441 3442 3443 ; line_number = 107 3444 ;info 107, 406 3445 ; procedure rb2bus_byte_get 3446 0196 : rb2bus_byte_get: 3447 ; arguments_none 3448 ; line_number = 109 3449 ; returns byte 3450 3451 ; # This procedure will return the next byte received from the bus. 3452 ; # The address (9th) bit is stored in the global {is_address}. 3453 ; # 3454 ; # If {rb2bus_error} is set, 0 is returned. Otherwise, the {wait} 3455 ; # procedure is repeatably called until a command byte is successfully 3456 ; # received. If an module select byte comes in, we enter a bus 3457 ; # error condition by setting {rb2bus_error} and returning 0. 3458 3459 ; line_number = 119 3460 ; local value byte 3461 00000023 = rb2bus_byte_get__value equ globals___0+3 3462 ; line_number = 120 3463 ; local address_bit bit 3464 0000006f = rb2bus_byte_get__address_bit___byte equ globals___0+79 3465 00000003 = rb2bus_byte_get__address_bit___bit equ 3 3466 3467 ; # Return 0 in a bus flush condition to get us back to {rb2bus_select_wait}: 3468 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3469 ; line_number = 123 3470 ; if rb2bus_error start 3471 ;info 123, 406 3472 ; =>bit_code_emit@symbol(): sym=rb2bus_error 3473 ; 1TEST: Single test with code in skip slot 3474 0196 18ef btfsc rb2bus_error___byte, rb2bus_error___bit 3475 ; line_number = 124 3476 ; return 0 start 3477 ; line_number = 124 3478 ;info 124, 407 3479 0197 3400 retlw 0 3480 ; line_number = 124 3481 ; return 0 done 3482 3483 ; Recombine size1 = 0 || size2 = 0 3484 ; line_number = 123 3485 ; if rb2bus_error done 3486 ; # Wait for a byte to arrive. 3487 ; line_number = 127 3488 ; _adden := _false 3489 ;info 127, 408 3490 0198 1197 bcf _adden___byte, _adden___bit 3491 ; line_number = 128 3492 ; while !_rcif start 3493 0199 : rb2bus_byte_get__1: 3494 ;info 128, 409 3495 ; =>bit_code_emit@symbol(): sym=_rcif 3496 ; No 1TEST: true.size=0 false.size=2 3497 ; No 2TEST: true.size=0 false.size=2 3498 ; 1GOTO: Single test with GOTO 3499 0199 1a8c btfsc _rcif___byte, _rcif___bit 3500 019a 299d goto rb2bus_byte_get__2 3501 ; line_number = 129 3502 ; call wait() 3503 ;info 129, 411 3504 019b 215a call wait 3505 3506 019c 2999 goto rb2bus_byte_get__1 3507 019d : rb2bus_byte_get__2: 3508 ; Recombine size1 = 0 || size2 = 0 3509 ; line_number = 128 3510 ; while !_rcif done 3511 ; # Record the 9th bit in {address_bit}: 3512 ; line_number = 132 3513 ; address_bit := _false 3514 ;info 132, 413 3515 019d 11ef bcf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit 3516 ; line_number = 133 3517 ; if _rx9d start 3518 ;info 133, 414 3519 ; =>bit_code_emit@symbol(): sym=_rx9d 3520 ; 1TEST: Single test with code in skip slot 3521 019e 1817 btfsc _rx9d___byte, _rx9d___bit 3522 ; line_number = 134 3523 ; address_bit := _true 3524 ;info 134, 415 3525 019f 15ef bsf rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit 3526 ; Recombine size1 = 0 || size2 = 0 3527 ; line_number = 133 3528 ; if _rx9d done 3529 ; line_number = 135 3530 ; value := _rcreg 3531 ;info 135, 416 3532 01a0 0814 movf _rcreg,w 3533 01a1 00a3 movwf rb2bus_byte_get__value 3534 3535 ; # Clear any errors by toggling _{cren}: 3536 ; # FIXME: All of this should be done *before* reading {_rcreg}!!! 3537 ; line_number = 139 3538 ; if _oerr start 3539 ;info 139, 418 3540 ; =>bit_code_emit@symbol(): sym=_oerr 3541 ; 1TEST: Single test with code in skip slot 3542 01a2 1897 btfsc _oerr___byte, _oerr___bit 3543 ; line_number = 140 3544 ; _cren := _false 3545 ;info 140, 419 3546 01a3 1217 bcf _cren___byte, _cren___bit 3547 ; Recombine size1 = 0 || size2 = 0 3548 ; line_number = 139 3549 ; if _oerr done 3550 ; line_number = 141 3551 ; if _ferr start 3552 ;info 141, 420 3553 ; =>bit_code_emit@symbol(): sym=_ferr 3554 ; 1TEST: Single test with code in skip slot 3555 01a4 1917 btfsc _ferr___byte, _ferr___bit 3556 ; line_number = 142 3557 ; _cren := _false 3558 ;info 142, 421 3559 01a5 1217 bcf _cren___byte, _cren___bit 3560 ; Recombine size1 = 0 || size2 = 0 3561 ; line_number = 141 3562 ; if _ferr done 3563 ; line_number = 143 3564 ; _cren := _true 3565 ;info 143, 422 3566 01a6 1617 bsf _cren___byte, _cren___bit 3567 3568 ; line_number = 145 3569 ; if address_bit start 3570 ;info 145, 423 3571 ; =>bit_code_emit@symbol(): sym=rb2bus_byte_get__address_bit 3572 ; No 1TEST: true.size=13 false.size=0 3573 ; No 2TEST: true.size=13 false.size=0 3574 ; 1GOTO: Single test with GOTO 3575 01a7 1def btfss rb2bus_byte_get__address_bit___byte, rb2bus_byte_get__address_bit___bit 3576 01a8 29b6 goto rb2bus_byte_get__5 3577 ; # We have an unexpected address select coming in: 3578 ; line_number = 147 3579 ; if value = rb2bus_address start 3580 ;info 147, 425 3581 ; Left minus Right 3582 01a9 0820 movf rb2bus_address,w 3583 01aa 0223 subwf rb2bus_byte_get__value,w 3584 ; =>bit_code_emit@symbol(): sym=__z 3585 ; No 1TEST: true.size=4 false.size=2 3586 ; No 2TEST: true.size=4 false.size=2 3587 ; 2GOTO: Single test with two GOTO's 3588 01ab 1d03 btfss __z___byte, __z___bit 3589 01ac 29b2 goto rb2bus_byte_get__3 3590 ; # We are being selected again: 3591 ; line_number = 149 3592 ; rb2bus_selected := _true 3593 ;info 149, 429 3594 01ad 146f bsf rb2bus_selected___byte, rb2bus_selected___bit 3595 ; line_number = 150 3596 ; _adden := _false 3597 ;info 150, 430 3598 01ae 1197 bcf _adden___byte, _adden___bit 3599 3600 ; line_number = 152 3601 ; call rb2bus_byte_put(rb2_ok) 3602 ;info 152, 431 3603 01af 30a5 movlw 165 3604 01b0 21b8 call rb2bus_byte_put 3605 01b1 29b4 goto rb2bus_byte_get__4 3606 ; 2GOTO: Starting code 2 3607 01b2 : rb2bus_byte_get__3: 3608 ; # Somebody else is being selected; we deselect: 3609 ; line_number = 155 3610 ; rb2bus_selected := _false 3611 ;info 155, 434 3612 01b2 106f bcf rb2bus_selected___byte, rb2bus_selected___bit 3613 ; line_number = 156 3614 ; _adden := _true 3615 ;info 156, 435 3616 01b3 1597 bsf _adden___byte, _adden___bit 3617 3618 01b4 : rb2bus_byte_get__4: 3619 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3620 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3621 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3622 ; line_number = 147 3623 ; if value = rb2bus_address done 3624 ; # We want to get back to the beginning of decode: 3625 ; line_number = 159 3626 ; rb2bus_error := _true 3627 ;info 159, 436 3628 01b4 14ef bsf rb2bus_error___byte, rb2bus_error___bit 3629 ; line_number = 160 3630 ; value := 0 3631 ;info 160, 437 3632 01b5 01a3 clrf rb2bus_byte_get__value 3633 3634 ; Recombine size1 = 0 || size2 = 0 3635 01b6 : rb2bus_byte_get__5: 3636 ; line_number = 145 3637 ; if address_bit done 3638 ; # Regular data byte: 3639 ; line_number = 163 3640 ; return value start 3641 ; line_number = 163 3642 ;info 163, 438 3643 01b6 0823 movf rb2bus_byte_get__value,w 3644 01b7 0008 return 3645 ; line_number = 163 3646 ; return value done 3647 3648 3649 ; delay after procedure statements=non-uniform 3650 3651 3652 3653 3654 ; line_number = 166 3655 ;info 166, 440 3656 ; procedure rb2bus_byte_put 3657 01b8 : rb2bus_byte_put: 3658 ; Last argument is sitting in W; save into argument variable 3659 01b8 00a4 movwf rb2bus_byte_put__value 3660 ; delay=4294967295 3661 ; line_number = 167 3662 ; argument value byte 3663 00000024 = rb2bus_byte_put__value equ globals___0+4 3664 ; line_number = 168 3665 ; returns_nothing 3666 3667 ; # This procedure will send {value} to the bus. It automatically 3668 ; # consumes the echo that is on the bus. If {rb2bus_error} is 3669 ; # set, this procedure does nothing. 3670 3671 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3672 ; line_number = 174 3673 ; if !rb2bus_error start 3674 ;info 174, 441 3675 ; =>bit_code_emit@symbol(): sym=rb2bus_error 3676 ; No 1TEST: true.size=0 false.size=16 3677 ; No 2TEST: true.size=0 false.size=16 3678 ; 1GOTO: Single test with GOTO 3679 01b9 18ef btfsc rb2bus_error___byte, rb2bus_error___bit 3680 01ba 29cb goto rb2bus_byte_put__4 3681 ; # Wait until {_txreg} is ready for a value: 3682 ; line_number = 176 3683 ; while !_txif start 3684 01bb : rb2bus_byte_put__1: 3685 ;info 176, 443 3686 ; =>bit_code_emit@symbol(): sym=_txif 3687 ; No 1TEST: true.size=0 false.size=2 3688 ; No 2TEST: true.size=0 false.size=2 3689 ; 1GOTO: Single test with GOTO 3690 01bb 188c btfsc _txif___byte, _txif___bit 3691 01bc 29bf goto rb2bus_byte_put__2 3692 ; line_number = 177 3693 ; call wait() 3694 ;info 177, 445 3695 01bd 215a call wait 3696 3697 01be 29bb goto rb2bus_byte_put__1 3698 01bf : rb2bus_byte_put__2: 3699 ; Recombine size1 = 0 || size2 = 0 3700 ; line_number = 176 3701 ; while !_txif done 3702 ; # Ship {value} out to the bus with 9th bit turned off: 3703 ; line_number = 180 3704 ; _adden := _false 3705 ;info 180, 447 3706 01bf 1197 bcf _adden___byte, _adden___bit 3707 ; line_number = 181 3708 ; _tx9d := _false 3709 ;info 181, 448 3710 01c0 1016 bcf _tx9d___byte, _tx9d___bit 3711 ; line_number = 182 3712 ; _txreg := value 3713 ;info 182, 449 3714 01c1 0824 movf rb2bus_byte_put__value,w 3715 01c2 0095 movwf _txreg 3716 3717 ; # Wait for the echo to show up: 3718 ; line_number = 185 3719 ; while !_rcif start 3720 01c3 : rb2bus_byte_put__3: 3721 ;info 185, 451 3722 ; =>bit_code_emit@symbol(): sym=_rcif 3723 ; 1TEST: Single test with code in skip slot 3724 01c3 1e8c btfss _rcif___byte, _rcif___bit 3725 ; # Still waiting: 3726 01c4 29c3 goto rb2bus_byte_put__3 3727 ; Recombine size1 = 0 || size2 = 0 3728 ; line_number = 185 3729 ; while !_rcif done 3730 ; # Throw the received byte away (store into {_w}). 3731 ; line_number = 188 3732 ; assemble 3733 ;info 188, 453 3734 ; line_number = 189 3735 ;info 189, 453 3736 01c5 0814 movf _rcreg,w 3737 3738 ; # Recover from any receive errors by toggling {_cren}: 3739 ; line_number = 192 3740 ; if _oerr start 3741 ;info 192, 454 3742 ; =>bit_code_emit@symbol(): sym=_oerr 3743 ; 1TEST: Single test with code in skip slot 3744 01c6 1897 btfsc _oerr___byte, _oerr___bit 3745 ; line_number = 193 3746 ; _cren := _false 3747 ;info 193, 455 3748 01c7 1217 bcf _cren___byte, _cren___bit 3749 ; Recombine size1 = 0 || size2 = 0 3750 ; line_number = 192 3751 ; if _oerr done 3752 ; line_number = 194 3753 ; if _ferr start 3754 ;info 194, 456 3755 ; =>bit_code_emit@symbol(): sym=_ferr 3756 ; 1TEST: Single test with code in skip slot 3757 01c8 1917 btfsc _ferr___byte, _ferr___bit 3758 ; line_number = 195 3759 ; _cren := _false 3760 ;info 195, 457 3761 01c9 1217 bcf _cren___byte, _cren___bit 3762 ; Recombine size1 = 0 || size2 = 0 3763 ; line_number = 194 3764 ; if _ferr done 3765 ; line_number = 196 3766 ; _cren := _true 3767 ;info 196, 458 3768 01ca 1617 bsf _cren___byte, _cren___bit 3769 3770 3771 01cb : rb2bus_byte_put__4: 3772 ; Recombine size1 = 0 || size2 = 0 3773 ; line_number = 174 3774 ; if !rb2bus_error done 3775 ; delay after procedure statements=non-uniform 3776 ; Implied return 3777 01cb 3400 retlw 0 3778 3779 3780 3781 3782 ; line_number = 199 3783 ;info 199, 460 3784 ; procedure rb2bus_command 3785 01cc : rb2bus_command: 3786 ; Last argument is sitting in W; save into argument variable 3787 01cc 00a7 movwf rb2bus_command__command 3788 ; delay=4294967295 3789 ; line_number = 200 3790 ; argument command byte 3791 00000027 = rb2bus_command__command equ globals___0+7 3792 ; line_number = 201 3793 ; returns_nothing 3794 3795 ; # This procedure will process an shared {command}. This procedure 3796 ; # accesses the global string {id}. 3797 3798 ; line_number = 206 3799 ; local new_address byte 3800 00000025 = rb2bus_command__new_address equ globals___0+5 3801 ; line_number = 207 3802 ; local temp byte 3803 00000026 = rb2bus_command__temp equ globals___0+6 3804 3805 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 3806 ; line_number = 209 3807 ; switch command & 7 start 3808 ;info 209, 461 3809 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=1 3810 01cd 3001 movlw rb2bus_command__13>>8 3811 01ce 008a movwf __pclath 3812 01cf 3007 movlw 7 3813 01d0 0527 andwf rb2bus_command__command,w 3814 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 3815 01d1 3ed3 addlw rb2bus_command__13 3816 01d2 0082 movwf __pcl 3817 ; page_group 8 3818 01d3 : rb2bus_command__13: 3819 01d3 2a13 goto rb2bus_command__14 3820 01d4 2a13 goto rb2bus_command__14 3821 01d5 2a13 goto rb2bus_command__14 3822 01d6 2a13 goto rb2bus_command__14 3823 01d7 29db goto rb2bus_command__9 3824 01d8 2a07 goto rb2bus_command__10 3825 01d9 2a10 goto rb2bus_command__11 3826 01da 2a12 goto rb2bus_command__12 3827 ; line_number = 210 3828 ; case 4 3829 01db : rb2bus_command__9: 3830 ; # 1111 1100 (Address_Set): 3831 ; # Return old address: 3832 ; line_number = 213 3833 ; call rb2bus_byte_put(rb2bus_address) 3834 ;info 213, 475 3835 01db 0820 movf rb2bus_address,w 3836 01dc 21b8 call rb2bus_byte_put 3837 3838 ; # Fetch new address: 3839 ; line_number = 216 3840 ; new_address := rb2bus_byte_get() 3841 ;info 216, 477 3842 01dd 2196 call rb2bus_byte_get 3843 01de 00a5 movwf rb2bus_command__new_address 3844 ; line_number = 217 3845 ; if new_address = 0 || new_address = rb2bus_address start 3846 ;info 217, 479 3847 ; Left minus Right 3848 01df 0825 movf rb2bus_command__new_address,w 3849 ; =>bit_code_emit@symbol(): sym=__z 3850 ; No 1TEST: true.size=1 false.size=36 3851 ; No 2TEST: true.size=1 false.size=36 3852 ; 2GOTO: Single test with two GOTO's 3853 01e0 1903 btfsc __z___byte, __z___bit 3854 01e1 29e6 goto rb2bus_command__5 3855 ; Recombine code1_bit_states != code2_bit_states 3856 ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 3857 ; Left minus Right 3858 01e2 0820 movf rb2bus_address,w 3859 01e3 0225 subwf rb2bus_command__new_address,w 3860 ; =>bit_code_emit@symbol(): sym=__z 3861 ; No 1TEST: true.size=4 false.size=27 3862 ; No 2TEST: true.size=4 false.size=27 3863 ; 2GOTO: Single test with two GOTO's 3864 01e4 1d03 btfss __z___byte, __z___bit 3865 01e5 29eb goto rb2bus_command__6 3866 01e6 : rb2bus_command__5: 3867 ; line_number = 218 3868 ; call rb2bus_byte_put(0) 3869 ;info 218, 486 3870 01e6 3000 movlw 0 3871 01e7 21b8 call rb2bus_byte_put 3872 ; line_number = 219 3873 ; rb2bus_error := _true 3874 ;info 219, 488 3875 01e8 14ef bsf rb2bus_error___byte, rb2bus_error___bit 3876 ; line_number = 220 3877 ; rb2bus_selected := _false 3878 ;info 220, 489 3879 01e9 106f bcf rb2bus_selected___byte, rb2bus_selected___bit 3880 01ea 2a06 goto rb2bus_command__7 3881 ; 2GOTO: Starting code 2 3882 01eb : rb2bus_command__6: 3883 ; # Return new address: 3884 ; line_number = 223 3885 ; call rb2bus_byte_put(new_address) 3886 ;info 223, 491 3887 01eb 0825 movf rb2bus_command__new_address,w 3888 01ec 21b8 call rb2bus_byte_put 3889 3890 ; # Fetch new address again as a check: 3891 ; line_number = 226 3892 ; temp := rb2bus_byte_get() 3893 ;info 226, 493 3894 01ed 2196 call rb2bus_byte_get 3895 01ee 00a6 movwf rb2bus_command__temp 3896 ; line_number = 227 3897 ; if temp != new_address start 3898 ;info 227, 495 3899 ; Left minus Right 3900 01ef 0825 movf rb2bus_command__new_address,w 3901 01f0 0226 subwf rb2bus_command__temp,w 3902 ; =>bit_code_emit@symbol(): sym=__z 3903 ; No 1TEST: true.size=14 false.size=4 3904 ; No 2TEST: true.size=14 false.size=4 3905 ; 2GOTO: Single test with two GOTO's 3906 01f1 1d03 btfss __z___byte, __z___bit 3907 01f2 2a02 goto rb2bus_command__3 3908 ; line_number = 232 3909 ; call rb2bus_eedata_write(new_address) 3910 ;info 232, 499 3911 01f3 0825 movf rb2bus_command__new_address,w 3912 01f4 2247 call rb2bus_eedata_write 3913 ; line_number = 233 3914 ; temp := rb2bus_eedata_read() 3915 ;info 233, 501 3916 01f5 2232 call rb2bus_eedata_read 3917 01f6 00a6 movwf rb2bus_command__temp 3918 ; line_number = 234 3919 ; if temp = new_address start 3920 ;info 234, 503 3921 ; Left minus Right 3922 01f7 0825 movf rb2bus_command__new_address,w 3923 01f8 0226 subwf rb2bus_command__temp,w 3924 ; =>bit_code_emit@symbol(): sym=__z 3925 ; No 1TEST: true.size=3 false.size=1 3926 ; No 2TEST: true.size=3 false.size=1 3927 ; 2GOTO: Single test with two GOTO's 3928 01f9 1d03 btfss __z___byte, __z___bit 3929 01fa 29ff goto rb2bus_command__1 3930 ; line_number = 235 3931 ; rb2bus_address := new_address 3932 ;info 235, 507 3933 01fb 0825 movf rb2bus_command__new_address,w 3934 01fc 00a0 movwf rb2bus_address 3935 ; line_number = 236 3936 ; call rb2bus_byte_put(rb2_ok) 3937 ;info 236, 509 3938 01fd 30a5 movlw 165 3939 01fe 2a00 goto rb2bus_command__2 3940 ; 2GOTO: Starting code 2 3941 01ff : rb2bus_command__1: 3942 ; line_number = 238 3943 ; call rb2bus_byte_put(0) 3944 ;info 238, 511 3945 01ff 3000 movlw 0 3946 0200 : rb2bus_command__2: 3947 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3948 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3949 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3950 0200 21b8 call rb2bus_byte_put 3951 ; line_number = 234 3952 ; if temp = new_address done 3953 0201 2a06 goto rb2bus_command__4 3954 ; 2GOTO: Starting code 2 3955 0202 : rb2bus_command__3: 3956 ; line_number = 228 3957 ; call rb2bus_byte_put(0) 3958 ;info 228, 514 3959 0202 3000 movlw 0 3960 0203 21b8 call rb2bus_byte_put 3961 ; line_number = 229 3962 ; rb2bus_error := _true 3963 ;info 229, 516 3964 0204 14ef bsf rb2bus_error___byte, rb2bus_error___bit 3965 ; line_number = 230 3966 ; rb2bus_selected := _false 3967 ;info 230, 517 3968 0205 106f bcf rb2bus_selected___byte, rb2bus_selected___bit 3969 0206 : rb2bus_command__4: 3970 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3971 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3972 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3973 ; line_number = 227 3974 ; if temp != new_address done 3975 0206 : rb2bus_command__7: 3976 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3977 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3978 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3979 ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 3980 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 3981 ; 2GOTO: No goto needed; true=rb2bus_command__5 false= true_size=1 false_size=36 3982 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3983 ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:XX=cc=>XX) 3984 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3985 ; line_number = 217 3986 ; if new_address = 0 || new_address = rb2bus_address done 3987 0206 2a13 goto rb2bus_command__14 3988 ; line_number = 239 3989 ; case 5 3990 0207 : rb2bus_command__10: 3991 ; # 1111 1101 (Id_next): 3992 ; line_number = 241 3993 ; if rb2bus_index < id.size start 3994 ;info 241, 519 3995 0207 3016 movlw 22 3996 0208 0221 subwf rb2bus_index,w 3997 ; =>bit_code_emit@symbol(): sym=__c 3998 ; No 1TEST: true.size=0 false.size=4 3999 ; No 2TEST: true.size=0 false.size=4 4000 ; 1GOTO: Single test with GOTO 4001 0209 1803 btfsc __c___byte, __c___bit 4002 020a 2a0f goto rb2bus_command__8 4003 ; line_number = 242 4004 ; call rb2bus_byte_put(id[rb2bus_index]) 4005 ;info 242, 523 4006 020b 0821 movf rb2bus_index,w 4007 020c 215b call id 4008 020d 21b8 call rb2bus_byte_put 4009 ; line_number = 243 4010 ; rb2bus_index := rb2bus_index + 1 4011 ;info 243, 526 4012 020e 0aa1 incf rb2bus_index,f 4013 ; #if rb2bus_index >= id.size 4014 ; # rb2bus_index := rb2bus_index - 1 4015 020f : rb2bus_command__8: 4016 ; Recombine size1 = 0 || size2 = 0 4017 ; line_number = 241 4018 ; if rb2bus_index < id.size done 4019 020f 2a13 goto rb2bus_command__14 4020 ; line_number = 246 4021 ; case 6 4022 0210 : rb2bus_command__11: 4023 ; # 1111 1110 (Id_start): 4024 ; line_number = 248 4025 ; rb2bus_index := 0 4026 ;info 248, 528 4027 0210 01a1 clrf rb2bus_index 4028 0211 2a13 goto rb2bus_command__14 4029 ; line_number = 249 4030 ; case 7 4031 0212 : rb2bus_command__12: 4032 ; # 1111 1111 (Deselect): 4033 ; line_number = 251 4034 ; call rb2bus_deselect() 4035 ;info 251, 530 4036 0212 2194 call rb2bus_deselect 4037 4038 4039 0213 : rb2bus_command__14: 4040 ; line_number = 209 4041 ; switch command & 7 done 4042 ; delay after procedure statements=non-uniform 4043 ; Implied return 4044 0213 3400 retlw 0 4045 4046 4047 4048 4049 ; buffer = 'rb2bus_pic16f688' 4050 ; line_number = 18 4051 ;info 18, 532 4052 ; procedure rb2bus_initialize 4053 0214 : rb2bus_initialize: 4054 ; Last argument is sitting in W; save into argument variable 4055 0214 00a8 movwf rb2bus_initialize__address 4056 ; delay=4294967295 4057 ; line_number = 19 4058 ; argument address byte 4059 00000028 = rb2bus_initialize__address equ globals___0+8 4060 ; line_number = 20 4061 ; returns_nothing 4062 4063 ; # This procedure is responsibile for initializing the UART 4064 ; # connected to the bus. {address} is the address of this 4065 ; # slave module. This code is specific to the PIC16F688. 4066 4067 ; # Warm up the UART: 4068 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 4069 ; line_number = 27 4070 ; _trisc@5 := _true 4071 ;info 27, 533 4072 00000087 = rb2bus_initialize__select__1___byte equ _trisc 4073 00000005 = rb2bus_initialize__select__1___bit equ 5 4074 0215 1683 bsf __rp0___byte, __rp0___bit 4075 0216 1687 bsf rb2bus_initialize__select__1___byte, rb2bus_initialize__select__1___bit 4076 ; line_number = 28 4077 ; _trisc@4 := _true 4078 ;info 28, 535 4079 00000087 = rb2bus_initialize__select__2___byte equ _trisc 4080 00000004 = rb2bus_initialize__select__2___bit equ 4 4081 0217 1607 bsf rb2bus_initialize__select__2___byte, rb2bus_initialize__select__2___bit 4082 4083 ; # Initialize the {_txsta} register: 4084 ; line_number = 31 4085 ; _txsta := 0 4086 ;info 31, 536 4087 0218 1283 bcf __rp0___byte, __rp0___bit 4088 0219 0196 clrf _txsta 4089 ; line_number = 32 4090 ; _tx9 := _true 4091 ;info 32, 538 4092 021a 1716 bsf _tx9___byte, _tx9___bit 4093 ; #_tx9 := _false 4094 ; line_number = 34 4095 ; _txen := _true 4096 ;info 34, 539 4097 021b 1696 bsf _txen___byte, _txen___bit 4098 ; line_number = 35 4099 ; _brgh := _true 4100 ;info 35, 540 4101 021c 1516 bsf _brgh___byte, _brgh___bit 4102 4103 ; # Initialize the {_rcsta} register: 4104 ; line_number = 38 4105 ; _rcsta := 0 4106 ;info 38, 541 4107 021d 0197 clrf _rcsta 4108 ; line_number = 39 4109 ; _spen := _true 4110 ;info 39, 542 4111 021e 1797 bsf _spen___byte, _spen___bit 4112 ; line_number = 40 4113 ; _rx9 := _true 4114 ;info 40, 543 4115 021f 1717 bsf _rx9___byte, _rx9___bit 4116 ; line_number = 41 4117 ; _cren := _true 4118 ;info 41, 544 4119 0220 1617 bsf _cren___byte, _cren___bit 4120 ; #_adden := _true 4121 ; line_number = 43 4122 ; _adden := _false 4123 ;info 43, 545 4124 0221 1197 bcf _adden___byte, _adden___bit 4125 4126 ; # Set up the baud rate generator: 4127 ; line_number = 46 4128 ; _baudctl := 0 4129 ;info 46, 546 4130 0222 0191 clrf _baudctl 4131 ; line_number = 47 4132 ; _brg16 := _true 4133 ;info 47, 547 4134 0223 1591 bsf _brg16___byte, _brg16___bit 4135 ; line_number = 48 4136 ; _spbrg := _eusart_500000_low 4137 ;info 48, 548 4138 0224 3009 movlw 9 4139 0225 0093 movwf _spbrg 4140 ; line_number = 49 4141 ; _spbrgh := _eusart_500000_high 4142 ;info 49, 550 4143 0226 0192 clrf _spbrgh 4144 4145 ; line_number = 51 4146 ; rb2bus_selected := _false 4147 ;info 51, 551 4148 0227 106f bcf rb2bus_selected___byte, rb2bus_selected___bit 4149 ; line_number = 52 4150 ; rb2bus_error := _false 4151 ;info 52, 552 4152 0228 10ef bcf rb2bus_error___byte, rb2bus_error___bit 4153 ; line_number = 53 4154 ; rb2bus_index := 0 4155 ;info 53, 553 4156 0229 01a1 clrf rb2bus_index 4157 4158 ; # Deal with setting {rb2bus_address} from EEData memory: 4159 ; line_number = 56 4160 ; rb2bus_address := rb2bus_eedata_read() 4161 ;info 56, 554 4162 022a 2232 call rb2bus_eedata_read 4163 022b 00a0 movwf rb2bus_address 4164 ; line_number = 57 4165 ; if rb2bus_address = 0 start 4166 ;info 57, 556 4167 ; Left minus Right 4168 022c 0820 movf rb2bus_address,w 4169 ; =>bit_code_emit@symbol(): sym=__z 4170 ; No 1TEST: true.size=2 false.size=0 4171 ; No 2TEST: true.size=2 false.size=0 4172 ; 1GOTO: Single test with GOTO 4173 022d 1d03 btfss __z___byte, __z___bit 4174 022e 2a31 goto rb2bus_initialize__3 4175 ; # EE data not set, so use {address} passed in as a argument: 4176 ; line_number = 59 4177 ; rb2bus_address := address 4178 ;info 59, 559 4179 022f 0828 movf rb2bus_initialize__address,w 4180 0230 00a0 movwf rb2bus_address 4181 4182 4183 ; Recombine size1 = 0 || size2 = 0 4184 0231 : rb2bus_initialize__3: 4185 ; line_number = 57 4186 ; if rb2bus_address = 0 done 4187 ; delay after procedure statements=non-uniform 4188 ; Implied return 4189 0231 3400 retlw 0 4190 4191 4192 4193 4194 ; line_number = 64 4195 ;info 64, 562 4196 ; procedure rb2bus_eedata_read 4197 0232 : rb2bus_eedata_read: 4198 ; arguments_none 4199 ; line_number = 66 4200 ; returns byte 4201 4202 ; # This procedure will return the address stored in EEData. If 4203 ; # there is no data, 0 is returned. 4204 4205 ; line_number = 71 4206 ; local temp1 byte 4207 00000029 = rb2bus_eedata_read__temp1 equ globals___0+9 4208 ; line_number = 72 4209 ; local temp2 byte 4210 0000002a = rb2bus_eedata_read__temp2 equ globals___0+10 4211 4212 ; # Read the first byte (the address): 4213 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 4214 ; line_number = 75 4215 ; _eecon1 := 0 4216 ;info 75, 562 4217 0232 1683 bsf __rp0___byte, __rp0___bit 4218 0233 019c clrf _eecon1 4219 ; line_number = 76 4220 ; _eeadr := rb2bus_eedata_address 4221 ;info 76, 564 4222 0234 30fe movlw 254 4223 0235 009b movwf _eeadr 4224 ; line_number = 77 4225 ; _rd := _true 4226 ;info 77, 566 4227 0236 141c bsf _rd___byte, _rd___bit 4228 ; line_number = 78 4229 ; temp1 := _eedat 4230 ;info 78, 567 4231 0237 081a movf _eedat,w 4232 0238 1283 bcf __rp0___byte, __rp0___bit 4233 0239 00a9 movwf rb2bus_eedata_read__temp1 4234 4235 ; # Read the second byte (the 1'z complement) 4236 ; line_number = 81 4237 ; _eeadr := _eeadr + 1 4238 ;info 81, 570 4239 023a 1683 bsf __rp0___byte, __rp0___bit 4240 023b 0a9b incf _eeadr,f 4241 ; line_number = 82 4242 ; _rd := _true 4243 ;info 82, 572 4244 023c 141c bsf _rd___byte, _rd___bit 4245 ; line_number = 83 4246 ; temp2 := _eedat 4247 ;info 83, 573 4248 023d 081a movf _eedat,w 4249 023e 1283 bcf __rp0___byte, __rp0___bit 4250 023f 00aa movwf rb2bus_eedata_read__temp2 4251 4252 ; # If they are 1's complement of one another, they are valid: 4253 ; line_number = 86 4254 ; if temp1 = (0xff ^ temp2) start 4255 ;info 86, 576 4256 ; Left minus Right 4257 0240 092a comf rb2bus_eedata_read__temp2,w 4258 0241 0229 subwf rb2bus_eedata_read__temp1,w 4259 ; =>bit_code_emit@symbol(): sym=__z 4260 ; No 1TEST: true.size=2 false.size=0 4261 ; No 2TEST: true.size=2 false.size=0 4262 ; 1GOTO: Single test with GOTO 4263 0242 1d03 btfss __z___byte, __z___bit 4264 0243 2a46 goto rb2bus_eedata_read__1 4265 ; # Return the valid address: 4266 ; line_number = 88 4267 ; return temp1 start 4268 ; line_number = 88 4269 ;info 88, 580 4270 0244 0829 movf rb2bus_eedata_read__temp1,w 4271 0245 0008 return 4272 ; line_number = 88 4273 ; return temp1 done 4274 4275 ; Recombine size1 = 0 || size2 = 0 4276 0246 : rb2bus_eedata_read__1: 4277 ; line_number = 86 4278 ; if temp1 = (0xff ^ temp2) done 4279 ; # They are not 1's complement, so return 0 as an error: 4280 ; line_number = 91 4281 ; return 0 start 4282 ; line_number = 91 4283 ;info 91, 582 4284 0246 3400 retlw 0 4285 ; line_number = 91 4286 ; return 0 done 4287 4288 4289 ; delay after procedure statements=non-uniform 4290 4291 4292 4293 4294 ; line_number = 94 4295 ;info 94, 583 4296 ; procedure rb2bus_eedata_write 4297 0247 : rb2bus_eedata_write: 4298 ; Last argument is sitting in W; save into argument variable 4299 0247 00ab movwf rb2bus_eedata_write__address 4300 ; delay=4294967295 4301 ; line_number = 95 4302 ; argument address byte 4303 0000002b = rb2bus_eedata_write__address equ globals___0+11 4304 ; line_number = 96 4305 ; returns_nothing 4306 4307 ; # This procedure will write {address} into the EEData. The 4308 ; # microcontroll pauses while the EEData is written. 4309 4310 ; # Clear out the {_eecon1} register 4311 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:XX=cc=>XX) 4312 ; line_number = 102 4313 ; _eecon1 := 0 4314 ;info 102, 584 4315 0248 1683 bsf __rp0___byte, __rp0___bit 4316 0249 019c clrf _eecon1 4317 ; line_number = 103 4318 ; _eeadr := rb2bus_eedata_address 4319 ;info 103, 586 4320 024a 30fe movlw 254 4321 024b 009b movwf _eeadr 4322 ; line_number = 104 4323 ; _eedat := address 4324 ;info 104, 588 4325 024c 1283 bcf __rp0___byte, __rp0___bit 4326 024d 082b movf rb2bus_eedata_write__address,w 4327 024e 1683 bsf __rp0___byte, __rp0___bit 4328 024f 009a movwf _eedat 4329 4330 ; # Write 2 bytes ({address} followed by {address}^0xff): 4331 ; line_number = 107 4332 ; loop_exactly 2 start 4333 ;info 107, 592 4334 0000003e = rb2bus_eedata_write__1 equ globals___0+30 4335 0250 3002 movlw 2 4336 0251 1283 bcf __rp0___byte, __rp0___bit 4337 0252 00be movwf rb2bus_eedata_write__1 4338 0253 : rb2bus_eedata_write__2: 4339 ; # Set the data to write: 4340 4341 ; # Set up the for the write: 4342 ; line_number = 111 4343 ; _wren := _true 4344 ;info 111, 595 4345 0253 1683 bsf __rp0___byte, __rp0___bit 4346 0254 151c bsf _wren___byte, _wren___bit 4347 ; line_number = 112 4348 ; _gie := _false 4349 ;info 112, 597 4350 0255 138b bcf _gie___byte, _gie___bit 4351 ; line_number = 113 4352 ; _eecon2 := 0x55 4353 ;info 113, 598 4354 0256 3055 movlw 85 4355 0257 009d movwf _eecon2 4356 ; line_number = 114 4357 ; _eecon2 := 0xaa 4358 ;info 114, 600 4359 0258 30aa movlw 170 4360 0259 009d movwf _eecon2 4361 ; # Start the write: 4362 ; line_number = 116 4363 ; _wr := _true 4364 ;info 116, 602 4365 025a 149c bsf _wr___byte, _wr___bit 4366 4367 ; # Wait for write to complete: 4368 ; line_number = 119 4369 ; while _wr start 4370 025b : rb2bus_eedata_write__3: 4371 ;info 119, 603 4372 ; =>bit_code_emit@symbol(): sym=_wr 4373 ; 1TEST: Single test with code in skip slot 4374 025b 189c btfsc _wr___byte, _wr___bit 4375 ; line_number = 120 4376 ; do_nothing 4377 ;info 120, 604 4378 4379 025c 2a5b goto rb2bus_eedata_write__3 4380 ; Recombine size1 = 0 || size2 = 0 4381 ; line_number = 119 4382 ; while _wr done 4383 ; # Disable writing: 4384 ; line_number = 123 4385 ; _wren := _false 4386 ;info 123, 605 4387 025d 111c bcf _wren___byte, _wren___bit 4388 4389 ; # Prepare the second byte of data: 4390 ; line_number = 126 4391 ; _eeadr := _eeadr + 1 4392 ;info 126, 606 4393 025e 0a9b incf _eeadr,f 4394 ; line_number = 127 4395 ; _eedat := address ^ 0xff 4396 ;info 127, 607 4397 025f 1283 bcf __rp0___byte, __rp0___bit 4398 0260 092b comf rb2bus_eedata_write__address,w 4399 0261 1683 bsf __rp0___byte, __rp0___bit 4400 0262 009a movwf _eedat 4401 4402 0263 1283 bcf __rp0___byte, __rp0___bit 4403 ; line_number = 107 4404 ; loop_exactly 2 wrap-up 4405 0264 0bbe decfsz rb2bus_eedata_write__1,f 4406 0265 2a53 goto rb2bus_eedata_write__2 4407 ; line_number = 107 4408 ; loop_exactly 2 done 4409 ; delay after procedure statements=non-uniform 4410 ; Implied return 4411 0266 3400 retlw 0 4412 4413 4414 4415 4416 ; Configuration bits 4417 ; address = 0x2007, fill = 0x3000 4418 ; fcmen = off (0x0) 4419 ; ieso = off (0x0) 4420 ; boden = off (0x0) 4421 ; cpd = off (0x80) 4422 ; cp = off (0x40) 4423 ; mclre = off (0x0) 4424 ; pwrte = off (0x10) 4425 ; wdte = off (0x0) 4426 ; fosc = hs (0x2) 4427 ; 12498 = 0x30d2 4428 30d2 = __config 12498 4429 ; Define start addresses for data regions 4430 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 4431 ; Region="globals___0" Address=32" Size=80 Bytes=31 Bits=4 Available=48 4432 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 4433 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 4434 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 4435 end