radix dec ; Code bank 0; Start address: 0; End address: 1023 org 0 ; Define start addresses for data regions shared___globals equ 32 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # ############################################################################# ; # ; # Copyright (c) 2000-2004 by Wayne C. Gramlich & William T. Benson. ; # All rights reserved. ; # ; # Permission to use, copy, modify, distribute, and sell this software ; # for any purpose is hereby granted without fee provided that the above ; # copyright notice and this permission are retained. The author makes ; # no representations about the suitability of this software for any purpose. ; # It is provided "as is" without express or implied warranty. ; # ; # This is the code that implements the DualMotor1Amp module. Basically ; # it just waits for commands that come in at 2400 baud and responds ; # to them. See: ; # ; # http://gramlich.net/projects/robobricks/dualmotor1amp/index.html ; # ; # for more details. ; # ; # ############################################################################# ; buffer = 'dualmotor1amp' ; line_number = 23 ; library _pic16f630 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f630' ; line_number = 5 ; processor pic16f630 ; line_number = 6 ; configure_address 0x2007 ; line_number = 7 ; configure_fill 0x0000 ; line_number = 8 ; configure_option bg: bg11 = 0x3000 ; line_number = 9 ; configure_option bg: bg10 = 0x2000 ; line_number = 10 ; configure_option bg: bg01 = 0x1000 ; line_number = 11 ; configure_option bg: bg00 = 0x0000 ; line_number = 12 ; configure_option cpd: on = 0x000 ; line_number = 13 ; configure_option cpd: off = 0x100 ; line_number = 14 ; configure_option cp: on = 0x00 ; line_number = 15 ; configure_option cp: off = 0x80 ; line_number = 16 ; configure_option boden: on = 0x40 ; line_number = 17 ; configure_option boden: off = 0x00 ; line_number = 18 ; configure_option mclre: on = 0x20 ; line_number = 19 ; configure_option mclre: off = 0x00 ; line_number = 20 ; configure_option pwrte: on = 0x00 ; line_number = 21 ; configure_option pwrte: off = 0x10 ; line_number = 22 ; configure_option wdte: on = 8 ; line_number = 23 ; configure_option wdte: off = 0 ; line_number = 24 ; configure_option fosc: rc_clk = 7 ; line_number = 25 ; configure_option fosc: rc_no_clk = 6 ; line_number = 26 ; configure_option fosc: int_clk = 5 ; line_number = 27 ; configure_option fosc: int_no_clk = 4 ; line_number = 28 ; configure_option fosc: ec = 3 ; line_number = 29 ; configure_option fosc: hs = 2 ; line_number = 30 ; configure_option fosc: xt = 1 ; line_number = 31 ; configure_option fosc: lp = 0 ; line_number = 32 ; code_bank 0x0 : 0x3ff ; line_number = 33 ; data_bank 0x0 : 0x7f ; line_number = 34 ; data_bank 0x80 : 0xff ; line_number = 35 ; shared_region 0x20 : 0x5f ; line_number = 36 ; interrupts_possible ; line_number = 37 ; osccal_register_symbol _osccal ; line_number = 38 ; osccal_at_address 0x3ff ; line_number = 39 ; packages pdip=14, soic=14, tssop=14 ; line_number = 40 ; pin vdd, power_supply ; line_number = 41 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 42 ; pin ra5_in, ra5_out, t1cki, osc1, clkin, ra5_unused ; line_number = 43 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 44 ; bind_to _porta@5 ; line_number = 45 ; or_if ra5_in _trisa 16 ; line_number = 46 ; or_if ra5_out _trisa 0 ; line_number = 47 ; pin ra4_in, ra4_out, t1g, osc2, clkout, ra4_unused ; line_number = 48 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 49 ; bind_to _porta@4 ; line_number = 50 ; or_if ra4_in _trisa 8 ; line_number = 51 ; or_if ra4_out _trisa 0 ; line_number = 52 ; pin ra3_in, mclr, vpp, ra3_unused ; line_number = 53 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 54 ; bind_to _porta@3 ; line_number = 55 ; or_if ra3_in _trisa 4 ; line_number = 56 ; pin rc5_in, rc5_out, rc5_unused ; line_number = 57 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 58 ; bind_to _portc@5 ; line_number = 59 ; or_if rc5_in _trisc 32 ; line_number = 60 ; or_if rc5_out _trisc 0 ; line_number = 61 ; pin rc4_in, rc4_out, rc4_unused ; line_number = 62 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 63 ; bind_to _portc@4 ; line_number = 64 ; or_if rc4_in _trisc 16 ; line_number = 65 ; or_if rc4_out _trisc 0 ; line_number = 66 ; pin rc3_in, rc3_out, r3_unused ; line_number = 67 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 68 ; bind_to _portc@3 ; line_number = 69 ; or_if rc3_in _trisc 8 ; line_number = 70 ; or_if rc3_out _trisc 0 ; line_number = 71 ; pin rc2_in, rc2_out, rc2_unused ; line_number = 72 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 73 ; bind_to _portc@2 ; line_number = 74 ; or_if rc2_in _trisc 4 ; line_number = 75 ; or_if rc2_out _trisc 0 ; line_number = 76 ; pin rc1_in, rc1_out, rc1_unused ; line_number = 77 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 78 ; bind_to _portc@1 ; line_number = 79 ; or_if rc1_in _trisc 2 ; line_number = 80 ; or_if rc1_out _trisc 0 ; line_number = 81 ; pin rc0_in, rc0_out, rc0_unused ; line_number = 82 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 83 ; bind_to _portc@0 ; line_number = 84 ; or_if rc0_in _trisc 1 ; line_number = 85 ; or_if rc0_out _trisc 0 ; line_number = 86 ; pin ra2_in, ra2_out, cout, t0cki, int, ra2_unused ; line_number = 87 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 88 ; bind_to _porta@2 ; line_number = 89 ; or_if ra2_in _trisa 4 ; line_number = 90 ; or_if ra2_out _trisa 0 ; line_number = 91 ; pin ra1_in, ra1_out, cin_minus, vref, icspclk, ra1_unused ; line_number = 92 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 93 ; bind_to _porta@1 ; line_number = 94 ; or_if ra1_in _trisa 2 ; line_number = 95 ; or_if ra1_out _trisa 0 ; line_number = 96 ; pin ra0_in, ra0_out, cin_plus, icspdat, ra0_unused ; line_number = 97 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 98 ; bind_to _porta@0 ; line_number = 99 ; or_if ra0_in _trisa 1 ; line_number = 100 ; or_if ra0_out _trisa 0 ; line_number = 101 ; pin vss, ground ; line_number = 102 ; pin_bindings pdip=14, soic=14, tssop=14 ; line_number = 107 ; library _pic16f630_676 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # Shared register definitions for the PIC16F630 and PIC16F676. ; buffer = '_pic16f630_676' ; line_number = 7 ; register _indf = _indf equ 0 ; line_number = 9 ; register _tmr0 = _tmr0 equ 1 ; line_number = 11 ; register _pcl = _pcl equ 2 ; line_number = 13 ; register _status = _status equ 3 ; line_number = 14 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 15 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 16 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 17 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 18 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 19 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 21 ; register _fsr = _fsr equ 4 ; line_number = 23 ; register _porta = _porta equ 5 ; line_number = 24 ; register _ra = _ra equ 5 ; line_number = 25 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 26 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 27 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 28 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 29 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 30 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 32 ; register _portc = _portc equ 7 ; line_number = 33 ; register _rc = _rc equ 7 ; line_number = 34 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 35 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 36 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 37 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 38 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 39 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 41 ; register _pclath = _pclath equ 10 ; line_number = 43 ; register _intcon = _intcon equ 11 ; line_number = 44 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 45 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 46 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 47 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 48 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 49 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 50 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 51 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 53 ; register _pir1 = _pir1 equ 12 ; line_number = 54 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 55 ; bind _cmif = _pir1@3 _cmif___byte equ _pir1 _cmif___bit equ 3 ; line_number = 56 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 58 ; register _tmr1l = _tmr1l equ 14 ; line_number = 60 ; register _tmr1h = _tmr1h equ 15 ; line_number = 62 ; register _t1con = _t1con equ 16 ; line_number = 63 ; bind _t1ge = _t1con@6 _t1ge___byte equ _t1con _t1ge___bit equ 6 ; line_number = 64 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 65 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 66 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 67 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 68 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 69 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 71 ; register _cmcon = _cmcon equ 25 ; line_number = 72 ; bind _cout = _cmcon@6 _cout___byte equ _cmcon _cout___bit equ 6 ; line_number = 73 ; bind _cinv = _cmcon@4 _cinv___byte equ _cmcon _cinv___bit equ 4 ; line_number = 74 ; bind _cis = _cmcon@3 _cis___byte equ _cmcon _cis___bit equ 3 ; line_number = 75 ; bind _cm2 = _cmcon@2 _cm2___byte equ _cmcon _cm2___bit equ 2 ; line_number = 76 ; bind _cm1 = _cmcon@1 _cm1___byte equ _cmcon _cm1___bit equ 1 ; line_number = 77 ; bind _cm0 = _cmcon@0 _cm0___byte equ _cmcon _cm0___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 81 ; register _option_reg = _option_reg equ 128 ; line_number = 82 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 83 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 84 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 85 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 86 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 87 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 88 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 89 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 91 ; register _trisa = _trisa equ 133 ; line_number = 92 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 93 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 94 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 95 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 96 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 97 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 99 ; register _trisc = _trisc equ 135 ; line_number = 100 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 101 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 102 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 103 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 104 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 105 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 107 ; register _pie1 = _pie1 equ 140 ; line_number = 108 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 109 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 110 ; bind _cmie = _pie1@3 _cmie___byte equ _pie1 _cmie___bit equ 3 ; line_number = 111 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 113 ; register _pcon = _pcon equ 142 ; line_number = 114 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 115 ; bind _bor = _pcon@0 _bor___byte equ _pcon _bor___bit equ 0 ; line_number = 117 ; register _osccal = _osccal equ 144 ; line_number = 118 ; bind _cal5 = _osccal@7 _cal5___byte equ _osccal _cal5___bit equ 7 ; line_number = 119 ; bind _cal4 = _osccal@6 _cal4___byte equ _osccal _cal4___bit equ 6 ; line_number = 120 ; bind _cal3 = _osccal@5 _cal3___byte equ _osccal _cal3___bit equ 5 ; line_number = 121 ; bind _cal2 = _osccal@4 _cal2___byte equ _osccal _cal2___bit equ 4 ; line_number = 122 ; bind _cal1 = _osccal@3 _cal1___byte equ _osccal _cal1___bit equ 3 ; line_number = 123 ; bind _cal0 = _osccal@2 _cal0___byte equ _osccal _cal0___bit equ 2 ; line_number = 124 ; constant _osccal_lsb = 4 _osccal_lsb equ 4 ; line_number = 126 ; register _wpua = _wpua equ 149 ; line_number = 127 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 128 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 129 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 130 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 131 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 133 ; register _ioca = _ioca equ 150 ; line_number = 134 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 135 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 136 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 137 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 138 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 139 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 141 ; register _vrcon = _vrcon equ 153 ; line_number = 142 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 143 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 144 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 145 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 146 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 147 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 149 ; register _eedata = _eedata equ 154 ; line_number = 151 ; register _eeadr = _eeadr equ 155 ; line_number = 153 ; register _eecon1 = _eecon1 equ 156 ; line_number = 154 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 155 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 156 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 157 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 159 ; register _eecon2 = _eecon2 equ 157 ; buffer = '_pic16f630' ; line_number = 107 ; library _pic16f630_676 exited ; buffer = 'dualmotor1amp' ; line_number = 23 ; library _pic16f630 exited ; line_number = 24 ; library clock4mhz entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock4mhz' ; line_number = 9 ; constant clock_rate = 4000000 clock_rate equ 4000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 1000000 ; buffer = 'dualmotor1amp' ; line_number = 24 ; library clock4mhz exited ; line_number = 25 ; library bit_bang entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library provides bit bang routines for sending and receiving ; # serial data at 2400 baud in 8N1 format (1 start bit, 8 data bits, ; # No parity bit, 1 stop stop bit.) ; # ; # This library requires that the pins {serial_in} and {serial_out} ; # be defined. In addition, the variable {instruction_rate} needs ; # to be defined. Lastly, there needs to be a {delay} procedure ; # with an "exact_delay delay_instructions" clause in it. The {delay} ; # routine should invoke "watch_dog_reset" so that the watch dog time ; # can be set. ; # Define some constants that we will be needing: ; buffer = 'bit_bang' ; line_number = 17 ; constant baud_rate = 2400 baud_rate equ 2400 ; line_number = 18 ; constant instructions_per_bit = instruction_rate / baud_rate instructions_per_bit equ 416 ; line_number = 19 ; constant delays_per_bit = 3 delays_per_bit equ 3 ; line_number = 20 ; constant instructions_per_delay = instructions_per_bit / delays_per_bit instructions_per_delay equ 138 ; line_number = 21 ; constant extra_instructions = 5 extra_instructions equ 5 ; line_number = 22 ; constant delay_instructions = instructions_per_delay - extra_instructions delay_instructions equ 133 ; # The {receiving} bit is sent when data is being received. ; # It gets cleared whenever data gets sent. It is used to ; # determine whether additional delay is needed to turn a ; # line around for slow interpretted chips like the Basic ; # Stamp 2 and the OOPIC. ; line_number = 30 ; global receiving bit receiving___byte equ shared___globals+63 receiving___bit equ 0 ; line_number = 31 ; global waiting bit waiting___byte equ shared___globals+63 waiting___bit equ 1 ; Delaying code generation for procedure byte_get ; Delaying code generation for procedure byte_put ; buffer = 'dualmotor1amp' ; line_number = 25 ; library bit_bang exited ; line_number = 27 ; package pdip ; line_number = 28 ; pin 1 = power_supply ; line_number = 29 ; pin 2 = ra5_unused ; line_number = 30 ; pin 3 = ra4_out, name = motor1a, mask = motor1a_mask motor1a___byte equ _porta motor1a___bit equ 4 motor1a_mask equ 16 ; line_number = 31 ; pin 4 = ra3_unused ; line_number = 32 ; pin 5 = rc5_unused, name = debug_out debug_out___byte equ _portc debug_out___bit equ 5 ; line_number = 33 ; pin 6 = rc4_unused ; line_number = 34 ; pin 7 = rc3_out, name = motor1e motor1e___byte equ _portc motor1e___bit equ 3 ; line_number = 35 ; pin 8 = rc2_out, name = motor0e motor0e___byte equ _portc motor0e___bit equ 2 ; line_number = 36 ; pin 9 = rc1_out, name = serial_out serial_out___byte equ _portc serial_out___bit equ 1 ; line_number = 37 ; pin 10 = rc0_out, name = serial_in serial_in___byte equ _portc serial_in___bit equ 0 ; line_number = 38 ; pin 11 = ra2_out, name = motor1b, mask = motor1b_mask motor1b___byte equ _porta motor1b___bit equ 2 motor1b_mask equ 4 ; line_number = 39 ; pin 12 = ra1_out, name = motor0b, mask = motor0b_mask motor0b___byte equ _porta motor0b___bit equ 1 motor0b_mask equ 2 ; line_number = 40 ; pin 13 = ra0_out, name = motor0a, mask = motor0a_mask motor0a___byte equ _porta motor0a___bit equ 0 motor0a_mask equ 1 ; line_number = 41 ; pin 14 = ground ; # Define duty cycle and motor on/off masks: ; line_number = 44 ; global actual_speed0 byte actual_speed0 equ shared___globals+4 ; line_number = 45 ; global actual_speed1 byte actual_speed1 equ shared___globals+5 ; line_number = 46 ; global motor0_off byte motor0_off equ shared___globals+6 ; line_number = 47 ; global motor0_on byte motor0_on equ shared___globals+7 ; line_number = 48 ; global motor1_off byte motor1_off equ shared___globals+8 ; line_number = 49 ; global motor1_on byte motor1_on equ shared___globals+9 ; # Ramp variables: ; line_number = 52 ; global desired_speed0 byte desired_speed0 equ shared___globals+10 ; line_number = 53 ; global desired_speed1 byte desired_speed1 equ shared___globals+11 ; line_number = 54 ; global desired_direction0 bit desired_direction0___byte equ shared___globals+63 desired_direction0___bit equ 2 ; line_number = 55 ; global desired_direction1 bit desired_direction1___byte equ shared___globals+63 desired_direction1___bit equ 3 ; line_number = 56 ; global ramp0 byte ramp0 equ shared___globals+12 ; line_number = 57 ; global ramp1 byte ramp1 equ shared___globals+13 ; line_number = 58 ; global ramp0_delay byte ramp0_delay equ shared___globals+14 ; line_number = 59 ; global ramp1_delay byte ramp1_delay equ shared___globals+15 ; line_number = 60 ; global ramp0_offset byte ramp0_offset equ shared___globals+16 ; line_number = 61 ; global ramp1_offset byte ramp1_offset equ shared___globals+17 ; # Fail safe variables: ; line_number = 64 ; global fail_safe byte fail_safe equ shared___globals+18 ; line_number = 65 ; global fail_safe_errors byte fail_safe_errors equ shared___globals+19 ; line_number = 66 ; global fail_safe_high_counter byte fail_safe_high_counter equ shared___globals+20 ; line_number = 67 ; global fail_safe_low_counter byte fail_safe_low_counter equ shared___globals+21 ; # Second command stuff for ramped direction change: ; line_number = 70 ; global second_motor0_command bit second_motor0_command___byte equ shared___globals+63 second_motor0_command___bit equ 4 ; line_number = 71 ; global second_motor1_command bit second_motor1_command___byte equ shared___globals+63 second_motor1_command___bit equ 5 ; line_number = 72 ; global second_desired_speed0 byte second_desired_speed0 equ shared___globals+22 ; line_number = 73 ; global second_desired_speed1 byte second_desired_speed1 equ shared___globals+23 ; line_number = 74 ; global second_ramp0_offset byte second_ramp0_offset equ shared___globals+24 ; line_number = 75 ; global second_ramp1_offset byte second_ramp1_offset equ shared___globals+25 ; line_number = 76 ; global second_motor0_on byte second_motor0_on equ shared___globals+26 ; line_number = 77 ; global second_motor1_on byte second_motor1_on equ shared___globals+27 ; line_number = 78 ; global second_motor0_off byte second_motor0_off equ shared___globals+28 ; line_number = 79 ; global second_motor1_off byte second_motor1_off equ shared___globals+29 ; line_number = 81 ; global motor0 byte motor0 equ shared___globals+30 ; line_number = 82 ; global motor1 byte motor1 equ shared___globals+31 ; # Mode (pulsed vs. continuous) bits: ; line_number = 85 ; global motor0_mode bit motor0_mode___byte equ shared___globals+63 motor0_mode___bit equ 6 ; line_number = 86 ; global motor1_mode bit motor1_mode___byte equ shared___globals+63 motor1_mode___bit equ 7 ; line_number = 87 ; global motor0_direction bit motor0_direction___byte equ shared___globals+62 motor0_direction___bit equ 0 ; line_number = 88 ; global motor1_direction bit motor1_direction___byte equ shared___globals+62 motor1_direction___bit equ 1 ; # Shared command registers and option: ; line_number = 91 ; global glitch byte glitch equ shared___globals+32 ; line_number = 92 ; global id_index byte id_index equ shared___globals+33 ; line_number = 93 ; global spare byte spare equ shared___globals+34 ; line_number = 95 ; global command_previous byte command_previous equ shared___globals+35 ; line_number = 96 ; global command_last byte command_last equ shared___globals+36 ; line_number = 97 ; global sent_previous byte sent_previous equ shared___globals+37 ; line_number = 98 ; global sent_last byte sent_last equ shared___globals+38 ; line_number = 100 ; procedure main main: ; Need to calibrate the oscillator call 1023 bsf __rp0___byte, __rp0___bit movwf _osccal ; Initialize some registers clrf _trisa clrf _trisc ; arguments_none ; line_number = 102 ; returns_nothing ; line_number = 104 ; local command byte main__command equ shared___globals+39 ; line_number = 105 ; local temp byte main__temp equ shared___globals+40 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X1 code:XX=>XX) ; line_number = 107 ; call reset() bcf __rp0___byte, __rp0___bit call reset ; # Loop waiting for commands: ; line_number = 110 ; loop_forever start main__1: ; # Get a command byte: ; line_number = 112 ; command := byte_get() call byte_get movwf main__command ; # Dispatch on command: ; line_number = 115 ; switch command >> 6 start movlw main__97>>8 movwf __pclath main__98 equ shared___globals+43 swapf main__command,w movwf main__98 rrf main__98,f rrf main__98,w andlw 3 addlw main__97 movwf __pcl ; page_group 4 main__97: goto main__93 goto main__94 goto main__95 goto main__96 ; line_number = 116 ; case 0 main__93: ; # Set Quick (Command = 00hh hhdm): ; line_number = 118 ; temp := ((command << 2) & 0xf0) | (command >> 2) main__2 equ shared___globals+42 main__3 equ shared___globals+43 rlf main__command,w movwf main__3 rlf main__3,w andlw 240 movwf main__2 main__4 equ shared___globals+43 rrf main__command,w movwf main__4 rrf main__4,w andlw 63 iorwf main__2,w movwf main__temp ; line_number = 119 ; if command@0 start main__select__7___byte equ main__command main__select__7___bit equ 0 ; # Motor : ; line_number = 121 ; desired_speed1 := temp movf main__temp,w ; line_number = 124 ; desired_speed0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__7___byte, main__select__7___bit goto main__8 movwf desired_speed1 ; line_number = 122 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__6___byte equ main__command main__select__6___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__6___byte, main__select__6___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__6 (data:X0=>X0 code:XX=>XX) goto main__9 main__8: movwf desired_speed0 ; line_number = 125 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__5___byte equ main__command main__select__5___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__5___byte, main__select__5___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__5 (data:X0=>X0 code:XX=>XX) main__9: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__7 (data:X0=>X0 code:XX=>XX) ; line_number = 119 ; if command@0 done ; line_number = 126 ; call set_up() call set_up goto main__99 ; line_number = 127 ; case 1 main__94: ; # Set Low (Command = 01ll lldm): ; line_number = 129 ; temp := (command >> 2) & 0xf main__10 equ shared___globals+43 rrf main__command,w movwf main__10 rrf main__10,w andlw 15 movwf main__temp ; line_number = 130 ; if command@0 start main__select__13___byte equ main__command main__select__13___bit equ 0 ; # Motor 1: ; line_number = 132 ; desired_speed1 := desired_speed1 & 0xf0 | temp movlw 240 ; # Motor 0: ; line_number = 136 ; desired_speed0 := desired_speed0 & 0xf0 | temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=6 false_code_size=6 btfss main__select__13___byte, main__select__13___bit goto main__14 andwf desired_speed1,w iorwf main__temp,w movwf desired_speed1 ; line_number = 133 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__12___byte equ main__command main__select__12___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__12___byte, main__select__12___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__12 (data:X0=>X0 code:XX=>XX) goto main__15 main__14: andwf desired_speed0,w iorwf main__temp,w movwf desired_speed0 ; line_number = 137 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__11___byte equ main__command main__select__11___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__11___byte, main__select__11___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__11 (data:X0=>X0 code:XX=>XX) main__15: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__13 (data:X0=>X0 code:XX=>XX) ; line_number = 130 ; if command@0 done ; line_number = 138 ; call set_up() call set_up goto main__99 ; line_number = 139 ; case 2 main__95: ; # Command = 10xx xxxx: ; line_number = 141 ; switch (command >> 3) & 7 start movlw main__75>>8 movwf __pclath main__76 equ shared___globals+43 rrf main__command,w movwf main__76 rrf main__76,f rrf main__76,w andlw 7 addlw main__75 movwf __pcl ; page_group 8 main__75: goto main__68 goto main__69 goto main__70 goto main__71 goto main__72 goto main__73 goto main__74 goto main__74 ; line_number = 142 ; case 0 main__68: ; # Command = 1000 0xxx: ; line_number = 144 ; switch command & 7 start movlw main__26>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__26 movwf __pcl ; page_group 8 main__26: goto main__22 goto main__22 goto main__23 goto main__24 goto main__25 goto main__25 goto main__25 goto main__25 ; line_number = 145 ; case 0, 1 main__22: ; # Set Ramp (Command = 1000 000m): ; line_number = 147 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 148 ; if command@0 start main__select__16___byte equ main__command main__select__16___bit equ 0 ; line_number = 149 ; ramp1 := temp movf main__temp,w ; line_number = 151 ; ramp0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__16___byte, main__select__16___bit movwf ramp1 btfss main__select__16___byte, main__select__16___bit movwf ramp0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__16 (data:X0=>X0 code:XX=>XX) ; line_number = 148 ; if command@0 done ; line_number = 152 ; call set_up() call set_up goto main__27 ; line_number = 153 ; case 2 main__23: ; # Set Failsafe (Command = 1000 0010): ; line_number = 155 ; fail_safe := byte_get() call byte_get movwf fail_safe ; line_number = 156 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 157 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 158 ; case 3 main__24: ; # Reset Failsafe (Command = 1000 0011): ; line_number = 160 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 161 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 162 ; case 4, 5, 6, 7 main__25: ; # Set Speed (Command = 1000 01dm): ; line_number = 164 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 165 ; if command@0 start main__select__19___byte equ main__command main__select__19___bit equ 0 ; # Motor 1: ; line_number = 167 ; desired_speed1 := temp movf main__temp,w ; # Motor 0: ; line_number = 171 ; desired_speed0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__19___byte, main__select__19___bit goto main__20 movwf desired_speed1 ; line_number = 168 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__18___byte equ main__command main__select__18___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__18___byte, main__select__18___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__18 (data:X0=>X0 code:XX=>XX) goto main__21 main__20: movwf desired_speed0 ; line_number = 172 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__17___byte equ main__command main__select__17___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__17___byte, main__select__17___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__17 (data:X0=>X0 code:XX=>XX) main__21: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__19 (data:X0=>X0 code:XX=>XX) ; line_number = 165 ; if command@0 done ; line_number = 173 ; call set_up() call set_up main__27: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 144 ; switch command & 7 done goto main__77 ; line_number = 174 ; case 1 main__69: ; # Command = 1000 1xxx: ; line_number = 176 ; if command@2 start main__select__38___byte equ main__command main__select__38___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=9 false_code_size=9 btfss main__select__38___byte, main__select__38___bit goto main__39 ; # Set direction (Command = 1000 11dm): ; line_number = 178 ; if command@0 start main__select__35___byte equ main__command main__select__35___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=3 btfss main__select__35___byte, main__select__35___bit goto main__36 ; # Motor 1: ; line_number = 180 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__34___byte equ main__command main__select__34___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__34___byte, main__select__34___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__34 (data:X0=>X0 code:XX=>XX) goto main__37 main__36: ; # Motor 0: ; line_number = 183 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__33___byte equ main__command main__select__33___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__33___byte, main__select__33___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__33 (data:X0=>X0 code:XX=>XX) main__37: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__35 (data:X0=>X0 code:XX=>XX) ; line_number = 178 ; if command@0 done goto main__40 main__39: ; # Set mode (Command = 1000 10xm): ; line_number = 186 ; if command@0 start main__select__30___byte equ main__command main__select__30___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=3 btfss main__select__30___byte, main__select__30___bit goto main__31 ; # Motor 1: ; line_number = 188 ; motor1_mode := command@1 bcf motor1_mode___byte, motor1_mode___bit main__select__29___byte equ main__command main__select__29___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__29___byte, main__select__29___bit bsf motor1_mode___byte, motor1_mode___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__29 (data:X0=>X0 code:XX=>XX) goto main__32 main__31: ; # Motor 0: ; line_number = 191 ; motor0_mode := command@1 bcf motor0_mode___byte, motor0_mode___bit main__select__28___byte equ main__command main__select__28___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__28___byte, main__select__28___bit bsf motor0_mode___byte, motor0_mode___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__28 (data:X0=>X0 code:XX=>XX) main__32: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__30 (data:X0=>X0 code:XX=>XX) ; line_number = 186 ; if command@0 done main__40: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__38 (data:X0=>X0 code:XX=>XX) ; line_number = 176 ; if command@2 done ; line_number = 192 ; call set_up() call set_up goto main__77 ; line_number = 193 ; case 2 main__70: ; # Set Prescaler (Command = 1001 0ppp): ; line_number = 195 ; _option_reg := command & 7 movlw 7 andwf main__command,w bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 196 ; _rapu := 1 bsf _rapu___byte, _rapu___bit goto main__77 ; line_number = 197 ; case 3 main__71: ; # Command = 1001 1xxx: ; line_number = 199 ; switch command & 7 start movlw main__55>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__55 movwf __pcl ; page_group 8 main__55: goto main__50 goto main__51 goto main__52 goto main__52 goto main__53 goto main__53 goto main__54 goto main__54 ; line_number = 200 ; case 0 main__50: ; # Read Failsafe (Command = 1001 1000): ; line_number = 202 ; call byte_put(fail_safe) movf fail_safe,w call byte_put goto main__56 ; line_number = 203 ; case 1 main__51: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Read Prescaler (Command = 1001 1001): ; line_number = 205 ; call byte_put(_option_reg & 7) movlw 7 andwf _option_reg,w bcf __rp0___byte, __rp0___bit call byte_put goto main__56 ; line_number = 206 ; case 2, 3 main__52: ; # Read Speed (Command = 1001 101m): ; line_number = 208 ; if command@0 start main__select__41___byte equ main__command main__select__41___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__41___byte, main__select__41___bit ; line_number = 209 ; call byte_put(actual_speed1) movf actual_speed1,w btfss main__select__41___byte, main__select__41___bit ; line_number = 211 ; call byte_put(actual_speed0) movf actual_speed0,w ; code.delay=4294967295 back_code.delay=4294967295 call byte_put ; <=bit_code_emit@symbol; sym=main__select__41 (data:X0=>X0 code:XX=>XX) ; line_number = 208 ; if command@0 done goto main__56 ; line_number = 212 ; case 4, 5 main__53: ; # Read Mode/Direction (Command = 1001 110m): ; line_number = 214 ; temp := 0 movlw 0 movwf main__temp ; line_number = 215 ; if command@0 start main__select__46___byte equ main__command main__select__46___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__46___byte, main__select__46___bit goto main__47 ; # Motor 1: ; line_number = 217 ; if motor1_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_direction___byte, motor1_direction___bit ; line_number = 218 ; temp@1 := 1 main__select__44___byte equ main__temp main__select__44___bit equ 1 bsf main__select__44___byte, main__select__44___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) ; line_number = 217 ; if motor1_direction done ; line_number = 219 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_mode___byte, motor1_mode___bit ; line_number = 220 ; temp@0 := 1 main__select__45___byte equ main__temp main__select__45___bit equ 0 bsf main__select__45___byte, main__select__45___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) ; line_number = 219 ; if motor1_mode done goto main__48 main__47: ; # Motor 0: ; line_number = 223 ; if motor0_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_direction___byte, motor0_direction___bit ; line_number = 224 ; temp@1 := 1 main__select__42___byte equ main__temp main__select__42___bit equ 1 bsf main__select__42___byte, main__select__42___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) ; line_number = 223 ; if motor0_direction done ; line_number = 225 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_mode___byte, motor0_mode___bit ; line_number = 226 ; temp@0 := 1 main__select__43___byte equ main__temp main__select__43___bit equ 0 bsf main__select__43___byte, main__select__43___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) ; line_number = 225 ; if motor0_mode done main__48: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__46 (data:X0=>X0 code:XX=>XX) ; line_number = 215 ; if command@0 done ; line_number = 227 ; call byte_put(temp) movf main__temp,w call byte_put goto main__56 ; line_number = 228 ; case 6, 7 main__54: ; # Read Ramp (Command = 1001 101m): ; line_number = 230 ; if command@0 start main__select__49___byte equ main__command main__select__49___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__49___byte, main__select__49___bit ; line_number = 231 ; temp := ramp1 movf ramp1,w btfss main__select__49___byte, main__select__49___bit ; line_number = 233 ; temp := ramp0 movf ramp0,w ; code.delay=4294967295 back_code.delay=4294967295 movwf main__temp ; <=bit_code_emit@symbol; sym=main__select__49 (data:X0=>X0 code:XX=>XX) ; line_number = 230 ; if command@0 done ; line_number = 234 ; call byte_put(temp) movf main__temp,w call byte_put main__56: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 199 ; switch command & 7 done goto main__77 ; line_number = 235 ; case 4 main__72: ; # Command = 0110 0xxx: ; line_number = 237 ; switch command & 7 start movlw main__65>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__65 movwf __pcl ; page_group 8 main__65: goto main__57 goto main__58 goto main__59 goto main__60 goto main__61 goto main__62 goto main__63 goto main__64 ; line_number = 238 ; case 0 main__57: ; # Read Failsafe Errors (Command = 1010 0000): ; line_number = 240 ; call byte_put(fail_safe_errors) movf fail_safe_errors,w call byte_put ; line_number = 241 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors goto main__66 ; line_number = 242 ; case 1 main__58: ; # Read Failsafe Counter (Command = 1010 0001): ; line_number = 244 ; call byte_put(fail_safe_high_counter) movf fail_safe_high_counter,w call byte_put goto main__66 ; line_number = 245 ; case 2 main__59: ; # Read Actual Speed 0(Command = 1010 0010): ; line_number = 247 ; call byte_put(actual_speed0) movf actual_speed0,w call byte_put goto main__66 ; line_number = 248 ; case 3 main__60: ; # Read Actual Speed 1 (Command = 1010 0011): ; line_number = 250 ; call byte_put(actual_speed1) movf actual_speed1,w call byte_put goto main__66 ; line_number = 251 ; case 4 main__61: ; # Set Motor 0 off (Command = 1010 0100): ; line_number = 253 ; motor0e := 0 bcf motor0e___byte, motor0e___bit goto main__66 ; line_number = 254 ; case 5 main__62: ; # Set Motor 0 on (Command = 1010 0101): ; line_number = 256 ; motor0e := 1 bsf motor0e___byte, motor0e___bit goto main__66 ; line_number = 257 ; case 6 main__63: ; # Set Motor 1 off (Command = 1010 0110): ; line_number = 259 ; motor1e := 0 bcf motor1e___byte, motor1e___bit goto main__66 ; line_number = 260 ; case 7 main__64: ; # Set Motor 1 on (Command = 1010 0111): ; line_number = 262 ; motor1e := 1 bsf motor1e___byte, motor1e___bit main__66: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 237 ; switch command & 7 done goto main__77 ; line_number = 263 ; case 5 main__73: ; line_number = 264 ; if command & 3 = 0 start ; Left minus Right movlw 3 andwf main__command,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=3 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__67 ; # FIXME: Code generator chokes on single call instruction ; # in the then clause. Add 'ramp0 := 0' to work around!!! ; line_number = 267 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 268 ; call reset() call reset ; Recombine size1 = 0 || size2 = 0 main__67: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 264 ; if command & 3 = 0 done goto main__77 ; line_number = 269 ; case 6, 7 main__74: ; line_number = 270 ; do_nothing main__77: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 141 ; switch (command >> 3) & 7 done goto main__99 ; line_number = 271 ; case 3 main__96: ; # Command = 11xx xxxx: ; line_number = 273 ; switch (command >> 3) & 7 start movlw main__90>>8 movwf __pclath main__91 equ shared___globals+43 rrf main__command,w movwf main__91 rrf main__91,f rrf main__91,w andlw 7 addlw main__90 movwf __pcl ; page_group 8 main__90: goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__89 ; line_number = 274 ; case 7 main__89: ; # Shared commands (Command = 1111 1ccc): ; line_number = 276 ; switch command & 7 start movlw main__87>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__87 movwf __pcl ; page_group 8 main__87: goto main__79 goto main__80 goto main__81 goto main__82 goto main__83 goto main__84 goto main__85 goto main__86 ; line_number = 277 ; case 0 main__79: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Decrement (Command = 1111 1000): ; line_number = 279 ; _osccal := _osccal - _osccal_lsb movlw 252 addwf _osccal,f goto main__88 ; line_number = 280 ; case 1 main__80: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Increment (Command = 1111 1001): ; line_number = 282 ; _osccal := _osccal + _osccal_lsb movlw 4 addwf _osccal,f goto main__88 ; line_number = 283 ; case 2 main__81: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Read (Command = 1111 1010): ; line_number = 285 ; call byte_put(_osccal) movf _osccal,w bcf __rp0___byte, __rp0___bit call byte_put goto main__88 ; line_number = 286 ; case 3 main__82: ; # Clock Pulse (Command = 1111 1011): ; line_number = 288 ; call byte_put(0) movlw 0 call byte_put goto main__88 ; line_number = 289 ; case 4 main__83: ; # ID Next (Command = 1111 1100): ; line_number = 291 ; temp := 0 movlw 0 movwf main__temp ; line_number = 292 ; if id_index < id.size start movlw 52 subwf id_index,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) btfsc __c___byte, __c___bit goto main__78 ; line_number = 293 ; temp := id[id_index] movf id_index,w call id movwf main__temp ; line_number = 294 ; id_index := id_index + 1 incf id_index,f main__78: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 292 ; if id_index < id.size done ; line_number = 295 ; call byte_put(temp) movf main__temp,w call byte_put goto main__88 ; line_number = 296 ; case 5 main__84: ; # ID Reset (Command = 1111 1101): ; line_number = 298 ; id_index := 0 movlw 0 movwf id_index goto main__88 ; line_number = 299 ; case 6 main__85: ; # Glitch Read (Command = 1111 1110): ; line_number = 301 ; call byte_put(glitch) movf glitch,w call byte_put ; line_number = 302 ; glitch := 0 movlw 0 movwf glitch goto main__88 ; line_number = 303 ; case 7 main__86: ; # Glitch (Command = 1111 1111): ; line_number = 305 ; if glitch != 0xff start ; Left minus Right incf glitch,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size=0 && false_code.size=1 btfss __z___byte, __z___bit ; line_number = 306 ; glitch := glitch + 1 incf glitch,f ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 305 ; if glitch != 0xff done main__88: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 276 ; switch command & 7 done main__92: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 273 ; switch (command >> 3) & 7 done main__99: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 115 ; switch command >> 6 done ; line_number = 110 ; loop_forever wrap-up ; Need to adjust code banks to match front of loop bcf __rp0___byte, __rp0___bit goto main__1 ; line_number = 110 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 309 ; procedure set_up set_up: ; arguments_none ; line_number = 311 ; returns_nothing ; # This procedure will arrange for the speed and direction of ; # each motor to be set to desired_speed0/1 and desired_direction0/1. ; # If ramp0/1 is 0, the speed and direction is changed immediately. ; # If ramp0/1 is non-zero, the speed is changed gradually. ; line_number = 318 ; local temporary byte set_up__temporary equ shared___globals+41 ; # Reset failsafe: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 321 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 322 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; # Mode Dir On Off ; # ================== ; # 0 0 A 0 ; # 0 1 B 0 ; # 1 0 A B ; # 1 1 B A ; # Motor 0: ; # Figure out all the ramping stuff: ; line_number = 334 ; if ramp0 = 0 start ; Left minus Right movf ramp0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=24 btfss __z___byte, __z___bit goto set_up__6 ; # No ramping: ; line_number = 336 ; actual_speed0 := desired_speed0 movf desired_speed0,w movwf actual_speed0 ; line_number = 337 ; motor0_direction := desired_direction0 bcf motor0_direction___byte, motor0_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction0___byte, desired_direction0___bit bsf motor0_direction___byte, motor0_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:X0=>X0 code:XX=>XX) ; line_number = 338 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 339 ; ramp0_offset := 0 movlw 0 goto set_up__7 set_up__6: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 344 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 345 ; if motor0_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_direction___byte, motor0_direction___bit ; line_number = 346 ; temporary@0 := 1 set_up__select__1___byte equ set_up__temporary set_up__select__1___bit equ 0 bsf set_up__select__1___byte, set_up__select__1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) ; line_number = 345 ; if motor0_direction done ; line_number = 347 ; if desired_direction0 start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss desired_direction0___byte, desired_direction0___bit goto set_up__2 ; line_number = 348 ; temporary := temporary ^ 1 movlw 1 xorwf set_up__temporary,f ; Recombine size1 = 0 || size2 = 0 set_up__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:X0=>X0 code:XX=>XX) ; line_number = 347 ; if desired_direction0 done ; line_number = 350 ; if temporary@0 start set_up__select__3___byte equ set_up__temporary set_up__select__3___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=7 false_code_size=5 btfss set_up__select__3___byte, set_up__select__3___bit goto set_up__4 ; # We are changing direction: ; line_number = 352 ; second_ramp0_offset := 1 movlw 1 movwf second_ramp0_offset ; line_number = 353 ; second_desired_speed0 := desired_speed0 movf desired_speed0,w movwf second_desired_speed0 ; line_number = 354 ; second_motor0_command := 1 bsf second_motor0_command___byte, second_motor0_command___bit ; line_number = 355 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 356 ; ramp0_offset := 0xff goto set_up__5 set_up__4: ; # Direction remains unchanged ; line_number = 359 ; if desired_speed0 < actual_speed0 start movf actual_speed0,w subwf desired_speed0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 362 ; ramp0_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 360 ; ramp0_offset := 0xff set_up__5: ; code.delay=4294967295 back_code.delay=4294967295 movlw 255 set_up__7: ; code.delay=4294967295 back_code.delay=4294967295 movwf ramp0_offset ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 359 ; if desired_speed0 < actual_speed0 done ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:X0=>X0 code:XX=>XX) ; line_number = 350 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 334 ; if ramp0 = 0 done ; # Figure out all the direction stuff: ; line_number = 365 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 366 ; second_motor0_off := 0 movlw 0 movwf second_motor0_off ; line_number = 367 ; if motor0_direction start ; # Direction = 1 (Backward): ; line_number = 369 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss motor0_mode___byte, motor0_mode___bit ; # Direction = 0 (Forward): ; line_number = 377 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss motor0_direction___byte, motor0_direction___bit goto set_up__10 goto set_up__9 ; # Mode = 1 (Continuous): ; line_number = 371 ; motor0_off := motor0a_mask movlw 1 movwf motor0_off ; line_number = 372 ; second_motor0_off := motor0b_mask movlw 2 movwf second_motor0_off ; Recombine size1 = 0 || size2 = 0 set_up__9: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) ; line_number = 369 ; if motor0_mode done ; line_number = 373 ; motor0_on := motor0b_mask movlw 2 movwf motor0_on ; line_number = 374 ; second_motor0_on := motor0a_mask movlw 1 goto set_up__11 set_up__10: goto set_up__8 ; # Mode = 1 (Continuous): ; line_number = 379 ; motor0_off := motor0b_mask movlw 2 movwf motor0_off ; line_number = 380 ; second_motor0_off := motor0a_mask movlw 1 movwf second_motor0_off ; Recombine size1 = 0 || size2 = 0 set_up__8: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) ; line_number = 377 ; if motor0_mode done ; line_number = 381 ; motor0_on := motor0a_mask movlw 1 movwf motor0_on ; line_number = 382 ; second_motor0_on := motor0b_mask movlw 2 set_up__11: ; code.delay=4294967295 back_code.delay=4294967295 movwf second_motor0_on ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) ; line_number = 367 ; if motor0_direction done ; # Motor 1: ; line_number = 385 ; if ramp1 = 0 start ; Left minus Right movf ramp1,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=24 btfss __z___byte, __z___bit goto set_up__17 ; # No ramping: ; line_number = 387 ; actual_speed1 := desired_speed1 movf desired_speed1,w movwf actual_speed1 ; line_number = 388 ; motor1_direction := desired_direction1 bcf motor1_direction___byte, motor1_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction1___byte, desired_direction1___bit bsf motor1_direction___byte, motor1_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:X0=>X0 code:XX=>XX) ; line_number = 389 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 390 ; ramp1_offset := 0 movlw 0 goto set_up__18 set_up__17: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 395 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 396 ; if motor1_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_direction___byte, motor1_direction___bit ; line_number = 397 ; temporary@0 := 1 set_up__select__12___byte equ set_up__temporary set_up__select__12___bit equ 0 bsf set_up__select__12___byte, set_up__select__12___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) ; line_number = 396 ; if motor1_direction done ; line_number = 398 ; if desired_direction1 start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss desired_direction1___byte, desired_direction1___bit goto set_up__13 ; line_number = 399 ; temporary := temporary ^ 1 movlw 1 xorwf set_up__temporary,f ; Recombine size1 = 0 || size2 = 0 set_up__13: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:X0=>X0 code:XX=>XX) ; line_number = 398 ; if desired_direction1 done ; line_number = 401 ; if temporary@0 start set_up__select__14___byte equ set_up__temporary set_up__select__14___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=7 false_code_size=5 btfss set_up__select__14___byte, set_up__select__14___bit goto set_up__15 ; # We are changing direction: ; line_number = 403 ; second_ramp1_offset := 1 movlw 1 movwf second_ramp1_offset ; line_number = 404 ; second_desired_speed1 := desired_speed1 movf desired_speed1,w movwf second_desired_speed1 ; line_number = 405 ; second_motor1_command := 1 bsf second_motor1_command___byte, second_motor1_command___bit ; line_number = 406 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 407 ; ramp1_offset := 0xff goto set_up__16 set_up__15: ; # We are not changing direction: ; line_number = 410 ; if desired_speed1 < actual_speed1 start movf actual_speed1,w subwf desired_speed1,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 413 ; ramp1_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 411 ; ramp1_offset := 0xff set_up__16: ; code.delay=4294967295 back_code.delay=4294967295 movlw 255 set_up__18: ; code.delay=4294967295 back_code.delay=4294967295 movwf ramp1_offset ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 410 ; if desired_speed1 < actual_speed1 done ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:X0=>X0 code:XX=>XX) ; line_number = 401 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 385 ; if ramp1 = 0 done ; line_number = 415 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 416 ; second_motor1_off := 0 movlw 0 movwf second_motor1_off ; line_number = 417 ; if motor1_direction start ; # Direction = 1 (Backward): ; line_number = 419 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss motor1_mode___byte, motor1_mode___bit ; # Direction = 0 (Forward): ; line_number = 427 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss motor1_direction___byte, motor1_direction___bit goto set_up__21 goto set_up__20 ; # Mode = 1 (Continuous): ; line_number = 421 ; motor1_off := motor1a_mask movlw 16 movwf motor1_off ; line_number = 422 ; second_motor1_off := motor1b_mask movlw 4 movwf second_motor1_off ; Recombine size1 = 0 || size2 = 0 set_up__20: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) ; line_number = 419 ; if motor1_mode done ; line_number = 423 ; motor1_on := motor1b_mask movlw 4 movwf motor1_on ; line_number = 424 ; second_motor1_on := motor1a_mask movlw 16 goto set_up__22 set_up__21: goto set_up__19 ; # Mode = 1 (Continuous): ; line_number = 429 ; motor1_off := motor1b_mask movlw 4 movwf motor1_off ; line_number = 430 ; second_motor1_off := motor1a_mask movlw 16 movwf second_motor1_off ; Recombine size1 = 0 || size2 = 0 set_up__19: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) ; line_number = 427 ; if motor1_mode done ; line_number = 431 ; motor1_on := motor1a_mask movlw 16 movwf motor1_on ; line_number = 432 ; second_motor1_on := motor1b_mask movlw 4 set_up__22: ; code.delay=4294967295 back_code.delay=4294967295 movwf second_motor1_on ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) ; line_number = 417 ; if motor1_direction done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 435 ; procedure reset reset: ; arguments_none ; line_number = 437 ; returns_nothing ; # Initialize everything else: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 440 ; motor0e := 1 bsf motor0e___byte, motor0e___bit ; line_number = 441 ; motor1e := 1 bsf motor1e___byte, motor1e___bit ; line_number = 442 ; _intcon := 0 movlw 0 movwf _intcon ; line_number = 443 ; _option_reg := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 444 ; _wpua := 0 movlw 0 movwf _wpua ; line_number = 445 ; actual_speed0 := 0 movlw 0 bcf __rp0___byte, __rp0___bit movwf actual_speed0 ; line_number = 446 ; actual_speed1 := 0 movlw 0 movwf actual_speed1 ; line_number = 447 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 448 ; motor0_on := 0 movlw 0 movwf motor0_on ; line_number = 449 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 450 ; motor1_on := 0 movlw 0 movwf motor1_on ; line_number = 451 ; desired_direction0 := 0 bcf desired_direction0___byte, desired_direction0___bit ; line_number = 452 ; desired_direction1 := 0 bcf desired_direction1___byte, desired_direction1___bit ; line_number = 453 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 454 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 455 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 456 ; ramp1 := 0 movlw 0 movwf ramp1 ; line_number = 457 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 458 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 459 ; ramp0_offset := 0 movlw 0 movwf ramp0_offset ; line_number = 460 ; ramp1_offset := 0 movlw 0 movwf ramp1_offset ; line_number = 461 ; motor0_direction := 0 bcf motor0_direction___byte, motor0_direction___bit ; line_number = 462 ; motor1_direction := 0 bcf motor1_direction___byte, motor1_direction___bit ; line_number = 463 ; motor0_mode := 0 bcf motor0_mode___byte, motor0_mode___bit ; line_number = 464 ; motor1_mode := 0 bcf motor1_mode___byte, motor1_mode___bit ; line_number = 465 ; second_motor0_command := 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 466 ; second_motor1_command := 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 467 ; fail_safe := 0 movlw 0 movwf fail_safe ; line_number = 468 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors ; line_number = 469 ; fail_safe_high_counter := 0 movlw 0 movwf fail_safe_high_counter ; line_number = 470 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 471 ; glitch := 0 movlw 0 movwf glitch ; line_number = 472 ; id_index := 0 movlw 0 movwf id_index ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 475 ; procedure delay delay: ; arguments_none ; line_number = 477 ; returns_nothing ; line_number = 478 ; exact_delay delay_instructions ; # Delay for 1/3 of a bit time. ; # Kick the dog: ; before procedure statements delay=0, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 483 ; watch_dog_reset done ; Delay at watch_dog_reset is 0 clrwdt ; # This is the first probe of TMR0: ; line_number = 486 ; if _tmr0 < actual_speed0 start ; Delay at if is 1 movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__1 ; line_number = 489 ; motor0 := motor0_off ; Delay at assignment is 0 movf motor0_off,w movwf motor0 goto delay__2 delay__1: ; line_number = 487 ; motor0 := motor0_on ; Delay at assignment is 0 movf motor0_on,w movwf motor0 nop delay__2: ; code.delay=9 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=9 ; line_number = 486 ; if _tmr0 < actual_speed0 done ; line_number = 490 ; if _tmr0 < actual_speed1 start ; Delay at if is 9 movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__3 ; line_number = 493 ; motor1 := motor1_off ; Delay at assignment is 0 movf motor1_off,w movwf motor1 goto delay__4 delay__3: ; line_number = 491 ; motor1 := motor1_on ; Delay at assignment is 0 movf motor1_on,w movwf motor1 nop delay__4: ; code.delay=17 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=17 ; line_number = 490 ; if _tmr0 < actual_speed1 done ; line_number = 494 ; _porta := motor0 | motor1 ; Delay at assignment is 17 movf motor0,w iorwf motor1,w movwf _porta ; # First check out {fail_safe_counter}: ; line_number = 497 ; fail_safe_low_counter := fail_safe_low_counter - 1 ; Delay at assignment is 20 decf fail_safe_low_counter,f ; line_number = 498 ; if _z start ; Delay at if is 21 ; (after recombine) true_delay=25, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=33 true_test=true body_code.delay=25 (uniform delay) btfsc _z___byte, _z___bit goto delay__11 ; Delay 24 cycles ; Delay loop takes 6 * 4 = 24 cycles movlw 6 delay__13: addlw 255 btfss __z___byte, __z___bit goto delay__13 goto delay__12 delay__11: ; line_number = 499 ; fail_safe_high_counter := fail_safe_high_counter - 1 ; Delay at assignment is 0 decf fail_safe_high_counter,f ; line_number = 500 ; if _z start ; Delay at if is 1 ; (after recombine) true_delay=21, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=25 true_test=true body_code.delay=21 (uniform delay) btfsc _z___byte, _z___bit goto delay__8 ; Delay 20 cycles ; Delay loop takes 5 * 4 = 20 cycles movlw 5 delay__10: addlw 255 btfss __z___byte, __z___bit goto delay__10 goto delay__9 delay__8: ; line_number = 501 ; if fail_safe != 0 start ; Delay at if is 0 ; Left minus Right movf fail_safe,w ; (after recombine) true_delay=0, false_delay=17 uniform_delay=true ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=17 true_test=false body_code.delay=17 (uniform delay) btfss __z___byte, __z___bit goto delay__5 ; Delay 16 cycles ; Delay loop takes 4 * 4 = 16 cycles movlw 4 delay__7: addlw 255 btfss __z___byte, __z___bit goto delay__7 goto delay__6 delay__5: ; # Turn the motors off: ; line_number = 503 ; motor0_on := 0 ; Delay at assignment is 0 movlw 0 movwf motor0_on ; line_number = 504 ; motor0_off := 0 ; Delay at assignment is 2 movlw 0 movwf motor0_off ; line_number = 505 ; motor1_on := 0 ; Delay at assignment is 4 movlw 0 movwf motor1_on ; line_number = 506 ; motor1_off := 0 ; Delay at assignment is 6 movlw 0 movwf motor1_off ; line_number = 507 ; desired_speed0 := 0 ; Delay at assignment is 8 movlw 0 movwf desired_speed0 ; line_number = 508 ; desired_speed1 := 0 ; Delay at assignment is 10 movlw 0 movwf desired_speed1 ; line_number = 509 ; actual_speed0 := 0 ; Delay at assignment is 12 movlw 0 movwf actual_speed0 ; line_number = 510 ; actual_speed1 := 0 ; Delay at assignment is 14 movlw 0 movwf actual_speed1 ; line_number = 511 ; fail_safe_errors := fail_safe_errors + 1 ; Delay at assignment is 16 incf fail_safe_errors,f delay__6: ; code.delay=21 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=17 false delay=0 code delay=21 ; line_number = 501 ; if fail_safe != 0 done delay__9: ; code.delay=25 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) ; if final true delay=21 false delay=0 code delay=25 ; line_number = 500 ; if _z done delay__12: ; code.delay=49 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) ; if final true delay=25 false delay=0 code delay=49 ; line_number = 498 ; if _z done ; # This is the second probe of TMR0: ; line_number = 514 ; if _tmr0 < actual_speed0 start ; Delay at if is 49 movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__14 ; line_number = 517 ; motor0 := motor0_off ; Delay at assignment is 0 movf motor0_off,w movwf motor0 goto delay__15 delay__14: ; line_number = 515 ; motor0 := motor0_on ; Delay at assignment is 0 movf motor0_on,w movwf motor0 nop delay__15: ; code.delay=57 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=57 ; line_number = 514 ; if _tmr0 < actual_speed0 done ; line_number = 518 ; if _tmr0 < actual_speed1 start ; Delay at if is 57 movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__16 ; line_number = 521 ; motor1 := motor1_off ; Delay at assignment is 0 movf motor1_off,w movwf motor1 goto delay__17 delay__16: ; line_number = 519 ; motor1 := motor1_on ; Delay at assignment is 0 movf motor1_on,w movwf motor1 nop delay__17: ; code.delay=65 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=65 ; line_number = 518 ; if _tmr0 < actual_speed1 done ; line_number = 522 ; _porta := motor0 | motor1 ; Delay at assignment is 65 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp0} management: ; line_number = 525 ; ramp0_delay := ramp0_delay - 1 ; Delay at assignment is 68 decf ramp0_delay,f ; line_number = 526 ; if _z start ; Delay at if is 69 ; (after recombine) true_delay=9, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=34 true_test=true body_code.delay=9 (uniform delay) btfsc _z___byte, _z___bit goto delay__25 ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__27: addlw 255 btfss __z___byte, __z___bit goto delay__27 goto delay__26 delay__25: ; line_number = 527 ; ramp0_delay := ramp0 ; Delay at assignment is 0 movf ramp0,w movwf ramp0_delay ; line_number = 528 ; if actual_speed0 != desired_speed0 start ; Delay at if is 2 ; Left minus Right movf desired_speed0,w subwf actual_speed0,w ; (after recombine) true_delay=15, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=21 false_code_size=2 btfsc __z___byte, __z___bit goto delay__22 ; Delay 12 cycles ; Delay loop takes 3 * 4 = 12 cycles movlw 3 delay__24: addlw 255 btfss __z___byte, __z___bit goto delay__24 ; line_number = 529 ; actual_speed0 := actual_speed0 + ramp0_offset ; Delay at assignment is 0 movf ramp0_offset,w addwf actual_speed0,f goto delay__23 delay__22: ; line_number = 530 ; (after recombine) true_delay=12, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=12 (uniform delay) btfsc second_motor0_command___byte, second_motor0_command___bit goto delay__18 ; Delay 11 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__20: addlw 255 btfss __z___byte, __z___bit goto delay__20 goto delay__21 delay__21: nop goto delay__19 delay__18: ; line_number = 531 ; second_motor0_command := 0 ; Delay at assignment is 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 532 ; desired_speed0 := second_desired_speed0 ; Delay at assignment is 1 movf second_desired_speed0,w movwf desired_speed0 ; line_number = 533 ; ramp0_offset := second_ramp0_offset ; Delay at assignment is 3 movf second_ramp0_offset,w movwf ramp0_offset ; line_number = 534 ; motor0_on := second_motor0_on ; Delay at assignment is 5 movf second_motor0_on,w movwf motor0_on ; line_number = 535 ; motor0_off := second_motor0_off ; Delay at assignment is 7 movf second_motor0_off,w movwf motor0_off ; line_number = 536 ; motor0_direction := desired_direction0 ; Delay at assignment is 9 bcf motor0_direction___byte, motor0_direction___bit ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc desired_direction0___byte, desired_direction0___bit bsf motor0_direction___byte, motor0_direction___bit ; code.delay=12 back_code.delay=0 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:XX=>X0 code:XX=>XX) delay__19: ; code.delay=15 back_code.delay=0 ; <=bit_code_emit@symbol; sym=second_motor0_command (data:X0=>X0 code:XX=>XX) delay__23: ; code.delay=9 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=15 code delay=9 ; line_number = 528 ; if actual_speed0 != desired_speed0 done delay__26: ; code.delay=81 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) ; if final true delay=9 false delay=0 code delay=81 ; line_number = 526 ; if _z done ; # This is the third probe of TMR0: ; line_number = 539 ; if _tmr0 < actual_speed0 start ; Delay at if is 81 movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__28 ; line_number = 542 ; motor0 := motor0_off ; Delay at assignment is 0 movf motor0_off,w movwf motor0 goto delay__29 delay__28: ; line_number = 540 ; motor0 := motor0_on ; Delay at assignment is 0 movf motor0_on,w movwf motor0 nop delay__29: ; code.delay=89 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=89 ; line_number = 539 ; if _tmr0 < actual_speed0 done ; line_number = 544 ; if _tmr0 < actual_speed1 start ; Delay at if is 89 movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__30 ; line_number = 547 ; motor1 := motor1_off ; Delay at assignment is 0 movf motor1_off,w movwf motor1 goto delay__31 delay__30: ; line_number = 545 ; motor1 := motor1_on ; Delay at assignment is 0 movf motor1_on,w movwf motor1 nop delay__31: ; code.delay=97 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=97 ; line_number = 544 ; if _tmr0 < actual_speed1 done ; line_number = 548 ; _porta := motor0 | motor1 ; Delay at assignment is 97 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp1} management: ; line_number = 551 ; ramp1_delay := ramp1_delay - 1 ; Delay at assignment is 100 decf ramp1_delay,f ; line_number = 552 ; if _z start ; Delay at if is 101 ; (after recombine) true_delay=9, false_delay=19 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=34 false_code_size=23 btfss _z___byte, _z___bit goto delay__43 ; line_number = 553 ; ramp1_delay := ramp1 ; Delay at assignment is 0 movf ramp1,w movwf ramp1_delay ; line_number = 554 ; if actual_speed1 != desired_speed1 start ; Delay at if is 2 ; Left minus Right movf desired_speed1,w subwf actual_speed1,w ; (after recombine) true_delay=15, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=21 false_code_size=2 btfsc __z___byte, __z___bit goto delay__40 ; Delay 12 cycles ; Delay loop takes 3 * 4 = 12 cycles movlw 3 delay__42: addlw 255 btfss __z___byte, __z___bit goto delay__42 ; line_number = 555 ; actual_speed1 := actual_speed1 + ramp1_offset ; Delay at assignment is 0 movf ramp1_offset,w addwf actual_speed1,f goto delay__41 delay__40: ; line_number = 556 ; (after recombine) true_delay=12, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=12 (uniform delay) btfsc second_motor1_command___byte, second_motor1_command___bit goto delay__36 ; Delay 11 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__38: addlw 255 btfss __z___byte, __z___bit goto delay__38 goto delay__39 delay__39: nop goto delay__37 delay__36: ; line_number = 557 ; second_motor1_command := 0 ; Delay at assignment is 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 558 ; desired_speed1 := second_desired_speed1 ; Delay at assignment is 1 movf second_desired_speed1,w movwf desired_speed1 ; line_number = 559 ; ramp1_offset := second_ramp1_offset ; Delay at assignment is 3 movf second_ramp1_offset,w movwf ramp1_offset ; line_number = 560 ; motor1_on := second_motor1_on ; Delay at assignment is 5 movf second_motor1_on,w movwf motor1_on ; line_number = 561 ; motor1_off := second_motor1_off ; Delay at assignment is 7 movf second_motor1_off,w movwf motor1_off ; line_number = 562 ; motor1_direction := desired_direction1 ; Delay at assignment is 9 bcf motor1_direction___byte, motor1_direction___bit ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc desired_direction1___byte, desired_direction1___bit bsf motor1_direction___byte, motor1_direction___bit ; code.delay=12 back_code.delay=0 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:XX=>X0 code:XX=>XX) delay__37: ; code.delay=15 back_code.delay=0 ; <=bit_code_emit@symbol; sym=second_motor1_command (data:X0=>X0 code:XX=>XX) delay__41: ; code.delay=9 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=15 code delay=9 ; line_number = 554 ; if actual_speed1 != desired_speed1 done ; Delay 9 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__45: addlw 255 btfss __z___byte, __z___bit goto delay__45 nop goto delay__44 delay__43: ; # This is the forth probe of TMR0: ; line_number = 565 ; if _tmr0 < actual_speed0 start ; Delay at if is 0 movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__32 ; line_number = 568 ; motor0 := motor0_off ; Delay at assignment is 0 movf motor0_off,w movwf motor0 goto delay__33 delay__32: ; line_number = 566 ; motor0 := motor0_on ; Delay at assignment is 0 movf motor0_on,w movwf motor0 nop delay__33: ; code.delay=8 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=8 ; line_number = 565 ; if _tmr0 < actual_speed0 done ; line_number = 569 ; if _tmr0 < actual_speed1 start ; Delay at if is 8 movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto delay__34 ; line_number = 572 ; motor1 := motor1_off ; Delay at assignment is 0 movf motor1_off,w movwf motor1 goto delay__35 delay__34: ; line_number = 570 ; motor1 := motor1_on ; Delay at assignment is 0 movf motor1_on,w movwf motor1 nop delay__35: ; code.delay=16 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=2 code delay=16 ; line_number = 569 ; if _tmr0 < actual_speed1 done ; line_number = 573 ; _porta := motor0 | motor1 ; Delay at assignment is 16 movf motor0,w iorwf motor1,w movwf _porta delay__44: ; code.delay=123 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) ; if final true delay=9 false delay=19 code delay=123 ; line_number = 552 ; if _z done ; delay after procedure statements=123 ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__46: addlw 255 btfss __z___byte, __z___bit goto delay__46 ; Implied return retlw 0 ; Final delay = 133 ; line_number = 576 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 577 ; constant module_name = "\13\DualMotor1Amp" ; module_name = '\13\DualMotor1Amp' ; line_number = 578 ; constant vendor_name = "\13\Mondo-tronics" ; vendor_name = '\13\Mondo-tronics' ; line_number = 580 ; string id = "\1,0,14,2,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; id = '\1,0,14,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13\DualMotor1Amp\13\Mondo-tronics' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 52 ; Add 12 NOP's until start of new page nop nop nop nop nop nop nop nop nop nop nop nop id___base: retlw 1 retlw 0 retlw 14 retlw 2 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 13 retlw 68 retlw 117 retlw 97 retlw 108 retlw 77 retlw 111 retlw 116 retlw 111 retlw 114 retlw 49 retlw 65 retlw 109 retlw 112 retlw 13 retlw 77 retlw 111 retlw 110 retlw 100 retlw 111 retlw 45 retlw 116 retlw 114 retlw 111 retlw 110 retlw 105 retlw 99 retlw 115 ; line_number = 580 ; string id = "\1,0,14,2,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; Appending 2 delayed procedures to code bank 0 ; buffer = 'bit_bang' ; line_number = 33 ; procedure byte_get byte_get: ; arguments_none ; line_number = 35 ; returns byte ; # This procedure will wait for a byte to be received from ; # serial_in_bit. It calls the delay procedure for all delays. ; # This procedure will keep calling the {delay} routine until ; # data is received. ; line_number = 42 ; local count byte byte_get__count equ shared___globals ; line_number = 43 ; local byte byte byte_get__byte equ shared___globals+1 ; # Why does the delay procedure wait for a third of bit? Well, it ; # has to do with the loop immediately below. If we catch the ; # start bit at the beginning of a 1/3 bit time, we will be ; # sampling data at approximately 1/3 of the way into each bit. ; # Conversely, if we catch the start near the end of a 1/3 bit ; # bit time, we will be sampling data at approximately 2/3 of the ; # way into each bit. So, what this means is that our bit sample ; # times will be somewhere between 1/3 and 2/3 of bit (i.e. in ; # the middle of the bit. ; # It would be nice to tweak the code to shorter delay times ; # (1/4 bit, 1/5 bit, etc.) but then it gets too hard to get ; # the bookeeping done in the delay routine. A PIC running at ; # 4MHz (=1MIPS), only has 138 instructions available for the ; # delay routine when at 1/3 of bit. ; # Wait for a start bit: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 62 ; waiting := 1 bsf waiting___byte, waiting___bit ; line_number = 63 ; receiving := 1 bsf receiving___byte, receiving___bit ; line_number = 64 ; while serial_in start byte_get__1: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss serial_in___byte, serial_in___bit goto byte_get__2 ; line_number = 65 ; delay instructions_per_delay - 3 start ; Delay expression evaluates to 135 ; line_number = 66 ; call delay() ; Delay at call is 0 call delay ; line_number = 65 ; delay instructions_per_delay - 3 done goto byte_get__1 ; Recombine size1 = 0 || size2 = 0 byte_get__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; line_number = 64 ; while serial_in done ; line_number = 67 ; waiting := 0 bcf waiting___byte, waiting___bit ; # Clear out any preceeding interrupt condition: ; line_number = 70 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; # Skip over start bit: ; line_number = 73 ; delay instructions_per_bit - 2 start ; Delay expression evaluates to 414 ; # There are two instructions of set-up for following loop_exactly: ; line_number = 75 ; call delay() ; Delay at call is 0 call delay ; line_number = 76 ; call delay() ; Delay at call is 135 call delay ; line_number = 77 ; call delay() ; Delay at call is 270 call delay ; line_number = 78 ; byte := 0 ; Delay at assignment is 405 movlw 0 movwf byte_get__byte ; Delay 7 cycles goto byte_get__3 byte_get__3: goto byte_get__4 byte_get__4: goto byte_get__5 byte_get__5: nop ; line_number = 73 ; delay instructions_per_bit - 2 done ; # Read in 8 bits of data: ; line_number = 81 ; loop_exactly 8 start byte_get__6 equ shared___globals+44 movlw 8 movwf byte_get__6 byte_get__7: ; # There are 3 instrucitons of loop_exactly overhead: ; line_number = 83 ; delay instructions_per_bit - 3 start ; Delay expression evaluates to 413 ; line_number = 84 ; call delay() ; Delay at call is 0 call delay ; line_number = 85 ; byte := byte >> 1 ; Delay at assignment is 135 ; Assignment of variable to self (no code needed) rrf byte_get__byte,f bcf byte_get__byte, 7 ; line_number = 86 ; if serial_in start ; Delay at if is 137 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc serial_in___byte, serial_in___bit ; line_number = 87 ; byte@7 := 1 ; Delay at assignment is 0 byte_get__select__8___byte equ byte_get__byte byte_get__select__8___bit equ 7 bsf byte_get__select__8___byte, byte_get__select__8___bit ; code.delay=139 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=139 ; line_number = 86 ; if serial_in done ; line_number = 88 ; call delay() ; Delay at call is 139 call delay ; line_number = 89 ; call delay() ; Delay at call is 274 call delay ; Delay 4 cycles goto byte_get__9 byte_get__9: goto byte_get__10 byte_get__10: ; line_number = 83 ; delay instructions_per_bit - 3 done ; line_number = 81 ; loop_exactly 8 wrap-up decfsz byte_get__6,f goto byte_get__7 ; line_number = 81 ; loop_exactly 8 done ; # Skip over 2/3's of stop bit; 3 cycles for return: ; line_number = 92 ; delay instructions_per_delay*2 - 3 start ; Delay expression evaluates to 273 ; line_number = 93 ; call delay() ; Delay at call is 0 call delay ; line_number = 94 ; call delay() ; Delay at call is 135 call delay ; Delay 3 cycles goto byte_get__11 byte_get__11: nop ; line_number = 92 ; delay instructions_per_delay*2 - 3 done ; line_number = 95 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 96 ; command_last := byte movf byte_get__byte,w movwf command_last ; line_number = 97 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; line_number = 98 ; return byte start ; line_number = 98 movf byte_get__byte,w return ; line_number = 98 ; return byte done ; delay after procedure statements=non-uniform ; line_number = 101 ; procedure byte_put byte_put: ; Last argument is sitting in W; save into argument variable movwf byte_put__byte ; delay=4294967295 ; line_number = 102 ; argument byte byte byte_put__byte equ shared___globals+3 ; line_number = 103 ; returns_nothing ; # This procedure will send {byte} to {serial_out} pin. The {delay} ; # procedure is called to provide the appropriate bit timing. ; line_number = 108 ; local count byte byte_put__count equ shared___globals+2 ; # {receiving} will be 1 if the last get/put routine was a get. ; # Before we start transmitting a response back, we want to ensure ; # that there has been enough time to turn the line around. ; # We delay the first 1/3 of a bit to pad out the 9-2/3 bits ; # from get_byte to 10 bits. We delay another 3 bits just to ; # ensure that slow interpreters do not get overrun. ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 116 ; sent_previous := sent_last movf sent_last,w movwf sent_previous ; line_number = 117 ; sent_last := byte movf byte_put__byte,w movwf sent_last ; line_number = 118 ; if receiving start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss receiving___byte, receiving___bit goto byte_put__3 ; line_number = 119 ; receiving := 0 bcf receiving___byte, receiving___bit ; # 10 = 1 + 3*3 = 3-1/3 extra bits of delay: ; line_number = 121 ; loop_exactly 10 start byte_put__1 equ shared___globals+45 movlw 10 movwf byte_put__1 byte_put__2: ; line_number = 122 ; call delay() call delay ; line_number = 121 ; loop_exactly 10 wrap-up decfsz byte_put__1,f goto byte_put__2 ; line_number = 121 ; loop_exactly 10 done ; Recombine size1 = 0 || size2 = 0 byte_put__3: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=receiving (data:X0=>X0 code:XX=>XX) ; line_number = 118 ; if receiving done ; # Send the start bit: ; line_number = 125 ; delay instructions_per_bit - 2 start ; Delay expression evaluates to 414 ; # The loop_exactly setup after this is 2 instructions: ; line_number = 127 ; serial_out := 0 ; Delay at assignment is 0 bcf serial_out___byte, serial_out___bit ; line_number = 128 ; call delay() ; Delay at call is 1 call delay ; line_number = 129 ; call delay() ; Delay at call is 136 call delay ; line_number = 130 ; call delay() ; Delay at call is 271 call delay ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 byte_put__4: addlw 255 btfss __z___byte, __z___bit goto byte_put__4 ; line_number = 125 ; delay instructions_per_bit - 2 done ; # Send the data: ; line_number = 133 ; loop_exactly 8 start byte_put__5 equ shared___globals+45 movlw 8 movwf byte_put__5 byte_put__6: ; # Loop_exactly overhead is 3 instructions: ; line_number = 135 ; delay instructions_per_bit - 3 start ; Delay expression evaluates to 413 ; line_number = 136 ; if byte@0 start ; Delay at if is 0 byte_put__select__7___byte equ byte_put__byte byte_put__select__7___bit equ 0 ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc byte_put__select__7___byte, byte_put__select__7___bit ; line_number = 137 ; serial_out := 1 ; Delay at assignment is 0 bsf serial_out___byte, serial_out___bit btfss byte_put__select__7___byte, byte_put__select__7___bit ; line_number = 139 ; serial_out := 0 ; Delay at assignment is 0 bcf serial_out___byte, serial_out___bit ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=byte_put__select__7 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=1 code delay=4 ; line_number = 136 ; if byte@0 done ; line_number = 140 ; byte := byte >> 1 ; Delay at assignment is 4 ; Assignment of variable to self (no code needed) rrf byte_put__byte,f bcf byte_put__byte, 7 ; line_number = 141 ; call delay() ; Delay at call is 6 call delay ; line_number = 142 ; call delay() ; Delay at call is 141 call delay ; line_number = 143 ; call delay() ; Delay at call is 276 call delay ; Delay 2 cycles goto byte_put__8 byte_put__8: ; line_number = 135 ; delay instructions_per_bit - 3 done ; line_number = 133 ; loop_exactly 8 wrap-up decfsz byte_put__5,f goto byte_put__6 ; line_number = 133 ; loop_exactly 8 done ; # Send the stop bit: ; line_number = 146 ; delay instructions_per_bit start ; Delay expression evaluates to 416 ; line_number = 147 ; serial_out := 1 ; Delay at assignment is 0 bsf serial_out___byte, serial_out___bit ; line_number = 148 ; call delay() ; Delay at call is 1 call delay ; line_number = 149 ; call delay() ; Delay at call is 136 call delay ; line_number = 150 ; call delay() ; Delay at call is 271 call delay ; Delay 10 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 byte_put__9: addlw 255 btfss __z___byte, __z___bit goto byte_put__9 goto byte_put__10 byte_put__10: ; line_number = 146 ; delay instructions_per_bit done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Configuration bits ; fill = 0x0 ; bg = bg11 (0x3000) ; cpd = off (0x100) ; cp = off (0x80) ; boden = off (0x0) ; mclre = off (0x0) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = int_no_clk (0x4) ; 12692 = 0x3194 __config 12692 ; Define start addresses for data regions ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 end