1 radix dec 2 ; Code bank 0; Start address: 0; End address: 1023 3 0000 : org 0 4 5 ; Define start addresses for data regions 6 00000020 = shared___globals equ 32 7 00000000 = __indf equ 0 8 00000002 = __pcl equ 2 9 00000003 = __status equ 3 10 00000004 = __fsr equ 4 11 00000003 = __c___byte equ 3 12 00000000 = __c___bit equ 0 13 00000003 = __z___byte equ 3 14 00000002 = __z___bit equ 2 15 00000003 = __rp0___byte equ 3 16 00000005 = __rp0___bit equ 5 17 00000003 = __rp1___byte equ 3 18 00000006 = __rp1___bit equ 6 19 00000003 = __irp___byte equ 3 20 00000007 = __irp___bit equ 7 21 0000000a = __pclath equ 10 22 0000000a = __cb0___byte equ 10 23 00000003 = __cb0___bit equ 3 24 0000000a = __cb1___byte equ 10 25 00000004 = __cb1___bit equ 4 26 ; # ############################################################################# 27 ; # 28 ; # Copyright (c) 2000-2004 by Wayne C. Gramlich & William T. Benson. 29 ; # All rights reserved. 30 ; # 31 ; # Permission to use, copy, modify, distribute, and sell this software 32 ; # for any purpose is hereby granted without fee provided that the above 33 ; # copyright notice and this permission are retained. The author makes 34 ; # no representations about the suitability of this software for any purpose. 35 ; # It is provided "as is" without express or implied warranty. 36 ; # 37 ; # This is the code that implements the DualMotor1Amp module. Basically 38 ; # it just waits for commands that come in at 2400 baud and responds 39 ; # to them. See: 40 ; # 41 ; # http://gramlich.net/projects/robobricks/dualmotor1amp/index.html 42 ; # 43 ; # for more details. 44 ; # 45 ; # ############################################################################# 46 47 ; buffer = 'dualmotor1amp' 48 ; line_number = 23 49 ; library _pic16f630 entered 50 ; # Copyright (c) 2004 by Wayne C. Gramlich 51 ; # All rights reserved. 52 53 ; buffer = '_pic16f630' 54 ; line_number = 5 55 ; processor pic16f630 56 ; line_number = 6 57 ; configure_address 0x2007 58 ; line_number = 7 59 ; configure_fill 0x0000 60 ; line_number = 8 61 ; configure_option bg: bg11 = 0x3000 62 ; line_number = 9 63 ; configure_option bg: bg10 = 0x2000 64 ; line_number = 10 65 ; configure_option bg: bg01 = 0x1000 66 ; line_number = 11 67 ; configure_option bg: bg00 = 0x0000 68 ; line_number = 12 69 ; configure_option cpd: on = 0x000 70 ; line_number = 13 71 ; configure_option cpd: off = 0x100 72 ; line_number = 14 73 ; configure_option cp: on = 0x00 74 ; line_number = 15 75 ; configure_option cp: off = 0x80 76 ; line_number = 16 77 ; configure_option boden: on = 0x40 78 ; line_number = 17 79 ; configure_option boden: off = 0x00 80 ; line_number = 18 81 ; configure_option mclre: on = 0x20 82 ; line_number = 19 83 ; configure_option mclre: off = 0x00 84 ; line_number = 20 85 ; configure_option pwrte: on = 0x00 86 ; line_number = 21 87 ; configure_option pwrte: off = 0x10 88 ; line_number = 22 89 ; configure_option wdte: on = 8 90 ; line_number = 23 91 ; configure_option wdte: off = 0 92 ; line_number = 24 93 ; configure_option fosc: rc_clk = 7 94 ; line_number = 25 95 ; configure_option fosc: rc_no_clk = 6 96 ; line_number = 26 97 ; configure_option fosc: int_clk = 5 98 ; line_number = 27 99 ; configure_option fosc: int_no_clk = 4 100 ; line_number = 28 101 ; configure_option fosc: ec = 3 102 ; line_number = 29 103 ; configure_option fosc: hs = 2 104 ; line_number = 30 105 ; configure_option fosc: xt = 1 106 ; line_number = 31 107 ; configure_option fosc: lp = 0 108 ; line_number = 32 109 ; code_bank 0x0 : 0x3ff 110 ; line_number = 33 111 ; data_bank 0x0 : 0x7f 112 ; line_number = 34 113 ; data_bank 0x80 : 0xff 114 ; line_number = 35 115 ; shared_region 0x20 : 0x5f 116 ; line_number = 36 117 ; interrupts_possible 118 ; line_number = 37 119 ; osccal_register_symbol _osccal 120 ; line_number = 38 121 ; osccal_at_address 0x3ff 122 ; line_number = 39 123 ; packages pdip=14, soic=14, tssop=14 124 ; line_number = 40 125 ; pin vdd, power_supply 126 ; line_number = 41 127 ; pin_bindings pdip=1, soic=1, tssop=1 128 ; line_number = 42 129 ; pin ra5_in, ra5_out, t1cki, osc1, clkin, ra5_unused 130 ; line_number = 43 131 ; pin_bindings pdip=2, soic=2, tssop=2 132 ; line_number = 44 133 ; bind_to _porta@5 134 ; line_number = 45 135 ; or_if ra5_in _trisa 16 136 ; line_number = 46 137 ; or_if ra5_out _trisa 0 138 ; line_number = 47 139 ; pin ra4_in, ra4_out, t1g, osc2, clkout, ra4_unused 140 ; line_number = 48 141 ; pin_bindings pdip=3, soic=3, tssop=3 142 ; line_number = 49 143 ; bind_to _porta@4 144 ; line_number = 50 145 ; or_if ra4_in _trisa 8 146 ; line_number = 51 147 ; or_if ra4_out _trisa 0 148 ; line_number = 52 149 ; pin ra3_in, mclr, vpp, ra3_unused 150 ; line_number = 53 151 ; pin_bindings pdip=4, soic=4, tssop=4 152 ; line_number = 54 153 ; bind_to _porta@3 154 ; line_number = 55 155 ; or_if ra3_in _trisa 4 156 ; line_number = 56 157 ; pin rc5_in, rc5_out, rc5_unused 158 ; line_number = 57 159 ; pin_bindings pdip=5, soic=5, tssop=5 160 ; line_number = 58 161 ; bind_to _portc@5 162 ; line_number = 59 163 ; or_if rc5_in _trisc 32 164 ; line_number = 60 165 ; or_if rc5_out _trisc 0 166 ; line_number = 61 167 ; pin rc4_in, rc4_out, rc4_unused 168 ; line_number = 62 169 ; pin_bindings pdip=6, soic=6, tssop=6 170 ; line_number = 63 171 ; bind_to _portc@4 172 ; line_number = 64 173 ; or_if rc4_in _trisc 16 174 ; line_number = 65 175 ; or_if rc4_out _trisc 0 176 ; line_number = 66 177 ; pin rc3_in, rc3_out, r3_unused 178 ; line_number = 67 179 ; pin_bindings pdip=7, soic=7, tssop=7 180 ; line_number = 68 181 ; bind_to _portc@3 182 ; line_number = 69 183 ; or_if rc3_in _trisc 8 184 ; line_number = 70 185 ; or_if rc3_out _trisc 0 186 ; line_number = 71 187 ; pin rc2_in, rc2_out, rc2_unused 188 ; line_number = 72 189 ; pin_bindings pdip=8, soic=8, tssop=8 190 ; line_number = 73 191 ; bind_to _portc@2 192 ; line_number = 74 193 ; or_if rc2_in _trisc 4 194 ; line_number = 75 195 ; or_if rc2_out _trisc 0 196 ; line_number = 76 197 ; pin rc1_in, rc1_out, rc1_unused 198 ; line_number = 77 199 ; pin_bindings pdip=9, soic=9, tssop=9 200 ; line_number = 78 201 ; bind_to _portc@1 202 ; line_number = 79 203 ; or_if rc1_in _trisc 2 204 ; line_number = 80 205 ; or_if rc1_out _trisc 0 206 ; line_number = 81 207 ; pin rc0_in, rc0_out, rc0_unused 208 ; line_number = 82 209 ; pin_bindings pdip=10, soic=10, tssop=10 210 ; line_number = 83 211 ; bind_to _portc@0 212 ; line_number = 84 213 ; or_if rc0_in _trisc 1 214 ; line_number = 85 215 ; or_if rc0_out _trisc 0 216 ; line_number = 86 217 ; pin ra2_in, ra2_out, cout, t0cki, int, ra2_unused 218 ; line_number = 87 219 ; pin_bindings pdip=11, soic=11, tssop=11 220 ; line_number = 88 221 ; bind_to _porta@2 222 ; line_number = 89 223 ; or_if ra2_in _trisa 4 224 ; line_number = 90 225 ; or_if ra2_out _trisa 0 226 ; line_number = 91 227 ; pin ra1_in, ra1_out, cin_minus, vref, icspclk, ra1_unused 228 ; line_number = 92 229 ; pin_bindings pdip=12, soic=12, tssop=12 230 ; line_number = 93 231 ; bind_to _porta@1 232 ; line_number = 94 233 ; or_if ra1_in _trisa 2 234 ; line_number = 95 235 ; or_if ra1_out _trisa 0 236 ; line_number = 96 237 ; pin ra0_in, ra0_out, cin_plus, icspdat, ra0_unused 238 ; line_number = 97 239 ; pin_bindings pdip=13, soic=13, tssop=13 240 ; line_number = 98 241 ; bind_to _porta@0 242 ; line_number = 99 243 ; or_if ra0_in _trisa 1 244 ; line_number = 100 245 ; or_if ra0_out _trisa 0 246 ; line_number = 101 247 ; pin vss, ground 248 ; line_number = 102 249 ; pin_bindings pdip=14, soic=14, tssop=14 250 251 252 ; line_number = 107 253 ; library _pic16f630_676 entered 254 ; # Copyright (c) 2004 by Wayne C. Gramlich 255 ; # All rights reserved. 256 257 ; # Shared register definitions for the PIC16F630 and PIC16F676. 258 259 ; buffer = '_pic16f630_676' 260 ; line_number = 7 261 ; register _indf = 262 00000000 = _indf equ 0 263 264 ; line_number = 9 265 ; register _tmr0 = 266 00000001 = _tmr0 equ 1 267 268 ; line_number = 11 269 ; register _pcl = 270 00000002 = _pcl equ 2 271 272 ; line_number = 13 273 ; register _status = 274 00000003 = _status equ 3 275 ; line_number = 14 276 ; bind _rp0 = _status@5 277 00000003 = _rp0___byte equ _status 278 00000005 = _rp0___bit equ 5 279 ; line_number = 15 280 ; bind _to = _status@4 281 00000003 = _to___byte equ _status 282 00000004 = _to___bit equ 4 283 ; line_number = 16 284 ; bind _pd = _status@3 285 00000003 = _pd___byte equ _status 286 00000003 = _pd___bit equ 3 287 ; line_number = 17 288 ; bind _z = _status@2 289 00000003 = _z___byte equ _status 290 00000002 = _z___bit equ 2 291 ; line_number = 18 292 ; bind _dc = _status@1 293 00000003 = _dc___byte equ _status 294 00000001 = _dc___bit equ 1 295 ; line_number = 19 296 ; bind _c = _status@0 297 00000003 = _c___byte equ _status 298 00000000 = _c___bit equ 0 299 300 ; line_number = 21 301 ; register _fsr = 302 00000004 = _fsr equ 4 303 304 ; line_number = 23 305 ; register _porta = 306 00000005 = _porta equ 5 307 ; line_number = 24 308 ; register _ra = 309 00000005 = _ra equ 5 310 ; line_number = 25 311 ; bind _ra5 = _porta@5 312 00000005 = _ra5___byte equ _porta 313 00000005 = _ra5___bit equ 5 314 ; line_number = 26 315 ; bind _ra4 = _porta@4 316 00000005 = _ra4___byte equ _porta 317 00000004 = _ra4___bit equ 4 318 ; line_number = 27 319 ; bind _ra3 = _porta@3 320 00000005 = _ra3___byte equ _porta 321 00000003 = _ra3___bit equ 3 322 ; line_number = 28 323 ; bind _ra2 = _porta@2 324 00000005 = _ra2___byte equ _porta 325 00000002 = _ra2___bit equ 2 326 ; line_number = 29 327 ; bind _ra1 = _porta@1 328 00000005 = _ra1___byte equ _porta 329 00000001 = _ra1___bit equ 1 330 ; line_number = 30 331 ; bind _ra0 = _porta@0 332 00000005 = _ra0___byte equ _porta 333 00000000 = _ra0___bit equ 0 334 335 ; line_number = 32 336 ; register _portc = 337 00000007 = _portc equ 7 338 ; line_number = 33 339 ; register _rc = 340 00000007 = _rc equ 7 341 ; line_number = 34 342 ; bind _rc5 = _portc@5 343 00000007 = _rc5___byte equ _portc 344 00000005 = _rc5___bit equ 5 345 ; line_number = 35 346 ; bind _rc4 = _portc@4 347 00000007 = _rc4___byte equ _portc 348 00000004 = _rc4___bit equ 4 349 ; line_number = 36 350 ; bind _rc3 = _portc@3 351 00000007 = _rc3___byte equ _portc 352 00000003 = _rc3___bit equ 3 353 ; line_number = 37 354 ; bind _rc2 = _portc@2 355 00000007 = _rc2___byte equ _portc 356 00000002 = _rc2___bit equ 2 357 ; line_number = 38 358 ; bind _rc1 = _portc@1 359 00000007 = _rc1___byte equ _portc 360 00000001 = _rc1___bit equ 1 361 ; line_number = 39 362 ; bind _rc0 = _portc@0 363 00000007 = _rc0___byte equ _portc 364 00000000 = _rc0___bit equ 0 365 366 ; line_number = 41 367 ; register _pclath = 368 0000000a = _pclath equ 10 369 370 ; line_number = 43 371 ; register _intcon = 372 0000000b = _intcon equ 11 373 ; line_number = 44 374 ; bind _gie = _intcon@7 375 0000000b = _gie___byte equ _intcon 376 00000007 = _gie___bit equ 7 377 ; line_number = 45 378 ; bind _peie = _intcon@6 379 0000000b = _peie___byte equ _intcon 380 00000006 = _peie___bit equ 6 381 ; line_number = 46 382 ; bind _t0ie = _intcon@5 383 0000000b = _t0ie___byte equ _intcon 384 00000005 = _t0ie___bit equ 5 385 ; line_number = 47 386 ; bind _inte = _intcon@4 387 0000000b = _inte___byte equ _intcon 388 00000004 = _inte___bit equ 4 389 ; line_number = 48 390 ; bind _raie = _intcon@3 391 0000000b = _raie___byte equ _intcon 392 00000003 = _raie___bit equ 3 393 ; line_number = 49 394 ; bind _t0if = _intcon@2 395 0000000b = _t0if___byte equ _intcon 396 00000002 = _t0if___bit equ 2 397 ; line_number = 50 398 ; bind _intf = _intcon@1 399 0000000b = _intf___byte equ _intcon 400 00000001 = _intf___bit equ 1 401 ; line_number = 51 402 ; bind _raif = _intcon@0 403 0000000b = _raif___byte equ _intcon 404 00000000 = _raif___bit equ 0 405 406 ; line_number = 53 407 ; register _pir1 = 408 0000000c = _pir1 equ 12 409 ; line_number = 54 410 ; bind _eeif = _pir1@7 411 0000000c = _eeif___byte equ _pir1 412 00000007 = _eeif___bit equ 7 413 ; line_number = 55 414 ; bind _cmif = _pir1@3 415 0000000c = _cmif___byte equ _pir1 416 00000003 = _cmif___bit equ 3 417 ; line_number = 56 418 ; bind _tmr1if = _pir1@0 419 0000000c = _tmr1if___byte equ _pir1 420 00000000 = _tmr1if___bit equ 0 421 422 ; line_number = 58 423 ; register _tmr1l = 424 0000000e = _tmr1l equ 14 425 426 ; line_number = 60 427 ; register _tmr1h = 428 0000000f = _tmr1h equ 15 429 430 ; line_number = 62 431 ; register _t1con = 432 00000010 = _t1con equ 16 433 ; line_number = 63 434 ; bind _t1ge = _t1con@6 435 00000010 = _t1ge___byte equ _t1con 436 00000006 = _t1ge___bit equ 6 437 ; line_number = 64 438 ; bind _t1ckps1 = _t1con@5 439 00000010 = _t1ckps1___byte equ _t1con 440 00000005 = _t1ckps1___bit equ 5 441 ; line_number = 65 442 ; bind _t1ckps0 = _t1con@4 443 00000010 = _t1ckps0___byte equ _t1con 444 00000004 = _t1ckps0___bit equ 4 445 ; line_number = 66 446 ; bind _t1oscen = _t1con@3 447 00000010 = _t1oscen___byte equ _t1con 448 00000003 = _t1oscen___bit equ 3 449 ; line_number = 67 450 ; bind _t1sync = _t1con@2 451 00000010 = _t1sync___byte equ _t1con 452 00000002 = _t1sync___bit equ 2 453 ; line_number = 68 454 ; bind _tmr1cs = _t1con@1 455 00000010 = _tmr1cs___byte equ _t1con 456 00000001 = _tmr1cs___bit equ 1 457 ; line_number = 69 458 ; bind _tmr1on = _t1con@0 459 00000010 = _tmr1on___byte equ _t1con 460 00000000 = _tmr1on___bit equ 0 461 462 ; line_number = 71 463 ; register _cmcon = 464 00000019 = _cmcon equ 25 465 ; line_number = 72 466 ; bind _cout = _cmcon@6 467 00000019 = _cout___byte equ _cmcon 468 00000006 = _cout___bit equ 6 469 ; line_number = 73 470 ; bind _cinv = _cmcon@4 471 00000019 = _cinv___byte equ _cmcon 472 00000004 = _cinv___bit equ 4 473 ; line_number = 74 474 ; bind _cis = _cmcon@3 475 00000019 = _cis___byte equ _cmcon 476 00000003 = _cis___bit equ 3 477 ; line_number = 75 478 ; bind _cm2 = _cmcon@2 479 00000019 = _cm2___byte equ _cmcon 480 00000002 = _cm2___bit equ 2 481 ; line_number = 76 482 ; bind _cm1 = _cmcon@1 483 00000019 = _cm1___byte equ _cmcon 484 00000001 = _cm1___bit equ 1 485 ; line_number = 77 486 ; bind _cm0 = _cmcon@0 487 00000019 = _cm0___byte equ _cmcon 488 00000000 = _cm0___bit equ 0 489 490 ; # Data bank 1 (0x80-0xff): 491 492 ; line_number = 81 493 ; register _option_reg = 494 00000080 = _option_reg equ 128 495 ; line_number = 82 496 ; bind _rapu = _option_reg@7 497 00000080 = _rapu___byte equ _option_reg 498 00000007 = _rapu___bit equ 7 499 ; line_number = 83 500 ; bind _intedg = _option_reg@6 501 00000080 = _intedg___byte equ _option_reg 502 00000006 = _intedg___bit equ 6 503 ; line_number = 84 504 ; bind _t0cs = _option_reg@5 505 00000080 = _t0cs___byte equ _option_reg 506 00000005 = _t0cs___bit equ 5 507 ; line_number = 85 508 ; bind _t0se = _option_reg@4 509 00000080 = _t0se___byte equ _option_reg 510 00000004 = _t0se___bit equ 4 511 ; line_number = 86 512 ; bind _psa = _option_reg@3 513 00000080 = _psa___byte equ _option_reg 514 00000003 = _psa___bit equ 3 515 ; line_number = 87 516 ; bind _ps2 = _option_reg@2 517 00000080 = _ps2___byte equ _option_reg 518 00000002 = _ps2___bit equ 2 519 ; line_number = 88 520 ; bind _ps1 = _option_reg@1 521 00000080 = _ps1___byte equ _option_reg 522 00000001 = _ps1___bit equ 1 523 ; line_number = 89 524 ; bind _ps0 = _option_reg@0 525 00000080 = _ps0___byte equ _option_reg 526 00000000 = _ps0___bit equ 0 527 528 ; line_number = 91 529 ; register _trisa = 530 00000085 = _trisa equ 133 531 ; line_number = 92 532 ; bind _trisa5 = _trisa@5 533 00000085 = _trisa5___byte equ _trisa 534 00000005 = _trisa5___bit equ 5 535 ; line_number = 93 536 ; bind _trisa4 = _trisa@4 537 00000085 = _trisa4___byte equ _trisa 538 00000004 = _trisa4___bit equ 4 539 ; line_number = 94 540 ; bind _trisa3 = _trisa@3 541 00000085 = _trisa3___byte equ _trisa 542 00000003 = _trisa3___bit equ 3 543 ; line_number = 95 544 ; bind _trisa2 = _trisa@2 545 00000085 = _trisa2___byte equ _trisa 546 00000002 = _trisa2___bit equ 2 547 ; line_number = 96 548 ; bind _trisa1 = _trisa@1 549 00000085 = _trisa1___byte equ _trisa 550 00000001 = _trisa1___bit equ 1 551 ; line_number = 97 552 ; bind _trisa0 = _trisa@0 553 00000085 = _trisa0___byte equ _trisa 554 00000000 = _trisa0___bit equ 0 555 556 ; line_number = 99 557 ; register _trisc = 558 00000087 = _trisc equ 135 559 ; line_number = 100 560 ; bind _trisc5 = _trisc@5 561 00000087 = _trisc5___byte equ _trisc 562 00000005 = _trisc5___bit equ 5 563 ; line_number = 101 564 ; bind _trisc4 = _trisc@4 565 00000087 = _trisc4___byte equ _trisc 566 00000004 = _trisc4___bit equ 4 567 ; line_number = 102 568 ; bind _trisc3 = _trisc@3 569 00000087 = _trisc3___byte equ _trisc 570 00000003 = _trisc3___bit equ 3 571 ; line_number = 103 572 ; bind _trisc2 = _trisc@2 573 00000087 = _trisc2___byte equ _trisc 574 00000002 = _trisc2___bit equ 2 575 ; line_number = 104 576 ; bind _trisc1 = _trisc@1 577 00000087 = _trisc1___byte equ _trisc 578 00000001 = _trisc1___bit equ 1 579 ; line_number = 105 580 ; bind _trisc0 = _trisc@0 581 00000087 = _trisc0___byte equ _trisc 582 00000000 = _trisc0___bit equ 0 583 584 ; line_number = 107 585 ; register _pie1 = 586 0000008c = _pie1 equ 140 587 ; line_number = 108 588 ; bind _eeie = _pie1@7 589 0000008c = _eeie___byte equ _pie1 590 00000007 = _eeie___bit equ 7 591 ; line_number = 109 592 ; bind _adie = _pie1@6 593 0000008c = _adie___byte equ _pie1 594 00000006 = _adie___bit equ 6 595 ; line_number = 110 596 ; bind _cmie = _pie1@3 597 0000008c = _cmie___byte equ _pie1 598 00000003 = _cmie___bit equ 3 599 ; line_number = 111 600 ; bind _tmr1ie = _pie1@0 601 0000008c = _tmr1ie___byte equ _pie1 602 00000000 = _tmr1ie___bit equ 0 603 604 ; line_number = 113 605 ; register _pcon = 606 0000008e = _pcon equ 142 607 ; line_number = 114 608 ; bind _por = _pcon@1 609 0000008e = _por___byte equ _pcon 610 00000001 = _por___bit equ 1 611 ; line_number = 115 612 ; bind _bor = _pcon@0 613 0000008e = _bor___byte equ _pcon 614 00000000 = _bor___bit equ 0 615 616 ; line_number = 117 617 ; register _osccal = 618 00000090 = _osccal equ 144 619 ; line_number = 118 620 ; bind _cal5 = _osccal@7 621 00000090 = _cal5___byte equ _osccal 622 00000007 = _cal5___bit equ 7 623 ; line_number = 119 624 ; bind _cal4 = _osccal@6 625 00000090 = _cal4___byte equ _osccal 626 00000006 = _cal4___bit equ 6 627 ; line_number = 120 628 ; bind _cal3 = _osccal@5 629 00000090 = _cal3___byte equ _osccal 630 00000005 = _cal3___bit equ 5 631 ; line_number = 121 632 ; bind _cal2 = _osccal@4 633 00000090 = _cal2___byte equ _osccal 634 00000004 = _cal2___bit equ 4 635 ; line_number = 122 636 ; bind _cal1 = _osccal@3 637 00000090 = _cal1___byte equ _osccal 638 00000003 = _cal1___bit equ 3 639 ; line_number = 123 640 ; bind _cal0 = _osccal@2 641 00000090 = _cal0___byte equ _osccal 642 00000002 = _cal0___bit equ 2 643 ; line_number = 124 644 ; constant _osccal_lsb = 4 645 00000004 = _osccal_lsb equ 4 646 647 ; line_number = 126 648 ; register _wpua = 649 00000095 = _wpua equ 149 650 ; line_number = 127 651 ; bind _wpua5 = _wpua@5 652 00000095 = _wpua5___byte equ _wpua 653 00000005 = _wpua5___bit equ 5 654 ; line_number = 128 655 ; bind _wpua4 = _wpua@4 656 00000095 = _wpua4___byte equ _wpua 657 00000004 = _wpua4___bit equ 4 658 ; line_number = 129 659 ; bind _wpua2 = _wpua@2 660 00000095 = _wpua2___byte equ _wpua 661 00000002 = _wpua2___bit equ 2 662 ; line_number = 130 663 ; bind _wpua1 = _wpua@1 664 00000095 = _wpua1___byte equ _wpua 665 00000001 = _wpua1___bit equ 1 666 ; line_number = 131 667 ; bind _wpua0 = _wpua@0 668 00000095 = _wpua0___byte equ _wpua 669 00000000 = _wpua0___bit equ 0 670 671 ; line_number = 133 672 ; register _ioca = 673 00000096 = _ioca equ 150 674 ; line_number = 134 675 ; bind _ioca5 = _ioca@5 676 00000096 = _ioca5___byte equ _ioca 677 00000005 = _ioca5___bit equ 5 678 ; line_number = 135 679 ; bind _ioca4 = _ioca@4 680 00000096 = _ioca4___byte equ _ioca 681 00000004 = _ioca4___bit equ 4 682 ; line_number = 136 683 ; bind _ioca3 = _ioca@3 684 00000096 = _ioca3___byte equ _ioca 685 00000003 = _ioca3___bit equ 3 686 ; line_number = 137 687 ; bind _ioca2 = _ioca@2 688 00000096 = _ioca2___byte equ _ioca 689 00000002 = _ioca2___bit equ 2 690 ; line_number = 138 691 ; bind _ioca1 = _ioca@1 692 00000096 = _ioca1___byte equ _ioca 693 00000001 = _ioca1___bit equ 1 694 ; line_number = 139 695 ; bind _ioca0 = _ioca@0 696 00000096 = _ioca0___byte equ _ioca 697 00000000 = _ioca0___bit equ 0 698 699 ; line_number = 141 700 ; register _vrcon = 701 00000099 = _vrcon equ 153 702 ; line_number = 142 703 ; bind _vren = _vrcon@7 704 00000099 = _vren___byte equ _vrcon 705 00000007 = _vren___bit equ 7 706 ; line_number = 143 707 ; bind _vrr = _vrcon@5 708 00000099 = _vrr___byte equ _vrcon 709 00000005 = _vrr___bit equ 5 710 ; line_number = 144 711 ; bind _vr3 = _vrcon@3 712 00000099 = _vr3___byte equ _vrcon 713 00000003 = _vr3___bit equ 3 714 ; line_number = 145 715 ; bind _vr2 = _vrcon@2 716 00000099 = _vr2___byte equ _vrcon 717 00000002 = _vr2___bit equ 2 718 ; line_number = 146 719 ; bind _vr1 = _vrcon@1 720 00000099 = _vr1___byte equ _vrcon 721 00000001 = _vr1___bit equ 1 722 ; line_number = 147 723 ; bind _vr0 = _vrcon@0 724 00000099 = _vr0___byte equ _vrcon 725 00000000 = _vr0___bit equ 0 726 727 ; line_number = 149 728 ; register _eedata = 729 0000009a = _eedata equ 154 730 731 ; line_number = 151 732 ; register _eeadr = 733 0000009b = _eeadr equ 155 734 735 ; line_number = 153 736 ; register _eecon1 = 737 0000009c = _eecon1 equ 156 738 ; line_number = 154 739 ; bind _wrerr = _eecon1@3 740 0000009c = _wrerr___byte equ _eecon1 741 00000003 = _wrerr___bit equ 3 742 ; line_number = 155 743 ; bind _wren = _eecon1@2 744 0000009c = _wren___byte equ _eecon1 745 00000002 = _wren___bit equ 2 746 ; line_number = 156 747 ; bind _wr = _eecon1@1 748 0000009c = _wr___byte equ _eecon1 749 00000001 = _wr___bit equ 1 750 ; line_number = 157 751 ; bind _rd = _eecon1@0 752 0000009c = _rd___byte equ _eecon1 753 00000000 = _rd___bit equ 0 754 755 ; line_number = 159 756 ; register _eecon2 = 757 0000009d = _eecon2 equ 157 758 759 760 ; buffer = '_pic16f630' 761 ; line_number = 107 762 ; library _pic16f630_676 exited 763 764 765 ; buffer = 'dualmotor1amp' 766 ; line_number = 23 767 ; library _pic16f630 exited 768 ; line_number = 24 769 ; library clock4mhz entered 770 ; # Copyright (c) 2004 by Wayne C. Gramlich 771 ; # All rights reserved. 772 773 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 774 ; # and {clocks_per_instruction}. 775 776 ; # Define processor constants: 777 ; buffer = 'clock4mhz' 778 ; line_number = 9 779 ; constant clock_rate = 4000000 780 003d0900 = clock_rate equ 4000000 781 ; line_number = 10 782 ; constant clocks_per_instruction = 4 783 00000004 = clocks_per_instruction equ 4 784 ; line_number = 11 785 ; constant instruction_rate = clock_rate / clocks_per_instruction 786 000f4240 = instruction_rate equ 1000000 787 788 789 ; buffer = 'dualmotor1amp' 790 ; line_number = 24 791 ; library clock4mhz exited 792 ; line_number = 25 793 ; library bit_bang entered 794 ; # Copyright (c) 2004 by Wayne C. Gramlich 795 ; # All rights reserved. 796 797 ; # This library provides bit bang routines for sending and receiving 798 ; # serial data at 2400 baud in 8N1 format (1 start bit, 8 data bits, 799 ; # No parity bit, 1 stop stop bit.) 800 ; # 801 ; # This library requires that the pins {serial_in} and {serial_out} 802 ; # be defined. In addition, the variable {instruction_rate} needs 803 ; # to be defined. Lastly, there needs to be a {delay} procedure 804 ; # with an "exact_delay delay_instructions" clause in it. The {delay} 805 ; # routine should invoke "watch_dog_reset" so that the watch dog time 806 ; # can be set. 807 808 ; # Define some constants that we will be needing: 809 ; buffer = 'bit_bang' 810 ; line_number = 17 811 ; constant baud_rate = 2400 812 00000960 = baud_rate equ 2400 813 ; line_number = 18 814 ; constant instructions_per_bit = instruction_rate / baud_rate 815 000001a0 = instructions_per_bit equ 416 816 ; line_number = 19 817 ; constant delays_per_bit = 3 818 00000003 = delays_per_bit equ 3 819 ; line_number = 20 820 ; constant instructions_per_delay = instructions_per_bit / delays_per_bit 821 0000008a = instructions_per_delay equ 138 822 ; line_number = 21 823 ; constant extra_instructions = 5 824 00000005 = extra_instructions equ 5 825 ; line_number = 22 826 ; constant delay_instructions = instructions_per_delay - extra_instructions 827 00000085 = delay_instructions equ 133 828 829 ; # The {receiving} bit is sent when data is being received. 830 ; # It gets cleared whenever data gets sent. It is used to 831 ; # determine whether additional delay is needed to turn a 832 ; # line around for slow interpretted chips like the Basic 833 ; # Stamp 2 and the OOPIC. 834 835 ; line_number = 30 836 ; global receiving bit 837 0000005f = receiving___byte equ shared___globals+63 838 00000000 = receiving___bit equ 0 839 ; line_number = 31 840 ; global waiting bit 841 0000005f = waiting___byte equ shared___globals+63 842 00000001 = waiting___bit equ 1 843 844 ; Delaying code generation for procedure byte_get 845 ; Delaying code generation for procedure byte_put 846 847 ; buffer = 'dualmotor1amp' 848 ; line_number = 25 849 ; library bit_bang exited 850 851 ; line_number = 27 852 ; package pdip 853 ; line_number = 28 854 ; pin 1 = power_supply 855 ; line_number = 29 856 ; pin 2 = ra5_unused 857 ; line_number = 30 858 ; pin 3 = ra4_out, name = motor1a, mask = motor1a_mask 859 00000005 = motor1a___byte equ _porta 860 00000004 = motor1a___bit equ 4 861 00000010 = motor1a_mask equ 16 862 ; line_number = 31 863 ; pin 4 = ra3_unused 864 ; line_number = 32 865 ; pin 5 = rc5_unused, name = debug_out 866 00000007 = debug_out___byte equ _portc 867 00000005 = debug_out___bit equ 5 868 ; line_number = 33 869 ; pin 6 = rc4_unused 870 ; line_number = 34 871 ; pin 7 = rc3_out, name = motor1e 872 00000007 = motor1e___byte equ _portc 873 00000003 = motor1e___bit equ 3 874 ; line_number = 35 875 ; pin 8 = rc2_out, name = motor0e 876 00000007 = motor0e___byte equ _portc 877 00000002 = motor0e___bit equ 2 878 ; line_number = 36 879 ; pin 9 = rc1_out, name = serial_out 880 00000007 = serial_out___byte equ _portc 881 00000001 = serial_out___bit equ 1 882 ; line_number = 37 883 ; pin 10 = rc0_out, name = serial_in 884 00000007 = serial_in___byte equ _portc 885 00000000 = serial_in___bit equ 0 886 ; line_number = 38 887 ; pin 11 = ra2_out, name = motor1b, mask = motor1b_mask 888 00000005 = motor1b___byte equ _porta 889 00000002 = motor1b___bit equ 2 890 00000004 = motor1b_mask equ 4 891 ; line_number = 39 892 ; pin 12 = ra1_out, name = motor0b, mask = motor0b_mask 893 00000005 = motor0b___byte equ _porta 894 00000001 = motor0b___bit equ 1 895 00000002 = motor0b_mask equ 2 896 ; line_number = 40 897 ; pin 13 = ra0_out, name = motor0a, mask = motor0a_mask 898 00000005 = motor0a___byte equ _porta 899 00000000 = motor0a___bit equ 0 900 00000001 = motor0a_mask equ 1 901 ; line_number = 41 902 ; pin 14 = ground 903 904 ; # Define duty cycle and motor on/off masks: 905 ; line_number = 44 906 ; global actual_speed0 byte 907 00000024 = actual_speed0 equ shared___globals+4 908 ; line_number = 45 909 ; global actual_speed1 byte 910 00000025 = actual_speed1 equ shared___globals+5 911 ; line_number = 46 912 ; global motor0_off byte 913 00000026 = motor0_off equ shared___globals+6 914 ; line_number = 47 915 ; global motor0_on byte 916 00000027 = motor0_on equ shared___globals+7 917 ; line_number = 48 918 ; global motor1_off byte 919 00000028 = motor1_off equ shared___globals+8 920 ; line_number = 49 921 ; global motor1_on byte 922 00000029 = motor1_on equ shared___globals+9 923 924 ; # Ramp variables: 925 ; line_number = 52 926 ; global desired_speed0 byte 927 0000002a = desired_speed0 equ shared___globals+10 928 ; line_number = 53 929 ; global desired_speed1 byte 930 0000002b = desired_speed1 equ shared___globals+11 931 ; line_number = 54 932 ; global desired_direction0 bit 933 0000005f = desired_direction0___byte equ shared___globals+63 934 00000002 = desired_direction0___bit equ 2 935 ; line_number = 55 936 ; global desired_direction1 bit 937 0000005f = desired_direction1___byte equ shared___globals+63 938 00000003 = desired_direction1___bit equ 3 939 ; line_number = 56 940 ; global ramp0 byte 941 0000002c = ramp0 equ shared___globals+12 942 ; line_number = 57 943 ; global ramp1 byte 944 0000002d = ramp1 equ shared___globals+13 945 ; line_number = 58 946 ; global ramp0_delay byte 947 0000002e = ramp0_delay equ shared___globals+14 948 ; line_number = 59 949 ; global ramp1_delay byte 950 0000002f = ramp1_delay equ shared___globals+15 951 ; line_number = 60 952 ; global ramp0_offset byte 953 00000030 = ramp0_offset equ shared___globals+16 954 ; line_number = 61 955 ; global ramp1_offset byte 956 00000031 = ramp1_offset equ shared___globals+17 957 958 ; # Fail safe variables: 959 ; line_number = 64 960 ; global fail_safe byte 961 00000032 = fail_safe equ shared___globals+18 962 ; line_number = 65 963 ; global fail_safe_errors byte 964 00000033 = fail_safe_errors equ shared___globals+19 965 ; line_number = 66 966 ; global fail_safe_high_counter byte 967 00000034 = fail_safe_high_counter equ shared___globals+20 968 ; line_number = 67 969 ; global fail_safe_low_counter byte 970 00000035 = fail_safe_low_counter equ shared___globals+21 971 972 ; # Second command stuff for ramped direction change: 973 ; line_number = 70 974 ; global second_motor0_command bit 975 0000005f = second_motor0_command___byte equ shared___globals+63 976 00000004 = second_motor0_command___bit equ 4 977 ; line_number = 71 978 ; global second_motor1_command bit 979 0000005f = second_motor1_command___byte equ shared___globals+63 980 00000005 = second_motor1_command___bit equ 5 981 ; line_number = 72 982 ; global second_desired_speed0 byte 983 00000036 = second_desired_speed0 equ shared___globals+22 984 ; line_number = 73 985 ; global second_desired_speed1 byte 986 00000037 = second_desired_speed1 equ shared___globals+23 987 ; line_number = 74 988 ; global second_ramp0_offset byte 989 00000038 = second_ramp0_offset equ shared___globals+24 990 ; line_number = 75 991 ; global second_ramp1_offset byte 992 00000039 = second_ramp1_offset equ shared___globals+25 993 ; line_number = 76 994 ; global second_motor0_on byte 995 0000003a = second_motor0_on equ shared___globals+26 996 ; line_number = 77 997 ; global second_motor1_on byte 998 0000003b = second_motor1_on equ shared___globals+27 999 ; line_number = 78 1000 ; global second_motor0_off byte 1001 0000003c = second_motor0_off equ shared___globals+28 1002 ; line_number = 79 1003 ; global second_motor1_off byte 1004 0000003d = second_motor1_off equ shared___globals+29 1005 1006 ; line_number = 81 1007 ; global motor0 byte 1008 0000003e = motor0 equ shared___globals+30 1009 ; line_number = 82 1010 ; global motor1 byte 1011 0000003f = motor1 equ shared___globals+31 1012 1013 ; # Mode (pulsed vs. continuous) bits: 1014 ; line_number = 85 1015 ; global motor0_mode bit 1016 0000005f = motor0_mode___byte equ shared___globals+63 1017 00000006 = motor0_mode___bit equ 6 1018 ; line_number = 86 1019 ; global motor1_mode bit 1020 0000005f = motor1_mode___byte equ shared___globals+63 1021 00000007 = motor1_mode___bit equ 7 1022 ; line_number = 87 1023 ; global motor0_direction bit 1024 0000005e = motor0_direction___byte equ shared___globals+62 1025 00000000 = motor0_direction___bit equ 0 1026 ; line_number = 88 1027 ; global motor1_direction bit 1028 0000005e = motor1_direction___byte equ shared___globals+62 1029 00000001 = motor1_direction___bit equ 1 1030 1031 ; # Shared command registers and option: 1032 ; line_number = 91 1033 ; global glitch byte 1034 00000040 = glitch equ shared___globals+32 1035 ; line_number = 92 1036 ; global id_index byte 1037 00000041 = id_index equ shared___globals+33 1038 ; line_number = 93 1039 ; global spare byte 1040 00000042 = spare equ shared___globals+34 1041 1042 ; line_number = 95 1043 ; global command_previous byte 1044 00000043 = command_previous equ shared___globals+35 1045 ; line_number = 96 1046 ; global command_last byte 1047 00000044 = command_last equ shared___globals+36 1048 ; line_number = 97 1049 ; global sent_previous byte 1050 00000045 = sent_previous equ shared___globals+37 1051 ; line_number = 98 1052 ; global sent_last byte 1053 00000046 = sent_last equ shared___globals+38 1054 1055 ; line_number = 100 1056 ; procedure main 1057 0000 : main: 1058 ; Need to calibrate the oscillator 1059 0000 23ff call 1023 1060 0001 1683 bsf __rp0___byte, __rp0___bit 1061 0002 0090 movwf _osccal 1062 ; Initialize some registers 1063 0003 0185 clrf _trisa 1064 0004 0187 clrf _trisc 1065 ; arguments_none 1066 ; line_number = 102 1067 ; returns_nothing 1068 1069 ; line_number = 104 1070 ; local command byte 1071 00000047 = main__command equ shared___globals+39 1072 ; line_number = 105 1073 ; local temp byte 1074 00000048 = main__temp equ shared___globals+40 1075 1076 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X1 code:XX=>XX) 1077 ; line_number = 107 1078 ; call reset() 1079 0005 1283 bcf __rp0___byte, __rp0___bit 1080 0006 21d3 call reset 1081 1082 ; # Loop waiting for commands: 1083 ; line_number = 110 1084 ; loop_forever start 1085 0007 : main__1: 1086 ; # Get a command byte: 1087 ; line_number = 112 1088 ; command := byte_get() 1089 0007 2334 call byte_get 1090 0008 00c7 movwf main__command 1091 1092 ; # Dispatch on command: 1093 ; line_number = 115 1094 ; switch command >> 6 start 1095 0009 3000 movlw main__97>>8 1096 000a 008a movwf __pclath 1097 0000004b = main__98 equ shared___globals+43 1098 000b 0e47 swapf main__command,w 1099 000c 00cb movwf main__98 1100 000d 0ccb rrf main__98,f 1101 000e 0c4b rrf main__98,w 1102 000f 3903 andlw 3 1103 0010 3e12 addlw main__97 1104 0011 0082 movwf __pcl 1105 ; page_group 4 1106 0012 : main__97: 1107 0012 2816 goto main__93 1108 0013 282f goto main__94 1109 0014 2846 goto main__95 1110 0015 2909 goto main__96 1111 ; line_number = 116 1112 ; case 0 1113 0016 : main__93: 1114 ; # Set Quick (Command = 00hh hhdm): 1115 ; line_number = 118 1116 ; temp := ((command << 2) & 0xf0) | (command >> 2) 1117 0000004a = main__2 equ shared___globals+42 1118 0000004b = main__3 equ shared___globals+43 1119 0016 0d47 rlf main__command,w 1120 0017 00cb movwf main__3 1121 0018 0d4b rlf main__3,w 1122 0019 39f0 andlw 240 1123 001a 00ca movwf main__2 1124 0000004b = main__4 equ shared___globals+43 1125 001b 0c47 rrf main__command,w 1126 001c 00cb movwf main__4 1127 001d 0c4b rrf main__4,w 1128 001e 393f andlw 63 1129 001f 044a iorwf main__2,w 1130 0020 00c8 movwf main__temp 1131 ; line_number = 119 1132 ; if command@0 start 1133 00000047 = main__select__7___byte equ main__command 1134 00000000 = main__select__7___bit equ 0 1135 ; # Motor : 1136 ; line_number = 121 1137 ; desired_speed1 := temp 1138 0021 0848 movf main__temp,w 1139 ; line_number = 124 1140 ; desired_speed0 := temp 1141 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1142 ; CASE: true_code_size > 1 && false_code_size > 1 1143 ; true_code_size=4 false_code_size=4 1144 0022 1c47 btfss main__select__7___byte, main__select__7___bit 1145 0023 2829 goto main__8 1146 0024 00ab movwf desired_speed1 1147 ; line_number = 122 1148 ; desired_direction1 := command@1 1149 0025 11df bcf desired_direction1___byte, desired_direction1___bit 1150 00000047 = main__select__6___byte equ main__command 1151 00000001 = main__select__6___bit equ 1 1152 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1153 ; CASE: True.size=1 False.size=0 1154 0026 18c7 btfsc main__select__6___byte, main__select__6___bit 1155 0027 15df bsf desired_direction1___byte, desired_direction1___bit 1156 ; Recombine size1 = 0 || size2 = 0 1157 ; code.delay=4294967295 back_code.delay=4294967295 1158 ; <=bit_code_emit@symbol; sym=main__select__6 (data:X0=>X0 code:XX=>XX) 1159 0028 282d goto main__9 1160 0029 : main__8: 1161 0029 00aa movwf desired_speed0 1162 ; line_number = 125 1163 ; desired_direction0 := command@1 1164 002a 115f bcf desired_direction0___byte, desired_direction0___bit 1165 00000047 = main__select__5___byte equ main__command 1166 00000001 = main__select__5___bit equ 1 1167 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1168 ; CASE: True.size=1 False.size=0 1169 002b 18c7 btfsc main__select__5___byte, main__select__5___bit 1170 002c 155f bsf desired_direction0___byte, desired_direction0___bit 1171 ; Recombine size1 = 0 || size2 = 0 1172 ; code.delay=4294967295 back_code.delay=4294967295 1173 ; <=bit_code_emit@symbol; sym=main__select__5 (data:X0=>X0 code:XX=>XX) 1174 002d : main__9: 1175 ; code.delay=4294967295 back_code.delay=4294967295 1176 ; <=bit_code_emit@symbol; sym=main__select__7 (data:X0=>X0 code:XX=>XX) 1177 ; line_number = 119 1178 ; if command@0 done 1179 ; line_number = 126 1180 ; call set_up() 1181 002d 2152 call set_up 1182 002e 2950 goto main__99 1183 ; line_number = 127 1184 ; case 1 1185 002f : main__94: 1186 ; # Set Low (Command = 01ll lldm): 1187 ; line_number = 129 1188 ; temp := (command >> 2) & 0xf 1189 0000004b = main__10 equ shared___globals+43 1190 002f 0c47 rrf main__command,w 1191 0030 00cb movwf main__10 1192 0031 0c4b rrf main__10,w 1193 0032 390f andlw 15 1194 0033 00c8 movwf main__temp 1195 ; line_number = 130 1196 ; if command@0 start 1197 00000047 = main__select__13___byte equ main__command 1198 00000000 = main__select__13___bit equ 0 1199 ; # Motor 1: 1200 ; line_number = 132 1201 ; desired_speed1 := desired_speed1 & 0xf0 | temp 1202 0034 30f0 movlw 240 1203 ; # Motor 0: 1204 ; line_number = 136 1205 ; desired_speed0 := desired_speed0 & 0xf0 | temp 1206 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1207 ; CASE: true_code_size > 1 && false_code_size > 1 1208 ; true_code_size=6 false_code_size=6 1209 0035 1c47 btfss main__select__13___byte, main__select__13___bit 1210 0036 283e goto main__14 1211 0037 052b andwf desired_speed1,w 1212 0038 0448 iorwf main__temp,w 1213 0039 00ab movwf desired_speed1 1214 ; line_number = 133 1215 ; desired_direction1 := command@1 1216 003a 11df bcf desired_direction1___byte, desired_direction1___bit 1217 00000047 = main__select__12___byte equ main__command 1218 00000001 = main__select__12___bit equ 1 1219 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1220 ; CASE: True.size=1 False.size=0 1221 003b 18c7 btfsc main__select__12___byte, main__select__12___bit 1222 003c 15df bsf desired_direction1___byte, desired_direction1___bit 1223 ; Recombine size1 = 0 || size2 = 0 1224 ; code.delay=4294967295 back_code.delay=4294967295 1225 ; <=bit_code_emit@symbol; sym=main__select__12 (data:X0=>X0 code:XX=>XX) 1226 003d 2844 goto main__15 1227 003e : main__14: 1228 003e 052a andwf desired_speed0,w 1229 003f 0448 iorwf main__temp,w 1230 0040 00aa movwf desired_speed0 1231 ; line_number = 137 1232 ; desired_direction0 := command@1 1233 0041 115f bcf desired_direction0___byte, desired_direction0___bit 1234 00000047 = main__select__11___byte equ main__command 1235 00000001 = main__select__11___bit equ 1 1236 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1237 ; CASE: True.size=1 False.size=0 1238 0042 18c7 btfsc main__select__11___byte, main__select__11___bit 1239 0043 155f bsf desired_direction0___byte, desired_direction0___bit 1240 ; Recombine size1 = 0 || size2 = 0 1241 ; code.delay=4294967295 back_code.delay=4294967295 1242 ; <=bit_code_emit@symbol; sym=main__select__11 (data:X0=>X0 code:XX=>XX) 1243 0044 : main__15: 1244 ; code.delay=4294967295 back_code.delay=4294967295 1245 ; <=bit_code_emit@symbol; sym=main__select__13 (data:X0=>X0 code:XX=>XX) 1246 ; line_number = 130 1247 ; if command@0 done 1248 ; line_number = 138 1249 ; call set_up() 1250 0044 2152 call set_up 1251 0045 2950 goto main__99 1252 ; line_number = 139 1253 ; case 2 1254 0046 : main__95: 1255 ; # Command = 10xx xxxx: 1256 ; line_number = 141 1257 ; switch (command >> 3) & 7 start 1258 0046 3000 movlw main__75>>8 1259 0047 008a movwf __pclath 1260 0000004b = main__76 equ shared___globals+43 1261 0048 0c47 rrf main__command,w 1262 0049 00cb movwf main__76 1263 004a 0ccb rrf main__76,f 1264 004b 0c4b rrf main__76,w 1265 004c 3907 andlw 7 1266 004d 3e4f addlw main__75 1267 004e 0082 movwf __pcl 1268 ; page_group 8 1269 004f : main__75: 1270 004f 2857 goto main__68 1271 0050 288a goto main__69 1272 0051 28a1 goto main__70 1273 0052 28a7 goto main__71 1274 0053 28dc goto main__72 1275 0054 2900 goto main__73 1276 0055 2908 goto main__74 1277 0056 2908 goto main__74 1278 ; line_number = 142 1279 ; case 0 1280 0057 : main__68: 1281 ; # Command = 1000 0xxx: 1282 ; line_number = 144 1283 ; switch command & 7 start 1284 0057 3000 movlw main__26>>8 1285 0058 008a movwf __pclath 1286 0059 3007 movlw 7 1287 005a 0547 andwf main__command,w 1288 005b 3e5d addlw main__26 1289 005c 0082 movwf __pcl 1290 ; page_group 8 1291 005d : main__26: 1292 005d 2865 goto main__22 1293 005e 2865 goto main__22 1294 005f 286e goto main__23 1295 0060 2875 goto main__24 1296 0061 287a goto main__25 1297 0062 287a goto main__25 1298 0063 287a goto main__25 1299 0064 287a goto main__25 1300 ; line_number = 145 1301 ; case 0, 1 1302 0065 : main__22: 1303 ; # Set Ramp (Command = 1000 000m): 1304 ; line_number = 147 1305 ; temp := byte_get() 1306 0065 2334 call byte_get 1307 0066 00c8 movwf main__temp 1308 ; line_number = 148 1309 ; if command@0 start 1310 00000047 = main__select__16___byte equ main__command 1311 00000000 = main__select__16___bit equ 0 1312 ; line_number = 149 1313 ; ramp1 := temp 1314 0067 0848 movf main__temp,w 1315 ; line_number = 151 1316 ; ramp0 := temp 1317 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1318 ; CASE: true_size=1 && false_size=1 1319 ; SUBCASE: Double test; true, then false 1320 0068 1847 btfsc main__select__16___byte, main__select__16___bit 1321 0069 00ad movwf ramp1 1322 006a 1c47 btfss main__select__16___byte, main__select__16___bit 1323 006b 00ac movwf ramp0 1324 ; code.delay=4294967295 back_code.delay=4294967295 1325 ; <=bit_code_emit@symbol; sym=main__select__16 (data:X0=>X0 code:XX=>XX) 1326 ; line_number = 148 1327 ; if command@0 done 1328 ; line_number = 152 1329 ; call set_up() 1330 006c 2152 call set_up 1331 006d 2889 goto main__27 1332 ; line_number = 153 1333 ; case 2 1334 006e : main__23: 1335 ; # Set Failsafe (Command = 1000 0010): 1336 ; line_number = 155 1337 ; fail_safe := byte_get() 1338 006e 2334 call byte_get 1339 006f 00b2 movwf fail_safe 1340 ; line_number = 156 1341 ; fail_safe_high_counter := fail_safe 1342 0070 0832 movf fail_safe,w 1343 0071 00b4 movwf fail_safe_high_counter 1344 ; line_number = 157 1345 ; fail_safe_low_counter := 0 1346 0072 3000 movlw 0 1347 0073 00b5 movwf fail_safe_low_counter 1348 0074 2889 goto main__27 1349 ; line_number = 158 1350 ; case 3 1351 0075 : main__24: 1352 ; # Reset Failsafe (Command = 1000 0011): 1353 ; line_number = 160 1354 ; fail_safe_high_counter := fail_safe 1355 0075 0832 movf fail_safe,w 1356 0076 00b4 movwf fail_safe_high_counter 1357 ; line_number = 161 1358 ; fail_safe_low_counter := 0 1359 0077 3000 movlw 0 1360 0078 00b5 movwf fail_safe_low_counter 1361 0079 2889 goto main__27 1362 ; line_number = 162 1363 ; case 4, 5, 6, 7 1364 007a : main__25: 1365 ; # Set Speed (Command = 1000 01dm): 1366 ; line_number = 164 1367 ; temp := byte_get() 1368 007a 2334 call byte_get 1369 007b 00c8 movwf main__temp 1370 ; line_number = 165 1371 ; if command@0 start 1372 00000047 = main__select__19___byte equ main__command 1373 00000000 = main__select__19___bit equ 0 1374 ; # Motor 1: 1375 ; line_number = 167 1376 ; desired_speed1 := temp 1377 007c 0848 movf main__temp,w 1378 ; # Motor 0: 1379 ; line_number = 171 1380 ; desired_speed0 := temp 1381 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1382 ; CASE: true_code_size > 1 && false_code_size > 1 1383 ; true_code_size=4 false_code_size=4 1384 007d 1c47 btfss main__select__19___byte, main__select__19___bit 1385 007e 2884 goto main__20 1386 007f 00ab movwf desired_speed1 1387 ; line_number = 168 1388 ; desired_direction1 := command@1 1389 0080 11df bcf desired_direction1___byte, desired_direction1___bit 1390 00000047 = main__select__18___byte equ main__command 1391 00000001 = main__select__18___bit equ 1 1392 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1393 ; CASE: True.size=1 False.size=0 1394 0081 18c7 btfsc main__select__18___byte, main__select__18___bit 1395 0082 15df bsf desired_direction1___byte, desired_direction1___bit 1396 ; Recombine size1 = 0 || size2 = 0 1397 ; code.delay=4294967295 back_code.delay=4294967295 1398 ; <=bit_code_emit@symbol; sym=main__select__18 (data:X0=>X0 code:XX=>XX) 1399 0083 2888 goto main__21 1400 0084 : main__20: 1401 0084 00aa movwf desired_speed0 1402 ; line_number = 172 1403 ; desired_direction0 := command@1 1404 0085 115f bcf desired_direction0___byte, desired_direction0___bit 1405 00000047 = main__select__17___byte equ main__command 1406 00000001 = main__select__17___bit equ 1 1407 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1408 ; CASE: True.size=1 False.size=0 1409 0086 18c7 btfsc main__select__17___byte, main__select__17___bit 1410 0087 155f bsf desired_direction0___byte, desired_direction0___bit 1411 ; Recombine size1 = 0 || size2 = 0 1412 ; code.delay=4294967295 back_code.delay=4294967295 1413 ; <=bit_code_emit@symbol; sym=main__select__17 (data:X0=>X0 code:XX=>XX) 1414 0088 : main__21: 1415 ; code.delay=4294967295 back_code.delay=4294967295 1416 ; <=bit_code_emit@symbol; sym=main__select__19 (data:X0=>X0 code:XX=>XX) 1417 ; line_number = 165 1418 ; if command@0 done 1419 ; line_number = 173 1420 ; call set_up() 1421 0088 2152 call set_up 1422 0089 : main__27: 1423 ; switch end:(data:X0=>X0 code:XX=>XX) 1424 ; line_number = 144 1425 ; switch command & 7 done 1426 0089 2908 goto main__77 1427 ; line_number = 174 1428 ; case 1 1429 008a : main__69: 1430 ; # Command = 1000 1xxx: 1431 ; line_number = 176 1432 ; if command@2 start 1433 00000047 = main__select__38___byte equ main__command 1434 00000002 = main__select__38___bit equ 2 1435 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1436 ; CASE: true_code_size > 1 && false_code_size > 1 1437 ; true_code_size=9 false_code_size=9 1438 008a 1d47 btfss main__select__38___byte, main__select__38___bit 1439 008b 2896 goto main__39 1440 ; # Set direction (Command = 1000 11dm): 1441 ; line_number = 178 1442 ; if command@0 start 1443 00000047 = main__select__35___byte equ main__command 1444 00000000 = main__select__35___bit equ 0 1445 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1446 ; CASE: true_code_size > 1 && false_code_size > 1 1447 ; true_code_size=3 false_code_size=3 1448 008c 1c47 btfss main__select__35___byte, main__select__35___bit 1449 008d 2892 goto main__36 1450 ; # Motor 1: 1451 ; line_number = 180 1452 ; desired_direction1 := command@1 1453 008e 11df bcf desired_direction1___byte, desired_direction1___bit 1454 00000047 = main__select__34___byte equ main__command 1455 00000001 = main__select__34___bit equ 1 1456 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1457 ; CASE: True.size=1 False.size=0 1458 008f 18c7 btfsc main__select__34___byte, main__select__34___bit 1459 0090 15df bsf desired_direction1___byte, desired_direction1___bit 1460 ; Recombine size1 = 0 || size2 = 0 1461 ; code.delay=4294967295 back_code.delay=4294967295 1462 ; <=bit_code_emit@symbol; sym=main__select__34 (data:X0=>X0 code:XX=>XX) 1463 0091 2895 goto main__37 1464 0092 : main__36: 1465 ; # Motor 0: 1466 ; line_number = 183 1467 ; desired_direction0 := command@1 1468 0092 115f bcf desired_direction0___byte, desired_direction0___bit 1469 00000047 = main__select__33___byte equ main__command 1470 00000001 = main__select__33___bit equ 1 1471 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1472 ; CASE: True.size=1 False.size=0 1473 0093 18c7 btfsc main__select__33___byte, main__select__33___bit 1474 0094 155f bsf desired_direction0___byte, desired_direction0___bit 1475 ; Recombine size1 = 0 || size2 = 0 1476 ; code.delay=4294967295 back_code.delay=4294967295 1477 ; <=bit_code_emit@symbol; sym=main__select__33 (data:X0=>X0 code:XX=>XX) 1478 0095 : main__37: 1479 ; code.delay=4294967295 back_code.delay=4294967295 1480 ; <=bit_code_emit@symbol; sym=main__select__35 (data:X0=>X0 code:XX=>XX) 1481 ; line_number = 178 1482 ; if command@0 done 1483 0095 289f goto main__40 1484 0096 : main__39: 1485 ; # Set mode (Command = 1000 10xm): 1486 ; line_number = 186 1487 ; if command@0 start 1488 00000047 = main__select__30___byte equ main__command 1489 00000000 = main__select__30___bit equ 0 1490 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1491 ; CASE: true_code_size > 1 && false_code_size > 1 1492 ; true_code_size=3 false_code_size=3 1493 0096 1c47 btfss main__select__30___byte, main__select__30___bit 1494 0097 289c goto main__31 1495 ; # Motor 1: 1496 ; line_number = 188 1497 ; motor1_mode := command@1 1498 0098 13df bcf motor1_mode___byte, motor1_mode___bit 1499 00000047 = main__select__29___byte equ main__command 1500 00000001 = main__select__29___bit equ 1 1501 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1502 ; CASE: True.size=1 False.size=0 1503 0099 18c7 btfsc main__select__29___byte, main__select__29___bit 1504 009a 17df bsf motor1_mode___byte, motor1_mode___bit 1505 ; Recombine size1 = 0 || size2 = 0 1506 ; code.delay=4294967295 back_code.delay=4294967295 1507 ; <=bit_code_emit@symbol; sym=main__select__29 (data:X0=>X0 code:XX=>XX) 1508 009b 289f goto main__32 1509 009c : main__31: 1510 ; # Motor 0: 1511 ; line_number = 191 1512 ; motor0_mode := command@1 1513 009c 135f bcf motor0_mode___byte, motor0_mode___bit 1514 00000047 = main__select__28___byte equ main__command 1515 00000001 = main__select__28___bit equ 1 1516 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1517 ; CASE: True.size=1 False.size=0 1518 009d 18c7 btfsc main__select__28___byte, main__select__28___bit 1519 009e 175f bsf motor0_mode___byte, motor0_mode___bit 1520 ; Recombine size1 = 0 || size2 = 0 1521 ; code.delay=4294967295 back_code.delay=4294967295 1522 ; <=bit_code_emit@symbol; sym=main__select__28 (data:X0=>X0 code:XX=>XX) 1523 009f : main__32: 1524 ; code.delay=4294967295 back_code.delay=4294967295 1525 ; <=bit_code_emit@symbol; sym=main__select__30 (data:X0=>X0 code:XX=>XX) 1526 ; line_number = 186 1527 ; if command@0 done 1528 009f : main__40: 1529 ; code.delay=4294967295 back_code.delay=4294967295 1530 ; <=bit_code_emit@symbol; sym=main__select__38 (data:X0=>X0 code:XX=>XX) 1531 ; line_number = 176 1532 ; if command@2 done 1533 ; line_number = 192 1534 ; call set_up() 1535 009f 2152 call set_up 1536 00a0 2908 goto main__77 1537 ; line_number = 193 1538 ; case 2 1539 00a1 : main__70: 1540 ; # Set Prescaler (Command = 1001 0ppp): 1541 ; line_number = 195 1542 ; _option_reg := command & 7 1543 00a1 3007 movlw 7 1544 00a2 0547 andwf main__command,w 1545 00a3 1683 bsf __rp0___byte, __rp0___bit 1546 00a4 0080 movwf _option_reg 1547 ; line_number = 196 1548 ; _rapu := 1 1549 00a5 1780 bsf _rapu___byte, _rapu___bit 1550 00a6 2908 goto main__77 1551 ; line_number = 197 1552 ; case 3 1553 00a7 : main__71: 1554 ; # Command = 1001 1xxx: 1555 ; line_number = 199 1556 ; switch command & 7 start 1557 00a7 3000 movlw main__55>>8 1558 00a8 008a movwf __pclath 1559 00a9 3007 movlw 7 1560 00aa 0547 andwf main__command,w 1561 00ab 3ead addlw main__55 1562 00ac 0082 movwf __pcl 1563 ; page_group 8 1564 00ad : main__55: 1565 00ad 28b5 goto main__50 1566 00ae 28b8 goto main__51 1567 00af 28be goto main__52 1568 00b0 28be goto main__52 1569 00b1 28c4 goto main__53 1570 00b2 28c4 goto main__53 1571 00b3 28d4 goto main__54 1572 00b4 28d4 goto main__54 1573 ; line_number = 200 1574 ; case 0 1575 00b5 : main__50: 1576 ; # Read Failsafe (Command = 1001 1000): 1577 ; line_number = 202 1578 ; call byte_put(fail_safe) 1579 00b5 0832 movf fail_safe,w 1580 00b6 235d call byte_put 1581 00b7 28db goto main__56 1582 ; line_number = 203 1583 ; case 1 1584 00b8 : main__51: 1585 ; This case body wants this bit set 1586 00b8 1683 bsf __rp0___byte, __rp0___bit 1587 ; # Read Prescaler (Command = 1001 1001): 1588 ; line_number = 205 1589 ; call byte_put(_option_reg & 7) 1590 00b9 3007 movlw 7 1591 00ba 0500 andwf _option_reg,w 1592 00bb 1283 bcf __rp0___byte, __rp0___bit 1593 00bc 235d call byte_put 1594 00bd 28db goto main__56 1595 ; line_number = 206 1596 ; case 2, 3 1597 00be : main__52: 1598 ; # Read Speed (Command = 1001 101m): 1599 ; line_number = 208 1600 ; if command@0 start 1601 00000047 = main__select__41___byte equ main__command 1602 00000000 = main__select__41___bit equ 0 1603 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1604 ; CASE: true_size=1 && false_size=1 1605 ; SUBCASE: Double test; true, then false 1606 00be 1847 btfsc main__select__41___byte, main__select__41___bit 1607 ; line_number = 209 1608 ; call byte_put(actual_speed1) 1609 00bf 0825 movf actual_speed1,w 1610 00c0 1c47 btfss main__select__41___byte, main__select__41___bit 1611 ; line_number = 211 1612 ; call byte_put(actual_speed0) 1613 00c1 0824 movf actual_speed0,w 1614 ; code.delay=4294967295 back_code.delay=4294967295 1615 00c2 235d call byte_put 1616 ; <=bit_code_emit@symbol; sym=main__select__41 (data:X0=>X0 code:XX=>XX) 1617 ; line_number = 208 1618 ; if command@0 done 1619 00c3 28db goto main__56 1620 ; line_number = 212 1621 ; case 4, 5 1622 00c4 : main__53: 1623 ; # Read Mode/Direction (Command = 1001 110m): 1624 ; line_number = 214 1625 ; temp := 0 1626 00c4 3000 movlw 0 1627 00c5 00c8 movwf main__temp 1628 ; line_number = 215 1629 ; if command@0 start 1630 00000047 = main__select__46___byte equ main__command 1631 00000000 = main__select__46___bit equ 0 1632 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1633 ; CASE: true_code_size > 1 && false_code_size > 1 1634 ; true_code_size=4 false_code_size=4 1635 00c6 1c47 btfss main__select__46___byte, main__select__46___bit 1636 00c7 28cd goto main__47 1637 ; # Motor 1: 1638 ; line_number = 217 1639 ; if motor1_direction start 1640 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1641 ; CASE: True.size=1 False.size=0 1642 00c8 18de btfsc motor1_direction___byte, motor1_direction___bit 1643 ; line_number = 218 1644 ; temp@1 := 1 1645 00000048 = main__select__44___byte equ main__temp 1646 00000001 = main__select__44___bit equ 1 1647 00c9 14c8 bsf main__select__44___byte, main__select__44___bit 1648 ; Recombine size1 = 0 || size2 = 0 1649 ; code.delay=4294967295 back_code.delay=4294967295 1650 ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) 1651 ; line_number = 217 1652 ; if motor1_direction done 1653 ; line_number = 219 1654 ; if motor1_mode start 1655 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1656 ; CASE: True.size=1 False.size=0 1657 00ca 1bdf btfsc motor1_mode___byte, motor1_mode___bit 1658 ; line_number = 220 1659 ; temp@0 := 1 1660 00000048 = main__select__45___byte equ main__temp 1661 00000000 = main__select__45___bit equ 0 1662 00cb 1448 bsf main__select__45___byte, main__select__45___bit 1663 ; Recombine size1 = 0 || size2 = 0 1664 ; code.delay=4294967295 back_code.delay=4294967295 1665 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) 1666 ; line_number = 219 1667 ; if motor1_mode done 1668 00cc 28d1 goto main__48 1669 00cd : main__47: 1670 ; # Motor 0: 1671 ; line_number = 223 1672 ; if motor0_direction start 1673 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1674 ; CASE: True.size=1 False.size=0 1675 00cd 185e btfsc motor0_direction___byte, motor0_direction___bit 1676 ; line_number = 224 1677 ; temp@1 := 1 1678 00000048 = main__select__42___byte equ main__temp 1679 00000001 = main__select__42___bit equ 1 1680 00ce 14c8 bsf main__select__42___byte, main__select__42___bit 1681 ; Recombine size1 = 0 || size2 = 0 1682 ; code.delay=4294967295 back_code.delay=4294967295 1683 ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) 1684 ; line_number = 223 1685 ; if motor0_direction done 1686 ; line_number = 225 1687 ; if motor0_mode start 1688 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1689 ; CASE: True.size=1 False.size=0 1690 00cf 1b5f btfsc motor0_mode___byte, motor0_mode___bit 1691 ; line_number = 226 1692 ; temp@0 := 1 1693 00000048 = main__select__43___byte equ main__temp 1694 00000000 = main__select__43___bit equ 0 1695 00d0 1448 bsf main__select__43___byte, main__select__43___bit 1696 ; Recombine size1 = 0 || size2 = 0 1697 ; code.delay=4294967295 back_code.delay=4294967295 1698 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) 1699 ; line_number = 225 1700 ; if motor0_mode done 1701 00d1 : main__48: 1702 ; code.delay=4294967295 back_code.delay=4294967295 1703 ; <=bit_code_emit@symbol; sym=main__select__46 (data:X0=>X0 code:XX=>XX) 1704 ; line_number = 215 1705 ; if command@0 done 1706 ; line_number = 227 1707 ; call byte_put(temp) 1708 00d1 0848 movf main__temp,w 1709 00d2 235d call byte_put 1710 00d3 28db goto main__56 1711 ; line_number = 228 1712 ; case 6, 7 1713 00d4 : main__54: 1714 ; # Read Ramp (Command = 1001 101m): 1715 ; line_number = 230 1716 ; if command@0 start 1717 00000047 = main__select__49___byte equ main__command 1718 00000000 = main__select__49___bit equ 0 1719 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1720 ; CASE: true_size=1 && false_size=1 1721 ; SUBCASE: Double test; true, then false 1722 00d4 1847 btfsc main__select__49___byte, main__select__49___bit 1723 ; line_number = 231 1724 ; temp := ramp1 1725 00d5 082d movf ramp1,w 1726 00d6 1c47 btfss main__select__49___byte, main__select__49___bit 1727 ; line_number = 233 1728 ; temp := ramp0 1729 00d7 082c movf ramp0,w 1730 ; code.delay=4294967295 back_code.delay=4294967295 1731 00d8 00c8 movwf main__temp 1732 ; <=bit_code_emit@symbol; sym=main__select__49 (data:X0=>X0 code:XX=>XX) 1733 ; line_number = 230 1734 ; if command@0 done 1735 ; line_number = 234 1736 ; call byte_put(temp) 1737 00d9 0848 movf main__temp,w 1738 00da 235d call byte_put 1739 00db : main__56: 1740 ; switch end:(data:X0=>X0 code:XX=>XX) 1741 ; line_number = 199 1742 ; switch command & 7 done 1743 00db 2908 goto main__77 1744 ; line_number = 235 1745 ; case 4 1746 00dc : main__72: 1747 ; # Command = 0110 0xxx: 1748 ; line_number = 237 1749 ; switch command & 7 start 1750 00dc 3000 movlw main__65>>8 1751 00dd 008a movwf __pclath 1752 00de 3007 movlw 7 1753 00df 0547 andwf main__command,w 1754 00e0 3ee2 addlw main__65 1755 00e1 0082 movwf __pcl 1756 ; page_group 8 1757 00e2 : main__65: 1758 00e2 28ea goto main__57 1759 00e3 28ef goto main__58 1760 00e4 28f2 goto main__59 1761 00e5 28f5 goto main__60 1762 00e6 28f8 goto main__61 1763 00e7 28fa goto main__62 1764 00e8 28fc goto main__63 1765 00e9 28fe goto main__64 1766 ; line_number = 238 1767 ; case 0 1768 00ea : main__57: 1769 ; # Read Failsafe Errors (Command = 1010 0000): 1770 ; line_number = 240 1771 ; call byte_put(fail_safe_errors) 1772 00ea 0833 movf fail_safe_errors,w 1773 00eb 235d call byte_put 1774 ; line_number = 241 1775 ; fail_safe_errors := 0 1776 00ec 3000 movlw 0 1777 00ed 00b3 movwf fail_safe_errors 1778 00ee 28ff goto main__66 1779 ; line_number = 242 1780 ; case 1 1781 00ef : main__58: 1782 ; # Read Failsafe Counter (Command = 1010 0001): 1783 ; line_number = 244 1784 ; call byte_put(fail_safe_high_counter) 1785 00ef 0834 movf fail_safe_high_counter,w 1786 00f0 235d call byte_put 1787 00f1 28ff goto main__66 1788 ; line_number = 245 1789 ; case 2 1790 00f2 : main__59: 1791 ; # Read Actual Speed 0(Command = 1010 0010): 1792 ; line_number = 247 1793 ; call byte_put(actual_speed0) 1794 00f2 0824 movf actual_speed0,w 1795 00f3 235d call byte_put 1796 00f4 28ff goto main__66 1797 ; line_number = 248 1798 ; case 3 1799 00f5 : main__60: 1800 ; # Read Actual Speed 1 (Command = 1010 0011): 1801 ; line_number = 250 1802 ; call byte_put(actual_speed1) 1803 00f5 0825 movf actual_speed1,w 1804 00f6 235d call byte_put 1805 00f7 28ff goto main__66 1806 ; line_number = 251 1807 ; case 4 1808 00f8 : main__61: 1809 ; # Set Motor 0 off (Command = 1010 0100): 1810 ; line_number = 253 1811 ; motor0e := 0 1812 00f8 1107 bcf motor0e___byte, motor0e___bit 1813 00f9 28ff goto main__66 1814 ; line_number = 254 1815 ; case 5 1816 00fa : main__62: 1817 ; # Set Motor 0 on (Command = 1010 0101): 1818 ; line_number = 256 1819 ; motor0e := 1 1820 00fa 1507 bsf motor0e___byte, motor0e___bit 1821 00fb 28ff goto main__66 1822 ; line_number = 257 1823 ; case 6 1824 00fc : main__63: 1825 ; # Set Motor 1 off (Command = 1010 0110): 1826 ; line_number = 259 1827 ; motor1e := 0 1828 00fc 1187 bcf motor1e___byte, motor1e___bit 1829 00fd 28ff goto main__66 1830 ; line_number = 260 1831 ; case 7 1832 00fe : main__64: 1833 ; # Set Motor 1 on (Command = 1010 0111): 1834 ; line_number = 262 1835 ; motor1e := 1 1836 00fe 1587 bsf motor1e___byte, motor1e___bit 1837 00ff : main__66: 1838 ; switch end:(data:X0=>X0 code:XX=>XX) 1839 ; line_number = 237 1840 ; switch command & 7 done 1841 00ff 2908 goto main__77 1842 ; line_number = 263 1843 ; case 5 1844 0100 : main__73: 1845 ; line_number = 264 1846 ; if command & 3 = 0 start 1847 ; Left minus Right 1848 0100 3003 movlw 3 1849 0101 0547 andwf main__command,w 1850 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1851 ; CASE: true_code.size = 0 && false_code.size > 1 1852 ; bit_code_emit_helper1: body_code.size=3 true_test=true body_code.delay=0 (non-uniform delay) 1853 0102 1d03 btfss __z___byte, __z___bit 1854 0103 2907 goto main__67 1855 ; # FIXME: Code generator chokes on single call instruction 1856 ; # in the then clause. Add 'ramp0 := 0' to work around!!! 1857 ; line_number = 267 1858 ; ramp0 := 0 1859 0104 3000 movlw 0 1860 0105 00ac movwf ramp0 1861 ; line_number = 268 1862 ; call reset() 1863 0106 21d3 call reset 1864 ; Recombine size1 = 0 || size2 = 0 1865 0107 : main__67: 1866 ; code.delay=4294967295 back_code.delay=4294967295 1867 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 1868 ; line_number = 264 1869 ; if command & 3 = 0 done 1870 0107 2908 goto main__77 1871 ; line_number = 269 1872 ; case 6, 7 1873 0108 : main__74: 1874 ; line_number = 270 1875 ; do_nothing 1876 0108 : main__77: 1877 ; switch end:(data:X0=>X? code:XX=>XX) 1878 ; line_number = 141 1879 ; switch (command >> 3) & 7 done 1880 0108 2950 goto main__99 1881 ; line_number = 271 1882 ; case 3 1883 0109 : main__96: 1884 ; # Command = 11xx xxxx: 1885 ; line_number = 273 1886 ; switch (command >> 3) & 7 start 1887 0109 3001 movlw main__90>>8 1888 010a 008a movwf __pclath 1889 0000004b = main__91 equ shared___globals+43 1890 010b 0c47 rrf main__command,w 1891 010c 00cb movwf main__91 1892 010d 0ccb rrf main__91,f 1893 010e 0c4b rrf main__91,w 1894 010f 3907 andlw 7 1895 0110 3e12 addlw main__90 1896 0111 0082 movwf __pcl 1897 ; page_group 8 1898 0112 : main__90: 1899 0112 2950 goto main__92 1900 0113 2950 goto main__92 1901 0114 2950 goto main__92 1902 0115 2950 goto main__92 1903 0116 2950 goto main__92 1904 0117 2950 goto main__92 1905 0118 2950 goto main__92 1906 0119 291a goto main__89 1907 ; line_number = 274 1908 ; case 7 1909 011a : main__89: 1910 ; # Shared commands (Command = 1111 1ccc): 1911 ; line_number = 276 1912 ; switch command & 7 start 1913 011a 3001 movlw main__87>>8 1914 011b 008a movwf __pclath 1915 011c 3007 movlw 7 1916 011d 0547 andwf main__command,w 1917 011e 3e20 addlw main__87 1918 011f 0082 movwf __pcl 1919 ; page_group 8 1920 0120 : main__87: 1921 0120 2928 goto main__79 1922 0121 292c goto main__80 1923 0122 2930 goto main__81 1924 0123 2935 goto main__82 1925 0124 2938 goto main__83 1926 0125 2945 goto main__84 1927 0126 2948 goto main__85 1928 0127 294d goto main__86 1929 ; line_number = 277 1930 ; case 0 1931 0128 : main__79: 1932 ; This case body wants this bit set 1933 0128 1683 bsf __rp0___byte, __rp0___bit 1934 ; # Clock Decrement (Command = 1111 1000): 1935 ; line_number = 279 1936 ; _osccal := _osccal - _osccal_lsb 1937 0129 30fc movlw 252 1938 012a 0790 addwf _osccal,f 1939 012b 2950 goto main__88 1940 ; line_number = 280 1941 ; case 1 1942 012c : main__80: 1943 ; This case body wants this bit set 1944 012c 1683 bsf __rp0___byte, __rp0___bit 1945 ; # Clock Increment (Command = 1111 1001): 1946 ; line_number = 282 1947 ; _osccal := _osccal + _osccal_lsb 1948 012d 3004 movlw 4 1949 012e 0790 addwf _osccal,f 1950 012f 2950 goto main__88 1951 ; line_number = 283 1952 ; case 2 1953 0130 : main__81: 1954 ; This case body wants this bit set 1955 0130 1683 bsf __rp0___byte, __rp0___bit 1956 ; # Clock Read (Command = 1111 1010): 1957 ; line_number = 285 1958 ; call byte_put(_osccal) 1959 0131 0810 movf _osccal,w 1960 0132 1283 bcf __rp0___byte, __rp0___bit 1961 0133 235d call byte_put 1962 0134 2950 goto main__88 1963 ; line_number = 286 1964 ; case 3 1965 0135 : main__82: 1966 ; # Clock Pulse (Command = 1111 1011): 1967 ; line_number = 288 1968 ; call byte_put(0) 1969 0135 3000 movlw 0 1970 0136 235d call byte_put 1971 0137 2950 goto main__88 1972 ; line_number = 289 1973 ; case 4 1974 0138 : main__83: 1975 ; # ID Next (Command = 1111 1100): 1976 ; line_number = 291 1977 ; temp := 0 1978 0138 3000 movlw 0 1979 0139 00c8 movwf main__temp 1980 ; line_number = 292 1981 ; if id_index < id.size start 1982 013a 3034 movlw 52 1983 013b 0241 subwf id_index,w 1984 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1985 ; CASE: true.size=0 && false.size>1 1986 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 1987 013c 1803 btfsc __c___byte, __c___bit 1988 013d 2942 goto main__78 1989 ; line_number = 293 1990 ; temp := id[id_index] 1991 013e 0841 movf id_index,w 1992 013f 22ee call id 1993 0140 00c8 movwf main__temp 1994 ; line_number = 294 1995 ; id_index := id_index + 1 1996 0141 0ac1 incf id_index,f 1997 0142 : main__78: 1998 ; Recombine size1 = 0 || size2 = 0 1999 ; code.delay=4294967295 back_code.delay=4294967295 2000 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2001 ; line_number = 292 2002 ; if id_index < id.size done 2003 ; line_number = 295 2004 ; call byte_put(temp) 2005 0142 0848 movf main__temp,w 2006 0143 235d call byte_put 2007 0144 2950 goto main__88 2008 ; line_number = 296 2009 ; case 5 2010 0145 : main__84: 2011 ; # ID Reset (Command = 1111 1101): 2012 ; line_number = 298 2013 ; id_index := 0 2014 0145 3000 movlw 0 2015 0146 00c1 movwf id_index 2016 0147 2950 goto main__88 2017 ; line_number = 299 2018 ; case 6 2019 0148 : main__85: 2020 ; # Glitch Read (Command = 1111 1110): 2021 ; line_number = 301 2022 ; call byte_put(glitch) 2023 0148 0840 movf glitch,w 2024 0149 235d call byte_put 2025 ; line_number = 302 2026 ; glitch := 0 2027 014a 3000 movlw 0 2028 014b 00c0 movwf glitch 2029 014c 2950 goto main__88 2030 ; line_number = 303 2031 ; case 7 2032 014d : main__86: 2033 ; # Glitch (Command = 1111 1111): 2034 ; line_number = 305 2035 ; if glitch != 0xff start 2036 ; Left minus Right 2037 014d 0a40 incf glitch,w 2038 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2039 ; CASE: true_code.size=0 && false_code.size=1 2040 014e 1d03 btfss __z___byte, __z___bit 2041 ; line_number = 306 2042 ; glitch := glitch + 1 2043 014f 0ac0 incf glitch,f 2044 2045 2046 ; Recombine size1 = 0 || size2 = 0 2047 ; code.delay=4294967295 back_code.delay=4294967295 2048 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2049 ; line_number = 305 2050 ; if glitch != 0xff done 2051 0150 : main__88: 2052 ; switch end:(data:X0=>X? code:XX=>XX) 2053 ; line_number = 276 2054 ; switch command & 7 done 2055 0150 : main__92: 2056 ; switch end:(data:X0=>X? code:XX=>XX) 2057 ; line_number = 273 2058 ; switch (command >> 3) & 7 done 2059 0150 : main__99: 2060 ; switch end:(data:X0=>X? code:XX=>XX) 2061 ; line_number = 115 2062 ; switch command >> 6 done 2063 ; line_number = 110 2064 ; loop_forever wrap-up 2065 ; Need to adjust code banks to match front of loop 2066 0150 1283 bcf __rp0___byte, __rp0___bit 2067 0151 2807 goto main__1 2068 ; line_number = 110 2069 ; loop_forever done 2070 ; delay after procedure statements=non-uniform 2071 2072 2073 2074 2075 ; line_number = 309 2076 ; procedure set_up 2077 0152 : set_up: 2078 ; arguments_none 2079 ; line_number = 311 2080 ; returns_nothing 2081 2082 ; # This procedure will arrange for the speed and direction of 2083 ; # each motor to be set to desired_speed0/1 and desired_direction0/1. 2084 ; # If ramp0/1 is 0, the speed and direction is changed immediately. 2085 ; # If ramp0/1 is non-zero, the speed is changed gradually. 2086 2087 ; line_number = 318 2088 ; local temporary byte 2089 00000049 = set_up__temporary equ shared___globals+41 2090 2091 ; # Reset failsafe: 2092 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 2093 ; line_number = 321 2094 ; fail_safe_low_counter := 0 2095 0152 3000 movlw 0 2096 0153 00b5 movwf fail_safe_low_counter 2097 ; line_number = 322 2098 ; fail_safe_high_counter := fail_safe 2099 0154 0832 movf fail_safe,w 2100 0155 00b4 movwf fail_safe_high_counter 2101 2102 ; # Mode Dir On Off 2103 ; # ================== 2104 ; # 0 0 A 0 2105 ; # 0 1 B 0 2106 ; # 1 0 A B 2107 ; # 1 1 B A 2108 2109 ; # Motor 0: 2110 2111 ; # Figure out all the ramping stuff: 2112 ; line_number = 334 2113 ; if ramp0 = 0 start 2114 ; Left minus Right 2115 0156 082c movf ramp0,w 2116 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2117 ; CASE: true_code_size > 1 && false_code_size > 1 2118 ; true_code_size=8 false_code_size=24 2119 0157 1d03 btfss __z___byte, __z___bit 2120 0158 2962 goto set_up__6 2121 ; # No ramping: 2122 ; line_number = 336 2123 ; actual_speed0 := desired_speed0 2124 0159 082a movf desired_speed0,w 2125 015a 00a4 movwf actual_speed0 2126 ; line_number = 337 2127 ; motor0_direction := desired_direction0 2128 015b 105e bcf motor0_direction___byte, motor0_direction___bit 2129 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2130 ; CASE: True.size=1 False.size=0 2131 015c 195f btfsc desired_direction0___byte, desired_direction0___bit 2132 015d 145e bsf motor0_direction___byte, motor0_direction___bit 2133 ; Recombine size1 = 0 || size2 = 0 2134 ; code.delay=4294967295 back_code.delay=4294967295 2135 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:X0=>X0 code:XX=>XX) 2136 ; line_number = 338 2137 ; ramp0_delay := 0 2138 015e 3000 movlw 0 2139 015f 00ae movwf ramp0_delay 2140 ; line_number = 339 2141 ; ramp0_offset := 0 2142 0160 3000 movlw 0 2143 0161 297a goto set_up__7 2144 0162 : set_up__6: 2145 ; # We are ramping: 2146 2147 ; # Figure out if we are changing direction: 2148 ; line_number = 344 2149 ; temporary := 0 2150 0162 3000 movlw 0 2151 0163 00c9 movwf set_up__temporary 2152 ; line_number = 345 2153 ; if motor0_direction start 2154 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2155 ; CASE: True.size=1 False.size=0 2156 0164 185e btfsc motor0_direction___byte, motor0_direction___bit 2157 ; line_number = 346 2158 ; temporary@0 := 1 2159 00000049 = set_up__select__1___byte equ set_up__temporary 2160 00000000 = set_up__select__1___bit equ 0 2161 0165 1449 bsf set_up__select__1___byte, set_up__select__1___bit 2162 ; Recombine size1 = 0 || size2 = 0 2163 ; code.delay=4294967295 back_code.delay=4294967295 2164 ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) 2165 ; line_number = 345 2166 ; if motor0_direction done 2167 ; line_number = 347 2168 ; if desired_direction0 start 2169 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2170 ; CASE: true_code.size = 0 && false_code.size > 1 2171 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 2172 0166 1d5f btfss desired_direction0___byte, desired_direction0___bit 2173 0167 296a goto set_up__2 2174 ; line_number = 348 2175 ; temporary := temporary ^ 1 2176 0168 3001 movlw 1 2177 0169 06c9 xorwf set_up__temporary,f 2178 2179 ; Recombine size1 = 0 || size2 = 0 2180 016a : set_up__2: 2181 ; code.delay=4294967295 back_code.delay=4294967295 2182 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:X0=>X0 code:XX=>XX) 2183 ; line_number = 347 2184 ; if desired_direction0 done 2185 ; line_number = 350 2186 ; if temporary@0 start 2187 00000049 = set_up__select__3___byte equ set_up__temporary 2188 00000000 = set_up__select__3___bit equ 0 2189 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2190 ; CASE: true_code_size > 1 && false_code_size > 1 2191 ; true_code_size=7 false_code_size=5 2192 016a 1c49 btfss set_up__select__3___byte, set_up__select__3___bit 2193 016b 2974 goto set_up__4 2194 ; # We are changing direction: 2195 ; line_number = 352 2196 ; second_ramp0_offset := 1 2197 016c 3001 movlw 1 2198 016d 00b8 movwf second_ramp0_offset 2199 ; line_number = 353 2200 ; second_desired_speed0 := desired_speed0 2201 016e 082a movf desired_speed0,w 2202 016f 00b6 movwf second_desired_speed0 2203 ; line_number = 354 2204 ; second_motor0_command := 1 2205 0170 165f bsf second_motor0_command___byte, second_motor0_command___bit 2206 ; line_number = 355 2207 ; desired_speed0 := 0 2208 0171 3000 movlw 0 2209 0172 00aa movwf desired_speed0 2210 ; line_number = 356 2211 ; ramp0_offset := 0xff 2212 0173 2979 goto set_up__5 2213 0174 : set_up__4: 2214 ; # Direction remains unchanged 2215 ; line_number = 359 2216 ; if desired_speed0 < actual_speed0 start 2217 0174 0824 movf actual_speed0,w 2218 0175 022a subwf desired_speed0,w 2219 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2220 ; CASE: true_size=1 && false_size=1 2221 ; SUBCASE: Double test; true, then false 2222 0176 1803 btfsc __c___byte, __c___bit 2223 ; line_number = 362 2224 ; ramp0_offset := 1 2225 0177 3001 movlw 1 2226 0178 1c03 btfss __c___byte, __c___bit 2227 ; line_number = 360 2228 ; ramp0_offset := 0xff 2229 0179 : set_up__5: 2230 ; code.delay=4294967295 back_code.delay=4294967295 2231 0179 30ff movlw 255 2232 017a : set_up__7: 2233 ; code.delay=4294967295 back_code.delay=4294967295 2234 017a 00b0 movwf ramp0_offset 2235 ; code.delay=4294967295 back_code.delay=4294967295 2236 2237 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2238 ; line_number = 359 2239 ; if desired_speed0 < actual_speed0 done 2240 ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:X0=>X0 code:XX=>XX) 2241 ; line_number = 350 2242 ; if temporary@0 done 2243 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2244 ; line_number = 334 2245 ; if ramp0 = 0 done 2246 ; # Figure out all the direction stuff: 2247 ; line_number = 365 2248 ; motor0_off := 0 2249 017b 3000 movlw 0 2250 017c 00a6 movwf motor0_off 2251 ; line_number = 366 2252 ; second_motor0_off := 0 2253 017d 3000 movlw 0 2254 017e 00bc movwf second_motor0_off 2255 ; line_number = 367 2256 ; if motor0_direction start 2257 ; # Direction = 1 (Backward): 2258 ; line_number = 369 2259 ; if motor0_mode start 2260 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2261 ; CASE: true_code.size = 0 && false_code.size > 1 2262 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 2263 017f 1f5f btfss motor0_mode___byte, motor0_mode___bit 2264 ; # Direction = 0 (Forward): 2265 ; line_number = 377 2266 ; if motor0_mode start 2267 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2268 ; CASE: true_code.size = 0 && false_code.size > 1 2269 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 2270 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2271 ; CASE: true_code_size > 1 && false_code_size > 1 2272 ; true_code_size=8 false_code_size=8 2273 0180 1c5e btfss motor0_direction___byte, motor0_direction___bit 2274 0181 298b goto set_up__10 2275 0182 2987 goto set_up__9 2276 ; # Mode = 1 (Continuous): 2277 ; line_number = 371 2278 ; motor0_off := motor0a_mask 2279 0183 3001 movlw 1 2280 0184 00a6 movwf motor0_off 2281 ; line_number = 372 2282 ; second_motor0_off := motor0b_mask 2283 0185 3002 movlw 2 2284 0186 00bc movwf second_motor0_off 2285 ; Recombine size1 = 0 || size2 = 0 2286 0187 : set_up__9: 2287 ; code.delay=4294967295 back_code.delay=4294967295 2288 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) 2289 ; line_number = 369 2290 ; if motor0_mode done 2291 ; line_number = 373 2292 ; motor0_on := motor0b_mask 2293 0187 3002 movlw 2 2294 0188 00a7 movwf motor0_on 2295 ; line_number = 374 2296 ; second_motor0_on := motor0a_mask 2297 0189 3001 movlw 1 2298 018a 2993 goto set_up__11 2299 018b : set_up__10: 2300 018b 2990 goto set_up__8 2301 ; # Mode = 1 (Continuous): 2302 ; line_number = 379 2303 ; motor0_off := motor0b_mask 2304 018c 3002 movlw 2 2305 018d 00a6 movwf motor0_off 2306 ; line_number = 380 2307 ; second_motor0_off := motor0a_mask 2308 018e 3001 movlw 1 2309 018f 00bc movwf second_motor0_off 2310 ; Recombine size1 = 0 || size2 = 0 2311 0190 : set_up__8: 2312 ; code.delay=4294967295 back_code.delay=4294967295 2313 ; <=bit_code_emit@symbol; sym=motor0_mode (data:X0=>X0 code:XX=>XX) 2314 ; line_number = 377 2315 ; if motor0_mode done 2316 ; line_number = 381 2317 ; motor0_on := motor0a_mask 2318 0190 3001 movlw 1 2319 0191 00a7 movwf motor0_on 2320 ; line_number = 382 2321 ; second_motor0_on := motor0b_mask 2322 0192 3002 movlw 2 2323 0193 : set_up__11: 2324 ; code.delay=4294967295 back_code.delay=4294967295 2325 0193 00ba movwf second_motor0_on 2326 2327 ; <=bit_code_emit@symbol; sym=motor0_direction (data:X0=>X0 code:XX=>XX) 2328 ; line_number = 367 2329 ; if motor0_direction done 2330 ; # Motor 1: 2331 ; line_number = 385 2332 ; if ramp1 = 0 start 2333 ; Left minus Right 2334 0194 082d movf ramp1,w 2335 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2336 ; CASE: true_code_size > 1 && false_code_size > 1 2337 ; true_code_size=8 false_code_size=24 2338 0195 1d03 btfss __z___byte, __z___bit 2339 0196 29a0 goto set_up__17 2340 ; # No ramping: 2341 ; line_number = 387 2342 ; actual_speed1 := desired_speed1 2343 0197 082b movf desired_speed1,w 2344 0198 00a5 movwf actual_speed1 2345 ; line_number = 388 2346 ; motor1_direction := desired_direction1 2347 0199 10de bcf motor1_direction___byte, motor1_direction___bit 2348 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2349 ; CASE: True.size=1 False.size=0 2350 019a 19df btfsc desired_direction1___byte, desired_direction1___bit 2351 019b 14de bsf motor1_direction___byte, motor1_direction___bit 2352 ; Recombine size1 = 0 || size2 = 0 2353 ; code.delay=4294967295 back_code.delay=4294967295 2354 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:X0=>X0 code:XX=>XX) 2355 ; line_number = 389 2356 ; ramp1_delay := 0 2357 019c 3000 movlw 0 2358 019d 00af movwf ramp1_delay 2359 ; line_number = 390 2360 ; ramp1_offset := 0 2361 019e 3000 movlw 0 2362 019f 29b8 goto set_up__18 2363 01a0 : set_up__17: 2364 ; # We are ramping: 2365 2366 ; # Figure out if we are changing direction: 2367 ; line_number = 395 2368 ; temporary := 0 2369 01a0 3000 movlw 0 2370 01a1 00c9 movwf set_up__temporary 2371 ; line_number = 396 2372 ; if motor1_direction start 2373 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2374 ; CASE: True.size=1 False.size=0 2375 01a2 18de btfsc motor1_direction___byte, motor1_direction___bit 2376 ; line_number = 397 2377 ; temporary@0 := 1 2378 00000049 = set_up__select__12___byte equ set_up__temporary 2379 00000000 = set_up__select__12___bit equ 0 2380 01a3 1449 bsf set_up__select__12___byte, set_up__select__12___bit 2381 ; Recombine size1 = 0 || size2 = 0 2382 ; code.delay=4294967295 back_code.delay=4294967295 2383 ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) 2384 ; line_number = 396 2385 ; if motor1_direction done 2386 ; line_number = 398 2387 ; if desired_direction1 start 2388 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2389 ; CASE: true_code.size = 0 && false_code.size > 1 2390 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 2391 01a4 1ddf btfss desired_direction1___byte, desired_direction1___bit 2392 01a5 29a8 goto set_up__13 2393 ; line_number = 399 2394 ; temporary := temporary ^ 1 2395 01a6 3001 movlw 1 2396 01a7 06c9 xorwf set_up__temporary,f 2397 2398 ; Recombine size1 = 0 || size2 = 0 2399 01a8 : set_up__13: 2400 ; code.delay=4294967295 back_code.delay=4294967295 2401 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:X0=>X0 code:XX=>XX) 2402 ; line_number = 398 2403 ; if desired_direction1 done 2404 ; line_number = 401 2405 ; if temporary@0 start 2406 00000049 = set_up__select__14___byte equ set_up__temporary 2407 00000000 = set_up__select__14___bit equ 0 2408 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2409 ; CASE: true_code_size > 1 && false_code_size > 1 2410 ; true_code_size=7 false_code_size=5 2411 01a8 1c49 btfss set_up__select__14___byte, set_up__select__14___bit 2412 01a9 29b2 goto set_up__15 2413 ; # We are changing direction: 2414 ; line_number = 403 2415 ; second_ramp1_offset := 1 2416 01aa 3001 movlw 1 2417 01ab 00b9 movwf second_ramp1_offset 2418 ; line_number = 404 2419 ; second_desired_speed1 := desired_speed1 2420 01ac 082b movf desired_speed1,w 2421 01ad 00b7 movwf second_desired_speed1 2422 ; line_number = 405 2423 ; second_motor1_command := 1 2424 01ae 16df bsf second_motor1_command___byte, second_motor1_command___bit 2425 ; line_number = 406 2426 ; desired_speed1 := 0 2427 01af 3000 movlw 0 2428 01b0 00ab movwf desired_speed1 2429 ; line_number = 407 2430 ; ramp1_offset := 0xff 2431 01b1 29b7 goto set_up__16 2432 01b2 : set_up__15: 2433 ; # We are not changing direction: 2434 ; line_number = 410 2435 ; if desired_speed1 < actual_speed1 start 2436 01b2 0825 movf actual_speed1,w 2437 01b3 022b subwf desired_speed1,w 2438 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2439 ; CASE: true_size=1 && false_size=1 2440 ; SUBCASE: Double test; true, then false 2441 01b4 1803 btfsc __c___byte, __c___bit 2442 ; line_number = 413 2443 ; ramp1_offset := 1 2444 01b5 3001 movlw 1 2445 01b6 1c03 btfss __c___byte, __c___bit 2446 ; line_number = 411 2447 ; ramp1_offset := 0xff 2448 01b7 : set_up__16: 2449 ; code.delay=4294967295 back_code.delay=4294967295 2450 01b7 30ff movlw 255 2451 01b8 : set_up__18: 2452 ; code.delay=4294967295 back_code.delay=4294967295 2453 01b8 00b1 movwf ramp1_offset 2454 ; code.delay=4294967295 back_code.delay=4294967295 2455 2456 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2457 ; line_number = 410 2458 ; if desired_speed1 < actual_speed1 done 2459 ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:X0=>X0 code:XX=>XX) 2460 ; line_number = 401 2461 ; if temporary@0 done 2462 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2463 ; line_number = 385 2464 ; if ramp1 = 0 done 2465 ; line_number = 415 2466 ; motor1_off := 0 2467 01b9 3000 movlw 0 2468 01ba 00a8 movwf motor1_off 2469 ; line_number = 416 2470 ; second_motor1_off := 0 2471 01bb 3000 movlw 0 2472 01bc 00bd movwf second_motor1_off 2473 ; line_number = 417 2474 ; if motor1_direction start 2475 ; # Direction = 1 (Backward): 2476 ; line_number = 419 2477 ; if motor1_mode start 2478 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2479 ; CASE: true_code.size = 0 && false_code.size > 1 2480 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 2481 01bd 1fdf btfss motor1_mode___byte, motor1_mode___bit 2482 ; # Direction = 0 (Forward): 2483 ; line_number = 427 2484 ; if motor1_mode start 2485 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2486 ; CASE: true_code.size = 0 && false_code.size > 1 2487 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 2488 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2489 ; CASE: true_code_size > 1 && false_code_size > 1 2490 ; true_code_size=8 false_code_size=8 2491 01be 1cde btfss motor1_direction___byte, motor1_direction___bit 2492 01bf 29c9 goto set_up__21 2493 01c0 29c5 goto set_up__20 2494 ; # Mode = 1 (Continuous): 2495 ; line_number = 421 2496 ; motor1_off := motor1a_mask 2497 01c1 3010 movlw 16 2498 01c2 00a8 movwf motor1_off 2499 ; line_number = 422 2500 ; second_motor1_off := motor1b_mask 2501 01c3 3004 movlw 4 2502 01c4 00bd movwf second_motor1_off 2503 ; Recombine size1 = 0 || size2 = 0 2504 01c5 : set_up__20: 2505 ; code.delay=4294967295 back_code.delay=4294967295 2506 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) 2507 ; line_number = 419 2508 ; if motor1_mode done 2509 ; line_number = 423 2510 ; motor1_on := motor1b_mask 2511 01c5 3004 movlw 4 2512 01c6 00a9 movwf motor1_on 2513 ; line_number = 424 2514 ; second_motor1_on := motor1a_mask 2515 01c7 3010 movlw 16 2516 01c8 29d1 goto set_up__22 2517 01c9 : set_up__21: 2518 01c9 29ce goto set_up__19 2519 ; # Mode = 1 (Continuous): 2520 ; line_number = 429 2521 ; motor1_off := motor1b_mask 2522 01ca 3004 movlw 4 2523 01cb 00a8 movwf motor1_off 2524 ; line_number = 430 2525 ; second_motor1_off := motor1a_mask 2526 01cc 3010 movlw 16 2527 01cd 00bd movwf second_motor1_off 2528 ; Recombine size1 = 0 || size2 = 0 2529 01ce : set_up__19: 2530 ; code.delay=4294967295 back_code.delay=4294967295 2531 ; <=bit_code_emit@symbol; sym=motor1_mode (data:X0=>X0 code:XX=>XX) 2532 ; line_number = 427 2533 ; if motor1_mode done 2534 ; line_number = 431 2535 ; motor1_on := motor1a_mask 2536 01ce 3010 movlw 16 2537 01cf 00a9 movwf motor1_on 2538 ; line_number = 432 2539 ; second_motor1_on := motor1b_mask 2540 01d0 3004 movlw 4 2541 01d1 : set_up__22: 2542 ; code.delay=4294967295 back_code.delay=4294967295 2543 01d1 00bb movwf second_motor1_on 2544 2545 2546 ; <=bit_code_emit@symbol; sym=motor1_direction (data:X0=>X0 code:XX=>XX) 2547 ; line_number = 417 2548 ; if motor1_direction done 2549 ; delay after procedure statements=non-uniform 2550 ; Implied return 2551 01d2 3400 retlw 0 2552 2553 2554 2555 2556 ; line_number = 435 2557 ; procedure reset 2558 01d3 : reset: 2559 ; arguments_none 2560 ; line_number = 437 2561 ; returns_nothing 2562 2563 ; # Initialize everything else: 2564 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 2565 ; line_number = 440 2566 ; motor0e := 1 2567 01d3 1507 bsf motor0e___byte, motor0e___bit 2568 ; line_number = 441 2569 ; motor1e := 1 2570 01d4 1587 bsf motor1e___byte, motor1e___bit 2571 ; line_number = 442 2572 ; _intcon := 0 2573 01d5 3000 movlw 0 2574 01d6 008b movwf _intcon 2575 ; line_number = 443 2576 ; _option_reg := 0 2577 01d7 3000 movlw 0 2578 01d8 1683 bsf __rp0___byte, __rp0___bit 2579 01d9 0080 movwf _option_reg 2580 ; line_number = 444 2581 ; _wpua := 0 2582 01da 3000 movlw 0 2583 01db 0095 movwf _wpua 2584 ; line_number = 445 2585 ; actual_speed0 := 0 2586 01dc 3000 movlw 0 2587 01dd 1283 bcf __rp0___byte, __rp0___bit 2588 01de 00a4 movwf actual_speed0 2589 ; line_number = 446 2590 ; actual_speed1 := 0 2591 01df 3000 movlw 0 2592 01e0 00a5 movwf actual_speed1 2593 ; line_number = 447 2594 ; motor0_off := 0 2595 01e1 3000 movlw 0 2596 01e2 00a6 movwf motor0_off 2597 ; line_number = 448 2598 ; motor0_on := 0 2599 01e3 3000 movlw 0 2600 01e4 00a7 movwf motor0_on 2601 ; line_number = 449 2602 ; motor1_off := 0 2603 01e5 3000 movlw 0 2604 01e6 00a8 movwf motor1_off 2605 ; line_number = 450 2606 ; motor1_on := 0 2607 01e7 3000 movlw 0 2608 01e8 00a9 movwf motor1_on 2609 ; line_number = 451 2610 ; desired_direction0 := 0 2611 01e9 115f bcf desired_direction0___byte, desired_direction0___bit 2612 ; line_number = 452 2613 ; desired_direction1 := 0 2614 01ea 11df bcf desired_direction1___byte, desired_direction1___bit 2615 ; line_number = 453 2616 ; desired_speed0 := 0 2617 01eb 3000 movlw 0 2618 01ec 00aa movwf desired_speed0 2619 ; line_number = 454 2620 ; desired_speed1 := 0 2621 01ed 3000 movlw 0 2622 01ee 00ab movwf desired_speed1 2623 ; line_number = 455 2624 ; ramp0 := 0 2625 01ef 3000 movlw 0 2626 01f0 00ac movwf ramp0 2627 ; line_number = 456 2628 ; ramp1 := 0 2629 01f1 3000 movlw 0 2630 01f2 00ad movwf ramp1 2631 ; line_number = 457 2632 ; ramp0_delay := 0 2633 01f3 3000 movlw 0 2634 01f4 00ae movwf ramp0_delay 2635 ; line_number = 458 2636 ; ramp1_delay := 0 2637 01f5 3000 movlw 0 2638 01f6 00af movwf ramp1_delay 2639 ; line_number = 459 2640 ; ramp0_offset := 0 2641 01f7 3000 movlw 0 2642 01f8 00b0 movwf ramp0_offset 2643 ; line_number = 460 2644 ; ramp1_offset := 0 2645 01f9 3000 movlw 0 2646 01fa 00b1 movwf ramp1_offset 2647 ; line_number = 461 2648 ; motor0_direction := 0 2649 01fb 105e bcf motor0_direction___byte, motor0_direction___bit 2650 ; line_number = 462 2651 ; motor1_direction := 0 2652 01fc 10de bcf motor1_direction___byte, motor1_direction___bit 2653 ; line_number = 463 2654 ; motor0_mode := 0 2655 01fd 135f bcf motor0_mode___byte, motor0_mode___bit 2656 ; line_number = 464 2657 ; motor1_mode := 0 2658 01fe 13df bcf motor1_mode___byte, motor1_mode___bit 2659 ; line_number = 465 2660 ; second_motor0_command := 0 2661 01ff 125f bcf second_motor0_command___byte, second_motor0_command___bit 2662 ; line_number = 466 2663 ; second_motor1_command := 0 2664 0200 12df bcf second_motor1_command___byte, second_motor1_command___bit 2665 ; line_number = 467 2666 ; fail_safe := 0 2667 0201 3000 movlw 0 2668 0202 00b2 movwf fail_safe 2669 ; line_number = 468 2670 ; fail_safe_errors := 0 2671 0203 3000 movlw 0 2672 0204 00b3 movwf fail_safe_errors 2673 ; line_number = 469 2674 ; fail_safe_high_counter := 0 2675 0205 3000 movlw 0 2676 0206 00b4 movwf fail_safe_high_counter 2677 ; line_number = 470 2678 ; fail_safe_low_counter := 0 2679 0207 3000 movlw 0 2680 0208 00b5 movwf fail_safe_low_counter 2681 ; line_number = 471 2682 ; glitch := 0 2683 0209 3000 movlw 0 2684 020a 00c0 movwf glitch 2685 ; line_number = 472 2686 ; id_index := 0 2687 020b 3000 movlw 0 2688 020c 00c1 movwf id_index 2689 2690 2691 ; delay after procedure statements=non-uniform 2692 ; Implied return 2693 020d 3400 retlw 0 2694 2695 2696 2697 2698 ; line_number = 475 2699 ; procedure delay 2700 020e : delay: 2701 ; arguments_none 2702 ; line_number = 477 2703 ; returns_nothing 2704 ; line_number = 478 2705 ; exact_delay delay_instructions 2706 2707 ; # Delay for 1/3 of a bit time. 2708 2709 ; # Kick the dog: 2710 ; before procedure statements delay=0, bit states=(data:X0=>X0 code:XX=>XX) 2711 ; line_number = 483 2712 ; watch_dog_reset done 2713 ; Delay at watch_dog_reset is 0 2714 020e 0064 clrwdt 2715 2716 ; # This is the first probe of TMR0: 2717 ; line_number = 486 2718 ; if _tmr0 < actual_speed0 start 2719 ; Delay at if is 1 2720 020f 0824 movf actual_speed0,w 2721 0210 0201 subwf _tmr0,w 2722 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2723 ; CASE: true_code_size > 1 && false_code_size > 1 2724 ; true_code_size=2 false_code_size=2 2725 0211 1c03 btfss __c___byte, __c___bit 2726 0212 2a16 goto delay__1 2727 ; line_number = 489 2728 ; motor0 := motor0_off 2729 ; Delay at assignment is 0 2730 0213 0826 movf motor0_off,w 2731 0214 00be movwf motor0 2732 0215 2a19 goto delay__2 2733 0216 : delay__1: 2734 ; line_number = 487 2735 ; motor0 := motor0_on 2736 ; Delay at assignment is 0 2737 0216 0827 movf motor0_on,w 2738 0217 00be movwf motor0 2739 0218 0000 nop 2740 0219 : delay__2: 2741 ; code.delay=9 back_code.delay=0 2742 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2743 ; Uniform delay broke in relation_code_emit 2744 ; if final true delay=2 false delay=2 code delay=9 2745 ; line_number = 486 2746 ; if _tmr0 < actual_speed0 done 2747 ; line_number = 490 2748 ; if _tmr0 < actual_speed1 start 2749 ; Delay at if is 9 2750 0219 0825 movf actual_speed1,w 2751 021a 0201 subwf _tmr0,w 2752 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2753 ; CASE: true_code_size > 1 && false_code_size > 1 2754 ; true_code_size=2 false_code_size=2 2755 021b 1c03 btfss __c___byte, __c___bit 2756 021c 2a20 goto delay__3 2757 ; line_number = 493 2758 ; motor1 := motor1_off 2759 ; Delay at assignment is 0 2760 021d 0828 movf motor1_off,w 2761 021e 00bf movwf motor1 2762 021f 2a23 goto delay__4 2763 0220 : delay__3: 2764 ; line_number = 491 2765 ; motor1 := motor1_on 2766 ; Delay at assignment is 0 2767 0220 0829 movf motor1_on,w 2768 0221 00bf movwf motor1 2769 0222 0000 nop 2770 0223 : delay__4: 2771 ; code.delay=17 back_code.delay=0 2772 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2773 ; Uniform delay broke in relation_code_emit 2774 ; if final true delay=2 false delay=2 code delay=17 2775 ; line_number = 490 2776 ; if _tmr0 < actual_speed1 done 2777 ; line_number = 494 2778 ; _porta := motor0 | motor1 2779 ; Delay at assignment is 17 2780 0223 083e movf motor0,w 2781 0224 043f iorwf motor1,w 2782 0225 0085 movwf _porta 2783 2784 ; # First check out {fail_safe_counter}: 2785 ; line_number = 497 2786 ; fail_safe_low_counter := fail_safe_low_counter - 1 2787 ; Delay at assignment is 20 2788 0226 03b5 decf fail_safe_low_counter,f 2789 ; line_number = 498 2790 ; if _z start 2791 ; Delay at if is 21 2792 ; (after recombine) true_delay=25, false_delay=0 uniform_delay=true 2793 ; CASE: true_code.size = 0 && false_code.size > 1 2794 ; bit_code_emit_helper1: body_code.size=33 true_test=true body_code.delay=25 (uniform delay) 2795 0227 1903 btfsc _z___byte, _z___bit 2796 0228 2a2e goto delay__11 2797 ; Delay 24 cycles 2798 ; Delay loop takes 6 * 4 = 24 cycles 2799 0229 3006 movlw 6 2800 022a : delay__13: 2801 022a 3eff addlw 255 2802 022b 1d03 btfss __z___byte, __z___bit 2803 022c 2a2a goto delay__13 2804 022d 2a4f goto delay__12 2805 022e : delay__11: 2806 ; line_number = 499 2807 ; fail_safe_high_counter := fail_safe_high_counter - 1 2808 ; Delay at assignment is 0 2809 022e 03b4 decf fail_safe_high_counter,f 2810 ; line_number = 500 2811 ; if _z start 2812 ; Delay at if is 1 2813 ; (after recombine) true_delay=21, false_delay=0 uniform_delay=true 2814 ; CASE: true_code.size = 0 && false_code.size > 1 2815 ; bit_code_emit_helper1: body_code.size=25 true_test=true body_code.delay=21 (uniform delay) 2816 022f 1903 btfsc _z___byte, _z___bit 2817 0230 2a36 goto delay__8 2818 ; Delay 20 cycles 2819 ; Delay loop takes 5 * 4 = 20 cycles 2820 0231 3005 movlw 5 2821 0232 : delay__10: 2822 0232 3eff addlw 255 2823 0233 1d03 btfss __z___byte, __z___bit 2824 0234 2a32 goto delay__10 2825 0235 2a4f goto delay__9 2826 0236 : delay__8: 2827 ; line_number = 501 2828 ; if fail_safe != 0 start 2829 ; Delay at if is 0 2830 ; Left minus Right 2831 0236 0832 movf fail_safe,w 2832 ; (after recombine) true_delay=0, false_delay=17 uniform_delay=true 2833 ; CASE: true.size=0 && false.size>1 2834 ; bit_code_emit_helper1: body_code.size=17 true_test=false body_code.delay=17 (uniform delay) 2835 0237 1d03 btfss __z___byte, __z___bit 2836 0238 2a3e goto delay__5 2837 ; Delay 16 cycles 2838 ; Delay loop takes 4 * 4 = 16 cycles 2839 0239 3004 movlw 4 2840 023a : delay__7: 2841 023a 3eff addlw 255 2842 023b 1d03 btfss __z___byte, __z___bit 2843 023c 2a3a goto delay__7 2844 023d 2a4f goto delay__6 2845 023e : delay__5: 2846 ; # Turn the motors off: 2847 ; line_number = 503 2848 ; motor0_on := 0 2849 ; Delay at assignment is 0 2850 023e 3000 movlw 0 2851 023f 00a7 movwf motor0_on 2852 ; line_number = 504 2853 ; motor0_off := 0 2854 ; Delay at assignment is 2 2855 0240 3000 movlw 0 2856 0241 00a6 movwf motor0_off 2857 ; line_number = 505 2858 ; motor1_on := 0 2859 ; Delay at assignment is 4 2860 0242 3000 movlw 0 2861 0243 00a9 movwf motor1_on 2862 ; line_number = 506 2863 ; motor1_off := 0 2864 ; Delay at assignment is 6 2865 0244 3000 movlw 0 2866 0245 00a8 movwf motor1_off 2867 ; line_number = 507 2868 ; desired_speed0 := 0 2869 ; Delay at assignment is 8 2870 0246 3000 movlw 0 2871 0247 00aa movwf desired_speed0 2872 ; line_number = 508 2873 ; desired_speed1 := 0 2874 ; Delay at assignment is 10 2875 0248 3000 movlw 0 2876 0249 00ab movwf desired_speed1 2877 ; line_number = 509 2878 ; actual_speed0 := 0 2879 ; Delay at assignment is 12 2880 024a 3000 movlw 0 2881 024b 00a4 movwf actual_speed0 2882 ; line_number = 510 2883 ; actual_speed1 := 0 2884 ; Delay at assignment is 14 2885 024c 3000 movlw 0 2886 024d 00a5 movwf actual_speed1 2887 ; line_number = 511 2888 ; fail_safe_errors := fail_safe_errors + 1 2889 ; Delay at assignment is 16 2890 024e 0ab3 incf fail_safe_errors,f 2891 2892 024f : delay__6: 2893 ; code.delay=21 back_code.delay=0 2894 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2895 ; Uniform delay broke in relation_code_emit 2896 ; if final true delay=17 false delay=0 code delay=21 2897 ; line_number = 501 2898 ; if fail_safe != 0 done 2899 024f : delay__9: 2900 ; code.delay=25 back_code.delay=0 2901 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) 2902 ; if final true delay=21 false delay=0 code delay=25 2903 ; line_number = 500 2904 ; if _z done 2905 024f : delay__12: 2906 ; code.delay=49 back_code.delay=0 2907 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) 2908 ; if final true delay=25 false delay=0 code delay=49 2909 ; line_number = 498 2910 ; if _z done 2911 ; # This is the second probe of TMR0: 2912 ; line_number = 514 2913 ; if _tmr0 < actual_speed0 start 2914 ; Delay at if is 49 2915 024f 0824 movf actual_speed0,w 2916 0250 0201 subwf _tmr0,w 2917 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2918 ; CASE: true_code_size > 1 && false_code_size > 1 2919 ; true_code_size=2 false_code_size=2 2920 0251 1c03 btfss __c___byte, __c___bit 2921 0252 2a56 goto delay__14 2922 ; line_number = 517 2923 ; motor0 := motor0_off 2924 ; Delay at assignment is 0 2925 0253 0826 movf motor0_off,w 2926 0254 00be movwf motor0 2927 0255 2a59 goto delay__15 2928 0256 : delay__14: 2929 ; line_number = 515 2930 ; motor0 := motor0_on 2931 ; Delay at assignment is 0 2932 0256 0827 movf motor0_on,w 2933 0257 00be movwf motor0 2934 0258 0000 nop 2935 0259 : delay__15: 2936 ; code.delay=57 back_code.delay=0 2937 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2938 ; Uniform delay broke in relation_code_emit 2939 ; if final true delay=2 false delay=2 code delay=57 2940 ; line_number = 514 2941 ; if _tmr0 < actual_speed0 done 2942 ; line_number = 518 2943 ; if _tmr0 < actual_speed1 start 2944 ; Delay at if is 57 2945 0259 0825 movf actual_speed1,w 2946 025a 0201 subwf _tmr0,w 2947 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2948 ; CASE: true_code_size > 1 && false_code_size > 1 2949 ; true_code_size=2 false_code_size=2 2950 025b 1c03 btfss __c___byte, __c___bit 2951 025c 2a60 goto delay__16 2952 ; line_number = 521 2953 ; motor1 := motor1_off 2954 ; Delay at assignment is 0 2955 025d 0828 movf motor1_off,w 2956 025e 00bf movwf motor1 2957 025f 2a63 goto delay__17 2958 0260 : delay__16: 2959 ; line_number = 519 2960 ; motor1 := motor1_on 2961 ; Delay at assignment is 0 2962 0260 0829 movf motor1_on,w 2963 0261 00bf movwf motor1 2964 0262 0000 nop 2965 0263 : delay__17: 2966 ; code.delay=65 back_code.delay=0 2967 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2968 ; Uniform delay broke in relation_code_emit 2969 ; if final true delay=2 false delay=2 code delay=65 2970 ; line_number = 518 2971 ; if _tmr0 < actual_speed1 done 2972 ; line_number = 522 2973 ; _porta := motor0 | motor1 2974 ; Delay at assignment is 65 2975 0263 083e movf motor0,w 2976 0264 043f iorwf motor1,w 2977 0265 0085 movwf _porta 2978 2979 ; # Do {ramp0} management: 2980 ; line_number = 525 2981 ; ramp0_delay := ramp0_delay - 1 2982 ; Delay at assignment is 68 2983 0266 03ae decf ramp0_delay,f 2984 ; line_number = 526 2985 ; if _z start 2986 ; Delay at if is 69 2987 ; (after recombine) true_delay=9, false_delay=0 uniform_delay=true 2988 ; CASE: true_code.size = 0 && false_code.size > 1 2989 ; bit_code_emit_helper1: body_code.size=34 true_test=true body_code.delay=9 (uniform delay) 2990 0267 1903 btfsc _z___byte, _z___bit 2991 0268 2a6e goto delay__25 2992 ; Delay 8 cycles 2993 ; Delay loop takes 2 * 4 = 8 cycles 2994 0269 3002 movlw 2 2995 026a : delay__27: 2996 026a 3eff addlw 255 2997 026b 1d03 btfss __z___byte, __z___bit 2998 026c 2a6a goto delay__27 2999 026d 2a90 goto delay__26 3000 026e : delay__25: 3001 ; line_number = 527 3002 ; ramp0_delay := ramp0 3003 ; Delay at assignment is 0 3004 026e 082c movf ramp0,w 3005 026f 00ae movwf ramp0_delay 3006 ; line_number = 528 3007 ; if actual_speed0 != desired_speed0 start 3008 ; Delay at if is 2 3009 ; Left minus Right 3010 0270 082a movf desired_speed0,w 3011 0271 0224 subwf actual_speed0,w 3012 ; (after recombine) true_delay=15, false_delay=2 uniform_delay=true 3013 ; CASE: true_code_size > 1 && false_code_size > 1 3014 ; true_code_size=21 false_code_size=2 3015 0272 1903 btfsc __z___byte, __z___bit 3016 0273 2a7b goto delay__22 3017 ; Delay 12 cycles 3018 ; Delay loop takes 3 * 4 = 12 cycles 3019 0274 3003 movlw 3 3020 0275 : delay__24: 3021 0275 3eff addlw 255 3022 0276 1d03 btfss __z___byte, __z___bit 3023 0277 2a75 goto delay__24 3024 ; line_number = 529 3025 ; actual_speed0 := actual_speed0 + ramp0_offset 3026 ; Delay at assignment is 0 3027 0278 0830 movf ramp0_offset,w 3028 0279 07a4 addwf actual_speed0,f 3029 027a 2a90 goto delay__23 3030 027b : delay__22: 3031 ; line_number = 530 3032 ; (after recombine) true_delay=12, false_delay=0 uniform_delay=true 3033 ; CASE: true_code.size = 0 && false_code.size > 1 3034 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=12 (uniform delay) 3035 027b 1a5f btfsc second_motor0_command___byte, second_motor0_command___bit 3036 027c 2a84 goto delay__18 3037 ; Delay 11 cycles 3038 ; Delay loop takes 2 * 4 = 8 cycles 3039 027d 3002 movlw 2 3040 027e : delay__20: 3041 027e 3eff addlw 255 3042 027f 1d03 btfss __z___byte, __z___bit 3043 0280 2a7e goto delay__20 3044 0281 2a82 goto delay__21 3045 0282 : delay__21: 3046 0282 0000 nop 3047 0283 2a90 goto delay__19 3048 0284 : delay__18: 3049 ; line_number = 531 3050 ; second_motor0_command := 0 3051 ; Delay at assignment is 0 3052 0284 125f bcf second_motor0_command___byte, second_motor0_command___bit 3053 ; line_number = 532 3054 ; desired_speed0 := second_desired_speed0 3055 ; Delay at assignment is 1 3056 0285 0836 movf second_desired_speed0,w 3057 0286 00aa movwf desired_speed0 3058 ; line_number = 533 3059 ; ramp0_offset := second_ramp0_offset 3060 ; Delay at assignment is 3 3061 0287 0838 movf second_ramp0_offset,w 3062 0288 00b0 movwf ramp0_offset 3063 ; line_number = 534 3064 ; motor0_on := second_motor0_on 3065 ; Delay at assignment is 5 3066 0289 083a movf second_motor0_on,w 3067 028a 00a7 movwf motor0_on 3068 ; line_number = 535 3069 ; motor0_off := second_motor0_off 3070 ; Delay at assignment is 7 3071 028b 083c movf second_motor0_off,w 3072 028c 00a6 movwf motor0_off 3073 ; line_number = 536 3074 ; motor0_direction := desired_direction0 3075 ; Delay at assignment is 9 3076 028d 105e bcf motor0_direction___byte, motor0_direction___bit 3077 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 3078 ; CASE: True.size=1 False.size=0 3079 028e 195f btfsc desired_direction0___byte, desired_direction0___bit 3080 028f 145e bsf motor0_direction___byte, motor0_direction___bit 3081 ; code.delay=12 back_code.delay=0 3082 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:XX=>X0 code:XX=>XX) 3083 3084 0290 : delay__19: 3085 ; code.delay=15 back_code.delay=0 3086 ; <=bit_code_emit@symbol; sym=second_motor0_command (data:X0=>X0 code:XX=>XX) 3087 0290 : delay__23: 3088 ; code.delay=9 back_code.delay=0 3089 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 3090 ; Uniform delay broke in relation_code_emit 3091 ; if final true delay=2 false delay=15 code delay=9 3092 ; line_number = 528 3093 ; if actual_speed0 != desired_speed0 done 3094 0290 : delay__26: 3095 ; code.delay=81 back_code.delay=0 3096 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) 3097 ; if final true delay=9 false delay=0 code delay=81 3098 ; line_number = 526 3099 ; if _z done 3100 ; # This is the third probe of TMR0: 3101 ; line_number = 539 3102 ; if _tmr0 < actual_speed0 start 3103 ; Delay at if is 81 3104 0290 0824 movf actual_speed0,w 3105 0291 0201 subwf _tmr0,w 3106 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 3107 ; CASE: true_code_size > 1 && false_code_size > 1 3108 ; true_code_size=2 false_code_size=2 3109 0292 1c03 btfss __c___byte, __c___bit 3110 0293 2a97 goto delay__28 3111 ; line_number = 542 3112 ; motor0 := motor0_off 3113 ; Delay at assignment is 0 3114 0294 0826 movf motor0_off,w 3115 0295 00be movwf motor0 3116 3117 0296 2a9a goto delay__29 3118 0297 : delay__28: 3119 ; line_number = 540 3120 ; motor0 := motor0_on 3121 ; Delay at assignment is 0 3122 0297 0827 movf motor0_on,w 3123 0298 00be movwf motor0 3124 0299 0000 nop 3125 029a : delay__29: 3126 ; code.delay=89 back_code.delay=0 3127 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 3128 ; Uniform delay broke in relation_code_emit 3129 ; if final true delay=2 false delay=2 code delay=89 3130 ; line_number = 539 3131 ; if _tmr0 < actual_speed0 done 3132 ; line_number = 544 3133 ; if _tmr0 < actual_speed1 start 3134 ; Delay at if is 89 3135 029a 0825 movf actual_speed1,w 3136 029b 0201 subwf _tmr0,w 3137 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 3138 ; CASE: true_code_size > 1 && false_code_size > 1 3139 ; true_code_size=2 false_code_size=2 3140 029c 1c03 btfss __c___byte, __c___bit 3141 029d 2aa1 goto delay__30 3142 ; line_number = 547 3143 ; motor1 := motor1_off 3144 ; Delay at assignment is 0 3145 029e 0828 movf motor1_off,w 3146 029f 00bf movwf motor1 3147 02a0 2aa4 goto delay__31 3148 02a1 : delay__30: 3149 ; line_number = 545 3150 ; motor1 := motor1_on 3151 ; Delay at assignment is 0 3152 02a1 0829 movf motor1_on,w 3153 02a2 00bf movwf motor1 3154 02a3 0000 nop 3155 02a4 : delay__31: 3156 ; code.delay=97 back_code.delay=0 3157 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 3158 ; Uniform delay broke in relation_code_emit 3159 ; if final true delay=2 false delay=2 code delay=97 3160 ; line_number = 544 3161 ; if _tmr0 < actual_speed1 done 3162 ; line_number = 548 3163 ; _porta := motor0 | motor1 3164 ; Delay at assignment is 97 3165 02a4 083e movf motor0,w 3166 02a5 043f iorwf motor1,w 3167 02a6 0085 movwf _porta 3168 3169 ; # Do {ramp1} management: 3170 ; line_number = 551 3171 ; ramp1_delay := ramp1_delay - 1 3172 ; Delay at assignment is 100 3173 02a7 03af decf ramp1_delay,f 3174 ; line_number = 552 3175 ; if _z start 3176 ; Delay at if is 101 3177 ; (after recombine) true_delay=9, false_delay=19 uniform_delay=true 3178 ; CASE: true_code_size > 1 && false_code_size > 1 3179 ; true_code_size=34 false_code_size=23 3180 02a8 1d03 btfss _z___byte, _z___bit 3181 02a9 2ad2 goto delay__43 3182 ; line_number = 553 3183 ; ramp1_delay := ramp1 3184 ; Delay at assignment is 0 3185 02aa 082d movf ramp1,w 3186 02ab 00af movwf ramp1_delay 3187 ; line_number = 554 3188 ; if actual_speed1 != desired_speed1 start 3189 ; Delay at if is 2 3190 ; Left minus Right 3191 02ac 082b movf desired_speed1,w 3192 02ad 0225 subwf actual_speed1,w 3193 ; (after recombine) true_delay=15, false_delay=2 uniform_delay=true 3194 ; CASE: true_code_size > 1 && false_code_size > 1 3195 ; true_code_size=21 false_code_size=2 3196 02ae 1903 btfsc __z___byte, __z___bit 3197 02af 2ab7 goto delay__40 3198 ; Delay 12 cycles 3199 ; Delay loop takes 3 * 4 = 12 cycles 3200 02b0 3003 movlw 3 3201 02b1 : delay__42: 3202 02b1 3eff addlw 255 3203 02b2 1d03 btfss __z___byte, __z___bit 3204 02b3 2ab1 goto delay__42 3205 ; line_number = 555 3206 ; actual_speed1 := actual_speed1 + ramp1_offset 3207 ; Delay at assignment is 0 3208 02b4 0831 movf ramp1_offset,w 3209 02b5 07a5 addwf actual_speed1,f 3210 02b6 2acc goto delay__41 3211 02b7 : delay__40: 3212 ; line_number = 556 3213 ; (after recombine) true_delay=12, false_delay=0 uniform_delay=true 3214 ; CASE: true_code.size = 0 && false_code.size > 1 3215 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=12 (uniform delay) 3216 02b7 1adf btfsc second_motor1_command___byte, second_motor1_command___bit 3217 02b8 2ac0 goto delay__36 3218 ; Delay 11 cycles 3219 ; Delay loop takes 2 * 4 = 8 cycles 3220 02b9 3002 movlw 2 3221 02ba : delay__38: 3222 02ba 3eff addlw 255 3223 02bb 1d03 btfss __z___byte, __z___bit 3224 02bc 2aba goto delay__38 3225 02bd 2abe goto delay__39 3226 02be : delay__39: 3227 02be 0000 nop 3228 02bf 2acc goto delay__37 3229 02c0 : delay__36: 3230 ; line_number = 557 3231 ; second_motor1_command := 0 3232 ; Delay at assignment is 0 3233 02c0 12df bcf second_motor1_command___byte, second_motor1_command___bit 3234 ; line_number = 558 3235 ; desired_speed1 := second_desired_speed1 3236 ; Delay at assignment is 1 3237 02c1 0837 movf second_desired_speed1,w 3238 02c2 00ab movwf desired_speed1 3239 ; line_number = 559 3240 ; ramp1_offset := second_ramp1_offset 3241 ; Delay at assignment is 3 3242 02c3 0839 movf second_ramp1_offset,w 3243 02c4 00b1 movwf ramp1_offset 3244 ; line_number = 560 3245 ; motor1_on := second_motor1_on 3246 ; Delay at assignment is 5 3247 02c5 083b movf second_motor1_on,w 3248 02c6 00a9 movwf motor1_on 3249 ; line_number = 561 3250 ; motor1_off := second_motor1_off 3251 ; Delay at assignment is 7 3252 02c7 083d movf second_motor1_off,w 3253 02c8 00a8 movwf motor1_off 3254 ; line_number = 562 3255 ; motor1_direction := desired_direction1 3256 ; Delay at assignment is 9 3257 02c9 10de bcf motor1_direction___byte, motor1_direction___bit 3258 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 3259 ; CASE: True.size=1 False.size=0 3260 02ca 19df btfsc desired_direction1___byte, desired_direction1___bit 3261 02cb 14de bsf motor1_direction___byte, motor1_direction___bit 3262 ; code.delay=12 back_code.delay=0 3263 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:XX=>X0 code:XX=>XX) 3264 02cc : delay__37: 3265 ; code.delay=15 back_code.delay=0 3266 ; <=bit_code_emit@symbol; sym=second_motor1_command (data:X0=>X0 code:XX=>XX) 3267 02cc : delay__41: 3268 ; code.delay=9 back_code.delay=0 3269 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 3270 ; Uniform delay broke in relation_code_emit 3271 ; if final true delay=2 false delay=15 code delay=9 3272 ; line_number = 554 3273 ; if actual_speed1 != desired_speed1 done 3274 ; Delay 9 cycles 3275 ; Delay loop takes 2 * 4 = 8 cycles 3276 02cc 3002 movlw 2 3277 02cd : delay__45: 3278 02cd 3eff addlw 255 3279 02ce 1d03 btfss __z___byte, __z___bit 3280 02cf 2acd goto delay__45 3281 02d0 0000 nop 3282 02d1 2ae9 goto delay__44 3283 02d2 : delay__43: 3284 ; # This is the forth probe of TMR0: 3285 ; line_number = 565 3286 ; if _tmr0 < actual_speed0 start 3287 ; Delay at if is 0 3288 02d2 0824 movf actual_speed0,w 3289 02d3 0201 subwf _tmr0,w 3290 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 3291 ; CASE: true_code_size > 1 && false_code_size > 1 3292 ; true_code_size=2 false_code_size=2 3293 02d4 1c03 btfss __c___byte, __c___bit 3294 02d5 2ad9 goto delay__32 3295 ; line_number = 568 3296 ; motor0 := motor0_off 3297 ; Delay at assignment is 0 3298 02d6 0826 movf motor0_off,w 3299 02d7 00be movwf motor0 3300 02d8 2adc goto delay__33 3301 02d9 : delay__32: 3302 ; line_number = 566 3303 ; motor0 := motor0_on 3304 ; Delay at assignment is 0 3305 02d9 0827 movf motor0_on,w 3306 02da 00be movwf motor0 3307 02db 0000 nop 3308 02dc : delay__33: 3309 ; code.delay=8 back_code.delay=0 3310 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 3311 ; Uniform delay broke in relation_code_emit 3312 ; if final true delay=2 false delay=2 code delay=8 3313 ; line_number = 565 3314 ; if _tmr0 < actual_speed0 done 3315 ; line_number = 569 3316 ; if _tmr0 < actual_speed1 start 3317 ; Delay at if is 8 3318 02dc 0825 movf actual_speed1,w 3319 02dd 0201 subwf _tmr0,w 3320 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 3321 ; CASE: true_code_size > 1 && false_code_size > 1 3322 ; true_code_size=2 false_code_size=2 3323 02de 1c03 btfss __c___byte, __c___bit 3324 02df 2ae3 goto delay__34 3325 ; line_number = 572 3326 ; motor1 := motor1_off 3327 ; Delay at assignment is 0 3328 02e0 0828 movf motor1_off,w 3329 02e1 00bf movwf motor1 3330 02e2 2ae6 goto delay__35 3331 02e3 : delay__34: 3332 ; line_number = 570 3333 ; motor1 := motor1_on 3334 ; Delay at assignment is 0 3335 02e3 0829 movf motor1_on,w 3336 02e4 00bf movwf motor1 3337 02e5 0000 nop 3338 02e6 : delay__35: 3339 ; code.delay=16 back_code.delay=0 3340 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 3341 ; Uniform delay broke in relation_code_emit 3342 ; if final true delay=2 false delay=2 code delay=16 3343 ; line_number = 569 3344 ; if _tmr0 < actual_speed1 done 3345 ; line_number = 573 3346 ; _porta := motor0 | motor1 3347 ; Delay at assignment is 16 3348 02e6 083e movf motor0,w 3349 02e7 043f iorwf motor1,w 3350 02e8 0085 movwf _porta 3351 3352 3353 02e9 : delay__44: 3354 ; code.delay=123 back_code.delay=0 3355 ; <=bit_code_emit@symbol; sym=_z (data:X0=>X0 code:XX=>XX) 3356 ; if final true delay=9 false delay=19 code delay=123 3357 ; line_number = 552 3358 ; if _z done 3359 ; delay after procedure statements=123 3360 ; Delay 8 cycles 3361 ; Delay loop takes 2 * 4 = 8 cycles 3362 02e9 3002 movlw 2 3363 02ea : delay__46: 3364 02ea 3eff addlw 255 3365 02eb 1d03 btfss __z___byte, __z___bit 3366 02ec 2aea goto delay__46 3367 ; Implied return 3368 02ed 3400 retlw 0 3369 ; Final delay = 133 3370 3371 3372 3373 3374 ; line_number = 576 3375 ; constant zero8 = "\0,0,0,0,0,0,0,0\" 3376 ; zero8 = '\0,0,0,0,0,0,0,0\' 3377 ; line_number = 577 3378 ; constant module_name = "\13\DualMotor1Amp" 3379 ; module_name = '\13\DualMotor1Amp' 3380 ; line_number = 578 3381 ; constant vendor_name = "\13\Mondo-tronics" 3382 ; vendor_name = '\13\Mondo-tronics' 3383 3384 ; line_number = 580 3385 ; string id = "\1,0,14,2,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3386 ; 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' 3387 02ee : id: 3388 ; Temporarily save index into FSR 3389 02ee 0084 movwf __fsr 3390 ; Initialize PCLATH to point to this code page 3391 02ef 3003 movlw id___base>>8 3392 02f0 008a movwf __pclath 3393 ; Restore index from FSR 3394 02f1 0804 movf __fsr,w 3395 02f2 3e00 addlw id___base 3396 ; Index to the correct return value 3397 02f3 0082 movwf __pcl 3398 ; page_group 52 3399 ; Add 12 NOP's until start of new page 3400 02f4 0000 nop 3401 02f5 0000 nop 3402 02f6 0000 nop 3403 02f7 0000 nop 3404 02f8 0000 nop 3405 02f9 0000 nop 3406 02fa 0000 nop 3407 02fb 0000 nop 3408 02fc 0000 nop 3409 02fd 0000 nop 3410 02fe 0000 nop 3411 02ff 0000 nop 3412 0300 : id___base: 3413 0300 3401 retlw 1 3414 0301 3400 retlw 0 3415 0302 340e retlw 14 3416 0303 3402 retlw 2 3417 0304 3400 retlw 0 3418 0305 3400 retlw 0 3419 0306 3400 retlw 0 3420 0307 3400 retlw 0 3421 0308 3400 retlw 0 3422 0309 3400 retlw 0 3423 030a 3400 retlw 0 3424 030b 3400 retlw 0 3425 030c 3400 retlw 0 3426 030d 3400 retlw 0 3427 030e 3400 retlw 0 3428 030f 3400 retlw 0 3429 0310 3400 retlw 0 3430 0311 3400 retlw 0 3431 0312 3400 retlw 0 3432 0313 3400 retlw 0 3433 0314 3400 retlw 0 3434 0315 3400 retlw 0 3435 0316 3400 retlw 0 3436 0317 3400 retlw 0 3437 0318 340d retlw 13 3438 0319 3444 retlw 68 3439 031a 3475 retlw 117 3440 031b 3461 retlw 97 3441 031c 346c retlw 108 3442 031d 344d retlw 77 3443 031e 346f retlw 111 3444 031f 3474 retlw 116 3445 0320 346f retlw 111 3446 0321 3472 retlw 114 3447 0322 3431 retlw 49 3448 0323 3441 retlw 65 3449 0324 346d retlw 109 3450 0325 3470 retlw 112 3451 0326 340d retlw 13 3452 0327 344d retlw 77 3453 0328 346f retlw 111 3454 0329 346e retlw 110 3455 032a 3464 retlw 100 3456 032b 346f retlw 111 3457 032c 342d retlw 45 3458 032d 3474 retlw 116 3459 032e 3472 retlw 114 3460 032f 346f retlw 111 3461 0330 346e retlw 110 3462 0331 3469 retlw 105 3463 0332 3463 retlw 99 3464 0333 3473 retlw 115 3465 ; line_number = 580 3466 ; string id = "\1,0,14,2,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3467 3468 ; Appending 2 delayed procedures to code bank 0 3469 ; buffer = 'bit_bang' 3470 ; line_number = 33 3471 ; procedure byte_get 3472 0334 : byte_get: 3473 ; arguments_none 3474 ; line_number = 35 3475 ; returns byte 3476 3477 ; # This procedure will wait for a byte to be received from 3478 ; # serial_in_bit. It calls the delay procedure for all delays. 3479 ; # This procedure will keep calling the {delay} routine until 3480 ; # data is received. 3481 3482 ; line_number = 42 3483 ; local count byte 3484 00000020 = byte_get__count equ shared___globals 3485 ; line_number = 43 3486 ; local byte byte 3487 00000021 = byte_get__byte equ shared___globals+1 3488 3489 ; # Why does the delay procedure wait for a third of bit? Well, it 3490 ; # has to do with the loop immediately below. If we catch the 3491 ; # start bit at the beginning of a 1/3 bit time, we will be 3492 ; # sampling data at approximately 1/3 of the way into each bit. 3493 ; # Conversely, if we catch the start near the end of a 1/3 bit 3494 ; # bit time, we will be sampling data at approximately 2/3 of the 3495 ; # way into each bit. So, what this means is that our bit sample 3496 ; # times will be somewhere between 1/3 and 2/3 of bit (i.e. in 3497 ; # the middle of the bit. 3498 3499 ; # It would be nice to tweak the code to shorter delay times 3500 ; # (1/4 bit, 1/5 bit, etc.) but then it gets too hard to get 3501 ; # the bookeeping done in the delay routine. A PIC running at 3502 ; # 4MHz (=1MIPS), only has 138 instructions available for the 3503 ; # delay routine when at 1/3 of bit. 3504 3505 ; # Wait for a start bit: 3506 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 3507 ; line_number = 62 3508 ; waiting := 1 3509 0334 14df bsf waiting___byte, waiting___bit 3510 ; line_number = 63 3511 ; receiving := 1 3512 0335 145f bsf receiving___byte, receiving___bit 3513 ; line_number = 64 3514 ; while serial_in start 3515 0336 : byte_get__1: 3516 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3517 ; CASE: true_code.size = 0 && false_code.size > 1 3518 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 3519 0336 1c07 btfss serial_in___byte, serial_in___bit 3520 0337 2b3a goto byte_get__2 3521 ; line_number = 65 3522 ; delay instructions_per_delay - 3 start 3523 ; Delay expression evaluates to 135 3524 ; line_number = 66 3525 ; call delay() 3526 ; Delay at call is 0 3527 0338 220e call delay 3528 ; line_number = 65 3529 ; delay instructions_per_delay - 3 done 3530 0339 2b36 goto byte_get__1 3531 ; Recombine size1 = 0 || size2 = 0 3532 033a : byte_get__2: 3533 ; code.delay=4294967295 back_code.delay=4294967295 3534 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) 3535 ; line_number = 64 3536 ; while serial_in done 3537 ; line_number = 67 3538 ; waiting := 0 3539 033a 10df bcf waiting___byte, waiting___bit 3540 3541 ; # Clear out any preceeding interrupt condition: 3542 ; line_number = 70 3543 ; serial_out := 1 3544 033b 1487 bsf serial_out___byte, serial_out___bit 3545 3546 ; # Skip over start bit: 3547 ; line_number = 73 3548 ; delay instructions_per_bit - 2 start 3549 ; Delay expression evaluates to 414 3550 ; # There are two instructions of set-up for following loop_exactly: 3551 ; line_number = 75 3552 ; call delay() 3553 ; Delay at call is 0 3554 033c 220e call delay 3555 ; line_number = 76 3556 ; call delay() 3557 ; Delay at call is 135 3558 033d 220e call delay 3559 ; line_number = 77 3560 ; call delay() 3561 ; Delay at call is 270 3562 033e 220e call delay 3563 ; line_number = 78 3564 ; byte := 0 3565 ; Delay at assignment is 405 3566 033f 3000 movlw 0 3567 0340 00a1 movwf byte_get__byte 3568 3569 ; Delay 7 cycles 3570 0341 2b42 goto byte_get__3 3571 0342 : byte_get__3: 3572 0342 2b43 goto byte_get__4 3573 0343 : byte_get__4: 3574 0343 2b44 goto byte_get__5 3575 0344 : byte_get__5: 3576 0344 0000 nop 3577 ; line_number = 73 3578 ; delay instructions_per_bit - 2 done 3579 ; # Read in 8 bits of data: 3580 ; line_number = 81 3581 ; loop_exactly 8 start 3582 0000004c = byte_get__6 equ shared___globals+44 3583 0345 3008 movlw 8 3584 0346 00cc movwf byte_get__6 3585 0347 : byte_get__7: 3586 ; # There are 3 instrucitons of loop_exactly overhead: 3587 ; line_number = 83 3588 ; delay instructions_per_bit - 3 start 3589 ; Delay expression evaluates to 413 3590 ; line_number = 84 3591 ; call delay() 3592 ; Delay at call is 0 3593 0347 220e call delay 3594 ; line_number = 85 3595 ; byte := byte >> 1 3596 ; Delay at assignment is 135 3597 ; Assignment of variable to self (no code needed) 3598 0348 0ca1 rrf byte_get__byte,f 3599 0349 13a1 bcf byte_get__byte, 7 3600 ; line_number = 86 3601 ; if serial_in start 3602 ; Delay at if is 137 3603 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 3604 ; CASE: True.size=1 False.size=0 3605 034a 1807 btfsc serial_in___byte, serial_in___bit 3606 ; line_number = 87 3607 ; byte@7 := 1 3608 ; Delay at assignment is 0 3609 00000021 = byte_get__select__8___byte equ byte_get__byte 3610 00000007 = byte_get__select__8___bit equ 7 3611 034b 17a1 bsf byte_get__select__8___byte, byte_get__select__8___bit 3612 ; code.delay=139 back_code.delay=0 3613 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) 3614 ; if final true delay=1 false delay=0 code delay=139 3615 ; line_number = 86 3616 ; if serial_in done 3617 ; line_number = 88 3618 ; call delay() 3619 ; Delay at call is 139 3620 034c 220e call delay 3621 ; line_number = 89 3622 ; call delay() 3623 ; Delay at call is 274 3624 034d 220e call delay 3625 3626 ; Delay 4 cycles 3627 034e 2b4f goto byte_get__9 3628 034f : byte_get__9: 3629 034f 2b50 goto byte_get__10 3630 0350 : byte_get__10: 3631 ; line_number = 83 3632 ; delay instructions_per_bit - 3 done 3633 ; line_number = 81 3634 ; loop_exactly 8 wrap-up 3635 0350 0bcc decfsz byte_get__6,f 3636 0351 2b47 goto byte_get__7 3637 ; line_number = 81 3638 ; loop_exactly 8 done 3639 ; # Skip over 2/3's of stop bit; 3 cycles for return: 3640 ; line_number = 92 3641 ; delay instructions_per_delay*2 - 3 start 3642 ; Delay expression evaluates to 273 3643 ; line_number = 93 3644 ; call delay() 3645 ; Delay at call is 0 3646 0352 220e call delay 3647 ; line_number = 94 3648 ; call delay() 3649 ; Delay at call is 135 3650 0353 220e call delay 3651 ; Delay 3 cycles 3652 0354 2b55 goto byte_get__11 3653 0355 : byte_get__11: 3654 0355 0000 nop 3655 ; line_number = 92 3656 ; delay instructions_per_delay*2 - 3 done 3657 ; line_number = 95 3658 ; command_previous := command_last 3659 0356 0844 movf command_last,w 3660 0357 00c3 movwf command_previous 3661 ; line_number = 96 3662 ; command_last := byte 3663 0358 0821 movf byte_get__byte,w 3664 0359 00c4 movwf command_last 3665 ; line_number = 97 3666 ; serial_out := 1 3667 035a 1487 bsf serial_out___byte, serial_out___bit 3668 ; line_number = 98 3669 ; return byte start 3670 ; line_number = 98 3671 035b 0821 movf byte_get__byte,w 3672 035c 0008 return 3673 ; line_number = 98 3674 ; return byte done 3675 3676 3677 ; delay after procedure statements=non-uniform 3678 3679 3680 3681 3682 ; line_number = 101 3683 ; procedure byte_put 3684 035d : byte_put: 3685 ; Last argument is sitting in W; save into argument variable 3686 035d 00a3 movwf byte_put__byte 3687 ; delay=4294967295 3688 ; line_number = 102 3689 ; argument byte byte 3690 00000023 = byte_put__byte equ shared___globals+3 3691 ; line_number = 103 3692 ; returns_nothing 3693 3694 ; # This procedure will send {byte} to {serial_out} pin. The {delay} 3695 ; # procedure is called to provide the appropriate bit timing. 3696 3697 ; line_number = 108 3698 ; local count byte 3699 00000022 = byte_put__count equ shared___globals+2 3700 3701 ; # {receiving} will be 1 if the last get/put routine was a get. 3702 ; # Before we start transmitting a response back, we want to ensure 3703 ; # that there has been enough time to turn the line around. 3704 ; # We delay the first 1/3 of a bit to pad out the 9-2/3 bits 3705 ; # from get_byte to 10 bits. We delay another 3 bits just to 3706 ; # ensure that slow interpreters do not get overrun. 3707 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 3708 ; line_number = 116 3709 ; sent_previous := sent_last 3710 035e 0846 movf sent_last,w 3711 035f 00c5 movwf sent_previous 3712 ; line_number = 117 3713 ; sent_last := byte 3714 0360 0823 movf byte_put__byte,w 3715 0361 00c6 movwf sent_last 3716 ; line_number = 118 3717 ; if receiving start 3718 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3719 ; CASE: true_code.size = 0 && false_code.size > 1 3720 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 3721 0362 1c5f btfss receiving___byte, receiving___bit 3722 0363 2b6a goto byte_put__3 3723 ; line_number = 119 3724 ; receiving := 0 3725 0364 105f bcf receiving___byte, receiving___bit 3726 ; # 10 = 1 + 3*3 = 3-1/3 extra bits of delay: 3727 ; line_number = 121 3728 ; loop_exactly 10 start 3729 0000004d = byte_put__1 equ shared___globals+45 3730 0365 300a movlw 10 3731 0366 00cd movwf byte_put__1 3732 0367 : byte_put__2: 3733 ; line_number = 122 3734 ; call delay() 3735 0367 220e call delay 3736 3737 ; line_number = 121 3738 ; loop_exactly 10 wrap-up 3739 0368 0bcd decfsz byte_put__1,f 3740 0369 2b67 goto byte_put__2 3741 ; line_number = 121 3742 ; loop_exactly 10 done 3743 ; Recombine size1 = 0 || size2 = 0 3744 036a : byte_put__3: 3745 ; code.delay=4294967295 back_code.delay=4294967295 3746 ; <=bit_code_emit@symbol; sym=receiving (data:X0=>X0 code:XX=>XX) 3747 ; line_number = 118 3748 ; if receiving done 3749 ; # Send the start bit: 3750 ; line_number = 125 3751 ; delay instructions_per_bit - 2 start 3752 ; Delay expression evaluates to 414 3753 ; # The loop_exactly setup after this is 2 instructions: 3754 ; line_number = 127 3755 ; serial_out := 0 3756 ; Delay at assignment is 0 3757 036a 1087 bcf serial_out___byte, serial_out___bit 3758 ; line_number = 128 3759 ; call delay() 3760 ; Delay at call is 1 3761 036b 220e call delay 3762 ; line_number = 129 3763 ; call delay() 3764 ; Delay at call is 136 3765 036c 220e call delay 3766 ; line_number = 130 3767 ; call delay() 3768 ; Delay at call is 271 3769 036d 220e call delay 3770 3771 ; Delay 8 cycles 3772 ; Delay loop takes 2 * 4 = 8 cycles 3773 036e 3002 movlw 2 3774 036f : byte_put__4: 3775 036f 3eff addlw 255 3776 0370 1d03 btfss __z___byte, __z___bit 3777 0371 2b6f goto byte_put__4 3778 ; line_number = 125 3779 ; delay instructions_per_bit - 2 done 3780 ; # Send the data: 3781 ; line_number = 133 3782 ; loop_exactly 8 start 3783 0000004d = byte_put__5 equ shared___globals+45 3784 0372 3008 movlw 8 3785 0373 00cd movwf byte_put__5 3786 0374 : byte_put__6: 3787 ; # Loop_exactly overhead is 3 instructions: 3788 ; line_number = 135 3789 ; delay instructions_per_bit - 3 start 3790 ; Delay expression evaluates to 413 3791 ; line_number = 136 3792 ; if byte@0 start 3793 ; Delay at if is 0 3794 00000023 = byte_put__select__7___byte equ byte_put__byte 3795 00000000 = byte_put__select__7___bit equ 0 3796 ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true 3797 ; CASE: true_size=1 && false_size=1 3798 ; SUBCASE: Double test; true, then false 3799 0374 1823 btfsc byte_put__select__7___byte, byte_put__select__7___bit 3800 ; line_number = 137 3801 ; serial_out := 1 3802 ; Delay at assignment is 0 3803 0375 1487 bsf serial_out___byte, serial_out___bit 3804 0376 1c23 btfss byte_put__select__7___byte, byte_put__select__7___bit 3805 ; line_number = 139 3806 ; serial_out := 0 3807 ; Delay at assignment is 0 3808 0377 1087 bcf serial_out___byte, serial_out___bit 3809 ; code.delay=4 back_code.delay=0 3810 ; <=bit_code_emit@symbol; sym=byte_put__select__7 (data:X0=>X0 code:XX=>XX) 3811 ; if final true delay=1 false delay=1 code delay=4 3812 ; line_number = 136 3813 ; if byte@0 done 3814 ; line_number = 140 3815 ; byte := byte >> 1 3816 ; Delay at assignment is 4 3817 ; Assignment of variable to self (no code needed) 3818 0378 0ca3 rrf byte_put__byte,f 3819 0379 13a3 bcf byte_put__byte, 7 3820 ; line_number = 141 3821 ; call delay() 3822 ; Delay at call is 6 3823 037a 220e call delay 3824 ; line_number = 142 3825 ; call delay() 3826 ; Delay at call is 141 3827 037b 220e call delay 3828 ; line_number = 143 3829 ; call delay() 3830 ; Delay at call is 276 3831 037c 220e call delay 3832 3833 ; Delay 2 cycles 3834 037d 2b7e goto byte_put__8 3835 037e : byte_put__8: 3836 ; line_number = 135 3837 ; delay instructions_per_bit - 3 done 3838 ; line_number = 133 3839 ; loop_exactly 8 wrap-up 3840 037e 0bcd decfsz byte_put__5,f 3841 037f 2b74 goto byte_put__6 3842 ; line_number = 133 3843 ; loop_exactly 8 done 3844 ; # Send the stop bit: 3845 ; line_number = 146 3846 ; delay instructions_per_bit start 3847 ; Delay expression evaluates to 416 3848 ; line_number = 147 3849 ; serial_out := 1 3850 ; Delay at assignment is 0 3851 0380 1487 bsf serial_out___byte, serial_out___bit 3852 ; line_number = 148 3853 ; call delay() 3854 ; Delay at call is 1 3855 0381 220e call delay 3856 ; line_number = 149 3857 ; call delay() 3858 ; Delay at call is 136 3859 0382 220e call delay 3860 ; line_number = 150 3861 ; call delay() 3862 ; Delay at call is 271 3863 0383 220e call delay 3864 3865 3866 ; Delay 10 cycles 3867 ; Delay loop takes 2 * 4 = 8 cycles 3868 0384 3002 movlw 2 3869 0385 : byte_put__9: 3870 0385 3eff addlw 255 3871 0386 1d03 btfss __z___byte, __z___bit 3872 0387 2b85 goto byte_put__9 3873 0388 2b89 goto byte_put__10 3874 0389 : byte_put__10: 3875 ; line_number = 146 3876 ; delay instructions_per_bit done 3877 ; delay after procedure statements=non-uniform 3878 ; Implied return 3879 0389 3400 retlw 0 3880 3881 3882 3883 3884 ; Configuration bits 3885 ; fill = 0x0 3886 ; bg = bg11 (0x3000) 3887 ; cpd = off (0x100) 3888 ; cp = off (0x80) 3889 ; boden = off (0x0) 3890 ; mclre = off (0x0) 3891 ; pwrte = off (0x10) 3892 ; wdte = off (0x0) 3893 ; fosc = int_no_clk (0x4) 3894 ; 12692 = 0x3194 3895 3194 = __config 12692 3896 ; Define start addresses for data regions 3897 ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 3898 ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 3899 ; Region="shared___globals" Address=32" Size=64 Bytes=46 Bits=10 Available=16 3900 end