radix dec ; Code bank 0; Start address: 0; End address: 4095 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 288 globals___3 equ 416 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # Copyright (c) 2000-2004 by Wayne C. Gramlich & William T. Benson. ; # All rights reserved. ; buffer = 'dualmotor1amp' ; line_number = 6 ; library _robobricks_pic16f688 entered ; # Copyright (c) 2000-2005 by Wayne C. Gramlich and Bill Benson ; # All rights reserved. ; buffer = '_robobricks_pic16f688' ; line_number = 6 ; library _pic16f688 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f688' ; line_number = 5 ; processor pic16f688 ; line_number = 6 ; configure_address 0x2007 ; line_number = 7 ; configure_fill 0x3000 ; line_number = 8 ; configure_option fcmen: on = 0x800 ; line_number = 9 ; configure_option fcmen: off = 0x000 ; line_number = 10 ; configure_option ieso: on = 0x400 ; line_number = 11 ; configure_option ieso: off = 0x000 ; line_number = 12 ; configure_option boden: on = 0x300 ; line_number = 13 ; configure_option boden: partial = 0x200 ; line_number = 14 ; configure_option boden: sboden = 0x100 ; line_number = 15 ; configure_option boden: off = 0x000 ; line_number = 16 ; configure_option cpd: on = 0x00 ; line_number = 17 ; configure_option cpd: off = 0x80 ; line_number = 18 ; configure_option cp: on = 0x00 ; line_number = 19 ; configure_option cp: off = 0x40 ; line_number = 20 ; configure_option mclre: on = 0x20 ; line_number = 21 ; configure_option mclre: off = 0x20 ; line_number = 22 ; configure_option pwrte: on = 0x00 ; line_number = 23 ; configure_option pwrte: off = 0x10 ; line_number = 24 ; configure_option wdte: on = 8 ; line_number = 25 ; configure_option wdte: off = 0 ; line_number = 26 ; configure_option fosc: rc_clk = 7 ; line_number = 27 ; configure_option fosc: rc_no_clk = 6 ; line_number = 28 ; configure_option fosc: int_clk = 5 ; line_number = 29 ; configure_option fosc: int_no_clk = 4 ; line_number = 30 ; configure_option fosc: ec = 3 ; line_number = 31 ; configure_option fosc: hs = 2 ; line_number = 32 ; configure_option fosc: xt = 1 ; line_number = 33 ; configure_option fosc: lp = 0 ; line_number = 35 ; code_bank 0x0 : 0xfff ; line_number = 36 ; data_bank 0x0 : 0x7f ; line_number = 37 ; data_bank 0x80 : 0xff ; line_number = 38 ; data_bank 0x100 : 0x17f ; line_number = 39 ; data_bank 0x180 : 0x1ff ; line_number = 40 ; global_region 0x20 : 0x6f ; line_number = 41 ; global_region 0xa0 : 0xef ; line_number = 42 ; global_region 0x120 : 0x16f ; line_number = 43 ; global_region 0x1a0 : 0x1ef ; line_number = 44 ; shared_region 0x70 : 0x7f ; line_number = 45 ; interrupts_possible ; line_number = 46 ; packages pdip=14, soic=14, tssop=14 ; line_number = 47 ; pin vdd, power_supply ; line_number = 48 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 49 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin ; line_number = 50 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 51 ; bind_to _porta@5 ; line_number = 52 ; or_if ra5_in _trisa 32 ; line_number = 53 ; or_if ra5_nc _trisa 32 ; line_number = 54 ; or_if ra5_out _trisa 0 ; line_number = 55 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout ; line_number = 56 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 57 ; bind_to _porta@4 ; line_number = 58 ; or_if ra4_in _trisa 16 ; line_number = 59 ; or_if ra4_nc _trisa 16 ; line_number = 60 ; or_if ra4_out _trisa 0 ; line_number = 61 ; or_if an3 _trisa 8 ; line_number = 62 ; or_if ra4_in _ansel 0 ; line_number = 63 ; or_if ra4_out _ansel 0 ; line_number = 64 ; or_if an3 _ansel 8 ; line_number = 65 ; or_if ra4_in _adcon0 0 ; line_number = 66 ; or_if ra4_out _adcon0 0 ; line_number = 67 ; or_if an3 _adcon0 1 ; line_number = 68 ; pin ra3_in, ra3_nc, mclr, vpp ; line_number = 69 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 70 ; bind_to _porta@4 ; line_number = 71 ; or_if ra3_in _trisa 8 ; line_number = 72 ; or_if ra3_nc _trisa 8 ; line_number = 73 ; pin rc5_in, rc5_nc, rc5_out, rx, dt ; line_number = 74 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 75 ; bind_to _portc@5 ; line_number = 76 ; or_if rc5_in _trisc 32 ; line_number = 77 ; or_if rc5_nc _trisc 32 ; line_number = 78 ; or_if rc5_out _trisc 0 ; line_number = 79 ; or_if rx _trisc 32 ; line_number = 80 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck ; line_number = 81 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 82 ; bind_to _portc@4 ; line_number = 83 ; or_if rc4_in _trisc 16 ; line_number = 84 ; or_if rc4_nc _trisc 16 ; line_number = 85 ; or_if rc4_out _trisc 0 ; # The UART documentation says TX must be marked as in input: ; line_number = 87 ; or_if tx _trisc 16 ; line_number = 88 ; pin rc3_in, rc3_nc, rc3_out, an7 ; line_number = 89 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 90 ; bind_to _portc@3 ; line_number = 91 ; or_if rc3_in _trisc 8 ; line_number = 92 ; or_if rc3_nc _trisc 8 ; line_number = 93 ; or_if rc3_out _trisc 0 ; line_number = 94 ; or_if an7 _trisc 8 ; line_number = 95 ; or_if rc3_in _ansel 0 ; line_number = 96 ; or_if rc3_out _ansel 0 ; line_number = 97 ; or_if an7 _ansel 128 ; line_number = 98 ; or_if rc3_in _adcon0 0 ; line_number = 99 ; or_if rc3_out _adcon0 0 ; line_number = 100 ; or_if an7 _adcon0 1 ; line_number = 101 ; pin rc2_in, rc2_nc, rc2_out, an6 ; line_number = 102 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 103 ; bind_to _portc@2 ; line_number = 104 ; or_if rc2_in _trisc 4 ; line_number = 105 ; or_if rc2_nc _trisc 4 ; line_number = 106 ; or_if rc2_out _trisc 0 ; line_number = 107 ; or_if an6 _trisc 4 ; line_number = 108 ; or_if rc2_in _ansel 0 ; line_number = 109 ; or_if rc2_out _ansel 0 ; line_number = 110 ; or_if an6 _ansel 64 ; line_number = 111 ; or_if rc2_in _adcon0 0 ; line_number = 112 ; or_if rc2_out _adcon0 0 ; line_number = 113 ; or_if an6 _adcon0 1 ; line_number = 114 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus ; line_number = 115 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 116 ; bind_to _portc@1 ; line_number = 117 ; or_if rc1_in _trisc 2 ; line_number = 118 ; or_if rc1_nc _trisc 2 ; line_number = 119 ; or_if rc1_out _trisc 0 ; line_number = 120 ; or_if rc1_in _cmcon0 7 ; line_number = 121 ; or_if rc1_out _cmcon0 7 ; line_number = 122 ; or_if an5 _trisc 2 ; line_number = 123 ; or_if rc1_in _ansel 0 ; line_number = 124 ; or_if rc1_out _ansel 0 ; line_number = 125 ; or_if an5 _ansel 32 ; line_number = 126 ; or_if rc1_in _adcon0 0 ; line_number = 127 ; or_if rc1_out _adcon0 0 ; line_number = 128 ; or_if an5 _adcon0 1 ; line_number = 129 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus ; line_number = 130 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 131 ; bind_to _portc@0 ; line_number = 132 ; or_if rc0_in _trisc 1 ; line_number = 133 ; or_if rc0_nc _trisc 1 ; line_number = 134 ; or_if rc0_out _trisc 0 ; line_number = 135 ; or_if rc0_in _cmcon0 7 ; line_number = 136 ; or_if rc0_out _cmcon0 7 ; line_number = 137 ; or_if an4 _trisc 1 ; line_number = 138 ; or_if rc0_in _ansel 0 ; line_number = 139 ; or_if rc0_out _ansel 0 ; line_number = 140 ; or_if an4 _ansel 16 ; line_number = 141 ; or_if rc0_in _adcon0 0 ; line_number = 142 ; or_if rc0_out _adcon0 0 ; line_number = 143 ; or_if an4 _adcon0 1 ; line_number = 144 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int ; line_number = 145 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 146 ; bind_to _porta@2 ; line_number = 147 ; or_if ra2_in _trisa 4 ; line_number = 148 ; or_if ra2_nc _trisa 4 ; line_number = 149 ; or_if ra2_out _trisa 0 ; line_number = 150 ; or_if an2 _trisa 4 ; line_number = 151 ; or_if ra2_in _ansel 0 ; line_number = 152 ; or_if ra2_out _ansel 0 ; line_number = 153 ; or_if an2 _ansel 4 ; line_number = 154 ; or_if ra2_in _adcon0 0 ; line_number = 155 ; or_if ra2_out _adcon0 0 ; line_number = 156 ; or_if an2 _adcon0 1 ; line_number = 157 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk ; line_number = 158 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 159 ; bind_to _porta@1 ; line_number = 160 ; or_if ra1_in _trisa 2 ; line_number = 161 ; or_if ra1_nc _trisa 2 ; line_number = 162 ; or_if ra1_out _trisa 0 ; line_number = 163 ; or_if ra1_in _cmcon0 7 ; line_number = 164 ; or_if ra1_out _cmcon0 7 ; line_number = 165 ; or_if an1 _trisa 2 ; line_number = 166 ; or_if ra1_in _ansel 0 ; line_number = 167 ; or_if ra1_out _ansel 0 ; line_number = 168 ; or_if an1 _ansel 2 ; line_number = 169 ; or_if ra1_in _adcon0 0 ; line_number = 170 ; or_if ra1_out _adcon0 0 ; line_number = 171 ; or_if an1 _adcon0 1 ; line_number = 172 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu ; line_number = 173 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 174 ; bind_to _porta@0 ; line_number = 175 ; or_if ra0_in _trisa 1 ; line_number = 176 ; or_if ra0_nc _trisa 1 ; line_number = 177 ; or_if ra0_out _trisa 0 ; line_number = 178 ; or_if ra0_in _cmcon0 7 ; line_number = 179 ; or_if ra0_out _cmcon0 7 ; line_number = 180 ; or_if an0 _trisa 1 ; line_number = 181 ; or_if ra0_in _ansel 0 ; line_number = 182 ; or_if ra0_out _ansel 0 ; line_number = 183 ; or_if an0 _ansel 1 ; line_number = 184 ; or_if ra0_in _adcon0 0 ; line_number = 185 ; or_if ra0_out _adcon0 0 ; line_number = 186 ; or_if an0 _adcon0 1 ; line_number = 187 ; pin vss, ground ; line_number = 188 ; pin_bindings pdip=14, soic=14, tssop=14 ; # Register/bit bindings: ; # Databank 0 (0x0 - 0x7f): ; line_number = 197 ; register _indf = _indf equ 0 ; line_number = 199 ; register _tmr0 = _tmr0 equ 1 ; line_number = 201 ; register _pcl = _pcl equ 2 ; line_number = 203 ; register _status = _status equ 3 ; line_number = 204 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 205 ; bind _rp1 = _status@5 _rp1___byte equ _status _rp1___bit equ 5 ; line_number = 206 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 207 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 208 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 209 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 210 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 211 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 213 ; register _fsr = _fsr equ 4 ; line_number = 215 ; register _porta = _porta equ 5 ; line_number = 216 ; register _ra = _ra equ 5 ; line_number = 217 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 218 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 219 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 220 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 221 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 222 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 224 ; register _portc = _portc equ 7 ; line_number = 225 ; register _rc = _rc equ 7 ; line_number = 226 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 227 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 228 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 229 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 230 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 231 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 233 ; register _pclath = _pclath equ 10 ; line_number = 235 ; register _intcon = _intcon equ 11 ; line_number = 236 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 237 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 238 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 239 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 240 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 241 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 242 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 243 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 245 ; register _pir1 = _pir1 equ 12 ; line_number = 246 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 247 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 248 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 249 ; bind _c2if = _pir1@4 _c2if___byte equ _pir1 _c2if___bit equ 4 ; line_number = 250 ; bind _c1if = _pir1@3 _c1if___byte equ _pir1 _c1if___bit equ 3 ; line_number = 251 ; bind _osfif = _pir1@2 _osfif___byte equ _pir1 _osfif___bit equ 2 ; line_number = 252 ; bind _txif = _pir1@1 _txif___byte equ _pir1 _txif___bit equ 1 ; line_number = 253 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 255 ; register _tmr1l = _tmr1l equ 14 ; line_number = 257 ; register _tmr1h = _tmr1h equ 15 ; line_number = 259 ; register _t1con = _t1con equ 16 ; line_number = 260 ; bind t1ginv = _t1con@7 t1ginv___byte equ _t1con t1ginv___bit equ 7 ; line_number = 261 ; bind _tmr1ge = _t1con@6 _tmr1ge___byte equ _t1con _tmr1ge___bit equ 6 ; line_number = 262 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 263 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 264 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 265 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 266 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 267 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 269 ; register _baudctl = _baudctl equ 17 ; line_number = 270 ; bind _abdovf = _baudctl@7 _abdovf___byte equ _baudctl _abdovf___bit equ 7 ; line_number = 271 ; bind _rcidl = _baudctl@6 _rcidl___byte equ _baudctl _rcidl___bit equ 6 ; line_number = 272 ; bind _sckp = _baudctl@4 _sckp___byte equ _baudctl _sckp___bit equ 4 ; line_number = 273 ; bind _brg16 = _baudctl@3 _brg16___byte equ _baudctl _brg16___bit equ 3 ; line_number = 274 ; bind _wue = _baudctl@1 _wue___byte equ _baudctl _wue___bit equ 1 ; line_number = 275 ; bind _abden = _baudctl@0 _abden___byte equ _baudctl _abden___bit equ 0 ; line_number = 277 ; register _spbrgh = _spbrgh equ 18 ; line_number = 279 ; register _spbrg = _spbrg equ 19 ; line_number = 281 ; register _rcreg = _rcreg equ 20 ; line_number = 283 ; register _txreg = _txreg equ 21 ; line_number = 285 ; register _txsta = _txsta equ 22 ; line_number = 286 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 287 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 288 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 289 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 290 ; bind _sendb = _txsta@3 _sendb___byte equ _txsta _sendb___bit equ 3 ; line_number = 291 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 292 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 293 ; bind _tx9d = _txsta@7 _tx9d___byte equ _txsta _tx9d___bit equ 7 ; line_number = 295 ; register _rcsta = _rcsta equ 23 ; line_number = 296 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 297 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 298 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 299 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 300 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 301 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 302 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 303 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 305 ; register _wdtcon = _wdtcon equ 24 ; line_number = 306 ; bind _wdtps3 = _wdtcon@4 _wdtps3___byte equ _wdtcon _wdtps3___bit equ 4 ; line_number = 307 ; bind _wdtps2 = _wdtcon@3 _wdtps2___byte equ _wdtcon _wdtps2___bit equ 3 ; line_number = 308 ; bind _wdtps1 = _wdtcon@2 _wdtps1___byte equ _wdtcon _wdtps1___bit equ 2 ; line_number = 309 ; bind _wdtps0 = _wdtcon@1 _wdtps0___byte equ _wdtcon _wdtps0___bit equ 1 ; line_number = 310 ; bind _swdten = _wdtcon@0 _swdten___byte equ _wdtcon _swdten___bit equ 0 ; line_number = 312 ; register _cmcon0 = _cmcon0 equ 25 ; line_number = 313 ; bind _c1out = _cmcon0@7 _c1out___byte equ _cmcon0 _c1out___bit equ 7 ; line_number = 314 ; bind _c2out = _cmcon0@6 _c2out___byte equ _cmcon0 _c2out___bit equ 6 ; line_number = 315 ; bind _c1inv = _cmcon0@5 _c1inv___byte equ _cmcon0 _c1inv___bit equ 5 ; line_number = 316 ; bind _c2inv = _cmcon0@4 _c2inv___byte equ _cmcon0 _c2inv___bit equ 4 ; line_number = 317 ; bind _cis = _cmcon0@3 _cis___byte equ _cmcon0 _cis___bit equ 3 ; line_number = 318 ; bind _cm2 = _cmcon0@2 _cm2___byte equ _cmcon0 _cm2___bit equ 2 ; line_number = 319 ; bind _cm1 = _cmcon0@1 _cm1___byte equ _cmcon0 _cm1___bit equ 1 ; line_number = 320 ; bind _cm0 = _cmcon0@0 _cm0___byte equ _cmcon0 _cm0___bit equ 0 ; line_number = 322 ; register _cmcon1 = _cmcon1 equ 26 ; line_number = 323 ; bind _t1gss = _cmcon1@0 _t1gss___byte equ _cmcon1 _t1gss___bit equ 0 ; line_number = 324 ; bind _c2sync = _cmcon1@1 _c2sync___byte equ _cmcon1 _c2sync___bit equ 1 ; line_number = 326 ; register _adresh = _adresh equ 30 ; line_number = 328 ; register _adcon0 = _adcon0 equ 31 ; line_number = 329 ; bind _adfm = _adcon0@7 _adfm___byte equ _adcon0 _adfm___bit equ 7 ; line_number = 330 ; bind _vcfg = _adcon0@6 _vcfg___byte equ _adcon0 _vcfg___bit equ 6 ; line_number = 331 ; bind _chs2 = _adcon0@4 _chs2___byte equ _adcon0 _chs2___bit equ 4 ; line_number = 332 ; bind _chs1 = _adcon0@3 _chs1___byte equ _adcon0 _chs1___bit equ 3 ; line_number = 333 ; bind _chs0 = _adcon0@2 _chs0___byte equ _adcon0 _chs0___bit equ 2 ; line_number = 334 ; bind _go = _adcon0@1 _go___byte equ _adcon0 _go___bit equ 1 ; line_number = 335 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 339 ; register _option_reg = _option_reg equ 129 ; line_number = 340 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 341 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 342 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 343 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 344 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 345 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 346 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 347 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 349 ; register _trisa = _trisa equ 133 ; line_number = 350 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 351 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 352 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 353 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 354 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 355 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 357 ; register _trisc = _trisc equ 135 ; line_number = 358 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 359 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 360 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 361 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 362 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 363 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 365 ; register _pie1 = _pie1 equ 140 ; line_number = 366 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 367 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 368 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 369 ; bind _c2ie = _pie1@4 _c2ie___byte equ _pie1 _c2ie___bit equ 4 ; line_number = 370 ; bind _c1ie = _pie1@3 _c1ie___byte equ _pie1 _c1ie___bit equ 3 ; line_number = 371 ; bind _osfie = _pie1@2 _osfie___byte equ _pie1 _osfie___bit equ 2 ; line_number = 372 ; bind _txie = _pie1@1 _txie___byte equ _pie1 _txie___bit equ 1 ; line_number = 373 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 375 ; register _pcon = _pcon equ 142 ; line_number = 376 ; bind _ulpwue = _pcon@5 _ulpwue___byte equ _pcon _ulpwue___bit equ 5 ; line_number = 377 ; bind _sboden = _pcon@4 _sboden___byte equ _pcon _sboden___bit equ 4 ; line_number = 378 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 379 ; bind _bod = _pcon@0 _bod___byte equ _pcon _bod___bit equ 0 ; line_number = 381 ; register _osccon = _osccon equ 143 ; line_number = 382 ; bind _ircf2 = _osccon@6 _ircf2___byte equ _osccon _ircf2___bit equ 6 ; line_number = 383 ; bind _ircf1 = _osccon@5 _ircf1___byte equ _osccon _ircf1___bit equ 5 ; line_number = 384 ; bind _ircf0 = _osccon@4 _ircf0___byte equ _osccon _ircf0___bit equ 4 ; line_number = 385 ; bind _osts = _osccon@3 _osts___byte equ _osccon _osts___bit equ 3 ; line_number = 386 ; bind _hts = _osccon@2 _hts___byte equ _osccon _hts___bit equ 2 ; line_number = 387 ; bind _lts = _osccon@3 _lts___byte equ _osccon _lts___bit equ 3 ; line_number = 388 ; bind _scs = _osccon@2 _scs___byte equ _osccon _scs___bit equ 2 ; line_number = 390 ; register _osctune = _osctune equ 144 ; line_number = 391 ; bind _tun4 = _osctune@4 _tun4___byte equ _osctune _tun4___bit equ 4 ; line_number = 392 ; bind _tun3 = _osctune@3 _tun3___byte equ _osctune _tun3___bit equ 3 ; line_number = 393 ; bind _tun2 = _osctune@2 _tun2___byte equ _osctune _tun2___bit equ 2 ; line_number = 394 ; bind _tun1 = _osctune@1 _tun1___byte equ _osctune _tun1___bit equ 1 ; line_number = 395 ; bind _tun0 = _osctune@0 _tun0___byte equ _osctune _tun0___bit equ 0 ; line_number = 396 ; constant _osccal_lsb = 1 _osccal_lsb equ 1 ; line_number = 398 ; register _ansel = _ansel equ 145 ; line_number = 399 ; bind _ans7 = _ansel@7 _ans7___byte equ _ansel _ans7___bit equ 7 ; line_number = 400 ; bind _ans6 = _ansel@6 _ans6___byte equ _ansel _ans6___bit equ 6 ; line_number = 401 ; bind _ans5 = _ansel@5 _ans5___byte equ _ansel _ans5___bit equ 5 ; line_number = 402 ; bind _ans4 = _ansel@4 _ans4___byte equ _ansel _ans4___bit equ 4 ; line_number = 403 ; bind _ans3 = _ansel@3 _ans3___byte equ _ansel _ans3___bit equ 3 ; line_number = 404 ; bind _ans2 = _ansel@2 _ans2___byte equ _ansel _ans2___bit equ 2 ; line_number = 405 ; bind _ans1 = _ansel@1 _ans1___byte equ _ansel _ans1___bit equ 1 ; line_number = 406 ; bind _ans0 = _ansel@0 _ans0___byte equ _ansel _ans0___bit equ 0 ; line_number = 408 ; register _wpua = _wpua equ 149 ; line_number = 409 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 410 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 411 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 412 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 413 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 415 ; register _ioca = _ioca equ 150 ; line_number = 416 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 417 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 418 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 419 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 420 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 421 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 423 ; register _eedath = _eedath equ 151 ; line_number = 425 ; register _eeadrh = _eeadrh equ 152 ; line_number = 427 ; register _vrcon = _vrcon equ 153 ; line_number = 428 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 429 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 430 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 431 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 432 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 433 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 435 ; register _eedata = _eedata equ 154 ; line_number = 436 ; bind _eedat7 = _eedata@7 _eedat7___byte equ _eedata _eedat7___bit equ 7 ; line_number = 437 ; bind _eedat6 = _eedata@6 _eedat6___byte equ _eedata _eedat6___bit equ 6 ; line_number = 438 ; bind _eedat5 = _eedata@5 _eedat5___byte equ _eedata _eedat5___bit equ 5 ; line_number = 439 ; bind _eedat4 = _eedata@4 _eedat4___byte equ _eedata _eedat4___bit equ 4 ; line_number = 440 ; bind _eedat3 = _eedata@3 _eedat3___byte equ _eedata _eedat3___bit equ 3 ; line_number = 441 ; bind _eedat2 = _eedata@2 _eedat2___byte equ _eedata _eedat2___bit equ 2 ; line_number = 442 ; bind _eedat1 = _eedata@1 _eedat1___byte equ _eedata _eedat1___bit equ 1 ; line_number = 443 ; bind _eedat0 = _eedata@0 _eedat0___byte equ _eedata _eedat0___bit equ 0 ; line_number = 445 ; register _eeadr = _eeadr equ 155 ; line_number = 446 ; bind _eeadr7 = _eeadr@7 _eeadr7___byte equ _eeadr _eeadr7___bit equ 7 ; line_number = 447 ; bind _eeadr6 = _eeadr@6 _eeadr6___byte equ _eeadr _eeadr6___bit equ 6 ; line_number = 448 ; bind _eeadr5 = _eeadr@5 _eeadr5___byte equ _eeadr _eeadr5___bit equ 5 ; line_number = 449 ; bind _eeadr4 = _eeadr@4 _eeadr4___byte equ _eeadr _eeadr4___bit equ 4 ; line_number = 450 ; bind _eeadr3 = _eeadr@3 _eeadr3___byte equ _eeadr _eeadr3___bit equ 3 ; line_number = 451 ; bind _eeadr2 = _eeadr@2 _eeadr2___byte equ _eeadr _eeadr2___bit equ 2 ; line_number = 452 ; bind _eeadr1 = _eeadr@1 _eeadr1___byte equ _eeadr _eeadr1___bit equ 1 ; line_number = 453 ; bind _eeadr0 = _eeadr@0 _eeadr0___byte equ _eeadr _eeadr0___bit equ 0 ; line_number = 455 ; register _eecon1 = _eecon1 equ 156 ; line_number = 456 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 457 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 458 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 459 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 460 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 462 ; register _eecon2 = _eecon2 equ 157 ; line_number = 464 ; register _adresl = _adresl equ 158 ; line_number = 466 ; register _adcon1 = _adcon1 equ 159 ; line_number = 467 ; bind _adcs2 = _adcon1@6 _adcs2___byte equ _adcon1 _adcs2___bit equ 6 ; line_number = 468 ; bind _adcs1 = _adcon1@5 _adcs1___byte equ _adcon1 _adcs1___bit equ 5 ; line_number = 469 ; bind _adcs0 = _adcon1@4 _adcs0___byte equ _adcon1 _adcs0___bit equ 4 ; # Data Bank 2 (0x100 - 0x17f): ; buffer = '_robobricks_pic16f688' ; line_number = 6 ; library _pic16f688 exited ; line_number = 7 ; library clock8mhz entered ; # Copyright (c) 2004-2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock8mhz' ; line_number = 9 ; constant clock_rate = 8000000 clock_rate equ 8000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 2000000 ; buffer = '_robobricks_pic16f688' ; line_number = 7 ; library clock8mhz exited ; # Get some EUSART constants defined: ; line_number = 10 ; constant _eusart_clock = clock_rate _eusart_clock equ 8000000 ; line_number = 11 ; constant _eusart_factor = 4 _eusart_factor equ 4 ; line_number = 12 ; library _eusart entered ; # Copyright (c) 2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library contains a bunch of definitions for the Enhanced Universal ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available ; # on many of the PIC microcontrollers. ; # In order to use this module you have to get two constants defined ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. ; # {_eusart_clock} should be set to the frequency oscillator for the chip. ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: ; # ; # _{brg16} {_brgh} _{eusart_factor} ; # 0 0 64 ; # 0 1 16 ; # 1 0 16 ; # 1 1 ; # 2400 baud: ; buffer = '_eusart' ; line_number = 23 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 _eusart_2400 equ 832 ; line_number = 24 ; constant _eusart_2400_low = _eusart_2400 & 0xff _eusart_2400_low equ 64 ; line_number = 25 ; constant _eusart_2400_high = _eusart_2400 >> 8 _eusart_2400_high equ 3 ; line_number = 26 ; constant _eusart_2400_index = 0 _eusart_2400_index equ 0 ; # 4800 baud: ; line_number = 28 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 _eusart_4800 equ 415 ; line_number = 29 ; constant _eusart_4800_low = _eusart_4800 & 0xff _eusart_4800_low equ 159 ; line_number = 30 ; constant _eusart_4800_high = _eusart_4800 >> 8 _eusart_4800_high equ 1 ; line_number = 31 ; constant _eusart_4800_index = 1 _eusart_4800_index equ 1 ; # 9600 baud: ; line_number = 33 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 _eusart_9600 equ 207 ; line_number = 34 ; constant _eusart_9600_low = _eusart_9600 & 0xff _eusart_9600_low equ 207 ; line_number = 35 ; constant _eusart_9600_high = _eusart_9600 >> 8 _eusart_9600_high equ 0 ; line_number = 36 ; constant _eusart_9600_index = 2 _eusart_9600_index equ 2 ; # 19200 baud: ; line_number = 38 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 _eusart_19200 equ 103 ; line_number = 39 ; constant _eusart_19200_low = _eusart_19200 & 0xff _eusart_19200_low equ 103 ; line_number = 40 ; constant _eusart_19200_high = _eusart_19200 >> 8 _eusart_19200_high equ 0 ; line_number = 41 ; constant _eusart_19200_index = 3 _eusart_19200_index equ 3 ; # 38400 baud: ; line_number = 43 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 _eusart_38400 equ 51 ; line_number = 44 ; constant _eusart_38400_low = _eusart_38400 & 0xff _eusart_38400_low equ 51 ; line_number = 45 ; constant _eusart_38400_high = _eusart_38400 >> 8 _eusart_38400_high equ 0 ; line_number = 46 ; constant _eusart_38400_index = 4 _eusart_38400_index equ 4 ; # 57600 baud: ; line_number = 48 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 _eusart_57600 equ 33 ; line_number = 49 ; constant _eusart_57600_low = _eusart_57600 & 0xff _eusart_57600_low equ 33 ; line_number = 50 ; constant _eusart_57600_high = _eusart_57600 >> 8 _eusart_57600_high equ 0 ; line_number = 51 ; constant _eusart_57600_index = 5 _eusart_57600_index equ 5 ; # 115200 baud: ; line_number = 53 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 _eusart_115200 equ 16 ; line_number = 54 ; constant _eusart_115200_low = _eusart_115200 & 0xff _eusart_115200_low equ 16 ; line_number = 55 ; constant _eusart_115200_high = _eusart_115200 >> 8 _eusart_115200_high equ 0 ; line_number = 56 ; constant _eusart_115200_index = 6 _eusart_115200_index equ 6 ; # 203400 baud: ; line_number = 58 ; constant _eusart_203400 = (_eusart_clock / (203400 * _eusart_factor)) - 1 _eusart_203400 equ 8 ; line_number = 59 ; constant _eusart_203400_low = _eusart_203400 & 0xff _eusart_203400_low equ 8 ; line_number = 60 ; constant _eusart_203400_high = _eusart_203400 >> 8 _eusart_203400_high equ 0 ; line_number = 61 ; constant _eusart_203400_index = 7 _eusart_203400_index equ 7 ; buffer = '_robobricks_pic16f688' ; line_number = 12 ; library _eusart exited ; line_number = 14 ; global debug_mode bit debug_mode___byte equ globals___0+79 debug_mode___bit equ 0 ; line_number = 15 ; global in_byte_get bit in_byte_get___byte equ globals___0+79 in_byte_get___bit equ 1 ; Delaying code generation for procedure byte_get ; Delaying code generation for procedure byte_put ; Delaying code generation for procedure baud_rate_low ; Delaying code generation for procedure baud_rate_high ; buffer = 'dualmotor1amp' ; line_number = 6 ; library _robobricks_pic16f688 exited ; line_number = 8 ; package pdip ; line_number = 9 ; pin 1 = power_supply ; line_number = 10 ; pin 2 = ra5_in, name = debug, bit = debug_bit debug___byte equ _porta debug___bit equ 5 debug_bit equ 5 ; line_number = 11 ; pin 3 = ra4_out, name = motor0b, mask = motor0b_mask motor0b___byte equ _porta motor0b___bit equ 4 motor0b_mask equ 16 ; line_number = 12 ; pin 4 = ra3_nc ; line_number = 13 ; pin 5 = rx ; line_number = 14 ; pin 6 = tx ; line_number = 15 ; pin 7 = rc3_nc ; line_number = 16 ; pin 8 = rc2_out, name = led1 led1___byte equ _portc led1___bit equ 2 ; line_number = 17 ; pin 9 = rc1_out, name = led0 led0___byte equ _portc led0___bit equ 1 ; line_number = 18 ; pin 10 = rc0_out, name = enable enable___byte equ _portc enable___bit equ 0 ; line_number = 19 ; pin 11 = ra2_out, name = motor1b, mask = motor1b_mask motor1b___byte equ _porta motor1b___bit equ 2 motor1b_mask equ 4 ; line_number = 20 ; pin 12 = ra1_out, name = motor1a, mask = motor1a_mask motor1a___byte equ _porta motor1a___bit equ 1 motor1a_mask equ 2 ; line_number = 21 ; pin 13 = ra0_out, name = motor0a, mask = motor0a_mask motor0a___byte equ _porta motor0a___bit equ 0 motor0a_mask equ 1 ; line_number = 22 ; pin 14 = ground ; # Define duty cycle and motor on/off masks: ; line_number = 25 ; global actual_speed0 byte actual_speed0 equ globals___0+3 ; line_number = 26 ; global actual_speed1 byte actual_speed1 equ globals___0+4 ; line_number = 27 ; global motor0_off byte motor0_off equ globals___0+5 ; line_number = 28 ; global motor0_on byte motor0_on equ globals___0+6 ; line_number = 29 ; global motor1_off byte motor1_off equ globals___0+7 ; line_number = 30 ; global motor1_on byte motor1_on equ globals___0+8 ; # Ramp variables: ; line_number = 33 ; global desired_speed0 byte desired_speed0 equ globals___0+9 ; line_number = 34 ; global desired_speed1 byte desired_speed1 equ globals___0+10 ; line_number = 35 ; global desired_direction0 bit desired_direction0___byte equ globals___0+79 desired_direction0___bit equ 2 ; line_number = 36 ; global desired_direction1 bit desired_direction1___byte equ globals___0+79 desired_direction1___bit equ 3 ; line_number = 37 ; global ramp0 byte ramp0 equ globals___0+11 ; line_number = 38 ; global ramp1 byte ramp1 equ globals___0+12 ; line_number = 39 ; global ramp0_delay byte ramp0_delay equ globals___0+13 ; line_number = 40 ; global ramp1_delay byte ramp1_delay equ globals___0+14 ; line_number = 41 ; global ramp0_offset byte ramp0_offset equ globals___0+15 ; line_number = 42 ; global ramp1_offset byte ramp1_offset equ globals___0+16 ; # Fail safe variables: ; line_number = 45 ; global fail_safe byte fail_safe equ globals___0+17 ; line_number = 46 ; global fail_safe_errors byte fail_safe_errors equ globals___0+18 ; line_number = 47 ; global fail_safe_high_counter byte fail_safe_high_counter equ globals___0+19 ; line_number = 48 ; global fail_safe_low_counter byte fail_safe_low_counter equ globals___0+20 ; # Second command stuff for ramped direction change: ; line_number = 51 ; global second_motor0_command bit second_motor0_command___byte equ globals___0+79 second_motor0_command___bit equ 4 ; line_number = 52 ; global second_motor1_command bit second_motor1_command___byte equ globals___0+79 second_motor1_command___bit equ 5 ; line_number = 53 ; global second_desired_speed0 byte second_desired_speed0 equ globals___0+21 ; line_number = 54 ; global second_desired_speed1 byte second_desired_speed1 equ globals___0+22 ; line_number = 55 ; global second_ramp0_offset byte second_ramp0_offset equ globals___0+23 ; line_number = 56 ; global second_ramp1_offset byte second_ramp1_offset equ globals___0+24 ; line_number = 57 ; global second_motor0_on byte second_motor0_on equ globals___0+25 ; line_number = 58 ; global second_motor1_on byte second_motor1_on equ globals___0+26 ; line_number = 59 ; global second_motor0_off byte second_motor0_off equ globals___0+27 ; line_number = 60 ; global second_motor1_off byte second_motor1_off equ globals___0+28 ; line_number = 62 ; global motor0 byte motor0 equ globals___0+29 ; line_number = 63 ; global motor1 byte motor1 equ globals___0+30 ; # Mode (pulsed vs. continuous) bits: ; line_number = 66 ; global motor0_mode bit motor0_mode___byte equ globals___0+79 motor0_mode___bit equ 6 ; line_number = 67 ; global motor1_mode bit motor1_mode___byte equ globals___0+79 motor1_mode___bit equ 7 ; line_number = 68 ; global motor0_direction bit motor0_direction___byte equ globals___0+78 motor0_direction___bit equ 0 ; line_number = 69 ; global motor1_direction bit motor1_direction___byte equ globals___0+78 motor1_direction___bit equ 1 ; # Shared command registers and option: ; line_number = 72 ; global glitch byte glitch equ globals___0+31 ; line_number = 73 ; global id_index byte id_index equ globals___0+32 ; line_number = 74 ; global spare byte spare equ globals___0+33 ; line_number = 76 ; global command_previous byte command_previous equ globals___0+34 ; line_number = 77 ; global command_last byte command_last equ globals___0+35 ; line_number = 78 ; global sent_previous byte sent_previous equ globals___0+36 ; line_number = 79 ; global sent_last byte sent_last equ globals___0+37 ; line_number = 81 ; procedure main main: ; Initialize some registers clrf _adcon0 bsf __rp0___byte, __rp0___bit clrf _ansel movlw 7 bcf __rp0___byte, __rp0___bit movwf _cmcon0 movlw 40 bsf __rp0___byte, __rp0___bit movwf _trisa movlw 56 movwf _trisc ; arguments_none ; line_number = 83 ; returns_nothing ; line_number = 85 ; local command byte main__command equ globals___0+38 ; line_number = 86 ; local temp byte main__temp equ globals___0+39 ; # Switch over to 8MHz: ; before procedure statements delay=non-uniform, bit states=(data:00=>01 code:XX=>XX) ; line_number = 89 ; _osccon := 0x71 movlw 113 movwf _osccon ; # Warm up the UART: ; line_number = 92 ; _txsta := 0x24 movlw 36 bcf __rp0___byte, __rp0___bit movwf _txsta ; line_number = 93 ; _rcsta := 0x90 movlw 144 movwf _rcsta ; line_number = 94 ; _baudctl := 0x08 movlw 8 movwf _baudctl ; line_number = 95 ; _spbrg := _eusart_2400_low movlw 64 movwf _spbrg ; line_number = 96 ; _spbrgh := _eusart_2400_high movlw 3 movwf _spbrgh ; line_number = 98 ; call reset() call reset ; # Loop waiting for commands: ; line_number = 101 ; loop_forever start main__1: ; # Get a command byte: ; line_number = 103 ; command := byte_get() call byte_get movwf main__command ; # Dispatch on command: ; line_number = 106 ; switch command >> 6 start movlw main__97>>8 movwf __pclath main__98 equ globals___0+42 swapf main__command,w movwf main__98 rrf main__98,f rrf main__98,w andlw 3 addlw main__97 movwf __pcl ; page_group 4 main__97: goto main__93 goto main__94 goto main__95 goto main__96 ; line_number = 107 ; case 0 main__93: ; # Set Quick (Command = 00hh hhdm): ; line_number = 109 ; temp := ((command << 2) & 0xf0) | (command >> 2) main__2 equ globals___0+41 main__3 equ globals___0+42 rlf main__command,w movwf main__3 rlf main__3,w andlw 240 movwf main__2 main__4 equ globals___0+42 rrf main__command,w movwf main__4 rrf main__4,w andlw 63 iorwf main__2,w movwf main__temp ; line_number = 110 ; if command@0 start main__select__7___byte equ main__command main__select__7___bit equ 0 ; # Motor : ; line_number = 112 ; desired_speed1 := temp movf main__temp,w ; line_number = 115 ; desired_speed0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__7___byte, main__select__7___bit goto main__8 movwf desired_speed1 ; line_number = 113 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__6___byte equ main__command main__select__6___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__6___byte, main__select__6___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__6 (data:00=>00 code:XX=>XX) goto main__9 main__8: movwf desired_speed0 ; line_number = 116 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__5___byte equ main__command main__select__5___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__5___byte, main__select__5___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__5 (data:00=>00 code:XX=>XX) main__9: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__7 (data:00=>00 code:XX=>XX) ; line_number = 110 ; if command@0 done ; line_number = 117 ; call set_up() call set_up goto main__99 ; line_number = 118 ; case 1 main__94: ; # Set Low (Command = 01ll lldm): ; line_number = 120 ; temp := (command >> 2) & 0xf main__10 equ globals___0+42 rrf main__command,w movwf main__10 rrf main__10,w andlw 15 movwf main__temp ; line_number = 121 ; if command@0 start main__select__13___byte equ main__command main__select__13___bit equ 0 ; # Motor 1: ; line_number = 123 ; desired_speed1 := desired_speed1 & 0xf0 | temp movlw 240 ; # Motor 0: ; line_number = 127 ; desired_speed0 := desired_speed0 & 0xf0 | temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=6 false_code_size=6 btfss main__select__13___byte, main__select__13___bit goto main__14 andwf desired_speed1,w iorwf main__temp,w movwf desired_speed1 ; line_number = 124 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__12___byte equ main__command main__select__12___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__12___byte, main__select__12___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__12 (data:00=>00 code:XX=>XX) goto main__15 main__14: andwf desired_speed0,w iorwf main__temp,w movwf desired_speed0 ; line_number = 128 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__11___byte equ main__command main__select__11___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__11___byte, main__select__11___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__11 (data:00=>00 code:XX=>XX) main__15: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__13 (data:00=>00 code:XX=>XX) ; line_number = 121 ; if command@0 done ; line_number = 129 ; call set_up() call set_up goto main__99 ; line_number = 130 ; case 2 main__95: ; # Command = 10xx xxxx: ; line_number = 132 ; switch (command >> 3) & 7 start movlw main__75>>8 movwf __pclath main__76 equ globals___0+42 rrf main__command,w movwf main__76 rrf main__76,f rrf main__76,w andlw 7 addlw main__75 movwf __pcl ; page_group 8 main__75: goto main__68 goto main__69 goto main__70 goto main__71 goto main__72 goto main__73 goto main__74 goto main__74 ; line_number = 133 ; case 0 main__68: ; # Command = 1000 0xxx: ; line_number = 135 ; switch command & 7 start movlw main__26>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__26 movwf __pcl ; page_group 8 main__26: goto main__22 goto main__22 goto main__23 goto main__24 goto main__25 goto main__25 goto main__25 goto main__25 ; line_number = 136 ; case 0, 1 main__22: ; # Set Ramp (Command = 1000 000m): ; line_number = 138 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 139 ; if command@0 start main__select__16___byte equ main__command main__select__16___bit equ 0 ; line_number = 140 ; ramp1 := temp movf main__temp,w ; line_number = 142 ; ramp0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__16___byte, main__select__16___bit movwf ramp1 btfss main__select__16___byte, main__select__16___bit movwf ramp0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__16 (data:00=>00 code:XX=>XX) ; line_number = 139 ; if command@0 done ; line_number = 143 ; call set_up() call set_up goto main__27 ; line_number = 144 ; case 2 main__23: ; # Set Failsafe (Command = 1000 0010): ; line_number = 146 ; fail_safe := byte_get() call byte_get movwf fail_safe ; line_number = 147 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 148 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 149 ; case 3 main__24: ; # Reset Failsafe (Command = 1000 0011): ; line_number = 151 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 152 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 153 ; case 4, 5, 6, 7 main__25: ; # Set Speed (Command = 1000 01dm): ; line_number = 155 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 156 ; if command@0 start main__select__19___byte equ main__command main__select__19___bit equ 0 ; # Motor 1: ; line_number = 158 ; desired_speed1 := temp movf main__temp,w ; # Motor 0: ; line_number = 162 ; desired_speed0 := temp ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__19___byte, main__select__19___bit goto main__20 movwf desired_speed1 ; line_number = 159 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__18___byte equ main__command main__select__18___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__18___byte, main__select__18___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__18 (data:00=>00 code:XX=>XX) goto main__21 main__20: movwf desired_speed0 ; line_number = 163 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__17___byte equ main__command main__select__17___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__17___byte, main__select__17___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__17 (data:00=>00 code:XX=>XX) main__21: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__19 (data:00=>00 code:XX=>XX) ; line_number = 156 ; if command@0 done ; line_number = 164 ; call set_up() call set_up main__27: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 135 ; switch command & 7 done goto main__77 ; line_number = 165 ; case 1 main__69: ; # Command = 1000 1xxx: ; line_number = 167 ; if command@2 start main__select__38___byte equ main__command main__select__38___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=9 false_code_size=9 btfss main__select__38___byte, main__select__38___bit goto main__39 ; # Set direction (Command = 1000 11dm): ; line_number = 169 ; if command@0 start main__select__35___byte equ main__command main__select__35___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=3 btfss main__select__35___byte, main__select__35___bit goto main__36 ; # Motor 1: ; line_number = 171 ; desired_direction1 := command@1 bcf desired_direction1___byte, desired_direction1___bit main__select__34___byte equ main__command main__select__34___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__34___byte, main__select__34___bit bsf desired_direction1___byte, desired_direction1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__34 (data:00=>00 code:XX=>XX) goto main__37 main__36: ; # Motor 0: ; line_number = 174 ; desired_direction0 := command@1 bcf desired_direction0___byte, desired_direction0___bit main__select__33___byte equ main__command main__select__33___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__33___byte, main__select__33___bit bsf desired_direction0___byte, desired_direction0___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__33 (data:00=>00 code:XX=>XX) main__37: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__35 (data:00=>00 code:XX=>XX) ; line_number = 169 ; if command@0 done goto main__40 main__39: ; # Set mode (Command = 1000 10xm): ; line_number = 177 ; if command@0 start main__select__30___byte equ main__command main__select__30___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=3 btfss main__select__30___byte, main__select__30___bit goto main__31 ; # Motor 1: ; line_number = 179 ; motor1_mode := command@1 bcf motor1_mode___byte, motor1_mode___bit main__select__29___byte equ main__command main__select__29___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__29___byte, main__select__29___bit bsf motor1_mode___byte, motor1_mode___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__29 (data:00=>00 code:XX=>XX) goto main__32 main__31: ; # Motor 0: ; line_number = 182 ; motor0_mode := command@1 bcf motor0_mode___byte, motor0_mode___bit main__select__28___byte equ main__command main__select__28___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__28___byte, main__select__28___bit bsf motor0_mode___byte, motor0_mode___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__28 (data:00=>00 code:XX=>XX) main__32: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__30 (data:00=>00 code:XX=>XX) ; line_number = 177 ; if command@0 done main__40: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__38 (data:00=>00 code:XX=>XX) ; line_number = 167 ; if command@2 done ; line_number = 183 ; call set_up() call set_up goto main__77 ; line_number = 184 ; case 2 main__70: ; # Set Prescaler (Command = 1001 0ppp): ; line_number = 186 ; _option_reg := command & 7 movlw 7 andwf main__command,w bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 187 ; _rapu := 1 bsf _rapu___byte, _rapu___bit goto main__77 ; line_number = 188 ; case 3 main__71: ; # Command = 1001 1xxx: ; line_number = 190 ; switch command & 7 start movlw main__55>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__55 movwf __pcl ; page_group 8 main__55: goto main__50 goto main__51 goto main__52 goto main__52 goto main__53 goto main__53 goto main__54 goto main__54 ; line_number = 191 ; case 0 main__50: ; # Read Failsafe (Command = 1001 1000): ; line_number = 193 ; call byte_put(fail_safe) movf fail_safe,w call byte_put goto main__56 ; line_number = 194 ; case 1 main__51: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Read Prescaler (Command = 1001 1001): ; line_number = 196 ; call byte_put(_option_reg & 7) movlw 7 andwf _option_reg,w bcf __rp0___byte, __rp0___bit call byte_put goto main__56 ; line_number = 197 ; case 2, 3 main__52: ; # Read Speed (Command = 1001 101m): ; line_number = 199 ; if command@0 start main__select__41___byte equ main__command main__select__41___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__41___byte, main__select__41___bit ; line_number = 200 ; call byte_put(actual_speed1) movf actual_speed1,w btfss main__select__41___byte, main__select__41___bit ; line_number = 202 ; call byte_put(actual_speed0) movf actual_speed0,w ; code.delay=4294967295 back_code.delay=4294967295 call byte_put ; <=bit_code_emit@symbol; sym=main__select__41 (data:00=>00 code:XX=>XX) ; line_number = 199 ; if command@0 done goto main__56 ; line_number = 203 ; case 4, 5 main__53: ; # Read Mode/Direction (Command = 1001 110m): ; line_number = 205 ; temp := 0 movlw 0 movwf main__temp ; line_number = 206 ; if command@0 start main__select__46___byte equ main__command main__select__46___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=4 false_code_size=4 btfss main__select__46___byte, main__select__46___bit goto main__47 ; # Motor 1: ; line_number = 208 ; if motor1_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_direction___byte, motor1_direction___bit ; line_number = 209 ; temp@1 := 1 main__select__44___byte equ main__temp main__select__44___bit equ 1 bsf main__select__44___byte, main__select__44___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) ; line_number = 208 ; if motor1_direction done ; line_number = 210 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_mode___byte, motor1_mode___bit ; line_number = 211 ; temp@0 := 1 main__select__45___byte equ main__temp main__select__45___bit equ 0 bsf main__select__45___byte, main__select__45___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) ; line_number = 210 ; if motor1_mode done goto main__48 main__47: ; # Motor 0: ; line_number = 214 ; if motor0_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_direction___byte, motor0_direction___bit ; line_number = 215 ; temp@1 := 1 main__select__42___byte equ main__temp main__select__42___bit equ 1 bsf main__select__42___byte, main__select__42___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) ; line_number = 214 ; if motor0_direction done ; line_number = 216 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_mode___byte, motor0_mode___bit ; line_number = 217 ; temp@0 := 1 main__select__43___byte equ main__temp main__select__43___bit equ 0 bsf main__select__43___byte, main__select__43___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) ; line_number = 216 ; if motor0_mode done main__48: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__46 (data:00=>00 code:XX=>XX) ; line_number = 206 ; if command@0 done ; line_number = 218 ; call byte_put(temp) movf main__temp,w call byte_put goto main__56 ; line_number = 219 ; case 6, 7 main__54: ; # Read Ramp (Command = 1001 101m): ; line_number = 221 ; if command@0 start main__select__49___byte equ main__command main__select__49___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__49___byte, main__select__49___bit ; line_number = 222 ; temp := ramp1 movf ramp1,w btfss main__select__49___byte, main__select__49___bit ; line_number = 224 ; temp := ramp0 movf ramp0,w ; code.delay=4294967295 back_code.delay=4294967295 movwf main__temp ; <=bit_code_emit@symbol; sym=main__select__49 (data:00=>00 code:XX=>XX) ; line_number = 221 ; if command@0 done ; line_number = 225 ; call byte_put(temp) movf main__temp,w call byte_put main__56: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 190 ; switch command & 7 done goto main__77 ; line_number = 226 ; case 4 main__72: ; # Command = 0110 0xxx: ; line_number = 228 ; switch command & 7 start movlw main__65>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__65 movwf __pcl ; page_group 8 main__65: goto main__57 goto main__58 goto main__59 goto main__60 goto main__61 goto main__62 goto main__63 goto main__64 ; line_number = 229 ; case 0 main__57: ; # Read Failsafe Errors (Command = 1010 0000): ; line_number = 231 ; call byte_put(fail_safe_errors) movf fail_safe_errors,w call byte_put ; line_number = 232 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors goto main__66 ; line_number = 233 ; case 1 main__58: ; # Read Failsafe Counter (Command = 1010 0001): ; line_number = 235 ; call byte_put(fail_safe_high_counter) movf fail_safe_high_counter,w call byte_put goto main__66 ; line_number = 236 ; case 2 main__59: ; # Read Actual Speed 0(Command = 1010 0010): ; line_number = 238 ; call byte_put(actual_speed0) movf actual_speed0,w call byte_put goto main__66 ; line_number = 239 ; case 3 main__60: ; # Read Actual Speed 1 (Command = 1010 0011): ; line_number = 241 ; call byte_put(actual_speed1) movf actual_speed1,w call byte_put goto main__66 ; line_number = 242 ; case 4 main__61: ; # Set Motors 0 and 1 off (Command = 1010 0100): ; line_number = 244 ; enable := 0 bcf enable___byte, enable___bit goto main__66 ; line_number = 245 ; case 5 main__62: ; # Set Motor 0 and 1 on (Command = 1010 0101): ; line_number = 247 ; enable := 1 bsf enable___byte, enable___bit goto main__66 ; line_number = 248 ; case 6 main__63: ; # Set Motors 0 and 1 off (Command = 1010 0110): ; line_number = 250 ; enable := 0 bcf enable___byte, enable___bit goto main__66 ; line_number = 251 ; case 7 main__64: ; # Set Motors 0 and 1 on (Command = 1010 0111): ; line_number = 253 ; enable := 1 bsf enable___byte, enable___bit main__66: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 228 ; switch command & 7 done goto main__77 ; line_number = 254 ; case 5 main__73: ; line_number = 255 ; if command & 3 = 0 start ; Left minus Right movlw 3 andwf main__command,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=3 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__67 ; # FIXME: Code generator chokes on single call instruction ; # in the then clause. Add 'ramp0 := 0' to work around!!! ; line_number = 258 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 259 ; call reset() call reset ; Recombine size1 = 0 || size2 = 0 main__67: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 255 ; if command & 3 = 0 done goto main__77 ; line_number = 260 ; case 6, 7 main__74: ; line_number = 261 ; do_nothing main__77: ; switch end:(data:00=>?? code:XX=>XX) ; line_number = 132 ; switch (command >> 3) & 7 done goto main__99 ; line_number = 262 ; case 3 main__96: ; # Command = 11xx xxxx: ; line_number = 264 ; switch (command >> 3) & 7 start movlw main__90>>8 movwf __pclath main__91 equ globals___0+42 rrf main__command,w movwf main__91 rrf main__91,f rrf main__91,w andlw 7 addlw main__90 movwf __pcl ; page_group 8 main__90: goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__92 goto main__89 ; line_number = 265 ; case 7 main__89: ; # Shared commands (Command = 1111 1ccc): ; line_number = 267 ; switch command & 7 start movlw main__87>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__87 movwf __pcl ; page_group 8 main__87: goto main__79 goto main__80 goto main__81 goto main__82 goto main__83 goto main__84 goto main__85 goto main__86 ; line_number = 268 ; case 0 main__79: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Decrement (Command = 1111 1000): ; line_number = 270 ; _osctune := _osctune - _osccal_lsb decf _osctune,f goto main__88 ; line_number = 271 ; case 1 main__80: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Increment (Command = 1111 1001): ; line_number = 273 ; _osctune := _osctune + _osccal_lsb incf _osctune,f goto main__88 ; line_number = 274 ; case 2 main__81: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Read (Command = 1111 1010): ; line_number = 276 ; call byte_put(_osctune) movf _osctune,w bcf __rp0___byte, __rp0___bit call byte_put goto main__88 ; line_number = 277 ; case 3 main__82: ; # Clock Pulse (Command = 1111 1011): ; line_number = 279 ; call byte_put(0) movlw 0 call byte_put goto main__88 ; line_number = 280 ; case 4 main__83: ; # ID Next (Command = 1111 1100): ; line_number = 282 ; temp := 0 movlw 0 movwf main__temp ; line_number = 283 ; if id_index < id.size start movlw 46 subwf id_index,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) btfsc __c___byte, __c___bit goto main__78 ; line_number = 284 ; temp := id[id_index] movf id_index,w call id movwf main__temp ; line_number = 285 ; id_index := id_index + 1 incf id_index,f main__78: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 283 ; if id_index < id.size done ; line_number = 286 ; call byte_put(temp) movf main__temp,w call byte_put goto main__88 ; line_number = 287 ; case 5 main__84: ; # ID Reset (Command = 1111 1101): ; line_number = 289 ; id_index := 0 movlw 0 movwf id_index goto main__88 ; line_number = 290 ; case 6 main__85: ; # Glitch Read (Command = 1111 1110): ; line_number = 292 ; call byte_put(glitch) movf glitch,w call byte_put ; line_number = 293 ; glitch := 0 movlw 0 movwf glitch goto main__88 ; line_number = 294 ; case 7 main__86: ; # Glitch (Command = 1111 1111): ; line_number = 296 ; if glitch != 0xff start ; Left minus Right incf glitch,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size=0 && false_code.size=1 btfss __z___byte, __z___bit ; line_number = 297 ; glitch := glitch + 1 incf glitch,f ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 296 ; if glitch != 0xff done main__88: ; switch end:(data:00=>0? code:XX=>XX) ; line_number = 267 ; switch command & 7 done main__92: ; switch end:(data:00=>0? code:XX=>XX) ; line_number = 264 ; switch (command >> 3) & 7 done main__99: ; switch end:(data:00=>?? code:XX=>XX) ; line_number = 106 ; switch command >> 6 done ; line_number = 101 ; loop_forever wrap-up ; Need to adjust code banks to match front of loop bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit goto main__1 ; line_number = 101 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 300 ; procedure set_up set_up: ; arguments_none ; line_number = 302 ; returns_nothing ; # This procedure will arrange for the speed and direction of ; # each motor to be set to desired_speed0/1 and desired_direction0/1. ; # If ramp0/1 is 0, the speed and direction is changed immediately. ; # If ramp0/1 is non-zero, the speed is changed gradually. ; line_number = 309 ; local temporary byte set_up__temporary equ globals___0+40 ; # Reset failsafe: ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 312 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 313 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; # Mode Dir On Off ; # ================== ; # 0 0 A 0 ; # 0 1 B 0 ; # 1 0 A B ; # 1 1 B A ; # Motor 0: ; # Figure out all the ramping stuff: ; line_number = 325 ; if ramp0 = 0 start ; Left minus Right movf ramp0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=24 btfss __z___byte, __z___bit goto set_up__6 ; # No ramping: ; line_number = 327 ; actual_speed0 := desired_speed0 movf desired_speed0,w movwf actual_speed0 ; line_number = 328 ; motor0_direction := desired_direction0 bcf motor0_direction___byte, motor0_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction0___byte, desired_direction0___bit bsf motor0_direction___byte, motor0_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX) ; line_number = 329 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 330 ; ramp0_offset := 0 movlw 0 goto set_up__7 set_up__6: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 335 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 336 ; if motor0_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor0_direction___byte, motor0_direction___bit ; line_number = 337 ; temporary@0 := 1 set_up__select__1___byte equ set_up__temporary set_up__select__1___bit equ 0 bsf set_up__select__1___byte, set_up__select__1___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) ; line_number = 336 ; if motor0_direction done ; line_number = 338 ; if desired_direction0 start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss desired_direction0___byte, desired_direction0___bit goto set_up__2 ; line_number = 339 ; temporary := temporary ^ 1 movlw 1 xorwf set_up__temporary,f ; Recombine size1 = 0 || size2 = 0 set_up__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX) ; line_number = 338 ; if desired_direction0 done ; line_number = 341 ; if temporary@0 start set_up__select__3___byte equ set_up__temporary set_up__select__3___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=7 false_code_size=5 btfss set_up__select__3___byte, set_up__select__3___bit goto set_up__4 ; # We are changing direction: ; line_number = 343 ; second_ramp0_offset := 1 movlw 1 movwf second_ramp0_offset ; line_number = 344 ; second_desired_speed0 := desired_speed0 movf desired_speed0,w movwf second_desired_speed0 ; line_number = 345 ; second_motor0_command := 1 bsf second_motor0_command___byte, second_motor0_command___bit ; line_number = 346 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 347 ; ramp0_offset := 0xff goto set_up__5 set_up__4: ; # Direction remains unchanged ; line_number = 350 ; if desired_speed0 < actual_speed0 start movf actual_speed0,w subwf desired_speed0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 353 ; ramp0_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 351 ; ramp0_offset := 0xff set_up__5: ; code.delay=4294967295 back_code.delay=4294967295 movlw 255 set_up__7: ; code.delay=4294967295 back_code.delay=4294967295 movwf ramp0_offset ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 350 ; if desired_speed0 < actual_speed0 done ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:00=>00 code:XX=>XX) ; line_number = 341 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 325 ; if ramp0 = 0 done ; # Figure out all the direction stuff: ; line_number = 356 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 357 ; second_motor0_off := 0 movlw 0 movwf second_motor0_off ; line_number = 358 ; if motor0_direction start ; # Direction = 1 (Backward): ; line_number = 360 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss motor0_mode___byte, motor0_mode___bit ; # Direction = 0 (Forward): ; line_number = 368 ; if motor0_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss motor0_direction___byte, motor0_direction___bit goto set_up__10 goto set_up__9 ; # Mode = 1 (Continuous): ; line_number = 362 ; motor0_off := motor0a_mask movlw 1 movwf motor0_off ; line_number = 363 ; second_motor0_off := motor0b_mask movlw 16 movwf second_motor0_off ; Recombine size1 = 0 || size2 = 0 set_up__9: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) ; line_number = 360 ; if motor0_mode done ; line_number = 364 ; motor0_on := motor0b_mask movlw 16 movwf motor0_on ; line_number = 365 ; second_motor0_on := motor0a_mask movlw 1 goto set_up__11 set_up__10: goto set_up__8 ; # Mode = 1 (Continuous): ; line_number = 370 ; motor0_off := motor0b_mask movlw 16 movwf motor0_off ; line_number = 371 ; second_motor0_off := motor0a_mask movlw 1 movwf second_motor0_off ; Recombine size1 = 0 || size2 = 0 set_up__8: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) ; line_number = 368 ; if motor0_mode done ; line_number = 372 ; motor0_on := motor0a_mask movlw 1 movwf motor0_on ; line_number = 373 ; second_motor0_on := motor0b_mask movlw 16 set_up__11: ; code.delay=4294967295 back_code.delay=4294967295 movwf second_motor0_on ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) ; line_number = 358 ; if motor0_direction done ; # Motor 1: ; line_number = 376 ; if ramp1 = 0 start ; Left minus Right movf ramp1,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=24 btfss __z___byte, __z___bit goto set_up__17 ; # No ramping: ; line_number = 378 ; actual_speed1 := desired_speed1 movf desired_speed1,w movwf actual_speed1 ; line_number = 379 ; motor1_direction := desired_direction1 bcf motor1_direction___byte, motor1_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction1___byte, desired_direction1___bit bsf motor1_direction___byte, motor1_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX) ; line_number = 380 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 381 ; ramp1_offset := 0 movlw 0 goto set_up__18 set_up__17: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 386 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 387 ; if motor1_direction start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc motor1_direction___byte, motor1_direction___bit ; line_number = 388 ; temporary@0 := 1 set_up__select__12___byte equ set_up__temporary set_up__select__12___bit equ 0 bsf set_up__select__12___byte, set_up__select__12___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) ; line_number = 387 ; if motor1_direction done ; line_number = 389 ; if desired_direction1 start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss desired_direction1___byte, desired_direction1___bit goto set_up__13 ; line_number = 390 ; temporary := temporary ^ 1 movlw 1 xorwf set_up__temporary,f ; Recombine size1 = 0 || size2 = 0 set_up__13: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX) ; line_number = 389 ; if desired_direction1 done ; line_number = 392 ; if temporary@0 start set_up__select__14___byte equ set_up__temporary set_up__select__14___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=7 false_code_size=5 btfss set_up__select__14___byte, set_up__select__14___bit goto set_up__15 ; # We are changing direction: ; line_number = 394 ; second_ramp1_offset := 1 movlw 1 movwf second_ramp1_offset ; line_number = 395 ; second_desired_speed1 := desired_speed1 movf desired_speed1,w movwf second_desired_speed1 ; line_number = 396 ; second_motor1_command := 1 bsf second_motor1_command___byte, second_motor1_command___bit ; line_number = 397 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 398 ; ramp1_offset := 0xff goto set_up__16 set_up__15: ; # We are not changing direction: ; line_number = 401 ; if desired_speed1 < actual_speed1 start movf actual_speed1,w subwf desired_speed1,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 404 ; ramp1_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 402 ; ramp1_offset := 0xff set_up__16: ; code.delay=4294967295 back_code.delay=4294967295 movlw 255 set_up__18: ; code.delay=4294967295 back_code.delay=4294967295 movwf ramp1_offset ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 401 ; if desired_speed1 < actual_speed1 done ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:00=>00 code:XX=>XX) ; line_number = 392 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 376 ; if ramp1 = 0 done ; line_number = 406 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 407 ; second_motor1_off := 0 movlw 0 movwf second_motor1_off ; line_number = 408 ; if motor1_direction start ; # Direction = 1 (Backward): ; line_number = 410 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss motor1_mode___byte, motor1_mode___bit ; # Direction = 0 (Forward): ; line_number = 418 ; if motor1_mode start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss motor1_direction___byte, motor1_direction___bit goto set_up__21 goto set_up__20 ; # Mode = 1 (Continuous): ; line_number = 412 ; motor1_off := motor1a_mask movlw 2 movwf motor1_off ; line_number = 413 ; second_motor1_off := motor1b_mask movlw 4 movwf second_motor1_off ; Recombine size1 = 0 || size2 = 0 set_up__20: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) ; line_number = 410 ; if motor1_mode done ; line_number = 414 ; motor1_on := motor1b_mask movlw 4 movwf motor1_on ; line_number = 415 ; second_motor1_on := motor1a_mask movlw 2 goto set_up__22 set_up__21: goto set_up__19 ; # Mode = 1 (Continuous): ; line_number = 420 ; motor1_off := motor1b_mask movlw 4 movwf motor1_off ; line_number = 421 ; second_motor1_off := motor1a_mask movlw 2 movwf second_motor1_off ; Recombine size1 = 0 || size2 = 0 set_up__19: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) ; line_number = 418 ; if motor1_mode done ; line_number = 422 ; motor1_on := motor1a_mask movlw 2 movwf motor1_on ; line_number = 423 ; second_motor1_on := motor1b_mask movlw 4 set_up__22: ; code.delay=4294967295 back_code.delay=4294967295 movwf second_motor1_on ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) ; line_number = 408 ; if motor1_direction done ; line_number = 426 ; if debug start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss debug___byte, debug___bit goto set_up__25 ; line_number = 427 ; motor0_on@debug_bit := 1 set_up__select__23___byte equ motor0_on set_up__select__23___bit equ 5 bsf set_up__select__23___byte, set_up__select__23___bit ; line_number = 428 ; motor0_off@debug_bit := 1 set_up__select__24___byte equ motor0_off set_up__select__24___bit equ 5 bsf set_up__select__24___byte, set_up__select__24___bit ; Recombine size1 = 0 || size2 = 0 set_up__25: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=debug (data:00=>00 code:XX=>XX) ; line_number = 426 ; if debug done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 431 ; procedure reset reset: ; arguments_none ; line_number = 433 ; returns_nothing ; # Initialize everything else: ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 436 ; enable := 1 bsf enable___byte, enable___bit ; line_number = 437 ; _intcon := 0 movlw 0 movwf _intcon ; line_number = 438 ; _option_reg := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 439 ; _wpua := 0 movlw 0 movwf _wpua ; line_number = 440 ; actual_speed0 := 0 movlw 0 bcf __rp0___byte, __rp0___bit movwf actual_speed0 ; line_number = 441 ; actual_speed1 := 0 movlw 0 movwf actual_speed1 ; line_number = 442 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 443 ; motor0_on := 0 movlw 0 movwf motor0_on ; line_number = 444 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 445 ; motor1_on := 0 movlw 0 movwf motor1_on ; line_number = 446 ; desired_direction0 := 0 bcf desired_direction0___byte, desired_direction0___bit ; line_number = 447 ; desired_direction1 := 0 bcf desired_direction1___byte, desired_direction1___bit ; line_number = 448 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 449 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 450 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 451 ; ramp1 := 0 movlw 0 movwf ramp1 ; line_number = 452 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 453 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 454 ; ramp0_offset := 0 movlw 0 movwf ramp0_offset ; line_number = 455 ; ramp1_offset := 0 movlw 0 movwf ramp1_offset ; line_number = 456 ; motor0_direction := 0 bcf motor0_direction___byte, motor0_direction___bit ; line_number = 457 ; motor1_direction := 0 bcf motor1_direction___byte, motor1_direction___bit ; line_number = 458 ; motor0_mode := 0 bcf motor0_mode___byte, motor0_mode___bit ; line_number = 459 ; motor1_mode := 0 bcf motor1_mode___byte, motor1_mode___bit ; line_number = 460 ; second_motor0_command := 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 461 ; second_motor1_command := 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 462 ; fail_safe := 0 movlw 0 movwf fail_safe ; line_number = 463 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors ; line_number = 464 ; fail_safe_high_counter := 0 movlw 0 movwf fail_safe_high_counter ; line_number = 465 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 466 ; glitch := 0 movlw 0 movwf glitch ; line_number = 467 ; id_index := 0 movlw 0 movwf id_index ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 470 ; procedure delay delay: ; arguments_none ; line_number = 472 ; returns_nothing ; #exact_delay delay_instructions ; # Delay for 1/3 of a bit time. ; # Kick the dog: ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 478 ; watch_dog_reset done clrwdt ; # This is the first probe of TMR0: ; line_number = 481 ; if _tmr0 < actual_speed0 start movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 484 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 482 ; motor0 := motor0_on movf motor0_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor0 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 481 ; if _tmr0 < actual_speed0 done ; line_number = 485 ; if _tmr0 < actual_speed1 start movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 488 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 486 ; motor1 := motor1_on movf motor1_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor1 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 485 ; if _tmr0 < actual_speed1 done ; line_number = 489 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # First check out {fail_safe_counter}: ; line_number = 492 ; fail_safe_low_counter := fail_safe_low_counter - 1 decf fail_safe_low_counter,f ; line_number = 493 ; if _z start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay) btfss _z___byte, _z___bit goto delay__3 ; line_number = 494 ; fail_safe_high_counter := fail_safe_high_counter - 1 decf fail_safe_high_counter,f ; line_number = 495 ; if _z start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=20 true_test=true body_code.delay=0 (non-uniform delay) btfss _z___byte, _z___bit goto delay__2 ; line_number = 496 ; if fail_safe != 0 start ; Left minus Right movf fail_safe,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=17 true_test=false body_code.delay=0 (non-uniform delay) btfsc __z___byte, __z___bit goto delay__1 ; # Turn the motors off: ; line_number = 498 ; motor0_on := 0 movlw 0 movwf motor0_on ; line_number = 499 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 500 ; motor1_on := 0 movlw 0 movwf motor1_on ; line_number = 501 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 502 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 503 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 504 ; actual_speed0 := 0 movlw 0 movwf actual_speed0 ; line_number = 505 ; actual_speed1 := 0 movlw 0 movwf actual_speed1 ; line_number = 506 ; fail_safe_errors := fail_safe_errors + 1 incf fail_safe_errors,f delay__1: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 496 ; if fail_safe != 0 done ; Recombine size1 = 0 || size2 = 0 delay__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) ; line_number = 495 ; if _z done ; Recombine size1 = 0 || size2 = 0 delay__3: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) ; line_number = 493 ; if _z done ; # This is the second probe of TMR0: ; line_number = 509 ; if _tmr0 < actual_speed0 start movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 512 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 510 ; motor0 := motor0_on movf motor0_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor0 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 509 ; if _tmr0 < actual_speed0 done ; line_number = 513 ; if _tmr0 < actual_speed1 start movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 516 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 514 ; motor1 := motor1_on movf motor1_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor1 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 513 ; if _tmr0 < actual_speed1 done ; line_number = 517 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp0} management: ; line_number = 520 ; ramp0_delay := ramp0_delay - 1 decf ramp0_delay,f ; line_number = 521 ; if _z start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay) btfss _z___byte, _z___bit goto delay__7 ; line_number = 522 ; ramp0_delay := ramp0 movf ramp0,w movwf ramp0_delay ; line_number = 523 ; if actual_speed0 != desired_speed0 start ; Left minus Right movf desired_speed0,w subwf actual_speed0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=14 false_code_size=2 btfss __z___byte, __z___bit goto delay__5 ; line_number = 525 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) btfss second_motor0_command___byte, second_motor0_command___bit goto delay__4 ; line_number = 526 ; second_motor0_command := 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 527 ; desired_speed0 := second_desired_speed0 movf second_desired_speed0,w movwf desired_speed0 ; line_number = 528 ; ramp0_offset := second_ramp0_offset movf second_ramp0_offset,w movwf ramp0_offset ; line_number = 529 ; motor0_on := second_motor0_on movf second_motor0_on,w movwf motor0_on ; line_number = 530 ; motor0_off := second_motor0_off movf second_motor0_off,w movwf motor0_off ; line_number = 531 ; motor0_direction := desired_direction0 bcf motor0_direction___byte, motor0_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction0___byte, desired_direction0___bit bsf motor0_direction___byte, motor0_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:XX=>00 code:XX=>XX) ; Recombine size1 = 0 || size2 = 0 delay__4: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=second_motor0_command (data:00=>00 code:XX=>XX) goto delay__6 delay__5: ; line_number = 524 ; actual_speed0 := actual_speed0 + ramp0_offset movf ramp0_offset,w addwf actual_speed0,f delay__6: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 523 ; if actual_speed0 != desired_speed0 done ; Recombine size1 = 0 || size2 = 0 delay__7: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) ; line_number = 521 ; if _z done ; # This is the third probe of TMR0: ; line_number = 534 ; if _tmr0 < actual_speed0 start movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 537 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 535 ; motor0 := motor0_on movf motor0_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor0 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 534 ; if _tmr0 < actual_speed0 done ; line_number = 539 ; if _tmr0 < actual_speed1 start movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 542 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 540 ; motor1 := motor1_on movf motor1_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor1 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 539 ; if _tmr0 < actual_speed1 done ; line_number = 543 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp1} management: ; line_number = 546 ; ramp1_delay := ramp1_delay - 1 decf ramp1_delay,f ; line_number = 547 ; if _z start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=23 false_code_size=17 btfss _z___byte, _z___bit goto delay__11 ; line_number = 548 ; ramp1_delay := ramp1 movf ramp1,w movwf ramp1_delay ; line_number = 549 ; if actual_speed1 != desired_speed1 start ; Left minus Right movf desired_speed1,w subwf actual_speed1,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=14 false_code_size=2 btfss __z___byte, __z___bit goto delay__9 ; line_number = 551 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) btfss second_motor1_command___byte, second_motor1_command___bit goto delay__8 ; line_number = 552 ; second_motor1_command := 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 553 ; desired_speed1 := second_desired_speed1 movf second_desired_speed1,w movwf desired_speed1 ; line_number = 554 ; ramp1_offset := second_ramp1_offset movf second_ramp1_offset,w movwf ramp1_offset ; line_number = 555 ; motor1_on := second_motor1_on movf second_motor1_on,w movwf motor1_on ; line_number = 556 ; motor1_off := second_motor1_off movf second_motor1_off,w movwf motor1_off ; line_number = 557 ; motor1_direction := desired_direction1 bcf motor1_direction___byte, motor1_direction___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc desired_direction1___byte, desired_direction1___bit bsf motor1_direction___byte, motor1_direction___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:XX=>00 code:XX=>XX) ; Recombine size1 = 0 || size2 = 0 delay__8: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=second_motor1_command (data:00=>00 code:XX=>XX) goto delay__10 delay__9: ; line_number = 550 ; actual_speed1 := actual_speed1 + ramp1_offset movf ramp1_offset,w addwf actual_speed1,f delay__10: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 549 ; if actual_speed1 != desired_speed1 done goto delay__12 delay__11: ; # This is the forth probe of TMR0: ; line_number = 560 ; if _tmr0 < actual_speed0 start movf actual_speed0,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 563 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 561 ; motor0 := motor0_on movf motor0_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor0 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 560 ; if _tmr0 < actual_speed0 done ; line_number = 564 ; if _tmr0 < actual_speed1 start movf actual_speed1,w subwf _tmr0,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 567 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 565 ; motor1 := motor1_on movf motor1_on,w ; code.delay=4294967295 back_code.delay=4294967295 movwf motor1 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 564 ; if _tmr0 < actual_speed1 done ; line_number = 568 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta delay__12: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) ; line_number = 547 ; if _z done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 571 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 572 ; constant module_name = "\13\DualMotor1Amp" ; module_name = '\13\DualMotor1Amp' ; line_number = 573 ; constant vendor_name = "\7\Gramson" ; vendor_name = '\7\Gramson' ; line_number = 575 ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; id = '\1,1,14,8,9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13\DualMotor1Amp\7\Gramson' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 46 id___base: retlw 1 retlw 1 retlw 14 retlw 8 retlw 9 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 13 retlw 68 retlw 117 retlw 97 retlw 108 retlw 77 retlw 111 retlw 116 retlw 111 retlw 114 retlw 49 retlw 65 retlw 109 retlw 112 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 575 ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; Appending 4 delayed procedures to code bank 0 ; buffer = '_robobricks_pic16f688' ; line_number = 17 ; procedure byte_get byte_get: ; arguments_none ; line_number = 19 ; returns byte ; # This procedure will return the next byte from the UART. ; # It continuously calls delay() while it is waiting. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 24 ; while !_rcif start byte_get__1: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) btfsc _rcif___byte, _rcif___bit goto byte_get__2 ; line_number = 25 ; in_byte_get := 1 bsf in_byte_get___byte, in_byte_get___bit ; line_number = 26 ; call delay() call delay ; line_number = 27 ; in_byte_get := 0 bcf in_byte_get___byte, in_byte_get___bit goto byte_get__1 byte_get__2: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_rcif (data:00=>00 code:XX=>XX) ; line_number = 24 ; while !_rcif done ; line_number = 28 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 29 ; _rcif := 0 bcf _rcif___byte, _rcif___bit ; line_number = 30 ; return _rcreg start ; line_number = 30 movf _rcreg,w return ; line_number = 30 ; return _rcreg done ; delay after procedure statements=non-uniform ; line_number = 33 ; procedure byte_put byte_put: ; Last argument is sitting in W; save into argument variable movwf byte_put__value ; delay=4294967295 ; line_number = 34 ; argument value byte byte_put__value equ globals___0 ; line_number = 35 ; returns_nothing ; # This procedure will output {value} to the UART. If the UART is ; # already busy transmitting a character, the {delay} procedure is ; # repeatably called until {value} can be sent. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 41 ; while !_trmt start byte_put__1: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=2 true_test=false body_code.delay=0 (non-uniform delay) btfsc _trmt___byte, _trmt___bit goto byte_put__2 ; line_number = 42 ; call delay() call delay goto byte_put__1 byte_put__2: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_trmt (data:00=>00 code:XX=>XX) ; line_number = 41 ; while !_trmt done ; line_number = 43 ; debug := 0 bcf debug___byte, debug___bit ; line_number = 44 ; sent_previous := sent_last movf sent_last,w movwf sent_previous ; line_number = 45 ; sent_last := value movf byte_put__value,w movwf sent_last ; line_number = 46 ; _txreg := value movf byte_put__value,w movwf _txreg ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 49 ; procedure baud_rate_low baud_rate_low: ; Last argument is sitting in W; save into argument variable movwf baud_rate_low__baud_rate_index ; delay=4294967295 ; line_number = 50 ; argument baud_rate_index byte baud_rate_low__baud_rate_index equ globals___0+1 ; line_number = 51 ; returns byte ; #: This procedure will return the baud rate low byte for {baud_rate_index}. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 55 ; switch baud_rate_index start movlw baud_rate_low__9>>8 movwf __pclath movf baud_rate_low__baud_rate_index,w addlw baud_rate_low__9 movwf __pcl ; page_group 8 baud_rate_low__9: ; line_number = 57 ; return _eusart_2400_low start ; line_number = 57 retlw 64 ; line_number = 57 ; return _eusart_2400_low done ; line_number = 59 ; return _eusart_4800_low start ; line_number = 59 retlw 159 ; line_number = 59 ; return _eusart_4800_low done ; line_number = 61 ; return _eusart_9600_low start ; line_number = 61 retlw 207 ; line_number = 61 ; return _eusart_9600_low done ; line_number = 63 ; return _eusart_19200_low start ; line_number = 63 retlw 103 ; line_number = 63 ; return _eusart_19200_low done ; line_number = 65 ; return _eusart_38400_low start ; line_number = 65 retlw 51 ; line_number = 65 ; return _eusart_38400_low done ; line_number = 67 ; return _eusart_57600_low start ; line_number = 67 retlw 33 ; line_number = 67 ; return _eusart_57600_low done ; line_number = 69 ; return _eusart_115200_low start ; line_number = 69 retlw 16 ; line_number = 69 ; return _eusart_115200_low done ; line_number = 71 ; return _eusart_203400_low start ; line_number = 71 retlw 8 ; line_number = 71 ; return _eusart_203400_low done baud_rate_low__10: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 55 ; switch baud_rate_index done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop baud_rate_low__11: goto baud_rate_low__11 ; line_number = 74 ; procedure baud_rate_high baud_rate_high: ; Last argument is sitting in W; save into argument variable movwf baud_rate_high__baud_rate_index ; delay=4294967295 ; line_number = 75 ; argument baud_rate_index byte baud_rate_high__baud_rate_index equ globals___0+2 ; line_number = 76 ; returns byte ; # This procedure will return the baud rate high byte for ; # {baud_rate_index}. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 81 ; switch baud_rate_index start movlw baud_rate_high__9>>8 movwf __pclath movf baud_rate_high__baud_rate_index,w addlw baud_rate_high__9 movwf __pcl ; page_group 8 baud_rate_high__9: ; line_number = 83 ; return _eusart_2400_high start ; line_number = 83 retlw 3 ; line_number = 83 ; return _eusart_2400_high done ; line_number = 85 ; return _eusart_4800_high start ; line_number = 85 retlw 1 ; line_number = 85 ; return _eusart_4800_high done ; line_number = 87 ; return _eusart_9600_high start ; line_number = 87 retlw 0 ; line_number = 87 ; return _eusart_9600_high done ; line_number = 89 ; return _eusart_19200_high start ; line_number = 89 retlw 0 ; line_number = 89 ; return _eusart_19200_high done ; line_number = 91 ; return _eusart_38400_high start ; line_number = 91 retlw 0 ; line_number = 91 ; return _eusart_38400_high done ; line_number = 93 ; return _eusart_57600_high start ; line_number = 93 retlw 0 ; line_number = 93 ; return _eusart_57600_high done ; line_number = 95 ; return _eusart_115200_high start ; line_number = 95 retlw 0 ; line_number = 95 ; return _eusart_115200_high done ; line_number = 97 ; return _eusart_203400_high start ; line_number = 97 retlw 0 ; line_number = 97 ; return _eusart_203400_high done baud_rate_high__10: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 81 ; switch baud_rate_index done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop baud_rate_high__11: goto baud_rate_high__11 ; Configuration bits ; fill = 0x3000 ; fcmen = off (0x0) ; ieso = off (0x0) ; boden = off (0x0) ; cpd = off (0x80) ; cp = off (0x40) ; mclre = off (0x20) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = int_no_clk (0x4) ; 12532 = 0x30f4 __config 12532 ; Define start addresses for data regions ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16 ; Region="globals___0" Address=32" Size=80 Bytes=43 Bits=10 Available=35 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 ; Region="globals___3" Address=416" Size=80 Bytes=0 Bits=0 Available=80 end