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 ; line_number = 12 ; constant microsecond = 2 microsecond equ 2 ; 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 debug___byte equ _porta 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_out, name = enable enable___byte equ _portc enable___bit equ 3 ; line_number = 16 ; pin 8 = rc2_out, name = led3 led3___byte equ _portc led3___bit equ 2 ; line_number = 17 ; pin 9 = rc1_out, name = led2 led2___byte equ _portc led2___bit equ 1 ; line_number = 18 ; pin 10 = rc0_out, name = led1 led1___byte equ _portc led1___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 = 80 ; global interrupt_pending bit interrupt_pending___byte equ globals___0+78 interrupt_pending___bit equ 2 ; line_number = 82 ; 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 48 movwf _trisc ; arguments_none ; line_number = 84 ; returns_nothing ; line_number = 86 ; local command byte main__command equ globals___0+38 ; line_number = 87 ; 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 = 90 ; _osccon := 0x71 movlw 113 movwf _osccon ; # Warm up the UART: ; line_number = 93 ; _txsta := 0x24 movlw 36 bcf __rp0___byte, __rp0___bit movwf _txsta ; line_number = 94 ; _rcsta := 0x90 movlw 144 movwf _rcsta ; line_number = 95 ; _baudctl := 0x08 movlw 8 movwf _baudctl ; line_number = 96 ; _spbrg := _eusart_2400_low movlw 64 movwf _spbrg ; line_number = 97 ; _spbrgh := _eusart_2400_high movlw 3 movwf _spbrgh ; line_number = 99 ; call reset() call reset ; # Loop waiting for commands: ; line_number = 102 ; loop_forever start main__1: ; # Get a command byte: ; line_number = 104 ; command := byte_get() call byte_get movwf main__command ; # Dispatch on command: ; line_number = 107 ; switch command >> 6 start movlw main__98>>8 movwf __pclath main__99 equ globals___0+44 swapf main__command,w movwf main__99 rrf main__99,f rrf main__99,w andlw 3 addlw main__98 movwf __pcl ; page_group 4 main__98: goto main__94 goto main__95 goto main__96 goto main__97 ; line_number = 108 ; case 0 main__94: ; # Set Quick (Command = 00hh hhdm): ; line_number = 110 ; temp := ((command << 2) & 0xf0) | (command >> 2) main__2 equ globals___0+43 main__3 equ globals___0+44 rlf main__command,w movwf main__3 rlf main__3,w andlw 240 movwf main__2 main__4 equ globals___0+44 rrf main__command,w movwf main__4 rrf main__4,w andlw 63 iorwf main__2,w movwf main__temp ; line_number = 111 ; if command@0 start main__select__7___byte equ main__command main__select__7___bit equ 0 ; # Motor : ; line_number = 113 ; desired_speed1 := temp movf main__temp,w ; line_number = 116 ; 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 = 114 ; 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 = 117 ; 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 = 111 ; if command@0 done ; line_number = 118 ; call set_up() call set_up goto main__100 ; line_number = 119 ; case 1 main__95: ; # Set Low (Command = 01ll lldm): ; line_number = 121 ; temp := (command >> 2) & 0xf main__10 equ globals___0+44 rrf main__command,w movwf main__10 rrf main__10,w andlw 15 movwf main__temp ; line_number = 122 ; if command@0 start main__select__13___byte equ main__command main__select__13___bit equ 0 ; # Motor 1: ; line_number = 124 ; desired_speed1 := desired_speed1 & 0xf0 | temp movlw 240 ; # Motor 0: ; line_number = 128 ; 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 = 125 ; 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 = 129 ; 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 = 122 ; if command@0 done ; line_number = 130 ; call set_up() call set_up goto main__100 ; line_number = 131 ; case 2 main__96: ; # Command = 10xx xxxx: ; line_number = 133 ; switch (command >> 3) & 7 start movlw main__76>>8 movwf __pclath main__77 equ globals___0+44 rrf main__command,w movwf main__77 rrf main__77,f rrf main__77,w andlw 7 addlw main__76 movwf __pcl ; page_group 8 main__76: goto main__69 goto main__70 goto main__71 goto main__72 goto main__73 goto main__74 goto main__75 goto main__75 ; line_number = 134 ; case 0 main__69: ; # Command = 1000 0xxx: ; line_number = 136 ; 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 = 137 ; case 0, 1 main__22: ; # Set Ramp (Command = 1000 000m): ; line_number = 139 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 140 ; if command@0 start main__select__16___byte equ main__command main__select__16___bit equ 0 ; line_number = 141 ; ramp1 := temp movf main__temp,w ; line_number = 143 ; 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 = 140 ; if command@0 done ; line_number = 144 ; call set_up() call set_up goto main__27 ; line_number = 145 ; case 2 main__23: ; # Set Failsafe (Command = 1000 0010): ; line_number = 147 ; fail_safe := byte_get() call byte_get movwf fail_safe ; line_number = 148 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 149 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 150 ; case 3 main__24: ; # Reset Failsafe (Command = 1000 0011): ; line_number = 152 ; fail_safe_high_counter := fail_safe movf fail_safe,w movwf fail_safe_high_counter ; line_number = 153 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter goto main__27 ; line_number = 154 ; case 4, 5, 6, 7 main__25: ; # Set Speed (Command = 1000 01dm): ; line_number = 156 ; temp := byte_get() call byte_get movwf main__temp ; line_number = 157 ; if command@0 start main__select__19___byte equ main__command main__select__19___bit equ 0 ; # Motor 1: ; line_number = 159 ; desired_speed1 := temp movf main__temp,w ; # Motor 0: ; line_number = 163 ; 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 = 160 ; 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 = 164 ; 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 = 157 ; if command@0 done ; line_number = 165 ; call set_up() call set_up main__27: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 136 ; switch command & 7 done goto main__78 ; line_number = 166 ; case 1 main__70: ; # Command = 1000 1xxx: ; line_number = 168 ; 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 = 170 ; 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 = 172 ; 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 = 175 ; 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 = 170 ; if command@0 done goto main__40 main__39: ; # Set mode (Command = 1000 10xm): ; line_number = 178 ; 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 = 180 ; 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 = 183 ; 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 = 178 ; 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 = 168 ; if command@2 done ; line_number = 184 ; call set_up() call set_up goto main__78 ; line_number = 185 ; case 2 main__71: ; # Set Prescaler (Command = 1001 0ppp): ; line_number = 187 ; _option_reg := command & 7 movlw 7 andwf main__command,w bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 188 ; _rapu := 1 bsf _rapu___byte, _rapu___bit goto main__78 ; line_number = 189 ; case 3 main__72: ; # Command = 1001 1xxx: ; line_number = 191 ; 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 = 192 ; case 0 main__50: ; # Read Failsafe (Command = 1001 1000): ; line_number = 194 ; call byte_put(fail_safe) movf fail_safe,w call byte_put goto main__56 ; line_number = 195 ; case 1 main__51: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Read Prescaler (Command = 1001 1001): ; line_number = 197 ; 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 = 198 ; case 2, 3 main__52: ; # Read Speed (Command = 1001 101m): ; line_number = 200 ; 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 = 201 ; call byte_put(actual_speed1) movf actual_speed1,w btfss main__select__41___byte, main__select__41___bit ; line_number = 203 ; 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 = 200 ; if command@0 done goto main__56 ; line_number = 204 ; case 4, 5 main__53: ; # Read Mode/Direction (Command = 1001 110m): ; line_number = 206 ; temp := 0 movlw 0 movwf main__temp ; line_number = 207 ; 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 = 209 ; 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 = 210 ; 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 = 209 ; if motor1_direction done ; line_number = 211 ; 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 = 212 ; 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 = 211 ; if motor1_mode done goto main__48 main__47: ; # Motor 0: ; line_number = 215 ; 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 = 216 ; 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 = 215 ; if motor0_direction done ; line_number = 217 ; 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 = 218 ; 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 = 217 ; 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 = 207 ; if command@0 done ; line_number = 219 ; call byte_put(temp) movf main__temp,w call byte_put goto main__56 ; line_number = 220 ; case 6, 7 main__54: ; # Read Ramp (Command = 1001 101m): ; line_number = 222 ; 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 = 223 ; temp := ramp1 movf ramp1,w btfss main__select__49___byte, main__select__49___bit ; line_number = 225 ; 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 = 222 ; if command@0 done ; line_number = 226 ; call byte_put(temp) movf main__temp,w call byte_put main__56: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 191 ; switch command & 7 done goto main__78 ; line_number = 227 ; case 4 main__73: ; # Command = 0110 0xxx: ; line_number = 229 ; switch command & 7 start movlw main__66>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__66 movwf __pcl ; page_group 8 main__66: goto main__58 goto main__59 goto main__60 goto main__61 goto main__62 goto main__63 goto main__64 goto main__65 ; line_number = 230 ; case 0 main__58: ; # Read Failsafe Errors (Command = 1010 0000): ; line_number = 232 ; call byte_put(fail_safe_errors) movf fail_safe_errors,w call byte_put ; line_number = 233 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors goto main__67 ; line_number = 234 ; case 1 main__59: ; # Read Failsafe Counter (Command = 1010 0001): ; line_number = 236 ; call byte_put(fail_safe_high_counter) movf fail_safe_high_counter,w call byte_put goto main__67 ; line_number = 237 ; case 2 main__60: ; # Read Actual Speed 0(Command = 1010 0010): ; line_number = 239 ; call byte_put(actual_speed0) movf actual_speed0,w call byte_put goto main__67 ; line_number = 240 ; case 3 main__61: ; # Read Actual Speed 1 (Command = 1010 0011): ; line_number = 242 ; call byte_put(actual_speed1) movf actual_speed1,w call byte_put goto main__67 ; line_number = 243 ; case 4 main__62: ; # Set Motors off (Command = 1010 0100): ; line_number = 245 ; enable := 0 bcf enable___byte, enable___bit ; line_number = 246 ; led2 := 0 bcf led2___byte, led2___bit goto main__67 ; line_number = 247 ; case 5 main__63: ; # Set Motors on (Command = 1010 0101): ; line_number = 249 ; enable := 1 bsf enable___byte, enable___bit ; line_number = 250 ; led2 := 1 bsf led2___byte, led2___bit goto main__67 ; line_number = 251 ; case 6 main__64: ; # Read Motor enable (Command = 1010 0110): ; line_number = 253 ; temp := 0 movlw 0 movwf main__temp ; line_number = 254 ; if enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc enable___byte, enable___bit ; line_number = 255 ; temp@0 := 1 main__select__57___byte equ main__temp main__select__57___bit equ 0 bsf main__select__57___byte, main__select__57___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=enable (data:00=>00 code:XX=>XX) ; line_number = 254 ; if enable done ; line_number = 256 ; call byte_put(temp) movf main__temp,w call byte_put goto main__67 ; line_number = 257 ; case 7 main__65: ; # Unused (Command = 1010 0111): ; line_number = 259 ; do_nothing main__67: ; switch end:(data:00=>?? code:XX=>XX) ; line_number = 229 ; switch command & 7 done goto main__78 ; line_number = 260 ; case 5 main__74: ; line_number = 261 ; 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__68 ; # FIXME: Code generator chokes on single call instruction ; # in the then clause. Add 'ramp0 := 0' to work around!!! ; line_number = 264 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 265 ; call reset() call reset ; Recombine size1 = 0 || size2 = 0 main__68: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 261 ; if command & 3 = 0 done goto main__78 ; line_number = 266 ; case 6, 7 main__75: ; line_number = 267 ; do_nothing main__78: ; switch end:(data:00=>?? code:XX=>XX) ; line_number = 133 ; switch (command >> 3) & 7 done goto main__100 ; line_number = 268 ; case 3 main__97: ; # Command = 11xx xxxx: ; line_number = 270 ; switch (command >> 3) & 7 start movlw main__91>>8 movwf __pclath main__92 equ globals___0+44 rrf main__command,w movwf main__92 rrf main__92,f rrf main__92,w andlw 7 addlw main__91 movwf __pcl ; page_group 8 main__91: goto main__93 goto main__93 goto main__93 goto main__93 goto main__93 goto main__93 goto main__93 goto main__90 ; line_number = 271 ; case 7 main__90: ; # Shared commands (Command = 1111 1ccc): ; line_number = 273 ; switch command & 7 start movlw main__88>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__88 movwf __pcl ; page_group 8 main__88: goto main__80 goto main__81 goto main__82 goto main__83 goto main__84 goto main__85 goto main__86 goto main__87 ; line_number = 274 ; case 0 main__80: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Decrement (Command = 1111 1000): ; line_number = 276 ; _osctune := _osctune - _osccal_lsb decf _osctune,f goto main__89 ; line_number = 277 ; case 1 main__81: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Increment (Command = 1111 1001): ; line_number = 279 ; _osctune := _osctune + _osccal_lsb incf _osctune,f goto main__89 ; line_number = 280 ; case 2 main__82: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Read (Command = 1111 1010): ; line_number = 282 ; call byte_put(_osctune) movf _osctune,w bcf __rp0___byte, __rp0___bit call byte_put goto main__89 ; line_number = 283 ; case 3 main__83: ; # Clock Pulse (Command = 1111 1011): ; line_number = 285 ; call byte_put(0) movlw 0 call byte_put goto main__89 ; line_number = 286 ; case 4 main__84: ; # ID Next (Command = 1111 1100): ; line_number = 288 ; temp := 0 movlw 0 movwf main__temp ; line_number = 289 ; 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__79 ; line_number = 290 ; temp := id[id_index] movf id_index,w call id movwf main__temp ; line_number = 291 ; id_index := id_index + 1 incf id_index,f main__79: ; 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 = 289 ; if id_index < id.size done ; line_number = 292 ; call byte_put(temp) movf main__temp,w call byte_put goto main__89 ; line_number = 293 ; case 5 main__85: ; # ID Reset (Command = 1111 1101): ; line_number = 295 ; id_index := 0 movlw 0 movwf id_index goto main__89 ; line_number = 296 ; case 6 main__86: ; # Glitch Read (Command = 1111 1110): ; line_number = 298 ; call byte_put(glitch) movf glitch,w call byte_put ; line_number = 299 ; glitch := 0 movlw 0 movwf glitch goto main__89 ; line_number = 300 ; case 7 main__87: ; # Glitch (Command = 1111 1111): ; line_number = 302 ; 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 = 303 ; 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 = 302 ; if glitch != 0xff done main__89: ; switch end:(data:00=>0? code:XX=>XX) ; line_number = 273 ; switch command & 7 done main__93: ; switch end:(data:00=>0? code:XX=>XX) ; line_number = 270 ; switch (command >> 3) & 7 done main__100: ; switch end:(data:00=>?? code:XX=>XX) ; line_number = 107 ; switch command >> 6 done ; line_number = 102 ; 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 = 102 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 306 ; procedure set_up set_up: ; arguments_none ; line_number = 308 ; 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 = 315 ; 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 = 318 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 319 ; 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 = 331 ; 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 = 333 ; actual_speed0 := desired_speed0 movf desired_speed0,w movwf actual_speed0 ; line_number = 334 ; 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 = 335 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 336 ; ramp0_offset := 0 movlw 0 goto set_up__7 set_up__6: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 341 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 342 ; 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 = 343 ; 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 = 342 ; if motor0_direction done ; line_number = 344 ; 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 = 345 ; 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 = 344 ; if desired_direction0 done ; line_number = 347 ; 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 = 349 ; second_ramp0_offset := 1 movlw 1 movwf second_ramp0_offset ; line_number = 350 ; second_desired_speed0 := desired_speed0 movf desired_speed0,w movwf second_desired_speed0 ; line_number = 351 ; second_motor0_command := 1 bsf second_motor0_command___byte, second_motor0_command___bit ; line_number = 352 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 353 ; ramp0_offset := 0xff goto set_up__5 set_up__4: ; # Direction remains unchanged ; line_number = 356 ; 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 = 359 ; ramp0_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 357 ; 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 = 356 ; if desired_speed0 < actual_speed0 done ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:00=>00 code:XX=>XX) ; line_number = 347 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 331 ; if ramp0 = 0 done ; # Figure out all the direction stuff: ; line_number = 362 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 363 ; second_motor0_off := 0 movlw 0 movwf second_motor0_off ; line_number = 364 ; if motor0_direction start ; # Direction = 1 (Backward): ; line_number = 366 ; 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 = 374 ; 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 = 368 ; motor0_off := motor0a_mask movlw 1 movwf motor0_off ; line_number = 369 ; 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 = 366 ; if motor0_mode done ; line_number = 370 ; motor0_on := motor0b_mask movlw 16 movwf motor0_on ; line_number = 371 ; second_motor0_on := motor0a_mask movlw 1 goto set_up__11 set_up__10: goto set_up__8 ; # Mode = 1 (Continuous): ; line_number = 376 ; motor0_off := motor0b_mask movlw 16 movwf motor0_off ; line_number = 377 ; 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 = 374 ; if motor0_mode done ; line_number = 378 ; motor0_on := motor0a_mask movlw 1 movwf motor0_on ; line_number = 379 ; 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 = 364 ; if motor0_direction done ; # Motor 1: ; line_number = 382 ; 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 = 384 ; actual_speed1 := desired_speed1 movf desired_speed1,w movwf actual_speed1 ; line_number = 385 ; 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 = 386 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 387 ; ramp1_offset := 0 movlw 0 goto set_up__18 set_up__17: ; # We are ramping: ; # Figure out if we are changing direction: ; line_number = 392 ; temporary := 0 movlw 0 movwf set_up__temporary ; line_number = 393 ; 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 = 394 ; 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 = 393 ; if motor1_direction done ; line_number = 395 ; 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 = 396 ; 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 = 395 ; if desired_direction1 done ; line_number = 398 ; 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 = 400 ; second_ramp1_offset := 1 movlw 1 movwf second_ramp1_offset ; line_number = 401 ; second_desired_speed1 := desired_speed1 movf desired_speed1,w movwf second_desired_speed1 ; line_number = 402 ; second_motor1_command := 1 bsf second_motor1_command___byte, second_motor1_command___bit ; line_number = 403 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 404 ; ramp1_offset := 0xff goto set_up__16 set_up__15: ; # We are not changing direction: ; line_number = 407 ; 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 = 410 ; ramp1_offset := 1 movlw 1 btfss __c___byte, __c___bit ; line_number = 408 ; 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 = 407 ; if desired_speed1 < actual_speed1 done ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:00=>00 code:XX=>XX) ; line_number = 398 ; if temporary@0 done ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 382 ; if ramp1 = 0 done ; line_number = 412 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 413 ; second_motor1_off := 0 movlw 0 movwf second_motor1_off ; line_number = 414 ; if motor1_direction start ; # Direction = 1 (Backward): ; line_number = 416 ; 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 = 424 ; 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 = 418 ; motor1_off := motor1a_mask movlw 2 movwf motor1_off ; line_number = 419 ; 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 = 416 ; if motor1_mode done ; line_number = 420 ; motor1_on := motor1b_mask movlw 4 movwf motor1_on ; line_number = 421 ; second_motor1_on := motor1a_mask movlw 2 goto set_up__22 set_up__21: goto set_up__19 ; # Mode = 1 (Continuous): ; line_number = 426 ; motor1_off := motor1b_mask movlw 4 movwf motor1_off ; line_number = 427 ; 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 = 424 ; if motor1_mode done ; line_number = 428 ; motor1_on := motor1a_mask movlw 2 movwf motor1_on ; line_number = 429 ; 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 = 414 ; if motor1_direction done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 432 ; procedure reset reset: ; arguments_none ; line_number = 434 ; returns_nothing ; # Initialize everything else: ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 437 ; enable := 1 bsf enable___byte, enable___bit ; line_number = 438 ; _intcon := 0 movlw 0 movwf _intcon ; line_number = 439 ; _option_reg := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _option_reg ; line_number = 440 ; _wpua := 0 movlw 0 movwf _wpua ; line_number = 441 ; actual_speed0 := 0 movlw 0 bcf __rp0___byte, __rp0___bit movwf actual_speed0 ; line_number = 442 ; actual_speed1 := 0 movlw 0 movwf actual_speed1 ; line_number = 443 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 444 ; motor0_on := 0 movlw 0 movwf motor0_on ; line_number = 445 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 446 ; motor1_on := 0 movlw 0 movwf motor1_on ; line_number = 447 ; desired_direction0 := 0 bcf desired_direction0___byte, desired_direction0___bit ; line_number = 448 ; desired_direction1 := 0 bcf desired_direction1___byte, desired_direction1___bit ; line_number = 449 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 450 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 451 ; ramp0 := 0 movlw 0 movwf ramp0 ; line_number = 452 ; ramp1 := 0 movlw 0 movwf ramp1 ; line_number = 453 ; ramp0_delay := 0 movlw 0 movwf ramp0_delay ; line_number = 454 ; ramp1_delay := 0 movlw 0 movwf ramp1_delay ; line_number = 455 ; ramp0_offset := 0 movlw 0 movwf ramp0_offset ; line_number = 456 ; ramp1_offset := 0 movlw 0 movwf ramp1_offset ; line_number = 457 ; motor0_direction := 0 bcf motor0_direction___byte, motor0_direction___bit ; line_number = 458 ; motor1_direction := 0 bcf motor1_direction___byte, motor1_direction___bit ; line_number = 459 ; motor0_mode := 0 bcf motor0_mode___byte, motor0_mode___bit ; line_number = 460 ; motor1_mode := 0 bcf motor1_mode___byte, motor1_mode___bit ; line_number = 461 ; second_motor0_command := 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 462 ; second_motor1_command := 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 463 ; fail_safe := 0 movlw 0 movwf fail_safe ; line_number = 464 ; fail_safe_errors := 0 movlw 0 movwf fail_safe_errors ; line_number = 465 ; fail_safe_high_counter := 0 movlw 0 movwf fail_safe_high_counter ; line_number = 466 ; fail_safe_low_counter := 0 movlw 0 movwf fail_safe_low_counter ; line_number = 467 ; glitch := 0 movlw 0 movwf glitch ; line_number = 468 ; id_index := 0 movlw 0 movwf id_index ; line_number = 469 ; led1 := 0 bcf led1___byte, led1___bit ; line_number = 470 ; led2 := 1 bsf led2___byte, led2___bit ; line_number = 471 ; led3 := 0 bcf led3___byte, led3___bit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 474 ; procedure delay delay: ; arguments_none ; line_number = 476 ; returns_nothing ; #exact_delay delay_instructions ; line_number = 479 ; local count1 byte delay__count1 equ globals___0+41 ; line_number = 480 ; local count2 byte delay__count2 equ globals___0+42 ; # 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 = 485 ; watch_dog_reset done clrwdt ; # Keep count of everything: ; line_number = 488 ; count1 := count1 + 1 incf delay__count1,f ; line_number = 489 ; if _z start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc _z___byte, _z___bit ; line_number = 490 ; count2 := count2 + 1 incf delay__count2,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 = 489 ; if _z done ; # This is the first probe of TMR0: ; line_number = 493 ; 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 = 496 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 494 ; 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 = 493 ; if _tmr0 < actual_speed0 done ; line_number = 497 ; 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 = 500 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 498 ; 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 = 497 ; if _tmr0 < actual_speed1 done ; line_number = 501 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # First check out {fail_safe_counter}: ; line_number = 504 ; fail_safe_low_counter := fail_safe_low_counter - 1 decf fail_safe_low_counter,f ; line_number = 505 ; 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 = 506 ; fail_safe_high_counter := fail_safe_high_counter - 1 decf fail_safe_high_counter,f ; line_number = 507 ; 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 = 508 ; 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 = 510 ; motor0_on := 0 movlw 0 movwf motor0_on ; line_number = 511 ; motor0_off := 0 movlw 0 movwf motor0_off ; line_number = 512 ; motor1_on := 0 movlw 0 movwf motor1_on ; line_number = 513 ; motor1_off := 0 movlw 0 movwf motor1_off ; line_number = 514 ; desired_speed0 := 0 movlw 0 movwf desired_speed0 ; line_number = 515 ; desired_speed1 := 0 movlw 0 movwf desired_speed1 ; line_number = 516 ; actual_speed0 := 0 movlw 0 movwf actual_speed0 ; line_number = 517 ; actual_speed1 := 0 movlw 0 movwf actual_speed1 ; line_number = 518 ; 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 = 508 ; 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 = 507 ; 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 = 505 ; if _z done ; # This is the second probe of TMR0: ; line_number = 521 ; 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 = 524 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 522 ; 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 = 521 ; if _tmr0 < actual_speed0 done ; line_number = 525 ; 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 = 528 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 526 ; 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 = 525 ; if _tmr0 < actual_speed1 done ; line_number = 529 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp0} management: ; line_number = 532 ; ramp0_delay := ramp0_delay - 1 decf ramp0_delay,f ; line_number = 533 ; 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 = 534 ; ramp0_delay := ramp0 movf ramp0,w movwf ramp0_delay ; line_number = 535 ; 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 = 537 ; (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 = 538 ; second_motor0_command := 0 bcf second_motor0_command___byte, second_motor0_command___bit ; line_number = 539 ; desired_speed0 := second_desired_speed0 movf second_desired_speed0,w movwf desired_speed0 ; line_number = 540 ; ramp0_offset := second_ramp0_offset movf second_ramp0_offset,w movwf ramp0_offset ; line_number = 541 ; motor0_on := second_motor0_on movf second_motor0_on,w movwf motor0_on ; line_number = 542 ; motor0_off := second_motor0_off movf second_motor0_off,w movwf motor0_off ; line_number = 543 ; 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 = 536 ; 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 = 535 ; 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 = 533 ; if _z done ; # This is the third probe of TMR0: ; line_number = 546 ; 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 = 549 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 547 ; 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 = 546 ; if _tmr0 < actual_speed0 done ; line_number = 551 ; 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 = 554 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 552 ; 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 = 551 ; if _tmr0 < actual_speed1 done ; line_number = 555 ; _porta := motor0 | motor1 movf motor0,w iorwf motor1,w movwf _porta ; # Do {ramp1} management: ; line_number = 558 ; ramp1_delay := ramp1_delay - 1 decf ramp1_delay,f ; line_number = 559 ; 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 = 560 ; ramp1_delay := ramp1 movf ramp1,w movwf ramp1_delay ; line_number = 561 ; 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 = 563 ; (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 = 564 ; second_motor1_command := 0 bcf second_motor1_command___byte, second_motor1_command___bit ; line_number = 565 ; desired_speed1 := second_desired_speed1 movf second_desired_speed1,w movwf desired_speed1 ; line_number = 566 ; ramp1_offset := second_ramp1_offset movf second_ramp1_offset,w movwf ramp1_offset ; line_number = 567 ; motor1_on := second_motor1_on movf second_motor1_on,w movwf motor1_on ; line_number = 568 ; motor1_off := second_motor1_off movf second_motor1_off,w movwf motor1_off ; line_number = 569 ; 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 = 562 ; 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 = 561 ; if actual_speed1 != desired_speed1 done goto delay__12 delay__11: ; # This is the forth probe of TMR0: ; line_number = 572 ; 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 = 575 ; motor0 := motor0_off movf motor0_off,w btfss __c___byte, __c___bit ; line_number = 573 ; 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 = 572 ; if _tmr0 < actual_speed0 done ; line_number = 576 ; 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 = 579 ; motor1 := motor1_off movf motor1_off,w btfss __c___byte, __c___bit ; line_number = 577 ; 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 = 576 ; if _tmr0 < actual_speed1 done ; line_number = 580 ; _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 = 559 ; if _z done ; # Light direction LED's: ; line_number = 583 ; if motor0_direction start ; (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=5 btfss motor0_direction___byte, motor0_direction___bit goto delay__14 ; # Reverse ; line_number = 585 ; if count2@3 start delay__select__13___byte equ delay__count2 delay__select__13___bit equ 3 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc delay__select__13___byte, delay__select__13___bit ; line_number = 586 ; led1 := 1 bsf led1___byte, led1___bit btfss delay__select__13___byte, delay__select__13___bit ; line_number = 588 ; led1 := 0 bcf led1___byte, led1___bit ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=delay__select__13 (data:XX=>XX code:XX=>XX) ; line_number = 585 ; if count2@3 done goto delay__15 delay__14: ; line_number = 590 ; if actual_speed0 = 0 start ; Left minus Right movf actual_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 __z___byte, __z___bit ; line_number = 591 ; led1 := 0 bcf led1___byte, led1___bit btfss __z___byte, __z___bit ; line_number = 593 ; led1 := 1 bsf led1___byte, led1___bit ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:XX=>XX code:XX=>XX) ; line_number = 590 ; if actual_speed0 = 0 done delay__15: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor0_direction (data:XX=>XX code:XX=>XX) ; line_number = 583 ; if motor0_direction done ; line_number = 594 ; if motor1_direction start ; (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=5 btfss motor1_direction___byte, motor1_direction___bit goto delay__17 ; # Reverse ; line_number = 596 ; if count2@3 start delay__select__16___byte equ delay__count2 delay__select__16___bit equ 3 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc delay__select__16___byte, delay__select__16___bit ; line_number = 597 ; led3 := 1 bsf led3___byte, led3___bit btfss delay__select__16___byte, delay__select__16___bit ; line_number = 599 ; led3 := 0 bcf led3___byte, led3___bit ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=delay__select__16 (data:XX=>XX code:XX=>XX) ; line_number = 596 ; if count2@3 done goto delay__18 delay__17: ; line_number = 601 ; if actual_speed1 = 0 start ; Left minus Right movf actual_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 __z___byte, __z___bit ; line_number = 602 ; led3 := 0 bcf led3___byte, led3___bit btfss __z___byte, __z___bit ; line_number = 604 ; led3 := 1 bsf led3___byte, led3___bit ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:XX=>XX code:XX=>XX) ; line_number = 601 ; if actual_speed1 = 0 done delay__18: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=motor1_direction (data:XX=>XX code:XX=>XX) ; line_number = 594 ; if motor1_direction done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 607 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 608 ; constant module_name = "\13\DualMotor1Amp" ; module_name = '\13\DualMotor1Amp' ; line_number = 609 ; constant vendor_name = "\7\Gramson" ; vendor_name = '\7\Gramson' ; line_number = 611 ; 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 ; Add 35 NOP's until start of new page nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop 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 = 611 ; 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 ; interrupt_pending := 0 bcf interrupt_pending___byte, interrupt_pending___bit ; line_number = 29 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 30 ; _rcif := 0 bcf _rcif___byte, _rcif___bit ; line_number = 31 ; return _rcreg start ; line_number = 31 movf _rcreg,w return ; line_number = 31 ; return _rcreg done ; delay after procedure statements=non-uniform ; line_number = 34 ; procedure byte_put byte_put: ; Last argument is sitting in W; save into argument variable movwf byte_put__value ; delay=4294967295 ; line_number = 35 ; argument value byte byte_put__value equ globals___0 ; line_number = 36 ; 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 = 42 ; 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 = 43 ; 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 = 42 ; while !_trmt done ; line_number = 44 ; debug := 0 bcf debug___byte, debug___bit ; line_number = 45 ; sent_previous := sent_last movf sent_last,w movwf sent_previous ; line_number = 46 ; sent_last := value movf byte_put__value,w movwf sent_last ; line_number = 47 ; _txreg := value movf byte_put__value,w movwf _txreg ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 50 ; 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 = 51 ; argument baud_rate_index byte baud_rate_low__baud_rate_index equ globals___0+1 ; line_number = 52 ; 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 = 56 ; 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 = 58 ; return _eusart_2400_low start ; line_number = 58 retlw 64 ; line_number = 58 ; return _eusart_2400_low done ; line_number = 60 ; return _eusart_4800_low start ; line_number = 60 retlw 159 ; line_number = 60 ; return _eusart_4800_low done ; line_number = 62 ; return _eusart_9600_low start ; line_number = 62 retlw 207 ; line_number = 62 ; return _eusart_9600_low done ; line_number = 64 ; return _eusart_19200_low start ; line_number = 64 retlw 103 ; line_number = 64 ; return _eusart_19200_low done ; line_number = 66 ; return _eusart_38400_low start ; line_number = 66 retlw 51 ; line_number = 66 ; return _eusart_38400_low done ; line_number = 68 ; return _eusart_57600_low start ; line_number = 68 retlw 33 ; line_number = 68 ; return _eusart_57600_low done ; line_number = 70 ; return _eusart_115200_low start ; line_number = 70 retlw 16 ; line_number = 70 ; return _eusart_115200_low done ; line_number = 72 ; return _eusart_203400_low start ; line_number = 72 retlw 8 ; line_number = 72 ; return _eusart_203400_low done baud_rate_low__10: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 56 ; 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 = 75 ; 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 = 76 ; argument baud_rate_index byte baud_rate_high__baud_rate_index equ globals___0+2 ; line_number = 77 ; 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 = 82 ; 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 = 84 ; return _eusart_2400_high start ; line_number = 84 retlw 3 ; line_number = 84 ; return _eusart_2400_high done ; line_number = 86 ; return _eusart_4800_high start ; line_number = 86 retlw 1 ; line_number = 86 ; return _eusart_4800_high done ; line_number = 88 ; return _eusart_9600_high start ; line_number = 88 retlw 0 ; line_number = 88 ; return _eusart_9600_high done ; line_number = 90 ; return _eusart_19200_high start ; line_number = 90 retlw 0 ; line_number = 90 ; return _eusart_19200_high done ; line_number = 92 ; return _eusart_38400_high start ; line_number = 92 retlw 0 ; line_number = 92 ; return _eusart_38400_high done ; line_number = 94 ; return _eusart_57600_high start ; line_number = 94 retlw 0 ; line_number = 94 ; return _eusart_57600_high done ; line_number = 96 ; return _eusart_115200_high start ; line_number = 96 retlw 0 ; line_number = 96 ; return _eusart_115200_high done ; line_number = 98 ; return _eusart_203400_high start ; line_number = 98 retlw 0 ; line_number = 98 ; return _eusart_203400_high done baud_rate_high__10: ; switch end:(data:00=>00 code:XX=>XX) ; line_number = 82 ; 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=45 Bits=11 Available=33 ; 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