1 radix dec 2 ; Code bank 0; Start address: 0; End address: 4095 3 0000 : org 0 4 5 ; Define start addresses for data regions 6 00000070 = shared___globals equ 112 7 00000020 = globals___0 equ 32 8 000000a0 = globals___1 equ 160 9 00000120 = globals___2 equ 288 10 000001a0 = globals___3 equ 416 11 00000000 = __indf equ 0 12 00000002 = __pcl equ 2 13 00000003 = __status equ 3 14 00000004 = __fsr equ 4 15 00000003 = __c___byte equ 3 16 00000000 = __c___bit equ 0 17 00000003 = __z___byte equ 3 18 00000002 = __z___bit equ 2 19 00000003 = __rp0___byte equ 3 20 00000005 = __rp0___bit equ 5 21 00000003 = __rp1___byte equ 3 22 00000006 = __rp1___bit equ 6 23 00000003 = __irp___byte equ 3 24 00000007 = __irp___bit equ 7 25 0000000a = __pclath equ 10 26 0000000a = __cb0___byte equ 10 27 00000003 = __cb0___bit equ 3 28 0000000a = __cb1___byte equ 10 29 00000004 = __cb1___bit equ 4 30 31 ; # Copyright (c) 2000-2004 by Wayne C. Gramlich & William T. Benson. 32 ; # All rights reserved. 33 34 ; buffer = 'dualmotor1amp' 35 ; line_number = 6 36 ; library _robobricks_pic16f688 entered 37 38 ; # Copyright (c) 2000-2005 by Wayne C. Gramlich and Bill Benson 39 ; # All rights reserved. 40 41 ; buffer = '_robobricks_pic16f688' 42 ; line_number = 6 43 ; library _pic16f688 entered 44 ; # Copyright (c) 2004 by Wayne C. Gramlich 45 ; # All rights reserved. 46 47 ; buffer = '_pic16f688' 48 ; line_number = 5 49 ; processor pic16f688 50 ; line_number = 6 51 ; configure_address 0x2007 52 ; line_number = 7 53 ; configure_fill 0x3000 54 ; line_number = 8 55 ; configure_option fcmen: on = 0x800 56 ; line_number = 9 57 ; configure_option fcmen: off = 0x000 58 ; line_number = 10 59 ; configure_option ieso: on = 0x400 60 ; line_number = 11 61 ; configure_option ieso: off = 0x000 62 ; line_number = 12 63 ; configure_option boden: on = 0x300 64 ; line_number = 13 65 ; configure_option boden: partial = 0x200 66 ; line_number = 14 67 ; configure_option boden: sboden = 0x100 68 ; line_number = 15 69 ; configure_option boden: off = 0x000 70 ; line_number = 16 71 ; configure_option cpd: on = 0x00 72 ; line_number = 17 73 ; configure_option cpd: off = 0x80 74 ; line_number = 18 75 ; configure_option cp: on = 0x00 76 ; line_number = 19 77 ; configure_option cp: off = 0x40 78 ; line_number = 20 79 ; configure_option mclre: on = 0x20 80 ; line_number = 21 81 ; configure_option mclre: off = 0x20 82 ; line_number = 22 83 ; configure_option pwrte: on = 0x00 84 ; line_number = 23 85 ; configure_option pwrte: off = 0x10 86 ; line_number = 24 87 ; configure_option wdte: on = 8 88 ; line_number = 25 89 ; configure_option wdte: off = 0 90 ; line_number = 26 91 ; configure_option fosc: rc_clk = 7 92 ; line_number = 27 93 ; configure_option fosc: rc_no_clk = 6 94 ; line_number = 28 95 ; configure_option fosc: int_clk = 5 96 ; line_number = 29 97 ; configure_option fosc: int_no_clk = 4 98 ; line_number = 30 99 ; configure_option fosc: ec = 3 100 ; line_number = 31 101 ; configure_option fosc: hs = 2 102 ; line_number = 32 103 ; configure_option fosc: xt = 1 104 ; line_number = 33 105 ; configure_option fosc: lp = 0 106 107 ; line_number = 35 108 ; code_bank 0x0 : 0xfff 109 ; line_number = 36 110 ; data_bank 0x0 : 0x7f 111 ; line_number = 37 112 ; data_bank 0x80 : 0xff 113 ; line_number = 38 114 ; data_bank 0x100 : 0x17f 115 ; line_number = 39 116 ; data_bank 0x180 : 0x1ff 117 ; line_number = 40 118 ; global_region 0x20 : 0x6f 119 ; line_number = 41 120 ; global_region 0xa0 : 0xef 121 ; line_number = 42 122 ; global_region 0x120 : 0x16f 123 ; line_number = 43 124 ; global_region 0x1a0 : 0x1ef 125 ; line_number = 44 126 ; shared_region 0x70 : 0x7f 127 ; line_number = 45 128 ; interrupts_possible 129 ; line_number = 46 130 ; packages pdip=14, soic=14, tssop=14 131 ; line_number = 47 132 ; pin vdd, power_supply 133 ; line_number = 48 134 ; pin_bindings pdip=1, soic=1, tssop=1 135 ; line_number = 49 136 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin 137 ; line_number = 50 138 ; pin_bindings pdip=2, soic=2, tssop=2 139 ; line_number = 51 140 ; bind_to _porta@5 141 ; line_number = 52 142 ; or_if ra5_in _trisa 32 143 ; line_number = 53 144 ; or_if ra5_nc _trisa 32 145 ; line_number = 54 146 ; or_if ra5_out _trisa 0 147 ; line_number = 55 148 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout 149 ; line_number = 56 150 ; pin_bindings pdip=3, soic=3, tssop=3 151 ; line_number = 57 152 ; bind_to _porta@4 153 ; line_number = 58 154 ; or_if ra4_in _trisa 16 155 ; line_number = 59 156 ; or_if ra4_nc _trisa 16 157 ; line_number = 60 158 ; or_if ra4_out _trisa 0 159 ; line_number = 61 160 ; or_if an3 _trisa 8 161 ; line_number = 62 162 ; or_if ra4_in _ansel 0 163 ; line_number = 63 164 ; or_if ra4_out _ansel 0 165 ; line_number = 64 166 ; or_if an3 _ansel 8 167 ; line_number = 65 168 ; or_if ra4_in _adcon0 0 169 ; line_number = 66 170 ; or_if ra4_out _adcon0 0 171 ; line_number = 67 172 ; or_if an3 _adcon0 1 173 ; line_number = 68 174 ; pin ra3_in, ra3_nc, mclr, vpp 175 ; line_number = 69 176 ; pin_bindings pdip=4, soic=4, tssop=4 177 ; line_number = 70 178 ; bind_to _porta@4 179 ; line_number = 71 180 ; or_if ra3_in _trisa 8 181 ; line_number = 72 182 ; or_if ra3_nc _trisa 8 183 ; line_number = 73 184 ; pin rc5_in, rc5_nc, rc5_out, rx, dt 185 ; line_number = 74 186 ; pin_bindings pdip=5, soic=5, tssop=5 187 ; line_number = 75 188 ; bind_to _portc@5 189 ; line_number = 76 190 ; or_if rc5_in _trisc 32 191 ; line_number = 77 192 ; or_if rc5_nc _trisc 32 193 ; line_number = 78 194 ; or_if rc5_out _trisc 0 195 ; line_number = 79 196 ; or_if rx _trisc 32 197 ; line_number = 80 198 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck 199 ; line_number = 81 200 ; pin_bindings pdip=6, soic=6, tssop=6 201 ; line_number = 82 202 ; bind_to _portc@4 203 ; line_number = 83 204 ; or_if rc4_in _trisc 16 205 ; line_number = 84 206 ; or_if rc4_nc _trisc 16 207 ; line_number = 85 208 ; or_if rc4_out _trisc 0 209 ; # The UART documentation says TX must be marked as in input: 210 ; line_number = 87 211 ; or_if tx _trisc 16 212 ; line_number = 88 213 ; pin rc3_in, rc3_nc, rc3_out, an7 214 ; line_number = 89 215 ; pin_bindings pdip=7, soic=7, tssop=7 216 ; line_number = 90 217 ; bind_to _portc@3 218 ; line_number = 91 219 ; or_if rc3_in _trisc 8 220 ; line_number = 92 221 ; or_if rc3_nc _trisc 8 222 ; line_number = 93 223 ; or_if rc3_out _trisc 0 224 ; line_number = 94 225 ; or_if an7 _trisc 8 226 ; line_number = 95 227 ; or_if rc3_in _ansel 0 228 ; line_number = 96 229 ; or_if rc3_out _ansel 0 230 ; line_number = 97 231 ; or_if an7 _ansel 128 232 ; line_number = 98 233 ; or_if rc3_in _adcon0 0 234 ; line_number = 99 235 ; or_if rc3_out _adcon0 0 236 ; line_number = 100 237 ; or_if an7 _adcon0 1 238 ; line_number = 101 239 ; pin rc2_in, rc2_nc, rc2_out, an6 240 ; line_number = 102 241 ; pin_bindings pdip=8, soic=8, tssop=8 242 ; line_number = 103 243 ; bind_to _portc@2 244 ; line_number = 104 245 ; or_if rc2_in _trisc 4 246 ; line_number = 105 247 ; or_if rc2_nc _trisc 4 248 ; line_number = 106 249 ; or_if rc2_out _trisc 0 250 ; line_number = 107 251 ; or_if an6 _trisc 4 252 ; line_number = 108 253 ; or_if rc2_in _ansel 0 254 ; line_number = 109 255 ; or_if rc2_out _ansel 0 256 ; line_number = 110 257 ; or_if an6 _ansel 64 258 ; line_number = 111 259 ; or_if rc2_in _adcon0 0 260 ; line_number = 112 261 ; or_if rc2_out _adcon0 0 262 ; line_number = 113 263 ; or_if an6 _adcon0 1 264 ; line_number = 114 265 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus 266 ; line_number = 115 267 ; pin_bindings pdip=9, soic=9, tssop=9 268 ; line_number = 116 269 ; bind_to _portc@1 270 ; line_number = 117 271 ; or_if rc1_in _trisc 2 272 ; line_number = 118 273 ; or_if rc1_nc _trisc 2 274 ; line_number = 119 275 ; or_if rc1_out _trisc 0 276 ; line_number = 120 277 ; or_if rc1_in _cmcon0 7 278 ; line_number = 121 279 ; or_if rc1_out _cmcon0 7 280 ; line_number = 122 281 ; or_if an5 _trisc 2 282 ; line_number = 123 283 ; or_if rc1_in _ansel 0 284 ; line_number = 124 285 ; or_if rc1_out _ansel 0 286 ; line_number = 125 287 ; or_if an5 _ansel 32 288 ; line_number = 126 289 ; or_if rc1_in _adcon0 0 290 ; line_number = 127 291 ; or_if rc1_out _adcon0 0 292 ; line_number = 128 293 ; or_if an5 _adcon0 1 294 ; line_number = 129 295 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus 296 ; line_number = 130 297 ; pin_bindings pdip=10, soic=10, tssop=10 298 ; line_number = 131 299 ; bind_to _portc@0 300 ; line_number = 132 301 ; or_if rc0_in _trisc 1 302 ; line_number = 133 303 ; or_if rc0_nc _trisc 1 304 ; line_number = 134 305 ; or_if rc0_out _trisc 0 306 ; line_number = 135 307 ; or_if rc0_in _cmcon0 7 308 ; line_number = 136 309 ; or_if rc0_out _cmcon0 7 310 ; line_number = 137 311 ; or_if an4 _trisc 1 312 ; line_number = 138 313 ; or_if rc0_in _ansel 0 314 ; line_number = 139 315 ; or_if rc0_out _ansel 0 316 ; line_number = 140 317 ; or_if an4 _ansel 16 318 ; line_number = 141 319 ; or_if rc0_in _adcon0 0 320 ; line_number = 142 321 ; or_if rc0_out _adcon0 0 322 ; line_number = 143 323 ; or_if an4 _adcon0 1 324 ; line_number = 144 325 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int 326 ; line_number = 145 327 ; pin_bindings pdip=11, soic=11, tssop=11 328 ; line_number = 146 329 ; bind_to _porta@2 330 ; line_number = 147 331 ; or_if ra2_in _trisa 4 332 ; line_number = 148 333 ; or_if ra2_nc _trisa 4 334 ; line_number = 149 335 ; or_if ra2_out _trisa 0 336 ; line_number = 150 337 ; or_if an2 _trisa 4 338 ; line_number = 151 339 ; or_if ra2_in _ansel 0 340 ; line_number = 152 341 ; or_if ra2_out _ansel 0 342 ; line_number = 153 343 ; or_if an2 _ansel 4 344 ; line_number = 154 345 ; or_if ra2_in _adcon0 0 346 ; line_number = 155 347 ; or_if ra2_out _adcon0 0 348 ; line_number = 156 349 ; or_if an2 _adcon0 1 350 ; line_number = 157 351 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk 352 ; line_number = 158 353 ; pin_bindings pdip=12, soic=12, tssop=12 354 ; line_number = 159 355 ; bind_to _porta@1 356 ; line_number = 160 357 ; or_if ra1_in _trisa 2 358 ; line_number = 161 359 ; or_if ra1_nc _trisa 2 360 ; line_number = 162 361 ; or_if ra1_out _trisa 0 362 ; line_number = 163 363 ; or_if ra1_in _cmcon0 7 364 ; line_number = 164 365 ; or_if ra1_out _cmcon0 7 366 ; line_number = 165 367 ; or_if an1 _trisa 2 368 ; line_number = 166 369 ; or_if ra1_in _ansel 0 370 ; line_number = 167 371 ; or_if ra1_out _ansel 0 372 ; line_number = 168 373 ; or_if an1 _ansel 2 374 ; line_number = 169 375 ; or_if ra1_in _adcon0 0 376 ; line_number = 170 377 ; or_if ra1_out _adcon0 0 378 ; line_number = 171 379 ; or_if an1 _adcon0 1 380 ; line_number = 172 381 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu 382 ; line_number = 173 383 ; pin_bindings pdip=13, soic=13, tssop=13 384 ; line_number = 174 385 ; bind_to _porta@0 386 ; line_number = 175 387 ; or_if ra0_in _trisa 1 388 ; line_number = 176 389 ; or_if ra0_nc _trisa 1 390 ; line_number = 177 391 ; or_if ra0_out _trisa 0 392 ; line_number = 178 393 ; or_if ra0_in _cmcon0 7 394 ; line_number = 179 395 ; or_if ra0_out _cmcon0 7 396 ; line_number = 180 397 ; or_if an0 _trisa 1 398 ; line_number = 181 399 ; or_if ra0_in _ansel 0 400 ; line_number = 182 401 ; or_if ra0_out _ansel 0 402 ; line_number = 183 403 ; or_if an0 _ansel 1 404 ; line_number = 184 405 ; or_if ra0_in _adcon0 0 406 ; line_number = 185 407 ; or_if ra0_out _adcon0 0 408 ; line_number = 186 409 ; or_if an0 _adcon0 1 410 ; line_number = 187 411 ; pin vss, ground 412 ; line_number = 188 413 ; pin_bindings pdip=14, soic=14, tssop=14 414 415 416 ; # Register/bit bindings: 417 418 ; # Databank 0 (0x0 - 0x7f): 419 420 ; line_number = 197 421 ; register _indf = 422 00000000 = _indf equ 0 423 424 ; line_number = 199 425 ; register _tmr0 = 426 00000001 = _tmr0 equ 1 427 428 ; line_number = 201 429 ; register _pcl = 430 00000002 = _pcl equ 2 431 432 ; line_number = 203 433 ; register _status = 434 00000003 = _status equ 3 435 ; line_number = 204 436 ; bind _irp = _status@7 437 00000003 = _irp___byte equ _status 438 00000007 = _irp___bit equ 7 439 ; line_number = 205 440 ; bind _rp1 = _status@5 441 00000003 = _rp1___byte equ _status 442 00000005 = _rp1___bit equ 5 443 ; line_number = 206 444 ; bind _rp0 = _status@5 445 00000003 = _rp0___byte equ _status 446 00000005 = _rp0___bit equ 5 447 ; line_number = 207 448 ; bind _to = _status@4 449 00000003 = _to___byte equ _status 450 00000004 = _to___bit equ 4 451 ; line_number = 208 452 ; bind _pd = _status@3 453 00000003 = _pd___byte equ _status 454 00000003 = _pd___bit equ 3 455 ; line_number = 209 456 ; bind _z = _status@2 457 00000003 = _z___byte equ _status 458 00000002 = _z___bit equ 2 459 ; line_number = 210 460 ; bind _dc = _status@1 461 00000003 = _dc___byte equ _status 462 00000001 = _dc___bit equ 1 463 ; line_number = 211 464 ; bind _c = _status@0 465 00000003 = _c___byte equ _status 466 00000000 = _c___bit equ 0 467 468 ; line_number = 213 469 ; register _fsr = 470 00000004 = _fsr equ 4 471 472 ; line_number = 215 473 ; register _porta = 474 00000005 = _porta equ 5 475 ; line_number = 216 476 ; register _ra = 477 00000005 = _ra equ 5 478 ; line_number = 217 479 ; bind _ra5 = _porta@5 480 00000005 = _ra5___byte equ _porta 481 00000005 = _ra5___bit equ 5 482 ; line_number = 218 483 ; bind _ra4 = _porta@4 484 00000005 = _ra4___byte equ _porta 485 00000004 = _ra4___bit equ 4 486 ; line_number = 219 487 ; bind _ra3 = _porta@3 488 00000005 = _ra3___byte equ _porta 489 00000003 = _ra3___bit equ 3 490 ; line_number = 220 491 ; bind _ra2 = _porta@2 492 00000005 = _ra2___byte equ _porta 493 00000002 = _ra2___bit equ 2 494 ; line_number = 221 495 ; bind _ra1 = _porta@1 496 00000005 = _ra1___byte equ _porta 497 00000001 = _ra1___bit equ 1 498 ; line_number = 222 499 ; bind _ra0 = _porta@0 500 00000005 = _ra0___byte equ _porta 501 00000000 = _ra0___bit equ 0 502 503 ; line_number = 224 504 ; register _portc = 505 00000007 = _portc equ 7 506 ; line_number = 225 507 ; register _rc = 508 00000007 = _rc equ 7 509 ; line_number = 226 510 ; bind _rc5 = _portc@5 511 00000007 = _rc5___byte equ _portc 512 00000005 = _rc5___bit equ 5 513 ; line_number = 227 514 ; bind _rc4 = _portc@4 515 00000007 = _rc4___byte equ _portc 516 00000004 = _rc4___bit equ 4 517 ; line_number = 228 518 ; bind _rc3 = _portc@3 519 00000007 = _rc3___byte equ _portc 520 00000003 = _rc3___bit equ 3 521 ; line_number = 229 522 ; bind _rc2 = _portc@2 523 00000007 = _rc2___byte equ _portc 524 00000002 = _rc2___bit equ 2 525 ; line_number = 230 526 ; bind _rc1 = _portc@1 527 00000007 = _rc1___byte equ _portc 528 00000001 = _rc1___bit equ 1 529 ; line_number = 231 530 ; bind _rc0 = _portc@0 531 00000007 = _rc0___byte equ _portc 532 00000000 = _rc0___bit equ 0 533 534 ; line_number = 233 535 ; register _pclath = 536 0000000a = _pclath equ 10 537 538 ; line_number = 235 539 ; register _intcon = 540 0000000b = _intcon equ 11 541 ; line_number = 236 542 ; bind _gie = _intcon@7 543 0000000b = _gie___byte equ _intcon 544 00000007 = _gie___bit equ 7 545 ; line_number = 237 546 ; bind _peie = _intcon@6 547 0000000b = _peie___byte equ _intcon 548 00000006 = _peie___bit equ 6 549 ; line_number = 238 550 ; bind _t0ie = _intcon@5 551 0000000b = _t0ie___byte equ _intcon 552 00000005 = _t0ie___bit equ 5 553 ; line_number = 239 554 ; bind _inte = _intcon@4 555 0000000b = _inte___byte equ _intcon 556 00000004 = _inte___bit equ 4 557 ; line_number = 240 558 ; bind _raie = _intcon@3 559 0000000b = _raie___byte equ _intcon 560 00000003 = _raie___bit equ 3 561 ; line_number = 241 562 ; bind _t0if = _intcon@2 563 0000000b = _t0if___byte equ _intcon 564 00000002 = _t0if___bit equ 2 565 ; line_number = 242 566 ; bind _intf = _intcon@1 567 0000000b = _intf___byte equ _intcon 568 00000001 = _intf___bit equ 1 569 ; line_number = 243 570 ; bind _raif = _intcon@0 571 0000000b = _raif___byte equ _intcon 572 00000000 = _raif___bit equ 0 573 574 ; line_number = 245 575 ; register _pir1 = 576 0000000c = _pir1 equ 12 577 ; line_number = 246 578 ; bind _eeif = _pir1@7 579 0000000c = _eeif___byte equ _pir1 580 00000007 = _eeif___bit equ 7 581 ; line_number = 247 582 ; bind _adif = _pir1@6 583 0000000c = _adif___byte equ _pir1 584 00000006 = _adif___bit equ 6 585 ; line_number = 248 586 ; bind _rcif = _pir1@5 587 0000000c = _rcif___byte equ _pir1 588 00000005 = _rcif___bit equ 5 589 ; line_number = 249 590 ; bind _c2if = _pir1@4 591 0000000c = _c2if___byte equ _pir1 592 00000004 = _c2if___bit equ 4 593 ; line_number = 250 594 ; bind _c1if = _pir1@3 595 0000000c = _c1if___byte equ _pir1 596 00000003 = _c1if___bit equ 3 597 ; line_number = 251 598 ; bind _osfif = _pir1@2 599 0000000c = _osfif___byte equ _pir1 600 00000002 = _osfif___bit equ 2 601 ; line_number = 252 602 ; bind _txif = _pir1@1 603 0000000c = _txif___byte equ _pir1 604 00000001 = _txif___bit equ 1 605 ; line_number = 253 606 ; bind _tmr1if = _pir1@0 607 0000000c = _tmr1if___byte equ _pir1 608 00000000 = _tmr1if___bit equ 0 609 610 ; line_number = 255 611 ; register _tmr1l = 612 0000000e = _tmr1l equ 14 613 614 ; line_number = 257 615 ; register _tmr1h = 616 0000000f = _tmr1h equ 15 617 618 ; line_number = 259 619 ; register _t1con = 620 00000010 = _t1con equ 16 621 ; line_number = 260 622 ; bind t1ginv = _t1con@7 623 00000010 = t1ginv___byte equ _t1con 624 00000007 = t1ginv___bit equ 7 625 ; line_number = 261 626 ; bind _tmr1ge = _t1con@6 627 00000010 = _tmr1ge___byte equ _t1con 628 00000006 = _tmr1ge___bit equ 6 629 ; line_number = 262 630 ; bind _t1ckps1 = _t1con@5 631 00000010 = _t1ckps1___byte equ _t1con 632 00000005 = _t1ckps1___bit equ 5 633 ; line_number = 263 634 ; bind _t1ckps0 = _t1con@4 635 00000010 = _t1ckps0___byte equ _t1con 636 00000004 = _t1ckps0___bit equ 4 637 ; line_number = 264 638 ; bind _t1oscen = _t1con@3 639 00000010 = _t1oscen___byte equ _t1con 640 00000003 = _t1oscen___bit equ 3 641 ; line_number = 265 642 ; bind _t1sync = _t1con@2 643 00000010 = _t1sync___byte equ _t1con 644 00000002 = _t1sync___bit equ 2 645 ; line_number = 266 646 ; bind _tmr1cs = _t1con@1 647 00000010 = _tmr1cs___byte equ _t1con 648 00000001 = _tmr1cs___bit equ 1 649 ; line_number = 267 650 ; bind _tmr1on = _t1con@0 651 00000010 = _tmr1on___byte equ _t1con 652 00000000 = _tmr1on___bit equ 0 653 654 ; line_number = 269 655 ; register _baudctl = 656 00000011 = _baudctl equ 17 657 ; line_number = 270 658 ; bind _abdovf = _baudctl@7 659 00000011 = _abdovf___byte equ _baudctl 660 00000007 = _abdovf___bit equ 7 661 ; line_number = 271 662 ; bind _rcidl = _baudctl@6 663 00000011 = _rcidl___byte equ _baudctl 664 00000006 = _rcidl___bit equ 6 665 ; line_number = 272 666 ; bind _sckp = _baudctl@4 667 00000011 = _sckp___byte equ _baudctl 668 00000004 = _sckp___bit equ 4 669 ; line_number = 273 670 ; bind _brg16 = _baudctl@3 671 00000011 = _brg16___byte equ _baudctl 672 00000003 = _brg16___bit equ 3 673 ; line_number = 274 674 ; bind _wue = _baudctl@1 675 00000011 = _wue___byte equ _baudctl 676 00000001 = _wue___bit equ 1 677 ; line_number = 275 678 ; bind _abden = _baudctl@0 679 00000011 = _abden___byte equ _baudctl 680 00000000 = _abden___bit equ 0 681 682 ; line_number = 277 683 ; register _spbrgh = 684 00000012 = _spbrgh equ 18 685 686 ; line_number = 279 687 ; register _spbrg = 688 00000013 = _spbrg equ 19 689 690 ; line_number = 281 691 ; register _rcreg = 692 00000014 = _rcreg equ 20 693 694 ; line_number = 283 695 ; register _txreg = 696 00000015 = _txreg equ 21 697 698 ; line_number = 285 699 ; register _txsta = 700 00000016 = _txsta equ 22 701 ; line_number = 286 702 ; bind _csrc = _txsta@7 703 00000016 = _csrc___byte equ _txsta 704 00000007 = _csrc___bit equ 7 705 ; line_number = 287 706 ; bind _tx9 = _txsta@6 707 00000016 = _tx9___byte equ _txsta 708 00000006 = _tx9___bit equ 6 709 ; line_number = 288 710 ; bind _txen = _txsta@5 711 00000016 = _txen___byte equ _txsta 712 00000005 = _txen___bit equ 5 713 ; line_number = 289 714 ; bind _sync = _txsta@4 715 00000016 = _sync___byte equ _txsta 716 00000004 = _sync___bit equ 4 717 ; line_number = 290 718 ; bind _sendb = _txsta@3 719 00000016 = _sendb___byte equ _txsta 720 00000003 = _sendb___bit equ 3 721 ; line_number = 291 722 ; bind _brgh = _txsta@2 723 00000016 = _brgh___byte equ _txsta 724 00000002 = _brgh___bit equ 2 725 ; line_number = 292 726 ; bind _trmt = _txsta@1 727 00000016 = _trmt___byte equ _txsta 728 00000001 = _trmt___bit equ 1 729 ; line_number = 293 730 ; bind _tx9d = _txsta@7 731 00000016 = _tx9d___byte equ _txsta 732 00000007 = _tx9d___bit equ 7 733 734 ; line_number = 295 735 ; register _rcsta = 736 00000017 = _rcsta equ 23 737 ; line_number = 296 738 ; bind _spen = _rcsta@7 739 00000017 = _spen___byte equ _rcsta 740 00000007 = _spen___bit equ 7 741 ; line_number = 297 742 ; bind _rx9 = _rcsta@6 743 00000017 = _rx9___byte equ _rcsta 744 00000006 = _rx9___bit equ 6 745 ; line_number = 298 746 ; bind _sren = _rcsta@5 747 00000017 = _sren___byte equ _rcsta 748 00000005 = _sren___bit equ 5 749 ; line_number = 299 750 ; bind _cren = _rcsta@4 751 00000017 = _cren___byte equ _rcsta 752 00000004 = _cren___bit equ 4 753 ; line_number = 300 754 ; bind _adden = _rcsta@3 755 00000017 = _adden___byte equ _rcsta 756 00000003 = _adden___bit equ 3 757 ; line_number = 301 758 ; bind _ferr = _rcsta@2 759 00000017 = _ferr___byte equ _rcsta 760 00000002 = _ferr___bit equ 2 761 ; line_number = 302 762 ; bind _oerr = _rcsta@1 763 00000017 = _oerr___byte equ _rcsta 764 00000001 = _oerr___bit equ 1 765 ; line_number = 303 766 ; bind _rx9d = _rcsta@0 767 00000017 = _rx9d___byte equ _rcsta 768 00000000 = _rx9d___bit equ 0 769 770 ; line_number = 305 771 ; register _wdtcon = 772 00000018 = _wdtcon equ 24 773 ; line_number = 306 774 ; bind _wdtps3 = _wdtcon@4 775 00000018 = _wdtps3___byte equ _wdtcon 776 00000004 = _wdtps3___bit equ 4 777 ; line_number = 307 778 ; bind _wdtps2 = _wdtcon@3 779 00000018 = _wdtps2___byte equ _wdtcon 780 00000003 = _wdtps2___bit equ 3 781 ; line_number = 308 782 ; bind _wdtps1 = _wdtcon@2 783 00000018 = _wdtps1___byte equ _wdtcon 784 00000002 = _wdtps1___bit equ 2 785 ; line_number = 309 786 ; bind _wdtps0 = _wdtcon@1 787 00000018 = _wdtps0___byte equ _wdtcon 788 00000001 = _wdtps0___bit equ 1 789 ; line_number = 310 790 ; bind _swdten = _wdtcon@0 791 00000018 = _swdten___byte equ _wdtcon 792 00000000 = _swdten___bit equ 0 793 794 ; line_number = 312 795 ; register _cmcon0 = 796 00000019 = _cmcon0 equ 25 797 ; line_number = 313 798 ; bind _c1out = _cmcon0@7 799 00000019 = _c1out___byte equ _cmcon0 800 00000007 = _c1out___bit equ 7 801 ; line_number = 314 802 ; bind _c2out = _cmcon0@6 803 00000019 = _c2out___byte equ _cmcon0 804 00000006 = _c2out___bit equ 6 805 ; line_number = 315 806 ; bind _c1inv = _cmcon0@5 807 00000019 = _c1inv___byte equ _cmcon0 808 00000005 = _c1inv___bit equ 5 809 ; line_number = 316 810 ; bind _c2inv = _cmcon0@4 811 00000019 = _c2inv___byte equ _cmcon0 812 00000004 = _c2inv___bit equ 4 813 ; line_number = 317 814 ; bind _cis = _cmcon0@3 815 00000019 = _cis___byte equ _cmcon0 816 00000003 = _cis___bit equ 3 817 ; line_number = 318 818 ; bind _cm2 = _cmcon0@2 819 00000019 = _cm2___byte equ _cmcon0 820 00000002 = _cm2___bit equ 2 821 ; line_number = 319 822 ; bind _cm1 = _cmcon0@1 823 00000019 = _cm1___byte equ _cmcon0 824 00000001 = _cm1___bit equ 1 825 ; line_number = 320 826 ; bind _cm0 = _cmcon0@0 827 00000019 = _cm0___byte equ _cmcon0 828 00000000 = _cm0___bit equ 0 829 830 ; line_number = 322 831 ; register _cmcon1 = 832 0000001a = _cmcon1 equ 26 833 ; line_number = 323 834 ; bind _t1gss = _cmcon1@0 835 0000001a = _t1gss___byte equ _cmcon1 836 00000000 = _t1gss___bit equ 0 837 ; line_number = 324 838 ; bind _c2sync = _cmcon1@1 839 0000001a = _c2sync___byte equ _cmcon1 840 00000001 = _c2sync___bit equ 1 841 842 ; line_number = 326 843 ; register _adresh = 844 0000001e = _adresh equ 30 845 846 ; line_number = 328 847 ; register _adcon0 = 848 0000001f = _adcon0 equ 31 849 ; line_number = 329 850 ; bind _adfm = _adcon0@7 851 0000001f = _adfm___byte equ _adcon0 852 00000007 = _adfm___bit equ 7 853 ; line_number = 330 854 ; bind _vcfg = _adcon0@6 855 0000001f = _vcfg___byte equ _adcon0 856 00000006 = _vcfg___bit equ 6 857 ; line_number = 331 858 ; bind _chs2 = _adcon0@4 859 0000001f = _chs2___byte equ _adcon0 860 00000004 = _chs2___bit equ 4 861 ; line_number = 332 862 ; bind _chs1 = _adcon0@3 863 0000001f = _chs1___byte equ _adcon0 864 00000003 = _chs1___bit equ 3 865 ; line_number = 333 866 ; bind _chs0 = _adcon0@2 867 0000001f = _chs0___byte equ _adcon0 868 00000002 = _chs0___bit equ 2 869 ; line_number = 334 870 ; bind _go = _adcon0@1 871 0000001f = _go___byte equ _adcon0 872 00000001 = _go___bit equ 1 873 ; line_number = 335 874 ; bind _adon = _adcon0@0 875 0000001f = _adon___byte equ _adcon0 876 00000000 = _adon___bit equ 0 877 878 ; # Data bank 1 (0x80-0xff): 879 880 ; line_number = 339 881 ; register _option_reg = 882 00000081 = _option_reg equ 129 883 ; line_number = 340 884 ; bind _rapu = _option_reg@7 885 00000081 = _rapu___byte equ _option_reg 886 00000007 = _rapu___bit equ 7 887 ; line_number = 341 888 ; bind _intedg = _option_reg@6 889 00000081 = _intedg___byte equ _option_reg 890 00000006 = _intedg___bit equ 6 891 ; line_number = 342 892 ; bind _t0cs = _option_reg@5 893 00000081 = _t0cs___byte equ _option_reg 894 00000005 = _t0cs___bit equ 5 895 ; line_number = 343 896 ; bind _t0se = _option_reg@4 897 00000081 = _t0se___byte equ _option_reg 898 00000004 = _t0se___bit equ 4 899 ; line_number = 344 900 ; bind _psa = _option_reg@3 901 00000081 = _psa___byte equ _option_reg 902 00000003 = _psa___bit equ 3 903 ; line_number = 345 904 ; bind _ps2 = _option_reg@2 905 00000081 = _ps2___byte equ _option_reg 906 00000002 = _ps2___bit equ 2 907 ; line_number = 346 908 ; bind _ps1 = _option_reg@1 909 00000081 = _ps1___byte equ _option_reg 910 00000001 = _ps1___bit equ 1 911 ; line_number = 347 912 ; bind _ps0 = _option_reg@0 913 00000081 = _ps0___byte equ _option_reg 914 00000000 = _ps0___bit equ 0 915 916 ; line_number = 349 917 ; register _trisa = 918 00000085 = _trisa equ 133 919 ; line_number = 350 920 ; bind _trisa5 = _trisa@5 921 00000085 = _trisa5___byte equ _trisa 922 00000005 = _trisa5___bit equ 5 923 ; line_number = 351 924 ; bind _trisa4 = _trisa@4 925 00000085 = _trisa4___byte equ _trisa 926 00000004 = _trisa4___bit equ 4 927 ; line_number = 352 928 ; bind _trisa3 = _trisa@3 929 00000085 = _trisa3___byte equ _trisa 930 00000003 = _trisa3___bit equ 3 931 ; line_number = 353 932 ; bind _trisa2 = _trisa@2 933 00000085 = _trisa2___byte equ _trisa 934 00000002 = _trisa2___bit equ 2 935 ; line_number = 354 936 ; bind _trisa1 = _trisa@1 937 00000085 = _trisa1___byte equ _trisa 938 00000001 = _trisa1___bit equ 1 939 ; line_number = 355 940 ; bind _trisa0 = _trisa@0 941 00000085 = _trisa0___byte equ _trisa 942 00000000 = _trisa0___bit equ 0 943 944 ; line_number = 357 945 ; register _trisc = 946 00000087 = _trisc equ 135 947 ; line_number = 358 948 ; bind _trisc5 = _trisc@5 949 00000087 = _trisc5___byte equ _trisc 950 00000005 = _trisc5___bit equ 5 951 ; line_number = 359 952 ; bind _trisc4 = _trisc@4 953 00000087 = _trisc4___byte equ _trisc 954 00000004 = _trisc4___bit equ 4 955 ; line_number = 360 956 ; bind _trisc3 = _trisc@3 957 00000087 = _trisc3___byte equ _trisc 958 00000003 = _trisc3___bit equ 3 959 ; line_number = 361 960 ; bind _trisc2 = _trisc@2 961 00000087 = _trisc2___byte equ _trisc 962 00000002 = _trisc2___bit equ 2 963 ; line_number = 362 964 ; bind _trisc1 = _trisc@1 965 00000087 = _trisc1___byte equ _trisc 966 00000001 = _trisc1___bit equ 1 967 ; line_number = 363 968 ; bind _trisc0 = _trisc@0 969 00000087 = _trisc0___byte equ _trisc 970 00000000 = _trisc0___bit equ 0 971 972 ; line_number = 365 973 ; register _pie1 = 974 0000008c = _pie1 equ 140 975 ; line_number = 366 976 ; bind _eeie = _pie1@7 977 0000008c = _eeie___byte equ _pie1 978 00000007 = _eeie___bit equ 7 979 ; line_number = 367 980 ; bind _adie = _pie1@6 981 0000008c = _adie___byte equ _pie1 982 00000006 = _adie___bit equ 6 983 ; line_number = 368 984 ; bind _rcie = _pie1@5 985 0000008c = _rcie___byte equ _pie1 986 00000005 = _rcie___bit equ 5 987 ; line_number = 369 988 ; bind _c2ie = _pie1@4 989 0000008c = _c2ie___byte equ _pie1 990 00000004 = _c2ie___bit equ 4 991 ; line_number = 370 992 ; bind _c1ie = _pie1@3 993 0000008c = _c1ie___byte equ _pie1 994 00000003 = _c1ie___bit equ 3 995 ; line_number = 371 996 ; bind _osfie = _pie1@2 997 0000008c = _osfie___byte equ _pie1 998 00000002 = _osfie___bit equ 2 999 ; line_number = 372 1000 ; bind _txie = _pie1@1 1001 0000008c = _txie___byte equ _pie1 1002 00000001 = _txie___bit equ 1 1003 ; line_number = 373 1004 ; bind _tmr1ie = _pie1@0 1005 0000008c = _tmr1ie___byte equ _pie1 1006 00000000 = _tmr1ie___bit equ 0 1007 1008 ; line_number = 375 1009 ; register _pcon = 1010 0000008e = _pcon equ 142 1011 ; line_number = 376 1012 ; bind _ulpwue = _pcon@5 1013 0000008e = _ulpwue___byte equ _pcon 1014 00000005 = _ulpwue___bit equ 5 1015 ; line_number = 377 1016 ; bind _sboden = _pcon@4 1017 0000008e = _sboden___byte equ _pcon 1018 00000004 = _sboden___bit equ 4 1019 ; line_number = 378 1020 ; bind _por = _pcon@1 1021 0000008e = _por___byte equ _pcon 1022 00000001 = _por___bit equ 1 1023 ; line_number = 379 1024 ; bind _bod = _pcon@0 1025 0000008e = _bod___byte equ _pcon 1026 00000000 = _bod___bit equ 0 1027 1028 ; line_number = 381 1029 ; register _osccon = 1030 0000008f = _osccon equ 143 1031 ; line_number = 382 1032 ; bind _ircf2 = _osccon@6 1033 0000008f = _ircf2___byte equ _osccon 1034 00000006 = _ircf2___bit equ 6 1035 ; line_number = 383 1036 ; bind _ircf1 = _osccon@5 1037 0000008f = _ircf1___byte equ _osccon 1038 00000005 = _ircf1___bit equ 5 1039 ; line_number = 384 1040 ; bind _ircf0 = _osccon@4 1041 0000008f = _ircf0___byte equ _osccon 1042 00000004 = _ircf0___bit equ 4 1043 ; line_number = 385 1044 ; bind _osts = _osccon@3 1045 0000008f = _osts___byte equ _osccon 1046 00000003 = _osts___bit equ 3 1047 ; line_number = 386 1048 ; bind _hts = _osccon@2 1049 0000008f = _hts___byte equ _osccon 1050 00000002 = _hts___bit equ 2 1051 ; line_number = 387 1052 ; bind _lts = _osccon@3 1053 0000008f = _lts___byte equ _osccon 1054 00000003 = _lts___bit equ 3 1055 ; line_number = 388 1056 ; bind _scs = _osccon@2 1057 0000008f = _scs___byte equ _osccon 1058 00000002 = _scs___bit equ 2 1059 1060 ; line_number = 390 1061 ; register _osctune = 1062 00000090 = _osctune equ 144 1063 ; line_number = 391 1064 ; bind _tun4 = _osctune@4 1065 00000090 = _tun4___byte equ _osctune 1066 00000004 = _tun4___bit equ 4 1067 ; line_number = 392 1068 ; bind _tun3 = _osctune@3 1069 00000090 = _tun3___byte equ _osctune 1070 00000003 = _tun3___bit equ 3 1071 ; line_number = 393 1072 ; bind _tun2 = _osctune@2 1073 00000090 = _tun2___byte equ _osctune 1074 00000002 = _tun2___bit equ 2 1075 ; line_number = 394 1076 ; bind _tun1 = _osctune@1 1077 00000090 = _tun1___byte equ _osctune 1078 00000001 = _tun1___bit equ 1 1079 ; line_number = 395 1080 ; bind _tun0 = _osctune@0 1081 00000090 = _tun0___byte equ _osctune 1082 00000000 = _tun0___bit equ 0 1083 ; line_number = 396 1084 ; constant _osccal_lsb = 1 1085 00000001 = _osccal_lsb equ 1 1086 1087 ; line_number = 398 1088 ; register _ansel = 1089 00000091 = _ansel equ 145 1090 ; line_number = 399 1091 ; bind _ans7 = _ansel@7 1092 00000091 = _ans7___byte equ _ansel 1093 00000007 = _ans7___bit equ 7 1094 ; line_number = 400 1095 ; bind _ans6 = _ansel@6 1096 00000091 = _ans6___byte equ _ansel 1097 00000006 = _ans6___bit equ 6 1098 ; line_number = 401 1099 ; bind _ans5 = _ansel@5 1100 00000091 = _ans5___byte equ _ansel 1101 00000005 = _ans5___bit equ 5 1102 ; line_number = 402 1103 ; bind _ans4 = _ansel@4 1104 00000091 = _ans4___byte equ _ansel 1105 00000004 = _ans4___bit equ 4 1106 ; line_number = 403 1107 ; bind _ans3 = _ansel@3 1108 00000091 = _ans3___byte equ _ansel 1109 00000003 = _ans3___bit equ 3 1110 ; line_number = 404 1111 ; bind _ans2 = _ansel@2 1112 00000091 = _ans2___byte equ _ansel 1113 00000002 = _ans2___bit equ 2 1114 ; line_number = 405 1115 ; bind _ans1 = _ansel@1 1116 00000091 = _ans1___byte equ _ansel 1117 00000001 = _ans1___bit equ 1 1118 ; line_number = 406 1119 ; bind _ans0 = _ansel@0 1120 00000091 = _ans0___byte equ _ansel 1121 00000000 = _ans0___bit equ 0 1122 1123 ; line_number = 408 1124 ; register _wpua = 1125 00000095 = _wpua equ 149 1126 ; line_number = 409 1127 ; bind _wpua5 = _wpua@5 1128 00000095 = _wpua5___byte equ _wpua 1129 00000005 = _wpua5___bit equ 5 1130 ; line_number = 410 1131 ; bind _wpua4 = _wpua@4 1132 00000095 = _wpua4___byte equ _wpua 1133 00000004 = _wpua4___bit equ 4 1134 ; line_number = 411 1135 ; bind _wpua2 = _wpua@2 1136 00000095 = _wpua2___byte equ _wpua 1137 00000002 = _wpua2___bit equ 2 1138 ; line_number = 412 1139 ; bind _wpua1 = _wpua@1 1140 00000095 = _wpua1___byte equ _wpua 1141 00000001 = _wpua1___bit equ 1 1142 ; line_number = 413 1143 ; bind _wpua0 = _wpua@0 1144 00000095 = _wpua0___byte equ _wpua 1145 00000000 = _wpua0___bit equ 0 1146 1147 ; line_number = 415 1148 ; register _ioca = 1149 00000096 = _ioca equ 150 1150 ; line_number = 416 1151 ; bind _ioca5 = _ioca@5 1152 00000096 = _ioca5___byte equ _ioca 1153 00000005 = _ioca5___bit equ 5 1154 ; line_number = 417 1155 ; bind _ioca4 = _ioca@4 1156 00000096 = _ioca4___byte equ _ioca 1157 00000004 = _ioca4___bit equ 4 1158 ; line_number = 418 1159 ; bind _ioca3 = _ioca@3 1160 00000096 = _ioca3___byte equ _ioca 1161 00000003 = _ioca3___bit equ 3 1162 ; line_number = 419 1163 ; bind _ioca2 = _ioca@2 1164 00000096 = _ioca2___byte equ _ioca 1165 00000002 = _ioca2___bit equ 2 1166 ; line_number = 420 1167 ; bind _ioca1 = _ioca@1 1168 00000096 = _ioca1___byte equ _ioca 1169 00000001 = _ioca1___bit equ 1 1170 ; line_number = 421 1171 ; bind _ioca0 = _ioca@0 1172 00000096 = _ioca0___byte equ _ioca 1173 00000000 = _ioca0___bit equ 0 1174 1175 ; line_number = 423 1176 ; register _eedath = 1177 00000097 = _eedath equ 151 1178 1179 ; line_number = 425 1180 ; register _eeadrh = 1181 00000098 = _eeadrh equ 152 1182 1183 ; line_number = 427 1184 ; register _vrcon = 1185 00000099 = _vrcon equ 153 1186 ; line_number = 428 1187 ; bind _vren = _vrcon@7 1188 00000099 = _vren___byte equ _vrcon 1189 00000007 = _vren___bit equ 7 1190 ; line_number = 429 1191 ; bind _vrr = _vrcon@5 1192 00000099 = _vrr___byte equ _vrcon 1193 00000005 = _vrr___bit equ 5 1194 ; line_number = 430 1195 ; bind _vr3 = _vrcon@3 1196 00000099 = _vr3___byte equ _vrcon 1197 00000003 = _vr3___bit equ 3 1198 ; line_number = 431 1199 ; bind _vr2 = _vrcon@2 1200 00000099 = _vr2___byte equ _vrcon 1201 00000002 = _vr2___bit equ 2 1202 ; line_number = 432 1203 ; bind _vr1 = _vrcon@1 1204 00000099 = _vr1___byte equ _vrcon 1205 00000001 = _vr1___bit equ 1 1206 ; line_number = 433 1207 ; bind _vr0 = _vrcon@0 1208 00000099 = _vr0___byte equ _vrcon 1209 00000000 = _vr0___bit equ 0 1210 1211 ; line_number = 435 1212 ; register _eedata = 1213 0000009a = _eedata equ 154 1214 ; line_number = 436 1215 ; bind _eedat7 = _eedata@7 1216 0000009a = _eedat7___byte equ _eedata 1217 00000007 = _eedat7___bit equ 7 1218 ; line_number = 437 1219 ; bind _eedat6 = _eedata@6 1220 0000009a = _eedat6___byte equ _eedata 1221 00000006 = _eedat6___bit equ 6 1222 ; line_number = 438 1223 ; bind _eedat5 = _eedata@5 1224 0000009a = _eedat5___byte equ _eedata 1225 00000005 = _eedat5___bit equ 5 1226 ; line_number = 439 1227 ; bind _eedat4 = _eedata@4 1228 0000009a = _eedat4___byte equ _eedata 1229 00000004 = _eedat4___bit equ 4 1230 ; line_number = 440 1231 ; bind _eedat3 = _eedata@3 1232 0000009a = _eedat3___byte equ _eedata 1233 00000003 = _eedat3___bit equ 3 1234 ; line_number = 441 1235 ; bind _eedat2 = _eedata@2 1236 0000009a = _eedat2___byte equ _eedata 1237 00000002 = _eedat2___bit equ 2 1238 ; line_number = 442 1239 ; bind _eedat1 = _eedata@1 1240 0000009a = _eedat1___byte equ _eedata 1241 00000001 = _eedat1___bit equ 1 1242 ; line_number = 443 1243 ; bind _eedat0 = _eedata@0 1244 0000009a = _eedat0___byte equ _eedata 1245 00000000 = _eedat0___bit equ 0 1246 1247 ; line_number = 445 1248 ; register _eeadr = 1249 0000009b = _eeadr equ 155 1250 ; line_number = 446 1251 ; bind _eeadr7 = _eeadr@7 1252 0000009b = _eeadr7___byte equ _eeadr 1253 00000007 = _eeadr7___bit equ 7 1254 ; line_number = 447 1255 ; bind _eeadr6 = _eeadr@6 1256 0000009b = _eeadr6___byte equ _eeadr 1257 00000006 = _eeadr6___bit equ 6 1258 ; line_number = 448 1259 ; bind _eeadr5 = _eeadr@5 1260 0000009b = _eeadr5___byte equ _eeadr 1261 00000005 = _eeadr5___bit equ 5 1262 ; line_number = 449 1263 ; bind _eeadr4 = _eeadr@4 1264 0000009b = _eeadr4___byte equ _eeadr 1265 00000004 = _eeadr4___bit equ 4 1266 ; line_number = 450 1267 ; bind _eeadr3 = _eeadr@3 1268 0000009b = _eeadr3___byte equ _eeadr 1269 00000003 = _eeadr3___bit equ 3 1270 ; line_number = 451 1271 ; bind _eeadr2 = _eeadr@2 1272 0000009b = _eeadr2___byte equ _eeadr 1273 00000002 = _eeadr2___bit equ 2 1274 ; line_number = 452 1275 ; bind _eeadr1 = _eeadr@1 1276 0000009b = _eeadr1___byte equ _eeadr 1277 00000001 = _eeadr1___bit equ 1 1278 ; line_number = 453 1279 ; bind _eeadr0 = _eeadr@0 1280 0000009b = _eeadr0___byte equ _eeadr 1281 00000000 = _eeadr0___bit equ 0 1282 1283 ; line_number = 455 1284 ; register _eecon1 = 1285 0000009c = _eecon1 equ 156 1286 ; line_number = 456 1287 ; bind _eepgd = _eecon1@7 1288 0000009c = _eepgd___byte equ _eecon1 1289 00000007 = _eepgd___bit equ 7 1290 ; line_number = 457 1291 ; bind _wrerr = _eecon1@3 1292 0000009c = _wrerr___byte equ _eecon1 1293 00000003 = _wrerr___bit equ 3 1294 ; line_number = 458 1295 ; bind _wren = _eecon1@2 1296 0000009c = _wren___byte equ _eecon1 1297 00000002 = _wren___bit equ 2 1298 ; line_number = 459 1299 ; bind _wr = _eecon1@1 1300 0000009c = _wr___byte equ _eecon1 1301 00000001 = _wr___bit equ 1 1302 ; line_number = 460 1303 ; bind _rd = _eecon1@0 1304 0000009c = _rd___byte equ _eecon1 1305 00000000 = _rd___bit equ 0 1306 1307 ; line_number = 462 1308 ; register _eecon2 = 1309 0000009d = _eecon2 equ 157 1310 1311 ; line_number = 464 1312 ; register _adresl = 1313 0000009e = _adresl equ 158 1314 1315 ; line_number = 466 1316 ; register _adcon1 = 1317 0000009f = _adcon1 equ 159 1318 ; line_number = 467 1319 ; bind _adcs2 = _adcon1@6 1320 0000009f = _adcs2___byte equ _adcon1 1321 00000006 = _adcs2___bit equ 6 1322 ; line_number = 468 1323 ; bind _adcs1 = _adcon1@5 1324 0000009f = _adcs1___byte equ _adcon1 1325 00000005 = _adcs1___bit equ 5 1326 ; line_number = 469 1327 ; bind _adcs0 = _adcon1@4 1328 0000009f = _adcs0___byte equ _adcon1 1329 00000004 = _adcs0___bit equ 4 1330 1331 ; # Data Bank 2 (0x100 - 0x17f): 1332 1333 ; buffer = '_robobricks_pic16f688' 1334 ; line_number = 6 1335 ; library _pic16f688 exited 1336 ; line_number = 7 1337 ; library clock8mhz entered 1338 ; # Copyright (c) 2004-2005 by Wayne C. Gramlich 1339 ; # All rights reserved. 1340 1341 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 1342 ; # and {clocks_per_instruction}. 1343 1344 ; # Define processor constants: 1345 ; buffer = 'clock8mhz' 1346 ; line_number = 9 1347 ; constant clock_rate = 8000000 1348 007a1200 = clock_rate equ 8000000 1349 ; line_number = 10 1350 ; constant clocks_per_instruction = 4 1351 00000004 = clocks_per_instruction equ 4 1352 ; line_number = 11 1353 ; constant instruction_rate = clock_rate / clocks_per_instruction 1354 001e8480 = instruction_rate equ 2000000 1355 ; line_number = 12 1356 ; constant microsecond = 2 1357 00000002 = microsecond equ 2 1358 1359 1360 ; buffer = '_robobricks_pic16f688' 1361 ; line_number = 7 1362 ; library clock8mhz exited 1363 1364 ; # Get some EUSART constants defined: 1365 ; line_number = 10 1366 ; constant _eusart_clock = clock_rate 1367 007a1200 = _eusart_clock equ 8000000 1368 ; line_number = 11 1369 ; constant _eusart_factor = 4 1370 00000004 = _eusart_factor equ 4 1371 ; line_number = 12 1372 ; library _eusart entered 1373 1374 ; # Copyright (c) 2005 by Wayne C. Gramlich 1375 ; # All rights reserved. 1376 1377 ; # This library contains a bunch of definitions for the Enhanced Universal 1378 ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available 1379 ; # on many of the PIC microcontrollers. 1380 1381 ; # In order to use this module you have to get two constants defined 1382 ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. 1383 ; # {_eusart_clock} should be set to the frequency oscillator for the chip. 1384 ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether 1385 ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: 1386 ; # 1387 ; # _{brg16} {_brgh} _{eusart_factor} 1388 ; # 0 0 64 1389 ; # 0 1 16 1390 ; # 1 0 16 1391 ; # 1 1 1392 1393 ; # 2400 baud: 1394 ; buffer = '_eusart' 1395 ; line_number = 23 1396 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 1397 00000340 = _eusart_2400 equ 832 1398 ; line_number = 24 1399 ; constant _eusart_2400_low = _eusart_2400 & 0xff 1400 00000040 = _eusart_2400_low equ 64 1401 ; line_number = 25 1402 ; constant _eusart_2400_high = _eusart_2400 >> 8 1403 00000003 = _eusart_2400_high equ 3 1404 ; line_number = 26 1405 ; constant _eusart_2400_index = 0 1406 00000000 = _eusart_2400_index equ 0 1407 ; # 4800 baud: 1408 ; line_number = 28 1409 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 1410 0000019f = _eusart_4800 equ 415 1411 ; line_number = 29 1412 ; constant _eusart_4800_low = _eusart_4800 & 0xff 1413 0000009f = _eusart_4800_low equ 159 1414 ; line_number = 30 1415 ; constant _eusart_4800_high = _eusart_4800 >> 8 1416 00000001 = _eusart_4800_high equ 1 1417 ; line_number = 31 1418 ; constant _eusart_4800_index = 1 1419 00000001 = _eusart_4800_index equ 1 1420 ; # 9600 baud: 1421 ; line_number = 33 1422 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 1423 000000cf = _eusart_9600 equ 207 1424 ; line_number = 34 1425 ; constant _eusart_9600_low = _eusart_9600 & 0xff 1426 000000cf = _eusart_9600_low equ 207 1427 ; line_number = 35 1428 ; constant _eusart_9600_high = _eusart_9600 >> 8 1429 00000000 = _eusart_9600_high equ 0 1430 ; line_number = 36 1431 ; constant _eusart_9600_index = 2 1432 00000002 = _eusart_9600_index equ 2 1433 ; # 19200 baud: 1434 ; line_number = 38 1435 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 1436 00000067 = _eusart_19200 equ 103 1437 ; line_number = 39 1438 ; constant _eusart_19200_low = _eusart_19200 & 0xff 1439 00000067 = _eusart_19200_low equ 103 1440 ; line_number = 40 1441 ; constant _eusart_19200_high = _eusart_19200 >> 8 1442 00000000 = _eusart_19200_high equ 0 1443 ; line_number = 41 1444 ; constant _eusart_19200_index = 3 1445 00000003 = _eusart_19200_index equ 3 1446 ; # 38400 baud: 1447 ; line_number = 43 1448 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 1449 00000033 = _eusart_38400 equ 51 1450 ; line_number = 44 1451 ; constant _eusart_38400_low = _eusart_38400 & 0xff 1452 00000033 = _eusart_38400_low equ 51 1453 ; line_number = 45 1454 ; constant _eusart_38400_high = _eusart_38400 >> 8 1455 00000000 = _eusart_38400_high equ 0 1456 ; line_number = 46 1457 ; constant _eusart_38400_index = 4 1458 00000004 = _eusart_38400_index equ 4 1459 ; # 57600 baud: 1460 ; line_number = 48 1461 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 1462 00000021 = _eusart_57600 equ 33 1463 ; line_number = 49 1464 ; constant _eusart_57600_low = _eusart_57600 & 0xff 1465 00000021 = _eusart_57600_low equ 33 1466 ; line_number = 50 1467 ; constant _eusart_57600_high = _eusart_57600 >> 8 1468 00000000 = _eusart_57600_high equ 0 1469 ; line_number = 51 1470 ; constant _eusart_57600_index = 5 1471 00000005 = _eusart_57600_index equ 5 1472 ; # 115200 baud: 1473 ; line_number = 53 1474 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 1475 00000010 = _eusart_115200 equ 16 1476 ; line_number = 54 1477 ; constant _eusart_115200_low = _eusart_115200 & 0xff 1478 00000010 = _eusart_115200_low equ 16 1479 ; line_number = 55 1480 ; constant _eusart_115200_high = _eusart_115200 >> 8 1481 00000000 = _eusart_115200_high equ 0 1482 ; line_number = 56 1483 ; constant _eusart_115200_index = 6 1484 00000006 = _eusart_115200_index equ 6 1485 ; # 203400 baud: 1486 ; line_number = 58 1487 ; constant _eusart_203400 = (_eusart_clock / (203400 * _eusart_factor)) - 1 1488 00000008 = _eusart_203400 equ 8 1489 ; line_number = 59 1490 ; constant _eusart_203400_low = _eusart_203400 & 0xff 1491 00000008 = _eusart_203400_low equ 8 1492 ; line_number = 60 1493 ; constant _eusart_203400_high = _eusart_203400 >> 8 1494 00000000 = _eusart_203400_high equ 0 1495 ; line_number = 61 1496 ; constant _eusart_203400_index = 7 1497 00000007 = _eusart_203400_index equ 7 1498 1499 1500 ; buffer = '_robobricks_pic16f688' 1501 ; line_number = 12 1502 ; library _eusart exited 1503 1504 ; line_number = 14 1505 ; global debug_mode bit 1506 0000006f = debug_mode___byte equ globals___0+79 1507 00000000 = debug_mode___bit equ 0 1508 ; line_number = 15 1509 ; global in_byte_get bit 1510 0000006f = in_byte_get___byte equ globals___0+79 1511 00000001 = in_byte_get___bit equ 1 1512 1513 ; Delaying code generation for procedure byte_get 1514 ; Delaying code generation for procedure byte_put 1515 ; Delaying code generation for procedure baud_rate_low 1516 ; Delaying code generation for procedure baud_rate_high 1517 1518 ; buffer = 'dualmotor1amp' 1519 ; line_number = 6 1520 ; library _robobricks_pic16f688 exited 1521 1522 ; line_number = 8 1523 ; package pdip 1524 ; line_number = 9 1525 ; pin 1 = power_supply 1526 ; line_number = 10 1527 ; pin 2 = ra5_in, name = debug 1528 00000005 = debug___byte equ _porta 1529 00000005 = debug___bit equ 5 1530 ; line_number = 11 1531 ; pin 3 = ra4_out, name = motor0b, mask = motor0b_mask 1532 00000005 = motor0b___byte equ _porta 1533 00000004 = motor0b___bit equ 4 1534 00000010 = motor0b_mask equ 16 1535 ; line_number = 12 1536 ; pin 4 = ra3_nc 1537 ; line_number = 13 1538 ; pin 5 = rx 1539 ; line_number = 14 1540 ; pin 6 = tx 1541 ; line_number = 15 1542 ; pin 7 = rc3_out, name = enable 1543 00000007 = enable___byte equ _portc 1544 00000003 = enable___bit equ 3 1545 ; line_number = 16 1546 ; pin 8 = rc2_out, name = led3 1547 00000007 = led3___byte equ _portc 1548 00000002 = led3___bit equ 2 1549 ; line_number = 17 1550 ; pin 9 = rc1_out, name = led2 1551 00000007 = led2___byte equ _portc 1552 00000001 = led2___bit equ 1 1553 ; line_number = 18 1554 ; pin 10 = rc0_out, name = led1 1555 00000007 = led1___byte equ _portc 1556 00000000 = led1___bit equ 0 1557 ; line_number = 19 1558 ; pin 11 = ra2_out, name = motor1b, mask = motor1b_mask 1559 00000005 = motor1b___byte equ _porta 1560 00000002 = motor1b___bit equ 2 1561 00000004 = motor1b_mask equ 4 1562 ; line_number = 20 1563 ; pin 12 = ra1_out, name = motor1a, mask = motor1a_mask 1564 00000005 = motor1a___byte equ _porta 1565 00000001 = motor1a___bit equ 1 1566 00000002 = motor1a_mask equ 2 1567 ; line_number = 21 1568 ; pin 13 = ra0_out, name = motor0a, mask = motor0a_mask 1569 00000005 = motor0a___byte equ _porta 1570 00000000 = motor0a___bit equ 0 1571 00000001 = motor0a_mask equ 1 1572 ; line_number = 22 1573 ; pin 14 = ground 1574 1575 ; # Define duty cycle and motor on/off masks: 1576 ; line_number = 25 1577 ; global actual_speed0 byte 1578 00000023 = actual_speed0 equ globals___0+3 1579 ; line_number = 26 1580 ; global actual_speed1 byte 1581 00000024 = actual_speed1 equ globals___0+4 1582 ; line_number = 27 1583 ; global motor0_off byte 1584 00000025 = motor0_off equ globals___0+5 1585 ; line_number = 28 1586 ; global motor0_on byte 1587 00000026 = motor0_on equ globals___0+6 1588 ; line_number = 29 1589 ; global motor1_off byte 1590 00000027 = motor1_off equ globals___0+7 1591 ; line_number = 30 1592 ; global motor1_on byte 1593 00000028 = motor1_on equ globals___0+8 1594 1595 ; # Ramp variables: 1596 ; line_number = 33 1597 ; global desired_speed0 byte 1598 00000029 = desired_speed0 equ globals___0+9 1599 ; line_number = 34 1600 ; global desired_speed1 byte 1601 0000002a = desired_speed1 equ globals___0+10 1602 ; line_number = 35 1603 ; global desired_direction0 bit 1604 0000006f = desired_direction0___byte equ globals___0+79 1605 00000002 = desired_direction0___bit equ 2 1606 ; line_number = 36 1607 ; global desired_direction1 bit 1608 0000006f = desired_direction1___byte equ globals___0+79 1609 00000003 = desired_direction1___bit equ 3 1610 ; line_number = 37 1611 ; global ramp0 byte 1612 0000002b = ramp0 equ globals___0+11 1613 ; line_number = 38 1614 ; global ramp1 byte 1615 0000002c = ramp1 equ globals___0+12 1616 ; line_number = 39 1617 ; global ramp0_delay byte 1618 0000002d = ramp0_delay equ globals___0+13 1619 ; line_number = 40 1620 ; global ramp1_delay byte 1621 0000002e = ramp1_delay equ globals___0+14 1622 ; line_number = 41 1623 ; global ramp0_offset byte 1624 0000002f = ramp0_offset equ globals___0+15 1625 ; line_number = 42 1626 ; global ramp1_offset byte 1627 00000030 = ramp1_offset equ globals___0+16 1628 1629 ; # Fail safe variables: 1630 ; line_number = 45 1631 ; global fail_safe byte 1632 00000031 = fail_safe equ globals___0+17 1633 ; line_number = 46 1634 ; global fail_safe_errors byte 1635 00000032 = fail_safe_errors equ globals___0+18 1636 ; line_number = 47 1637 ; global fail_safe_high_counter byte 1638 00000033 = fail_safe_high_counter equ globals___0+19 1639 ; line_number = 48 1640 ; global fail_safe_low_counter byte 1641 00000034 = fail_safe_low_counter equ globals___0+20 1642 1643 ; # Second command stuff for ramped direction change: 1644 ; line_number = 51 1645 ; global second_motor0_command bit 1646 0000006f = second_motor0_command___byte equ globals___0+79 1647 00000004 = second_motor0_command___bit equ 4 1648 ; line_number = 52 1649 ; global second_motor1_command bit 1650 0000006f = second_motor1_command___byte equ globals___0+79 1651 00000005 = second_motor1_command___bit equ 5 1652 ; line_number = 53 1653 ; global second_desired_speed0 byte 1654 00000035 = second_desired_speed0 equ globals___0+21 1655 ; line_number = 54 1656 ; global second_desired_speed1 byte 1657 00000036 = second_desired_speed1 equ globals___0+22 1658 ; line_number = 55 1659 ; global second_ramp0_offset byte 1660 00000037 = second_ramp0_offset equ globals___0+23 1661 ; line_number = 56 1662 ; global second_ramp1_offset byte 1663 00000038 = second_ramp1_offset equ globals___0+24 1664 ; line_number = 57 1665 ; global second_motor0_on byte 1666 00000039 = second_motor0_on equ globals___0+25 1667 ; line_number = 58 1668 ; global second_motor1_on byte 1669 0000003a = second_motor1_on equ globals___0+26 1670 ; line_number = 59 1671 ; global second_motor0_off byte 1672 0000003b = second_motor0_off equ globals___0+27 1673 ; line_number = 60 1674 ; global second_motor1_off byte 1675 0000003c = second_motor1_off equ globals___0+28 1676 1677 ; line_number = 62 1678 ; global motor0 byte 1679 0000003d = motor0 equ globals___0+29 1680 ; line_number = 63 1681 ; global motor1 byte 1682 0000003e = motor1 equ globals___0+30 1683 1684 ; # Mode (pulsed vs. continuous) bits: 1685 ; line_number = 66 1686 ; global motor0_mode bit 1687 0000006f = motor0_mode___byte equ globals___0+79 1688 00000006 = motor0_mode___bit equ 6 1689 ; line_number = 67 1690 ; global motor1_mode bit 1691 0000006f = motor1_mode___byte equ globals___0+79 1692 00000007 = motor1_mode___bit equ 7 1693 ; line_number = 68 1694 ; global motor0_direction bit 1695 0000006e = motor0_direction___byte equ globals___0+78 1696 00000000 = motor0_direction___bit equ 0 1697 ; line_number = 69 1698 ; global motor1_direction bit 1699 0000006e = motor1_direction___byte equ globals___0+78 1700 00000001 = motor1_direction___bit equ 1 1701 1702 ; # Shared command registers and option: 1703 ; line_number = 72 1704 ; global glitch byte 1705 0000003f = glitch equ globals___0+31 1706 ; line_number = 73 1707 ; global id_index byte 1708 00000040 = id_index equ globals___0+32 1709 ; line_number = 74 1710 ; global spare byte 1711 00000041 = spare equ globals___0+33 1712 1713 ; line_number = 76 1714 ; global command_previous byte 1715 00000042 = command_previous equ globals___0+34 1716 ; line_number = 77 1717 ; global command_last byte 1718 00000043 = command_last equ globals___0+35 1719 ; line_number = 78 1720 ; global sent_previous byte 1721 00000044 = sent_previous equ globals___0+36 1722 ; line_number = 79 1723 ; global sent_last byte 1724 00000045 = sent_last equ globals___0+37 1725 ; line_number = 80 1726 ; global interrupt_pending bit 1727 0000006e = interrupt_pending___byte equ globals___0+78 1728 00000002 = interrupt_pending___bit equ 2 1729 1730 ; line_number = 82 1731 ; procedure main 1732 0000 : main: 1733 ; Initialize some registers 1734 0000 019f clrf _adcon0 1735 0001 1683 bsf __rp0___byte, __rp0___bit 1736 0002 0191 clrf _ansel 1737 0003 3007 movlw 7 1738 0004 1283 bcf __rp0___byte, __rp0___bit 1739 0005 0099 movwf _cmcon0 1740 0006 3028 movlw 40 1741 0007 1683 bsf __rp0___byte, __rp0___bit 1742 0008 0085 movwf _trisa 1743 0009 3030 movlw 48 1744 000a 0087 movwf _trisc 1745 ; arguments_none 1746 ; line_number = 84 1747 ; returns_nothing 1748 1749 ; line_number = 86 1750 ; local command byte 1751 00000046 = main__command equ globals___0+38 1752 ; line_number = 87 1753 ; local temp byte 1754 00000047 = main__temp equ globals___0+39 1755 1756 ; # Switch over to 8MHz: 1757 ; before procedure statements delay=non-uniform, bit states=(data:00=>01 code:XX=>XX) 1758 ; line_number = 90 1759 ; _osccon := 0x71 1760 000b 3071 movlw 113 1761 000c 008f movwf _osccon 1762 1763 ; # Warm up the UART: 1764 ; line_number = 93 1765 ; _txsta := 0x24 1766 000d 3024 movlw 36 1767 000e 1283 bcf __rp0___byte, __rp0___bit 1768 000f 0096 movwf _txsta 1769 ; line_number = 94 1770 ; _rcsta := 0x90 1771 0010 3090 movlw 144 1772 0011 0097 movwf _rcsta 1773 ; line_number = 95 1774 ; _baudctl := 0x08 1775 0012 3008 movlw 8 1776 0013 0091 movwf _baudctl 1777 ; line_number = 96 1778 ; _spbrg := _eusart_2400_low 1779 0014 3040 movlw 64 1780 0015 0093 movwf _spbrg 1781 ; line_number = 97 1782 ; _spbrgh := _eusart_2400_high 1783 0016 3003 movlw 3 1784 0017 0092 movwf _spbrgh 1785 1786 ; line_number = 99 1787 ; call reset() 1788 0018 21ea call reset 1789 1790 ; # Loop waiting for commands: 1791 ; line_number = 102 1792 ; loop_forever start 1793 0019 : main__1: 1794 ; # Get a command byte: 1795 ; line_number = 104 1796 ; command := byte_get() 1797 0019 232e call byte_get 1798 001a 00c6 movwf main__command 1799 1800 ; # Dispatch on command: 1801 ; line_number = 107 1802 ; switch command >> 6 start 1803 001b 3000 movlw main__98>>8 1804 001c 008a movwf __pclath 1805 0000004c = main__99 equ globals___0+44 1806 001d 0e46 swapf main__command,w 1807 001e 00cc movwf main__99 1808 001f 0ccc rrf main__99,f 1809 0020 0c4c rrf main__99,w 1810 0021 3903 andlw 3 1811 0022 3e24 addlw main__98 1812 0023 0082 movwf __pcl 1813 ; page_group 4 1814 0024 : main__98: 1815 0024 2828 goto main__94 1816 0025 2841 goto main__95 1817 0026 2858 goto main__96 1818 0027 2921 goto main__97 1819 ; line_number = 108 1820 ; case 0 1821 0028 : main__94: 1822 ; # Set Quick (Command = 00hh hhdm): 1823 ; line_number = 110 1824 ; temp := ((command << 2) & 0xf0) | (command >> 2) 1825 0000004b = main__2 equ globals___0+43 1826 0000004c = main__3 equ globals___0+44 1827 0028 0d46 rlf main__command,w 1828 0029 00cc movwf main__3 1829 002a 0d4c rlf main__3,w 1830 002b 39f0 andlw 240 1831 002c 00cb movwf main__2 1832 0000004c = main__4 equ globals___0+44 1833 002d 0c46 rrf main__command,w 1834 002e 00cc movwf main__4 1835 002f 0c4c rrf main__4,w 1836 0030 393f andlw 63 1837 0031 044b iorwf main__2,w 1838 0032 00c7 movwf main__temp 1839 ; line_number = 111 1840 ; if command@0 start 1841 00000046 = main__select__7___byte equ main__command 1842 00000000 = main__select__7___bit equ 0 1843 ; # Motor : 1844 ; line_number = 113 1845 ; desired_speed1 := temp 1846 0033 0847 movf main__temp,w 1847 ; line_number = 116 1848 ; desired_speed0 := temp 1849 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1850 ; CASE: true_code_size > 1 && false_code_size > 1 1851 ; true_code_size=4 false_code_size=4 1852 0034 1c46 btfss main__select__7___byte, main__select__7___bit 1853 0035 283b goto main__8 1854 0036 00aa movwf desired_speed1 1855 ; line_number = 114 1856 ; desired_direction1 := command@1 1857 0037 11ef bcf desired_direction1___byte, desired_direction1___bit 1858 00000046 = main__select__6___byte equ main__command 1859 00000001 = main__select__6___bit equ 1 1860 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1861 ; CASE: True.size=1 False.size=0 1862 0038 18c6 btfsc main__select__6___byte, main__select__6___bit 1863 0039 15ef bsf desired_direction1___byte, desired_direction1___bit 1864 ; Recombine size1 = 0 || size2 = 0 1865 ; code.delay=4294967295 back_code.delay=4294967295 1866 ; <=bit_code_emit@symbol; sym=main__select__6 (data:00=>00 code:XX=>XX) 1867 003a 283f goto main__9 1868 003b : main__8: 1869 003b 00a9 movwf desired_speed0 1870 ; line_number = 117 1871 ; desired_direction0 := command@1 1872 003c 116f bcf desired_direction0___byte, desired_direction0___bit 1873 00000046 = main__select__5___byte equ main__command 1874 00000001 = main__select__5___bit equ 1 1875 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1876 ; CASE: True.size=1 False.size=0 1877 003d 18c6 btfsc main__select__5___byte, main__select__5___bit 1878 003e 156f bsf desired_direction0___byte, desired_direction0___bit 1879 ; Recombine size1 = 0 || size2 = 0 1880 ; code.delay=4294967295 back_code.delay=4294967295 1881 ; <=bit_code_emit@symbol; sym=main__select__5 (data:00=>00 code:XX=>XX) 1882 003f : main__9: 1883 ; code.delay=4294967295 back_code.delay=4294967295 1884 ; <=bit_code_emit@symbol; sym=main__select__7 (data:00=>00 code:XX=>XX) 1885 ; line_number = 111 1886 ; if command@0 done 1887 ; line_number = 118 1888 ; call set_up() 1889 003f 2169 call set_up 1890 0040 2966 goto main__100 1891 ; line_number = 119 1892 ; case 1 1893 0041 : main__95: 1894 ; # Set Low (Command = 01ll lldm): 1895 ; line_number = 121 1896 ; temp := (command >> 2) & 0xf 1897 0000004c = main__10 equ globals___0+44 1898 0041 0c46 rrf main__command,w 1899 0042 00cc movwf main__10 1900 0043 0c4c rrf main__10,w 1901 0044 390f andlw 15 1902 0045 00c7 movwf main__temp 1903 ; line_number = 122 1904 ; if command@0 start 1905 00000046 = main__select__13___byte equ main__command 1906 00000000 = main__select__13___bit equ 0 1907 ; # Motor 1: 1908 ; line_number = 124 1909 ; desired_speed1 := desired_speed1 & 0xf0 | temp 1910 0046 30f0 movlw 240 1911 ; # Motor 0: 1912 ; line_number = 128 1913 ; desired_speed0 := desired_speed0 & 0xf0 | temp 1914 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1915 ; CASE: true_code_size > 1 && false_code_size > 1 1916 ; true_code_size=6 false_code_size=6 1917 0047 1c46 btfss main__select__13___byte, main__select__13___bit 1918 0048 2850 goto main__14 1919 0049 052a andwf desired_speed1,w 1920 004a 0447 iorwf main__temp,w 1921 004b 00aa movwf desired_speed1 1922 ; line_number = 125 1923 ; desired_direction1 := command@1 1924 004c 11ef bcf desired_direction1___byte, desired_direction1___bit 1925 00000046 = main__select__12___byte equ main__command 1926 00000001 = main__select__12___bit equ 1 1927 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1928 ; CASE: True.size=1 False.size=0 1929 004d 18c6 btfsc main__select__12___byte, main__select__12___bit 1930 004e 15ef bsf desired_direction1___byte, desired_direction1___bit 1931 ; Recombine size1 = 0 || size2 = 0 1932 ; code.delay=4294967295 back_code.delay=4294967295 1933 ; <=bit_code_emit@symbol; sym=main__select__12 (data:00=>00 code:XX=>XX) 1934 004f 2856 goto main__15 1935 0050 : main__14: 1936 0050 0529 andwf desired_speed0,w 1937 0051 0447 iorwf main__temp,w 1938 0052 00a9 movwf desired_speed0 1939 ; line_number = 129 1940 ; desired_direction0 := command@1 1941 0053 116f bcf desired_direction0___byte, desired_direction0___bit 1942 00000046 = main__select__11___byte equ main__command 1943 00000001 = main__select__11___bit equ 1 1944 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1945 ; CASE: True.size=1 False.size=0 1946 0054 18c6 btfsc main__select__11___byte, main__select__11___bit 1947 0055 156f bsf desired_direction0___byte, desired_direction0___bit 1948 ; Recombine size1 = 0 || size2 = 0 1949 ; code.delay=4294967295 back_code.delay=4294967295 1950 ; <=bit_code_emit@symbol; sym=main__select__11 (data:00=>00 code:XX=>XX) 1951 0056 : main__15: 1952 ; code.delay=4294967295 back_code.delay=4294967295 1953 ; <=bit_code_emit@symbol; sym=main__select__13 (data:00=>00 code:XX=>XX) 1954 ; line_number = 122 1955 ; if command@0 done 1956 ; line_number = 130 1957 ; call set_up() 1958 0056 2169 call set_up 1959 0057 2966 goto main__100 1960 ; line_number = 131 1961 ; case 2 1962 0058 : main__96: 1963 ; # Command = 10xx xxxx: 1964 ; line_number = 133 1965 ; switch (command >> 3) & 7 start 1966 0058 3000 movlw main__76>>8 1967 0059 008a movwf __pclath 1968 0000004c = main__77 equ globals___0+44 1969 005a 0c46 rrf main__command,w 1970 005b 00cc movwf main__77 1971 005c 0ccc rrf main__77,f 1972 005d 0c4c rrf main__77,w 1973 005e 3907 andlw 7 1974 005f 3e61 addlw main__76 1975 0060 0082 movwf __pcl 1976 ; page_group 8 1977 0061 : main__76: 1978 0061 2869 goto main__69 1979 0062 289c goto main__70 1980 0063 28b3 goto main__71 1981 0064 28b9 goto main__72 1982 0065 28ee goto main__73 1983 0066 2918 goto main__74 1984 0067 2920 goto main__75 1985 0068 2920 goto main__75 1986 ; line_number = 134 1987 ; case 0 1988 0069 : main__69: 1989 ; # Command = 1000 0xxx: 1990 ; line_number = 136 1991 ; switch command & 7 start 1992 0069 3000 movlw main__26>>8 1993 006a 008a movwf __pclath 1994 006b 3007 movlw 7 1995 006c 0546 andwf main__command,w 1996 006d 3e6f addlw main__26 1997 006e 0082 movwf __pcl 1998 ; page_group 8 1999 006f : main__26: 2000 006f 2877 goto main__22 2001 0070 2877 goto main__22 2002 0071 2880 goto main__23 2003 0072 2887 goto main__24 2004 0073 288c goto main__25 2005 0074 288c goto main__25 2006 0075 288c goto main__25 2007 0076 288c goto main__25 2008 ; line_number = 137 2009 ; case 0, 1 2010 0077 : main__22: 2011 ; # Set Ramp (Command = 1000 000m): 2012 ; line_number = 139 2013 ; temp := byte_get() 2014 0077 232e call byte_get 2015 0078 00c7 movwf main__temp 2016 ; line_number = 140 2017 ; if command@0 start 2018 00000046 = main__select__16___byte equ main__command 2019 00000000 = main__select__16___bit equ 0 2020 ; line_number = 141 2021 ; ramp1 := temp 2022 0079 0847 movf main__temp,w 2023 ; line_number = 143 2024 ; ramp0 := temp 2025 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2026 ; CASE: true_size=1 && false_size=1 2027 ; SUBCASE: Double test; true, then false 2028 007a 1846 btfsc main__select__16___byte, main__select__16___bit 2029 007b 00ac movwf ramp1 2030 007c 1c46 btfss main__select__16___byte, main__select__16___bit 2031 007d 00ab movwf ramp0 2032 ; code.delay=4294967295 back_code.delay=4294967295 2033 ; <=bit_code_emit@symbol; sym=main__select__16 (data:00=>00 code:XX=>XX) 2034 ; line_number = 140 2035 ; if command@0 done 2036 ; line_number = 144 2037 ; call set_up() 2038 007e 2169 call set_up 2039 007f 289b goto main__27 2040 ; line_number = 145 2041 ; case 2 2042 0080 : main__23: 2043 ; # Set Failsafe (Command = 1000 0010): 2044 ; line_number = 147 2045 ; fail_safe := byte_get() 2046 0080 232e call byte_get 2047 0081 00b1 movwf fail_safe 2048 ; line_number = 148 2049 ; fail_safe_high_counter := fail_safe 2050 0082 0831 movf fail_safe,w 2051 0083 00b3 movwf fail_safe_high_counter 2052 ; line_number = 149 2053 ; fail_safe_low_counter := 0 2054 0084 3000 movlw 0 2055 0085 00b4 movwf fail_safe_low_counter 2056 0086 289b goto main__27 2057 ; line_number = 150 2058 ; case 3 2059 0087 : main__24: 2060 ; # Reset Failsafe (Command = 1000 0011): 2061 ; line_number = 152 2062 ; fail_safe_high_counter := fail_safe 2063 0087 0831 movf fail_safe,w 2064 0088 00b3 movwf fail_safe_high_counter 2065 ; line_number = 153 2066 ; fail_safe_low_counter := 0 2067 0089 3000 movlw 0 2068 008a 00b4 movwf fail_safe_low_counter 2069 008b 289b goto main__27 2070 ; line_number = 154 2071 ; case 4, 5, 6, 7 2072 008c : main__25: 2073 ; # Set Speed (Command = 1000 01dm): 2074 ; line_number = 156 2075 ; temp := byte_get() 2076 008c 232e call byte_get 2077 008d 00c7 movwf main__temp 2078 ; line_number = 157 2079 ; if command@0 start 2080 00000046 = main__select__19___byte equ main__command 2081 00000000 = main__select__19___bit equ 0 2082 ; # Motor 1: 2083 ; line_number = 159 2084 ; desired_speed1 := temp 2085 008e 0847 movf main__temp,w 2086 ; # Motor 0: 2087 ; line_number = 163 2088 ; desired_speed0 := temp 2089 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2090 ; CASE: true_code_size > 1 && false_code_size > 1 2091 ; true_code_size=4 false_code_size=4 2092 008f 1c46 btfss main__select__19___byte, main__select__19___bit 2093 0090 2896 goto main__20 2094 0091 00aa movwf desired_speed1 2095 ; line_number = 160 2096 ; desired_direction1 := command@1 2097 0092 11ef bcf desired_direction1___byte, desired_direction1___bit 2098 00000046 = main__select__18___byte equ main__command 2099 00000001 = main__select__18___bit equ 1 2100 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2101 ; CASE: True.size=1 False.size=0 2102 0093 18c6 btfsc main__select__18___byte, main__select__18___bit 2103 0094 15ef bsf desired_direction1___byte, desired_direction1___bit 2104 ; Recombine size1 = 0 || size2 = 0 2105 ; code.delay=4294967295 back_code.delay=4294967295 2106 ; <=bit_code_emit@symbol; sym=main__select__18 (data:00=>00 code:XX=>XX) 2107 0095 289a goto main__21 2108 0096 : main__20: 2109 0096 00a9 movwf desired_speed0 2110 ; line_number = 164 2111 ; desired_direction0 := command@1 2112 0097 116f bcf desired_direction0___byte, desired_direction0___bit 2113 00000046 = main__select__17___byte equ main__command 2114 00000001 = main__select__17___bit equ 1 2115 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2116 ; CASE: True.size=1 False.size=0 2117 0098 18c6 btfsc main__select__17___byte, main__select__17___bit 2118 0099 156f bsf desired_direction0___byte, desired_direction0___bit 2119 ; Recombine size1 = 0 || size2 = 0 2120 ; code.delay=4294967295 back_code.delay=4294967295 2121 ; <=bit_code_emit@symbol; sym=main__select__17 (data:00=>00 code:XX=>XX) 2122 009a : main__21: 2123 ; code.delay=4294967295 back_code.delay=4294967295 2124 ; <=bit_code_emit@symbol; sym=main__select__19 (data:00=>00 code:XX=>XX) 2125 ; line_number = 157 2126 ; if command@0 done 2127 ; line_number = 165 2128 ; call set_up() 2129 009a 2169 call set_up 2130 009b : main__27: 2131 ; switch end:(data:00=>00 code:XX=>XX) 2132 ; line_number = 136 2133 ; switch command & 7 done 2134 009b 2920 goto main__78 2135 ; line_number = 166 2136 ; case 1 2137 009c : main__70: 2138 ; # Command = 1000 1xxx: 2139 ; line_number = 168 2140 ; if command@2 start 2141 00000046 = main__select__38___byte equ main__command 2142 00000002 = main__select__38___bit equ 2 2143 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2144 ; CASE: true_code_size > 1 && false_code_size > 1 2145 ; true_code_size=9 false_code_size=9 2146 009c 1d46 btfss main__select__38___byte, main__select__38___bit 2147 009d 28a8 goto main__39 2148 ; # Set direction (Command = 1000 11dm): 2149 ; line_number = 170 2150 ; if command@0 start 2151 00000046 = main__select__35___byte equ main__command 2152 00000000 = main__select__35___bit equ 0 2153 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2154 ; CASE: true_code_size > 1 && false_code_size > 1 2155 ; true_code_size=3 false_code_size=3 2156 009e 1c46 btfss main__select__35___byte, main__select__35___bit 2157 009f 28a4 goto main__36 2158 ; # Motor 1: 2159 ; line_number = 172 2160 ; desired_direction1 := command@1 2161 00a0 11ef bcf desired_direction1___byte, desired_direction1___bit 2162 00000046 = main__select__34___byte equ main__command 2163 00000001 = main__select__34___bit equ 1 2164 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2165 ; CASE: True.size=1 False.size=0 2166 00a1 18c6 btfsc main__select__34___byte, main__select__34___bit 2167 00a2 15ef bsf desired_direction1___byte, desired_direction1___bit 2168 ; Recombine size1 = 0 || size2 = 0 2169 ; code.delay=4294967295 back_code.delay=4294967295 2170 ; <=bit_code_emit@symbol; sym=main__select__34 (data:00=>00 code:XX=>XX) 2171 00a3 28a7 goto main__37 2172 00a4 : main__36: 2173 ; # Motor 0: 2174 ; line_number = 175 2175 ; desired_direction0 := command@1 2176 00a4 116f bcf desired_direction0___byte, desired_direction0___bit 2177 00000046 = main__select__33___byte equ main__command 2178 00000001 = main__select__33___bit equ 1 2179 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2180 ; CASE: True.size=1 False.size=0 2181 00a5 18c6 btfsc main__select__33___byte, main__select__33___bit 2182 00a6 156f bsf desired_direction0___byte, desired_direction0___bit 2183 ; Recombine size1 = 0 || size2 = 0 2184 ; code.delay=4294967295 back_code.delay=4294967295 2185 ; <=bit_code_emit@symbol; sym=main__select__33 (data:00=>00 code:XX=>XX) 2186 00a7 : main__37: 2187 ; code.delay=4294967295 back_code.delay=4294967295 2188 ; <=bit_code_emit@symbol; sym=main__select__35 (data:00=>00 code:XX=>XX) 2189 ; line_number = 170 2190 ; if command@0 done 2191 00a7 28b1 goto main__40 2192 00a8 : main__39: 2193 ; # Set mode (Command = 1000 10xm): 2194 ; line_number = 178 2195 ; if command@0 start 2196 00000046 = main__select__30___byte equ main__command 2197 00000000 = main__select__30___bit equ 0 2198 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2199 ; CASE: true_code_size > 1 && false_code_size > 1 2200 ; true_code_size=3 false_code_size=3 2201 00a8 1c46 btfss main__select__30___byte, main__select__30___bit 2202 00a9 28ae goto main__31 2203 ; # Motor 1: 2204 ; line_number = 180 2205 ; motor1_mode := command@1 2206 00aa 13ef bcf motor1_mode___byte, motor1_mode___bit 2207 00000046 = main__select__29___byte equ main__command 2208 00000001 = main__select__29___bit equ 1 2209 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2210 ; CASE: True.size=1 False.size=0 2211 00ab 18c6 btfsc main__select__29___byte, main__select__29___bit 2212 00ac 17ef bsf motor1_mode___byte, motor1_mode___bit 2213 ; Recombine size1 = 0 || size2 = 0 2214 ; code.delay=4294967295 back_code.delay=4294967295 2215 ; <=bit_code_emit@symbol; sym=main__select__29 (data:00=>00 code:XX=>XX) 2216 00ad 28b1 goto main__32 2217 00ae : main__31: 2218 ; # Motor 0: 2219 ; line_number = 183 2220 ; motor0_mode := command@1 2221 00ae 136f bcf motor0_mode___byte, motor0_mode___bit 2222 00000046 = main__select__28___byte equ main__command 2223 00000001 = main__select__28___bit equ 1 2224 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2225 ; CASE: True.size=1 False.size=0 2226 00af 18c6 btfsc main__select__28___byte, main__select__28___bit 2227 00b0 176f bsf motor0_mode___byte, motor0_mode___bit 2228 ; Recombine size1 = 0 || size2 = 0 2229 ; code.delay=4294967295 back_code.delay=4294967295 2230 ; <=bit_code_emit@symbol; sym=main__select__28 (data:00=>00 code:XX=>XX) 2231 00b1 : main__32: 2232 ; code.delay=4294967295 back_code.delay=4294967295 2233 ; <=bit_code_emit@symbol; sym=main__select__30 (data:00=>00 code:XX=>XX) 2234 ; line_number = 178 2235 ; if command@0 done 2236 00b1 : main__40: 2237 ; code.delay=4294967295 back_code.delay=4294967295 2238 ; <=bit_code_emit@symbol; sym=main__select__38 (data:00=>00 code:XX=>XX) 2239 ; line_number = 168 2240 ; if command@2 done 2241 ; line_number = 184 2242 ; call set_up() 2243 00b1 2169 call set_up 2244 00b2 2920 goto main__78 2245 ; line_number = 185 2246 ; case 2 2247 00b3 : main__71: 2248 ; # Set Prescaler (Command = 1001 0ppp): 2249 ; line_number = 187 2250 ; _option_reg := command & 7 2251 00b3 3007 movlw 7 2252 00b4 0546 andwf main__command,w 2253 00b5 1683 bsf __rp0___byte, __rp0___bit 2254 00b6 0081 movwf _option_reg 2255 ; line_number = 188 2256 ; _rapu := 1 2257 00b7 1781 bsf _rapu___byte, _rapu___bit 2258 00b8 2920 goto main__78 2259 ; line_number = 189 2260 ; case 3 2261 00b9 : main__72: 2262 ; # Command = 1001 1xxx: 2263 ; line_number = 191 2264 ; switch command & 7 start 2265 00b9 3000 movlw main__55>>8 2266 00ba 008a movwf __pclath 2267 00bb 3007 movlw 7 2268 00bc 0546 andwf main__command,w 2269 00bd 3ebf addlw main__55 2270 00be 0082 movwf __pcl 2271 ; page_group 8 2272 00bf : main__55: 2273 00bf 28c7 goto main__50 2274 00c0 28ca goto main__51 2275 00c1 28d0 goto main__52 2276 00c2 28d0 goto main__52 2277 00c3 28d6 goto main__53 2278 00c4 28d6 goto main__53 2279 00c5 28e6 goto main__54 2280 00c6 28e6 goto main__54 2281 ; line_number = 192 2282 ; case 0 2283 00c7 : main__50: 2284 ; # Read Failsafe (Command = 1001 1000): 2285 ; line_number = 194 2286 ; call byte_put(fail_safe) 2287 00c7 0831 movf fail_safe,w 2288 00c8 233a call byte_put 2289 00c9 28ed goto main__56 2290 ; line_number = 195 2291 ; case 1 2292 00ca : main__51: 2293 ; This case body wants this bit set 2294 00ca 1683 bsf __rp0___byte, __rp0___bit 2295 ; # Read Prescaler (Command = 1001 1001): 2296 ; line_number = 197 2297 ; call byte_put(_option_reg & 7) 2298 00cb 3007 movlw 7 2299 00cc 0501 andwf _option_reg,w 2300 00cd 1283 bcf __rp0___byte, __rp0___bit 2301 00ce 233a call byte_put 2302 00cf 28ed goto main__56 2303 ; line_number = 198 2304 ; case 2, 3 2305 00d0 : main__52: 2306 ; # Read Speed (Command = 1001 101m): 2307 ; line_number = 200 2308 ; if command@0 start 2309 00000046 = main__select__41___byte equ main__command 2310 00000000 = main__select__41___bit equ 0 2311 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2312 ; CASE: true_size=1 && false_size=1 2313 ; SUBCASE: Double test; true, then false 2314 00d0 1846 btfsc main__select__41___byte, main__select__41___bit 2315 ; line_number = 201 2316 ; call byte_put(actual_speed1) 2317 00d1 0824 movf actual_speed1,w 2318 00d2 1c46 btfss main__select__41___byte, main__select__41___bit 2319 ; line_number = 203 2320 ; call byte_put(actual_speed0) 2321 00d3 0823 movf actual_speed0,w 2322 ; code.delay=4294967295 back_code.delay=4294967295 2323 00d4 233a call byte_put 2324 ; <=bit_code_emit@symbol; sym=main__select__41 (data:00=>00 code:XX=>XX) 2325 ; line_number = 200 2326 ; if command@0 done 2327 00d5 28ed goto main__56 2328 ; line_number = 204 2329 ; case 4, 5 2330 00d6 : main__53: 2331 ; # Read Mode/Direction (Command = 1001 110m): 2332 ; line_number = 206 2333 ; temp := 0 2334 00d6 3000 movlw 0 2335 00d7 00c7 movwf main__temp 2336 ; line_number = 207 2337 ; if command@0 start 2338 00000046 = main__select__46___byte equ main__command 2339 00000000 = main__select__46___bit equ 0 2340 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2341 ; CASE: true_code_size > 1 && false_code_size > 1 2342 ; true_code_size=4 false_code_size=4 2343 00d8 1c46 btfss main__select__46___byte, main__select__46___bit 2344 00d9 28df goto main__47 2345 ; # Motor 1: 2346 ; line_number = 209 2347 ; if motor1_direction start 2348 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2349 ; CASE: True.size=1 False.size=0 2350 00da 18ee btfsc motor1_direction___byte, motor1_direction___bit 2351 ; line_number = 210 2352 ; temp@1 := 1 2353 00000047 = main__select__44___byte equ main__temp 2354 00000001 = main__select__44___bit equ 1 2355 00db 14c7 bsf main__select__44___byte, main__select__44___bit 2356 ; Recombine size1 = 0 || size2 = 0 2357 ; code.delay=4294967295 back_code.delay=4294967295 2358 ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) 2359 ; line_number = 209 2360 ; if motor1_direction done 2361 ; line_number = 211 2362 ; if motor1_mode start 2363 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2364 ; CASE: True.size=1 False.size=0 2365 00dc 1bef btfsc motor1_mode___byte, motor1_mode___bit 2366 ; line_number = 212 2367 ; temp@0 := 1 2368 00000047 = main__select__45___byte equ main__temp 2369 00000000 = main__select__45___bit equ 0 2370 00dd 1447 bsf main__select__45___byte, main__select__45___bit 2371 ; Recombine size1 = 0 || size2 = 0 2372 ; code.delay=4294967295 back_code.delay=4294967295 2373 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) 2374 ; line_number = 211 2375 ; if motor1_mode done 2376 00de 28e3 goto main__48 2377 00df : main__47: 2378 ; # Motor 0: 2379 ; line_number = 215 2380 ; if motor0_direction start 2381 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2382 ; CASE: True.size=1 False.size=0 2383 00df 186e btfsc motor0_direction___byte, motor0_direction___bit 2384 ; line_number = 216 2385 ; temp@1 := 1 2386 00000047 = main__select__42___byte equ main__temp 2387 00000001 = main__select__42___bit equ 1 2388 00e0 14c7 bsf main__select__42___byte, main__select__42___bit 2389 ; Recombine size1 = 0 || size2 = 0 2390 ; code.delay=4294967295 back_code.delay=4294967295 2391 ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) 2392 ; line_number = 215 2393 ; if motor0_direction done 2394 ; line_number = 217 2395 ; if motor0_mode start 2396 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2397 ; CASE: True.size=1 False.size=0 2398 00e1 1b6f btfsc motor0_mode___byte, motor0_mode___bit 2399 ; line_number = 218 2400 ; temp@0 := 1 2401 00000047 = main__select__43___byte equ main__temp 2402 00000000 = main__select__43___bit equ 0 2403 00e2 1447 bsf main__select__43___byte, main__select__43___bit 2404 ; Recombine size1 = 0 || size2 = 0 2405 ; code.delay=4294967295 back_code.delay=4294967295 2406 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) 2407 ; line_number = 217 2408 ; if motor0_mode done 2409 00e3 : main__48: 2410 ; code.delay=4294967295 back_code.delay=4294967295 2411 ; <=bit_code_emit@symbol; sym=main__select__46 (data:00=>00 code:XX=>XX) 2412 ; line_number = 207 2413 ; if command@0 done 2414 ; line_number = 219 2415 ; call byte_put(temp) 2416 00e3 0847 movf main__temp,w 2417 00e4 233a call byte_put 2418 00e5 28ed goto main__56 2419 ; line_number = 220 2420 ; case 6, 7 2421 00e6 : main__54: 2422 ; # Read Ramp (Command = 1001 101m): 2423 ; line_number = 222 2424 ; if command@0 start 2425 00000046 = main__select__49___byte equ main__command 2426 00000000 = main__select__49___bit equ 0 2427 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2428 ; CASE: true_size=1 && false_size=1 2429 ; SUBCASE: Double test; true, then false 2430 00e6 1846 btfsc main__select__49___byte, main__select__49___bit 2431 ; line_number = 223 2432 ; temp := ramp1 2433 00e7 082c movf ramp1,w 2434 00e8 1c46 btfss main__select__49___byte, main__select__49___bit 2435 ; line_number = 225 2436 ; temp := ramp0 2437 00e9 082b movf ramp0,w 2438 ; code.delay=4294967295 back_code.delay=4294967295 2439 00ea 00c7 movwf main__temp 2440 ; <=bit_code_emit@symbol; sym=main__select__49 (data:00=>00 code:XX=>XX) 2441 ; line_number = 222 2442 ; if command@0 done 2443 ; line_number = 226 2444 ; call byte_put(temp) 2445 00eb 0847 movf main__temp,w 2446 00ec 233a call byte_put 2447 00ed : main__56: 2448 ; switch end:(data:00=>00 code:XX=>XX) 2449 ; line_number = 191 2450 ; switch command & 7 done 2451 00ed 2920 goto main__78 2452 ; line_number = 227 2453 ; case 4 2454 00ee : main__73: 2455 ; # Command = 0110 0xxx: 2456 ; line_number = 229 2457 ; switch command & 7 start 2458 00ee 3000 movlw main__66>>8 2459 00ef 008a movwf __pclath 2460 00f0 3007 movlw 7 2461 00f1 0546 andwf main__command,w 2462 00f2 3ef4 addlw main__66 2463 00f3 0082 movwf __pcl 2464 ; page_group 8 2465 00f4 : main__66: 2466 00f4 28fc goto main__58 2467 00f5 2901 goto main__59 2468 00f6 2904 goto main__60 2469 00f7 2907 goto main__61 2470 00f8 290a goto main__62 2471 00f9 290d goto main__63 2472 00fa 2910 goto main__64 2473 00fb 2917 goto main__65 2474 ; line_number = 230 2475 ; case 0 2476 00fc : main__58: 2477 ; # Read Failsafe Errors (Command = 1010 0000): 2478 ; line_number = 232 2479 ; call byte_put(fail_safe_errors) 2480 00fc 0832 movf fail_safe_errors,w 2481 00fd 233a call byte_put 2482 ; line_number = 233 2483 ; fail_safe_errors := 0 2484 00fe 3000 movlw 0 2485 00ff 00b2 movwf fail_safe_errors 2486 0100 2917 goto main__67 2487 ; line_number = 234 2488 ; case 1 2489 0101 : main__59: 2490 ; # Read Failsafe Counter (Command = 1010 0001): 2491 ; line_number = 236 2492 ; call byte_put(fail_safe_high_counter) 2493 0101 0833 movf fail_safe_high_counter,w 2494 0102 233a call byte_put 2495 0103 2917 goto main__67 2496 ; line_number = 237 2497 ; case 2 2498 0104 : main__60: 2499 ; # Read Actual Speed 0(Command = 1010 0010): 2500 ; line_number = 239 2501 ; call byte_put(actual_speed0) 2502 0104 0823 movf actual_speed0,w 2503 0105 233a call byte_put 2504 0106 2917 goto main__67 2505 ; line_number = 240 2506 ; case 3 2507 0107 : main__61: 2508 ; # Read Actual Speed 1 (Command = 1010 0011): 2509 ; line_number = 242 2510 ; call byte_put(actual_speed1) 2511 0107 0824 movf actual_speed1,w 2512 0108 233a call byte_put 2513 0109 2917 goto main__67 2514 ; line_number = 243 2515 ; case 4 2516 010a : main__62: 2517 ; # Set Motors off (Command = 1010 0100): 2518 ; line_number = 245 2519 ; enable := 0 2520 010a 1187 bcf enable___byte, enable___bit 2521 ; line_number = 246 2522 ; led2 := 0 2523 010b 1087 bcf led2___byte, led2___bit 2524 010c 2917 goto main__67 2525 ; line_number = 247 2526 ; case 5 2527 010d : main__63: 2528 ; # Set Motors on (Command = 1010 0101): 2529 ; line_number = 249 2530 ; enable := 1 2531 010d 1587 bsf enable___byte, enable___bit 2532 ; line_number = 250 2533 ; led2 := 1 2534 010e 1487 bsf led2___byte, led2___bit 2535 010f 2917 goto main__67 2536 ; line_number = 251 2537 ; case 6 2538 0110 : main__64: 2539 ; # Read Motor enable (Command = 1010 0110): 2540 ; line_number = 253 2541 ; temp := 0 2542 0110 3000 movlw 0 2543 0111 00c7 movwf main__temp 2544 ; line_number = 254 2545 ; if enable start 2546 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2547 ; CASE: True.size=1 False.size=0 2548 0112 1987 btfsc enable___byte, enable___bit 2549 ; line_number = 255 2550 ; temp@0 := 1 2551 00000047 = main__select__57___byte equ main__temp 2552 00000000 = main__select__57___bit equ 0 2553 0113 1447 bsf main__select__57___byte, main__select__57___bit 2554 ; Recombine size1 = 0 || size2 = 0 2555 ; code.delay=4294967295 back_code.delay=4294967295 2556 ; <=bit_code_emit@symbol; sym=enable (data:00=>00 code:XX=>XX) 2557 ; line_number = 254 2558 ; if enable done 2559 ; line_number = 256 2560 ; call byte_put(temp) 2561 0114 0847 movf main__temp,w 2562 0115 233a call byte_put 2563 0116 2917 goto main__67 2564 ; line_number = 257 2565 ; case 7 2566 0117 : main__65: 2567 ; # Unused (Command = 1010 0111): 2568 ; line_number = 259 2569 ; do_nothing 2570 0117 : main__67: 2571 ; switch end:(data:00=>?? code:XX=>XX) 2572 ; line_number = 229 2573 ; switch command & 7 done 2574 0117 2920 goto main__78 2575 ; line_number = 260 2576 ; case 5 2577 0118 : main__74: 2578 ; line_number = 261 2579 ; if command & 3 = 0 start 2580 ; Left minus Right 2581 0118 3003 movlw 3 2582 0119 0546 andwf main__command,w 2583 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2584 ; CASE: true_code.size = 0 && false_code.size > 1 2585 ; bit_code_emit_helper1: body_code.size=3 true_test=true body_code.delay=0 (non-uniform delay) 2586 011a 1d03 btfss __z___byte, __z___bit 2587 011b 291f goto main__68 2588 ; # FIXME: Code generator chokes on single call instruction 2589 ; # in the then clause. Add 'ramp0 := 0' to work around!!! 2590 ; line_number = 264 2591 ; ramp0 := 0 2592 011c 3000 movlw 0 2593 011d 00ab movwf ramp0 2594 ; line_number = 265 2595 ; call reset() 2596 011e 21ea call reset 2597 ; Recombine size1 = 0 || size2 = 0 2598 011f : main__68: 2599 ; code.delay=4294967295 back_code.delay=4294967295 2600 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2601 ; line_number = 261 2602 ; if command & 3 = 0 done 2603 011f 2920 goto main__78 2604 ; line_number = 266 2605 ; case 6, 7 2606 0120 : main__75: 2607 ; line_number = 267 2608 ; do_nothing 2609 0120 : main__78: 2610 ; switch end:(data:00=>?? code:XX=>XX) 2611 ; line_number = 133 2612 ; switch (command >> 3) & 7 done 2613 0120 2966 goto main__100 2614 ; line_number = 268 2615 ; case 3 2616 0121 : main__97: 2617 ; # Command = 11xx xxxx: 2618 ; line_number = 270 2619 ; switch (command >> 3) & 7 start 2620 0121 3001 movlw main__91>>8 2621 0122 008a movwf __pclath 2622 0000004c = main__92 equ globals___0+44 2623 0123 0c46 rrf main__command,w 2624 0124 00cc movwf main__92 2625 0125 0ccc rrf main__92,f 2626 0126 0c4c rrf main__92,w 2627 0127 3907 andlw 7 2628 0128 3e2a addlw main__91 2629 0129 0082 movwf __pcl 2630 ; page_group 8 2631 012a : main__91: 2632 012a 2966 goto main__93 2633 012b 2966 goto main__93 2634 012c 2966 goto main__93 2635 012d 2966 goto main__93 2636 012e 2966 goto main__93 2637 012f 2966 goto main__93 2638 0130 2966 goto main__93 2639 0131 2932 goto main__90 2640 ; line_number = 271 2641 ; case 7 2642 0132 : main__90: 2643 ; # Shared commands (Command = 1111 1ccc): 2644 ; line_number = 273 2645 ; switch command & 7 start 2646 0132 3001 movlw main__88>>8 2647 0133 008a movwf __pclath 2648 0134 3007 movlw 7 2649 0135 0546 andwf main__command,w 2650 0136 3e38 addlw main__88 2651 0137 0082 movwf __pcl 2652 ; page_group 8 2653 0138 : main__88: 2654 0138 2940 goto main__80 2655 0139 2943 goto main__81 2656 013a 2946 goto main__82 2657 013b 294b goto main__83 2658 013c 294e goto main__84 2659 013d 295b goto main__85 2660 013e 295e goto main__86 2661 013f 2963 goto main__87 2662 ; line_number = 274 2663 ; case 0 2664 0140 : main__80: 2665 ; This case body wants this bit set 2666 0140 1683 bsf __rp0___byte, __rp0___bit 2667 ; # Clock Decrement (Command = 1111 1000): 2668 ; line_number = 276 2669 ; _osctune := _osctune - _osccal_lsb 2670 0141 0390 decf _osctune,f 2671 0142 2966 goto main__89 2672 ; line_number = 277 2673 ; case 1 2674 0143 : main__81: 2675 ; This case body wants this bit set 2676 0143 1683 bsf __rp0___byte, __rp0___bit 2677 ; # Clock Increment (Command = 1111 1001): 2678 ; line_number = 279 2679 ; _osctune := _osctune + _osccal_lsb 2680 0144 0a90 incf _osctune,f 2681 0145 2966 goto main__89 2682 ; line_number = 280 2683 ; case 2 2684 0146 : main__82: 2685 ; This case body wants this bit set 2686 0146 1683 bsf __rp0___byte, __rp0___bit 2687 ; # Clock Read (Command = 1111 1010): 2688 ; line_number = 282 2689 ; call byte_put(_osctune) 2690 0147 0810 movf _osctune,w 2691 0148 1283 bcf __rp0___byte, __rp0___bit 2692 0149 233a call byte_put 2693 014a 2966 goto main__89 2694 ; line_number = 283 2695 ; case 3 2696 014b : main__83: 2697 ; # Clock Pulse (Command = 1111 1011): 2698 ; line_number = 285 2699 ; call byte_put(0) 2700 014b 3000 movlw 0 2701 014c 233a call byte_put 2702 014d 2966 goto main__89 2703 ; line_number = 286 2704 ; case 4 2705 014e : main__84: 2706 ; # ID Next (Command = 1111 1100): 2707 ; line_number = 288 2708 ; temp := 0 2709 014e 3000 movlw 0 2710 014f 00c7 movwf main__temp 2711 ; line_number = 289 2712 ; if id_index < id.size start 2713 0150 302e movlw 46 2714 0151 0240 subwf id_index,w 2715 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2716 ; CASE: true.size=0 && false.size>1 2717 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 2718 0152 1803 btfsc __c___byte, __c___bit 2719 0153 2958 goto main__79 2720 ; line_number = 290 2721 ; temp := id[id_index] 2722 0154 0840 movf id_index,w 2723 0155 22d7 call id 2724 0156 00c7 movwf main__temp 2725 ; line_number = 291 2726 ; id_index := id_index + 1 2727 0157 0ac0 incf id_index,f 2728 0158 : main__79: 2729 ; Recombine size1 = 0 || size2 = 0 2730 ; code.delay=4294967295 back_code.delay=4294967295 2731 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 2732 ; line_number = 289 2733 ; if id_index < id.size done 2734 ; line_number = 292 2735 ; call byte_put(temp) 2736 0158 0847 movf main__temp,w 2737 0159 233a call byte_put 2738 015a 2966 goto main__89 2739 ; line_number = 293 2740 ; case 5 2741 015b : main__85: 2742 ; # ID Reset (Command = 1111 1101): 2743 ; line_number = 295 2744 ; id_index := 0 2745 015b 3000 movlw 0 2746 015c 00c0 movwf id_index 2747 015d 2966 goto main__89 2748 ; line_number = 296 2749 ; case 6 2750 015e : main__86: 2751 ; # Glitch Read (Command = 1111 1110): 2752 ; line_number = 298 2753 ; call byte_put(glitch) 2754 015e 083f movf glitch,w 2755 015f 233a call byte_put 2756 ; line_number = 299 2757 ; glitch := 0 2758 0160 3000 movlw 0 2759 0161 00bf movwf glitch 2760 0162 2966 goto main__89 2761 ; line_number = 300 2762 ; case 7 2763 0163 : main__87: 2764 ; # Glitch (Command = 1111 1111): 2765 ; line_number = 302 2766 ; if glitch != 0xff start 2767 ; Left minus Right 2768 0163 0a3f incf glitch,w 2769 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2770 ; CASE: true_code.size=0 && false_code.size=1 2771 0164 1d03 btfss __z___byte, __z___bit 2772 ; line_number = 303 2773 ; glitch := glitch + 1 2774 0165 0abf incf glitch,f 2775 2776 2777 ; Recombine size1 = 0 || size2 = 0 2778 ; code.delay=4294967295 back_code.delay=4294967295 2779 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2780 ; line_number = 302 2781 ; if glitch != 0xff done 2782 0166 : main__89: 2783 ; switch end:(data:00=>0? code:XX=>XX) 2784 ; line_number = 273 2785 ; switch command & 7 done 2786 0166 : main__93: 2787 ; switch end:(data:00=>0? code:XX=>XX) 2788 ; line_number = 270 2789 ; switch (command >> 3) & 7 done 2790 0166 : main__100: 2791 ; switch end:(data:00=>?? code:XX=>XX) 2792 ; line_number = 107 2793 ; switch command >> 6 done 2794 ; line_number = 102 2795 ; loop_forever wrap-up 2796 ; Need to adjust code banks to match front of loop 2797 0166 1283 bcf __rp0___byte, __rp0___bit 2798 0167 1303 bcf __rp1___byte, __rp1___bit 2799 0168 2819 goto main__1 2800 ; line_number = 102 2801 ; loop_forever done 2802 ; delay after procedure statements=non-uniform 2803 2804 2805 2806 2807 ; line_number = 306 2808 ; procedure set_up 2809 0169 : set_up: 2810 ; arguments_none 2811 ; line_number = 308 2812 ; returns_nothing 2813 2814 ; # This procedure will arrange for the speed and direction of 2815 ; # each motor to be set to desired_speed0/1 and desired_direction0/1. 2816 ; # If ramp0/1 is 0, the speed and direction is changed immediately. 2817 ; # If ramp0/1 is non-zero, the speed is changed gradually. 2818 2819 ; line_number = 315 2820 ; local temporary byte 2821 00000048 = set_up__temporary equ globals___0+40 2822 2823 ; # Reset failsafe: 2824 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 2825 ; line_number = 318 2826 ; fail_safe_low_counter := 0 2827 0169 3000 movlw 0 2828 016a 00b4 movwf fail_safe_low_counter 2829 ; line_number = 319 2830 ; fail_safe_high_counter := fail_safe 2831 016b 0831 movf fail_safe,w 2832 016c 00b3 movwf fail_safe_high_counter 2833 2834 ; # Mode Dir On Off 2835 ; # ================== 2836 ; # 0 0 A 0 2837 ; # 0 1 B 0 2838 ; # 1 0 A B 2839 ; # 1 1 B A 2840 2841 ; # Motor 0: 2842 2843 ; # Figure out all the ramping stuff: 2844 ; line_number = 331 2845 ; if ramp0 = 0 start 2846 ; Left minus Right 2847 016d 082b movf ramp0,w 2848 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2849 ; CASE: true_code_size > 1 && false_code_size > 1 2850 ; true_code_size=8 false_code_size=24 2851 016e 1d03 btfss __z___byte, __z___bit 2852 016f 2979 goto set_up__6 2853 ; # No ramping: 2854 ; line_number = 333 2855 ; actual_speed0 := desired_speed0 2856 0170 0829 movf desired_speed0,w 2857 0171 00a3 movwf actual_speed0 2858 ; line_number = 334 2859 ; motor0_direction := desired_direction0 2860 0172 106e bcf motor0_direction___byte, motor0_direction___bit 2861 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2862 ; CASE: True.size=1 False.size=0 2863 0173 196f btfsc desired_direction0___byte, desired_direction0___bit 2864 0174 146e bsf motor0_direction___byte, motor0_direction___bit 2865 ; Recombine size1 = 0 || size2 = 0 2866 ; code.delay=4294967295 back_code.delay=4294967295 2867 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX) 2868 ; line_number = 335 2869 ; ramp0_delay := 0 2870 0175 3000 movlw 0 2871 0176 00ad movwf ramp0_delay 2872 ; line_number = 336 2873 ; ramp0_offset := 0 2874 0177 3000 movlw 0 2875 0178 2991 goto set_up__7 2876 0179 : set_up__6: 2877 ; # We are ramping: 2878 2879 ; # Figure out if we are changing direction: 2880 ; line_number = 341 2881 ; temporary := 0 2882 0179 3000 movlw 0 2883 017a 00c8 movwf set_up__temporary 2884 ; line_number = 342 2885 ; if motor0_direction start 2886 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2887 ; CASE: True.size=1 False.size=0 2888 017b 186e btfsc motor0_direction___byte, motor0_direction___bit 2889 ; line_number = 343 2890 ; temporary@0 := 1 2891 00000048 = set_up__select__1___byte equ set_up__temporary 2892 00000000 = set_up__select__1___bit equ 0 2893 017c 1448 bsf set_up__select__1___byte, set_up__select__1___bit 2894 ; Recombine size1 = 0 || size2 = 0 2895 ; code.delay=4294967295 back_code.delay=4294967295 2896 ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) 2897 ; line_number = 342 2898 ; if motor0_direction done 2899 ; line_number = 344 2900 ; if desired_direction0 start 2901 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2902 ; CASE: true_code.size = 0 && false_code.size > 1 2903 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 2904 017d 1d6f btfss desired_direction0___byte, desired_direction0___bit 2905 017e 2981 goto set_up__2 2906 ; line_number = 345 2907 ; temporary := temporary ^ 1 2908 017f 3001 movlw 1 2909 0180 06c8 xorwf set_up__temporary,f 2910 2911 ; Recombine size1 = 0 || size2 = 0 2912 0181 : set_up__2: 2913 ; code.delay=4294967295 back_code.delay=4294967295 2914 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX) 2915 ; line_number = 344 2916 ; if desired_direction0 done 2917 ; line_number = 347 2918 ; if temporary@0 start 2919 00000048 = set_up__select__3___byte equ set_up__temporary 2920 00000000 = set_up__select__3___bit equ 0 2921 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2922 ; CASE: true_code_size > 1 && false_code_size > 1 2923 ; true_code_size=7 false_code_size=5 2924 0181 1c48 btfss set_up__select__3___byte, set_up__select__3___bit 2925 0182 298b goto set_up__4 2926 ; # We are changing direction: 2927 ; line_number = 349 2928 ; second_ramp0_offset := 1 2929 0183 3001 movlw 1 2930 0184 00b7 movwf second_ramp0_offset 2931 ; line_number = 350 2932 ; second_desired_speed0 := desired_speed0 2933 0185 0829 movf desired_speed0,w 2934 0186 00b5 movwf second_desired_speed0 2935 ; line_number = 351 2936 ; second_motor0_command := 1 2937 0187 166f bsf second_motor0_command___byte, second_motor0_command___bit 2938 ; line_number = 352 2939 ; desired_speed0 := 0 2940 0188 3000 movlw 0 2941 0189 00a9 movwf desired_speed0 2942 ; line_number = 353 2943 ; ramp0_offset := 0xff 2944 018a 2990 goto set_up__5 2945 018b : set_up__4: 2946 ; # Direction remains unchanged 2947 ; line_number = 356 2948 ; if desired_speed0 < actual_speed0 start 2949 018b 0823 movf actual_speed0,w 2950 018c 0229 subwf desired_speed0,w 2951 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2952 ; CASE: true_size=1 && false_size=1 2953 ; SUBCASE: Double test; true, then false 2954 018d 1803 btfsc __c___byte, __c___bit 2955 ; line_number = 359 2956 ; ramp0_offset := 1 2957 018e 3001 movlw 1 2958 018f 1c03 btfss __c___byte, __c___bit 2959 ; line_number = 357 2960 ; ramp0_offset := 0xff 2961 0190 : set_up__5: 2962 ; code.delay=4294967295 back_code.delay=4294967295 2963 0190 30ff movlw 255 2964 0191 : set_up__7: 2965 ; code.delay=4294967295 back_code.delay=4294967295 2966 0191 00af movwf ramp0_offset 2967 ; code.delay=4294967295 back_code.delay=4294967295 2968 2969 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 2970 ; line_number = 356 2971 ; if desired_speed0 < actual_speed0 done 2972 ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:00=>00 code:XX=>XX) 2973 ; line_number = 347 2974 ; if temporary@0 done 2975 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2976 ; line_number = 331 2977 ; if ramp0 = 0 done 2978 ; # Figure out all the direction stuff: 2979 ; line_number = 362 2980 ; motor0_off := 0 2981 0192 3000 movlw 0 2982 0193 00a5 movwf motor0_off 2983 ; line_number = 363 2984 ; second_motor0_off := 0 2985 0194 3000 movlw 0 2986 0195 00bb movwf second_motor0_off 2987 ; line_number = 364 2988 ; if motor0_direction start 2989 ; # Direction = 1 (Backward): 2990 ; line_number = 366 2991 ; if motor0_mode start 2992 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2993 ; CASE: true_code.size = 0 && false_code.size > 1 2994 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 2995 0196 1f6f btfss motor0_mode___byte, motor0_mode___bit 2996 ; # Direction = 0 (Forward): 2997 ; line_number = 374 2998 ; if motor0_mode start 2999 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3000 ; CASE: true_code.size = 0 && false_code.size > 1 3001 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 3002 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3003 ; CASE: true_code_size > 1 && false_code_size > 1 3004 ; true_code_size=8 false_code_size=8 3005 0197 1c6e btfss motor0_direction___byte, motor0_direction___bit 3006 0198 29a2 goto set_up__10 3007 0199 299e goto set_up__9 3008 ; # Mode = 1 (Continuous): 3009 ; line_number = 368 3010 ; motor0_off := motor0a_mask 3011 019a 3001 movlw 1 3012 019b 00a5 movwf motor0_off 3013 ; line_number = 369 3014 ; second_motor0_off := motor0b_mask 3015 019c 3010 movlw 16 3016 019d 00bb movwf second_motor0_off 3017 ; Recombine size1 = 0 || size2 = 0 3018 019e : set_up__9: 3019 ; code.delay=4294967295 back_code.delay=4294967295 3020 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) 3021 ; line_number = 366 3022 ; if motor0_mode done 3023 ; line_number = 370 3024 ; motor0_on := motor0b_mask 3025 019e 3010 movlw 16 3026 019f 00a6 movwf motor0_on 3027 ; line_number = 371 3028 ; second_motor0_on := motor0a_mask 3029 01a0 3001 movlw 1 3030 01a1 29aa goto set_up__11 3031 01a2 : set_up__10: 3032 01a2 29a7 goto set_up__8 3033 ; # Mode = 1 (Continuous): 3034 ; line_number = 376 3035 ; motor0_off := motor0b_mask 3036 01a3 3010 movlw 16 3037 01a4 00a5 movwf motor0_off 3038 ; line_number = 377 3039 ; second_motor0_off := motor0a_mask 3040 01a5 3001 movlw 1 3041 01a6 00bb movwf second_motor0_off 3042 ; Recombine size1 = 0 || size2 = 0 3043 01a7 : set_up__8: 3044 ; code.delay=4294967295 back_code.delay=4294967295 3045 ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX) 3046 ; line_number = 374 3047 ; if motor0_mode done 3048 ; line_number = 378 3049 ; motor0_on := motor0a_mask 3050 01a7 3001 movlw 1 3051 01a8 00a6 movwf motor0_on 3052 ; line_number = 379 3053 ; second_motor0_on := motor0b_mask 3054 01a9 3010 movlw 16 3055 01aa : set_up__11: 3056 ; code.delay=4294967295 back_code.delay=4294967295 3057 01aa 00b9 movwf second_motor0_on 3058 3059 ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX) 3060 ; line_number = 364 3061 ; if motor0_direction done 3062 ; # Motor 1: 3063 ; line_number = 382 3064 ; if ramp1 = 0 start 3065 ; Left minus Right 3066 01ab 082c movf ramp1,w 3067 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3068 ; CASE: true_code_size > 1 && false_code_size > 1 3069 ; true_code_size=8 false_code_size=24 3070 01ac 1d03 btfss __z___byte, __z___bit 3071 01ad 29b7 goto set_up__17 3072 ; # No ramping: 3073 ; line_number = 384 3074 ; actual_speed1 := desired_speed1 3075 01ae 082a movf desired_speed1,w 3076 01af 00a4 movwf actual_speed1 3077 ; line_number = 385 3078 ; motor1_direction := desired_direction1 3079 01b0 10ee bcf motor1_direction___byte, motor1_direction___bit 3080 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3081 ; CASE: True.size=1 False.size=0 3082 01b1 19ef btfsc desired_direction1___byte, desired_direction1___bit 3083 01b2 14ee bsf motor1_direction___byte, motor1_direction___bit 3084 ; Recombine size1 = 0 || size2 = 0 3085 ; code.delay=4294967295 back_code.delay=4294967295 3086 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX) 3087 ; line_number = 386 3088 ; ramp1_delay := 0 3089 01b3 3000 movlw 0 3090 01b4 00ae movwf ramp1_delay 3091 ; line_number = 387 3092 ; ramp1_offset := 0 3093 01b5 3000 movlw 0 3094 01b6 29cf goto set_up__18 3095 01b7 : set_up__17: 3096 ; # We are ramping: 3097 3098 ; # Figure out if we are changing direction: 3099 ; line_number = 392 3100 ; temporary := 0 3101 01b7 3000 movlw 0 3102 01b8 00c8 movwf set_up__temporary 3103 ; line_number = 393 3104 ; if motor1_direction start 3105 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3106 ; CASE: True.size=1 False.size=0 3107 01b9 18ee btfsc motor1_direction___byte, motor1_direction___bit 3108 ; line_number = 394 3109 ; temporary@0 := 1 3110 00000048 = set_up__select__12___byte equ set_up__temporary 3111 00000000 = set_up__select__12___bit equ 0 3112 01ba 1448 bsf set_up__select__12___byte, set_up__select__12___bit 3113 ; Recombine size1 = 0 || size2 = 0 3114 ; code.delay=4294967295 back_code.delay=4294967295 3115 ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) 3116 ; line_number = 393 3117 ; if motor1_direction done 3118 ; line_number = 395 3119 ; if desired_direction1 start 3120 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3121 ; CASE: true_code.size = 0 && false_code.size > 1 3122 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 3123 01bb 1def btfss desired_direction1___byte, desired_direction1___bit 3124 01bc 29bf goto set_up__13 3125 ; line_number = 396 3126 ; temporary := temporary ^ 1 3127 01bd 3001 movlw 1 3128 01be 06c8 xorwf set_up__temporary,f 3129 3130 ; Recombine size1 = 0 || size2 = 0 3131 01bf : set_up__13: 3132 ; code.delay=4294967295 back_code.delay=4294967295 3133 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX) 3134 ; line_number = 395 3135 ; if desired_direction1 done 3136 ; line_number = 398 3137 ; if temporary@0 start 3138 00000048 = set_up__select__14___byte equ set_up__temporary 3139 00000000 = set_up__select__14___bit equ 0 3140 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3141 ; CASE: true_code_size > 1 && false_code_size > 1 3142 ; true_code_size=7 false_code_size=5 3143 01bf 1c48 btfss set_up__select__14___byte, set_up__select__14___bit 3144 01c0 29c9 goto set_up__15 3145 ; # We are changing direction: 3146 ; line_number = 400 3147 ; second_ramp1_offset := 1 3148 01c1 3001 movlw 1 3149 01c2 00b8 movwf second_ramp1_offset 3150 ; line_number = 401 3151 ; second_desired_speed1 := desired_speed1 3152 01c3 082a movf desired_speed1,w 3153 01c4 00b6 movwf second_desired_speed1 3154 ; line_number = 402 3155 ; second_motor1_command := 1 3156 01c5 16ef bsf second_motor1_command___byte, second_motor1_command___bit 3157 ; line_number = 403 3158 ; desired_speed1 := 0 3159 01c6 3000 movlw 0 3160 01c7 00aa movwf desired_speed1 3161 ; line_number = 404 3162 ; ramp1_offset := 0xff 3163 01c8 29ce goto set_up__16 3164 01c9 : set_up__15: 3165 ; # We are not changing direction: 3166 ; line_number = 407 3167 ; if desired_speed1 < actual_speed1 start 3168 01c9 0824 movf actual_speed1,w 3169 01ca 022a subwf desired_speed1,w 3170 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3171 ; CASE: true_size=1 && false_size=1 3172 ; SUBCASE: Double test; true, then false 3173 01cb 1803 btfsc __c___byte, __c___bit 3174 ; line_number = 410 3175 ; ramp1_offset := 1 3176 01cc 3001 movlw 1 3177 01cd 1c03 btfss __c___byte, __c___bit 3178 ; line_number = 408 3179 ; ramp1_offset := 0xff 3180 01ce : set_up__16: 3181 ; code.delay=4294967295 back_code.delay=4294967295 3182 01ce 30ff movlw 255 3183 01cf : set_up__18: 3184 ; code.delay=4294967295 back_code.delay=4294967295 3185 01cf 00b0 movwf ramp1_offset 3186 ; code.delay=4294967295 back_code.delay=4294967295 3187 3188 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3189 ; line_number = 407 3190 ; if desired_speed1 < actual_speed1 done 3191 ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:00=>00 code:XX=>XX) 3192 ; line_number = 398 3193 ; if temporary@0 done 3194 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3195 ; line_number = 382 3196 ; if ramp1 = 0 done 3197 ; line_number = 412 3198 ; motor1_off := 0 3199 01d0 3000 movlw 0 3200 01d1 00a7 movwf motor1_off 3201 ; line_number = 413 3202 ; second_motor1_off := 0 3203 01d2 3000 movlw 0 3204 01d3 00bc movwf second_motor1_off 3205 ; line_number = 414 3206 ; if motor1_direction start 3207 ; # Direction = 1 (Backward): 3208 ; line_number = 416 3209 ; if motor1_mode start 3210 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3211 ; CASE: true_code.size = 0 && false_code.size > 1 3212 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 3213 01d4 1fef btfss motor1_mode___byte, motor1_mode___bit 3214 ; # Direction = 0 (Forward): 3215 ; line_number = 424 3216 ; if motor1_mode start 3217 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3218 ; CASE: true_code.size = 0 && false_code.size > 1 3219 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 3220 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3221 ; CASE: true_code_size > 1 && false_code_size > 1 3222 ; true_code_size=8 false_code_size=8 3223 01d5 1cee btfss motor1_direction___byte, motor1_direction___bit 3224 01d6 29e0 goto set_up__21 3225 01d7 29dc goto set_up__20 3226 ; # Mode = 1 (Continuous): 3227 ; line_number = 418 3228 ; motor1_off := motor1a_mask 3229 01d8 3002 movlw 2 3230 01d9 00a7 movwf motor1_off 3231 ; line_number = 419 3232 ; second_motor1_off := motor1b_mask 3233 01da 3004 movlw 4 3234 01db 00bc movwf second_motor1_off 3235 ; Recombine size1 = 0 || size2 = 0 3236 01dc : set_up__20: 3237 ; code.delay=4294967295 back_code.delay=4294967295 3238 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) 3239 ; line_number = 416 3240 ; if motor1_mode done 3241 ; line_number = 420 3242 ; motor1_on := motor1b_mask 3243 01dc 3004 movlw 4 3244 01dd 00a8 movwf motor1_on 3245 ; line_number = 421 3246 ; second_motor1_on := motor1a_mask 3247 01de 3002 movlw 2 3248 01df 29e8 goto set_up__22 3249 01e0 : set_up__21: 3250 01e0 29e5 goto set_up__19 3251 ; # Mode = 1 (Continuous): 3252 ; line_number = 426 3253 ; motor1_off := motor1b_mask 3254 01e1 3004 movlw 4 3255 01e2 00a7 movwf motor1_off 3256 ; line_number = 427 3257 ; second_motor1_off := motor1a_mask 3258 01e3 3002 movlw 2 3259 01e4 00bc movwf second_motor1_off 3260 ; Recombine size1 = 0 || size2 = 0 3261 01e5 : set_up__19: 3262 ; code.delay=4294967295 back_code.delay=4294967295 3263 ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX) 3264 ; line_number = 424 3265 ; if motor1_mode done 3266 ; line_number = 428 3267 ; motor1_on := motor1a_mask 3268 01e5 3002 movlw 2 3269 01e6 00a8 movwf motor1_on 3270 ; line_number = 429 3271 ; second_motor1_on := motor1b_mask 3272 01e7 3004 movlw 4 3273 01e8 : set_up__22: 3274 ; code.delay=4294967295 back_code.delay=4294967295 3275 01e8 00ba movwf second_motor1_on 3276 3277 3278 ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX) 3279 ; line_number = 414 3280 ; if motor1_direction done 3281 ; delay after procedure statements=non-uniform 3282 ; Implied return 3283 01e9 3400 retlw 0 3284 3285 3286 3287 3288 ; line_number = 432 3289 ; procedure reset 3290 01ea : reset: 3291 ; arguments_none 3292 ; line_number = 434 3293 ; returns_nothing 3294 3295 ; # Initialize everything else: 3296 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3297 ; line_number = 437 3298 ; enable := 1 3299 01ea 1587 bsf enable___byte, enable___bit 3300 ; line_number = 438 3301 ; _intcon := 0 3302 01eb 3000 movlw 0 3303 01ec 008b movwf _intcon 3304 ; line_number = 439 3305 ; _option_reg := 0 3306 01ed 3000 movlw 0 3307 01ee 1683 bsf __rp0___byte, __rp0___bit 3308 01ef 0081 movwf _option_reg 3309 ; line_number = 440 3310 ; _wpua := 0 3311 01f0 3000 movlw 0 3312 01f1 0095 movwf _wpua 3313 ; line_number = 441 3314 ; actual_speed0 := 0 3315 01f2 3000 movlw 0 3316 01f3 1283 bcf __rp0___byte, __rp0___bit 3317 01f4 00a3 movwf actual_speed0 3318 ; line_number = 442 3319 ; actual_speed1 := 0 3320 01f5 3000 movlw 0 3321 01f6 00a4 movwf actual_speed1 3322 ; line_number = 443 3323 ; motor0_off := 0 3324 01f7 3000 movlw 0 3325 01f8 00a5 movwf motor0_off 3326 ; line_number = 444 3327 ; motor0_on := 0 3328 01f9 3000 movlw 0 3329 01fa 00a6 movwf motor0_on 3330 ; line_number = 445 3331 ; motor1_off := 0 3332 01fb 3000 movlw 0 3333 01fc 00a7 movwf motor1_off 3334 ; line_number = 446 3335 ; motor1_on := 0 3336 01fd 3000 movlw 0 3337 01fe 00a8 movwf motor1_on 3338 ; line_number = 447 3339 ; desired_direction0 := 0 3340 01ff 116f bcf desired_direction0___byte, desired_direction0___bit 3341 ; line_number = 448 3342 ; desired_direction1 := 0 3343 0200 11ef bcf desired_direction1___byte, desired_direction1___bit 3344 ; line_number = 449 3345 ; desired_speed0 := 0 3346 0201 3000 movlw 0 3347 0202 00a9 movwf desired_speed0 3348 ; line_number = 450 3349 ; desired_speed1 := 0 3350 0203 3000 movlw 0 3351 0204 00aa movwf desired_speed1 3352 ; line_number = 451 3353 ; ramp0 := 0 3354 0205 3000 movlw 0 3355 0206 00ab movwf ramp0 3356 ; line_number = 452 3357 ; ramp1 := 0 3358 0207 3000 movlw 0 3359 0208 00ac movwf ramp1 3360 ; line_number = 453 3361 ; ramp0_delay := 0 3362 0209 3000 movlw 0 3363 020a 00ad movwf ramp0_delay 3364 ; line_number = 454 3365 ; ramp1_delay := 0 3366 020b 3000 movlw 0 3367 020c 00ae movwf ramp1_delay 3368 ; line_number = 455 3369 ; ramp0_offset := 0 3370 020d 3000 movlw 0 3371 020e 00af movwf ramp0_offset 3372 ; line_number = 456 3373 ; ramp1_offset := 0 3374 020f 3000 movlw 0 3375 0210 00b0 movwf ramp1_offset 3376 ; line_number = 457 3377 ; motor0_direction := 0 3378 0211 106e bcf motor0_direction___byte, motor0_direction___bit 3379 ; line_number = 458 3380 ; motor1_direction := 0 3381 0212 10ee bcf motor1_direction___byte, motor1_direction___bit 3382 ; line_number = 459 3383 ; motor0_mode := 0 3384 0213 136f bcf motor0_mode___byte, motor0_mode___bit 3385 ; line_number = 460 3386 ; motor1_mode := 0 3387 0214 13ef bcf motor1_mode___byte, motor1_mode___bit 3388 ; line_number = 461 3389 ; second_motor0_command := 0 3390 0215 126f bcf second_motor0_command___byte, second_motor0_command___bit 3391 ; line_number = 462 3392 ; second_motor1_command := 0 3393 0216 12ef bcf second_motor1_command___byte, second_motor1_command___bit 3394 ; line_number = 463 3395 ; fail_safe := 0 3396 0217 3000 movlw 0 3397 0218 00b1 movwf fail_safe 3398 ; line_number = 464 3399 ; fail_safe_errors := 0 3400 0219 3000 movlw 0 3401 021a 00b2 movwf fail_safe_errors 3402 ; line_number = 465 3403 ; fail_safe_high_counter := 0 3404 021b 3000 movlw 0 3405 021c 00b3 movwf fail_safe_high_counter 3406 ; line_number = 466 3407 ; fail_safe_low_counter := 0 3408 021d 3000 movlw 0 3409 021e 00b4 movwf fail_safe_low_counter 3410 ; line_number = 467 3411 ; glitch := 0 3412 021f 3000 movlw 0 3413 0220 00bf movwf glitch 3414 ; line_number = 468 3415 ; id_index := 0 3416 0221 3000 movlw 0 3417 0222 00c0 movwf id_index 3418 ; line_number = 469 3419 ; led1 := 0 3420 0223 1007 bcf led1___byte, led1___bit 3421 ; line_number = 470 3422 ; led2 := 1 3423 0224 1487 bsf led2___byte, led2___bit 3424 ; line_number = 471 3425 ; led3 := 0 3426 0225 1107 bcf led3___byte, led3___bit 3427 3428 3429 ; delay after procedure statements=non-uniform 3430 ; Implied return 3431 0226 3400 retlw 0 3432 3433 3434 3435 3436 ; line_number = 474 3437 ; procedure delay 3438 0227 : delay: 3439 ; arguments_none 3440 ; line_number = 476 3441 ; returns_nothing 3442 ; #exact_delay delay_instructions 3443 3444 ; line_number = 479 3445 ; local count1 byte 3446 00000049 = delay__count1 equ globals___0+41 3447 ; line_number = 480 3448 ; local count2 byte 3449 0000004a = delay__count2 equ globals___0+42 3450 3451 ; # Delay for 1/3 of a bit time. 3452 3453 ; # Kick the dog: 3454 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3455 ; line_number = 485 3456 ; watch_dog_reset done 3457 0227 0064 clrwdt 3458 3459 ; # Keep count of everything: 3460 ; line_number = 488 3461 ; count1 := count1 + 1 3462 0228 0ac9 incf delay__count1,f 3463 ; line_number = 489 3464 ; if _z start 3465 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3466 ; CASE: True.size=1 False.size=0 3467 0229 1903 btfsc _z___byte, _z___bit 3468 ; line_number = 490 3469 ; count2 := count2 + 1 3470 022a 0aca incf delay__count2,f 3471 3472 ; Recombine size1 = 0 || size2 = 0 3473 ; code.delay=4294967295 back_code.delay=4294967295 3474 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) 3475 ; line_number = 489 3476 ; if _z done 3477 ; # This is the first probe of TMR0: 3478 ; line_number = 493 3479 ; if _tmr0 < actual_speed0 start 3480 022b 0823 movf actual_speed0,w 3481 022c 0201 subwf _tmr0,w 3482 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3483 ; CASE: true_size=1 && false_size=1 3484 ; SUBCASE: Double test; true, then false 3485 022d 1803 btfsc __c___byte, __c___bit 3486 ; line_number = 496 3487 ; motor0 := motor0_off 3488 022e 0825 movf motor0_off,w 3489 022f 1c03 btfss __c___byte, __c___bit 3490 ; line_number = 494 3491 ; motor0 := motor0_on 3492 0230 0826 movf motor0_on,w 3493 ; code.delay=4294967295 back_code.delay=4294967295 3494 0231 00bd movwf motor0 3495 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3496 ; line_number = 493 3497 ; if _tmr0 < actual_speed0 done 3498 ; line_number = 497 3499 ; if _tmr0 < actual_speed1 start 3500 0232 0824 movf actual_speed1,w 3501 0233 0201 subwf _tmr0,w 3502 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3503 ; CASE: true_size=1 && false_size=1 3504 ; SUBCASE: Double test; true, then false 3505 0234 1803 btfsc __c___byte, __c___bit 3506 ; line_number = 500 3507 ; motor1 := motor1_off 3508 0235 0827 movf motor1_off,w 3509 0236 1c03 btfss __c___byte, __c___bit 3510 ; line_number = 498 3511 ; motor1 := motor1_on 3512 0237 0828 movf motor1_on,w 3513 ; code.delay=4294967295 back_code.delay=4294967295 3514 0238 00be movwf motor1 3515 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3516 ; line_number = 497 3517 ; if _tmr0 < actual_speed1 done 3518 ; line_number = 501 3519 ; _porta := motor0 | motor1 3520 0239 083d movf motor0,w 3521 023a 043e iorwf motor1,w 3522 023b 0085 movwf _porta 3523 3524 ; # First check out {fail_safe_counter}: 3525 ; line_number = 504 3526 ; fail_safe_low_counter := fail_safe_low_counter - 1 3527 023c 03b4 decf fail_safe_low_counter,f 3528 ; line_number = 505 3529 ; if _z start 3530 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3531 ; CASE: true_code.size = 0 && false_code.size > 1 3532 ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay) 3533 023d 1d03 btfss _z___byte, _z___bit 3534 023e 2a56 goto delay__3 3535 ; line_number = 506 3536 ; fail_safe_high_counter := fail_safe_high_counter - 1 3537 023f 03b3 decf fail_safe_high_counter,f 3538 ; line_number = 507 3539 ; if _z start 3540 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3541 ; CASE: true_code.size = 0 && false_code.size > 1 3542 ; bit_code_emit_helper1: body_code.size=20 true_test=true body_code.delay=0 (non-uniform delay) 3543 0240 1d03 btfss _z___byte, _z___bit 3544 0241 2a56 goto delay__2 3545 ; line_number = 508 3546 ; if fail_safe != 0 start 3547 ; Left minus Right 3548 0242 0831 movf fail_safe,w 3549 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3550 ; CASE: true.size=0 && false.size>1 3551 ; bit_code_emit_helper1: body_code.size=17 true_test=false body_code.delay=0 (non-uniform delay) 3552 0243 1903 btfsc __z___byte, __z___bit 3553 0244 2a56 goto delay__1 3554 ; # Turn the motors off: 3555 ; line_number = 510 3556 ; motor0_on := 0 3557 0245 3000 movlw 0 3558 0246 00a6 movwf motor0_on 3559 ; line_number = 511 3560 ; motor0_off := 0 3561 0247 3000 movlw 0 3562 0248 00a5 movwf motor0_off 3563 ; line_number = 512 3564 ; motor1_on := 0 3565 0249 3000 movlw 0 3566 024a 00a8 movwf motor1_on 3567 ; line_number = 513 3568 ; motor1_off := 0 3569 024b 3000 movlw 0 3570 024c 00a7 movwf motor1_off 3571 ; line_number = 514 3572 ; desired_speed0 := 0 3573 024d 3000 movlw 0 3574 024e 00a9 movwf desired_speed0 3575 ; line_number = 515 3576 ; desired_speed1 := 0 3577 024f 3000 movlw 0 3578 0250 00aa movwf desired_speed1 3579 ; line_number = 516 3580 ; actual_speed0 := 0 3581 0251 3000 movlw 0 3582 0252 00a3 movwf actual_speed0 3583 ; line_number = 517 3584 ; actual_speed1 := 0 3585 0253 3000 movlw 0 3586 0254 00a4 movwf actual_speed1 3587 ; line_number = 518 3588 ; fail_safe_errors := fail_safe_errors + 1 3589 0255 0ab2 incf fail_safe_errors,f 3590 3591 0256 : delay__1: 3592 ; Recombine size1 = 0 || size2 = 0 3593 ; code.delay=4294967295 back_code.delay=4294967295 3594 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3595 ; line_number = 508 3596 ; if fail_safe != 0 done 3597 ; Recombine size1 = 0 || size2 = 0 3598 0256 : delay__2: 3599 ; code.delay=4294967295 back_code.delay=4294967295 3600 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) 3601 ; line_number = 507 3602 ; if _z done 3603 ; Recombine size1 = 0 || size2 = 0 3604 0256 : delay__3: 3605 ; code.delay=4294967295 back_code.delay=4294967295 3606 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) 3607 ; line_number = 505 3608 ; if _z done 3609 ; # This is the second probe of TMR0: 3610 ; line_number = 521 3611 ; if _tmr0 < actual_speed0 start 3612 0256 0823 movf actual_speed0,w 3613 0257 0201 subwf _tmr0,w 3614 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3615 ; CASE: true_size=1 && false_size=1 3616 ; SUBCASE: Double test; true, then false 3617 0258 1803 btfsc __c___byte, __c___bit 3618 ; line_number = 524 3619 ; motor0 := motor0_off 3620 0259 0825 movf motor0_off,w 3621 025a 1c03 btfss __c___byte, __c___bit 3622 ; line_number = 522 3623 ; motor0 := motor0_on 3624 025b 0826 movf motor0_on,w 3625 ; code.delay=4294967295 back_code.delay=4294967295 3626 025c 00bd movwf motor0 3627 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3628 ; line_number = 521 3629 ; if _tmr0 < actual_speed0 done 3630 ; line_number = 525 3631 ; if _tmr0 < actual_speed1 start 3632 025d 0824 movf actual_speed1,w 3633 025e 0201 subwf _tmr0,w 3634 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3635 ; CASE: true_size=1 && false_size=1 3636 ; SUBCASE: Double test; true, then false 3637 025f 1803 btfsc __c___byte, __c___bit 3638 ; line_number = 528 3639 ; motor1 := motor1_off 3640 0260 0827 movf motor1_off,w 3641 0261 1c03 btfss __c___byte, __c___bit 3642 ; line_number = 526 3643 ; motor1 := motor1_on 3644 0262 0828 movf motor1_on,w 3645 ; code.delay=4294967295 back_code.delay=4294967295 3646 0263 00be movwf motor1 3647 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3648 ; line_number = 525 3649 ; if _tmr0 < actual_speed1 done 3650 ; line_number = 529 3651 ; _porta := motor0 | motor1 3652 0264 083d movf motor0,w 3653 0265 043e iorwf motor1,w 3654 0266 0085 movwf _porta 3655 3656 ; # Do {ramp0} management: 3657 ; line_number = 532 3658 ; ramp0_delay := ramp0_delay - 1 3659 0267 03ad decf ramp0_delay,f 3660 ; line_number = 533 3661 ; if _z start 3662 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3663 ; CASE: true_code.size = 0 && false_code.size > 1 3664 ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay) 3665 0268 1d03 btfss _z___byte, _z___bit 3666 0269 2a81 goto delay__7 3667 ; line_number = 534 3668 ; ramp0_delay := ramp0 3669 026a 082b movf ramp0,w 3670 026b 00ad movwf ramp0_delay 3671 ; line_number = 535 3672 ; if actual_speed0 != desired_speed0 start 3673 ; Left minus Right 3674 026c 0829 movf desired_speed0,w 3675 026d 0223 subwf actual_speed0,w 3676 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3677 ; CASE: true_code_size > 1 && false_code_size > 1 3678 ; true_code_size=14 false_code_size=2 3679 026e 1d03 btfss __z___byte, __z___bit 3680 026f 2a7f goto delay__5 3681 ; line_number = 537 3682 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3683 ; CASE: true_code.size = 0 && false_code.size > 1 3684 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) 3685 0270 1e6f btfss second_motor0_command___byte, second_motor0_command___bit 3686 0271 2a7e goto delay__4 3687 ; line_number = 538 3688 ; second_motor0_command := 0 3689 0272 126f bcf second_motor0_command___byte, second_motor0_command___bit 3690 ; line_number = 539 3691 ; desired_speed0 := second_desired_speed0 3692 0273 0835 movf second_desired_speed0,w 3693 0274 00a9 movwf desired_speed0 3694 ; line_number = 540 3695 ; ramp0_offset := second_ramp0_offset 3696 0275 0837 movf second_ramp0_offset,w 3697 0276 00af movwf ramp0_offset 3698 ; line_number = 541 3699 ; motor0_on := second_motor0_on 3700 0277 0839 movf second_motor0_on,w 3701 0278 00a6 movwf motor0_on 3702 ; line_number = 542 3703 ; motor0_off := second_motor0_off 3704 0279 083b movf second_motor0_off,w 3705 027a 00a5 movwf motor0_off 3706 ; line_number = 543 3707 ; motor0_direction := desired_direction0 3708 027b 106e bcf motor0_direction___byte, motor0_direction___bit 3709 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3710 ; CASE: True.size=1 False.size=0 3711 027c 196f btfsc desired_direction0___byte, desired_direction0___bit 3712 027d 146e bsf motor0_direction___byte, motor0_direction___bit 3713 ; Recombine size1 = 0 || size2 = 0 3714 ; code.delay=4294967295 back_code.delay=4294967295 3715 ; <=bit_code_emit@symbol; sym=desired_direction0 (data:XX=>00 code:XX=>XX) 3716 3717 ; Recombine size1 = 0 || size2 = 0 3718 027e : delay__4: 3719 ; code.delay=4294967295 back_code.delay=4294967295 3720 ; <=bit_code_emit@symbol; sym=second_motor0_command (data:00=>00 code:XX=>XX) 3721 027e 2a81 goto delay__6 3722 027f : delay__5: 3723 ; line_number = 536 3724 ; actual_speed0 := actual_speed0 + ramp0_offset 3725 027f 082f movf ramp0_offset,w 3726 0280 07a3 addwf actual_speed0,f 3727 0281 : delay__6: 3728 ; code.delay=4294967295 back_code.delay=4294967295 3729 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3730 ; line_number = 535 3731 ; if actual_speed0 != desired_speed0 done 3732 ; Recombine size1 = 0 || size2 = 0 3733 0281 : delay__7: 3734 ; code.delay=4294967295 back_code.delay=4294967295 3735 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) 3736 ; line_number = 533 3737 ; if _z done 3738 ; # This is the third probe of TMR0: 3739 ; line_number = 546 3740 ; if _tmr0 < actual_speed0 start 3741 0281 0823 movf actual_speed0,w 3742 0282 0201 subwf _tmr0,w 3743 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3744 ; CASE: true_size=1 && false_size=1 3745 ; SUBCASE: Double test; true, then false 3746 0283 1803 btfsc __c___byte, __c___bit 3747 ; line_number = 549 3748 ; motor0 := motor0_off 3749 0284 0825 movf motor0_off,w 3750 0285 1c03 btfss __c___byte, __c___bit 3751 ; line_number = 547 3752 ; motor0 := motor0_on 3753 0286 0826 movf motor0_on,w 3754 ; code.delay=4294967295 back_code.delay=4294967295 3755 0287 00bd movwf motor0 3756 3757 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3758 ; line_number = 546 3759 ; if _tmr0 < actual_speed0 done 3760 ; line_number = 551 3761 ; if _tmr0 < actual_speed1 start 3762 0288 0824 movf actual_speed1,w 3763 0289 0201 subwf _tmr0,w 3764 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3765 ; CASE: true_size=1 && false_size=1 3766 ; SUBCASE: Double test; true, then false 3767 028a 1803 btfsc __c___byte, __c___bit 3768 ; line_number = 554 3769 ; motor1 := motor1_off 3770 028b 0827 movf motor1_off,w 3771 028c 1c03 btfss __c___byte, __c___bit 3772 ; line_number = 552 3773 ; motor1 := motor1_on 3774 028d 0828 movf motor1_on,w 3775 ; code.delay=4294967295 back_code.delay=4294967295 3776 028e 00be movwf motor1 3777 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3778 ; line_number = 551 3779 ; if _tmr0 < actual_speed1 done 3780 ; line_number = 555 3781 ; _porta := motor0 | motor1 3782 028f 083d movf motor0,w 3783 0290 043e iorwf motor1,w 3784 0291 0085 movwf _porta 3785 3786 ; # Do {ramp1} management: 3787 ; line_number = 558 3788 ; ramp1_delay := ramp1_delay - 1 3789 0292 03ae decf ramp1_delay,f 3790 ; line_number = 559 3791 ; if _z start 3792 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3793 ; CASE: true_code_size > 1 && false_code_size > 1 3794 ; true_code_size=23 false_code_size=17 3795 0293 1d03 btfss _z___byte, _z___bit 3796 0294 2aad goto delay__11 3797 ; line_number = 560 3798 ; ramp1_delay := ramp1 3799 0295 082c movf ramp1,w 3800 0296 00ae movwf ramp1_delay 3801 ; line_number = 561 3802 ; if actual_speed1 != desired_speed1 start 3803 ; Left minus Right 3804 0297 082a movf desired_speed1,w 3805 0298 0224 subwf actual_speed1,w 3806 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3807 ; CASE: true_code_size > 1 && false_code_size > 1 3808 ; true_code_size=14 false_code_size=2 3809 0299 1d03 btfss __z___byte, __z___bit 3810 029a 2aaa goto delay__9 3811 ; line_number = 563 3812 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3813 ; CASE: true_code.size = 0 && false_code.size > 1 3814 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) 3815 029b 1eef btfss second_motor1_command___byte, second_motor1_command___bit 3816 029c 2aa9 goto delay__8 3817 ; line_number = 564 3818 ; second_motor1_command := 0 3819 029d 12ef bcf second_motor1_command___byte, second_motor1_command___bit 3820 ; line_number = 565 3821 ; desired_speed1 := second_desired_speed1 3822 029e 0836 movf second_desired_speed1,w 3823 029f 00aa movwf desired_speed1 3824 ; line_number = 566 3825 ; ramp1_offset := second_ramp1_offset 3826 02a0 0838 movf second_ramp1_offset,w 3827 02a1 00b0 movwf ramp1_offset 3828 ; line_number = 567 3829 ; motor1_on := second_motor1_on 3830 02a2 083a movf second_motor1_on,w 3831 02a3 00a8 movwf motor1_on 3832 ; line_number = 568 3833 ; motor1_off := second_motor1_off 3834 02a4 083c movf second_motor1_off,w 3835 02a5 00a7 movwf motor1_off 3836 ; line_number = 569 3837 ; motor1_direction := desired_direction1 3838 02a6 10ee bcf motor1_direction___byte, motor1_direction___bit 3839 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3840 ; CASE: True.size=1 False.size=0 3841 02a7 19ef btfsc desired_direction1___byte, desired_direction1___bit 3842 02a8 14ee bsf motor1_direction___byte, motor1_direction___bit 3843 ; Recombine size1 = 0 || size2 = 0 3844 ; code.delay=4294967295 back_code.delay=4294967295 3845 ; <=bit_code_emit@symbol; sym=desired_direction1 (data:XX=>00 code:XX=>XX) 3846 ; Recombine size1 = 0 || size2 = 0 3847 02a9 : delay__8: 3848 ; code.delay=4294967295 back_code.delay=4294967295 3849 ; <=bit_code_emit@symbol; sym=second_motor1_command (data:00=>00 code:XX=>XX) 3850 02a9 2aac goto delay__10 3851 02aa : delay__9: 3852 ; line_number = 562 3853 ; actual_speed1 := actual_speed1 + ramp1_offset 3854 02aa 0830 movf ramp1_offset,w 3855 02ab 07a4 addwf actual_speed1,f 3856 02ac : delay__10: 3857 ; code.delay=4294967295 back_code.delay=4294967295 3858 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3859 ; line_number = 561 3860 ; if actual_speed1 != desired_speed1 done 3861 02ac 2abe goto delay__12 3862 02ad : delay__11: 3863 ; # This is the forth probe of TMR0: 3864 ; line_number = 572 3865 ; if _tmr0 < actual_speed0 start 3866 02ad 0823 movf actual_speed0,w 3867 02ae 0201 subwf _tmr0,w 3868 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3869 ; CASE: true_size=1 && false_size=1 3870 ; SUBCASE: Double test; true, then false 3871 02af 1803 btfsc __c___byte, __c___bit 3872 ; line_number = 575 3873 ; motor0 := motor0_off 3874 02b0 0825 movf motor0_off,w 3875 02b1 1c03 btfss __c___byte, __c___bit 3876 ; line_number = 573 3877 ; motor0 := motor0_on 3878 02b2 0826 movf motor0_on,w 3879 ; code.delay=4294967295 back_code.delay=4294967295 3880 02b3 00bd movwf motor0 3881 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3882 ; line_number = 572 3883 ; if _tmr0 < actual_speed0 done 3884 ; line_number = 576 3885 ; if _tmr0 < actual_speed1 start 3886 02b4 0824 movf actual_speed1,w 3887 02b5 0201 subwf _tmr0,w 3888 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3889 ; CASE: true_size=1 && false_size=1 3890 ; SUBCASE: Double test; true, then false 3891 02b6 1803 btfsc __c___byte, __c___bit 3892 ; line_number = 579 3893 ; motor1 := motor1_off 3894 02b7 0827 movf motor1_off,w 3895 02b8 1c03 btfss __c___byte, __c___bit 3896 ; line_number = 577 3897 ; motor1 := motor1_on 3898 02b9 0828 movf motor1_on,w 3899 ; code.delay=4294967295 back_code.delay=4294967295 3900 02ba 00be movwf motor1 3901 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 3902 ; line_number = 576 3903 ; if _tmr0 < actual_speed1 done 3904 ; line_number = 580 3905 ; _porta := motor0 | motor1 3906 02bb 083d movf motor0,w 3907 02bc 043e iorwf motor1,w 3908 02bd 0085 movwf _porta 3909 3910 02be : delay__12: 3911 ; code.delay=4294967295 back_code.delay=4294967295 3912 ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX) 3913 ; line_number = 559 3914 ; if _z done 3915 ; # Light direction LED's: 3916 ; line_number = 583 3917 ; if motor0_direction start 3918 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3919 ; CASE: true_code_size > 1 && false_code_size > 1 3920 ; true_code_size=4 false_code_size=5 3921 02be 1c6e btfss motor0_direction___byte, motor0_direction___bit 3922 02bf 2ac5 goto delay__14 3923 ; # Reverse 3924 ; line_number = 585 3925 ; if count2@3 start 3926 0000004a = delay__select__13___byte equ delay__count2 3927 00000003 = delay__select__13___bit equ 3 3928 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3929 ; CASE: true_size=1 && false_size=1 3930 ; SUBCASE: Double test; true, then false 3931 02c0 19ca btfsc delay__select__13___byte, delay__select__13___bit 3932 ; line_number = 586 3933 ; led1 := 1 3934 02c1 1407 bsf led1___byte, led1___bit 3935 02c2 1dca btfss delay__select__13___byte, delay__select__13___bit 3936 ; line_number = 588 3937 ; led1 := 0 3938 02c3 1007 bcf led1___byte, led1___bit 3939 ; code.delay=4294967295 back_code.delay=4294967295 3940 ; <=bit_code_emit@symbol; sym=delay__select__13 (data:XX=>XX code:XX=>XX) 3941 ; line_number = 585 3942 ; if count2@3 done 3943 02c4 2aca goto delay__15 3944 02c5 : delay__14: 3945 ; line_number = 590 3946 ; if actual_speed0 = 0 start 3947 ; Left minus Right 3948 02c5 0823 movf actual_speed0,w 3949 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3950 ; CASE: true_size=1 && false_size=1 3951 ; SUBCASE: Double test; true, then false 3952 02c6 1903 btfsc __z___byte, __z___bit 3953 ; line_number = 591 3954 ; led1 := 0 3955 02c7 1007 bcf led1___byte, led1___bit 3956 02c8 1d03 btfss __z___byte, __z___bit 3957 ; line_number = 593 3958 ; led1 := 1 3959 02c9 1407 bsf led1___byte, led1___bit 3960 ; code.delay=4294967295 back_code.delay=4294967295 3961 ; <=bit_code_emit@symbol; sym=__z (data:XX=>XX code:XX=>XX) 3962 ; line_number = 590 3963 ; if actual_speed0 = 0 done 3964 02ca : delay__15: 3965 ; code.delay=4294967295 back_code.delay=4294967295 3966 ; <=bit_code_emit@symbol; sym=motor0_direction (data:XX=>XX code:XX=>XX) 3967 ; line_number = 583 3968 ; if motor0_direction done 3969 ; line_number = 594 3970 ; if motor1_direction start 3971 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3972 ; CASE: true_code_size > 1 && false_code_size > 1 3973 ; true_code_size=4 false_code_size=5 3974 02ca 1cee btfss motor1_direction___byte, motor1_direction___bit 3975 02cb 2ad1 goto delay__17 3976 ; # Reverse 3977 ; line_number = 596 3978 ; if count2@3 start 3979 0000004a = delay__select__16___byte equ delay__count2 3980 00000003 = delay__select__16___bit equ 3 3981 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3982 ; CASE: true_size=1 && false_size=1 3983 ; SUBCASE: Double test; true, then false 3984 02cc 19ca btfsc delay__select__16___byte, delay__select__16___bit 3985 ; line_number = 597 3986 ; led3 := 1 3987 02cd 1507 bsf led3___byte, led3___bit 3988 02ce 1dca btfss delay__select__16___byte, delay__select__16___bit 3989 ; line_number = 599 3990 ; led3 := 0 3991 02cf 1107 bcf led3___byte, led3___bit 3992 ; code.delay=4294967295 back_code.delay=4294967295 3993 ; <=bit_code_emit@symbol; sym=delay__select__16 (data:XX=>XX code:XX=>XX) 3994 ; line_number = 596 3995 ; if count2@3 done 3996 02d0 2ad6 goto delay__18 3997 02d1 : delay__17: 3998 ; line_number = 601 3999 ; if actual_speed1 = 0 start 4000 ; Left minus Right 4001 02d1 0824 movf actual_speed1,w 4002 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 4003 ; CASE: true_size=1 && false_size=1 4004 ; SUBCASE: Double test; true, then false 4005 02d2 1903 btfsc __z___byte, __z___bit 4006 ; line_number = 602 4007 ; led3 := 0 4008 02d3 1107 bcf led3___byte, led3___bit 4009 02d4 1d03 btfss __z___byte, __z___bit 4010 ; line_number = 604 4011 ; led3 := 1 4012 02d5 1507 bsf led3___byte, led3___bit 4013 4014 4015 ; code.delay=4294967295 back_code.delay=4294967295 4016 ; <=bit_code_emit@symbol; sym=__z (data:XX=>XX code:XX=>XX) 4017 ; line_number = 601 4018 ; if actual_speed1 = 0 done 4019 02d6 : delay__18: 4020 ; code.delay=4294967295 back_code.delay=4294967295 4021 ; <=bit_code_emit@symbol; sym=motor1_direction (data:XX=>XX code:XX=>XX) 4022 ; line_number = 594 4023 ; if motor1_direction done 4024 ; delay after procedure statements=non-uniform 4025 ; Implied return 4026 02d6 3400 retlw 0 4027 4028 4029 4030 4031 ; line_number = 607 4032 ; constant zero8 = "\0,0,0,0,0,0,0,0\" 4033 ; zero8 = '\0,0,0,0,0,0,0,0\' 4034 ; line_number = 608 4035 ; constant module_name = "\13\DualMotor1Amp" 4036 ; module_name = '\13\DualMotor1Amp' 4037 ; line_number = 609 4038 ; constant vendor_name = "\7\Gramson" 4039 ; vendor_name = '\7\Gramson' 4040 4041 ; line_number = 611 4042 ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 4043 ; 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' 4044 02d7 : id: 4045 ; Temporarily save index into FSR 4046 02d7 0084 movwf __fsr 4047 ; Initialize PCLATH to point to this code page 4048 02d8 3003 movlw id___base>>8 4049 02d9 008a movwf __pclath 4050 ; Restore index from FSR 4051 02da 0804 movf __fsr,w 4052 02db 3e00 addlw id___base 4053 ; Index to the correct return value 4054 02dc 0082 movwf __pcl 4055 ; page_group 46 4056 ; Add 35 NOP's until start of new page 4057 02dd 0000 nop 4058 02de 0000 nop 4059 02df 0000 nop 4060 02e0 0000 nop 4061 02e1 0000 nop 4062 02e2 0000 nop 4063 02e3 0000 nop 4064 02e4 0000 nop 4065 02e5 0000 nop 4066 02e6 0000 nop 4067 02e7 0000 nop 4068 02e8 0000 nop 4069 02e9 0000 nop 4070 02ea 0000 nop 4071 02eb 0000 nop 4072 02ec 0000 nop 4073 02ed 0000 nop 4074 02ee 0000 nop 4075 02ef 0000 nop 4076 02f0 0000 nop 4077 02f1 0000 nop 4078 02f2 0000 nop 4079 02f3 0000 nop 4080 02f4 0000 nop 4081 02f5 0000 nop 4082 02f6 0000 nop 4083 02f7 0000 nop 4084 02f8 0000 nop 4085 02f9 0000 nop 4086 02fa 0000 nop 4087 02fb 0000 nop 4088 02fc 0000 nop 4089 02fd 0000 nop 4090 02fe 0000 nop 4091 02ff 0000 nop 4092 0300 : id___base: 4093 0300 3401 retlw 1 4094 0301 3401 retlw 1 4095 0302 340e retlw 14 4096 0303 3408 retlw 8 4097 0304 3409 retlw 9 4098 0305 3400 retlw 0 4099 0306 3400 retlw 0 4100 0307 3400 retlw 0 4101 0308 3400 retlw 0 4102 0309 3400 retlw 0 4103 030a 3400 retlw 0 4104 030b 3400 retlw 0 4105 030c 3400 retlw 0 4106 030d 3400 retlw 0 4107 030e 3400 retlw 0 4108 030f 3400 retlw 0 4109 0310 3400 retlw 0 4110 0311 3400 retlw 0 4111 0312 3400 retlw 0 4112 0313 3400 retlw 0 4113 0314 3400 retlw 0 4114 0315 3400 retlw 0 4115 0316 3400 retlw 0 4116 0317 3400 retlw 0 4117 0318 340d retlw 13 4118 0319 3444 retlw 68 4119 031a 3475 retlw 117 4120 031b 3461 retlw 97 4121 031c 346c retlw 108 4122 031d 344d retlw 77 4123 031e 346f retlw 111 4124 031f 3474 retlw 116 4125 0320 346f retlw 111 4126 0321 3472 retlw 114 4127 0322 3431 retlw 49 4128 0323 3441 retlw 65 4129 0324 346d retlw 109 4130 0325 3470 retlw 112 4131 0326 3407 retlw 7 4132 0327 3447 retlw 71 4133 0328 3472 retlw 114 4134 0329 3461 retlw 97 4135 032a 346d retlw 109 4136 032b 3473 retlw 115 4137 032c 346f retlw 111 4138 032d 346e retlw 110 4139 ; line_number = 611 4140 ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 4141 4142 ; Appending 4 delayed procedures to code bank 0 4143 ; buffer = '_robobricks_pic16f688' 4144 ; line_number = 17 4145 ; procedure byte_get 4146 032e : byte_get: 4147 ; arguments_none 4148 ; line_number = 19 4149 ; returns byte 4150 4151 ; # This procedure will return the next byte from the UART. 4152 ; # It continuously calls delay() while it is waiting. 4153 4154 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 4155 ; line_number = 24 4156 ; while !_rcif start 4157 032e : byte_get__1: 4158 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 4159 ; CASE: true.size=0 && false.size>1 4160 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 4161 032e 1a8c btfsc _rcif___byte, _rcif___bit 4162 032f 2b34 goto byte_get__2 4163 ; line_number = 25 4164 ; in_byte_get := 1 4165 0330 14ef bsf in_byte_get___byte, in_byte_get___bit 4166 ; line_number = 26 4167 ; call delay() 4168 0331 2227 call delay 4169 ; line_number = 27 4170 ; in_byte_get := 0 4171 0332 10ef bcf in_byte_get___byte, in_byte_get___bit 4172 0333 2b2e goto byte_get__1 4173 0334 : byte_get__2: 4174 ; Recombine size1 = 0 || size2 = 0 4175 ; code.delay=4294967295 back_code.delay=4294967295 4176 ; <=bit_code_emit@symbol; sym=_rcif (data:00=>00 code:XX=>XX) 4177 ; line_number = 24 4178 ; while !_rcif done 4179 ; line_number = 28 4180 ; interrupt_pending := 0 4181 0334 116e bcf interrupt_pending___byte, interrupt_pending___bit 4182 ; line_number = 29 4183 ; command_previous := command_last 4184 0335 0843 movf command_last,w 4185 0336 00c2 movwf command_previous 4186 ; line_number = 30 4187 ; _rcif := 0 4188 0337 128c bcf _rcif___byte, _rcif___bit 4189 ; line_number = 31 4190 ; return _rcreg start 4191 ; line_number = 31 4192 0338 0814 movf _rcreg,w 4193 0339 0008 return 4194 ; line_number = 31 4195 ; return _rcreg done 4196 4197 4198 ; delay after procedure statements=non-uniform 4199 4200 4201 4202 4203 ; line_number = 34 4204 ; procedure byte_put 4205 033a : byte_put: 4206 ; Last argument is sitting in W; save into argument variable 4207 033a 00a0 movwf byte_put__value 4208 ; delay=4294967295 4209 ; line_number = 35 4210 ; argument value byte 4211 00000020 = byte_put__value equ globals___0 4212 ; line_number = 36 4213 ; returns_nothing 4214 4215 ; # This procedure will output {value} to the UART. If the UART is 4216 ; # already busy transmitting a character, the {delay} procedure is 4217 ; # repeatably called until {value} can be sent. 4218 4219 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 4220 ; line_number = 42 4221 ; while !_trmt start 4222 033b : byte_put__1: 4223 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 4224 ; CASE: true.size=0 && false.size>1 4225 ; bit_code_emit_helper1: body_code.size=2 true_test=false body_code.delay=0 (non-uniform delay) 4226 033b 1896 btfsc _trmt___byte, _trmt___bit 4227 033c 2b3f goto byte_put__2 4228 ; line_number = 43 4229 ; call delay() 4230 033d 2227 call delay 4231 033e 2b3b goto byte_put__1 4232 033f : byte_put__2: 4233 ; Recombine size1 = 0 || size2 = 0 4234 ; code.delay=4294967295 back_code.delay=4294967295 4235 ; <=bit_code_emit@symbol; sym=_trmt (data:00=>00 code:XX=>XX) 4236 ; line_number = 42 4237 ; while !_trmt done 4238 ; line_number = 44 4239 ; debug := 0 4240 033f 1285 bcf debug___byte, debug___bit 4241 ; line_number = 45 4242 ; sent_previous := sent_last 4243 0340 0845 movf sent_last,w 4244 0341 00c4 movwf sent_previous 4245 ; line_number = 46 4246 ; sent_last := value 4247 0342 0820 movf byte_put__value,w 4248 0343 00c5 movwf sent_last 4249 ; line_number = 47 4250 ; _txreg := value 4251 0344 0820 movf byte_put__value,w 4252 0345 0095 movwf _txreg 4253 4254 4255 ; delay after procedure statements=non-uniform 4256 ; Implied return 4257 0346 3400 retlw 0 4258 4259 4260 4261 4262 ; line_number = 50 4263 ; procedure baud_rate_low 4264 0347 : baud_rate_low: 4265 ; Last argument is sitting in W; save into argument variable 4266 0347 00a1 movwf baud_rate_low__baud_rate_index 4267 ; delay=4294967295 4268 ; line_number = 51 4269 ; argument baud_rate_index byte 4270 00000021 = baud_rate_low__baud_rate_index equ globals___0+1 4271 ; line_number = 52 4272 ; returns byte 4273 4274 ; #: This procedure will return the baud rate low byte for {baud_rate_index}. 4275 4276 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 4277 ; line_number = 56 4278 ; switch baud_rate_index start 4279 0348 3003 movlw baud_rate_low__9>>8 4280 0349 008a movwf __pclath 4281 034a 0821 movf baud_rate_low__baud_rate_index,w 4282 034b 3e4d addlw baud_rate_low__9 4283 034c 0082 movwf __pcl 4284 ; page_group 8 4285 034d : baud_rate_low__9: 4286 ; line_number = 58 4287 ; return _eusart_2400_low start 4288 ; line_number = 58 4289 034d 3440 retlw 64 4290 ; line_number = 58 4291 ; return _eusart_2400_low done 4292 ; line_number = 60 4293 ; return _eusart_4800_low start 4294 ; line_number = 60 4295 034e 349f retlw 159 4296 ; line_number = 60 4297 ; return _eusart_4800_low done 4298 ; line_number = 62 4299 ; return _eusart_9600_low start 4300 ; line_number = 62 4301 034f 34cf retlw 207 4302 ; line_number = 62 4303 ; return _eusart_9600_low done 4304 ; line_number = 64 4305 ; return _eusart_19200_low start 4306 ; line_number = 64 4307 0350 3467 retlw 103 4308 ; line_number = 64 4309 ; return _eusart_19200_low done 4310 ; line_number = 66 4311 ; return _eusart_38400_low start 4312 ; line_number = 66 4313 0351 3433 retlw 51 4314 ; line_number = 66 4315 ; return _eusart_38400_low done 4316 ; line_number = 68 4317 ; return _eusart_57600_low start 4318 ; line_number = 68 4319 0352 3421 retlw 33 4320 ; line_number = 68 4321 ; return _eusart_57600_low done 4322 ; line_number = 70 4323 ; return _eusart_115200_low start 4324 ; line_number = 70 4325 0353 3410 retlw 16 4326 ; line_number = 70 4327 ; return _eusart_115200_low done 4328 ; line_number = 72 4329 ; return _eusart_203400_low start 4330 ; line_number = 72 4331 0354 3408 retlw 8 4332 ; line_number = 72 4333 ; return _eusart_203400_low done 4334 4335 4336 0355 : baud_rate_low__10: 4337 ; switch end:(data:00=>00 code:XX=>XX) 4338 ; line_number = 56 4339 ; switch baud_rate_index done 4340 ; delay after procedure statements=non-uniform 4341 ; Exiting procedure with no return(s); fail with infinite loop 4342 0355 : baud_rate_low__11: 4343 0355 2b55 goto baud_rate_low__11 4344 4345 4346 4347 4348 ; line_number = 75 4349 ; procedure baud_rate_high 4350 0356 : baud_rate_high: 4351 ; Last argument is sitting in W; save into argument variable 4352 0356 00a2 movwf baud_rate_high__baud_rate_index 4353 ; delay=4294967295 4354 ; line_number = 76 4355 ; argument baud_rate_index byte 4356 00000022 = baud_rate_high__baud_rate_index equ globals___0+2 4357 ; line_number = 77 4358 ; returns byte 4359 4360 ; # This procedure will return the baud rate high byte for 4361 ; # {baud_rate_index}. 4362 4363 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 4364 ; line_number = 82 4365 ; switch baud_rate_index start 4366 0357 3003 movlw baud_rate_high__9>>8 4367 0358 008a movwf __pclath 4368 0359 0822 movf baud_rate_high__baud_rate_index,w 4369 035a 3e5c addlw baud_rate_high__9 4370 035b 0082 movwf __pcl 4371 ; page_group 8 4372 035c : baud_rate_high__9: 4373 ; line_number = 84 4374 ; return _eusart_2400_high start 4375 ; line_number = 84 4376 035c 3403 retlw 3 4377 ; line_number = 84 4378 ; return _eusart_2400_high done 4379 ; line_number = 86 4380 ; return _eusart_4800_high start 4381 ; line_number = 86 4382 035d 3401 retlw 1 4383 ; line_number = 86 4384 ; return _eusart_4800_high done 4385 ; line_number = 88 4386 ; return _eusart_9600_high start 4387 ; line_number = 88 4388 035e 3400 retlw 0 4389 ; line_number = 88 4390 ; return _eusart_9600_high done 4391 ; line_number = 90 4392 ; return _eusart_19200_high start 4393 ; line_number = 90 4394 035f 3400 retlw 0 4395 ; line_number = 90 4396 ; return _eusart_19200_high done 4397 ; line_number = 92 4398 ; return _eusart_38400_high start 4399 ; line_number = 92 4400 0360 3400 retlw 0 4401 ; line_number = 92 4402 ; return _eusart_38400_high done 4403 ; line_number = 94 4404 ; return _eusart_57600_high start 4405 ; line_number = 94 4406 0361 3400 retlw 0 4407 ; line_number = 94 4408 ; return _eusart_57600_high done 4409 ; line_number = 96 4410 ; return _eusart_115200_high start 4411 ; line_number = 96 4412 0362 3400 retlw 0 4413 ; line_number = 96 4414 ; return _eusart_115200_high done 4415 ; line_number = 98 4416 ; return _eusart_203400_high start 4417 ; line_number = 98 4418 0363 3400 retlw 0 4419 ; line_number = 98 4420 ; return _eusart_203400_high done 4421 4422 0364 : baud_rate_high__10: 4423 ; switch end:(data:00=>00 code:XX=>XX) 4424 ; line_number = 82 4425 ; switch baud_rate_index done 4426 ; delay after procedure statements=non-uniform 4427 ; Exiting procedure with no return(s); fail with infinite loop 4428 0364 : baud_rate_high__11: 4429 0364 2b64 goto baud_rate_high__11 4430 4431 4432 4433 4434 ; Configuration bits 4435 ; fill = 0x3000 4436 ; fcmen = off (0x0) 4437 ; ieso = off (0x0) 4438 ; boden = off (0x0) 4439 ; cpd = off (0x80) 4440 ; cp = off (0x40) 4441 ; mclre = off (0x20) 4442 ; pwrte = off (0x10) 4443 ; wdte = off (0x0) 4444 ; fosc = int_no_clk (0x4) 4445 ; 12532 = 0x30f4 4446 30f4 = __config 12532 4447 ; Define start addresses for data regions 4448 ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16 4449 ; Region="globals___0" Address=32" Size=80 Bytes=45 Bits=11 Available=33 4450 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 4451 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 4452 ; Region="globals___3" Address=416" Size=80 Bytes=0 Bits=0 Available=80 4453 end