radix dec ; Code bank 0; Start address: 0; End address: 1023 org 0 ; Define start addresses for data regions shared___globals equ 32 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # ############################################################################# ; # ; # Copyright (c) 2002-2004 by Wayne C. Gramlich ; # All rights reserved. ; # ; # See: ; # ; # http://gramlich.net/projects/robobricks/irproximity2/index.html ; # ; # for more details. ; # ; # ############################################################################# ; buffer = 'irproximity2' ; line_number = 16 ; library _pic16f630 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f630' ; line_number = 5 ; processor pic16f630 ; line_number = 6 ; configure_address 0x2007 ; line_number = 7 ; configure_fill 0x0000 ; line_number = 8 ; configure_option bg: bg11 = 0x3000 ; line_number = 9 ; configure_option bg: bg10 = 0x2000 ; line_number = 10 ; configure_option bg: bg01 = 0x1000 ; line_number = 11 ; configure_option bg: bg00 = 0x0000 ; line_number = 12 ; configure_option cpd: on = 0x000 ; line_number = 13 ; configure_option cpd: off = 0x100 ; line_number = 14 ; configure_option cp: on = 0x00 ; line_number = 15 ; configure_option cp: off = 0x80 ; line_number = 16 ; configure_option boden: on = 0x40 ; line_number = 17 ; configure_option boden: off = 0x00 ; line_number = 18 ; configure_option mclre: on = 0x20 ; line_number = 19 ; configure_option mclre: off = 0x00 ; line_number = 20 ; configure_option pwrte: on = 0x00 ; line_number = 21 ; configure_option pwrte: off = 0x10 ; line_number = 22 ; configure_option wdte: on = 8 ; line_number = 23 ; configure_option wdte: off = 0 ; line_number = 24 ; configure_option fosc: rc_clk = 7 ; line_number = 25 ; configure_option fosc: rc_no_clk = 6 ; line_number = 26 ; configure_option fosc: int_clk = 5 ; line_number = 27 ; configure_option fosc: int_no_clk = 4 ; line_number = 28 ; configure_option fosc: ec = 3 ; line_number = 29 ; configure_option fosc: hs = 2 ; line_number = 30 ; configure_option fosc: xt = 1 ; line_number = 31 ; configure_option fosc: lp = 0 ; line_number = 32 ; code_bank 0x0 : 0x3ff ; line_number = 33 ; data_bank 0x0 : 0x7f ; line_number = 34 ; data_bank 0x80 : 0xff ; line_number = 35 ; shared_region 0x20 : 0x5f ; line_number = 36 ; interrupts_possible ; line_number = 37 ; osccal_register_symbol _osccal ; line_number = 38 ; osccal_at_address 0x3ff ; line_number = 39 ; packages pdip=14, soic=14, tssop=14 ; line_number = 40 ; pin vdd, power_supply ; line_number = 41 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 42 ; pin ra5_in, ra5_out, t1cki, osc1, clkin, ra5_unused ; line_number = 43 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 44 ; bind_to _porta@5 ; line_number = 45 ; or_if ra5_in _trisa 16 ; line_number = 46 ; or_if ra5_out _trisa 0 ; line_number = 47 ; pin ra4_in, ra4_out, t1g, osc2, clkout, ra4_unused ; line_number = 48 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 49 ; bind_to _porta@4 ; line_number = 50 ; or_if ra4_in _trisa 8 ; line_number = 51 ; or_if ra4_out _trisa 0 ; line_number = 52 ; pin ra3_in, mclr, vpp, ra3_unused ; line_number = 53 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 54 ; bind_to _porta@3 ; line_number = 55 ; or_if ra3_in _trisa 4 ; line_number = 56 ; pin rc5_in, rc5_out, rc5_unused ; line_number = 57 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 58 ; bind_to _portc@5 ; line_number = 59 ; or_if rc5_in _trisc 32 ; line_number = 60 ; or_if rc5_out _trisc 0 ; line_number = 61 ; pin rc4_in, rc4_out, rc4_unused ; line_number = 62 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 63 ; bind_to _portc@4 ; line_number = 64 ; or_if rc4_in _trisc 16 ; line_number = 65 ; or_if rc4_out _trisc 0 ; line_number = 66 ; pin rc3_in, rc3_out, r3_unused ; line_number = 67 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 68 ; bind_to _portc@3 ; line_number = 69 ; or_if rc3_in _trisc 8 ; line_number = 70 ; or_if rc3_out _trisc 0 ; line_number = 71 ; pin rc2_in, rc2_out, rc2_unused ; line_number = 72 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 73 ; bind_to _portc@2 ; line_number = 74 ; or_if rc2_in _trisc 4 ; line_number = 75 ; or_if rc2_out _trisc 0 ; line_number = 76 ; pin rc1_in, rc1_out, rc1_unused ; line_number = 77 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 78 ; bind_to _portc@1 ; line_number = 79 ; or_if rc1_in _trisc 2 ; line_number = 80 ; or_if rc1_out _trisc 0 ; line_number = 81 ; pin rc0_in, rc0_out, rc0_unused ; line_number = 82 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 83 ; bind_to _portc@0 ; line_number = 84 ; or_if rc0_in _trisc 1 ; line_number = 85 ; or_if rc0_out _trisc 0 ; line_number = 86 ; pin ra2_in, ra2_out, cout, t0cki, int, ra2_unused ; line_number = 87 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 88 ; bind_to _porta@2 ; line_number = 89 ; or_if ra2_in _trisa 4 ; line_number = 90 ; or_if ra2_out _trisa 0 ; line_number = 91 ; pin ra1_in, ra1_out, cin_minus, vref, icspclk, ra1_unused ; line_number = 92 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 93 ; bind_to _porta@1 ; line_number = 94 ; or_if ra1_in _trisa 2 ; line_number = 95 ; or_if ra1_out _trisa 0 ; line_number = 96 ; pin ra0_in, ra0_out, cin_plus, icspdat, ra0_unused ; line_number = 97 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 98 ; bind_to _porta@0 ; line_number = 99 ; or_if ra0_in _trisa 1 ; line_number = 100 ; or_if ra0_out _trisa 0 ; line_number = 101 ; pin vss, ground ; line_number = 102 ; pin_bindings pdip=14, soic=14, tssop=14 ; line_number = 107 ; library _pic16f630_676 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # Shared register definitions for the PIC16F630 and PIC16F676. ; buffer = '_pic16f630_676' ; line_number = 7 ; register _indf = _indf equ 0 ; line_number = 9 ; register _tmr0 = _tmr0 equ 1 ; line_number = 11 ; register _pcl = _pcl equ 2 ; line_number = 13 ; register _status = _status equ 3 ; line_number = 14 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 15 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 16 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 17 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 18 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 19 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 21 ; register _fsr = _fsr equ 4 ; line_number = 23 ; register _porta = _porta equ 5 ; line_number = 24 ; register _ra = _ra equ 5 ; line_number = 25 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 26 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 27 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 28 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 29 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 30 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 32 ; register _portc = _portc equ 7 ; line_number = 33 ; register _rc = _rc equ 7 ; line_number = 34 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 35 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 36 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 37 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 38 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 39 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 41 ; register _pclath = _pclath equ 10 ; line_number = 43 ; register _intcon = _intcon equ 11 ; line_number = 44 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 45 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 46 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 47 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 48 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 49 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 50 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 51 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 53 ; register _pir1 = _pir1 equ 12 ; line_number = 54 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 55 ; bind _cmif = _pir1@3 _cmif___byte equ _pir1 _cmif___bit equ 3 ; line_number = 56 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 58 ; register _tmr1l = _tmr1l equ 14 ; line_number = 60 ; register _tmr1h = _tmr1h equ 15 ; line_number = 62 ; register _t1con = _t1con equ 16 ; line_number = 63 ; bind _t1ge = _t1con@6 _t1ge___byte equ _t1con _t1ge___bit equ 6 ; line_number = 64 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 65 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 66 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 67 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 68 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 69 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 71 ; register _cmcon = _cmcon equ 25 ; line_number = 72 ; bind _cout = _cmcon@6 _cout___byte equ _cmcon _cout___bit equ 6 ; line_number = 73 ; bind _cinv = _cmcon@4 _cinv___byte equ _cmcon _cinv___bit equ 4 ; line_number = 74 ; bind _cis = _cmcon@3 _cis___byte equ _cmcon _cis___bit equ 3 ; line_number = 75 ; bind _cm2 = _cmcon@2 _cm2___byte equ _cmcon _cm2___bit equ 2 ; line_number = 76 ; bind _cm1 = _cmcon@1 _cm1___byte equ _cmcon _cm1___bit equ 1 ; line_number = 77 ; bind _cm0 = _cmcon@0 _cm0___byte equ _cmcon _cm0___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 81 ; register _option_reg = _option_reg equ 128 ; line_number = 82 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 83 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 84 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 85 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 86 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 87 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 88 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 89 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 91 ; register _trisa = _trisa equ 133 ; line_number = 92 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 93 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 94 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 95 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 96 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 97 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 99 ; register _trisc = _trisc equ 135 ; line_number = 100 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 101 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 102 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 103 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 104 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 105 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 107 ; register _pie1 = _pie1 equ 140 ; line_number = 108 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 109 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 110 ; bind _cmie = _pie1@3 _cmie___byte equ _pie1 _cmie___bit equ 3 ; line_number = 111 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 113 ; register _pcon = _pcon equ 142 ; line_number = 114 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 115 ; bind _bor = _pcon@0 _bor___byte equ _pcon _bor___bit equ 0 ; line_number = 117 ; register _osccal = _osccal equ 144 ; line_number = 118 ; bind _cal5 = _osccal@7 _cal5___byte equ _osccal _cal5___bit equ 7 ; line_number = 119 ; bind _cal4 = _osccal@6 _cal4___byte equ _osccal _cal4___bit equ 6 ; line_number = 120 ; bind _cal3 = _osccal@5 _cal3___byte equ _osccal _cal3___bit equ 5 ; line_number = 121 ; bind _cal2 = _osccal@4 _cal2___byte equ _osccal _cal2___bit equ 4 ; line_number = 122 ; bind _cal1 = _osccal@3 _cal1___byte equ _osccal _cal1___bit equ 3 ; line_number = 123 ; bind _cal0 = _osccal@2 _cal0___byte equ _osccal _cal0___bit equ 2 ; line_number = 124 ; constant _osccal_lsb = 4 _osccal_lsb equ 4 ; line_number = 126 ; register _wpua = _wpua equ 149 ; line_number = 127 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 128 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 129 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 130 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 131 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 133 ; register _ioca = _ioca equ 150 ; line_number = 134 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 135 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 136 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 137 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 138 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 139 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 141 ; register _vrcon = _vrcon equ 153 ; line_number = 142 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 143 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 144 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 145 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 146 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 147 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 149 ; register _eedata = _eedata equ 154 ; line_number = 151 ; register _eeadr = _eeadr equ 155 ; line_number = 153 ; register _eecon1 = _eecon1 equ 156 ; line_number = 154 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 155 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 156 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 157 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 159 ; register _eecon2 = _eecon2 equ 157 ; buffer = '_pic16f630' ; line_number = 107 ; library _pic16f630_676 exited ; buffer = 'irproximity2' ; line_number = 16 ; library _pic16f630 exited ; line_number = 17 ; library clock4mhz entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock4mhz' ; line_number = 9 ; constant clock_rate = 4000000 clock_rate equ 4000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 1000000 ; buffer = 'irproximity2' ; line_number = 17 ; library clock4mhz exited ; line_number = 18 ; library bit_bang entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library provides bit bang routines for sending and receiving ; # serial data at 2400 baud in 8N1 format (1 start bit, 8 data bits, ; # No parity bit, 1 stop stop bit.) ; # ; # This library requires that the pins {serial_in} and {serial_out} ; # be defined. In addition, the variable {instruction_rate} needs ; # to be defined. Lastly, there needs to be a {delay} procedure ; # with an "exact_delay delay_instructions" clause in it. The {delay} ; # routine should invoke "watch_dog_reset" so that the watch dog time ; # can be set. ; # Define some constants that we will be needing: ; buffer = 'bit_bang' ; line_number = 17 ; constant baud_rate = 2400 baud_rate equ 2400 ; line_number = 18 ; constant instructions_per_bit = instruction_rate / baud_rate instructions_per_bit equ 416 ; line_number = 19 ; constant delays_per_bit = 3 delays_per_bit equ 3 ; line_number = 20 ; constant instructions_per_delay = instructions_per_bit / delays_per_bit instructions_per_delay equ 138 ; line_number = 21 ; constant extra_instructions = 5 extra_instructions equ 5 ; line_number = 22 ; constant delay_instructions = instructions_per_delay - extra_instructions delay_instructions equ 133 ; # The {receiving} bit is sent when data is being received. ; # It gets cleared whenever data gets sent. It is used to ; # determine whether additional delay is needed to turn a ; # line around for slow interpretted chips like the Basic ; # Stamp 2 and the OOPIC. ; line_number = 30 ; global receiving bit receiving___byte equ shared___globals+63 receiving___bit equ 0 ; line_number = 31 ; global waiting bit waiting___byte equ shared___globals+63 waiting___bit equ 1 ; Delaying code generation for procedure byte_get ; Delaying code generation for procedure byte_put ; buffer = 'irproximity2' ; line_number = 18 ; library bit_bang exited ; line_number = 20 ; package pdip ; line_number = 21 ; pin 1 = power_supply ; line_number = 22 ; pin 2 = ra5_out, name = serial_out serial_out___byte equ _porta serial_out___bit equ 5 ; line_number = 23 ; pin 3 = ra4_in, name = ir_sense ir_sense___byte equ _porta ir_sense___bit equ 4 ; line_number = 24 ; pin 4 = ra3_in, name = serial_in serial_in___byte equ _porta serial_in___bit equ 3 ; line_number = 25 ; pin 5 = rc5_unused ; line_number = 26 ; pin 6 = rc4_out, name = front_led1 front_led1___byte equ _portc front_led1___bit equ 4 ; line_number = 27 ; pin 7 = rc3_out, name = back_led0 back_led0___byte equ _portc back_led0___bit equ 3 ; line_number = 28 ; pin 8 = rc2_out, name = back_led1 back_led1___byte equ _portc back_led1___bit equ 2 ; line_number = 29 ; pin 9 = rc1_out, name = front_led0 front_led0___byte equ _portc front_led0___bit equ 1 ; line_number = 30 ; pin 10 = rc0_unused ; line_number = 31 ; pin 11 = ra2_out, name = front_ir front_ir___byte equ _porta front_ir___bit equ 2 ; line_number = 32 ; pin 12 = ra1_out, name = back_ir back_ir___byte equ _porta back_ir___bit equ 1 ; line_number = 33 ; pin 13 = ra0_out, name = debug_out debug_out___byte equ _porta debug_out___bit equ 0 ; line_number = 34 ; pin 14 = ground ; line_number = 36 ; constant max_bit = 5 max_bit equ 5 ; line_number = 37 ; constant max_count = (1 << (max_bit + 1)) - 1 max_count equ 63 ; line_number = 39 ; constant buffer_power = 3 buffer_power equ 3 ; line_number = 40 ; constant buffer_size = 1 << buffer_power buffer_size equ 8 ; line_number = 41 ; constant f1 = 13 f1 equ 13 ; line_number = 42 ; constant f2 = 13 f2 equ 13 ; line_number = 43 ; constant f = f1 + f2 f equ 26 ; line_number = 44 ; constant near_default = 40 << 2 near_default equ 160 ; line_number = 46 ; constant interrupt_front_near = 5 interrupt_front_near equ 5 ; line_number = 47 ; constant interrupt_front_far = 4 interrupt_front_far equ 4 ; line_number = 48 ; constant interrupt_front_none = 3 interrupt_front_none equ 3 ; line_number = 49 ; constant interrupt_back_near = 2 interrupt_back_near equ 2 ; line_number = 50 ; constant interrupt_back_far = 1 interrupt_back_far equ 1 ; line_number = 51 ; constant interrupt_back_none = 0 interrupt_back_none equ 0 ; # Globals: ; line_number = 54 ; global interrupt_enable bit interrupt_enable___byte equ shared___globals+63 interrupt_enable___bit equ 2 ; line_number = 55 ; global interrupt_pending bit interrupt_pending___byte equ shared___globals+63 interrupt_pending___bit equ 3 ; line_number = 56 ; global interrupt_mask byte interrupt_mask equ shared___globals+4 ; line_number = 58 ; global backs[buffer_size] array[byte] backs equ shared___globals+5 ; line_number = 59 ; global back_average byte back_average equ shared___globals+13 ; line_number = 60 ; global back_count byte back_count equ shared___globals+14 ; line_number = 61 ; global back_delay byte back_delay equ shared___globals+15 ; line_number = 62 ; global back_enable bit back_enable___byte equ shared___globals+63 back_enable___bit equ 4 ; line_number = 63 ; global back_far byte back_far equ shared___globals+16 ; line_number = 64 ; global back_detect byte back_detect equ shared___globals+17 ; line_number = 65 ; global back_index byte back_index equ shared___globals+18 ; line_number = 66 ; global back_last byte back_last equ shared___globals+19 ; line_number = 67 ; global back_near byte back_near equ shared___globals+20 ; line_number = 69 ; global fronts[buffer_size] array[byte] fronts equ shared___globals+21 ; line_number = 70 ; global front_average byte front_average equ shared___globals+29 ; line_number = 71 ; global front_count byte front_count equ shared___globals+30 ; line_number = 72 ; global front_delay byte front_delay equ shared___globals+31 ; line_number = 73 ; global front_enable bit front_enable___byte equ shared___globals+63 front_enable___bit equ 5 ; line_number = 74 ; global front_far byte front_far equ shared___globals+32 ; line_number = 75 ; global front_index byte front_index equ shared___globals+33 ; line_number = 76 ; global front_last byte front_last equ shared___globals+34 ; line_number = 77 ; global front_near byte front_near equ shared___globals+35 ; line_number = 79 ; global command_previous byte command_previous equ shared___globals+36 ; line_number = 80 ; global command_last byte command_last equ shared___globals+37 ; line_number = 81 ; global sent_previous byte sent_previous equ shared___globals+38 ; line_number = 82 ; global sent_last byte sent_last equ shared___globals+39 ; line_number = 84 ; procedure main main: ; Need to calibrate the oscillator call 1023 bsf __rp0___byte, __rp0___bit movwf _osccal ; Initialize some registers movlw 12 movwf _trisa clrf _trisc ; arguments_none ; line_number = 86 ; returns_nothing ; line_number = 88 ; local temp byte main__temp equ shared___globals+40 ; line_number = 90 ; local bit byte main__bit equ shared___globals+41 ; line_number = 91 ; local command byte main__command equ shared___globals+42 ; line_number = 92 ; local temporary byte main__temporary equ shared___globals+43 ; line_number = 93 ; local id_index byte main__id_index equ shared___globals+44 ; line_number = 94 ; local glitch byte main__glitch equ shared___globals+45 ; line_number = 95 ; local counter byte main__counter equ shared___globals+46 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X1 code:XX=>XX) ; line_number = 97 ; id_index := 0 movlw 0 bcf __rp0___byte, __rp0___bit movwf main__id_index ; line_number = 98 ; glitch := 0 movlw 0 movwf main__glitch ; line_number = 100 ; interrupt_enable := 0 bcf interrupt_enable___byte, interrupt_enable___bit ; line_number = 101 ; interrupt_pending := 0 bcf interrupt_pending___byte, interrupt_pending___bit ; line_number = 102 ; interrupt_mask := 0 movlw 0 movwf interrupt_mask ; line_number = 103 ; receiving := 0 bcf receiving___byte, receiving___bit ; line_number = 105 ; back_count := 0 movlw 0 movwf back_count ; line_number = 106 ; back_delay := 0 movlw 0 movwf back_delay ; line_number = 107 ; back_enable := 1 bsf back_enable___byte, back_enable___bit ; line_number = 108 ; back_far := 0 movlw 0 movwf back_far ; line_number = 109 ; back_index := 0 movlw 0 movwf back_index ; line_number = 110 ; back_led0 := 1 bsf back_led0___byte, back_led0___bit ; line_number = 111 ; back_led1 := 1 bsf back_led1___byte, back_led1___bit ; line_number = 112 ; back_near := near_default movlw 160 movwf back_near ; line_number = 114 ; front_count := 0 movlw 0 movwf front_count ; line_number = 115 ; front_delay := 0 movlw 0 movwf front_delay ; line_number = 116 ; front_enable := 1 bsf front_enable___byte, front_enable___bit ; line_number = 117 ; front_far := 0 movlw 0 movwf front_far ; line_number = 118 ; front_index := 0 movlw 0 movwf front_index ; line_number = 119 ; front_led0 := 1 bsf front_led0___byte, front_led0___bit ; line_number = 120 ; front_led1 := 1 bsf front_led1___byte, front_led1___bit ; line_number = 121 ; front_near := near_default movlw 160 movwf front_near ; # Set the direction: ; line_number = 124 ; loop_forever start main__1: ; # Wait for a command: ; line_number = 126 ; command := xbyte_get() call xbyte_get movwf main__command ; # Dispatch on command: ; line_number = 129 ; switch command >> 6 start movlw main__89>>8 movwf __pclath main__90 equ shared___globals+53 swapf main__command,w movwf main__90 rrf main__90,f rrf main__90,w andlw 3 addlw main__89 movwf __pcl ; page_group 4 main__89: goto main__85 goto main__86 goto main__87 goto main__88 ; line_number = 130 ; case 0 main__85: ; # Command = 00xx xxxx: ; line_number = 132 ; switch (command >> 3) & 7 start movlw main__52>>8 movwf __pclath main__53 equ shared___globals+53 rrf main__command,w movwf main__53 rrf main__53,f rrf main__53,w andlw 7 addlw main__52 movwf __pcl ; page_group 8 main__52: goto main__47 goto main__48 goto main__49 goto main__50 goto main__51 goto main__51 goto main__51 goto main__51 ; line_number = 133 ; case 0 main__47: ; # Command = 0000 0xxx: ; line_number = 135 ; switch command & 7 start movlw main__18>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__18 movwf __pcl ; page_group 8 main__18: goto main__10 goto main__11 goto main__12 goto main__13 goto main__14 goto main__15 goto main__16 goto main__17 ; line_number = 136 ; case 0 main__10: ; # Command = 0000 0000; Read LED's: ; line_number = 138 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 139 ; if front_average > front_far start movf front_far,w subwf front_average,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc __c___byte, __c___bit ; line_number = 140 ; temporary@3 := 1 main__select__2___byte equ main__temporary main__select__2___bit equ 3 bsf main__select__2___byte, main__select__2___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 139 ; if front_average > front_far done ; line_number = 141 ; if front_average > front_near start movf front_near,w subwf front_average,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc __c___byte, __c___bit ; line_number = 142 ; temporary@2 := 1 main__select__3___byte equ main__temporary main__select__3___bit equ 2 bsf main__select__3___byte, main__select__3___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 141 ; if front_average > front_near done ; line_number = 143 ; if back_average > back_far start movf back_far,w subwf back_average,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc __c___byte, __c___bit ; line_number = 144 ; temporary@1 := 1 main__select__4___byte equ main__temporary main__select__4___bit equ 1 bsf main__select__4___byte, main__select__4___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 143 ; if back_average > back_far done ; line_number = 145 ; if back_average > back_near start movf back_near,w subwf back_average,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc __c___byte, __c___bit ; line_number = 146 ; temporary@0 := 1 main__select__5___byte equ main__temporary main__select__5___bit equ 0 bsf main__select__5___byte, main__select__5___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 145 ; if back_average > back_near done ; line_number = 147 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__19 ; line_number = 148 ; case 1 main__11: ; # Command = 0000 0001; Read Front/Back Average High: ; line_number = 150 ; call byte_put((front_average & 0xf0) | (back_average >> 4)) main__6 equ shared___globals+53 movlw 240 andwf front_average,w movwf main__6 main__7 equ shared___globals+54 swapf back_average,w andlw 15 iorwf main__6,w call byte_put goto main__19 ; line_number = 151 ; case 2 main__12: ; # Command = 0000 0010; Read Enables: ; line_number = 153 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 154 ; if front_enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc front_enable___byte, front_enable___bit ; line_number = 155 ; temporary@2 := 1 main__select__8___byte equ main__temporary main__select__8___bit equ 2 bsf main__select__8___byte, main__select__8___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=front_enable (data:X0=>X0 code:XX=>XX) ; line_number = 154 ; if front_enable done ; line_number = 156 ; if back_enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc back_enable___byte, back_enable___bit ; line_number = 157 ; temporary@1 := 1 main__select__9___byte equ main__temporary main__select__9___bit equ 1 bsf main__select__9___byte, main__select__9___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=back_enable (data:X0=>X0 code:XX=>XX) ; line_number = 156 ; if back_enable done ; line_number = 158 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__19 ; line_number = 159 ; case 3 main__13: ; # Command = 0000 0011; Read Interrupt Mask: ; line_number = 161 ; call byte_put(interrupt_mask) movf interrupt_mask,w call byte_put goto main__19 ; line_number = 162 ; case 4 main__14: ; # Command = 0000 0100; Read Front Average: ; line_number = 164 ; call byte_put(front_average) movf front_average,w call byte_put goto main__19 ; line_number = 165 ; case 5 main__15: ; # Command = 0000 0101; Read Back Average: ; line_number = 167 ; call byte_put(back_average) movf back_average,w call byte_put goto main__19 ; line_number = 168 ; case 6 main__16: ; # Command = 0000 0110; Read Front Latest: ; line_number = 170 ; call byte_put(front_last) movf front_last,w call byte_put goto main__19 ; line_number = 171 ; case 7 main__17: ; # Command = 0000 0111; Read Back Latest: ; line_number = 173 ; call byte_put(back_last) movf back_last,w call byte_put main__19: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 135 ; switch command & 7 done goto main__54 ; line_number = 174 ; case 1 main__48: ; # Command = 0000 1xxx: ; line_number = 176 ; switch command & 7 start movlw main__27>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__27 movwf __pcl ; page_group 8 main__27: goto main__20 goto main__21 goto main__22 goto main__23 goto main__24 goto main__25 goto main__26 goto main__26 ; line_number = 177 ; case 0 main__20: ; # Command = 0000 1000; Read Front Near: ; line_number = 179 ; call byte_put(front_near) movf front_near,w call byte_put goto main__28 ; line_number = 180 ; case 1 main__21: ; # Command = 0000 1001; Read Back Near: ; line_number = 182 ; call byte_put(back_near) movf back_near,w call byte_put goto main__28 ; line_number = 183 ; case 2 main__22: ; # Command = 0000 1010; Read Front Far: ; line_number = 185 ; call byte_put(front_far) movf front_far,w call byte_put goto main__28 ; line_number = 186 ; case 3 main__23: ; # Command = 0000 1011; Read Back Far: ; line_number = 188 ; call byte_put(back_far) movf back_far,w call byte_put goto main__28 ; line_number = 189 ; case 4 main__24: ; # Command = 0000 1100; Read Front Delay: ; line_number = 191 ; call byte_put(front_delay) movf front_delay,w call byte_put goto main__28 ; line_number = 192 ; case 5 main__25: ; # Command = 0000 1101; Read Back Delay: ; line_number = 194 ; call byte_put(back_delay) movf back_delay,w call byte_put goto main__28 ; line_number = 195 ; case 6, 7 main__26: ; # Command = 0000 111x: ; line_number = 197 ; do_nothing main__28: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 176 ; switch command & 7 done goto main__54 ; line_number = 198 ; case 2 main__49: ; line_number = 199 ; switch command & 7 start movlw main__36>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__36 movwf __pcl ; page_group 8 main__36: goto main__33 goto main__33 goto main__33 goto main__33 goto main__34 goto main__35 goto main__35 goto main__35 ; line_number = 200 ; case 0, 1, 2, 3 main__33: ; # Command = 0001 00fb: Set Enables: ; line_number = 202 ; front_enable := command@1 bcf front_enable___byte, front_enable___bit main__select__29___byte equ main__command main__select__29___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__29___byte, main__select__29___bit bsf front_enable___byte, front_enable___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__29 (data:X0=>X0 code:XX=>XX) ; line_number = 203 ; back_enable := command@0 bcf back_enable___byte, back_enable___bit main__select__30___byte equ main__command main__select__30___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__30___byte, main__select__30___bit bsf back_enable___byte, back_enable___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__30 (data:X0=>X0 code:XX=>XX) ; line_number = 204 ; if !front_enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=6 true_test=false body_code.delay=0 (non-uniform delay) btfsc front_enable___byte, front_enable___bit goto main__31 ; line_number = 205 ; front_average := 0 movlw 0 movwf front_average ; line_number = 206 ; front_last := 0 movlw 0 movwf front_last ; line_number = 207 ; front_led0 := 1 bsf front_led0___byte, front_led0___bit ; line_number = 208 ; front_led1 := 1 bsf front_led1___byte, front_led1___bit main__31: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=front_enable (data:X0=>X0 code:XX=>XX) ; line_number = 204 ; if !front_enable done ; line_number = 209 ; if !back_enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=6 true_test=false body_code.delay=0 (non-uniform delay) btfsc back_enable___byte, back_enable___bit goto main__32 ; line_number = 210 ; back_average := 0 movlw 0 movwf back_average ; line_number = 211 ; back_last := 0 movlw 0 movwf back_last ; line_number = 212 ; back_led0 := 1 bsf back_led0___byte, back_led0___bit ; line_number = 213 ; back_led1 := 1 bsf back_led1___byte, back_led1___bit main__32: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=back_enable (data:X0=>X0 code:XX=>XX) ; line_number = 209 ; if !back_enable done goto main__37 ; line_number = 214 ; case 4 main__34: ; # Command = 0001 0100: Set Interrupt Mask: ; line_number = 216 ; interrupt_mask := xbyte_get() call xbyte_get movwf interrupt_mask goto main__37 ; line_number = 217 ; case 5, 6, 7 main__35: ; line_number = 218 ; do_nothing main__37: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 199 ; switch command & 7 done goto main__54 ; line_number = 219 ; case 3 main__50: ; line_number = 220 ; switch command & 7 start movlw main__45>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__45 movwf __pcl ; page_group 8 main__45: goto main__38 goto main__39 goto main__40 goto main__41 goto main__42 goto main__43 goto main__44 goto main__44 ; line_number = 221 ; case 0 main__38: ; # Command = 0001 1000: Set Front Near: ; line_number = 223 ; front_near := xbyte_get() call xbyte_get movwf front_near goto main__46 ; line_number = 224 ; case 1 main__39: ; # Command = 0001 1001: Set Back Near: ; line_number = 226 ; back_near := xbyte_get() call xbyte_get movwf back_near goto main__46 ; line_number = 227 ; case 2 main__40: ; # Command = 0001 1010: Set Front Far: ; line_number = 229 ; front_far := xbyte_get() call xbyte_get movwf front_far goto main__46 ; line_number = 230 ; case 3 main__41: ; # Command = 0001 1011: Set Back Far: ; line_number = 232 ; back_far := xbyte_get() call xbyte_get movwf back_far goto main__46 ; line_number = 233 ; case 4 main__42: ; # Command = 0001 1100: Set Front Delay: ; line_number = 235 ; front_delay := xbyte_get() call xbyte_get movwf front_delay goto main__46 ; line_number = 236 ; case 5 main__43: ; # Command = 0001 1101: Set Back Delay: ; line_number = 238 ; back_delay := xbyte_get() call xbyte_get movwf back_delay goto main__46 ; line_number = 239 ; case 6, 7 main__44: ; line_number = 240 ; do_nothing main__46: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 220 ; switch command & 7 done goto main__54 ; line_number = 241 ; case 4, 5, 6, 7 main__51: ; line_number = 242 ; do_nothing main__54: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 132 ; switch (command >> 3) & 7 done goto main__91 ; line_number = 244 ; case 1 main__86: ; # Command = 01xx xxxx: ; line_number = 246 ; do_nothing goto main__91 ; line_number = 247 ; case 2 main__87: ; # Do nothing (Command = 10xx xxxx): ; line_number = 249 ; do_nothing goto main__91 ; line_number = 250 ; case 3 main__88: ; # Command = 11xx xxxx: ; line_number = 252 ; switch (command >> 3) & 7 start movlw main__82>>8 movwf __pclath main__83 equ shared___globals+53 rrf main__command,w movwf main__83 rrf main__83,f rrf main__83,w andlw 7 addlw main__82 movwf __pcl ; page_group 8 main__82: goto main__78 goto main__78 goto main__78 goto main__78 goto main__78 goto main__79 goto main__80 goto main__81 ; line_number = 253 ; case 0, 1, 2, 3, 4 main__78: ; # Command = 1100 xxxx or 1110 0xxx: ; line_number = 255 ; do_nothing goto main__84 ; line_number = 256 ; case 5 main__79: ; # Read Interrupt Bits (Command = 1110 1111): ; line_number = 258 ; if (command & 7) = 7 start ; Left minus Right movlw 7 andwf main__command,w addlw 249 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=8 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__57 ; # Return Interrupt Bits: ; line_number = 260 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 261 ; if interrupt_enable start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc interrupt_enable___byte, interrupt_enable___bit ; line_number = 262 ; temporary@1 := 1 main__select__55___byte equ main__temporary main__select__55___bit equ 1 bsf main__select__55___byte, main__select__55___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=interrupt_enable (data:X0=>X0 code:XX=>XX) ; line_number = 261 ; if interrupt_enable done ; line_number = 263 ; if interrupt_pending start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc interrupt_pending___byte, interrupt_pending___bit ; line_number = 264 ; temporary@0 := 1 main__select__56___byte equ main__temporary main__select__56___bit equ 0 bsf main__select__56___byte, main__select__56___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=interrupt_pending (data:X0=>X0 code:XX=>XX) ; line_number = 263 ; if interrupt_pending done ; line_number = 265 ; call byte_put(temporary) movf main__temporary,w call byte_put ; Recombine size1 = 0 || size2 = 0 main__57: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 258 ; if (command & 7) = 7 done goto main__84 ; line_number = 266 ; case 6 main__80: ; # Shared Interrupt commands (Command = 1111 0xxx): ; line_number = 268 ; switch command & 7 start movlw main__65>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__65 movwf __pcl ; page_group 8 main__65: goto main__62 goto main__62 goto main__62 goto main__62 goto main__63 goto main__63 goto main__64 goto main__64 ; line_number = 269 ; case 0, 1, 2, 3 main__62: ; # Set interrupt bits (Command = 1111 10ep): ; line_number = 271 ; interrupt_enable := command@1 bcf interrupt_enable___byte, interrupt_enable___bit main__select__58___byte equ main__command main__select__58___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__58___byte, main__select__58___bit bsf interrupt_enable___byte, interrupt_enable___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__58 (data:X0=>X0 code:XX=>XX) ; line_number = 272 ; interrupt_pending := command@0 bcf interrupt_pending___byte, interrupt_pending___bit main__select__59___byte equ main__command main__select__59___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__59___byte, main__select__59___bit bsf interrupt_pending___byte, interrupt_pending___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__59 (data:X0=>X0 code:XX=>XX) goto main__66 ; line_number = 273 ; case 4, 5 main__63: ; # Set Interrupt Pending (Command = 1111 110p): ; line_number = 275 ; interrupt_pending := command@0 bcf interrupt_pending___byte, interrupt_pending___bit main__select__60___byte equ main__command main__select__60___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__60___byte, main__select__60___bit bsf interrupt_pending___byte, interrupt_pending___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__60 (data:X0=>X0 code:XX=>XX) goto main__66 ; line_number = 276 ; case 6, 7 main__64: ; # Set Interrupt Enable (Command = 1110 111e): ; line_number = 278 ; interrupt_enable := command@0 bcf interrupt_enable___byte, interrupt_enable___bit main__select__61___byte equ main__command main__select__61___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc main__select__61___byte, main__select__61___bit bsf interrupt_enable___byte, interrupt_enable___bit ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__61 (data:X0=>X0 code:XX=>XX) main__66: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 268 ; switch command & 7 done goto main__84 ; line_number = 279 ; case 7 main__81: ; # Shared commands (Command = 1111 1xxx): ; line_number = 281 ; switch command & 7 start movlw main__76>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__76 movwf __pcl ; page_group 8 main__76: goto main__68 goto main__69 goto main__70 goto main__71 goto main__72 goto main__73 goto main__74 goto main__75 ; line_number = 282 ; case 0 main__68: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Decrement (Command = 1111 1000): ; line_number = 284 ; _osccal := _osccal - _osccal_lsb movlw 252 addwf _osccal,f goto main__77 ; line_number = 285 ; case 1 main__69: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Increment (Command = 1111 1001): ; line_number = 287 ; _osccal := _osccal + _osccal_lsb movlw 4 addwf _osccal,f goto main__77 ; line_number = 288 ; case 2 main__70: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; # Clock Read (Command = 1111 1010): ; line_number = 290 ; call byte_put(_osccal) movf _osccal,w bcf __rp0___byte, __rp0___bit call byte_put goto main__77 ; line_number = 291 ; case 3 main__71: ; # Clock Pulse (Command = 1111 1011): ; line_number = 293 ; call byte_put(0) movlw 0 call byte_put goto main__77 ; line_number = 294 ; case 4 main__72: ; # ID Next (Command = 1111 1100): ; line_number = 296 ; temp := 0 movlw 0 movwf main__temp ; line_number = 297 ; if id_index < id.size start movlw 52 subwf main__id_index,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) btfsc __c___byte, __c___bit goto main__67 ; line_number = 298 ; temp := id[id_index] movf main__id_index,w call id movwf main__temp ; line_number = 299 ; id_index := id_index + 1 incf main__id_index,f main__67: ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; line_number = 297 ; if id_index < id.size done ; line_number = 300 ; call byte_put(temp) movf main__temp,w call byte_put goto main__77 ; line_number = 301 ; case 5 main__73: ; # ID Reset (Command = 1111 1101): ; line_number = 303 ; id_index := 0 movlw 0 movwf main__id_index goto main__77 ; line_number = 304 ; case 6 main__74: ; # Glitch Read (Command = 1111 1110): ; line_number = 306 ; call byte_put(glitch) movf main__glitch,w call byte_put ; line_number = 307 ; glitch := 0 movlw 0 movwf main__glitch goto main__77 ; line_number = 308 ; case 7 main__75: ; # Glitch (Command = 1111 1111): ; line_number = 310 ; if (glitch != 0xff) start ; Left minus Right incf main__glitch,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size=0 && false_code.size=1 btfss __z___byte, __z___bit ; line_number = 311 ; glitch := glitch + 1 incf main__glitch,f ; Recombine size1 = 0 || size2 = 0 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 310 ; if (glitch != 0xff) done main__77: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 281 ; switch command & 7 done main__84: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 252 ; switch (command >> 3) & 7 done main__91: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 129 ; switch command >> 6 done ; line_number = 124 ; loop_forever wrap-up ; Need to adjust code banks to match front of loop bcf __rp0___byte, __rp0___bit goto main__1 ; line_number = 124 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 314 ; procedure delay delay: ; arguments_none ; line_number = 316 ; returns_nothing ; line_number = 317 ; exact_delay delay_instructions ; # Kick the dog: ; before procedure statements delay=0, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 320 ; watch_dog_reset done ; Delay at watch_dog_reset is 0 clrwdt ; delay after procedure statements=1 ; Delay 130 cycles ; Delay loop takes 32 * 4 = 128 cycles movlw 32 delay__1: addlw 255 btfss __z___byte, __z___bit goto delay__1 goto delay__2 delay__2: ; Implied return retlw 0 ; Final delay = 133 ; line_number = 323 ; procedure xbyte_get xbyte_get: ; arguments_none ; line_number = 325 ; returns byte ; # This procedure will wait for a byte to be received from ; # serial_in_bit. It calls the delay procedure for all delays. ; # This procedure will keep calling the {delay} routine until ; # data is received. It differs from byte_get() in that it ; # calls strobe() instead of delay in the 'wait for start bit' ; # loop. ; line_number = 334 ; local count byte xbyte_get__count equ shared___globals+47 ; line_number = 335 ; local byte byte xbyte_get__byte equ shared___globals+48 ; # Why does the delay procedure wait for a third of bit? Well, it ; # has to do with the loop immediately below. If we catch the ; # start bit at the beginning of a 1/3 bit time, we will be ; # sampling data at approximately 1/3 of the way into each bit. ; # Conversely, if we catch the start near the end of a 1/3 bit ; # bit time, we will be sampling data at approximately 2/3 of the ; # way into each bit. So, what this means is that our bit sample ; # times will be somewhere between 1/3 and 2/3 of bit (i.e. in ; # the middle of the bit. ; # It would be nice to tweak the code to shorter delay times ; # (1/4 bit, 1/5 bit, etc.) but then it gets too hard to get ; # the bookeeping done in the delay routine. A PIC running at ; # 4MHz (=1MIPS), only has 138 instructions available for the ; # delay routine when at 1/3 of bit. ; # Wait for a start bit: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 354 ; receiving := 1 bsf receiving___byte, receiving___bit ; line_number = 355 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; line_number = 356 ; while serial_in start xbyte_get__1: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss serial_in___byte, serial_in___bit goto xbyte_get__2 ; line_number = 357 ; call strobe() call strobe ; # Make sure the IR LED's are turned off: ; line_number = 359 ; front_ir := 0 bcf front_ir___byte, front_ir___bit ; line_number = 360 ; back_ir := 0 bcf back_ir___byte, back_ir___bit goto xbyte_get__1 ; Recombine size1 = 0 || size2 = 0 xbyte_get__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; line_number = 356 ; while serial_in done ; # Skip over start bit: ; line_number = 363 ; delay instructions_per_bit - 2 start ; Delay expression evaluates to 414 ; # There are two instructions of set-up for following loop_exactly: ; line_number = 365 ; call delay() ; Delay at call is 0 call delay ; line_number = 366 ; call delay() ; Delay at call is 135 call delay ; line_number = 367 ; call delay() ; Delay at call is 270 call delay ; line_number = 368 ; byte := 0 ; Delay at assignment is 405 movlw 0 movwf xbyte_get__byte ; Delay 7 cycles goto xbyte_get__3 xbyte_get__3: goto xbyte_get__4 xbyte_get__4: goto xbyte_get__5 xbyte_get__5: nop ; line_number = 363 ; delay instructions_per_bit - 2 done ; # Read in 8 bits of data: ; line_number = 371 ; loop_exactly 8 start xbyte_get__6 equ shared___globals+55 movlw 8 movwf xbyte_get__6 xbyte_get__7: ; # There are 3 instrucitons of loop_exactly overhead: ; line_number = 373 ; delay instructions_per_bit - 3 start ; Delay expression evaluates to 413 ; line_number = 374 ; call delay() ; Delay at call is 0 call delay ; line_number = 375 ; byte := byte >> 1 ; Delay at assignment is 135 ; Assignment of variable to self (no code needed) rrf xbyte_get__byte,f bcf xbyte_get__byte, 7 ; line_number = 376 ; if serial_in start ; Delay at if is 137 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc serial_in___byte, serial_in___bit ; line_number = 377 ; byte@7 := 1 ; Delay at assignment is 0 xbyte_get__select__8___byte equ xbyte_get__byte xbyte_get__select__8___bit equ 7 bsf xbyte_get__select__8___byte, xbyte_get__select__8___bit ; code.delay=139 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=139 ; line_number = 376 ; if serial_in done ; line_number = 378 ; call delay() ; Delay at call is 139 call delay ; line_number = 379 ; call delay() ; Delay at call is 274 call delay ; Delay 4 cycles goto xbyte_get__9 xbyte_get__9: goto xbyte_get__10 xbyte_get__10: ; line_number = 373 ; delay instructions_per_bit - 3 done ; line_number = 371 ; loop_exactly 8 wrap-up decfsz xbyte_get__6,f goto xbyte_get__7 ; line_number = 371 ; loop_exactly 8 done ; # Skip over 2/3's of stop bit; 3 cycles for return: ; line_number = 382 ; delay instructions_per_delay*2 - 3 start ; Delay expression evaluates to 273 ; line_number = 383 ; call delay() ; Delay at call is 0 call delay ; line_number = 384 ; call delay() ; Delay at call is 135 call delay ; Delay 3 cycles goto xbyte_get__11 xbyte_get__11: nop ; line_number = 382 ; delay instructions_per_delay*2 - 3 done ; line_number = 385 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 386 ; command_last := byte movf xbyte_get__byte,w movwf command_last ; line_number = 387 ; return byte start ; line_number = 387 movf xbyte_get__byte,w return ; line_number = 387 ; return byte done ; delay after procedure statements=non-uniform ; line_number = 390 ; procedure strobe strobe: ; arguments_none ; line_number = 392 ; returns_nothing ; # This procedure is responsible for alternatively strobing the ; # two illumination IR LED's. It first fires one and then the ; # other; it never fires both at the same time. ; # This routine is called exclusively from the xbyte_get() routine ; # in the "wait for a start bit" routine. Since this routine ; # can take over 4 bit times to perform an entire strobe cycle, ; # it is constantly checking serial_in to see if a start bit ; # has started. If so, it immediately stops all activity and ; # returns. Thus, proximity information is only being collected ; # when the IRProximity2 brick is waiting for a command *and* no ; # command is forthcoming. ; line_number = 407 ; local average byte strobe__average equ shared___globals+49 ; line_number = 408 ; local count byte strobe__count equ shared___globals+50 ; line_number = 409 ; local detect byte strobe__detect equ shared___globals+51 ; line_number = 410 ; local front_back bit strobe__front_back___byte equ shared___globals+63 strobe__front_back___bit equ 6 ; line_number = 411 ; local illuminate bit strobe__illuminate___byte equ shared___globals+63 strobe__illuminate___bit equ 7 ; line_number = 412 ; local index byte strobe__index equ shared___globals+52 ; # Kick the dog: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 415 ; watch_dog_reset done clrwdt ; line_number = 417 ; detect := 0 movlw 0 movwf strobe__detect ; line_number = 418 ; if front_back start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=111 false_code_size=113 btfss strobe__front_back___byte, strobe__front_back___bit goto strobe__49 ; # Next time do the back: ; line_number = 420 ; front_back := 0 bcf strobe__front_back___byte, strobe__front_back___bit ; # Figure out whether or not we turn the IR LED's on ; # this time. ; line_number = 424 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 425 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 426 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 427 ; return start ; line_number = 427 retlw 0 ; line_number = 427 ; return done ; line_number = 426 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 425 ; if !serial_in done ; line_number = 428 ; illuminate := 1 ; Delay at assignment is 2 bsf strobe__illuminate___byte, strobe__illuminate___bit ; line_number = 429 ; if front_count = 0 start ; Delay at if is 3 ; Left minus Right movf front_count,w ; (after recombine) true_delay=3, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=2 btfsc __z___byte, __z___bit goto strobe__24 ; Delay 0 cycles ; line_number = 433 ; front_count := front_count - 1 ; Delay at assignment is 0 decf front_count,f ; line_number = 434 ; illuminate := 0 ; Delay at assignment is 1 bcf strobe__illuminate___byte, strobe__illuminate___bit goto strobe__25 strobe__24: ; line_number = 430 ; front_count := front_delay ; Delay at assignment is 0 movf front_delay,w movwf front_count ; line_number = 431 ; illuminate := 1 ; Delay at assignment is 2 bsf strobe__illuminate___byte, strobe__illuminate___bit strobe__25: ; code.delay=9 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=3 false delay=2 code delay=9 ; line_number = 429 ; if front_count = 0 done ; line_number = 435 ; if !front_enable start ; Delay at if is 9 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss front_enable___byte, front_enable___bit ; line_number = 436 ; illuminate := 0 ; Delay at assignment is 0 bcf strobe__illuminate___byte, strobe__illuminate___bit ; code.delay=11 back_code.delay=0 ; <=bit_code_emit@symbol; sym=front_enable (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=11 ; line_number = 435 ; if !front_enable done ; Delay 2 cycles goto strobe__26 strobe__26: ; line_number = 424 ; delay f1 done ; line_number = 438 ; if illuminate start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=93 true_test=true body_code.delay=0 (non-uniform delay) btfss strobe__illuminate___byte, strobe__illuminate___bit goto strobe__48 ; # We've decided to illuminate. Generate 22 pulses of ; # IR light on the front IR LED at 38kHz. ; line_number = 441 ; loop_exactly 22 start strobe__27 equ shared___globals+56 movlw 22 movwf strobe__27 strobe__28: ; line_number = 442 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 443 ; front_ir := 1 ; Delay at assignment is 0 bsf front_ir___byte, front_ir___bit ; line_number = 444 ; if !serial_in start ; Delay at if is 1 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 445 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 446 ; return start ; line_number = 446 retlw 0 ; line_number = 446 ; return done ; line_number = 445 ; delay_set 1 done ; code.delay=3 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=3 ; line_number = 444 ; if !serial_in done ; line_number = 447 ; if !ir_sense start ; Delay at if is 3 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 448 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=5 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=5 ; line_number = 447 ; if !ir_sense done ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__29: addlw 255 btfss __z___byte, __z___bit goto strobe__29 ; line_number = 442 ; delay f1 done ; line_number = 449 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 450 ; front_ir := 0 ; Delay at assignment is 0 bcf front_ir___byte, front_ir___bit ; line_number = 451 ; if !serial_in start ; Delay at if is 1 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 452 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 453 ; return start ; line_number = 453 retlw 0 ; line_number = 453 ; return done ; line_number = 452 ; delay_set 1 done ; code.delay=3 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=3 ; line_number = 451 ; if !serial_in done ; line_number = 454 ; if !ir_sense start ; Delay at if is 3 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 455 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=5 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=5 ; line_number = 454 ; if !ir_sense done ; Delay 5 cycles goto strobe__30 strobe__30: goto strobe__31 strobe__31: nop ; line_number = 449 ; delay f2 - 3 done ; line_number = 441 ; loop_exactly 22 wrap-up decfsz strobe__27,f goto strobe__28 ; line_number = 441 ; loop_exactly 22 done ; # Now wait for twice that amount of time for the ; # the sensor to calm down. Test every half wave ; # length though: ; line_number = 460 ; front_ir := 0 bcf front_ir___byte, front_ir___bit ; line_number = 461 ; loop_exactly 44 start strobe__32 equ shared___globals+56 movlw 44 movwf strobe__32 strobe__33: ; line_number = 462 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 463 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 464 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 465 ; return start ; line_number = 465 retlw 0 ; line_number = 465 ; return done ; line_number = 464 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 463 ; if !serial_in done ; line_number = 466 ; if !ir_sense start ; Delay at if is 2 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 467 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 466 ; if !ir_sense done ; Delay 9 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__34: addlw 255 btfss __z___byte, __z___bit goto strobe__34 nop ; line_number = 462 ; delay f1 done ; line_number = 468 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 469 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 470 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 471 ; return start ; line_number = 471 retlw 0 ; line_number = 471 ; return done ; line_number = 470 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 469 ; if !serial_in done ; line_number = 472 ; if !ir_sense start ; Delay at if is 2 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 473 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 472 ; if !ir_sense done ; Delay 6 cycles goto strobe__35 strobe__35: goto strobe__36 strobe__36: goto strobe__37 strobe__37: ; line_number = 468 ; delay f2 - 3 done ; line_number = 461 ; loop_exactly 44 wrap-up decfsz strobe__32,f goto strobe__33 ; line_number = 461 ; loop_exactly 44 done ; # Now do follow on processing of the signal. ; line_number = 476 ; delay f1 start ; Delay expression evaluates to 13 ; # First, clip the signal to 0x3f: ; line_number = 478 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 479 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 480 ; return start ; line_number = 480 retlw 0 ; line_number = 480 ; return done ; line_number = 479 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 478 ; if !serial_in done ; # The largest possible value is 22 + 44 = 66. ; # Any values over 63 need to be truncated to 63: ; line_number = 484 ; if detect@6 start ; Delay at if is 2 strobe__select__38___byte equ strobe__detect strobe__select__38___bit equ 6 ; (after recombine) true_delay=2, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=2 (uniform delay) btfsc strobe__select__38___byte, strobe__select__38___bit goto strobe__39 ; Delay 1 cycles nop goto strobe__40 strobe__39: ; line_number = 485 ; detect := 0x3f ; Delay at assignment is 0 movlw 63 movwf strobe__detect strobe__40: ; code.delay=7 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__38 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=0 code delay=7 ; line_number = 484 ; if detect@6 done ; line_number = 486 ; front_last := detect ; Delay at assignment is 7 movf strobe__detect,w movwf front_last ; Delay 4 cycles goto strobe__41 strobe__41: goto strobe__42 strobe__42: ; line_number = 476 ; delay f1 done ; line_number = 487 ; delay f1 start ; Delay expression evaluates to 13 ; # Drop the detected value into the averaging buffer: ; line_number = 489 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 490 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 491 ; return start ; line_number = 491 retlw 0 ; line_number = 491 ; return done ; line_number = 490 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 489 ; if !serial_in done ; line_number = 492 ; front_index := front_index + 1 ; Delay at assignment is 2 incf front_index,f ; line_number = 493 ; front_index@buffer_power := 0 ; Delay at assignment is 3 strobe__select__43___byte equ front_index strobe__select__43___bit equ 3 bcf strobe__select__43___byte, strobe__select__43___bit ; line_number = 494 ; fronts[front_index] := detect >> 1 ; Delay at assignment is 4 ; index_fsr_first movf front_index,w addlw fronts movwf __fsr rrf strobe__detect,w movwf __indf bcf __indf, 7 ; Delay 3 cycles goto strobe__44 strobe__44: nop ; line_number = 487 ; delay f1 done ; line_number = 495 ; average := 0 movlw 0 movwf strobe__average ; line_number = 496 ; index := 0 movlw 0 movwf strobe__index ; line_number = 497 ; loop_exactly buffer_size start strobe__45 equ shared___globals+56 movlw 8 movwf strobe__45 strobe__46: ; line_number = 498 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 499 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 500 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 501 ; return start ; line_number = 501 retlw 0 ; line_number = 501 ; return done ; line_number = 500 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 499 ; if !serial_in done ; line_number = 502 ; average := average + fronts[index] ; Delay at assignment is 2 movf strobe__index,w addlw fronts movwf __fsr movf __indf,w addwf strobe__average,f ; Delay 3 cycles goto strobe__47 strobe__47: nop ; line_number = 498 ; delay f2 - 3 done ; line_number = 497 ; loop_exactly buffer_size wrap-up decfsz strobe__45,f goto strobe__46 ; line_number = 497 ; loop_exactly buffer_size done ; line_number = 503 ; front_average := average movf strobe__average,w movwf front_average ; line_number = 504 ; delay f1 + 1 start ; Delay expression evaluates to 14 ; line_number = 505 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 506 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 507 ; return start ; line_number = 507 retlw 0 ; line_number = 507 ; return done ; line_number = 506 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 505 ; if !serial_in done ; line_number = 508 ; if front_average >= front_far start ; Delay at if is 2 movf front_far,w subwf front_average,w ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 509 ; front_led0 := 0 ; Delay at assignment is 0 bcf front_led0___byte, front_led0___bit btfss __c___byte, __c___bit ; line_number = 511 ; front_led0 := 1 ; Delay at assignment is 0 bsf front_led0___byte, front_led0___bit ; code.delay=8 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=1 false delay=1 code delay=8 ; line_number = 508 ; if front_average >= front_far done ; line_number = 512 ; if front_average >= front_near start ; Delay at if is 8 movf front_near,w subwf front_average,w ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 513 ; front_led1 := 0 ; Delay at assignment is 0 bcf front_led1___byte, front_led1___bit btfss __c___byte, __c___bit ; line_number = 515 ; front_led1 := 1 ; Delay at assignment is 0 bsf front_led1___byte, front_led1___bit ; code.delay=14 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=1 false delay=1 code delay=14 ; line_number = 512 ; if front_average >= front_near done ; line_number = 504 ; delay f1 + 1 done ; Recombine size1 = 0 || size2 = 0 strobe__48: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=strobe__illuminate (data:XX=>X0 code:XX=>XX) ; line_number = 438 ; if illuminate done goto strobe__50 strobe__49: ; # This time do the back sensor; next time do front: ; line_number = 518 ; front_back := 1 bsf strobe__front_back___byte, strobe__front_back___bit ; # Figure out whether or not we turn the IR LED's on ; # this time. ; line_number = 522 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 523 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 524 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 525 ; return start ; line_number = 525 retlw 0 ; line_number = 525 ; return done ; line_number = 524 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 523 ; if !serial_in done ; line_number = 526 ; illuminate := 1 ; Delay at assignment is 2 bsf strobe__illuminate___byte, strobe__illuminate___bit ; line_number = 527 ; if back_count = 0 start ; Delay at if is 3 ; Left minus Right movf back_count,w ; (after recombine) true_delay=3, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=2 btfsc __z___byte, __z___bit goto strobe__1 ; Delay 0 cycles ; line_number = 531 ; back_count := back_count - 1 ; Delay at assignment is 0 decf back_count,f ; line_number = 532 ; illuminate := 0 ; Delay at assignment is 1 bcf strobe__illuminate___byte, strobe__illuminate___bit goto strobe__2 strobe__1: ; line_number = 528 ; back_count := back_delay ; Delay at assignment is 0 movf back_delay,w movwf back_count ; line_number = 529 ; illuminate := 1 ; Delay at assignment is 2 bsf strobe__illuminate___byte, strobe__illuminate___bit strobe__2: ; code.delay=9 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=3 false delay=2 code delay=9 ; line_number = 527 ; if back_count = 0 done ; line_number = 533 ; if !back_enable start ; Delay at if is 9 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss back_enable___byte, back_enable___bit ; line_number = 534 ; illuminate := 0 ; Delay at assignment is 0 bcf strobe__illuminate___byte, strobe__illuminate___bit ; code.delay=11 back_code.delay=0 ; <=bit_code_emit@symbol; sym=back_enable (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=11 ; line_number = 533 ; if !back_enable done ; Delay 2 cycles goto strobe__3 strobe__3: ; line_number = 522 ; delay f1 done ; line_number = 536 ; if illuminate start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=95 true_test=true body_code.delay=0 (non-uniform delay) btfss strobe__illuminate___byte, strobe__illuminate___bit goto strobe__23 ; # We've decided to illuminate. Generate 22 pulses of ; # IR light on the back IR LED at 38kHz. ; line_number = 539 ; loop_exactly 22 start strobe__4 equ shared___globals+56 movlw 22 movwf strobe__4 strobe__5: ; line_number = 540 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 541 ; back_ir := 1 ; Delay at assignment is 0 bsf back_ir___byte, back_ir___bit ; line_number = 542 ; if !serial_in start ; Delay at if is 1 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 543 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 544 ; return start ; line_number = 544 retlw 0 ; line_number = 544 ; return done ; line_number = 543 ; delay_set 1 done ; code.delay=3 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=3 ; line_number = 542 ; if !serial_in done ; line_number = 545 ; if !ir_sense start ; Delay at if is 3 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 546 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=5 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=5 ; line_number = 545 ; if !ir_sense done ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__6: addlw 255 btfss __z___byte, __z___bit goto strobe__6 ; line_number = 540 ; delay f1 done ; line_number = 547 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 548 ; back_ir := 0 ; Delay at assignment is 0 bcf back_ir___byte, back_ir___bit ; line_number = 549 ; if !serial_in start ; Delay at if is 1 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 550 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 551 ; return start ; line_number = 551 retlw 0 ; line_number = 551 ; return done ; line_number = 550 ; delay_set 1 done ; code.delay=3 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=3 ; line_number = 549 ; if !serial_in done ; line_number = 552 ; if !ir_sense start ; Delay at if is 3 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 553 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=5 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:XX=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=5 ; line_number = 552 ; if !ir_sense done ; Delay 5 cycles goto strobe__7 strobe__7: goto strobe__8 strobe__8: nop ; line_number = 547 ; delay f2 - 3 done ; line_number = 539 ; loop_exactly 22 wrap-up decfsz strobe__4,f goto strobe__5 ; line_number = 539 ; loop_exactly 22 done ; # Now wait for twice that amount of time for the ; # the sensor to calm down. Test every half wave ; # length though: ; line_number = 558 ; back_ir := 0 bcf back_ir___byte, back_ir___bit ; line_number = 559 ; loop_exactly 44 start strobe__9 equ shared___globals+56 movlw 44 movwf strobe__9 strobe__10: ; line_number = 560 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 561 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 562 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 563 ; return start ; line_number = 563 retlw 0 ; line_number = 563 ; return done ; line_number = 562 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 561 ; if !serial_in done ; line_number = 564 ; if !ir_sense start ; Delay at if is 2 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 565 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 564 ; if !ir_sense done ; Delay 9 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__11: addlw 255 btfss __z___byte, __z___bit goto strobe__11 nop ; line_number = 560 ; delay f1 done ; line_number = 566 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 567 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 568 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 569 ; return start ; line_number = 569 retlw 0 ; line_number = 569 ; return done ; line_number = 568 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 567 ; if !serial_in done ; line_number = 570 ; if !ir_sense start ; Delay at if is 2 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss ir_sense___byte, ir_sense___bit ; line_number = 571 ; detect := detect + 1 ; Delay at assignment is 0 incf strobe__detect,f ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=ir_sense (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 570 ; if !ir_sense done ; Delay 6 cycles goto strobe__12 strobe__12: goto strobe__13 strobe__13: goto strobe__14 strobe__14: ; line_number = 566 ; delay f2 - 3 done ; line_number = 559 ; loop_exactly 44 wrap-up decfsz strobe__9,f goto strobe__10 ; line_number = 559 ; loop_exactly 44 done ; # Now do follow on processing of the signal. ; line_number = 574 ; delay f1 start ; Delay expression evaluates to 13 ; # First, clip the signal to 0x3f: ; line_number = 576 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 577 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 578 ; return start ; line_number = 578 retlw 0 ; line_number = 578 ; return done ; line_number = 577 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 576 ; if !serial_in done ; # Any values over 63 need to be truncated: ; line_number = 580 ; if detect@6 start ; Delay at if is 2 strobe__select__15___byte equ strobe__detect strobe__select__15___bit equ 6 ; (after recombine) true_delay=2, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=2 (uniform delay) btfsc strobe__select__15___byte, strobe__select__15___bit goto strobe__16 ; Delay 1 cycles nop goto strobe__17 strobe__16: ; line_number = 581 ; detect := 0x3f ; Delay at assignment is 0 movlw 63 movwf strobe__detect strobe__17: ; code.delay=7 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__15 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=0 code delay=7 ; line_number = 580 ; if detect@6 done ; line_number = 582 ; back_last := detect << 2 ; Delay at assignment is 7 rlf strobe__detect,w movwf back_last rlf back_last,f movlw 252 andwf back_last,f ; Delay 1 cycles nop ; line_number = 574 ; delay f1 done ; line_number = 583 ; delay f1 start ; Delay expression evaluates to 13 ; # Drop the detected value into the averaging buffer: ; line_number = 585 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 586 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 587 ; return start ; line_number = 587 retlw 0 ; line_number = 587 ; return done ; line_number = 586 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 585 ; if !serial_in done ; line_number = 588 ; back_index := back_index + 1 ; Delay at assignment is 2 incf back_index,f ; line_number = 589 ; back_index@buffer_power := 0 ; Delay at assignment is 3 strobe__select__18___byte equ back_index strobe__select__18___bit equ 3 bcf strobe__select__18___byte, strobe__select__18___bit ; line_number = 590 ; backs[back_index] := detect >> 1 ; Delay at assignment is 4 ; index_fsr_first movf back_index,w addlw backs movwf __fsr rrf strobe__detect,w movwf __indf bcf __indf, 7 ; Delay 3 cycles goto strobe__19 strobe__19: nop ; line_number = 583 ; delay f1 done ; # Compute the average: ; line_number = 593 ; average := 0 movlw 0 movwf strobe__average ; line_number = 594 ; index := 0 movlw 0 movwf strobe__index ; line_number = 595 ; loop_exactly buffer_size start strobe__20 equ shared___globals+56 movlw 8 movwf strobe__20 strobe__21: ; line_number = 596 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 597 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 598 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 599 ; return start ; line_number = 599 retlw 0 ; line_number = 599 ; return done ; line_number = 598 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 597 ; if !serial_in done ; line_number = 600 ; average := average + backs[index] ; Delay at assignment is 2 movf strobe__index,w addlw backs movwf __fsr movf __indf,w addwf strobe__average,f ; line_number = 601 ; index := index + 1 ; Delay at assignment is 7 incf strobe__index,f ; Delay 2 cycles goto strobe__22 strobe__22: ; line_number = 596 ; delay f2 - 3 done ; line_number = 595 ; loop_exactly buffer_size wrap-up decfsz strobe__20,f goto strobe__21 ; line_number = 595 ; loop_exactly buffer_size done ; # Light the LED's as appropriate: ; line_number = 604 ; back_average := average movf strobe__average,w movwf back_average ; line_number = 605 ; delay f1 + 1 start ; Delay expression evaluates to 14 ; line_number = 606 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 607 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 608 ; return start ; line_number = 608 retlw 0 ; line_number = 608 ; return done ; line_number = 607 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 606 ; if !serial_in done ; line_number = 609 ; if back_average >= back_far start ; Delay at if is 2 movf back_far,w subwf back_average,w ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 610 ; back_led0 := 0 ; Delay at assignment is 0 bcf back_led0___byte, back_led0___bit btfss __c___byte, __c___bit ; line_number = 612 ; back_led0 := 1 ; Delay at assignment is 0 bsf back_led0___byte, back_led0___bit ; code.delay=8 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=1 false delay=1 code delay=8 ; line_number = 609 ; if back_average >= back_far done ; line_number = 613 ; if back_average >= back_near start ; Delay at if is 8 movf back_near,w subwf back_average,w ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc __c___byte, __c___bit ; line_number = 614 ; back_led1 := 0 ; Delay at assignment is 0 bcf back_led1___byte, back_led1___bit btfss __c___byte, __c___bit ; line_number = 616 ; back_led1 := 1 ; Delay at assignment is 0 bsf back_led1___byte, back_led1___bit ; code.delay=14 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=1 false delay=1 code delay=14 ; line_number = 613 ; if back_average >= back_near done ; line_number = 605 ; delay f1 + 1 done ; Recombine size1 = 0 || size2 = 0 strobe__23: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=strobe__illuminate (data:XX=>X0 code:XX=>XX) ; line_number = 536 ; if illuminate done strobe__50: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=strobe__front_back (data:XX=>XX code:XX=>XX) ; line_number = 418 ; if front_back done ; line_number = 618 ; if illuminate start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=55 false_code_size=16 btfss strobe__illuminate___byte, strobe__illuminate___bit goto strobe__77 ; # Do interrupt processing: ; line_number = 620 ; delay f1 + 3 start ; Delay expression evaluates to 16 ; line_number = 621 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 622 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 623 ; return start ; line_number = 623 retlw 0 ; line_number = 623 ; return done ; line_number = 622 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 621 ; if !serial_in done ; line_number = 624 ; interrupt_pending := 0 ; Delay at assignment is 2 bcf interrupt_pending___byte, interrupt_pending___bit ; line_number = 625 ; if front_average >= front_near start ; Delay at if is 3 movf front_near,w subwf front_average,w ; (after recombine) true_delay=2, false_delay=8 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=10 btfss __c___byte, __c___bit goto strobe__61 ; line_number = 626 ; if interrupt_mask@interrupt_front_near start ; Delay at if is 0 strobe__select__60___byte equ interrupt_mask strobe__select__60___bit equ 5 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__60___byte, strobe__select__60___bit ; line_number = 627 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__60 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 626 ; if interrupt_mask@interrupt_front_near done ; Delay 5 cycles goto strobe__63 strobe__63: goto strobe__64 strobe__64: nop goto strobe__62 strobe__61: ; line_number = 628 movf front_far,w subwf front_average,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto strobe__58 ; line_number = 629 ; if interrupt_mask@interrupt_front_far start ; Delay at if is 0 strobe__select__57___byte equ interrupt_mask strobe__select__57___bit equ 4 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__57___byte, strobe__select__57___bit ; line_number = 630 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__57 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 629 ; if interrupt_mask@interrupt_front_far done goto strobe__59 strobe__58: ; line_number = 632 ; if interrupt_mask@interrupt_front_none start ; Delay at if is 0 strobe__select__56___byte equ interrupt_mask strobe__select__56___bit equ 3 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__56___byte, strobe__select__56___bit ; line_number = 633 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__56 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 632 ; if interrupt_mask@interrupt_front_none done nop strobe__59: ; code.delay=8 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit strobe__62: ; code.delay=16 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=8 code delay=16 ; line_number = 625 ; if front_average >= front_near done ; line_number = 620 ; delay f1 + 3 done ; line_number = 634 ; delay f1 + 2 start ; Delay expression evaluates to 15 ; line_number = 635 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 636 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 637 ; return start ; line_number = 637 retlw 0 ; line_number = 637 ; return done ; line_number = 636 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 635 ; if !serial_in done ; line_number = 638 ; if back_average >= back_near start ; Delay at if is 2 movf back_near,w subwf back_average,w ; (after recombine) true_delay=2, false_delay=8 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=10 btfss __c___byte, __c___bit goto strobe__70 ; line_number = 639 ; if interrupt_mask@interrupt_back_near start ; Delay at if is 0 strobe__select__69___byte equ interrupt_mask strobe__select__69___bit equ 2 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__69___byte, strobe__select__69___bit ; line_number = 640 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__69 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 639 ; if interrupt_mask@interrupt_back_near done ; Delay 5 cycles goto strobe__72 strobe__72: goto strobe__73 strobe__73: nop goto strobe__71 strobe__70: ; line_number = 641 movf back_far,w subwf back_average,w ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=2 btfss __c___byte, __c___bit goto strobe__67 ; line_number = 642 ; if interrupt_mask@interrupt_back_far start ; Delay at if is 0 strobe__select__66___byte equ interrupt_mask strobe__select__66___bit equ 1 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__66___byte, strobe__select__66___bit ; line_number = 643 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__66 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 642 ; if interrupt_mask@interrupt_back_far done goto strobe__68 strobe__67: ; line_number = 645 ; if interrupt_mask@interrupt_back_none start ; Delay at if is 0 strobe__select__65___byte equ interrupt_mask strobe__select__65___bit equ 0 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc strobe__select__65___byte, strobe__select__65___bit ; line_number = 646 ; interrupt_pending := 1 ; Delay at assignment is 0 bsf interrupt_pending___byte, interrupt_pending___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=strobe__select__65 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 645 ; if interrupt_mask@interrupt_back_none done nop strobe__68: ; code.delay=8 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit strobe__71: ; code.delay=15 back_code.delay=0 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) ; Uniform delay broke in relation_code_emit ; if final true delay=2 false delay=8 code delay=15 ; line_number = 638 ; if back_average >= back_near done ; line_number = 634 ; delay f1 + 2 done ; line_number = 647 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 648 ; if interrupt_enable start ; Delay at if is 0 ; (after recombine) true_delay=2, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=2 (uniform delay) btfsc interrupt_enable___byte, interrupt_enable___bit goto strobe__74 ; Delay 1 cycles nop goto strobe__75 strobe__74: ; line_number = 649 ; if interrupt_pending start ; Delay at if is 0 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc interrupt_pending___byte, interrupt_pending___bit ; # Assert the interrupt signal: ; line_number = 651 ; serial_out := 0 ; Delay at assignment is 0 bcf serial_out___byte, serial_out___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=interrupt_pending (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 649 ; if interrupt_pending done strobe__75: ; code.delay=5 back_code.delay=0 ; <=bit_code_emit@symbol; sym=interrupt_enable (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=0 code delay=5 ; line_number = 648 ; if interrupt_enable done ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__76: addlw 255 btfss __z___byte, __z___bit goto strobe__76 ; line_number = 647 ; delay f1 done goto strobe__78 strobe__77: ; # Kill some time just as if we were illuminating an IR LED: ; line_number = 654 ; loop_exactly 22 + 44 + 10 start strobe__51 equ shared___globals+56 ; Expression is strictly a constant movlw 76 movwf strobe__51 strobe__52: ; line_number = 655 ; delay f1 start ; Delay expression evaluates to 13 ; line_number = 656 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 657 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 658 ; return start ; line_number = 658 retlw 0 ; line_number = 658 ; return done ; line_number = 657 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 656 ; if !serial_in done ; Delay 11 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__53: addlw 255 btfss __z___byte, __z___bit goto strobe__53 goto strobe__54 strobe__54: nop ; line_number = 655 ; delay f1 done ; line_number = 659 ; delay f2 - 3 start ; Delay expression evaluates to 10 ; line_number = 660 ; if !serial_in start ; Delay at if is 0 ; (after recombine) true_delay=0, false_delay=1 uniform_delay=true ; CASE: true_code.size=0 && false_code.size=1 btfss serial_in___byte, serial_in___bit ; line_number = 661 ; delay_set 1 start ; Delay at delay_set is 0 ; line_number = 662 ; return start ; line_number = 662 retlw 0 ; line_number = 662 ; return done ; line_number = 661 ; delay_set 1 done ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 660 ; if !serial_in done ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 strobe__55: addlw 255 btfss __z___byte, __z___bit goto strobe__55 ; line_number = 659 ; delay f2 - 3 done ; line_number = 654 ; loop_exactly 22 + 44 + 10 wrap-up decfsz strobe__51,f goto strobe__52 ; line_number = 654 ; loop_exactly 22 + 44 + 10 done strobe__78: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=strobe__illuminate (data:XX=>XX code:XX=>XX) ; line_number = 618 ; if illuminate done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 664 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 665 ; constant module_name = "\13\IRProximity2C" ; module_name = '\13\IRProximity2C' ; line_number = 666 ; constant vendor_name = "\13\Mondo-tronics" ; vendor_name = '\13\Mondo-tronics' ; line_number = 667 ; string id = "\1,0,29,0,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; id = '\1,0,29,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13\IRProximity2C\13\Mondo-tronics' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 52 ; Add 20 NOP's until start of new page nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop id___base: retlw 1 retlw 0 retlw 29 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 13 retlw 73 retlw 82 retlw 80 retlw 114 retlw 111 retlw 120 retlw 105 retlw 109 retlw 105 retlw 116 retlw 121 retlw 50 retlw 67 retlw 13 retlw 77 retlw 111 retlw 110 retlw 100 retlw 111 retlw 45 retlw 116 retlw 114 retlw 111 retlw 110 retlw 105 retlw 99 retlw 115 ; line_number = 667 ; string id = "\1,0,29,0,0,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; Appending 2 delayed procedures to code bank 0 ; buffer = 'bit_bang' ; line_number = 33 ; procedure byte_get byte_get: ; arguments_none ; line_number = 35 ; returns byte ; # This procedure will wait for a byte to be received from ; # serial_in_bit. It calls the delay procedure for all delays. ; # This procedure will keep calling the {delay} routine until ; # data is received. ; line_number = 42 ; local count byte byte_get__count equ shared___globals ; line_number = 43 ; local byte byte byte_get__byte equ shared___globals+1 ; # Why does the delay procedure wait for a third of bit? Well, it ; # has to do with the loop immediately below. If we catch the ; # start bit at the beginning of a 1/3 bit time, we will be ; # sampling data at approximately 1/3 of the way into each bit. ; # Conversely, if we catch the start near the end of a 1/3 bit ; # bit time, we will be sampling data at approximately 2/3 of the ; # way into each bit. So, what this means is that our bit sample ; # times will be somewhere between 1/3 and 2/3 of bit (i.e. in ; # the middle of the bit. ; # It would be nice to tweak the code to shorter delay times ; # (1/4 bit, 1/5 bit, etc.) but then it gets too hard to get ; # the bookeeping done in the delay routine. A PIC running at ; # 4MHz (=1MIPS), only has 138 instructions available for the ; # delay routine when at 1/3 of bit. ; # Wait for a start bit: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 62 ; waiting := 1 bsf waiting___byte, waiting___bit ; line_number = 63 ; receiving := 1 bsf receiving___byte, receiving___bit ; line_number = 64 ; while serial_in start byte_get__1: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) btfss serial_in___byte, serial_in___bit goto byte_get__2 ; line_number = 65 ; delay instructions_per_delay - 3 start ; Delay expression evaluates to 135 ; line_number = 66 ; call delay() ; Delay at call is 0 call delay ; line_number = 65 ; delay instructions_per_delay - 3 done goto byte_get__1 ; Recombine size1 = 0 || size2 = 0 byte_get__2: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; line_number = 64 ; while serial_in done ; line_number = 67 ; waiting := 0 bcf waiting___byte, waiting___bit ; # Clear out any preceeding interrupt condition: ; line_number = 70 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; # Skip over start bit: ; line_number = 73 ; delay instructions_per_bit - 2 start ; Delay expression evaluates to 414 ; # There are two instructions of set-up for following loop_exactly: ; line_number = 75 ; call delay() ; Delay at call is 0 call delay ; line_number = 76 ; call delay() ; Delay at call is 135 call delay ; line_number = 77 ; call delay() ; Delay at call is 270 call delay ; line_number = 78 ; byte := 0 ; Delay at assignment is 405 movlw 0 movwf byte_get__byte ; Delay 7 cycles goto byte_get__3 byte_get__3: goto byte_get__4 byte_get__4: goto byte_get__5 byte_get__5: nop ; line_number = 73 ; delay instructions_per_bit - 2 done ; # Read in 8 bits of data: ; line_number = 81 ; loop_exactly 8 start byte_get__6 equ shared___globals+57 movlw 8 movwf byte_get__6 byte_get__7: ; # There are 3 instrucitons of loop_exactly overhead: ; line_number = 83 ; delay instructions_per_bit - 3 start ; Delay expression evaluates to 413 ; line_number = 84 ; call delay() ; Delay at call is 0 call delay ; line_number = 85 ; byte := byte >> 1 ; Delay at assignment is 135 ; Assignment of variable to self (no code needed) rrf byte_get__byte,f bcf byte_get__byte, 7 ; line_number = 86 ; if serial_in start ; Delay at if is 137 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc serial_in___byte, serial_in___bit ; line_number = 87 ; byte@7 := 1 ; Delay at assignment is 0 byte_get__select__8___byte equ byte_get__byte byte_get__select__8___bit equ 7 bsf byte_get__select__8___byte, byte_get__select__8___bit ; code.delay=139 back_code.delay=0 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=139 ; line_number = 86 ; if serial_in done ; line_number = 88 ; call delay() ; Delay at call is 139 call delay ; line_number = 89 ; call delay() ; Delay at call is 274 call delay ; Delay 4 cycles goto byte_get__9 byte_get__9: goto byte_get__10 byte_get__10: ; line_number = 83 ; delay instructions_per_bit - 3 done ; line_number = 81 ; loop_exactly 8 wrap-up decfsz byte_get__6,f goto byte_get__7 ; line_number = 81 ; loop_exactly 8 done ; # Skip over 2/3's of stop bit; 3 cycles for return: ; line_number = 92 ; delay instructions_per_delay*2 - 3 start ; Delay expression evaluates to 273 ; line_number = 93 ; call delay() ; Delay at call is 0 call delay ; line_number = 94 ; call delay() ; Delay at call is 135 call delay ; Delay 3 cycles goto byte_get__11 byte_get__11: nop ; line_number = 92 ; delay instructions_per_delay*2 - 3 done ; line_number = 95 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 96 ; command_last := byte movf byte_get__byte,w movwf command_last ; line_number = 97 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; line_number = 98 ; return byte start ; line_number = 98 movf byte_get__byte,w return ; line_number = 98 ; return byte done ; delay after procedure statements=non-uniform ; line_number = 101 ; procedure byte_put byte_put: ; Last argument is sitting in W; save into argument variable movwf byte_put__byte ; delay=4294967295 ; line_number = 102 ; argument byte byte byte_put__byte equ shared___globals+3 ; line_number = 103 ; returns_nothing ; # This procedure will send {byte} to {serial_out} pin. The {delay} ; # procedure is called to provide the appropriate bit timing. ; line_number = 108 ; local count byte byte_put__count equ shared___globals+2 ; # {receiving} will be 1 if the last get/put routine was a get. ; # Before we start transmitting a response back, we want to ensure ; # that there has been enough time to turn the line around. ; # We delay the first 1/3 of a bit to pad out the 9-2/3 bits ; # from get_byte to 10 bits. We delay another 3 bits just to ; # ensure that slow interpreters do not get overrun. ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 116 ; sent_previous := sent_last movf sent_last,w movwf sent_previous ; line_number = 117 ; sent_last := byte movf byte_put__byte,w movwf sent_last ; line_number = 118 ; if receiving start ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) btfss receiving___byte, receiving___bit goto byte_put__3 ; line_number = 119 ; receiving := 0 bcf receiving___byte, receiving___bit ; # 10 = 1 + 3*3 = 3-1/3 extra bits of delay: ; line_number = 121 ; loop_exactly 10 start byte_put__1 equ shared___globals+58 movlw 10 movwf byte_put__1 byte_put__2: ; line_number = 122 ; call delay() call delay ; line_number = 121 ; loop_exactly 10 wrap-up decfsz byte_put__1,f goto byte_put__2 ; line_number = 121 ; loop_exactly 10 done ; Recombine size1 = 0 || size2 = 0 byte_put__3: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=receiving (data:X0=>X0 code:XX=>XX) ; line_number = 118 ; if receiving done ; # Send the start bit: ; line_number = 125 ; delay instructions_per_bit - 2 start ; Delay expression evaluates to 414 ; # The loop_exactly setup after this is 2 instructions: ; line_number = 127 ; serial_out := 0 ; Delay at assignment is 0 bcf serial_out___byte, serial_out___bit ; line_number = 128 ; call delay() ; Delay at call is 1 call delay ; line_number = 129 ; call delay() ; Delay at call is 136 call delay ; line_number = 130 ; call delay() ; Delay at call is 271 call delay ; Delay 8 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 byte_put__4: addlw 255 btfss __z___byte, __z___bit goto byte_put__4 ; line_number = 125 ; delay instructions_per_bit - 2 done ; # Send the data: ; line_number = 133 ; loop_exactly 8 start byte_put__5 equ shared___globals+58 movlw 8 movwf byte_put__5 byte_put__6: ; # Loop_exactly overhead is 3 instructions: ; line_number = 135 ; delay instructions_per_bit - 3 start ; Delay expression evaluates to 413 ; line_number = 136 ; if byte@0 start ; Delay at if is 0 byte_put__select__7___byte equ byte_put__byte byte_put__select__7___bit equ 0 ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc byte_put__select__7___byte, byte_put__select__7___bit ; line_number = 137 ; serial_out := 1 ; Delay at assignment is 0 bsf serial_out___byte, serial_out___bit btfss byte_put__select__7___byte, byte_put__select__7___bit ; line_number = 139 ; serial_out := 0 ; Delay at assignment is 0 bcf serial_out___byte, serial_out___bit ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=byte_put__select__7 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=1 code delay=4 ; line_number = 136 ; if byte@0 done ; line_number = 140 ; byte := byte >> 1 ; Delay at assignment is 4 ; Assignment of variable to self (no code needed) rrf byte_put__byte,f bcf byte_put__byte, 7 ; line_number = 141 ; call delay() ; Delay at call is 6 call delay ; line_number = 142 ; call delay() ; Delay at call is 141 call delay ; line_number = 143 ; call delay() ; Delay at call is 276 call delay ; Delay 2 cycles goto byte_put__8 byte_put__8: ; line_number = 135 ; delay instructions_per_bit - 3 done ; line_number = 133 ; loop_exactly 8 wrap-up decfsz byte_put__5,f goto byte_put__6 ; line_number = 133 ; loop_exactly 8 done ; # Send the stop bit: ; line_number = 146 ; delay instructions_per_bit start ; Delay expression evaluates to 416 ; line_number = 147 ; serial_out := 1 ; Delay at assignment is 0 bsf serial_out___byte, serial_out___bit ; line_number = 148 ; call delay() ; Delay at call is 1 call delay ; line_number = 149 ; call delay() ; Delay at call is 136 call delay ; line_number = 150 ; call delay() ; Delay at call is 271 call delay ; Delay 10 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 byte_put__9: addlw 255 btfss __z___byte, __z___bit goto byte_put__9 goto byte_put__10 byte_put__10: ; line_number = 146 ; delay instructions_per_bit done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Configuration bits ; fill = 0x0 ; bg = bg11 (0x3000) ; cpd = off (0x100) ; cp = off (0x80) ; boden = off (0x0) ; mclre = off (0x0) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = int_no_clk (0x4) ; 12692 = 0x3194 __config 12692 ; Define start addresses for data regions ; Region="shared___globals" Address=32" Size=64 Bytes=59 Bits=8 Available=4 ; Region="shared___globals" Address=32" Size=64 Bytes=59 Bits=8 Available=4 ; Region="shared___globals" Address=32" Size=64 Bytes=59 Bits=8 Available=4 end