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) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = 'servo4' ; line_number = 6 ; library _pic16f676 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f676' ; line_number = 5 ; processor pic16f676 ; 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 ; 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, an3, clkout ; 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 ; or_if an3 _trisa 8 ; line_number = 53 ; or_if an3 _ansel 8 ; line_number = 54 ; or_if an3 _adcon0 1 ; line_number = 55 ; pin ra3_in, mclr, vpp ; line_number = 56 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 57 ; bind_to _porta@4 ; line_number = 58 ; or_if ra3_in _trisa 4 ; line_number = 59 ; pin rc5_in, rc5_out ; line_number = 60 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 61 ; bind_to _portc@5 ; line_number = 62 ; or_if rc5_in _trisc 32 ; line_number = 63 ; or_if rc5_out _trisc 0 ; line_number = 64 ; pin rc4_in, rc4_out ; line_number = 65 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 66 ; bind_to _portc@4 ; line_number = 67 ; or_if rc4_in _trisc 16 ; line_number = 68 ; or_if rc4_out _trisc 0 ; line_number = 69 ; pin rc3_in, rc3_out, an7 ; line_number = 70 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 71 ; bind_to _portc@3 ; line_number = 72 ; or_if rc3_in _trisc 8 ; line_number = 73 ; or_if rc3_out _trisc 0 ; line_number = 74 ; or_if an7 _trisc 8 ; line_number = 75 ; or_if an7 _ansel 128 ; line_number = 76 ; or_if an7 _adcon0 1 ; line_number = 77 ; pin rc2_in, rc2_out, an6 ; line_number = 78 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 79 ; bind_to _portc@2 ; line_number = 80 ; or_if rc2_in _trisc 4 ; line_number = 81 ; or_if rc2_out _trisc 0 ; line_number = 82 ; or_if an6 _trisc 4 ; line_number = 83 ; or_if an6 _ansel 64 ; line_number = 84 ; or_if an6 _adcon0 1 ; line_number = 85 ; pin rc1_in, rc1_out, an5 ; line_number = 86 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 87 ; bind_to _portc@1 ; line_number = 88 ; or_if rc1_in _trisc 2 ; line_number = 89 ; or_if rc1_out _trisc 0 ; line_number = 90 ; or_if an5 _trisc 2 ; line_number = 91 ; or_if an5 _ansel 32 ; line_number = 92 ; or_if an5 _adcon0 1 ; line_number = 93 ; pin rc0_in, rc0_out, an4 ; line_number = 94 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 95 ; bind_to _portc@0 ; line_number = 96 ; or_if rc0_in _trisc 1 ; line_number = 97 ; or_if rc0_out _trisc 0 ; line_number = 98 ; or_if an4 _trisc 1 ; line_number = 99 ; or_if an4 _ansel 16 ; line_number = 100 ; or_if an4 _adcon0 1 ; line_number = 101 ; pin ra2_in, ra2_out, an2, cout, t0cki, int ; line_number = 102 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 103 ; bind_to _porta@2 ; line_number = 104 ; or_if ra2_in _trisa 4 ; line_number = 105 ; or_if ra2_out _trisa 0 ; line_number = 106 ; or_if an2 _trisa 4 ; line_number = 107 ; or_if an2 _ansel 4 ; line_number = 108 ; or_if an2 _adcon0 1 ; line_number = 109 ; pin ra1_in, ra1_out, an1, cin_minus, vref, icspclk ; line_number = 110 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 111 ; bind_to _porta@1 ; line_number = 112 ; or_if ra1_in _trisa 2 ; line_number = 113 ; or_if ra1_out _trisa 0 ; line_number = 114 ; or_if an1 _trisa 2 ; line_number = 115 ; or_if an1 _ansel 2 ; line_number = 116 ; or_if an1 _adcon0 1 ; line_number = 117 ; pin ra0_in, ra0_out, an0, cin_plus, icspdat ; line_number = 118 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 119 ; bind_to _porta@0 ; line_number = 120 ; or_if ra0_in _trisa 1 ; line_number = 121 ; or_if ra0_out _trisa 0 ; line_number = 122 ; or_if an0 _trisa 1 ; line_number = 123 ; or_if an0 _ansel 1 ; line_number = 124 ; or_if an0 _adcon0 1 ; line_number = 125 ; pin vss, ground ; line_number = 126 ; pin_bindings pdip=14, soic=14, tssop=14 ; line_number = 131 ; 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 = '_pic16f676' ; line_number = 131 ; library _pic16f630_676 exited ; # The only difference between the PIC16F676 and the PIC16F630 is that ; # the 'F676 has 8 channels of A/D and the 'F630 does not. ; line_number = 136 ; register _adresh = _adresh equ 30 ; # The {_adif} flag is only avaiable for the PIC16F676: ; line_number = 139 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 141 ; register _adcon0 = _adcon0 equ 31 ; line_number = 142 ; bind _adfm = _adcon0@7 _adfm___byte equ _adcon0 _adfm___bit equ 7 ; line_number = 143 ; bind _vcfg = _adcon0@5 _vcfg___byte equ _adcon0 _vcfg___bit equ 5 ; line_number = 144 ; bind _chs2 = _adcon0@4 _chs2___byte equ _adcon0 _chs2___bit equ 4 ; line_number = 145 ; bind _chs1 = _adcon0@3 _chs1___byte equ _adcon0 _chs1___bit equ 3 ; line_number = 146 ; bind _chs0 = _adcon0@2 _chs0___byte equ _adcon0 _chs0___bit equ 2 ; line_number = 147 ; bind _go = _adcon0@1 _go___byte equ _adcon0 _go___bit equ 1 ; line_number = 148 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; line_number = 150 ; register _adsel = _adsel equ 145 ; line_number = 151 ; bind _ans7 = _adsel@7 _ans7___byte equ _adsel _ans7___bit equ 7 ; line_number = 152 ; bind _ans6 = _adsel@6 _ans6___byte equ _adsel _ans6___bit equ 6 ; line_number = 153 ; bind _ans5 = _adsel@5 _ans5___byte equ _adsel _ans5___bit equ 5 ; line_number = 154 ; bind _ans4 = _adsel@4 _ans4___byte equ _adsel _ans4___bit equ 4 ; line_number = 155 ; bind _ans3 = _adsel@3 _ans3___byte equ _adsel _ans3___bit equ 3 ; line_number = 156 ; bind _ans2 = _adsel@2 _ans2___byte equ _adsel _ans2___bit equ 2 ; line_number = 157 ; bind _ans1 = _adsel@1 _ans1___byte equ _adsel _ans1___bit equ 1 ; line_number = 158 ; bind _ans0 = _adsel@0 _ans0___byte equ _adsel _ans0___bit equ 0 ; line_number = 160 ; register _adresl = _adresl equ 158 ; line_number = 162 ; register _adcon1 = _adcon1 equ 159 ; line_number = 163 ; bind _adcs2 = _adcon1@6 _adcs2___byte equ _adcon1 _adcs2___bit equ 6 ; line_number = 164 ; bind _adcs1 = _adcon1@5 _adcs1___byte equ _adcon1 _adcs1___bit equ 5 ; line_number = 165 ; bind _adcs0 = _adcon1@4 _adcs0___byte equ _adcon1 _adcs0___bit equ 4 ; buffer = 'servo4' ; line_number = 6 ; library _pic16f676 exited ; line_number = 7 ; 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 = 'servo4' ; line_number = 7 ; library clock4mhz exited ; line_number = 8 ; 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 = 'servo4' ; line_number = 8 ; library bit_bang exited ; line_number = 10 ; package pdip ; line_number = 11 ; pin 1 = power_supply ; line_number = 12 ; pin 2 = ra5_out, name = debug_out debug_out___byte equ _porta debug_out___bit equ 5 ; line_number = 13 ; pin 3 = ra4_out, name = serial_out serial_out___byte equ _porta serial_out___bit equ 4 ; line_number = 14 ; pin 4 = ra3_in, name = serial_in serial_in___byte equ _porta serial_in___bit equ 4 ; line_number = 15 ; pin 5 = rc5_out, name = servo3 servo3___byte equ _portc servo3___bit equ 5 ; line_number = 16 ; pin 6 = rc4_in, name = calibrate calibrate___byte equ _portc calibrate___bit equ 4 ; line_number = 17 ; pin 7 = an7, name = sense2 sense2___byte equ _portc sense2___bit equ 3 ; line_number = 18 ; pin 8 = an6, name = sense3 sense3___byte equ _portc sense3___bit equ 2 ; line_number = 19 ; pin 9 = an5, name = sense1 sense1___byte equ _portc sense1___bit equ 1 ; line_number = 20 ; pin 10 = an4, name = sense0 sense0___byte equ _portc sense0___bit equ 0 ; line_number = 21 ; pin 11 = ra2_out, name = servo2 servo2___byte equ _porta servo2___bit equ 2 ; line_number = 22 ; pin 12 = ra1_out, name = servo1 servo1___byte equ _porta servo1___bit equ 1 ; line_number = 23 ; pin 13 = ra0_out, name = servo0 servo0___byte equ _porta servo0___bit equ 0 ; line_number = 24 ; pin 14 = ground ; # Define the pin bindings: ; line_number = 29 ; constant initial_minimum = 1000 initial_minimum equ 1000 ; line_number = 30 ; constant initial_maximum = 2000 initial_maximum equ 2000 ; line_number = 31 ; constant initial_scale = (initial_maximum - initial_minimum) >> 4 initial_scale equ 62 ; line_number = 32 ; constant initial_high = initial_minimum >> 8 initial_high equ 3 ; line_number = 33 ; constant initial_low = initial_minimum & 0xff initial_low equ 232 ; line_number = 35 ; global analogs[4] array[byte] analogs equ shared___globals+4 ; # The next {eedata_size} bytes are saved and restored from EEData: ; line_number = 38 ; constant eedata_size = 13 eedata_size equ 13 ; line_number = 39 ; global base_lows[4] array[byte] base_lows equ shared___globals+8 ; line_number = 40 ; global base_highs[4] array[byte] base_highs equ shared___globals+12 ; line_number = 41 ; global scales[4] array[byte] scales equ shared___globals+16 ; line_number = 42 ; global address byte address equ shared___globals+20 ; line_number = 44 ; global fines[4] array[byte] fines equ shared___globals+21 ; line_number = 45 ; global positions[4] array[byte] positions equ shared___globals+25 ; line_number = 46 ; global interrupts byte interrupts equ shared___globals+29 ; line_number = 47 ; global enables byte enables equ shared___globals+30 ; line_number = 49 ; global command_previous byte command_previous equ shared___globals+31 ; line_number = 50 ; global command_last byte command_last equ shared___globals+32 ; line_number = 51 ; global sent_previous byte sent_previous equ shared___globals+33 ; line_number = 52 ; global sent_last byte sent_last equ shared___globals+34 ; #origin 0x3ff ; # ; #procedure osc_cal ; # arguments_none ; # returns byte ; # ; # return 0x9c ; line_number = 62 ; origin 0 org 0 ; line_number = 64 ; procedure xmain xmain: ; arguments_none ; line_number = 66 ; returns_nothing ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 68 ; call main() call main ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 70 ; origin 4 org 4 ; line_number = 72 ; procedure xinterrupt xinterrupt: ; arguments_none ; line_number = 74 ; returns_nothing ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 76 ; servo0 := 0 bcf servo0___byte, servo0___bit ; line_number = 77 ; servo1 := 0 bcf servo1___byte, servo1___bit ; line_number = 78 ; servo2 := 0 bcf servo2___byte, servo2___bit ; line_number = 79 ; servo3 := 0 bcf servo3___byte, servo3___bit ; line_number = 80 ; _tmr1if := 0 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 82 ; assemble ; line_number = 83 retfie ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 86 ; procedure main main: ; Need to calibrate the oscillator call 1023 bsf __rp0___byte, __rp0___bit movwf _osccal ; Initialize some registers movlw 1 bcf __rp0___byte, __rp0___bit movwf _adcon0 movlw 4 bsf __rp0___byte, __rp0___bit movwf _trisa movlw 31 movwf _trisc ; arguments_none ; line_number = 88 ; returns_nothing ; line_number = 90 ; local command byte main__command equ shared___globals+35 ; line_number = 91 ; local glitch byte main__glitch equ shared___globals+36 ; line_number = 92 ; local id_index byte main__id_index equ shared___globals+37 ; line_number = 93 ; local temporary byte main__temporary equ shared___globals+38 ; line_number = 94 ; local servo byte main__servo equ shared___globals+39 ; line_number = 95 ; local position byte main__position equ shared___globals+40 ; # These registers are in data bank 1: ; before procedure statements delay=non-uniform, bit states=(data:X0=>X1 code:XX=>XX) ; line_number = 98 ; _adcon1 := 0 movlw 0 movwf _adcon1 ; line_number = 99 ; _adsel := 0 movlw 0 movwf _adsel ; line_number = 100 ; _psa := 0 bcf _psa___byte, _psa___bit ; # These registers are in data bank 0: ; line_number = 103 ; _cmcon := 7 movlw 7 bcf __rp0___byte, __rp0___bit movwf _cmcon ; line_number = 104 ; _adcon0 := 0 movlw 0 movwf _adcon0 ; line_number = 105 ; _t1con := 0x00 movlw 0 movwf _t1con ; line_number = 106 ; interrupts := 0 movlw 0 movwf interrupts ; line_number = 108 ; _eeadr := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 109 ; loop_exactly 13 start main__1 equ shared___globals+50 movlw 13 bcf __rp0___byte, __rp0___bit movwf main__1 main__2: ; line_number = 110 ; _rd := 1 bsf __rp0___byte, __rp0___bit bsf _rd___byte, _rd___bit ; line_number = 111 ; base_lows[_eeadr] := _eedata ; index_fsr_first movf _eeadr,w addlw base_lows bcf __rp0___byte, __rp0___bit movwf __fsr bsf __rp0___byte, __rp0___bit movf _eedata,w bcf __rp0___byte, __rp0___bit movwf __indf ; line_number = 112 ; _eeadr := _eeadr + 1 bsf __rp0___byte, __rp0___bit incf _eeadr,f bcf __rp0___byte, __rp0___bit ; line_number = 109 ; loop_exactly 13 wrap-up decfsz main__1,f goto main__2 ; line_number = 109 ; loop_exactly 13 done ; line_number = 114 ; if base_lows[0] = 0xff start ; Left minus Right movf base_lows,w addlw 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=22 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__5 ; line_number = 115 ; servo := 0 movlw 0 movwf main__servo ; line_number = 116 ; loop_exactly 4 start main__3 equ shared___globals+50 movlw 4 movwf main__3 main__4: ; line_number = 117 ; base_lows[servo] := initial_low ; index_fsr_first movf main__servo,w addlw base_lows movwf __fsr movlw 232 movwf __indf ; line_number = 118 ; base_highs[servo] := initial_high ; index_fsr_first movf main__servo,w addlw base_highs movwf __fsr movlw 3 movwf __indf ; line_number = 119 ; scales[servo] := initial_scale ; index_fsr_first movf main__servo,w addlw scales movwf __fsr movlw 62 movwf __indf ; line_number = 120 ; servo := servo + 1 incf main__servo,f ; line_number = 116 ; loop_exactly 4 wrap-up decfsz main__3,f goto main__4 ; line_number = 116 ; loop_exactly 4 done ; line_number = 121 ; address := 0xff movlw 255 movwf address ; Recombine size1 = 0 || size2 = 0 main__5: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 114 ; if base_lows[0] = 0xff done ; line_number = 122 ; servo := 0 movlw 0 movwf main__servo ; line_number = 123 ; loop_exactly 4 start main__6 equ shared___globals+50 movlw 4 movwf main__6 main__7: ; line_number = 124 ; positions[servo] := 0 ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movlw 0 movwf __indf ; line_number = 125 ; fines[servo] := 0 ; index_fsr_first movf main__servo,w addlw fines movwf __fsr movlw 0 movwf __indf ; line_number = 126 ; servo := servo + 1 incf main__servo,f ; line_number = 123 ; loop_exactly 4 wrap-up decfsz main__6,f goto main__7 ; line_number = 123 ; loop_exactly 4 done ; # For now: ; #enables := 0xf ; line_number = 130 ; enables := 0 movlw 0 movwf enables ; # According to the specification sheet, TMR1L, TRM1H, and ; # TMR1IF must be clear before enabling TMR1IE. Since they ; # do not say why, it is unclear what problem that this addresses. ; line_number = 135 ; _tmr1l := 0 movlw 0 movwf _tmr1l ; line_number = 136 ; _tmr1h := 0 movlw 0 movwf _tmr1h ; line_number = 137 ; _tmr1if := 0 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 138 ; _tmr1ie := 1 bsf __rp0___byte, __rp0___bit bsf _tmr1ie___byte, _tmr1ie___bit ; line_number = 139 ; _peie := 1 bcf __rp0___byte, __rp0___bit bsf _peie___byte, _peie___bit ; line_number = 140 ; _gie := 1 bsf _gie___byte, _gie___bit ; line_number = 141 ; _tmr1on := 1 bsf _tmr1on___byte, _tmr1on___bit ; #_tmr1ie := 0 ; #_peie := 0 ; #_gie := 0 ; #_tmr1on := 1 ; # Let's initialize the servo's to off: ; line_number = 148 ; servo0 := 0 bcf servo0___byte, servo0___bit ; line_number = 149 ; servo1 := 0 bcf servo1___byte, servo1___bit ; line_number = 150 ; servo2 := 0 bcf servo2___byte, servo2___bit ; line_number = 151 ; servo3 := 0 bcf servo3___byte, servo3___bit ; line_number = 153 ; glitch := 0 movlw 0 movwf main__glitch ; line_number = 154 ; id_index := 0 movlw 0 movwf main__id_index ; # Make sure we idle the serial output lines to "mark" (= 1): ; line_number = 157 ; debug_out := 1 bsf debug_out___byte, debug_out___bit ; line_number = 158 ; serial_out := 1 bsf serial_out___byte, serial_out___bit ; line_number = 160 ; loop_forever start main__8: ; line_number = 161 ; command := byte_get() call byte_get movwf main__command ; line_number = 162 ; servo := command & 3 movlw 3 andwf main__command,w movwf main__servo ; line_number = 163 ; switch command >> 6 start movlw main__85>>8 movwf __pclath main__86 equ shared___globals+50 swapf main__command,w movwf main__86 rrf main__86,f rrf main__86,w andlw 3 addlw main__85 movwf __pcl ; page_group 4 main__85: goto main__81 goto main__82 goto main__83 goto main__84 ; line_number = 164 ; case 0 main__81: ; # 00xx xxxx ; line_number = 166 ; switch (command >> 3) & 7 start movlw main__18>>8 movwf __pclath main__19 equ shared___globals+50 rrf main__command,w movwf main__19 rrf main__19,f rrf main__19,w andlw 7 addlw main__18 movwf __pcl ; page_group 8 main__18: goto main__13 goto main__14 goto main__15 goto main__16 goto main__17 goto main__17 goto main__17 goto main__17 ; line_number = 167 ; case 0 main__13: ; # 0000 0xxx: ; line_number = 169 ; temporary := byte_get() call byte_get movwf main__temporary ; line_number = 170 ; if command@2 start main__select__9___byte equ main__command main__select__9___bit equ 2 ; # 0000 01ss (Write Base High): ; line_number = 172 ; base_highs[servo] := temporary ; index_fsr_first movf main__servo,w ; # 0000 00ss (Write Base Low): ; line_number = 175 ; base_lows[servo] := temporary ; index_fsr_first ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__9___byte, main__select__9___bit addlw base_highs btfss main__select__9___byte, main__select__9___bit addlw base_lows ; code.delay=4294967295 back_code.delay=4294967295 movwf __fsr movf main__temporary,w movwf __indf ; <=bit_code_emit@symbol; sym=main__select__9 (data:X0=>X0 code:XX=>XX) ; line_number = 170 ; if command@2 done goto main__20 ; line_number = 176 ; case 1 main__14: ; # 0000 1xxx: ; line_number = 178 ; temporary := byte_get() call byte_get movwf main__temporary ; line_number = 179 ; if command@2 start main__select__10___byte equ main__command main__select__10___bit equ 2 ; # 0000 11ss (Write Scale): ; line_number = 181 ; scales[servo] := temporary ; index_fsr_first movf main__servo,w ; # 0000 10ss (Write Position) ; line_number = 184 ; positions[servo] := temporary ; index_fsr_first ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__10___byte, main__select__10___bit addlw scales btfss main__select__10___byte, main__select__10___bit addlw positions ; code.delay=4294967295 back_code.delay=4294967295 movwf __fsr movf main__temporary,w movwf __indf ; <=bit_code_emit@symbol; sym=main__select__10 (data:X0=>X0 code:XX=>XX) ; line_number = 179 ; if command@2 done goto main__20 ; line_number = 185 ; case 2 main__15: ; # 0001 0xxx: ; line_number = 187 ; if command@2 start main__select__11___byte equ main__command main__select__11___bit equ 2 ; # 0001 01ss (Read Base High): ; line_number = 189 ; temporary := base_highs[servo] movf main__servo,w ; # 0001 00ss (Read Base Low): ; line_number = 192 ; temporary := base_lows[servo] ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__11___byte, main__select__11___bit addlw base_highs btfss main__select__11___byte, main__select__11___bit addlw base_lows ; code.delay=4294967295 back_code.delay=4294967295 movwf __fsr movf __indf,w movwf main__temporary ; <=bit_code_emit@symbol; sym=main__select__11 (data:XX=>X0 code:XX=>XX) ; line_number = 187 ; if command@2 done ; line_number = 193 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__20 ; line_number = 194 ; case 3 main__16: ; # 0001 1xxx: ; line_number = 196 ; if command@2 start main__select__12___byte equ main__command main__select__12___bit equ 2 ; # 0001 11ss (Read Scale): ; line_number = 198 ; temporary := scales[servo] movf main__servo,w ; # 0001 10ss (Read Position): ; line_number = 201 ; temporary := positions[servo] ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_size=1 && false_size=1 ; SUBCASE: Double test; true, then false btfsc main__select__12___byte, main__select__12___bit addlw scales btfss main__select__12___byte, main__select__12___bit addlw positions ; code.delay=4294967295 back_code.delay=4294967295 movwf __fsr movf __indf,w movwf main__temporary ; <=bit_code_emit@symbol; sym=main__select__12 (data:XX=>X0 code:XX=>XX) ; line_number = 196 ; if command@2 done ; line_number = 202 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__20 ; line_number = 203 ; case 4, 5, 6, 7 main__17: ; # 001x xxxx: ; line_number = 205 ; do_nothing main__20: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 166 ; switch (command >> 3) & 7 done goto main__87 ; line_number = 206 ; case 1 main__82: ; # 01hh hhhh (Set High): ; line_number = 208 ; position := positions[servo] movf main__servo,w addlw positions movwf __fsr movf __indf,w movwf main__position ; line_number = 209 ; position := position & 0xf | (command << 2) & 0xf0 main__21 equ shared___globals+50 movlw 15 andwf main__position,w movwf main__21 main__22 equ shared___globals+51 rlf main__command,w movwf main__22 rlf main__22,w andlw 240 iorwf main__21,w movwf main__position ; line_number = 210 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf goto main__87 ; line_number = 211 ; case 2 main__83: ; # 10ll llll (Set Low): ; line_number = 213 ; position := positions[servo] movf main__servo,w addlw positions movwf __fsr movf __indf,w movwf main__position ; line_number = 214 ; position := position & 0xf0 | (command >> 2) & 0xf main__23 equ shared___globals+50 movlw 240 andwf main__position,w movwf main__23 main__24 equ shared___globals+51 rrf main__command,w movwf main__24 rrf main__24,w andlw 15 iorwf main__23,w movwf main__position ; line_number = 215 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf goto main__87 ; line_number = 216 ; case 3 main__84: ; # 11xx xxxx: ; line_number = 218 ; switch (command >> 3) & 7 start movlw main__78>>8 movwf __pclath main__79 equ shared___globals+50 rrf main__command,w movwf main__79 rrf main__79,f rrf main__79,w andlw 7 addlw main__78 movwf __pcl ; page_group 8 ; Add 2 NOP's until start of new page nop nop main__78: goto main__72 goto main__73 goto main__74 goto main__75 goto main__76 goto main__76 goto main__76 goto main__77 ; line_number = 219 ; case 0 main__72: ; # 1100 0ess (Set Enable and Position): ; line_number = 221 ; positions[servo] := byte_get() ; index_temporary_first main__25 equ shared___globals+50 main__26 equ shared___globals+51 movf main__servo,w movwf main__25 call byte_get movwf main__26 movf main__25,w addlw positions movwf __fsr movf main__26,w movwf __indf ; line_number = 222 ; temporary := mask_get(servo) movf main__servo,w call mask_get movwf main__temporary ; line_number = 223 ; if command@2 start main__select__27___byte equ main__command main__select__27___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=3 btfss main__select__27___byte, main__select__27___bit goto main__28 ; line_number = 224 ; enables := enables | temporary movf main__temporary,w iorwf enables,f goto main__29 main__28: ; line_number = 226 ; enables := enables & (temporary ^ 0xf) movlw 15 xorwf main__temporary,w andwf enables,f main__29: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__27 (data:X0=>X0 code:XX=>XX) ; line_number = 223 ; if command@2 done goto main__80 ; line_number = 227 ; case 1 main__73: ; # 1100 1ess (Set Enable Flag Only): ; line_number = 229 ; temporary := mask_get(servo) movf main__servo,w call mask_get movwf main__temporary ; line_number = 230 ; if command@2 start main__select__30___byte equ main__command main__select__30___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=2 false_code_size=3 btfss main__select__30___byte, main__select__30___bit goto main__31 ; line_number = 231 ; enables := enables | temporary movf main__temporary,w iorwf enables,f goto main__32 main__31: ; line_number = 233 ; enables := enables & (temporary ^ 0xf) movlw 15 xorwf main__temporary,w andwf enables,f main__32: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__30 (data:X0=>X0 code:XX=>XX) ; line_number = 230 ; if command@2 done goto main__80 ; line_number = 234 ; case 2 main__74: ; # 1101 0xxx: ; line_number = 236 ; if command@2 start main__select__35___byte equ main__command main__select__35___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=10 false_code_size=4 btfss main__select__35___byte, main__select__35___bit goto main__36 ; # 1101 01ss (Read Enable): ; line_number = 238 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 239 ; if enables & mask_get(servo) != 0 start ; Left minus Right main__34 equ shared___globals+50 movf enables,w movwf main__34 movf main__servo,w call mask_get andwf main__34,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 = 240 ; temporary@0 := 1 main__select__33___byte equ main__temporary main__select__33___bit equ 0 bsf main__select__33___byte, main__select__33___bit ; 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 = 239 ; if enables & mask_get(servo) != 0 done ; line_number = 241 ; call byte_put(temporary) movf main__temporary,w goto main__37 main__36: ; # 1101 00ss (Read position): ; line_number = 244 ; call byte_put(positions[servo]) movf main__servo,w addlw positions movwf __fsr movf __indf,w main__37: ; code.delay=4294967295 back_code.delay=4294967295 call byte_put ; <=bit_code_emit@symbol; sym=main__select__35 (data:X0=>X0 code:XX=>XX) ; line_number = 236 ; if command@2 done goto main__80 ; line_number = 245 ; case 3 main__75: ; # 1101 1xxx: ; line_number = 247 ; if command@2 start main__select__52___byte equ main__command main__select__52___bit equ 2 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=5 false_code_size=55 btfss main__select__52___byte, main__select__52___bit goto main__53 ; # 1101 11ss (Read Current Draw): ; line_number = 249 ; call byte_put(analogs[servo]) movf main__servo,w addlw analogs movwf __fsr movf __indf,w call byte_put goto main__54 main__53: ; # 1101 10xx: ; line_number = 252 ; if command@1 start main__select__49___byte equ main__command main__select__49___bit equ 1 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=44 false_code_size=8 btfss main__select__49___byte, main__select__49___bit goto main__50 ; # 1101 101x: ; line_number = 254 ; if command@0 start main__select__46___byte equ main__command main__select__46___bit equ 0 ; # 1101 1011 (Set Address): ; line_number = 256 ; address := byte_get() call byte_get ; # 1101 1010 (Save settings): ; # Need magic OK byte first: ; line_number = 260 ; if byte_get() = 0xa5 start ; Left minus Right ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size=1 false.size>1; no GOTO btfss main__select__46___byte, main__select__46___bit goto main__47 movwf address goto main__48 main__47: addlw 91 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true.size>1 false.size=1; no GOTO's btfss __z___byte, __z___bit goto main__44 ; #FIXME: Compiler problem kludge!!! ; line_number = 262 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 263 ; _eeadr := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 264 ; _gie := 0 bcf __rp0___byte, __rp0___bit bcf _gie___byte, _gie___bit ; line_number = 265 ; loop_exactly 13 start main__41 equ shared___globals+50 movlw 13 movwf main__41 bsf __rp0___byte, __rp0___bit main__42: ; line_number = 266 ; _eedata := base_lows[_eeadr] bsf __rp0___byte, __rp0___bit movf _eeadr,w addlw base_lows bcf __rp0___byte, __rp0___bit movwf __fsr movf __indf,w bsf __rp0___byte, __rp0___bit movwf _eedata ; line_number = 267 ; _wren := 1 bsf _wren___byte, _wren___bit ; line_number = 268 ; _eecon2 := 0x55 movlw 85 movwf _eecon2 ; line_number = 269 ; _eecon2 := 0xaa movlw 170 movwf _eecon2 ; line_number = 270 ; _wr := 1 bsf _wr___byte, _wr___bit ; line_number = 271 ; while _wr start main__43: ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: True.size=1 False.size=0 btfsc _wr___byte, _wr___bit ; true=GOTO goto main__43 ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=_wr (data:XX=>XX code:XX=>XX) ; line_number = 271 ; while _wr done ; line_number = 273 ; _eeadr := _eeadr + 1 incf _eeadr,f bcf __rp0___byte, __rp0___bit ; line_number = 265 ; loop_exactly 13 wrap-up decfsz main__41,f goto main__42 ; line_number = 265 ; loop_exactly 13 done ; line_number = 274 ; _gie := 1 bsf _gie___byte, _gie___bit ; line_number = 275 ; _wren := 0 bsf __rp0___byte, __rp0___bit bcf _wren___byte, _wren___bit ; line_number = 276 ; call byte_put(0xa5) movlw 165 bcf __rp0___byte, __rp0___bit goto main__45 main__44: ; line_number = 278 ; call byte_put(0x11) movlw 17 main__45: ; code.delay=4294967295 back_code.delay=4294967295 call byte_put ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 260 ; if byte_get() = 0xa5 done main__48: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__46 (data:XX=>X0 code:XX=>XX) ; line_number = 254 ; if command@0 done goto main__51 main__50: ; # 1101 100x: ; line_number = 281 ; if command@0 start main__select__38___byte equ main__command main__select__38___bit equ 0 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=3 false_code_size=2 btfss main__select__38___byte, main__select__38___bit goto main__39 ; # 1101 1001 (Set Enables): ; line_number = 283 ; enables := byte_get() & 0xf call byte_get andlw 15 movwf enables goto main__40 main__39: ; # 1101 1001 (Read Enables): ; line_number = 286 ; call byte_put(enables) movf enables,w call byte_put main__40: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__38 (data:X0=>X0 code:XX=>XX) ; line_number = 281 ; if command@0 done main__51: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__49 (data:XX=>XX code:XX=>XX) ; line_number = 252 ; if command@1 done main__54: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=main__select__52 (data:X0=>X0 code:XX=>XX) ; line_number = 247 ; if command@2 done goto main__80 ; line_number = 287 ; case 4, 5, 6 main__76: ; # 1110 0xxx, 1110 1xxx, 1111 0xxx: ; line_number = 289 ; do_nothing goto main__80 ; line_number = 290 ; case 7 main__77: ; # 1111 1xxx ; line_number = 292 ; switch command & 7 start movlw main__70>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__70 movwf __pcl ; page_group 8 main__70: goto main__62 goto main__63 goto main__64 goto main__65 goto main__66 goto main__67 goto main__68 goto main__69 ; line_number = 293 ; case 0 main__62: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 294 ; _osccal := _osccal - 4 movlw 252 addwf _osccal,f goto main__71 ; line_number = 295 ; case 1 main__63: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 296 ; _osccal := _osccal + 4 movlw 4 addwf _osccal,f goto main__71 ; line_number = 297 ; case 2 main__64: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 298 ; call byte_put(_osccal) movf _osccal,w bcf __rp0___byte, __rp0___bit call byte_put goto main__71 ; line_number = 299 ; case 3 main__65: ; line_number = 300 ; call byte_put(0) movlw 0 call byte_put goto main__71 ; line_number = 301 ; case 4 main__66: ; line_number = 302 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 303 ; if id_index < id.size start movlw 46 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__55 ; line_number = 304 ; temporary := id[id_index] movf main__id_index,w call id movwf main__temporary ; line_number = 305 ; id_index := id_index + 1 incf main__id_index,f main__55: ; 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 = 303 ; if id_index < id.size done ; line_number = 306 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__71 ; line_number = 307 ; case 5 main__67: ; line_number = 308 ; id_index := 0 movlw 0 movwf main__id_index goto main__71 ; line_number = 309 ; case 6 main__68: ; line_number = 310 ; call byte_put(glitch) movf main__glitch,w call byte_put ; line_number = 311 ; glitch := 0 movlw 0 movwf main__glitch goto main__71 ; line_number = 312 ; case 7 main__69: ; line_number = 313 ; glitch := glitch + 1 incf main__glitch,f ; #enables := 0xf ; line_number = 315 ; command := byte_get() call byte_get movwf main__command ; line_number = 316 ; servo := command & 3 movlw 3 andwf main__command,w movwf main__servo ; line_number = 317 ; position := byte_get() call byte_get movwf main__position ; line_number = 318 ; temporary := address movf address,w movwf main__temporary ; line_number = 319 ; if address = 0xff start ; Left minus Right incf address,w ; (after recombine) true_delay=non-uniform, false_delay=non-uniform ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__59 ; line_number = 320 ; temporary := (analogs[3] >> 2) & 0x30 | (analogs[2] >> 4) & 0xc main__56 equ shared___globals+50 main__57 equ shared___globals+51 movf analogs+3,w movwf main__57 rrf main__57,f rrf main__57,w andlw 48 movwf main__56 main__58 equ shared___globals+51 movf analogs+2,w movwf main__58 swapf main__58,f andlw 12 iorwf main__56,w movwf main__temporary ; Recombine size1 = 0 || size2 = 0 main__59: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 319 ; if address = 0xff done ; line_number = 322 ; if (command ^ temporary) & 0xfc = 0 start ; Left minus Right movf main__command,w xorwf main__temporary,w andlw 252 ; (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=11 true_test=true body_code.delay=0 (non-uniform delay) btfss __z___byte, __z___bit goto main__61 ; line_number = 323 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf ; line_number = 324 ; enables := enables | mask_get(servo) main__60 equ shared___globals+50 movf enables,w movwf main__60 movf main__servo,w call mask_get iorwf main__60,w movwf enables ; Recombine size1 = 0 || size2 = 0 main__61: ; code.delay=4294967295 back_code.delay=4294967295 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) ; line_number = 322 ; if (command ^ temporary) & 0xfc = 0 done main__71: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 292 ; switch command & 7 done main__80: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 218 ; switch (command >> 3) & 7 done main__87: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 163 ; switch command >> 6 done ; line_number = 160 ; loop_forever wrap-up ; Need to adjust code banks to match front of loop bcf __rp0___byte, __rp0___bit goto main__8 ; line_number = 160 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 327 ; procedure delay delay: ; arguments_none ; line_number = 329 ; returns_nothing ; line_number = 330 ; exact_delay delay_instructions ; # This procedure delays 1/3 of a bit. ; line_number = 334 ; local counter byte delay__counter equ shared___globals+41 ; line_number = 335 ; local servo byte delay__servo equ shared___globals+42 ; line_number = 336 ; local position_low byte delay__position_low equ shared___globals+43 ; line_number = 337 ; local position_high byte delay__position_high equ shared___globals+44 ; line_number = 338 ; local servo_low byte delay__servo_low equ shared___globals+45 ; line_number = 339 ; local servo_high byte delay__servo_high equ shared___globals+46 ; line_number = 340 ; local scale byte delay__scale equ shared___globals+47 ; line_number = 341 ; local temporary byte delay__temporary equ shared___globals+48 ; before procedure statements delay=0, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 343 ; watch_dog_reset done ; Delay at watch_dog_reset is 0 clrwdt ; #debug_out := 1 ; line_number = 345 ; counter := (counter + 1) & 0x7f ; Delay at assignment is 1 incf delay__counter,w andlw 127 movwf delay__counter ; line_number = 346 ; servo := (counter >> 5) & 3 ; Delay at assignment is 4 delay__1 equ shared___globals+52 swapf delay__counter,w movwf delay__1 rrf delay__1,w andlw 3 movwf delay__servo ; line_number = 347 ; switch counter & 0x1f start movlw delay__43>>8 movwf __pclath movlw 31 andwf delay__counter,w addlw delay__43 movwf __pcl ; page_group 32 ; 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 delay__43: goto delay__36 goto delay__37 goto delay__37 goto delay__37 goto delay__37 goto delay__37 goto delay__37 goto delay__37 goto delay__37 goto delay__38 goto delay__39 goto delay__40 goto delay__41 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 goto delay__42 ; case_data[0] delay=27{0 } ; case_data[1] delay=17{1 2 3 4 5 6 7 8 } ; case_data[2] delay=25{9 } ; case_data[3] delay=11{10 } ; case_data[4] delay=1{11 } ; case_data[5] delay=16{12 } ; case_data[6] delay=0{13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 } ; Maximum Case Delay = 27 ; line_number = 348 ; case 0 delay__36: ; # Set up for multiply: ; line_number = 350 ; position_low := positions[servo] ; Delay at assignment is 0 movf delay__servo,w addlw positions movwf __fsr movf __indf,w movwf delay__position_low ; line_number = 351 ; servo_low := base_lows[servo] ; Delay at assignment is 5 movf delay__servo,w addlw base_lows movwf __fsr movf __indf,w movwf delay__servo_low ; line_number = 352 ; servo_high := base_highs[servo] ; Delay at assignment is 10 movf delay__servo,w addlw base_highs movwf __fsr movf __indf,w movwf delay__servo_high ; line_number = 353 ; scale := scales[servo] ; Delay at assignment is 15 movf delay__servo,w addlw scales movwf __fsr movf __indf,w movwf delay__scale ; line_number = 354 ; position_high := position_low >> 4 ; Delay at assignment is 20 swapf delay__position_low,w movwf delay__position_high movlw 15 andwf delay__position_high,f ; line_number = 355 ; position_low := position_low << 4 ; Delay at assignment is 24 ; Assignment of variable to self (no code needed) swapf delay__position_low,f movlw 240 andwf delay__position_low,f goto delay__44 ; line_number = 356 ; case 1, 2, 3, 4, 5, 6, 7, 8 delay__37: ; # Do one multiply cycle: ; line_number = 358 ; position_low := position_low >> 1 ; Delay at assignment is 0 ; Assignment of variable to self (no code needed) rrf delay__position_low,f bcf delay__position_low, 7 ; line_number = 359 ; if position_high@0 start ; Delay at if is 2 delay__select__3___byte equ delay__position_high delay__select__3___bit equ 0 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc delay__select__3___byte, delay__select__3___bit ; line_number = 360 ; position_low@7 := 1 ; Delay at assignment is 0 delay__select__2___byte equ delay__position_low delay__select__2___bit equ 7 bsf delay__select__2___byte, delay__select__2___bit ; code.delay=4 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__3 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 359 ; if position_high@0 done ; line_number = 361 ; position_high := position_high >> 1 ; Delay at assignment is 4 ; Assignment of variable to self (no code needed) rrf delay__position_high,f bcf delay__position_high, 7 ; line_number = 362 ; if scale@7 start ; Delay at if is 6 delay__select__4___byte equ delay__scale delay__select__4___bit equ 7 ; (after recombine) true_delay=6, false_delay=0 uniform_delay=true ; CASE: true_code.size = 0 && false_code.size > 1 ; bit_code_emit_helper1: body_code.size=6 true_test=true body_code.delay=6 (uniform delay) btfsc delay__select__4___byte, delay__select__4___bit goto delay__5 ; Delay 5 cycles goto delay__7 delay__7: goto delay__8 delay__8: nop goto delay__6 delay__5: ; line_number = 363 ; servo_high := servo_high + position_high ; Delay at assignment is 0 movf delay__position_high,w addwf delay__servo_high,f ; line_number = 364 ; servo_low := servo_low + position_low ; Delay at assignment is 2 movf delay__position_low,w addwf delay__servo_low,f ; line_number = 365 ; if _c start ; Delay at if is 4 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc _c___byte, _c___bit ; line_number = 366 ; servo_high := servo_high + 1 ; Delay at assignment is 0 incf delay__servo_high,f ; code.delay=6 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_c (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=6 ; line_number = 365 ; if _c done delay__6: ; code.delay=15 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__4 (data:X0=>X0 code:XX=>XX) ; if final true delay=6 false delay=0 code delay=15 ; line_number = 362 ; if scale@7 done ; line_number = 367 ; scale := scale << 1 ; Delay at assignment is 15 ; Assignment of variable to self (no code needed) rlf delay__scale,f bcf delay__scale, 0 ; Delay 10 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__45: addlw 255 btfss __z___byte, __z___bit goto delay__45 goto delay__46 delay__46: goto delay__44 ; line_number = 368 ; case 9 delay__38: ; # Do final wrap-up on multiply: ; line_number = 370 ; servo_low := servo_low + fines[servo] ; Delay at assignment is 0 movf delay__servo,w addlw fines movwf __fsr movf __indf,w addwf delay__servo_low,f ; line_number = 371 ; if _c start ; Delay at if is 5 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc _c___byte, _c___bit ; line_number = 372 ; servo_high := servo_high + 1 ; Delay at assignment is 0 incf delay__servo_high,f ; code.delay=7 back_code.delay=0 ; <=bit_code_emit@symbol; sym=_c (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=7 ; line_number = 371 ; if _c done ; #servo_high := 6 ; #servo_low := 0 ; line_number = 375 ; _tmr1l := 0 ; Delay at assignment is 7 movlw 0 movwf _tmr1l ; line_number = 376 ; _tmr1h := servo_high ^ 0xff ; Delay at assignment is 9 movlw 255 xorwf delay__servo_high,w movwf _tmr1h ; line_number = 377 ; _tmr1l := servo_low ^ 0xff ; Delay at assignment is 12 movlw 255 xorwf delay__servo_low,w movwf _tmr1l ; line_number = 378 ; if servo@1 start ; Delay at if is 15 delay__select__19___byte equ delay__servo delay__select__19___bit equ 1 ; (after recombine) true_delay=6, false_delay=6 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss delay__select__19___byte, delay__select__19___bit goto delay__20 ; line_number = 379 ; if servo@0 start ; Delay at if is 0 delay__select__16___byte equ delay__servo delay__select__16___bit equ 0 ; (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 delay__select__16___byte, delay__select__16___bit goto delay__17 ; line_number = 380 ; if enables@3 start ; Delay at if is 0 delay__select__15___byte equ enables delay__select__15___bit equ 3 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc delay__select__15___byte, delay__select__15___bit ; line_number = 381 ; servo3 := 1 ; Delay at assignment is 0 bsf servo3___byte, servo3___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__15 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 380 ; if enables@3 done goto delay__18 delay__17: ; line_number = 383 ; if enables@2 start ; Delay at if is 0 delay__select__14___byte equ enables delay__select__14___bit equ 2 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc delay__select__14___byte, delay__select__14___bit ; line_number = 384 ; servo2 := 1 ; Delay at assignment is 0 bsf servo2___byte, servo2___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__14 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 383 ; if enables@2 done nop delay__18: ; code.delay=6 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__16 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 379 ; if servo@0 done goto delay__21 delay__20: ; line_number = 386 ; if servo@0 start ; Delay at if is 0 delay__select__11___byte equ delay__servo delay__select__11___bit equ 0 ; (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 delay__select__11___byte, delay__select__11___bit goto delay__12 ; line_number = 387 ; if enables@1 start ; Delay at if is 0 delay__select__10___byte equ enables delay__select__10___bit equ 1 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc delay__select__10___byte, delay__select__10___bit ; line_number = 388 ; servo1 := 1 ; Delay at assignment is 0 bsf servo1___byte, servo1___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__10 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 387 ; if enables@1 done goto delay__13 delay__12: ; line_number = 390 ; if enables@0 start ; Delay at if is 0 delay__select__9___byte equ enables delay__select__9___bit equ 0 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true ; CASE: True.size=1 False.size=0 btfsc delay__select__9___byte, delay__select__9___bit ; line_number = 391 ; servo0 := 1 ; Delay at assignment is 0 bsf servo0___byte, servo0___bit ; code.delay=2 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__9 (data:X0=>X0 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 390 ; if enables@0 done nop delay__13: ; code.delay=6 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__11 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 386 ; if servo@0 done nop delay__21: ; code.delay=25 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__19 (data:X0=>X0 code:XX=>XX) ; if final true delay=6 false delay=6 code delay=25 ; line_number = 378 ; if servo@1 done ; Delay 2 cycles goto delay__47 delay__47: goto delay__44 ; line_number = 392 ; case 10 delay__39: ; line_number = 393 ; if servo@1 start ; Delay at if is 0 delay__select__28___byte equ delay__servo delay__select__28___bit equ 1 ; (after recombine) true_delay=6, false_delay=6 uniform_delay=true ; CASE: true_code_size > 1 && false_code_size > 1 ; true_code_size=8 false_code_size=8 btfss delay__select__28___byte, delay__select__28___bit goto delay__29 ; line_number = 394 ; if servo@0 start ; Delay at if is 0 delay__select__25___byte equ delay__servo delay__select__25___bit equ 0 ; (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 delay__select__25___byte, delay__select__25___bit goto delay__26 ; line_number = 395 ; _adcon0 := 0x1c ; Delay at assignment is 0 movlw 28 movwf _adcon0 goto delay__27 delay__26: ; line_number = 397 ; _adcon0 := 0x18 ; Delay at assignment is 0 movlw 24 movwf _adcon0 nop delay__27: ; code.delay=6 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__25 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 394 ; if servo@0 done goto delay__30 delay__29: ; line_number = 399 ; if servo@0 start ; Delay at if is 0 delay__select__22___byte equ delay__servo delay__select__22___bit equ 0 ; (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 delay__select__22___byte, delay__select__22___bit goto delay__23 ; line_number = 400 ; _adcon0 := 0x4 ; Delay at assignment is 0 movlw 4 movwf _adcon0 goto delay__24 delay__23: ; line_number = 402 ; _adcon0 := 0x10 ; Delay at assignment is 0 movlw 16 movwf _adcon0 nop delay__24: ; code.delay=6 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__22 (data:X0=>X0 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 399 ; if servo@0 done nop delay__30: ; code.delay=10 back_code.delay=0 ; <=bit_code_emit@symbol; sym=delay__select__28 (data:X0=>X0 code:XX=>XX) ; if final true delay=6 false delay=6 code delay=10 ; line_number = 393 ; if servo@1 done ; line_number = 403 ; _adon := 1 ; Delay at assignment is 10 bsf _adon___byte, _adon___bit ; Delay 16 cycles ; Delay loop takes 4 * 4 = 16 cycles movlw 4 delay__48: addlw 255 btfss __z___byte, __z___bit goto delay__48 goto delay__44 ; line_number = 404 ; case 11 delay__40: ; line_number = 405 ; _go := 1 ; Delay at assignment is 0 bsf _go___byte, _go___bit ; Delay 26 cycles ; Delay loop takes 6 * 4 = 24 cycles movlw 6 delay__49: addlw 255 btfss __z___byte, __z___bit goto delay__49 goto delay__50 delay__50: goto delay__44 ; line_number = 406 ; case 12 delay__41: ; line_number = 407 ; analogs[servo] := _adresh ; Delay at assignment is 0 ; index_fsr_first movf delay__servo,w addlw analogs movwf __fsr movf _adresh,w movwf __indf ; line_number = 408 ; if !calibrate start ; Delay at if is 5 ; (after recombine) true_delay=0, false_delay=8 uniform_delay=true ; CASE: true.size=0 && false.size>1 ; bit_code_emit_helper1: body_code.size=8 true_test=false body_code.delay=8 (uniform delay) btfss calibrate___byte, calibrate___bit goto delay__31 ; Delay 7 cycles goto delay__33 delay__33: goto delay__34 delay__34: goto delay__35 delay__35: nop goto delay__32 delay__31: ; line_number = 409 ; enables := 3 ; Delay at assignment is 0 movlw 3 movwf enables ; line_number = 410 ; temporary := analogs[2] ; Delay at assignment is 2 movf analogs+2,w movwf delay__temporary ; line_number = 411 ; positions[0] := temporary ; Delay at assignment is 4 movf delay__temporary,w movwf positions ; line_number = 412 ; positions[1] := analogs[3] ; Delay at assignment is 6 movf analogs+3,w movwf positions+1 delay__32: ; code.delay=16 back_code.delay=0 ; <=bit_code_emit@symbol; sym=calibrate (data:X0=>X0 code:XX=>XX) ; if final true delay=8 false delay=0 code delay=16 ; line_number = 408 ; if !calibrate done ; Delay 11 cycles ; Delay loop takes 2 * 4 = 8 cycles movlw 2 delay__51: addlw 255 btfss __z___byte, __z___bit goto delay__51 goto delay__52 delay__52: nop goto delay__44 ; line_number = 413 ; case 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31 delay__42: ; line_number = 415 ; do_nothing ; Delay 27 cycles ; Delay loop takes 6 * 4 = 24 cycles movlw 6 delay__53: addlw 255 btfss __z___byte, __z___bit goto delay__53 goto delay__54 delay__54: nop goto delay__44 delay__44: ; switch end:(data:X0=>X? code:XX=>XX) ; line_number = 347 ; switch counter & 0x1f done ; #debug_out := 0 ; delay after procedure statements=47 bcf __rp0___byte, __rp0___bit ; Delay 83 cycles ; Delay loop takes 20 * 4 = 80 cycles movlw 20 delay__55: addlw 255 btfss __z___byte, __z___bit goto delay__55 goto delay__56 delay__56: nop ; Implied return retlw 0 ; Final delay = 133 ; line_number = 419 ; procedure mask_get mask_get: ; Last argument is sitting in W; save into argument variable movwf mask_get__bit_number ; delay=4294967295 ; line_number = 420 ; argument bit_number byte mask_get__bit_number equ shared___globals+49 ; line_number = 421 ; returns byte ; # This procedure will return the mask for {bit_number}. ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) ; line_number = 425 ; switch bit_number start movlw mask_get__5>>8 movwf __pclath movf mask_get__bit_number,w addlw mask_get__5 movwf __pcl ; page_group 4 mask_get__5: ; line_number = 427 ; return 1 start ; line_number = 427 retlw 1 ; line_number = 427 ; return 1 done ; line_number = 429 ; return 2 start ; line_number = 429 retlw 2 ; line_number = 429 ; return 2 done ; line_number = 431 ; return 4 start ; line_number = 431 retlw 4 ; line_number = 431 ; return 4 done ; line_number = 433 ; return 8 start ; line_number = 433 retlw 8 ; line_number = 433 ; return 8 done mask_get__6: ; switch end:(data:X0=>X0 code:XX=>XX) ; line_number = 425 ; switch bit_number done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop mask_get__7: goto mask_get__7 ; line_number = 436 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 437 ; constant module_name = "\7\Servo4H" ; module_name = '\7\Servo4H' ; line_number = 438 ; constant vendor_name = "\13\Mondo-tronics" ; vendor_name = '\13\Mondo-tronics' ; line_number = 440 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; id = '\1,0,15,7,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7\Servo4H\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 46 ; Add 41 NOP's until start of new page nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop id___base: retlw 1 retlw 0 retlw 15 retlw 7 retlw 1 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 7 retlw 83 retlw 101 retlw 114 retlw 118 retlw 111 retlw 52 retlw 72 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 = 440 ; string id = "\1,0,15,7,1,0,0,0\" ~ 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+53 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+54 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+54 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 = on (0x0) ; boden = off (0x0) ; mclre = off (0x0) ; pwrte = off (0x10) ; wdte = on (0x8) ; fosc = int_no_clk (0x4) ; 12572 = 0x311c __config 12572 ; Define start addresses for data regions ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 end