1 radix dec 2 ; Code bank 0; Start address: 0; End address: 1023 3 0000 : org 0 4 5 ; Define start addresses for data regions 6 00000020 = shared___globals equ 32 7 00000000 = __indf equ 0 8 00000002 = __pcl equ 2 9 00000003 = __status equ 3 10 00000004 = __fsr equ 4 11 00000003 = __c___byte equ 3 12 00000000 = __c___bit equ 0 13 00000003 = __z___byte equ 3 14 00000002 = __z___bit equ 2 15 00000003 = __rp0___byte equ 3 16 00000005 = __rp0___bit equ 5 17 00000003 = __rp1___byte equ 3 18 00000006 = __rp1___bit equ 6 19 00000003 = __irp___byte equ 3 20 00000007 = __irp___bit equ 7 21 0000000a = __pclath equ 10 22 0000000a = __cb0___byte equ 10 23 00000003 = __cb0___bit equ 3 24 0000000a = __cb1___byte equ 10 25 00000004 = __cb1___bit equ 4 26 27 ; # Copyright (c) 2004 by Wayne C. Gramlich 28 ; # All rights reserved. 29 30 ; buffer = 'servo4' 31 ; line_number = 6 32 ; library _pic16f676 entered 33 ; # Copyright (c) 2004 by Wayne C. Gramlich 34 ; # All rights reserved. 35 36 ; buffer = '_pic16f676' 37 ; line_number = 5 38 ; processor pic16f676 39 ; line_number = 6 40 ; configure_address 0x2007 41 ; line_number = 7 42 ; configure_fill 0x0000 43 ; line_number = 8 44 ; configure_option bg: bg11 = 0x3000 45 ; line_number = 9 46 ; configure_option bg: bg10 = 0x2000 47 ; line_number = 10 48 ; configure_option bg: bg01 = 0x1000 49 ; line_number = 11 50 ; configure_option bg: bg00 = 0x0000 51 ; line_number = 12 52 ; configure_option cpd: on = 0x000 53 ; line_number = 13 54 ; configure_option cpd: off = 0x100 55 ; line_number = 14 56 ; configure_option cp: on = 0x00 57 ; line_number = 15 58 ; configure_option cp: off = 0x80 59 ; line_number = 16 60 ; configure_option boden: on = 0x40 61 ; line_number = 17 62 ; configure_option boden: off = 0x00 63 ; line_number = 18 64 ; configure_option mclre: on = 0x20 65 ; line_number = 19 66 ; configure_option mclre: off = 0x00 67 ; line_number = 20 68 ; configure_option pwrte: on = 0x00 69 ; line_number = 21 70 ; configure_option pwrte: off = 0x10 71 ; line_number = 22 72 ; configure_option wdte: on = 8 73 ; line_number = 23 74 ; configure_option wdte: off = 0 75 ; line_number = 24 76 ; configure_option fosc: rc_clk = 7 77 ; line_number = 25 78 ; configure_option fosc: rc_no_clk = 6 79 ; line_number = 26 80 ; configure_option fosc: int_clk = 5 81 ; line_number = 27 82 ; configure_option fosc: int_no_clk = 4 83 ; line_number = 28 84 ; configure_option fosc: ec = 3 85 ; line_number = 29 86 ; configure_option fosc: hs = 2 87 ; line_number = 30 88 ; configure_option fosc: xt = 1 89 ; line_number = 31 90 ; configure_option fosc: lp = 0 91 ; line_number = 32 92 ; code_bank 0x0 : 0x3ff 93 ; line_number = 33 94 ; data_bank 0x0 : 0x7f 95 ; line_number = 34 96 ; data_bank 0x80 : 0xff 97 ; line_number = 35 98 ; shared_region 0x20 : 0x5f 99 ; line_number = 36 100 ; interrupts_possible 101 ; line_number = 37 102 ; osccal_register_symbol _osccal 103 ; line_number = 38 104 ; osccal_at_address 0x3ff 105 ; line_number = 39 106 ; packages pdip=14, soic=14, tssop=14 107 ; line_number = 40 108 ; pin vdd, power_supply 109 ; line_number = 41 110 ; pin_bindings pdip=1, soic=1, tssop=1 111 ; line_number = 42 112 ; pin ra5_in, ra5_out, t1cki, osc1, clkin 113 ; line_number = 43 114 ; pin_bindings pdip=2, soic=2, tssop=2 115 ; line_number = 44 116 ; bind_to _porta@5 117 ; line_number = 45 118 ; or_if ra5_in _trisa 16 119 ; line_number = 46 120 ; or_if ra5_out _trisa 0 121 ; line_number = 47 122 ; pin ra4_in, ra4_out, t1g, osc2, an3, clkout 123 ; line_number = 48 124 ; pin_bindings pdip=3, soic=3, tssop=3 125 ; line_number = 49 126 ; bind_to _porta@4 127 ; line_number = 50 128 ; or_if ra4_in _trisa 8 129 ; line_number = 51 130 ; or_if ra4_out _trisa 0 131 ; line_number = 52 132 ; or_if an3 _trisa 8 133 ; line_number = 53 134 ; or_if an3 _ansel 8 135 ; line_number = 54 136 ; or_if an3 _adcon0 1 137 ; line_number = 55 138 ; pin ra3_in, mclr, vpp 139 ; line_number = 56 140 ; pin_bindings pdip=4, soic=4, tssop=4 141 ; line_number = 57 142 ; bind_to _porta@4 143 ; line_number = 58 144 ; or_if ra3_in _trisa 4 145 ; line_number = 59 146 ; pin rc5_in, rc5_out 147 ; line_number = 60 148 ; pin_bindings pdip=5, soic=5, tssop=5 149 ; line_number = 61 150 ; bind_to _portc@5 151 ; line_number = 62 152 ; or_if rc5_in _trisc 32 153 ; line_number = 63 154 ; or_if rc5_out _trisc 0 155 ; line_number = 64 156 ; pin rc4_in, rc4_out 157 ; line_number = 65 158 ; pin_bindings pdip=6, soic=6, tssop=6 159 ; line_number = 66 160 ; bind_to _portc@4 161 ; line_number = 67 162 ; or_if rc4_in _trisc 16 163 ; line_number = 68 164 ; or_if rc4_out _trisc 0 165 ; line_number = 69 166 ; pin rc3_in, rc3_out, an7 167 ; line_number = 70 168 ; pin_bindings pdip=7, soic=7, tssop=7 169 ; line_number = 71 170 ; bind_to _portc@3 171 ; line_number = 72 172 ; or_if rc3_in _trisc 8 173 ; line_number = 73 174 ; or_if rc3_out _trisc 0 175 ; line_number = 74 176 ; or_if an7 _trisc 8 177 ; line_number = 75 178 ; or_if an7 _ansel 128 179 ; line_number = 76 180 ; or_if an7 _adcon0 1 181 ; line_number = 77 182 ; pin rc2_in, rc2_out, an6 183 ; line_number = 78 184 ; pin_bindings pdip=8, soic=8, tssop=8 185 ; line_number = 79 186 ; bind_to _portc@2 187 ; line_number = 80 188 ; or_if rc2_in _trisc 4 189 ; line_number = 81 190 ; or_if rc2_out _trisc 0 191 ; line_number = 82 192 ; or_if an6 _trisc 4 193 ; line_number = 83 194 ; or_if an6 _ansel 64 195 ; line_number = 84 196 ; or_if an6 _adcon0 1 197 ; line_number = 85 198 ; pin rc1_in, rc1_out, an5 199 ; line_number = 86 200 ; pin_bindings pdip=9, soic=9, tssop=9 201 ; line_number = 87 202 ; bind_to _portc@1 203 ; line_number = 88 204 ; or_if rc1_in _trisc 2 205 ; line_number = 89 206 ; or_if rc1_out _trisc 0 207 ; line_number = 90 208 ; or_if an5 _trisc 2 209 ; line_number = 91 210 ; or_if an5 _ansel 32 211 ; line_number = 92 212 ; or_if an5 _adcon0 1 213 ; line_number = 93 214 ; pin rc0_in, rc0_out, an4 215 ; line_number = 94 216 ; pin_bindings pdip=10, soic=10, tssop=10 217 ; line_number = 95 218 ; bind_to _portc@0 219 ; line_number = 96 220 ; or_if rc0_in _trisc 1 221 ; line_number = 97 222 ; or_if rc0_out _trisc 0 223 ; line_number = 98 224 ; or_if an4 _trisc 1 225 ; line_number = 99 226 ; or_if an4 _ansel 16 227 ; line_number = 100 228 ; or_if an4 _adcon0 1 229 ; line_number = 101 230 ; pin ra2_in, ra2_out, an2, cout, t0cki, int 231 ; line_number = 102 232 ; pin_bindings pdip=11, soic=11, tssop=11 233 ; line_number = 103 234 ; bind_to _porta@2 235 ; line_number = 104 236 ; or_if ra2_in _trisa 4 237 ; line_number = 105 238 ; or_if ra2_out _trisa 0 239 ; line_number = 106 240 ; or_if an2 _trisa 4 241 ; line_number = 107 242 ; or_if an2 _ansel 4 243 ; line_number = 108 244 ; or_if an2 _adcon0 1 245 ; line_number = 109 246 ; pin ra1_in, ra1_out, an1, cin_minus, vref, icspclk 247 ; line_number = 110 248 ; pin_bindings pdip=12, soic=12, tssop=12 249 ; line_number = 111 250 ; bind_to _porta@1 251 ; line_number = 112 252 ; or_if ra1_in _trisa 2 253 ; line_number = 113 254 ; or_if ra1_out _trisa 0 255 ; line_number = 114 256 ; or_if an1 _trisa 2 257 ; line_number = 115 258 ; or_if an1 _ansel 2 259 ; line_number = 116 260 ; or_if an1 _adcon0 1 261 ; line_number = 117 262 ; pin ra0_in, ra0_out, an0, cin_plus, icspdat 263 ; line_number = 118 264 ; pin_bindings pdip=13, soic=13, tssop=13 265 ; line_number = 119 266 ; bind_to _porta@0 267 ; line_number = 120 268 ; or_if ra0_in _trisa 1 269 ; line_number = 121 270 ; or_if ra0_out _trisa 0 271 ; line_number = 122 272 ; or_if an0 _trisa 1 273 ; line_number = 123 274 ; or_if an0 _ansel 1 275 ; line_number = 124 276 ; or_if an0 _adcon0 1 277 ; line_number = 125 278 ; pin vss, ground 279 ; line_number = 126 280 ; pin_bindings pdip=14, soic=14, tssop=14 281 282 283 ; line_number = 131 284 ; library _pic16f630_676 entered 285 ; # Copyright (c) 2004 by Wayne C. Gramlich 286 ; # All rights reserved. 287 288 ; # Shared register definitions for the PIC16F630 and PIC16F676. 289 290 ; buffer = '_pic16f630_676' 291 ; line_number = 7 292 ; register _indf = 293 00000000 = _indf equ 0 294 295 ; line_number = 9 296 ; register _tmr0 = 297 00000001 = _tmr0 equ 1 298 299 ; line_number = 11 300 ; register _pcl = 301 00000002 = _pcl equ 2 302 303 ; line_number = 13 304 ; register _status = 305 00000003 = _status equ 3 306 ; line_number = 14 307 ; bind _rp0 = _status@5 308 00000003 = _rp0___byte equ _status 309 00000005 = _rp0___bit equ 5 310 ; line_number = 15 311 ; bind _to = _status@4 312 00000003 = _to___byte equ _status 313 00000004 = _to___bit equ 4 314 ; line_number = 16 315 ; bind _pd = _status@3 316 00000003 = _pd___byte equ _status 317 00000003 = _pd___bit equ 3 318 ; line_number = 17 319 ; bind _z = _status@2 320 00000003 = _z___byte equ _status 321 00000002 = _z___bit equ 2 322 ; line_number = 18 323 ; bind _dc = _status@1 324 00000003 = _dc___byte equ _status 325 00000001 = _dc___bit equ 1 326 ; line_number = 19 327 ; bind _c = _status@0 328 00000003 = _c___byte equ _status 329 00000000 = _c___bit equ 0 330 331 ; line_number = 21 332 ; register _fsr = 333 00000004 = _fsr equ 4 334 335 ; line_number = 23 336 ; register _porta = 337 00000005 = _porta equ 5 338 ; line_number = 24 339 ; register _ra = 340 00000005 = _ra equ 5 341 ; line_number = 25 342 ; bind _ra5 = _porta@5 343 00000005 = _ra5___byte equ _porta 344 00000005 = _ra5___bit equ 5 345 ; line_number = 26 346 ; bind _ra4 = _porta@4 347 00000005 = _ra4___byte equ _porta 348 00000004 = _ra4___bit equ 4 349 ; line_number = 27 350 ; bind _ra3 = _porta@3 351 00000005 = _ra3___byte equ _porta 352 00000003 = _ra3___bit equ 3 353 ; line_number = 28 354 ; bind _ra2 = _porta@2 355 00000005 = _ra2___byte equ _porta 356 00000002 = _ra2___bit equ 2 357 ; line_number = 29 358 ; bind _ra1 = _porta@1 359 00000005 = _ra1___byte equ _porta 360 00000001 = _ra1___bit equ 1 361 ; line_number = 30 362 ; bind _ra0 = _porta@0 363 00000005 = _ra0___byte equ _porta 364 00000000 = _ra0___bit equ 0 365 366 ; line_number = 32 367 ; register _portc = 368 00000007 = _portc equ 7 369 ; line_number = 33 370 ; register _rc = 371 00000007 = _rc equ 7 372 ; line_number = 34 373 ; bind _rc5 = _portc@5 374 00000007 = _rc5___byte equ _portc 375 00000005 = _rc5___bit equ 5 376 ; line_number = 35 377 ; bind _rc4 = _portc@4 378 00000007 = _rc4___byte equ _portc 379 00000004 = _rc4___bit equ 4 380 ; line_number = 36 381 ; bind _rc3 = _portc@3 382 00000007 = _rc3___byte equ _portc 383 00000003 = _rc3___bit equ 3 384 ; line_number = 37 385 ; bind _rc2 = _portc@2 386 00000007 = _rc2___byte equ _portc 387 00000002 = _rc2___bit equ 2 388 ; line_number = 38 389 ; bind _rc1 = _portc@1 390 00000007 = _rc1___byte equ _portc 391 00000001 = _rc1___bit equ 1 392 ; line_number = 39 393 ; bind _rc0 = _portc@0 394 00000007 = _rc0___byte equ _portc 395 00000000 = _rc0___bit equ 0 396 397 ; line_number = 41 398 ; register _pclath = 399 0000000a = _pclath equ 10 400 401 ; line_number = 43 402 ; register _intcon = 403 0000000b = _intcon equ 11 404 ; line_number = 44 405 ; bind _gie = _intcon@7 406 0000000b = _gie___byte equ _intcon 407 00000007 = _gie___bit equ 7 408 ; line_number = 45 409 ; bind _peie = _intcon@6 410 0000000b = _peie___byte equ _intcon 411 00000006 = _peie___bit equ 6 412 ; line_number = 46 413 ; bind _t0ie = _intcon@5 414 0000000b = _t0ie___byte equ _intcon 415 00000005 = _t0ie___bit equ 5 416 ; line_number = 47 417 ; bind _inte = _intcon@4 418 0000000b = _inte___byte equ _intcon 419 00000004 = _inte___bit equ 4 420 ; line_number = 48 421 ; bind _raie = _intcon@3 422 0000000b = _raie___byte equ _intcon 423 00000003 = _raie___bit equ 3 424 ; line_number = 49 425 ; bind _t0if = _intcon@2 426 0000000b = _t0if___byte equ _intcon 427 00000002 = _t0if___bit equ 2 428 ; line_number = 50 429 ; bind _intf = _intcon@1 430 0000000b = _intf___byte equ _intcon 431 00000001 = _intf___bit equ 1 432 ; line_number = 51 433 ; bind _raif = _intcon@0 434 0000000b = _raif___byte equ _intcon 435 00000000 = _raif___bit equ 0 436 437 ; line_number = 53 438 ; register _pir1 = 439 0000000c = _pir1 equ 12 440 ; line_number = 54 441 ; bind _eeif = _pir1@7 442 0000000c = _eeif___byte equ _pir1 443 00000007 = _eeif___bit equ 7 444 ; line_number = 55 445 ; bind _cmif = _pir1@3 446 0000000c = _cmif___byte equ _pir1 447 00000003 = _cmif___bit equ 3 448 ; line_number = 56 449 ; bind _tmr1if = _pir1@0 450 0000000c = _tmr1if___byte equ _pir1 451 00000000 = _tmr1if___bit equ 0 452 453 ; line_number = 58 454 ; register _tmr1l = 455 0000000e = _tmr1l equ 14 456 457 ; line_number = 60 458 ; register _tmr1h = 459 0000000f = _tmr1h equ 15 460 461 ; line_number = 62 462 ; register _t1con = 463 00000010 = _t1con equ 16 464 ; line_number = 63 465 ; bind _t1ge = _t1con@6 466 00000010 = _t1ge___byte equ _t1con 467 00000006 = _t1ge___bit equ 6 468 ; line_number = 64 469 ; bind _t1ckps1 = _t1con@5 470 00000010 = _t1ckps1___byte equ _t1con 471 00000005 = _t1ckps1___bit equ 5 472 ; line_number = 65 473 ; bind _t1ckps0 = _t1con@4 474 00000010 = _t1ckps0___byte equ _t1con 475 00000004 = _t1ckps0___bit equ 4 476 ; line_number = 66 477 ; bind _t1oscen = _t1con@3 478 00000010 = _t1oscen___byte equ _t1con 479 00000003 = _t1oscen___bit equ 3 480 ; line_number = 67 481 ; bind _t1sync = _t1con@2 482 00000010 = _t1sync___byte equ _t1con 483 00000002 = _t1sync___bit equ 2 484 ; line_number = 68 485 ; bind _tmr1cs = _t1con@1 486 00000010 = _tmr1cs___byte equ _t1con 487 00000001 = _tmr1cs___bit equ 1 488 ; line_number = 69 489 ; bind _tmr1on = _t1con@0 490 00000010 = _tmr1on___byte equ _t1con 491 00000000 = _tmr1on___bit equ 0 492 493 ; line_number = 71 494 ; register _cmcon = 495 00000019 = _cmcon equ 25 496 ; line_number = 72 497 ; bind _cout = _cmcon@6 498 00000019 = _cout___byte equ _cmcon 499 00000006 = _cout___bit equ 6 500 ; line_number = 73 501 ; bind _cinv = _cmcon@4 502 00000019 = _cinv___byte equ _cmcon 503 00000004 = _cinv___bit equ 4 504 ; line_number = 74 505 ; bind _cis = _cmcon@3 506 00000019 = _cis___byte equ _cmcon 507 00000003 = _cis___bit equ 3 508 ; line_number = 75 509 ; bind _cm2 = _cmcon@2 510 00000019 = _cm2___byte equ _cmcon 511 00000002 = _cm2___bit equ 2 512 ; line_number = 76 513 ; bind _cm1 = _cmcon@1 514 00000019 = _cm1___byte equ _cmcon 515 00000001 = _cm1___bit equ 1 516 ; line_number = 77 517 ; bind _cm0 = _cmcon@0 518 00000019 = _cm0___byte equ _cmcon 519 00000000 = _cm0___bit equ 0 520 521 ; # Data bank 1 (0x80-0xff): 522 523 ; line_number = 81 524 ; register _option_reg = 525 00000080 = _option_reg equ 128 526 ; line_number = 82 527 ; bind _rapu = _option_reg@7 528 00000080 = _rapu___byte equ _option_reg 529 00000007 = _rapu___bit equ 7 530 ; line_number = 83 531 ; bind _intedg = _option_reg@6 532 00000080 = _intedg___byte equ _option_reg 533 00000006 = _intedg___bit equ 6 534 ; line_number = 84 535 ; bind _t0cs = _option_reg@5 536 00000080 = _t0cs___byte equ _option_reg 537 00000005 = _t0cs___bit equ 5 538 ; line_number = 85 539 ; bind _t0se = _option_reg@4 540 00000080 = _t0se___byte equ _option_reg 541 00000004 = _t0se___bit equ 4 542 ; line_number = 86 543 ; bind _psa = _option_reg@3 544 00000080 = _psa___byte equ _option_reg 545 00000003 = _psa___bit equ 3 546 ; line_number = 87 547 ; bind _ps2 = _option_reg@2 548 00000080 = _ps2___byte equ _option_reg 549 00000002 = _ps2___bit equ 2 550 ; line_number = 88 551 ; bind _ps1 = _option_reg@1 552 00000080 = _ps1___byte equ _option_reg 553 00000001 = _ps1___bit equ 1 554 ; line_number = 89 555 ; bind _ps0 = _option_reg@0 556 00000080 = _ps0___byte equ _option_reg 557 00000000 = _ps0___bit equ 0 558 559 ; line_number = 91 560 ; register _trisa = 561 00000085 = _trisa equ 133 562 ; line_number = 92 563 ; bind _trisa5 = _trisa@5 564 00000085 = _trisa5___byte equ _trisa 565 00000005 = _trisa5___bit equ 5 566 ; line_number = 93 567 ; bind _trisa4 = _trisa@4 568 00000085 = _trisa4___byte equ _trisa 569 00000004 = _trisa4___bit equ 4 570 ; line_number = 94 571 ; bind _trisa3 = _trisa@3 572 00000085 = _trisa3___byte equ _trisa 573 00000003 = _trisa3___bit equ 3 574 ; line_number = 95 575 ; bind _trisa2 = _trisa@2 576 00000085 = _trisa2___byte equ _trisa 577 00000002 = _trisa2___bit equ 2 578 ; line_number = 96 579 ; bind _trisa1 = _trisa@1 580 00000085 = _trisa1___byte equ _trisa 581 00000001 = _trisa1___bit equ 1 582 ; line_number = 97 583 ; bind _trisa0 = _trisa@0 584 00000085 = _trisa0___byte equ _trisa 585 00000000 = _trisa0___bit equ 0 586 587 ; line_number = 99 588 ; register _trisc = 589 00000087 = _trisc equ 135 590 ; line_number = 100 591 ; bind _trisc5 = _trisc@5 592 00000087 = _trisc5___byte equ _trisc 593 00000005 = _trisc5___bit equ 5 594 ; line_number = 101 595 ; bind _trisc4 = _trisc@4 596 00000087 = _trisc4___byte equ _trisc 597 00000004 = _trisc4___bit equ 4 598 ; line_number = 102 599 ; bind _trisc3 = _trisc@3 600 00000087 = _trisc3___byte equ _trisc 601 00000003 = _trisc3___bit equ 3 602 ; line_number = 103 603 ; bind _trisc2 = _trisc@2 604 00000087 = _trisc2___byte equ _trisc 605 00000002 = _trisc2___bit equ 2 606 ; line_number = 104 607 ; bind _trisc1 = _trisc@1 608 00000087 = _trisc1___byte equ _trisc 609 00000001 = _trisc1___bit equ 1 610 ; line_number = 105 611 ; bind _trisc0 = _trisc@0 612 00000087 = _trisc0___byte equ _trisc 613 00000000 = _trisc0___bit equ 0 614 615 ; line_number = 107 616 ; register _pie1 = 617 0000008c = _pie1 equ 140 618 ; line_number = 108 619 ; bind _eeie = _pie1@7 620 0000008c = _eeie___byte equ _pie1 621 00000007 = _eeie___bit equ 7 622 ; line_number = 109 623 ; bind _adie = _pie1@6 624 0000008c = _adie___byte equ _pie1 625 00000006 = _adie___bit equ 6 626 ; line_number = 110 627 ; bind _cmie = _pie1@3 628 0000008c = _cmie___byte equ _pie1 629 00000003 = _cmie___bit equ 3 630 ; line_number = 111 631 ; bind _tmr1ie = _pie1@0 632 0000008c = _tmr1ie___byte equ _pie1 633 00000000 = _tmr1ie___bit equ 0 634 635 ; line_number = 113 636 ; register _pcon = 637 0000008e = _pcon equ 142 638 ; line_number = 114 639 ; bind _por = _pcon@1 640 0000008e = _por___byte equ _pcon 641 00000001 = _por___bit equ 1 642 ; line_number = 115 643 ; bind _bor = _pcon@0 644 0000008e = _bor___byte equ _pcon 645 00000000 = _bor___bit equ 0 646 647 ; line_number = 117 648 ; register _osccal = 649 00000090 = _osccal equ 144 650 ; line_number = 118 651 ; bind _cal5 = _osccal@7 652 00000090 = _cal5___byte equ _osccal 653 00000007 = _cal5___bit equ 7 654 ; line_number = 119 655 ; bind _cal4 = _osccal@6 656 00000090 = _cal4___byte equ _osccal 657 00000006 = _cal4___bit equ 6 658 ; line_number = 120 659 ; bind _cal3 = _osccal@5 660 00000090 = _cal3___byte equ _osccal 661 00000005 = _cal3___bit equ 5 662 ; line_number = 121 663 ; bind _cal2 = _osccal@4 664 00000090 = _cal2___byte equ _osccal 665 00000004 = _cal2___bit equ 4 666 ; line_number = 122 667 ; bind _cal1 = _osccal@3 668 00000090 = _cal1___byte equ _osccal 669 00000003 = _cal1___bit equ 3 670 ; line_number = 123 671 ; bind _cal0 = _osccal@2 672 00000090 = _cal0___byte equ _osccal 673 00000002 = _cal0___bit equ 2 674 ; line_number = 124 675 ; constant _osccal_lsb = 4 676 00000004 = _osccal_lsb equ 4 677 678 ; line_number = 126 679 ; register _wpua = 680 00000095 = _wpua equ 149 681 ; line_number = 127 682 ; bind _wpua5 = _wpua@5 683 00000095 = _wpua5___byte equ _wpua 684 00000005 = _wpua5___bit equ 5 685 ; line_number = 128 686 ; bind _wpua4 = _wpua@4 687 00000095 = _wpua4___byte equ _wpua 688 00000004 = _wpua4___bit equ 4 689 ; line_number = 129 690 ; bind _wpua2 = _wpua@2 691 00000095 = _wpua2___byte equ _wpua 692 00000002 = _wpua2___bit equ 2 693 ; line_number = 130 694 ; bind _wpua1 = _wpua@1 695 00000095 = _wpua1___byte equ _wpua 696 00000001 = _wpua1___bit equ 1 697 ; line_number = 131 698 ; bind _wpua0 = _wpua@0 699 00000095 = _wpua0___byte equ _wpua 700 00000000 = _wpua0___bit equ 0 701 702 ; line_number = 133 703 ; register _ioca = 704 00000096 = _ioca equ 150 705 ; line_number = 134 706 ; bind _ioca5 = _ioca@5 707 00000096 = _ioca5___byte equ _ioca 708 00000005 = _ioca5___bit equ 5 709 ; line_number = 135 710 ; bind _ioca4 = _ioca@4 711 00000096 = _ioca4___byte equ _ioca 712 00000004 = _ioca4___bit equ 4 713 ; line_number = 136 714 ; bind _ioca3 = _ioca@3 715 00000096 = _ioca3___byte equ _ioca 716 00000003 = _ioca3___bit equ 3 717 ; line_number = 137 718 ; bind _ioca2 = _ioca@2 719 00000096 = _ioca2___byte equ _ioca 720 00000002 = _ioca2___bit equ 2 721 ; line_number = 138 722 ; bind _ioca1 = _ioca@1 723 00000096 = _ioca1___byte equ _ioca 724 00000001 = _ioca1___bit equ 1 725 ; line_number = 139 726 ; bind _ioca0 = _ioca@0 727 00000096 = _ioca0___byte equ _ioca 728 00000000 = _ioca0___bit equ 0 729 730 ; line_number = 141 731 ; register _vrcon = 732 00000099 = _vrcon equ 153 733 ; line_number = 142 734 ; bind _vren = _vrcon@7 735 00000099 = _vren___byte equ _vrcon 736 00000007 = _vren___bit equ 7 737 ; line_number = 143 738 ; bind _vrr = _vrcon@5 739 00000099 = _vrr___byte equ _vrcon 740 00000005 = _vrr___bit equ 5 741 ; line_number = 144 742 ; bind _vr3 = _vrcon@3 743 00000099 = _vr3___byte equ _vrcon 744 00000003 = _vr3___bit equ 3 745 ; line_number = 145 746 ; bind _vr2 = _vrcon@2 747 00000099 = _vr2___byte equ _vrcon 748 00000002 = _vr2___bit equ 2 749 ; line_number = 146 750 ; bind _vr1 = _vrcon@1 751 00000099 = _vr1___byte equ _vrcon 752 00000001 = _vr1___bit equ 1 753 ; line_number = 147 754 ; bind _vr0 = _vrcon@0 755 00000099 = _vr0___byte equ _vrcon 756 00000000 = _vr0___bit equ 0 757 758 ; line_number = 149 759 ; register _eedata = 760 0000009a = _eedata equ 154 761 762 ; line_number = 151 763 ; register _eeadr = 764 0000009b = _eeadr equ 155 765 766 ; line_number = 153 767 ; register _eecon1 = 768 0000009c = _eecon1 equ 156 769 ; line_number = 154 770 ; bind _wrerr = _eecon1@3 771 0000009c = _wrerr___byte equ _eecon1 772 00000003 = _wrerr___bit equ 3 773 ; line_number = 155 774 ; bind _wren = _eecon1@2 775 0000009c = _wren___byte equ _eecon1 776 00000002 = _wren___bit equ 2 777 ; line_number = 156 778 ; bind _wr = _eecon1@1 779 0000009c = _wr___byte equ _eecon1 780 00000001 = _wr___bit equ 1 781 ; line_number = 157 782 ; bind _rd = _eecon1@0 783 0000009c = _rd___byte equ _eecon1 784 00000000 = _rd___bit equ 0 785 786 ; line_number = 159 787 ; register _eecon2 = 788 0000009d = _eecon2 equ 157 789 790 791 ; buffer = '_pic16f676' 792 ; line_number = 131 793 ; library _pic16f630_676 exited 794 795 ; # The only difference between the PIC16F676 and the PIC16F630 is that 796 ; # the 'F676 has 8 channels of A/D and the 'F630 does not. 797 798 ; line_number = 136 799 ; register _adresh = 800 0000001e = _adresh equ 30 801 802 ; # The {_adif} flag is only avaiable for the PIC16F676: 803 ; line_number = 139 804 ; bind _adif = _pir1@6 805 0000000c = _adif___byte equ _pir1 806 00000006 = _adif___bit equ 6 807 808 ; line_number = 141 809 ; register _adcon0 = 810 0000001f = _adcon0 equ 31 811 ; line_number = 142 812 ; bind _adfm = _adcon0@7 813 0000001f = _adfm___byte equ _adcon0 814 00000007 = _adfm___bit equ 7 815 ; line_number = 143 816 ; bind _vcfg = _adcon0@5 817 0000001f = _vcfg___byte equ _adcon0 818 00000005 = _vcfg___bit equ 5 819 ; line_number = 144 820 ; bind _chs2 = _adcon0@4 821 0000001f = _chs2___byte equ _adcon0 822 00000004 = _chs2___bit equ 4 823 ; line_number = 145 824 ; bind _chs1 = _adcon0@3 825 0000001f = _chs1___byte equ _adcon0 826 00000003 = _chs1___bit equ 3 827 ; line_number = 146 828 ; bind _chs0 = _adcon0@2 829 0000001f = _chs0___byte equ _adcon0 830 00000002 = _chs0___bit equ 2 831 ; line_number = 147 832 ; bind _go = _adcon0@1 833 0000001f = _go___byte equ _adcon0 834 00000001 = _go___bit equ 1 835 ; line_number = 148 836 ; bind _adon = _adcon0@0 837 0000001f = _adon___byte equ _adcon0 838 00000000 = _adon___bit equ 0 839 840 ; line_number = 150 841 ; register _adsel = 842 00000091 = _adsel equ 145 843 ; line_number = 151 844 ; bind _ans7 = _adsel@7 845 00000091 = _ans7___byte equ _adsel 846 00000007 = _ans7___bit equ 7 847 ; line_number = 152 848 ; bind _ans6 = _adsel@6 849 00000091 = _ans6___byte equ _adsel 850 00000006 = _ans6___bit equ 6 851 ; line_number = 153 852 ; bind _ans5 = _adsel@5 853 00000091 = _ans5___byte equ _adsel 854 00000005 = _ans5___bit equ 5 855 ; line_number = 154 856 ; bind _ans4 = _adsel@4 857 00000091 = _ans4___byte equ _adsel 858 00000004 = _ans4___bit equ 4 859 ; line_number = 155 860 ; bind _ans3 = _adsel@3 861 00000091 = _ans3___byte equ _adsel 862 00000003 = _ans3___bit equ 3 863 ; line_number = 156 864 ; bind _ans2 = _adsel@2 865 00000091 = _ans2___byte equ _adsel 866 00000002 = _ans2___bit equ 2 867 ; line_number = 157 868 ; bind _ans1 = _adsel@1 869 00000091 = _ans1___byte equ _adsel 870 00000001 = _ans1___bit equ 1 871 ; line_number = 158 872 ; bind _ans0 = _adsel@0 873 00000091 = _ans0___byte equ _adsel 874 00000000 = _ans0___bit equ 0 875 876 ; line_number = 160 877 ; register _adresl = 878 0000009e = _adresl equ 158 879 880 ; line_number = 162 881 ; register _adcon1 = 882 0000009f = _adcon1 equ 159 883 ; line_number = 163 884 ; bind _adcs2 = _adcon1@6 885 0000009f = _adcs2___byte equ _adcon1 886 00000006 = _adcs2___bit equ 6 887 ; line_number = 164 888 ; bind _adcs1 = _adcon1@5 889 0000009f = _adcs1___byte equ _adcon1 890 00000005 = _adcs1___bit equ 5 891 ; line_number = 165 892 ; bind _adcs0 = _adcon1@4 893 0000009f = _adcs0___byte equ _adcon1 894 00000004 = _adcs0___bit equ 4 895 896 897 ; buffer = 'servo4' 898 ; line_number = 6 899 ; library _pic16f676 exited 900 ; line_number = 7 901 ; library clock4mhz entered 902 ; # Copyright (c) 2004 by Wayne C. Gramlich 903 ; # All rights reserved. 904 905 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 906 ; # and {clocks_per_instruction}. 907 908 ; # Define processor constants: 909 ; buffer = 'clock4mhz' 910 ; line_number = 9 911 ; constant clock_rate = 4000000 912 003d0900 = clock_rate equ 4000000 913 ; line_number = 10 914 ; constant clocks_per_instruction = 4 915 00000004 = clocks_per_instruction equ 4 916 ; line_number = 11 917 ; constant instruction_rate = clock_rate / clocks_per_instruction 918 000f4240 = instruction_rate equ 1000000 919 920 921 ; buffer = 'servo4' 922 ; line_number = 7 923 ; library clock4mhz exited 924 ; line_number = 8 925 ; library bit_bang entered 926 ; # Copyright (c) 2004 by Wayne C. Gramlich 927 ; # All rights reserved. 928 929 ; # This library provides bit bang routines for sending and receiving 930 ; # serial data at 2400 baud in 8N1 format (1 start bit, 8 data bits, 931 ; # No parity bit, 1 stop stop bit.) 932 ; # 933 ; # This library requires that the pins {serial_in} and {serial_out} 934 ; # be defined. In addition, the variable {instruction_rate} needs 935 ; # to be defined. Lastly, there needs to be a {delay} procedure 936 ; # with an "exact_delay delay_instructions" clause in it. The {delay} 937 ; # routine should invoke "watch_dog_reset" so that the watch dog time 938 ; # can be set. 939 940 ; # Define some constants that we will be needing: 941 ; buffer = 'bit_bang' 942 ; line_number = 17 943 ; constant baud_rate = 2400 944 00000960 = baud_rate equ 2400 945 ; line_number = 18 946 ; constant instructions_per_bit = instruction_rate / baud_rate 947 000001a0 = instructions_per_bit equ 416 948 ; line_number = 19 949 ; constant delays_per_bit = 3 950 00000003 = delays_per_bit equ 3 951 ; line_number = 20 952 ; constant instructions_per_delay = instructions_per_bit / delays_per_bit 953 0000008a = instructions_per_delay equ 138 954 ; line_number = 21 955 ; constant extra_instructions = 5 956 00000005 = extra_instructions equ 5 957 ; line_number = 22 958 ; constant delay_instructions = instructions_per_delay - extra_instructions 959 00000085 = delay_instructions equ 133 960 961 ; # The {receiving} bit is sent when data is being received. 962 ; # It gets cleared whenever data gets sent. It is used to 963 ; # determine whether additional delay is needed to turn a 964 ; # line around for slow interpretted chips like the Basic 965 ; # Stamp 2 and the OOPIC. 966 967 ; line_number = 30 968 ; global receiving bit 969 0000005f = receiving___byte equ shared___globals+63 970 00000000 = receiving___bit equ 0 971 ; line_number = 31 972 ; global waiting bit 973 0000005f = waiting___byte equ shared___globals+63 974 00000001 = waiting___bit equ 1 975 976 ; Delaying code generation for procedure byte_get 977 ; Delaying code generation for procedure byte_put 978 979 ; buffer = 'servo4' 980 ; line_number = 8 981 ; library bit_bang exited 982 983 ; line_number = 10 984 ; package pdip 985 ; line_number = 11 986 ; pin 1 = power_supply 987 ; line_number = 12 988 ; pin 2 = ra5_out, name = debug_out 989 00000005 = debug_out___byte equ _porta 990 00000005 = debug_out___bit equ 5 991 ; line_number = 13 992 ; pin 3 = ra4_out, name = serial_out 993 00000005 = serial_out___byte equ _porta 994 00000004 = serial_out___bit equ 4 995 ; line_number = 14 996 ; pin 4 = ra3_in, name = serial_in 997 00000005 = serial_in___byte equ _porta 998 00000004 = serial_in___bit equ 4 999 ; line_number = 15 1000 ; pin 5 = rc5_out, name = servo3 1001 00000007 = servo3___byte equ _portc 1002 00000005 = servo3___bit equ 5 1003 ; line_number = 16 1004 ; pin 6 = rc4_in, name = calibrate 1005 00000007 = calibrate___byte equ _portc 1006 00000004 = calibrate___bit equ 4 1007 ; line_number = 17 1008 ; pin 7 = an7, name = sense2 1009 00000007 = sense2___byte equ _portc 1010 00000003 = sense2___bit equ 3 1011 ; line_number = 18 1012 ; pin 8 = an6, name = sense3 1013 00000007 = sense3___byte equ _portc 1014 00000002 = sense3___bit equ 2 1015 ; line_number = 19 1016 ; pin 9 = an5, name = sense1 1017 00000007 = sense1___byte equ _portc 1018 00000001 = sense1___bit equ 1 1019 ; line_number = 20 1020 ; pin 10 = an4, name = sense0 1021 00000007 = sense0___byte equ _portc 1022 00000000 = sense0___bit equ 0 1023 ; line_number = 21 1024 ; pin 11 = ra2_out, name = servo2 1025 00000005 = servo2___byte equ _porta 1026 00000002 = servo2___bit equ 2 1027 ; line_number = 22 1028 ; pin 12 = ra1_out, name = servo1 1029 00000005 = servo1___byte equ _porta 1030 00000001 = servo1___bit equ 1 1031 ; line_number = 23 1032 ; pin 13 = ra0_out, name = servo0 1033 00000005 = servo0___byte equ _porta 1034 00000000 = servo0___bit equ 0 1035 ; line_number = 24 1036 ; pin 14 = ground 1037 1038 1039 ; # Define the pin bindings: 1040 ; line_number = 29 1041 ; constant initial_minimum = 1000 1042 000003e8 = initial_minimum equ 1000 1043 ; line_number = 30 1044 ; constant initial_maximum = 2000 1045 000007d0 = initial_maximum equ 2000 1046 ; line_number = 31 1047 ; constant initial_scale = (initial_maximum - initial_minimum) >> 4 1048 0000003e = initial_scale equ 62 1049 ; line_number = 32 1050 ; constant initial_high = initial_minimum >> 8 1051 00000003 = initial_high equ 3 1052 ; line_number = 33 1053 ; constant initial_low = initial_minimum & 0xff 1054 000000e8 = initial_low equ 232 1055 1056 ; line_number = 35 1057 ; global analogs[4] array[byte] 1058 00000024 = analogs equ shared___globals+4 1059 1060 ; # The next {eedata_size} bytes are saved and restored from EEData: 1061 ; line_number = 38 1062 ; constant eedata_size = 13 1063 0000000d = eedata_size equ 13 1064 ; line_number = 39 1065 ; global base_lows[4] array[byte] 1066 00000028 = base_lows equ shared___globals+8 1067 ; line_number = 40 1068 ; global base_highs[4] array[byte] 1069 0000002c = base_highs equ shared___globals+12 1070 ; line_number = 41 1071 ; global scales[4] array[byte] 1072 00000030 = scales equ shared___globals+16 1073 ; line_number = 42 1074 ; global address byte 1075 00000034 = address equ shared___globals+20 1076 1077 ; line_number = 44 1078 ; global fines[4] array[byte] 1079 00000035 = fines equ shared___globals+21 1080 ; line_number = 45 1081 ; global positions[4] array[byte] 1082 00000039 = positions equ shared___globals+25 1083 ; line_number = 46 1084 ; global interrupts byte 1085 0000003d = interrupts equ shared___globals+29 1086 ; line_number = 47 1087 ; global enables byte 1088 0000003e = enables equ shared___globals+30 1089 1090 ; line_number = 49 1091 ; global command_previous byte 1092 0000003f = command_previous equ shared___globals+31 1093 ; line_number = 50 1094 ; global command_last byte 1095 00000040 = command_last equ shared___globals+32 1096 ; line_number = 51 1097 ; global sent_previous byte 1098 00000041 = sent_previous equ shared___globals+33 1099 ; line_number = 52 1100 ; global sent_last byte 1101 00000042 = sent_last equ shared___globals+34 1102 1103 ; #origin 0x3ff 1104 ; # 1105 ; #procedure osc_cal 1106 ; # arguments_none 1107 ; # returns byte 1108 ; # 1109 ; # return 0x9c 1110 1111 ; line_number = 62 1112 ; origin 0 1113 0000 : org 0 1114 1115 ; line_number = 64 1116 ; procedure xmain 1117 0000 : xmain: 1118 ; arguments_none 1119 ; line_number = 66 1120 ; returns_nothing 1121 1122 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 1123 ; line_number = 68 1124 ; call main() 1125 0000 200b call main 1126 1127 ; delay after procedure statements=non-uniform 1128 ; Implied return 1129 0001 3400 retlw 0 1130 1131 1132 1133 1134 ; line_number = 70 1135 ; origin 4 1136 0004 : org 4 1137 1138 ; line_number = 72 1139 ; procedure xinterrupt 1140 0004 : xinterrupt: 1141 ; arguments_none 1142 ; line_number = 74 1143 ; returns_nothing 1144 1145 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 1146 ; line_number = 76 1147 ; servo0 := 0 1148 0004 1005 bcf servo0___byte, servo0___bit 1149 ; line_number = 77 1150 ; servo1 := 0 1151 0005 1085 bcf servo1___byte, servo1___bit 1152 ; line_number = 78 1153 ; servo2 := 0 1154 0006 1105 bcf servo2___byte, servo2___bit 1155 ; line_number = 79 1156 ; servo3 := 0 1157 0007 1287 bcf servo3___byte, servo3___bit 1158 ; line_number = 80 1159 ; _tmr1if := 0 1160 0008 100c bcf _tmr1if___byte, _tmr1if___bit 1161 1162 ; line_number = 82 1163 ; assemble 1164 ; line_number = 83 1165 0009 0009 retfie 1166 1167 1168 ; delay after procedure statements=non-uniform 1169 ; Implied return 1170 000a 3400 retlw 0 1171 1172 1173 1174 1175 ; line_number = 86 1176 ; procedure main 1177 000b : main: 1178 ; Need to calibrate the oscillator 1179 000b 23ff call 1023 1180 000c 1683 bsf __rp0___byte, __rp0___bit 1181 000d 0090 movwf _osccal 1182 ; Initialize some registers 1183 000e 3001 movlw 1 1184 000f 1283 bcf __rp0___byte, __rp0___bit 1185 0010 009f movwf _adcon0 1186 0011 3004 movlw 4 1187 0012 1683 bsf __rp0___byte, __rp0___bit 1188 0013 0085 movwf _trisa 1189 0014 301f movlw 31 1190 0015 0087 movwf _trisc 1191 ; arguments_none 1192 ; line_number = 88 1193 ; returns_nothing 1194 1195 ; line_number = 90 1196 ; local command byte 1197 00000043 = main__command equ shared___globals+35 1198 ; line_number = 91 1199 ; local glitch byte 1200 00000044 = main__glitch equ shared___globals+36 1201 ; line_number = 92 1202 ; local id_index byte 1203 00000045 = main__id_index equ shared___globals+37 1204 ; line_number = 93 1205 ; local temporary byte 1206 00000046 = main__temporary equ shared___globals+38 1207 ; line_number = 94 1208 ; local servo byte 1209 00000047 = main__servo equ shared___globals+39 1210 ; line_number = 95 1211 ; local position byte 1212 00000048 = main__position equ shared___globals+40 1213 1214 ; # These registers are in data bank 1: 1215 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X1 code:XX=>XX) 1216 ; line_number = 98 1217 ; _adcon1 := 0 1218 0016 3000 movlw 0 1219 0017 009f movwf _adcon1 1220 ; line_number = 99 1221 ; _adsel := 0 1222 0018 3000 movlw 0 1223 0019 0091 movwf _adsel 1224 ; line_number = 100 1225 ; _psa := 0 1226 001a 1180 bcf _psa___byte, _psa___bit 1227 1228 ; # These registers are in data bank 0: 1229 ; line_number = 103 1230 ; _cmcon := 7 1231 001b 3007 movlw 7 1232 001c 1283 bcf __rp0___byte, __rp0___bit 1233 001d 0099 movwf _cmcon 1234 ; line_number = 104 1235 ; _adcon0 := 0 1236 001e 3000 movlw 0 1237 001f 009f movwf _adcon0 1238 ; line_number = 105 1239 ; _t1con := 0x00 1240 0020 3000 movlw 0 1241 0021 0090 movwf _t1con 1242 ; line_number = 106 1243 ; interrupts := 0 1244 0022 3000 movlw 0 1245 0023 00bd movwf interrupts 1246 1247 ; line_number = 108 1248 ; _eeadr := 0 1249 0024 3000 movlw 0 1250 0025 1683 bsf __rp0___byte, __rp0___bit 1251 0026 009b movwf _eeadr 1252 ; line_number = 109 1253 ; loop_exactly 13 start 1254 00000052 = main__1 equ shared___globals+50 1255 0027 300d movlw 13 1256 0028 1283 bcf __rp0___byte, __rp0___bit 1257 0029 00d2 movwf main__1 1258 002a : main__2: 1259 ; line_number = 110 1260 ; _rd := 1 1261 002a 1683 bsf __rp0___byte, __rp0___bit 1262 002b 141c bsf _rd___byte, _rd___bit 1263 ; line_number = 111 1264 ; base_lows[_eeadr] := _eedata 1265 ; index_fsr_first 1266 002c 081b movf _eeadr,w 1267 002d 3e28 addlw base_lows 1268 002e 1283 bcf __rp0___byte, __rp0___bit 1269 002f 0084 movwf __fsr 1270 0030 1683 bsf __rp0___byte, __rp0___bit 1271 0031 081a movf _eedata,w 1272 0032 1283 bcf __rp0___byte, __rp0___bit 1273 0033 0080 movwf __indf 1274 ; line_number = 112 1275 ; _eeadr := _eeadr + 1 1276 0034 1683 bsf __rp0___byte, __rp0___bit 1277 0035 0a9b incf _eeadr,f 1278 1279 0036 1283 bcf __rp0___byte, __rp0___bit 1280 ; line_number = 109 1281 ; loop_exactly 13 wrap-up 1282 0037 0bd2 decfsz main__1,f 1283 0038 282a goto main__2 1284 ; line_number = 109 1285 ; loop_exactly 13 done 1286 ; line_number = 114 1287 ; if base_lows[0] = 0xff start 1288 ; Left minus Right 1289 0039 0828 movf base_lows,w 1290 003a 3e01 addlw 1 1291 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1292 ; CASE: true_code.size = 0 && false_code.size > 1 1293 ; bit_code_emit_helper1: body_code.size=22 true_test=true body_code.delay=0 (non-uniform delay) 1294 003b 1d03 btfss __z___byte, __z___bit 1295 003c 2855 goto main__5 1296 ; line_number = 115 1297 ; servo := 0 1298 003d 3000 movlw 0 1299 003e 00c7 movwf main__servo 1300 ; line_number = 116 1301 ; loop_exactly 4 start 1302 00000052 = main__3 equ shared___globals+50 1303 003f 3004 movlw 4 1304 0040 00d2 movwf main__3 1305 0041 : main__4: 1306 ; line_number = 117 1307 ; base_lows[servo] := initial_low 1308 ; index_fsr_first 1309 0041 0847 movf main__servo,w 1310 0042 3e28 addlw base_lows 1311 0043 0084 movwf __fsr 1312 0044 30e8 movlw 232 1313 0045 0080 movwf __indf 1314 ; line_number = 118 1315 ; base_highs[servo] := initial_high 1316 ; index_fsr_first 1317 0046 0847 movf main__servo,w 1318 0047 3e2c addlw base_highs 1319 0048 0084 movwf __fsr 1320 0049 3003 movlw 3 1321 004a 0080 movwf __indf 1322 ; line_number = 119 1323 ; scales[servo] := initial_scale 1324 ; index_fsr_first 1325 004b 0847 movf main__servo,w 1326 004c 3e30 addlw scales 1327 004d 0084 movwf __fsr 1328 004e 303e movlw 62 1329 004f 0080 movwf __indf 1330 ; line_number = 120 1331 ; servo := servo + 1 1332 0050 0ac7 incf main__servo,f 1333 ; line_number = 116 1334 ; loop_exactly 4 wrap-up 1335 0051 0bd2 decfsz main__3,f 1336 0052 2841 goto main__4 1337 ; line_number = 116 1338 ; loop_exactly 4 done 1339 ; line_number = 121 1340 ; address := 0xff 1341 0053 30ff movlw 255 1342 0054 00b4 movwf address 1343 ; Recombine size1 = 0 || size2 = 0 1344 0055 : main__5: 1345 ; code.delay=4294967295 back_code.delay=4294967295 1346 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 1347 ; line_number = 114 1348 ; if base_lows[0] = 0xff done 1349 ; line_number = 122 1350 ; servo := 0 1351 0055 3000 movlw 0 1352 0056 00c7 movwf main__servo 1353 ; line_number = 123 1354 ; loop_exactly 4 start 1355 00000052 = main__6 equ shared___globals+50 1356 0057 3004 movlw 4 1357 0058 00d2 movwf main__6 1358 0059 : main__7: 1359 ; line_number = 124 1360 ; positions[servo] := 0 1361 ; index_fsr_first 1362 0059 0847 movf main__servo,w 1363 005a 3e39 addlw positions 1364 005b 0084 movwf __fsr 1365 005c 3000 movlw 0 1366 005d 0080 movwf __indf 1367 ; line_number = 125 1368 ; fines[servo] := 0 1369 ; index_fsr_first 1370 005e 0847 movf main__servo,w 1371 005f 3e35 addlw fines 1372 0060 0084 movwf __fsr 1373 0061 3000 movlw 0 1374 0062 0080 movwf __indf 1375 ; line_number = 126 1376 ; servo := servo + 1 1377 0063 0ac7 incf main__servo,f 1378 1379 ; line_number = 123 1380 ; loop_exactly 4 wrap-up 1381 0064 0bd2 decfsz main__6,f 1382 0065 2859 goto main__7 1383 ; line_number = 123 1384 ; loop_exactly 4 done 1385 ; # For now: 1386 ; #enables := 0xf 1387 ; line_number = 130 1388 ; enables := 0 1389 0066 3000 movlw 0 1390 0067 00be movwf enables 1391 1392 ; # According to the specification sheet, TMR1L, TRM1H, and 1393 ; # TMR1IF must be clear before enabling TMR1IE. Since they 1394 ; # do not say why, it is unclear what problem that this addresses. 1395 ; line_number = 135 1396 ; _tmr1l := 0 1397 0068 3000 movlw 0 1398 0069 008e movwf _tmr1l 1399 ; line_number = 136 1400 ; _tmr1h := 0 1401 006a 3000 movlw 0 1402 006b 008f movwf _tmr1h 1403 ; line_number = 137 1404 ; _tmr1if := 0 1405 006c 100c bcf _tmr1if___byte, _tmr1if___bit 1406 ; line_number = 138 1407 ; _tmr1ie := 1 1408 006d 1683 bsf __rp0___byte, __rp0___bit 1409 006e 140c bsf _tmr1ie___byte, _tmr1ie___bit 1410 ; line_number = 139 1411 ; _peie := 1 1412 006f 1283 bcf __rp0___byte, __rp0___bit 1413 0070 170b bsf _peie___byte, _peie___bit 1414 ; line_number = 140 1415 ; _gie := 1 1416 0071 178b bsf _gie___byte, _gie___bit 1417 ; line_number = 141 1418 ; _tmr1on := 1 1419 0072 1410 bsf _tmr1on___byte, _tmr1on___bit 1420 ; #_tmr1ie := 0 1421 ; #_peie := 0 1422 ; #_gie := 0 1423 ; #_tmr1on := 1 1424 1425 ; # Let's initialize the servo's to off: 1426 ; line_number = 148 1427 ; servo0 := 0 1428 0073 1005 bcf servo0___byte, servo0___bit 1429 ; line_number = 149 1430 ; servo1 := 0 1431 0074 1085 bcf servo1___byte, servo1___bit 1432 ; line_number = 150 1433 ; servo2 := 0 1434 0075 1105 bcf servo2___byte, servo2___bit 1435 ; line_number = 151 1436 ; servo3 := 0 1437 0076 1287 bcf servo3___byte, servo3___bit 1438 1439 ; line_number = 153 1440 ; glitch := 0 1441 0077 3000 movlw 0 1442 0078 00c4 movwf main__glitch 1443 ; line_number = 154 1444 ; id_index := 0 1445 0079 3000 movlw 0 1446 007a 00c5 movwf main__id_index 1447 1448 ; # Make sure we idle the serial output lines to "mark" (= 1): 1449 ; line_number = 157 1450 ; debug_out := 1 1451 007b 1685 bsf debug_out___byte, debug_out___bit 1452 ; line_number = 158 1453 ; serial_out := 1 1454 007c 1605 bsf serial_out___byte, serial_out___bit 1455 1456 ; line_number = 160 1457 ; loop_forever start 1458 007d : main__8: 1459 ; line_number = 161 1460 ; command := byte_get() 1461 007d 232e call byte_get 1462 007e 00c3 movwf main__command 1463 ; line_number = 162 1464 ; servo := command & 3 1465 007f 3003 movlw 3 1466 0080 0543 andwf main__command,w 1467 0081 00c7 movwf main__servo 1468 ; line_number = 163 1469 ; switch command >> 6 start 1470 0082 3000 movlw main__85>>8 1471 0083 008a movwf __pclath 1472 00000052 = main__86 equ shared___globals+50 1473 0084 0e43 swapf main__command,w 1474 0085 00d2 movwf main__86 1475 0086 0cd2 rrf main__86,f 1476 0087 0c52 rrf main__86,w 1477 0088 3903 andlw 3 1478 0089 3e8b addlw main__85 1479 008a 0082 movwf __pcl 1480 ; page_group 4 1481 008b : main__85: 1482 008b 288f goto main__81 1483 008c 28cd goto main__82 1484 008d 28e1 goto main__83 1485 008e 28f5 goto main__84 1486 ; line_number = 164 1487 ; case 0 1488 008f : main__81: 1489 ; # 00xx xxxx 1490 ; line_number = 166 1491 ; switch (command >> 3) & 7 start 1492 008f 3000 movlw main__18>>8 1493 0090 008a movwf __pclath 1494 00000052 = main__19 equ shared___globals+50 1495 0091 0c43 rrf main__command,w 1496 0092 00d2 movwf main__19 1497 0093 0cd2 rrf main__19,f 1498 0094 0c52 rrf main__19,w 1499 0095 3907 andlw 7 1500 0096 3e98 addlw main__18 1501 0097 0082 movwf __pcl 1502 ; page_group 8 1503 0098 : main__18: 1504 0098 28a0 goto main__13 1505 0099 28ab goto main__14 1506 009a 28b6 goto main__15 1507 009b 28c1 goto main__16 1508 009c 28cc goto main__17 1509 009d 28cc goto main__17 1510 009e 28cc goto main__17 1511 009f 28cc goto main__17 1512 ; line_number = 167 1513 ; case 0 1514 00a0 : main__13: 1515 ; # 0000 0xxx: 1516 ; line_number = 169 1517 ; temporary := byte_get() 1518 00a0 232e call byte_get 1519 00a1 00c6 movwf main__temporary 1520 ; line_number = 170 1521 ; if command@2 start 1522 00000043 = main__select__9___byte equ main__command 1523 00000002 = main__select__9___bit equ 2 1524 ; # 0000 01ss (Write Base High): 1525 ; line_number = 172 1526 ; base_highs[servo] := temporary 1527 ; index_fsr_first 1528 00a2 0847 movf main__servo,w 1529 ; # 0000 00ss (Write Base Low): 1530 ; line_number = 175 1531 ; base_lows[servo] := temporary 1532 ; index_fsr_first 1533 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1534 ; CASE: true_size=1 && false_size=1 1535 ; SUBCASE: Double test; true, then false 1536 00a3 1943 btfsc main__select__9___byte, main__select__9___bit 1537 00a4 3e2c addlw base_highs 1538 00a5 1d43 btfss main__select__9___byte, main__select__9___bit 1539 00a6 3e28 addlw base_lows 1540 ; code.delay=4294967295 back_code.delay=4294967295 1541 00a7 0084 movwf __fsr 1542 00a8 0846 movf main__temporary,w 1543 00a9 0080 movwf __indf 1544 ; <=bit_code_emit@symbol; sym=main__select__9 (data:X0=>X0 code:XX=>XX) 1545 ; line_number = 170 1546 ; if command@2 done 1547 00aa 28cc goto main__20 1548 ; line_number = 176 1549 ; case 1 1550 00ab : main__14: 1551 ; # 0000 1xxx: 1552 ; line_number = 178 1553 ; temporary := byte_get() 1554 00ab 232e call byte_get 1555 00ac 00c6 movwf main__temporary 1556 ; line_number = 179 1557 ; if command@2 start 1558 00000043 = main__select__10___byte equ main__command 1559 00000002 = main__select__10___bit equ 2 1560 ; # 0000 11ss (Write Scale): 1561 ; line_number = 181 1562 ; scales[servo] := temporary 1563 ; index_fsr_first 1564 00ad 0847 movf main__servo,w 1565 ; # 0000 10ss (Write Position) 1566 ; line_number = 184 1567 ; positions[servo] := temporary 1568 ; index_fsr_first 1569 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1570 ; CASE: true_size=1 && false_size=1 1571 ; SUBCASE: Double test; true, then false 1572 00ae 1943 btfsc main__select__10___byte, main__select__10___bit 1573 00af 3e30 addlw scales 1574 00b0 1d43 btfss main__select__10___byte, main__select__10___bit 1575 00b1 3e39 addlw positions 1576 ; code.delay=4294967295 back_code.delay=4294967295 1577 00b2 0084 movwf __fsr 1578 00b3 0846 movf main__temporary,w 1579 00b4 0080 movwf __indf 1580 ; <=bit_code_emit@symbol; sym=main__select__10 (data:X0=>X0 code:XX=>XX) 1581 ; line_number = 179 1582 ; if command@2 done 1583 00b5 28cc goto main__20 1584 ; line_number = 185 1585 ; case 2 1586 00b6 : main__15: 1587 ; # 0001 0xxx: 1588 ; line_number = 187 1589 ; if command@2 start 1590 00000043 = main__select__11___byte equ main__command 1591 00000002 = main__select__11___bit equ 2 1592 ; # 0001 01ss (Read Base High): 1593 ; line_number = 189 1594 ; temporary := base_highs[servo] 1595 00b6 0847 movf main__servo,w 1596 ; # 0001 00ss (Read Base Low): 1597 ; line_number = 192 1598 ; temporary := base_lows[servo] 1599 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1600 ; CASE: true_size=1 && false_size=1 1601 ; SUBCASE: Double test; true, then false 1602 00b7 1943 btfsc main__select__11___byte, main__select__11___bit 1603 00b8 3e2c addlw base_highs 1604 00b9 1d43 btfss main__select__11___byte, main__select__11___bit 1605 00ba 3e28 addlw base_lows 1606 ; code.delay=4294967295 back_code.delay=4294967295 1607 00bb 0084 movwf __fsr 1608 00bc 0800 movf __indf,w 1609 00bd 00c6 movwf main__temporary 1610 ; <=bit_code_emit@symbol; sym=main__select__11 (data:XX=>X0 code:XX=>XX) 1611 ; line_number = 187 1612 ; if command@2 done 1613 ; line_number = 193 1614 ; call byte_put(temporary) 1615 00be 0846 movf main__temporary,w 1616 00bf 2357 call byte_put 1617 00c0 28cc goto main__20 1618 ; line_number = 194 1619 ; case 3 1620 00c1 : main__16: 1621 ; # 0001 1xxx: 1622 ; line_number = 196 1623 ; if command@2 start 1624 00000043 = main__select__12___byte equ main__command 1625 00000002 = main__select__12___bit equ 2 1626 ; # 0001 11ss (Read Scale): 1627 ; line_number = 198 1628 ; temporary := scales[servo] 1629 00c1 0847 movf main__servo,w 1630 ; # 0001 10ss (Read Position): 1631 ; line_number = 201 1632 ; temporary := positions[servo] 1633 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1634 ; CASE: true_size=1 && false_size=1 1635 ; SUBCASE: Double test; true, then false 1636 00c2 1943 btfsc main__select__12___byte, main__select__12___bit 1637 00c3 3e30 addlw scales 1638 00c4 1d43 btfss main__select__12___byte, main__select__12___bit 1639 00c5 3e39 addlw positions 1640 ; code.delay=4294967295 back_code.delay=4294967295 1641 00c6 0084 movwf __fsr 1642 00c7 0800 movf __indf,w 1643 00c8 00c6 movwf main__temporary 1644 ; <=bit_code_emit@symbol; sym=main__select__12 (data:XX=>X0 code:XX=>XX) 1645 ; line_number = 196 1646 ; if command@2 done 1647 ; line_number = 202 1648 ; call byte_put(temporary) 1649 00c9 0846 movf main__temporary,w 1650 00ca 2357 call byte_put 1651 00cb 28cc goto main__20 1652 ; line_number = 203 1653 ; case 4, 5, 6, 7 1654 00cc : main__17: 1655 ; # 001x xxxx: 1656 ; line_number = 205 1657 ; do_nothing 1658 00cc : main__20: 1659 ; switch end:(data:X0=>X? code:XX=>XX) 1660 ; line_number = 166 1661 ; switch (command >> 3) & 7 done 1662 00cc 29db goto main__87 1663 ; line_number = 206 1664 ; case 1 1665 00cd : main__82: 1666 ; # 01hh hhhh (Set High): 1667 ; line_number = 208 1668 ; position := positions[servo] 1669 00cd 0847 movf main__servo,w 1670 00ce 3e39 addlw positions 1671 00cf 0084 movwf __fsr 1672 00d0 0800 movf __indf,w 1673 00d1 00c8 movwf main__position 1674 ; line_number = 209 1675 ; position := position & 0xf | (command << 2) & 0xf0 1676 00000052 = main__21 equ shared___globals+50 1677 00d2 300f movlw 15 1678 00d3 0548 andwf main__position,w 1679 00d4 00d2 movwf main__21 1680 00000053 = main__22 equ shared___globals+51 1681 00d5 0d43 rlf main__command,w 1682 00d6 00d3 movwf main__22 1683 00d7 0d53 rlf main__22,w 1684 00d8 39f0 andlw 240 1685 00d9 0452 iorwf main__21,w 1686 00da 00c8 movwf main__position 1687 ; line_number = 210 1688 ; positions[servo] := position 1689 ; index_fsr_first 1690 00db 0847 movf main__servo,w 1691 00dc 3e39 addlw positions 1692 00dd 0084 movwf __fsr 1693 00de 0848 movf main__position,w 1694 00df 0080 movwf __indf 1695 00e0 29db goto main__87 1696 ; line_number = 211 1697 ; case 2 1698 00e1 : main__83: 1699 ; # 10ll llll (Set Low): 1700 ; line_number = 213 1701 ; position := positions[servo] 1702 00e1 0847 movf main__servo,w 1703 00e2 3e39 addlw positions 1704 00e3 0084 movwf __fsr 1705 00e4 0800 movf __indf,w 1706 00e5 00c8 movwf main__position 1707 ; line_number = 214 1708 ; position := position & 0xf0 | (command >> 2) & 0xf 1709 00000052 = main__23 equ shared___globals+50 1710 00e6 30f0 movlw 240 1711 00e7 0548 andwf main__position,w 1712 00e8 00d2 movwf main__23 1713 00000053 = main__24 equ shared___globals+51 1714 00e9 0c43 rrf main__command,w 1715 00ea 00d3 movwf main__24 1716 00eb 0c53 rrf main__24,w 1717 00ec 390f andlw 15 1718 00ed 0452 iorwf main__23,w 1719 00ee 00c8 movwf main__position 1720 ; line_number = 215 1721 ; positions[servo] := position 1722 ; index_fsr_first 1723 00ef 0847 movf main__servo,w 1724 00f0 3e39 addlw positions 1725 00f1 0084 movwf __fsr 1726 00f2 0848 movf main__position,w 1727 00f3 0080 movwf __indf 1728 00f4 29db goto main__87 1729 ; line_number = 216 1730 ; case 3 1731 00f5 : main__84: 1732 ; # 11xx xxxx: 1733 ; line_number = 218 1734 ; switch (command >> 3) & 7 start 1735 00f5 3001 movlw main__78>>8 1736 00f6 008a movwf __pclath 1737 00000052 = main__79 equ shared___globals+50 1738 00f7 0c43 rrf main__command,w 1739 00f8 00d2 movwf main__79 1740 00f9 0cd2 rrf main__79,f 1741 00fa 0c52 rrf main__79,w 1742 00fb 3907 andlw 7 1743 00fc 3e00 addlw main__78 1744 00fd 0082 movwf __pcl 1745 ; page_group 8 1746 ; Add 2 NOP's until start of new page 1747 00fe 0000 nop 1748 00ff 0000 nop 1749 0100 : main__78: 1750 0100 2908 goto main__72 1751 0101 291d goto main__73 1752 0102 2929 goto main__74 1753 0103 293c goto main__75 1754 0104 297e goto main__76 1755 0105 297e goto main__76 1756 0106 297e goto main__76 1757 0107 297f goto main__77 1758 ; line_number = 219 1759 ; case 0 1760 0108 : main__72: 1761 ; # 1100 0ess (Set Enable and Position): 1762 ; line_number = 221 1763 ; positions[servo] := byte_get() 1764 ; index_temporary_first 1765 00000052 = main__25 equ shared___globals+50 1766 00000053 = main__26 equ shared___globals+51 1767 0108 0847 movf main__servo,w 1768 0109 00d2 movwf main__25 1769 010a 232e call byte_get 1770 010b 00d3 movwf main__26 1771 010c 0852 movf main__25,w 1772 010d 3e39 addlw positions 1773 010e 0084 movwf __fsr 1774 010f 0853 movf main__26,w 1775 0110 0080 movwf __indf 1776 ; line_number = 222 1777 ; temporary := mask_get(servo) 1778 0111 0847 movf main__servo,w 1779 0112 22c6 call mask_get 1780 0113 00c6 movwf main__temporary 1781 ; line_number = 223 1782 ; if command@2 start 1783 00000043 = main__select__27___byte equ main__command 1784 00000002 = main__select__27___bit equ 2 1785 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1786 ; CASE: true_code_size > 1 && false_code_size > 1 1787 ; true_code_size=2 false_code_size=3 1788 0114 1d43 btfss main__select__27___byte, main__select__27___bit 1789 0115 2919 goto main__28 1790 ; line_number = 224 1791 ; enables := enables | temporary 1792 0116 0846 movf main__temporary,w 1793 0117 04be iorwf enables,f 1794 0118 291c goto main__29 1795 0119 : main__28: 1796 ; line_number = 226 1797 ; enables := enables & (temporary ^ 0xf) 1798 0119 300f movlw 15 1799 011a 0646 xorwf main__temporary,w 1800 011b 05be andwf enables,f 1801 011c : main__29: 1802 ; code.delay=4294967295 back_code.delay=4294967295 1803 ; <=bit_code_emit@symbol; sym=main__select__27 (data:X0=>X0 code:XX=>XX) 1804 ; line_number = 223 1805 ; if command@2 done 1806 011c 29db goto main__80 1807 ; line_number = 227 1808 ; case 1 1809 011d : main__73: 1810 ; # 1100 1ess (Set Enable Flag Only): 1811 ; line_number = 229 1812 ; temporary := mask_get(servo) 1813 011d 0847 movf main__servo,w 1814 011e 22c6 call mask_get 1815 011f 00c6 movwf main__temporary 1816 ; line_number = 230 1817 ; if command@2 start 1818 00000043 = main__select__30___byte equ main__command 1819 00000002 = main__select__30___bit equ 2 1820 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1821 ; CASE: true_code_size > 1 && false_code_size > 1 1822 ; true_code_size=2 false_code_size=3 1823 0120 1d43 btfss main__select__30___byte, main__select__30___bit 1824 0121 2925 goto main__31 1825 ; line_number = 231 1826 ; enables := enables | temporary 1827 0122 0846 movf main__temporary,w 1828 0123 04be iorwf enables,f 1829 0124 2928 goto main__32 1830 0125 : main__31: 1831 ; line_number = 233 1832 ; enables := enables & (temporary ^ 0xf) 1833 0125 300f movlw 15 1834 0126 0646 xorwf main__temporary,w 1835 0127 05be andwf enables,f 1836 0128 : main__32: 1837 ; code.delay=4294967295 back_code.delay=4294967295 1838 ; <=bit_code_emit@symbol; sym=main__select__30 (data:X0=>X0 code:XX=>XX) 1839 ; line_number = 230 1840 ; if command@2 done 1841 0128 29db goto main__80 1842 ; line_number = 234 1843 ; case 2 1844 0129 : main__74: 1845 ; # 1101 0xxx: 1846 ; line_number = 236 1847 ; if command@2 start 1848 00000043 = main__select__35___byte equ main__command 1849 00000002 = main__select__35___bit equ 2 1850 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1851 ; CASE: true_code_size > 1 && false_code_size > 1 1852 ; true_code_size=10 false_code_size=4 1853 0129 1d43 btfss main__select__35___byte, main__select__35___bit 1854 012a 2936 goto main__36 1855 ; # 1101 01ss (Read Enable): 1856 ; line_number = 238 1857 ; temporary := 0 1858 012b 3000 movlw 0 1859 012c 00c6 movwf main__temporary 1860 ; line_number = 239 1861 ; if enables & mask_get(servo) != 0 start 1862 ; Left minus Right 1863 00000052 = main__34 equ shared___globals+50 1864 012d 083e movf enables,w 1865 012e 00d2 movwf main__34 1866 012f 0847 movf main__servo,w 1867 0130 22c6 call mask_get 1868 0131 0552 andwf main__34,w 1869 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1870 ; CASE: true_code.size=0 && false_code.size=1 1871 0132 1d03 btfss __z___byte, __z___bit 1872 ; line_number = 240 1873 ; temporary@0 := 1 1874 00000046 = main__select__33___byte equ main__temporary 1875 00000000 = main__select__33___bit equ 0 1876 0133 1446 bsf main__select__33___byte, main__select__33___bit 1877 ; Recombine size1 = 0 || size2 = 0 1878 ; code.delay=4294967295 back_code.delay=4294967295 1879 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 1880 ; line_number = 239 1881 ; if enables & mask_get(servo) != 0 done 1882 ; line_number = 241 1883 ; call byte_put(temporary) 1884 0134 0846 movf main__temporary,w 1885 0135 293a goto main__37 1886 0136 : main__36: 1887 ; # 1101 00ss (Read position): 1888 ; line_number = 244 1889 ; call byte_put(positions[servo]) 1890 0136 0847 movf main__servo,w 1891 0137 3e39 addlw positions 1892 0138 0084 movwf __fsr 1893 0139 0800 movf __indf,w 1894 013a : main__37: 1895 ; code.delay=4294967295 back_code.delay=4294967295 1896 013a 2357 call byte_put 1897 ; <=bit_code_emit@symbol; sym=main__select__35 (data:X0=>X0 code:XX=>XX) 1898 ; line_number = 236 1899 ; if command@2 done 1900 013b 29db goto main__80 1901 ; line_number = 245 1902 ; case 3 1903 013c : main__75: 1904 ; # 1101 1xxx: 1905 ; line_number = 247 1906 ; if command@2 start 1907 00000043 = main__select__52___byte equ main__command 1908 00000002 = main__select__52___bit equ 2 1909 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1910 ; CASE: true_code_size > 1 && false_code_size > 1 1911 ; true_code_size=5 false_code_size=55 1912 013c 1d43 btfss main__select__52___byte, main__select__52___bit 1913 013d 2944 goto main__53 1914 ; # 1101 11ss (Read Current Draw): 1915 ; line_number = 249 1916 ; call byte_put(analogs[servo]) 1917 013e 0847 movf main__servo,w 1918 013f 3e24 addlw analogs 1919 0140 0084 movwf __fsr 1920 0141 0800 movf __indf,w 1921 0142 2357 call byte_put 1922 0143 297d goto main__54 1923 0144 : main__53: 1924 ; # 1101 10xx: 1925 ; line_number = 252 1926 ; if command@1 start 1927 00000043 = main__select__49___byte equ main__command 1928 00000001 = main__select__49___bit equ 1 1929 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1930 ; CASE: true_code_size > 1 && false_code_size > 1 1931 ; true_code_size=44 false_code_size=8 1932 0144 1cc3 btfss main__select__49___byte, main__select__49___bit 1933 0145 2975 goto main__50 1934 ; # 1101 101x: 1935 ; line_number = 254 1936 ; if command@0 start 1937 00000043 = main__select__46___byte equ main__command 1938 00000000 = main__select__46___bit equ 0 1939 ; # 1101 1011 (Set Address): 1940 ; line_number = 256 1941 ; address := byte_get() 1942 0146 232e call byte_get 1943 ; # 1101 1010 (Save settings): 1944 ; # Need magic OK byte first: 1945 ; line_number = 260 1946 ; if byte_get() = 0xa5 start 1947 ; Left minus Right 1948 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1949 ; CASE: true.size=1 false.size>1; no GOTO 1950 0147 1c43 btfss main__select__46___byte, main__select__46___bit 1951 0148 294b goto main__47 1952 0149 00b4 movwf address 1953 014a 2974 goto main__48 1954 014b : main__47: 1955 014b 3e5b addlw 91 1956 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 1957 ; CASE: true.size>1 false.size=1; no GOTO's 1958 014c 1d03 btfss __z___byte, __z___bit 1959 014d 2972 goto main__44 1960 ; #FIXME: Compiler problem kludge!!! 1961 ; line_number = 262 1962 ; temporary := 0 1963 014e 3000 movlw 0 1964 014f 00c6 movwf main__temporary 1965 ; line_number = 263 1966 ; _eeadr := 0 1967 0150 3000 movlw 0 1968 0151 1683 bsf __rp0___byte, __rp0___bit 1969 0152 009b movwf _eeadr 1970 ; line_number = 264 1971 ; _gie := 0 1972 0153 1283 bcf __rp0___byte, __rp0___bit 1973 0154 138b bcf _gie___byte, _gie___bit 1974 ; line_number = 265 1975 ; loop_exactly 13 start 1976 00000052 = main__41 equ shared___globals+50 1977 0155 300d movlw 13 1978 0156 00d2 movwf main__41 1979 0157 1683 bsf __rp0___byte, __rp0___bit 1980 0158 : main__42: 1981 ; line_number = 266 1982 ; _eedata := base_lows[_eeadr] 1983 0158 1683 bsf __rp0___byte, __rp0___bit 1984 0159 081b movf _eeadr,w 1985 015a 3e28 addlw base_lows 1986 015b 1283 bcf __rp0___byte, __rp0___bit 1987 015c 0084 movwf __fsr 1988 015d 0800 movf __indf,w 1989 015e 1683 bsf __rp0___byte, __rp0___bit 1990 015f 009a movwf _eedata 1991 ; line_number = 267 1992 ; _wren := 1 1993 0160 151c bsf _wren___byte, _wren___bit 1994 ; line_number = 268 1995 ; _eecon2 := 0x55 1996 0161 3055 movlw 85 1997 0162 009d movwf _eecon2 1998 ; line_number = 269 1999 ; _eecon2 := 0xaa 2000 0163 30aa movlw 170 2001 0164 009d movwf _eecon2 2002 ; line_number = 270 2003 ; _wr := 1 2004 0165 149c bsf _wr___byte, _wr___bit 2005 ; line_number = 271 2006 ; while _wr start 2007 0166 : main__43: 2008 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2009 ; CASE: True.size=1 False.size=0 2010 0166 189c btfsc _wr___byte, _wr___bit 2011 ; true=GOTO 2012 0167 2966 goto main__43 2013 ; code.delay=4294967295 back_code.delay=4294967295 2014 ; <=bit_code_emit@symbol; sym=_wr (data:XX=>XX code:XX=>XX) 2015 ; line_number = 271 2016 ; while _wr done 2017 ; line_number = 273 2018 ; _eeadr := _eeadr + 1 2019 0168 0a9b incf _eeadr,f 2020 0169 1283 bcf __rp0___byte, __rp0___bit 2021 ; line_number = 265 2022 ; loop_exactly 13 wrap-up 2023 016a 0bd2 decfsz main__41,f 2024 016b 2958 goto main__42 2025 ; line_number = 265 2026 ; loop_exactly 13 done 2027 ; line_number = 274 2028 ; _gie := 1 2029 016c 178b bsf _gie___byte, _gie___bit 2030 ; line_number = 275 2031 ; _wren := 0 2032 016d 1683 bsf __rp0___byte, __rp0___bit 2033 016e 111c bcf _wren___byte, _wren___bit 2034 ; line_number = 276 2035 ; call byte_put(0xa5) 2036 016f 30a5 movlw 165 2037 0170 1283 bcf __rp0___byte, __rp0___bit 2038 0171 2973 goto main__45 2039 0172 : main__44: 2040 ; line_number = 278 2041 ; call byte_put(0x11) 2042 0172 3011 movlw 17 2043 0173 : main__45: 2044 ; code.delay=4294967295 back_code.delay=4294967295 2045 0173 2357 call byte_put 2046 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2047 ; line_number = 260 2048 ; if byte_get() = 0xa5 done 2049 0174 : main__48: 2050 ; code.delay=4294967295 back_code.delay=4294967295 2051 ; <=bit_code_emit@symbol; sym=main__select__46 (data:XX=>X0 code:XX=>XX) 2052 ; line_number = 254 2053 ; if command@0 done 2054 0174 297d goto main__51 2055 0175 : main__50: 2056 ; # 1101 100x: 2057 ; line_number = 281 2058 ; if command@0 start 2059 00000043 = main__select__38___byte equ main__command 2060 00000000 = main__select__38___bit equ 0 2061 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2062 ; CASE: true_code_size > 1 && false_code_size > 1 2063 ; true_code_size=3 false_code_size=2 2064 0175 1c43 btfss main__select__38___byte, main__select__38___bit 2065 0176 297b goto main__39 2066 ; # 1101 1001 (Set Enables): 2067 ; line_number = 283 2068 ; enables := byte_get() & 0xf 2069 0177 232e call byte_get 2070 0178 390f andlw 15 2071 0179 00be movwf enables 2072 017a 297d goto main__40 2073 017b : main__39: 2074 ; # 1101 1001 (Read Enables): 2075 ; line_number = 286 2076 ; call byte_put(enables) 2077 017b 083e movf enables,w 2078 017c 2357 call byte_put 2079 017d : main__40: 2080 ; code.delay=4294967295 back_code.delay=4294967295 2081 ; <=bit_code_emit@symbol; sym=main__select__38 (data:X0=>X0 code:XX=>XX) 2082 ; line_number = 281 2083 ; if command@0 done 2084 017d : main__51: 2085 ; code.delay=4294967295 back_code.delay=4294967295 2086 ; <=bit_code_emit@symbol; sym=main__select__49 (data:XX=>XX code:XX=>XX) 2087 ; line_number = 252 2088 ; if command@1 done 2089 017d : main__54: 2090 ; code.delay=4294967295 back_code.delay=4294967295 2091 ; <=bit_code_emit@symbol; sym=main__select__52 (data:X0=>X0 code:XX=>XX) 2092 ; line_number = 247 2093 ; if command@2 done 2094 017d 29db goto main__80 2095 ; line_number = 287 2096 ; case 4, 5, 6 2097 017e : main__76: 2098 ; # 1110 0xxx, 1110 1xxx, 1111 0xxx: 2099 ; line_number = 289 2100 ; do_nothing 2101 017e 29db goto main__80 2102 ; line_number = 290 2103 ; case 7 2104 017f : main__77: 2105 ; # 1111 1xxx 2106 ; line_number = 292 2107 ; switch command & 7 start 2108 017f 3001 movlw main__70>>8 2109 0180 008a movwf __pclath 2110 0181 3007 movlw 7 2111 0182 0543 andwf main__command,w 2112 0183 3e85 addlw main__70 2113 0184 0082 movwf __pcl 2114 ; page_group 8 2115 0185 : main__70: 2116 0185 298d goto main__62 2117 0186 2991 goto main__63 2118 0187 2995 goto main__64 2119 0188 299a goto main__65 2120 0189 299d goto main__66 2121 018a 29aa goto main__67 2122 018b 29ad goto main__68 2123 018c 29b2 goto main__69 2124 ; line_number = 293 2125 ; case 0 2126 018d : main__62: 2127 ; This case body wants this bit set 2128 018d 1683 bsf __rp0___byte, __rp0___bit 2129 ; line_number = 294 2130 ; _osccal := _osccal - 4 2131 018e 30fc movlw 252 2132 018f 0790 addwf _osccal,f 2133 0190 29db goto main__71 2134 ; line_number = 295 2135 ; case 1 2136 0191 : main__63: 2137 ; This case body wants this bit set 2138 0191 1683 bsf __rp0___byte, __rp0___bit 2139 ; line_number = 296 2140 ; _osccal := _osccal + 4 2141 0192 3004 movlw 4 2142 0193 0790 addwf _osccal,f 2143 0194 29db goto main__71 2144 ; line_number = 297 2145 ; case 2 2146 0195 : main__64: 2147 ; This case body wants this bit set 2148 0195 1683 bsf __rp0___byte, __rp0___bit 2149 ; line_number = 298 2150 ; call byte_put(_osccal) 2151 0196 0810 movf _osccal,w 2152 0197 1283 bcf __rp0___byte, __rp0___bit 2153 0198 2357 call byte_put 2154 0199 29db goto main__71 2155 ; line_number = 299 2156 ; case 3 2157 019a : main__65: 2158 ; line_number = 300 2159 ; call byte_put(0) 2160 019a 3000 movlw 0 2161 019b 2357 call byte_put 2162 019c 29db goto main__71 2163 ; line_number = 301 2164 ; case 4 2165 019d : main__66: 2166 ; line_number = 302 2167 ; temporary := 0 2168 019d 3000 movlw 0 2169 019e 00c6 movwf main__temporary 2170 ; line_number = 303 2171 ; if id_index < id.size start 2172 019f 302e movlw 46 2173 01a0 0245 subwf main__id_index,w 2174 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2175 ; CASE: true.size=0 && false.size>1 2176 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 2177 01a1 1803 btfsc __c___byte, __c___bit 2178 01a2 29a7 goto main__55 2179 ; line_number = 304 2180 ; temporary := id[id_index] 2181 01a3 0845 movf main__id_index,w 2182 01a4 22d1 call id 2183 01a5 00c6 movwf main__temporary 2184 ; line_number = 305 2185 ; id_index := id_index + 1 2186 01a6 0ac5 incf main__id_index,f 2187 01a7 : main__55: 2188 ; Recombine size1 = 0 || size2 = 0 2189 ; code.delay=4294967295 back_code.delay=4294967295 2190 ; <=bit_code_emit@symbol; sym=__c (data:X0=>X0 code:XX=>XX) 2191 ; line_number = 303 2192 ; if id_index < id.size done 2193 ; line_number = 306 2194 ; call byte_put(temporary) 2195 01a7 0846 movf main__temporary,w 2196 01a8 2357 call byte_put 2197 01a9 29db goto main__71 2198 ; line_number = 307 2199 ; case 5 2200 01aa : main__67: 2201 ; line_number = 308 2202 ; id_index := 0 2203 01aa 3000 movlw 0 2204 01ab 00c5 movwf main__id_index 2205 01ac 29db goto main__71 2206 ; line_number = 309 2207 ; case 6 2208 01ad : main__68: 2209 ; line_number = 310 2210 ; call byte_put(glitch) 2211 01ad 0844 movf main__glitch,w 2212 01ae 2357 call byte_put 2213 ; line_number = 311 2214 ; glitch := 0 2215 01af 3000 movlw 0 2216 01b0 00c4 movwf main__glitch 2217 01b1 29db goto main__71 2218 ; line_number = 312 2219 ; case 7 2220 01b2 : main__69: 2221 ; line_number = 313 2222 ; glitch := glitch + 1 2223 01b2 0ac4 incf main__glitch,f 2224 ; #enables := 0xf 2225 ; line_number = 315 2226 ; command := byte_get() 2227 01b3 232e call byte_get 2228 01b4 00c3 movwf main__command 2229 ; line_number = 316 2230 ; servo := command & 3 2231 01b5 3003 movlw 3 2232 01b6 0543 andwf main__command,w 2233 01b7 00c7 movwf main__servo 2234 ; line_number = 317 2235 ; position := byte_get() 2236 01b8 232e call byte_get 2237 01b9 00c8 movwf main__position 2238 ; line_number = 318 2239 ; temporary := address 2240 01ba 0834 movf address,w 2241 01bb 00c6 movwf main__temporary 2242 ; line_number = 319 2243 ; if address = 0xff start 2244 ; Left minus Right 2245 01bc 0a34 incf address,w 2246 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2247 ; CASE: true_code.size = 0 && false_code.size > 1 2248 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) 2249 01bd 1d03 btfss __z___byte, __z___bit 2250 01be 29cb goto main__59 2251 ; line_number = 320 2252 ; temporary := (analogs[3] >> 2) & 0x30 | (analogs[2] >> 4) & 0xc 2253 00000052 = main__56 equ shared___globals+50 2254 00000053 = main__57 equ shared___globals+51 2255 01bf 0827 movf analogs+3,w 2256 01c0 00d3 movwf main__57 2257 01c1 0cd3 rrf main__57,f 2258 01c2 0c53 rrf main__57,w 2259 01c3 3930 andlw 48 2260 01c4 00d2 movwf main__56 2261 00000053 = main__58 equ shared___globals+51 2262 01c5 0826 movf analogs+2,w 2263 01c6 00d3 movwf main__58 2264 01c7 0ed3 swapf main__58,f 2265 01c8 390c andlw 12 2266 01c9 0452 iorwf main__56,w 2267 01ca 00c6 movwf main__temporary 2268 2269 ; Recombine size1 = 0 || size2 = 0 2270 01cb : main__59: 2271 ; code.delay=4294967295 back_code.delay=4294967295 2272 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2273 ; line_number = 319 2274 ; if address = 0xff done 2275 ; line_number = 322 2276 ; if (command ^ temporary) & 0xfc = 0 start 2277 ; Left minus Right 2278 01cb 0843 movf main__command,w 2279 01cc 0646 xorwf main__temporary,w 2280 01cd 39fc andlw 252 2281 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2282 ; CASE: true_code.size = 0 && false_code.size > 1 2283 ; bit_code_emit_helper1: body_code.size=11 true_test=true body_code.delay=0 (non-uniform delay) 2284 01ce 1d03 btfss __z___byte, __z___bit 2285 01cf 29db goto main__61 2286 ; line_number = 323 2287 ; positions[servo] := position 2288 ; index_fsr_first 2289 01d0 0847 movf main__servo,w 2290 01d1 3e39 addlw positions 2291 01d2 0084 movwf __fsr 2292 01d3 0848 movf main__position,w 2293 01d4 0080 movwf __indf 2294 ; line_number = 324 2295 ; enables := enables | mask_get(servo) 2296 00000052 = main__60 equ shared___globals+50 2297 01d5 083e movf enables,w 2298 01d6 00d2 movwf main__60 2299 01d7 0847 movf main__servo,w 2300 01d8 22c6 call mask_get 2301 01d9 0452 iorwf main__60,w 2302 01da 00be movwf enables 2303 2304 2305 ; Recombine size1 = 0 || size2 = 0 2306 01db : main__61: 2307 ; code.delay=4294967295 back_code.delay=4294967295 2308 ; <=bit_code_emit@symbol; sym=__z (data:X0=>X0 code:XX=>XX) 2309 ; line_number = 322 2310 ; if (command ^ temporary) & 0xfc = 0 done 2311 01db : main__71: 2312 ; switch end:(data:X0=>X? code:XX=>XX) 2313 ; line_number = 292 2314 ; switch command & 7 done 2315 01db : main__80: 2316 ; switch end:(data:X0=>X? code:XX=>XX) 2317 ; line_number = 218 2318 ; switch (command >> 3) & 7 done 2319 01db : main__87: 2320 ; switch end:(data:X0=>X? code:XX=>XX) 2321 ; line_number = 163 2322 ; switch command >> 6 done 2323 ; line_number = 160 2324 ; loop_forever wrap-up 2325 ; Need to adjust code banks to match front of loop 2326 01db 1283 bcf __rp0___byte, __rp0___bit 2327 01dc 287d goto main__8 2328 ; line_number = 160 2329 ; loop_forever done 2330 ; delay after procedure statements=non-uniform 2331 2332 2333 2334 2335 ; line_number = 327 2336 ; procedure delay 2337 01dd : delay: 2338 ; arguments_none 2339 ; line_number = 329 2340 ; returns_nothing 2341 ; line_number = 330 2342 ; exact_delay delay_instructions 2343 2344 ; # This procedure delays 1/3 of a bit. 2345 2346 ; line_number = 334 2347 ; local counter byte 2348 00000049 = delay__counter equ shared___globals+41 2349 ; line_number = 335 2350 ; local servo byte 2351 0000004a = delay__servo equ shared___globals+42 2352 ; line_number = 336 2353 ; local position_low byte 2354 0000004b = delay__position_low equ shared___globals+43 2355 ; line_number = 337 2356 ; local position_high byte 2357 0000004c = delay__position_high equ shared___globals+44 2358 ; line_number = 338 2359 ; local servo_low byte 2360 0000004d = delay__servo_low equ shared___globals+45 2361 ; line_number = 339 2362 ; local servo_high byte 2363 0000004e = delay__servo_high equ shared___globals+46 2364 ; line_number = 340 2365 ; local scale byte 2366 0000004f = delay__scale equ shared___globals+47 2367 ; line_number = 341 2368 ; local temporary byte 2369 00000050 = delay__temporary equ shared___globals+48 2370 2371 ; before procedure statements delay=0, bit states=(data:X0=>X0 code:XX=>XX) 2372 ; line_number = 343 2373 ; watch_dog_reset done 2374 ; Delay at watch_dog_reset is 0 2375 01dd 0064 clrwdt 2376 ; #debug_out := 1 2377 ; line_number = 345 2378 ; counter := (counter + 1) & 0x7f 2379 ; Delay at assignment is 1 2380 01de 0a49 incf delay__counter,w 2381 01df 397f andlw 127 2382 01e0 00c9 movwf delay__counter 2383 ; line_number = 346 2384 ; servo := (counter >> 5) & 3 2385 ; Delay at assignment is 4 2386 00000054 = delay__1 equ shared___globals+52 2387 01e1 0e49 swapf delay__counter,w 2388 01e2 00d4 movwf delay__1 2389 01e3 0c54 rrf delay__1,w 2390 01e4 3903 andlw 3 2391 01e5 00ca movwf delay__servo 2392 ; line_number = 347 2393 ; switch counter & 0x1f start 2394 01e6 3002 movlw delay__43>>8 2395 01e7 008a movwf __pclath 2396 01e8 301f movlw 31 2397 01e9 0549 andwf delay__counter,w 2398 01ea 3e00 addlw delay__43 2399 01eb 0082 movwf __pcl 2400 ; page_group 32 2401 ; Add 20 NOP's until start of new page 2402 01ec 0000 nop 2403 01ed 0000 nop 2404 01ee 0000 nop 2405 01ef 0000 nop 2406 01f0 0000 nop 2407 01f1 0000 nop 2408 01f2 0000 nop 2409 01f3 0000 nop 2410 01f4 0000 nop 2411 01f5 0000 nop 2412 01f6 0000 nop 2413 01f7 0000 nop 2414 01f8 0000 nop 2415 01f9 0000 nop 2416 01fa 0000 nop 2417 01fb 0000 nop 2418 01fc 0000 nop 2419 01fd 0000 nop 2420 01fe 0000 nop 2421 01ff 0000 nop 2422 0200 : delay__43: 2423 0200 2a20 goto delay__36 2424 0201 2a3c goto delay__37 2425 0202 2a3c goto delay__37 2426 0203 2a3c goto delay__37 2427 0204 2a3c goto delay__37 2428 0205 2a3c goto delay__37 2429 0206 2a3c goto delay__37 2430 0207 2a3c goto delay__37 2431 0208 2a3c goto delay__37 2432 0209 2a56 goto delay__38 2433 020a 2a7b goto delay__39 2434 020b 2a95 goto delay__40 2435 020c 2a9c goto delay__41 2436 020d 2ab7 goto delay__42 2437 020e 2ab7 goto delay__42 2438 020f 2ab7 goto delay__42 2439 0210 2ab7 goto delay__42 2440 0211 2ab7 goto delay__42 2441 0212 2ab7 goto delay__42 2442 0213 2ab7 goto delay__42 2443 0214 2ab7 goto delay__42 2444 0215 2ab7 goto delay__42 2445 0216 2ab7 goto delay__42 2446 0217 2ab7 goto delay__42 2447 0218 2ab7 goto delay__42 2448 0219 2ab7 goto delay__42 2449 021a 2ab7 goto delay__42 2450 021b 2ab7 goto delay__42 2451 021c 2ab7 goto delay__42 2452 021d 2ab7 goto delay__42 2453 021e 2ab7 goto delay__42 2454 021f 2ab7 goto delay__42 2455 ; case_data[0] delay=27{0 } 2456 ; case_data[1] delay=17{1 2 3 4 5 6 7 8 } 2457 ; case_data[2] delay=25{9 } 2458 ; case_data[3] delay=11{10 } 2459 ; case_data[4] delay=1{11 } 2460 ; case_data[5] delay=16{12 } 2461 ; case_data[6] delay=0{13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 } 2462 ; Maximum Case Delay = 27 2463 ; line_number = 348 2464 ; case 0 2465 0220 : delay__36: 2466 ; # Set up for multiply: 2467 ; line_number = 350 2468 ; position_low := positions[servo] 2469 ; Delay at assignment is 0 2470 0220 084a movf delay__servo,w 2471 0221 3e39 addlw positions 2472 0222 0084 movwf __fsr 2473 0223 0800 movf __indf,w 2474 0224 00cb movwf delay__position_low 2475 ; line_number = 351 2476 ; servo_low := base_lows[servo] 2477 ; Delay at assignment is 5 2478 0225 084a movf delay__servo,w 2479 0226 3e28 addlw base_lows 2480 0227 0084 movwf __fsr 2481 0228 0800 movf __indf,w 2482 0229 00cd movwf delay__servo_low 2483 ; line_number = 352 2484 ; servo_high := base_highs[servo] 2485 ; Delay at assignment is 10 2486 022a 084a movf delay__servo,w 2487 022b 3e2c addlw base_highs 2488 022c 0084 movwf __fsr 2489 022d 0800 movf __indf,w 2490 022e 00ce movwf delay__servo_high 2491 ; line_number = 353 2492 ; scale := scales[servo] 2493 ; Delay at assignment is 15 2494 022f 084a movf delay__servo,w 2495 0230 3e30 addlw scales 2496 0231 0084 movwf __fsr 2497 0232 0800 movf __indf,w 2498 0233 00cf movwf delay__scale 2499 ; line_number = 354 2500 ; position_high := position_low >> 4 2501 ; Delay at assignment is 20 2502 0234 0e4b swapf delay__position_low,w 2503 0235 00cc movwf delay__position_high 2504 0236 300f movlw 15 2505 0237 05cc andwf delay__position_high,f 2506 ; line_number = 355 2507 ; position_low := position_low << 4 2508 ; Delay at assignment is 24 2509 ; Assignment of variable to self (no code needed) 2510 0238 0ecb swapf delay__position_low,f 2511 0239 30f0 movlw 240 2512 023a 05cb andwf delay__position_low,f 2513 023b 2abe goto delay__44 2514 ; line_number = 356 2515 ; case 1, 2, 3, 4, 5, 6, 7, 8 2516 023c : delay__37: 2517 ; # Do one multiply cycle: 2518 ; line_number = 358 2519 ; position_low := position_low >> 1 2520 ; Delay at assignment is 0 2521 ; Assignment of variable to self (no code needed) 2522 023c 0ccb rrf delay__position_low,f 2523 023d 13cb bcf delay__position_low, 7 2524 ; line_number = 359 2525 ; if position_high@0 start 2526 ; Delay at if is 2 2527 0000004c = delay__select__3___byte equ delay__position_high 2528 00000000 = delay__select__3___bit equ 0 2529 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2530 ; CASE: True.size=1 False.size=0 2531 023e 184c btfsc delay__select__3___byte, delay__select__3___bit 2532 ; line_number = 360 2533 ; position_low@7 := 1 2534 ; Delay at assignment is 0 2535 0000004b = delay__select__2___byte equ delay__position_low 2536 00000007 = delay__select__2___bit equ 7 2537 023f 17cb bsf delay__select__2___byte, delay__select__2___bit 2538 ; code.delay=4 back_code.delay=0 2539 ; <=bit_code_emit@symbol; sym=delay__select__3 (data:X0=>X0 code:XX=>XX) 2540 ; if final true delay=1 false delay=0 code delay=4 2541 ; line_number = 359 2542 ; if position_high@0 done 2543 ; line_number = 361 2544 ; position_high := position_high >> 1 2545 ; Delay at assignment is 4 2546 ; Assignment of variable to self (no code needed) 2547 0240 0ccc rrf delay__position_high,f 2548 0241 13cc bcf delay__position_high, 7 2549 ; line_number = 362 2550 ; if scale@7 start 2551 ; Delay at if is 6 2552 0000004f = delay__select__4___byte equ delay__scale 2553 00000007 = delay__select__4___bit equ 7 2554 ; (after recombine) true_delay=6, false_delay=0 uniform_delay=true 2555 ; CASE: true_code.size = 0 && false_code.size > 1 2556 ; bit_code_emit_helper1: body_code.size=6 true_test=true body_code.delay=6 (uniform delay) 2557 0242 1bcf btfsc delay__select__4___byte, delay__select__4___bit 2558 0243 2a48 goto delay__5 2559 ; Delay 5 cycles 2560 0244 2a45 goto delay__7 2561 0245 : delay__7: 2562 0245 2a46 goto delay__8 2563 0246 : delay__8: 2564 0246 0000 nop 2565 0247 2a4e goto delay__6 2566 0248 : delay__5: 2567 ; line_number = 363 2568 ; servo_high := servo_high + position_high 2569 ; Delay at assignment is 0 2570 0248 084c movf delay__position_high,w 2571 0249 07ce addwf delay__servo_high,f 2572 ; line_number = 364 2573 ; servo_low := servo_low + position_low 2574 ; Delay at assignment is 2 2575 024a 084b movf delay__position_low,w 2576 024b 07cd addwf delay__servo_low,f 2577 ; line_number = 365 2578 ; if _c start 2579 ; Delay at if is 4 2580 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2581 ; CASE: True.size=1 False.size=0 2582 024c 1803 btfsc _c___byte, _c___bit 2583 ; line_number = 366 2584 ; servo_high := servo_high + 1 2585 ; Delay at assignment is 0 2586 024d 0ace incf delay__servo_high,f 2587 ; code.delay=6 back_code.delay=0 2588 ; <=bit_code_emit@symbol; sym=_c (data:X0=>X0 code:XX=>XX) 2589 ; if final true delay=1 false delay=0 code delay=6 2590 ; line_number = 365 2591 ; if _c done 2592 024e : delay__6: 2593 ; code.delay=15 back_code.delay=0 2594 ; <=bit_code_emit@symbol; sym=delay__select__4 (data:X0=>X0 code:XX=>XX) 2595 ; if final true delay=6 false delay=0 code delay=15 2596 ; line_number = 362 2597 ; if scale@7 done 2598 ; line_number = 367 2599 ; scale := scale << 1 2600 ; Delay at assignment is 15 2601 ; Assignment of variable to self (no code needed) 2602 024e 0dcf rlf delay__scale,f 2603 024f 104f bcf delay__scale, 0 2604 ; Delay 10 cycles 2605 ; Delay loop takes 2 * 4 = 8 cycles 2606 0250 3002 movlw 2 2607 0251 : delay__45: 2608 0251 3eff addlw 255 2609 0252 1d03 btfss __z___byte, __z___bit 2610 0253 2a51 goto delay__45 2611 0254 2a55 goto delay__46 2612 0255 : delay__46: 2613 0255 2abe goto delay__44 2614 ; line_number = 368 2615 ; case 9 2616 0256 : delay__38: 2617 ; # Do final wrap-up on multiply: 2618 ; line_number = 370 2619 ; servo_low := servo_low + fines[servo] 2620 ; Delay at assignment is 0 2621 0256 084a movf delay__servo,w 2622 0257 3e35 addlw fines 2623 0258 0084 movwf __fsr 2624 0259 0800 movf __indf,w 2625 025a 07cd addwf delay__servo_low,f 2626 ; line_number = 371 2627 ; if _c start 2628 ; Delay at if is 5 2629 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2630 ; CASE: True.size=1 False.size=0 2631 025b 1803 btfsc _c___byte, _c___bit 2632 ; line_number = 372 2633 ; servo_high := servo_high + 1 2634 ; Delay at assignment is 0 2635 025c 0ace incf delay__servo_high,f 2636 ; code.delay=7 back_code.delay=0 2637 ; <=bit_code_emit@symbol; sym=_c (data:X0=>X0 code:XX=>XX) 2638 ; if final true delay=1 false delay=0 code delay=7 2639 ; line_number = 371 2640 ; if _c done 2641 ; #servo_high := 6 2642 ; #servo_low := 0 2643 ; line_number = 375 2644 ; _tmr1l := 0 2645 ; Delay at assignment is 7 2646 025d 3000 movlw 0 2647 025e 008e movwf _tmr1l 2648 ; line_number = 376 2649 ; _tmr1h := servo_high ^ 0xff 2650 ; Delay at assignment is 9 2651 025f 30ff movlw 255 2652 0260 064e xorwf delay__servo_high,w 2653 0261 008f movwf _tmr1h 2654 ; line_number = 377 2655 ; _tmr1l := servo_low ^ 0xff 2656 ; Delay at assignment is 12 2657 0262 30ff movlw 255 2658 0263 064d xorwf delay__servo_low,w 2659 0264 008e movwf _tmr1l 2660 ; line_number = 378 2661 ; if servo@1 start 2662 ; Delay at if is 15 2663 0000004a = delay__select__19___byte equ delay__servo 2664 00000001 = delay__select__19___bit equ 1 2665 ; (after recombine) true_delay=6, false_delay=6 uniform_delay=true 2666 ; CASE: true_code_size > 1 && false_code_size > 1 2667 ; true_code_size=8 false_code_size=8 2668 0265 1cca btfss delay__select__19___byte, delay__select__19___bit 2669 0266 2a70 goto delay__20 2670 ; line_number = 379 2671 ; if servo@0 start 2672 ; Delay at if is 0 2673 0000004a = delay__select__16___byte equ delay__servo 2674 00000000 = delay__select__16___bit equ 0 2675 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2676 ; CASE: true_code_size > 1 && false_code_size > 1 2677 ; true_code_size=2 false_code_size=2 2678 0267 1c4a btfss delay__select__16___byte, delay__select__16___bit 2679 0268 2a6c goto delay__17 2680 ; line_number = 380 2681 ; if enables@3 start 2682 ; Delay at if is 0 2683 0000003e = delay__select__15___byte equ enables 2684 00000003 = delay__select__15___bit equ 3 2685 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2686 ; CASE: True.size=1 False.size=0 2687 0269 19be btfsc delay__select__15___byte, delay__select__15___bit 2688 ; line_number = 381 2689 ; servo3 := 1 2690 ; Delay at assignment is 0 2691 026a 1687 bsf servo3___byte, servo3___bit 2692 ; code.delay=2 back_code.delay=0 2693 ; <=bit_code_emit@symbol; sym=delay__select__15 (data:X0=>X0 code:XX=>XX) 2694 ; if final true delay=1 false delay=0 code delay=2 2695 ; line_number = 380 2696 ; if enables@3 done 2697 026b 2a6f goto delay__18 2698 026c : delay__17: 2699 ; line_number = 383 2700 ; if enables@2 start 2701 ; Delay at if is 0 2702 0000003e = delay__select__14___byte equ enables 2703 00000002 = delay__select__14___bit equ 2 2704 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2705 ; CASE: True.size=1 False.size=0 2706 026c 193e btfsc delay__select__14___byte, delay__select__14___bit 2707 ; line_number = 384 2708 ; servo2 := 1 2709 ; Delay at assignment is 0 2710 026d 1505 bsf servo2___byte, servo2___bit 2711 ; code.delay=2 back_code.delay=0 2712 ; <=bit_code_emit@symbol; sym=delay__select__14 (data:X0=>X0 code:XX=>XX) 2713 ; if final true delay=1 false delay=0 code delay=2 2714 ; line_number = 383 2715 ; if enables@2 done 2716 026e 0000 nop 2717 026f : delay__18: 2718 ; code.delay=6 back_code.delay=0 2719 ; <=bit_code_emit@symbol; sym=delay__select__16 (data:X0=>X0 code:XX=>XX) 2720 ; if final true delay=2 false delay=2 code delay=6 2721 ; line_number = 379 2722 ; if servo@0 done 2723 026f 2a79 goto delay__21 2724 0270 : delay__20: 2725 ; line_number = 386 2726 ; if servo@0 start 2727 ; Delay at if is 0 2728 0000004a = delay__select__11___byte equ delay__servo 2729 00000000 = delay__select__11___bit equ 0 2730 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2731 ; CASE: true_code_size > 1 && false_code_size > 1 2732 ; true_code_size=2 false_code_size=2 2733 0270 1c4a btfss delay__select__11___byte, delay__select__11___bit 2734 0271 2a75 goto delay__12 2735 ; line_number = 387 2736 ; if enables@1 start 2737 ; Delay at if is 0 2738 0000003e = delay__select__10___byte equ enables 2739 00000001 = delay__select__10___bit equ 1 2740 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2741 ; CASE: True.size=1 False.size=0 2742 0272 18be btfsc delay__select__10___byte, delay__select__10___bit 2743 ; line_number = 388 2744 ; servo1 := 1 2745 ; Delay at assignment is 0 2746 0273 1485 bsf servo1___byte, servo1___bit 2747 ; code.delay=2 back_code.delay=0 2748 ; <=bit_code_emit@symbol; sym=delay__select__10 (data:X0=>X0 code:XX=>XX) 2749 ; if final true delay=1 false delay=0 code delay=2 2750 ; line_number = 387 2751 ; if enables@1 done 2752 0274 2a78 goto delay__13 2753 0275 : delay__12: 2754 ; line_number = 390 2755 ; if enables@0 start 2756 ; Delay at if is 0 2757 0000003e = delay__select__9___byte equ enables 2758 00000000 = delay__select__9___bit equ 0 2759 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 2760 ; CASE: True.size=1 False.size=0 2761 0275 183e btfsc delay__select__9___byte, delay__select__9___bit 2762 ; line_number = 391 2763 ; servo0 := 1 2764 ; Delay at assignment is 0 2765 0276 1405 bsf servo0___byte, servo0___bit 2766 ; code.delay=2 back_code.delay=0 2767 ; <=bit_code_emit@symbol; sym=delay__select__9 (data:X0=>X0 code:XX=>XX) 2768 ; if final true delay=1 false delay=0 code delay=2 2769 ; line_number = 390 2770 ; if enables@0 done 2771 0277 0000 nop 2772 0278 : delay__13: 2773 ; code.delay=6 back_code.delay=0 2774 ; <=bit_code_emit@symbol; sym=delay__select__11 (data:X0=>X0 code:XX=>XX) 2775 ; if final true delay=2 false delay=2 code delay=6 2776 ; line_number = 386 2777 ; if servo@0 done 2778 0278 0000 nop 2779 0279 : delay__21: 2780 ; code.delay=25 back_code.delay=0 2781 ; <=bit_code_emit@symbol; sym=delay__select__19 (data:X0=>X0 code:XX=>XX) 2782 ; if final true delay=6 false delay=6 code delay=25 2783 ; line_number = 378 2784 ; if servo@1 done 2785 ; Delay 2 cycles 2786 0279 2a7a goto delay__47 2787 027a : delay__47: 2788 027a 2abe goto delay__44 2789 ; line_number = 392 2790 ; case 10 2791 027b : delay__39: 2792 ; line_number = 393 2793 ; if servo@1 start 2794 ; Delay at if is 0 2795 0000004a = delay__select__28___byte equ delay__servo 2796 00000001 = delay__select__28___bit equ 1 2797 ; (after recombine) true_delay=6, false_delay=6 uniform_delay=true 2798 ; CASE: true_code_size > 1 && false_code_size > 1 2799 ; true_code_size=8 false_code_size=8 2800 027b 1cca btfss delay__select__28___byte, delay__select__28___bit 2801 027c 2a86 goto delay__29 2802 ; line_number = 394 2803 ; if servo@0 start 2804 ; Delay at if is 0 2805 0000004a = delay__select__25___byte equ delay__servo 2806 00000000 = delay__select__25___bit equ 0 2807 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2808 ; CASE: true_code_size > 1 && false_code_size > 1 2809 ; true_code_size=2 false_code_size=2 2810 027d 1c4a btfss delay__select__25___byte, delay__select__25___bit 2811 027e 2a82 goto delay__26 2812 ; line_number = 395 2813 ; _adcon0 := 0x1c 2814 ; Delay at assignment is 0 2815 027f 301c movlw 28 2816 0280 009f movwf _adcon0 2817 0281 2a85 goto delay__27 2818 0282 : delay__26: 2819 ; line_number = 397 2820 ; _adcon0 := 0x18 2821 ; Delay at assignment is 0 2822 0282 3018 movlw 24 2823 0283 009f movwf _adcon0 2824 0284 0000 nop 2825 0285 : delay__27: 2826 ; code.delay=6 back_code.delay=0 2827 ; <=bit_code_emit@symbol; sym=delay__select__25 (data:X0=>X0 code:XX=>XX) 2828 ; if final true delay=2 false delay=2 code delay=6 2829 ; line_number = 394 2830 ; if servo@0 done 2831 0285 2a8f goto delay__30 2832 0286 : delay__29: 2833 ; line_number = 399 2834 ; if servo@0 start 2835 ; Delay at if is 0 2836 0000004a = delay__select__22___byte equ delay__servo 2837 00000000 = delay__select__22___bit equ 0 2838 ; (after recombine) true_delay=2, false_delay=2 uniform_delay=true 2839 ; CASE: true_code_size > 1 && false_code_size > 1 2840 ; true_code_size=2 false_code_size=2 2841 0286 1c4a btfss delay__select__22___byte, delay__select__22___bit 2842 0287 2a8b goto delay__23 2843 ; line_number = 400 2844 ; _adcon0 := 0x4 2845 ; Delay at assignment is 0 2846 0288 3004 movlw 4 2847 0289 009f movwf _adcon0 2848 028a 2a8e goto delay__24 2849 028b : delay__23: 2850 ; line_number = 402 2851 ; _adcon0 := 0x10 2852 ; Delay at assignment is 0 2853 028b 3010 movlw 16 2854 028c 009f movwf _adcon0 2855 028d 0000 nop 2856 028e : delay__24: 2857 ; code.delay=6 back_code.delay=0 2858 ; <=bit_code_emit@symbol; sym=delay__select__22 (data:X0=>X0 code:XX=>XX) 2859 ; if final true delay=2 false delay=2 code delay=6 2860 ; line_number = 399 2861 ; if servo@0 done 2862 028e 0000 nop 2863 028f : delay__30: 2864 ; code.delay=10 back_code.delay=0 2865 ; <=bit_code_emit@symbol; sym=delay__select__28 (data:X0=>X0 code:XX=>XX) 2866 ; if final true delay=6 false delay=6 code delay=10 2867 ; line_number = 393 2868 ; if servo@1 done 2869 ; line_number = 403 2870 ; _adon := 1 2871 ; Delay at assignment is 10 2872 028f 141f bsf _adon___byte, _adon___bit 2873 ; Delay 16 cycles 2874 ; Delay loop takes 4 * 4 = 16 cycles 2875 0290 3004 movlw 4 2876 0291 : delay__48: 2877 0291 3eff addlw 255 2878 0292 1d03 btfss __z___byte, __z___bit 2879 0293 2a91 goto delay__48 2880 0294 2abe goto delay__44 2881 ; line_number = 404 2882 ; case 11 2883 0295 : delay__40: 2884 ; line_number = 405 2885 ; _go := 1 2886 ; Delay at assignment is 0 2887 0295 149f bsf _go___byte, _go___bit 2888 ; Delay 26 cycles 2889 ; Delay loop takes 6 * 4 = 24 cycles 2890 0296 3006 movlw 6 2891 0297 : delay__49: 2892 0297 3eff addlw 255 2893 0298 1d03 btfss __z___byte, __z___bit 2894 0299 2a97 goto delay__49 2895 029a 2a9b goto delay__50 2896 029b : delay__50: 2897 029b 2abe goto delay__44 2898 ; line_number = 406 2899 ; case 12 2900 029c : delay__41: 2901 ; line_number = 407 2902 ; analogs[servo] := _adresh 2903 ; Delay at assignment is 0 2904 ; index_fsr_first 2905 029c 084a movf delay__servo,w 2906 029d 3e24 addlw analogs 2907 029e 0084 movwf __fsr 2908 029f 081e movf _adresh,w 2909 02a0 0080 movwf __indf 2910 ; line_number = 408 2911 ; if !calibrate start 2912 ; Delay at if is 5 2913 ; (after recombine) true_delay=0, false_delay=8 uniform_delay=true 2914 ; CASE: true.size=0 && false.size>1 2915 ; bit_code_emit_helper1: body_code.size=8 true_test=false body_code.delay=8 (uniform delay) 2916 02a1 1e07 btfss calibrate___byte, calibrate___bit 2917 02a2 2aa8 goto delay__31 2918 ; Delay 7 cycles 2919 02a3 2aa4 goto delay__33 2920 02a4 : delay__33: 2921 02a4 2aa5 goto delay__34 2922 02a5 : delay__34: 2923 02a5 2aa6 goto delay__35 2924 02a6 : delay__35: 2925 02a6 0000 nop 2926 02a7 2ab0 goto delay__32 2927 02a8 : delay__31: 2928 ; line_number = 409 2929 ; enables := 3 2930 ; Delay at assignment is 0 2931 02a8 3003 movlw 3 2932 02a9 00be movwf enables 2933 ; line_number = 410 2934 ; temporary := analogs[2] 2935 ; Delay at assignment is 2 2936 02aa 0826 movf analogs+2,w 2937 02ab 00d0 movwf delay__temporary 2938 ; line_number = 411 2939 ; positions[0] := temporary 2940 ; Delay at assignment is 4 2941 02ac 0850 movf delay__temporary,w 2942 02ad 00b9 movwf positions 2943 ; line_number = 412 2944 ; positions[1] := analogs[3] 2945 ; Delay at assignment is 6 2946 02ae 0827 movf analogs+3,w 2947 02af 00ba movwf positions+1 2948 02b0 : delay__32: 2949 ; code.delay=16 back_code.delay=0 2950 ; <=bit_code_emit@symbol; sym=calibrate (data:X0=>X0 code:XX=>XX) 2951 ; if final true delay=8 false delay=0 code delay=16 2952 ; line_number = 408 2953 ; if !calibrate done 2954 ; Delay 11 cycles 2955 ; Delay loop takes 2 * 4 = 8 cycles 2956 02b0 3002 movlw 2 2957 02b1 : delay__51: 2958 02b1 3eff addlw 255 2959 02b2 1d03 btfss __z___byte, __z___bit 2960 02b3 2ab1 goto delay__51 2961 02b4 2ab5 goto delay__52 2962 02b5 : delay__52: 2963 02b5 0000 nop 2964 02b6 2abe goto delay__44 2965 ; line_number = 413 2966 ; case 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31 2967 02b7 : delay__42: 2968 ; line_number = 415 2969 ; do_nothing 2970 ; Delay 27 cycles 2971 ; Delay loop takes 6 * 4 = 24 cycles 2972 02b7 3006 movlw 6 2973 02b8 : delay__53: 2974 02b8 3eff addlw 255 2975 02b9 1d03 btfss __z___byte, __z___bit 2976 02ba 2ab8 goto delay__53 2977 02bb 2abc goto delay__54 2978 02bc : delay__54: 2979 02bc 0000 nop 2980 02bd 2abe goto delay__44 2981 02be : delay__44: 2982 ; switch end:(data:X0=>X? code:XX=>XX) 2983 ; line_number = 347 2984 ; switch counter & 0x1f done 2985 ; #debug_out := 0 2986 2987 2988 ; delay after procedure statements=47 2989 02be 1283 bcf __rp0___byte, __rp0___bit 2990 ; Delay 83 cycles 2991 ; Delay loop takes 20 * 4 = 80 cycles 2992 02bf 3014 movlw 20 2993 02c0 : delay__55: 2994 02c0 3eff addlw 255 2995 02c1 1d03 btfss __z___byte, __z___bit 2996 02c2 2ac0 goto delay__55 2997 02c3 2ac4 goto delay__56 2998 02c4 : delay__56: 2999 02c4 0000 nop 3000 ; Implied return 3001 02c5 3400 retlw 0 3002 ; Final delay = 133 3003 3004 3005 3006 3007 ; line_number = 419 3008 ; procedure mask_get 3009 02c6 : mask_get: 3010 ; Last argument is sitting in W; save into argument variable 3011 02c6 00d1 movwf mask_get__bit_number 3012 ; delay=4294967295 3013 ; line_number = 420 3014 ; argument bit_number byte 3015 00000051 = mask_get__bit_number equ shared___globals+49 3016 ; line_number = 421 3017 ; returns byte 3018 3019 ; # This procedure will return the mask for {bit_number}. 3020 3021 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 3022 ; line_number = 425 3023 ; switch bit_number start 3024 02c7 3002 movlw mask_get__5>>8 3025 02c8 008a movwf __pclath 3026 02c9 0851 movf mask_get__bit_number,w 3027 02ca 3ecc addlw mask_get__5 3028 02cb 0082 movwf __pcl 3029 ; page_group 4 3030 02cc : mask_get__5: 3031 ; line_number = 427 3032 ; return 1 start 3033 ; line_number = 427 3034 02cc 3401 retlw 1 3035 ; line_number = 427 3036 ; return 1 done 3037 ; line_number = 429 3038 ; return 2 start 3039 ; line_number = 429 3040 02cd 3402 retlw 2 3041 ; line_number = 429 3042 ; return 2 done 3043 ; line_number = 431 3044 ; return 4 start 3045 ; line_number = 431 3046 02ce 3404 retlw 4 3047 ; line_number = 431 3048 ; return 4 done 3049 ; line_number = 433 3050 ; return 8 start 3051 ; line_number = 433 3052 02cf 3408 retlw 8 3053 ; line_number = 433 3054 ; return 8 done 3055 3056 3057 02d0 : mask_get__6: 3058 ; switch end:(data:X0=>X0 code:XX=>XX) 3059 ; line_number = 425 3060 ; switch bit_number done 3061 ; delay after procedure statements=non-uniform 3062 ; Exiting procedure with no return(s); fail with infinite loop 3063 02d0 : mask_get__7: 3064 02d0 2ad0 goto mask_get__7 3065 3066 3067 3068 3069 ; line_number = 436 3070 ; constant zero8 = "\0,0,0,0,0,0,0,0\" 3071 ; zero8 = '\0,0,0,0,0,0,0,0\' 3072 ; line_number = 437 3073 ; constant module_name = "\7\Servo4H" 3074 ; module_name = '\7\Servo4H' 3075 ; line_number = 438 3076 ; constant vendor_name = "\13\Mondo-tronics" 3077 ; vendor_name = '\13\Mondo-tronics' 3078 3079 ; line_number = 440 3080 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3081 ; 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' 3082 02d1 : id: 3083 ; Temporarily save index into FSR 3084 02d1 0084 movwf __fsr 3085 ; Initialize PCLATH to point to this code page 3086 02d2 3003 movlw id___base>>8 3087 02d3 008a movwf __pclath 3088 ; Restore index from FSR 3089 02d4 0804 movf __fsr,w 3090 02d5 3e00 addlw id___base 3091 ; Index to the correct return value 3092 02d6 0082 movwf __pcl 3093 ; page_group 46 3094 ; Add 41 NOP's until start of new page 3095 02d7 0000 nop 3096 02d8 0000 nop 3097 02d9 0000 nop 3098 02da 0000 nop 3099 02db 0000 nop 3100 02dc 0000 nop 3101 02dd 0000 nop 3102 02de 0000 nop 3103 02df 0000 nop 3104 02e0 0000 nop 3105 02e1 0000 nop 3106 02e2 0000 nop 3107 02e3 0000 nop 3108 02e4 0000 nop 3109 02e5 0000 nop 3110 02e6 0000 nop 3111 02e7 0000 nop 3112 02e8 0000 nop 3113 02e9 0000 nop 3114 02ea 0000 nop 3115 02eb 0000 nop 3116 02ec 0000 nop 3117 02ed 0000 nop 3118 02ee 0000 nop 3119 02ef 0000 nop 3120 02f0 0000 nop 3121 02f1 0000 nop 3122 02f2 0000 nop 3123 02f3 0000 nop 3124 02f4 0000 nop 3125 02f5 0000 nop 3126 02f6 0000 nop 3127 02f7 0000 nop 3128 02f8 0000 nop 3129 02f9 0000 nop 3130 02fa 0000 nop 3131 02fb 0000 nop 3132 02fc 0000 nop 3133 02fd 0000 nop 3134 02fe 0000 nop 3135 02ff 0000 nop 3136 0300 : id___base: 3137 0300 3401 retlw 1 3138 0301 3400 retlw 0 3139 0302 340f retlw 15 3140 0303 3407 retlw 7 3141 0304 3401 retlw 1 3142 0305 3400 retlw 0 3143 0306 3400 retlw 0 3144 0307 3400 retlw 0 3145 0308 3400 retlw 0 3146 0309 3400 retlw 0 3147 030a 3400 retlw 0 3148 030b 3400 retlw 0 3149 030c 3400 retlw 0 3150 030d 3400 retlw 0 3151 030e 3400 retlw 0 3152 030f 3400 retlw 0 3153 0310 3400 retlw 0 3154 0311 3400 retlw 0 3155 0312 3400 retlw 0 3156 0313 3400 retlw 0 3157 0314 3400 retlw 0 3158 0315 3400 retlw 0 3159 0316 3400 retlw 0 3160 0317 3400 retlw 0 3161 0318 3407 retlw 7 3162 0319 3453 retlw 83 3163 031a 3465 retlw 101 3164 031b 3472 retlw 114 3165 031c 3476 retlw 118 3166 031d 346f retlw 111 3167 031e 3434 retlw 52 3168 031f 3448 retlw 72 3169 0320 340d retlw 13 3170 0321 344d retlw 77 3171 0322 346f retlw 111 3172 0323 346e retlw 110 3173 0324 3464 retlw 100 3174 0325 346f retlw 111 3175 0326 342d retlw 45 3176 0327 3474 retlw 116 3177 0328 3472 retlw 114 3178 0329 346f retlw 111 3179 032a 346e retlw 110 3180 032b 3469 retlw 105 3181 032c 3463 retlw 99 3182 032d 3473 retlw 115 3183 ; line_number = 440 3184 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3185 3186 ; Appending 2 delayed procedures to code bank 0 3187 ; buffer = 'bit_bang' 3188 ; line_number = 33 3189 ; procedure byte_get 3190 032e : byte_get: 3191 ; arguments_none 3192 ; line_number = 35 3193 ; returns byte 3194 3195 ; # This procedure will wait for a byte to be received from 3196 ; # serial_in_bit. It calls the delay procedure for all delays. 3197 ; # This procedure will keep calling the {delay} routine until 3198 ; # data is received. 3199 3200 ; line_number = 42 3201 ; local count byte 3202 00000020 = byte_get__count equ shared___globals 3203 ; line_number = 43 3204 ; local byte byte 3205 00000021 = byte_get__byte equ shared___globals+1 3206 3207 ; # Why does the delay procedure wait for a third of bit? Well, it 3208 ; # has to do with the loop immediately below. If we catch the 3209 ; # start bit at the beginning of a 1/3 bit time, we will be 3210 ; # sampling data at approximately 1/3 of the way into each bit. 3211 ; # Conversely, if we catch the start near the end of a 1/3 bit 3212 ; # bit time, we will be sampling data at approximately 2/3 of the 3213 ; # way into each bit. So, what this means is that our bit sample 3214 ; # times will be somewhere between 1/3 and 2/3 of bit (i.e. in 3215 ; # the middle of the bit. 3216 3217 ; # It would be nice to tweak the code to shorter delay times 3218 ; # (1/4 bit, 1/5 bit, etc.) but then it gets too hard to get 3219 ; # the bookeeping done in the delay routine. A PIC running at 3220 ; # 4MHz (=1MIPS), only has 138 instructions available for the 3221 ; # delay routine when at 1/3 of bit. 3222 3223 ; # Wait for a start bit: 3224 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 3225 ; line_number = 62 3226 ; waiting := 1 3227 032e 14df bsf waiting___byte, waiting___bit 3228 ; line_number = 63 3229 ; receiving := 1 3230 032f 145f bsf receiving___byte, receiving___bit 3231 ; line_number = 64 3232 ; while serial_in start 3233 0330 : byte_get__1: 3234 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3235 ; CASE: true_code.size = 0 && false_code.size > 1 3236 ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay) 3237 0330 1e05 btfss serial_in___byte, serial_in___bit 3238 0331 2b34 goto byte_get__2 3239 ; line_number = 65 3240 ; delay instructions_per_delay - 3 start 3241 ; Delay expression evaluates to 135 3242 ; line_number = 66 3243 ; call delay() 3244 ; Delay at call is 0 3245 0332 21dd call delay 3246 ; line_number = 65 3247 ; delay instructions_per_delay - 3 done 3248 0333 2b30 goto byte_get__1 3249 ; Recombine size1 = 0 || size2 = 0 3250 0334 : byte_get__2: 3251 ; code.delay=4294967295 back_code.delay=4294967295 3252 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) 3253 ; line_number = 64 3254 ; while serial_in done 3255 ; line_number = 67 3256 ; waiting := 0 3257 0334 10df bcf waiting___byte, waiting___bit 3258 3259 ; # Clear out any preceeding interrupt condition: 3260 ; line_number = 70 3261 ; serial_out := 1 3262 0335 1605 bsf serial_out___byte, serial_out___bit 3263 3264 ; # Skip over start bit: 3265 ; line_number = 73 3266 ; delay instructions_per_bit - 2 start 3267 ; Delay expression evaluates to 414 3268 ; # There are two instructions of set-up for following loop_exactly: 3269 ; line_number = 75 3270 ; call delay() 3271 ; Delay at call is 0 3272 0336 21dd call delay 3273 ; line_number = 76 3274 ; call delay() 3275 ; Delay at call is 135 3276 0337 21dd call delay 3277 ; line_number = 77 3278 ; call delay() 3279 ; Delay at call is 270 3280 0338 21dd call delay 3281 ; line_number = 78 3282 ; byte := 0 3283 ; Delay at assignment is 405 3284 0339 3000 movlw 0 3285 033a 00a1 movwf byte_get__byte 3286 3287 ; Delay 7 cycles 3288 033b 2b3c goto byte_get__3 3289 033c : byte_get__3: 3290 033c 2b3d goto byte_get__4 3291 033d : byte_get__4: 3292 033d 2b3e goto byte_get__5 3293 033e : byte_get__5: 3294 033e 0000 nop 3295 ; line_number = 73 3296 ; delay instructions_per_bit - 2 done 3297 ; # Read in 8 bits of data: 3298 ; line_number = 81 3299 ; loop_exactly 8 start 3300 00000055 = byte_get__6 equ shared___globals+53 3301 033f 3008 movlw 8 3302 0340 00d5 movwf byte_get__6 3303 0341 : byte_get__7: 3304 ; # There are 3 instrucitons of loop_exactly overhead: 3305 ; line_number = 83 3306 ; delay instructions_per_bit - 3 start 3307 ; Delay expression evaluates to 413 3308 ; line_number = 84 3309 ; call delay() 3310 ; Delay at call is 0 3311 0341 21dd call delay 3312 ; line_number = 85 3313 ; byte := byte >> 1 3314 ; Delay at assignment is 135 3315 ; Assignment of variable to self (no code needed) 3316 0342 0ca1 rrf byte_get__byte,f 3317 0343 13a1 bcf byte_get__byte, 7 3318 ; line_number = 86 3319 ; if serial_in start 3320 ; Delay at if is 137 3321 ; (after recombine) true_delay=1, false_delay=0 uniform_delay=true 3322 ; CASE: True.size=1 False.size=0 3323 0344 1a05 btfsc serial_in___byte, serial_in___bit 3324 ; line_number = 87 3325 ; byte@7 := 1 3326 ; Delay at assignment is 0 3327 00000021 = byte_get__select__8___byte equ byte_get__byte 3328 00000007 = byte_get__select__8___bit equ 7 3329 0345 17a1 bsf byte_get__select__8___byte, byte_get__select__8___bit 3330 ; code.delay=139 back_code.delay=0 3331 ; <=bit_code_emit@symbol; sym=serial_in (data:X0=>X0 code:XX=>XX) 3332 ; if final true delay=1 false delay=0 code delay=139 3333 ; line_number = 86 3334 ; if serial_in done 3335 ; line_number = 88 3336 ; call delay() 3337 ; Delay at call is 139 3338 0346 21dd call delay 3339 ; line_number = 89 3340 ; call delay() 3341 ; Delay at call is 274 3342 0347 21dd call delay 3343 3344 ; Delay 4 cycles 3345 0348 2b49 goto byte_get__9 3346 0349 : byte_get__9: 3347 0349 2b4a goto byte_get__10 3348 034a : byte_get__10: 3349 ; line_number = 83 3350 ; delay instructions_per_bit - 3 done 3351 ; line_number = 81 3352 ; loop_exactly 8 wrap-up 3353 034a 0bd5 decfsz byte_get__6,f 3354 034b 2b41 goto byte_get__7 3355 ; line_number = 81 3356 ; loop_exactly 8 done 3357 ; # Skip over 2/3's of stop bit; 3 cycles for return: 3358 ; line_number = 92 3359 ; delay instructions_per_delay*2 - 3 start 3360 ; Delay expression evaluates to 273 3361 ; line_number = 93 3362 ; call delay() 3363 ; Delay at call is 0 3364 034c 21dd call delay 3365 ; line_number = 94 3366 ; call delay() 3367 ; Delay at call is 135 3368 034d 21dd call delay 3369 ; Delay 3 cycles 3370 034e 2b4f goto byte_get__11 3371 034f : byte_get__11: 3372 034f 0000 nop 3373 ; line_number = 92 3374 ; delay instructions_per_delay*2 - 3 done 3375 ; line_number = 95 3376 ; command_previous := command_last 3377 0350 0840 movf command_last,w 3378 0351 00bf movwf command_previous 3379 ; line_number = 96 3380 ; command_last := byte 3381 0352 0821 movf byte_get__byte,w 3382 0353 00c0 movwf command_last 3383 ; line_number = 97 3384 ; serial_out := 1 3385 0354 1605 bsf serial_out___byte, serial_out___bit 3386 ; line_number = 98 3387 ; return byte start 3388 ; line_number = 98 3389 0355 0821 movf byte_get__byte,w 3390 0356 0008 return 3391 ; line_number = 98 3392 ; return byte done 3393 3394 3395 ; delay after procedure statements=non-uniform 3396 3397 3398 3399 3400 ; line_number = 101 3401 ; procedure byte_put 3402 0357 : byte_put: 3403 ; Last argument is sitting in W; save into argument variable 3404 0357 00a3 movwf byte_put__byte 3405 ; delay=4294967295 3406 ; line_number = 102 3407 ; argument byte byte 3408 00000023 = byte_put__byte equ shared___globals+3 3409 ; line_number = 103 3410 ; returns_nothing 3411 3412 ; # This procedure will send {byte} to {serial_out} pin. The {delay} 3413 ; # procedure is called to provide the appropriate bit timing. 3414 3415 ; line_number = 108 3416 ; local count byte 3417 00000022 = byte_put__count equ shared___globals+2 3418 3419 ; # {receiving} will be 1 if the last get/put routine was a get. 3420 ; # Before we start transmitting a response back, we want to ensure 3421 ; # that there has been enough time to turn the line around. 3422 ; # We delay the first 1/3 of a bit to pad out the 9-2/3 bits 3423 ; # from get_byte to 10 bits. We delay another 3 bits just to 3424 ; # ensure that slow interpreters do not get overrun. 3425 ; before procedure statements delay=non-uniform, bit states=(data:X0=>X0 code:XX=>XX) 3426 ; line_number = 116 3427 ; sent_previous := sent_last 3428 0358 0842 movf sent_last,w 3429 0359 00c1 movwf sent_previous 3430 ; line_number = 117 3431 ; sent_last := byte 3432 035a 0823 movf byte_put__byte,w 3433 035b 00c2 movwf sent_last 3434 ; line_number = 118 3435 ; if receiving start 3436 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3437 ; CASE: true_code.size = 0 && false_code.size > 1 3438 ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay) 3439 035c 1c5f btfss receiving___byte, receiving___bit 3440 035d 2b64 goto byte_put__3 3441 ; line_number = 119 3442 ; receiving := 0 3443 035e 105f bcf receiving___byte, receiving___bit 3444 ; # 10 = 1 + 3*3 = 3-1/3 extra bits of delay: 3445 ; line_number = 121 3446 ; loop_exactly 10 start 3447 00000056 = byte_put__1 equ shared___globals+54 3448 035f 300a movlw 10 3449 0360 00d6 movwf byte_put__1 3450 0361 : byte_put__2: 3451 ; line_number = 122 3452 ; call delay() 3453 0361 21dd call delay 3454 3455 ; line_number = 121 3456 ; loop_exactly 10 wrap-up 3457 0362 0bd6 decfsz byte_put__1,f 3458 0363 2b61 goto byte_put__2 3459 ; line_number = 121 3460 ; loop_exactly 10 done 3461 ; Recombine size1 = 0 || size2 = 0 3462 0364 : byte_put__3: 3463 ; code.delay=4294967295 back_code.delay=4294967295 3464 ; <=bit_code_emit@symbol; sym=receiving (data:X0=>X0 code:XX=>XX) 3465 ; line_number = 118 3466 ; if receiving done 3467 ; # Send the start bit: 3468 ; line_number = 125 3469 ; delay instructions_per_bit - 2 start 3470 ; Delay expression evaluates to 414 3471 ; # The loop_exactly setup after this is 2 instructions: 3472 ; line_number = 127 3473 ; serial_out := 0 3474 ; Delay at assignment is 0 3475 0364 1205 bcf serial_out___byte, serial_out___bit 3476 ; line_number = 128 3477 ; call delay() 3478 ; Delay at call is 1 3479 0365 21dd call delay 3480 ; line_number = 129 3481 ; call delay() 3482 ; Delay at call is 136 3483 0366 21dd call delay 3484 ; line_number = 130 3485 ; call delay() 3486 ; Delay at call is 271 3487 0367 21dd call delay 3488 3489 ; Delay 8 cycles 3490 ; Delay loop takes 2 * 4 = 8 cycles 3491 0368 3002 movlw 2 3492 0369 : byte_put__4: 3493 0369 3eff addlw 255 3494 036a 1d03 btfss __z___byte, __z___bit 3495 036b 2b69 goto byte_put__4 3496 ; line_number = 125 3497 ; delay instructions_per_bit - 2 done 3498 ; # Send the data: 3499 ; line_number = 133 3500 ; loop_exactly 8 start 3501 00000056 = byte_put__5 equ shared___globals+54 3502 036c 3008 movlw 8 3503 036d 00d6 movwf byte_put__5 3504 036e : byte_put__6: 3505 ; # Loop_exactly overhead is 3 instructions: 3506 ; line_number = 135 3507 ; delay instructions_per_bit - 3 start 3508 ; Delay expression evaluates to 413 3509 ; line_number = 136 3510 ; if byte@0 start 3511 ; Delay at if is 0 3512 00000023 = byte_put__select__7___byte equ byte_put__byte 3513 00000000 = byte_put__select__7___bit equ 0 3514 ; (after recombine) true_delay=1, false_delay=1 uniform_delay=true 3515 ; CASE: true_size=1 && false_size=1 3516 ; SUBCASE: Double test; true, then false 3517 036e 1823 btfsc byte_put__select__7___byte, byte_put__select__7___bit 3518 ; line_number = 137 3519 ; serial_out := 1 3520 ; Delay at assignment is 0 3521 036f 1605 bsf serial_out___byte, serial_out___bit 3522 0370 1c23 btfss byte_put__select__7___byte, byte_put__select__7___bit 3523 ; line_number = 139 3524 ; serial_out := 0 3525 ; Delay at assignment is 0 3526 0371 1205 bcf serial_out___byte, serial_out___bit 3527 ; code.delay=4 back_code.delay=0 3528 ; <=bit_code_emit@symbol; sym=byte_put__select__7 (data:X0=>X0 code:XX=>XX) 3529 ; if final true delay=1 false delay=1 code delay=4 3530 ; line_number = 136 3531 ; if byte@0 done 3532 ; line_number = 140 3533 ; byte := byte >> 1 3534 ; Delay at assignment is 4 3535 ; Assignment of variable to self (no code needed) 3536 0372 0ca3 rrf byte_put__byte,f 3537 0373 13a3 bcf byte_put__byte, 7 3538 ; line_number = 141 3539 ; call delay() 3540 ; Delay at call is 6 3541 0374 21dd call delay 3542 ; line_number = 142 3543 ; call delay() 3544 ; Delay at call is 141 3545 0375 21dd call delay 3546 ; line_number = 143 3547 ; call delay() 3548 ; Delay at call is 276 3549 0376 21dd call delay 3550 3551 ; Delay 2 cycles 3552 0377 2b78 goto byte_put__8 3553 0378 : byte_put__8: 3554 ; line_number = 135 3555 ; delay instructions_per_bit - 3 done 3556 ; line_number = 133 3557 ; loop_exactly 8 wrap-up 3558 0378 0bd6 decfsz byte_put__5,f 3559 0379 2b6e goto byte_put__6 3560 ; line_number = 133 3561 ; loop_exactly 8 done 3562 ; # Send the stop bit: 3563 ; line_number = 146 3564 ; delay instructions_per_bit start 3565 ; Delay expression evaluates to 416 3566 ; line_number = 147 3567 ; serial_out := 1 3568 ; Delay at assignment is 0 3569 037a 1605 bsf serial_out___byte, serial_out___bit 3570 ; line_number = 148 3571 ; call delay() 3572 ; Delay at call is 1 3573 037b 21dd call delay 3574 ; line_number = 149 3575 ; call delay() 3576 ; Delay at call is 136 3577 037c 21dd call delay 3578 ; line_number = 150 3579 ; call delay() 3580 ; Delay at call is 271 3581 037d 21dd call delay 3582 3583 3584 ; Delay 10 cycles 3585 ; Delay loop takes 2 * 4 = 8 cycles 3586 037e 3002 movlw 2 3587 037f : byte_put__9: 3588 037f 3eff addlw 255 3589 0380 1d03 btfss __z___byte, __z___bit 3590 0381 2b7f goto byte_put__9 3591 0382 2b83 goto byte_put__10 3592 0383 : byte_put__10: 3593 ; line_number = 146 3594 ; delay instructions_per_bit done 3595 ; delay after procedure statements=non-uniform 3596 ; Implied return 3597 0383 3400 retlw 0 3598 3599 3600 3601 3602 ; Configuration bits 3603 ; fill = 0x0 3604 ; bg = bg11 (0x3000) 3605 ; cpd = off (0x100) 3606 ; cp = on (0x0) 3607 ; boden = off (0x0) 3608 ; mclre = off (0x0) 3609 ; pwrte = off (0x10) 3610 ; wdte = on (0x8) 3611 ; fosc = int_no_clk (0x4) 3612 ; 12572 = 0x311c 3613 311c = __config 12572 3614 ; Define start addresses for data regions 3615 ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 3616 ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 3617 ; Region="shared___globals" Address=32" Size=64 Bytes=55 Bits=2 Available=8 3618 end