1 radix dec 2 ; Code bank 0; Start address: 0; End address: 4095 3 0000 : org 0 4 ; Define start addresses for data regions 5 00000070 = shared___globals equ 112 6 00000020 = globals___0 equ 32 7 000000a0 = globals___1 equ 160 8 00000120 = globals___2 equ 288 9 000001a0 = globals___3 equ 416 10 00000000 = __indf equ 0 11 00000002 = __pcl equ 2 12 00000003 = __status equ 3 13 00000004 = __fsr equ 4 14 00000003 = __c___byte equ 3 15 00000000 = __c___bit equ 0 16 00000003 = __z___byte equ 3 17 00000002 = __z___bit equ 2 18 00000003 = __rp0___byte equ 3 19 00000005 = __rp0___bit equ 5 20 00000003 = __rp1___byte equ 3 21 00000006 = __rp1___bit equ 6 22 00000003 = __irp___byte equ 3 23 00000007 = __irp___bit equ 7 24 0000000a = __pclath equ 10 25 0000000a = __cb0___byte equ 10 26 00000003 = __cb0___bit equ 3 27 0000000a = __cb1___byte equ 10 28 00000004 = __cb1___bit equ 4 29 30 ; # Copyright (c) 2004-2005 by Wayne C. Gramlich 31 ; # All rights reserved. 32 33 ; buffer = 'servo4' 34 ; line_number = 6 35 ; library _robobricks_pic16f688 entered 36 37 ; # Copyright (c) 2000-2005 by Wayne C. Gramlich and Bill Benson 38 ; # All rights reserved. 39 40 ; buffer = '_robobricks_pic16f688' 41 ; line_number = 6 42 ; library _pic16f688 entered 43 ; # Copyright (c) 2004 by Wayne C. Gramlich 44 ; # All rights reserved. 45 46 ; buffer = '_pic16f688' 47 ; line_number = 5 48 ; processor pic16f688 49 ; line_number = 6 50 ; configure_address 0x2007 51 ; line_number = 7 52 ; configure_fill 0x3000 53 ; line_number = 8 54 ; configure_option fcmen: on = 0x800 55 ; line_number = 9 56 ; configure_option fcmen: off = 0x000 57 ; line_number = 10 58 ; configure_option ieso: on = 0x400 59 ; line_number = 11 60 ; configure_option ieso: off = 0x000 61 ; line_number = 12 62 ; configure_option boden: on = 0x300 63 ; line_number = 13 64 ; configure_option boden: partial = 0x200 65 ; line_number = 14 66 ; configure_option boden: sboden = 0x100 67 ; line_number = 15 68 ; configure_option boden: off = 0x000 69 ; line_number = 16 70 ; configure_option cpd: on = 0x00 71 ; line_number = 17 72 ; configure_option cpd: off = 0x80 73 ; line_number = 18 74 ; configure_option cp: on = 0x00 75 ; line_number = 19 76 ; configure_option cp: off = 0x40 77 ; line_number = 20 78 ; configure_option mclre: on = 0x20 79 ; line_number = 21 80 ; configure_option mclre: off = 0x20 81 ; line_number = 22 82 ; configure_option pwrte: on = 0x00 83 ; line_number = 23 84 ; configure_option pwrte: off = 0x10 85 ; line_number = 24 86 ; configure_option wdte: on = 8 87 ; line_number = 25 88 ; configure_option wdte: off = 0 89 ; line_number = 26 90 ; configure_option fosc: rc_clk = 7 91 ; line_number = 27 92 ; configure_option fosc: rc_no_clk = 6 93 ; line_number = 28 94 ; configure_option fosc: int_clk = 5 95 ; line_number = 29 96 ; configure_option fosc: int_no_clk = 4 97 ; line_number = 30 98 ; configure_option fosc: ec = 3 99 ; line_number = 31 100 ; configure_option fosc: hs = 2 101 ; line_number = 32 102 ; configure_option fosc: xt = 1 103 ; line_number = 33 104 ; configure_option fosc: lp = 0 105 106 ; line_number = 35 107 ; code_bank 0x0 : 0xfff 108 ; line_number = 36 109 ; data_bank 0x0 : 0x7f 110 ; line_number = 37 111 ; data_bank 0x80 : 0xff 112 ; line_number = 38 113 ; data_bank 0x100 : 0x17f 114 ; line_number = 39 115 ; data_bank 0x180 : 0x1ff 116 ; line_number = 40 117 ; global_region 0x20 : 0x6f 118 ; line_number = 41 119 ; global_region 0xa0 : 0xef 120 ; line_number = 42 121 ; global_region 0x120 : 0x16f 122 ; line_number = 43 123 ; global_region 0x1a0 : 0x1ef 124 ; line_number = 44 125 ; shared_region 0x70 : 0x7f 126 ; line_number = 45 127 ; interrupts_possible 128 ; line_number = 46 129 ; packages pdip=14, soic=14, tssop=14 130 ; line_number = 47 131 ; pin vdd, power_supply 132 ; line_number = 48 133 ; pin_bindings pdip=1, soic=1, tssop=1 134 ; line_number = 49 135 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin 136 ; line_number = 50 137 ; pin_bindings pdip=2, soic=2, tssop=2 138 ; line_number = 51 139 ; bind_to _porta@5 140 ; line_number = 52 141 ; or_if ra5_in _trisa 32 142 ; line_number = 53 143 ; or_if ra5_nc _trisa 32 144 ; line_number = 54 145 ; or_if ra5_out _trisa 0 146 ; line_number = 55 147 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout 148 ; line_number = 56 149 ; pin_bindings pdip=3, soic=3, tssop=3 150 ; line_number = 57 151 ; bind_to _porta@4 152 ; line_number = 58 153 ; or_if ra4_in _trisa 16 154 ; line_number = 59 155 ; or_if ra4_nc _trisa 16 156 ; line_number = 60 157 ; or_if ra4_out _trisa 0 158 ; line_number = 61 159 ; or_if an3 _trisa 8 160 ; line_number = 62 161 ; or_if ra4_in _ansel 0 162 ; line_number = 63 163 ; or_if ra4_out _ansel 0 164 ; line_number = 64 165 ; or_if an3 _ansel 8 166 ; line_number = 65 167 ; or_if ra4_in _adcon0 0 168 ; line_number = 66 169 ; or_if ra4_out _adcon0 0 170 ; line_number = 67 171 ; or_if an3 _adcon0 1 172 ; line_number = 68 173 ; pin ra3_in, ra3_nc, mclr, vpp 174 ; line_number = 69 175 ; pin_bindings pdip=4, soic=4, tssop=4 176 ; line_number = 70 177 ; bind_to _porta@4 178 ; line_number = 71 179 ; or_if ra3_in _trisa 8 180 ; line_number = 72 181 ; or_if ra3_nc _trisa 8 182 ; line_number = 73 183 ; pin rc5_in, rc5_nc, rc5_out, rx, dt 184 ; line_number = 74 185 ; pin_bindings pdip=5, soic=5, tssop=5 186 ; line_number = 75 187 ; bind_to _portc@5 188 ; line_number = 76 189 ; or_if rc5_in _trisc 32 190 ; line_number = 77 191 ; or_if rc5_nc _trisc 32 192 ; line_number = 78 193 ; or_if rc5_out _trisc 0 194 ; line_number = 79 195 ; or_if rx _trisc 32 196 ; line_number = 80 197 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck 198 ; line_number = 81 199 ; pin_bindings pdip=6, soic=6, tssop=6 200 ; line_number = 82 201 ; bind_to _portc@4 202 ; line_number = 83 203 ; or_if rc4_in _trisc 16 204 ; line_number = 84 205 ; or_if rc4_nc _trisc 16 206 ; line_number = 85 207 ; or_if rc4_out _trisc 0 208 ; # The UART documentation says TX must be marked as in input: 209 ; line_number = 87 210 ; or_if tx _trisc 16 211 ; line_number = 88 212 ; pin rc3_in, rc3_nc, rc3_out, an7 213 ; line_number = 89 214 ; pin_bindings pdip=7, soic=7, tssop=7 215 ; line_number = 90 216 ; bind_to _portc@3 217 ; line_number = 91 218 ; or_if rc3_in _trisc 8 219 ; line_number = 92 220 ; or_if rc3_nc _trisc 8 221 ; line_number = 93 222 ; or_if rc3_out _trisc 0 223 ; line_number = 94 224 ; or_if an7 _trisc 8 225 ; line_number = 95 226 ; or_if rc3_in _ansel 0 227 ; line_number = 96 228 ; or_if rc3_out _ansel 0 229 ; line_number = 97 230 ; or_if an7 _ansel 128 231 ; line_number = 98 232 ; or_if rc3_in _adcon0 0 233 ; line_number = 99 234 ; or_if rc3_out _adcon0 0 235 ; line_number = 100 236 ; or_if an7 _adcon0 1 237 ; line_number = 101 238 ; pin rc2_in, rc2_nc, rc2_out, an6 239 ; line_number = 102 240 ; pin_bindings pdip=8, soic=8, tssop=8 241 ; line_number = 103 242 ; bind_to _portc@2 243 ; line_number = 104 244 ; or_if rc2_in _trisc 4 245 ; line_number = 105 246 ; or_if rc2_nc _trisc 4 247 ; line_number = 106 248 ; or_if rc2_out _trisc 0 249 ; line_number = 107 250 ; or_if an6 _trisc 4 251 ; line_number = 108 252 ; or_if rc2_in _ansel 0 253 ; line_number = 109 254 ; or_if rc2_out _ansel 0 255 ; line_number = 110 256 ; or_if an6 _ansel 64 257 ; line_number = 111 258 ; or_if rc2_in _adcon0 0 259 ; line_number = 112 260 ; or_if rc2_out _adcon0 0 261 ; line_number = 113 262 ; or_if an6 _adcon0 1 263 ; line_number = 114 264 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus 265 ; line_number = 115 266 ; pin_bindings pdip=9, soic=9, tssop=9 267 ; line_number = 116 268 ; bind_to _portc@1 269 ; line_number = 117 270 ; or_if rc1_in _trisc 2 271 ; line_number = 118 272 ; or_if rc1_nc _trisc 2 273 ; line_number = 119 274 ; or_if rc1_out _trisc 0 275 ; line_number = 120 276 ; or_if rc1_in _cmcon0 7 277 ; line_number = 121 278 ; or_if rc1_out _cmcon0 7 279 ; line_number = 122 280 ; or_if an5 _trisc 2 281 ; line_number = 123 282 ; or_if rc1_in _ansel 0 283 ; line_number = 124 284 ; or_if rc1_out _ansel 0 285 ; line_number = 125 286 ; or_if an5 _ansel 32 287 ; line_number = 126 288 ; or_if rc1_in _adcon0 0 289 ; line_number = 127 290 ; or_if rc1_out _adcon0 0 291 ; line_number = 128 292 ; or_if an5 _adcon0 1 293 ; line_number = 129 294 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus 295 ; line_number = 130 296 ; pin_bindings pdip=10, soic=10, tssop=10 297 ; line_number = 131 298 ; bind_to _portc@0 299 ; line_number = 132 300 ; or_if rc0_in _trisc 1 301 ; line_number = 133 302 ; or_if rc0_nc _trisc 1 303 ; line_number = 134 304 ; or_if rc0_out _trisc 0 305 ; line_number = 135 306 ; or_if rc0_in _cmcon0 7 307 ; line_number = 136 308 ; or_if rc0_out _cmcon0 7 309 ; line_number = 137 310 ; or_if an4 _trisc 1 311 ; line_number = 138 312 ; or_if rc0_in _ansel 0 313 ; line_number = 139 314 ; or_if rc0_out _ansel 0 315 ; line_number = 140 316 ; or_if an4 _ansel 16 317 ; line_number = 141 318 ; or_if rc0_in _adcon0 0 319 ; line_number = 142 320 ; or_if rc0_out _adcon0 0 321 ; line_number = 143 322 ; or_if an4 _adcon0 1 323 ; line_number = 144 324 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int 325 ; line_number = 145 326 ; pin_bindings pdip=11, soic=11, tssop=11 327 ; line_number = 146 328 ; bind_to _porta@2 329 ; line_number = 147 330 ; or_if ra2_in _trisa 4 331 ; line_number = 148 332 ; or_if ra2_nc _trisa 4 333 ; line_number = 149 334 ; or_if ra2_out _trisa 0 335 ; line_number = 150 336 ; or_if an2 _trisa 4 337 ; line_number = 151 338 ; or_if ra2_in _ansel 0 339 ; line_number = 152 340 ; or_if ra2_out _ansel 0 341 ; line_number = 153 342 ; or_if an2 _ansel 4 343 ; line_number = 154 344 ; or_if ra2_in _adcon0 0 345 ; line_number = 155 346 ; or_if ra2_out _adcon0 0 347 ; line_number = 156 348 ; or_if an2 _adcon0 1 349 ; line_number = 157 350 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk 351 ; line_number = 158 352 ; pin_bindings pdip=12, soic=12, tssop=12 353 ; line_number = 159 354 ; bind_to _porta@1 355 ; line_number = 160 356 ; or_if ra1_in _trisa 2 357 ; line_number = 161 358 ; or_if ra1_nc _trisa 2 359 ; line_number = 162 360 ; or_if ra1_out _trisa 0 361 ; line_number = 163 362 ; or_if ra1_in _cmcon0 7 363 ; line_number = 164 364 ; or_if ra1_out _cmcon0 7 365 ; line_number = 165 366 ; or_if an1 _trisa 2 367 ; line_number = 166 368 ; or_if ra1_in _ansel 0 369 ; line_number = 167 370 ; or_if ra1_out _ansel 0 371 ; line_number = 168 372 ; or_if an1 _ansel 2 373 ; line_number = 169 374 ; or_if ra1_in _adcon0 0 375 ; line_number = 170 376 ; or_if ra1_out _adcon0 0 377 ; line_number = 171 378 ; or_if an1 _adcon0 1 379 ; line_number = 172 380 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu 381 ; line_number = 173 382 ; pin_bindings pdip=13, soic=13, tssop=13 383 ; line_number = 174 384 ; bind_to _porta@0 385 ; line_number = 175 386 ; or_if ra0_in _trisa 1 387 ; line_number = 176 388 ; or_if ra0_nc _trisa 1 389 ; line_number = 177 390 ; or_if ra0_out _trisa 0 391 ; line_number = 178 392 ; or_if ra0_in _cmcon0 7 393 ; line_number = 179 394 ; or_if ra0_out _cmcon0 7 395 ; line_number = 180 396 ; or_if an0 _trisa 1 397 ; line_number = 181 398 ; or_if ra0_in _ansel 0 399 ; line_number = 182 400 ; or_if ra0_out _ansel 0 401 ; line_number = 183 402 ; or_if an0 _ansel 1 403 ; line_number = 184 404 ; or_if ra0_in _adcon0 0 405 ; line_number = 185 406 ; or_if ra0_out _adcon0 0 407 ; line_number = 186 408 ; or_if an0 _adcon0 1 409 ; line_number = 187 410 ; pin vss, ground 411 ; line_number = 188 412 ; pin_bindings pdip=14, soic=14, tssop=14 413 414 415 ; # Register/bit bindings: 416 417 ; # Databank 0 (0x0 - 0x7f): 418 419 ; line_number = 197 420 ; register _indf = 421 00000000 = _indf equ 0 422 423 ; line_number = 199 424 ; register _tmr0 = 425 00000001 = _tmr0 equ 1 426 427 ; line_number = 201 428 ; register _pcl = 429 00000002 = _pcl equ 2 430 431 ; line_number = 203 432 ; register _status = 433 00000003 = _status equ 3 434 ; line_number = 204 435 ; bind _irp = _status@7 436 00000003 = _irp___byte equ _status 437 00000007 = _irp___bit equ 7 438 ; line_number = 205 439 ; bind _rp1 = _status@5 440 00000003 = _rp1___byte equ _status 441 00000005 = _rp1___bit equ 5 442 ; line_number = 206 443 ; bind _rp0 = _status@5 444 00000003 = _rp0___byte equ _status 445 00000005 = _rp0___bit equ 5 446 ; line_number = 207 447 ; bind _to = _status@4 448 00000003 = _to___byte equ _status 449 00000004 = _to___bit equ 4 450 ; line_number = 208 451 ; bind _pd = _status@3 452 00000003 = _pd___byte equ _status 453 00000003 = _pd___bit equ 3 454 ; line_number = 209 455 ; bind _z = _status@2 456 00000003 = _z___byte equ _status 457 00000002 = _z___bit equ 2 458 ; line_number = 210 459 ; bind _dc = _status@1 460 00000003 = _dc___byte equ _status 461 00000001 = _dc___bit equ 1 462 ; line_number = 211 463 ; bind _c = _status@0 464 00000003 = _c___byte equ _status 465 00000000 = _c___bit equ 0 466 467 ; line_number = 213 468 ; register _fsr = 469 00000004 = _fsr equ 4 470 471 ; line_number = 215 472 ; register _porta = 473 00000005 = _porta equ 5 474 ; line_number = 216 475 ; register _ra = 476 00000005 = _ra equ 5 477 ; line_number = 217 478 ; bind _ra5 = _porta@5 479 00000005 = _ra5___byte equ _porta 480 00000005 = _ra5___bit equ 5 481 ; line_number = 218 482 ; bind _ra4 = _porta@4 483 00000005 = _ra4___byte equ _porta 484 00000004 = _ra4___bit equ 4 485 ; line_number = 219 486 ; bind _ra3 = _porta@3 487 00000005 = _ra3___byte equ _porta 488 00000003 = _ra3___bit equ 3 489 ; line_number = 220 490 ; bind _ra2 = _porta@2 491 00000005 = _ra2___byte equ _porta 492 00000002 = _ra2___bit equ 2 493 ; line_number = 221 494 ; bind _ra1 = _porta@1 495 00000005 = _ra1___byte equ _porta 496 00000001 = _ra1___bit equ 1 497 ; line_number = 222 498 ; bind _ra0 = _porta@0 499 00000005 = _ra0___byte equ _porta 500 00000000 = _ra0___bit equ 0 501 502 ; line_number = 224 503 ; register _portc = 504 00000007 = _portc equ 7 505 ; line_number = 225 506 ; register _rc = 507 00000007 = _rc equ 7 508 ; line_number = 226 509 ; bind _rc5 = _portc@5 510 00000007 = _rc5___byte equ _portc 511 00000005 = _rc5___bit equ 5 512 ; line_number = 227 513 ; bind _rc4 = _portc@4 514 00000007 = _rc4___byte equ _portc 515 00000004 = _rc4___bit equ 4 516 ; line_number = 228 517 ; bind _rc3 = _portc@3 518 00000007 = _rc3___byte equ _portc 519 00000003 = _rc3___bit equ 3 520 ; line_number = 229 521 ; bind _rc2 = _portc@2 522 00000007 = _rc2___byte equ _portc 523 00000002 = _rc2___bit equ 2 524 ; line_number = 230 525 ; bind _rc1 = _portc@1 526 00000007 = _rc1___byte equ _portc 527 00000001 = _rc1___bit equ 1 528 ; line_number = 231 529 ; bind _rc0 = _portc@0 530 00000007 = _rc0___byte equ _portc 531 00000000 = _rc0___bit equ 0 532 533 ; line_number = 233 534 ; register _pclath = 535 0000000a = _pclath equ 10 536 537 ; line_number = 235 538 ; register _intcon = 539 0000000b = _intcon equ 11 540 ; line_number = 236 541 ; bind _gie = _intcon@7 542 0000000b = _gie___byte equ _intcon 543 00000007 = _gie___bit equ 7 544 ; line_number = 237 545 ; bind _peie = _intcon@6 546 0000000b = _peie___byte equ _intcon 547 00000006 = _peie___bit equ 6 548 ; line_number = 238 549 ; bind _t0ie = _intcon@5 550 0000000b = _t0ie___byte equ _intcon 551 00000005 = _t0ie___bit equ 5 552 ; line_number = 239 553 ; bind _inte = _intcon@4 554 0000000b = _inte___byte equ _intcon 555 00000004 = _inte___bit equ 4 556 ; line_number = 240 557 ; bind _raie = _intcon@3 558 0000000b = _raie___byte equ _intcon 559 00000003 = _raie___bit equ 3 560 ; line_number = 241 561 ; bind _t0if = _intcon@2 562 0000000b = _t0if___byte equ _intcon 563 00000002 = _t0if___bit equ 2 564 ; line_number = 242 565 ; bind _intf = _intcon@1 566 0000000b = _intf___byte equ _intcon 567 00000001 = _intf___bit equ 1 568 ; line_number = 243 569 ; bind _raif = _intcon@0 570 0000000b = _raif___byte equ _intcon 571 00000000 = _raif___bit equ 0 572 573 ; line_number = 245 574 ; register _pir1 = 575 0000000c = _pir1 equ 12 576 ; line_number = 246 577 ; bind _eeif = _pir1@7 578 0000000c = _eeif___byte equ _pir1 579 00000007 = _eeif___bit equ 7 580 ; line_number = 247 581 ; bind _adif = _pir1@6 582 0000000c = _adif___byte equ _pir1 583 00000006 = _adif___bit equ 6 584 ; line_number = 248 585 ; bind _rcif = _pir1@5 586 0000000c = _rcif___byte equ _pir1 587 00000005 = _rcif___bit equ 5 588 ; line_number = 249 589 ; bind _c2if = _pir1@4 590 0000000c = _c2if___byte equ _pir1 591 00000004 = _c2if___bit equ 4 592 ; line_number = 250 593 ; bind _c1if = _pir1@3 594 0000000c = _c1if___byte equ _pir1 595 00000003 = _c1if___bit equ 3 596 ; line_number = 251 597 ; bind _osfif = _pir1@2 598 0000000c = _osfif___byte equ _pir1 599 00000002 = _osfif___bit equ 2 600 ; line_number = 252 601 ; bind _txif = _pir1@1 602 0000000c = _txif___byte equ _pir1 603 00000001 = _txif___bit equ 1 604 ; line_number = 253 605 ; bind _tmr1if = _pir1@0 606 0000000c = _tmr1if___byte equ _pir1 607 00000000 = _tmr1if___bit equ 0 608 609 ; line_number = 255 610 ; register _tmr1l = 611 0000000e = _tmr1l equ 14 612 613 ; line_number = 257 614 ; register _tmr1h = 615 0000000f = _tmr1h equ 15 616 617 ; line_number = 259 618 ; register _t1con = 619 00000010 = _t1con equ 16 620 ; line_number = 260 621 ; bind t1ginv = _t1con@7 622 00000010 = t1ginv___byte equ _t1con 623 00000007 = t1ginv___bit equ 7 624 ; line_number = 261 625 ; bind _tmr1ge = _t1con@6 626 00000010 = _tmr1ge___byte equ _t1con 627 00000006 = _tmr1ge___bit equ 6 628 ; line_number = 262 629 ; bind _t1ckps1 = _t1con@5 630 00000010 = _t1ckps1___byte equ _t1con 631 00000005 = _t1ckps1___bit equ 5 632 ; line_number = 263 633 ; bind _t1ckps0 = _t1con@4 634 00000010 = _t1ckps0___byte equ _t1con 635 00000004 = _t1ckps0___bit equ 4 636 ; line_number = 264 637 ; bind _t1oscen = _t1con@3 638 00000010 = _t1oscen___byte equ _t1con 639 00000003 = _t1oscen___bit equ 3 640 ; line_number = 265 641 ; bind _t1sync = _t1con@2 642 00000010 = _t1sync___byte equ _t1con 643 00000002 = _t1sync___bit equ 2 644 ; line_number = 266 645 ; bind _tmr1cs = _t1con@1 646 00000010 = _tmr1cs___byte equ _t1con 647 00000001 = _tmr1cs___bit equ 1 648 ; line_number = 267 649 ; bind _tmr1on = _t1con@0 650 00000010 = _tmr1on___byte equ _t1con 651 00000000 = _tmr1on___bit equ 0 652 653 ; line_number = 269 654 ; register _baudctl = 655 00000011 = _baudctl equ 17 656 ; line_number = 270 657 ; bind _abdovf = _baudctl@7 658 00000011 = _abdovf___byte equ _baudctl 659 00000007 = _abdovf___bit equ 7 660 ; line_number = 271 661 ; bind _rcidl = _baudctl@6 662 00000011 = _rcidl___byte equ _baudctl 663 00000006 = _rcidl___bit equ 6 664 ; line_number = 272 665 ; bind _sckp = _baudctl@4 666 00000011 = _sckp___byte equ _baudctl 667 00000004 = _sckp___bit equ 4 668 ; line_number = 273 669 ; bind _brg16 = _baudctl@3 670 00000011 = _brg16___byte equ _baudctl 671 00000003 = _brg16___bit equ 3 672 ; line_number = 274 673 ; bind _wue = _baudctl@1 674 00000011 = _wue___byte equ _baudctl 675 00000001 = _wue___bit equ 1 676 ; line_number = 275 677 ; bind _abden = _baudctl@0 678 00000011 = _abden___byte equ _baudctl 679 00000000 = _abden___bit equ 0 680 681 ; line_number = 277 682 ; register _spbrgh = 683 00000012 = _spbrgh equ 18 684 685 ; line_number = 279 686 ; register _spbrg = 687 00000013 = _spbrg equ 19 688 689 ; line_number = 281 690 ; register _rcreg = 691 00000014 = _rcreg equ 20 692 693 ; line_number = 283 694 ; register _txreg = 695 00000015 = _txreg equ 21 696 697 ; line_number = 285 698 ; register _txsta = 699 00000016 = _txsta equ 22 700 ; line_number = 286 701 ; bind _csrc = _txsta@7 702 00000016 = _csrc___byte equ _txsta 703 00000007 = _csrc___bit equ 7 704 ; line_number = 287 705 ; bind _tx9 = _txsta@6 706 00000016 = _tx9___byte equ _txsta 707 00000006 = _tx9___bit equ 6 708 ; line_number = 288 709 ; bind _txen = _txsta@5 710 00000016 = _txen___byte equ _txsta 711 00000005 = _txen___bit equ 5 712 ; line_number = 289 713 ; bind _sync = _txsta@4 714 00000016 = _sync___byte equ _txsta 715 00000004 = _sync___bit equ 4 716 ; line_number = 290 717 ; bind _sendb = _txsta@3 718 00000016 = _sendb___byte equ _txsta 719 00000003 = _sendb___bit equ 3 720 ; line_number = 291 721 ; bind _brgh = _txsta@2 722 00000016 = _brgh___byte equ _txsta 723 00000002 = _brgh___bit equ 2 724 ; line_number = 292 725 ; bind _trmt = _txsta@1 726 00000016 = _trmt___byte equ _txsta 727 00000001 = _trmt___bit equ 1 728 ; line_number = 293 729 ; bind _tx9d = _txsta@7 730 00000016 = _tx9d___byte equ _txsta 731 00000007 = _tx9d___bit equ 7 732 733 ; line_number = 295 734 ; register _rcsta = 735 00000017 = _rcsta equ 23 736 ; line_number = 296 737 ; bind _spen = _rcsta@7 738 00000017 = _spen___byte equ _rcsta 739 00000007 = _spen___bit equ 7 740 ; line_number = 297 741 ; bind _rx9 = _rcsta@6 742 00000017 = _rx9___byte equ _rcsta 743 00000006 = _rx9___bit equ 6 744 ; line_number = 298 745 ; bind _sren = _rcsta@5 746 00000017 = _sren___byte equ _rcsta 747 00000005 = _sren___bit equ 5 748 ; line_number = 299 749 ; bind _cren = _rcsta@4 750 00000017 = _cren___byte equ _rcsta 751 00000004 = _cren___bit equ 4 752 ; line_number = 300 753 ; bind _adden = _rcsta@3 754 00000017 = _adden___byte equ _rcsta 755 00000003 = _adden___bit equ 3 756 ; line_number = 301 757 ; bind _ferr = _rcsta@2 758 00000017 = _ferr___byte equ _rcsta 759 00000002 = _ferr___bit equ 2 760 ; line_number = 302 761 ; bind _oerr = _rcsta@1 762 00000017 = _oerr___byte equ _rcsta 763 00000001 = _oerr___bit equ 1 764 ; line_number = 303 765 ; bind _rx9d = _rcsta@0 766 00000017 = _rx9d___byte equ _rcsta 767 00000000 = _rx9d___bit equ 0 768 769 ; line_number = 305 770 ; register _wdtcon = 771 00000018 = _wdtcon equ 24 772 ; line_number = 306 773 ; bind _wdtps3 = _wdtcon@4 774 00000018 = _wdtps3___byte equ _wdtcon 775 00000004 = _wdtps3___bit equ 4 776 ; line_number = 307 777 ; bind _wdtps2 = _wdtcon@3 778 00000018 = _wdtps2___byte equ _wdtcon 779 00000003 = _wdtps2___bit equ 3 780 ; line_number = 308 781 ; bind _wdtps1 = _wdtcon@2 782 00000018 = _wdtps1___byte equ _wdtcon 783 00000002 = _wdtps1___bit equ 2 784 ; line_number = 309 785 ; bind _wdtps0 = _wdtcon@1 786 00000018 = _wdtps0___byte equ _wdtcon 787 00000001 = _wdtps0___bit equ 1 788 ; line_number = 310 789 ; bind _swdten = _wdtcon@0 790 00000018 = _swdten___byte equ _wdtcon 791 00000000 = _swdten___bit equ 0 792 793 ; line_number = 312 794 ; register _cmcon0 = 795 00000019 = _cmcon0 equ 25 796 ; line_number = 313 797 ; bind _c1out = _cmcon0@7 798 00000019 = _c1out___byte equ _cmcon0 799 00000007 = _c1out___bit equ 7 800 ; line_number = 314 801 ; bind _c2out = _cmcon0@6 802 00000019 = _c2out___byte equ _cmcon0 803 00000006 = _c2out___bit equ 6 804 ; line_number = 315 805 ; bind _c1inv = _cmcon0@5 806 00000019 = _c1inv___byte equ _cmcon0 807 00000005 = _c1inv___bit equ 5 808 ; line_number = 316 809 ; bind _c2inv = _cmcon0@4 810 00000019 = _c2inv___byte equ _cmcon0 811 00000004 = _c2inv___bit equ 4 812 ; line_number = 317 813 ; bind _cis = _cmcon0@3 814 00000019 = _cis___byte equ _cmcon0 815 00000003 = _cis___bit equ 3 816 ; line_number = 318 817 ; bind _cm2 = _cmcon0@2 818 00000019 = _cm2___byte equ _cmcon0 819 00000002 = _cm2___bit equ 2 820 ; line_number = 319 821 ; bind _cm1 = _cmcon0@1 822 00000019 = _cm1___byte equ _cmcon0 823 00000001 = _cm1___bit equ 1 824 ; line_number = 320 825 ; bind _cm0 = _cmcon0@0 826 00000019 = _cm0___byte equ _cmcon0 827 00000000 = _cm0___bit equ 0 828 829 ; line_number = 322 830 ; register _cmcon1 = 831 0000001a = _cmcon1 equ 26 832 ; line_number = 323 833 ; bind _t1gss = _cmcon1@0 834 0000001a = _t1gss___byte equ _cmcon1 835 00000000 = _t1gss___bit equ 0 836 ; line_number = 324 837 ; bind _c2sync = _cmcon1@1 838 0000001a = _c2sync___byte equ _cmcon1 839 00000001 = _c2sync___bit equ 1 840 841 ; line_number = 326 842 ; register _adresh = 843 0000001e = _adresh equ 30 844 845 ; line_number = 328 846 ; register _adcon0 = 847 0000001f = _adcon0 equ 31 848 ; line_number = 329 849 ; bind _adfm = _adcon0@7 850 0000001f = _adfm___byte equ _adcon0 851 00000007 = _adfm___bit equ 7 852 ; line_number = 330 853 ; bind _vcfg = _adcon0@6 854 0000001f = _vcfg___byte equ _adcon0 855 00000006 = _vcfg___bit equ 6 856 ; line_number = 331 857 ; bind _chs2 = _adcon0@4 858 0000001f = _chs2___byte equ _adcon0 859 00000004 = _chs2___bit equ 4 860 ; line_number = 332 861 ; bind _chs1 = _adcon0@3 862 0000001f = _chs1___byte equ _adcon0 863 00000003 = _chs1___bit equ 3 864 ; line_number = 333 865 ; bind _chs0 = _adcon0@2 866 0000001f = _chs0___byte equ _adcon0 867 00000002 = _chs0___bit equ 2 868 ; line_number = 334 869 ; bind _go = _adcon0@1 870 0000001f = _go___byte equ _adcon0 871 00000001 = _go___bit equ 1 872 ; line_number = 335 873 ; bind _adon = _adcon0@0 874 0000001f = _adon___byte equ _adcon0 875 00000000 = _adon___bit equ 0 876 877 ; # Data bank 1 (0x80-0xff): 878 879 ; line_number = 339 880 ; register _option_reg = 881 00000081 = _option_reg equ 129 882 ; line_number = 340 883 ; bind _rapu = _option_reg@7 884 00000081 = _rapu___byte equ _option_reg 885 00000007 = _rapu___bit equ 7 886 ; line_number = 341 887 ; bind _intedg = _option_reg@6 888 00000081 = _intedg___byte equ _option_reg 889 00000006 = _intedg___bit equ 6 890 ; line_number = 342 891 ; bind _t0cs = _option_reg@5 892 00000081 = _t0cs___byte equ _option_reg 893 00000005 = _t0cs___bit equ 5 894 ; line_number = 343 895 ; bind _t0se = _option_reg@4 896 00000081 = _t0se___byte equ _option_reg 897 00000004 = _t0se___bit equ 4 898 ; line_number = 344 899 ; bind _psa = _option_reg@3 900 00000081 = _psa___byte equ _option_reg 901 00000003 = _psa___bit equ 3 902 ; line_number = 345 903 ; bind _ps2 = _option_reg@2 904 00000081 = _ps2___byte equ _option_reg 905 00000002 = _ps2___bit equ 2 906 ; line_number = 346 907 ; bind _ps1 = _option_reg@1 908 00000081 = _ps1___byte equ _option_reg 909 00000001 = _ps1___bit equ 1 910 ; line_number = 347 911 ; bind _ps0 = _option_reg@0 912 00000081 = _ps0___byte equ _option_reg 913 00000000 = _ps0___bit equ 0 914 915 ; line_number = 349 916 ; register _trisa = 917 00000085 = _trisa equ 133 918 ; line_number = 350 919 ; bind _trisa5 = _trisa@5 920 00000085 = _trisa5___byte equ _trisa 921 00000005 = _trisa5___bit equ 5 922 ; line_number = 351 923 ; bind _trisa4 = _trisa@4 924 00000085 = _trisa4___byte equ _trisa 925 00000004 = _trisa4___bit equ 4 926 ; line_number = 352 927 ; bind _trisa3 = _trisa@3 928 00000085 = _trisa3___byte equ _trisa 929 00000003 = _trisa3___bit equ 3 930 ; line_number = 353 931 ; bind _trisa2 = _trisa@2 932 00000085 = _trisa2___byte equ _trisa 933 00000002 = _trisa2___bit equ 2 934 ; line_number = 354 935 ; bind _trisa1 = _trisa@1 936 00000085 = _trisa1___byte equ _trisa 937 00000001 = _trisa1___bit equ 1 938 ; line_number = 355 939 ; bind _trisa0 = _trisa@0 940 00000085 = _trisa0___byte equ _trisa 941 00000000 = _trisa0___bit equ 0 942 943 ; line_number = 357 944 ; register _trisc = 945 00000087 = _trisc equ 135 946 ; line_number = 358 947 ; bind _trisc5 = _trisc@5 948 00000087 = _trisc5___byte equ _trisc 949 00000005 = _trisc5___bit equ 5 950 ; line_number = 359 951 ; bind _trisc4 = _trisc@4 952 00000087 = _trisc4___byte equ _trisc 953 00000004 = _trisc4___bit equ 4 954 ; line_number = 360 955 ; bind _trisc3 = _trisc@3 956 00000087 = _trisc3___byte equ _trisc 957 00000003 = _trisc3___bit equ 3 958 ; line_number = 361 959 ; bind _trisc2 = _trisc@2 960 00000087 = _trisc2___byte equ _trisc 961 00000002 = _trisc2___bit equ 2 962 ; line_number = 362 963 ; bind _trisc1 = _trisc@1 964 00000087 = _trisc1___byte equ _trisc 965 00000001 = _trisc1___bit equ 1 966 ; line_number = 363 967 ; bind _trisc0 = _trisc@0 968 00000087 = _trisc0___byte equ _trisc 969 00000000 = _trisc0___bit equ 0 970 971 ; line_number = 365 972 ; register _pie1 = 973 0000008c = _pie1 equ 140 974 ; line_number = 366 975 ; bind _eeie = _pie1@7 976 0000008c = _eeie___byte equ _pie1 977 00000007 = _eeie___bit equ 7 978 ; line_number = 367 979 ; bind _adie = _pie1@6 980 0000008c = _adie___byte equ _pie1 981 00000006 = _adie___bit equ 6 982 ; line_number = 368 983 ; bind _rcie = _pie1@5 984 0000008c = _rcie___byte equ _pie1 985 00000005 = _rcie___bit equ 5 986 ; line_number = 369 987 ; bind _c2ie = _pie1@4 988 0000008c = _c2ie___byte equ _pie1 989 00000004 = _c2ie___bit equ 4 990 ; line_number = 370 991 ; bind _c1ie = _pie1@3 992 0000008c = _c1ie___byte equ _pie1 993 00000003 = _c1ie___bit equ 3 994 ; line_number = 371 995 ; bind _osfie = _pie1@2 996 0000008c = _osfie___byte equ _pie1 997 00000002 = _osfie___bit equ 2 998 ; line_number = 372 999 ; bind _txie = _pie1@1 1000 0000008c = _txie___byte equ _pie1 1001 00000001 = _txie___bit equ 1 1002 ; line_number = 373 1003 ; bind _tmr1ie = _pie1@0 1004 0000008c = _tmr1ie___byte equ _pie1 1005 00000000 = _tmr1ie___bit equ 0 1006 1007 ; line_number = 375 1008 ; register _pcon = 1009 0000008e = _pcon equ 142 1010 ; line_number = 376 1011 ; bind _ulpwue = _pcon@5 1012 0000008e = _ulpwue___byte equ _pcon 1013 00000005 = _ulpwue___bit equ 5 1014 ; line_number = 377 1015 ; bind _sboden = _pcon@4 1016 0000008e = _sboden___byte equ _pcon 1017 00000004 = _sboden___bit equ 4 1018 ; line_number = 378 1019 ; bind _por = _pcon@1 1020 0000008e = _por___byte equ _pcon 1021 00000001 = _por___bit equ 1 1022 ; line_number = 379 1023 ; bind _bod = _pcon@0 1024 0000008e = _bod___byte equ _pcon 1025 00000000 = _bod___bit equ 0 1026 1027 ; line_number = 381 1028 ; register _osccon = 1029 0000008f = _osccon equ 143 1030 ; line_number = 382 1031 ; bind _ircf2 = _osccon@6 1032 0000008f = _ircf2___byte equ _osccon 1033 00000006 = _ircf2___bit equ 6 1034 ; line_number = 383 1035 ; bind _ircf1 = _osccon@5 1036 0000008f = _ircf1___byte equ _osccon 1037 00000005 = _ircf1___bit equ 5 1038 ; line_number = 384 1039 ; bind _ircf0 = _osccon@4 1040 0000008f = _ircf0___byte equ _osccon 1041 00000004 = _ircf0___bit equ 4 1042 ; line_number = 385 1043 ; bind _osts = _osccon@3 1044 0000008f = _osts___byte equ _osccon 1045 00000003 = _osts___bit equ 3 1046 ; line_number = 386 1047 ; bind _hts = _osccon@2 1048 0000008f = _hts___byte equ _osccon 1049 00000002 = _hts___bit equ 2 1050 ; line_number = 387 1051 ; bind _lts = _osccon@3 1052 0000008f = _lts___byte equ _osccon 1053 00000003 = _lts___bit equ 3 1054 ; line_number = 388 1055 ; bind _scs = _osccon@2 1056 0000008f = _scs___byte equ _osccon 1057 00000002 = _scs___bit equ 2 1058 1059 ; line_number = 390 1060 ; register _osctune = 1061 00000090 = _osctune equ 144 1062 ; line_number = 391 1063 ; bind _tun4 = _osctune@4 1064 00000090 = _tun4___byte equ _osctune 1065 00000004 = _tun4___bit equ 4 1066 ; line_number = 392 1067 ; bind _tun3 = _osctune@3 1068 00000090 = _tun3___byte equ _osctune 1069 00000003 = _tun3___bit equ 3 1070 ; line_number = 393 1071 ; bind _tun2 = _osctune@2 1072 00000090 = _tun2___byte equ _osctune 1073 00000002 = _tun2___bit equ 2 1074 ; line_number = 394 1075 ; bind _tun1 = _osctune@1 1076 00000090 = _tun1___byte equ _osctune 1077 00000001 = _tun1___bit equ 1 1078 ; line_number = 395 1079 ; bind _tun0 = _osctune@0 1080 00000090 = _tun0___byte equ _osctune 1081 00000000 = _tun0___bit equ 0 1082 ; line_number = 396 1083 ; constant _osccal_lsb = 1 1084 00000001 = _osccal_lsb equ 1 1085 1086 ; line_number = 398 1087 ; register _ansel = 1088 00000091 = _ansel equ 145 1089 ; line_number = 399 1090 ; bind _ans7 = _ansel@7 1091 00000091 = _ans7___byte equ _ansel 1092 00000007 = _ans7___bit equ 7 1093 ; line_number = 400 1094 ; bind _ans6 = _ansel@6 1095 00000091 = _ans6___byte equ _ansel 1096 00000006 = _ans6___bit equ 6 1097 ; line_number = 401 1098 ; bind _ans5 = _ansel@5 1099 00000091 = _ans5___byte equ _ansel 1100 00000005 = _ans5___bit equ 5 1101 ; line_number = 402 1102 ; bind _ans4 = _ansel@4 1103 00000091 = _ans4___byte equ _ansel 1104 00000004 = _ans4___bit equ 4 1105 ; line_number = 403 1106 ; bind _ans3 = _ansel@3 1107 00000091 = _ans3___byte equ _ansel 1108 00000003 = _ans3___bit equ 3 1109 ; line_number = 404 1110 ; bind _ans2 = _ansel@2 1111 00000091 = _ans2___byte equ _ansel 1112 00000002 = _ans2___bit equ 2 1113 ; line_number = 405 1114 ; bind _ans1 = _ansel@1 1115 00000091 = _ans1___byte equ _ansel 1116 00000001 = _ans1___bit equ 1 1117 ; line_number = 406 1118 ; bind _ans0 = _ansel@0 1119 00000091 = _ans0___byte equ _ansel 1120 00000000 = _ans0___bit equ 0 1121 1122 ; line_number = 408 1123 ; register _wpua = 1124 00000095 = _wpua equ 149 1125 ; line_number = 409 1126 ; bind _wpua5 = _wpua@5 1127 00000095 = _wpua5___byte equ _wpua 1128 00000005 = _wpua5___bit equ 5 1129 ; line_number = 410 1130 ; bind _wpua4 = _wpua@4 1131 00000095 = _wpua4___byte equ _wpua 1132 00000004 = _wpua4___bit equ 4 1133 ; line_number = 411 1134 ; bind _wpua2 = _wpua@2 1135 00000095 = _wpua2___byte equ _wpua 1136 00000002 = _wpua2___bit equ 2 1137 ; line_number = 412 1138 ; bind _wpua1 = _wpua@1 1139 00000095 = _wpua1___byte equ _wpua 1140 00000001 = _wpua1___bit equ 1 1141 ; line_number = 413 1142 ; bind _wpua0 = _wpua@0 1143 00000095 = _wpua0___byte equ _wpua 1144 00000000 = _wpua0___bit equ 0 1145 1146 ; line_number = 415 1147 ; register _ioca = 1148 00000096 = _ioca equ 150 1149 ; line_number = 416 1150 ; bind _ioca5 = _ioca@5 1151 00000096 = _ioca5___byte equ _ioca 1152 00000005 = _ioca5___bit equ 5 1153 ; line_number = 417 1154 ; bind _ioca4 = _ioca@4 1155 00000096 = _ioca4___byte equ _ioca 1156 00000004 = _ioca4___bit equ 4 1157 ; line_number = 418 1158 ; bind _ioca3 = _ioca@3 1159 00000096 = _ioca3___byte equ _ioca 1160 00000003 = _ioca3___bit equ 3 1161 ; line_number = 419 1162 ; bind _ioca2 = _ioca@2 1163 00000096 = _ioca2___byte equ _ioca 1164 00000002 = _ioca2___bit equ 2 1165 ; line_number = 420 1166 ; bind _ioca1 = _ioca@1 1167 00000096 = _ioca1___byte equ _ioca 1168 00000001 = _ioca1___bit equ 1 1169 ; line_number = 421 1170 ; bind _ioca0 = _ioca@0 1171 00000096 = _ioca0___byte equ _ioca 1172 00000000 = _ioca0___bit equ 0 1173 1174 ; line_number = 423 1175 ; register _eedath = 1176 00000097 = _eedath equ 151 1177 1178 ; line_number = 425 1179 ; register _eeadrh = 1180 00000098 = _eeadrh equ 152 1181 1182 ; line_number = 427 1183 ; register _vrcon = 1184 00000099 = _vrcon equ 153 1185 ; line_number = 428 1186 ; bind _vren = _vrcon@7 1187 00000099 = _vren___byte equ _vrcon 1188 00000007 = _vren___bit equ 7 1189 ; line_number = 429 1190 ; bind _vrr = _vrcon@5 1191 00000099 = _vrr___byte equ _vrcon 1192 00000005 = _vrr___bit equ 5 1193 ; line_number = 430 1194 ; bind _vr3 = _vrcon@3 1195 00000099 = _vr3___byte equ _vrcon 1196 00000003 = _vr3___bit equ 3 1197 ; line_number = 431 1198 ; bind _vr2 = _vrcon@2 1199 00000099 = _vr2___byte equ _vrcon 1200 00000002 = _vr2___bit equ 2 1201 ; line_number = 432 1202 ; bind _vr1 = _vrcon@1 1203 00000099 = _vr1___byte equ _vrcon 1204 00000001 = _vr1___bit equ 1 1205 ; line_number = 433 1206 ; bind _vr0 = _vrcon@0 1207 00000099 = _vr0___byte equ _vrcon 1208 00000000 = _vr0___bit equ 0 1209 1210 ; line_number = 435 1211 ; register _eedata = 1212 0000009a = _eedata equ 154 1213 ; line_number = 436 1214 ; bind _eedat7 = _eedata@7 1215 0000009a = _eedat7___byte equ _eedata 1216 00000007 = _eedat7___bit equ 7 1217 ; line_number = 437 1218 ; bind _eedat6 = _eedata@6 1219 0000009a = _eedat6___byte equ _eedata 1220 00000006 = _eedat6___bit equ 6 1221 ; line_number = 438 1222 ; bind _eedat5 = _eedata@5 1223 0000009a = _eedat5___byte equ _eedata 1224 00000005 = _eedat5___bit equ 5 1225 ; line_number = 439 1226 ; bind _eedat4 = _eedata@4 1227 0000009a = _eedat4___byte equ _eedata 1228 00000004 = _eedat4___bit equ 4 1229 ; line_number = 440 1230 ; bind _eedat3 = _eedata@3 1231 0000009a = _eedat3___byte equ _eedata 1232 00000003 = _eedat3___bit equ 3 1233 ; line_number = 441 1234 ; bind _eedat2 = _eedata@2 1235 0000009a = _eedat2___byte equ _eedata 1236 00000002 = _eedat2___bit equ 2 1237 ; line_number = 442 1238 ; bind _eedat1 = _eedata@1 1239 0000009a = _eedat1___byte equ _eedata 1240 00000001 = _eedat1___bit equ 1 1241 ; line_number = 443 1242 ; bind _eedat0 = _eedata@0 1243 0000009a = _eedat0___byte equ _eedata 1244 00000000 = _eedat0___bit equ 0 1245 1246 ; line_number = 445 1247 ; register _eeadr = 1248 0000009b = _eeadr equ 155 1249 ; line_number = 446 1250 ; bind _eeadr7 = _eeadr@7 1251 0000009b = _eeadr7___byte equ _eeadr 1252 00000007 = _eeadr7___bit equ 7 1253 ; line_number = 447 1254 ; bind _eeadr6 = _eeadr@6 1255 0000009b = _eeadr6___byte equ _eeadr 1256 00000006 = _eeadr6___bit equ 6 1257 ; line_number = 448 1258 ; bind _eeadr5 = _eeadr@5 1259 0000009b = _eeadr5___byte equ _eeadr 1260 00000005 = _eeadr5___bit equ 5 1261 ; line_number = 449 1262 ; bind _eeadr4 = _eeadr@4 1263 0000009b = _eeadr4___byte equ _eeadr 1264 00000004 = _eeadr4___bit equ 4 1265 ; line_number = 450 1266 ; bind _eeadr3 = _eeadr@3 1267 0000009b = _eeadr3___byte equ _eeadr 1268 00000003 = _eeadr3___bit equ 3 1269 ; line_number = 451 1270 ; bind _eeadr2 = _eeadr@2 1271 0000009b = _eeadr2___byte equ _eeadr 1272 00000002 = _eeadr2___bit equ 2 1273 ; line_number = 452 1274 ; bind _eeadr1 = _eeadr@1 1275 0000009b = _eeadr1___byte equ _eeadr 1276 00000001 = _eeadr1___bit equ 1 1277 ; line_number = 453 1278 ; bind _eeadr0 = _eeadr@0 1279 0000009b = _eeadr0___byte equ _eeadr 1280 00000000 = _eeadr0___bit equ 0 1281 1282 ; line_number = 455 1283 ; register _eecon1 = 1284 0000009c = _eecon1 equ 156 1285 ; line_number = 456 1286 ; bind _eepgd = _eecon1@7 1287 0000009c = _eepgd___byte equ _eecon1 1288 00000007 = _eepgd___bit equ 7 1289 ; line_number = 457 1290 ; bind _wrerr = _eecon1@3 1291 0000009c = _wrerr___byte equ _eecon1 1292 00000003 = _wrerr___bit equ 3 1293 ; line_number = 458 1294 ; bind _wren = _eecon1@2 1295 0000009c = _wren___byte equ _eecon1 1296 00000002 = _wren___bit equ 2 1297 ; line_number = 459 1298 ; bind _wr = _eecon1@1 1299 0000009c = _wr___byte equ _eecon1 1300 00000001 = _wr___bit equ 1 1301 ; line_number = 460 1302 ; bind _rd = _eecon1@0 1303 0000009c = _rd___byte equ _eecon1 1304 00000000 = _rd___bit equ 0 1305 1306 ; line_number = 462 1307 ; register _eecon2 = 1308 0000009d = _eecon2 equ 157 1309 1310 ; line_number = 464 1311 ; register _adresl = 1312 0000009e = _adresl equ 158 1313 1314 ; line_number = 466 1315 ; register _adcon1 = 1316 0000009f = _adcon1 equ 159 1317 ; line_number = 467 1318 ; bind _adcs2 = _adcon1@6 1319 0000009f = _adcs2___byte equ _adcon1 1320 00000006 = _adcs2___bit equ 6 1321 ; line_number = 468 1322 ; bind _adcs1 = _adcon1@5 1323 0000009f = _adcs1___byte equ _adcon1 1324 00000005 = _adcs1___bit equ 5 1325 ; line_number = 469 1326 ; bind _adcs0 = _adcon1@4 1327 0000009f = _adcs0___byte equ _adcon1 1328 00000004 = _adcs0___bit equ 4 1329 1330 ; # Data Bank 2 (0x100 - 0x17f): 1331 1332 ; buffer = '_robobricks_pic16f688' 1333 ; line_number = 6 1334 ; library _pic16f688 exited 1335 ; line_number = 7 1336 ; library clock8mhz entered 1337 ; # Copyright (c) 2004-2005 by Wayne C. Gramlich 1338 ; # All rights reserved. 1339 1340 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 1341 ; # and {clocks_per_instruction}. 1342 1343 ; # Define processor constants: 1344 ; buffer = 'clock8mhz' 1345 ; line_number = 9 1346 ; constant clock_rate = 8000000 1347 007a1200 = clock_rate equ 8000000 1348 ; line_number = 10 1349 ; constant clocks_per_instruction = 4 1350 00000004 = clocks_per_instruction equ 4 1351 ; line_number = 11 1352 ; constant instruction_rate = clock_rate / clocks_per_instruction 1353 001e8480 = instruction_rate equ 2000000 1354 ; line_number = 12 1355 ; constant microsecond = 2 1356 00000002 = microsecond equ 2 1357 1358 1359 ; buffer = '_robobricks_pic16f688' 1360 ; line_number = 7 1361 ; library clock8mhz exited 1362 1363 ; # Get some EUSART constants defined: 1364 ; line_number = 10 1365 ; constant _eusart_clock = clock_rate 1366 007a1200 = _eusart_clock equ 8000000 1367 ; line_number = 11 1368 ; constant _eusart_factor = 4 1369 00000004 = _eusart_factor equ 4 1370 ; line_number = 12 1371 ; library _eusart entered 1372 1373 ; # Copyright (c) 2005 by Wayne C. Gramlich 1374 ; # All rights reserved. 1375 1376 ; # This library contains a bunch of definitions for the Enhanced Universal 1377 ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available 1378 ; # on many of the PIC microcontrollers. 1379 1380 ; # In order to use this module you have to get two constants defined 1381 ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. 1382 ; # {_eusart_clock} should be set to the frequency oscillator for the chip. 1383 ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether 1384 ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: 1385 ; # 1386 ; # _{brg16} {_brgh} _{eusart_factor} 1387 ; # 0 0 64 1388 ; # 0 1 16 1389 ; # 1 0 16 1390 ; # 1 1 1391 1392 ; # 2400 baud: 1393 ; buffer = '_eusart' 1394 ; line_number = 23 1395 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 1396 00000340 = _eusart_2400 equ 832 1397 ; line_number = 24 1398 ; constant _eusart_2400_low = _eusart_2400 & 0xff 1399 00000040 = _eusart_2400_low equ 64 1400 ; line_number = 25 1401 ; constant _eusart_2400_high = _eusart_2400 >> 8 1402 00000003 = _eusart_2400_high equ 3 1403 ; line_number = 26 1404 ; constant _eusart_2400_index = 0 1405 00000000 = _eusart_2400_index equ 0 1406 ; # 4800 baud: 1407 ; line_number = 28 1408 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 1409 0000019f = _eusart_4800 equ 415 1410 ; line_number = 29 1411 ; constant _eusart_4800_low = _eusart_4800 & 0xff 1412 0000009f = _eusart_4800_low equ 159 1413 ; line_number = 30 1414 ; constant _eusart_4800_high = _eusart_4800 >> 8 1415 00000001 = _eusart_4800_high equ 1 1416 ; line_number = 31 1417 ; constant _eusart_4800_index = 1 1418 00000001 = _eusart_4800_index equ 1 1419 ; # 9600 baud: 1420 ; line_number = 33 1421 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 1422 000000cf = _eusart_9600 equ 207 1423 ; line_number = 34 1424 ; constant _eusart_9600_low = _eusart_9600 & 0xff 1425 000000cf = _eusart_9600_low equ 207 1426 ; line_number = 35 1427 ; constant _eusart_9600_high = _eusart_9600 >> 8 1428 00000000 = _eusart_9600_high equ 0 1429 ; line_number = 36 1430 ; constant _eusart_9600_index = 2 1431 00000002 = _eusart_9600_index equ 2 1432 ; # 19200 baud: 1433 ; line_number = 38 1434 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 1435 00000067 = _eusart_19200 equ 103 1436 ; line_number = 39 1437 ; constant _eusart_19200_low = _eusart_19200 & 0xff 1438 00000067 = _eusart_19200_low equ 103 1439 ; line_number = 40 1440 ; constant _eusart_19200_high = _eusart_19200 >> 8 1441 00000000 = _eusart_19200_high equ 0 1442 ; line_number = 41 1443 ; constant _eusart_19200_index = 3 1444 00000003 = _eusart_19200_index equ 3 1445 ; # 38400 baud: 1446 ; line_number = 43 1447 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 1448 00000033 = _eusart_38400 equ 51 1449 ; line_number = 44 1450 ; constant _eusart_38400_low = _eusart_38400 & 0xff 1451 00000033 = _eusart_38400_low equ 51 1452 ; line_number = 45 1453 ; constant _eusart_38400_high = _eusart_38400 >> 8 1454 00000000 = _eusart_38400_high equ 0 1455 ; line_number = 46 1456 ; constant _eusart_38400_index = 4 1457 00000004 = _eusart_38400_index equ 4 1458 ; # 57600 baud: 1459 ; line_number = 48 1460 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 1461 00000021 = _eusart_57600 equ 33 1462 ; line_number = 49 1463 ; constant _eusart_57600_low = _eusart_57600 & 0xff 1464 00000021 = _eusart_57600_low equ 33 1465 ; line_number = 50 1466 ; constant _eusart_57600_high = _eusart_57600 >> 8 1467 00000000 = _eusart_57600_high equ 0 1468 ; line_number = 51 1469 ; constant _eusart_57600_index = 5 1470 00000005 = _eusart_57600_index equ 5 1471 ; # 115200 baud: 1472 ; line_number = 53 1473 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 1474 00000010 = _eusart_115200 equ 16 1475 ; line_number = 54 1476 ; constant _eusart_115200_low = _eusart_115200 & 0xff 1477 00000010 = _eusart_115200_low equ 16 1478 ; line_number = 55 1479 ; constant _eusart_115200_high = _eusart_115200 >> 8 1480 00000000 = _eusart_115200_high equ 0 1481 ; line_number = 56 1482 ; constant _eusart_115200_index = 6 1483 00000006 = _eusart_115200_index equ 6 1484 ; # 203400 baud: 1485 ; line_number = 58 1486 ; constant _eusart_203400 = (_eusart_clock / (203400 * _eusart_factor)) - 1 1487 00000008 = _eusart_203400 equ 8 1488 ; line_number = 59 1489 ; constant _eusart_203400_low = _eusart_203400 & 0xff 1490 00000008 = _eusart_203400_low equ 8 1491 ; line_number = 60 1492 ; constant _eusart_203400_high = _eusart_203400 >> 8 1493 00000000 = _eusart_203400_high equ 0 1494 ; line_number = 61 1495 ; constant _eusart_203400_index = 7 1496 00000007 = _eusart_203400_index equ 7 1497 1498 1499 ; buffer = '_robobricks_pic16f688' 1500 ; line_number = 12 1501 ; library _eusart exited 1502 1503 ; line_number = 14 1504 ; global debug_mode bit 1505 0000006f = debug_mode___byte equ globals___0+79 1506 00000000 = debug_mode___bit equ 0 1507 ; line_number = 15 1508 ; global in_byte_get bit 1509 0000006f = in_byte_get___byte equ globals___0+79 1510 00000001 = in_byte_get___bit equ 1 1511 1512 ; Delaying code generation for procedure byte_get 1513 ; Delaying code generation for procedure byte_put 1514 ; Delaying code generation for procedure baud_rate_low 1515 ; Delaying code generation for procedure baud_rate_high 1516 1517 ; buffer = 'servo4' 1518 ; line_number = 6 1519 ; library _robobricks_pic16f688 exited 1520 1521 ; line_number = 8 1522 ; package pdip 1523 ; line_number = 9 1524 ; pin 1 = power_supply 1525 ; line_number = 10 1526 ; pin 2 = ra5_out, name = servo0, bit = servo0_bit, mask = servo0_mask 1527 00000005 = servo0___byte equ _porta 1528 00000005 = servo0___bit equ 5 1529 00000005 = servo0_bit equ 5 1530 00000020 = servo0_mask equ 32 1531 ; line_number = 11 1532 ; pin 3 = ra4_in, name = debug 1533 00000005 = debug___byte equ _porta 1534 00000004 = debug___bit equ 4 1535 ; line_number = 12 1536 ; pin 4 = ra3_in, name = cal_mode 1537 00000005 = cal_mode___byte equ _porta 1538 00000004 = cal_mode___bit equ 4 1539 ; line_number = 13 1540 ; pin 5 = rx 1541 ; line_number = 14 1542 ; pin 6 = tx 1543 ; line_number = 15 1544 ; pin 7 = rc3_out, name = servo1, bit = servo1_bit, mask = servo1_mask 1545 00000007 = servo1___byte equ _portc 1546 00000003 = servo1___bit equ 3 1547 00000003 = servo1_bit equ 3 1548 00000008 = servo1_mask equ 8 1549 ; line_number = 16 1550 ; pin 8 = rc2_out, name = servo2, bit = servo2_bit, mask = servo2_mask 1551 00000007 = servo2___byte equ _portc 1552 00000002 = servo2___bit equ 2 1553 00000002 = servo2_bit equ 2 1554 00000004 = servo2_mask equ 4 1555 ; line_number = 17 1556 ; pin 9 = rc1_out, name = servo3, bit = servo3_bit, mask = servo3_mask 1557 00000007 = servo3___byte equ _portc 1558 00000001 = servo3___bit equ 1 1559 00000001 = servo3_bit equ 1 1560 00000002 = servo3_mask equ 2 1561 ; line_number = 18 1562 ; pin 10 = an4, name = sense3 1563 00000007 = sense3___byte equ _portc 1564 00000000 = sense3___bit equ 0 1565 ; line_number = 19 1566 ; pin 11 = an2, name = sense2 1567 00000005 = sense2___byte equ _porta 1568 00000002 = sense2___bit equ 2 1569 ; line_number = 20 1570 ; pin 12 = an1, name = sense0 1571 00000005 = sense0___byte equ _porta 1572 00000001 = sense0___bit equ 1 1573 ; line_number = 21 1574 ; pin 13 = an0, name = sense1 1575 00000005 = sense1___byte equ _porta 1576 00000000 = sense1___bit equ 0 1577 ; line_number = 22 1578 ; pin 14 = ground 1579 ; line_number = 23 1580 ; bind tris_servo0 = _trisa@servo0_bit 1581 00000085 = tris_servo0___byte equ _trisa 1582 00000005 = tris_servo0___bit equ 5 1583 ; line_number = 24 1584 ; bind tris_servo1 = _trisc@servo1_bit 1585 00000087 = tris_servo1___byte equ _trisc 1586 00000003 = tris_servo1___bit equ 3 1587 ; line_number = 25 1588 ; bind tris_servo2 = _trisc@servo2_bit 1589 00000087 = tris_servo2___byte equ _trisc 1590 00000002 = tris_servo2___bit equ 2 1591 ; line_number = 26 1592 ; bind tris_servo3 = _trisc@servo3_bit 1593 00000087 = tris_servo3___byte equ _trisc 1594 00000001 = tris_servo3___bit equ 1 1595 1596 ; line_number = 28 1597 ; constant trisa_inputs = servo0_mask 1598 00000020 = trisa_inputs equ 32 1599 ; line_number = 29 1600 ; constant trisc_inputs = servo1_mask | servo2_mask | servo3_mask 1601 0000000e = trisc_inputs equ 14 1602 ; line_number = 30 1603 ; constant rx_mask = 1 << 5 1604 00000020 = rx_mask equ 32 1605 1606 ; #configure cp=on, wdte=on 1607 1608 ; # Define the pin bindings: 1609 ; line_number = 35 1610 ; constant initial_minimum = 1000 1611 000003e8 = initial_minimum equ 1000 1612 ; line_number = 36 1613 ; constant initial_maximum = 2000 1614 000007d0 = initial_maximum equ 2000 1615 ; line_number = 37 1616 ; constant initial_scale = (initial_maximum - initial_minimum) >> 4 1617 0000003e = initial_scale equ 62 1618 ; line_number = 38 1619 ; constant initial_high = initial_minimum >> 8 1620 00000003 = initial_high equ 3 1621 ; line_number = 39 1622 ; constant initial_low = initial_minimum & 0xff 1623 000000e8 = initial_low equ 232 1624 1625 ; line_number = 41 1626 ; global analogs[4] array[byte] 1627 00000023 = analogs equ globals___0+3 1628 1629 ; # The next {eedata_size} bytes are saved and restored from EEData: 1630 ; line_number = 44 1631 ; constant eedata_size = 13 1632 0000000d = eedata_size equ 13 1633 ; line_number = 45 1634 ; global base_lows[4] array[byte] 1635 00000027 = base_lows equ globals___0+7 1636 ; line_number = 46 1637 ; global base_highs[4] array[byte] 1638 0000002b = base_highs equ globals___0+11 1639 ; line_number = 47 1640 ; global scales[4] array[byte] 1641 0000002f = scales equ globals___0+15 1642 ; line_number = 48 1643 ; global address byte 1644 00000033 = address equ globals___0+19 1645 1646 ; line_number = 50 1647 ; global fines[4] array[byte] 1648 00000034 = fines equ globals___0+20 1649 ; line_number = 51 1650 ; global positions[4] array[byte] 1651 00000038 = positions equ globals___0+24 1652 ; line_number = 52 1653 ; global interrupts byte 1654 0000003c = interrupts equ globals___0+28 1655 ; line_number = 53 1656 ; global enables byte 1657 0000003d = enables equ globals___0+29 1658 1659 ; line_number = 55 1660 ; global command_previous byte 1661 0000003e = command_previous equ globals___0+30 1662 ; line_number = 56 1663 ; global command_last byte 1664 0000003f = command_last equ globals___0+31 1665 ; line_number = 57 1666 ; global sent_previous byte 1667 00000040 = sent_previous equ globals___0+32 1668 ; line_number = 58 1669 ; global sent_last byte 1670 00000041 = sent_last equ globals___0+33 1671 1672 ; line_number = 60 1673 ; origin 0 1674 0000 : org 0 1675 1676 ; line_number = 62 1677 ; procedure start_up 1678 0000 : start_up: 1679 ; arguments_none 1680 ; line_number = 64 1681 ; returns_nothing 1682 1683 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 1684 ; line_number = 66 1685 ; assemble 1686 ; line_number = 67 1687 0000 2823 goto main 1688 1689 ; delay after procedure statements=non-uniform 1690 ; Implied return 1691 0001 3400 retlw 0 1692 1693 1694 1695 1696 ; line_number = 69 1697 ; origin 4 1698 0004 : org 4 1699 1700 ; line_number = 71 1701 ; procedure interrupt 1702 0004 : interrupt: 1703 00000043 = interrupt___w_save equ globals___0+35 1704 00000042 = interrupt___status_save equ globals___0+34 1705 ; Carefully save __w and __tatus into RAM 1706 ; Save W first (easy) 1707 0004 00c3 movwf interrupt___w_save 1708 ; Save Status without smashing it (tricky) 1709 ; Move swapped version of status into W 1710 0005 0e03 swapf __status,w 1711 ; Store swapped version of status into RAM 1712 0006 00c2 movwf interrupt___status_save 1713 ; arguments_none 1714 ; line_number = 73 1715 ; returns_nothing 1716 1717 ; before procedure statements delay=non-uniform, bit states=(data:00=>?? code:XX=>XX) 1718 ; line_number = 75 1719 ; servo0 := 0 1720 0007 1283 bcf __rp0___byte, __rp0___bit 1721 0008 1303 bcf __rp1___byte, __rp1___bit 1722 0009 1285 bcf servo0___byte, servo0___bit 1723 ; line_number = 76 1724 ; servo1 := 0 1725 000a 1187 bcf servo1___byte, servo1___bit 1726 ; line_number = 77 1727 ; servo2 := 0 1728 000b 1107 bcf servo2___byte, servo2___bit 1729 ; line_number = 78 1730 ; servo3 := 0 1731 000c 1087 bcf servo3___byte, servo3___bit 1732 ; line_number = 79 1733 ; tris_servo0 := 0 1734 000d 1683 bsf __rp0___byte, __rp0___bit 1735 000e 1285 bcf tris_servo0___byte, tris_servo0___bit 1736 ; line_number = 80 1737 ; tris_servo1 := 0 1738 000f 1187 bcf tris_servo1___byte, tris_servo1___bit 1739 ; line_number = 81 1740 ; tris_servo2 := 0 1741 0010 1107 bcf tris_servo2___byte, tris_servo2___bit 1742 ; line_number = 82 1743 ; tris_servo3 := 0 1744 0011 1087 bcf tris_servo3___byte, tris_servo3___bit 1745 ; line_number = 83 1746 ; _tmr1if := 0 1747 0012 1283 bcf __rp0___byte, __rp0___bit 1748 0013 100c bcf _tmr1if___byte, _tmr1if___bit 1749 1750 ; #assemble 1751 ; # retfie 1752 1753 1754 ; delay after procedure statements=non-uniform 1755 ; Interrupt return 1756 ; Carefully restore __w and __tatus from RAM 1757 ; Restore swapped status into W 1758 0014 0e42 swapf interrupt___status_save,w 1759 ; W now contains (unswapped) status 1760 ; Restore W to __status 1761 0015 0083 movwf __status 1762 ; From here on out, do not modify __status 1763 ; Swap saved W register in RAM 1764 0016 0ec3 swapf interrupt___w_save,f 1765 ; Unswap the saved W reg and restore to W 1766 0017 0e43 swapf interrupt___w_save,w 1767 ; __w and __status are now restored 1768 ; Return from interrupt 1769 0018 0009 retfie 1770 1771 1772 1773 1774 ; line_number = 89 1775 ; procedure us100 1776 0019 : us100: 1777 ; Last argument is sitting in W; save into argument variable 1778 0019 00c4 movwf us100__count 1779 ; delay=4294967295 1780 ; line_number = 90 1781 ; argument count byte 1782 00000044 = us100__count equ globals___0+36 1783 ; line_number = 91 1784 ; returns_nothing 1785 1786 ; # This procedure will delay by {count} * 100uS. 1787 1788 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 1789 ; line_number = 95 1790 ; loop_exactly count start 1791 00000054 = us100__1 equ globals___0+52 1792 001a 0844 movf us100__count,w 1793 001b 00d4 movwf us100__1 1794 001c : us100__2: 1795 ; line_number = 96 1796 ; delay 100 * microsecond start 1797 ; Delay expression evaluates to 200 1798 ; line_number = 97 1799 ; do_nothing 1800 1801 1802 ; Delay 200 cycles 1803 ; Delay loop takes 50 * 4 = 200 cycles 1804 001c 3032 movlw 50 1805 001d : us100__3: 1806 001d 3eff addlw 255 1807 001e 1d03 btfss __z___byte, __z___bit 1808 001f 281d goto us100__3 1809 ; line_number = 96 1810 ; delay 100 * microsecond done 1811 ; line_number = 95 1812 ; loop_exactly count wrap-up 1813 0020 0bd4 decfsz us100__1,f 1814 0021 281c goto us100__2 1815 ; line_number = 95 1816 ; loop_exactly count done 1817 ; delay after procedure statements=non-uniform 1818 ; Implied return 1819 0022 3400 retlw 0 1820 1821 1822 1823 1824 ; line_number = 100 1825 ; constant servo_on = 0 1826 00000000 = servo_on equ 0 1827 ; line_number = 101 1828 ; constant servo_off = 1 1829 00000001 = servo_off equ 1 1830 1831 ; line_number = 103 1832 ; procedure main 1833 0023 : main: 1834 ; Initialize some registers 1835 0023 3001 movlw 1 1836 0024 009f movwf _adcon0 1837 0025 3017 movlw 23 1838 0026 1683 bsf __rp0___byte, __rp0___bit 1839 0027 0091 movwf _ansel 1840 0028 3007 movlw 7 1841 0029 1283 bcf __rp0___byte, __rp0___bit 1842 002a 0099 movwf _cmcon0 1843 002b 301f movlw 31 1844 002c 1683 bsf __rp0___byte, __rp0___bit 1845 002d 0085 movwf _trisa 1846 002e 3031 movlw 49 1847 002f 0087 movwf _trisc 1848 ; arguments_none 1849 ; line_number = 105 1850 ; returns_nothing 1851 1852 ; line_number = 107 1853 ; local command byte 1854 00000045 = main__command equ globals___0+37 1855 ; line_number = 108 1856 ; local glitch byte 1857 00000046 = main__glitch equ globals___0+38 1858 ; line_number = 109 1859 ; local id_index byte 1860 00000047 = main__id_index equ globals___0+39 1861 ; line_number = 110 1862 ; local temporary byte 1863 00000048 = main__temporary equ globals___0+40 1864 ; line_number = 111 1865 ; local servo byte 1866 00000049 = main__servo equ globals___0+41 1867 ; line_number = 112 1868 ; local position byte 1869 0000004a = main__position equ globals___0+42 1870 1871 ; # Switch over to 8MHz: 1872 ; before procedure statements delay=non-uniform, bit states=(data:00=>01 code:XX=>XX) 1873 ; line_number = 115 1874 ; _osccon := 0x71 1875 0030 3071 movlw 113 1876 0031 008f movwf _osccon 1877 1878 ; # Warm up the UART: 1879 ; line_number = 118 1880 ; _txsta := 0x24 1881 0032 3024 movlw 36 1882 0033 1283 bcf __rp0___byte, __rp0___bit 1883 0034 0096 movwf _txsta 1884 ; line_number = 119 1885 ; _rcsta := 0x90 1886 0035 3090 movlw 144 1887 0036 0097 movwf _rcsta 1888 ; line_number = 120 1889 ; _baudctl := 0x08 1890 0037 3008 movlw 8 1891 0038 0091 movwf _baudctl 1892 ; line_number = 121 1893 ; _spbrg := _eusart_2400_low 1894 0039 3040 movlw 64 1895 003a 0093 movwf _spbrg 1896 ; line_number = 122 1897 ; _spbrgh := _eusart_2400_high 1898 003b 3003 movlw 3 1899 003c 0092 movwf _spbrgh 1900 1901 ; # These registers are in data bank 1: 1902 ; line_number = 125 1903 ; _psa := 0 1904 003d 1683 bsf __rp0___byte, __rp0___bit 1905 003e 1181 bcf _psa___byte, _psa___bit 1906 1907 ; line_number = 127 1908 ; loop_forever start 1909 003f : main__1: 1910 ; line_number = 128 1911 ; servo0 := servo_on 1912 003f 1283 bcf __rp0___byte, __rp0___bit 1913 0040 1285 bcf servo0___byte, servo0___bit 1914 ; line_number = 129 1915 ; servo1 := servo_on 1916 0041 1187 bcf servo1___byte, servo1___bit 1917 ; line_number = 130 1918 ; servo2 := servo_on 1919 0042 1107 bcf servo2___byte, servo2___bit 1920 ; line_number = 131 1921 ; servo3 := servo_on 1922 0043 1087 bcf servo3___byte, servo3___bit 1923 1924 ; line_number = 133 1925 ; call us100(15) 1926 0044 300f movlw 15 1927 0045 2019 call us100 1928 1929 ; line_number = 135 1930 ; servo0 := servo_off 1931 0046 1685 bsf servo0___byte, servo0___bit 1932 ; line_number = 136 1933 ; servo1 := servo_off 1934 0047 1587 bsf servo1___byte, servo1___bit 1935 ; line_number = 137 1936 ; servo2 := servo_off 1937 0048 1507 bsf servo2___byte, servo2___bit 1938 ; line_number = 138 1939 ; servo3 := servo_off 1940 0049 1487 bsf servo3___byte, servo3___bit 1941 1942 ; line_number = 140 1943 ; call us100(190) 1944 004a 30be movlw 190 1945 004b 2019 call us100 1946 1947 1948 ; line_number = 127 1949 ; loop_forever wrap-up 1950 004c 283f goto main__1 1951 ; line_number = 127 1952 ; loop_forever done 1953 ; line_number = 143 1954 ; loop_forever start 1955 004d : main__2: 1956 ; line_number = 144 1957 ; _trisa := trisa_inputs 1958 004d 3020 movlw 32 1959 004e 1683 bsf __rp0___byte, __rp0___bit 1960 004f 0085 movwf _trisa 1961 ; line_number = 145 1962 ; _trisc := trisc_inputs | rx_mask 1963 ; Expression is strictly a constant 1964 0050 302e movlw 46 1965 0051 0087 movwf _trisc 1966 ; #servo0 := 0 1967 ; #servo1 := 0 1968 ; #servo2 := 0 1969 ; #servo3 := 0 1970 1971 ; line_number = 151 1972 ; _trisa := 0 1973 0052 3000 movlw 0 1974 0053 0085 movwf _trisa 1975 ; line_number = 152 1976 ; _trisc := rx_mask 1977 0054 3020 movlw 32 1978 0055 0087 movwf _trisc 1979 ; line_number = 153 1980 ; servo0 := 0 1981 0056 1283 bcf __rp0___byte, __rp0___bit 1982 0057 1285 bcf servo0___byte, servo0___bit 1983 ; line_number = 154 1984 ; servo1 := 0 1985 0058 1187 bcf servo1___byte, servo1___bit 1986 ; line_number = 155 1987 ; servo2 := 0 1988 0059 1107 bcf servo2___byte, servo2___bit 1989 ; line_number = 156 1990 ; servo3 := 0 1991 005a 1087 bcf servo3___byte, servo3___bit 1992 ; line_number = 157 1993 ; servo0 := 1 1994 005b 1685 bsf servo0___byte, servo0___bit 1995 ; line_number = 158 1996 ; servo1 := 1 1997 005c 1587 bsf servo1___byte, servo1___bit 1998 ; line_number = 159 1999 ; servo2 := 1 2000 005d 1507 bsf servo2___byte, servo2___bit 2001 ; line_number = 160 2002 ; servo3 := 1 2003 005e 1487 bsf servo3___byte, servo3___bit 2004 2005 ; line_number = 143 2006 ; loop_forever wrap-up 2007 005f 284d goto main__2 2008 ; line_number = 143 2009 ; loop_forever done 2010 ; # These registers are in data bank 0: 2011 ; line_number = 163 2012 ; _t1con := 0x00 2013 0060 3000 movlw 0 2014 0061 0090 movwf _t1con 2015 ; line_number = 164 2016 ; interrupts := 0 2017 0062 3000 movlw 0 2018 0063 00bc movwf interrupts 2019 2020 ; line_number = 166 2021 ; _eeadr := 0 2022 0064 3000 movlw 0 2023 0065 1683 bsf __rp0___byte, __rp0___bit 2024 0066 009b movwf _eeadr 2025 ; line_number = 167 2026 ; loop_exactly 13 start 2027 00000055 = main__3 equ globals___0+53 2028 0067 300d movlw 13 2029 0068 1283 bcf __rp0___byte, __rp0___bit 2030 0069 00d5 movwf main__3 2031 006a : main__4: 2032 ; line_number = 168 2033 ; _rd := 1 2034 006a 1683 bsf __rp0___byte, __rp0___bit 2035 006b 141c bsf _rd___byte, _rd___bit 2036 ; line_number = 169 2037 ; base_lows[_eeadr] := _eedata 2038 ; index_fsr_first 2039 006c 081b movf _eeadr,w 2040 006d 3e27 addlw base_lows 2041 006e 0084 movwf __fsr 2042 006f 081a movf _eedata,w 2043 0070 0080 movwf __indf 2044 ; line_number = 170 2045 ; _eeadr := _eeadr + 1 2046 0071 0a9b incf _eeadr,f 2047 2048 0072 1283 bcf __rp0___byte, __rp0___bit 2049 ; line_number = 167 2050 ; loop_exactly 13 wrap-up 2051 0073 0bd5 decfsz main__3,f 2052 0074 286a goto main__4 2053 ; line_number = 167 2054 ; loop_exactly 13 done 2055 ; line_number = 172 2056 ; if base_lows[0] = 0xff start 2057 ; Left minus Right 2058 0075 0827 movf base_lows,w 2059 0076 3e01 addlw 1 2060 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2061 ; CASE: true_code.size = 0 && false_code.size > 1 2062 ; bit_code_emit_helper1: body_code.size=22 true_test=true body_code.delay=0 (non-uniform delay) 2063 0077 1d03 btfss __z___byte, __z___bit 2064 0078 2891 goto main__7 2065 ; line_number = 173 2066 ; servo := 0 2067 0079 3000 movlw 0 2068 007a 00c9 movwf main__servo 2069 ; line_number = 174 2070 ; loop_exactly 4 start 2071 00000055 = main__5 equ globals___0+53 2072 007b 3004 movlw 4 2073 007c 00d5 movwf main__5 2074 007d : main__6: 2075 ; line_number = 175 2076 ; base_lows[servo] := initial_low 2077 ; index_fsr_first 2078 007d 0849 movf main__servo,w 2079 007e 3e27 addlw base_lows 2080 007f 0084 movwf __fsr 2081 0080 30e8 movlw 232 2082 0081 0080 movwf __indf 2083 ; line_number = 176 2084 ; base_highs[servo] := initial_high 2085 ; index_fsr_first 2086 0082 0849 movf main__servo,w 2087 0083 3e2b addlw base_highs 2088 0084 0084 movwf __fsr 2089 0085 3003 movlw 3 2090 0086 0080 movwf __indf 2091 ; line_number = 177 2092 ; scales[servo] := initial_scale 2093 ; index_fsr_first 2094 0087 0849 movf main__servo,w 2095 0088 3e2f addlw scales 2096 0089 0084 movwf __fsr 2097 008a 303e movlw 62 2098 008b 0080 movwf __indf 2099 ; line_number = 178 2100 ; servo := servo + 1 2101 008c 0ac9 incf main__servo,f 2102 ; line_number = 174 2103 ; loop_exactly 4 wrap-up 2104 008d 0bd5 decfsz main__5,f 2105 008e 287d goto main__6 2106 ; line_number = 174 2107 ; loop_exactly 4 done 2108 ; line_number = 179 2109 ; address := 0xff 2110 008f 30ff movlw 255 2111 0090 00b3 movwf address 2112 ; Recombine size1 = 0 || size2 = 0 2113 0091 : main__7: 2114 ; code.delay=4294967295 back_code.delay=4294967295 2115 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2116 ; line_number = 172 2117 ; if base_lows[0] = 0xff done 2118 ; line_number = 180 2119 ; servo := 0 2120 0091 3000 movlw 0 2121 0092 00c9 movwf main__servo 2122 ; line_number = 181 2123 ; loop_exactly 4 start 2124 00000055 = main__8 equ globals___0+53 2125 0093 3004 movlw 4 2126 0094 00d5 movwf main__8 2127 0095 : main__9: 2128 ; line_number = 182 2129 ; positions[servo] := 0 2130 ; index_fsr_first 2131 0095 0849 movf main__servo,w 2132 0096 3e38 addlw positions 2133 0097 0084 movwf __fsr 2134 0098 3000 movlw 0 2135 0099 0080 movwf __indf 2136 ; line_number = 183 2137 ; fines[servo] := 0 2138 ; index_fsr_first 2139 009a 0849 movf main__servo,w 2140 009b 3e34 addlw fines 2141 009c 0084 movwf __fsr 2142 009d 3000 movlw 0 2143 009e 0080 movwf __indf 2144 ; line_number = 184 2145 ; servo := servo + 1 2146 009f 0ac9 incf main__servo,f 2147 2148 ; line_number = 181 2149 ; loop_exactly 4 wrap-up 2150 00a0 0bd5 decfsz main__8,f 2151 00a1 2895 goto main__9 2152 ; line_number = 181 2153 ; loop_exactly 4 done 2154 ; # For now: 2155 ; #enables := 0xf 2156 ; line_number = 188 2157 ; enables := 0 2158 00a2 3000 movlw 0 2159 00a3 00bd movwf enables 2160 2161 ; # According to the specification sheet, TMR1L, TRM1H, and 2162 ; # TMR1IF must be clear before enabling TMR1IE. Since they 2163 ; # do not say why, it is unclear what problem that this addresses. 2164 ; line_number = 193 2165 ; _tmr1l := 0 2166 00a4 3000 movlw 0 2167 00a5 008e movwf _tmr1l 2168 ; line_number = 194 2169 ; _tmr1h := 0 2170 00a6 3000 movlw 0 2171 00a7 008f movwf _tmr1h 2172 ; line_number = 195 2173 ; _tmr1if := 0 2174 00a8 100c bcf _tmr1if___byte, _tmr1if___bit 2175 ; line_number = 196 2176 ; _tmr1ie := 1 2177 00a9 1683 bsf __rp0___byte, __rp0___bit 2178 00aa 140c bsf _tmr1ie___byte, _tmr1ie___bit 2179 ; line_number = 197 2180 ; _peie := 1 2181 00ab 1283 bcf __rp0___byte, __rp0___bit 2182 00ac 170b bsf _peie___byte, _peie___bit 2183 ; line_number = 198 2184 ; _gie := 1 2185 00ad 178b bsf _gie___byte, _gie___bit 2186 ; line_number = 199 2187 ; _tmr1on := 1 2188 00ae 1410 bsf _tmr1on___byte, _tmr1on___bit 2189 ; #_tmr1ie := 0 2190 ; #_peie := 0 2191 ; #_gie := 0 2192 ; #_tmr1on := 1 2193 2194 ; # Let's initialize the servo's to off: 2195 ; line_number = 206 2196 ; servo0 := 0 2197 00af 1285 bcf servo0___byte, servo0___bit 2198 ; line_number = 207 2199 ; servo1 := 0 2200 00b0 1187 bcf servo1___byte, servo1___bit 2201 ; line_number = 208 2202 ; servo2 := 0 2203 00b1 1107 bcf servo2___byte, servo2___bit 2204 ; line_number = 209 2205 ; servo3 := 0 2206 00b2 1087 bcf servo3___byte, servo3___bit 2207 2208 ; line_number = 211 2209 ; glitch := 0 2210 00b3 3000 movlw 0 2211 00b4 00c6 movwf main__glitch 2212 ; line_number = 212 2213 ; id_index := 0 2214 00b5 3000 movlw 0 2215 00b6 00c7 movwf main__id_index 2216 2217 ; line_number = 214 2218 ; loop_forever start 2219 00b7 : main__10: 2220 ; line_number = 215 2221 ; command := byte_get() 2222 00b7 22eb call byte_get 2223 00b8 00c5 movwf main__command 2224 ; line_number = 216 2225 ; servo := command & 3 2226 00b9 3003 movlw 3 2227 00ba 0545 andwf main__command,w 2228 00bb 00c9 movwf main__servo 2229 ; line_number = 217 2230 ; switch command >> 6 start 2231 00bc 3000 movlw main__87>>8 2232 00bd 008a movwf __pclath 2233 00000055 = main__88 equ globals___0+53 2234 00be 0e45 swapf main__command,w 2235 00bf 00d5 movwf main__88 2236 00c0 0cd5 rrf main__88,f 2237 00c1 0c55 rrf main__88,w 2238 00c2 3903 andlw 3 2239 00c3 3ec5 addlw main__87 2240 00c4 0082 movwf __pcl 2241 ; page_group 4 2242 00c5 : main__87: 2243 00c5 28c9 goto main__83 2244 00c6 2907 goto main__84 2245 00c7 291b goto main__85 2246 00c8 292f goto main__86 2247 ; line_number = 218 2248 ; case 0 2249 00c9 : main__83: 2250 ; # 00xx xxxx 2251 ; line_number = 220 2252 ; switch (command >> 3) & 7 start 2253 00c9 3000 movlw main__20>>8 2254 00ca 008a movwf __pclath 2255 00000055 = main__21 equ globals___0+53 2256 00cb 0c45 rrf main__command,w 2257 00cc 00d5 movwf main__21 2258 00cd 0cd5 rrf main__21,f 2259 00ce 0c55 rrf main__21,w 2260 00cf 3907 andlw 7 2261 00d0 3ed2 addlw main__20 2262 00d1 0082 movwf __pcl 2263 ; page_group 8 2264 00d2 : main__20: 2265 00d2 28da goto main__15 2266 00d3 28e5 goto main__16 2267 00d4 28f0 goto main__17 2268 00d5 28fb goto main__18 2269 00d6 2906 goto main__19 2270 00d7 2906 goto main__19 2271 00d8 2906 goto main__19 2272 00d9 2906 goto main__19 2273 ; line_number = 221 2274 ; case 0 2275 00da : main__15: 2276 ; # 0000 0xxx: 2277 ; line_number = 223 2278 ; temporary := byte_get() 2279 00da 22eb call byte_get 2280 00db 00c8 movwf main__temporary 2281 ; line_number = 224 2282 ; if command@2 start 2283 00000045 = main__select__11___byte equ main__command 2284 00000002 = main__select__11___bit equ 2 2285 ; # 0000 01ss (Write Base High): 2286 ; line_number = 226 2287 ; base_highs[servo] := temporary 2288 ; index_fsr_first 2289 00dc 0849 movf main__servo,w 2290 ; # 0000 00ss (Write Base Low): 2291 ; line_number = 229 2292 ; base_lows[servo] := temporary 2293 ; index_fsr_first 2294 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2295 ; CASE: true_size=1 && false_size=1 2296 ; SUBCASE: Double test; true, then false 2297 00dd 1945 btfsc main__select__11___byte, main__select__11___bit 2298 00de 3e2b addlw base_highs 2299 00df 1d45 btfss main__select__11___byte, main__select__11___bit 2300 00e0 3e27 addlw base_lows 2301 ; code.delay=4294967295 back_code.delay=4294967295 2302 00e1 0084 movwf __fsr 2303 00e2 0848 movf main__temporary,w 2304 00e3 0080 movwf __indf 2305 ; <=bit_code_emit@symbol; sym=main__select__11 (data:00=>00 code:XX=>XX) 2306 ; line_number = 224 2307 ; if command@2 done 2308 00e4 2906 goto main__22 2309 ; line_number = 230 2310 ; case 1 2311 00e5 : main__16: 2312 ; # 0000 1xxx: 2313 ; line_number = 232 2314 ; temporary := byte_get() 2315 00e5 22eb call byte_get 2316 00e6 00c8 movwf main__temporary 2317 ; line_number = 233 2318 ; if command@2 start 2319 00000045 = main__select__12___byte equ main__command 2320 00000002 = main__select__12___bit equ 2 2321 ; # 0000 11ss (Write Scale): 2322 ; line_number = 235 2323 ; scales[servo] := temporary 2324 ; index_fsr_first 2325 00e7 0849 movf main__servo,w 2326 ; # 0000 10ss (Write Position) 2327 ; line_number = 238 2328 ; positions[servo] := temporary 2329 ; index_fsr_first 2330 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2331 ; CASE: true_size=1 && false_size=1 2332 ; SUBCASE: Double test; true, then false 2333 00e8 1945 btfsc main__select__12___byte, main__select__12___bit 2334 00e9 3e2f addlw scales 2335 00ea 1d45 btfss main__select__12___byte, main__select__12___bit 2336 00eb 3e38 addlw positions 2337 ; code.delay=4294967295 back_code.delay=4294967295 2338 00ec 0084 movwf __fsr 2339 00ed 0848 movf main__temporary,w 2340 00ee 0080 movwf __indf 2341 ; <=bit_code_emit@symbol; sym=main__select__12 (data:00=>00 code:XX=>XX) 2342 ; line_number = 233 2343 ; if command@2 done 2344 00ef 2906 goto main__22 2345 ; line_number = 239 2346 ; case 2 2347 00f0 : main__17: 2348 ; # 0001 0xxx: 2349 ; line_number = 241 2350 ; if command@2 start 2351 00000045 = main__select__13___byte equ main__command 2352 00000002 = main__select__13___bit equ 2 2353 ; # 0001 01ss (Read Base High): 2354 ; line_number = 243 2355 ; temporary := base_highs[servo] 2356 00f0 0849 movf main__servo,w 2357 ; # 0001 00ss (Read Base Low): 2358 ; line_number = 246 2359 ; temporary := base_lows[servo] 2360 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2361 ; CASE: true_size=1 && false_size=1 2362 ; SUBCASE: Double test; true, then false 2363 00f1 1945 btfsc main__select__13___byte, main__select__13___bit 2364 00f2 3e2b addlw base_highs 2365 00f3 1d45 btfss main__select__13___byte, main__select__13___bit 2366 00f4 3e27 addlw base_lows 2367 ; code.delay=4294967295 back_code.delay=4294967295 2368 00f5 0084 movwf __fsr 2369 00f6 0800 movf __indf,w 2370 00f7 00c8 movwf main__temporary 2371 ; <=bit_code_emit@symbol; sym=main__select__13 (data:XX=>00 code:XX=>XX) 2372 ; line_number = 241 2373 ; if command@2 done 2374 ; line_number = 247 2375 ; call byte_put(temporary) 2376 00f8 0848 movf main__temporary,w 2377 00f9 22f6 call byte_put 2378 00fa 2906 goto main__22 2379 ; line_number = 248 2380 ; case 3 2381 00fb : main__18: 2382 ; # 0001 1xxx: 2383 ; line_number = 250 2384 ; if command@2 start 2385 00000045 = main__select__14___byte equ main__command 2386 00000002 = main__select__14___bit equ 2 2387 ; # 0001 11ss (Read Scale): 2388 ; line_number = 252 2389 ; temporary := scales[servo] 2390 00fb 0849 movf main__servo,w 2391 ; # 0001 10ss (Read Position): 2392 ; line_number = 255 2393 ; temporary := positions[servo] 2394 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2395 ; CASE: true_size=1 && false_size=1 2396 ; SUBCASE: Double test; true, then false 2397 00fc 1945 btfsc main__select__14___byte, main__select__14___bit 2398 00fd 3e2f addlw scales 2399 00fe 1d45 btfss main__select__14___byte, main__select__14___bit 2400 00ff 3e38 addlw positions 2401 ; code.delay=4294967295 back_code.delay=4294967295 2402 0100 0084 movwf __fsr 2403 0101 0800 movf __indf,w 2404 0102 00c8 movwf main__temporary 2405 ; <=bit_code_emit@symbol; sym=main__select__14 (data:XX=>00 code:XX=>XX) 2406 ; line_number = 250 2407 ; if command@2 done 2408 ; line_number = 256 2409 ; call byte_put(temporary) 2410 0103 0848 movf main__temporary,w 2411 0104 22f6 call byte_put 2412 0105 2906 goto main__22 2413 ; line_number = 257 2414 ; case 4, 5, 6, 7 2415 0106 : main__19: 2416 ; # 001x xxxx: 2417 ; line_number = 259 2418 ; do_nothing 2419 0106 : main__22: 2420 ; switch end:(data:00=>?? code:XX=>XX) 2421 ; line_number = 220 2422 ; switch (command >> 3) & 7 done 2423 0106 2a0f goto main__89 2424 ; line_number = 260 2425 ; case 1 2426 0107 : main__84: 2427 ; # 01hh hhhh (Set High): 2428 ; line_number = 262 2429 ; position := positions[servo] 2430 0107 0849 movf main__servo,w 2431 0108 3e38 addlw positions 2432 0109 0084 movwf __fsr 2433 010a 0800 movf __indf,w 2434 010b 00ca movwf main__position 2435 ; line_number = 263 2436 ; position := position & 0xf | (command << 2) & 0xf0 2437 00000055 = main__23 equ globals___0+53 2438 010c 300f movlw 15 2439 010d 054a andwf main__position,w 2440 010e 00d5 movwf main__23 2441 00000056 = main__24 equ globals___0+54 2442 010f 0d45 rlf main__command,w 2443 0110 00d6 movwf main__24 2444 0111 0d56 rlf main__24,w 2445 0112 39f0 andlw 240 2446 0113 0455 iorwf main__23,w 2447 0114 00ca movwf main__position 2448 ; line_number = 264 2449 ; positions[servo] := position 2450 ; index_fsr_first 2451 0115 0849 movf main__servo,w 2452 0116 3e38 addlw positions 2453 0117 0084 movwf __fsr 2454 0118 084a movf main__position,w 2455 0119 0080 movwf __indf 2456 011a 2a0f goto main__89 2457 ; line_number = 265 2458 ; case 2 2459 011b : main__85: 2460 ; # 10ll llll (Set Low): 2461 ; line_number = 267 2462 ; position := positions[servo] 2463 011b 0849 movf main__servo,w 2464 011c 3e38 addlw positions 2465 011d 0084 movwf __fsr 2466 011e 0800 movf __indf,w 2467 011f 00ca movwf main__position 2468 ; line_number = 268 2469 ; position := position & 0xf0 | (command >> 2) & 0xf 2470 00000055 = main__25 equ globals___0+53 2471 0120 30f0 movlw 240 2472 0121 054a andwf main__position,w 2473 0122 00d5 movwf main__25 2474 00000056 = main__26 equ globals___0+54 2475 0123 0c45 rrf main__command,w 2476 0124 00d6 movwf main__26 2477 0125 0c56 rrf main__26,w 2478 0126 390f andlw 15 2479 0127 0455 iorwf main__25,w 2480 0128 00ca movwf main__position 2481 ; line_number = 269 2482 ; positions[servo] := position 2483 ; index_fsr_first 2484 0129 0849 movf main__servo,w 2485 012a 3e38 addlw positions 2486 012b 0084 movwf __fsr 2487 012c 084a movf main__position,w 2488 012d 0080 movwf __indf 2489 012e 2a0f goto main__89 2490 ; line_number = 270 2491 ; case 3 2492 012f : main__86: 2493 ; # 11xx xxxx: 2494 ; line_number = 272 2495 ; switch (command >> 3) & 7 start 2496 012f 3001 movlw main__80>>8 2497 0130 008a movwf __pclath 2498 00000055 = main__81 equ globals___0+53 2499 0131 0c45 rrf main__command,w 2500 0132 00d5 movwf main__81 2501 0133 0cd5 rrf main__81,f 2502 0134 0c55 rrf main__81,w 2503 0135 3907 andlw 7 2504 0136 3e38 addlw main__80 2505 0137 0082 movwf __pcl 2506 ; page_group 8 2507 0138 : main__80: 2508 0138 2940 goto main__74 2509 0139 2955 goto main__75 2510 013a 2961 goto main__76 2511 013b 2974 goto main__77 2512 013c 29b4 goto main__78 2513 013d 29b4 goto main__78 2514 013e 29b4 goto main__78 2515 013f 29b5 goto main__79 2516 ; line_number = 273 2517 ; case 0 2518 0140 : main__74: 2519 ; # 1100 0ess (Set Enable and Position): 2520 ; line_number = 275 2521 ; positions[servo] := byte_get() 2522 ; index_temporary_first 2523 00000055 = main__27 equ globals___0+53 2524 00000056 = main__28 equ globals___0+54 2525 0140 0849 movf main__servo,w 2526 0141 00d5 movwf main__27 2527 0142 22eb call byte_get 2528 0143 00d6 movwf main__28 2529 0144 0855 movf main__27,w 2530 0145 3e38 addlw positions 2531 0146 0084 movwf __fsr 2532 0147 0856 movf main__28,w 2533 0148 0080 movwf __indf 2534 ; line_number = 276 2535 ; temporary := mask_get(servo) 2536 0149 0849 movf main__servo,w 2537 014a 22b2 call mask_get 2538 014b 00c8 movwf main__temporary 2539 ; line_number = 277 2540 ; if command@2 start 2541 00000045 = main__select__29___byte equ main__command 2542 00000002 = main__select__29___bit equ 2 2543 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2544 ; CASE: true_code_size > 1 && false_code_size > 1 2545 ; true_code_size=2 false_code_size=3 2546 014c 1d45 btfss main__select__29___byte, main__select__29___bit 2547 014d 2951 goto main__30 2548 ; line_number = 278 2549 ; enables := enables | temporary 2550 014e 0848 movf main__temporary,w 2551 014f 04bd iorwf enables,f 2552 0150 2954 goto main__31 2553 0151 : main__30: 2554 ; line_number = 280 2555 ; enables := enables & (temporary ^ 0xf) 2556 0151 300f movlw 15 2557 0152 0648 xorwf main__temporary,w 2558 0153 05bd andwf enables,f 2559 0154 : main__31: 2560 ; code.delay=4294967295 back_code.delay=4294967295 2561 ; <=bit_code_emit@symbol; sym=main__select__29 (data:00=>00 code:XX=>XX) 2562 ; line_number = 277 2563 ; if command@2 done 2564 0154 2a0f goto main__82 2565 ; line_number = 281 2566 ; case 1 2567 0155 : main__75: 2568 ; # 1100 1ess (Set Enable Flag Only): 2569 ; line_number = 283 2570 ; temporary := mask_get(servo) 2571 0155 0849 movf main__servo,w 2572 0156 22b2 call mask_get 2573 0157 00c8 movwf main__temporary 2574 ; line_number = 284 2575 ; if command@2 start 2576 00000045 = main__select__32___byte equ main__command 2577 00000002 = main__select__32___bit equ 2 2578 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2579 ; CASE: true_code_size > 1 && false_code_size > 1 2580 ; true_code_size=2 false_code_size=3 2581 0158 1d45 btfss main__select__32___byte, main__select__32___bit 2582 0159 295d goto main__33 2583 ; line_number = 285 2584 ; enables := enables | temporary 2585 015a 0848 movf main__temporary,w 2586 015b 04bd iorwf enables,f 2587 015c 2960 goto main__34 2588 015d : main__33: 2589 ; line_number = 287 2590 ; enables := enables & (temporary ^ 0xf) 2591 015d 300f movlw 15 2592 015e 0648 xorwf main__temporary,w 2593 015f 05bd andwf enables,f 2594 0160 : main__34: 2595 ; code.delay=4294967295 back_code.delay=4294967295 2596 ; <=bit_code_emit@symbol; sym=main__select__32 (data:00=>00 code:XX=>XX) 2597 ; line_number = 284 2598 ; if command@2 done 2599 0160 2a0f goto main__82 2600 ; line_number = 288 2601 ; case 2 2602 0161 : main__76: 2603 ; # 1101 0xxx: 2604 ; line_number = 290 2605 ; if command@2 start 2606 00000045 = main__select__37___byte equ main__command 2607 00000002 = main__select__37___bit equ 2 2608 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2609 ; CASE: true_code_size > 1 && false_code_size > 1 2610 ; true_code_size=10 false_code_size=4 2611 0161 1d45 btfss main__select__37___byte, main__select__37___bit 2612 0162 296e goto main__38 2613 ; # 1101 01ss (Read Enable): 2614 ; line_number = 292 2615 ; temporary := 0 2616 0163 3000 movlw 0 2617 0164 00c8 movwf main__temporary 2618 ; line_number = 293 2619 ; if enables & mask_get(servo) != 0 start 2620 ; Left minus Right 2621 00000055 = main__36 equ globals___0+53 2622 0165 083d movf enables,w 2623 0166 00d5 movwf main__36 2624 0167 0849 movf main__servo,w 2625 0168 22b2 call mask_get 2626 0169 0555 andwf main__36,w 2627 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2628 ; CASE: true_code.size=0 && false_code.size=1 2629 016a 1d03 btfss __z___byte, __z___bit 2630 ; line_number = 294 2631 ; temporary@0 := 1 2632 00000048 = main__select__35___byte equ main__temporary 2633 00000000 = main__select__35___bit equ 0 2634 016b 1448 bsf main__select__35___byte, main__select__35___bit 2635 ; Recombine size1 = 0 || size2 = 0 2636 ; code.delay=4294967295 back_code.delay=4294967295 2637 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2638 ; line_number = 293 2639 ; if enables & mask_get(servo) != 0 done 2640 ; line_number = 295 2641 ; call byte_put(temporary) 2642 016c 0848 movf main__temporary,w 2643 016d 2972 goto main__39 2644 016e : main__38: 2645 ; # 1101 00ss (Read position): 2646 ; line_number = 298 2647 ; call byte_put(positions[servo]) 2648 016e 0849 movf main__servo,w 2649 016f 3e38 addlw positions 2650 0170 0084 movwf __fsr 2651 0171 0800 movf __indf,w 2652 0172 : main__39: 2653 ; code.delay=4294967295 back_code.delay=4294967295 2654 0172 22f6 call byte_put 2655 ; <=bit_code_emit@symbol; sym=main__select__37 (data:00=>00 code:XX=>XX) 2656 ; line_number = 290 2657 ; if command@2 done 2658 0173 2a0f goto main__82 2659 ; line_number = 299 2660 ; case 3 2661 0174 : main__77: 2662 ; # 1101 1xxx: 2663 ; line_number = 301 2664 ; if command@2 start 2665 00000045 = main__select__54___byte equ main__command 2666 00000002 = main__select__54___bit equ 2 2667 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2668 ; CASE: true_code_size > 1 && false_code_size > 1 2669 ; true_code_size=5 false_code_size=53 2670 0174 1d45 btfss main__select__54___byte, main__select__54___bit 2671 0175 297c goto main__55 2672 ; # 1101 11ss (Read Current Draw): 2673 ; line_number = 303 2674 ; call byte_put(analogs[servo]) 2675 0176 0849 movf main__servo,w 2676 0177 3e23 addlw analogs 2677 0178 0084 movwf __fsr 2678 0179 0800 movf __indf,w 2679 017a 22f6 call byte_put 2680 017b 29b3 goto main__56 2681 017c : main__55: 2682 ; # 1101 10xx: 2683 ; line_number = 306 2684 ; if command@1 start 2685 00000045 = main__select__51___byte equ main__command 2686 00000001 = main__select__51___bit equ 1 2687 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2688 ; CASE: true_code_size > 1 && false_code_size > 1 2689 ; true_code_size=42 false_code_size=8 2690 017c 1cc5 btfss main__select__51___byte, main__select__51___bit 2691 017d 29ab goto main__52 2692 ; # 1101 101x: 2693 ; line_number = 308 2694 ; if command@0 start 2695 00000045 = main__select__48___byte equ main__command 2696 00000000 = main__select__48___bit equ 0 2697 ; # 1101 1011 (Set Address): 2698 ; line_number = 310 2699 ; address := byte_get() 2700 017e 22eb call byte_get 2701 ; # 1101 1010 (Save settings): 2702 ; # Need magic OK byte first: 2703 ; line_number = 314 2704 ; if byte_get() = 0xa5 start 2705 ; Left minus Right 2706 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2707 ; CASE: true.size=1 false.size>1; no GOTO 2708 017f 1c45 btfss main__select__48___byte, main__select__48___bit 2709 0180 2983 goto main__49 2710 0181 00b3 movwf address 2711 0182 29aa goto main__50 2712 0183 : main__49: 2713 0183 3e5b addlw 91 2714 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2715 ; CASE: true.size>1 false.size=1; no GOTO's 2716 0184 1d03 btfss __z___byte, __z___bit 2717 0185 29a8 goto main__46 2718 ; #FIXME: Compiler problem kludge!!! 2719 ; line_number = 316 2720 ; temporary := 0 2721 0186 3000 movlw 0 2722 0187 00c8 movwf main__temporary 2723 ; line_number = 317 2724 ; _eeadr := 0 2725 0188 3000 movlw 0 2726 0189 1683 bsf __rp0___byte, __rp0___bit 2727 018a 009b movwf _eeadr 2728 ; line_number = 318 2729 ; _gie := 0 2730 018b 1283 bcf __rp0___byte, __rp0___bit 2731 018c 138b bcf _gie___byte, _gie___bit 2732 ; line_number = 319 2733 ; loop_exactly 13 start 2734 00000055 = main__43 equ globals___0+53 2735 018d 300d movlw 13 2736 018e 00d5 movwf main__43 2737 018f 1683 bsf __rp0___byte, __rp0___bit 2738 0190 : main__44: 2739 ; line_number = 320 2740 ; _eedata := base_lows[_eeadr] 2741 0190 1683 bsf __rp0___byte, __rp0___bit 2742 0191 081b movf _eeadr,w 2743 0192 3e27 addlw base_lows 2744 0193 0084 movwf __fsr 2745 0194 0800 movf __indf,w 2746 0195 009a movwf _eedata 2747 ; line_number = 321 2748 ; _wren := 1 2749 0196 151c bsf _wren___byte, _wren___bit 2750 ; line_number = 322 2751 ; _eecon2 := 0x55 2752 0197 3055 movlw 85 2753 0198 009d movwf _eecon2 2754 ; line_number = 323 2755 ; _eecon2 := 0xaa 2756 0199 30aa movlw 170 2757 019a 009d movwf _eecon2 2758 ; line_number = 324 2759 ; _wr := 1 2760 019b 149c bsf _wr___byte, _wr___bit 2761 ; line_number = 325 2762 ; while _wr start 2763 019c : main__45: 2764 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2765 ; CASE: True.size=1 False.size=0 2766 019c 189c btfsc _wr___byte, _wr___bit 2767 ; true=GOTO 2768 019d 299c goto main__45 2769 ; code.delay=4294967295 back_code.delay=4294967295 2770 ; <=bit_code_emit@symbol; sym=_wr (data:XX=>XX code:XX=>XX) 2771 ; line_number = 325 2772 ; while _wr done 2773 ; line_number = 327 2774 ; _eeadr := _eeadr + 1 2775 019e 0a9b incf _eeadr,f 2776 019f 1283 bcf __rp0___byte, __rp0___bit 2777 ; line_number = 319 2778 ; loop_exactly 13 wrap-up 2779 01a0 0bd5 decfsz main__43,f 2780 01a1 2990 goto main__44 2781 ; line_number = 319 2782 ; loop_exactly 13 done 2783 ; line_number = 328 2784 ; _gie := 1 2785 01a2 178b bsf _gie___byte, _gie___bit 2786 ; line_number = 329 2787 ; _wren := 0 2788 01a3 1683 bsf __rp0___byte, __rp0___bit 2789 01a4 111c bcf _wren___byte, _wren___bit 2790 ; line_number = 330 2791 ; call byte_put(0xa5) 2792 01a5 30a5 movlw 165 2793 01a6 1283 bcf __rp0___byte, __rp0___bit 2794 01a7 29a9 goto main__47 2795 01a8 : main__46: 2796 ; line_number = 332 2797 ; call byte_put(0x11) 2798 01a8 3011 movlw 17 2799 01a9 : main__47: 2800 ; code.delay=4294967295 back_code.delay=4294967295 2801 01a9 22f6 call byte_put 2802 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 2803 ; line_number = 314 2804 ; if byte_get() = 0xa5 done 2805 01aa : main__50: 2806 ; code.delay=4294967295 back_code.delay=4294967295 2807 ; <=bit_code_emit@symbol; sym=main__select__48 (data:XX=>00 code:XX=>XX) 2808 ; line_number = 308 2809 ; if command@0 done 2810 ; Recombine code1_bit_states != code2_bit_states 2811 01aa 29b3 goto main__53 2812 01ab : main__52: 2813 ; # 1101 100x: 2814 ; line_number = 335 2815 ; if command@0 start 2816 00000045 = main__select__40___byte equ main__command 2817 00000000 = main__select__40___bit equ 0 2818 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2819 ; CASE: true_code_size > 1 && false_code_size > 1 2820 ; true_code_size=3 false_code_size=2 2821 01ab 1c45 btfss main__select__40___byte, main__select__40___bit 2822 01ac 29b1 goto main__41 2823 ; # 1101 1001 (Set Enables): 2824 ; line_number = 337 2825 ; enables := byte_get() & 0xf 2826 01ad 22eb call byte_get 2827 01ae 390f andlw 15 2828 01af 00bd movwf enables 2829 01b0 29b3 goto main__42 2830 01b1 : main__41: 2831 ; # 1101 1001 (Read Enables): 2832 ; line_number = 340 2833 ; call byte_put(enables) 2834 01b1 083d movf enables,w 2835 01b2 22f6 call byte_put 2836 01b3 : main__42: 2837 ; code.delay=4294967295 back_code.delay=4294967295 2838 ; <=bit_code_emit@symbol; sym=main__select__40 (data:00=>00 code:XX=>XX) 2839 ; line_number = 335 2840 ; if command@0 done 2841 01b3 : main__53: 2842 ; code.delay=4294967295 back_code.delay=4294967295 2843 ; <=bit_code_emit@symbol; sym=main__select__51 (data:00=>00 code:XX=>XX) 2844 ; line_number = 306 2845 ; if command@1 done 2846 01b3 : main__56: 2847 ; code.delay=4294967295 back_code.delay=4294967295 2848 ; <=bit_code_emit@symbol; sym=main__select__54 (data:00=>00 code:XX=>XX) 2849 ; line_number = 301 2850 ; if command@2 done 2851 01b3 2a0f goto main__82 2852 ; line_number = 341 2853 ; case 4, 5, 6 2854 01b4 : main__78: 2855 ; # 1110 0xxx, 1110 1xxx, 1111 0xxx: 2856 ; line_number = 343 2857 ; do_nothing 2858 01b4 2a0f goto main__82 2859 ; line_number = 344 2860 ; case 7 2861 01b5 : main__79: 2862 ; # 1111 1xxx 2863 ; line_number = 346 2864 ; switch command & 7 start 2865 01b5 3001 movlw main__72>>8 2866 01b6 008a movwf __pclath 2867 01b7 3007 movlw 7 2868 01b8 0545 andwf main__command,w 2869 01b9 3ebb addlw main__72 2870 01ba 0082 movwf __pcl 2871 ; page_group 8 2872 01bb : main__72: 2873 01bb 29c3 goto main__64 2874 01bc 29c6 goto main__65 2875 01bd 29c9 goto main__66 2876 01be 29ce goto main__67 2877 01bf 29d1 goto main__68 2878 01c0 29de goto main__69 2879 01c1 29e1 goto main__70 2880 01c2 29e6 goto main__71 2881 ; line_number = 347 2882 ; case 0 2883 01c3 : main__64: 2884 ; This case body wants this bit set 2885 01c3 1683 bsf __rp0___byte, __rp0___bit 2886 ; line_number = 348 2887 ; _osctune := _osctune - _osccal_lsb 2888 01c4 0390 decf _osctune,f 2889 01c5 2a0f goto main__73 2890 ; line_number = 349 2891 ; case 1 2892 01c6 : main__65: 2893 ; This case body wants this bit set 2894 01c6 1683 bsf __rp0___byte, __rp0___bit 2895 ; line_number = 350 2896 ; _osctune := _osctune + _osccal_lsb 2897 01c7 0a90 incf _osctune,f 2898 01c8 2a0f goto main__73 2899 ; line_number = 351 2900 ; case 2 2901 01c9 : main__66: 2902 ; This case body wants this bit set 2903 01c9 1683 bsf __rp0___byte, __rp0___bit 2904 ; line_number = 352 2905 ; call byte_put(_osctune) 2906 01ca 0810 movf _osctune,w 2907 01cb 1283 bcf __rp0___byte, __rp0___bit 2908 01cc 22f6 call byte_put 2909 01cd 2a0f goto main__73 2910 ; line_number = 353 2911 ; case 3 2912 01ce : main__67: 2913 ; line_number = 354 2914 ; call byte_put(0) 2915 01ce 3000 movlw 0 2916 01cf 22f6 call byte_put 2917 01d0 2a0f goto main__73 2918 ; line_number = 355 2919 ; case 4 2920 01d1 : main__68: 2921 ; line_number = 356 2922 ; temporary := 0 2923 01d1 3000 movlw 0 2924 01d2 00c8 movwf main__temporary 2925 ; line_number = 357 2926 ; if id_index < id.size start 2927 01d3 3028 movlw 40 2928 01d4 0247 subwf main__id_index,w 2929 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 2930 ; CASE: true.size=0 && false.size>1 2931 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 2932 01d5 1803 btfsc __c___byte, __c___bit 2933 01d6 29db goto main__57 2934 ; line_number = 358 2935 ; temporary := id[id_index] 2936 01d7 0847 movf main__id_index,w 2937 01d8 22bd call id 2938 01d9 00c8 movwf main__temporary 2939 ; line_number = 359 2940 ; id_index := id_index + 1 2941 01da 0ac7 incf main__id_index,f 2942 01db : main__57: 2943 ; Recombine size1 = 0 || size2 = 0 2944 ; code.delay=4294967295 back_code.delay=4294967295 2945 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) 2946 ; line_number = 357 2947 ; if id_index < id.size done 2948 ; line_number = 360 2949 ; call byte_put(temporary) 2950 01db 0848 movf main__temporary,w 2951 01dc 22f6 call byte_put 2952 01dd 2a0f goto main__73 2953 ; line_number = 361 2954 ; case 5 2955 01de : main__69: 2956 ; line_number = 362 2957 ; id_index := 0 2958 01de 3000 movlw 0 2959 01df 00c7 movwf main__id_index 2960 01e0 2a0f goto main__73 2961 ; line_number = 363 2962 ; case 6 2963 01e1 : main__70: 2964 ; line_number = 364 2965 ; call byte_put(glitch) 2966 01e1 0846 movf main__glitch,w 2967 01e2 22f6 call byte_put 2968 ; line_number = 365 2969 ; glitch := 0 2970 01e3 3000 movlw 0 2971 01e4 00c6 movwf main__glitch 2972 01e5 2a0f goto main__73 2973 ; line_number = 366 2974 ; case 7 2975 01e6 : main__71: 2976 ; line_number = 367 2977 ; glitch := glitch + 1 2978 01e6 0ac6 incf main__glitch,f 2979 ; #enables := 0xf 2980 ; line_number = 369 2981 ; command := byte_get() 2982 01e7 22eb call byte_get 2983 01e8 00c5 movwf main__command 2984 ; line_number = 370 2985 ; servo := command & 3 2986 01e9 3003 movlw 3 2987 01ea 0545 andwf main__command,w 2988 01eb 00c9 movwf main__servo 2989 ; line_number = 371 2990 ; position := byte_get() 2991 01ec 22eb call byte_get 2992 01ed 00ca movwf main__position 2993 ; line_number = 372 2994 ; temporary := address 2995 01ee 0833 movf address,w 2996 01ef 00c8 movwf main__temporary 2997 ; line_number = 373 2998 ; if address = 0xff start 2999 ; Left minus Right 3000 01f0 0a33 incf address,w 3001 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3002 ; CASE: true_code.size = 0 && false_code.size > 1 3003 ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay) 3004 01f1 1d03 btfss __z___byte, __z___bit 3005 01f2 29ff goto main__61 3006 ; line_number = 374 3007 ; temporary := (analogs[3] >> 2) & 0x30 | (analogs[2] >> 4) & 0xc 3008 00000055 = main__58 equ globals___0+53 3009 00000056 = main__59 equ globals___0+54 3010 01f3 0826 movf analogs+3,w 3011 01f4 00d6 movwf main__59 3012 01f5 0cd6 rrf main__59,f 3013 01f6 0c56 rrf main__59,w 3014 01f7 3930 andlw 48 3015 01f8 00d5 movwf main__58 3016 00000056 = main__60 equ globals___0+54 3017 01f9 0825 movf analogs+2,w 3018 01fa 00d6 movwf main__60 3019 01fb 0ed6 swapf main__60,f 3020 01fc 390c andlw 12 3021 01fd 0455 iorwf main__58,w 3022 01fe 00c8 movwf main__temporary 3023 3024 ; Recombine size1 = 0 || size2 = 0 3025 01ff : main__61: 3026 ; code.delay=4294967295 back_code.delay=4294967295 3027 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3028 ; line_number = 373 3029 ; if address = 0xff done 3030 ; line_number = 376 3031 ; if (command ^ temporary) & 0xfc = 0 start 3032 ; Left minus Right 3033 01ff 0845 movf main__command,w 3034 0200 0648 xorwf main__temporary,w 3035 0201 39fc andlw 252 3036 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3037 ; CASE: true_code.size = 0 && false_code.size > 1 3038 ; bit_code_emit_helper1: body_code.size=11 true_test=true body_code.delay=0 (non-uniform delay) 3039 0202 1d03 btfss __z___byte, __z___bit 3040 0203 2a0f goto main__63 3041 ; line_number = 377 3042 ; positions[servo] := position 3043 ; index_fsr_first 3044 0204 0849 movf main__servo,w 3045 0205 3e38 addlw positions 3046 0206 0084 movwf __fsr 3047 0207 084a movf main__position,w 3048 0208 0080 movwf __indf 3049 ; line_number = 378 3050 ; enables := enables | mask_get(servo) 3051 00000055 = main__62 equ globals___0+53 3052 0209 083d movf enables,w 3053 020a 00d5 movwf main__62 3054 020b 0849 movf main__servo,w 3055 020c 22b2 call mask_get 3056 020d 0455 iorwf main__62,w 3057 020e 00bd movwf enables 3058 3059 3060 ; Recombine size1 = 0 || size2 = 0 3061 020f : main__63: 3062 ; code.delay=4294967295 back_code.delay=4294967295 3063 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) 3064 ; line_number = 376 3065 ; if (command ^ temporary) & 0xfc = 0 done 3066 020f : main__73: 3067 ; switch end:(data:00=>0? code:XX=>XX) 3068 ; line_number = 346 3069 ; switch command & 7 done 3070 020f : main__82: 3071 ; switch end:(data:00=>?? code:XX=>XX) 3072 ; line_number = 272 3073 ; switch (command >> 3) & 7 done 3074 020f : main__89: 3075 ; switch end:(data:00=>?? code:XX=>XX) 3076 ; line_number = 217 3077 ; switch command >> 6 done 3078 ; line_number = 214 3079 ; loop_forever wrap-up 3080 ; Need to adjust code banks to match front of loop 3081 020f 1283 bcf __rp0___byte, __rp0___bit 3082 0210 1303 bcf __rp1___byte, __rp1___bit 3083 0211 28b7 goto main__10 3084 ; line_number = 214 3085 ; loop_forever done 3086 ; delay after procedure statements=non-uniform 3087 3088 3089 3090 3091 ; line_number = 381 3092 ; procedure delay 3093 0212 : delay: 3094 ; arguments_none 3095 ; line_number = 383 3096 ; returns_nothing 3097 ; #exact_delay delay_instructions 3098 3099 ; # This procedure delays 1/3 of a bit. 3100 3101 ; line_number = 388 3102 ; local counter byte 3103 0000004b = delay__counter equ globals___0+43 3104 ; line_number = 389 3105 ; local servo byte 3106 0000004c = delay__servo equ globals___0+44 3107 ; line_number = 390 3108 ; local position_low byte 3109 0000004d = delay__position_low equ globals___0+45 3110 ; line_number = 391 3111 ; local position_high byte 3112 0000004e = delay__position_high equ globals___0+46 3113 ; line_number = 392 3114 ; local servo_low byte 3115 0000004f = delay__servo_low equ globals___0+47 3116 ; line_number = 393 3117 ; local servo_high byte 3118 00000050 = delay__servo_high equ globals___0+48 3119 ; line_number = 394 3120 ; local scale byte 3121 00000051 = delay__scale equ globals___0+49 3122 ; line_number = 395 3123 ; local temporary byte 3124 00000052 = delay__temporary equ globals___0+50 3125 3126 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3127 ; line_number = 397 3128 ; watch_dog_reset done 3129 0212 0064 clrwdt 3130 ; #debug_out := 1 3131 ; line_number = 399 3132 ; counter := (counter + 1) & 0x7f 3133 0213 0a4b incf delay__counter,w 3134 0214 397f andlw 127 3135 0215 00cb movwf delay__counter 3136 ; line_number = 400 3137 ; servo := (counter >> 5) & 3 3138 00000057 = delay__1 equ globals___0+55 3139 0216 0e4b swapf delay__counter,w 3140 0217 00d7 movwf delay__1 3141 0218 0c57 rrf delay__1,w 3142 0219 3903 andlw 3 3143 021a 00cc movwf delay__servo 3144 ; line_number = 401 3145 ; switch counter & 0x1f start 3146 021b 3002 movlw delay__32>>8 3147 021c 008a movwf __pclath 3148 021d 301f movlw 31 3149 021e 054b andwf delay__counter,w 3150 021f 3e21 addlw delay__32 3151 0220 0082 movwf __pcl 3152 ; page_group 32 3153 0221 : delay__32: 3154 0221 2a41 goto delay__25 3155 0222 2a5d goto delay__26 3156 0223 2a5d goto delay__26 3157 0224 2a5d goto delay__26 3158 0225 2a5d goto delay__26 3159 0226 2a5d goto delay__26 3160 0227 2a5d goto delay__26 3161 0228 2a5d goto delay__26 3162 0229 2a5d goto delay__26 3163 022a 2a6e goto delay__27 3164 022b 2a8f goto delay__28 3165 022c 2a9d goto delay__29 3166 022d 2a9f goto delay__30 3167 022e 2aaf goto delay__31 3168 022f 2aaf goto delay__31 3169 0230 2aaf goto delay__31 3170 0231 2aaf goto delay__31 3171 0232 2aaf goto delay__31 3172 0233 2aaf goto delay__31 3173 0234 2aaf goto delay__31 3174 0235 2aaf goto delay__31 3175 0236 2aaf goto delay__31 3176 0237 2aaf goto delay__31 3177 0238 2aaf goto delay__31 3178 0239 2aaf goto delay__31 3179 023a 2aaf goto delay__31 3180 023b 2aaf goto delay__31 3181 023c 2aaf goto delay__31 3182 023d 2aaf goto delay__31 3183 023e 2aaf goto delay__31 3184 023f 2aaf goto delay__31 3185 0240 2aaf goto delay__31 3186 ; line_number = 402 3187 ; case 0 3188 0241 : delay__25: 3189 ; # Set up for multiply: 3190 ; line_number = 404 3191 ; position_low := positions[servo] 3192 0241 084c movf delay__servo,w 3193 0242 3e38 addlw positions 3194 0243 0084 movwf __fsr 3195 0244 0800 movf __indf,w 3196 0245 00cd movwf delay__position_low 3197 ; line_number = 405 3198 ; servo_low := base_lows[servo] 3199 0246 084c movf delay__servo,w 3200 0247 3e27 addlw base_lows 3201 0248 0084 movwf __fsr 3202 0249 0800 movf __indf,w 3203 024a 00cf movwf delay__servo_low 3204 ; line_number = 406 3205 ; servo_high := base_highs[servo] 3206 024b 084c movf delay__servo,w 3207 024c 3e2b addlw base_highs 3208 024d 0084 movwf __fsr 3209 024e 0800 movf __indf,w 3210 024f 00d0 movwf delay__servo_high 3211 ; line_number = 407 3212 ; scale := scales[servo] 3213 0250 084c movf delay__servo,w 3214 0251 3e2f addlw scales 3215 0252 0084 movwf __fsr 3216 0253 0800 movf __indf,w 3217 0254 00d1 movwf delay__scale 3218 ; line_number = 408 3219 ; position_high := position_low >> 4 3220 0255 0e4d swapf delay__position_low,w 3221 0256 00ce movwf delay__position_high 3222 0257 300f movlw 15 3223 0258 05ce andwf delay__position_high,f 3224 ; line_number = 409 3225 ; position_low := position_low << 4 3226 ; Assignment of variable to self (no code needed) 3227 0259 0ecd swapf delay__position_low,f 3228 025a 30f0 movlw 240 3229 025b 05cd andwf delay__position_low,f 3230 025c 2aaf goto delay__33 3231 ; line_number = 410 3232 ; case 1, 2, 3, 4, 5, 6, 7, 8 3233 025d : delay__26: 3234 ; # Do one multiply cycle: 3235 ; line_number = 412 3236 ; position_low := position_low >> 1 3237 ; Assignment of variable to self (no code needed) 3238 025d 0ccd rrf delay__position_low,f 3239 025e 13cd bcf delay__position_low, 7 3240 ; line_number = 413 3241 ; if position_high@0 start 3242 0000004e = delay__select__3___byte equ delay__position_high 3243 00000000 = delay__select__3___bit equ 0 3244 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3245 ; CASE: True.size=1 False.size=0 3246 025f 184e btfsc delay__select__3___byte, delay__select__3___bit 3247 ; line_number = 414 3248 ; position_low@7 := 1 3249 0000004d = delay__select__2___byte equ delay__position_low 3250 00000007 = delay__select__2___bit equ 7 3251 0260 17cd bsf delay__select__2___byte, delay__select__2___bit 3252 ; Recombine size1 = 0 || size2 = 0 3253 ; code.delay=4294967295 back_code.delay=4294967295 3254 ; <=bit_code_emit@symbol; sym=delay__select__3 (data:00=>00 code:XX=>XX) 3255 ; line_number = 413 3256 ; if position_high@0 done 3257 ; line_number = 415 3258 ; position_high := position_high >> 1 3259 ; Assignment of variable to self (no code needed) 3260 0261 0cce rrf delay__position_high,f 3261 0262 13ce bcf delay__position_high, 7 3262 ; line_number = 416 3263 ; if scale@7 start 3264 00000051 = delay__select__4___byte equ delay__scale 3265 00000007 = delay__select__4___bit equ 7 3266 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3267 ; CASE: true_code.size = 0 && false_code.size > 1 3268 ; bit_code_emit_helper1: body_code.size=6 true_test=true body_code.delay=0 (non-uniform delay) 3269 0263 1fd1 btfss delay__select__4___byte, delay__select__4___bit 3270 0264 2a6b goto delay__5 3271 ; line_number = 417 3272 ; servo_high := servo_high + position_high 3273 0265 084e movf delay__position_high,w 3274 0266 07d0 addwf delay__servo_high,f 3275 ; line_number = 418 3276 ; servo_low := servo_low + position_low 3277 0267 084d movf delay__position_low,w 3278 0268 07cf addwf delay__servo_low,f 3279 ; line_number = 419 3280 ; if _c start 3281 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3282 ; CASE: True.size=1 False.size=0 3283 0269 1803 btfsc _c___byte, _c___bit 3284 ; line_number = 420 3285 ; servo_high := servo_high + 1 3286 026a 0ad0 incf delay__servo_high,f 3287 ; Recombine size1 = 0 || size2 = 0 3288 ; code.delay=4294967295 back_code.delay=4294967295 3289 ; <=bit_code_emit@symbol; sym=_c (data:00=>00 code:XX=>XX) 3290 ; line_number = 419 3291 ; if _c done 3292 ; Recombine size1 = 0 || size2 = 0 3293 026b : delay__5: 3294 ; code.delay=4294967295 back_code.delay=4294967295 3295 ; <=bit_code_emit@symbol; sym=delay__select__4 (data:00=>00 code:XX=>XX) 3296 ; line_number = 416 3297 ; if scale@7 done 3298 ; line_number = 421 3299 ; scale := scale << 1 3300 ; Assignment of variable to self (no code needed) 3301 026b 0dd1 rlf delay__scale,f 3302 026c 1051 bcf delay__scale, 0 3303 026d 2aaf goto delay__33 3304 ; line_number = 422 3305 ; case 9 3306 026e : delay__27: 3307 ; # Do final wrap-up on multiply: 3308 ; line_number = 424 3309 ; servo_low := servo_low + fines[servo] 3310 026e 084c movf delay__servo,w 3311 026f 3e34 addlw fines 3312 0270 0084 movwf __fsr 3313 0271 0800 movf __indf,w 3314 0272 07cf addwf delay__servo_low,f 3315 ; line_number = 425 3316 ; if _c start 3317 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3318 ; CASE: True.size=1 False.size=0 3319 0273 1803 btfsc _c___byte, _c___bit 3320 ; line_number = 426 3321 ; servo_high := servo_high + 1 3322 0274 0ad0 incf delay__servo_high,f 3323 ; Recombine size1 = 0 || size2 = 0 3324 ; code.delay=4294967295 back_code.delay=4294967295 3325 ; <=bit_code_emit@symbol; sym=_c (data:00=>00 code:XX=>XX) 3326 ; line_number = 425 3327 ; if _c done 3328 ; #servo_high := 6 3329 ; #servo_low := 0 3330 ; line_number = 429 3331 ; _tmr1l := 0 3332 0275 3000 movlw 0 3333 0276 008e movwf _tmr1l 3334 ; line_number = 430 3335 ; _tmr1h := servo_high ^ 0xff 3336 0277 30ff movlw 255 3337 0278 0650 xorwf delay__servo_high,w 3338 0279 008f movwf _tmr1h 3339 ; line_number = 431 3340 ; _tmr1l := servo_low ^ 0xff 3341 027a 30ff movlw 255 3342 027b 064f xorwf delay__servo_low,w 3343 027c 008e movwf _tmr1l 3344 ; line_number = 432 3345 ; if servo@1 start 3346 0000004c = delay__select__16___byte equ delay__servo 3347 00000001 = delay__select__16___bit equ 1 3348 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3349 ; CASE: true_code_size > 1 && false_code_size > 1 3350 ; true_code_size=7 false_code_size=7 3351 027d 1ccc btfss delay__select__16___byte, delay__select__16___bit 3352 027e 2a87 goto delay__17 3353 ; line_number = 433 3354 ; if servo@0 start 3355 0000004c = delay__select__13___byte equ delay__servo 3356 00000000 = delay__select__13___bit equ 0 3357 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3358 ; CASE: true_code_size > 1 && false_code_size > 1 3359 ; true_code_size=2 false_code_size=2 3360 027f 1c4c btfss delay__select__13___byte, delay__select__13___bit 3361 0280 2a84 goto delay__14 3362 ; line_number = 434 3363 ; if enables@3 start 3364 0000003d = delay__select__12___byte equ enables 3365 00000003 = delay__select__12___bit equ 3 3366 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3367 ; CASE: True.size=1 False.size=0 3368 0281 19bd btfsc delay__select__12___byte, delay__select__12___bit 3369 ; #servo3 := 1 3370 ; line_number = 436 3371 ; tris_servo3 := 1 3372 0282 1487 bsf tris_servo3___byte, tris_servo3___bit 3373 ; Recombine size1 = 0 || size2 = 0 3374 ; code.delay=4294967295 back_code.delay=4294967295 3375 ; <=bit_code_emit@symbol; sym=delay__select__12 (data:00=>01 code:XX=>XX) 3376 ; line_number = 434 3377 ; if enables@3 done 3378 0283 2a86 goto delay__15 3379 0284 : delay__14: 3380 ; line_number = 438 3381 ; if enables@2 start 3382 0000003d = delay__select__11___byte equ enables 3383 00000002 = delay__select__11___bit equ 2 3384 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3385 ; CASE: True.size=1 False.size=0 3386 0284 193d btfsc delay__select__11___byte, delay__select__11___bit 3387 ; #servo2 := 1 3388 ; line_number = 440 3389 ; tris_servo2 := 1 3390 0285 1507 bsf tris_servo2___byte, tris_servo2___bit 3391 ; Recombine size1 = 0 || size2 = 0 3392 ; code.delay=4294967295 back_code.delay=4294967295 3393 ; <=bit_code_emit@symbol; sym=delay__select__11 (data:00=>01 code:XX=>XX) 3394 ; line_number = 438 3395 ; if enables@2 done 3396 0286 : delay__15: 3397 ; code.delay=4294967295 back_code.delay=4294967295 3398 ; <=bit_code_emit@symbol; sym=delay__select__13 (data:00=>00 code:XX=>XX) 3399 ; line_number = 433 3400 ; if servo@0 done 3401 0286 2a8e goto delay__18 3402 0287 : delay__17: 3403 ; line_number = 442 3404 ; if servo@0 start 3405 0000004c = delay__select__8___byte equ delay__servo 3406 00000000 = delay__select__8___bit equ 0 3407 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3408 ; CASE: true_code_size > 1 && false_code_size > 1 3409 ; true_code_size=2 false_code_size=2 3410 0287 1c4c btfss delay__select__8___byte, delay__select__8___bit 3411 0288 2a8c goto delay__9 3412 ; line_number = 443 3413 ; if enables@1 start 3414 0000003d = delay__select__7___byte equ enables 3415 00000001 = delay__select__7___bit equ 1 3416 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3417 ; CASE: True.size=1 False.size=0 3418 0289 18bd btfsc delay__select__7___byte, delay__select__7___bit 3419 ; #servo1 := 1 3420 ; line_number = 445 3421 ; tris_servo1 := 1 3422 028a 1587 bsf tris_servo1___byte, tris_servo1___bit 3423 ; Recombine size1 = 0 || size2 = 0 3424 ; code.delay=4294967295 back_code.delay=4294967295 3425 ; <=bit_code_emit@symbol; sym=delay__select__7 (data:00=>01 code:XX=>XX) 3426 ; line_number = 443 3427 ; if enables@1 done 3428 028b 2a8e goto delay__10 3429 028c : delay__9: 3430 ; line_number = 447 3431 ; if enables@0 start 3432 0000003d = delay__select__6___byte equ enables 3433 00000000 = delay__select__6___bit equ 0 3434 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3435 ; CASE: True.size=1 False.size=0 3436 028c 183d btfsc delay__select__6___byte, delay__select__6___bit 3437 ; #tris_servo0 := 1 3438 ; line_number = 449 3439 ; servo0 := 1 3440 028d 1685 bsf servo0___byte, servo0___bit 3441 ; Recombine size1 = 0 || size2 = 0 3442 ; code.delay=4294967295 back_code.delay=4294967295 3443 ; <=bit_code_emit@symbol; sym=delay__select__6 (data:00=>00 code:XX=>XX) 3444 ; line_number = 447 3445 ; if enables@0 done 3446 028e : delay__10: 3447 ; code.delay=4294967295 back_code.delay=4294967295 3448 ; <=bit_code_emit@symbol; sym=delay__select__8 (data:00=>00 code:XX=>XX) 3449 ; line_number = 442 3450 ; if servo@0 done 3451 028e : delay__18: 3452 ; code.delay=4294967295 back_code.delay=4294967295 3453 ; <=bit_code_emit@symbol; sym=delay__select__16 (data:00=>00 code:XX=>XX) 3454 ; line_number = 432 3455 ; if servo@1 done 3456 028e 2aaf goto delay__33 3457 ; line_number = 450 3458 ; case 10 3459 028f : delay__28: 3460 ; line_number = 451 3461 ; if servo@1 start 3462 0000004c = delay__select__21___byte equ delay__servo 3463 00000001 = delay__select__21___bit equ 1 3464 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3465 ; CASE: true_code_size > 1 && false_code_size > 1 3466 ; true_code_size=4 false_code_size=4 3467 028f 1ccc btfss delay__select__21___byte, delay__select__21___bit 3468 0290 2a96 goto delay__22 3469 ; line_number = 452 3470 ; if servo@0 start 3471 0000004c = delay__select__20___byte equ delay__servo 3472 00000000 = delay__select__20___bit equ 0 3473 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3474 ; CASE: true_size=1 && false_size=1 3475 ; SUBCASE: Double test; true, then false 3476 0291 184c btfsc delay__select__20___byte, delay__select__20___bit 3477 ; line_number = 453 3478 ; _adcon0 := 0x1c 3479 0292 301c movlw 28 3480 0293 1c4c btfss delay__select__20___byte, delay__select__20___bit 3481 ; line_number = 455 3482 ; _adcon0 := 0x18 3483 0294 3018 movlw 24 3484 ; code.delay=4294967295 back_code.delay=4294967295 3485 0295 2a9a goto delay__23 3486 0296 : delay__22: 3487 ; line_number = 457 3488 ; if servo@0 start 3489 0000004c = delay__select__19___byte equ delay__servo 3490 00000000 = delay__select__19___bit equ 0 3491 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3492 ; CASE: true_size=1 && false_size=1 3493 ; SUBCASE: Double test; true, then false 3494 0296 184c btfsc delay__select__19___byte, delay__select__19___bit 3495 ; line_number = 458 3496 ; _adcon0 := 0x4 3497 0297 3004 movlw 4 3498 0298 1c4c btfss delay__select__19___byte, delay__select__19___bit 3499 ; line_number = 460 3500 ; _adcon0 := 0x10 3501 0299 3010 movlw 16 3502 ; code.delay=4294967295 back_code.delay=4294967295 3503 029a : delay__23: 3504 ; code.delay=4294967295 back_code.delay=4294967295 3505 029a 009f movwf _adcon0 3506 ; <=bit_code_emit@symbol; sym=delay__select__20 (data:00=>00 code:XX=>XX) 3507 ; line_number = 452 3508 ; if servo@0 done 3509 ; <=bit_code_emit@symbol; sym=delay__select__19 (data:00=>00 code:XX=>XX) 3510 ; line_number = 457 3511 ; if servo@0 done 3512 ; <=bit_code_emit@symbol; sym=delay__select__21 (data:00=>00 code:XX=>XX) 3513 ; line_number = 451 3514 ; if servo@1 done 3515 ; line_number = 461 3516 ; _adon := 1 3517 029b 141f bsf _adon___byte, _adon___bit 3518 029c 2aaf goto delay__33 3519 ; line_number = 462 3520 ; case 11 3521 029d : delay__29: 3522 ; line_number = 463 3523 ; _go := 1 3524 029d 149f bsf _go___byte, _go___bit 3525 029e 2aaf goto delay__33 3526 ; line_number = 464 3527 ; case 12 3528 029f : delay__30: 3529 ; line_number = 465 3530 ; analogs[servo] := _adresh 3531 ; index_fsr_first 3532 029f 084c movf delay__servo,w 3533 02a0 3e23 addlw analogs 3534 02a1 0084 movwf __fsr 3535 02a2 081e movf _adresh,w 3536 02a3 0080 movwf __indf 3537 ; line_number = 466 3538 ; if !cal_mode start 3539 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3540 ; CASE: true.size=0 && false.size>1 3541 ; bit_code_emit_helper1: body_code.size=8 true_test=false body_code.delay=0 (non-uniform delay) 3542 02a4 1a05 btfsc cal_mode___byte, cal_mode___bit 3543 02a5 2aae goto delay__24 3544 ; line_number = 467 3545 ; enables := 3 3546 02a6 3003 movlw 3 3547 02a7 00bd movwf enables 3548 ; line_number = 468 3549 ; temporary := analogs[2] 3550 02a8 0825 movf analogs+2,w 3551 02a9 00d2 movwf delay__temporary 3552 ; line_number = 469 3553 ; positions[0] := temporary 3554 02aa 0852 movf delay__temporary,w 3555 02ab 00b8 movwf positions 3556 ; line_number = 470 3557 ; positions[1] := analogs[3] 3558 02ac 0826 movf analogs+3,w 3559 02ad 00b9 movwf positions+1 3560 02ae : delay__24: 3561 ; Recombine size1 = 0 || size2 = 0 3562 ; code.delay=4294967295 back_code.delay=4294967295 3563 ; <=bit_code_emit@symbol; sym=cal_mode (data:00=>00 code:XX=>XX) 3564 ; line_number = 466 3565 ; if !cal_mode done 3566 02ae 2aaf goto delay__33 3567 ; line_number = 471 3568 ; case 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31 3569 02af : delay__31: 3570 ; line_number = 473 3571 ; do_nothing 3572 02af : delay__33: 3573 ; switch end:(data:00=>?? code:XX=>XX) 3574 ; line_number = 401 3575 ; switch counter & 0x1f done 3576 ; #debug_out := 0 3577 3578 3579 ; delay after procedure statements=non-uniform 3580 02af 1283 bcf __rp0___byte, __rp0___bit 3581 02b0 1303 bcf __rp1___byte, __rp1___bit 3582 ; Implied return 3583 02b1 3400 retlw 0 3584 3585 3586 3587 3588 ; line_number = 477 3589 ; procedure mask_get 3590 02b2 : mask_get: 3591 ; Last argument is sitting in W; save into argument variable 3592 02b2 00d3 movwf mask_get__bit_number 3593 ; delay=4294967295 3594 ; line_number = 478 3595 ; argument bit_number byte 3596 00000053 = mask_get__bit_number equ globals___0+51 3597 ; line_number = 479 3598 ; returns byte 3599 3600 ; # This procedure will return the mask for {bit_number}. 3601 3602 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3603 ; line_number = 483 3604 ; switch bit_number start 3605 02b3 3002 movlw mask_get__5>>8 3606 02b4 008a movwf __pclath 3607 02b5 0853 movf mask_get__bit_number,w 3608 02b6 3eb8 addlw mask_get__5 3609 02b7 0082 movwf __pcl 3610 ; page_group 4 3611 02b8 : mask_get__5: 3612 ; line_number = 485 3613 ; return 1 start 3614 ; line_number = 485 3615 02b8 3401 retlw 1 3616 ; line_number = 485 3617 ; return 1 done 3618 ; line_number = 487 3619 ; return 2 start 3620 ; line_number = 487 3621 02b9 3402 retlw 2 3622 ; line_number = 487 3623 ; return 2 done 3624 ; line_number = 489 3625 ; return 4 start 3626 ; line_number = 489 3627 02ba 3404 retlw 4 3628 ; line_number = 489 3629 ; return 4 done 3630 ; line_number = 491 3631 ; return 8 start 3632 ; line_number = 491 3633 02bb 3408 retlw 8 3634 ; line_number = 491 3635 ; return 8 done 3636 3637 3638 02bc : mask_get__6: 3639 ; switch end:(data:00=>00 code:XX=>XX) 3640 ; line_number = 483 3641 ; switch bit_number done 3642 ; delay after procedure statements=non-uniform 3643 ; Exiting procedure with no return(s); fail with infinite loop 3644 02bc : mask_get__7: 3645 02bc 2abc goto mask_get__7 3646 3647 3648 3649 3650 ; line_number = 494 3651 ; constant zero8 = "\0,0,0,0,0,0,0,0\" 3652 ; zero8 = '\0,0,0,0,0,0,0,0\' 3653 ; line_number = 495 3654 ; constant module_name = "\7\Servo4I" 3655 ; module_name = '\7\Servo4I' 3656 ; line_number = 496 3657 ; constant vendor_name = "\7\Gramson" 3658 ; vendor_name = '\7\Gramson' 3659 3660 ; line_number = 498 3661 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3662 ; 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\Servo4I\7\Gramson' 3663 02bd : id: 3664 ; Temporarily save index into FSR 3665 02bd 0084 movwf __fsr 3666 ; Initialize PCLATH to point to this code page 3667 02be 3002 movlw id___base>>8 3668 02bf 008a movwf __pclath 3669 ; Restore index from FSR 3670 02c0 0804 movf __fsr,w 3671 02c1 3ec3 addlw id___base 3672 ; Index to the correct return value 3673 02c2 0082 movwf __pcl 3674 ; page_group 40 3675 02c3 : id___base: 3676 02c3 3401 retlw 1 3677 02c4 3400 retlw 0 3678 02c5 340f retlw 15 3679 02c6 3407 retlw 7 3680 02c7 3401 retlw 1 3681 02c8 3400 retlw 0 3682 02c9 3400 retlw 0 3683 02ca 3400 retlw 0 3684 02cb 3400 retlw 0 3685 02cc 3400 retlw 0 3686 02cd 3400 retlw 0 3687 02ce 3400 retlw 0 3688 02cf 3400 retlw 0 3689 02d0 3400 retlw 0 3690 02d1 3400 retlw 0 3691 02d2 3400 retlw 0 3692 02d3 3400 retlw 0 3693 02d4 3400 retlw 0 3694 02d5 3400 retlw 0 3695 02d6 3400 retlw 0 3696 02d7 3400 retlw 0 3697 02d8 3400 retlw 0 3698 02d9 3400 retlw 0 3699 02da 3400 retlw 0 3700 02db 3407 retlw 7 3701 02dc 3453 retlw 83 3702 02dd 3465 retlw 101 3703 02de 3472 retlw 114 3704 02df 3476 retlw 118 3705 02e0 346f retlw 111 3706 02e1 3434 retlw 52 3707 02e2 3449 retlw 73 3708 02e3 3407 retlw 7 3709 02e4 3447 retlw 71 3710 02e5 3472 retlw 114 3711 02e6 3461 retlw 97 3712 02e7 346d retlw 109 3713 02e8 3473 retlw 115 3714 02e9 346f retlw 111 3715 02ea 346e retlw 110 3716 ; line_number = 498 3717 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start 3718 3719 ; Appending 4 delayed procedures to code bank 0 3720 ; buffer = '_robobricks_pic16f688' 3721 ; line_number = 17 3722 ; procedure byte_get 3723 02eb : byte_get: 3724 ; arguments_none 3725 ; line_number = 19 3726 ; returns byte 3727 3728 ; # This procedure will return the next byte from the UART. 3729 ; # It continuously calls delay() while it is waiting. 3730 3731 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3732 ; line_number = 24 3733 ; while !_rcif start 3734 02eb : byte_get__1: 3735 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3736 ; CASE: true.size=0 && false.size>1 3737 ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay) 3738 02eb 1a8c btfsc _rcif___byte, _rcif___bit 3739 02ec 2af1 goto byte_get__2 3740 ; line_number = 25 3741 ; in_byte_get := 1 3742 02ed 14ef bsf in_byte_get___byte, in_byte_get___bit 3743 ; line_number = 26 3744 ; call delay() 3745 02ee 2212 call delay 3746 ; line_number = 27 3747 ; in_byte_get := 0 3748 02ef 10ef bcf in_byte_get___byte, in_byte_get___bit 3749 02f0 2aeb goto byte_get__1 3750 02f1 : byte_get__2: 3751 ; Recombine size1 = 0 || size2 = 0 3752 ; code.delay=4294967295 back_code.delay=4294967295 3753 ; <=bit_code_emit@symbol; sym=_rcif (data:00=>00 code:XX=>XX) 3754 ; line_number = 24 3755 ; while !_rcif done 3756 ; line_number = 28 3757 ; interrupt_pending := 0 3758 ; line_number = 29 3759 ; command_previous := command_last 3760 02f1 083f movf command_last,w 3761 02f2 00be movwf command_previous 3762 ; line_number = 30 3763 ; _rcif := 0 3764 02f3 128c bcf _rcif___byte, _rcif___bit 3765 ; line_number = 31 3766 ; return _rcreg start 3767 ; line_number = 31 3768 02f4 0814 movf _rcreg,w 3769 02f5 0008 return 3770 ; line_number = 31 3771 ; return _rcreg done 3772 3773 3774 ; delay after procedure statements=non-uniform 3775 3776 3777 3778 3779 ; line_number = 34 3780 ; procedure byte_put 3781 02f6 : byte_put: 3782 ; Last argument is sitting in W; save into argument variable 3783 02f6 00a0 movwf byte_put__value 3784 ; delay=4294967295 3785 ; line_number = 35 3786 ; argument value byte 3787 00000020 = byte_put__value equ globals___0 3788 ; line_number = 36 3789 ; returns_nothing 3790 3791 ; # This procedure will output {value} to the UART. If the UART is 3792 ; # already busy transmitting a character, the {delay} procedure is 3793 ; # repeatably called until {value} can be sent. 3794 3795 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3796 ; line_number = 42 3797 ; while !_trmt start 3798 02f7 : byte_put__1: 3799 ; (after recombine) true_delay=non-uniform, false_delay=non-uniform 3800 ; CASE: true.size=0 && false.size>1 3801 ; bit_code_emit_helper1: body_code.size=2 true_test=false body_code.delay=0 (non-uniform delay) 3802 02f7 1896 btfsc _trmt___byte, _trmt___bit 3803 02f8 2afb goto byte_put__2 3804 ; line_number = 43 3805 ; call delay() 3806 02f9 2212 call delay 3807 02fa 2af7 goto byte_put__1 3808 02fb : byte_put__2: 3809 ; Recombine size1 = 0 || size2 = 0 3810 ; code.delay=4294967295 back_code.delay=4294967295 3811 ; <=bit_code_emit@symbol; sym=_trmt (data:00=>00 code:XX=>XX) 3812 ; line_number = 42 3813 ; while !_trmt done 3814 ; line_number = 44 3815 ; debug := 0 3816 02fb 1205 bcf debug___byte, debug___bit 3817 ; line_number = 45 3818 ; sent_previous := sent_last 3819 02fc 0841 movf sent_last,w 3820 02fd 00c0 movwf sent_previous 3821 ; line_number = 46 3822 ; sent_last := value 3823 02fe 0820 movf byte_put__value,w 3824 02ff 00c1 movwf sent_last 3825 ; line_number = 47 3826 ; _txreg := value 3827 0300 0820 movf byte_put__value,w 3828 0301 0095 movwf _txreg 3829 3830 3831 ; delay after procedure statements=non-uniform 3832 ; Implied return 3833 0302 3400 retlw 0 3834 3835 3836 3837 3838 ; line_number = 50 3839 ; procedure baud_rate_low 3840 0303 : baud_rate_low: 3841 ; Last argument is sitting in W; save into argument variable 3842 0303 00a1 movwf baud_rate_low__baud_rate_index 3843 ; delay=4294967295 3844 ; line_number = 51 3845 ; argument baud_rate_index byte 3846 00000021 = baud_rate_low__baud_rate_index equ globals___0+1 3847 ; line_number = 52 3848 ; returns byte 3849 3850 ; #: This procedure will return the baud rate low byte for {baud_rate_index}. 3851 3852 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3853 ; line_number = 56 3854 ; switch baud_rate_index start 3855 0304 3003 movlw baud_rate_low__9>>8 3856 0305 008a movwf __pclath 3857 0306 0821 movf baud_rate_low__baud_rate_index,w 3858 0307 3e09 addlw baud_rate_low__9 3859 0308 0082 movwf __pcl 3860 ; page_group 8 3861 0309 : baud_rate_low__9: 3862 ; line_number = 58 3863 ; return _eusart_2400_low start 3864 ; line_number = 58 3865 0309 3440 retlw 64 3866 ; line_number = 58 3867 ; return _eusart_2400_low done 3868 ; line_number = 60 3869 ; return _eusart_4800_low start 3870 ; line_number = 60 3871 030a 349f retlw 159 3872 ; line_number = 60 3873 ; return _eusart_4800_low done 3874 ; line_number = 62 3875 ; return _eusart_9600_low start 3876 ; line_number = 62 3877 030b 34cf retlw 207 3878 ; line_number = 62 3879 ; return _eusart_9600_low done 3880 ; line_number = 64 3881 ; return _eusart_19200_low start 3882 ; line_number = 64 3883 030c 3467 retlw 103 3884 ; line_number = 64 3885 ; return _eusart_19200_low done 3886 ; line_number = 66 3887 ; return _eusart_38400_low start 3888 ; line_number = 66 3889 030d 3433 retlw 51 3890 ; line_number = 66 3891 ; return _eusart_38400_low done 3892 ; line_number = 68 3893 ; return _eusart_57600_low start 3894 ; line_number = 68 3895 030e 3421 retlw 33 3896 ; line_number = 68 3897 ; return _eusart_57600_low done 3898 ; line_number = 70 3899 ; return _eusart_115200_low start 3900 ; line_number = 70 3901 030f 3410 retlw 16 3902 ; line_number = 70 3903 ; return _eusart_115200_low done 3904 ; line_number = 72 3905 ; return _eusart_203400_low start 3906 ; line_number = 72 3907 0310 3408 retlw 8 3908 ; line_number = 72 3909 ; return _eusart_203400_low done 3910 3911 3912 0311 : baud_rate_low__10: 3913 ; switch end:(data:00=>00 code:XX=>XX) 3914 ; line_number = 56 3915 ; switch baud_rate_index done 3916 ; delay after procedure statements=non-uniform 3917 ; Exiting procedure with no return(s); fail with infinite loop 3918 0311 : baud_rate_low__11: 3919 0311 2b11 goto baud_rate_low__11 3920 3921 3922 3923 3924 ; line_number = 75 3925 ; procedure baud_rate_high 3926 0312 : baud_rate_high: 3927 ; Last argument is sitting in W; save into argument variable 3928 0312 00a2 movwf baud_rate_high__baud_rate_index 3929 ; delay=4294967295 3930 ; line_number = 76 3931 ; argument baud_rate_index byte 3932 00000022 = baud_rate_high__baud_rate_index equ globals___0+2 3933 ; line_number = 77 3934 ; returns byte 3935 3936 ; # This procedure will return the baud rate high byte for 3937 ; # {baud_rate_index}. 3938 3939 ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) 3940 ; line_number = 82 3941 ; switch baud_rate_index start 3942 0313 3003 movlw baud_rate_high__9>>8 3943 0314 008a movwf __pclath 3944 0315 0822 movf baud_rate_high__baud_rate_index,w 3945 0316 3e18 addlw baud_rate_high__9 3946 0317 0082 movwf __pcl 3947 ; page_group 8 3948 0318 : baud_rate_high__9: 3949 ; line_number = 84 3950 ; return _eusart_2400_high start 3951 ; line_number = 84 3952 0318 3403 retlw 3 3953 ; line_number = 84 3954 ; return _eusart_2400_high done 3955 ; line_number = 86 3956 ; return _eusart_4800_high start 3957 ; line_number = 86 3958 0319 3401 retlw 1 3959 ; line_number = 86 3960 ; return _eusart_4800_high done 3961 ; line_number = 88 3962 ; return _eusart_9600_high start 3963 ; line_number = 88 3964 031a 3400 retlw 0 3965 ; line_number = 88 3966 ; return _eusart_9600_high done 3967 ; line_number = 90 3968 ; return _eusart_19200_high start 3969 ; line_number = 90 3970 031b 3400 retlw 0 3971 ; line_number = 90 3972 ; return _eusart_19200_high done 3973 ; line_number = 92 3974 ; return _eusart_38400_high start 3975 ; line_number = 92 3976 031c 3400 retlw 0 3977 ; line_number = 92 3978 ; return _eusart_38400_high done 3979 ; line_number = 94 3980 ; return _eusart_57600_high start 3981 ; line_number = 94 3982 031d 3400 retlw 0 3983 ; line_number = 94 3984 ; return _eusart_57600_high done 3985 ; line_number = 96 3986 ; return _eusart_115200_high start 3987 ; line_number = 96 3988 031e 3400 retlw 0 3989 ; line_number = 96 3990 ; return _eusart_115200_high done 3991 ; line_number = 98 3992 ; return _eusart_203400_high start 3993 ; line_number = 98 3994 031f 3400 retlw 0 3995 ; line_number = 98 3996 ; return _eusart_203400_high done 3997 3998 0320 : baud_rate_high__10: 3999 ; switch end:(data:00=>00 code:XX=>XX) 4000 ; line_number = 82 4001 ; switch baud_rate_index done 4002 ; delay after procedure statements=non-uniform 4003 ; Exiting procedure with no return(s); fail with infinite loop 4004 0320 : baud_rate_high__11: 4005 0320 2b20 goto baud_rate_high__11 4006 4007 4008 4009 4010 ; Configuration bits 4011 ; fill = 0x3000 4012 ; fcmen = off (0x0) 4013 ; ieso = off (0x0) 4014 ; boden = off (0x0) 4015 ; cpd = off (0x80) 4016 ; cp = off (0x40) 4017 ; mclre = off (0x20) 4018 ; pwrte = off (0x10) 4019 ; wdte = off (0x0) 4020 ; fosc = int_no_clk (0x4) 4021 ; 12532 = 0x30f4 4022 30f4 = __config 12532 4023 ; Define start addresses for data regions 4024 ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16 4025 ; Region="globals___0" Address=32" Size=80 Bytes=56 Bits=2 Available=23 4026 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 4027 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 4028 ; Region="globals___3" Address=416" Size=80 Bytes=0 Bits=0 Available=80 4029 end