radix dec ; Code bank 0; Start address: 0; End address: 4095 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 288 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # Copyright (c) 2004-2005 by Wayne C. Gramlich ; # All rights reserved. ; buffer = 'servo4' ; line_number = 6 ; library _robobricks_pic16f688 entered ; # Copyright (c) 2000-2005 by Wayne C. Gramlich and Bill Benson ; # All rights reserved. ; buffer = '_robobricks_pic16f688' ; line_number = 6 ; library _pic16f688 entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f688' ; line_number = 5 ; processor pic16f688 ; line_number = 6 ; configure_address 0x2007 ; line_number = 7 ; configure_fill 0x3000 ; line_number = 8 ; configure_option fcmen: on = 0x800 ; line_number = 9 ; configure_option fcmen: off = 0x000 ; line_number = 10 ; configure_option ieso: on = 0x400 ; line_number = 11 ; configure_option ieso: off = 0x000 ; line_number = 12 ; configure_option boden: on = 0x300 ; line_number = 13 ; configure_option boden: partial = 0x200 ; line_number = 14 ; configure_option boden: sboden = 0x100 ; line_number = 15 ; configure_option boden: off = 0x000 ; line_number = 16 ; configure_option cpd: on = 0x00 ; line_number = 17 ; configure_option cpd: off = 0x80 ; line_number = 18 ; configure_option cp: on = 0x00 ; line_number = 19 ; configure_option cp: off = 0x40 ; line_number = 20 ; configure_option mclre: on = 0x20 ; line_number = 21 ; configure_option mclre: off = 0x20 ; line_number = 22 ; configure_option pwrte: on = 0x00 ; line_number = 23 ; configure_option pwrte: off = 0x10 ; line_number = 24 ; configure_option wdte: on = 8 ; line_number = 25 ; configure_option wdte: off = 0 ; line_number = 26 ; configure_option fosc: rc_clk = 7 ; line_number = 27 ; configure_option fosc: rc_no_clk = 6 ; line_number = 28 ; configure_option fosc: int_clk = 5 ; line_number = 29 ; configure_option fosc: int_no_clk = 4 ; line_number = 30 ; configure_option fosc: ec = 3 ; line_number = 31 ; configure_option fosc: hs = 2 ; line_number = 32 ; configure_option fosc: xt = 1 ; line_number = 33 ; configure_option fosc: lp = 0 ; line_number = 35 ; code_bank 0x0 : 0xfff ; line_number = 36 ; data_bank 0x0 : 0x7f ; line_number = 37 ; data_bank 0x80 : 0xff ; line_number = 38 ; data_bank 0x100 : 0x17f ; line_number = 39 ; data_bank 0x180 : 0x1ff ; line_number = 40 ; global_region 0x20 : 0x6f ; line_number = 41 ; global_region 0xa0 : 0xef ; line_number = 42 ; global_region 0x120 : 0x16f ; line_number = 43 ; shared_region 0x70 : 0x7f ; line_number = 44 ; interrupts_possible ; line_number = 45 ; packages pdip=14, soic=14, tssop=14 ; line_number = 46 ; pin vdd, power_supply ; line_number = 47 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 48 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin ; line_number = 49 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 50 ; bind_to _porta@5 ; line_number = 51 ; or_if ra5_in _trisa 32 ; line_number = 52 ; or_if ra5_nc _trisa 32 ; line_number = 53 ; or_if ra5_out _trisa 0 ; line_number = 54 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout ; line_number = 55 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 56 ; bind_to _porta@4 ; line_number = 57 ; or_if ra4_in _trisa 16 ; line_number = 58 ; or_if ra4_nc _trisa 16 ; line_number = 59 ; or_if ra4_out _trisa 0 ; line_number = 60 ; or_if an3 _trisa 8 ; line_number = 61 ; or_if ra4_in _ansel 0 ; line_number = 62 ; or_if ra4_out _ansel 0 ; line_number = 63 ; or_if an3 _ansel 8 ; line_number = 64 ; or_if ra4_in _adcon0 0 ; line_number = 65 ; or_if ra4_out _adcon0 0 ; line_number = 66 ; or_if an3 _adcon0 1 ; line_number = 67 ; pin ra3_in, ra3_nc, mclr, vpp ; line_number = 68 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 69 ; bind_to _porta@4 ; line_number = 70 ; or_if ra3_in _trisa 8 ; line_number = 71 ; or_if ra3_nc _trisa 8 ; line_number = 72 ; pin rc5_in, rc5_nc, rc5_out, rx, dt ; line_number = 73 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 74 ; bind_to _portc@5 ; line_number = 75 ; or_if rc5_in _trisc 32 ; line_number = 76 ; or_if rc5_nc _trisc 32 ; line_number = 77 ; or_if rc5_out _trisc 0 ; line_number = 78 ; or_if rx _trisc 32 ; line_number = 79 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck ; line_number = 80 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 81 ; bind_to _portc@4 ; line_number = 82 ; or_if rc4_in _trisc 16 ; line_number = 83 ; or_if rc4_nc _trisc 16 ; line_number = 84 ; or_if rc4_out _trisc 0 ; # The UART documentation says TX must be marked as in input: ; line_number = 86 ; or_if tx _trisc 16 ; line_number = 87 ; pin rc3_in, rc3_nc, rc3_out, an7 ; line_number = 88 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 89 ; bind_to _portc@3 ; line_number = 90 ; or_if rc3_in _trisc 8 ; line_number = 91 ; or_if rc3_nc _trisc 8 ; line_number = 92 ; or_if rc3_out _trisc 0 ; line_number = 93 ; or_if an7 _trisc 8 ; line_number = 94 ; or_if rc3_in _ansel 0 ; line_number = 95 ; or_if rc3_out _ansel 0 ; line_number = 96 ; or_if an7 _ansel 128 ; line_number = 97 ; or_if rc3_in _adcon0 0 ; line_number = 98 ; or_if rc3_out _adcon0 0 ; line_number = 99 ; or_if an7 _adcon0 1 ; line_number = 100 ; pin rc2_in, rc2_nc, rc2_out, an6 ; line_number = 101 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 102 ; bind_to _portc@2 ; line_number = 103 ; or_if rc2_in _trisc 4 ; line_number = 104 ; or_if rc2_nc _trisc 4 ; line_number = 105 ; or_if rc2_out _trisc 0 ; line_number = 106 ; or_if an6 _trisc 4 ; line_number = 107 ; or_if rc2_in _ansel 0 ; line_number = 108 ; or_if rc2_out _ansel 0 ; line_number = 109 ; or_if an6 _ansel 64 ; line_number = 110 ; or_if rc2_in _adcon0 0 ; line_number = 111 ; or_if rc2_out _adcon0 0 ; line_number = 112 ; or_if an6 _adcon0 1 ; line_number = 113 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus ; line_number = 114 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 115 ; bind_to _portc@1 ; line_number = 116 ; or_if rc1_in _trisc 2 ; line_number = 117 ; or_if rc1_nc _trisc 2 ; line_number = 118 ; or_if rc1_out _trisc 0 ; line_number = 119 ; or_if rc1_in _cmcon0 7 ; line_number = 120 ; or_if rc1_out _cmcon0 7 ; line_number = 121 ; or_if an5 _trisc 2 ; line_number = 122 ; or_if rc1_in _ansel 0 ; line_number = 123 ; or_if rc1_out _ansel 0 ; line_number = 124 ; or_if an5 _ansel 32 ; line_number = 125 ; or_if rc1_in _adcon0 0 ; line_number = 126 ; or_if rc1_out _adcon0 0 ; line_number = 127 ; or_if an5 _adcon0 1 ; line_number = 128 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus ; line_number = 129 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 130 ; bind_to _portc@0 ; line_number = 131 ; or_if rc0_in _trisc 1 ; line_number = 132 ; or_if rc0_nc _trisc 1 ; line_number = 133 ; or_if rc0_out _trisc 0 ; line_number = 134 ; or_if rc0_in _cmcon0 7 ; line_number = 135 ; or_if rc0_out _cmcon0 7 ; line_number = 136 ; or_if an4 _trisc 1 ; line_number = 137 ; or_if rc0_in _ansel 0 ; line_number = 138 ; or_if rc0_out _ansel 0 ; line_number = 139 ; or_if an4 _ansel 16 ; line_number = 140 ; or_if rc0_in _adcon0 0 ; line_number = 141 ; or_if rc0_out _adcon0 0 ; line_number = 142 ; or_if an4 _adcon0 1 ; line_number = 143 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int ; line_number = 144 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 145 ; bind_to _porta@2 ; line_number = 146 ; or_if ra2_in _trisa 4 ; line_number = 147 ; or_if ra2_nc _trisa 4 ; line_number = 148 ; or_if ra2_out _trisa 0 ; line_number = 149 ; or_if an2 _trisa 4 ; line_number = 150 ; or_if ra2_in _ansel 0 ; line_number = 151 ; or_if ra2_out _ansel 0 ; line_number = 152 ; or_if an2 _ansel 4 ; line_number = 153 ; or_if ra2_in _adcon0 0 ; line_number = 154 ; or_if ra2_out _adcon0 0 ; line_number = 155 ; or_if an2 _adcon0 1 ; line_number = 156 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk ; line_number = 157 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 158 ; bind_to _porta@1 ; line_number = 159 ; or_if ra1_in _trisa 2 ; line_number = 160 ; or_if ra1_nc _trisa 2 ; line_number = 161 ; or_if ra1_out _trisa 0 ; line_number = 162 ; or_if ra1_in _cmcon0 7 ; line_number = 163 ; or_if ra1_out _cmcon0 7 ; line_number = 164 ; or_if an1 _trisa 2 ; line_number = 165 ; or_if ra1_in _ansel 0 ; line_number = 166 ; or_if ra1_out _ansel 0 ; line_number = 167 ; or_if an1 _ansel 2 ; line_number = 168 ; or_if ra1_in _adcon0 0 ; line_number = 169 ; or_if ra1_out _adcon0 0 ; line_number = 170 ; or_if an1 _adcon0 1 ; line_number = 171 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu ; line_number = 172 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 173 ; bind_to _porta@0 ; line_number = 174 ; or_if ra0_in _trisa 1 ; line_number = 175 ; or_if ra0_nc _trisa 1 ; line_number = 176 ; or_if ra0_out _trisa 0 ; line_number = 177 ; or_if ra0_in _cmcon0 7 ; line_number = 178 ; or_if ra0_out _cmcon0 7 ; line_number = 179 ; or_if an0 _trisa 1 ; line_number = 180 ; or_if ra0_in _ansel 0 ; line_number = 181 ; or_if ra0_out _ansel 0 ; line_number = 182 ; or_if an0 _ansel 1 ; line_number = 183 ; or_if ra0_in _adcon0 0 ; line_number = 184 ; or_if ra0_out _adcon0 0 ; line_number = 185 ; or_if an0 _adcon0 1 ; line_number = 186 ; pin vss, ground ; line_number = 187 ; pin_bindings pdip=14, soic=14, tssop=14 ; # Register/bit bindings: ; # Databank 0 (0x0 - 0x7f): ; line_number = 196 ; register _indf = _indf equ 0 ; line_number = 198 ; register _tmr0 = _tmr0 equ 1 ; line_number = 200 ; register _pcl = _pcl equ 2 ; line_number = 202 ; register _status = _status equ 3 ; line_number = 203 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 204 ; bind _rp1 = _status@5 _rp1___byte equ _status _rp1___bit equ 5 ; line_number = 205 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 206 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 207 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 208 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 209 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 210 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 212 ; register _fsr = _fsr equ 4 ; line_number = 214 ; register _porta = _porta equ 5 ; line_number = 215 ; register _ra = _ra equ 5 ; line_number = 216 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 217 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 218 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 219 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 220 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 221 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 223 ; register _portc = _portc equ 7 ; line_number = 224 ; register _rc = _rc equ 7 ; line_number = 225 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 226 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 227 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 228 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 229 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 230 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 232 ; register _pclath = _pclath equ 10 ; line_number = 234 ; register _intcon = _intcon equ 11 ; line_number = 235 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 236 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 237 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 238 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 239 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 240 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 241 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 242 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 244 ; register _pir1 = _pir1 equ 12 ; line_number = 245 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 246 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 247 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 248 ; bind _c2if = _pir1@4 _c2if___byte equ _pir1 _c2if___bit equ 4 ; line_number = 249 ; bind _c1if = _pir1@3 _c1if___byte equ _pir1 _c1if___bit equ 3 ; line_number = 250 ; bind _osfif = _pir1@2 _osfif___byte equ _pir1 _osfif___bit equ 2 ; line_number = 251 ; bind _txif = _pir1@1 _txif___byte equ _pir1 _txif___bit equ 1 ; line_number = 252 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 254 ; register _tmr1l = _tmr1l equ 14 ; line_number = 256 ; register _tmr1h = _tmr1h equ 15 ; line_number = 258 ; register _t1con = _t1con equ 16 ; line_number = 259 ; bind t1ginv = _t1con@7 t1ginv___byte equ _t1con t1ginv___bit equ 7 ; line_number = 260 ; bind _tmr1ge = _t1con@6 _tmr1ge___byte equ _t1con _tmr1ge___bit equ 6 ; line_number = 261 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 262 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 263 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 264 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 265 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 266 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 268 ; register _baudctl = _baudctl equ 17 ; line_number = 269 ; bind _abdovf = _baudctl@7 _abdovf___byte equ _baudctl _abdovf___bit equ 7 ; line_number = 270 ; bind _rcidl = _baudctl@6 _rcidl___byte equ _baudctl _rcidl___bit equ 6 ; line_number = 271 ; bind _sckp = _baudctl@4 _sckp___byte equ _baudctl _sckp___bit equ 4 ; line_number = 272 ; bind _brg16 = _baudctl@3 _brg16___byte equ _baudctl _brg16___bit equ 3 ; line_number = 273 ; bind _wue = _baudctl@1 _wue___byte equ _baudctl _wue___bit equ 1 ; line_number = 274 ; bind _abden = _baudctl@0 _abden___byte equ _baudctl _abden___bit equ 0 ; line_number = 276 ; register _spbrgh = _spbrgh equ 18 ; line_number = 278 ; register _spbrg = _spbrg equ 19 ; line_number = 280 ; register _rcreg = _rcreg equ 20 ; line_number = 282 ; register _txreg = _txreg equ 21 ; line_number = 284 ; register _txsta = _txsta equ 22 ; line_number = 285 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 286 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 287 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 288 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 289 ; bind _sendb = _txsta@3 _sendb___byte equ _txsta _sendb___bit equ 3 ; line_number = 290 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 291 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 292 ; bind _tx9d = _txsta@7 _tx9d___byte equ _txsta _tx9d___bit equ 7 ; line_number = 294 ; register _rcsta = _rcsta equ 23 ; line_number = 295 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 296 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 297 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 298 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 299 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 300 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 301 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 302 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 304 ; register _wdtcon = _wdtcon equ 24 ; line_number = 305 ; bind _wdtps3 = _wdtcon@4 _wdtps3___byte equ _wdtcon _wdtps3___bit equ 4 ; line_number = 306 ; bind _wdtps2 = _wdtcon@3 _wdtps2___byte equ _wdtcon _wdtps2___bit equ 3 ; line_number = 307 ; bind _wdtps1 = _wdtcon@2 _wdtps1___byte equ _wdtcon _wdtps1___bit equ 2 ; line_number = 308 ; bind _wdtps0 = _wdtcon@1 _wdtps0___byte equ _wdtcon _wdtps0___bit equ 1 ; line_number = 309 ; bind _swdten = _wdtcon@0 _swdten___byte equ _wdtcon _swdten___bit equ 0 ; line_number = 311 ; register _cmcon0 = _cmcon0 equ 25 ; line_number = 312 ; bind _c1out = _cmcon0@7 _c1out___byte equ _cmcon0 _c1out___bit equ 7 ; line_number = 313 ; bind _c2out = _cmcon0@6 _c2out___byte equ _cmcon0 _c2out___bit equ 6 ; line_number = 314 ; bind _c1inv = _cmcon0@5 _c1inv___byte equ _cmcon0 _c1inv___bit equ 5 ; line_number = 315 ; bind _c2inv = _cmcon0@4 _c2inv___byte equ _cmcon0 _c2inv___bit equ 4 ; line_number = 316 ; bind _cis = _cmcon0@3 _cis___byte equ _cmcon0 _cis___bit equ 3 ; line_number = 317 ; bind _cm2 = _cmcon0@2 _cm2___byte equ _cmcon0 _cm2___bit equ 2 ; line_number = 318 ; bind _cm1 = _cmcon0@1 _cm1___byte equ _cmcon0 _cm1___bit equ 1 ; line_number = 319 ; bind _cm0 = _cmcon0@0 _cm0___byte equ _cmcon0 _cm0___bit equ 0 ; line_number = 321 ; register _cmcon1 = _cmcon1 equ 26 ; line_number = 322 ; bind _t1gss = _cmcon1@0 _t1gss___byte equ _cmcon1 _t1gss___bit equ 0 ; line_number = 323 ; bind _c2sync = _cmcon1@1 _c2sync___byte equ _cmcon1 _c2sync___bit equ 1 ; line_number = 325 ; register _adresh = _adresh equ 30 ; line_number = 327 ; register _adcon0 = _adcon0 equ 31 ; line_number = 328 ; bind _adfm = _adcon0@7 _adfm___byte equ _adcon0 _adfm___bit equ 7 ; line_number = 329 ; bind _vcfg = _adcon0@6 _vcfg___byte equ _adcon0 _vcfg___bit equ 6 ; line_number = 330 ; bind _chs2 = _adcon0@4 _chs2___byte equ _adcon0 _chs2___bit equ 4 ; line_number = 331 ; bind _chs1 = _adcon0@3 _chs1___byte equ _adcon0 _chs1___bit equ 3 ; line_number = 332 ; bind _chs0 = _adcon0@2 _chs0___byte equ _adcon0 _chs0___bit equ 2 ; line_number = 333 ; bind _go = _adcon0@1 _go___byte equ _adcon0 _go___bit equ 1 ; line_number = 334 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 338 ; register _option_reg = _option_reg equ 129 ; line_number = 339 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 340 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 341 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 342 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 343 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 344 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 345 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 346 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 348 ; register _trisa = _trisa equ 133 ; line_number = 349 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 350 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 351 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 352 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 353 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 354 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 356 ; register _trisc = _trisc equ 135 ; line_number = 357 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 358 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 359 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 360 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 361 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 362 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 364 ; register _pie1 = _pie1 equ 140 ; line_number = 365 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 366 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 367 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 368 ; bind _c2ie = _pie1@4 _c2ie___byte equ _pie1 _c2ie___bit equ 4 ; line_number = 369 ; bind _c1ie = _pie1@3 _c1ie___byte equ _pie1 _c1ie___bit equ 3 ; line_number = 370 ; bind _osfie = _pie1@2 _osfie___byte equ _pie1 _osfie___bit equ 2 ; line_number = 371 ; bind _txie = _pie1@1 _txie___byte equ _pie1 _txie___bit equ 1 ; line_number = 372 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 374 ; register _pcon = _pcon equ 142 ; line_number = 375 ; bind _ulpwue = _pcon@5 _ulpwue___byte equ _pcon _ulpwue___bit equ 5 ; line_number = 376 ; bind _sboden = _pcon@4 _sboden___byte equ _pcon _sboden___bit equ 4 ; line_number = 377 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 378 ; bind _bod = _pcon@0 _bod___byte equ _pcon _bod___bit equ 0 ; line_number = 380 ; register _osccon = _osccon equ 143 ; line_number = 381 ; bind _ircf2 = _osccon@6 _ircf2___byte equ _osccon _ircf2___bit equ 6 ; line_number = 382 ; bind _ircf1 = _osccon@5 _ircf1___byte equ _osccon _ircf1___bit equ 5 ; line_number = 383 ; bind _ircf0 = _osccon@4 _ircf0___byte equ _osccon _ircf0___bit equ 4 ; line_number = 384 ; bind _osts = _osccon@3 _osts___byte equ _osccon _osts___bit equ 3 ; line_number = 385 ; bind _hts = _osccon@2 _hts___byte equ _osccon _hts___bit equ 2 ; line_number = 386 ; bind _lts = _osccon@3 _lts___byte equ _osccon _lts___bit equ 3 ; line_number = 387 ; bind _scs = _osccon@2 _scs___byte equ _osccon _scs___bit equ 2 ; line_number = 389 ; register _osctune = _osctune equ 144 ; line_number = 390 ; bind _tun4 = _osctune@4 _tun4___byte equ _osctune _tun4___bit equ 4 ; line_number = 391 ; bind _tun3 = _osctune@3 _tun3___byte equ _osctune _tun3___bit equ 3 ; line_number = 392 ; bind _tun2 = _osctune@2 _tun2___byte equ _osctune _tun2___bit equ 2 ; line_number = 393 ; bind _tun1 = _osctune@1 _tun1___byte equ _osctune _tun1___bit equ 1 ; line_number = 394 ; bind _tun0 = _osctune@0 _tun0___byte equ _osctune _tun0___bit equ 0 ; line_number = 395 ; constant _osccal_lsb = 1 _osccal_lsb equ 1 ; line_number = 397 ; register _ansel = _ansel equ 145 ; line_number = 398 ; bind _ans7 = _ansel@7 _ans7___byte equ _ansel _ans7___bit equ 7 ; line_number = 399 ; bind _ans6 = _ansel@6 _ans6___byte equ _ansel _ans6___bit equ 6 ; line_number = 400 ; bind _ans5 = _ansel@5 _ans5___byte equ _ansel _ans5___bit equ 5 ; line_number = 401 ; bind _ans4 = _ansel@4 _ans4___byte equ _ansel _ans4___bit equ 4 ; line_number = 402 ; bind _ans3 = _ansel@3 _ans3___byte equ _ansel _ans3___bit equ 3 ; line_number = 403 ; bind _ans2 = _ansel@2 _ans2___byte equ _ansel _ans2___bit equ 2 ; line_number = 404 ; bind _ans1 = _ansel@1 _ans1___byte equ _ansel _ans1___bit equ 1 ; line_number = 405 ; bind _ans0 = _ansel@0 _ans0___byte equ _ansel _ans0___bit equ 0 ; line_number = 407 ; register _wpua = _wpua equ 149 ; line_number = 408 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 409 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 410 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 411 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 412 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 414 ; register _ioca = _ioca equ 150 ; line_number = 415 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 416 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 417 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 418 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 419 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 420 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 422 ; register _eedath = _eedath equ 151 ; line_number = 424 ; register _eeadrh = _eeadrh equ 152 ; line_number = 426 ; register _vrcon = _vrcon equ 153 ; line_number = 427 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 428 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 429 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 430 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 431 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 432 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 434 ; register _eedata = _eedata equ 154 ; line_number = 435 ; bind _eedat7 = _eedata@7 _eedat7___byte equ _eedata _eedat7___bit equ 7 ; line_number = 436 ; bind _eedat6 = _eedata@6 _eedat6___byte equ _eedata _eedat6___bit equ 6 ; line_number = 437 ; bind _eedat5 = _eedata@5 _eedat5___byte equ _eedata _eedat5___bit equ 5 ; line_number = 438 ; bind _eedat4 = _eedata@4 _eedat4___byte equ _eedata _eedat4___bit equ 4 ; line_number = 439 ; bind _eedat3 = _eedata@3 _eedat3___byte equ _eedata _eedat3___bit equ 3 ; line_number = 440 ; bind _eedat2 = _eedata@2 _eedat2___byte equ _eedata _eedat2___bit equ 2 ; line_number = 441 ; bind _eedat1 = _eedata@1 _eedat1___byte equ _eedata _eedat1___bit equ 1 ; line_number = 442 ; bind _eedat0 = _eedata@0 _eedat0___byte equ _eedata _eedat0___bit equ 0 ; line_number = 444 ; register _eeadr = _eeadr equ 155 ; line_number = 445 ; bind _eeadr7 = _eeadr@7 _eeadr7___byte equ _eeadr _eeadr7___bit equ 7 ; line_number = 446 ; bind _eeadr6 = _eeadr@6 _eeadr6___byte equ _eeadr _eeadr6___bit equ 6 ; line_number = 447 ; bind _eeadr5 = _eeadr@5 _eeadr5___byte equ _eeadr _eeadr5___bit equ 5 ; line_number = 448 ; bind _eeadr4 = _eeadr@4 _eeadr4___byte equ _eeadr _eeadr4___bit equ 4 ; line_number = 449 ; bind _eeadr3 = _eeadr@3 _eeadr3___byte equ _eeadr _eeadr3___bit equ 3 ; line_number = 450 ; bind _eeadr2 = _eeadr@2 _eeadr2___byte equ _eeadr _eeadr2___bit equ 2 ; line_number = 451 ; bind _eeadr1 = _eeadr@1 _eeadr1___byte equ _eeadr _eeadr1___bit equ 1 ; line_number = 452 ; bind _eeadr0 = _eeadr@0 _eeadr0___byte equ _eeadr _eeadr0___bit equ 0 ; line_number = 454 ; register _eecon1 = _eecon1 equ 156 ; line_number = 455 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 456 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 457 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 458 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 459 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 461 ; register _eecon2 = _eecon2 equ 157 ; line_number = 463 ; register _adresl = _adresl equ 158 ; line_number = 465 ; register _adcon1 = _adcon1 equ 159 ; line_number = 466 ; bind _adcs2 = _adcon1@6 _adcs2___byte equ _adcon1 _adcs2___bit equ 6 ; line_number = 467 ; bind _adcs1 = _adcon1@5 _adcs1___byte equ _adcon1 _adcs1___bit equ 5 ; line_number = 468 ; bind _adcs0 = _adcon1@4 _adcs0___byte equ _adcon1 _adcs0___bit equ 4 ; # Data Bank 2 (0x100 - 0x17f): ; buffer = '_robobricks_pic16f688' ; line_number = 6 ; library _pic16f688 exited ; line_number = 7 ; library clock8mhz entered ; # Copyright (c) 2004-2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock8mhz' ; line_number = 9 ; constant clock_rate = 8000000 clock_rate equ 8000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 2000000 ; line_number = 12 ; constant microsecond = 2 microsecond equ 2 ; buffer = '_robobricks_pic16f688' ; line_number = 7 ; library clock8mhz exited ; # Get some EUSART constants defined: ; line_number = 10 ; constant _eusart_clock = clock_rate _eusart_clock equ 8000000 ; line_number = 11 ; constant _eusart_factor = 4 _eusart_factor equ 4 ; line_number = 12 ; library _eusart entered ; # Copyright (c) 2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library contains a bunch of definitions for the Enhanced Universal ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available ; # on many of the PIC microcontrollers. ; # In order to use this module you have to get two constants defined ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. ; # {_eusart_clock} should be set to the frequency oscillator for the chip. ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: ; # ; # _{brg16} {_brgh} _{eusart_factor} ; # 0 0 64 ; # 0 1 16 ; # 1 0 16 ; # 1 1 ; # 2400 baud: ; buffer = '_eusart' ; line_number = 23 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 _eusart_2400 equ 832 ; line_number = 24 ; constant _eusart_2400_low = _eusart_2400 & 0xff _eusart_2400_low equ 64 ; line_number = 25 ; constant _eusart_2400_high = _eusart_2400 >> 8 _eusart_2400_high equ 3 ; line_number = 26 ; constant _eusart_2400_index = 0 _eusart_2400_index equ 0 ; # 4800 baud: ; line_number = 28 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 _eusart_4800 equ 415 ; line_number = 29 ; constant _eusart_4800_low = _eusart_4800 & 0xff _eusart_4800_low equ 159 ; line_number = 30 ; constant _eusart_4800_high = _eusart_4800 >> 8 _eusart_4800_high equ 1 ; line_number = 31 ; constant _eusart_4800_index = 1 _eusart_4800_index equ 1 ; # 9600 baud: ; line_number = 33 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 _eusart_9600 equ 207 ; line_number = 34 ; constant _eusart_9600_low = _eusart_9600 & 0xff _eusart_9600_low equ 207 ; line_number = 35 ; constant _eusart_9600_high = _eusart_9600 >> 8 _eusart_9600_high equ 0 ; line_number = 36 ; constant _eusart_9600_index = 2 _eusart_9600_index equ 2 ; # 19200 baud: ; line_number = 38 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 _eusart_19200 equ 103 ; line_number = 39 ; constant _eusart_19200_low = _eusart_19200 & 0xff _eusart_19200_low equ 103 ; line_number = 40 ; constant _eusart_19200_high = _eusart_19200 >> 8 _eusart_19200_high equ 0 ; line_number = 41 ; constant _eusart_19200_index = 3 _eusart_19200_index equ 3 ; # 38400 baud: ; line_number = 43 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 _eusart_38400 equ 51 ; line_number = 44 ; constant _eusart_38400_low = _eusart_38400 & 0xff _eusart_38400_low equ 51 ; line_number = 45 ; constant _eusart_38400_high = _eusart_38400 >> 8 _eusart_38400_high equ 0 ; line_number = 46 ; constant _eusart_38400_index = 4 _eusart_38400_index equ 4 ; # 57600 baud: ; line_number = 48 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 _eusart_57600 equ 33 ; line_number = 49 ; constant _eusart_57600_low = _eusart_57600 & 0xff _eusart_57600_low equ 33 ; line_number = 50 ; constant _eusart_57600_high = _eusart_57600 >> 8 _eusart_57600_high equ 0 ; line_number = 51 ; constant _eusart_57600_index = 5 _eusart_57600_index equ 5 ; # 115200 baud: ; line_number = 53 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 _eusart_115200 equ 16 ; line_number = 54 ; constant _eusart_115200_low = _eusart_115200 & 0xff _eusart_115200_low equ 16 ; line_number = 55 ; constant _eusart_115200_high = _eusart_115200 >> 8 _eusart_115200_high equ 0 ; line_number = 56 ; constant _eusart_115200_index = 6 _eusart_115200_index equ 6 ; # 203400 baud: ; line_number = 58 ; constant _eusart_203400 = (_eusart_clock / (203400 * _eusart_factor)) - 1 _eusart_203400 equ 8 ; line_number = 59 ; constant _eusart_203400_low = _eusart_203400 & 0xff _eusart_203400_low equ 8 ; line_number = 60 ; constant _eusart_203400_high = _eusart_203400 >> 8 _eusart_203400_high equ 0 ; line_number = 61 ; constant _eusart_203400_index = 7 _eusart_203400_index equ 7 ; buffer = '_robobricks_pic16f688' ; line_number = 12 ; library _eusart exited ; line_number = 14 ; global debug_mode bit debug_mode___byte equ globals___0+79 debug_mode___bit equ 0 ; line_number = 15 ; global in_byte_get bit in_byte_get___byte equ globals___0+79 in_byte_get___bit equ 1 ; Delaying code generation for procedure byte_get ; Delaying code generation for procedure byte_put ; Delaying code generation for procedure baud_rate_low ; Delaying code generation for procedure baud_rate_high ; buffer = 'servo4' ; line_number = 6 ; library _robobricks_pic16f688 exited ; line_number = 8 ; package pdip ; line_number = 9 ; pin 1 = power_supply ; line_number = 10 ; pin 2 = ra5_nc ; line_number = 11 ; pin 3 = ra4_in, name = debug debug___byte equ _porta debug___bit equ 4 ; line_number = 12 ; pin 4 = ra3_in, name = cal_mode cal_mode___byte equ _porta cal_mode___bit equ 4 ; line_number = 13 ; pin 5 = rx ; line_number = 14 ; pin 6 = tx ; line_number = 15 ; pin 7 = rc3_out, name = servo3, bit = servo3_bit, mask = servo3_mask servo3___byte equ _portc servo3___bit equ 3 servo3_bit equ 3 servo3_mask equ 8 ; line_number = 16 ; pin 8 = an6, name = sense3, bit = sense3_channel sense3___byte equ _portc sense3___bit equ 2 sense3_channel equ 2 ; line_number = 17 ; pin 9 = rc1_out, name = servo2, bit = servo2_bit, mask = servo2_mask servo2___byte equ _portc servo2___bit equ 1 servo2_bit equ 1 servo2_mask equ 2 ; line_number = 18 ; pin 10 = an4, name = sense2, bit = sense2_channel sense2___byte equ _portc sense2___bit equ 0 sense2_channel equ 0 ; line_number = 19 ; pin 11 = ra2_out, name = servo1, bit = servo1_bit, mask = servo1_mask servo1___byte equ _porta servo1___bit equ 2 servo1_bit equ 2 servo1_mask equ 4 ; line_number = 20 ; pin 12 = an1, name = sense0, bit = sense0_channel sense0___byte equ _porta sense0___bit equ 1 sense0_channel equ 1 ; line_number = 21 ; pin 13 = ra0_out, name = servo0, bit = servo0_bit, mask = servo0_mask servo0___byte equ _porta servo0___bit equ 0 servo0_bit equ 0 servo0_mask equ 1 ; line_number = 22 ; pin 14 = ground ; line_number = 23 ; constant sense1_channel = 0 sense1_channel equ 0 ; #configure cp=on, wdte=on ; # Define the pin bindings: ; line_number = 28 ; constant initial_minimum = 1000 * microsecond initial_minimum equ 2000 ; line_number = 29 ; constant initial_maximum = 2000 * microsecond initial_maximum equ 4000 ; line_number = 30 ; constant initial_scale = (initial_maximum - initial_minimum) >> 4 initial_scale equ 125 ; line_number = 31 ; constant initial_high = initial_minimum >> 8 initial_high equ 7 ; line_number = 32 ; constant initial_low = initial_minimum & 0xff initial_low equ 208 ; line_number = 34 ; global analogs[4] array[byte] analogs equ globals___0+3 ; # The next {eedata_size} bytes are saved and restored from EEData: ; line_number = 37 ; constant eedata_size = 13 eedata_size equ 13 ; line_number = 38 ; global base_lows[4] array[byte] base_lows equ globals___0+7 ; line_number = 39 ; global base_highs[4] array[byte] base_highs equ globals___0+11 ; line_number = 40 ; global scales[4] array[byte] scales equ globals___0+15 ; line_number = 41 ; global address byte address equ globals___0+19 ; line_number = 43 ; global fines[4] array[byte] fines equ globals___0+20 ; line_number = 44 ; global positions[4] array[byte] positions equ globals___0+24 ; line_number = 45 ; global interrupts byte interrupts equ globals___0+28 ; line_number = 46 ; global enables byte enables equ globals___0+29 ; line_number = 48 ; global command_previous byte command_previous equ globals___0+30 ; line_number = 49 ; global command_last byte command_last equ globals___0+31 ; line_number = 50 ; global sent_previous byte sent_previous equ globals___0+32 ; line_number = 51 ; global sent_last byte sent_last equ globals___0+33 ; line_number = 53 ; global final_lows[4] array[byte] final_lows equ globals___0+34 ; line_number = 54 ; global final_highs[4] array[byte] final_highs equ globals___0+38 ; line_number = 56 ; global interrupt_pending bit interrupt_pending___byte equ globals___0+79 interrupt_pending___bit equ 2 ; line_number = 58 ; constant servo_on = 0 servo_on equ 0 ; line_number = 59 ; constant servo_off = 1 servo_off equ 1 ; line_number = 61 ; origin 0 org 0 ; line_number = 63 ; procedure xmain xmain: ; arguments_none ; line_number = 65 ; returns_nothing ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 67 ; assemble ; line_number = 68 goto main ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 70 ; origin 4 org 4 ; line_number = 72 ; procedure interrupt interrupt: interrupt___w_save equ shared___globals+1 interrupt___status_save equ shared___globals ; Carefully save __w and __tatus into RAM ; Save W first (easy) movwf interrupt___w_save ; Save Status without smashing it (tricky) ; Move swapped version of status into W swapf __status,w ; Store swapped version of status into RAM movwf interrupt___status_save ; arguments_none ; line_number = 74 ; returns_nothing ; before procedure statements delay=non-uniform, bit states=(data:??=>?? code:XX=>XX) ; line_number = 76 ; interrupts := interrupts + 1 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit incf interrupts,f ; line_number = 77 ; servo0 := servo_off bsf servo0___byte, servo0___bit ; line_number = 78 ; servo1 := servo_off bsf servo1___byte, servo1___bit ; line_number = 79 ; servo2 := servo_off bsf servo2___byte, servo2___bit ; line_number = 80 ; servo3 := servo_off bsf servo3___byte, servo3___bit ; line_number = 81 ; _tmr1if := 0 bcf _tmr1if___byte, _tmr1if___bit ; delay after procedure statements=non-uniform ; Interrupt return ; Carefully restore __w and __tatus from RAM ; Restore swapped status into W swapf interrupt___status_save,w ; W now contains (unswapped) status ; Restore W to __status movwf __status ; From here on out, do not modify __status ; Swap saved W register in RAM swapf interrupt___w_save,f ; Unswap the saved W reg and restore to W swapf interrupt___w_save,w ; __w and __status are now restored ; Return from interrupt retfie ; line_number = 84 ; procedure us100 us100: ; Last argument is sitting in W; save into argument variable movwf us100__count ; delay=4294967295 ; line_number = 85 ; argument count byte us100__count equ globals___0+42 ; line_number = 86 ; returns_nothing ; # This procedure will delay by {count} * 100uS. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 90 ; loop_exactly count start us100__1 equ globals___0+58 movf us100__count,w movwf us100__1 us100__2: ; line_number = 91 ; delay 100 * microsecond start ; Delay expression evaluates to 200 ; line_number = 92 ; do_nothing ; Delay 200 cycles ; Delay loop takes 50 * 4 = 200 cycles movlw 50 us100__3: addlw 255 btfss __z___byte, __z___bit goto us100__3 ; line_number = 91 ; delay 100 * microsecond done ; line_number = 90 ; loop_exactly count wrap-up decfsz us100__1,f goto us100__2 ; line_number = 90 ; loop_exactly count done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 95 ; procedure main main: ; Initialize some registers movlw 1 movwf _adcon0 movlw 82 bsf __rp0___byte, __rp0___bit movwf _ansel movlw 7 bcf __rp0___byte, __rp0___bit movwf _cmcon0 movlw 58 bsf __rp0___byte, __rp0___bit movwf _trisa movlw 53 movwf _trisc ; arguments_none ; line_number = 97 ; returns_nothing ; line_number = 99 ; local command byte main__command equ globals___0+43 ; line_number = 100 ; local glitch byte main__glitch equ globals___0+44 ; line_number = 101 ; local id_index byte main__id_index equ globals___0+45 ; line_number = 102 ; local temporary byte main__temporary equ globals___0+46 ; line_number = 103 ; local servo byte main__servo equ globals___0+47 ; line_number = 104 ; local position byte main__position equ globals___0+48 ; # Switch over to 8MHz: ; before procedure statements delay=non-uniform, bit states=(data:00=>01 code:XX=>XX) ; line_number = 107 ; _osccon := 0x71 movlw 113 movwf _osccon ; # Warm up the UART: ; line_number = 110 ; _txsta := 0x24 movlw 36 bcf __rp0___byte, __rp0___bit movwf _txsta ; line_number = 111 ; _rcsta := 0x90 movlw 144 movwf _rcsta ; line_number = 112 ; _baudctl := 0x08 movlw 8 movwf _baudctl ; line_number = 113 ; _spbrg := _eusart_2400_low movlw 64 movwf _spbrg ; line_number = 114 ; _spbrgh := _eusart_2400_high movlw 3 movwf _spbrgh ; # These registers are in data bank 1: ; line_number = 117 ; _psa := 0 bsf __rp0___byte, __rp0___bit bcf _psa___byte, _psa___bit ; #loop_forever ; # servo0 := servo_on ; # servo1 := servo_on ; # servo2 := servo_on ; # servo3 := servo_on ; # ; # call us100(15) ; # ; # servo0 := servo_off ; # servo1 := servo_off ; # servo2 := servo_off ; # servo3 := servo_off ; # ; # call us100(190) ; # These registers are in data bank 0: ; line_number = 136 ; _t1con := 0x00 movlw 0 bcf __rp0___byte, __rp0___bit movwf _t1con ; line_number = 137 ; interrupts := 0 movlw 0 movwf interrupts ; # Set A/D clock to Fosc/32 (Tad= 1.6uS): ; line_number = 140 ; _adcon1 := 0x20 movlw 32 bsf __rp0___byte, __rp0___bit movwf _adcon1 ; #_adcs0 := 1 ; #_eeadr := 0 ; #loop_exactly 13 ; # _rd := 1 ; # base_lows[_eeadr] := _eedata ; # _eeadr := _eeadr + 1 ; #if base_lows[0] = 0xff ; line_number = 150 ; servo := 0 movlw 0 bcf __rp0___byte, __rp0___bit movwf main__servo ; line_number = 151 ; loop_exactly 4 start main__1 equ globals___0+59 movlw 4 movwf main__1 main__2: ; line_number = 152 ; base_lows[servo] := initial_low ; index_fsr_first movf main__servo,w addlw base_lows movwf __fsr movlw 208 movwf __indf ; line_number = 153 ; base_highs[servo] := initial_high ; index_fsr_first movf main__servo,w addlw base_highs movwf __fsr movlw 7 movwf __indf ; line_number = 154 ; scales[servo] := initial_scale ; index_fsr_first movf main__servo,w addlw scales movwf __fsr movlw 125 movwf __indf ; line_number = 155 ; servo := servo + 1 incf main__servo,f ; line_number = 151 ; loop_exactly 4 wrap-up decfsz main__1,f goto main__2 ; line_number = 151 ; loop_exactly 4 done ; line_number = 156 ; address := 0xff movlw 255 movwf address ; line_number = 158 ; servo := 0 movlw 0 movwf main__servo ; line_number = 159 ; loop_exactly 4 start main__3 equ globals___0+59 movlw 4 movwf main__3 main__4: ; line_number = 160 ; positions[servo] := 0 ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movlw 0 movwf __indf ; line_number = 161 ; fines[servo] := 0 ; index_fsr_first movf main__servo,w addlw fines movwf __fsr movlw 0 movwf __indf ; line_number = 162 ; servo := servo + 1 incf main__servo,f ; line_number = 159 ; loop_exactly 4 wrap-up decfsz main__3,f goto main__4 ; line_number = 159 ; loop_exactly 4 done ; # For now: ; line_number = 165 ; enables := 0xf movlw 15 movwf enables ; #enables := 0 ; # Let's initialize the servo's to off: ; line_number = 169 ; servo0 := servo_off bsf servo0___byte, servo0___bit ; line_number = 170 ; servo1 := servo_off bsf servo1___byte, servo1___bit ; line_number = 171 ; servo2 := servo_off bsf servo2___byte, servo2___bit ; line_number = 172 ; servo3 := servo_off bsf servo3___byte, servo3___bit ; # According to the specification sheet, TMR1L, TRM1H, and ; # TMR1IF must be clear before enabling TMR1IE. Since they ; # do not say why, it is unclear what problem that this addresses. ; line_number = 177 ; _tmr1l := 0 movlw 0 movwf _tmr1l ; line_number = 178 ; _tmr1h := 0 movlw 0 movwf _tmr1h ; line_number = 179 ; _tmr1if := 0 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 180 ; _tmr1ie := 1 bsf __rp0___byte, __rp0___bit bsf _tmr1ie___byte, _tmr1ie___bit ; line_number = 181 ; _peie := 1 bcf __rp0___byte, __rp0___bit bsf _peie___byte, _peie___bit ; line_number = 182 ; _gie := 1 bsf _gie___byte, _gie___bit ; #_tmr1on := 1 ; #_tmr1ie := 0 ; #_peie := 0 ; #_gie := 0 ; line_number = 187 ; _tmr1on := 0 bcf _tmr1on___byte, _tmr1on___bit ; line_number = 189 ; glitch := 0 movlw 0 movwf main__glitch ; line_number = 190 ; id_index := 0 movlw 0 movwf main__id_index ; line_number = 193 ; loop_forever start main__5: ; line_number = 194 ; command := byte_get() call byte_get movwf main__command ; line_number = 195 ; servo := command & 3 movlw 3 andwf main__command,w movwf main__servo ; line_number = 196 ; switch command >> 6 start movlw main__93>>8 movwf __pclath main__94 equ globals___0+59 swapf main__command,w movwf main__94 rrf main__94,f rrf main__94,w andlw 3 addlw main__93 movwf __pcl ; page_group 4 main__93: goto main__89 goto main__90 goto main__91 goto main__92 ; line_number = 197 ; case 0 main__89: ; # 00xx xxxx ; line_number = 199 ; switch (command >> 3) & 7 start movlw main__15>>8 movwf __pclath main__16 equ globals___0+59 rrf main__command,w movwf main__16 rrf main__16,f rrf main__16,w andlw 7 addlw main__15 movwf __pcl ; page_group 8 main__15: goto main__10 goto main__11 goto main__12 goto main__13 goto main__14 goto main__14 goto main__14 goto main__14 ; line_number = 200 ; case 0 main__10: ; # 0000 0xxx: ; line_number = 202 ; temporary := byte_get() call byte_get movwf main__temporary ; line_number = 203 ; if command@2 start main__select__6___byte equ main__command main__select__6___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__6 ; # 0000 01ss (Write Base High): ; line_number = 205 ; base_highs[servo] := temporary ; index_fsr_first movf main__servo,w ; # 0000 00ss (Write Base Low): ; line_number = 208 ; base_lows[servo] := temporary ; index_fsr_first ; CASE: true_size=1 && false_size=1 btfsc main__select__6___byte, main__select__6___bit addlw base_highs btfss main__select__6___byte, main__select__6___bit addlw base_lows movwf __fsr movf main__temporary,w movwf __indf ; <=bit_code_emit@symbol; sym=main__select__6 (data:00=>00 code:XX=>XX) ; line_number = 203 ; if command@2 done goto main__17 ; line_number = 209 ; case 1 main__11: ; # 0000 1xxx: ; line_number = 211 ; temporary := byte_get() call byte_get movwf main__temporary ; line_number = 212 ; if command@2 start main__select__7___byte equ main__command main__select__7___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__7 ; # 0000 11ss (Write Scale): ; line_number = 214 ; scales[servo] := temporary ; index_fsr_first movf main__servo,w ; # 0000 10ss (Write Position) ; line_number = 217 ; positions[servo] := temporary ; index_fsr_first ; CASE: true_size=1 && false_size=1 btfsc main__select__7___byte, main__select__7___bit addlw scales btfss main__select__7___byte, main__select__7___bit addlw positions movwf __fsr movf main__temporary,w movwf __indf ; <=bit_code_emit@symbol; sym=main__select__7 (data:00=>00 code:XX=>XX) ; line_number = 212 ; if command@2 done goto main__17 ; line_number = 218 ; case 2 main__12: ; # 0001 0xxx: ; line_number = 220 ; if command@2 start main__select__8___byte equ main__command main__select__8___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__8 ; # 0001 01ss (Read Base High): ; line_number = 222 ; temporary := base_highs[servo] movf main__servo,w ; # 0001 00ss (Read Base Low): ; line_number = 225 ; temporary := base_lows[servo] ; CASE: true_size=1 && false_size=1 btfsc main__select__8___byte, main__select__8___bit addlw base_highs btfss main__select__8___byte, main__select__8___bit addlw base_lows movwf __fsr movf __indf,w movwf main__temporary ; <=bit_code_emit@symbol; sym=main__select__8 (data:00=>00 code:XX=>XX) ; line_number = 220 ; if command@2 done ; line_number = 226 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__17 ; line_number = 227 ; case 3 main__13: ; # 0001 1xxx: ; line_number = 229 ; if command@2 start main__select__9___byte equ main__command main__select__9___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__9 ; # 0001 11ss (Read Scale): ; line_number = 231 ; temporary := scales[servo] movf main__servo,w ; # 0001 10ss (Read Position): ; line_number = 234 ; temporary := positions[servo] ; CASE: true_size=1 && false_size=1 btfsc main__select__9___byte, main__select__9___bit addlw scales btfss main__select__9___byte, main__select__9___bit addlw positions movwf __fsr movf __indf,w movwf main__temporary ; <=bit_code_emit@symbol; sym=main__select__9 (data:00=>00 code:XX=>XX) ; line_number = 229 ; if command@2 done ; line_number = 235 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__17 ; line_number = 236 ; case 4, 5, 6, 7 main__14: ; # 001x xxxx: ; line_number = 238 ; do_nothing main__17: ; line_number = 199 ; switch (command >> 3) & 7 done goto main__95 ; line_number = 239 ; case 1 main__90: ; # 01hh hhhh (Set High): ; line_number = 241 ; position := positions[servo] movf main__servo,w addlw positions movwf __fsr movf __indf,w movwf main__position ; line_number = 242 ; position := position & 0xf | (command << 2) & 0xf0 main__18 equ globals___0+59 movlw 15 andwf main__position,w movwf main__18 main__19 equ globals___0+60 rlf main__command,w movwf main__19 rlf main__19,w andlw 240 iorwf main__18,w movwf main__position ; line_number = 243 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf goto main__95 ; line_number = 244 ; case 2 main__91: ; # 10ll llll (Set Low): ; line_number = 246 ; position := positions[servo] movf main__servo,w addlw positions movwf __fsr movf __indf,w movwf main__position ; line_number = 247 ; position := position & 0xf0 | (command >> 2) & 0xf main__20 equ globals___0+59 movlw 240 andwf main__position,w movwf main__20 main__21 equ globals___0+60 rrf main__command,w movwf main__21 rrf main__21,w andlw 15 iorwf main__20,w movwf main__position ; line_number = 248 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf goto main__95 ; line_number = 249 ; case 3 main__92: ; # 11xx xxxx: ; line_number = 251 ; switch (command >> 3) & 7 start movlw main__86>>8 movwf __pclath main__87 equ globals___0+59 rrf main__command,w movwf main__87 rrf main__87,f rrf main__87,w andlw 7 addlw main__86 movwf __pcl ; page_group 8 main__86: goto main__79 goto main__80 goto main__81 goto main__82 goto main__83 goto main__84 goto main__84 goto main__85 ; line_number = 252 ; case 0 main__79: ; # 1100 0ess (Set Enable and Position): ; line_number = 254 ; positions[servo] := byte_get() ; index_temporary_first main__22 equ globals___0+59 main__23 equ globals___0+60 movf main__servo,w movwf main__22 call byte_get movwf main__23 movf main__22,w addlw positions movwf __fsr movf main__23,w movwf __indf ; line_number = 255 ; temporary := mask_get(servo) movf main__servo,w call mask_get movwf main__temporary ; line_number = 256 ; if command@2 start main__select__24___byte equ main__command main__select__24___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__24 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__24___byte, main__select__24___bit goto main__25 ; line_number = 257 ; enables := enables | temporary movf main__temporary,w iorwf enables,f goto main__26 main__25: ; line_number = 259 ; enables := enables & (temporary ^ 0xf) movlw 15 xorwf main__temporary,w andwf enables,f main__26: ; <=bit_code_emit@symbol; sym=main__select__24 (data:00=>00 code:XX=>XX) ; line_number = 256 ; if command@2 done goto main__88 ; line_number = 260 ; case 1 main__80: ; # 1100 1ess (Set Enable Flag Only): ; line_number = 262 ; temporary := mask_get(servo) movf main__servo,w call mask_get movwf main__temporary ; line_number = 263 ; if command@2 start main__select__27___byte equ main__command main__select__27___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__27 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__27___byte, main__select__27___bit goto main__28 ; line_number = 264 ; enables := enables | temporary movf main__temporary,w iorwf enables,f goto main__29 main__28: ; line_number = 266 ; enables := enables & (temporary ^ 0xf) movlw 15 xorwf main__temporary,w andwf enables,f main__29: ; <=bit_code_emit@symbol; sym=main__select__27 (data:00=>00 code:XX=>XX) ; line_number = 263 ; if command@2 done goto main__88 ; line_number = 267 ; case 2 main__81: ; # 1101 0xxx: ; line_number = 269 ; if command@2 start main__select__32___byte equ main__command main__select__32___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__32 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__32___byte, main__select__32___bit goto main__33 ; # 1101 01ss (Read Enable): ; line_number = 271 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 272 ; if enables & mask_get(servo) != 0 start ; Left minus Right main__31 equ globals___0+59 movf enables,w movwf main__31 movf main__servo,w call mask_get andwf main__31,w ; =>bit_code_emit@symbol(): sym=__z ; CASE: true_code.size=0 && false_code.size=1 btfss __z___byte, __z___bit ; line_number = 273 ; temporary@0 := 1 main__select__30___byte equ main__temporary main__select__30___bit equ 0 bsf main__select__30___byte, main__select__30___bit ; Recombine size1 = 0 || size2 = 0 ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 272 ; if enables & mask_get(servo) != 0 done ; line_number = 274 ; call byte_put(temporary) movf main__temporary,w goto main__34 main__33: ; # 1101 00ss (Read position): ; line_number = 277 ; call byte_put(positions[servo]) movf main__servo,w addlw positions movwf __fsr movf __indf,w main__34: call byte_put ; <=bit_code_emit@symbol; sym=main__select__32 (data:00=>00 code:XX=>XX) ; line_number = 269 ; if command@2 done goto main__88 ; line_number = 278 ; case 3 main__82: ; # 1101 1xxx: ; line_number = 280 ; if command@2 start main__select__49___byte equ main__command main__select__49___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__49 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__49___byte, main__select__49___bit goto main__50 ; # 1101 11ss (Read Current Draw): ; line_number = 282 ; call byte_put(analogs[servo]) movf main__servo,w addlw analogs movwf __fsr movf __indf,w call byte_put goto main__51 main__50: ; # 1101 10xx: ; line_number = 285 ; if command@1 start main__select__46___byte equ main__command main__select__46___bit equ 1 ; =>bit_code_emit@symbol(): sym=main__select__46 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__46___byte, main__select__46___bit goto main__47 ; # 1101 101x: ; line_number = 287 ; if command@0 start main__select__43___byte equ main__command main__select__43___bit equ 0 ; =>bit_code_emit@symbol(): sym=main__select__43 ; # 1101 1011 (Set Address): ; line_number = 289 ; address := byte_get() call byte_get ; # 1101 1010 (Save settings): ; # Need magic OK byte first: ; line_number = 293 ; if byte_get() = 0xa5 start ; Left minus Right ; CASE: true.size=1 false.size>1; no GOTO btfss main__select__43___byte, main__select__43___bit goto main__44 movwf address goto main__45 main__44: addlw 91 ; =>bit_code_emit@symbol(): sym=__z ; CASE: true.size>1 false.size=1; no GOTO's btfss __z___byte, __z___bit goto main__41 ; #FIXME: Compiler problem kludge!!! ; line_number = 295 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 296 ; _eeadr := 0 movlw 0 bsf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 297 ; _gie := 0 bcf __rp0___byte, __rp0___bit bcf _gie___byte, _gie___bit ; line_number = 298 ; loop_exactly 13 start main__38 equ globals___0+59 movlw 13 movwf main__38 main__39: ; line_number = 299 ; _eedata := base_lows[_eeadr] bsf __rp0___byte, __rp0___bit movf _eeadr,w addlw base_lows movwf __fsr movf __indf,w movwf _eedata ; line_number = 300 ; _wren := 1 bsf _wren___byte, _wren___bit ; line_number = 301 ; _eecon2 := 0x55 movlw 85 movwf _eecon2 ; line_number = 302 ; _eecon2 := 0xaa movlw 170 movwf _eecon2 ; line_number = 303 ; _wr := 1 bsf _wr___byte, _wr___bit ; line_number = 304 ; while _wr start main__40: ; =>bit_code_emit@symbol(): sym=_wr ; CASE: True.size=1 False.size=0 btfsc _wr___byte, _wr___bit ; true=GOTO goto main__40 ; <=bit_code_emit@symbol; sym=_wr (data:00=>01 code:XX=>XX) ; line_number = 304 ; while _wr done ; line_number = 306 ; _eeadr := _eeadr + 1 incf _eeadr,f bcf __rp0___byte, __rp0___bit ; line_number = 298 ; loop_exactly 13 wrap-up decfsz main__38,f goto main__39 ; line_number = 298 ; loop_exactly 13 done ; line_number = 307 ; _gie := 1 bsf _gie___byte, _gie___bit ; line_number = 308 ; _wren := 0 bsf __rp0___byte, __rp0___bit bcf _wren___byte, _wren___bit ; line_number = 309 ; call byte_put(0xa5) movlw 165 bcf __rp0___byte, __rp0___bit goto main__42 main__41: ; line_number = 311 ; call byte_put(0x11) movlw 17 main__42: call byte_put ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 293 ; if byte_get() = 0xa5 done main__45: ; <=bit_code_emit@symbol; sym=main__select__43 (data:00=>00 code:XX=>XX) ; line_number = 287 ; if command@0 done goto main__48 main__47: ; # 1101 100x: ; line_number = 314 ; if command@0 start main__select__35___byte equ main__command main__select__35___bit equ 0 ; =>bit_code_emit@symbol(): sym=main__select__35 ; CASE: true_code_size > 1 && false_code_size > 1 btfss main__select__35___byte, main__select__35___bit goto main__36 ; # 1101 1001 (Set Enables): ; line_number = 316 ; enables := byte_get() & 0xf call byte_get andlw 15 movwf enables goto main__37 main__36: ; # 1101 1001 (Read Enables): ; line_number = 319 ; call byte_put(enables) movf enables,w call byte_put main__37: ; <=bit_code_emit@symbol; sym=main__select__35 (data:00=>00 code:XX=>XX) ; line_number = 314 ; if command@0 done main__48: ; <=bit_code_emit@symbol; sym=main__select__46 (data:00=>00 code:XX=>XX) ; line_number = 285 ; if command@1 done main__51: ; <=bit_code_emit@symbol; sym=main__select__49 (data:00=>00 code:XX=>XX) ; line_number = 280 ; if command@2 done goto main__88 ; line_number = 320 ; case 4 main__83: ; # 1110 0xxx: ; line_number = 322 ; switch command & 7 start ; line_number = 323 ; case_maximum 7 movlw main__60>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__60 movwf __pcl ; page_group 8 main__60: goto main__52 goto main__53 goto main__54 goto main__55 goto main__56 goto main__57 goto main__58 goto main__59 ; line_number = 324 ; case 0 main__52: ; line_number = 325 ; call byte_put(interrupts) movf interrupts,w call byte_put goto main__61 ; line_number = 326 ; case 1 main__53: ; line_number = 327 ; call byte_put(positions[0]) movf positions,w call byte_put goto main__61 ; line_number = 328 ; case 2 main__54: ; line_number = 329 ; call byte_put(final_lows[0]) movf final_lows,w call byte_put goto main__61 ; line_number = 330 ; case 3 main__55: ; line_number = 331 ; call byte_put(final_highs[0]) movf final_highs,w call byte_put goto main__61 ; line_number = 332 ; case 4 main__56: ; line_number = 333 ; call byte_put(base_lows[0]) movf base_lows,w call byte_put goto main__61 ; line_number = 334 ; case 5 main__57: ; line_number = 335 ; call byte_put(base_highs[0]) movf base_highs,w call byte_put goto main__61 ; line_number = 336 ; case 6 main__58: ; line_number = 337 ; call byte_put(scales[0]) movf scales,w call byte_put goto main__61 ; line_number = 338 ; case 7 main__59: ; line_number = 339 ; call byte_put(fines[0]) movf fines,w call byte_put main__61: ; line_number = 322 ; switch command & 7 done goto main__88 ; line_number = 341 ; case 5, 6 main__84: ; # 1110 0xxx, 1110 1xxx, 1111 0xxx: ; line_number = 343 ; do_nothing goto main__88 ; line_number = 344 ; case 7 main__85: ; # 1111 1xxx ; line_number = 346 ; switch command & 7 start movlw main__77>>8 movwf __pclath movlw 7 andwf main__command,w addlw main__77 movwf __pcl ; page_group 8 main__77: goto main__69 goto main__70 goto main__71 goto main__72 goto main__73 goto main__74 goto main__75 goto main__76 ; line_number = 347 ; case 0 main__69: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 348 ; _osctune := _osctune - _osccal_lsb decf _osctune,f goto main__78 ; line_number = 349 ; case 1 main__70: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 350 ; _osctune := _osctune + _osccal_lsb incf _osctune,f goto main__78 ; line_number = 351 ; case 2 main__71: ; This case body wants this bit set bsf __rp0___byte, __rp0___bit ; line_number = 352 ; call byte_put(_osctune) movf _osctune,w bcf __rp0___byte, __rp0___bit call byte_put goto main__78 ; line_number = 353 ; case 3 main__72: ; line_number = 354 ; call byte_put(0) movlw 0 call byte_put goto main__78 ; line_number = 355 ; case 4 main__73: ; line_number = 356 ; temporary := 0 movlw 0 movwf main__temporary ; line_number = 357 ; if id_index < id.size start movlw 40 subwf main__id_index,w ; =>bit_code_emit@symbol(): sym=__c ; CASE: true.size=0 && false.size>1 btfsc __c___byte, __c___bit goto main__62 ; line_number = 358 ; temporary := id[id_index] movf main__id_index,w call id movwf main__temporary ; line_number = 359 ; id_index := id_index + 1 incf main__id_index,f main__62: ; Recombine size1 = 0 || size2 = 0 ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX) ; line_number = 357 ; if id_index < id.size done ; line_number = 360 ; call byte_put(temporary) movf main__temporary,w call byte_put goto main__78 ; line_number = 361 ; case 5 main__74: ; line_number = 362 ; id_index := 0 movlw 0 movwf main__id_index goto main__78 ; line_number = 363 ; case 6 main__75: ; line_number = 364 ; call byte_put(glitch) movf main__glitch,w call byte_put ; line_number = 365 ; glitch := 0 movlw 0 movwf main__glitch goto main__78 ; line_number = 366 ; case 7 main__76: ; line_number = 367 ; glitch := glitch + 1 incf main__glitch,f ; #enables := 0xf ; line_number = 369 ; command := byte_get() call byte_get movwf main__command ; line_number = 370 ; servo := command & 3 movlw 3 andwf main__command,w movwf main__servo ; line_number = 371 ; position := byte_get() call byte_get movwf main__position ; line_number = 372 ; temporary := address movf address,w movwf main__temporary ; line_number = 373 ; if address = 0xff start ; Left minus Right incf address,w ; =>bit_code_emit@symbol(): sym=__z ; CASE: true_code.size = 0 && false_code.size > 1 btfss __z___byte, __z___bit goto main__66 ; line_number = 374 ; temporary := (analogs[3] >> 2) & 0x30 | (analogs[2] >> 4) & 0xc main__63 equ globals___0+59 main__64 equ globals___0+60 movf analogs+3,w movwf main__64 rrf main__64,f rrf main__64,w andlw 48 movwf main__63 main__65 equ globals___0+60 movf analogs+2,w movwf main__65 swapf main__65,f andlw 12 iorwf main__63,w movwf main__temporary ; Recombine size1 = 0 || size2 = 0 main__66: ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 373 ; if address = 0xff done ; line_number = 376 ; if (command ^ temporary) & 0xfc = 0 start ; Left minus Right movf main__command,w xorwf main__temporary,w andlw 252 ; =>bit_code_emit@symbol(): sym=__z ; CASE: true_code.size = 0 && false_code.size > 1 btfss __z___byte, __z___bit goto main__68 ; line_number = 377 ; positions[servo] := position ; index_fsr_first movf main__servo,w addlw positions movwf __fsr movf main__position,w movwf __indf ; line_number = 378 ; enables := enables | mask_get(servo) main__67 equ globals___0+59 movf enables,w movwf main__67 movf main__servo,w call mask_get iorwf main__67,w movwf enables ; Recombine size1 = 0 || size2 = 0 main__68: ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX) ; line_number = 376 ; if (command ^ temporary) & 0xfc = 0 done main__78: ; line_number = 346 ; switch command & 7 done main__88: ; line_number = 251 ; switch (command >> 3) & 7 done main__95: ; line_number = 196 ; switch command >> 6 done ; line_number = 193 ; loop_forever wrap-up ; Need to adjust code banks to match front of loop bcf __rp0___byte, __rp0___bit goto main__5 ; line_number = 193 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 382 ; procedure delay delay: ; arguments_none ; line_number = 384 ; returns_nothing ; line_number = 385 ; exact_delay 138 * microsecond ; # This procedure delays 1/3 of a bit. ; line_number = 389 ; local counter byte delay__counter equ globals___0+49 ; line_number = 390 ; local position_high byte delay__position_high equ globals___0+50 ; line_number = 391 ; local position_low byte delay__position_low equ globals___0+51 ; line_number = 392 ; local servo byte delay__servo equ globals___0+52 ; line_number = 393 ; local servo_low byte delay__servo_low equ globals___0+53 ; line_number = 394 ; local servo_high byte delay__servo_high equ globals___0+54 ; line_number = 395 ; local scale byte delay__scale equ globals___0+55 ; line_number = 396 ; local temporary byte delay__temporary equ globals___0+56 ; before procedure statements delay=0, bit states=(data:00=>00 code:XX=>XX) ; line_number = 398 ; watch_dog_reset done ; Delay at watch_dog_reset is 0 clrwdt ; #debug_out := 1 ; line_number = 401 ; counter := (counter + 1) & 0x7f ; Delay at assignment is 1 incf delay__counter,w andlw 127 movwf delay__counter ; line_number = 402 ; servo := (counter >> 5) & 3 ; Delay at assignment is 4 delay__1 equ globals___0+61 swapf delay__counter,w movwf delay__1 rrf delay__1,w andlw 3 movwf delay__servo ; line_number = 403 ; switch counter & 0x1f start ; line_number = 404 ; case_maximum 31 movlw delay__45>>8 movwf __pclath movlw 31 andwf delay__counter,w addlw delay__45 movwf __pcl ; page_group 32 delay__45: goto delay__38 goto delay__39 goto delay__39 goto delay__39 goto delay__39 goto delay__39 goto delay__39 goto delay__39 goto delay__39 goto delay__40 goto delay__41 goto delay__42 goto delay__43 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__46 goto delay__44 ; case_data[0] delay=27{0 } ; case_data[1] delay=17{1 2 3 4 5 6 7 8 } ; case_data[2] delay=42{9 } ; case_data[3] delay=13{10 } ; case_data[4] delay=3{11 } ; case_data[5] delay=16{12 } ; case_data[6] delay=4{31 } ; Maximum Case Delay = 42 ; line_number = 405 ; case 0 delay__38: ; # Set up for multiply: ; line_number = 407 ; position_low := positions[servo] ; Delay at assignment is 0 movf delay__servo,w addlw positions movwf __fsr movf __indf,w movwf delay__position_low ; line_number = 408 ; servo_low := base_lows[servo] ; Delay at assignment is 5 movf delay__servo,w addlw base_lows movwf __fsr movf __indf,w movwf delay__servo_low ; line_number = 409 ; servo_high := base_highs[servo] ; Delay at assignment is 10 movf delay__servo,w addlw base_highs movwf __fsr movf __indf,w movwf delay__servo_high ; line_number = 410 ; scale := scales[servo] ; Delay at assignment is 15 movf delay__servo,w addlw scales movwf __fsr movf __indf,w movwf delay__scale ; line_number = 411 ; position_high := position_low >> 4 ; Delay at assignment is 20 swapf delay__position_low,w movwf delay__position_high movlw 15 andwf delay__position_high,f ; line_number = 412 ; position_low := position_low << 4 ; Delay at assignment is 24 ; Assignment of variable to self (no code needed) swapf delay__position_low,f movlw 240 andwf delay__position_low,f ; Delay 15 cycles ; Delay loop takes 3 * 4 = 12 cycles movlw 3 delay__47: addlw 255 btfss __z___byte, __z___bit goto delay__47 goto delay__48 delay__48: nop goto delay__46 ; line_number = 413 ; case 1, 2, 3, 4, 5, 6, 7, 8 delay__39: ; # Do one multiply cycle: ; line_number = 415 ; position_low := position_low >> 1 ; Delay at assignment is 0 ; Assignment of variable to self (no code needed) rrf delay__position_low,f bcf delay__position_low, 7 ; line_number = 416 ; if position_high@0 start ; Delay at if is 2 delay__select__3___byte equ delay__position_high delay__select__3___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__3 ; CASE: True.size=1 False.size=0 btfsc delay__select__3___byte, delay__select__3___bit ; line_number = 417 ; position_low@7 := 1 ; Delay at assignment is 0 delay__select__2___byte equ delay__position_low delay__select__2___bit equ 7 bsf delay__select__2___byte, delay__select__2___bit ; <=bit_code_emit@symbol; sym=delay__select__3 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=4 ; line_number = 416 ; if position_high@0 done ; line_number = 418 ; position_high := position_high >> 1 ; Delay at assignment is 4 ; Assignment of variable to self (no code needed) rrf delay__position_high,f bcf delay__position_high, 7 ; line_number = 419 ; if scale@7 start ; Delay at if is 6 delay__select__4___byte equ delay__scale delay__select__4___bit equ 7 ; =>bit_code_emit@symbol(): sym=delay__select__4 ; CASE: true_code.size = 0 && false_code.size > 1 btfsc delay__select__4___byte, delay__select__4___bit goto delay__5 ; Delay 5 cycles goto delay__7 delay__7: goto delay__8 delay__8: nop goto delay__6 delay__5: ; line_number = 420 ; servo_high := servo_high + position_high ; Delay at assignment is 0 movf delay__position_high,w addwf delay__servo_high,f ; line_number = 421 ; servo_low := servo_low + position_low ; Delay at assignment is 2 movf delay__position_low,w addwf delay__servo_low,f ; line_number = 422 ; if _c start ; Delay at if is 4 ; =>bit_code_emit@symbol(): sym=_c ; CASE: True.size=1 False.size=0 btfsc _c___byte, _c___bit ; line_number = 423 ; servo_high := servo_high + 1 ; Delay at assignment is 0 incf delay__servo_high,f ; <=bit_code_emit@symbol; sym=_c (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=6 ; line_number = 422 ; if _c done delay__6: ; <=bit_code_emit@symbol; sym=delay__select__4 (data:00=>00 code:XX=>XX) ; if final true delay=6 false delay=0 code delay=15 ; line_number = 419 ; if scale@7 done ; line_number = 424 ; scale := scale << 1 ; Delay at assignment is 15 ; Assignment of variable to self (no code needed) rlf delay__scale,f bcf delay__scale, 0 ; Delay 25 cycles ; Delay loop takes 6 * 4 = 24 cycles movlw 6 delay__49: addlw 255 btfss __z___byte, __z___bit goto delay__49 nop goto delay__46 ; line_number = 425 ; case 9 delay__40: ; # Do final wrap-up on multiply: ; line_number = 427 ; servo_low := servo_low + fines[servo] ; Delay at assignment is 0 movf delay__servo,w addlw fines movwf __fsr movf __indf,w addwf delay__servo_low,f ; line_number = 428 ; if _c start ; Delay at if is 5 ; =>bit_code_emit@symbol(): sym=_c ; CASE: True.size=1 False.size=0 btfsc _c___byte, _c___bit ; line_number = 429 ; servo_high := servo_high + 1 ; Delay at assignment is 0 incf delay__servo_high,f ; <=bit_code_emit@symbol; sym=_c (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=7 ; line_number = 428 ; if _c done ; # Multiply by 2: ; line_number = 432 ; servo_high := servo_high << 1 ; Delay at assignment is 7 ; Assignment of variable to self (no code needed) rlf delay__servo_high,f bcf delay__servo_high, 0 ; line_number = 433 ; if servo_low@7 start ; Delay at if is 9 delay__select__10___byte equ delay__servo_low delay__select__10___bit equ 7 ; =>bit_code_emit@symbol(): sym=delay__select__10 ; CASE: True.size=1 False.size=0 btfsc delay__select__10___byte, delay__select__10___bit ; line_number = 434 ; servo_high@0 := 1 ; Delay at assignment is 0 delay__select__9___byte equ delay__servo_high delay__select__9___bit equ 0 bsf delay__select__9___byte, delay__select__9___bit ; <=bit_code_emit@symbol; sym=delay__select__10 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=11 ; line_number = 433 ; if servo_low@7 done ; line_number = 435 ; servo_low := servo_low << 1 ; Delay at assignment is 11 ; Assignment of variable to self (no code needed) rlf delay__servo_low,f bcf delay__servo_low, 0 ; line_number = 437 ; final_lows[servo] := servo_low ; Delay at assignment is 13 ; index_fsr_first movf delay__servo,w addlw final_lows movwf __fsr movf delay__servo_low,w movwf __indf ; line_number = 438 ; final_highs[servo] := servo_high ; Delay at assignment is 18 ; index_fsr_first movf delay__servo,w addlw final_highs movwf __fsr movf delay__servo_high,w movwf __indf ; #servo_high := 6 ; #servo_low := 0 ; line_number = 442 ; _tmr1l := 0 ; Delay at assignment is 23 movlw 0 movwf _tmr1l ; line_number = 443 ; _tmr1h := servo_high ^ 0xff ; Delay at assignment is 25 movlw 255 xorwf delay__servo_high,w movwf _tmr1h ; line_number = 444 ; _tmr1l := servo_low ^ 0xff ; Delay at assignment is 28 movlw 255 xorwf delay__servo_low,w movwf _tmr1l ; line_number = 445 ; if servo@1 start ; Delay at if is 31 delay__select__21___byte equ delay__servo delay__select__21___bit equ 1 ; =>bit_code_emit@symbol(): sym=delay__select__21 ; CASE: true_code_size > 1 && false_code_size > 1 btfss delay__select__21___byte, delay__select__21___bit goto delay__22 ; line_number = 446 ; if servo@0 start ; Delay at if is 0 delay__select__18___byte equ delay__servo delay__select__18___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__18 ; CASE: true_code_size > 1 && false_code_size > 1 btfss delay__select__18___byte, delay__select__18___bit goto delay__19 ; line_number = 447 ; if enables@3 start ; Delay at if is 0 delay__select__17___byte equ enables delay__select__17___bit equ 3 ; =>bit_code_emit@symbol(): sym=delay__select__17 ; CASE: True.size=1 False.size=0 btfsc delay__select__17___byte, delay__select__17___bit ; line_number = 448 ; servo3 := servo_on ; Delay at assignment is 0 bcf servo3___byte, servo3___bit ; <=bit_code_emit@symbol; sym=delay__select__17 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 447 ; if enables@3 done goto delay__20 delay__19: ; line_number = 450 ; if enables@2 start ; Delay at if is 0 delay__select__16___byte equ enables delay__select__16___bit equ 2 ; =>bit_code_emit@symbol(): sym=delay__select__16 ; CASE: True.size=1 False.size=0 btfsc delay__select__16___byte, delay__select__16___bit ; line_number = 451 ; servo2 := servo_on ; Delay at assignment is 0 bcf servo2___byte, servo2___bit ; <=bit_code_emit@symbol; sym=delay__select__16 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 450 ; if enables@2 done nop delay__20: ; <=bit_code_emit@symbol; sym=delay__select__18 (data:00=>00 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 446 ; if servo@0 done goto delay__23 delay__22: ; line_number = 453 ; if servo@0 start ; Delay at if is 0 delay__select__13___byte equ delay__servo delay__select__13___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__13 ; CASE: true_code_size > 1 && false_code_size > 1 btfss delay__select__13___byte, delay__select__13___bit goto delay__14 ; line_number = 454 ; if enables@1 start ; Delay at if is 0 delay__select__12___byte equ enables delay__select__12___bit equ 1 ; =>bit_code_emit@symbol(): sym=delay__select__12 ; CASE: True.size=1 False.size=0 btfsc delay__select__12___byte, delay__select__12___bit ; line_number = 455 ; servo1 := servo_on ; Delay at assignment is 0 bcf servo1___byte, servo1___bit ; <=bit_code_emit@symbol; sym=delay__select__12 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 454 ; if enables@1 done goto delay__15 delay__14: ; line_number = 457 ; if enables@0 start ; Delay at if is 0 delay__select__11___byte equ enables delay__select__11___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__11 ; CASE: True.size=1 False.size=0 btfsc delay__select__11___byte, delay__select__11___bit ; line_number = 458 ; servo0 := servo_on ; Delay at assignment is 0 bcf servo0___byte, servo0___bit ; <=bit_code_emit@symbol; sym=delay__select__11 (data:00=>00 code:XX=>XX) ; if final true delay=1 false delay=0 code delay=2 ; line_number = 457 ; if enables@0 done nop delay__15: ; <=bit_code_emit@symbol; sym=delay__select__13 (data:00=>00 code:XX=>XX) ; if final true delay=2 false delay=2 code delay=6 ; line_number = 453 ; if servo@0 done nop delay__23: ; <=bit_code_emit@symbol; sym=delay__select__21 (data:00=>00 code:XX=>XX) ; if final true delay=6 false delay=6 code delay=41 ; line_number = 445 ; if servo@1 done ; line_number = 459 ; _tmr1on := 1 ; Delay at assignment is 41 bsf _tmr1on___byte, _tmr1on___bit goto delay__46 ; line_number = 460 ; case 10 delay__41: ; line_number = 461 ; if servo@1 start ; Delay at if is 0 delay__select__30___byte equ delay__servo delay__select__30___bit equ 1 ; =>bit_code_emit@symbol(): sym=delay__select__30 ; CASE: true_code_size > 1 && false_code_size > 1 btfss delay__select__30___byte, delay__select__30___bit goto delay__31 ; line_number = 462 ; if servo@0 start ; Delay at if is 0 delay__select__27___byte equ delay__servo delay__select__27___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__27 ; CASE: true_code_size > 1 && false_code_size > 1 btfsc delay__select__27___byte, delay__select__27___bit goto delay__28 ; Delay 0 cycles ; line_number = 465 ; _adcon0 := sense2_channel << 2 ; Delay at assignment is 0 clrf _adcon0 rlf _adcon0,f rlf _adcon0,f movlw 252 andwf _adcon0,f goto delay__29 delay__28: ; line_number = 463 ; _adcon0 := sense3_channel << 2 ; Delay at assignment is 0 movlw 2 movwf _adcon0 rlf _adcon0,f rlf _adcon0,f movlw 252 andwf _adcon0,f delay__29: ; <=bit_code_emit@symbol; sym=delay__select__27 (data:00=>00 code:XX=>XX) ; if final true delay=6 false delay=5 code delay=8 ; line_number = 462 ; if servo@0 done ; Delay 0 cycles goto delay__32 delay__31: ; line_number = 467 ; if servo@0 start ; Delay at if is 0 delay__select__24___byte equ delay__servo delay__select__24___bit equ 0 ; =>bit_code_emit@symbol(): sym=delay__select__24 ; CASE: true_code_size > 1 && false_code_size > 1 btfss delay__select__24___byte, delay__select__24___bit goto delay__25 ; line_number = 468 ; _adcon0 := sense1_channel << 2 ; Delay at assignment is 0 clrf _adcon0 rlf _adcon0,f rlf _adcon0,f movlw 252 andwf _adcon0,f ; Delay 0 cycles goto delay__26 delay__25: ; line_number = 470 ; _adcon0 := sense0_channel << 2 ; Delay at assignment is 0 movlw 1 movwf _adcon0 rlf _adcon0,f rlf _adcon0,f movlw 252 andwf _adcon0,f delay__26: ; <=bit_code_emit@symbol; sym=delay__select__24 (data:00=>00 code:XX=>XX) ; if final true delay=5 false delay=6 code delay=9 ; line_number = 467 ; if servo@0 done delay__32: ; <=bit_code_emit@symbol; sym=delay__select__30 (data:00=>00 code:XX=>XX) ; if final true delay=8 false delay=9 code delay=12 ; line_number = 461 ; if servo@1 done ; line_number = 471 ; _adon := 1 ; Delay at assignment is 12 bsf _adon___byte, _adon___bit ; Delay 29 cycles ; Delay loop takes 7 * 4 = 28 cycles movlw 7 delay__50: addlw 255 btfss __z___byte, __z___bit goto delay__50 nop goto delay__46 ; line_number = 472 ; case 11 delay__42: ; # Left justified result: ; line_number = 474 ; _adfm := 0 ; Delay at assignment is 0 bcf _adfm___byte, _adfm___bit ; # Use Vdd for voltage reference: ; line_number = 476 ; _vcfg := 0 ; Delay at assignment is 1 bcf _vcfg___byte, _vcfg___bit ; # Fire off the A/D conversion: ; line_number = 478 ; _go := 1 ; Delay at assignment is 2 bsf _go___byte, _go___bit ; Delay 39 cycles ; Delay loop takes 9 * 4 = 36 cycles movlw 9 delay__51: addlw 255 btfss __z___byte, __z___bit goto delay__51 goto delay__52 delay__52: nop goto delay__46 ; line_number = 479 ; case 12 delay__43: ; line_number = 480 ; analogs[servo] := _adresh ; Delay at assignment is 0 ; index_fsr_first movf delay__servo,w addlw analogs movwf __fsr movf _adresh,w movwf __indf ; line_number = 481 ; if !cal_mode start ; Delay at if is 5 ; =>bit_code_emit@symbol(): sym=cal_mode ; CASE: true.size=0 && false.size>1 btfss cal_mode___byte, cal_mode___bit goto delay__33 ; Delay 7 cycles goto delay__35 delay__35: goto delay__36 delay__36: goto delay__37 delay__37: nop goto delay__34 delay__33: ; line_number = 482 ; enables := 3 ; Delay at assignment is 0 movlw 3 movwf enables ; line_number = 483 ; temporary := analogs[2] ; Delay at assignment is 2 movf analogs+2,w movwf delay__temporary ; line_number = 484 ; positions[0] := temporary ; Delay at assignment is 4 movf delay__temporary,w movwf positions ; line_number = 485 ; positions[1] := analogs[3] ; Delay at assignment is 6 movf analogs+3,w movwf positions+1 delay__34: ; <=bit_code_emit@symbol; sym=cal_mode (data:00=>00 code:XX=>XX) ; if final true delay=8 false delay=0 code delay=16 ; line_number = 481 ; if !cal_mode done ; Delay 26 cycles ; Delay loop takes 6 * 4 = 24 cycles movlw 6 delay__53: addlw 255 btfss __z___byte, __z___bit goto delay__53 goto delay__54 delay__54: goto delay__46 ; line_number = 486 ; case 31 delay__44: ; line_number = 487 ; servo0 := servo_off ; Delay at assignment is 0 bsf servo0___byte, servo0___bit ; line_number = 488 ; servo1 := servo_off ; Delay at assignment is 1 bsf servo1___byte, servo1___bit ; line_number = 489 ; servo2 := servo_off ; Delay at assignment is 2 bsf servo2___byte, servo2___bit ; line_number = 490 ; servo3 := servo_off ; Delay at assignment is 3 bsf servo3___byte, servo3___bit ; Delay 38 cycles ; Delay loop takes 9 * 4 = 36 cycles movlw 9 delay__55: addlw 255 btfss __z___byte, __z___bit goto delay__55 goto delay__56 delay__56: goto delay__46 delay__46: ; line_number = 403 ; switch counter & 0x1f done ; delay after procedure statements=62 ; Delay 212 cycles ; Delay loop takes 53 * 4 = 212 cycles movlw 53 delay__57: addlw 255 btfss __z___byte, __z___bit goto delay__57 ; Implied return retlw 0 ; Final delay = 276 ; line_number = 493 ; procedure mask_get mask_get: ; Last argument is sitting in W; save into argument variable movwf mask_get__bit_number ; delay=4294967295 ; line_number = 494 ; argument bit_number byte mask_get__bit_number equ globals___0+57 ; line_number = 495 ; returns byte ; # This procedure will return the mask for {bit_number}. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 499 ; switch bit_number start movlw mask_get__5>>8 movwf __pclath movf mask_get__bit_number,w addlw mask_get__5 movwf __pcl ; page_group 4 ; Add 1 NOP's until start of new page nop mask_get__5: ; line_number = 501 ; return 1 start ; line_number = 501 retlw 1 ; line_number = 501 ; return 1 done ; line_number = 503 ; return 2 start ; line_number = 503 retlw 2 ; line_number = 503 ; return 2 done ; line_number = 505 ; return 4 start ; line_number = 505 retlw 4 ; line_number = 505 ; return 4 done ; line_number = 507 ; return 8 start ; line_number = 507 retlw 8 ; line_number = 507 ; return 8 done mask_get__6: ; line_number = 499 ; switch bit_number done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop mask_get__7: goto mask_get__7 ; line_number = 510 ; constant zero8 = "\0,0,0,0,0,0,0,0\" ; zero8 = '\0,0,0,0,0,0,0,0\' ; line_number = 511 ; constant module_name = "\7\Servo4J" ; module_name = '\7\Servo4J' ; line_number = 512 ; constant vendor_name = "\7\Gramson" ; vendor_name = '\7\Gramson' ; line_number = 514 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; id = '\1,0,15,7,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7\Servo4J\7\Gramson' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 40 id___base: retlw 1 retlw 0 retlw 15 retlw 7 retlw 1 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 0 retlw 7 retlw 83 retlw 101 retlw 114 retlw 118 retlw 111 retlw 52 retlw 74 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 514 ; string id = "\1,0,15,7,1,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start ; Appending 4 delayed procedures to code bank 0 ; buffer = '_robobricks_pic16f688' ; line_number = 17 ; procedure byte_get byte_get: ; arguments_none ; line_number = 19 ; returns byte ; # This procedure will return the next byte from the UART. ; # It continuously calls delay() while it is waiting. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 24 ; while !_rcif start byte_get__1: ; =>bit_code_emit@symbol(): sym=_rcif ; CASE: true.size=0 && false.size>1 btfsc _rcif___byte, _rcif___bit goto byte_get__2 ; line_number = 25 ; in_byte_get := 1 bsf in_byte_get___byte, in_byte_get___bit ; line_number = 26 ; call delay() call delay ; line_number = 27 ; in_byte_get := 0 bcf in_byte_get___byte, in_byte_get___bit goto byte_get__1 byte_get__2: ; Recombine size1 = 0 || size2 = 0 ; <=bit_code_emit@symbol; sym=_rcif (data:00=>00 code:XX=>XX) ; line_number = 24 ; while !_rcif done ; line_number = 28 ; interrupt_pending := 0 bcf interrupt_pending___byte, interrupt_pending___bit ; line_number = 29 ; command_previous := command_last movf command_last,w movwf command_previous ; line_number = 30 ; _rcif := 0 bcf _rcif___byte, _rcif___bit ; line_number = 31 ; return _rcreg start ; line_number = 31 movf _rcreg,w return ; line_number = 31 ; return _rcreg done ; delay after procedure statements=non-uniform ; line_number = 34 ; procedure byte_put byte_put: ; Last argument is sitting in W; save into argument variable movwf byte_put__value ; delay=4294967295 ; line_number = 35 ; argument value byte byte_put__value equ globals___0 ; line_number = 36 ; returns_nothing ; # This procedure will output {value} to the UART. If the UART is ; # already busy transmitting a character, the {delay} procedure is ; # repeatably called until {value} can be sent. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 42 ; while !_trmt start byte_put__1: ; =>bit_code_emit@symbol(): sym=_trmt ; CASE: true.size=0 && false.size>1 btfsc _trmt___byte, _trmt___bit goto byte_put__2 ; line_number = 43 ; call delay() call delay goto byte_put__1 byte_put__2: ; Recombine size1 = 0 || size2 = 0 ; <=bit_code_emit@symbol; sym=_trmt (data:00=>00 code:XX=>XX) ; line_number = 42 ; while !_trmt done ; line_number = 44 ; debug := 0 bcf debug___byte, debug___bit ; line_number = 45 ; sent_previous := sent_last movf sent_last,w movwf sent_previous ; line_number = 46 ; sent_last := value movf byte_put__value,w movwf sent_last ; line_number = 47 ; _txreg := value movf byte_put__value,w movwf _txreg ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 50 ; procedure baud_rate_low baud_rate_low: ; Last argument is sitting in W; save into argument variable movwf baud_rate_low__baud_rate_index ; delay=4294967295 ; line_number = 51 ; argument baud_rate_index byte baud_rate_low__baud_rate_index equ globals___0+1 ; line_number = 52 ; returns byte ; #: This procedure will return the baud rate low byte for {baud_rate_index}. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 56 ; switch baud_rate_index start movlw baud_rate_low__9>>8 movwf __pclath movf baud_rate_low__baud_rate_index,w addlw baud_rate_low__9 movwf __pcl ; page_group 8 baud_rate_low__9: ; line_number = 58 ; return _eusart_2400_low start ; line_number = 58 retlw 64 ; line_number = 58 ; return _eusart_2400_low done ; line_number = 60 ; return _eusart_4800_low start ; line_number = 60 retlw 159 ; line_number = 60 ; return _eusart_4800_low done ; line_number = 62 ; return _eusart_9600_low start ; line_number = 62 retlw 207 ; line_number = 62 ; return _eusart_9600_low done ; line_number = 64 ; return _eusart_19200_low start ; line_number = 64 retlw 103 ; line_number = 64 ; return _eusart_19200_low done ; line_number = 66 ; return _eusart_38400_low start ; line_number = 66 retlw 51 ; line_number = 66 ; return _eusart_38400_low done ; line_number = 68 ; return _eusart_57600_low start ; line_number = 68 retlw 33 ; line_number = 68 ; return _eusart_57600_low done ; line_number = 70 ; return _eusart_115200_low start ; line_number = 70 retlw 16 ; line_number = 70 ; return _eusart_115200_low done ; line_number = 72 ; return _eusart_203400_low start ; line_number = 72 retlw 8 ; line_number = 72 ; return _eusart_203400_low done baud_rate_low__10: ; line_number = 56 ; switch baud_rate_index done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop baud_rate_low__11: goto baud_rate_low__11 ; line_number = 75 ; procedure baud_rate_high baud_rate_high: ; Last argument is sitting in W; save into argument variable movwf baud_rate_high__baud_rate_index ; delay=4294967295 ; line_number = 76 ; argument baud_rate_index byte baud_rate_high__baud_rate_index equ globals___0+2 ; line_number = 77 ; returns byte ; # This procedure will return the baud rate high byte for ; # {baud_rate_index}. ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX) ; line_number = 82 ; switch baud_rate_index start movlw baud_rate_high__9>>8 movwf __pclath movf baud_rate_high__baud_rate_index,w addlw baud_rate_high__9 movwf __pcl ; page_group 8 baud_rate_high__9: ; line_number = 84 ; return _eusart_2400_high start ; line_number = 84 retlw 3 ; line_number = 84 ; return _eusart_2400_high done ; line_number = 86 ; return _eusart_4800_high start ; line_number = 86 retlw 1 ; line_number = 86 ; return _eusart_4800_high done ; line_number = 88 ; return _eusart_9600_high start ; line_number = 88 retlw 0 ; line_number = 88 ; return _eusart_9600_high done ; line_number = 90 ; return _eusart_19200_high start ; line_number = 90 retlw 0 ; line_number = 90 ; return _eusart_19200_high done ; line_number = 92 ; return _eusart_38400_high start ; line_number = 92 retlw 0 ; line_number = 92 ; return _eusart_38400_high done ; line_number = 94 ; return _eusart_57600_high start ; line_number = 94 retlw 0 ; line_number = 94 ; return _eusart_57600_high done ; line_number = 96 ; return _eusart_115200_high start ; line_number = 96 retlw 0 ; line_number = 96 ; return _eusart_115200_high done ; line_number = 98 ; return _eusart_203400_high start ; line_number = 98 retlw 0 ; line_number = 98 ; return _eusart_203400_high done baud_rate_high__10: ; line_number = 82 ; switch baud_rate_index done ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); fail with infinite loop baud_rate_high__11: goto baud_rate_high__11 ; Configuration bits ; address = 0x2007, fill = 0x3000 ; fcmen = off (0x0) ; ieso = off (0x0) ; boden = off (0x0) ; cpd = off (0x80) ; cp = off (0x40) ; mclre = off (0x20) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = int_no_clk (0x4) ; 12532 = 0x30f4 __config 12532 ; Define start addresses for data regions ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 ; Region="globals___0" Address=32" Size=80 Bytes=62 Bits=3 Available=17 ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80 ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 end