📄 robot_v01.lst
字号:
00899 ;--------------------------
0003F6 00900 WRITE_SPI_03H_CS
0003F6 0E03 00901 MOVLW 03
0003F8 D001 00902 BRA WRITE_SPI
0003FA 00903 WRITE_SPI_00:
0003FA 0E00 00904 MOVLW 0
0003FC 00905 WRITE_SPI:
0003FC 948B 00906 BCF F_CE
0003FE 6EC9 00907 MOVWF SSP1BUF
000400 00908 DELAY8NOP:
000400 0004 00909 CLRWDT
000402 0000 00910 NOP
000404 0000 00911 NOP
000406 0000 00912 NOP
000408 0000 00913 NOP
00914
00040A 0004 00915 CLRWDT
00040C 0000 00916 NOP
00040E 0000 00917 NOP
000410 0000 00918 NOP
000412 0000 00919 NOP
00920
00921
000414 50C9 00922 MOVF SSP1BUF,W
000416 0012 00923 RETURN
00924
00925
00926 ;**********************************
00927 ;**********************************
00928 ;******************************
000418 00929 SPEECH_V1:
000418 0E00 00930 MOVLW 0
00041A 00931 SPEECH_V1_2:
00041A 6F0E 00932 MOVWF VOIC_CNT
00933
00041C 00934 SPEECH_V2:
00041C 510E 00935 MOVF VOIC_CNT,W
00936
00041E 0D40 00937 MULLW 0X40
000420 50F3 00938 MOVF PRODL,W
000422 6F10 00939 MOVWF PIC_ADDRM
000424 50F4 00940 MOVF PRODH,W
000426 6F0F 00941 MOVWF PIC_ADDRH
00942
000428 0E60 00943 MOVLW 0X60
00042A 6F11 00944 MOVWF PIC_ADDRL
MPASM 5.06 ROBOT_V01.ASM 2-18-2008 20:32:23 PAGE 19
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
00042C 00945 SPEECH_ONE:
00042C DFE4 00946 RCALL WRITE_SPI_03H_CS
00042E 510F 00947 MOVF PIC_ADDRH,W
000430 DFE5 00948 RCALL WRITE_SPI
000432 5110 00949 MOVF PIC_ADDRM,W
000434 DFE3 00950 RCALL WRITE_SPI
000436 5111 00951 MOVF PIC_ADDRL,W
000438 DFE1 00952 RCALL WRITE_SPI
00043A DFE0 00953 RCALL WRITE_SPI
00043C D838 00954 RCALL SOUND_SOFT_ON
00955
00043E 0E00 00956 MOVLW 0X00
000440 6F0F 00957 MOVWF PIC_ADDRH
000442 0E3F 00958 MOVLW 0X3F
000444 6F10 00959 MOVWF PIC_ADDRM
000446 0E90 00960 MOVLW 0X90
000448 6F11 00961 MOVWF PIC_ADDRL
00962
00044A 0E18 00963 MOVLW 24
00044C 630E 00964 CPFSEQ VOIC_CNT
00044E D006 00965 BRA SPEECH_ONE2
00966
000450 0E01 00967 MOVLW 0X01
000452 6F0F 00968 MOVWF PIC_ADDRH
000454 0EFF 00969 MOVLW 0XFF
000456 6F10 00970 MOVWF PIC_ADDRM
000458 0E90 00971 MOVLW 0X90
00045A 6F11 00972 MOVWF PIC_ADDRL
00973
00974
00045C 00975 SPEECH_ONE2:
00976
00977
00045C 688D 00978 SETF LATE
00045E 688E 00979 SETF LATF
000460 688F 00980 SETF LATG
00981
000462 50C9 00982 MOVF SSP1BUF,W
000464 6EC9 00983 MOVWF SSP1BUF
00984
000466 6EF3 00985 MOVWF PRODL
000468 6EF4 00986 MOVWF PRODH
00987 ; MOVWF LAT
00046A 32F3 00988 RRCF PRODL
00046C 30F3 00989 RRCF PRODL,W
00046E 0B3F 00990 ANDLW 00111111B
000470 6EF3 00991 MOVWF PRODL ;CCPR1L
00992
00993
000472 3AF4 00994 SWAPF PRODH
000474 0B30 00995 ANDLW 00110000B
000476 090C 00996 IORLW 00001100B
000478 6EBA 00997 MOVWF CCP2CON
MPASM 5.06 ROBOT_V01.ASM 2-18-2008 20:32:23 PAGE 20
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
00998
00047A 50F3 00999 MOVF PRODL,W
00047C 6EBB 01000 MOVWF CCPR2L
00047E 0004 01001 CLRWDT
000480 01002 SPEECH_ONE4:
000480 ACCE 01003 BTFSS TMR1L,6
000482 D7FE 01004 BRA SPEECH_ONE4 ;BTG LATE,0
000484 01005 SPEECH_ONE5:
000484 BCCE 01006 BTFSC TMR1L,6
000486 D7FE 01007 BRA SPEECH_ONE5
01008
01009
01010
000488 0EFF 01011 MOVLW 0XFF
00048A 2711 01012 ADDWF PIC_ADDRL
00048C 2310 01013 ADDWFC PIC_ADDRM
00048E 230F 01014 ADDWFC PIC_ADDRH
01015
000490 E2E5 01016 BC SPEECH_ONE2
01017
000492 01018 SOUND_SOFT_OFF:
000492 848B 01019 BSF F_CE
000494 0E0C 01020 MOVLW 00001100B
000496 6EBA 01021 MOVWF CCP2CON
000498 50BB 01022 MOVF CCPR2L,W
00049A E008 01023 bz SOUND_SOFT_OFF_end
01024
00049C 01025 SOUND_SOFT_OFF2:
00049C ACCE 01026 BTFSS TMR1L,6
00049E D7FE 01027 BRA SOUND_SOFT_OFF2
0004A0 01028 SOUND_SOFT_OFF4:
0004A0 BCCE 01029 BTFSC TMR1L,6
0004A2 D7FE 01030 BRA SOUND_SOFT_OFF4
0004A4 EC02 F001 01031 CALL WORK_1
01032
0004A8 2EBB 01033 DECFSZ CCPR2L
0004AA D7F8 01034 BRA SOUND_SOFT_OFF2
01035
0004AC 01036 SOUND_SOFT_OFF_end:
0004AC 0012 01037 RETURN
01038 ;-----------------------------------
0004AE 01039 SOUND_SOFT_ON:
0004AE 0E0C 01040 MOVLW 00001100B
0004B0 6EBA 01041 MOVWF CCP2CON
0004B2 01042 SOUND_SOFT_ON2:
01043
0004B2 ACCE 01044 BTFSS TMR1L,6
0004B4 D7FE 01045 BRA SOUND_SOFT_ON2
0004B6 01046 SOUND_SOFT_ON4:
0004B6 BCCE 01047 BTFSC TMR1L,6
0004B8 D7FE 01048 BRA SOUND_SOFT_ON4
0004BA EC02 F001 01049 CALL WORK_1
0004BE 2ABB 01050 INCF CCPR2L
MPASM 5.06 ROBOT_V01.ASM 2-18-2008 20:32:23 PAGE 21
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
0004C0 AABB 01051 BTFSS CCPR2L,5
01052
0004C2 D7F7 01053 BRA SOUND_SOFT_ON2
0004C4 0012 01054 RETURN
01055 ;********************
01056 ;*************************
01057
0004C6 01058 STAND_UP:
0004C6 D819 01059 RCALL ROBOT_WALK_STOP
01060
0004C8 6B37 01061 CLRF SERVO_M1
0004CA 0E01 01062 MOVLW 1
0004CC 6F38 01063 MOVWF SERVO_M2
0004CE 6939 01064 SETF SERVO_M3
0004D0 693A 01065 SETF SERVO_M4
01066
01067
0004D2 6B0D 01068 CLRF CNT0
0004D4 01069 STAND_UP2:
0004D4 6ACE 01070 CLRF TMR1L
0004D6 6ACF 01071 CLRF TMR1H
01072
0004D8 2B0D 01073 INCF CNT0
01074
01075
0004DA A90D 01076 BTFSS CNT0,4
0004DC D004 01077 BRA STAND_UP4
01078
0004DE 0E02 01079 MOVLW 2
0004E0 2737 01080 ADDWF SERVO_M1
01081 ;INCF SERVO_M2
0004E2 2738 01082 ADDWF SERVO_M2
01083
0004E4 990D 01084 BCF CNT0,4
0004E6 01085 STAND_UP4
0004E6 DECD 01086 RCALL SERVO_MG995
01087
0004E8 9100 01088 BCF FLAG_20MS
0004EA 01089 STAND_UP6:
0004EA EC02 F001 01090 CALL WORK_1
0004EE A100 01091 BTFSS FLAG_20MS
0004F0 D7FC 01092 BRA STAND_UP6
01093
0004F2 0E0B 01094 MOVLW 11
0004F4 6537 01095 CPFSGT SERVO_M1
0004F6 D7EE 01096 BRA STAND_UP2
0004F8 0012 01097 RETURN
01098 ;******************************
01099 ;******************************
01100 ;******************************
01101 ;******************************
00000020 01102 MAX_WALK_STEP EQU 32
01103 ;******************************
MPASM 5.06 ROBOT_V01.ASM 2-18-2008 20:32:23 PAGE 22
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
01104 ;*****************
0004FA 01105 ROBOT_WALK_STOP:
0004FA 0E7D 01106 MOVLW L_M
0004FC 6F22 01107 MOVWF DEGREE12
0004FE 6F24 01108 MOVWF DEGREE14
000500 6F26 01109 MOVWF DEGREE16
000502 6F28 01110 MOVWF DEGREE18
000504 6F2A 01111 MOVWF DEGREE20
01112
000506 6F20 01113 MOVWF DEGREE10
000508 6F21 01114 MOVWF DEGREE11
00050A 6F23 01115 MOVWF DEGREE13
00050C 6F25 01116 MOVWF DEGREE15
00050E 6F27 01117 MOVWF DEGREE17
000510 6F29 01118 MOVWF DEGREE19
000512 6F2B 01119 MOVWF DEGREE21
01120
000514 0012 01121 RETURN
01122
01123 ;--------------------------
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