卒 業 研 究 報 告

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1 卒業研究報告 題 目 PIC プロセッサを用いた多機能ライントレース ロボットの設計と製作 指導教員 綿森道夫助教授 報告者 学籍番号 : 氏名 : 高橋壮平 平成 17 年 2 月 21 日 高知工科大学電子 光システム工学科

2 PIC - 1 -

3 - 2 -

4 PIC - 3 -

5 / PIC MPLAB PIC PIC AKI PIC AKI PIC - 4 -

6 AKI PIC - 5 -

7 LED LED - 6 -

8 - 7 - S3 + - BZ1 S2 S1 D12 LED1 D11 LED1 D10 LED1 D9 LED1 D8 LED1 D7 LED1 D6 LED1 D5 LED1 D4 LED1 D3 LED1 D2 LED1 D1 LED1 16F628 RA2 RA3 RA4 RA5 GND RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7 Vcc RA6 RA7 RA0 RA1 U1 R3 1k R2 1k R1 1k

9 PIC A/D USART PIC W-REG STATUS-REG PCHL-REG 3 3 CALL RETURN CALL RETURN - 8 -

10 bit7 bit0 / TMR1ON - 9 -

11 =

12 ON VALUE ON? LED 10m

13 - 12 -

14 VALUE 0 LED

15 movlw b' ' movwf t1con ; movlw b' ' ; movwf intcon clrf tmr1l ; clrf tmr1h ; movlw b' ' movwf ccp1con ; ;**** **** IDLELP BCF PORTA,2 ; BTFSS PORTA,3 ; GOTO STRTKY ; CALL LEDCNT ;LED movlw h'30' ; movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if ;ccp1if bsf t1con,tmr1on ; bsf intcon,7 ;

16 bit7 bit0-15 -

17 - 16 -

18 OPTION PIC CPU CPU 4 CPU 4 0 INTCON INTCON bit7 bit0-17 -

19 0-18 -

20 LED ON OFF PIC * m *

21 BSF STATUS,RP0 MOVLW 000H MOVWF TRISB BCF STATUS,RP0 BCF PORTA,3 ;RA3 = 1 (7seg 10th min) movf c10m,w ;Read 10th of min count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,3 bcf PORTA,2 ;RA2 = 1 (7seg 1st min) movf c01m,w ;Read 1st of min count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,2 BCF PORTA,1 ;RA1 = 1 (7seg 10th sec) movf c10s,w ;Read 10th of sec count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,1 bcf porta,0 ;RA0 = 1 (7seg 1st sec) movf c01s,w ;Read 1st of sec count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,0-20 -

22 main sw +3V stop sw start sw 2SC1815 2SC BZ1 2SA1015 2SA1015 2SA1015 2SA1015 abcdefg. V+ abcdefg. V+ abcdefg. V+ abcdefg. V+ 16F628 RA2 RA3 RA4 RA5 GND RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7 Vcc RA6 RA7 RA0 RA1 U1 BCD-SW BCD-SW k 10k 240k 240k R5 1k 4.3k 4.3k 3.9k 4.3k

23 - 22 -

24

25 YES NO YES NO ON NO NO YES YES

26 ON 10 LED LED 1 BCD

27 movf c10s,w ;Read 10th of sec counter btfss status,z ;10th of sec is 0? goto countdown ;Jump to countdown movf MIN01,w ;Read 1st of min counter btfss status,z ;1st of min is 0? goto countdown ;Jump to countdown movf MIN10,w ;Read 10th of min counter btfsc status,z ;10th of min is 0? goto piii

28 1 NO 1 YES 1 NO NO YES YES NO 1 YES NO 1 YES YES NO 1 10 NO RETFIE YES ON

29 - 28 -

30 PIC PWM

31 Vcc Q1 2SJ377 Q2 2SJ377 M1 Q3 2SK2231 Q4 2SK2231 Q1 Q4 ON Q2 Q3 ON Q3 Q4 ON

32 Q1 Q3 Q2 Q4 ON OFF IC IC

33 bit7 bit0-32 -

34 - 33 -

35 / / / / /

36 High Low 150 RPR V 20k A 10k 40%

37 Xm sec : 3600 Π dcm : L Lkm / h = 3600 Π dcm / Xmsec = 36 Π d / X msec Xm sec = A 30msec / L = 120 Π d / A = 2035/ A

38 - 37 -

39 - 38-2SA1015 2SA k 40% 50k 40% 50k 40% 0.1uF S3 3.0V S1 0.1uF 0.1uF 0.1uF 0.1uF 4MHZ 33uF 0.1uF 0.1uF M1 M2 abcdefg. V+ abcdefg. V+ 74HC00 1in 1in 1out 2in 2in 2out GND 3out 3in 3in 4out 4in 4in Vcc RPR220 RPR220 RPR220 RPR220 RPR220 16F873 MCLR RA0 RA1 RA2 RA3 RA4 RA5 GND OSC1 OSC2 RC0 RC1 RC2 RC3 RC4 RC5 RC6 RC7 GND Vcc RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7 MP4207 GND G1 D1 G2 D2 G3 D3 G4 D4 Vcc MP4207 GND G1 D1 G2 D2 G3 D3 G4 D4 Vcc 1in 1out 2in 2out 3in 3out GND 4out 4in 5out 5in 6out 6in Vcc 74HC k 10k 5k 5k 5k 5k 4.3k 4.3k 30k 30k

40 - 39 -

41 - 40 -

42 - 41 -

43 - 42 -

44 main btfss porta,0 ; goto w?? ; goto b?? ; w?? btfss porta,1 ; goto ww? ; goto wb? ; ww? btfss porta,2 ; goto back ; goto right ; wb? btfss porta,2 ; goto fowd ; goto right ; b?? btfss porta,1 ; goto bw? ; goto bb? ; bw? btfss porta,2 ; goto left ; goto right ; bb? btfss porta,2 ; goto fowd ; goto right ;

45 left bcf portc,7 ; bsf portc,6 ; movf ccpr1l,w ; addlw d'5' ; btfsc status,c ; movlw h'ff' ; movwf ccpr1l mtr2dwn bcf portc,5 ; bsf portc,4 ; movf ccpr1l,w ; movlw d'5' ; subwf ccpr2l,w btfss status,c ; movlw h'50' ; movwf ccpr2l goto mati1-44 -

46 High Low

47 movf disp1, w ; call warizan ; movf kekka, w movwf temp movf disp2, w ; call warizan bcf status, c rrf temp, f ; / bcf status, c rrf kekka, f ; / movf temp, w addwf kekka, f ; call henkan ; movf temp, w ; keta1 andlw h'0f' movwf keta1 swapf temp, w ; keta10 andlw h'0f' movwf keta10 /

48 /

49 PIC PIC PIC CQ PIC

50 - 49 -

51 ;***************************************************** ; ; ; ;****************************************************** LIST P=PIC16F628 ; INCLUDE "P16F628.INC" ;Standard Include File ;Defined System Variables ;********************************* ; ;********************************* CNT1 EQU 020H ;Counter for Timer CNT2 EQU 021H ;Counter for Timer VALUE EQU 023H ;Randomized Data LEDA EQU 024H ;LED position porta LEDB EQU 025H ;LED position portb DIR EQU 030H ; CHK EQU 031H ; WREG EQU 032H STsave EQU 033H wsave EQU 034H ;*********************** ; ;*********************** ORG 0 ;Reset Start GOTO MAIN ORG 4 GOTO WARI MAIN ;***** Initialize ***** 50

52 bcf status,rp0 ;bank 0 MOVLW 007H MOVWF CMCON BSF STATUS,RP0 ; CLRF TRISB ;PORT B MOVLW 018H ;PORT A MOVWF TRISA ;RA3,4 BSF PCON,3 ; (4.0MHz) movlw movwf b' ' pie1 BCF STATUS,RP0 ; MOVLW 02H ; MOVWF LEDA ; CLRF LEDB ; CLRF DIR ; CLRF CHK ; movlw h'07' movwf cmcon ; movlw b' ' movwf t1con ; movlw b' ' ; movwf intcon clrf tmr1l ; clrf tmr1h ; movlw b' ' movwf ccp1con ; ;**** **** IDLELP BCF PORTA,2 ; BTFSS PORTA,3 ; 51

53 GOTO STRTKY ; CALL LEDCNT ;LED movlw h'30' ; movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if ;ccp1if bsf t1con,tmr1on ; bsf intcon,7 ; JUMP BTFSS CHK,2 GOTO JUMP BTFSS CHK,1 GOTO JUMP CLRF CHK BCF INTCON,7 INCF VALUE,F ; GOTO IDLELP ; ;**** ***** STRTKY movlw h'04' movwf ccpr1h movlw h'e2' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP BTFSS CHK,0 GOTO JUMP2 CLRF CHK BCF INTCON,7 BTFSC PORTA,3 ; GOTO IDLELP ; 52

54 ;**** ***** GAMELP BSF PORTA,2 ; ON CALL LEDCNT ;LED INCF VALUE,F ; BTFSS PORTA,4 ; ON GOTO STPKY ; movlw h'04' movwf ccpr1h movlw h'e2' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP3 BTFSS CHK,0 GOTO JUMP3 CLRF CHK BCF INTCON,7 GOTO GAMELP ; ;**** **** STPKY BCF PORTA,2 ; OFF CNTDWN MOVF VALUE,W ; SUBLW 020H ;VALUE 32 BTFSS STATUS,C ;32-W>0? GOTO FIRST ;32 MOVF VALUE,W ; SUBLW 010H ;VALUE 16 BTFSS STATUS,C ;16-W>0? GOTO MIDDLE ;32 GOTO SLOW ;16 ;**** ***** 53

55 SLOW CALL LEDCNT ;LED BSF PORTA,2 ; ON movlw h'30' movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP4 BTFSS CHK,1 GOTO JUMP4 CLRF CHK BCF INTCON,7 BCF PORTA,2 ; OFF movlw h'30' movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP5 BTFSS CHK,2 GOTO JUMP5 CLRF CHK BCF INTCON,7 DECFSZ VALUE,F ;VALUE-1 GOTO CNTDWN ; ;**** **** BCF PORTA,2 ; STPLP BTFSS PORTA,3 ; 54

56 GOTO STRTKY ; BTFSC PORTA,4 ; GOTO STPLP ; COMF DIR,f ; BTFSS DIR,0 CALL RIGHT BTFSC DIR,0 CALL LEFT GOTO IDLELP ; ;***** **** MIDDLE CALL LEDCNT ;LED BSF PORTA,2 ; ON movlw h'30' movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP6 BTFSS CHK,1 GOTO JUMP6 CLRF CHK BCF INTCON,7 BCF PORTA,2 ; movlw h'30' movwf ccpr1h movlw h'd4' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on 55

57 JUMP7 BTFSS CHK,1 GOTO JUMP7 CLRF CHK BCF INTCON,7 DECF VALUE,F ;VALUE-1 GOTO CNTDWN ; ;**** FIRST CALL LEDCNT ;LED BSF PORTA,2 ; ON movlw h'04' movwf ccpr1h movlw h'e2' movwf ccpr1l bcf pir1,ccp1if bsf t1con,tmr1on bsf intcon,7 ;interrupt on JUMP8 BTFSS CHK,1 GOTO JUMP8 CLRF CHK BCF INTCON,7 DECF VALUE,F ;VALUE-1 GOTO CNTDWN ;*************************** ; ;*************************** ; ;****************************************** ; ; ;****************************************** LEDCNT 56

58 ;**** LED ***** COMF LEDA,W BTFSC PORTA,2 ; GOTO TESTSET ANDLW 0FBH ; OFF GOTO NEXT TESTSET IORLW 04H ; OFF NEXT MOVWF PORTA COMF LEDB,W ;0,1 MOVWF PORTB ; B ;**** LED **** BTFSC DIR,0 ; GOTO LEFT ; RIGHT RRF LEDA,F ; A RRF LEDB,F ; B BTFSS STATUS,C ; GOTO CLR2 ; BSF LEDA,7 ; goto next1 CLR2 BCF LEDA,7 ; next1 btfss leda,5 goto clr2a bsf leda,1 goto next2 clr2a bcf leda,1 next2 RETURN LEFT RLF LEDB,F ; B RLF LEDA,F ; A btfss status,c goto next5 bsf ledb,0 goto next4 next5 bcf ledb,0 57

59 next4 BTFSS LEDA,2 ; A 2 GOTO CLR3 ; bsf leda,6 goto next3 CLR3 BCF LEDa,6 NEXT3 RETURN ;**** **** WARI movwf wsave movf status,w movwf stsave bcf pir1,ccp1if incf chk,f movf stsave,w movwf status swapf wsave,f swapf wreg,w retfie END 58

60 ;******************************************************** ; ; ; ;******************************************************** list include p=pic16f628 p16f628.inc ;**************** Label Definition ******************** c10m equ h'20' ;Counter adr (10th min) c01m equ h'21' ;Counter adr ( 1st min) c10s equ h'22' ;Counter adr (10th sec) c01s equ h'23' ;Counter adr ( 1st sec) seg7_0 equ b' ' ;-gfedcba Pattern 0 seg7_1 equ b' ' ; Pattern 1 seg7_2 equ b' ' ; Pattern 2 seg7_3 equ b' ' ; Pattern 3 seg7_4 equ b' ' ; Pattern 4 seg7_5 equ b' ' ; Pattern 5 seg7_6 equ b' ' ; Pattern 6 seg7_7 equ b' ' ; Pattern 7 seg7_8 equ b' ' ; Pattern 8 seg7_9 equ b' ' ; Pattern 9 seg70 equ h'30' ;Pattern 0 set adr seg71 equ h'31' ;Pattern 1 set adr seg72 equ h'32' ;Pattern 2 set adr seg73 equ h'33' ;Pattern 3 set adr seg74 equ h'34' ;Pattern 4 set adr seg75 equ h'35' ;Pattern 5 set adr seg76 equ h'36' ;Pattern 6 set adr seg77 equ h'37' ;Pattern 7 set adr seg78 equ h'38' ;Pattern 8 set adr seg79 equ h'39' ;Pattern 9 set adr 59

61 tm_cnt equ h'40' ;Time adjust counter adr time_f equ h'41' ;Time out flag adr bcd_in equ h'42' ;BCD input area adr w_save equ h'43' ;W Register save adr s_save equ h'44' ;STATUS Register save adr CNT1 equ h'45' ;500usec counter adr CNT2 equ h'46' ;1msec counter adr CNT3 EQU 047H yset EQU 048H ytime EQU 049H MIN01 EQU 050H MIN10 EQU 051H SEC10 EQU 052H SEC01 EQU 053H KAWARI EQU 054H ;**************** Program Start *********************** org 0 ;Reset Vector goto init org 4 ;Interrupt Vector goto int ;**************** Initial Process ********************* init MOVLW 030H MOVWF PORTA CLRF PORTB MOVLW 007H ; MOVWF CMCON bsf status,rp0 ;Change to Bank1 movlw b' ' ;RA4/RA5:,RA3-0/RA6/RA7: movwf trisa ;Set PORTA 60

62 movlw b' ' ;RBPU/TOCS/PSA=0,PS=111 movwf option_reg ;Set OPTION_REG bcf status,rp0 ;Change to Bank0 movlw seg7_0 ;Set 7segment pattern 0 movwf seg70 ;Save pattern 0 movlw seg7_1 ;Set 7segment pattern 1 movwf seg71 ;Save pattern 1 movlw seg7_2 ;Set 7segment pattern 2 movwf seg72 ;Save pattern 2 movlw seg7_3 ;Set 7segment pattern 3 movwf seg73 ;Save pattern 3 movlw seg7_4 ;Set 7segment pattern 4 movwf seg74 ;Save pattern 4 movlw seg7_5 ;Set 7segment pattern 5 movwf seg75 ;Save pattern 5 movlw seg7_6 ;Set 7segment pattern 6 movwf seg76 ;Save pattern 6 movlw seg7_7 ;Set 7segment pattern 7 movwf seg77 ;Save pattern 7 movlw seg7_8 ;Set 7segment pattern 8 movwf seg78 ;Save pattern 8 movlw seg7_9 ;Set 7segment pattern 9 movwf seg79 ;Save pattern 9 clrf c10s ;Clear 10th sec counter clrf c01s ;Clear 1st sec counter bsf time_f,0 ;Set time out flag OFF CLRF yset CLRF ytime CLRF MIN10 CLRF MIN01 ;************* Timer stand-by Process ***************** stand_by CLRF C10S CLRF C01S bsf status,rp0 ;Change to Bank1 61

63 movlw 07FH ;RB6-0:,RB7: movwf TRISB ;Set PORTB BCF STATUS,RP0 MOVLW b' ' MOVWF PORTA call t1m ;Wait 1msec MOVFW PORTB XORLW 0FFH andlw h'0f' ;Pick-up digit movwf c10m ;Save 10th of the minute MOVLW B' ' MOVWF PORTA ;1st min BCD call t1m ;Wait 1msec MOVFW PORTB XORLW 0FFH andlw h'0f' ;Pick-up digit movwf c01m ;Save 1st of the minute MOVLW B' ' MOVWF PORTA call led_cont ;Call LED Countrol sub movf c10m,w ;Read 10th of minute btfss status,z ;10th of min is 0? goto sw_check ;Jump to start sw check movf c01m,w ;Read 1st of minute BTFSC status,z ;1st of min is 0? goto stand_by ;Time is 00:00 SW_CHECK CALL T1M BTFSS PORTA,4 GOTO START BTFSS PORTA,5 GOTO YOREI GOTO STAND_BY 62

64 ;************** Timer start Process ******************* start movlw d'196' ;Set Hard timer value movwf tmr0 ;Set TMR0 movlw d'63' ;Set Soft count value movwf tm_cnt ;Save time adjust movlw h'a0' ;GIE=1,TOIE=1 movwf intcon ;Interruption enable loop call led_cont ;Call LED Countrol sub movf yset,w ;/ btfsc status,z goto yskip movf ytime btfss status,z call piii ;// yskip movf time_f,w ;Read time out flag btfsc status,z ;Time out? goto time_out ;Yes. Jump to time out BTFSC PORTA,5 goto loop ;No. Retry time_out clrf intcon ;Interruptin disable BSF PORTB,7 CALL T2M BCF PORTB,7 goto init ;Jump to Initial Process ;************** LED Control Subroutine **************** led_cont BSF STATUS,RP0 MOVLW 000H 63

65 MOVWF TRISB BCF STATUS,RP0 BCF PORTA,3 ;RA3 = 1 (7seg 10th min) movf c10m,w ;Read 10th of min count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,3 bcf PORTA,2 ;RA2 = 1 (7seg 1st min) movf c01m,w ;Read 1st of min count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,2 BCF PORTA,1 ;RA1 = 1 (7seg 10th sec) movf c10s,w ;Read 10th of sec count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,1 bcf porta,0 ;RA0 = 1 (7seg 1st sec) movf c01s,w ;Read 1st of sec count movwf bcd_in ;Set count call bcd_7seg ;LED control BSF PORTA,0 return ;******* Change BCD to 7segment data Subroutine ******* bcd_7seg movlw seg70 ;Set 7seg pattern head addwf bcd_in,w ;Pattern table address movwf fsr ;Set table address movf indf,w ;Read 7seg pattern movwf portb ;Set pattern to PORTB 64

66 CALL T1M return ;************* 1msec Timer Subroutine ***************** T1M MOVLW 0F9H ;1 MOVWF CNT1 ;1+1=2 TIMLP1 NOP DECFSZ CNT1,F ;1+1+2=4 GOTO TIMLP1 ;2+4*249-1=997 RETURN ;997+2=999*1.0usec=0.999msec ;************ Begin Interruption Process ************** int movwf w_save ;Save W register movf status,w ;Read STATUS reg movwf s_save ;Save STATUS reg bcf status,rp0 ;Change to Bank0 btfsc intcon,t0if ;Time out interruption? goto timer_int ;Jump to Timer process ;************ END of Interruption Process ************** int_end movf s_save,w ;Read saved STATUS reg movwf status ;Recover STATUS reg swapf w_save,f ;Read saved W register swapf w_save,w ;Recover W register retfie ;*********** Time-out interruption Process ************ timer_int bcf intcon,t0if ;Clear timer int flag movlw d'196' ;Set Hard timer value movwf tmr0 ;Set TMR0 decfsz tm_cnt,f ;Time over? 65

67 goto int_end ;No. Retry movlw d'63' ;Set Soft count value movwf tm_cnt ;Save time adjust ;************* Timer count-down Process *************** decfsz c01s,w ;1st of sec is 0 from 1? goto countdown ;No. Jump to countdown ; Time-out check movf c10s,w ;Read 10th of sec counter btfss status,z ;10th of sec is 0? goto countdown ;Jump to countdown movf MIN01,w ;Read 1st of min counter btfss status,z ;1st of min is 0? goto countdown ;Jump to countdown movf MIN10,w ;Read 10th of min counter btfsc status,z ;10th of min is 0? goto piii modori movf c10s,w ;Read 10th of sec counter btfss status,z ;10th of sec is 0? goto countdown ;Jump to countdown movf c01m,w ;Read 1st of min counter btfss status,z ;1st of min is 0? goto countdown ;Jump to countdown movf c10m,w ;Read 10th of min counter btfss status,z ;10th of min is 0? goto countdown ;Jump to countdown time_out1 clrf time_f ;Set time-out flag ON goto int_end ;Return ; Timer countdown countdown 66

68 movf c01s,w ;Read 1st of sec counter btfss status,z ;1st of sec is 0? goto cd_c01s ;Jump to 1st sec cntdown movlw 9 ;Set 9 movwf c01s ;Save 9 to 1st of sec movf c10s,w ;Read 10th of sec counter btfss status,z ;10th of sec is 0? goto cd_c10s ;Jump to 10th min cntdown movlw 5 ;Set 5 movwf c10s ;Save 5 to 10th of sec ycheck movf c01m,w btfss status,z goto CD_C01M ;Jump to 1st min cntdown movlw 9 ;Set 9 movwf c01m ;Save 9 to 1st of min movf c10m,w ;Read 10th of min counter BTFSS status,z ;10th of min is 0? goto CD_C10M ;Jump to 10th min cntdown goto TIME_OUT1 ;Counter is 00:00 already cd_c01s decf c01s,f ;Count down 1st of sec BSF PORTB,7 CALL T1M CALL T1M BCF PORTB,7 goto int_end ;Return cd_c10s decf c10s,f ;Count down 10th of sec 67

69 BSF PORTB,7 CALL T1M CALL T1M BCF PORTB,7 goto int_end ;Return cd_c01m decf c01m,f ;Count down 1st of min decf min01,f BSF PORTB,7 CALL T1M CALL T1M BCF PORTB,7 goto int_end ;Return cd_c10m decf c10m,f ;Count down 10th of min decf min10,f BSF PORTB,7 CALL T1M CALL T1M BCF PORTB,7 goto int_end ;Return ;******************************************************** ; END of Count-down timer processing ;******************************************************** T2M MOVLW 001H MOVWF CNT2 MOVLW 008H MOVWF CNT3 MOVLW 001H MOVWF CNT1 TIMLP2 DECFSZ CNT1,F GOTO TIMLP2 68

70 DECFSZ CNT2,F GOTO TIMLP2 DECFSZ CNT3,F GOTO TIMLP2 RETURN ;******************************************************** ;******************************************************** YOREI bsf status,rp0 ;Change to Bank1 movlw 07FH ;RB6-0:,RB7: movwf TRISB ;Set PORTB BCF STATUS,RP0 MOVLW b' ' MOVWF PORTA call t1m ;Wait 1msec MOVFW PORTB XORLW 0FFH andlw h'0f' ;Pick-up digit movwf c10s ;Save 10th of the minute MOVLW B' ' MOVWF PORTA ;1st min BCD call t1m ;Wait 1msec MOVFW PORTB XORLW 0FFH andlw h'0f' ;Pick-up digit movwf c01s ;Save 1st of the minute MOVLW B' ' MOVWF PORTA call led_cont ;Call LED Countrol sub movf c10s,w ;Read 10th of minute btfss status,z ;10th of min is 0? 69

71 goto sw_check2 ;Jump to start sw check movf c01s,w ;Read 1st of minute ;BTFSC status,z ;1st of min is 0? ;goto stand_by ;Time is 00:00 SW_CHECK2 CALL T1M BTFSC PORTA,4 GOTO YOREI ESQAPU MOVF C10S,W MOVWF MIN10 MOVF C01S,W MOVWF MIN01 MOVLW 0C0H MOVWF CNT2 MOVLW 0F9H MOVWF CNT1 TIMLP3 NOP DECFSZ CNT1,F GOTO TIMLP3 DECFSZ CNT2,F GOTO TIMLP3 CLRF C10S CLRF C01S GOTO START FINI MOVF PORTB,W MOVWF KAWARI MOVLW 0FFH MOVWF PORTB CALL TITTI MOVF KAWARI,W MOVWF PORTB 70

72 RETURN NX01 BTFSC MIN01,3 GOTO ZYX BTFSC MIN01,2 GOTO ZYX BTFSC MIN01,1 GOTO ZYX BTFSC MIN01,0 GOTO ZYX DECF MIN01,F RETURN NX10 BTFSC MIN10,3 GOTO ZYX BTFSC MIN10,2 GOTO ZYX BTFSC MIN10,1 GOTO ZYX BTFSC MIN10,0 GOTO ZYX DECF MIN10,F RETURN ZYX RETURN TITTI MOVLW 001H MOVWF CNT2 MOVLW 006H MOVWF CNT3 MOVLW 001H MOVWF CNT1 TIMLP4 DECFSZ CNT1,F GOTO TIMLP4 DECFSZ CNT2,F 71

73 GOTO TIMLP4 MOVF CNT3,W BTFSC STATUS,Z RETURN PIPPI BTFSS CNT3,0 GOTO YOBI01 GOTO YOBI02 YOBI01 BSF PORTB,7 DECF CNT3,F GOTO TIMLP4 YOBI02 BCF PORTB,7 DECF CNT3,F GOTO TIMLP4 piii bsf portb,7 call t2m bcf portb,7 goto modori end 72

74 ;*************************************************** ; ; by PIC16F873 ; ; ; ;*************************************************** list p=pic16f876 include "p16f876.inc" tmvalueequ h'20' keta10 equ h'21' keta1 equ h'22' count1 equ h'23' count2 equ h'24' mkct1 equ h'25' mark1 equ h'26' disp1 equ h'27' mkct2 equ h'28' mark2 equ h'29' disp2 equ h'2a' temp equ h'2b' waru1 equ h'2c' waru10equ h'2d' kekka equ h'2e' naibu equ h'2f' seg7_0 equ b' ' ;gfedcba-pattern 0 seg7_1 equ b' ' ; Pattern 1 seg7_2 equ b' ' ; Pattern 2 seg7_3 equ b' ' ; Pattern 3 seg7_4 equ b' ' ; Pattern 4 seg7_5 equ b' ' ; Pattern 5 seg7_6 equ b' ' ; Pattern 6 seg7_7 equ b' ' ; Pattern 7 73

75 seg7_8 equ b' ' ; Pattern 8 seg7_9 equ b' ' ; Pattern 9 seg7_a equ b' ' ; Pattern a seg7_b equ b' ' ; Pattern b seg7_c equ b' ' ; Pattern c seg7_d equ b' ' ; Pattern d seg7_e equ b' ' ; Pattern e seg7_f equ b' ' ; Pattern f seg70 equ h'30' ;Pattern 0 set adr seg71 equ h'31' ;Pattern 1 set adr seg72 equ h'32' ;Pattern 2 set adr seg73 equ h'33' ;Pattern 3 set adr seg74 equ h'34' ;Pattern 4 set adr seg75 equ h'35' ;Pattern 5 set adr seg76 equ h'36' ;Pattern 6 set adr seg77 equ h'37' ;Pattern 7 set adr seg78 equ h'38' ;Pattern 8 set adr seg79 equ h'39' ;Pattern 9 set adr seg7a equ h'3a' ;Pattern a set adr seg7b equ h'3b' ;Pattern b set adr seg7c equ h'3c' ;Pattern c set adr seg7d equ h'3d' ;Pattern d set adr seg7e equ h'3e' ;Pattern e set adr seg7f equ h'3f' ;Pattern f set adr w_save equ h'43' ;W Register save adr s_save equ h'44' ;STATUS Register save adr ;**************** Program Start *********************** org 0 ;Reset Vector goto init org 4 ;Interrupt Vector goto tmr1int 74

76 ;**************** Initial Process ********************* init bsf status,rp0 ;bank 1 MOVLW 007H ; MOVWF ADCON1 bcf status, rp0 ; Bank 0 movlw b' ' movwf t2con ; TMR2 1:4 clrf tmr2 clrf ccpr1l movlw b' ' ; PWM movwf ccp1con movwf ccp2con clrf ccpr1l clrf ccpr2l clrf t1con ; timer1 1:1 clrf pir1 ; flag clear movlw b' ' movwf intcon ; PEIE on bsf status,rp0 ;Change to Bank1 movlw b' ' ;porta movwf trisa ;Set PORTA clrf trisb ;portb clrf trisc ;portc movlw b' ' ; movwf option_reg ;Set OPTION_REG ;PWM movlw h'ff' movwf pr2 movlw b' ' movwf pie1 bcf status,rp0 ;Change to Bank0 movlw seg7_0 ;Set 7segment pattern 0 75

77 movwf seg70 ;Save pattern 0 movlw seg7_1 ;Set 7segment pattern 1 movwf seg71 ;Save pattern 1 movlw seg7_2 ;Set 7segment pattern 2 movwf seg72 ;Save pattern 2 movlw seg7_3 ;Set 7segment pattern 3 movwf seg73 ;Save pattern 3 movlw seg7_4 ;Set 7segment pattern 4 movwf seg74 ;Save pattern 4 movlw seg7_5 ;Set 7segment pattern 5 movwf seg75 ;Save pattern 5 movlw seg7_6 ;Set 7segment pattern 6 movwf seg76 ;Save pattern 6 movlw seg7_7 ;Set 7segment pattern 7 movwf seg77 ;Save pattern 7 movlw seg7_8 ;Set 7segment pattern 8 movwf seg78 ;Save pattern 8 movlw seg7_9 ;Set 7segment pattern 9 movwf seg79 ;Save pattern 9 movlw seg7_a movwf seg7a movlw seg7_b movwf seg7b movlw seg7_c movwf seg7c movlw seg7_d movwf seg7d movlw seg7_e movwf seg7e movlw seg7_f movwf seg7f ;***************************************** ; ; 76

78 ; ;***************************************** start clrf keta10 clrf keta1 clrf mkct1 clrf mark1 clrf mkct2 clrf mark2 clrf disp1 clrf disp2 movlw d'50' movwf count1 movwf count2 bsf t2con, tmr2on ; tmr2 clrf tmr0 movlw b' ' movwf porta clrf portb movlw h'd0' movwf tmr1l movlw h'8a' movwf tmr1h bsf t1con, tmr1on bsf intcon, gie loop movlw seg70 ;Set 7seg pattern head addwf keta1,w ;Pattern table address movwf fsr ;Set table address movf indf,w ;Read 7seg pattern btfss portb, 3 andlw b' ' movwf portb ;Set pattern to PORTB 77

79 movlw b' ' iorwf portc, f bcf portc, 3 goto main mati1 nop ; TMR0 tmr1lp btfss goto bcf intcon, t0if tmr1lp intcon, t0if movlw seg70 ;Set 7seg pattern head addwf keta10,w ;Pattern table address movwf fsr ;Set table address movf indf,w ;Read 7seg pattern btfss portb, 3 andlw b' ' movwf portb ;Set pattern to PORTB movlw b' ' iorwf portc, f bcf portc, 0 decfsz count2, f goto tmr2lp movlw d'15' movwf count2 movf disp1, w ; call warizan ; movf kekka, w movwf temp movf disp2, w ; call warizan bcf status, c 78

80 rrf temp, f ; / bcf status, c rrf kekka, f ; / movf temp, w addwf kekka, f ; call henkan ; movf temp, w ; keta1 andlw h'0f' movwf keta1 swapf temp, w ; keta10 andlw h'0f' movwf keta10 ; TMR0 tmr2lp btfss goto bcf intcon, t0if tmr2lp intcon, t0if goto loop ;************************************************* ; ; warizan program (2000 / disp1 ) -> kekka ; kekka -> 16 shinnsuu 2 keta ;************************************************* warizan movwf naibu movlw h'07' movwf waru10 79

81 movlw h'd0' movwf waru1 clrf kekka movlw d'21' subwf naibu, w btfss status, c goto waruzero hiku movf naibu, w subwf waru1, f btfsc status, c goto plus movf waru10, w btfsc status, z return decf waru10, f plus incf kekka, f goto hiku waruzero clrf kekka return ;********************************************* ; ; henkan program 16 shin -> 10 shin ; ;********************************************* henkan clrf movf btfsc return temp kekka, w status, z tasu1 incf movf temp, f temp, w 80

82 andlw h'0f' sublw h'0a' btfss status, z goto tasu2 swapf temp, f movlw h'0f' andwf temp, f incf temp, f swapf temp, f tasu2 decfsz kekka, f goto tasu1 return ;********************************************* ; ; timer1 interrupt routine ; ;********************************************* tmr1int movwf w_save movf status, w movwf s_save btfss pir1, tmr1if goto intend bcf pir1, tmr1if bcf t1con, tmr1on movlw h'd0' movwf tmr1l movlw h'8a' movwf tmr1h bsf t1con, tmr1on btfss porta, 4 goto whitemk1 movf mark1, w 81

83 btfss status, z clrf mark1 movlw d'166' subwf mkct1, w btfss status, c goto blackmk1 movlw h'ff' movwf mkct1 goto leftport blackmk1 incf mkct1, f goto leftport whitemk1 movf btfsc goto incf btfsc decf goto mark1, w status, z zeromk1 mkct1, f status, z mkct1, f leftport zeromk1 bsf mark1, 0 movf mkct1, w movwf disp1 clrf mkct1 leftport movlw h'ff' subwf mkct1, w btfss status, z goto left3 movlw h'00' movwf disp1 left3 btfss porta, 5 82

84 goto whitemk2 movf mark2, w btfss status, z clrf mark2 movlw d'166' subwf mkct2, w btfss status, c goto blackmk2 movlw h'ff' movwf mkct2 goto left2 blackmk2 incf mkct2, f goto left2 whitemk2 movf btfsc goto incf btfsc decf goto mark2, w status, z zeromk2 mkct2, f status, z mkct2, f left2 zeromk2 bsf mark2, 0 movf mkct2, w movwf disp2 clrf mkct2 left2 movlw h'ff' subwf mkct2, w btfss status, z goto intend movlw h'00' movwf disp2 83

85 intend movf disp1, w movwf temp movf s_save, w movwf status swapf w_save, f swapf w_save, w retfie ;*************************************** ; ; ; ;*************************************** main btfss porta,0 ; goto w?? ; goto b?? ; w?? btfss porta,1 ; goto ww? ; goto wb? ; ww? btfss porta,2 ; goto back ; goto right ; wb? btfss porta,2 ; goto fowd ; goto right ; b?? btfss porta,1 ; goto bw? ; goto bb? ; 84

86 bw? btfss porta,2 ; goto left ; goto right ; bb? btfss porta,2 ; goto fowd ; goto right ; ;*************************************** ; ;*************************************** left bcf portc,7 ; bsf portc,6 ; movf ccpr1l,w ; addlw d'5' ; btfsc status,c ; movlw h'ff' ; movwf ccpr1l mtr2dwn bcf portc,5 ; bsf portc,4 ; movf ccpr1l,w ; movlw d'5' ; subwf ccpr2l,w btfss status,c ; movlw h'50' ; movwf ccpr2l goto mati1 right bcf portc,5 ; bsf portc,4 ; movf ccpr2l,w ; addlw d'5' ; btfsc status,c ; 85

87 movlw H'ff' ; movwf ccpr2l mtr1dwn bcf portc,7 ; bsf portc,6 ; movf ccpr1l,w ; movlw d'5' ; subwf ccpr1l,w btfss status,c ; movlw h'50' ; movwf ccpr1l goto mati1 fowd ; call right12 call left12 goto mati1 right12 bcf portc,7 ; bsf portc,6 ; movf ccpr1l,w ; addlw d'5' ; btfsc status,c ; movlw h'ff' ; movwf ccpr1l return left12 bcf portc,5 ; bsf portc,4 ; movf ccpr2l,w ; addlw d'5' ; btfsc status,c ; movlw H'ff' ; movwf ccpr2l return back 86

88 call call goto rmtr1 rmtr2 mati1 rmtr1 rmtr2 bcf portc,6 bsf portc,7 movlw h'80' movwf ccpr1l addlw d'5' btfsc status,c movlw H'ff' movwf ccpr1l return bcf portc,4 bsf portc,5 movlw h'80' movwf ccpr2l addlw d'5' btfsc status,c movlw H'ff' movwf ccpr2l return END 87