follow.lst - generated by MGTEK Assembler ASM12 V1.16 Build 101 for WIN32 (x86) - Thu Apr 18 01:26:17 2002 1: * Filename : FOLLOW.ASM 2: * Programmer : Michael Hattermann 3: * Date : March 31, 2002 4: * Version : 1.0 5: * Description : This file contains the code for 6: * object following. The following 7: * functions are available: 8: * 9: * 10: * 11: *#define __DEBUGFOLLOW_ 1 12: *#define __PRINTFOLLOW_ 1 13: 14: #include "hc12.asm" 1: * Filename : HC12.H 2: * Programmer : Michael Hattermann 3: * Date : February 21, 2002 4: * Version : 1.0 5: * Description : This file contains equates for the HC12 6: * processor 7: * 8: * 9: ************************************************************ 10: * Register Equates 11: ************************************************************ 12: * 13: #ifndef __HC12_ASM_ 14: =00000001 #define __HC12_ASM_ 1 15: 16: =00000000 IO_BASE EQU 0 17: 18: =00000000 PORTA EQU (IO_BASE + $00) 19: =00000001 PORTB EQU (IO_BASE + $01) 20: =00000002 DDRA EQU (IO_BASE + $02) 21: =00000003 DDRB EQU (IO_BASE + $03) 22: =00000008 PORTE EQU (IO_BASE + $08) 23: =00000009 DDRE EQU (IO_BASE + $09) 24: =0000000A PEAR EQU (IO_BASE + $0A) 25: =0000000B MODE EQU (IO_BASE + $0B) 26: =0000000C PUCR EQU (IO_BASE + $0C) 27: =0000000D RDRIV EQU (IO_BASE + $0D) 28: =00000010 INITRM EQU (IO_BASE + $10) 29: =00000011 INITRG EQU (IO_BASE + $11) 30: =00000012 INITEE EQU (IO_BASE + $12) 31: =00000013 MISC EQU (IO_BASE + $13) 32: =00000014 RTICTL EQU (IO_BASE + $14) 33: =00000015 RTIFLG EQU (IO_BASE + $15) 34: =00000016 COPCTL EQU (IO_BASE + $16) 35: =00000017 COPRST EQU (IO_BASE + $17) 36: =0000001E INTCR EQU (IO_BASE + $1E) 37: =0000001F HPRIO EQU (IO_BASE + $1F) 38: =00000020 BRKCT0 EQU (IO_BASE + $20) 39: =00000021 BRKCT1 EQU (IO_BASE + $21) 40: =00000022 BRKAH EQU (IO_BASE + $22) 41: =00000023 BRKAL EQU (IO_BASE + $23) 42: =00000024 BRKDH EQU (IO_BASE + $24) 43: =00000025 BRKDL EQU (IO_BASE + $25) 44: =00000040 PWCLK EQU (IO_BASE + $40) 45: =00000041 PWPOL EQU (IO_BASE + $41) 46: =00000042 PWEN EQU (IO_BASE + $42) 47: =00000043 PWPRES EQU (IO_BASE + $43) 48: =00000044 PWSCAL0 EQU (IO_BASE + $44) 49: =00000045 PWSCNT0 EQU (IO_BASE + $45) 50: =00000046 PWSCAL1 EQU (IO_BASE + $46) 51: =00000047 PWSCNT1 EQU (IO_BASE + $47) 52: =00000048 PWCNT0 EQU (IO_BASE + $48) 53: =00000049 PWCNT1 EQU (IO_BASE + $49) 54: =0000004A PWCNT2 EQU (IO_BASE + $4A) 55: =0000004B PWCNT3 EQU (IO_BASE + $4B) 56: =0000004C PWPER0 EQU (IO_BASE + $4C) 57: =0000004D PWPER1 EQU (IO_BASE + $4D) 58: =0000004E PWPER2 EQU (IO_BASE + $4E) 59: =0000004F PWPER3 EQU (IO_BASE + $4F) 60: =00000050 PWDTY0 EQU (IO_BASE + $50) 61: =00000051 PWDTY1 EQU (IO_BASE + $51) 62: =00000052 PWDTY2 EQU (IO_BASE + $52) 63: =00000053 PWDTY3 EQU (IO_BASE + $53) 64: =00000054 PWCTL EQU (IO_BASE + $54) 65: =00000055 PWTST EQU (IO_BASE + $55) 66: =00000056 PORTP EQU (IO_BASE + $56) 67: =00000057 DDRP EQU (IO_BASE + $57) 68: =00000060 ATDCTL0 EQU (IO_BASE + $60) 69: =00000061 ATDCTL1 EQU (IO_BASE + $61) 70: =00000062 ATDCTL2 EQU (IO_BASE + $62) 71: =00000063 ATDCTL3 EQU (IO_BASE + $63) 72: =00000064 ATDCTL4 EQU (IO_BASE + $64) 73: =00000065 ATDCTL5 EQU (IO_BASE + $65) 74: =00000066 ATDSTAT EQU (IO_BASE + $66) 75: =00000066 ATDSTATH EQU (IO_BASE + $66) 76: =00000067 ATDSTATL EQU (IO_BASE + $67) 77: =00000068 ATDTST EQU (IO_BASE + $68) 78: =00000068 ATDTSTH EQU (IO_BASE + $68) 79: =00000069 ATDTSTL EQU (IO_BASE + $69) 80: =0000006F PORTAD EQU (IO_BASE + $6F) 81: =00000070 ADR0 EQU (IO_BASE + $70) 82: =00000070 ADR0H EQU (IO_BASE + $70) 83: =00000071 ADR0L EQU (IO_BASE + $71) 84: =00000072 ADR1 EQU (IO_BASE + $72) 85: =00000072 ADR1H EQU (IO_BASE + $72) 86: =00000073 ADR1L EQU (IO_BASE + $73) 87: =00000074 ADR2 EQU (IO_BASE + $74) 88: =00000074 ADR2H EQU (IO_BASE + $74) 89: =00000075 ADR2L EQU (IO_BASE + $75) 90: =00000076 ADR3 EQU (IO_BASE + $76) 91: =00000076 ADR3H EQU (IO_BASE + $76) 92: =00000077 ADR3L EQU (IO_BASE + $77) 93: =00000078 ADR4 EQU (IO_BASE + $78) 94: =00000078 ADR4H EQU (IO_BASE + $78) 95: =00000079 ADR4L EQU (IO_BASE + $79) 96: =0000007A ADR5 EQU (IO_BASE + $7A) 97: =0000007A ADR5H EQU (IO_BASE + $7A) 98: =0000007B ADR5L EQU (IO_BASE + $7B) 99: =0000007C ADR6 EQU (IO_BASE + $7C) 100: =0000007C ADR6H EQU (IO_BASE + $7C) 101: =0000007D ADR6L EQU (IO_BASE + $7D) 102: =0000007E ADR7 EQU (IO_BASE + $7E) 103: =0000007E ADR7H EQU (IO_BASE + $7E) 104: =0000007F ADR7L EQU (IO_BASE + $7F) 105: =00000080 TIOS EQU (IO_BASE + $80) 106: =00000081 CFORC EQU (IO_BASE + $81) 107: =00000082 OC7M EQU (IO_BASE + $82) 108: =00000083 OC7D EQU (IO_BASE + $83) 109: =00000084 TCNT EQU (IO_BASE + $84) 110: =00000084 TCNTH EQU (IO_BASE + $84) 111: =00000085 TCNTL EQU (IO_BASE + $85) 112: =00000086 TSCR EQU (IO_BASE + $86) 113: =00000088 TCTL1 EQU (IO_BASE + $88) 114: =00000089 TCTL2 EQU (IO_BASE + $89) 115: =0000008A TCTL3 EQU (IO_BASE + $8A) 116: =0000008B TCTL4 EQU (IO_BASE + $8B) 117: =0000008C TMSK1 EQU (IO_BASE + $8C) 118: =0000008D TMSK2 EQU (IO_BASE + $8D) 119: =0000008E TFLG1 EQU (IO_BASE + $8E) 120: =0000008F TFLG2 EQU (IO_BASE + $8F) 121: =00000090 TC0 EQU (IO_BASE + $90) 122: =00000090 TC0H EQU (IO_BASE + $90) 123: =00000091 TC0L EQU (IO_BASE + $91) 124: =00000092 TC1 EQU (IO_BASE + $92) 125: =00000092 TC1H EQU (IO_BASE + $92) 126: =00000093 TC1L EQU (IO_BASE + $93) 127: =00000094 TC2 EQU (IO_BASE + $94) 128: =00000094 TC2H EQU (IO_BASE + $94) 129: =00000095 TC2L EQU (IO_BASE + $95) 130: =00000096 TC3 EQU (IO_BASE + $96) 131: =00000096 TC3H EQU (IO_BASE + $96) 132: =00000097 TC3L EQU (IO_BASE + $97) 133: =00000098 TC4 EQU (IO_BASE + $98) 134: =00000098 TC4H EQU (IO_BASE + $98) 135: =00000099 TC4L EQU (IO_BASE + $99) 136: =0000009A TC5 EQU (IO_BASE + $9A) 137: =0000009A TC5H EQU (IO_BASE + $9A) 138: =0000009B TC5L EQU (IO_BASE + $9B) 139: =0000009C TC6 EQU (IO_BASE + $9C) 140: =0000009C TC6H EQU (IO_BASE + $9C) 141: =0000009D TC6L EQU (IO_BASE + $9D) 142: =0000009E TC7 EQU (IO_BASE + $9E) 143: =0000009E TC7H EQU (IO_BASE + $9E) 144: =0000009F TC7L EQU (IO_BASE + $9F) 145: =000000A0 PACTL EQU (IO_BASE + $A0) 146: =000000A1 PAFLG EQU (IO_BASE + $A1) 147: =000000A2 PACN3 EQU (IO_BASE + $A2) 148: =000000A3 PACN2 EQU (IO_BASE + $A3) 149: =000000A4 PACN1 EQU (IO_BASE + $A4) 150: =000000A5 PACN0 EQU (IO_BASE + $A5) 151: =000000A6 MCCTL EQU (IO_BASE + $A6) 152: =000000A7 MCFLG EQU (IO_BASE + $A7) 153: =000000A8 ICPACR EQU (IO_BASE + $A8) 154: =000000A9 DLYCT EQU (IO_BASE + $A9) 155: =000000AA ICOVW EQU (IO_BASE + $AA) 156: =000000AB ICSYS EQU (IO_BASE + $AB) 157: =000000AD TIMTST EQU (IO_BASE + $AD) 158: =000000AE PORTT EQU (IO_BASE + $AE) 159: =000000AF DDRT EQU (IO_BASE + $AF) 160: =000000B0 PBCTL EQU (IO_BASE + $B0) 161: =000000B1 PBFLG EQU (IO_BASE + $B1) 162: =000000B2 PA3H EQU (IO_BASE + $B2) 163: =000000B3 PA2H EQU (IO_BASE + $B3) 164: =000000B4 PA1H EQU (IO_BASE + $B4) 165: =000000B5 PA0H EQU (IO_BASE + $B5) 166: =000000B6 MCCNT EQU (IO_BASE + $B6) 167: =000000B6 MCCNTH EQU (IO_BASE + $B6) 168: =000000B7 MCCNTL EQU (IO_BASE + $B7) 169: =000000C0 SC0BD EQU (IO_BASE + $C0) 170: =000000C0 SC0BDH EQU (IO_BASE + $C0) 171: =000000C1 SC0BDL EQU (IO_BASE + $C1) 172: =000000C2 SC0CR1 EQU (IO_BASE + $C2) 173: =000000C3 SC0CR2 EQU (IO_BASE + $C3) 174: =000000C4 SC0SR1 EQU (IO_BASE + $C4) 175: =000000C5 SC0SR2 EQU (IO_BASE + $C5) 176: =000000C6 SC0DRH EQU (IO_BASE + $C6) 177: =000000C7 SC0DRL EQU (IO_BASE + $C7) 178: =000000D0 SP0CR1 EQU (IO_BASE + $D0) 179: =000000D1 SP0CR2 EQU (IO_BASE + $D1) 180: =000000D2 SP0BR EQU (IO_BASE + $D2) 181: =000000D3 SP0SR EQU (IO_BASE + $D3) 182: =000000D5 SP0DR EQU (IO_BASE + $D5) 183: =000000D6 PORTS EQU (IO_BASE + $D6) 184: =000000D7 DDRS EQU (IO_BASE + $D7) 185: =000000DB PURDS EQU (IO_BASE + $DB) 186: =000000E0 SLOW EQU (IO_BASE + $E0) 187: =000000F0 EEMCR EQU (IO_BASE + $F0) 188: =000000F1 EEPROT EQU (IO_BASE + $F1) 189: =000000F2 EETST EQU (IO_BASE + $F2) 190: =000000F3 EEPROG EQU (IO_BASE + $F3) 191: =000000F4 FEELCK EQU (IO_BASE + $F4) 192: =000000F5 FEEMCR EQU (IO_BASE + $F5) 193: =000000F6 FEETST EQU (IO_BASE + $F6) 194: =000000F7 FEECTL EQU (IO_BASE + $F7) 195: =000000F8 BCR1 EQU (IO_BASE + $F8) 196: =000000F9 BSVR EQU (IO_BASE + $F9) 197: =000000FA BCR2 EQU (IO_BASE + $FA) 198: =000000FB BDR EQU (IO_BASE + $FB) 199: =000000FC BARD EQU (IO_BASE + $FC) 200: =000000FD DLCSCR EQU (IO_BASE + $FD) 201: =000000FE PORTDLC EQU (IO_BASE + $FE) 202: =000000FF DDRDLC EQU (IO_BASE + $FF) 203: * 204: ************************************************************ 205: * Interrupt vector addresses 206: ************************************************************ 207: * 208: =0000FFCC MOD_UNDER_IVECT EQU $FFCC 209: =0000FFCA PACB_OVER_IVECT EQU $FFCA 210: =0000FFD0 BDLC_IVECT EQU $FFD0 211: =0000FFD2 ATD_IVECT EQU $FFD2 212: =0000FFD4 RES4_IVECT EQU $FFD4 213: =0000FFD6 SCI0_IVECT EQU $FFD6 214: =0000FFD8 SPI_TC_IVECT EQU $FFD8 215: =0000FFDA PAC_IN_EDGE_IVECT EQU $FFDA 216: =0000FFDC PAC_OVER_IVECT EQU $FFDC 217: =0000FFDE TMR_OVER_IVECT EQU $FFDE 218: =0000FFE0 T7_IVECT EQU $FFE0 219: =0000FFE2 T6_IVECT EQU $FFE2 220: =0000FFE4 T5_IVECT EQU $FFE4 221: =0000FFE6 T4_IVECT EQU $FFE6 222: =0000FFE8 T3_IVECT EQU $FFE8 223: =0000FFEA T2_IVECT EQU $FFEA 224: =0000FFEC T1_IVECT EQU $FFEC 225: =0000FFEE T0_IVECT EQU $FFEE 226: =0000FFF0 RTI_IVECT EQU $FFF0 227: =0000FFF0 IRQ_IVECT EQU $FFF0 228: =0000FFF0 XIRQ_IVECT EQU $FFF0 229: =0000FFF0 SWI_IVECT EQU $FFF0 230: =0000FFF0 TRAP_IVECT EQU $FFF0 231: =0000FFF0 COP_FAIL_IVECT EQU $FFF0 232: =0000FFF0 COP_CLK_FAIL_IVECT EQU $FFF0 233: =0000FFF0 RESET_IVECT EQU $FFF0 234: * 235: ************************************************************ 236: * Pseudointerrupt vector addresses 237: ************************************************************ 238: * 239: =00000800 MOD_UNDER_PVECT EQU $0800 240: =00000803 PACB_OVER_PVECT EQU $0803 241: =00000806 BDLC_PVECT EQU $0806 242: =00000809 ATD_PVECT EQU $0809 243: =0000080C SCI0_PVECT EQU $080C 244: =0000080F SPI_TC_PVECT EQU $080F 245: =00000812 PAC_IN_EDGE_PVECT EQU $0812 246: =00000815 PAC_OVER_PVECT EQU $0815 247: =00000818 TMR_OVER_PVECT EQU $0818 248: =0000081B T7_PVECT EQU $081B 249: =0000081E T6_PVECT EQU $081E 250: =00000821 T5_PVECT EQU $0821 251: =00000824 T4_PVECT EQU $0824 252: =00000827 T3_PVECT EQU $0827 253: =0000082A T2_PVECT EQU $082A 254: =0000082D T1_PVECT EQU $082D 255: =00000830 T0_PVECT EQU $0830 256: =00000833 RTI_PVECT EQU $0833 257: =00000836 IRQ_PVECT EQU $0836 258: =00000839 XIRQ_PVECT EQU $0839 259: =0000083C SWI_PVECT EQU $083C 260: =0000083F TRAP_PVECT EQU $083F 261: =00000842 COP_FAIL_PVECT EQU $0842 262: =00000845 COP_CLK_FAIL_PVECT EQU $0845 263: =00000848 RESET_PVECT EQU $0848 264: =0000084B USERPROG_PVECT EQU $084B 265: * 266: ************************************************************ 267: * Bit Equates 268: ************************************************************ 269: * 270: =00000001 BIT0 EQU %00000001 ; bit 0 271: =000000FE INV0 EQU %11111110 ; inverse of bit 0 272: =00000002 BIT1 EQU %00000010 ; bit 1 273: =000000FD INV1 EQU %11111101 ; inverse of bit 1 274: =00000004 BIT2 EQU %00000100 ; bit 2 275: =000000FB INV2 EQU %11111011 ; inverse of bit 2 276: =00000008 BIT3 EQU %00001000 ; bit 3 277: =000000F7 INV3 EQU %11110111 ; inverse of bit 3 278: =00000010 BIT4 EQU %00010000 ; bit 4 279: =000000EF INV4 EQU %11101111 ; inverse of bit 4 280: =00000020 BIT5 EQU %00100000 ; bit 5 281: =000000DF INV5 EQU %11011111 ; inverse of bit 5 282: =00000040 BIT6 EQU %01000000 ; bit 6 283: =000000BF INV6 EQU %10111111 ; inverse of bit 6 284: =00000080 BIT7 EQU %10000000 ; bit 7 285: =0000007F INV7 EQU %01111111 ; inverse of bit 7 286: * 287: ************************************************************ 288: * Port Equates 289: ************************************************************ 290: * 291: =00004000 SEG7PORT EQU $4000 ; 7-segment display output port 292: *OUT1PORT EQU $5000 ; Output port 1 293: =00006000 LED1PORT EQU $6000 ; LED Output port 1 294: *LED2PORT EQU $7000 ; LED Output port 2 295: * IN1PORT EQU $4000 ; Input port 1 296: * IN2PORT EQU $5000 ; Input port 2 297: * 298: ************************************************************ 299: * STEVE Common System Equates 300: ************************************************************ 301: * 302: 303: * Object avoidance/following reaction equates 304: ********************************************* 305: =00000001 REACTBACK EQU $01 ; Reaction values 306: =00000002 REACTHARD EQU $02 ; 307: =00000003 REACTSOFT EQU $03 ; 308: =00000000 NOACTION EQU $00 ; 309: 310: =00000000 REACTRAND EQU $00 ; 311: =00000001 REACTLEFT EQU $01 ; 312: =00000002 REACTRIGHT EQU $02 ; 313: 314: #endif 15: 16: * 17: ************************************************************ 18: * Object Following Equates 19: ************************************************************ 20: * 21: =00000055 MINFOLLOW EQU $55 ; minimum reading on sensor to execute following follow.asm(22): Error A2038: col(34) 'halfspeed': undefined symbol 22: OBJAVOIDSPD EQU HALFSPEED ; speed to perform object avoidance at follow.asm(23): Error A2038: col(34) 'halfspeed': undefined symbol 23: MINFOLLOWSPD EQU HALFSPEED ; minimum speed to follow at follow.asm(24): Error A2038: col(34) 'fullspeed': undefined symbol 24: MAXFOLLOWSPD EQU FULLSPEED ; maximum speed to follow at follow.asm(25): Error A2038: col(35) '_5_8_speed': undefined symbol 25: FOLLOWTURNSPD EQU _5_8_SPEED ; max speed to perform a hard turn at 26: =00000014 NUMAVGCNT EQU 20 ; number of sensor values to average 27: =00000001 SPDACCEL EQU 1 ; desired amount of acceleration 28: =FFFFFFFE SPDDOWNACCEL EQU -2 ; slow down acceleration 29: =00000002 SPDUPACCEL EQU 2 ; speed up acceleration 30: * 31: ************************************************************ 32: * Object Following Debug Code 33: ************************************************************ 34: * 35: #ifdef __DEBUGFOLLOW_ 56: #endif 57: 58: * Reaction table for following (Center|Left|Right) 59: ************************************************************ 60: 0000 0049 FOLLOWTBL DC.W FOBJAVOID ; 000 - Object avoidance 61: 0002 002E DC.W FHARDR ; 001 - Hard right 62: 0004 0034 DC.W FHARDL ; 010 - Hard left follow.asm(63): Error A2038: col(28) 'mainout': undefined symbol 63: 0006 0000 DC.W MAINOUT ; 011 - ERROR - quit program 64: 0008 003A DC.W FFOWARD ; 100 - Foward 65: 000A 003F DC.W FSOFTR ; 101 - Soft right 66: 000C 0044 DC.W FSOFTL ; 110 - Soft left follow.asm(67): Error A2038: col(28) 'mainout': undefined symbol 67: 000E 0000 DC.W MAINOUT ; 111 - ERROR - quit program 68: 69: * 70: ******************************************************************************* 71: * SUBROUTINE - FOLLOW 72: * Description: Performs obstacle following behavior by reading the values 73: * from the IR sensors and moving the robot accordingly. 74: * Input : None. 75: * Output : None. 76: * Destroys : None. 77: * Calls : None. 78: ******************************************************************************* 79: * 80: 0010 34 [02] FOLLOW PSHX ; save register X 81: 0011 3B [02] PSHD ; save register D 82: 83: * JSR BUMPED ; check to see if we bumped something 84: * TBEQ A,FOLLOW1 ; no bump, continue following behavior 85: * JMP MAINOUT ; we bumped something, quit program 86: 87: 0012 17 1F [04] FOLLOW1 JSR FGETDATA ; get data from following sensors 88: 89: #ifdef __PRINTFOLLOW_ 106: #endif 107: 108: * LDAA #BUMPER ; check to see if we have 109: * JSR ANALOG ; been bumped 110: * CMPA #$82 ; were we bumped in front center? 111: * BNE FOLLOW2 ; no, then continue 112: * LDAA CFVALUE ; get center IR value 113: * CMPA #$7E ; are we really close to object? 114: * BLO FOLLOW2 ; no, then continue following 115: * JMP MAINOUT ; yes, we caught him....stop 116: 117: 0014 FOLLOW2 118: 0014 CE 0000 [02] LDX #FOLLOWTBL ; load address of reaction table follow.asm(119): Error A2038: col(28) 'ftblidx': undefined symbol 119: LDAA FTBLIDX ; get the reaction table index 120: 0017 48 [01] LSLA ; convert to 16-bit index 121: 0018 EE E4 [03] LDX A,X ; get address of handling routine 122: 001A 05 00 [03] JMP 0,X ; jump to appropriate routine 123: 124: 001C 3A [03] FOLLOWX PULD ; restore register D 125: 001D 30 [03] PULX ; restore register X 126: 001E 3D [05] RTS ; return to caller 127: * 128: ******************************************************************************* 129: * SUBROUTINE - FGETDATA 130: * Description: Reads the values from the following IR detectors. 131: * Input : None. 132: * Output : LFVALUE,RFVALUE. 133: * Destroys : LFVALUE,RFVALUE. 134: * Calls : None. 135: ******************************************************************************* 136: * 137: 001F 36 [02] FGETDATA PSHA ; save register A follow.asm(138): Error A2038: col(33) 'ftblidx': undefined symbol 138: MOVB #$00,FTBLIDX ; clear reaction table index 139: follow.asm(140): Error A2038: col(34) 'centerfollow': undefined symbol 140: LDAA #CENTERFOLLOW ; get data from center sensor follow.asm(141): Error A2038: col(27) 'analog': undefined symbol 141: JSR ANALOG ; follow.asm(142): Error A2038: col(28) 'cfvalue': undefined symbol 142: STAA CFVALUE ; save center sensor value 143: 0020 81 55 [01] CMPA #MINFOLLOW ; did center see speeding car? 144: 0022 25 00 [03] BLO FGETDATA1 ; no, so continue follow.asm(145): Error A2038: col(28) 'ftblidx': undefined symbol 145: BSET FTBLIDX,BIT2 ; yes, so set bit in index 146: follow.asm(147): Error A2038: col(32) 'leftfollow': undefined symbol 147: 0024 FGETDATA1 LDAA #LEFTFOLLOW ; get data from left sensor follow.asm(148): Error A2038: col(27) 'analog': undefined symbol 148: JSR ANALOG ; follow.asm(149): Error A2038: col(28) 'lfvalue': undefined symbol 149: STAA LFVALUE ; save left sensor value 150: 0024 81 55 [01] CMPA #MINFOLLOW ; did left see speeding car? 151: 0026 25 00 [03] BLO FGETDATA2 ; no, so continue follow.asm(152): Error A2038: col(28) 'ftblidx': undefined symbol 152: BSET FTBLIDX,BIT1 ; yes, so set bit in index 153: follow.asm(154): Error A2038: col(33) 'rightfollow': undefined symbol 154: 0028 FGETDATA2 LDAA #RIGHTFOLLOW ; get data from right sensor follow.asm(155): Error A2038: col(27) 'analog': undefined symbol 155: JSR ANALOG ; follow.asm(156): Error A2038: col(28) 'rfvalue': undefined symbol 156: STAA RFVALUE ; save right sensor value 157: 0028 81 55 [01] CMPA #MINFOLLOW ; did right see speeding car? 158: 002A 25 00 [03] BLO FGETDATAX ; no, so get out follow.asm(159): Error A2038: col(28) 'ftblidx': undefined symbol 159: BSET FTBLIDX,BIT0 ; yes, so set bit in index 160: 161: 002C 32 [03] FGETDATAX PULA ; restore register A 162: 002D 3D [05] RTS ; return to caller 163: * 164: ******************************************************************************* 165: * SUBROUTINES - FHARDR,FHARDL,FFOWARD,FSOFTR,FSOFTL 166: * Description: Handle motor control for following behavior 167: * Input : None. 168: * Output : None. 169: * Destroys : Reg X, Reg D. 170: * Calls : STEER. 171: ******************************************************************************* 172: * 173: 002E CC 0000 [02] FHARDR LDD #FOLLOWTURNSPD ; set speed to turning speed follow.asm(174): Error A2038: col(30) 'chngspeed': undefined symbol 174: JSR CHNGSPEED ; follow.asm(175): Error A2038: col(31) 'hardright': undefined symbol 175: LDX #HARDRIGHT ; turn hard right follow.asm(176): Error A2038: col(26) 'steer': undefined symbol 176: JSR STEER ; 177: 0031 06 001C [03] JMP FOLLOWX ; get out 178: 179: 0034 CC 0000 [02] FHARDL LDD #FOLLOWTURNSPD ; set speed to turning speed follow.asm(180): Error A2038: col(30) 'chngspeed': undefined symbol 180: JSR CHNGSPEED ; follow.asm(181): Error A2038: col(30) 'hardleft': undefined symbol 181: LDX #HARDLEFT ; turn hard left follow.asm(182): Error A2038: col(26) 'steer': undefined symbol 182: JSR STEER ; 183: 0037 06 001C [03] JMP FOLLOWX ; get out 184: 185: 003A 17 58 [04] FFOWARD JSR SPEEDCALC ; go set new speed follow.asm(186): Error A2038: col(30) 'gofoward': undefined symbol 186: LDX #GOFOWARD ; go foward follow.asm(187): Error A2038: col(26) 'steer': undefined symbol 187: JSR STEER ; 188: 003C 06 001C [03] JMP FOLLOWX ; get out 189: 190: 003F 17 58 [04] FSOFTR JSR SPEEDCALC ; go set new speed follow.asm(191): Error A2038: col(31) 'softright': undefined symbol 191: LDX #SOFTRIGHT ; turn soft right follow.asm(192): Error A2038: col(26) 'steer': undefined symbol 192: JSR STEER ; 193: 0041 06 001C [03] JMP FOLLOWX ; get out 194: 195: 0044 17 58 [04] FSOFTL JSR SPEEDCALC ; go set new speed follow.asm(196): Error A2038: col(30) 'softleft': undefined symbol 196: LDX #SOFTLEFT ; turn soft left follow.asm(197): Error A2038: col(26) 'steer': undefined symbol 197: JSR STEER ; 198: 0046 06 001C [03] JMP FOLLOWX ; get out 199: * 200: ******************************************************************************* 201: * SUBROUTINE - FOBJAVOID 202: * Description: Handles object avoidance for following behavior 203: * Input : None. 204: * Output : None. 205: * Destroys : Reg X, Reg D. 206: * Calls : SIRENON,SIRENOFF,OBJAVOID,WAIT. 207: ******************************************************************************* 208: * follow.asm(209): Error A2038: col(29) 'sirenoff': undefined symbol 209: 0049 FOBJAVOID JSR SIRENOFF ; turn off siren to indicate we lost speeder 210: 0049 CC 0000 [02] LDD #OBJAVOIDSPD ; set motor speed to obj avoid speed follow.asm(211): Error A2038: col(30) 'chngspeed': undefined symbol 211: JSR CHNGSPEED ; 212: follow.asm(213): Error A2038: col(29) 'objavoid': undefined symbol 213: 004C FOBJAVOID1 JSR OBJAVOID ; avoid obstacles follow.asm(214): Error A2038: col(32) 'oaprocrate': undefined symbol 214: LDX #OAPROCRATE ; wait designated amount of time follow.asm(215): Error A2038: col(25) 'wait': undefined symbol 215: JSR WAIT ; 216: 217: 004C 17 1F [04] JSR FGETDATA ; check following sensors follow.asm(218): Error A2038: col(28) 'ftblidx': undefined symbol 218: TST FTBLIDX ; did we find the speeder? 219: 004E 27 FC [03] BEQ FOBJAVOID1 ; no, continue object avoidance 220: follow.asm(221): Error A2038: col(28) 'sirenon': undefined symbol 221: JSR SIRENON ; turn siren on to indicate active chase 222: 223: 0050 CE 0000 [02] LDX #FOLLOWTBL ; load address of reaction table follow.asm(224): Error A2038: col(28) 'ftblidx': undefined symbol 224: LDAA FTBLIDX ; get the reaction table index 225: 0053 48 [01] LSLA ; convert to 16-bit index 226: 0054 EE E4 [03] LDX A,X ; get address of handling routine 227: 0056 05 00 [03] JMP 0,X ; jump to appropriate routine 228: * 229: ******************************************************************************* 230: * SUBROUTINE - SPEEDCALC 231: * Description: Calculates and sets the next max motor speed so that the robot 232: * has a constant acceleration 233: * Input : None. 234: * Output : None. 235: * Destroys : Reg X, Reg D. 236: * Calls : . 237: ******************************************************************************* 238: * follow.asm(239): Error A2038: col(29) 'newcfavg': undefined symbol 239: 0058 SPEEDCALC LDD NEWCFAVG ; load the current working average follow.asm(240): Error A2038: col(28) 'cfvalue': undefined symbol 240: ADDB CFVALUE ; add the newest center sensor 241: 0058 89 00 [01] ADCA #$00 ; to the current average follow.asm(242): Error A2038: col(27) 'avgcnt': undefined symbol 242: LDX AVGCNT ; get the count of # items in working average 243: 005A 08 [01] INX ; increment the count follow.asm(244): Error A2038: col(27) 'avgcnt': undefined symbol 244: STX AVGCNT ; save the count 245: 005B 8E 0014 [02] CPX #NUMAVGCNT ; do we have the correct sum yet? 246: 005E 2D 23 [03] BLT SPEEDCALCX ; no, get out 247: 248: 0060 1815 [0C] IDIVS ; calculate average 249: 0062 B7C5 [01] XGDX ; get average follow.asm(250): Error A2038: col(29) 'newcfavg': undefined symbol 250: STD NEWCFAVG ; save average 251: 252: #ifdef __PRINTFOLLOW_ 263: #endif 264: follow.asm(265): Error A2038: col(29) 'oldcfavg': undefined symbol 265: SUBD OLDCFAVG ; calc difference between old,new average 266: 0064 8C 0001 [02] CPD #SPDACCEL ; compare to the desired acceleration 267: 0067 27 1A [03] BEQ SPEEDCALC4 ; they are equal, do nothing 268: 0069 2D 0D [03] BLT SPEEDCALC2 ; need to speed up 269: * SLOW DOWN follow.asm(270): Error A2038: col(33) 'maxfowardspd': undefined symbol 270: LDD MAXFOWARDSPD ; get the current max speed 271: 006B C3 FFFE [02] ADDD #SPDDOWNACCEL ; slow it down 272: 006E 8C 0000 [02] CPD #MINFOLLOWSPD ; have we slowed down too far? 273: 0071 2C 03 [03] BGE SPEEDCALC1 ; no, skip adjustment 274: 0073 CC 0000 [02] LDD #MINFOLLOWSPD ; make speed = minimum speed follow.asm(275): Error A2038: col(30) 'chngspeed': undefined symbol 275: 0076 SPEEDCALC1 JSR CHNGSPEED ; set the new speed 276: 0076 20 0B [03] BRA SPEEDCALC4 ; get out 277: 278: * SPEED UP follow.asm(279): Error A2038: col(33) 'maxfowardspd': undefined symbol 279: 0078 SPEEDCALC2 LDD MAXFOWARDSPD ; get the current max speed 280: 0078 C3 0002 [02] ADDD #SPDUPACCEL ; speed it up 281: 007B 8C 0000 [02] CPD #MAXFOLLOWSPD ; have we speed up too far? 282: 007E 2F 03 [03] BLE SPEEDCALC3 ; no, skip adjustment 283: 0080 CC 0000 [02] LDD #MAXFOLLOWSPD ; make speed = maximum speed follow.asm(284): Error A2038: col(30) 'chngspeed': undefined symbol 284: 0083 SPEEDCALC3 JSR CHNGSPEED ; set the new speed 285: follow.asm(286): Error A2038: col(29) 'newcfavg': undefined symbol 286: 0083 SPEEDCALC4 MOVW NEWCFAVG,OLDCFAVG ; make new average the old average follow.asm(287): Error A2038: col(37) 'newcfavg': undefined symbol 287: MOVW #$0000, NEWCFAVG ; clear new average to start over follow.asm(288): Error A2038: col(34) 'avgcnt': undefined symbol 288: MOVW #$0000,AVGCNT ; clear average count for next time 289: 290: 0083 3D [05] SPEEDCALCX RTS ; return to caller 291: * 292: ******************************************************************************* Symbols: _5_8_speed ?00000000 __hc12_asm_ 00000001 adr0 00000070 adr0h 00000070 adr0l 00000071 adr1 00000072 adr1h 00000072 adr1l 00000073 adr2 00000074 adr2h 00000074 adr2l 00000075 adr3 00000076 adr3h 00000076 adr3l 00000077 adr4 00000078 adr4h 00000078 adr4l 00000079 adr5 0000007a adr5h 0000007a adr5l 0000007b adr6 0000007c adr6h 0000007c adr6l 0000007d adr7 0000007e adr7h 0000007e adr7l 0000007f analog ?00000000 atd_ivect 0000ffd2 atd_pvect 00000809 atdctl0 00000060 atdctl1 00000061 atdctl2 00000062 atdctl3 00000063 atdctl4 00000064 atdctl5 00000065 atdstat 00000066 atdstath 00000066 atdstatl 00000067 atdtst 00000068 atdtsth 00000068 atdtstl 00000069 avgcnt ?00000000 bard 000000fc bcr1 000000f8 bcr2 000000fa bdlc_ivect 0000ffd0 bdlc_pvect 00000806 bdr 000000fb bit0 *00000001 bit1 *00000002 bit2 *00000004 bit3 00000008 bit4 00000010 bit5 00000020 bit6 00000040 bit7 00000080 brkah 00000022 brkal 00000023 brkct0 00000020 brkct1 00000021 brkdh 00000024 brkdl 00000025 bsvr 000000f9 centerfollow ?00000000 cforc 00000081 cfvalue ?00000000 chngspeed ?00000000 cop_clk_fail_ivect 0000fff0 cop_clk_fail_pvect 00000845 cop_fail_ivect 0000fff0 cop_fail_pvect 00000842 copctl 00000016 coprst 00000017 ddra 00000002 ddrb 00000003 ddrdlc 000000ff ddre 00000009 ddrp 00000057 ddrs 000000d7 ddrt 000000af dlcscr 000000fd dlyct 000000a9 eemcr 000000f0 eeprog 000000f3 eeprot 000000f1 eetst 000000f2 feectl 000000f7 feelck 000000f4 feemcr 000000f5 feetst 000000f6 ffoward *0000003a fgetdata *0000001f fgetdata1 *00000024 fgetdata2 *00000028 fgetdatax *0000002c fhardl *00000034 fhardr *0000002e fobjavoid *00000049 fobjavoid1 *0000004c follow 00000010 follow1 00000012 follow2 00000014 followtbl *00000000 followturnspd ?00000000 followx *0000001c fsoftl *00000044 fsoftr *0000003f ftblidx ?00000000 fullspeed ?00000000 gofoward ?00000000 halfspeed ?00000000 hardleft ?00000000 hardright ?00000000 hprio 0000001f icovw 000000aa icpacr 000000a8 icsys 000000ab initee 00000012 initrg 00000011 initrm 00000010 intcr 0000001e inv0 000000fe inv1 000000fd inv2 000000fb inv3 000000f7 inv4 000000ef inv5 000000df inv6 000000bf inv7 0000007f io_base *00000000 irq_ivect 0000fff0 irq_pvect 00000836 led1port 00006000 leftfollow ?00000000 lfvalue ?00000000 mainout ?00000000 maxfollowspd ?00000000 maxfowardspd ?00000000 mccnt 000000b6 mccnth 000000b6 mccntl 000000b7 mcctl 000000a6 mcflg 000000a7 minfollow *00000055 minfollowspd ?00000000 misc 00000013 mod_under_ivect 0000ffcc mod_under_pvect 00000800 mode 0000000b newcfavg ?00000000 noaction 00000000 numavgcnt *00000014 oaprocrate ?00000000 objavoid ?00000000 objavoidspd ?00000000 oc7d 00000083 oc7m 00000082 oldcfavg ?00000000 pa0h 000000b5 pa1h 000000b4 pa2h 000000b3 pa3h 000000b2 pac_in_edge_ivect 0000ffda pac_in_edge_pvect 00000812 pac_over_ivect 0000ffdc pac_over_pvect 00000815 pacb_over_ivect 0000ffca pacb_over_pvect 00000803 pacn0 000000a5 pacn1 000000a4 pacn2 000000a3 pacn3 000000a2 pactl 000000a0 paflg 000000a1 pbctl 000000b0 pbflg 000000b1 pear 0000000a porta 00000000 portad 0000006f portb 00000001 portdlc 000000fe porte 00000008 portp 00000056 ports 000000d6 portt 000000ae pucr 0000000c purds 000000db pwclk 00000040 pwcnt0 00000048 pwcnt1 00000049 pwcnt2 0000004a pwcnt3 0000004b pwctl 00000054 pwdty0 00000050 pwdty1 00000051 pwdty2 00000052 pwdty3 00000053 pwen 00000042 pwper0 0000004c pwper1 0000004d pwper2 0000004e pwper3 0000004f pwpol 00000041 pwpres 00000043 pwscal0 00000044 pwscal1 00000046 pwscnt0 00000045 pwscnt1 00000047 pwtst 00000055 rdriv 0000000d reactback 00000001 reacthard 00000002 reactleft 00000001 reactrand 00000000 reactright 00000002 reactsoft 00000003 res4_ivect 0000ffd4 reset_ivect 0000fff0 reset_pvect 00000848 rfvalue ?00000000 rightfollow ?00000000 rti_ivect 0000fff0 rti_pvect 00000833 rtictl 00000014 rtiflg 00000015 sc0bd 000000c0 sc0bdh 000000c0 sc0bdl 000000c1 sc0cr1 000000c2 sc0cr2 000000c3 sc0drh 000000c6 sc0drl 000000c7 sc0sr1 000000c4 sc0sr2 000000c5 sci0_ivect 0000ffd6 sci0_pvect 0000080c seg7port 00004000 sirenoff ?00000000 sirenon ?00000000 slow 000000e0 softleft ?00000000 softright ?00000000 sp0br 000000d2 sp0cr1 000000d0 sp0cr2 000000d1 sp0dr 000000d5 sp0sr 000000d3 spdaccel *00000001 spddownaccel *fffffffe spdupaccel *00000002 speedcalc *00000058 speedcalc1 *00000076 speedcalc2 *00000078 speedcalc3 *00000083 speedcalc4 *00000083 speedcalcx *00000083 spi_tc_ivect 0000ffd8 spi_tc_pvect 0000080f steer ?00000000 swi_ivect 0000fff0 swi_pvect 0000083c t0_ivect 0000ffee t0_pvect 00000830 t1_ivect 0000ffec t1_pvect 0000082d t2_ivect 0000ffea t2_pvect 0000082a t3_ivect 0000ffe8 t3_pvect 00000827 t4_ivect 0000ffe6 t4_pvect 00000824 t5_ivect 0000ffe4 t5_pvect 00000821 t6_ivect 0000ffe2 t6_pvect 0000081e t7_ivect 0000ffe0 t7_pvect 0000081b tc0 00000090 tc0h 00000090 tc0l 00000091 tc1 00000092 tc1h 00000092 tc1l 00000093 tc2 00000094 tc2h 00000094 tc2l 00000095 tc3 00000096 tc3h 00000096 tc3l 00000097 tc4 00000098 tc4h 00000098 tc4l 00000099 tc5 0000009a tc5h 0000009a tc5l 0000009b tc6 0000009c tc6h 0000009c tc6l 0000009d tc7 0000009e tc7h 0000009e tc7l 0000009f tcnt 00000084 tcnth 00000084 tcntl 00000085 tctl1 00000088 tctl2 00000089 tctl3 0000008a tctl4 0000008b tflg1 0000008e tflg2 0000008f timtst 000000ad tios 00000080 tmr_over_ivect 0000ffde tmr_over_pvect 00000818 tmsk1 0000008c tmsk2 0000008d trap_ivect 0000fff0 trap_pvect 0000083f tscr 00000086 userprog_pvect 0000084b wait ?00000000 xirq_ivect 0000fff0 xirq_pvect 00000839