<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">        radix dec
global__variables__bank0 equ 32
global__variables__bank1 equ 160
global__variables__bank2 equ 288
global__variables__bank3 equ 496
global__bit__variables__bank0 equ 76
global__bit__variables__bank1 equ 160
global__bit__variables__bank2 equ 288
global__bit__variables__bank3 equ 496
indf___register equ 0
pcl___register equ 2
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
trisa___register equ 0x85
trisb___register equ 0x86
fsr___register equ 4
pclath___register equ 10
        org 0
start:
        nop
        nop
        nop
        goto skip___interrupt
interrupt___vector:
        retfie
skip___interrupt:
        ; Initialize A/D system to allow digital I/O
        movlw 7
        movwf 31
        ; Switch from register bank 0 to register bank 1 (which contains 159)
        bsf rp0___byte,rp0___bit
        ; Register bank is now 1
        clrf 159
        ; Initialize TRIS registers
        movlw 218
        movwf trisb___register
        clrf pclath___register
        ; Switch from register bank 1 to register bank 0
        bcf rp0___byte,rp0___bit
        ; Register bank is now 0
        goto main
        ; comment #############################################################################
        ; comment {}
        ; comment {Copyright &lt; c &gt; 1999 - 2001 by Wayne C . Gramlich .}
        ; comment {All rights reserved .}
        ; comment {}
        ; comment {Permission to use , copy , modify , distribute , and sell this software}
        ; comment {for any purpose is hereby granted without fee provided that the above}
        ; comment {copyright notice and this permission are retained . The author makes}
        ; comment {no representations about the suitability of this software for any purpose .}
        ; comment {It is provided { as is } without express or implied warranty .}
        ; comment {}
        ; comment {This is software needed to run Laser1 RoboBrick . All communication}
        ; comment {occurs at 2400 baud . See :}
        ; comment {}
        ; comment {http : / / web . gramlich . net / projects / robobricks / laser1 / index . html}
        ; comment {}
        ; comment {for more details .}
        ; comment {}
        ; comment #############################################################################
        ;   processor pic16f628 cp = off cpd = off lvp = off bowden = off mclre = on pwrte = off wdte = off fosc = xt  
        ; 16169=0x3f29 8199=0x2007
        __config 16169
configuration___address equ 8199
        ; comment {processor pic16f84 cp = off dp = off pwrte = disabled wdte = disabled fosc = xt}
        ; comment {Some timing constants :}
        ;   constant clock_rate 10000000  
clock_rate equ 10000000
        ;   constant clock_ticks_per_instruction 4  
clock_ticks_per_instruction equ 4
        ;   constant instructions_per_second clock_rate / clock_ticks_per_instruction  
instructions_per_second equ 2500000
        ;   constant baud_rate 2400  
baud_rate equ 2400
        ;   constant instructions_per_bit clock_rate / {{ clock_ticks_per_instruction * baud_rate }}  
instructions_per_bit equ 1041
        ;   constant delays_per_bit 3  
delays_per_bit equ 3
        ;   constant instructions_per_delay instructions_per_bit / delays_per_bit  
instructions_per_delay equ 347
        ; comment {Some bit definitions &lt; see schematic &gt; :}
        ;   constant laser_enable_bit 0  
laser_enable_bit equ 0
        ;   constant serial_in_bit 1  
serial_in_bit equ 1
        ;   constant serial_out_bit 2  
serial_out_bit equ 2
        ;   constant laser_in_bit 3  
laser_in_bit equ 3
        ;   constant servo_out_bit 5  
servo_out_bit equ 5
        ;   constant low_in_bit 6  
low_in_bit equ 6
        ;   constant high_in_bit 7  
high_in_bit equ 7
        ; comment {Some port and pin definitions :}
porta equ 5
portb equ 6
laser_enable_pin__byte equ 6
laser_enable_pin__bit equ 0
serial_out_pin__byte equ 6
serial_out_pin__bit equ 2
serial_in_pin__byte equ 6
serial_in_pin__bit equ 1
laser_in_pin__byte equ 6
laser_in_pin__bit equ 3
servo_out_pin__byte equ 6
servo_out_pin__bit equ 5
low_in_pin__byte equ 6
low_in_pin__bit equ 6
high_in_pin__byte equ 6
high_in_pin__bit equ 7
        ; comment {Some register and bit declarations :}
        ; comment {Status register :}
status equ 3
        ;   bind c status @ 0  
c equ status+0
c__byte equ status+0
c__bit equ 0
        ;   bind z status @ 2  
z equ status+0
z__byte equ status+0
z__bit equ 2
        ; comment {INTCON : Interrupt Control}
intcon equ 11
        ;   bind gie intcon @ 7  
gie equ intcon+0
gie__byte equ intcon+0
gie__bit equ 7
        ;   bind peie intcon @ 6  
peie equ intcon+0
peie__byte equ intcon+0
peie__bit equ 6
        ; comment {PIR1 :}
pir1 equ 12
        ;   bind eeif pir1 @ 7  
eeif equ pir1+0
eeif__byte equ pir1+0
eeif__bit equ 7
        ;   bind cmif pir1 @ 6  
cmif equ pir1+0
cmif__byte equ pir1+0
cmif__bit equ 6
        ;   bind rcif pir1 @ 5  
rcif equ pir1+0
rcif__byte equ pir1+0
rcif__bit equ 5
        ;   bind txif pir1 @ 4  
txif equ pir1+0
txif__byte equ pir1+0
txif__bit equ 4
        ;   bind ccp1if pir1 @ 2  
ccp1if equ pir1+0
ccp1if__byte equ pir1+0
ccp1if__bit equ 2
        ;   bind tmr2if pir1 @ 1  
tmr2if equ pir1+0
tmr2if__byte equ pir1+0
tmr2if__bit equ 1
        ;   bind tmr1if pir1 @ 0  
tmr1if equ pir1+0
tmr1if__byte equ pir1+0
tmr1if__bit equ 0
        ; comment {TMR1L : Timer 1 Low :}
tmr1l equ 14
        ; comment {TMR1H : Timer1 High :}
tmr1h equ 15
        ; comment {T1CON : Timer 1 Contro :}
t1con equ 16
        ;   bind t1ckps1 t1con @ 5  
t1ckps1 equ t1con+0
t1ckps1__byte equ t1con+0
t1ckps1__bit equ 5
        ;   bind t1ckps0 t1con @ 4  
t1ckps0 equ t1con+0
t1ckps0__byte equ t1con+0
t1ckps0__bit equ 4
        ;   bind t1oscen t1con @ 3  
t1oscen equ t1con+0
t1oscen__byte equ t1con+0
t1oscen__bit equ 3
        ;   bind t1sync t1con @ 2  
t1sync equ t1con+0
t1sync__byte equ t1con+0
t1sync__bit equ 2
        ;   bind tmr1cs t1con @ 1  
tmr1cs equ t1con+0
tmr1cs__byte equ t1con+0
tmr1cs__bit equ 1
        ;   bind tmr1on t1con @ 0  
tmr1on equ t1con+0
tmr1on__byte equ t1con+0
tmr1on__bit equ 0
        ; comment {CCPR1L : Capture / Compare / PWM Low :}
ccpr1l equ 21
        ; comment {CCPR1H : Capture / Compare / PWM High :}
ccpr1h equ 22
        ; comment {CCP1CON : Capture / Compare / PWM Control :}
ccp1con equ 23
        ;   bind ccp1x ccp1con @ 5  
ccp1x equ ccp1con+0
ccp1x__byte equ ccp1con+0
ccp1x__bit equ 5
        ;   bind ccp1y ccp1con @ 4  
ccp1y equ ccp1con+0
ccp1y__byte equ ccp1con+0
ccp1y__bit equ 4
        ;   bind ccp1m3 ccp1con @ 3  
ccp1m3 equ ccp1con+0
ccp1m3__byte equ ccp1con+0
ccp1m3__bit equ 3
        ;   bind ccp1m2 ccp1con @ 2  
ccp1m2 equ ccp1con+0
ccp1m2__byte equ ccp1con+0
ccp1m2__bit equ 2
        ;   bind ccp1m1 ccp1con @ 1  
ccp1m1 equ ccp1con+0
ccp1m1__byte equ ccp1con+0
ccp1m1__bit equ 1
        ;   bind ccp1m0 ccp1con @ 0  
ccp1m0 equ ccp1con+0
ccp1m0__byte equ ccp1con+0
ccp1m0__bit equ 0
        ; comment {PIR2 :}
pie1 equ 140
        ;   bind eeie pie1 @ 7  
eeie equ pie1+0
eeie__byte equ pie1+0
eeie__bit equ 7
        ;   bind cmie pie1 @ 6  
cmie equ pie1+0
cmie__byte equ pie1+0
cmie__bit equ 6
        ;   bind rcie pie1 @ 5  
rcie equ pie1+0
rcie__byte equ pie1+0
rcie__bit equ 5
        ;   bind txie pie1 @ 4  
txie equ pie1+0
txie__byte equ pie1+0
txie__bit equ 4
        ;   bind ccp1ie pie1 @ 2  
ccp1ie equ pie1+0
ccp1ie__byte equ pie1+0
ccp1ie__bit equ 2
        ;   bind tmr2ie pie1 @ 1  
tmr2ie equ pie1+0
tmr2ie__byte equ pie1+0
tmr2ie__bit equ 1
        ;   bind tmr1ie pie1 @ 0  
tmr1ie equ pie1+0
tmr1ie__byte equ pie1+0
tmr1ie__bit equ 0
        ; comment {Some globals :}
        ;   constant maximum_captures 7  
maximum_captures equ 7
interrupt_enable equ global__bit__variables__bank0+0
interrupt_enable__byte equ global__bit__variables__bank0+0
interrupt_enable__bit equ 0
interrupt_pending equ global__bit__variables__bank0+0
interrupt_pending__byte equ global__bit__variables__bank0+0
interrupt_pending__bit equ 1
servo_enable equ global__bit__variables__bank0+0
servo_enable__byte equ global__bit__variables__bank0+0
servo_enable__bit equ 2
sweeping equ global__bit__variables__bank0+0
sweeping__byte equ global__bit__variables__bank0+0
sweeping__bit equ 3
servo equ global__variables__bank0+0
servo_low equ global__variables__bank0+1
servo_high equ global__variables__bank0+2
state equ global__variables__bank0+3
middle equ global__variables__bank0+4
high equ global__variables__bank0+5
capture_index equ global__variables__bank0+6
capture_count equ global__variables__bank0+7
capture_low equ global__variables__bank0+8
capture_middle equ global__variables__bank0+15
capture_high equ global__variables__bank0+22
        ; comment {The state variable states :}
        ;   constant state_idle 0  
state_idle equ 0
        ;   constant state_forward_up1 1  
state_forward_up1 equ 1
        ;   constant state_forward_down1 2  
state_forward_down1 equ 2
        ;   constant state_forward_up2 3  
state_forward_up2 equ 3
        ;   constant state_forward_down2 4  
state_forward_down2 equ 4
        ;   constant state_backward_up1 5  
state_backward_up1 equ 5
        ;   constant state_backward_down1 6  
state_backward_down1 equ 6
        ;   constant state_backward_up2 7  
state_backward_up2 equ 7
        ;   constant state_backward_down2 8  
state_backward_down2 equ 8
        ; string_constants Start
string___fetch:
        movwf pcl___register
        ;   id = 1 , 0 , 24 , 0 , 0 , 0 , 0 , 0 , 0r'16' , 7 , 0s'Laser1A' , 15 , 0s'Gramlich&amp;Benson'  
id___string equ 0
id:
        addwf pcl___register,f
        ; Length = 48
        retlw 48
        ; 1
        retlw 1
        ; 0
        retlw 0
        ; 24
        retlw 24
        ; 0
        retlw 0
        ; 0
        retlw 0
        ; 0
        retlw 0
        ; 0
        retlw 0
        ; 0
        retlw 0
        ; 0r'16'
        retlw 155 ; random number
        retlw 246 ; random number
        retlw 147 ; random number
        retlw 65 ; random number
        retlw 93 ; random number
        retlw 103 ; random number
        retlw 7 ; random number
        retlw 226 ; random number
        retlw 3 ; random number
        retlw 61 ; random number
        retlw 77 ; random number
        retlw 185 ; random number
        retlw 202 ; random number
        retlw 16 ; random number
        retlw 145 ; random number
        retlw 89 ; random number
        ; 7
        retlw 7
        ; `Laser1A'
        retlw 76
        retlw 97
        retlw 115
        retlw 101
        retlw 114
        retlw 49
        retlw 65
        ; 15
        retlw 15
        ; `Gramlich&amp;Benson'
        retlw 71
        retlw 114
        retlw 97
        retlw 109
        retlw 108
        retlw 105
        retlw 99
        retlw 104
        retlw 38
        retlw 66
        retlw 101
        retlw 110
        retlw 115
        retlw 111
        retlw 110
        ; string__constants End

        ; procedure delay start
        ; optimize 0
delay:
        ; Procedure must be called with PCLATH set to code bank 0
delay__variables__base equ global__variables__bank0+29
delay__bytes__base equ delay__variables__base+0
delay__bits__base equ delay__variables__base+3
delay__total__bytes equ 4
delay__224byte0 equ delay__bytes__base+2
delay__260byte1 equ delay__bytes__base+2
delay__242byte1 equ delay__bytes__base+2
delay__254byte1 equ delay__bytes__base+2
delay__163byte2 equ delay__bytes__base+2
delay__248byte1 equ delay__bytes__base+2
delay__223byte0 equ delay__bytes__base+2
delay__195byte1 equ delay__bytes__base+2
delay__225byte0 equ delay__bytes__base+2
delay__235byte1 equ delay__bytes__base+2
delay__182byte0 equ delay__bytes__base+2
delay__190byte1 equ delay__bytes__base+2
delay__172byte2 equ delay__bytes__base+2
delay__174byte0 equ delay__bytes__base+2
delay__202byte1 equ delay__bytes__base+2
delay__210byte2 equ delay__bytes__base+2
delay__148byte1 equ delay__bytes__base+2
delay__176byte0 equ delay__bytes__base+2
        ;   arguments_none  
        ;   uniform_delay instructions_per_delay  
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ; Delay 1 third of a bit :
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ; Uniform delay remaining = 343 Accumulated Delay = 0
delay__counter equ delay__bytes__base+0
        ; Uniform delay remaining = 343 Accumulated Delay = 0
delay__middle equ delay__bytes__base+1
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ; Deal with servo pulse :
        ; Uniform delay remaining = 343 Accumulated Delay = 0
        ;   counter := counter + 1  
        incf delay__counter,f
        ; Uniform delay remaining = 342 Accumulated Delay = 1
        ; if { counter = 144 } start
        movlw 144
        subwf delay__counter,w
        ; expression=`{ counter = 144 }' exp_delay=2 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc z___byte,z___bit
        ; if { counter = 144 } body start
        ; Uniform delay remaining = 342 Accumulated Delay = 0
        ;   counter := 0  
        clrf delay__counter
        ; Uniform delay remaining = 341 Accumulated Delay = 1
        ; Uniform delay remaining = 341 Accumulated Delay = 1
        ; if { counter = 144 } body end
        ; if exp=` counter = 144 ' false skip delay=4
        ; Other expression=`{ counter = 144 }' delay=4
        ; if { counter = 144 } end
        ; Uniform delay remaining = 338 Accumulated Delay = 5
        ; if { servo_enable } start
        ; expression=`{ servo_enable }' exp_delay=0 true_delay=8  false_delay=0 true_size=11 false_size=0
        btfsc servo_enable__byte,servo_enable__bit
        goto label163__0true
label163__0false:
        ; Delay 7 cycles
        movlw 2
        movwf delay__163byte2
delay__163delay1:
        decfsz delay__163byte2,f
        goto delay__163delay1
        goto label163__0end
label163__0true:
        ; if { servo_enable } body start
        ; Uniform delay remaining = 338 Accumulated Delay = 0
        ; if { counter = 0 } start
        movf delay__counter,w
        ; expression=`{ counter = 0 }' exp_delay=1 true_delay=1  false_delay=4 true_size=1 false_size=4
        btfss z___byte,z___bit
        goto label164__0false
label164__0true:
        ; if { counter = 0 } body start
        ; Uniform delay remaining = 338 Accumulated Delay = 0
        ;   servo_out_pin := 1  
        bsf servo_out_pin__byte,servo_out_pin__bit
        ; Uniform delay remaining = 337 Accumulated Delay = 1
        ; Uniform delay remaining = 337 Accumulated Delay = 1
        ; if { counter = 0 } body end
        ; Delay 2 cycles
        nop
        nop
        goto label164__0end
label164__0false:
        movf delay__counter,w
        subwf servo,w
        ; expression=`{ counter = servo }' exp_delay=2 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc z___byte,z___bit
        ; else_if { counter = servo } body start
        ; Uniform delay remaining = 338 Accumulated Delay = 0
        ;   servo_out_pin := 0  
        bcf servo_out_pin__byte,servo_out_pin__bit
        ; Uniform delay remaining = 337 Accumulated Delay = 1
        ; Uniform delay remaining = 337 Accumulated Delay = 1
        ; else_if { counter = servo } body end
        ; if exp=` counter = servo ' false skip delay=4
        ; Other expression=`{ counter = servo }' delay=4
        ; if exp=` counter = 0 ' total delay=8
        ; if exp=` counter = 0 ' generic
label164__0end:
        ; Other expression=`{ counter = 0 }' delay=8
        ; if { counter = 0 } end
        ; Uniform delay remaining = 330 Accumulated Delay = 8
        ; Uniform delay remaining = 330 Accumulated Delay = 8
        ; if { servo_enable } body end
        ; if exp=`servo_enable' total delay=11
        ; if exp=`servo_enable' generic
label163__0end:
        ; Other expression=`{ servo_enable }' delay=11
        ; if { servo_enable } end
        ; Uniform delay remaining = 327 Accumulated Delay = 16
        ; Uniform delay remaining = 327 Accumulated Delay = 16
        ; Process any capture event :
        ; Uniform delay remaining = 327 Accumulated Delay = 16
        ; if { ccp1if } start
        ; expression=`{ ccp1if }' exp_delay=0 true_delay=39  false_delay=0 true_size=44 false_size=0
        btfsc ccp1if__byte,ccp1if__bit
        goto label172__0true
label172__0false:
        ; Delay 38 cycles
        movlw 12
        movwf delay__172byte2
delay__172delay1:
        decfsz delay__172byte2,f
        goto delay__172delay1
        nop
        goto label172__0end
label172__0true:
        ; if { ccp1if } body start
        ; Uniform delay remaining = 327 Accumulated Delay = 0
        ;   ccp1if := 0  
        bcf ccp1if__byte,ccp1if__bit
        ; Uniform delay remaining = 326 Accumulated Delay = 1
        ;   capture_low ~~ {{ capture_index }} := ccpr1l  
        movf ccpr1l,w
        movwf delay__174byte0
        movlw LOW capture_low
        addwf capture_index,w
        movwf fsr___register
        movf delay__174byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 318 Accumulated Delay = 9
        ;   middle := ccpr1h  
        movf ccpr1h,w
        movwf delay__middle
        ; Uniform delay remaining = 316 Accumulated Delay = 11
        ;   capture_middle ~~ {{ capture_index }} := middle  
        movf delay__middle,w
        movwf delay__176byte0
        movlw LOW capture_middle
        addwf capture_index,w
        movwf fsr___register
        movf delay__176byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 308 Accumulated Delay = 19
        ; if { tmr1if &amp;&amp; ! {{ middle @ 7 }} } start
        ; expression=`tmr1if' exp_delay=0 true_delay=5  false_delay=2 true_size=6 false_size=1
        btfsc tmr1if__byte,tmr1if__bit
        goto label177__3true
label177__3false:
        ; Delay 4 cycles
        nop
        nop
        nop
        nop
        goto and177__0false
label177__3true:
        ; Alias variable for select middle @ 7
delay__middle__177select1 equ delay__middle+0
delay__middle__177select1__byte equ delay__middle+0
delay__middle__177select1__bit equ 7
        ; expression=`{{ middle @ 7 }}' exp_delay=0 true_delay=0  false_delay=2 true_size=0 false_size=2
        btfss delay__middle__177select1__byte,delay__middle__177select1__bit
        goto label177__2false
label177__2true:
        ; Delay 1 cycles
        nop
        goto label177__2end
label177__2false:
and177__0true:
        ; if { tmr1if &amp;&amp; ! {{ middle @ 7 }} } body start
        ; Uniform delay remaining = 308 Accumulated Delay = 0
        ; Capture occured after counter overflowed :
        ; Uniform delay remaining = 308 Accumulated Delay = 0
        ;   tmr1if := 0  
        bcf tmr1if__byte,tmr1if__bit
        ; Uniform delay remaining = 307 Accumulated Delay = 1
        ;   high := high + 1  
        incf high,f
        ; Uniform delay remaining = 306 Accumulated Delay = 2
        ; Uniform delay remaining = 306 Accumulated Delay = 2
        ; if { tmr1if &amp;&amp; ! {{ middle @ 7 }} } body end
        ; if exp=` middle @ 7 ' total delay=5
        ; if exp=` middle @ 7 ' generic
label177__2end:
        ; Other expression=`{{ middle @ 7 }}' delay=5
        ; if exp=`tmr1if' total delay=8
        ; if exp=`tmr1if' generic
label177__3end:
        ; Other expression=`tmr1if' delay=8
and177__0false:
and177__0end:
        ; if { tmr1if &amp;&amp; ! {{ middle @ 7 }} } end
        ; Uniform delay remaining = 300 Accumulated Delay = 27
        ;   capture_high ~~ {{ capture_index }} := high  
        movf high,w
        movwf delay__182byte0
        movlw LOW capture_high
        addwf capture_index,w
        movwf fsr___register
        movf delay__182byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 292 Accumulated Delay = 35
        ; if { capture_index != maximum_captures } start
        movlw 7
        subwf capture_index,w
        ; expression=`{ capture_index != maximum_captures }' exp_delay=2 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfss z___byte,z___bit
        ; if { capture_index != maximum_captures } body start
        ; Uniform delay remaining = 292 Accumulated Delay = 0
        ;   capture_index := capture_index + 1  
        incf capture_index,f
        ; Uniform delay remaining = 291 Accumulated Delay = 1
        ; Uniform delay remaining = 291 Accumulated Delay = 1
        ; if { capture_index != maximum_captures } body end
        ; if exp=` capture_index != maximum_captures ' false skip delay=4
        ; Other expression=`{ capture_index != maximum_captures }' delay=4
        ; if { capture_index != maximum_captures } end
        ; Uniform delay remaining = 288 Accumulated Delay = 39
        ; Uniform delay remaining = 288 Accumulated Delay = 39
        ; if { ccp1if } body end
        ; if exp=`ccp1if' total delay=42
        ; if exp=`ccp1if' generic
label172__0end:
        ; Other expression=`{ ccp1if }' delay=42
        ; if { ccp1if } end
        ; Uniform delay remaining = 285 Accumulated Delay = 58
        ; Uniform delay remaining = 285 Accumulated Delay = 58
        ; Process state variable :
        ; Uniform delay remaining = 285 Accumulated Delay = 58
        ; switch state
        movlw HIGH switch__189block_start
        movwf pclath___register
        movf state,w
        ; case state_idle
        ; case state_forward_up1
        ; case state_forward_down1
        ; case state_forward_up2
        ; case state_forward_down2
        ; case state_backward_up1
        ; case state_backward_down1
        ; case state_backward_up2
        ; case state_backward_down2
switch__189block_start:
        addwf pcl___register,f
        goto switch__189block190
        goto switch__189block195
        goto switch__189block202
        goto switch__189block208
        goto switch__189block235
        goto switch__189block242
        goto switch__189block248
        goto switch__189block254
        goto switch__189block260
switch__189block_end:
        ; switch_check 189 switch__189block_start switch__189block_end
switch__189block190:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Do nothing :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   servo_enable := 0  
        bcf servo_enable__byte,servo_enable__bit
        ; Uniform delay remaining = 284 Accumulated Delay = 1
        ;   sweeping := 0  
        bcf sweeping__byte,sweeping__bit
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Delay 42 cycles
        movlw 13
        movwf delay__190byte1
delay__190delay0:
        decfsz delay__190byte1,f
        goto delay__190delay0
        nop
        nop
        goto switch__189end
switch__189block195:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { low_in_pin } start
        ; expression=`{ low_in_pin }' exp_delay=0 true_delay=4  false_delay=0 true_size=4 false_size=0
        btfsc low_in_pin__byte,low_in_pin__bit
        goto label196__0true
label196__0false:
        ; Delay 3 cycles
        nop
        nop
        nop
        goto label196__0end
label196__0true:
        ; if { low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_forward_down1  
        movlw 2
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ;   laser_enable_pin := 1  
        bsf laser_enable_pin__byte,laser_enable_pin__bit
        ; Uniform delay remaining = 282 Accumulated Delay = 3
        ;   tmr1on := 1  
        bsf tmr1on__byte,tmr1on__bit
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; if { low_in_pin } body end
        ; if exp=`low_in_pin' total delay=7
        ; if exp=`low_in_pin' generic
label196__0end:
        ; Other expression=`{ low_in_pin }' delay=7
        ; if { low_in_pin } end
        ; Uniform delay remaining = 278 Accumulated Delay = 7
        ; Uniform delay remaining = 278 Accumulated Delay = 7
        ; Delay 37 cycles
        movlw 12
        movwf delay__195byte1
delay__195delay0:
        decfsz delay__195byte1,f
        goto delay__195delay0
        goto switch__189end
switch__189block202:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { ! low_in_pin } start
        ; expression=`low_in_pin' exp_delay=0 true_delay=0  false_delay=2 true_size=0 false_size=2
        btfss low_in_pin__byte,low_in_pin__bit
        goto label204__0false
label204__0true:
        ; Delay 1 cycles
        nop
        goto label204__0end
label204__0false:
        ; if { ! low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_forward_up2  
        movlw 3
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; if { ! low_in_pin } body end
        ; if exp=`low_in_pin' total delay=5
        ; if exp=`low_in_pin' generic
label204__0end:
        ; Other expression=`low_in_pin' delay=5
        ; if { ! low_in_pin } end
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Delay 39 cycles
        movlw 12
        movwf delay__202byte1
delay__202delay0:
        decfsz delay__202byte1,f
        goto delay__202delay0
        nop
        nop
        goto switch__189end
switch__189block208:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force servo to low location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { low_in_pin } start
        ; expression=`{ low_in_pin }' exp_delay=0 true_delay=41  false_delay=0 true_size=42 false_size=0
        btfsc low_in_pin__byte,low_in_pin__bit
        goto label210__0true
label210__0false:
        ; Delay 40 cycles
        movlw 13
        movwf delay__210byte2
delay__210delay1:
        decfsz delay__210byte2,f
        goto delay__210delay1
        goto label210__0end
label210__0true:
        ; if { low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Turn off the timer and laser :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   tmr1on := 0  
        bcf tmr1on__byte,tmr1on__bit
        ; Uniform delay remaining = 284 Accumulated Delay = 1
        ;   laser_enable_pin := 0  
        bcf laser_enable_pin__byte,laser_enable_pin__bit
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ;   state := state_forward_down2  
        movlw 4
        movwf state
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; Deal with any counter overflow :
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; if { tmr1if } start
        ; expression=`{ tmr1if }' exp_delay=0 true_delay=2  false_delay=0 true_size=2 false_size=0
        btfsc tmr1if__byte,tmr1if__bit
        goto label217__0true
label217__0false:
        ; Delay 1 cycles
        nop
        goto label217__0end
label217__0true:
        ; if { tmr1if } body start
        ; Uniform delay remaining = 281 Accumulated Delay = 0
        ;   tmr1if := 0  
        bcf tmr1if__byte,tmr1if__bit
        ; Uniform delay remaining = 280 Accumulated Delay = 1
        ;   high := high + 1  
        incf high,f
        ; Uniform delay remaining = 279 Accumulated Delay = 2
        ; Uniform delay remaining = 279 Accumulated Delay = 2
        ; if { tmr1if } body end
        ; if exp=`tmr1if' total delay=5
        ; if exp=`tmr1if' generic
label217__0end:
        ; Other expression=`{ tmr1if }' delay=5
        ; if { tmr1if } end
        ; Uniform delay remaining = 276 Accumulated Delay = 9
        ; Uniform delay remaining = 276 Accumulated Delay = 9
        ; Record the 24 - bit timer :
        ; Uniform delay remaining = 276 Accumulated Delay = 9
        ;   capture_low ~~ {{ capture_index }} := ccpr1l  
        movf ccpr1l,w
        movwf delay__223byte0
        movlw LOW capture_low
        addwf capture_index,w
        movwf fsr___register
        movf delay__223byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 268 Accumulated Delay = 17
        ;   capture_middle ~~ {{ capture_index }} := ccpr1h  
        movf ccpr1h,w
        movwf delay__224byte0
        movlw LOW capture_middle
        addwf capture_index,w
        movwf fsr___register
        movf delay__224byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 260 Accumulated Delay = 25
        ;   capture_high ~~ {{ capture_index }} := high  
        movf high,w
        movwf delay__225byte0
        movlw LOW capture_high
        addwf capture_index,w
        movwf fsr___register
        movf delay__225byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ; Uniform delay remaining = 252 Accumulated Delay = 33
        ; if { capture_index = maximum_captures } start
        movlw 7
        subwf capture_index,w
        ; expression=`{ capture_index = maximum_captures }' exp_delay=2 true_delay=1  false_delay=1 true_size=1 false_size=1
        btfsc z___byte,z___bit
        ; if { capture_index = maximum_captures } body start
        ; Uniform delay remaining = 252 Accumulated Delay = 0
        ; We have an error :
        ; Uniform delay remaining = 252 Accumulated Delay = 0
        ;   capture_count := 0xff  
        movlw 255
        ; 1 instructions found for sharing
        ; Uniform delay remaining = 250 Accumulated Delay = 2
        ; if { capture_index = maximum_captures } body end
        btfss z___byte,z___bit
        ; else body start
        ; Uniform delay remaining = 252 Accumulated Delay = 0
        ;   capture_count := capture_index + 1  
        incf capture_index,w
        ; 1 instructions found for sharing
        ; Uniform delay remaining = 250 Accumulated Delay = 2
        ; else body end
        ; if exp=` capture_index = maximum_captures ' single true and false skip delay=6
        ; Other expression=`{ capture_index = maximum_captures }' delay=6
        ; 1 shared instructions follow
        movwf capture_count
        ; if { capture_index = maximum_captures } end
        ; Uniform delay remaining = 245 Accumulated Delay = 40
        ;   capture_index := 0  
        clrf capture_index
        ; Uniform delay remaining = 244 Accumulated Delay = 41
        ; Uniform delay remaining = 244 Accumulated Delay = 41
        ; if { low_in_pin } body end
        ; if exp=`low_in_pin' total delay=44
        ; if exp=`low_in_pin' generic
label210__0end:
        ; Other expression=`{ low_in_pin }' delay=44
        ; if { low_in_pin } end
        ; Uniform delay remaining = 241 Accumulated Delay = 44
        ; Uniform delay remaining = 241 Accumulated Delay = 44
        goto switch__189end
switch__189block235:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { ! low_in_pin } start
        ; expression=`low_in_pin' exp_delay=0 true_delay=0  false_delay=4 true_size=0 false_size=4
        btfss low_in_pin__byte,low_in_pin__bit
        goto label237__0false
label237__0true:
        ; Delay 3 cycles
        nop
        nop
        nop
        goto label237__0end
label237__0false:
        ; if { ! low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_backward_up1  
        movlw 5
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ;   servo := servo_high  
        movf servo_high,w
        movwf servo
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; Uniform delay remaining = 281 Accumulated Delay = 4
        ; if { ! low_in_pin } body end
        ; if exp=`low_in_pin' total delay=7
        ; if exp=`low_in_pin' generic
label237__0end:
        ; Other expression=`low_in_pin' delay=7
        ; if { ! low_in_pin } end
        ; Uniform delay remaining = 278 Accumulated Delay = 7
        ; Uniform delay remaining = 278 Accumulated Delay = 7
        ; Delay 37 cycles
        movlw 12
        movwf delay__235byte1
delay__235delay0:
        decfsz delay__235byte1,f
        goto delay__235delay0
        goto switch__189end
switch__189block242:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { low_in_pin } start
        ; expression=`{ low_in_pin }' exp_delay=0 true_delay=2  false_delay=0 true_size=2 false_size=0
        btfsc low_in_pin__byte,low_in_pin__bit
        goto label244__0true
label244__0false:
        ; Delay 1 cycles
        nop
        goto label244__0end
label244__0true:
        ; if { low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_backward_down1  
        movlw 6
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; if { low_in_pin } body end
        ; if exp=`low_in_pin' total delay=5
        ; if exp=`low_in_pin' generic
label244__0end:
        ; Other expression=`{ low_in_pin }' delay=5
        ; if { low_in_pin } end
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Delay 39 cycles
        movlw 12
        movwf delay__242byte1
delay__242delay0:
        decfsz delay__242byte1,f
        goto delay__242delay0
        nop
        nop
        goto switch__189end
switch__189block248:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { ! low_in_pin } start
        ; expression=`low_in_pin' exp_delay=0 true_delay=0  false_delay=2 true_size=0 false_size=2
        btfss low_in_pin__byte,low_in_pin__bit
        goto label250__0false
label250__0true:
        ; Delay 1 cycles
        nop
        goto label250__0end
label250__0false:
        ; if { ! low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_backward_up2  
        movlw 7
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; if { ! low_in_pin } body end
        ; if exp=`low_in_pin' total delay=5
        ; if exp=`low_in_pin' generic
label250__0end:
        ; Other expression=`low_in_pin' delay=5
        ; if { ! low_in_pin } end
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Delay 39 cycles
        movlw 12
        movwf delay__248byte1
delay__248delay0:
        decfsz delay__248byte1,f
        goto delay__248delay0
        nop
        nop
        goto switch__189end
switch__189block254:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { low_in_pin } start
        ; expression=`{ low_in_pin }' exp_delay=0 true_delay=2  false_delay=0 true_size=2 false_size=0
        btfsc low_in_pin__byte,low_in_pin__bit
        goto label256__0true
label256__0false:
        ; Delay 1 cycles
        nop
        goto label256__0end
label256__0true:
        ; if { low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_backward_down2  
        movlw 8
        movwf state
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; if { low_in_pin } body end
        ; if exp=`low_in_pin' total delay=5
        ; if exp=`low_in_pin' generic
label256__0end:
        ; Other expression=`{ low_in_pin }' delay=5
        ; if { low_in_pin } end
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Uniform delay remaining = 280 Accumulated Delay = 5
        ; Delay 39 cycles
        movlw 12
        movwf delay__254byte1
delay__254delay0:
        decfsz delay__254byte1,f
        goto delay__254delay0
        nop
        nop
        goto switch__189end
switch__189block260:
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; Force the servo to the high location :
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ; if { ! low_in_pin } start
        ; expression=`low_in_pin' exp_delay=0 true_delay=0  false_delay=1 true_size=0 false_size=1
        btfss low_in_pin__byte,low_in_pin__bit
        ; if { ! low_in_pin } body start
        ; Uniform delay remaining = 285 Accumulated Delay = 0
        ;   state := state_idle  
        clrf state
        ; Uniform delay remaining = 284 Accumulated Delay = 1
        ; Uniform delay remaining = 284 Accumulated Delay = 1
        ; if { ! low_in_pin } body end
        ; if exp=`low_in_pin' true skip delay=2
        ; Other expression=`low_in_pin' delay=2
        ; if { ! low_in_pin } end
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Uniform delay remaining = 283 Accumulated Delay = 2
        ; Delay 42 cycles
        movlw 13
        movwf delay__260byte1
delay__260delay0:
        decfsz delay__260byte1,f
        goto delay__260delay0
        nop
        nop
        goto switch__189end
switch__189end:
        ; Total switch delay = 52 exp_delay=3 case_delay=46
        ; Uniform delay remaining = 233 Accumulated Delay = 110
        ; Uniform delay remaining = 233 Accumulated Delay = 110
        ; Process any counter overflow :
        ; Uniform delay remaining = 233 Accumulated Delay = 110
        ; if { tmr1if } start
        ; expression=`{ tmr1if }' exp_delay=0 true_delay=2  false_delay=0 true_size=2 false_size=0
        btfsc tmr1if__byte,tmr1if__bit
        goto label269__0true
label269__0false:
        ; Delay 1 cycles
        nop
        goto label269__0end
label269__0true:
        ; if { tmr1if } body start
        ; Uniform delay remaining = 233 Accumulated Delay = 0
        ;   tmr1if := 0  
        bcf tmr1if__byte,tmr1if__bit
        ; Uniform delay remaining = 232 Accumulated Delay = 1
        ;   high := high + 1  
        incf high,f
        ; Uniform delay remaining = 231 Accumulated Delay = 2
        ; Uniform delay remaining = 231 Accumulated Delay = 2
        ; if { tmr1if } body end
        ; if exp=`tmr1if' total delay=5
        ; if exp=`tmr1if' generic
label269__0end:
        ; Other expression=`{ tmr1if }' delay=5
        ; if { tmr1if } end
        ; Uniform delay remaining = 228 Accumulated Delay = 115
        ; Uniform delay remaining = 228 Accumulated Delay = 115
        ; Uniform delay remaining = 228 Accumulated Delay = 115
        ; Soak up remaining 228 cycles
        ; Delay 228 cycles
        movlw 75
        movwf delay__148byte1
delay__148delay0:
        decfsz delay__148byte1,f
        goto delay__148delay0
        nop
        nop
        ; procedure delay end
        retlw 0
        ; optimize 1

        ; procedure get_byte start
get_byte:
        ; Procedure must be called with PCLATH set to code bank 0
get_byte__variables__base equ global__variables__bank0+33
get_byte__bytes__base equ get_byte__variables__base+0
get_byte__bits__base equ get_byte__variables__base+3
get_byte__total__bytes equ 3
        ;   arguments_none  
get_byte__0return__byte equ get_byte__bytes__base+0
        ; Wait for an 8 - bit byte from &lt; serial_in_pin &gt; , read it , and return it .
get_byte__result equ get_byte__bytes__base+1
get_byte__count equ get_byte__bytes__base+2
        ; Wait until a start bit arrives :
        ; `while serial_in_pin ...' start
get_byte__286while__continue:
        ; expression=`serial_in_pin' exp_delay=0 true_delay=348  false_delay=2 true_size=2 false_size=1
        btfss serial_in_pin__byte,serial_in_pin__bit
        goto get_byte__286while__break
        ;   call delay {{ }}  
        call delay
        goto get_byte__286while__continue
        ; if exp=`serial_in_pin' false goto
        ; Other expression=`serial_in_pin' delay=-1
get_byte__286while__break:
        ; `while serial_in_pin ...' end
        ;   interrupt_enable := 0  
        bcf interrupt_enable__byte,interrupt_enable__bit
        ; Skip over the start bit :
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ; Sample in the middle third of each data bit :
        ;   result := 0  
        clrf get_byte__result
        ; `count_down count 8 ...' start
        movlw 8
        movwf get_byte__count
get_byte__298_loop:
        ;   call delay {{ }}  
        call delay
        ;   result := result &gt;&gt; 1  
        bcf c___byte,c___bit
        rrf get_byte__result,f
        ; if { serial_in_pin } start
        ; expression=`{ serial_in_pin }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc serial_in_pin__byte,serial_in_pin__bit
        ; if { serial_in_pin } body start
        ;   result @ 7 := 1  
        ; Select result @ 7
get_byte__result__302select0 equ get_byte__result+0
get_byte__result__302select0__byte equ get_byte__result+0
get_byte__result__302select0__bit equ 7
        bsf get_byte__result__302select0__byte,get_byte__result__302select0__bit
        ; if { serial_in_pin } body end
        ; if exp=`serial_in_pin' false skip delay=2
        ; Other expression=`{ serial_in_pin }' delay=2
        ; if { serial_in_pin } end
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        decfsz get_byte__count,f
        goto get_byte__298_loop
get_byte__298_done:
        ; `count_down count 8 ...' end
        ; Skip over 1 / 3 of the stop bit :
        ;   call delay {{ }}  
        call delay
        ;   return result  
        movf get_byte__result,w
        movwf get_byte__0return__byte
        retlw 0
        ; procedure get_byte end

        ; procedure send_byte start
send_byte:
        ; Procedure must be called with PCLATH set to code bank 0
send_byte__variables__base equ global__variables__bank0+36
send_byte__bytes__base equ send_byte__variables__base+0
send_byte__bits__base equ send_byte__variables__base+2
send_byte__total__bytes equ 2
send_byte__data equ send_byte__bytes__base+0
        ; Send &lt; data &gt; to &lt; serial_out_pin &gt; .
send_byte__count equ send_byte__bytes__base+1
        ; Send the start bit :
        ;   serial_out_pin := 0  
        bcf serial_out_pin__byte,serial_out_pin__bit
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ; Send the data :
        ; `count_down count 8 ...' start
        movlw 8
        movwf send_byte__count
send_byte__329_loop:
        ;   serial_out_pin := data @ 0  
        ; Alias variable for select data @ 0
send_byte__data__330select0 equ send_byte__data+0
send_byte__data__330select0__byte equ send_byte__data+0
send_byte__data__330select0__bit equ 0
        btfss send_byte__data__330select0__byte,send_byte__data__330select0__bit
        bcf serial_out_pin__byte,serial_out_pin__bit
        btfsc send_byte__data__330select0__byte,send_byte__data__330select0__bit
        bsf serial_out_pin__byte,serial_out_pin__bit
        ;   data := data &gt;&gt; 1  
        bcf c___byte,c___bit
        rrf send_byte__data,f
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        decfsz send_byte__count,f
        goto send_byte__329_loop
send_byte__329_done:
        ; `count_down count 8 ...' end
        ; Send the stop bit :
        ;   serial_out_pin := 1  
        bsf serial_out_pin__byte,serial_out_pin__bit
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ;   call delay {{ }}  
        call delay
        ; procedure send_byte end
        retlw 0

        ; procedure reset start
reset:
        ; Procedure must be called with PCLATH set to code bank 0
reset__variables__base equ global__variables__bank0+38
reset__bytes__base equ reset__variables__base+0
reset__bits__base equ reset__variables__base+1
reset__total__bytes equ 1
reset__353byte0 equ reset__bytes__base+0
reset__354byte0 equ reset__bytes__base+0
reset__355byte0 equ reset__bytes__base+0
        ;   arguments_none  
        ; Reset everything :
        ;   capture_index := 0  
        clrf capture_index
        ; `while  capture_index &lt; maximum_captures  ...' start
reset__352while__continue:
        movlw 7
        subwf capture_index,w
        ; expression=` capture_index &lt; maximum_captures ' exp_delay=2 true_delay=24  false_delay=2 true_size=23 false_size=1
        btfsc c___byte,c___bit
        goto reset__352while__break
        ;   capture_high ~~ {{ capture_index }} := 0  
        clrf reset__353byte0
        movlw LOW capture_high
        addwf capture_index,w
        movwf fsr___register
        movf reset__353byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ;   capture_middle ~~ {{ capture_index }} := 0  
        clrf reset__354byte0
        movlw LOW capture_middle
        addwf capture_index,w
        movwf fsr___register
        movf reset__354byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ;   capture_low ~~ {{ capture_index }} := 0  
        clrf reset__355byte0
        movlw LOW capture_low
        addwf capture_index,w
        movwf fsr___register
        movf reset__355byte0,w
        bcf irp___register,irp___bit
        movwf indf___register
        ;   capture_index := capture_index + 1  
        incf capture_index,f
        goto reset__352while__continue
        ; if exp=` capture_index &lt; maximum_captures ' false goto
        ; Other expression=` capture_index &lt; maximum_captures ' delay=-1
reset__352while__break:
        ; `while  capture_index &lt; maximum_captures  ...' end
        ;   capture_index := 0  
        clrf capture_index
        ; procedure reset end
        retlw 0
        ; comment {This is used to get the switch statements to work out :}
        ;   origin 0x200  
        org 512

        ; procedure main start
main:
        ; Procedure must be called with PCLATH set to code bank 0
main__variables__base equ global__variables__bank0+39
main__bytes__base equ main__variables__base+0
main__bits__base equ main__variables__base+5
main__total__bytes equ 5
main__410byte0 equ main__bytes__base+4
main__509byte0 equ main__bytes__base+4
main__407byte0 equ main__bytes__base+4
main__512byte0 equ main__bytes__base+4
        ;   arguments_none  
        ; Main program .
main__command equ main__bytes__base+0
main__glitch equ main__bytes__base+1
main__id_index equ main__bytes__base+2
main__temporary equ main__bytes__base+3
        ;   glitch := 0  
        clrf main__glitch
        ;   id_index := 0  
        clrf main__id_index
        ;   serial_out_pin := 1  
        bsf serial_out_pin__byte,serial_out_pin__bit
        ;   servo := 14  
        movlw 14
        movwf servo
        ;   servo_low := 5  
        movlw 5
        movwf servo_low
        ;   servo_high := 17  
        movlw 17
        movwf servo_high
        ;   servo_enable := 0  
        bcf servo_enable__byte,servo_enable__bit
        ;   sweeping := 0  
        bcf sweeping__byte,sweeping__bit
        ;   laser_enable_pin := 0  
        bcf laser_enable_pin__byte,laser_enable_pin__bit
        ;   state := state_idle  
        clrf state
        ;   high := 0  
        clrf high
        ;   call reset {{ }}  
        call reset
        ; Initialize timer :
        ;   t1ckps0 := 0  
        bcf t1ckps0__byte,t1ckps0__bit
        ;   t1ckps1 := 0  
        bcf t1ckps1__byte,t1ckps1__bit
        ;   t1oscen := 0  
        bcf t1oscen__byte,t1oscen__bit
        ; t1sync := 1
        ;   tmr1cs := 0  
        bcf tmr1cs__byte,tmr1cs__bit
        ;   tmr1on := 0  
        bcf tmr1on__byte,tmr1on__bit
        ; Make sure all interrupts are off :
        ;   intcon := 0  
        clrf intcon
        ; Turn off CCP :
        ;   ccp1con := 0  
        clrf ccp1con
        ; loop_forever ... start
main__402loop__forever:
        ; Wait for command :
        ;   command := get_byte {{ }}  
        call get_byte
        movf get_byte__0return__byte,w
        movwf main__command
        ; Dispatch on command :
        ; switch { command &gt;&gt; 6 }
        movlw HIGH switch__407block_start
        movwf pclath___register
        swapf main__command,w
        movwf main__407byte0
        rrf main__407byte0,f
        rrf main__407byte0,w
        andlw 3
        ; case 0
        ; case 1 2
        ; case 3
switch__407block_start:
        addwf pcl___register,f
        goto switch__407block408
        goto switch__407block504
        goto switch__407block504
        goto switch__407block507
switch__407block_end:
        ; switch_check 407 switch__407block_start switch__407block_end
switch__407block408:
        ; Command = 00 xx xxxx :
        ; switch { command &gt;&gt; 3 }
        movlw HIGH switch__410block_start
        movwf pclath___register
        rrf main__command,w
        movwf main__410byte0
        rrf main__410byte0,f
        rrf main__410byte0,w
        andlw 31
        ; case 0
        ; case 1
switch__410block_start:
        addwf pcl___register,f
        goto switch__410block411
        goto switch__410block475
        goto switch__410default499
        goto switch__410default499
        goto switch__410default499
        goto switch__410default499
        goto switch__410default499
        goto switch__410default499
switch__410block_end:
        ; switch_check 410 switch__410block_start switch__410block_end
switch__410block411:
        ; Command = 0000 0 xxx :
        ; switch { command &amp; 7 }
        movlw HIGH switch__413block_start
        movwf pclath___register
        movlw 7
        andwf main__command,w
        ; case 0 1
        ; case 2
        ; case 3
        ; case 4
        ; case 5
        ; case 6
        ; case 7
switch__413block_start:
        addwf pcl___register,f
        goto switch__413block414
        goto switch__413block414
        goto switch__413block418
        goto switch__413block435
        goto switch__413block442
        goto switch__413block446
        goto switch__413block451
        goto switch__413block456
switch__413block_end:
        ; switch_check 413 switch__413block_start switch__413block_end
switch__413block414:
        ; Set Laser Enable &lt; Command = 0000 000 z &gt; :
        ;   laser_enable_pin := command @ 0  
        ; Alias variable for select command @ 0
main__command__416select0 equ main__command+0
main__command__416select0__byte equ main__command+0
main__command__416select0__bit equ 0
        btfss main__command__416select0__byte,main__command__416select0__bit
        bcf laser_enable_pin__byte,laser_enable_pin__bit
        btfsc main__command__416select0__byte,main__command__416select0__bit
        bsf laser_enable_pin__byte,laser_enable_pin__bit
        goto switch__413end
switch__413block418:
        ; Read Laser &lt; Command = 0000 0010 &gt; :
        ;   temporary := capture_count &amp; 0xf  
        movlw 15
        andwf capture_count,w
        movwf main__temporary
        ; if { ! laser_in_pin } start
        ; expression=`laser_in_pin' exp_delay=0 true_delay=0  false_delay=1 true_size=0 false_size=1
        btfss laser_in_pin__byte,laser_in_pin__bit
        ; if { ! laser_in_pin } body start
        ;   temporary @ 4 := 1  
        ; Select temporary @ 4
main__temporary__422select0 equ main__temporary+0
main__temporary__422select0__byte equ main__temporary+0
main__temporary__422select0__bit equ 4
        bsf main__temporary__422select0__byte,main__temporary__422select0__bit
        ; if { ! laser_in_pin } body end
        ; if exp=`laser_in_pin' true skip delay=2
        ; Other expression=`laser_in_pin' delay=2
        ; if { ! laser_in_pin } end
        ; if { low_in_pin } start
        ; expression=`{ low_in_pin }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc low_in_pin__byte,low_in_pin__bit
        ; if { low_in_pin } body start
        ;   temporary @ 5 := 1  
        ; Select temporary @ 5
main__temporary__425select0 equ main__temporary+0
main__temporary__425select0__byte equ main__temporary+0
main__temporary__425select0__bit equ 5
        bsf main__temporary__425select0__byte,main__temporary__425select0__bit
        ; if { low_in_pin } body end
        ; if exp=`low_in_pin' false skip delay=2
        ; Other expression=`{ low_in_pin }' delay=2
        ; if { low_in_pin } end
        ; if { high_in_pin } start
        ; expression=`{ high_in_pin }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc high_in_pin__byte,high_in_pin__bit
        ; if { high_in_pin } body start
        ;   temporary @ 6 := 1  
        ; Select temporary @ 6
main__temporary__428select0 equ main__temporary+0
main__temporary__428select0__byte equ main__temporary+0
main__temporary__428select0__bit equ 6
        bsf main__temporary__428select0__byte,main__temporary__428select0__bit
        ; if { high_in_pin } body end
        ; if exp=`high_in_pin' false skip delay=2
        ; Other expression=`{ high_in_pin }' delay=2
        ; if { high_in_pin } end
        ; if { sweeping } start
        ; expression=`{ sweeping }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc sweeping__byte,sweeping__bit
        ; if { sweeping } body start
        ;   temporary @ 7 := 1  
        ; Select temporary @ 7
main__temporary__431select0 equ main__temporary+0
main__temporary__431select0__byte equ main__temporary+0
main__temporary__431select0__bit equ 7
        bsf main__temporary__431select0__byte,main__temporary__431select0__bit
        ; if { sweeping } body end
        ; if exp=`sweeping' false skip delay=2
        ; Other expression=`{ sweeping }' delay=2
        ; if { sweeping } end
        ;   call send_byte {{ temporary }}  
        movf main__temporary,w
        movwf send_byte__data
        call send_byte
        goto switch__413end
switch__413block435:
        ; Read last caputure &lt; Command = 0000 0011 &gt; :
        ;   call send_byte {{ capture_high ~~ {{ capture_index }} }}  
        movlw LOW capture_high
        addwf capture_index,w
        movwf fsr___register
        bcf irp___register,irp___bit
        movf indf___register,w
        movwf send_byte__data
        call send_byte
        ;   call send_byte {{ capture_middle ~~ {{ capture_index }} }}  
        movlw LOW capture_middle
        addwf capture_index,w
        movwf fsr___register
        bcf irp___register,irp___bit
        movf indf___register,w
        movwf send_byte__data
        call send_byte
        ;   call send_byte {{ capture_low ~~ {{ capture_index }} }}  
        movlw LOW capture_low
        addwf capture_index,w
        movwf fsr___register
        bcf irp___register,irp___bit
        movf indf___register,w
        movwf send_byte__data
        call send_byte
        ;   capture_index := capture_index + 1  
        incf capture_index,f
        goto switch__413end
switch__413block442:
        ; Disable Servo &lt; Command = 0000 0100 &gt; :
        ;   servo_enable := 0  
        bcf servo_enable__byte,servo_enable__bit
        goto switch__413end
switch__413block446:
        ; Enable Servo Low &lt; Command = 0000 0101 &gt; :
        ;   servo_enable := 1  
        bsf servo_enable__byte,servo_enable__bit
        ;   servo := servo_low  
        movf servo_low,w
        movwf servo
        goto switch__413end
switch__413block451:
        ; Enable Servo High &lt; Command = 0000 0101 &gt; :
        ;   servo_enable := 1  
        bsf servo_enable__byte,servo_enable__bit
        ;   servo := servo_high  
        movf servo_high,w
        movwf servo
        goto switch__413end
switch__413block456:
        ; Sweep &lt; Command = 0000 0111 &gt; :
        ;   call reset {{ }}  
        call reset
        ;   sweeping := 1  
        bsf sweeping__byte,sweeping__bit
        ;   servo_enable := 1  
        bsf servo_enable__byte,servo_enable__bit
        ;   servo := servo_low  
        movf servo_low,w
        movwf servo
        ;   state := state_forward_up1  
        movlw 1
        movwf state
        ; Turn on CCP :
        ;   ccp1con := 4  
        movlw 4
        movwf ccp1con
        ;   ccp1if := 0  
        bcf ccp1if__byte,ccp1if__bit
        ; Clear timer 1 :
        ;   tmr1l := 0  
        clrf tmr1l
        ;   tmr1h := 0  
        clrf tmr1h
        ;   high := 0  
        clrf high
switch__413end:
        goto switch__410end
switch__410block475:
        ; Undefinded command ; do nothing :
        ; switch { command &amp; 7 }
        movlw HIGH switch__477block_start
        movwf pclath___register
        movlw 7
        andwf main__command,w
        ; case 0
        ; case 1
        ; case 2
        ; case 3
switch__477block_start:
        addwf pcl___register,f
        goto switch__477block478
        goto switch__477block482
        goto switch__477block486
        goto switch__477block490
        goto switch__477default494
        goto switch__477default494
        goto switch__477default494
        goto switch__477default494
switch__477block_end:
        ; switch_check 477 switch__477block_start switch__477block_end
switch__477block478:
        ; Set Servo Low &lt; Command = 0000 1000 &gt;
        ;   servo_low := get_byte {{ }}  
        call get_byte
        movf get_byte__0return__byte,w
        movwf servo_low
        goto switch__477end
switch__477block482:
        ; Set Servo High &lt; Command = 0000 1001 &gt;
        ;   servo_high := get_byte {{ }}  
        call get_byte
        movf get_byte__0return__byte,w
        movwf servo_high
        goto switch__477end
switch__477block486:
        ; Read Servo Low &lt; Command = 0000 1010 &gt;
        ;   call send_byte {{ servo_low }}  
        movf servo_low,w
        movwf send_byte__data
        call send_byte
        goto switch__477end
switch__477block490:
        ; Read Servo Low &lt; Command = 0000 1011 &gt;
        ;   call send_byte {{ servo_high }}  
        movf servo_high,w
        movwf send_byte__data
        call send_byte
        goto switch__477end
switch__477default494:
        ; &lt; Command = 0000 11 xx &gt;
switch__477end:
        goto switch__410end
switch__410default499:
        ; Do Nothing :
switch__410end:
        goto switch__407end
switch__407block504:
        ; Do nothing &lt; Command = 01 xx xxxx or 10 xx xxxx &gt; :
        goto switch__407end
switch__407block507:
        ; Command = 11 xx xxxx :
        ; switch { {{ command &gt;&gt; 3 }} &amp; 7 }
        movlw HIGH switch__509block_start
        movwf pclath___register
        rrf main__command,w
        movwf main__509byte0
        rrf main__509byte0,f
        rrf main__509byte0,w
        andlw 7
        ; case 5
        ; case 6
        ; case 7
switch__509block_start:
        addwf pcl___register,f
        goto switch__509end
        goto switch__509end
        goto switch__509end
        goto switch__509end
        goto switch__509end
        goto switch__509block510
        goto switch__509block524
        goto switch__509block542
switch__509block_end:
        ; switch_check 509 switch__509block_start switch__509block_end
switch__509block510:
        ; Command = 1110 1 xxx :
        ; if { {{ command &amp; 7 }} = 7 } start
        movlw 7
        andwf main__command,w
        movwf main__512byte0
        movlw 7
        subwf main__512byte0,w
        ; expression=`{ {{ command &amp; 7 }} = 7 }' exp_delay=5 true_delay=6  false_delay=0 true_size=8 false_size=0
        btfss z___byte,z___bit
        goto label512__1end
        ; if { {{ command &amp; 7 }} = 7 } body start
        ; Return Interrupt Bits &lt; Command = 1110 1111 &gt; :
        ;   temporary := 0  
        clrf main__temporary
        ; if { interrupt_enable } start
        ; expression=`{ interrupt_enable }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc interrupt_enable__byte,interrupt_enable__bit
        ; if { interrupt_enable } body start
        ;   temporary @ 1 := 1  
        ; Select temporary @ 1
main__temporary__516select0 equ main__temporary+0
main__temporary__516select0__byte equ main__temporary+0
main__temporary__516select0__bit equ 1
        bsf main__temporary__516select0__byte,main__temporary__516select0__bit
        ; if { interrupt_enable } body end
        ; if exp=`interrupt_enable' false skip delay=2
        ; Other expression=`{ interrupt_enable }' delay=2
        ; if { interrupt_enable } end
        ; if { interrupt_pending } start
        ; expression=`{ interrupt_pending }' exp_delay=0 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc interrupt_pending__byte,interrupt_pending__bit
        ; if { interrupt_pending } body start
        ;   temporary @ 0 := 1  
        ; Select temporary @ 0
main__temporary__519select0 equ main__temporary+0
main__temporary__519select0__byte equ main__temporary+0
main__temporary__519select0__bit equ 0
        bsf main__temporary__519select0__byte,main__temporary__519select0__bit
        ; if { interrupt_pending } body end
        ; if exp=`interrupt_pending' false skip delay=2
        ; Other expression=`{ interrupt_pending }' delay=2
        ; if { interrupt_pending } end
        ;   call send_byte {{ temporary }}  
        movf main__temporary,w
        movwf send_byte__data
        call send_byte
        ; if { {{ command &amp; 7 }} = 7 } body end
label512__1end:
        ; if exp=` {{ command &amp; 7 }} = 7 ' empty false
        ; Other expression=`{ {{ command &amp; 7 }} = 7 }' delay=-1
        ; if { {{ command &amp; 7 }} = 7 } end
        goto switch__509end
switch__509block524:
        ; Shared Interrupt commands &lt; Command = 1111 0 xxx &gt; :
        ; switch { command &amp; 7 }
        movlw HIGH switch__526block_start
        movwf pclath___register
        movlw 7
        andwf main__command,w
        ; case 0 1 2 3
        ; case 4 5
        ; case 6 7
switch__526block_start:
        addwf pcl___register,f
        goto switch__526block527
        goto switch__526block527
        goto switch__526block527
        goto switch__526block527
        goto switch__526block532
        goto switch__526block532
        goto switch__526block536
        goto switch__526block536
switch__526block_end:
        ; switch_check 526 switch__526block_start switch__526block_end
switch__526block527:
        ; Set interrupt enable and pending &lt; Command = 1111 00 ep &gt; :
        ;   interrupt_enable := command @ 1  
        ; Alias variable for select command @ 1
main__command__529select0 equ main__command+0
main__command__529select0__byte equ main__command+0
main__command__529select0__bit equ 1
        bcf interrupt_enable__byte,interrupt_enable__bit
        btfsc main__command__529select0__byte,main__command__529select0__bit
        bsf interrupt_enable__byte,interrupt_enable__bit
        ;   interrupt_pending := command @ 0  
        ; Alias variable for select command @ 0
main__command__530select0 equ main__command+0
main__command__530select0__byte equ main__command+0
main__command__530select0__bit equ 0
        bcf interrupt_pending__byte,interrupt_pending__bit
        btfsc main__command__530select0__byte,main__command__530select0__bit
        bsf interrupt_pending__byte,interrupt_pending__bit
        goto switch__526end
switch__526block532:
        ; Set Interrupt pending bit only &lt; Command = 1111 010 p &gt; :
        ;   interrupt_pending := command @ 0  
        ; Alias variable for select command @ 0
main__command__534select0 equ main__command+0
main__command__534select0__byte equ main__command+0
main__command__534select0__bit equ 0
        bcf interrupt_pending__byte,interrupt_pending__bit
        btfsc main__command__534select0__byte,main__command__534select0__bit
        bsf interrupt_pending__byte,interrupt_pending__bit
        goto switch__526end
switch__526block536:
        ; Set Interrupt pending bit only &lt; Command = 1111 011 e &gt; :
        ;   interrupt_enable := command @ 0  
        ; Alias variable for select command @ 0
main__command__538select0 equ main__command+0
main__command__538select0__byte equ main__command+0
main__command__538select0__bit equ 0
        bcf interrupt_enable__byte,interrupt_enable__bit
        btfsc main__command__538select0__byte,main__command__538select0__bit
        bsf interrupt_enable__byte,interrupt_enable__bit
switch__526end:
        goto switch__509end
switch__509block542:
        ; Shared commands .
        ; switch { command &amp; 7 }
        movlw HIGH switch__544block_start
        movwf pclath___register
        movlw 7
        andwf main__command,w
        ; case 0
        ; case 1
        ; case 2
        ; case 3
        ; case 4
        ; case 5
        ; case 6
        ; case 7
switch__544block_start:
        addwf pcl___register,f
        goto switch__544block545
        goto switch__544block549
        goto switch__544block553
        goto switch__544block557
        goto switch__544block561
        goto switch__544block572
        goto switch__544block576
        goto switch__544block581
switch__544block_end:
        ; switch_check 544 switch__544block_start switch__544block_end
switch__544block545:
        ; Clock Decrement &lt; Command = 1111 1000 &gt; :
        ; Do nothing :
        goto switch__544end
switch__544block549:
        ; Clock Increment &lt; Command = 1111 1001 &gt; :
        ; Do nothing :
        goto switch__544end
switch__544block553:
        ; Clock Read &lt; Command = 1111 1010 &gt; :
        ;   call send_byte {{ 0 }}  
        clrf send_byte__data
        call send_byte
        goto switch__544end
switch__544block557:
        ; Clock Pulse &lt; Command = 1111 1011 &gt; :
        ;   call send_byte {{ 0 }}  
        clrf send_byte__data
        call send_byte
        goto switch__544end
switch__544block561:
        ; ID Next &lt; Command = 1111 1100 &gt; :
        ; if { id_index &gt;= id . size } start
        movlw 48
        subwf main__id_index,w
        ; expression=`{ id_index &gt;= id . size }' exp_delay=2 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc c___byte,c___bit
        ; if { id_index &gt;= id . size } body start
        ;   id_index := 0  
        clrf main__id_index
        ; if { id_index &gt;= id . size } body end
        ; if exp=` id_index &gt;= id . size ' false skip delay=4
        ; Other expression=`{ id_index &gt;= id . size }' delay=4
        ; if { id_index &gt;= id . size } end
        ;   call send_byte {{ id ~~ {{ id_index }} }}  
        incf main__id_index,w
        clrf pclath___register
        call id
        movwf send_byte__data
        call send_byte
        ;   id_index := id_index + 1  
        incf main__id_index,f
        ; if { id_index &gt;= id . size } start
        movlw 48
        subwf main__id_index,w
        ; expression=`{ id_index &gt;= id . size }' exp_delay=2 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfsc c___byte,c___bit
        ; if { id_index &gt;= id . size } body start
        ;   id_index := 0  
        clrf main__id_index
        ; if { id_index &gt;= id . size } body end
        ; if exp=` id_index &gt;= id . size ' false skip delay=4
        ; Other expression=`{ id_index &gt;= id . size }' delay=4
        ; if { id_index &gt;= id . size } end
        goto switch__544end
switch__544block572:
        ; ID Reset &lt; Command = 1111 1101 &gt; :
        ;   id_index := 0  
        clrf main__id_index
        goto switch__544end
switch__544block576:
        ; Glitch Read &lt; Command = 1111 1110 &gt; :
        ;   call send_byte {{ glitch }}  
        movf main__glitch,w
        movwf send_byte__data
        call send_byte
        ;   glitch := 0  
        clrf main__glitch
        goto switch__544end
switch__544block581:
        ; Glitch &lt; Command = 1111 1111 &gt; :
        ; if { glitch != 0xff } start
        incf main__glitch,w
        ; expression=`{ glitch != 0xff }' exp_delay=1 true_delay=1  false_delay=0 true_size=1 false_size=0
        btfss z___byte,z___bit
        ; if { glitch != 0xff } body start
        ;   glitch := glitch + 1  
        incf main__glitch,f
        ; if { glitch != 0xff } body end
        ; if exp=` glitch != 0xff ' false skip delay=3
        ; Other expression=`{ glitch != 0xff }' delay=3
        ; if { glitch != 0xff } end
switch__544end:
switch__509end:
switch__407end:
        goto main__402loop__forever
        ; loop_forever ... end
        ; procedure main end

        ; Register bank 0 used 44 bytes of 96 available bytes
        ; Register bank 1 used 0 bytes of 80 available bytes
        ; Register bank 2 used 0 bytes of 48 available bytes
        ; Register bank 3 used 0 bytes of 0 available bytes

        end

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