; PicBasic Pro Compiler 2.40, (c) 1998, 2001 microEngineering Labs, Inc. All Rights Reserved. 
PM_USED			EQU	1

	INCLUDE	"16F628.INC"


; Define statements.
#define		OSC		 20

RAM_START       		EQU	00020h
RAM_END         		EQU	0014Fh
RAM_BANKS       		EQU	00003h
BANK0_START     		EQU	00020h
BANK0_END       		EQU	0007Fh
BANK1_START     		EQU	000A0h
BANK1_END       		EQU	000EFh
BANK2_START     		EQU	00120h
BANK2_END       		EQU	0014Fh
EEPROM_START    		EQU	02100h
EEPROM_END      		EQU	0217Fh

R0              		EQU	RAM_START + 000h
R1              		EQU	RAM_START + 002h
R2              		EQU	RAM_START + 004h
R3              		EQU	RAM_START + 006h
R4              		EQU	RAM_START + 008h
R5              		EQU	RAM_START + 00Ah
R6              		EQU	RAM_START + 00Ch
R7              		EQU	RAM_START + 00Eh
R8              		EQU	RAM_START + 010h
FLAGS           		EQU	RAM_START + 012h
GOP             		EQU	RAM_START + 013h
RM1             		EQU	RAM_START + 014h
RM2             		EQU	RAM_START + 015h
RR1             		EQU	RAM_START + 016h
RR2             		EQU	RAM_START + 017h
_DataCF          		EQU	RAM_START + 018h
_SonarRange      		EQU	RAM_START + 01Ah
_US_pulseCF      		EQU	RAM_START + 01Bh
_PORTL           		EQU	PORTB
_PORTH           		EQU	PORTA
_TRISL           		EQU	TRISB
_TRISH           		EQU	TRISA
#define _PORTB_2         	PORTB, 002h
#define _PORTB_4         	PORTB, 004h
#define _PORTB_0         	PORTB, 000h
#define _PORTA_5         	PORTA, 005h

; Constants.
_T2400           		EQU	00000h
_T1200           		EQU	00001h
_T9600           		EQU	00002h
_T300            		EQU	00003h
_N2400           		EQU	00004h
_N1200           		EQU	00005h
_N9600           		EQU	00006h
_N300            		EQU	00007h
_OT2400          		EQU	00008h
_OT1200          		EQU	00009h
_OT9600          		EQU	0000Ah
_OT300           		EQU	0000Bh
_ON2400          		EQU	0000Ch
_ON1200          		EQU	0000Dh
_ON9600          		EQU	0000Eh
_ON300           		EQU	0000Fh
_MSBPRE          		EQU	00000h
_LSBPRE          		EQU	00001h
_MSBPOST         		EQU	00002h
_LSBPOST         		EQU	00003h
_LSBFIRST        		EQU	00000h
_MSBFIRST        		EQU	00001h
_CLS             		EQU	00000h
_HOME            		EQU	00001h
_BELL            		EQU	00007h
_BKSP            		EQU	00008h
_TAB             		EQU	00009h
_CR              		EQU	0000Dh
_UnitOn          		EQU	00012h
_UnitOff         		EQU	0001Ah
_UnitsOff        		EQU	0001Ch
_LightsOn        		EQU	00014h
_LightsOff       		EQU	00010h
_Dim             		EQU	0001Eh
_Bright          		EQU	00016h
	INCLUDE	"USTEST.MAC"
	INCLUDE	"PBPPIC14.LIB"

	MOVE?CB	007h, CMCON
	OUTPUT?T	_PORTB_2
	LOW?T	_PORTB_2
	OUTPUT?T	_PORTB_4
	MOVE?CT	001h, _PORTB_4
	OUTPUT?T	_PORTB_0
	INPUT?T	_PORTA_5
	MOVE?CW	000h, _DataCF

	LABEL?L	_keepGoing	
	MOVE?CB	001h, _US_pulseCF
	LABEL?L	L00001	
	CMPGT?BCL	_US_pulseCF, 008h, L00002
	HIGH?T	_PORTB_0

	ASM?

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	ENDASM?

	LOW?T	_PORTB_0

	ASM?

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	ENDASM?

	NEXT?BCL	_US_pulseCF, 001h, L00001
	LABEL?L	L00002	
	PAUSEUS?C	002h

	LABEL?L	_countTimeCF	
	ADD?WCW	_DataCF, 001h, _DataCF
	CMPLE?WCL	_DataCF, 001F4h, L00003
	MOVE?CB	000h, _SonarRange
	GOTO?L	_noechoCF
	LABEL?L	L00003	
	CMPEQ?TCL	_PORTA_5, 001h, _countTimeCF
	CMPGT?WCL	_DataCF, 002h, L00005
	MOVE?CB	000h, _SonarRange
	GOTO?L	_noechoCF
	LABEL?L	L00005	
	DIV?WCB	_DataCF, 002h, _SonarRange

	LABEL?L	_noechoCF	

	LABEL?L	_SerToMaster	
	SERPIN?T	_PORTB_2
	SERMODE?C	_N9600
	SEROUT?B	_SonarRange
	MOVE?CW	000h, _DataCF
	TOGGLE?T	_PORTB_4
	GOTO?L	_keepGoing

	END